NISKINE May19 * SG141 * Dive index * Mission links * Dive 98 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  141 HEADING  -1 C_ROLL_CLIMB  2500 ALTIM_TOP_PING_RANGE  0
MISSION  11 ESCAPE_HEADING  0 HEAD_ERRBAND  10 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  98 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 ALTIM_TOP_MIN_OBSTACLE  0
STOP_T  0 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  40 ALTIM_PING_DEPTH  0
D_SURF  3 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  33 ALTIM_PING_DELTA  0
D_FLARE  2 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  50 ALTIM_FREQUENCY  13
D_TGT  750 SM_CC  300 ROLL_MAXERRORS  1 ALTIM_PULSE  3
D_ABORT  1010 N_FILEKB  8 ROLL_ADJ_GAIN  0 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 FILEMGR  0 ROLL_ADJ_DBAND  0 XPDR_VALID  6
D_BOOST  2 CALL_NDIVES  1 VBD_MIN  470 XPDR_INHIBIT  90
T_BOOST  0 COMM_SEQ  0 VBD_MAX  3935 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 PROTOCOL  9 C_VBD  2950 INT_PRESSURE_YINT  0
D_PITCH  0 N_NOCOMM  2 VBD_DBAND  2 DEEPGLIDER  0
D_SAFE  0 NOCOMM_ACTION  163 VBD_CNV  -0.24529999 MOTHERBOARD  4
D_CALL  0 N_NOSURFACE  0 VBD_LP_IGNORE  0 DEVICE1  -1
SURFACE_URGENCY  0 UPLOAD_DIVES_MAX  -1 VBD_TIMEOUT  720 DEVICE2  -1
SURFACE_URGENCY_TRY  0 CALL_TRIES  5 PITCH_VBD_SHIFT  9.9999997e-05 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_SURFACE  1 DEVICE4  -1
T_DIVE  180 CAPUPLOAD  0 VBD_PUMP_AD_RATE_APOGEE  1 DEVICE5  -1
T_MISSION  220 CAPMAXSIZE  100000 VBD_BLEED_AD_RATE  8 DEVICE6  -1
T_ABORT  720 HEAPDBG  0 UNCOM_BLEED  50 LOGGERS  1
T_TURN  225 T_GPS  5 VBD_MAXERRORS  1 LOGGERDEVICE1  53
T_TURN_SAMPINT  -5 N_GPS  100440 W_ADJ_DBAND  2 LOGGERDEVICE2  -1
T_NO_W  120 T_RSLEEP  2 DBDW  0 LOGGERDEVICE3  -1
T_LOITER  0 STROBE  0 LOITER_W_DBAND  0 LOGGERDEVICE4  -1
T_EPIRB  0 RAFOS_PEAK_OFFSET  1.5 LOITER_DBDW  0 COMPASS_DEVICE  97
USE_BATHY  0 RAFOS_CORR_THRESH  60 LOITER_D_TOP  0 COMPASS2_DEVICE  149
USE_ICE  0 RAFOS_HIT_WINDOW  3600 LOITER_D_BOTTOM  0 PHONE_DEVICE  49
ICE_FREEZE_MARGIN  0.30000001 RAFOS_MMODEM  0 LOITER_N_DIVE  0 GPS_DEVICE  32
D_OFFGRID  1000 PITCH_MIN  225 PITCH_W_GAIN  2 RAFOS_DEVICE  -1
T_WATCHDOG  10 PITCH_MAX  3920 PITCH_W_DBAND  0.5 XPDR_DEVICE  24
RELAUNCH  1 C_PITCH  2790 CF8_MAXERRORS  20 SIM_W  0
APOGEE_PITCH  -5 PITCH_DBAND  0.1 AH0_24V  350 SEABIRD_T_G  0.0043955045
MAX_BUOY  200 PITCH_CNV  0.003125763 AH0_10V  0 SEABIRD_T_H  0.00063085643
COURSE_BIAS  0 P_OVSHOOT  0.039999999 MINV_24V  11 SEABIRD_T_I  2.5021687e-05
GLIDE_SLOPE  45 P_OVSHOOT_WITHG  0 MINV_10V  11 SEABIRD_T_J  3.0087358e-06
SPEED_FACTOR  1 PITCH_GAIN  35 MAXI_24V  0.60000002 SEABIRD_C_G  -9.7732916
RHO  1.0275 PITCH_TIMEOUT  30 MAXI_10V  0.80000001 SEABIRD_C_H  1.1286387
MASS  55610 PITCH_AD_RATE  50 FG_AHR_10V  0 SEABIRD_C_I  -0.0014607979
MASS_COMP  0 PITCH_MAXERRORS  1 FG_AHR_24V  0 SEABIRD_C_J  0.00018615076
NAV_MODE  2 PITCH_ADJ_GAIN  0 PHONE_SUPPLY  -2 SC_RECORDABOVE  2000.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 PRESSURE_YINT  -166.67619 SC_PROFILE  3.0
KALMAN_USE  2 ROLL_MIN  276 PRESSURE_SLOPE  0.00010932798 SC_XMITPROFILE  3.0
HD_A  0.00281838 ROLL_MAX  3935 AD7714Ch0Gain  1 SC_NDIVE  1.0
HD_B  0.0139236 ROLL_DEG  40 COMPASS_USE  4
HD_C  5.7000002e-06 C_ROLL_DIVE  2700 ALTIM_PING_FIT  0

Pre-dive calculations and measurements:
GPS1  160619,021633,5815.7988,-2103.7854,39,1.0,48,-11.9,0.0,325.8,9,9.7 SPEED_LIMITS  0.139,0.281
_CALLS  1 TGT_NAME  T_EAST_3
_XMS_NAKs  0 TGT_LATLONG  5811.000,-2056.000
_XMS_TOUTs  0 TGT_RADIUS  4000.000
_SM_DEPTHo  1.06 MHEAD_RNG_PITCHd_Wd  148.2,11651,-22.5,-13.889,-26.27,2148
_SM_ANGLEo  -72.9 D_GRID  750
GPS2  160619,022627,5815.7778,-2103.7625,11,0.9,19,-11.9,0.0,98.9,9,10.0

Post-dive calculations and measurements:
FINISH  0.3,1.026879 _10V_AH  13.32,0.000
SM_CCo  10256,0.00,0.000,0,0,1524,349.55 FG_AHR_24Vo  0.000
SM_GC  1.08,8.45,0.32,0.00,0.090,0.083,0.000,220,2725,1524,-7.98,-0.65,349.55,0,0,0,0,0,0,14.65,14.69,14.73 FG_AHR_10Vo  0.000
IRIDIUM_FIX  5816.62,-2104.01,150619,232344 MEM  334896
TT8_MAMPS  0.018725,0.60669 DATA_FILE_SIZE  30000,879
HUMID  44.13 CAP_FILE_SIZE  108647,0
INTERNAL_PRESSURE  8.88706 CFSIZE  260034560,245022720
TCM_TEMP  18.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
XPDR_PINGS  2 CURRENT  0.164,118.97,1
SC_FREEKB  3824320 GPS  160619,051935,5814.354,-2100.346,39,0.7,43,-11.9,0.2,215.0,12,9.1
_24V_AH  13.20,37.763

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21413117.73 nil000.00
Roll_motor13188153.68 nil000.00
VBD_pump_during_apogee474170910708.16 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon10204202816.43
Iridium_during_xfer379197989.03 nil000.00
Transponder_ping04202.77 nil000.00
GUMSTIX_24V000.00
GPS30114.60
TT8204510298.88
LPSleep60182175.57
TT8_Active6601096.49
TT8_Sampling178528688.60
TT8_CF834834162.26
TT8_Kalman000.00
Analog_circuits180410240.42
GPS_charging000.00
Compass135511203.00
RAFOS000.00
Transponder050.04

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
7 end surface: CONTROL_FINISHED_OK
state 7 begin dive
12 -0.66 -194.6 221 2735 1702 1735 0.0 0.0 0 94 0.00 0.00 -79.93 0.005 16386 0.000 0.000 221 2736 3666 3598 3735 0 0 0 0 0 0 14.64 28.83 14.65
98 -0.66 -194.6 220 2736 3597 3735 4.0 -6.2 8 122 11.48 2.47 -1.40 0.081 18980 0.414 0.066 2571 1280 3746 3682 3811 0 0 0 0 0 0 14.24 13.57 14.42
232 -0.66 -194.6 2570 1279 3684 3810 36.4 -15.7 33 239 0.00 2.50 0.00 0.000 1030 0.000 0.074 2570 2695 3747 3684 3810 0 0 0 0 0 0 14.55 14.47 14.57
419 -0.66 -194.6 2570 2695 3685 3810 70.9 -18.0 52 426 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2695 3747 3684 3810 0 0 0 0 0 0 14.73 14.76 14.76
609 -0.66 -194.6 2570 2695 3685 3810 104.8 -17.7 71 615 0.00 2.35 0.00 0.000 516 0.000 0.044 2570 1279 3746 3684 3809 0 0 0 0 0 0 14.79 14.60 14.81
654 -0.66 -194.6 2570 1277 3685 3810 112.2 -14.8 79 661 0.00 2.50 0.00 0.000 1030 0.000 0.074 2571 2707 3747 3685 3809 0 0 0 0 0 0 14.66 14.57 14.68
850 -0.66 -194.6 2570 2707 3685 3809 146.1 -17.9 99 857 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2707 3747 3685 3809 0 0 0 0 0 0 14.81 14.83 14.83
1039 -0.66 -194.6 2570 2707 3686 3809 178.5 -16.7 118 1045 0.00 2.35 0.00 0.000 516 0.000 0.045 2571 1284 3746 3686 3807 0 0 0 0 0 0 14.83 14.65 14.85
1084 -0.66 -194.6 2570 1282 3686 3809 185.6 -14.3 126 1090 0.00 2.47 0.00 0.000 1030 0.000 0.073 2570 2706 3747 3686 3809 0 0 0 0 0 0 14.71 14.62 14.73
1279 -0.66 -194.6 2570 2706 3686 3809 217.7 -17.0 146 1286 0.00 0.00 0.00 0.000 6 0.000 0.000 2571 2706 3747 3686 3809 0 0 0 0 0 0 14.85 14.86 14.86
1469 -0.66 -194.6 2570 2706 3686 3809 250.6 -17.7 165 1475 0.00 2.40 0.00 0.000 516 0.000 0.047 2570 1280 3747 3686 3809 0 0 0 0 0 0 14.85 14.67 14.87
1534 -0.66 -194.6 2570 1278 3686 3809 261.1 -15.0 177 1540 0.00 2.47 0.00 0.000 1030 0.000 0.073 2571 2705 3747 3686 3809 0 0 0 0 0 0 14.73 14.64 14.76
1859 -0.66 -194.6 2570 2705 3687 3809 316.3 -16.9 196 1864 0.00 2.35 0.00 0.000 516 0.000 0.046 2570 1282 3747 3686 3808 0 0 0 0 0 0 14.87 14.69 14.88
1913 -0.66 -194.6 2570 1280 3686 3809 325.1 -14.9 206 1919 0.00 2.47 0.00 0.000 1030 0.000 0.073 2571 2704 3747 3686 3809 0 0 0 0 0 0 14.72 14.64 14.75
2227 -0.66 -194.6 2570 2704 3686 3809 375.5 -15.8 223 2234 0.00 2.38 0.00 0.000 516 0.000 0.046 2570 1281 3747 3686 3809 0 0 0 0 0 0 14.89 14.69 14.90
2253 -0.66 -194.6 2570 1280 3686 3808 379.6 -16.4 227 2260 0.00 2.47 0.00 0.000 1030 0.000 0.074 2571 2708 3747 3686 3809 0 0 0 0 0 0 14.76 14.67 14.78
2579 -0.66 -194.6 2574 2709 3686 3808 429.7 -15.3 246 2585 0.00 2.35 0.00 0.000 516 0.000 0.046 2571 1281 3749 3690 3808 0 0 0 0 0 0 14.89 14.71 14.90
2627 -0.66 -194.6 2570 1279 3686 3808 436.9 -13.1 255 2634 0.00 2.47 0.00 0.000 1030 0.000 0.076 2570 2705 3746 3686 3807 0 0 0 0 0 0 14.76 14.68 14.78
2948 -0.66 -194.6 2570 2701 3687 3812 488.3 -16.5 273 2954 0.00 2.35 0.00 0.000 516 0.000 0.045 2570 1283 3746 3686 3806 0 0 0 0 0 0 14.90 14.69 14.91
2987 -0.66 -194.6 2570 1282 3687 3805 494.7 -15.1 280 2994 0.00 2.47 0.00 0.000 1030 0.000 0.076 2570 2702 3746 3686 3806 0 0 0 0 0 0 14.76 14.67 14.78
3293 -0.66 -194.6 2570 2702 3686 3806 543.6 -15.9 296 3299 0.00 2.35 0.00 0.000 516 0.000 0.046 2570 1280 3745 3686 3805 0 0 0 0 0 0 14.91 14.70 14.92
3339 -0.66 -194.6 2570 1278 3686 3805 550.3 -13.4 304 3344 0.00 2.47 0.00 0.000 1030 0.000 0.076 2570 2701 3745 3686 3805 0 0 0 0 0 0 14.77 14.68 14.78
3663 -0.66 -194.6 2570 2701 3686 3804 596.0 -13.8 323 3670 0.00 2.35 0.00 0.000 516 0.000 0.044 2570 1273 3745 3686 3804 0 0 0 0 0 0 14.92 14.72 14.94
3693 -0.66 -194.6 2570 1270 3686 3804 600.1 -13.8 328 3699 0.00 2.50 0.00 0.000 1030 0.000 0.077 2571 2705 3745 3686 3804 0 0 0 0 0 0 14.78 14.69 14.80
4013 -0.66 -194.6 2570 2705 3686 3804 644.6 -14.5 346 4016 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2704 3744 3686 3803 0 0 0 0 0 0 14.92 14.94 14.93
4313 -0.66 -194.6 2570 2705 3686 3803 690.1 -14.9 361 4319 0.00 2.35 0.00 0.000 516 0.000 0.044 2571 1277 3744 3686 3803 0 0 0 0 0 0 14.92 14.71 14.95
4382 -0.66 -194.6 2571 1276 3686 3803 699.7 -13.1 374 4388 0.00 2.50 0.00 0.000 1030 0.000 0.076 2571 2709 3744 3686 3803 0 0 0 0 0 0 14.78 14.70 14.81
4703 -0.66 -194.6 2570 2709 3687 3802 746.1 -14.8 392 4708 0.00 2.38 0.00 0.000 516 0.000 0.044 2571 1280 3744 3686 3802 0 0 0 0 0 0 14.92 14.71 14.94
4725 end dive: TARGET_DEPTH_EXCEEDED
state 4725 begin apogee
4735 -0.14 0.0 2570 2505 3686 3802 750.0 -15.0 396 4906 0.62 0.00 165.45 1.709 10246 0.233 0.000 2742 2505 2949 2989 2909 0 0 0 0 0 0 14.59 13.94 13.32
4908 end apogee: CONTROL_FINISHED_OK
state 4908 begin climb
4912 0.66 194.6 2742 2504 2989 2907 758.9 0.0 405 5091 0.88 0.00 171.85 1.665 11014 0.164 0.000 2995 2505 2156 2203 2109 0 0 0 0 0 0 13.90 13.77 13.20
5388 0.67 245.9 2994 2505 2195 2101 714.4 11.4 447 5440 0.00 2.53 46.10 1.583 8740 0.000 0.054 2997 1086 1946 1993 1900 0 0 0 0 0 0 14.52 13.96 13.47
5497 0.67 302.0 2997 1085 1987 1895 702.1 11.2 467 5558 0.00 2.58 51.30 1.570 9254 0.000 0.065 3002 2511 1718 1761 1676 0 0 0 0 0 0 14.27 14.19 13.40
5855 0.68 302.0 2997 2511 1754 1671 655.3 13.2 494 5861 0.00 2.53 0.00 0.000 324 0.000 0.089 2997 3922 1712 1754 1671 0 0 0 0 0 0 14.59 14.38 14.61
5889 0.68 302.0 2997 3922 1752 1671 650.3 14.4 500 5895 0.00 2.42 0.00 0.000 1030 0.000 0.048 2997 2501 1711 1752 1671 0 0 0 0 0 0 14.50 14.43 14.51
6204 0.71 302.0 2997 2498 1750 1670 609.1 12.8 517 6210 0.00 2.40 0.00 0.000 580 0.000 0.054 2997 1081 1709 1749 1670 0 0 0 0 0 0 14.74 14.54 14.76
6260 0.71 347.3 2997 1080 1747 1670 602.3 11.7 527 6307 0.00 2.50 39.97 1.490 9254 0.000 0.067 2997 2511 1534 1576 1492 0 0 0 0 0 0 14.62 14.54 13.69
6620 0.71 347.3 2996 2510 1573 1488 554.8 13.4 552 6626 0.00 2.47 0.00 0.000 260 0.000 0.089 2997 3914 1530 1573 1488 0 0 0 0 0 0 14.70 14.47 14.71
6667 0.73 347.3 2997 3914 1572 1488 548.2 13.1 560 6672 0.00 2.42 0.00 0.000 1094 0.000 0.048 2997 2484 1530 1572 1488 0 0 0 0 0 0 14.59 14.53 14.61
6991 0.73 347.3 2994 2481 1570 1488 504.5 13.6 579 6998 0.00 2.33 0.00 0.000 516 0.000 0.056 2997 1093 1528 1569 1488 0 0 0 0 0 0 14.79 14.59 14.81
7057 0.75 347.3 2997 1092 1566 1488 496.0 12.6 591 7065 0.12 2.45 0.00 0.000 3142 0.149 0.066 3045 2506 1526 1565 1488 0 0 0 0 0 0 14.60 14.59 14.66
7384 0.75 347.3 3044 2506 1564 1488 441.4 16.2 610 7389 0.00 2.45 0.00 0.000 260 0.000 0.086 3045 3915 1526 1565 1488 0 0 0 0 0 0 14.82 14.61 14.84
7402 0.75 347.3 3045 3915 1565 1488 438.0 16.6 613 7409 0.00 2.40 0.00 0.000 1030 0.000 0.049 3046 2492 1526 1565 1487 0 0 0 0 0 0 14.71 14.64 14.72
7709 0.75 347.3 3046 2487 1566 1488 388.8 16.3 629 7714 0.00 2.35 0.00 0.000 516 0.000 0.055 3046 1082 1526 1565 1488 0 0 0 0 0 0 14.84 14.64 14.86
7779 0.75 347.3 3050 1081 1564 1488 378.5 13.9 642 7784 0.00 2.47 0.00 0.000 1030 0.000 0.069 3046 2507 1526 1564 1488 0 0 0 0 0 0 14.72 14.64 14.73
8099 0.75 347.3 3046 2507 1564 1488 326.6 16.6 660 8104 0.00 2.45 0.00 0.000 260 0.000 0.087 3046 3914 1527 1566 1488 0 0 0 0 0 0 14.85 14.62 14.88
8133 0.75 347.3 3046 3914 1563 1488 320.4 18.0 666 8138 0.00 2.40 0.00 0.000 1030 0.000 0.047 3046 2484 1523 1562 1484 0 0 0 0 0 0 14.73 14.67 14.75
8447 0.75 347.3 3046 2481 1564 1488 271.0 15.4 683 8454 0.00 2.33 0.00 0.000 516 0.000 0.055 3045 1085 1526 1564 1488 0 0 0 0 0 0 14.84 14.66 14.87
8507 0.75 347.3 3046 1085 1563 1488 262.4 13.8 694 8514 0.00 2.47 0.00 0.000 1030 0.000 0.067 3047 2507 1525 1563 1488 0 0 0 0 0 0 14.73 14.66 14.76
8815 0.75 347.3 3046 2507 1563 1488 215.0 16.0 721 8821 0.00 2.47 0.00 0.000 260 0.000 0.087 3047 3926 1526 1564 1488 0 0 0 0 0 0 14.88 14.65 14.91
8850 0.75 347.3 3046 3926 1563 1488 208.3 18.7 727 8857 0.00 2.40 0.00 0.000 1030 0.000 0.044 3047 2489 1525 1563 1488 0 0 0 0 0 0 14.75 14.69 14.76
9046 0.75 347.3 3046 2485 1563 1488 176.5 16.5 747 9053 0.00 2.35 0.00 0.000 516 0.000 0.055 3047 1082 1525 1563 1488 0 0 0 0 0 0 14.87 14.65 14.88
9101 0.75 347.3 3045 1082 1562 1488 167.5 15.8 757 9107 0.00 2.47 0.00 0.000 1030 0.000 0.067 3047 2514 1525 1562 1488 0 0 0 0 0 0 14.72 14.64 14.74
9296 0.75 347.3 3046 2513 1562 1488 135.0 16.6 777 9302 0.00 2.47 0.00 0.000 260 0.000 0.087 3047 3926 1525 1562 1488 0 0 0 0 0 0 14.88 14.62 14.89
9322 0.75 347.3 3046 3926 1562 1488 130.6 17.9 781 9327 0.00 2.40 0.00 0.000 1030 0.000 0.044 3047 2487 1525 1562 1488 0 0 0 0 0 0 14.74 14.68 14.76
9516 0.75 347.3 3046 2484 1562 1488 99.9 15.2 801 9522 0.00 2.35 0.00 0.000 516 0.000 0.054 3047 1090 1525 1562 1488 0 0 0 0 0 0 14.87 14.64 14.89
9565 0.75 347.3 3046 1089 1562 1488 92.6 13.7 810 9572 0.00 2.45 0.00 0.000 1030 0.000 0.065 3047 2501 1525 1562 1488 0 0 0 0 0 0 14.74 14.66 14.76
9751 0.78 347.3 3046 2501 1562 1489 65.5 12.4 829 9757 0.00 2.45 0.00 0.000 324 0.000 0.085 3047 3915 1525 1562 1488 0 0 0 0 0 0 14.87 14.64 14.88
9776 0.79 347.3 3046 3915 1561 1488 62.3 13.3 833 9782 0.00 2.40 0.00 0.000 1094 0.000 0.044 3047 2487 1525 1562 1488 0 0 0 0 0 0 14.71 14.64 14.73
9971 0.79 347.3 3046 2482 1562 1488 31.7 16.2 853 9977 0.00 2.33 0.00 0.000 516 0.000 0.052 3047 1089 1525 1562 1488 0 0 0 0 0 0 14.87 14.66 14.89
10030 0.79 347.3 3051 1089 1562 1488 22.4 16.2 864 10037 0.00 2.45 0.00 0.000 1030 0.000 0.062 3047 2515 1525 1562 1488 0 0 0 0 0 0 14.71 14.64 14.74
10164 end climb: SURFACE_DEPTH_REACHED
state 10164 begin surface coast
10174 end surface coast: CONTROL_FINISHED_OK
state 10174 begin surface