NISKINE May19 * SG141 * Dive index * Mission links * Dive 103 * 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  103 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  36 ALTIM_PING_DEPTH  0
D_SURF  3 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  30 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  160619,171106,5811.6064,-2100.9810,33,0.8,38,-11.9,0.5,14.0,12,9.9 SPEED_LIMITS  0.139,0.281
_CALLS  1 TGT_NAME  PICKUP
_XMS_NAKs  0 TGT_LATLONG  5810.000,-2105.000
_XMS_TOUTs  0 TGT_RADIUS  2000.000
_SM_DEPTHo  1.07 MHEAD_RNG_PITCHd_Wd  279.5,4929,-22.5,-13.889,-26.27,2148
_SM_ANGLEo  -74.6 D_GRID  750
GPS2  160619,172157,5811.5718,-2100.9275,10,0.8,18,-11.9,0.6,71.3,12,9.6

Post-dive calculations and measurements:
FINISH  2.1,1.026816 _10V_AH  13.40,0.000
SM_CCo  9724,79.95,0.425,1,0,1727,300.00 FG_AHR_24Vo  0.000
SM_GC  1.18,8.50,2.88,79.95,0.093,0.070,0.425,220,2709,1727,-7.98,-0.48,300.00,0,0,0,0,1,0,14.65,14.67,14.13 FG_AHR_10Vo  0.000
IRIDIUM_FIX  5808.56,-2103.42,160619,141327 MEM  334880
TT8_MAMPS  0.020972,0.58422 DATA_FILE_SIZE  30062,852
HUMID  42.47 CAP_FILE_SIZE  108368,0
INTERNAL_PRESSURE  8.90659 CFSIZE  260034560,244510720
TCM_TEMP  19.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS  2 CURRENT  0.156,131.62,1
SC_FREEKB  3820800 GPS  160619,200731,5811.034,-2102.301,14,0.8,31,-11.9,0.0,41.3,11,9.2
_24V_AH  13.22,39.337

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21408116.52 nil000.00
Roll_motor13498176.09 nil000.00
VBD_pump_during_apogee38816968720.16 nil000.00
VBD_pump_during_surface79425449.56 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon9730202688.89
Iridium_during_xfer4361891095.85 nil000.00
Transponder_ping04202.78 nil000.00
GUMSTIX_24V000.00
GPS31114.75
TT8199910293.87
LPSleep56692166.38
TT8_Active6691098.43
TT8_Sampling177528688.67
TT8_CF836034168.91
TT8_Kalman000.00
Analog_circuits184610247.49
GPS_charging000.00
Compass130711196.91
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
8 end surface: CONTROL_FINISHED_OK
state 8 begin dive
12 -0.66 -194.6 221 2716 1694 1736 0.0 0.0 0 94 0.00 0.00 -79.60 0.005 16386 0.000 0.000 218 2716 3652 3581 3724 0 0 0 0 0 0 14.62 28.83 14.64
98 -0.66 -194.6 218 2717 3581 3725 3.8 -5.6 8 117 11.40 2.17 -1.65 0.069 18724 0.409 0.099 2561 3934 3746 3681 3811 0 0 0 0 0 0 14.24 13.57 14.42
231 -0.66 -194.6 2560 3934 3683 3811 36.9 -17.7 33 239 0.00 2.10 0.00 0.000 1030 0.000 0.041 2560 2659 3747 3683 3811 0 0 0 0 0 0 14.57 14.52 14.58
418 -0.66 -194.6 2560 2658 3683 3811 71.7 -18.7 52 424 0.00 2.22 0.00 0.000 516 0.000 0.043 2560 1295 3747 3683 3811 0 0 0 0 0 0 14.73 14.57 14.74
487 -0.66 -194.6 2560 1295 3683 3811 83.4 -15.0 65 494 0.00 2.47 0.00 0.000 1030 0.000 0.073 2560 2705 3747 3684 3811 0 0 0 0 0 0 14.47 14.40 14.50
673 -0.66 -194.6 2560 2706 3684 3810 117.3 -18.8 84 680 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2706 3747 3684 3810 0 0 0 0 0 0 14.78 14.81 14.80
863 -0.66 -194.6 2560 2706 3684 3810 152.7 -18.9 103 869 0.00 2.33 0.00 0.000 516 0.000 0.044 2560 1300 3747 3684 3810 0 0 0 0 0 0 14.81 14.61 14.83
918 -0.66 -194.6 2560 1299 3684 3811 162.6 -16.4 113 923 0.00 2.45 0.00 0.000 1030 0.000 0.073 2560 2707 3748 3685 3811 0 0 0 0 0 0 14.69 14.60 14.70
1112 -0.66 -194.6 2560 2709 3684 3810 199.2 -19.5 133 1120 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2709 3748 3685 3811 0 0 0 0 0 0 14.83 14.84 14.84
1302 -0.66 -194.6 2560 2709 3684 3810 236.3 -19.7 152 1308 0.00 2.33 0.00 0.000 516 0.000 0.044 2560 1305 3747 3684 3810 0 0 0 0 0 0 14.84 14.66 14.85
1347 -0.66 -194.6 2560 1303 3684 3810 244.8 -17.6 160 1353 0.00 2.42 0.00 0.000 1030 0.000 0.073 2560 2703 3747 3684 3811 0 0 0 0 0 0 14.72 14.64 14.73
1542 -0.66 -194.6 2560 2703 3684 3811 282.3 -19.5 172 1547 0.00 2.30 0.00 0.000 516 0.000 0.045 2560 1307 3747 3684 3810 0 0 0 0 0 0 14.85 14.67 14.87
1571 -0.66 -194.6 2560 1305 3684 3810 287.8 -19.0 177 1576 0.00 2.45 0.00 0.000 1030 0.000 0.075 2560 2713 3747 3684 3810 0 0 0 0 0 0 14.73 14.64 14.74
1891 -0.66 -194.6 2560 2714 3685 3810 348.9 -19.0 195 1897 0.00 2.33 0.00 0.000 516 0.000 0.045 2560 1302 3747 3684 3811 0 0 0 0 0 0 14.88 14.69 14.90
1939 -0.66 -194.6 2559 1300 3686 3810 357.7 -16.5 204 1945 0.00 2.45 0.00 0.000 1030 0.000 0.076 2560 2709 3747 3684 3810 0 0 0 0 0 0 14.75 14.66 14.76
2259 -0.66 -194.6 2560 2709 3682 3810 415.4 -17.9 222 2265 0.00 2.33 0.00 0.000 516 0.000 0.047 2560 1300 3746 3682 3810 0 0 0 0 0 0 14.89 14.70 14.91
2284 -0.66 -194.6 2560 1299 3684 3812 420.1 -18.0 226 2291 0.00 2.45 0.00 0.000 1030 0.000 0.075 2560 2710 3747 3685 3810 0 0 0 0 0 0 14.76 14.67 14.78
2610 -0.66 -194.6 2560 2710 3685 3810 478.5 -18.3 245 2616 0.00 2.33 0.00 0.000 516 0.000 0.047 2560 1300 3747 3685 3810 0 0 0 0 0 0 14.90 14.71 14.92
2669 -0.66 -194.6 2560 1298 3685 3810 488.6 -15.7 256 2676 0.00 2.45 0.00 0.000 1030 0.000 0.073 2560 2710 3747 3685 3810 0 0 0 0 0 0 14.77 14.68 14.78
2975 -0.66 -194.6 2560 2710 3685 3809 541.5 -16.9 272 2977 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2708 3747 3685 3809 0 0 0 0 0 0 14.92 14.94 14.93
3275 -0.66 -194.6 2560 2710 3685 3809 587.7 -14.8 287 3281 0.00 2.33 0.00 0.000 516 0.000 0.045 2560 1292 3746 3684 3809 0 0 0 0 0 0 14.92 14.71 14.95
3351 -0.66 -194.6 2560 1294 3684 3809 597.7 -10.9 301 3357 0.00 2.45 0.00 0.000 1062 0.000 0.073 2560 2707 3746 3683 3809 0 0 0 0 0 0 14.74 14.69 14.74
3666 -0.66 -194.6 2560 2708 3684 3808 643.6 -14.7 318 3672 0.00 2.30 0.00 0.000 516 0.000 0.045 2560 1308 3746 3685 3808 0 0 0 0 0 0 14.93 14.71 14.95
3705 -0.66 -194.6 2560 1306 3685 3808 649.2 -13.3 325 3712 0.00 2.42 0.00 0.000 1030 0.000 0.075 2560 2704 3746 3684 3808 0 0 0 0 0 0 14.79 14.70 14.81
4011 -0.66 -194.6 2560 2704 3685 3806 692.2 -14.3 341 4017 0.00 2.33 0.00 0.000 516 0.000 0.047 2560 1297 3745 3685 3806 0 0 0 0 0 0 14.92 14.64 14.95
4050 -0.66 -194.6 2560 1295 3684 3806 697.9 -13.6 348 4057 0.00 2.45 0.00 0.000 1030 0.000 0.076 2560 2703 3745 3684 3806 0 0 0 0 0 0 14.78 14.70 14.81
4356 -0.66 -194.6 2560 2702 3684 3805 743.5 -15.5 364 4362 0.00 2.33 0.00 0.000 516 0.000 0.049 2560 1299 3744 3684 3805 0 0 0 0 0 0 14.93 14.71 14.94
4385 -0.66 -194.6 2560 1297 3680 3805 748.3 -16.9 369 4390 0.00 2.45 0.00 0.000 1030 0.000 0.077 2560 2703 3744 3684 3805 0 0 0 0 0 0 14.79 14.69 14.81
4401 end dive: TARGET_DEPTH_EXCEEDED
state 4401 begin apogee
4409 -0.14 0.0 2560 2498 3684 3804 750.7 -13.4 372 4583 0.68 0.00 166.45 1.696 10246 0.239 0.000 2742 2498 2948 2988 2909 0 0 0 0 0 0 14.59 13.83 13.33
4585 end apogee: CONTROL_FINISHED_OK
state 4585 begin climb
4589 0.66 194.6 2742 2498 2989 2907 759.1 0.0 381 4772 0.88 2.50 171.38 1.653 10756 0.159 0.052 2996 1099 2154 2201 2108 0 0 0 0 0 0 13.94 13.71 13.22
4825 0.67 251.1 2996 1099 2195 2101 740.9 11.2 426 4883 0.00 2.55 51.10 1.593 9254 0.000 0.063 2996 2509 1927 1975 1880 0 0 0 0 0 0 14.11 14.03 13.29
5181 0.67 251.1 2996 2509 1968 1872 692.9 14.0 452 5187 0.00 2.53 0.00 0.000 260 0.000 0.086 2997 3917 1920 1968 1872 0 0 0 0 0 0 14.55 14.34 14.57
5240 0.67 251.1 2996 3917 1967 1872 684.0 14.4 463 5248 0.00 2.40 0.00 0.000 1030 0.000 0.045 2997 2510 1919 1967 1872 0 0 0 0 0 0 14.46 14.39 14.47
5547 0.67 251.1 2996 2506 1964 1872 640.4 14.6 479 5552 0.00 2.40 0.00 0.000 516 0.000 0.054 2996 1085 1916 1964 1869 0 0 0 0 0 0 14.72 14.53 14.74
5616 0.69 251.1 2996 1085 1960 1871 631.0 12.7 492 5622 0.00 2.50 0.00 0.000 1094 0.000 0.066 2997 2517 1915 1960 1871 0 0 0 0 0 0 14.59 14.52 14.62
5936 0.69 251.1 2997 2517 1961 1869 586.2 14.0 510 5942 0.00 2.45 0.00 0.000 260 0.000 0.089 2997 3911 1915 1959 1871 0 0 0 0 0 0 14.80 14.58 14.82
5990 0.69 251.1 2997 3911 1959 1871 578.1 14.1 520 5996 0.00 2.40 0.00 0.000 1030 0.000 0.047 2997 2484 1915 1960 1871 0 0 0 0 0 0 14.68 14.62 14.70
6305 0.69 251.1 2996 2481 1960 1871 536.7 13.6 537 6311 0.00 2.35 0.00 0.000 516 0.000 0.055 2997 1084 1915 1960 1871 0 0 0 0 0 0 14.85 14.64 14.87
6360 0.72 251.1 2996 1084 1958 1871 529.7 12.3 547 6366 0.00 2.47 0.00 0.000 1094 0.000 0.067 2997 2511 1914 1957 1871 0 0 0 0 0 0 14.72 14.64 14.74
6674 0.72 251.1 2996 2510 1958 1871 487.2 13.6 564 6680 0.00 2.47 0.00 0.000 260 0.000 0.089 2997 3920 1914 1958 1871 0 0 0 0 0 0 14.85 14.64 14.88
6714 0.72 251.1 2996 3920 1957 1871 481.3 14.8 571 6721 0.00 2.40 0.00 0.000 1030 0.000 0.048 2997 2490 1914 1958 1871 0 0 0 0 0 0 14.74 14.68 14.76
7021 0.75 251.1 2996 2486 1957 1871 442.0 12.3 587 7027 0.12 2.33 0.00 0.000 2628 0.146 0.053 3045 1093 1914 1957 1871 0 0 0 0 0 0 14.69 14.67 14.72
7070 0.75 251.1 3047 1093 1956 1872 434.7 15.1 596 7076 0.00 2.45 0.00 0.000 1030 0.000 0.065 3047 2512 1913 1955 1871 0 0 0 0 0 0 14.73 14.65 14.74
7390 0.75 251.1 3047 2512 1956 1871 382.2 16.6 614 7396 0.00 2.45 0.00 0.000 260 0.000 0.086 3047 3918 1913 1956 1871 0 0 0 0 0 0 14.87 14.65 14.88
7415 0.75 251.1 3047 3918 1956 1871 377.6 18.1 618 7422 0.00 2.40 0.00 0.000 1030 0.000 0.045 3047 2482 1913 1955 1871 0 0 0 0 0 0 14.74 14.67 14.76
7742 0.75 251.1 3047 2479 1955 1871 322.1 16.9 637 7747 0.00 2.33 0.00 0.000 516 0.000 0.054 3047 1086 1913 1955 1871 0 0 0 0 0 0 14.90 14.69 14.90
7810 0.75 251.1 3047 1085 1954 1871 310.8 15.3 650 7817 0.00 2.45 0.00 0.000 1030 0.000 0.066 3047 2510 1912 1954 1871 0 0 0 0 0 0 14.76 14.67 14.78
8131 0.75 251.1 3047 2509 1954 1872 257.3 16.8 668 8137 0.00 2.47 0.00 0.000 260 0.000 0.086 3047 3918 1913 1955 1872 0 0 0 0 0 0 14.89 14.66 14.91
8155 0.75 251.1 3047 3918 1954 1872 252.9 18.1 672 8160 0.00 2.40 0.00 0.000 1030 0.000 0.047 3047 2484 1913 1954 1872 0 0 0 0 0 0 14.77 14.70 14.78
8469 0.75 251.1 3047 2481 1955 1871 200.4 16.6 705 8475 0.00 2.33 0.00 0.000 516 0.000 0.054 3047 1087 1913 1954 1872 0 0 0 0 0 0 14.88 14.69 14.90
8524 0.75 251.1 3047 1087 1954 1872 191.9 14.9 715 8530 0.00 2.45 0.00 0.000 1030 0.000 0.064 3047 2509 1913 1954 1872 0 0 0 0 0 0 14.74 14.66 14.76
8720 0.75 251.1 3047 2509 1954 1872 159.8 16.4 735 8726 0.00 2.45 0.00 0.000 260 0.000 0.086 3047 3915 1913 1954 1872 0 0 0 0 0 0 14.88 14.64 14.89
8748 0.75 251.1 3047 3915 1954 1872 154.5 19.5 740 8755 0.00 2.38 0.00 0.000 1030 0.000 0.046 3047 2495 1913 1954 1872 0 0 0 0 0 0 14.73 14.67 14.76
8936 0.75 251.1 3047 2490 1954 1872 123.5 16.9 759 8941 0.00 2.35 0.00 0.000 516 0.000 0.054 3046 1083 1913 1954 1872 0 0 0 0 0 0 14.85 14.68 14.88
8995 0.75 251.1 3047 1083 1953 1872 113.9 15.2 770 9003 0.00 2.47 0.00 0.000 1030 0.000 0.067 3047 2514 1913 1954 1872 0 0 0 0 0 0 14.75 14.66 14.76
9181 0.75 251.1 3047 2514 1953 1872 83.4 16.4 789 9187 0.00 2.45 0.00 0.000 260 0.000 0.086 3047 3920 1912 1953 1872 0 0 0 0 0 0 14.88 14.65 14.90
9227 0.75 251.1 3047 3920 1953 1872 75.4 17.6 797 9233 0.00 2.38 0.00 0.000 1030 0.000 0.046 3048 2484 1912 1951 1873 0 0 0 0 0 0 14.72 14.68 14.74
9422 0.75 251.1 3047 2480 1953 1873 44.3 15.5 817 9428 0.00 2.33 0.00 0.000 516 0.000 0.054 3048 1086 1913 1954 1873 0 0 0 0 0 0 14.88 14.68 14.90
9477 0.75 251.1 3047 1085 1953 1872 35.9 14.2 827 9483 0.00 2.45 0.00 0.000 1030 0.000 0.065 3048 2511 1913 1953 1873 0 0 0 0 0 0 14.73 14.66 14.76
9673 0.75 251.1 3047 2510 1953 1873 6.3 15.7 847 9679 0.00 2.42 0.00 0.000 516 0.000 0.054 3048 1088 1913 1953 1873 0 0 0 0 0 0 14.88 14.65 14.90
9695 end climb: SURFACE_DEPTH_REACHED
state 9695 begin surface coast
9700 end surface coast: CONTROL_FINISHED_OK
state 9700 begin surface