DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 155 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  193 HD_B  0.0099999998 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  2 HD_C  6.0000002e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  155 HEADING  -1 ROLL_MIN  300 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3841 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0.5 C_ROLL_DIVE  2120 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  6000 C_ROLL_CLIMB  2200 ALTIM_FREQUENCY  13
D_ABORT  1015 TGT_DEFAULT_LON  -5500 HEAD_ERRBAND  10 ALTIM_PULSE  5
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  1
D_BOOST  100 SM_CC  290 ROLL_TIMEOUT  15 XPDR_VALID  6
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  15 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  12 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  260 INT_PRESSURE_YINT  0.93000001
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  1 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  161 VBD_MIN  500 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  20
T_DIVE  370 UPLOAD_DIVES_MAX  -1 C_VBD  2772 DEVICE3  -1
T_MISSION  420 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  360 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  5 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -1061.4657 VBD_MAXERRORS  1 COMPASS_DEVICE  97
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 AH0_24V  350 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  0 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  12 RAFOS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  12 XPDR_DEVICE  24
MAX_BUOY  140 PITCH_MIN  149 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3928 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  50 C_PITCH  2680 PHONE_SUPPLY  -2 SEABIRD_T_G  0.0043053469
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -48.048229 SEABIRD_T_H  0.00061871461
RHO  1.023 PITCH_CNV  0.0046000001 PRESSURE_SLOPE  0.0001163556 SEABIRD_T_I  2.1533233e-05
MASS  52000 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.1546668e-06
NAV_MODE  2 PITCH_GAIN  13 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8788214
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1391871
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  4 SEABIRD_C_I  -0.0018439521
HD_A  0.0043000001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00022276744

Pre-dive calculations and measurements:
GPS1  051012,163734,6657.464,-5755.463,37,0.8,38,-33.6 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.89 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.0 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  051012,164416,6657.458,-5755.576,4,0.7,5,-33.6 MHEAD_RNG_PITCHd_Wd  267.6,112832,-17.3,-8.919,-19.96
SPEED_LIMITS  0.075,0.246 D_GRID  914

Post-dive calculations and measurements:
FINISH  2.2,1.013612 _24V_AH  12.3,51.064
SM_CCo  16728,0.00,0.000,0,0,1540,302.21 _10V_AH  12.7,0.000
SM_GC  3.20,8.40,0.20,0.00,0.088,0.143,0.000,132,2113,1540,-11.62,0.37,302.21,0,0,0,0,0,0,14.69,14.66,28.83 FG_AHR_24Vo  0.000
RAFOS_CLK  744 FG_AHR_10Vo  0.000
RAFOS  4,1349454785,16.566668,16.551390,63,52,52,48,48,47,218,203,162,126,184,144 MEM  188748
RAFOS_FIX  6657.403809,-5819.586914,051012,202038,6,88,1.28 DATA_FILE_SIZE  56859,1203
IRIDIUM_FIX  6625.71,-5754.44,051012,121200 CAP_FILE_SIZE  143069,0
TT8_MAMPS  0.025466,0.025466 CFSIZE  259252224,239882240
HUMID  46.57 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  8.69397 SOUNDSPEED  1455.7
TCM_TEMP  12.80 CURRENT  0.136,331.4,1
XPDR_PINGS  11 GPS  051012,212603,6657.285,-5801.795,40,0.9,40,-33.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22468131.44 SBE_CT87423257.81
Roll_motor129191305.10 SBE_O2858339.49
VBD_pump_during_apogee387273513022.76 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer243151453.29 nil000.00
Transponder_ping242014.21 nil000.00
GUMSTIX_24V000.00
GPS5211.56
TT8310714590.38
LPSleep105792310.38
TT8_Active55314105.13
TT8_Sampling225433964.56
TT8_CF867138325.55
TT8_Kalman000.00
Analog_circuits196012298.71
GPS_charging000.00
Compass20446175.01
RAFOS2880154.86
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
20 -1.50 -136.9 0.0 0.0 0 45 0.00 0.00 -22.92 0.000 2 0.000 0.000 127 2115 1948 0 0 0 0 0 0 28.83 28.83 28.83
51 -1.50 -136.9 3.2 -3.7 4 148 11.35 2.80 -76.85 0.000 4 0.468 0.180 2338 3534 3330 0 0 0 0 0 0 14.33 14.46 14.76
384 -1.50 -136.9 43.3 -14.9 65 392 0.00 2.58 0.00 0.000 6 0.000 0.109 2338 2114 3331 0 0 0 0 0 0 28.83 14.59 28.83
703 -1.50 -136.9 86.3 -14.6 126 709 0.00 0.00 0.00 0.000 6 0.000 0.000 2338 2113 3332 0 0 0 0 0 0 28.83 28.83 28.83
1020 -1.50 -136.9 130.6 -12.9 166 1028 0.00 2.53 0.00 0.000 4 0.000 0.137 2338 713 3331 0 0 0 0 0 0 28.83 14.63 28.83
1054 -1.50 -136.9 135.5 -13.8 169 1064 0.08 2.60 0.00 0.000 6 0.304 0.142 2347 2120 3332 0 0 0 0 0 0 14.53 14.61 28.83
1365 -1.50 -136.9 178.2 -13.3 200 1374 0.00 2.55 0.00 0.000 4 0.000 0.135 2347 711 3331 0 0 0 0 0 0 28.83 14.63 28.83
1403 -1.50 -136.9 183.0 -13.6 203 1410 0.00 2.62 0.00 0.000 6 0.000 0.137 2339 2130 3331 0 0 0 0 0 0 28.83 14.67 28.83
1711 -1.50 -136.9 220.7 -11.4 234 1717 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2130 3331 0 0 0 0 0 0 28.83 28.83 28.83
2026 -1.50 -136.9 256.3 -11.1 265 2033 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2129 3330 0 0 0 0 0 0 28.83 28.83 28.83
2340 -1.50 -136.9 290.4 -11.4 296 2346 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2129 3330 0 0 0 0 0 0 28.83 28.83 28.83
2651 -1.50 -136.9 323.7 -10.8 327 2660 0.00 2.58 0.00 0.000 4 0.000 0.135 2339 708 3330 0 0 0 0 0 0 28.83 14.70 28.83
2695 -1.50 -136.9 329.3 -11.4 331 2704 0.08 2.60 0.00 0.000 6 0.302 0.138 2350 2126 3329 0 0 0 0 0 0 14.61 14.69 28.83
3006 -1.50 -136.9 361.2 -10.1 362 3014 0.00 2.65 0.00 0.000 4 0.000 0.156 2341 3532 3330 0 0 0 0 0 0 28.83 14.68 28.83
3053 -1.50 -136.9 365.9 -10.5 366 3059 0.00 2.53 0.00 0.000 6 0.000 0.105 2341 2111 3330 0 0 0 0 0 0 28.83 14.77 28.83
3360 -1.50 -136.9 399.2 -10.7 397 3370 0.00 2.50 0.00 0.000 4 0.000 0.132 2341 710 3330 0 0 0 0 0 0 28.83 14.71 28.83
3434 -1.50 -136.9 406.6 -11.4 400 3439 0.00 2.58 0.00 0.000 6 0.000 0.135 2334 2115 3330 0 0 0 0 0 0 28.83 14.71 28.83
3756 -1.50 -136.9 444.5 -11.4 411 3757 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2114 3329 0 0 0 0 0 0 28.83 28.83 28.83
4056 -1.50 -136.9 479.1 -11.7 421 4061 0.00 2.65 0.00 0.000 4 0.000 0.152 2323 3534 3330 0 0 0 0 0 0 28.83 14.73 28.83
4095 -1.50 -136.9 483.0 -11.9 422 4101 0.10 2.47 0.00 0.000 6 0.288 0.103 2348 2121 3330 0 0 0 0 0 0 14.65 14.79 28.83
4417 -1.50 -136.9 519.1 -10.6 433 4418 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2121 3330 0 0 0 0 0 0 28.83 28.83 28.83
4717 -1.50 -136.9 550.9 -10.5 443 4718 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2121 3330 0 0 0 0 0 0 28.83 28.83 28.83
5017 -1.50 -136.9 582.4 -10.6 453 5018 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2121 3330 0 0 0 0 0 0 28.83 28.83 28.83
5317 -1.50 -136.9 613.8 -10.6 463 5322 0.00 2.53 0.00 0.000 4 0.000 0.137 2349 706 3331 0 0 0 0 0 0 28.83 14.78 28.83
5386 -1.50 -136.9 621.1 -11.3 465 5392 0.00 2.60 0.00 0.000 6 0.000 0.142 2342 2115 3331 0 0 0 0 0 0 28.83 14.77 28.83
5708 -1.50 -136.9 658.1 -11.0 476 5713 0.00 2.65 0.00 0.000 4 0.000 0.155 2331 3533 3330 0 0 0 0 0 0 28.83 14.76 28.83
5742 -1.50 -136.9 661.6 -11.1 477 5748 0.08 2.47 0.00 0.000 6 0.285 0.104 2350 2119 3331 0 0 0 0 0 0 14.69 14.83 28.83
6070 -1.50 -136.9 696.8 -10.7 488 6071 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2118 3331 0 0 0 0 0 0 28.83 28.83 28.83
6370 -1.50 -136.9 726.3 -9.5 498 6375 0.00 2.50 0.00 0.000 4 0.000 0.135 2350 713 3331 0 0 0 0 0 0 28.83 14.80 28.83
6409 -1.50 -136.9 729.6 -9.6 499 6414 0.00 2.60 0.00 0.000 6 0.000 0.141 2344 2124 3330 0 0 0 0 0 0 28.83 14.78 28.83
6732 -1.50 -136.9 763.4 -10.3 510 6738 0.00 2.62 0.00 0.000 4 0.000 0.155 2334 3524 3331 0 0 0 0 0 0 28.83 14.78 28.83
6776 -1.50 -136.9 766.8 -10.3 511 6782 0.00 2.45 0.00 0.000 6 0.000 0.103 2334 2124 3331 0 0 0 0 0 0 28.83 14.83 28.83
7094 -1.50 -136.9 801.6 -10.5 522 7100 0.00 2.53 0.00 0.000 4 0.000 0.134 2333 702 3331 0 0 0 0 0 0 28.83 14.80 28.83
7138 -1.50 -136.9 805.1 -10.5 523 7144 0.10 2.60 0.00 0.000 6 0.300 0.136 2351 2125 3331 0 0 0 0 0 0 14.68 14.78 28.83
7456 -1.50 -136.9 836.7 -9.2 534 7457 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2125 3331 0 0 0 0 0 0 28.83 28.83 28.83
7756 -1.50 -136.9 865.4 -9.6 544 7757 0.00 0.00 0.00 0.000 6 0.000 0.000 2351 2125 3330 0 0 0 0 0 0 28.83 28.83 28.83
8056 -1.50 -136.9 894.4 -9.8 554 8061 0.00 2.55 0.00 0.000 4 0.000 0.135 2351 710 3331 0 0 0 0 0 0 28.83 14.81 28.83
8090 -1.50 -136.9 897.4 -9.7 555 8095 0.00 2.60 0.00 0.000 6 0.000 0.140 2345 2118 3331 0 0 0 0 0 0 28.83 14.78 28.83
8262 end dive: TARGET_DEPTH_EXCEEDED
state 8262 begin apogee
8274 -0.38 0.0 915.2 -9.8 561 8431 0.90 0.00 144.45 2.736 6 0.275 0.000 2591 2204 2773 0 0 0 0 0 0 14.71 28.83 12.96
8432 end apogee: CONTROL_FINISHED_OK
state 8432 begin climb
8437 1.50 136.9 920.3 0.0 566 8602 1.40 0.00 159.30 2.676 6 0.171 0.000 3003 2204 2213 0 0 0 0 0 0 13.80 28.83 12.32
8898 1.50 136.9 874.1 11.9 582 8903 0.00 2.72 0.00 0.000 4 0.000 0.134 3014 790 2204 0 0 0 0 0 0 28.83 14.01 28.83
8929 1.50 136.9 870.2 11.9 583 8934 0.00 2.70 0.00 0.000 6 0.000 0.124 3014 2194 2204 0 0 0 0 0 0 28.83 14.04 28.83
9261 1.50 136.9 829.9 12.1 594 9267 0.00 2.75 0.00 0.000 4 0.000 0.145 3014 3610 2202 0 0 0 0 0 0 28.83 14.33 28.83
9301 1.50 136.9 825.7 12.3 595 9306 0.00 2.58 0.00 0.000 6 0.000 0.104 3025 2196 2202 0 0 0 0 0 0 28.83 14.39 28.83
9623 1.50 136.9 782.3 13.1 606 9624 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2197 2201 0 0 0 0 0 0 28.83 28.83 28.83
9922 1.50 136.9 743.3 13.2 616 9923 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2197 2201 0 0 0 0 0 0 28.83 28.83 28.83
10224 1.50 136.9 704.6 12.7 626 10225 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2196 2200 0 0 0 0 0 0 28.83 28.83 28.83
10522 1.50 136.9 665.3 13.4 636 10523 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2197 2200 0 0 0 0 0 0 28.83 28.83 28.83
10823 1.50 136.9 624.7 13.4 646 10824 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2196 2200 0 0 0 0 0 0 28.83 28.83 28.83
11123 1.50 136.9 585.8 12.9 656 11124 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2197 2199 0 0 0 0 0 0 28.83 28.83 28.83
11423 1.50 136.9 546.8 12.9 666 11424 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2196 2199 0 0 0 0 0 0 28.83 28.83 28.83
11722 1.50 136.9 509.8 12.1 676 11723 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2197 2199 0 0 0 0 0 0 28.83 28.83 28.83
12023 1.50 136.9 472.6 12.7 686 12024 0.00 0.00 0.00 0.000 6 0.000 0.000 3025 2196 2199 0 0 0 0 0 0 28.83 28.83 28.83
12322 1.50 136.9 435.7 12.3 696 12328 0.00 2.70 0.00 0.000 4 0.000 0.150 3025 3615 2199 0 0 0 0 0 0 28.83 14.76 28.83
12366 1.50 136.9 431.8 12.3 697 12372 0.10 2.53 0.00 0.000 6 0.282 0.116 3008 2203 2199 0 0 0 0 0 0 14.70 14.80 28.83
12684 1.50 136.9 394.4 10.8 710 12690 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2203 2198 0 0 0 0 0 0 28.83 28.83 28.83
12998 1.50 136.9 361.1 11.1 741 13005 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2203 2198 0 0 0 0 0 0 28.83 28.83 28.83
13305 1.50 136.9 326.9 11.2 772 13314 0.00 2.55 0.00 0.000 4 0.000 0.141 3017 791 2198 0 0 0 0 0 0 28.83 14.74 28.83
13352 1.50 136.9 322.0 11.3 776 13359 0.00 2.60 0.00 0.000 6 0.000 0.130 3017 2210 2197 0 0 0 0 0 0 28.83 14.78 28.83
13660 1.50 136.9 286.0 11.5 807 13669 0.00 2.65 0.00 0.000 4 0.000 0.151 3017 3617 2198 0 0 0 0 0 0 28.83 14.73 28.83
13704 1.50 136.9 280.4 13.0 811 13713 0.00 2.50 0.00 0.000 6 0.000 0.107 3028 2201 2198 0 0 0 0 0 0 28.83 14.78 28.83
14015 1.50 136.9 244.6 11.0 842 14024 0.10 2.67 0.00 0.000 4 0.321 0.148 3008 3613 2198 0 0 0 0 0 0 14.69 14.72 28.83
14071 1.50 136.9 238.2 11.5 847 14080 0.00 2.50 0.00 0.000 6 0.000 0.107 3017 2201 2198 0 0 0 0 0 0 28.83 14.77 28.83
14382 1.50 136.9 205.5 10.5 878 14390 0.00 2.53 0.00 0.000 4 0.000 0.132 3028 781 2197 0 0 0 0 0 0 28.83 14.74 28.83
14446 1.50 136.9 198.9 10.4 884 14455 0.08 2.60 0.00 0.000 6 0.283 0.123 3008 2206 2197 0 0 0 0 0 0 14.65 14.74 28.83
14757 1.50 136.9 169.0 9.6 915 14765 0.00 2.60 0.00 0.000 4 0.000 0.145 3007 3611 2197 0 0 0 0 0 0 28.83 14.73 28.83
14871 1.50 136.9 157.0 10.7 926 14880 0.00 2.50 0.00 0.000 6 0.000 0.103 3017 2199 2197 0 0 0 0 0 0 28.83 14.76 28.83
15181 1.50 136.9 126.6 9.6 957 15190 0.00 2.53 0.00 0.000 4 0.000 0.132 3027 785 2197 0 0 0 0 0 0 28.83 14.75 28.83
15266 1.50 136.9 117.8 10.2 965 15276 0.08 2.55 0.00 0.000 6 0.278 0.122 3006 2203 2197 0 0 0 0 0 0 14.66 14.73 28.83
15581 1.51 145.7 88.0 8.5 1008 15589 0.00 2.72 2.83 0.520 4 0.000 0.149 3006 3615 2177 0 0 0 0 0 0 28.83 14.73 14.55
15690 1.52 150.6 78.5 8.7 1027 15698 0.00 2.53 2.75 0.436 6 0.000 0.106 3015 2197 2157 0 0 0 0 0 0 28.83 14.78 14.56
16015 1.52 157.6 50.5 8.6 1088 16028 0.00 2.60 3.80 0.374 4 0.000 0.133 3025 785 2128 0 0 0 0 0 0 28.83 14.71 14.59
16069 1.52 157.6 45.1 9.7 1097 16076 0.00 2.58 0.00 0.000 6 0.000 0.124 3025 2209 2127 0 0 0 0 0 0 28.83 14.73 28.83
16387 1.63 241.1 18.5 5.3 1158 16442 0.00 2.65 44.62 0.239 4 0.000 0.134 3035 793 1785 0 0 0 0 0 0 28.83 14.63 14.59
16488 1.70 298.2 12.5 6.4 1175 16524 0.00 2.58 29.27 0.227 6 0.000 0.122 3035 2204 1554 0 0 0 0 0 0 28.83 14.66 14.57
16599 end climb: SURFACE_DEPTH_REACHED
state 16605 begin surface coast
16640 end surface coast: CONTROL_FINISHED_OK
state 16640 begin surface