DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 176 * 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  176 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  19 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  11 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  -2 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -1101.6066 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  101012,021803,6647.029,-5941.883,48,0.8,52,-33.8 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  3.14 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  101012,022506,6646.979,-5941.763,5,0.8,5,-33.8 MHEAD_RNG_PITCHd_Wd  308.0,32829,-17.3,-8.919,-19.96
SPEED_LIMITS  0.075,0.246 D_GRID  866

Post-dive calculations and measurements:
FINISH  2.3,1.013471 _24V_AH  12.4,57.985
SM_CCo  15801,25.33,0.200,0,0,1588,290.19 _10V_AH  12.7,0.000
SM_GC  3.17,8.50,0.15,25.33,0.103,0.158,0.200,137,2113,1588,-11.60,0.37,290.19,0,0,0,0,0,0,14.71,14.69,14.57 FG_AHR_24Vo  0.000
RAFOS_CLK  704 FG_AHR_10Vo  0.000
RAFOS  0,1349841679,4.033333,4.021945,67,60,56,56,56,51,214,154,189,198,132,232 MEM  188728
RAFOS_FIX  6656.129395,-5936.582031,101012,040444,2,76,2.09 DATA_FILE_SIZE  53356,1164
IRIDIUM_FIX  6620.33,-5941.47,091012,212101 CAP_FILE_SIZE  146044,0
TT8_MAMPS  0.025466,0.025466 CFSIZE  259252224,238338048
HUMID  47.32 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  8.6842 SOUNDSPEED  1453.7
TCM_TEMP  12.60 CURRENT  0.149,182.3,1
XPDR_PINGS  8 GPS  101012,065123,6645.892,-5947.087,36,1.1,36,-33.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22453129.10 SBE_CT84223250.30
Roll_motor151182342.74 SBE_O2829338.49
VBD_pump_during_apogee359275712293.83 nil000.00
VBD_pump_during_surface2519962.70 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer261146476.05 nil000.00
Transponder_ping242010.42 nil000.00
GUMSTIX_24V000.00
GPS5211.56
TT8304414578.40
LPSleep96462282.99
TT8_Active58014110.24
TT8_Sampling230433985.98
TT8_CF868438331.85
TT8_Kalman000.00
Analog_circuits202712309.01
GPS_charging000.00
Compass20696177.15
RAFOS2520148.01
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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
19 -1.50 -136.9 0.0 0.0 0 27 0.00 0.00 -5.60 0.000 2 0.000 0.000 130 2111 1690 0 0 0 0 0 0 28.83 28.83 28.83
33 -1.50 -136.9 3.0 0.0 1 151 11.07 2.90 -99.28 0.000 4 0.454 0.183 2340 3540 3330 0 0 0 0 0 0 14.30 14.46 14.77
241 -1.50 -136.9 21.2 -19.9 36 248 0.00 2.58 0.00 0.000 6 0.000 0.106 2340 2117 3332 0 0 0 0 0 0 28.83 14.56 28.83
558 -1.50 -136.9 71.9 -14.0 97 566 0.00 2.58 0.00 0.000 4 0.000 0.135 2340 708 3332 0 0 0 0 0 0 28.83 14.57 28.83
632 -1.50 -136.9 82.7 -14.7 110 640 0.10 2.67 0.00 0.000 6 0.324 0.138 2348 2132 3332 0 0 0 0 0 0 14.47 14.59 28.83
946 -1.50 -136.9 125.0 -13.6 153 955 0.00 2.65 0.00 0.000 4 0.000 0.154 2340 3522 3332 0 0 0 0 0 0 28.83 14.57 28.83
1031 -1.50 -136.9 137.0 -13.7 161 1040 0.00 2.50 0.00 0.000 6 0.000 0.103 2340 2114 3332 0 0 0 0 0 0 28.83 14.64 28.83
1341 -1.50 -136.9 179.5 -14.2 192 1350 0.00 2.53 0.00 0.000 4 0.000 0.131 2340 712 3331 0 0 0 0 0 0 28.83 14.62 28.83
1408 -1.50 -136.9 188.7 -14.1 198 1416 0.10 2.65 0.00 0.000 6 0.332 0.138 2349 2129 3332 0 0 0 0 0 0 14.54 14.65 28.83
1716 -1.50 -136.9 227.1 -11.3 229 1726 0.00 2.67 0.00 0.000 4 0.000 0.156 2340 3529 3332 0 0 0 0 0 0 28.83 14.61 28.83
1792 -1.50 -136.9 236.8 -13.0 236 1801 0.00 2.50 0.00 0.000 6 0.000 0.101 2340 2121 3332 0 0 0 0 0 0 28.83 14.67 28.83
2102 -1.50 -136.9 275.9 -12.4 267 2108 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2121 3331 0 0 0 0 0 0 28.83 28.83 28.83
2417 -1.50 -136.9 311.5 -11.3 298 2426 0.00 2.72 0.00 0.000 4 0.000 0.161 2330 3532 3331 0 0 0 0 0 0 28.83 14.64 28.83
2442 -1.50 -136.9 314.7 -11.4 300 2451 0.08 2.50 0.00 0.000 6 0.288 0.102 2349 2115 3330 0 0 0 0 0 0 14.54 14.71 28.83
2752 -1.50 -136.9 348.0 -10.4 331 2760 0.00 2.50 0.00 0.000 4 0.000 0.131 2349 712 3331 0 0 0 0 0 0 28.83 14.68 28.83
2796 -1.50 -136.9 352.8 -10.6 335 2805 0.00 2.58 0.00 0.000 6 0.000 0.138 2342 2119 3331 0 0 0 0 0 0 28.83 14.64 28.83
3107 -1.50 -136.9 388.4 -11.7 366 3116 0.00 2.65 0.00 0.000 4 0.000 0.155 2331 3525 3331 0 0 0 0 0 0 28.83 14.64 28.83
3152 -1.50 -136.9 393.7 -11.7 370 3161 0.08 2.47 0.00 0.000 6 0.285 0.102 2350 2121 3331 0 0 0 0 0 0 14.55 14.71 28.83
3483 -1.50 -136.9 427.9 -9.9 385 3489 0.00 2.53 0.00 0.000 4 0.000 0.130 2350 712 3331 0 0 0 0 0 0 28.83 14.71 28.83
3532 -1.50 -136.9 431.2 -10.0 386 3541 0.00 2.60 0.00 0.000 6 0.000 0.137 2344 2123 3331 0 0 0 0 0 0 28.83 14.66 28.83
3844 -1.50 -136.9 465.4 -10.4 397 3845 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2123 3331 0 0 0 0 0 0 28.83 28.83 28.83
4145 -1.50 -136.9 497.5 -10.7 407 4146 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2123 3331 0 0 0 0 0 0 28.83 28.83 28.83
4444 -1.50 -136.9 530.8 -11.1 417 4445 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2123 3331 0 0 0 0 0 0 28.83 28.83 28.83
4744 -1.50 -136.9 561.7 -9.9 427 4745 0.00 0.00 0.00 0.000 6 0.000 0.000 2343 2123 3331 0 0 0 0 0 0 28.83 28.83 28.83
5045 -1.50 -136.9 591.2 -9.6 437 5046 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2123 3331 0 0 0 0 0 0 28.83 28.83 28.83
5344 -1.50 -136.9 620.5 -9.8 447 5350 0.00 2.55 0.00 0.000 4 0.000 0.136 2344 709 3332 0 0 0 0 0 0 28.83 14.76 28.83
5414 -1.50 -136.9 626.8 -10.2 449 5420 0.00 2.62 0.00 0.000 6 0.000 0.145 2337 2122 3331 0 0 0 0 0 0 28.83 14.73 28.83
5737 -1.50 -136.9 661.8 -10.7 460 5743 0.00 2.67 0.00 0.000 4 0.000 0.161 2326 3533 3331 0 0 0 0 0 0 28.83 14.72 28.83
5769 -1.50 -136.9 665.6 -10.8 461 5775 0.08 2.53 0.00 0.000 6 0.288 0.106 2346 2117 3332 0 0 0 0 0 0 14.63 14.80 28.83
6101 -1.50 -136.9 700.9 -10.8 472 6107 0.00 2.47 0.00 0.000 4 0.000 0.135 2346 705 3332 0 0 0 0 0 0 28.83 14.76 28.83
6136 -1.50 -136.9 704.4 -10.8 473 6142 0.00 2.60 0.00 0.000 6 0.000 0.139 2339 2118 3332 0 0 0 0 0 0 28.83 14.73 28.83
6463 -1.50 -136.9 739.0 -10.1 484 6464 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2118 3332 0 0 0 0 0 0 28.83 28.83 28.83
6763 -1.50 -136.9 769.3 -10.1 494 6764 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2118 3332 0 0 0 0 0 0 28.83 28.83 28.83
7063 -1.50 -136.9 799.1 -10.0 504 7064 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2118 3332 0 0 0 0 0 0 28.83 28.83 28.83
7363 -1.50 -136.9 828.4 -9.5 514 7364 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2118 3332 0 0 0 0 0 0 28.83 28.83 28.83
7666 -1.50 -136.9 857.5 -9.6 524 7671 0.00 2.67 0.00 0.000 4 0.000 0.156 2333 3530 3332 0 0 0 0 0 0 28.83 14.73 28.83
7902 -1.50 -136.9 857.7 -0.1 531 7910 0.10 2.50 0.00 0.000 6 0.229 0.104 2354 2119 3332 0 0 0 0 0 0 14.73 14.81 28.83
7934 end dive: NO_VERTICAL_VELOCITY
state 7934 begin apogee
7946 -0.38 0.0 857.6 0.0 533 8103 0.77 0.00 144.68 2.758 6 0.199 0.000 2593 2208 2773 0 0 0 0 0 0 14.71 28.83 12.95
8104 end apogee: CONTROL_FINISHED_OK
state 8104 begin climb
8109 1.50 136.9 857.4 0.0 538 8280 1.40 2.97 155.85 2.603 4 0.168 0.138 3017 789 2214 0 0 0 0 0 0 13.77 13.09 12.36
8379 1.50 136.9 832.5 13.1 547 8388 0.00 2.80 0.00 0.000 6 0.000 0.128 3017 2199 2206 0 0 0 0 0 0 28.83 13.68 28.83
8691 1.50 136.9 788.7 12.9 558 8696 0.00 2.78 0.00 0.000 4 0.000 0.151 3017 3612 2204 0 0 0 0 0 0 28.83 14.14 28.83
8722 1.50 136.9 784.4 13.1 559 8727 0.00 2.62 0.00 0.000 6 0.000 0.106 3027 2202 2203 0 0 0 0 0 0 28.83 14.22 28.83
9053 1.50 136.9 742.0 12.7 570 9054 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2202 2202 0 0 0 0 0 0 28.83 28.83 28.83
9354 1.50 136.9 703.1 12.9 580 9359 0.00 2.58 0.00 0.000 4 0.000 0.131 3037 787 2201 0 0 0 0 0 0 28.83 14.52 28.83
9378 1.50 136.9 703.1 12.9 580 9386 0.15 2.62 0.00 0.000 6 0.299 0.121 3005 2210 2201 0 0 0 0 0 0 14.44 14.54 28.83
9685 1.50 136.9 661.2 12.8 591 9686 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2210 2200 0 0 0 0 0 0 28.83 28.83 28.83
9985 1.50 136.9 622.6 12.7 601 9990 0.00 2.62 0.00 0.000 4 0.000 0.144 3005 3608 2200 0 0 0 0 0 0 28.83 14.63 28.83
10016 1.50 136.9 618.5 12.7 602 10022 0.00 2.50 0.00 0.000 6 0.000 0.105 3014 2201 2200 0 0 0 0 0 0 28.83 14.69 28.83
10348 1.50 136.9 576.6 12.6 613 10354 0.00 2.55 0.00 0.000 4 0.000 0.131 3025 780 2199 0 0 0 0 0 0 28.83 14.68 28.83
10379 1.50 136.9 572.5 12.6 614 10385 0.00 2.58 0.00 0.000 6 0.000 0.122 3025 2199 2198 0 0 0 0 0 0 28.83 14.69 28.83
10711 1.50 136.9 529.5 13.2 625 10712 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2200 2198 0 0 0 0 0 0 28.83 28.83 28.83
11011 1.50 136.9 489.9 13.4 635 11016 0.00 2.65 0.00 0.000 4 0.000 0.148 3025 3606 2198 0 0 0 0 0 0 28.83 14.69 28.83
11035 1.50 136.9 489.9 13.4 635 11044 0.12 2.53 0.00 0.000 6 0.313 0.106 3009 2192 2199 0 0 0 0 0 0 14.64 14.78 28.83
11343 1.50 136.9 447.7 12.4 646 11348 0.00 2.50 0.00 0.000 4 0.000 0.129 3019 791 2198 0 0 0 0 0 0 28.83 14.74 28.83
11377 1.50 136.9 443.6 12.5 647 11383 0.00 2.53 0.00 0.000 6 0.000 0.119 3019 2201 2197 0 0 0 0 0 0 28.83 14.74 28.83
11704 1.50 136.9 400.1 13.3 658 11705 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2201 2198 0 0 0 0 0 0 28.83 28.83 28.83
12009 1.50 136.9 362.5 12.3 686 12018 0.00 2.62 0.00 0.000 4 0.000 0.148 3019 3611 2198 0 0 0 0 0 0 28.83 14.71 28.83
12027 1.50 136.9 360.6 12.1 687 12035 0.10 2.53 0.00 0.000 6 0.324 0.105 3009 2192 2198 0 0 0 0 0 0 14.66 14.80 28.83
12336 1.50 136.9 323.9 11.1 718 12345 0.00 2.67 0.00 0.000 4 0.000 0.149 3009 3613 2198 0 0 0 0 0 0 28.83 14.71 28.83
12390 1.50 136.9 317.3 12.3 723 12400 0.00 2.47 0.00 0.000 6 0.000 0.101 3018 2203 2198 0 0 0 0 0 0 28.83 14.76 28.83
12700 1.50 136.9 282.5 11.1 754 12709 0.00 2.50 0.00 0.000 4 0.000 0.129 3029 791 2197 0 0 0 0 0 0 28.83 14.73 28.83
12755 1.50 136.9 276.2 11.5 759 12765 0.08 2.53 0.00 0.000 6 0.281 0.120 3008 2198 2197 0 0 0 0 0 0 14.62 14.72 28.83
13066 1.50 136.9 242.8 10.7 790 13075 0.00 2.62 0.00 0.000 4 0.000 0.145 3008 3616 2198 0 0 0 0 0 0 28.83 14.69 28.83
13093 1.50 136.9 240.1 10.9 792 13100 0.00 2.53 0.00 0.000 6 0.000 0.099 3017 2189 2198 0 0 0 0 0 0 28.83 14.80 28.83
13401 1.50 136.9 207.1 9.9 823 13411 0.00 2.70 0.00 0.000 4 0.000 0.146 3018 3618 2198 0 0 0 0 0 0 28.83 14.70 28.83
13459 1.50 136.9 201.0 11.3 828 13467 0.10 2.53 0.00 0.000 6 0.318 0.100 3008 2193 2198 0 0 0 0 0 0 14.65 14.79 28.83
13768 1.50 136.9 170.8 9.8 859 13778 0.00 2.50 0.00 0.000 4 0.000 0.127 3017 791 2197 0 0 0 0 0 0 28.83 14.71 28.83
13834 1.50 136.9 164.5 9.4 865 13842 0.00 2.53 0.00 0.000 6 0.000 0.119 3017 2200 2197 0 0 0 0 0 0 28.83 14.72 28.83
14144 1.52 151.0 137.8 8.3 896 14162 0.00 2.67 10.45 1.896 4 0.000 0.148 3017 3614 2156 0 0 0 0 0 0 28.83 14.67 13.97
14256 1.52 151.0 128.3 9.4 906 14263 0.00 2.55 0.00 0.000 6 0.000 0.104 3028 2190 2155 0 0 0 0 0 0 28.83 14.71 28.83
14564 1.52 156.4 100.0 8.7 937 14571 0.00 0.00 3.08 1.130 6 0.000 0.000 3027 2190 2134 0 0 0 0 0 0 28.83 28.83 13.90
14882 1.53 162.3 71.2 8.7 998 14896 0.00 2.80 3.10 0.424 4 0.000 0.151 3027 3615 2111 0 0 0 0 0 0 28.83 14.62 14.50
14936 1.53 162.3 66.1 8.9 1007 14945 0.12 2.55 0.00 0.000 6 0.299 0.103 3011 2189 2111 0 0 0 0 0 0 14.59 14.72 28.83
15261 1.61 224.8 42.0 6.2 1068 15304 0.00 2.75 35.10 0.314 4 0.000 0.149 3011 3615 1852 0 0 0 0 0 0 28.83 14.60 14.47
15454 1.63 240.0 27.0 8.3 1103 15469 0.00 2.55 7.25 0.283 6 0.000 0.103 3020 2192 1791 0 0 0 0 0 0 28.83 14.68 14.52
15732 end climb: SURFACE_DEPTH_REACHED
state 15733 begin surface coast
15774 end surface coast: CONTROL_FINISHED_OK
state 15774 begin surface