DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 22 * 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  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  22 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  349.6098 ROLL_TIMEOUT  15 XPDR_VALID  6
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  16 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  -770.25946 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  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00022276744

Pre-dive calculations and measurements:
GPS1  120912,073005,6659.904,-5729.417,66,1.0,66,-33.6 TGT_NAME  TARGET_E
_CALLS  1 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.10 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -65.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  120912,073712,6659.872,-5729.439,4,1.0,4,-33.6 MHEAD_RNG_PITCHd_Wd  117.0,30481,-16.3,-8.919,-20.19
SPEED_LIMITS  0.075,0.243 D_GRID  829

Post-dive calculations and measurements:
FINISH  1.3,1.014026 _24V_AH  12.8,11.556
SM_CCo  16012,19.02,0.186,0,0,1343,349.80 _10V_AH  13.1,0.000
SM_GC  2.42,8.62,2.80,19.02,0.103,0.114,0.186,140,2113,1343,-11.61,0.28,349.80,0,0,0,0,0,0,14.66,14.64,14.59 FG_AHR_24Vo  0.000
RAFOS_CLK  705 FG_AHR_10Vo  0.000
RAFOS  0,1347436870,8.033334,8.019444,63,58,52,50,50,48,159,205,120,195,182,171 MEM  188768
RAFOS_FIX  6702.237793,-5751.848633,120912,080840,4,90,4.88 DATA_FILE_SIZE  56844,1195
IRIDIUM_FIX  6631.12,-5733.42,120912,020237 CAP_FILE_SIZE  142650,0
TT8_MAMPS  0.027713,0.027713 CFSIZE  259252224,248930304
HUMID  46.45 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  8.70374 SOUNDSPEED  1457.9
TCM_TEMP  12.90 CURRENT  0.138,346.1,1
XPDR_PINGS  11 GPS  120912,120704,6701.302,-5725.215,35,0.8,36,-33.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23457134.68 SBE_CT86823266.57
Roll_motor140202364.06 SBE_O2842340.33
VBD_pump_during_apogee385255812630.85 nil000.00
VBD_pump_during_surface1918545.27 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer269151523.04 nil000.00
Transponder_ping242014.78 nil000.00
GUMSTIX_24V000.00
GPS5211.70
TT8308414604.54
LPSleep99052299.74
TT8_Active59014115.64
TT8_Sampling223733987.67
TT8_CF866338331.67
TT8_Kalman000.00
Analog_circuits199912314.27
GPS_charging000.00
Compass19996176.52
RAFOS2880156.59
Transponder050.04

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 -1.42 -136.9 0.0 0.0 0 87 0.00 0.00 -65.12 0.000 2 0.000 0.000 119 2119 2558 0 0 0 0 0 0 28.83 28.83 28.83
93 -1.42 -136.9 3.1 -2.7 11 138 11.18 2.67 -23.65 0.000 4 0.457 0.170 2365 702 3331 0 0 0 0 0 0 14.36 14.46 14.71
154 -1.42 -136.9 11.5 -16.4 20 161 0.00 2.75 0.00 0.000 6 0.000 0.160 2357 2124 3332 0 0 0 0 0 0 28.83 14.46 28.83
470 -1.42 -136.9 60.4 -13.3 81 478 0.00 2.65 0.00 0.000 4 0.000 0.148 2357 706 3333 0 0 0 0 0 0 28.83 14.55 28.83
608 -1.42 -136.9 79.0 -13.7 107 615 0.10 2.67 0.00 0.000 6 0.337 0.151 2366 2129 3333 0 0 0 0 0 0 14.52 14.58 28.83
925 -1.42 -136.9 117.8 -12.3 154 931 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2130 3333 0 0 0 0 0 0 28.83 28.83 28.83
1239 -1.42 -136.9 156.3 -12.4 185 1249 0.00 2.65 0.00 0.000 4 0.000 0.166 2357 3528 3333 0 0 0 0 0 0 28.83 14.64 28.83
1285 -1.42 -136.9 162.3 -12.1 189 1294 0.00 2.50 0.00 0.000 6 0.000 0.110 2356 2118 3333 0 0 0 0 0 0 28.83 14.69 28.83
1595 -1.42 -136.9 201.1 -12.1 220 1601 0.00 0.00 0.00 0.000 6 0.000 0.000 2356 2119 3333 0 0 0 0 0 0 28.83 28.83 28.83
1904 -1.42 -136.9 238.3 -11.8 251 1910 0.00 0.00 0.00 0.000 6 0.000 0.000 2357 2119 3331 0 0 0 0 0 0 28.83 28.83 28.83
2220 -1.42 -136.9 273.8 -11.0 282 2228 0.00 2.70 0.00 0.000 4 0.000 0.172 2347 3531 3331 0 0 0 0 0 0 28.83 14.70 28.83
2267 -1.42 -136.9 279.6 -11.7 286 2275 0.10 2.53 0.00 0.000 6 0.321 0.111 2365 2117 3331 0 0 0 0 0 0 14.66 14.75 28.83
2575 -1.42 -136.9 312.8 -10.7 317 2582 0.00 0.00 0.00 0.000 6 0.000 0.000 2365 2117 3331 0 0 0 0 0 0 28.83 28.83 28.83
2886 -1.42 -136.9 345.0 -10.6 348 2894 0.00 2.55 0.00 0.000 4 0.000 0.148 2366 709 3331 0 0 0 0 0 0 28.83 14.73 28.83
2923 -1.42 -136.9 348.9 -10.9 351 2929 0.00 2.62 0.00 0.000 6 0.000 0.153 2358 2122 3331 0 0 0 0 0 0 28.83 14.73 28.83
3231 -1.42 -136.9 382.8 -10.9 382 3240 0.00 2.65 0.00 0.000 4 0.000 0.166 2348 3534 3331 0 0 0 0 0 0 28.83 14.72 28.83
3278 -1.42 -136.9 387.6 -10.9 386 3286 0.10 2.53 0.00 0.000 6 0.321 0.109 2366 2112 3331 0 0 0 0 0 0 14.69 14.78 28.83
3607 -1.42 -136.9 421.3 -10.1 405 3608 0.00 0.00 0.00 0.000 6 0.000 0.000 2366 2112 3331 0 0 0 0 0 0 28.83 28.83 28.83
3906 -1.42 -136.9 451.1 -9.7 415 3912 0.00 2.67 0.00 0.000 4 0.000 0.169 2356 3526 3331 0 0 0 0 0 0 28.83 14.76 28.83
3930 -1.42 -136.9 451.1 -9.7 415 3937 0.00 2.50 0.00 0.000 6 0.000 0.110 2356 2117 3331 0 0 0 0 0 0 28.83 14.81 28.83
4238 -1.42 -136.9 484.1 -9.9 426 4239 0.00 0.00 0.00 0.000 6 0.000 0.000 2356 2117 3331 0 0 0 0 0 0 28.83 28.83 28.83
4538 -1.42 -136.9 513.1 -9.4 436 4539 0.00 0.00 0.00 0.000 6 0.000 0.000 2356 2117 3331 0 0 0 0 0 0 28.83 28.83 28.83
4838 -1.42 -136.9 541.9 -9.6 446 4839 0.00 0.00 0.00 0.000 6 0.000 0.000 2356 2117 3331 0 0 0 0 0 0 28.83 28.83 28.83
5137 -1.42 -136.9 570.0 -9.6 456 5143 0.00 2.55 0.00 0.000 4 0.000 0.150 2356 705 3331 0 0 0 0 0 0 28.83 14.81 28.83
5172 -1.42 -136.9 573.1 -9.7 457 5177 0.00 2.62 0.00 0.000 6 0.000 0.158 2349 2119 3331 0 0 0 0 0 0 28.83 14.81 28.83
5499 -1.42 -136.9 605.5 -9.8 468 5505 0.00 2.65 0.00 0.000 4 0.000 0.168 2339 3535 3331 0 0 0 0 0 0 28.83 14.81 28.83
5539 -1.42 -136.9 608.7 -9.9 469 5545 0.10 2.47 0.00 0.000 6 0.289 0.108 2365 2120 3331 0 0 0 0 0 0 14.76 14.85 28.83
5861 -1.42 -136.9 639.8 -9.3 480 5866 0.00 2.53 0.00 0.000 4 0.000 0.149 2365 711 3331 0 0 0 0 0 0 28.83 14.83 28.83
5895 -1.42 -136.9 642.9 -9.5 481 5900 0.00 2.60 0.00 0.000 6 0.000 0.155 2359 2118 3331 0 0 0 0 0 0 28.83 14.81 28.83
6222 -1.42 -136.9 675.3 -10.0 492 6223 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 2118 3331 0 0 0 0 0 0 28.83 28.83 28.83
6523 -1.42 -136.9 705.0 -9.8 502 6524 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 2118 3331 0 0 0 0 0 0 28.83 28.83 28.83
6822 -1.42 -136.9 734.2 -9.7 512 6823 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 2118 3330 0 0 0 0 0 0 28.83 28.83 28.83
7122 -1.42 -136.9 763.1 -9.6 522 7124 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 2118 3331 0 0 0 0 0 0 28.83 28.83 28.83
7422 -1.42 -136.9 791.7 -9.5 532 7423 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 2118 3331 0 0 0 0 0 0 28.83 28.83 28.83
7722 -1.42 -136.9 820.0 -9.4 542 7724 0.00 0.00 0.00 0.000 6 0.000 0.000 2359 2118 3331 0 0 0 0 0 0 28.83 28.83 28.83
7837 end dive: TARGET_DEPTH_EXCEEDED
state 7837 begin apogee
7849 -0.38 0.0 831.0 -9.2 546 8001 0.75 0.00 141.07 2.559 6 0.194 0.000 2593 2204 2772 0 0 0 0 0 0 14.86 28.83 12.98
8002 end apogee: CONTROL_FINISHED_OK
state 8002 begin climb
8007 1.42 136.9 832.4 0.0 551 8169 1.33 0.00 152.75 2.527 6 0.169 0.000 2985 2203 2213 0 0 0 0 0 0 13.80 28.83 12.83
8472 1.42 136.9 788.8 11.0 567 8473 0.00 0.00 0.00 0.000 6 0.000 0.000 2985 2204 2204 0 0 0 0 0 0 28.83 28.83 28.83
8772 1.42 136.9 756.3 10.8 577 8773 0.00 0.00 0.00 0.000 6 0.000 0.000 2985 2204 2202 0 0 0 0 0 0 28.83 28.83 28.83
9072 1.42 136.9 723.0 11.2 587 9073 0.00 0.00 0.00 0.000 6 0.000 0.000 2985 2204 2201 0 0 0 0 0 0 28.83 28.83 28.83
9372 1.42 136.9 689.8 11.1 597 9377 0.00 2.65 0.00 0.000 4 0.000 0.150 2996 787 2200 0 0 0 0 0 0 28.83 14.57 28.83
9406 1.42 136.9 686.2 11.1 598 9412 0.00 2.62 0.00 0.000 6 0.000 0.144 2996 2205 2199 0 0 0 0 0 0 28.83 14.58 28.83
9733 1.42 136.9 649.0 11.2 609 9739 0.00 2.67 0.00 0.000 4 0.000 0.163 2996 3610 2199 0 0 0 0 0 0 28.83 14.62 28.83
9769 1.42 136.9 645.1 11.5 610 9774 0.00 2.53 0.00 0.000 6 0.000 0.113 3006 2201 2200 0 0 0 0 0 0 28.83 14.66 28.83
10095 1.42 136.9 606.8 11.7 621 10101 0.00 2.58 0.00 0.000 4 0.000 0.148 3016 794 2199 0 0 0 0 0 0 28.83 14.67 28.83
10144 1.42 136.9 603.0 11.8 622 10154 0.08 2.58 0.00 0.000 6 0.288 0.140 2996 2203 2198 0 0 0 0 0 0 14.62 14.66 28.83
10456 1.42 136.9 565.3 11.5 633 10458 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2204 2198 0 0 0 0 0 0 28.83 28.83 28.83
10757 1.42 136.9 531.2 11.4 643 10762 0.00 2.62 0.00 0.000 4 0.000 0.158 2996 3610 2198 0 0 0 0 0 0 28.83 14.72 28.83
10791 1.42 136.9 527.3 11.8 644 10796 0.00 2.53 0.00 0.000 6 0.000 0.111 3005 2192 2198 0 0 0 0 0 0 28.83 14.76 28.83
11118 1.42 136.9 487.5 12.0 655 11119 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2192 2198 0 0 0 0 0 0 28.83 28.83 28.83
11418 1.42 136.9 450.8 12.2 665 11424 0.00 2.70 0.00 0.000 4 0.000 0.160 3005 3617 2198 0 0 0 0 0 0 28.83 14.76 28.83
11452 1.42 136.9 446.7 12.4 666 11458 0.08 2.53 0.00 0.000 6 0.307 0.111 2996 2195 2198 0 0 0 0 0 0 14.71 14.80 28.83
11780 1.42 136.9 407.4 11.9 677 11786 0.00 2.55 0.00 0.000 4 0.000 0.145 3005 787 2197 0 0 0 0 0 0 28.83 14.78 28.83
11821 1.42 136.9 403.4 11.9 678 11827 0.00 2.55 0.00 0.000 6 0.000 0.138 3006 2201 2196 0 0 0 0 0 0 28.83 14.78 28.83
12132 1.42 136.9 363.5 12.1 708 12141 0.00 2.60 0.00 0.000 4 0.000 0.157 3005 3608 2197 0 0 0 0 0 0 28.83 14.76 28.83
12187 1.42 136.9 356.6 13.0 713 12197 0.08 2.47 0.00 0.000 6 0.306 0.109 2995 2202 2197 0 0 0 0 0 0 14.71 14.80 28.83
12498 1.42 136.9 322.8 10.2 744 12506 0.00 2.55 0.00 0.000 4 0.000 0.143 3004 784 2196 0 0 0 0 0 0 28.83 14.77 28.83
12532 1.42 136.9 319.0 10.6 747 12541 0.00 2.55 0.00 0.000 6 0.000 0.136 3004 2199 2196 0 0 0 0 0 0 28.83 14.77 28.83
12842 1.42 136.9 286.6 10.3 778 12851 0.00 2.65 0.00 0.000 4 0.000 0.158 3004 3613 2197 0 0 0 0 0 0 28.83 14.76 28.83
12931 1.42 136.9 277.0 11.5 786 12939 0.12 2.55 0.00 0.000 6 0.324 0.109 2989 2193 2197 0 0 0 0 0 0 14.72 14.81 28.83
13239 1.42 136.9 245.5 9.9 817 13249 0.00 2.53 0.00 0.000 4 0.000 0.144 2998 784 2196 0 0 0 0 0 0 28.83 14.76 28.83
13315 1.42 136.9 237.8 10.4 824 13323 0.00 2.55 0.00 0.000 6 0.000 0.135 2998 2200 2196 0 0 0 0 0 0 28.83 14.77 28.83
13624 1.42 136.9 206.3 10.0 855 13633 0.00 2.62 0.00 0.000 4 0.000 0.158 2998 3612 2197 0 0 0 0 0 0 28.83 14.76 28.83
13669 1.42 136.9 201.3 11.3 859 13677 0.00 2.50 0.00 0.000 6 0.000 0.109 3008 2196 2197 0 0 0 0 0 0 28.83 14.79 28.83
13979 1.42 136.9 170.1 10.1 890 13988 0.00 2.55 0.00 0.000 4 0.000 0.145 3019 790 2196 0 0 0 0 0 0 28.83 14.77 28.83
14017 1.42 136.9 166.4 10.3 893 14026 0.12 2.58 0.00 0.000 6 0.312 0.136 2993 2209 2196 0 0 0 0 0 0 14.72 14.78 28.83
14327 1.43 142.8 137.6 8.7 924 14335 0.00 2.60 0.00 0.000 4 0.000 0.158 2993 3614 2197 0 0 0 0 0 0 28.83 14.76 28.83
14392 1.43 142.8 131.3 9.7 930 14401 0.00 2.50 1.25 0.585 6 0.000 0.110 3001 2197 2189 0 0 0 0 0 0 28.83 14.80 14.58
14702 1.44 154.3 103.7 8.4 961 14715 0.00 2.75 6.93 1.536 4 0.000 0.160 3001 3616 2143 0 0 0 0 0 0 28.83 14.71 14.19
14756 1.44 154.3 99.0 9.3 967 14763 0.00 2.55 0.00 0.000 6 0.000 0.109 3012 2197 2143 0 0 0 0 0 0 28.83 14.75 28.83
15074 1.45 156.2 71.8 8.8 1028 15081 0.00 2.55 0.00 0.000 4 0.000 0.145 3022 791 2141 0 0 0 0 0 0 28.83 14.73 28.83
15117 1.45 160.7 67.9 8.7 1035 15131 0.12 2.58 3.47 0.405 6 0.304 0.136 2996 2205 2115 0 0 0 0 0 0 14.67 14.73 14.60
15445 1.47 171.6 40.2 8.4 1097 15459 0.00 2.65 5.88 0.313 4 0.000 0.158 2995 3612 2071 0 0 0 0 0 0 28.83 14.70 14.64
15469 1.49 191.0 38.2 8.1 1100 15489 0.00 2.53 10.62 0.304 6 0.000 0.109 3004 2199 1994 0 0 0 0 0 0 28.83 14.73 14.63
15803 1.64 310.3 19.1 3.7 1163 15877 0.12 2.75 63.65 0.233 4 0.161 0.161 3056 3619 1503 0 0 0 0 0 0 14.72 14.59 14.57
15960 end climb: SURFACE_DEPTH_REACHED
state 15961 begin surface coast
15982 end surface coast: CONTROL_FINISHED_OK
state 15982 begin surface