Faroes Jun08 * SG005 * Dive index * Mission links * Dive 231 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  5 HD_C  2.576e-06 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  20
MISSION  3 HEADING  -1 PITCH_ADJ_GAIN  0.039999999 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  231 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  159 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3943 ALTIM_PING_DEPTH  150
D_TGT  990 TGT_DEFAULT_LAT  52 ROLL_DEG  40 ALTIM_PING_DELTA  25
D_ABORT  1090 TGT_DEFAULT_LON  -7 C_ROLL_DIVE  2150 ALTIM_FREQUENCY  13
D_NO_BLEED  50 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2100 ALTIM_PULSE  5
D_FINISH  0 SM_CC  547.01898 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  56 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  18 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  400 MOTHERBOARD  2
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  412.5 N_NOSURFACE  0 ROLL_ADJ_GAIN  3 DEVICE2  20
T_MISSION  440 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0.029999999 DEVICE3  35
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  390 DEVICE4  -1
T_TURN  225 CALL_WAIT  60 VBD_MAX  3851 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2620 DEVICE6  -1
T_NO_W  600 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  0 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  5 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.0016 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  6 PHONE_DEVICE  16
T_WATCHDOG  10 T_GPS_CHARGE  -80925.805 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  12 VBD_BLEED_AD_RATE  8 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  21
MAX_BUOY  120 RAFOS_CORR_THRESH  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  0 SIM_PITCH  0
GLIDE_SLOPE  30 PITCH_MIN  432 AH0_24V  91.800003 SEABIRD_T_G  0.0043890956
SPEED_FACTOR  1 PITCH_MAX  3760 AH0_10V  61.200001 SEABIRD_T_H  0.00065287336
RHO  1.023 C_PITCH  2700 PRESSURE_YINT  -24.477776 SEABIRD_T_I  2.754709e-05
MASS  52000 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_J  3.0424237e-06
NAV_MODE  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -10.354986
FERRY_MAX  12 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1996267
KALMAN_USE  0 PITCH_GAIN  15 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0023424325
HD_A  0.0038945 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_J  0.0002635108
HD_B  0.0099684997 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  053325,6216.706,-1105.073,26,1.1,44,-10.6 TGT_NAME  IFRSILL
_CALLS  1 TGT_LATLONG  6250.000,-940.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.195,0.106
_SM_DEPTHo  0.85 KALMAN_X  -44591.7,467.2,259.2,33897.7,-6320.1
_SM_ANGLEo  -53.8 KALMAN_Y  -14792.8,734.0,1373.8,26488.3,-3887.7
GPS2  053950,6216.727,-1105.102,15,1.1,15,-10.6 MHEAD_RNG_PITCHd_Wd  72.0,94740,-16.7,-8.000
SPEED_LIMITS  0.139,0.222 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.2,1.002943 ALTIM_TOP_PING  18.8,999.0
SM_CCo  23367,212.18,0.765,0,0,390,547.02 _24V_AH  23.7,44.835
SM_GC  0.74,0.00,0.00,212.18,0.000,0.000,0.765,416,2139,390,-10.50,-0.31,547.02 _10V_AH  10.1,21.785
IRIDIUM_FIX  0.00,0.00,010170,000000 DATA_FILE_SIZE  56754,1120
TT8_MAMPS  0.029146 CAP_FILE_SIZE  184276,0
HUMID  1674 CFSIZE  254472192,236507136
TCM_TEMP  17.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,28,0,0
XPDR_PINGS  647 GPS  280708,121501,6219.199,-1104.173,41,1.1,41,-10.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2613384.69 SBE_CT76824437.37
Roll_motor23679447.29 SBE_O282819372.89
VBD_pump_during_apogee27714739686.74 WL_BB2F6191051541.15
VBD_pump_during_surface2127643845.33 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3710392.18 nil000.00
Iridium_during_connect34160130.21 nil000.00
Iridium_during_xfer168223889.29
Transponder_ping1694201689.69
Mmodem_TX000.00
Mmodem_RX000.00
GPS15507.86
TT8213619427.35
LPSleep178252394.28
TT8_Active71519143.04
TT8_Sampling2615391051.34
TT8_CF866345306.84
TT8_Kalman338127.56
Analog_circuits202412245.39
GPS_charging000.00
Compass25528206.26
RAFOS000.00

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
22 end surface: CONTROL_FINISHED_OK
state 22 begin dive
25 -1.30 -117.3 0.0 0.0 0 136 0.00 0.00 -108.25 0.000 6 0.000 0.000 418 2122 3099
140 -1.30 -117.3 2.5 -1.7 5 156 10.25 2.58 0.00 0.000 4 0.133 0.053 2407 3568 3098
353 -0.96 -117.3 37.7 -14.5 13 360 0.40 2.45 0.00 0.000 6 0.094 0.042 2489 2173 3097
671 -0.86 -117.3 65.0 -8.1 29 676 0.10 2.53 0.00 0.000 4 0.100 0.054 2511 750 3097
795 -0.81 -117.3 74.2 -7.3 34 801 0.00 2.47 0.00 0.000 6 0.000 0.046 2511 2142 3098
1114 -0.81 -117.3 95.2 -6.6 50 1118 0.00 2.53 0.00 0.000 4 0.000 0.057 2511 3563 3098
1209 -0.81 -117.3 102.8 -7.7 54 1213 0.00 2.50 0.00 0.000 6 0.000 0.044 2511 2145 3098
1527 -0.81 -117.3 124.8 -7.1 69 1531 0.00 2.47 0.00 0.000 4 0.000 0.058 2511 750 3098
1568 -0.81 -117.3 127.7 -7.2 71 1572 0.00 2.47 0.00 0.000 6 0.000 0.048 2511 2148 3098
1894 -0.81 -117.3 153.8 -8.2 87 1898 0.00 2.55 0.00 0.000 4 0.000 0.058 2511 744 3099
1956 -0.81 -117.3 159.4 -8.7 90 1960 0.00 2.50 0.00 0.000 6 0.000 0.049 2511 2147 3098
2283 -0.81 -117.3 187.8 -8.9 106 2284 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2146 3098
2592 -0.81 -117.3 215.8 -9.2 121 2596 0.00 2.53 0.00 0.000 4 0.000 0.060 2511 3561 3098
2641 -0.81 -117.3 220.7 -10.0 123 2646 0.00 2.53 0.00 0.000 6 0.000 0.047 2511 2134 3097
2958 -0.81 -117.3 250.0 -9.1 138 2962 0.00 2.47 0.00 0.000 4 0.000 0.061 2511 750 3097
3052 -0.81 -117.3 258.8 -8.7 142 3056 0.00 2.45 0.00 0.000 6 0.000 0.050 2511 2119 3097
3374 -0.81 -117.3 286.8 -8.5 158 3378 0.00 2.50 0.00 0.000 4 0.000 0.061 2511 751 3096
3429 -0.81 -117.3 292.1 -9.8 160 3435 0.00 2.42 0.00 0.000 6 0.000 0.051 2511 2105 3096
3745 -0.81 -117.3 318.6 -8.2 176 3750 0.00 2.60 0.00 0.000 4 0.000 0.063 2511 3563 3096
3790 -0.81 -117.3 322.7 -9.1 178 3794 0.00 2.58 0.00 0.000 6 0.000 0.049 2511 2103 3096
4112 -0.81 -117.3 348.7 -8.0 194 4113 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2103 3095
4420 -0.81 -117.3 372.5 -7.4 209 4424 0.00 2.62 0.00 0.000 4 0.000 0.062 2511 3557 3095
4482 -0.81 -117.3 377.4 -8.1 212 4487 0.00 2.58 0.00 0.000 6 0.000 0.049 2511 2106 3095
4809 -0.81 -117.3 402.9 -8.0 228 4810 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2106 3094
5120 -0.81 -117.3 426.5 -7.5 243 5125 0.00 2.62 0.00 0.000 4 0.000 0.062 2511 3554 3094
5184 -0.81 -117.3 431.6 -8.1 246 5188 0.00 2.55 0.00 0.000 6 0.000 0.049 2512 2117 3094
5511 -0.81 -117.3 455.8 -7.2 262 5512 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2100 3094
5820 -0.81 -117.3 478.2 -6.9 277 5822 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2100 3093
6129 -0.81 -117.3 499.1 -6.5 292 6134 0.00 2.62 0.00 0.000 4 0.000 0.062 2511 3551 3093
6179 -0.81 -117.3 502.5 -7.3 294 6184 0.00 2.55 0.00 0.000 6 0.000 0.049 2511 2121 3093
6496 -0.81 -117.3 522.0 -6.2 309 6500 0.00 2.47 0.00 0.000 4 0.000 0.063 2511 741 3093
6564 -0.81 -117.3 526.4 -6.6 312 6569 0.00 2.47 0.00 0.000 6 0.000 0.053 2510 2123 3093
6892 -0.81 -117.3 546.5 -6.1 328 6896 0.00 2.58 0.00 0.000 4 0.000 0.065 2511 3554 3092
6932 -0.81 -117.3 549.1 -6.6 330 6937 0.00 2.58 0.00 0.000 6 0.000 0.051 2511 2106 3093
7260 -0.81 -117.3 569.0 -6.1 346 7264 0.00 2.45 0.00 0.000 4 0.000 0.061 2511 740 3092
7316 -0.81 -117.3 572.8 -7.0 348 7322 0.00 2.47 0.00 0.000 6 0.000 0.053 2511 2120 3092
7632 -0.81 -117.3 593.3 -6.5 364 7637 0.00 2.50 0.00 0.000 4 0.000 0.064 2511 743 3092
7683 -0.81 -117.3 597.1 -7.0 366 7687 0.00 2.45 0.00 0.000 6 0.000 0.053 2511 2105 3092
7999 -0.81 -117.3 622.3 -9.3 381 8001 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2106 3091
8308 -0.81 -117.3 654.8 -11.4 396 8309 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2106 3091
8617 -0.81 -117.3 689.5 -10.6 411 8618 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 2106 3091
8928 -0.81 -117.3 716.3 -7.8 426 8932 0.00 2.50 0.00 0.000 4 0.000 0.065 2511 744 3091
8990 -0.81 -117.3 721.5 -8.2 429 8994 0.00 2.42 0.00 0.000 6 0.000 0.054 2511 2092 3091
9317 -0.81 -117.3 747.9 -7.8 445 9321 0.00 2.62 0.00 0.000 4 0.000 0.065 2511 3562 3091
9429 -0.81 -117.3 756.6 -8.0 450 9434 0.00 2.60 0.00 0.000 6 0.000 0.053 2511 2107 3091
9752 -0.81 -117.3 775.3 -4.8 466 9756 0.00 2.45 0.00 0.000 4 0.000 0.066 2511 748 3090
9837 -0.81 -117.3 779.5 -5.3 470 9842 0.00 2.38 0.00 0.000 6 0.000 0.055 2511 2066 3091
10165 -0.81 -117.3 792.4 -3.9 486 10170 0.00 2.70 0.00 0.000 4 0.000 0.067 2511 3563 3090
10238 -0.81 -117.3 796.1 -5.6 489 10242 0.00 2.67 0.00 0.000 6 0.000 0.055 2511 2075 3090
10555 -0.81 -117.3 810.5 -5.1 504 10559 0.00 2.72 0.00 0.000 4 0.000 0.070 2511 3556 3090
10599 -0.81 -117.3 813.2 -6.4 506 10603 0.00 2.67 0.00 0.000 6 0.000 0.057 2511 2074 3090
10920 -0.81 -117.3 829.5 -4.9 522 10925 0.00 2.42 0.00 0.000 4 0.000 0.073 2511 746 3090
11178 -0.87 -117.3 843.4 -5.9 533 11184 0.00 2.38 0.00 0.000 6 0.000 0.061 2511 2040 3089
11495 -0.91 -117.3 860.3 -5.3 549 11499 0.00 2.42 0.00 0.000 4 0.000 0.074 2510 747 3089
11609 -0.91 -117.3 867.7 -6.6 554 11613 0.00 2.40 0.00 0.000 6 0.000 0.062 2511 2058 3088
11937 -0.91 -117.3 884.8 -4.6 570 11941 0.00 2.75 0.00 0.000 4 0.000 0.076 2511 3553 3088
12194 -0.91 -117.3 898.9 -6.0 581 12200 0.00 2.67 0.00 0.000 6 0.000 0.061 2511 2084 3087
12511 -1.39 -117.3 900.3 -0.2 597 12517 0.47 2.78 0.00 0.000 4 0.048 0.080 2391 3550 3087
12771 -1.85 -117.3 900.3 -0.5 608 12777 0.43 2.70 0.00 0.000 6 0.048 0.071 2288 2093 3085
12919 end dive: NO_VERTICAL_VELOCITY
state 12919 begin apogee
12926 -0.33 0.0 900.3 0.0 616 13031 1.52 0.00 101.10 1.473 6 0.062 0.000 2624 2073 2620
13032 end apogee: CONTROL_FINISHED_OK
state 13032 begin climb
13035 1.30 117.3 899.8 0.0 621 13146 1.65 2.70 101.93 1.440 4 0.074 0.079 2977 692 2141
13191 1.20 117.3 887.7 11.1 628 13195 0.00 2.62 0.00 0.000 6 0.000 0.067 2977 2092 2141
13507 1.14 117.3 858.8 10.1 643 13512 0.15 2.65 0.00 0.000 4 0.094 0.077 2945 3510 2139
13602 1.14 117.3 849.6 10.9 647 13607 0.00 2.60 0.00 0.000 6 0.000 0.064 2945 2114 2138
13918 1.14 117.3 822.5 8.4 662 13923 0.00 2.62 0.00 0.000 4 0.000 0.078 2945 690 2138
13981 1.14 117.3 816.8 9.2 665 13986 0.00 2.60 0.00 0.000 6 0.000 0.066 2946 2092 2137
14309 1.19 117.3 788.6 8.5 681 14314 0.00 2.62 0.00 0.000 4 0.000 0.074 2945 3508 2136
14394 1.26 130.0 781.5 7.4 685 14416 0.12 2.55 11.43 1.275 6 0.059 0.061 2978 2114 2090
14728 1.23 135.2 753.1 7.8 701 14742 0.00 2.70 6.45 1.114 4 0.000 0.073 2978 691 2068
14773 1.18 135.2 749.2 8.0 703 14777 0.00 2.60 0.00 0.000 6 0.000 0.062 2978 2103 2068
15100 1.23 165.5 724.7 6.6 719 15134 0.00 2.70 26.92 1.327 4 0.000 0.067 2978 3510 1945
15181 1.23 165.5 718.3 8.3 722 15187 0.00 2.58 0.00 0.000 6 0.000 0.058 2978 2114 1945
15497 1.23 165.5 690.8 8.9 738 15501 0.00 2.60 0.00 0.000 4 0.000 0.066 2978 3510 1945
15542 1.23 165.5 686.7 8.7 740 15546 0.00 2.53 0.00 0.000 6 0.000 0.056 2978 2128 1945
15863 1.23 165.5 660.0 8.2 756 15867 0.00 2.55 0.00 0.000 4 0.000 0.065 2978 3511 1945
15907 1.23 165.5 656.2 8.5 758 15911 0.00 2.47 0.00 0.000 6 0.000 0.054 2979 2143 1945
16228 1.23 165.5 630.3 8.6 774 16233 0.00 2.53 0.00 0.000 4 0.000 0.065 2979 3514 1945
16250 1.23 165.5 628.1 9.0 775 16255 0.00 2.47 0.00 0.000 6 0.000 0.053 2978 2146 1945
16572 1.23 165.5 598.5 9.4 791 16576 0.00 2.50 0.00 0.000 4 0.000 0.064 2978 3510 1946
16605 1.23 165.5 595.2 9.7 792 16611 0.00 2.42 0.00 0.000 6 0.000 0.051 2978 2164 1946
16921 1.23 165.5 566.5 8.8 808 16925 0.00 2.47 0.00 0.000 4 0.000 0.062 2978 3514 1946
16942 1.23 165.5 564.4 8.5 809 16947 0.00 2.42 0.00 0.000 6 0.000 0.051 2979 2168 1946
17264 1.23 165.5 533.5 9.4 825 17269 0.00 2.47 0.00 0.000 4 0.000 0.062 2979 3512 1947
17292 1.23 165.5 530.8 10.7 826 17296 0.00 2.40 0.00 0.000 6 0.000 0.051 2979 2177 1947
17608 1.23 165.5 502.3 8.9 841 17612 0.00 2.45 0.00 0.000 4 0.000 0.061 2979 3519 1948
17636 1.23 165.5 499.7 9.3 842 17640 0.00 2.40 0.00 0.000 6 0.000 0.050 2978 2179 1948
17952 1.23 165.9 473.5 8.0 857 17956 0.00 2.42 0.00 0.000 4 0.000 0.060 2979 3511 1949
17985 1.25 177.1 470.6 7.5 858 18003 0.00 2.35 11.73 1.039 6 0.000 0.050 2979 2182 1898
18320 1.25 177.1 442.8 8.3 875 18325 0.00 2.42 0.00 0.000 4 0.000 0.061 2979 3511 1898
18338 1.25 177.1 441.3 8.4 876 18342 0.00 2.35 0.00 0.000 6 0.000 0.051 2978 2202 1898
18671 1.25 177.1 412.8 8.7 892 18675 0.00 2.40 0.00 0.000 4 0.000 0.061 2979 3511 1898
18688 1.25 177.1 411.2 9.1 893 18692 0.00 2.33 0.00 0.000 6 0.000 0.050 2978 2204 1898
19015 1.25 177.1 382.0 8.8 909 19019 0.00 2.40 0.00 0.000 4 0.000 0.060 2979 3513 1899
19038 1.29 177.1 379.9 9.1 910 19042 0.00 2.35 0.00 0.000 6 0.000 0.050 2979 2206 1899
19360 1.29 177.1 351.7 8.7 926 19361 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2191 1899
19669 1.34 177.1 325.2 8.5 941 19670 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2190 1899
19978 1.38 177.1 299.1 8.7 956 19979 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2189 1899
20288 1.42 177.1 273.2 8.3 971 20293 0.12 2.40 0.00 0.000 4 0.049 0.061 3018 3517 1900
20310 1.42 177.1 271.0 9.0 972 20314 0.00 2.33 0.00 0.000 6 0.000 0.050 3018 2216 1900
20632 1.36 177.1 235.5 11.1 988 20633 0.12 0.00 0.00 0.000 6 0.094 0.000 2995 2198 1900
20941 1.36 177.1 205.5 9.4 1003 20945 0.00 2.38 0.00 0.000 4 0.000 0.060 2996 3515 1900
20964 1.36 177.1 203.2 10.6 1004 20968 0.00 2.33 0.00 0.000 6 0.000 0.051 2995 2219 1901
21285 1.36 177.1 174.8 8.6 1020 21286 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 2205 1901
21595 1.36 177.1 148.4 8.6 1035 21596 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 2203 1901
21905 1.36 177.1 122.1 8.1 1050 21910 0.00 2.35 0.00 0.000 4 0.000 0.059 2995 3511 1901
21946 1.36 177.1 118.4 9.6 1052 21950 0.00 2.28 0.00 0.000 6 0.000 0.049 2995 2229 1901
22274 1.36 177.1 89.8 8.9 1068 22275 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 2212 1901
22582 1.36 177.1 62.9 8.3 1083 22583 0.00 0.00 0.00 0.000 6 0.000 0.000 2995 2211 1902
22891 1.37 184.3 38.3 7.7 1098 22905 0.00 2.38 8.55 0.730 4 0.000 0.056 2995 3509 1868
22925 1.43 193.9 35.6 7.6 1099 22939 0.00 2.33 9.30 0.734 6 0.000 0.049 2995 2220 1828
23268 1.43 193.9 5.9 9.1 1116 23273 0.00 2.75 0.00 0.000 4 0.000 0.061 2995 685 1828
23291 1.47 193.9 3.6 9.3 1117 23296 0.12 2.75 0.00 0.000 6 0.048 0.048 3034 2233 1828
23321 end climb: SURFACE_DEPTH_REACHED
state 23321 begin surface coast
23343 end surface coast: CONTROL_FINISHED_OK
state 23343 begin surface