DavisStrait Sep14 * SG217 * Dive index * Mission links * Dive 251 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  217 HD_C  9.9999997e-06 ROLL_MAX  3790 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  3 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  251 ESCAPE_HEADING  0 C_ROLL_DIVE  2450 ALTIM_TOP_MIN_OBSTACLE  1
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2375 ALTIM_PING_DEPTH  0
D_SURF  2 FIX_MISSING_TIMEOUT  1 HEAD_ERRBAND  10 ALTIM_PING_DELTA  5
D_FLARE  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  2
D_ABORT  1020 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  59 ALTIM_SENSITIVITY  3
D_NO_BLEED  50 SM_CC  350 R_STBD_OVSHOOT  45 XPDR_VALID  1
D_BOOST  25 N_FILEKB  8 ROLL_AD_RATE  350 XPDR_INHIBIT  90
T_BOOST  2 FILEMGR  0 ROLL_MAXERRORS  2 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  -0.1
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  1 VBD_MIN  500 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_MAX  3960 DEVICE1  -1
SURFACE_URGENCY  0 NOCOMM_ACTION  163 C_VBD  2709 DEVICE2  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE4  -1
T_DIVE  360 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE5  -1
T_MISSION  390 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0022 DEVICE6  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  53
T_TURN_SAMPINT  -5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  5 UNCOM_BLEED  60 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  25 VBD_MAXERRORS  1 LOGGERDEVICE4  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 COMPASS_DEVICE  97
USE_BATHY  -3 T_RSLEEP  3 DBDW  0 COMPASS2_DEVICE  -1
USE_ICE  0 STROBE  0 PITCH_W_GAIN  0 PHONE_DEVICE  49
ICE_FREEZE_MARGIN  0.30000001 RAFOS_PEAK_OFFSET  1.5 PITCH_W_DBAND  0 GPS_DEVICE  32
D_OFFGRID  100 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  20 RAFOS_DEVICE  32
T_WATCHDOG  10 RAFOS_HIT_WINDOW  3600 AH0_24V  350 XPDR_DEVICE  24
RELAUNCH  1 PITCH_MIN  200 AH0_10V  0 SIM_W  0
APOGEE_PITCH  -5 PITCH_MAX  3880 MINV_24V  12 SIM_PITCH  0
MAX_BUOY  140 C_PITCH  3095 MINV_10V  12 SEABIRD_T_G  0.0043902649
COURSE_BIAS  0 PITCH_DBAND  0.1 FG_AHR_10V  0 SEABIRD_T_H  0.00063436845
GLIDE_SLOPE  40 PITCH_CNV  0.003125763 FG_AHR_24V  0 SEABIRD_T_I  2.5093383e-05
SPEED_FACTOR  1 P_OVSHOOT  0.039999999 PHONE_SUPPLY  -2 SEABIRD_T_J  2.9521423e-06
RHO  1.0275 P_OVSHOOT_WITHG  0.079999998 PRESSURE_YINT  -51.110779 SEABIRD_C_G  -9.69524
MASS  52199 PITCH_GAIN  28 PRESSURE_SLOPE  0.0001155691 SEABIRD_C_H  1.1253856
MASS_COMP  0 PITCH_TIMEOUT  17 AD7714Ch0Gain  128 SEABIRD_C_I  -0.0011212705
NAV_MODE  10 PITCH_AD_RATE  160 TCM_PITCH_OFFSET  0 SEABIRD_C_J  0.00015718494
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SC_RECORDABOVE  2000.0
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_PROFILE  3.0
HD_A  0.0038000001 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_XMITPROFILE  3.0
HD_B  0.0099999998 ROLL_MIN  240 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  301014,034234,6702.618,-5657.533,24,1.0,24,-32.6 SPEED_LIMITS  0.109,0.246
_CALLS  1 TGT_NAME  TARGET_W
_XMS_NAKs  0 TGT_LATLONG  6644.000,-6026.000
_XMS_TOUTs  0 TGT_RADIUS  10000.000
_SM_DEPTHo  2.41 MHEAD_RNG_PITCHd_Wd  300.1,156460,-17.5,-9.167,-20.44,2275
_SM_ANGLEo  -71.7 D_GRID  639
GPS2  301014,034840,6702.662,-5657.412,5,1.4,6,-32.6

Post-dive calculations and measurements:
EKF  11931,4022.691162,-3420.685059,1.560525,0.039614,-0.004441,-0.012450,0.000168,0.001108,0.000099,0.000025,0.000025,0.000050 _24V_AH  13.27,61.728
FINISH  1.6,1.017924 _10V_AH  12.92,0.000
SM_CCo  11741,56.08,0.091,0,0,1282,350.04 FG_AHR_24Vo  0.000
SM_GC  2.68,9.45,0.12,56.08,0.082,0.138,0.091,213,2460,1282,-8.96,-1.05,350.04,0,0,0,0,0,0,14.59,14.62,14.59 FG_AHR_10Vo  0.000
RAFOS_CLK  -48 MEM  143160
RAFOS  0,1414641662,4.033333,4.017222,68,61,59,56,54,50,201,158,178,215,1157,129 DATA_FILE_SIZE  30093,855
RAFOS_FIX  6706.243164,-5708.077148,301014,040444,2,77,3.07 CAP_FILE_SIZE  139080,0
IRIDIUM_FIX  6631.12,-5655.33,301014,002949 CFSIZE  1024409600,988545024
TT8_MAMPS  0.03745,0.03745 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID  43.38 INTR  0,11722.99,0x23769e,7,5
INTERNAL_PRESSURE  8.51361 SOUNDSPEED  1463.9
TCM_TEMP  12.60 CURRENT  0.076,306.64,1
XPDR_PINGS  0 GPS  301014,070804,6702.989,-5701.695,67,0.8,67,-32.6
SC_FREEKB  3939744

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor24410131.65 nil000.00
Roll_motor126138232.02 nil000.00
VBD_pump_during_apogee30016276481.29 nil000.00
VBD_pump_during_surface569167.74 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon117343492.36
Iridium_during_xfer222146434.50 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS7201.97
TT8261524834.68
LPSleep71862214.49
TT8_Active61023189.05
TT8_Sampling158742875.09
TT8_CF819256139.83
TT8_Kalman000.00
Analog_circuits155515301.40
GPS_charging000.00
Compass1273582.26
RAFOS2520148.84
Transponder050.03

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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.92 -136.3 165 2466 1303 1229 0.0 0.0 0 76 0.00 0.00 -55.50 0.000 16386 0.000 0.000 162 2466 2688 2696 2681 0 0 0 0 0 0 28.83 28.83 28.83
79 -0.92 -136.3 161 2466 2697 2681 3.0 -1.5 5 113 12.32 2.47 -14.62 0.000 18948 0.411 0.089 2792 1062 3266 3297 3236 0 0 0 0 0 0 14.23 14.52 14.76
191 -0.92 -136.3 2792 1062 3302 3236 21.3 -18.2 24 199 0.00 2.35 0.00 0.000 1030 0.000 0.062 2786 2434 3269 3302 3236 0 0 0 0 0 0 28.83 14.52 28.83
518 -0.92 -136.3 2785 2433 3302 3235 73.9 -14.8 37 525 0.00 2.40 0.00 0.000 260 0.000 0.095 2785 3781 3268 3301 3235 0 0 0 0 0 0 28.83 14.53 28.83
564 -0.92 -136.3 2784 3781 3302 3234 81.1 -14.7 45 571 0.00 2.20 0.00 0.000 1030 0.000 0.052 2786 2447 3269 3302 3236 0 0 0 0 0 0 28.83 14.66 28.83
890 -0.92 -136.3 2786 2447 3302 3236 129.0 -14.9 60 891 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 2447 3268 3302 3235 0 0 0 0 0 0 28.83 28.83 28.83
1192 -0.92 -136.3 2786 2447 3302 3232 170.5 -13.4 75 1199 0.00 2.40 0.00 0.000 260 0.000 0.096 2785 3787 3267 3302 3232 0 0 0 0 0 0 28.83 14.54 28.83
1371 -0.92 -136.3 2785 3787 3302 3232 196.4 -14.0 108 1377 0.00 2.20 0.00 0.000 1030 0.000 0.054 2785 2453 3267 3302 3232 0 0 0 0 0 0 28.83 14.68 28.83
1690 -0.92 -136.3 2785 2453 3302 3232 239.9 -14.2 126 1699 0.00 2.35 0.00 0.000 516 0.000 0.065 2786 1062 3267 3302 3232 0 0 0 0 0 0 28.83 14.63 28.83
1705 -0.92 -136.3 2785 1062 3302 3232 242.2 -14.2 128 1712 0.00 2.35 0.00 0.000 1030 0.000 0.061 2785 2450 3266 3302 3231 0 0 0 0 0 0 28.83 14.64 28.83
2020 -0.92 -136.3 2785 2450 3301 3231 283.2 -12.6 145 2026 0.00 2.35 0.00 0.000 260 0.000 0.095 2785 3787 3266 3302 3231 0 0 0 0 0 0 28.83 14.58 28.83
2055 -0.92 -136.3 2785 3787 3302 3231 287.5 -12.9 151 2061 0.00 2.20 0.00 0.000 1030 0.000 0.052 2785 2442 3266 3302 3231 0 0 0 0 0 0 28.83 14.72 28.83
2369 -0.92 -136.3 2785 2442 3302 3230 324.1 -11.2 168 2376 0.00 2.33 0.00 0.000 516 0.000 0.064 2785 1069 3266 3302 3230 0 0 0 0 0 0 28.83 14.64 28.83
2405 -0.92 -136.3 2785 1069 3302 3230 327.9 -10.9 174 2413 0.00 2.35 0.00 0.000 1030 0.000 0.061 2785 2455 3266 3302 3230 0 0 0 0 0 0 28.83 14.65 28.83
2722 -0.92 -136.3 2785 2454 3303 3230 360.4 -10.5 191 2729 0.00 2.33 0.00 0.000 260 0.000 0.093 2785 3780 3266 3302 3231 0 0 0 0 0 0 28.83 14.59 28.83
2778 -0.92 -136.3 2785 3780 3302 3230 366.7 -10.9 201 2785 0.00 2.17 0.00 0.000 1030 0.000 0.051 2785 2448 3266 3302 3230 0 0 0 0 0 0 28.83 14.73 28.83
3093 -0.92 -136.3 2785 2451 3302 3230 399.4 -10.4 218 3094 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2448 3266 3302 3231 0 0 0 0 0 0 28.83 28.83 28.83
3394 -0.92 -136.3 2785 2448 3303 3230 431.9 -10.8 233 3401 0.00 2.38 0.00 0.000 260 0.000 0.093 2785 3778 3267 3303 3231 0 0 0 0 0 0 28.83 14.59 28.83
3429 -0.92 -136.3 2785 3781 3303 3231 436.0 -11.4 239 3436 0.00 2.17 0.00 0.000 1030 0.000 0.050 2785 2449 3267 3304 3230 0 0 0 0 0 0 28.83 14.73 28.83
3744 -0.92 -136.3 2785 2449 3304 3230 471.4 -11.3 256 3750 0.00 2.33 0.00 0.000 516 0.000 0.063 2785 1065 3267 3304 3230 0 0 0 0 0 0 28.83 14.66 28.83
3757 -0.92 -136.3 2785 1065 3305 3231 473.1 -11.2 258 3765 0.00 2.35 0.00 0.000 1030 0.000 0.060 2786 2454 3268 3305 3231 0 0 0 0 0 0 28.83 14.66 28.83
4074 -0.92 -136.3 2785 2455 3305 3230 508.9 -11.4 275 4076 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2455 3268 3305 3231 0 0 0 0 0 0 28.83 28.83 28.83
4375 -0.92 -136.3 2785 2455 3305 3230 542.1 -11.1 290 4376 0.00 0.00 0.00 0.000 6 0.000 0.000 2785 2455 3268 3305 3231 0 0 0 0 0 0 28.83 28.83 28.83
4676 -0.92 -136.3 2785 2454 3306 3231 574.6 -10.5 305 4682 0.00 2.33 0.00 0.000 260 0.000 0.093 2785 3781 3268 3306 3231 0 0 0 0 0 0 28.83 14.62 28.83
4756 -0.92 -136.3 2785 3781 3306 3231 583.7 -11.0 320 4764 0.00 2.17 0.00 0.000 1030 0.000 0.050 2785 2445 3268 3306 3231 0 0 0 0 0 0 28.83 14.75 28.83
5063 -0.92 -136.3 2785 2445 3308 3232 615.5 -10.6 336 5069 0.00 2.33 0.00 0.000 516 0.000 0.063 2785 1062 3269 3307 3231 0 0 0 0 0 0 28.83 14.67 28.83
5091 -0.92 -136.3 2785 1062 3307 3231 618.6 -10.5 341 5098 0.00 2.35 0.00 0.000 1030 0.000 0.059 2785 2458 3268 3307 3230 0 0 0 0 0 0 28.83 14.69 28.83
5412 -0.92 -136.3 2785 2458 3309 3230 632.4 0.0 359 5419 0.00 2.35 0.00 0.000 516 0.000 0.063 2785 1071 3270 3309 3231 0 0 0 0 0 0 28.83 14.67 28.83
5430 end dive: NO_VERTICAL_VELOCITY
state 5430 begin apogee
5437 -0.18 0.0 2785 2380 3309 3230 632.4 0.0 362 5553 0.80 0.00 109.47 1.628 10246 0.158 0.000 3036 2380 2706 2770 2642 0 0 0 0 0 0 14.57 28.83 13.52
5555 end apogee: CONTROL_FINISHED_OK
state 5555 begin climb
5557 0.92 136.3 3035 2380 2769 2642 632.2 0.0 368 5682 1.10 2.62 110.47 1.588 11012 0.158 0.087 3373 3771 2148 2216 2081 0 0 0 0 0 0 14.12 13.85 13.27
5883 0.92 136.3 3373 3771 2210 2080 599.1 12.1 426 5891 0.00 2.35 0.00 0.000 1030 0.000 0.047 3383 2383 2145 2210 2080 0 0 0 0 0 0 28.83 14.27 28.83
6200 0.92 136.3 3383 2382 2209 2079 563.0 11.1 443 6207 0.00 2.38 0.00 0.000 516 0.000 0.063 3394 984 2144 2209 2080 0 0 0 0 0 0 28.83 14.45 28.83
6289 0.92 136.3 3393 984 2209 2079 552.9 11.8 459 6296 0.00 2.38 0.00 0.000 1030 0.000 0.053 3394 2380 2145 2210 2080 0 0 0 0 0 0 28.83 14.50 28.83
6614 0.92 136.3 3393 2380 2208 2079 514.6 12.1 478 6622 0.00 2.45 0.00 0.000 260 0.000 0.087 3393 3781 2143 2208 2079 0 0 0 0 0 0 28.83 14.53 28.83
6635 0.92 136.3 3394 3782 2208 2079 512.0 11.9 481 6643 0.00 2.33 0.00 0.000 1030 0.000 0.047 3405 2362 2143 2208 2079 0 0 0 0 0 0 28.83 14.64 28.83
6941 0.92 136.3 3405 2363 2208 2079 475.5 11.6 497 6947 0.00 2.30 0.00 0.000 516 0.000 0.063 3415 990 2143 2208 2079 0 0 0 0 0 0 28.83 14.62 28.83
7027 0.92 136.3 3415 989 2209 2079 465.2 11.6 513 7033 0.00 2.33 0.00 0.000 1030 0.000 0.054 3415 2383 2143 2208 2079 0 0 0 0 0 0 28.83 14.64 28.83
7352 0.92 136.3 3415 2383 2208 2080 425.5 12.5 532 7358 0.00 2.35 0.00 0.000 516 0.000 0.063 3426 990 2143 2208 2079 0 0 0 0 0 0 28.83 14.65 28.83
7396 0.92 136.3 3426 990 2208 2079 419.9 12.1 540 7404 0.12 2.30 0.00 0.000 5126 0.254 0.054 3398 2377 2143 2208 2079 0 0 0 0 0 0 14.47 14.67 28.83
7723 0.92 136.3 3397 2376 2209 2079 382.8 11.3 559 7730 0.00 2.35 0.00 0.000 516 0.000 0.062 3408 990 2144 2209 2079 0 0 0 0 0 0 28.83 14.66 28.83
7764 0.92 136.3 3407 990 2208 2079 377.9 12.0 566 7773 0.00 2.30 0.00 0.000 1030 0.000 0.053 3407 2375 2144 2209 2080 0 0 0 0 0 0 28.83 14.69 28.83
8069 0.92 136.3 3408 2375 2209 2080 343.3 11.2 582 8078 0.00 2.42 0.00 0.000 260 0.000 0.086 3408 3779 2144 2209 2080 0 0 0 0 0 0 28.83 14.63 28.83
8095 0.92 136.3 3408 3778 2208 2080 340.1 12.1 586 8104 0.00 2.28 0.00 0.000 1030 0.000 0.047 3419 2373 2142 2209 2075 0 0 0 0 0 0 28.83 14.74 28.83
8422 0.92 136.3 3419 2372 2208 2079 302.8 11.4 605 8428 0.00 2.30 0.00 0.000 516 0.000 0.063 3428 992 2144 2209 2079 0 0 0 0 0 0 28.83 14.68 28.83
8508 0.92 136.3 3428 991 2208 2079 292.9 10.7 621 8516 0.15 2.33 0.00 0.000 5126 0.249 0.054 3392 2384 2143 2207 2079 0 0 0 0 0 0 14.49 14.70 28.83
8834 0.92 136.3 3392 2384 2208 2079 260.7 9.8 640 8840 0.00 2.35 0.00 0.000 516 0.000 0.063 3403 989 2143 2208 2079 0 0 0 0 0 0 28.83 14.69 28.83
8899 0.92 136.3 3403 989 2208 2079 254.2 10.1 652 8905 0.00 2.30 0.00 0.000 1030 0.000 0.054 3403 2375 2143 2208 2079 0 0 0 0 0 0 28.83 14.71 28.83
9225 0.92 136.3 3402 2375 2208 2079 222.8 9.2 671 9232 0.00 2.33 0.00 0.000 516 0.000 0.063 3413 993 2144 2209 2080 0 0 0 0 0 0 28.83 14.69 28.83
9266 0.92 136.3 3413 993 2209 2084 218.9 9.5 678 9275 0.00 2.30 0.00 0.000 1030 0.000 0.054 3413 2377 2144 2209 2079 0 0 0 0 0 0 28.83 14.71 28.83
9571 0.92 136.3 3413 2377 2209 2080 189.8 9.6 694 9579 0.00 2.42 0.00 0.000 260 0.000 0.087 3413 3775 2144 2209 2079 0 0 0 0 0 0 28.83 14.64 28.83
9587 0.92 136.3 3413 3776 2209 2079 188.2 9.9 696 9595 0.12 2.28 0.00 0.000 5126 0.267 0.048 3393 2375 2144 2209 2079 0 0 0 0 0 0 14.49 14.76 28.83
9903 0.94 142.0 3393 2374 2209 2080 160.0 8.9 713 9918 0.00 2.45 4.85 0.813 8452 0.000 0.088 3394 3776 2128 2191 2065 0 0 0 0 0 0 28.83 14.71 14.12
9966 0.94 142.0 3393 3776 2191 2065 153.8 10.1 724 9973 0.00 2.28 0.00 0.000 1030 0.000 0.048 3404 2374 2128 2191 2065 0 0 0 0 0 0 28.83 14.76 28.83
10272 0.94 144.8 3404 2372 2191 2065 124.3 9.0 740 10277 0.00 0.00 2.67 0.533 8198 0.000 0.000 3404 2374 2119 2182 2056 0 0 0 0 0 0 28.83 28.83 14.00
10574 1.01 174.4 3404 2374 2189 2057 100.2 7.8 751 10606 0.00 2.38 25.45 0.974 8708 0.000 0.065 3413 993 1994 2059 1929 0 0 0 0 0 0 28.83 14.69 14.17
10701 1.05 193.6 3413 993 2056 1929 89.2 8.3 774 10723 0.00 2.33 15.95 0.934 9222 0.000 0.055 3413 2381 1917 1981 1853 0 0 0 0 0 0 28.83 14.64 14.09
11048 1.08 206.2 3413 2381 1976 1850 58.4 8.6 791 11066 0.00 2.45 11.32 0.887 8452 0.000 0.089 3413 3780 1865 1930 1800 0 0 0 0 0 0 28.83 14.62 14.11
11120 1.10 217.9 3413 3780 1927 1800 52.1 8.6 804 11140 0.00 2.30 10.85 0.874 9222 0.000 0.049 3423 2376 1818 1884 1753 0 0 0 0 0 0 28.83 14.66 14.09
11455 1.13 230.2 3423 2376 1880 1749 25.1 8.6 819 11473 0.08 2.53 8.98 0.840 10500 0.207 0.091 3455 3773 1767 1834 1701 0 0 0 0 0 0 14.64 14.61 14.11
11566 1.13 230.2 3455 3773 1831 1700 13.3 10.2 839 11573 0.00 2.30 0.00 0.000 1030 0.000 0.049 3465 2373 1766 1832 1700 0 0 0 0 0 0 28.83 14.66 28.83
11691 end climb: SURFACE_DEPTH_REACHED
state 11691 begin surface coast
11722 end surface coast: CONTROL_FINISHED_OK
state 11722 begin surface