DavisStrait Sep08 * SG113 * Dive index * Mission links * Dive 339 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  113 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 ESCAPE_HEADING  0 ROLL_MIN  280 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  339 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3944 ALTIM_PING_DEPTH  0
D_SURF  2 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  0
D_FLARE  3 TGT_DEFAULT_LAT  21 C_ROLL_DIVE  2340 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -158.3 C_ROLL_CLIMB  2520 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_NO_BLEED  50 SM_CC  225 ROLL_CNV  0.028270001 XPDR_VALID  4
D_FINISH  0 N_FILEKB  4 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  30 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  26 INT_PRESSURE_YINT  0
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  350 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0 DEVICE1  2
T_DIVE  470 UPLOAD_DIVES_MAX  -1 VBD_MIN  144 DEVICE2  20
T_MISSION  500 CALL_TRIES  5 VBD_MAX  3700 DEVICE3  -1
T_ABORT  1440 CALL_WAIT  60 C_VBD  2420 DEVICE4  -1
T_TURN  225 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  120 HEAPDBG  0 VBD_TIMEOUT  360 SMARTS  0
USE_BATHY  -3 T_GPS  15 PITCH_VBD_SHIFT  0.00135 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  4 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS_DEVICE  33
D_OFFGRID  900 T_GPS_CHARGE  -29386.729 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  2 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  70 CF8_MAXERRORS  0 RAFOS_DEVICE  32
MAX_BUOY  150 RAFOS_HIT_WINDOW  3600 AH0_24V  150 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  171 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  4022 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2436 PRESSURE_YINT  -25.705193 SEABIRD_T_G  0.004371644
RHO  1.02765 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001160825 SEABIRD_T_H  0.00064727472
MASS  51576 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_T_I  2.6231954e-05
NAV_MODE  1 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.8174416e-06
FERRY_MAX  45 PITCH_GAIN  14.7 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -9.9426794
KALMAN_USE  1 PITCH_TIMEOUT  20 COMPASS_USE  0 SEABIRD_C_H  1.1390046
HD_A  0.00342 PITCH_AD_RATE  150 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.00057758979
HD_B  0.0096000005 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00012778315
HD_C  3.1312e-05 PITCH_ADJ_GAIN  0.045000002 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  122907,6702.038,-5747.523,89,0.9,101,-37.8 TGT_NAME  TARGET_ADD3_WB
_CALLS  1 TGT_LATLONG  6655.000,-5823.000
_XMS_NAKs  4 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.201,-0.099
_SM_DEPTHo  1.50 KALMAN_X  -64946.8,-174.0,-1181.2,49568.6,2521.7
_SM_ANGLEo  -56.8 KALMAN_Y  -17228.8,-588.0,955.2,30064.4,1209.0
GPS2  123557,6702.012,-5747.605,34,2.0,34,-37.8 MHEAD_RNG_PITCHd_Wd  281.6,28796,-12.9,-7.021
SPEED_LIMITS  0.122,0.224 D_GRID  885

Post-dive calculations and measurements:
FINISH  0.9,1.022999 TCM_TEMP  15.40
SM_CCo  22904,0.00,0.000,0,0,1194,300.74 XPDR_PINGS  2
SM_GC  1.77,7.12,0.00,0.00,0.068,0.000,0.000,161,2323,1194,-10.38,-0.51,300.74 _24V_AH  19.7,63.258
RAFOS_CLK  1283 _10V_AH  10.5,27.916
RAFOS  2,1227356642,12.416667,12.400556,65,59,56,53,51,50,215,162,205,193,184,135 DATA_FILE_SIZE  37802,1044
RAFOS_FIX  75237.578125,-850016.000000,221108,000016,2,89,1395058.75 CAP_FILE_SIZE  175161,0
IRIDIUM_FIX  6631.12,-5738.07,160298,060655 CFSIZE  260165632,225734656
TT8_MAMPS  0.027612 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
HUMID  1901 SOUNDSPEED  1454.7
INTERNAL_PRESSURE  8.50619 GPS  221108,190002,6700.263,-5756.689,40,0.9,41,-37.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22268119.52 SBE_CT82224388.93
Roll_motor20969284.35 SBE_O271719268.60
VBD_pump_during_apogee452141812655.16 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410350.04 nil000.00
Iridium_during_connect43160136.25 nil000.00
Iridium_during_xfer177223779.96
Transponder_ping04204.14
Mmodem_TX000.00
Mmodem_RX000.00
GPS355018.66
TT8201219420.84
LPSleep176922429.14
TT8_Active70019146.61
TT8_Sampling227739954.66
TT8_CF862245300.15
TT8_Kalman338128.72
Analog_circuits196912248.12
GPS_charging000.00
Compass22088185.52
RAFOS2160134.02
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -1.08 -146.0 0.0 0.0 0 163 0.00 0.00 -142.07 0.000 2 0.000 0.000 165 2328 3015
166 -1.08 -146.0 3.6 -3.5 25 180 8.95 2.38 0.00 0.000 4 0.268 0.064 2191 3746 3019
435 -0.71 -146.0 54.3 -17.1 72 442 0.32 2.20 0.00 0.000 6 0.167 0.041 2282 2334 3022
780 -0.71 -146.0 85.2 -8.0 133 786 0.00 2.35 0.00 0.000 4 0.000 0.068 2283 3749 3023
826 -0.71 -146.0 89.0 -8.3 141 832 0.00 2.20 0.00 0.000 6 0.000 0.040 2283 2331 3023
1162 -0.71 -146.0 115.9 -8.7 176 1163 0.00 0.00 0.00 0.000 6 0.000 0.000 2283 2331 3023
1469 -0.71 -146.0 141.2 -7.8 191 1472 0.00 2.35 0.00 0.000 4 0.000 0.068 2283 3745 3023
1542 -0.79 -146.0 147.0 -7.6 194 1546 0.00 2.20 0.00 0.000 6 0.000 0.041 2283 2333 3023
1869 -0.85 -146.0 171.1 -7.0 210 1871 0.12 0.00 0.00 0.000 6 0.093 0.000 2236 2333 3023
2178 -0.78 -146.0 196.8 -7.9 225 2183 0.12 2.25 0.00 0.000 4 0.171 0.056 2268 931 3022
2256 -0.78 -146.0 202.6 -7.3 228 2262 0.00 2.28 0.00 0.000 6 0.000 0.053 2268 2347 3022
2572 -0.78 -146.0 223.2 -6.3 244 2576 0.00 2.33 0.00 0.000 4 0.000 0.069 2268 3755 3022
2634 -0.86 -146.0 227.2 -6.5 246 2640 0.00 2.20 0.00 0.000 6 0.000 0.040 2268 2341 3021
2950 -0.92 -146.0 247.2 -7.0 262 2955 0.12 2.35 0.00 0.000 4 0.097 0.067 2222 3745 3021
3000 -0.85 -146.0 251.7 -9.3 264 3004 0.12 2.20 0.00 0.000 6 0.167 0.040 2254 2330 3021
3321 -0.85 -146.0 277.6 -8.2 280 3322 0.00 0.00 0.00 0.000 6 0.000 0.000 2254 2329 3021
3629 -0.85 -146.0 301.2 -7.1 295 3631 0.00 0.00 0.00 0.000 6 0.000 0.000 2254 2329 3021
3939 -0.85 -146.0 322.9 -7.0 310 3940 0.00 0.00 0.00 0.000 6 0.000 0.000 2254 2329 3021
4249 -0.85 -146.0 344.6 -6.9 325 4253 0.00 2.38 0.00 0.000 4 0.000 0.067 2254 3756 3021
4341 -0.94 -146.0 350.8 -6.9 329 4345 0.00 2.20 0.00 0.000 6 0.000 0.040 2254 2341 3021
4674 -0.99 -146.0 370.4 -5.8 345 4676 0.12 0.00 0.00 0.000 6 0.099 0.000 2208 2341 3021
4983 -0.90 -146.0 393.9 -7.9 360 4988 0.12 2.25 0.00 0.000 4 0.158 0.053 2241 926 3022
5023 -0.90 -146.0 396.9 -7.4 362 5026 0.00 2.28 0.00 0.000 6 0.000 0.051 2241 2348 3022
5351 -0.90 -146.0 420.0 -6.9 371 5355 0.00 2.30 0.00 0.000 4 0.000 0.067 2242 3745 3022
5447 -0.94 -146.0 426.9 -7.0 373 5451 0.00 2.20 0.00 0.000 6 0.000 0.039 2242 2326 3022
5771 -0.94 -146.0 447.2 -6.2 381 5775 0.00 2.20 0.00 0.000 4 0.000 0.053 2241 933 3022
5828 -0.94 -146.0 450.9 -6.6 382 5832 0.00 2.25 0.00 0.000 6 0.000 0.048 2241 2347 3023
6146 -0.94 -146.0 470.1 -6.0 390 6151 0.00 2.30 0.00 0.000 4 0.000 0.067 2241 3743 3023
6231 -1.01 -146.0 475.6 -6.8 391 6238 0.10 2.17 0.00 0.000 6 0.100 0.039 2206 2338 3023
6563 -0.92 -146.0 501.1 -8.0 400 6568 0.12 2.35 0.00 0.000 4 0.157 0.065 2239 3745 3024
6618 -0.97 -146.0 505.2 -7.4 401 6622 0.00 2.17 0.00 0.000 6 0.000 0.038 2240 2339 3024
6932 -0.97 -146.0 527.1 -6.9 409 6933 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2338 3024
7257 -0.97 -146.0 549.4 -6.9 417 7261 0.00 2.35 0.00 0.000 4 0.000 0.065 2240 3753 3025
7352 -1.04 -146.0 556.2 -7.2 419 7357 0.12 2.20 0.00 0.000 6 0.097 0.038 2195 2333 3025
7676 -0.92 -146.0 582.5 -8.1 427 7681 0.15 2.38 0.00 0.000 4 0.154 0.065 2237 3752 3025
7722 -0.98 -146.0 585.7 -6.8 428 7726 0.00 2.20 0.00 0.000 6 0.000 0.038 2237 2332 3024
8046 -0.98 -146.0 607.4 -6.6 436 8047 0.00 0.00 0.00 0.000 6 0.000 0.000 2237 2332 3025
8371 -0.98 -146.0 628.3 -6.4 444 8375 0.00 2.35 0.00 0.000 4 0.000 0.065 2237 3743 3025
8417 -1.04 -146.0 631.3 -7.3 445 8421 0.10 2.17 0.00 0.000 6 0.112 0.039 2203 2338 3025
8747 -0.96 -146.0 654.6 -7.0 453 8749 0.10 0.00 0.00 0.000 6 0.163 0.000 2228 2337 3025
9071 -0.96 -146.0 673.0 -5.7 461 9075 0.00 2.35 0.00 0.000 4 0.000 0.065 2228 3752 3025
9134 -0.96 -146.0 676.9 -5.9 462 9138 0.00 2.20 0.00 0.000 6 0.000 0.039 2229 2336 3025
9447 -0.96 -146.0 694.7 -5.7 470 9448 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2335 3025
9772 -0.96 -146.0 714.3 -6.2 478 9776 0.00 2.35 0.00 0.000 4 0.000 0.066 2229 3747 3025
9834 -1.00 -146.0 718.2 -5.8 479 9838 0.00 2.20 0.00 0.000 6 0.000 0.038 2229 2331 3025
10148 -1.00 -146.0 737.3 -6.2 487 10149 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2331 3025
10473 -1.00 -146.0 756.9 -6.0 495 10477 0.00 2.35 0.00 0.000 4 0.000 0.066 2228 3742 3025
10530 -1.06 -146.0 760.5 -5.7 496 10535 0.10 2.17 0.00 0.000 6 0.100 0.040 2192 2340 3024
10849 -0.96 -146.0 782.8 -7.2 504 10851 0.12 0.00 0.00 0.000 6 0.155 0.000 2225 2340 3025
11174 -0.96 -146.0 802.2 -5.9 512 11175 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 2340 3025
11499 -0.96 -146.0 820.7 -5.6 520 11503 0.00 2.35 0.00 0.000 4 0.000 0.067 2226 3749 3025
11562 -1.01 -146.0 824.5 -5.7 521 11566 0.00 2.20 0.00 0.000 6 0.000 0.039 2225 2334 3025
11875 -1.01 -146.0 843.5 -6.0 529 11876 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 2334 3025
12200 -1.01 -146.0 862.4 -5.8 537 12201 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 2334 3024
12525 -1.01 -146.0 882.4 -6.3 545 12529 0.00 2.38 0.00 0.000 4 0.000 0.067 2226 3750 3024
12562 end dive: TARGET_DEPTH_EXCEEDED
state 12562 begin apogee
12570 -0.34 0.0 885.1 6.7 545 12713 0.43 0.00 140.30 1.419 6 0.145 0.000 2359 2505 2420
12714 end apogee: CONTROL_FINISHED_OK
state 12714 begin climb
12717 1.08 146.0 888.3 0.0 549 12978 1.12 2.75 175.18 1.149 4 0.108 0.064 2672 3919 1824
13040 0.80 146.0 863.2 10.7 556 13045 0.25 2.40 0.00 0.000 6 0.143 0.039 2610 2528 1824
13389 0.83 165.7 840.7 6.3 565 13413 0.00 2.35 18.05 1.302 4 0.000 0.054 2610 1110 1745
13425 0.96 199.9 838.3 5.9 565 13462 0.12 2.30 31.08 1.325 6 0.079 0.049 2661 2526 1606
13796 0.89 199.9 807.2 8.4 575 13801 0.12 2.28 0.00 0.000 4 0.138 0.053 2626 1110 1605
13818 0.89 199.9 805.3 7.5 575 13821 0.00 2.25 0.00 0.000 6 0.000 0.049 2626 2525 1604
14161 0.96 213.1 783.0 6.6 584 14180 0.00 2.35 12.35 1.257 4 0.000 0.053 2626 1109 1551
14192 1.13 269.0 781.0 5.1 584 14248 0.17 2.28 50.03 1.340 6 0.073 0.048 2693 2534 1323
14575 1.03 269.0 744.0 10.1 594 14579 0.12 2.30 0.00 0.000 4 0.134 0.053 2660 1105 1320
14625 1.03 269.0 739.5 8.0 595 14628 0.00 2.25 0.00 0.000 6 0.000 0.048 2660 2521 1320
14943 1.03 269.0 710.8 9.2 603 14947 0.00 2.25 0.00 0.000 4 0.000 0.054 2660 1109 1320
14988 1.03 269.0 706.6 9.1 604 14992 0.00 2.25 0.00 0.000 6 0.000 0.049 2660 2533 1320
15318 1.03 269.0 675.7 9.3 612 15322 0.00 2.28 0.00 0.000 4 0.000 0.053 2660 1103 1320
15368 1.03 269.0 671.0 9.5 613 15372 0.00 2.25 0.00 0.000 6 0.000 0.048 2660 2531 1320
15692 1.03 269.0 641.5 9.0 621 15696 0.00 2.28 0.00 0.000 4 0.000 0.053 2660 1100 1320
15731 1.09 269.0 638.0 8.2 621 15738 0.00 2.25 0.00 0.000 6 0.000 0.048 2660 2524 1320
16063 1.09 269.0 609.2 8.6 630 16067 0.00 2.25 0.00 0.000 4 0.000 0.052 2660 1111 1320
16090 1.14 269.0 606.8 8.1 630 16095 0.08 2.22 0.00 0.000 6 0.102 0.048 2693 2522 1319
16432 1.06 269.0 572.3 10.2 639 16437 0.12 2.28 0.00 0.000 4 0.135 0.054 2657 1103 1319
16449 1.06 269.0 570.8 10.2 639 16453 0.00 2.25 0.00 0.000 6 0.000 0.048 2657 2526 1319
16796 1.06 269.0 542.0 8.3 648 16800 0.00 2.28 0.00 0.000 4 0.000 0.053 2657 1096 1319
16830 1.13 269.0 539.1 8.4 648 16834 0.10 2.25 0.00 0.000 6 0.092 0.048 2699 2522 1319
17166 1.03 269.0 500.9 11.8 657 17171 0.15 2.28 0.00 0.000 4 0.133 0.053 2654 1103 1319
17187 1.03 269.0 498.9 8.3 657 17191 0.00 2.25 0.00 0.000 6 0.000 0.048 2654 2528 1319
17536 1.07 269.0 470.6 7.9 666 17539 0.00 2.28 0.00 0.000 4 0.000 0.051 2654 1095 1319
17586 1.16 269.0 466.7 7.2 667 17591 0.12 2.25 0.00 0.000 6 0.079 0.048 2706 2520 1319
17905 1.06 269.0 434.5 10.2 675 17909 0.15 2.28 0.00 0.000 4 0.133 0.052 2661 1103 1319
17938 1.12 269.4 431.6 7.0 675 17942 0.00 2.25 0.00 0.000 6 0.000 0.048 2661 2527 1319
18275 1.12 269.4 405.7 7.6 684 18278 0.00 2.28 0.00 0.000 4 0.000 0.051 2661 1095 1319
18343 1.20 269.5 400.8 7.0 685 18347 0.12 2.25 0.00 0.000 6 0.083 0.048 2710 2524 1319
18675 1.08 269.5 368.3 9.9 701 18679 0.15 2.28 0.00 0.000 4 0.130 0.051 2665 1097 1319
18691 1.08 269.5 366.8 9.4 701 18697 0.00 2.25 0.00 0.000 6 0.000 0.047 2665 2522 1318
19006 1.08 269.5 341.6 8.0 717 19007 0.00 0.00 0.00 0.000 6 0.000 0.000 2665 2522 1319
19315 1.08 269.5 314.6 9.3 732 19319 0.00 2.25 0.00 0.000 4 0.000 0.052 2665 1110 1319
19331 1.14 269.5 313.2 9.2 732 19338 0.00 2.25 0.00 0.000 6 0.000 0.048 2665 2533 1320
19647 1.18 269.5 283.7 9.4 748 19652 0.10 2.28 0.00 0.000 4 0.087 0.051 2709 1108 1320
19680 1.18 269.5 280.2 10.9 749 19686 0.00 2.25 0.00 0.000 6 0.000 0.048 2709 2534 1320
19996 1.10 269.5 245.4 11.0 765 20001 0.12 2.30 0.00 0.000 4 0.136 0.051 2672 1098 1320
20014 1.10 269.5 243.5 10.5 766 20018 0.00 2.25 0.00 0.000 6 0.000 0.048 2671 2523 1320
20346 1.15 269.5 215.8 7.8 782 20350 0.00 2.25 0.00 0.000 4 0.000 0.052 2671 1108 1320
20392 1.24 269.5 212.4 8.2 784 20396 0.12 2.25 0.00 0.000 6 0.081 0.048 2719 2527 1320
20724 1.16 269.5 181.6 8.5 800 20728 0.12 2.30 0.00 0.000 4 0.130 0.064 2682 3930 1321
20769 1.11 269.5 177.8 8.1 802 20773 0.00 2.20 0.00 0.000 6 0.000 0.039 2682 2499 1321
21102 1.15 299.4 157.2 6.0 818 21132 0.00 2.25 25.75 1.012 4 0.000 0.053 2682 1110 1199
21166 1.27 301.1 152.9 7.0 821 21171 0.12 2.28 0.00 0.000 6 0.077 0.048 2731 2530 1199
21488 1.21 301.1 122.1 10.0 837 21492 0.12 2.28 0.00 0.000 4 0.127 0.052 2694 1111 1198
21527 1.31 301.1 118.7 8.2 839 21532 0.10 2.25 0.00 0.000 6 0.085 0.049 2734 2528 1197
21856 1.25 301.1 86.0 9.6 873 21863 0.12 2.28 0.00 0.000 4 0.129 0.053 2696 1111 1197
21892 1.31 301.1 82.8 9.0 879 21899 0.10 2.25 0.00 0.000 6 0.087 0.049 2735 2528 1197
22237 1.31 301.1 49.2 9.2 940 22243 0.00 2.28 0.00 0.000 4 0.000 0.054 2735 1109 1196
22261 1.31 301.1 47.1 8.7 944 22267 0.00 2.25 0.00 0.000 6 0.000 0.049 2736 2522 1196
22604 1.31 301.1 16.3 8.3 1005 22611 0.00 2.30 0.00 0.000 4 0.000 0.067 2735 3929 1195
22634 1.24 301.1 13.3 10.3 1010 22641 0.12 2.20 0.00 0.000 6 0.146 0.041 2700 2515 1195
22797 end climb: SURFACE_DEPTH_REACHED
state 22797 begin surface coast
22826 end surface coast: CONTROL_FINISHED_OK
state 22826 begin surface