OKMC Jun11 * SG167 * Dive index * Mission links * Dive 363 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  167 HD_B  0.010078 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  8 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  363 HEADING  -1 ROLL_MIN  187 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3764 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  5 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1875 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2075 ALTIM_FREQUENCY  13
D_ABORT  1030 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  3 SM_CC  400 ROLL_TIMEOUT  15 XPDR_VALID  3
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  71 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  90 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  0 ROLL_ADJ_GAIN  6 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0.02 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  0 VBD_MIN  490 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  53
T_DIVE  340 UPLOAD_DIVES_MAX  -1 C_VBD  2839 DEVICE3  35
T_MISSION  380 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  720 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  4 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -56854.25 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -8 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  200 PITCH_MIN  134 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3944 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2800 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043379883
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -16.233358 SEABIRD_T_H  0.00063236553
RHO  1.0275 PITCH_CNV  0.0031256729 PRESSURE_SLOPE  0.0001158971 SEABIRD_T_I  2.4503992e-05
MASS  51876 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.6444222e-06
NAV_MODE  2 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8845854
FERRY_MAX  45 PITCH_TIMEOUT  19 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1045586
KALMAN_USE  2 PITCH_AD_RATE  165 COMPASS_USE  0 SEABIRD_C_I  -0.0015691385
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00020000842

Pre-dive calculations and measurements:
GPS1  290811,111201,1751.069,12433.903,39,1.1,40,-2.0 TGT_NAME  S3
_CALLS  1 TGT_LATLONG  1750.000,12435.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.013,-0.305
_SM_DEPTHo  1.60 KALMAN_X  -1531.9,-192.4,226.3,5724.7,67.3
_SM_ANGLEo  -69.0 KALMAN_Y  11735.9,46.7,-129.6,-54154.7,2747.8
GPS2  290811,112108,1751.042,12433.866,13,1.1,13,-2.0 MHEAD_RNG_PITCHd_Wd  100.7,2779,-26.1,-9.706
SPEED_LIMITS  0.168,0.293 D_GRID  4017

Post-dive calculations and measurements:
FINISH  0.9,1.008659 _10V_AH  9.8,58.128
SM_CCo  17326,73.10,0.504,1,0,1207,400.08 FG_AHR_24Vo  0.000
SM_GC  1.73,0.00,0.00,73.10,0.000,0.000,0.504,113,1940,1207,-8.37,1.84,400.08,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1747.37,12433.54,290811,050551 MEM  330444
TT8_MAMPS  0.028462,0.028462 DATA_FILE_SIZE  83513,1425
HUMID  36.96 CAP_FILE_SIZE  188573,0
INTERNAL_PRESSURE  9.31676 CFSIZE  260165632,106831872
TCM_TEMP  28.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  58 CURRENT  0.108,258.1,1
_24V_AH  23.0,68.387 GPS  290811,161330,1750.628,12434.658,38,1.6,44,-2.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21249120.74 SBE_CT96724534.33
Roll_motor16745176.70 AA3830108333822.56
VBD_pump_during_apogee341139310933.82 WL_BB2F6591051592.30
VBD_pump_during_surface73504847.60 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710365.24 nil000.00
Iridium_during_connect48160177.09 nil000.00
Iridium_during_xfer2832231455.25 nil000.00
Transponder_ping14420140.07 nil000.00
GUMSTIX_24V000.00
GPS14506.89
TT8366919711.97
LPSleep97052208.30
TT8_Active57019110.72
TT8_Sampling3234391261.41
TT8_CF878145350.73
TT8_Kalman000.00
Analog_circuits201912237.49
GPS_charging000.00
Compass306815451.08
RAFOS000.00
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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
18 -0.74 -68.6 0.0 0.0 0 113 0.00 0.00 -92.50 0.000 2 0.000 0.000 107 1927 3065 0 0 0 0 0 0
116 -0.76 -84.0 5.4 -8.3 13 134 10.55 2.00 -2.12 0.000 4 0.249 0.040 2542 3263 3184 0 0 0 0 0 0
285 -0.76 -84.0 65.0 -31.2 41 292 0.00 2.00 0.00 0.000 6 0.000 0.019 2542 1865 3186 0 0 0 0 0 0
428 -0.76 -84.0 98.8 -20.1 66 438 0.00 2.05 0.00 0.000 4 0.000 0.028 2531 3243 3186 0 0 0 0 0 0
476 -0.76 -84.0 107.7 -19.5 73 483 0.00 1.65 0.00 0.000 6 0.000 0.017 2532 2049 3186 0 0 0 0 0 0
618 -0.76 -84.0 133.5 -17.7 98 627 0.00 2.30 0.00 0.000 4 0.000 0.028 2532 477 3186 0 0 0 0 0 0
883 -0.76 -84.0 181.3 -17.9 144 891 0.10 2.08 0.00 0.000 6 0.171 0.019 2552 1915 3187 0 0 0 0 0 0
1033 -0.76 -84.0 204.5 -15.9 168 1037 0.00 2.08 0.00 0.000 4 0.000 0.026 2552 485 3187 0 0 0 0 0 0
1062 -0.76 -84.0 209.4 -16.1 170 1066 0.00 2.08 0.00 0.000 6 0.000 0.020 2545 1938 3187 0 0 0 0 0 0
1388 -0.76 -84.0 257.9 -14.2 200 1391 0.00 1.92 0.00 0.000 4 0.000 0.031 2535 3263 3187 0 0 0 0 0 0
1437 -0.76 -84.0 265.7 -15.1 204 1445 0.00 1.88 0.00 0.000 6 0.000 0.021 2534 1940 3187 0 0 0 0 0 0
1764 -0.76 -84.0 305.8 -10.8 235 1768 0.00 2.08 0.00 0.000 4 0.000 0.028 2535 485 3186 0 0 0 0 0 0
1996 -0.76 -84.0 334.1 -12.2 255 2000 0.00 2.05 0.00 0.000 6 0.000 0.020 2532 1913 3186 0 0 0 0 0 0
2328 -0.76 -84.0 368.9 -10.5 286 2332 0.00 2.10 0.00 0.000 4 0.000 0.028 2532 475 3184 0 0 0 0 0 0
2395 -0.76 -84.0 376.2 -10.7 291 2403 0.05 2.03 0.00 0.000 6 0.142 0.019 2551 1883 3184 0 0 0 0 0 0
2721 -0.76 -84.0 408.2 -10.2 322 2722 0.00 0.00 0.00 0.000 6 0.000 0.000 2551 1883 3182 0 0 0 0 0 0
3043 -0.77 -97.7 438.5 -8.4 352 3046 0.00 2.05 0.00 0.000 4 0.000 0.028 2551 490 3180 0 0 0 0 0 0
3115 -0.78 -104.2 445.3 -9.1 358 3123 0.00 1.95 0.00 0.000 6 0.000 0.019 2548 1847 3179 0 0 0 0 0 0
3441 -0.81 -127.7 470.7 -7.5 389 3445 0.00 2.12 0.00 0.000 4 0.000 0.034 2548 3266 3177 0 0 0 0 0 0
3508 -0.84 -151.5 475.6 -7.5 395 3512 0.00 2.03 0.00 0.000 6 0.000 0.018 2547 1834 3177 0 0 0 0 0 0
3849 -0.84 -156.0 504.0 -9.3 425 3853 0.00 2.15 0.00 0.000 4 0.000 0.033 2548 3273 3175 0 0 0 0 0 0
3927 -0.85 -158.6 511.5 -9.5 428 3934 0.00 1.98 0.00 0.000 6 0.000 0.018 2547 1886 3174 0 0 0 0 0 0
4245 -0.86 -170.2 539.7 -8.6 444 4248 0.00 2.03 0.00 0.000 4 0.000 0.031 2547 508 3172 0 0 0 0 0 0
4295 -0.88 -181.6 544.2 -8.6 446 4299 0.00 2.03 0.00 0.000 6 0.000 0.021 2547 1900 3171 0 0 0 0 0 0
4627 -0.89 -194.6 566.5 -6.2 462 4631 0.10 2.10 0.00 0.000 4 0.112 0.031 2503 495 3169 0 0 0 0 0 0
4678 -0.89 -194.6 571.0 -8.6 464 4682 0.00 2.03 0.00 0.000 6 0.000 0.020 2494 1899 3169 0 0 0 0 0 0
5000 -0.89 -194.6 597.9 -8.3 480 5004 0.00 2.03 0.00 0.000 4 0.000 0.036 2493 3260 3166 0 0 0 0 0 0
5057 -0.89 -194.6 603.3 -9.5 482 5062 0.00 1.92 0.00 0.000 6 0.000 0.021 2493 1927 3166 0 0 0 0 0 0
5379 -0.89 -194.6 633.2 -9.4 498 5383 0.00 2.10 0.00 0.000 4 0.000 0.031 2493 498 3164 0 0 0 0 0 0
5501 -0.89 -194.6 647.0 -11.2 503 5509 0.00 2.05 0.00 0.000 6 0.000 0.021 2485 1897 3162 0 0 0 0 0 0
5821 -0.89 -194.6 678.8 -10.1 519 5825 0.00 2.08 0.00 0.000 4 0.000 0.030 2485 496 3161 0 0 0 0 0 0
5900 -0.89 -194.6 687.7 -11.3 522 5908 0.12 2.03 0.00 0.000 6 0.197 0.023 2508 1879 3160 0 0 0 0 0 0
6218 -0.89 -194.6 715.6 -8.3 538 6221 0.00 2.05 0.00 0.000 4 0.000 0.032 2508 511 3158 0 0 0 0 0 0
6264 -0.89 -194.6 719.7 -8.4 540 6268 0.00 1.98 0.00 0.000 6 0.000 0.021 2503 1866 3158 0 0 0 0 0 0
6599 -0.89 -194.6 745.1 -7.5 556 6603 0.00 2.10 0.00 0.000 4 0.000 0.035 2493 3269 3156 0 0 0 0 0 0
6716 -0.89 -194.6 754.5 -7.7 561 6720 0.00 1.98 0.00 0.000 6 0.000 0.020 2493 1907 3155 0 0 0 0 0 0
7039 -0.89 -194.6 778.1 -7.1 577 7043 0.00 2.03 0.00 0.000 4 0.000 0.037 2493 3257 3153 0 0 0 0 0 0
7065 -0.89 -194.6 779.9 -7.0 578 7069 0.00 1.92 0.00 0.000 6 0.000 0.021 2493 1916 3153 0 0 0 0 0 0
7398 -0.89 -194.6 803.1 -6.8 594 7402 0.00 2.10 0.00 0.000 4 0.000 0.031 2493 495 3151 0 0 0 0 0 0
7559 -0.89 -194.6 816.4 -8.7 601 7563 0.00 2.03 0.00 0.000 6 0.000 0.024 2493 1870 3150 0 0 0 0 0 0
7886 -0.89 -194.6 842.6 -8.0 617 7887 0.00 0.00 0.00 0.000 6 0.000 0.000 2493 1870 3149 0 0 0 0 0 0
8197 -0.89 -194.6 868.4 -8.2 632 8201 0.00 2.12 0.00 0.000 4 0.000 0.038 2485 3279 3147 0 0 0 0 0 0
8237 -0.89 -194.6 871.8 -8.3 634 8241 0.00 2.03 0.00 0.000 6 0.000 0.020 2485 1873 3147 0 0 0 0 0 0
8571 -0.89 -194.6 897.9 -7.6 650 8575 0.00 2.12 0.00 0.000 4 0.000 0.037 2480 3269 3146 0 0 0 0 0 0
8629 -0.89 -194.6 902.3 -7.9 652 8636 0.12 1.98 0.00 0.000 6 0.181 0.020 2510 1887 3146 0 0 0 0 0 0
8945 -0.89 -194.6 922.9 -6.5 668 8946 0.00 0.00 0.00 0.000 6 0.000 0.000 2510 1887 3145 0 0 0 0 0 0
9256 -0.89 -194.6 942.6 -6.3 683 9261 0.00 2.12 0.00 0.000 4 0.000 0.037 2505 3263 3144 0 0 0 0 0 0
9357 -0.89 -194.6 949.6 -6.9 687 9361 0.00 1.92 0.00 0.000 6 0.000 0.021 2505 1929 3143 0 0 0 0 0 0
9679 -0.89 -194.6 971.4 -6.9 703 9681 0.00 0.00 0.00 0.000 6 0.000 0.000 2504 1929 3142 0 0 0 0 0 0
9965 end dive: TARGET_DEPTH_EXCEEDED
state 9965 begin apogee
9973 -0.20 0.0 990.0 6.2 717 10043 0.73 0.00 66.10 1.393 4 0.146 0.000 2726 2089 2839 0 0 0 0 0 0
10044 end apogee: CONTROL_FINISHED_OK
state 10044 begin climb
10046 0.89 194.6 990.8 0.0 720 10227 1.00 2.22 172.55 1.352 4 0.081 0.041 3085 3462 2044 0 0 0 0 0 0
10418 0.89 194.6 929.1 19.4 737 10423 0.00 2.05 0.00 0.000 6 0.000 0.021 3095 2096 2034 0 0 0 0 0 0
10745 0.89 194.6 871.3 17.3 753 10749 0.00 2.12 0.00 0.000 4 0.000 0.037 3095 3474 2031 0 0 0 0 0 0
10950 0.89 194.6 832.1 19.2 762 10955 0.00 2.12 0.00 0.000 6 0.000 0.022 3104 2045 2030 0 0 0 0 0 0
11272 0.89 194.6 775.2 17.7 778 11275 0.00 2.03 0.00 0.000 4 0.000 0.032 3115 681 2029 0 0 0 0 0 0
11345 0.89 194.6 761.7 18.3 781 11350 0.00 1.98 0.00 0.000 6 0.000 0.024 3115 2002 2029 0 0 0 0 0 0
11672 0.89 194.6 704.3 17.4 797 11676 0.00 2.20 0.00 0.000 4 0.000 0.038 3115 3468 2028 0 0 0 0 0 0
11790 0.89 194.6 682.1 18.9 802 11795 0.10 2.10 0.00 0.000 6 0.160 0.021 3093 2046 2027 0 0 0 0 0 0
12111 0.89 194.6 629.7 16.2 818 12115 0.00 2.03 0.00 0.000 4 0.000 0.032 3102 681 2027 0 0 0 0 0 0
12190 0.89 194.6 616.7 16.3 821 12194 0.00 1.98 0.00 0.000 6 0.000 0.024 3102 2033 2027 0 0 0 0 0 0
12513 0.89 194.6 564.9 16.0 837 12517 0.00 2.17 0.00 0.000 4 0.000 0.039 3102 3464 2027 0 0 0 0 0 0
12602 0.89 194.6 548.8 18.2 841 12606 0.00 2.05 0.00 0.000 6 0.000 0.021 3111 2050 2026 0 0 0 0 0 0
12921 0.89 194.6 496.9 16.1 857 12926 0.00 2.05 0.00 0.000 4 0.000 0.032 3121 683 2026 0 0 0 0 0 0
12982 0.89 194.6 487.1 15.3 862 12990 0.12 2.03 0.00 0.000 6 0.168 0.023 3087 2058 2026 0 0 0 0 0 0
13308 0.89 194.6 443.3 12.3 893 13312 0.00 2.12 0.00 0.000 4 0.000 0.038 3087 3462 2025 0 0 0 0 0 0
13426 0.89 194.6 427.1 13.9 903 13431 0.00 2.05 0.00 0.000 6 0.000 0.021 3095 2067 2025 0 0 0 0 0 0
13757 0.89 194.6 383.7 14.1 934 13761 0.00 2.00 0.00 0.000 4 0.000 0.031 3106 695 2025 0 0 0 0 0 0
13851 0.89 194.6 370.5 13.6 942 13859 0.00 2.03 0.00 0.000 6 0.000 0.023 3106 2068 2025 0 0 0 0 0 0
14178 0.89 194.6 322.4 14.7 973 14182 0.00 2.12 0.00 0.000 4 0.000 0.037 3106 3476 2025 0 0 0 0 0 0
14229 0.89 194.6 314.6 15.3 977 14233 0.00 2.00 0.00 0.000 6 0.000 0.019 3115 2086 2024 0 0 0 0 0 0
14560 0.89 194.6 267.7 14.3 1008 14563 0.00 2.03 0.00 0.000 4 0.000 0.031 3126 696 2025 0 0 0 0 0 0
14750 0.89 194.6 241.4 13.0 1025 14755 0.15 2.00 0.00 0.000 6 0.148 0.021 3083 2071 2025 0 0 0 0 0 0
15078 0.89 194.6 207.5 10.5 1055 15084 0.00 0.00 0.00 0.000 6 0.000 0.000 3083 2071 2024 0 0 0 0 0 0
15420 0.89 194.8 173.0 9.7 1109 15427 0.00 2.08 0.00 0.000 4 0.000 0.035 3083 3463 2024 0 0 0 0 0 0
15458 0.89 194.8 168.9 11.0 1115 15465 0.00 1.98 0.00 0.000 6 0.000 0.018 3092 2073 2024 0 0 0 0 0 0
15604 0.89 194.8 154.3 10.0 1140 15612 0.00 2.03 0.00 0.000 4 0.000 0.029 3102 705 2025 0 0 0 0 0 0
15653 0.89 196.1 149.4 9.6 1148 15662 0.00 2.08 0.00 0.000 6 0.000 0.021 3102 2117 2025 0 0 0 0 0 0
15803 0.90 202.1 136.1 9.1 1173 15819 0.00 2.08 4.90 0.528 4 0.000 0.035 3102 3470 2014 0 0 0 0 0 0
15867 0.90 202.1 129.5 10.0 1183 15874 0.00 1.90 0.00 0.000 6 0.000 0.018 3111 2122 2014 0 0 0 0 0 0
16011 0.91 208.2 116.2 9.1 1208 16025 0.00 2.10 7.32 0.591 4 0.000 0.028 3122 698 1989 0 0 0 0 0 0
16168 0.91 208.2 100.2 10.7 1235 16175 0.00 2.03 0.00 0.000 6 0.000 0.020 3122 2094 1988 0 0 0 0 0 0
16316 0.94 230.6 86.3 7.6 1260 16346 0.00 2.10 20.23 0.647 4 0.000 0.034 3122 3469 1896 0 0 0 0 0 0
16400 0.97 261.8 80.6 6.7 1273 16434 0.00 1.88 26.17 0.640 6 0.000 0.018 3131 2155 1771 0 0 0 0 0 0
16577 0.99 278.1 65.9 8.2 1302 16599 0.00 2.17 13.98 0.600 4 0.000 0.028 3142 704 1706 0 0 0 0 0 0
16776 1.02 301.5 51.5 7.5 1336 16805 0.00 1.80 20.20 0.599 6 0.000 0.028 3142 1937 1607 0 0 0 0 0 0
16941 1.04 312.3 37.3 8.7 1364 16957 0.00 2.35 9.80 0.544 4 0.000 0.033 3142 3468 1564 0 0 0 0 0 0
16990 1.04 312.3 32.3 11.1 1371 16997 0.00 2.20 0.00 0.000 6 0.000 0.018 3151 1943 1563 0 0 0 0 0 0
17134 1.04 312.3 18.0 10.6 1396 17142 0.00 1.80 0.00 0.000 4 0.000 0.029 3160 716 1562 0 0 0 0 0 0
17181 1.04 312.3 13.3 10.5 1403 17188 0.00 1.75 0.00 0.000 6 0.000 0.019 3160 1930 1562 0 0 0 0 0 0
17276 end climb: SURFACE_DEPTH_REACHED
state 17276 begin surface coast
17309 end surface coast: CONTROL_FINISHED_OK
state 17309 begin surface