Faroes Aug09 * SG005 * Dive index * Mission links * Dive 57 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  5 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  7 ESCAPE_HEADING  0 ROLL_MIN  159 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  57 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3943 ALTIM_PING_DEPTH  120
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  25
D_FLARE  2 TGT_DEFAULT_LAT  61.599998 C_ROLL_DIVE  2130 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -8.75 C_ROLL_CLIMB  1920 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  4
D_NO_BLEED  200 SM_CC  300 ROLL_CNV  0.028270001 XPDR_VALID  5
D_FINISH  0 N_FILEKB  4 ROLL_TIMEOUT  13 XPDR_INHIBIT  0
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  15 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  360 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  3 MOTHERBOARD  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0.029999999 DEVICE1  2
T_DIVE  550 UPLOAD_DIVES_MAX  -1 VBD_MIN  390 DEVICE2  20
T_MISSION  560 CALL_TRIES  5 VBD_MAX  3851 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  2831 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  300 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  0 T_GPS  5 PITCH_VBD_SHIFT  0.0016 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  5 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  3 COMPASS_DEVICE  33
D_OFFGRID  990 T_GPS_CHARGE  -101343.4 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  2 UNCOM_BLEED  20 PHONE_DEVICE  16
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  0 RAFOS_DEVICE  -1
MAX_BUOY  150 RAFOS_HIT_WINDOW  3600 AH0_24V  91.800003 XPDR_DEVICE  21
COURSE_BIAS  0 PITCH_MIN  432 AH0_10V  61.200001 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3760 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2745 PRESSURE_YINT  -23.674383 SEABIRD_T_G  0.0043731672
RHO  1.023 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_H  0.00064376107
MASS  52000 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_T_I  2.5908092e-05
NAV_MODE  1 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.8225327e-06
FERRY_MAX  12 PITCH_GAIN  15 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -9.8535681
KALMAN_USE  1 PITCH_TIMEOUT  18 COMPASS_USE  0 SEABIRD_C_H  1.1081258
HD_A  0.0038945 PITCH_AD_RATE  170 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.00043031506
HD_B  0.0099684997 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00012618699
HD_C  2.576e-06 PITCH_ADJ_GAIN  0.039999999 ALTIM_BOTTOM_TURN_MARGIN  10

Pre-dive calculations and measurements:
GPS1  233225,6151.931,-950.927,42,1.4,42,-9.8 TGT_NAME  CW
_CALLS  1 TGT_LATLONG  6205.000,-950.000
_XMS_NAKs  2 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.147,0.166
_SM_DEPTHo  1.17 KALMAN_X  -105256.8,699.5,3273.1,38696.0,-31670.6
_SM_ANGLEo  -58.7 KALMAN_Y  11681.9,-322.3,1682.2,15235.0,-12320.0
GPS2  233855,6151.889,-950.845,13,1.2,30,-9.8 MHEAD_RNG_PITCHd_Wd  51.4,24292,-11.0,-6.000
SPEED_LIMITS  0.104,0.221 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.4,1.010195 ALTIM_BOTTOM_PING  821.6,75.9
SM_CCo  24050,0.00,0.000,0,0,887,476.86 _24V_AH  23.7,12.052
SM_GC  1.25,11.25,0.00,0.00,0.033,0.000,0.000,416,2134,887,-10.61,0.11,476.86 _10V_AH  10.1,5.549
IRIDIUM_FIX  0.00,0.00,010170,000000 DATA_FILE_SIZE  59935,1151
TT8_MAMPS  0.029146 CAP_FILE_SIZE  176726,0
HUMID  1834 CFSIZE  254472192,248639488
TCM_TEMP  17.70 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,72,0,0
XPDR_PINGS  92 GPS  070909,062154,6150.269,-955.605,41,1.6,41,-9.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor27154101.94 SBE_CT78924449.10
Roll_motor208102504.20 SBE_O285619385.76
VBD_pump_during_apogee560147819652.60 WL_BB2F6651051656.52
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3910395.95 nil000.00
Iridium_during_connect2516097.81 nil000.00
Iridium_during_xfer174223922.34
Transponder_ping30420303.60
Mmodem_TX000.00
Mmodem_RX000.00
GPS305015.45
TT8208419416.78
LPSleep185292409.85
TT8_Active71519143.16
TT8_Sampling245839988.19
TT8_CF864545298.68
TT8_Kalman338127.56
Analog_circuits198012240.06
GPS_charging000.00
Compass23858192.76
RAFOS000.00
Transponder503015.32

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -0.97 -146.6 0.0 0.0 0 99 0.00 0.00 -81.30 0.000 2 0.000 0.000 418 2129 2609
103 -0.97 -146.6 2.3 -2.0 4 153 11.40 2.58 -30.73 0.000 4 0.154 0.078 2528 3537 3428
273 -0.84 -146.6 17.3 -10.9 11 280 0.15 2.50 0.00 0.000 6 0.084 0.048 2562 2112 3429
589 -0.84 -146.6 41.6 -6.5 27 594 0.00 2.47 0.00 0.000 4 0.000 0.063 2562 714 3429
675 -0.84 -146.6 48.1 -7.9 31 680 0.00 2.45 0.00 0.000 6 0.000 0.047 2562 2119 3429
1002 -0.84 -146.6 68.9 -6.2 47 1006 0.00 2.50 0.00 0.000 4 0.000 0.061 2562 723 3429
1074 -0.84 -146.6 73.7 -6.4 50 1079 0.00 2.40 0.00 0.000 6 0.000 0.048 2562 2099 3429
1392 -0.84 -146.6 91.7 -4.8 65 1397 0.00 2.58 0.00 0.000 4 0.000 0.065 2561 3528 3429
1471 -0.84 -146.6 95.4 -4.4 68 1478 0.00 2.50 0.00 0.000 6 0.000 0.050 2562 2104 3429
1789 -0.84 -146.6 109.3 -4.7 84 1794 0.00 2.60 0.00 0.000 4 0.000 0.067 2562 3530 3429
1840 -0.84 -146.6 112.1 -5.3 86 1844 0.00 2.50 0.00 0.000 6 0.000 0.050 2562 2109 3429
2157 -0.84 -146.6 128.8 -5.9 101 2161 0.00 2.47 0.00 0.000 4 0.000 0.065 2562 725 3429
2207 -0.84 -146.6 132.1 -6.8 103 2211 0.00 2.45 0.00 0.000 6 0.000 0.049 2561 2124 3429
2522 -0.84 -146.6 153.3 -7.0 118 2524 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2124 3429
2832 -0.84 -146.6 175.3 -7.2 133 2836 0.00 2.53 0.00 0.000 4 0.000 0.067 2562 727 3429
2876 -0.84 -146.6 178.8 -7.9 135 2880 0.00 2.45 0.00 0.000 6 0.000 0.051 2562 2120 3429
3197 -0.84 -146.6 204.5 -8.5 151 3202 0.00 2.53 0.00 0.000 4 0.000 0.065 2562 722 3429
3242 -0.84 -146.6 208.6 -9.2 153 3246 0.00 2.45 0.00 0.000 6 0.000 0.048 2562 2121 3429
3563 -0.84 -146.6 237.8 -9.3 169 3564 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2121 3428
3872 -0.84 -146.6 267.1 -9.1 184 3873 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2121 3428
4182 -0.84 -146.6 291.9 -7.7 199 4183 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2121 3428
4491 -0.84 -146.6 315.1 -7.9 214 4495 0.00 2.53 0.00 0.000 4 0.000 0.067 2562 725 3428
4535 -0.84 -146.6 319.2 -9.1 216 4539 0.00 2.40 0.00 0.000 6 0.000 0.050 2562 2101 3428
4863 -0.84 -146.6 346.8 -8.9 232 4867 0.00 2.50 0.00 0.000 4 0.000 0.071 2561 722 3427
4895 -0.84 -146.6 350.0 -9.1 233 4902 0.00 2.42 0.00 0.000 6 0.000 0.050 2562 2100 3427
5211 -0.84 -146.6 376.4 -9.0 249 5212 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2100 3427
5521 -0.84 -146.6 401.2 -8.2 264 5525 0.00 2.50 0.00 0.000 4 0.000 0.069 2562 717 3427
5548 -0.84 -146.6 403.5 -8.5 265 5552 0.00 2.42 0.00 0.000 6 0.000 0.051 2562 2096 3427
5863 -0.84 -146.6 429.7 -8.2 280 5865 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2095 3426
6173 -0.84 -146.6 456.8 -8.9 295 6177 0.00 2.50 0.00 0.000 4 0.000 0.069 2562 718 3426
6223 -0.84 -146.6 461.2 -8.8 297 6227 0.00 2.40 0.00 0.000 6 0.000 0.050 2562 2083 3425
6538 -0.84 -146.6 487.7 -7.9 312 6539 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2084 3426
6848 -0.84 -146.6 509.7 -6.8 327 6849 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2083 3425
7157 -0.84 -146.6 528.2 -5.4 342 7161 0.00 2.47 0.00 0.000 4 0.000 0.068 2562 719 3426
7198 -0.88 -146.6 530.3 -5.2 344 7202 0.00 2.40 0.00 0.000 6 0.000 0.051 2561 2083 3426
7525 -0.88 -146.6 544.2 -4.3 360 7526 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2084 3425
7834 -0.88 -146.6 559.3 -5.5 375 7835 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2084 3425
8143 -0.88 -146.6 581.5 -7.7 390 8147 0.00 2.47 0.00 0.000 4 0.000 0.070 2562 719 3424
8170 -0.88 -146.6 583.9 -8.7 391 8175 0.00 2.40 0.00 0.000 6 0.000 0.051 2562 2080 3424
8487 -0.88 -146.6 609.5 -7.7 406 8488 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2080 3425
8796 -0.88 -146.6 631.7 -7.0 421 8800 0.00 2.47 0.00 0.000 4 0.000 0.069 2562 720 3424
8864 -0.93 -146.6 636.9 -7.6 424 8869 0.00 2.38 0.00 0.000 6 0.000 0.052 2562 2069 3424
9186 -0.93 -146.6 660.0 -7.8 440 9190 0.00 2.67 0.00 0.000 4 0.000 0.074 2562 3538 3424
9230 -0.93 -146.6 664.1 -8.9 442 9234 0.00 2.62 0.00 0.000 6 0.000 0.058 2562 2060 3423
9551 -0.93 -146.6 692.7 -9.1 458 9552 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2044 3423
9860 -0.97 -146.6 726.0 -11.8 473 9865 0.12 2.40 0.00 0.000 4 0.053 0.072 2522 728 3423
9923 -0.92 -146.6 734.1 -13.6 476 9928 0.10 2.35 0.00 0.000 6 0.091 0.052 2545 2065 3423
10250 -0.92 -146.6 764.0 -7.5 492 10254 0.00 2.45 0.00 0.000 4 0.000 0.073 2546 729 3423
10294 -0.92 -146.6 767.1 -6.7 494 10298 0.00 2.35 0.00 0.000 6 0.000 0.054 2546 2050 3423
10616 -0.92 -146.6 782.8 -4.5 510 10619 0.00 2.45 0.00 0.000 4 0.000 0.081 2545 727 3423
10655 -0.92 -146.6 784.3 -4.2 511 10661 0.00 2.35 0.00 0.000 6 0.000 0.061 2546 2037 3423
10971 -0.92 -146.6 796.6 -4.9 527 10976 0.00 2.45 0.00 0.000 4 0.000 0.082 2546 730 3423
11028 -0.92 -146.6 800.6 -8.1 529 11034 0.00 2.35 0.00 0.000 6 0.000 0.062 2546 2031 3423
11346 -0.92 -146.6 821.6 -8.0 545 11351 0.00 2.80 0.00 0.000 4 0.000 0.091 2546 3530 3421
11391 -0.92 -146.6 827.0 -12.5 547 11396 0.00 2.72 0.00 0.000 6 0.000 0.077 2546 2057 3421
11712 -0.92 -146.6 858.2 -9.9 563 11713 0.00 0.00 0.00 0.000 6 0.000 0.000 2545 2045 3420
12021 -0.92 -146.6 881.3 -7.9 578 12022 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2040 3418
12101 end dive: BOTTOM_OBSTACLE_DETECTED
state 12101 begin apogee
12108 -0.33 0.0 887.8 7.7 582 12244 0.60 0.00 130.98 1.479 6 0.081 0.000 2672 1909 2831
12245 end apogee: CONTROL_FINISHED_OK
state 12245 begin climb
12248 0.97 146.6 895.3 0.0 589 12394 1.30 2.78 133.10 1.440 4 0.071 0.084 2952 3319 2232
12555 0.84 146.6 884.5 7.7 603 12561 0.15 2.65 0.00 0.000 6 0.100 0.080 2924 1922 2232
12885 0.90 260.9 876.2 2.9 619 12996 0.00 2.75 103.05 1.432 4 0.000 0.081 2924 3326 1767
13043 0.94 260.9 867.1 7.2 626 13048 0.10 2.72 0.00 0.000 6 0.067 0.083 2949 1903 1767
13360 0.87 260.9 840.5 10.2 641 13364 0.00 2.67 0.00 0.000 4 0.000 0.099 2949 509 1767
13404 0.74 260.9 836.7 9.8 643 13410 0.20 2.58 0.00 0.000 6 0.094 0.070 2908 1897 1767
13726 0.82 279.9 818.7 5.5 659 13751 0.00 2.75 18.27 1.368 4 0.000 0.084 2909 3322 1689
13771 0.94 279.9 815.8 6.7 661 13776 0.17 2.72 0.00 0.000 6 0.058 0.078 2951 1893 1689
14098 0.89 279.9 791.5 6.4 677 14103 0.00 2.67 0.00 0.000 4 0.000 0.101 2952 504 1688
14143 0.79 279.9 788.5 7.3 679 14148 0.17 2.58 0.00 0.000 6 0.094 0.071 2917 1898 1688
14465 0.86 279.9 771.2 6.4 695 14470 0.00 2.67 0.00 0.000 4 0.000 0.094 2916 506 1687
14500 0.86 279.9 768.9 6.5 696 14506 0.00 2.55 0.00 0.000 6 0.000 0.069 2916 1891 1687
14816 0.94 279.9 744.2 9.5 712 14821 0.12 2.67 0.00 0.000 4 0.061 0.080 2950 3327 1686
14850 0.94 279.9 740.9 10.5 713 14856 0.00 2.70 0.00 0.000 6 0.000 0.074 2950 1878 1686
15166 0.88 279.9 716.3 7.2 729 15170 0.00 2.58 0.00 0.000 4 0.000 0.087 2950 503 1686
15216 0.78 279.9 712.4 7.2 731 15221 0.17 2.50 0.00 0.000 6 0.089 0.062 2914 1883 1686
15533 0.99 354.0 698.9 4.0 746 15605 0.20 2.67 65.32 1.361 4 0.052 0.081 2971 503 1387
15630 0.91 354.0 692.1 7.6 750 15637 0.15 2.50 0.00 0.000 6 0.087 0.059 2940 1874 1387
15947 0.94 371.7 674.5 5.5 766 15972 0.00 2.70 17.70 1.246 4 0.000 0.081 2940 502 1315
15996 0.98 376.6 671.6 5.9 768 16007 0.00 2.47 6.28 1.029 6 0.000 0.056 2940 1884 1295
16317 1.07 376.6 653.4 6.1 783 16322 0.17 2.58 0.00 0.000 4 0.049 0.077 2990 501 1296
16363 0.95 376.6 649.2 10.9 785 16368 0.20 2.38 0.00 0.000 6 0.081 0.055 2949 1830 1296
16686 0.99 376.6 626.1 7.4 801 16690 0.00 2.65 0.00 0.000 4 0.000 0.068 2949 3308 1297
16713 1.08 376.6 623.9 7.1 802 16718 0.15 2.67 0.00 0.000 6 0.051 0.061 2990 1840 1297
17029 0.98 376.6 592.0 10.6 817 17035 0.17 2.70 0.00 0.000 4 0.081 0.064 2954 3314 1298
17057 0.98 376.6 589.3 8.9 818 17062 0.00 2.65 0.00 0.000 6 0.000 0.062 2954 1856 1298
17373 0.98 376.6 563.9 7.8 833 17374 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1856 1298
17682 0.98 376.6 539.9 7.9 848 17687 0.00 2.65 0.00 0.000 4 0.000 0.064 2954 3312 1299
17705 1.05 376.6 537.9 8.6 849 17710 0.00 2.62 0.00 0.000 6 0.000 0.059 2954 1858 1299
18026 1.05 376.6 511.2 8.6 865 18027 0.00 0.00 0.00 0.000 6 0.000 0.000 2954 1859 1300
18335 1.05 376.6 484.9 8.3 880 18340 0.00 2.65 0.00 0.000 4 0.000 0.064 2954 3318 1301
18369 1.16 376.6 482.1 7.8 881 18375 0.20 2.62 0.00 0.000 6 0.045 0.059 3009 1859 1301
18685 1.02 376.6 445.6 11.7 897 18690 0.17 2.45 0.00 0.000 4 0.080 0.074 2969 507 1301
18712 0.96 376.6 442.5 11.3 898 18717 0.00 2.38 0.00 0.000 6 0.000 0.054 2969 1854 1301
19029 0.96 376.6 415.3 8.8 913 19030 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 1868 1302
19337 0.96 376.6 389.1 8.4 928 19341 0.00 2.50 0.00 0.000 4 0.000 0.075 2969 499 1302
19361 0.96 376.6 387.0 8.6 929 19365 0.00 2.38 0.00 0.000 6 0.000 0.051 2969 1851 1301
19687 0.96 376.6 360.8 8.1 945 19688 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 1865 1302
19996 0.96 376.6 336.2 8.0 960 19997 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 1865 1303
20305 0.96 376.6 310.0 8.8 975 20307 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 1865 1303
20615 0.96 376.6 286.7 7.4 990 20624 0.00 2.50 3.53 0.596 4 0.000 0.071 2969 514 1295
20647 0.96 376.6 283.9 8.8 991 20651 0.00 2.35 0.00 0.000 6 0.000 0.051 2969 1848 1295
20963 0.96 376.6 256.9 9.5 1006 20965 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 1864 1295
21273 0.96 376.6 228.4 8.7 1021 21274 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 1864 1295
21582 0.96 376.6 201.9 8.4 1036 21583 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 1863 1296
21891 0.96 376.6 177.0 7.2 1051 21892 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 1863 1296
22201 0.96 376.6 156.0 6.4 1066 22202 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 1864 1296
22510 0.96 376.6 135.5 6.4 1081 22511 0.00 0.00 0.00 0.000 6 0.000 0.000 2969 1864 1296
22819 1.12 477.0 122.7 3.3 1096 22904 0.00 0.00 82.53 0.873 6 0.000 0.000 2969 1864 886
23210 1.23 477.0 99.5 8.8 1115 23215 0.17 2.50 0.00 0.000 4 0.044 0.070 3021 501 887
23251 1.14 477.0 94.3 13.1 1117 23256 0.15 2.35 0.00 0.000 6 0.079 0.051 2991 1841 888
23578 1.14 477.0 52.2 13.0 1133 23582 0.00 2.60 0.00 0.000 4 0.000 0.062 2991 3314 888
23629 1.26 477.0 45.3 12.1 1135 23634 0.12 2.60 0.00 0.000 6 0.050 0.055 3029 1857 888
23942 end climb: SURFACE_DEPTH_REACHED
state 23942 begin surface coast
23966 end surface coast: CONTROL_FINISHED_OK
state 23966 begin surface