Abaco Apr17 * SG038 * Dive index * Mission links * Dive 7 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  38 HD_B  0.013 ROLL_DEG  45 ALTIM_TOP_PING_RANGE  20
MISSION  9 HD_C  2.4999999e-05 C_ROLL_DIVE  2253 ALTIM_BOTTOM_TURN_MARGIN  15
DIVE  7 HEADING  -1 C_ROLL_CLIMB  2253 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 HEAD_ERRBAND  15 ALTIM_TOP_MIN_OBSTACLE  0
STOP_T  0 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 ALTIM_PING_DEPTH  800
D_SURF  5 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 ALTIM_PING_DELTA  10
D_FLARE  3 TGT_DEFAULT_LAT  2630 R_PORT_OVSHOOT  41 ALTIM_FREQUENCY  12
D_TGT  1080 TGT_DEFAULT_LON  -7630 R_STBD_OVSHOOT  44 ALTIM_PULSE  2
D_ABORT  6000 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  300 ALTIM_SENSITIVITY  2
D_NO_BLEED  50 SM_CC  400 ROLL_MAXERRORS  2 XPDR_VALID  2
D_BOOST  0 N_FILEKB  4 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
T_BOOST  0 FILEMGR  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 VBD_MIN  200 INT_PRESSURE_YINT  1.2
D_PITCH  0 COMM_SEQ  0 VBD_MAX  3900 DEEPGLIDER  1
D_SAFE  0 PROTOCOL  9 C_VBD  2348 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_DBAND  2 DEVICE1  2
SURFACE_URGENCY  0 NOCOMM_ACTION  384 VBD_CNV  -0.29049 DEVICE2  101
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  360 CALL_TRIES  10 PITCH_VBD_SHIFT  0.00030000001 DEVICE5  -1
T_MISSION  390 CALL_WAIT  60 VBD_PUMP_AD_RATE_SURFACE  3 DEVICE6  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERS  0
T_TURN  540 CAPMAXSIZE  200000 VBD_BLEED_AD_RATE  2 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 UNCOM_BLEED  50 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  -15 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  50840 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
T_SLOITER  0 T_RSLEEP  13 DBDW  0 COMPASS_DEVICE  33
T_EPIRB  0 STROBE  0 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
USE_BATHY  -1 RAFOS_PEAK_OFFSET  1.5 PITCH_W_DBAND  0 PHONE_DEVICE  49
USE_ICE  0 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  2 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0 RAFOS_HIT_WINDOW  3600 AH0_24V  150 RAFOS_DEVICE  -1
D_OFFGRID  100 PITCH_MIN  150 AH0_10V  100 XPDR_DEVICE  24
T_WATCHDOG  10 PITCH_MAX  3880 MINV_24V  17 SIM_W  0
RELAUNCH  0 C_PITCH  3050 MINV_10V  8 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_DBAND  0.1 MAXI_24V  0.80000001 SEABIRD_T_G  0.004410191
MAX_BUOY  150 PITCH_CNV  0.003125763 MAXI_10V  0.60000002 SEABIRD_T_H  0.00064652628
COURSE_BIAS  0 P_OVSHOOT  0.026000001 FG_AHR_10V  0 SEABIRD_T_I  2.6235177e-05
GLIDE_SLOPE  45 P_OVSHOOT_WITHG  0.1286 FG_AHR_24V  0 SEABIRD_T_J  3.227025e-06
SPEED_FACTOR  1 PITCH_GAIN  17 PHONE_SUPPLY  2 SEABIRD_C_G  -9.5423679
RHO  1.0275 PITCH_TIMEOUT  20 PRESSURE_YINT  -20.293694 SEABIRD_C_H  1.1030561
MASS  80833 PITCH_AD_RATE  160 PRESSURE_SLOPE  0 SEABIRD_C_I  -0.0018197452
MASS_COMP  11240.1 PITCH_MAXERRORS  1 AD7714Ch0Gain  32 SEABIRD_C_J  0.00021177332
NAV_MODE  2 PITCH_ADJ_GAIN  0 TCM_PITCH_OFFSET  0 SEABIRD_C_Z  2945.9399
FERRY_MAX  45 PITCH_ADJ_DBAND  0 TCM_ROLL_OFFSET  0
KALMAN_USE  2 ROLL_MIN  150 COMPASS_USE  4
HD_A  0.0049999999 ROLL_MAX  3925 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  080417,224807,2733.5957,-7810.5488,3,0.9,18,-7.8,0.0,0.0,9,4.9 TGT_NAME  BP
_CALLS  1 TGT_LATLONG  2730.000,-7755.000
_XMS_NAKs  0 TGT_RADIUS  9000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000000,0.000000
_SM_DEPTHo  0.63 KALMAN_X  0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo  -51.9 KALMAN_Y  0.000000,0.000000,0.000000,0.000000,0.000000
GPS2  080417,225150,2733.6428,-7810.6558,5,0.9,19,-7.8,0.8,311.2,9,5.0 MHEAD_RNG_PITCHd_Wd  157.5,26589,-20.9,-10.000,-23.52,2227
SPEED_LIMITS  0.100,0.230 D_GRID  1029

Post-dive calculations and measurements:
FINISH  -0.3,1.001962 _24V_AH  24.28,4.606
SM_CCo  14633,0.00,0.000,0,0,718,473.50 _10V_AH  10.66,1.205
SM_GC  0.96,8.23,2.30,0.00,0.070,0.065,0.000,153,2253,718,-8.95,-1.41,473.50,0,0,0,0,0,0,26.93,26.93,26.98 FG_AHR_24Vo  0.000
IRIDIUM_FIX  2720.22,-7807.56,080417,215159 FG_AHR_10Vo  0.000
TT8_MAMPS  0.021721,0.226947 MEM  284180
HUMID  8.45 DATA_FILE_SIZE  45203,632
INTERNAL_PRESSURE  8.81748 CAP_FILE_SIZE  140858,0
TCM_TEMP  23.40 CFSIZE  2047311872,2040233984
XPDR_PINGS  0 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
ALTIM_TOP_PING  17.9,3.0 CURRENT  0.396,299.96,1
ALTIM_BOTTOM_PING  845.6,224.7 GPS  090417,025728,2733.211,-7812.978,38,0.8,40,-7.8,0.9,299.9,10,4.7

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21290151.30 SBE_CT42523239.65
Roll_motor13096307.95 AA433084013275.23
VBD_pump_during_apogee522148218822.65 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve2326853872.79 nil000.00
Iridium_during_init2412675.22 nil000.00
Iridium_during_connect51160198.33 nil000.00
Iridium_during_xfer69223377.07 nil000.00
Transponder_ping142017.85 nil000.00
GUMSTIX_24V000.00
GPS20265.95
TT8224515370.33
LPSleep92852216.76
TT8_Active73515121.22
TT8_Sampling2524411121.62
TT8_CF8936464.28
TT8_Kalman000.00
Analog_circuits198710211.82
GPS_charging000.00
Compass22968201.74
RAFOS000.00
Transponder19306.13

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 int_press humidity
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
15 -1.28 -146.0 170 2230 519 504 0.0 0.0 0 250 0.00 0.00 -231.93 0.149 16386 0.000 0.000 171 2229 2836 2872 2800 0 0 0 0 0 0 26.67 28.83 26.68 8.97 7.66
252 -1.28 -146.0 170 2229 2871 2800 3.9 -5.5 23 273 9.98 2.30 -0.82 0.685 18948 0.291 0.072 2654 653 2851 2888 2815 0 0 0 0 0 0 26.06 26.29 26.18 9.22 7.63
635 -1.28 -146.0 2653 652 2883 2815 52.3 -10.7 61 639 0.00 2.28 0.00 0.000 1030 0.000 0.065 2644 2283 2849 2883 2815 0 0 0 0 0 0 26.74 26.68 26.76 9.23 7.59
940 -1.28 -146.0 2643 2283 2880 2815 85.5 -11.1 91 949 0.00 2.35 0.00 0.000 516 0.000 0.074 2643 648 2848 2882 2815 0 0 0 0 0 0 27.03 26.76 27.04 9.23 7.94
1082 -1.28 -146.0 2643 649 2880 2815 102.7 -12.3 105 1092 0.00 2.25 0.00 0.000 1030 0.000 0.065 2632 2269 2847 2880 2815 0 0 0 0 0 0 26.87 26.82 26.89 9.23 7.74
1392 -1.28 -146.0 2631 2269 2879 2815 142.1 -13.0 136 1401 0.00 2.33 0.00 0.000 516 0.000 0.074 2632 647 2847 2879 2815 0 0 0 0 0 0 27.11 26.84 27.12 9.22 8.45
1506 -1.28 -146.0 2632 647 2879 2815 156.2 -14.0 144 1514 0.00 2.25 0.00 0.000 1030 0.000 0.065 2621 2267 2847 2879 2815 0 0 0 0 0 0 26.93 26.87 26.94 9.22 8.02
1813 -1.28 -146.0 2620 2268 2878 2814 199.3 -13.1 160 1818 0.00 2.30 0.00 0.000 516 0.000 0.074 2621 658 2846 2879 2814 0 0 0 0 0 0 27.15 26.86 27.16 9.21 8.14
1996 -1.28 -146.0 2620 658 2877 2815 224.5 -13.3 169 2001 0.00 2.22 0.00 0.000 1030 0.000 0.065 2610 2264 2845 2877 2814 0 0 0 0 0 0 26.97 26.91 26.98 9.21 7.90
2318 -1.28 -146.0 2610 2265 2877 2815 265.2 -12.5 185 2325 0.10 2.30 0.00 0.000 2564 0.233 0.072 2642 657 2846 2877 2815 0 0 0 0 0 0 26.75 26.89 26.85 9.19 8.22
2491 -1.28 -146.0 2641 657 2876 2815 285.5 -12.4 193 2498 0.00 2.22 0.00 0.000 1030 0.000 0.065 2632 2260 2845 2876 2815 0 0 0 0 0 0 26.98 26.93 27.00 9.19 8.18
2798 -1.28 -146.0 2631 2260 2876 2815 325.5 -13.2 206 2805 0.00 2.30 0.00 0.000 516 0.000 0.074 2632 655 2845 2875 2815 0 0 0 0 0 0 27.18 26.91 27.20 9.18 8.06
2936 -1.28 -146.0 2631 655 2875 2815 341.7 -13.6 210 2941 0.00 2.22 0.00 0.000 1030 0.000 0.065 2620 2257 2845 2875 2815 0 0 0 0 0 0 26.99 26.94 27.01 9.17 7.86
3243 -1.28 -146.0 2620 2257 2875 2815 385.7 -13.5 220 3249 0.00 2.30 0.00 0.000 516 0.000 0.074 2620 654 2844 2874 2815 0 0 0 0 0 0 27.20 26.91 27.20 9.16 8.02
3346 -1.28 -146.0 2620 654 2874 2815 398.2 -13.6 223 3351 0.10 2.22 0.00 0.000 3078 0.238 0.065 2638 2257 2844 2874 2815 0 0 0 0 0 0 26.76 26.94 26.92 9.16 7.78
3663 -1.28 -146.0 2638 2257 2873 2815 442.2 -13.5 234 3667 0.00 2.30 0.00 0.000 516 0.000 0.074 2638 657 2844 2873 2815 0 0 0 0 0 0 27.20 26.91 27.21 9.15 8.02
3757 -1.28 -146.0 2638 657 2871 2815 455.6 -14.3 237 3761 0.00 2.25 0.00 0.000 1030 0.000 0.062 2628 2253 2843 2871 2815 0 0 0 0 0 0 26.98 26.95 27.00 9.13 8.02
4084 -1.28 -146.0 2628 2253 2870 2815 504.0 -14.9 248 4088 0.00 2.28 0.00 0.000 516 0.000 0.074 2628 669 2842 2870 2814 0 0 0 0 0 0 27.20 26.92 27.21 9.12 7.94
4273 -1.28 -146.0 2628 656 2869 2815 533.8 -16.6 254 4279 0.00 2.22 0.00 0.000 1030 0.000 0.065 2617 2254 2842 2869 2815 0 0 0 0 0 0 27.01 26.95 27.03 9.12 8.10
4596 -1.28 -146.0 2617 2255 2869 2815 586.5 -16.1 265 4602 0.00 2.30 0.00 0.000 516 0.000 0.074 2617 657 2842 2869 2815 0 0 0 0 0 0 27.20 26.93 27.22 9.10 7.98
4734 -1.28 -146.0 2616 657 2868 2815 607.3 -17.3 269 4739 0.12 2.22 0.00 0.000 3078 0.231 0.065 2643 2253 2840 2867 2814 0 0 0 0 0 0 26.75 26.95 26.93 9.10 8.14
5041 -1.28 -146.0 2642 2253 2867 2814 659.4 -15.9 279 5047 0.00 2.30 0.00 0.000 516 0.000 0.074 2643 658 2840 2866 2815 0 0 0 0 0 0 27.20 26.93 27.22 9.08 8.14
5191 -1.28 -146.0 2642 658 2864 2815 685.0 -17.2 284 5198 0.00 2.25 0.00 0.000 1030 0.000 0.065 2632 2264 2839 2865 2814 0 0 0 0 0 0 27.01 26.95 27.03 9.07 7.90
5521 -1.28 -146.0 2632 2265 2863 2814 741.0 -16.8 295 5528 0.00 2.33 0.00 0.000 516 0.000 0.074 2633 655 2838 2863 2814 0 0 0 0 0 0 27.21 26.93 27.22 9.05 8.18
5690 -1.28 -146.0 2632 655 2862 2815 768.7 -18.6 300 5694 0.00 2.22 0.00 0.000 1030 0.000 0.065 2619 2254 2838 2862 2815 0 0 0 0 0 0 27.01 26.95 27.03 9.04 7.90
6004 -1.28 -146.0 2621 2254 2859 2814 832.8 -20.2 311 6010 0.00 2.30 0.00 0.000 516 0.000 0.074 2621 655 2836 2859 2814 0 0 0 0 0 0 27.19 26.93 27.20 9.01 8.02
6149 -1.28 -146.0 2621 655 2858 2814 858.6 -20.9 315 6157 0.00 2.25 0.00 0.000 1030 0.000 0.065 2610 2255 2836 2858 2814 0 0 0 0 0 0 27.01 26.95 27.03 8.98 7.98
6457 -1.28 -146.0 2610 2256 2857 2813 925.3 -20.0 326 6463 0.10 2.33 0.00 0.000 2564 0.241 0.074 2641 656 2835 2857 2813 0 0 0 0 0 0 26.77 26.92 26.88 8.97 7.94
6529 -1.28 -146.0 2640 656 2856 2813 937.5 -20.2 328 6534 0.00 2.25 0.00 0.000 1030 0.000 0.065 2631 2252 2834 2856 2813 0 0 0 0 0 0 27.01 26.94 27.03 8.96 8.41
6847 -1.28 -146.0 2630 2253 2855 2810 1006.0 -21.8 339 6853 0.00 2.33 0.00 0.000 516 0.000 0.074 2631 655 2832 2855 2810 0 0 0 0 0 0 27.21 26.92 27.22 8.94 7.94
6966 end dive: TARGET_DEPTH_EXCEEDED
state 6966 begin apogee
6972 -0.29 0.0 2620 2252 2853 2811 1034.0 -23.1 341 7081 1.05 0.00 104.90 1.482 10246 0.199 0.000 2953 2252 2348 2360 2337 0 0 0 0 0 0 26.75 25.15 24.41 8.92 7.66
7082 end apogee: CONTROL_FINISHED_OK
state 7082 begin climb
7083 1.28 146.0 2953 2252 2360 2336 1040.9 0.0 342 7208 1.38 0.00 114.10 1.448 10502 0.139 0.000 3427 2252 1848 1856 1840 0 0 0 0 0 0 25.29 24.88 24.33 8.89 8.10
7507 1.37 467.2 3427 2252 1855 1840 1064.1 -4.8 350 7830 0.08 2.55 303.98 1.445 11012 0.142 0.097 3479 3826 737 738 737 0 0 0 0 2 0 26.46 25.00 24.28 8.82 7.90
8036 1.37 467.2 3479 3826 727 723 1028.5 11.8 358 8040 0.00 2.35 0.00 0.000 1030 0.000 0.070 3489 2224 725 727 723 0 0 0 0 0 0 26.32 26.27 26.34 8.67 7.86
8347 1.37 467.2 3489 2225 724 722 987.6 11.4 365 8352 0.00 2.30 0.00 0.000 516 0.000 0.082 3501 685 723 724 722 0 0 0 0 0 0 26.82 26.53 26.83 8.66 7.94
8657 1.37 467.2 3500 685 721 722 953.4 11.5 375 8661 0.00 2.30 0.00 0.000 1030 0.000 0.074 3501 2256 721 721 722 0 0 0 0 0 0 26.75 26.67 26.77 8.65 8.77
8979 1.37 467.2 3500 2256 721 721 915.3 11.4 386 8984 0.00 2.38 0.00 0.000 516 0.000 0.084 3512 673 721 721 721 0 0 0 0 0 0 27.02 26.73 27.03 8.64 8.81
9319 1.37 467.2 3511 673 719 721 875.3 12.2 397 9324 0.00 2.30 0.00 0.000 1030 0.000 0.074 3512 2252 720 719 721 0 0 0 0 0 0 26.87 26.79 26.90 8.64 8.57
9641 1.37 467.2 3511 2252 719 720 834.5 12.5 408 9647 0.00 2.35 0.00 0.000 516 0.000 0.084 3522 686 719 719 720 0 0 0 0 0 0 27.10 26.82 27.11 8.65 8.53
9859 1.37 467.2 3522 686 720 720 808.3 12.5 415 9864 0.10 2.30 0.00 0.000 5126 0.199 0.074 3490 2262 719 719 720 0 0 0 0 0 0 26.74 26.84 26.88 8.65 8.33
10176 1.37 467.2 3490 2262 719 719 769.8 11.8 426 10183 0.00 2.35 0.00 0.000 516 0.000 0.084 3501 685 719 719 720 0 0 0 0 0 0 27.13 26.84 27.15 8.65 8.69
10448 1.37 467.2 3501 686 718 720 734.5 13.2 435 10454 0.00 2.25 0.00 0.000 1030 0.000 0.074 3501 2250 719 719 720 0 0 0 0 0 0 26.91 26.87 26.93 8.66 8.26
10777 1.37 467.2 3501 2251 718 719 690.9 13.2 446 10781 0.00 2.35 0.00 0.000 516 0.000 0.084 3512 687 719 718 720 0 0 0 0 0 0 27.15 26.86 27.17 8.67 9.32
11066 1.37 467.2 3512 675 718 719 650.3 15.2 455 11071 0.00 2.30 0.00 0.000 1030 0.000 0.072 3512 2264 718 718 719 0 0 0 0 0 0 26.96 26.89 26.98 8.69 8.33
11378 1.37 467.2 3511 2265 718 719 598.6 16.1 466 11385 0.00 2.35 0.00 0.000 516 0.000 0.082 3523 680 718 718 719 0 0 0 0 0 0 27.17 26.88 27.18 8.70 8.69
11637 1.37 467.2 3522 680 718 719 558.0 17.1 474 11642 0.10 2.28 0.00 0.000 5126 0.206 0.072 3491 2258 718 718 719 0 0 0 0 0 0 26.77 26.89 26.93 8.71 8.41
11949 1.37 467.2 3489 2258 718 719 504.3 16.5 485 11956 0.00 2.35 0.00 0.000 516 0.000 0.082 3502 673 718 718 719 0 0 0 0 0 0 27.17 26.89 27.19 8.73 8.92
12122 1.37 467.2 3501 673 718 719 478.5 16.8 490 12129 0.00 2.28 0.00 0.000 1030 0.000 0.070 3502 2252 718 718 719 0 0 0 0 0 0 26.98 26.91 27.00 8.74 9.20
12430 1.37 467.2 3501 2253 718 719 420.9 17.9 501 12435 0.00 2.33 0.00 0.000 516 0.000 0.082 3513 677 718 718 719 0 0 0 0 0 0 27.18 26.89 27.19 8.75 8.85
12593 1.37 467.2 3512 676 717 719 392.3 19.1 506 12597 0.00 2.28 0.00 0.000 1030 0.000 0.070 3513 2263 718 718 719 0 0 0 0 0 0 26.98 26.91 27.01 8.76 8.49
12905 1.37 467.2 3512 2263 718 719 329.3 19.0 517 12910 0.00 2.35 0.00 0.000 516 0.000 0.079 3524 676 718 718 719 0 0 0 0 0 0 27.18 26.89 27.20 8.77 8.53
13098 1.37 467.2 3523 676 718 719 293.7 19.9 524 13106 0.12 2.28 0.00 0.000 5126 0.201 0.067 3485 2269 718 718 719 0 0 0 0 0 0 26.77 26.91 26.94 8.78 8.53
13405 1.37 467.2 3484 2269 718 719 233.0 18.8 540 13411 0.00 2.35 0.00 0.000 516 0.000 0.079 3496 676 718 718 719 0 0 0 0 0 0 27.18 26.90 27.20 8.80 8.37
13593 1.37 467.2 3495 676 718 719 199.0 18.1 549 13598 0.00 2.25 0.00 0.000 1030 0.000 0.067 3496 2253 719 718 720 0 0 0 0 0 0 26.99 26.91 27.01 8.81 8.77
13906 1.37 467.2 3495 2253 718 719 137.5 19.5 568 13910 0.00 2.30 0.00 0.000 516 0.000 0.079 3506 688 718 718 719 0 0 0 0 0 0 27.18 26.90 27.20 8.84 8.81
14069 1.37 467.2 3506 680 718 719 103.5 21.3 584 14078 0.00 2.28 0.00 0.000 1030 0.000 0.067 3506 2262 718 718 719 0 0 0 0 0 0 26.96 26.92 26.97 8.84 8.41
14379 1.37 467.2 3506 2262 718 719 37.5 21.6 615 14388 0.00 2.30 0.00 0.000 516 0.000 0.079 3517 680 718 718 719 0 0 0 0 0 0 27.18 26.90 27.20 8.87 8.49
14533 end climb: SURFACE_DEPTH_REACHED
state 14533 begin surface coast
14555 end surface coast: CONTROL_FINISHED_OK
state 14555 begin surface