OKMC Jun11 * SG181 * Dive index * Mission links * Dive 763 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 INT_PRESSURE_YINT  0
MISSION  6 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 DEEPGLIDER  0
DIVE  763 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  55 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  70 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  475 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  0 DEVICE3  39
D_ABORT  1030 FILEMGR  0 ROLL_ADJ_DBAND  0 DEVICE4  -1
D_NO_BLEED  200 CALL_NDIVES  1 VBD_MIN  440 DEVICE5  -1
D_BOOST  3 COMM_SEQ  0 VBD_MAX  3960 DEVICE6  -1
T_BOOST  0 PROTOCOL  1 C_VBD  2869 LOGGERS  0
D_FINISH  0 N_NOCOMM  1 VBD_DBAND  2 LOGGERDEVICE1  99
D_PITCH  0 NOCOMM_ACTION  0 VBD_CNV  -0.24529999 LOGGERDEVICE2  117
D_SAFE  0 N_NOSURFACE  0 VBD_TIMEOUT  720 LOGGERDEVICE3  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  5 COMPASS_DEVICE  33
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 PHONE_DEVICE  49
T_DIVE  320 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  350 HEAPDBG  0 VBD_MAXERRORS  1 RAFOS_DEVICE  -1
T_ABORT  1440 T_GPS  15 CF8_MAXERRORS  20 XPDR_DEVICE  24
T_TURN  225 N_GPS  20 AH0_24V  150 SIM_W  0
T_TURN_SAMPINT  5 T_GPS_ALMANAC  0 AH0_10V  110 SIM_PITCH  0
T_NO_W  120 T_GPS_CHARGE  -41811.598 MINV_24V  19 SEABIRD_T_G  0.0043841996
T_LOITER  0 T_RSLEEP  2 MINV_10V  8 SEABIRD_T_H  0.00063541438
T_EPIRB  0 STROBE  0 FG_AHR_10V  0 SEABIRD_T_I  2.4687597e-05
USE_BATHY  -7 RAFOS_PEAK_OFFSET  1.5 FG_AHR_24V  0 SEABIRD_T_J  2.6519353e-06
USE_ICE  0 RAFOS_CORR_THRESH  60 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9512653
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 PRESSURE_YINT  -61.82621 SEABIRD_C_H  1.1266108
D_OFFGRID  1000 PITCH_MIN  225 PRESSURE_SLOPE  0.000116609 SEABIRD_C_I  -0.0016982662
T_WATCHDOG  10 PITCH_MAX  3941 AD7714Ch0Gain  128 SEABIRD_C_J  0.00020129427
RELAUNCH  1 C_PITCH  2375 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -8 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  1.0
MAX_BUOY  225 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  1.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  42 ALTIM_TOP_PING_RANGE  0 TM_STARTS  41.0
SPEED_FACTOR  1 PITCH_TIMEOUT  15 ALTIM_BOTTOM_TURN_MARGIN  0 TM_NFFT  256.0
RHO  1.0275 PITCH_AD_RATE  145 ALTIM_TOP_TURN_MARGIN  0 TM_NAVG  1.0
MASS  51861 PITCH_MAXERRORS  1 ALTIM_TOP_MIN_OBSTACLE  1 TM_PSD  0.0
NAV_MODE  0 PITCH_ADJ_GAIN  0.0099999998 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  200.0
FERRY_MAX  45 PITCH_ADJ_DBAND  1 ALTIM_PING_DELTA  10 LA_PROFILE  1.0
KALMAN_USE  2 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  1.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  15 ALTIM_SENSITIVITY  2 LA_STARTS  23.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2500 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2100 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  10 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  041111,015906,2140.517,12023.813,35,1.0,40,-2.6 TGT_NAME  W3
_CALLS  1 TGT_LATLONG  1900.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.206,0.235
_SM_DEPTHo  1.32 KALMAN_X  28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo  -59.0 KALMAN_Y  68902.1,-606.5,-201.3,102840.5,390.9
GPS2  041111,020614,2140.583,12023.865,12,1.5,12,-2.6 MHEAD_RNG_PITCHd_Wd  190.6,300322,-14.3,-10.312
SPEED_LIMITS  0.179,0.314 D_GRID  1004

Post-dive calculations and measurements:
FINISH  0.6,1.022049 _10V_AH  9.6,90.556
SM_CCo  18997,0.00,0.000,0,0,443,595.10 FG_AHR_24Vo  0.000
SM_GC  1.32,6.70,0.00,0.00,0.032,0.000,0.000,200,2505,443,-6.70,0.14,595.10,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2138.81,12019.23,031111,202056 MEM  322740
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  90235,1593
HUMID  51.26 CAP_FILE_SIZE  212137,0
INTERNAL_PRESSURE  9.3363 CFSIZE  260165632,182816768
TCM_TEMP  24.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 GPS  041111,072431,2139.185,12023.974,36,1.9,36,-2.6
_24V_AH  22.8,126.829

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20222106.33 SBE_CT110124602.78
Roll_motor645784.87 AA4330000.00
VBD_pump_during_apogee664106616162.83 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810367.47 nil000.00
Iridium_during_connect40160149.49 TMicro000.00
Iridium_during_xfer186223950.14 LAB000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS15507.42
TT8389819741.04
LPSleep110802232.96
TT8_Active68919131.02
TT8_Sampling3244391239.54
TT8_CF849345217.09
TT8_Kalman000.00
Analog_circuits229712264.69
GPS_charging000.00
Compass294815424.59
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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.61 -219.0 0.0 0.0 0 92 0.00 0.00 -73.38 0.000 2 0.000 0.000 143 2538 2476 0 0 0 0 0 0
96 -0.61 -219.0 3.3 -2.8 13 138 8.48 0.88 -29.80 0.000 4 0.223 0.057 2170 1935 3764 0 0 0 0 0 0
237 -0.48 -219.0 32.2 -20.2 37 244 0.15 0.80 0.00 0.000 6 0.133 0.034 2214 2465 3765 0 0 0 0 0 0
585 -0.41 -219.0 85.0 -15.8 98 591 0.00 0.82 0.00 0.000 4 0.000 0.035 2211 3023 3763 0 0 0 0 0 0
655 -0.33 -219.0 96.6 -15.3 110 662 0.15 0.77 0.00 0.000 6 0.116 0.024 2262 2458 3763 0 0 0 0 0 0
1002 -0.48 -219.0 124.4 -10.9 171 1010 0.12 0.62 0.00 0.000 4 0.080 0.025 2197 1972 3763 0 0 0 0 0 0
1138 -0.52 -219.0 140.0 -12.0 194 1145 0.00 0.80 0.00 0.000 6 0.000 0.032 2194 2510 3763 0 0 0 0 0 0
1485 -0.59 -219.0 171.8 -7.8 255 1492 0.00 0.70 0.00 0.000 4 0.000 0.024 2194 1975 3763 0 0 0 0 0 0
1578 -0.64 -219.0 180.6 -9.9 271 1585 0.00 0.77 0.00 0.000 6 0.000 0.031 2194 2501 3763 0 0 0 0 0 0
1923 -0.73 -219.0 216.8 -9.7 318 1928 0.15 0.80 0.00 0.000 4 0.070 0.035 2099 3037 3763 0 0 0 0 0 0
2041 -0.60 -219.0 232.4 -15.5 328 2045 0.25 0.73 0.00 0.000 6 0.135 0.025 2176 2510 3763 0 0 0 0 0 0
2372 -0.65 -219.0 264.6 -7.9 359 2375 0.00 0.70 0.00 0.000 4 0.000 0.024 2176 1973 3763 0 0 0 0 0 0
2412 -0.69 -219.0 267.7 -7.4 362 2419 0.00 0.80 0.00 0.000 6 0.000 0.034 2175 2505 3762 0 0 0 0 0 0
2739 -0.75 -219.0 291.7 -8.3 393 2743 0.12 0.80 0.00 0.000 4 0.075 0.037 2099 3031 3761 0 0 0 0 0 0
2778 -0.69 -219.0 295.8 -10.7 396 2786 0.15 0.75 0.00 0.000 6 0.124 0.024 2147 2496 3760 0 0 0 0 0 0
3104 -0.64 -219.0 330.1 -10.7 427 3108 0.00 0.68 0.00 0.000 4 0.000 0.025 2147 1976 3759 0 0 0 0 0 0
3220 -0.60 -219.0 342.4 -10.9 437 3224 0.10 0.77 0.00 0.000 6 0.118 0.033 2180 2493 3758 0 0 0 0 0 0
3552 -0.70 -219.0 368.0 -7.1 468 3556 0.00 0.80 0.00 0.000 4 0.000 0.038 2179 3029 3756 0 0 0 0 0 0
3666 -0.79 -219.0 376.3 -7.2 478 3670 0.15 0.73 0.00 0.000 6 0.038 0.025 2089 2508 3755 0 0 0 0 0 0
3997 -0.69 -219.0 420.0 -14.3 509 4001 0.22 0.82 0.00 0.000 4 0.137 0.034 2151 3024 3752 0 0 0 0 0 0
4055 -0.65 -219.0 426.3 -10.0 514 4058 0.00 0.73 0.00 0.000 6 0.000 0.025 2151 2501 3751 0 0 0 0 0 0
4386 -0.69 -219.0 459.5 -9.9 545 4390 0.00 0.70 0.00 0.000 4 0.000 0.025 2151 1969 3749 0 0 0 0 0 0
4494 -0.73 -219.0 470.1 -9.7 554 4500 0.00 0.80 0.00 0.000 6 0.000 0.035 2151 2497 3748 0 0 0 0 0 0
4820 -0.79 -219.0 497.1 -8.1 585 4824 0.00 0.70 0.00 0.000 4 0.000 0.026 2151 1979 3745 0 0 0 0 0 0
4915 -0.82 -219.0 505.3 -8.5 591 4920 0.10 0.80 0.00 0.000 6 0.048 0.035 2087 2504 3745 0 0 0 0 0 0
5245 -0.80 -219.0 540.6 -10.9 607 5247 0.12 0.00 0.00 0.000 6 0.137 0.000 2123 2504 3742 0 0 0 0 0 0
5552 -0.81 -219.0 569.0 -9.1 622 5556 0.00 0.77 0.00 0.000 4 0.000 0.041 2121 3019 3739 0 0 0 0 0 0
5649 -0.79 -219.0 579.0 -10.4 626 5652 0.00 0.73 0.00 0.000 6 0.000 0.027 2121 2513 3739 0 0 0 0 0 0
5976 -0.80 -219.0 613.6 -11.1 642 5980 0.00 0.80 0.00 0.000 4 0.000 0.041 2117 3024 3736 0 0 0 0 0 0
6034 -0.78 -219.0 620.5 -12.1 644 6037 0.00 0.75 0.00 0.000 6 0.000 0.026 2117 2500 3735 0 0 0 0 0 0
6356 -0.79 -219.0 656.4 -11.2 660 6359 0.00 0.80 0.00 0.000 4 0.000 0.039 2113 3020 3733 0 0 0 0 0 0
6434 -0.76 -219.0 666.2 -12.3 663 6438 0.00 0.75 0.00 0.000 6 0.000 0.026 2114 2500 3733 0 0 0 0 0 0
6758 -0.70 -219.0 712.0 -14.3 679 6762 0.12 0.85 0.00 0.000 4 0.153 0.041 2144 3027 3731 0 0 0 0 0 0
6837 -0.67 -219.0 721.5 -11.1 682 6841 0.00 0.77 0.00 0.000 6 0.000 0.026 2144 2491 3730 0 0 0 0 0 0
7161 -0.65 -219.0 753.5 -9.2 698 7165 0.00 0.82 0.00 0.000 4 0.000 0.041 2140 3019 3728 0 0 0 0 0 0
7262 -0.62 -219.0 763.6 -9.7 702 7266 0.10 0.75 0.00 0.000 6 0.117 0.027 2174 2497 3728 0 0 0 0 0 0
7587 -0.72 -219.0 786.4 -7.7 718 7588 0.00 0.00 0.00 0.000 6 0.000 0.000 2174 2497 3726 0 0 0 0 0 0
7893 -0.82 -219.0 811.8 -8.4 733 7897 0.20 0.73 0.00 0.000 4 0.067 0.024 2084 1975 3724 0 0 0 0 0 0
7973 -0.73 -219.0 821.2 -13.8 736 7977 0.17 0.80 0.00 0.000 6 0.129 0.038 2135 2489 3723 0 0 0 0 0 0
8295 -0.70 -219.0 857.5 -10.7 752 8298 0.00 0.82 0.00 0.000 4 0.000 0.043 2133 3026 3722 0 0 0 0 0 0
8457 -0.67 -219.0 875.8 -11.8 759 8460 0.00 0.77 0.00 0.000 6 0.000 0.027 2133 2494 3721 0 0 0 0 0 0
8790 -0.64 -219.0 914.7 -11.8 775 8794 0.12 0.88 0.00 0.000 4 0.151 0.042 2165 3028 3720 0 0 0 0 0 0
8894 -0.67 -219.0 925.2 -9.5 779 8897 0.00 0.77 0.00 0.000 6 0.000 0.027 2166 2496 3719 0 0 0 0 0 0
9216 -0.77 -219.0 954.5 -9.1 795 9221 0.12 0.85 0.00 0.000 4 0.092 0.041 2101 3023 3717 0 0 0 0 0 0
9365 -0.70 -219.0 972.9 -13.3 801 9370 0.12 0.75 0.00 0.000 6 0.132 0.027 2142 2501 3716 0 0 0 0 0 0
9540 end dive: TARGET_DEPTH_EXCEEDED
state 9540 begin apogee
9547 -0.19 0.0 991.4 9.9 810 9719 0.52 0.00 167.40 1.066 6 0.112 0.000 2313 2097 2869 0 0 0 0 0 0
9720 end apogee: CONTROL_FINISHED_OK
state 9720 begin climb
9723 0.61 219.0 1003.4 0.0 818 9911 0.70 0.82 180.38 1.044 4 0.046 0.028 2585 1591 1976 0 0 0 0 0 0
9946 0.51 219.0 993.4 11.5 828 9954 0.15 0.82 0.00 0.000 6 0.146 0.029 2544 2106 1974 0 0 0 0 0 0
10266 0.48 253.6 963.2 9.2 844 10298 0.00 0.82 28.38 0.991 4 0.000 0.036 2544 2625 1835 0 0 0 0 0 0
10491 0.44 273.3 941.8 9.7 854 10512 0.00 0.77 17.12 0.944 6 0.000 0.028 2545 2100 1754 0 0 0 0 0 0
10835 0.41 285.7 909.3 9.9 871 10850 0.15 0.73 11.15 0.884 4 0.163 0.030 2507 1580 1703 0 0 0 0 0 0
10879 0.47 334.0 905.2 8.8 872 10922 0.00 0.80 39.08 0.974 6 0.000 0.031 2507 2106 1507 0 0 0 0 0 0
11245 0.56 368.0 871.6 9.2 890 11281 0.15 0.82 28.88 0.953 4 0.080 0.034 2573 2635 1368 0 0 0 0 0 0
11365 0.51 368.0 856.0 14.3 895 11369 0.10 0.80 0.00 0.000 6 0.135 0.028 2544 2102 1369 0 0 0 0 0 0
11686 0.51 368.0 817.2 12.1 911 11690 0.00 0.77 0.00 0.000 4 0.000 0.033 2545 2622 1369 0 0 0 0 0 0
11738 0.53 368.0 811.0 12.1 913 11741 0.00 0.77 0.00 0.000 6 0.000 0.031 2546 2099 1369 0 0 0 0 0 0
12066 0.58 374.3 775.5 10.1 929 12076 0.00 0.82 6.88 0.754 4 0.000 0.034 2546 2625 1342 0 0 0 0 0 0
12187 0.61 398.7 764.3 9.5 934 12213 0.00 0.77 20.65 0.873 6 0.000 0.030 2549 2104 1242 0 0 0 0 0 0
12532 0.73 472.8 735.2 8.0 951 12597 0.17 0.82 58.25 0.895 4 0.075 0.036 2634 1581 941 0 0 0 0 0 0
12681 0.68 472.8 718.3 11.3 957 12688 0.10 0.80 0.00 0.000 6 0.136 0.031 2601 2099 946 0 0 0 0 0 0
12998 0.67 472.8 687.3 10.6 973 13002 0.00 0.77 0.00 0.000 4 0.000 0.039 2601 2621 947 0 0 0 0 0 0
13116 0.63 472.8 672.3 13.0 978 13125 0.00 0.77 3.62 0.517 6 0.000 0.030 2603 2096 941 0 0 0 0 0 0
13445 0.61 472.8 630.2 12.7 994 13450 0.12 0.77 0.00 0.000 4 0.156 0.036 2570 1584 944 0 0 0 0 0 0
13478 0.62 472.8 625.7 12.4 995 13482 0.00 0.77 0.00 0.000 6 0.000 0.029 2570 2104 945 0 0 0 0 0 0
13801 0.70 472.8 589.7 11.4 1011 13804 0.00 0.75 0.00 0.000 4 0.000 0.035 2570 2618 944 0 0 0 0 0 0
13880 0.74 472.8 580.5 11.5 1014 13885 0.10 0.77 0.00 0.000 6 0.055 0.031 2633 2099 944 0 0 0 0 0 0
14202 0.74 472.8 540.4 12.1 1030 14206 0.00 0.77 0.00 0.000 4 0.000 0.036 2636 1572 944 0 0 0 0 0 0
14276 0.69 472.8 531.5 12.4 1033 14280 0.10 0.77 0.00 0.000 6 0.133 0.029 2603 2095 944 0 0 0 0 0 0
14593 0.69 472.8 498.5 10.4 1049 14597 0.00 0.77 0.00 0.000 4 0.000 0.035 2603 2625 944 0 0 0 0 0 0
14645 0.71 473.7 493.1 10.3 1053 14652 0.00 0.77 3.50 0.478 6 0.000 0.031 2605 2104 937 0 0 0 0 0 0
14971 0.74 473.7 457.1 10.7 1084 14974 0.00 0.77 0.00 0.000 4 0.000 0.037 2609 1578 937 0 0 0 0 0 0
15063 0.75 473.7 447.1 11.1 1092 15067 0.00 0.77 0.00 0.000 6 0.000 0.030 2609 2097 937 0 0 0 0 0 0
15395 0.83 499.3 412.0 9.5 1123 15421 0.00 0.80 21.40 0.676 4 0.000 0.032 2609 2627 832 0 0 0 0 0 0
15516 0.89 537.4 401.1 9.1 1133 15556 0.10 0.80 31.33 0.662 6 0.060 0.031 2665 2093 677 0 0 0 0 0 0
15875 0.89 537.4 357.6 13.2 1167 15879 0.00 0.75 0.00 0.000 4 0.000 0.037 2669 1583 677 0 0 0 0 0 0
15978 0.84 537.4 342.9 14.7 1176 15981 0.00 0.77 0.00 0.000 6 0.000 0.030 2669 2101 678 0 0 0 0 0 0
16309 0.83 537.4 298.2 13.3 1207 16313 0.00 0.75 0.00 0.000 4 0.000 0.036 2669 2618 677 0 0 0 0 0 0
16373 0.74 537.4 289.6 14.2 1212 16380 0.17 0.77 0.00 0.000 6 0.132 0.029 2616 2095 677 0 0 0 0 0 0
16700 0.89 581.1 256.7 8.9 1243 16738 0.12 0.00 34.17 0.584 6 0.088 0.000 2681 2094 499 0 0 0 0 0 0
17059 0.91 581.1 213.1 13.1 1276 17063 0.00 0.75 0.00 0.000 4 0.000 0.035 2685 1578 497 0 0 0 0 0 0
17156 0.91 581.1 198.7 15.3 1285 17163 0.00 0.77 0.00 0.000 6 0.000 0.030 2685 2099 497 0 0 0 0 0 0
17504 0.96 581.1 156.4 10.5 1346 17510 0.00 0.77 0.00 0.000 4 0.000 0.032 2688 1574 497 0 0 0 0 0 0
17620 1.02 581.1 143.5 11.6 1366 17627 0.00 0.77 0.00 0.000 6 0.000 0.029 2688 2099 497 0 0 0 0 0 0
17968 1.08 597.1 106.0 9.8 1427 17986 0.00 0.75 12.57 0.506 4 0.000 0.028 2690 1571 439 0 0 0 0 0 0
18174 1.11 597.1 83.1 12.8 1463 18181 0.10 0.77 0.00 0.000 6 0.047 0.028 2757 2098 438 0 0 0 0 0 0
18524 1.08 597.1 41.3 10.9 1524 18532 0.12 0.77 0.00 0.000 4 0.140 0.034 2721 2622 439 0 0 0 0 0 0
18602 1.06 597.1 32.7 11.6 1537 18608 0.00 0.77 0.00 0.000 6 0.000 0.029 2722 2090 440 0 0 0 0 0 0
18884 end climb: SURFACE_DEPTH_REACHED
state 18884 begin surface coast
18919 end surface coast: CONTROL_FINISHED_OK
state 18919 begin surface