DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 84 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  108 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  11 ESCAPE_HEADING  0 ROLL_MIN  294 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  84 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3598 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  0
D_FLARE  3 TGT_DEFAULT_LAT  47.599998 C_ROLL_DIVE  2230 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -122.3 C_ROLL_CLIMB  1740 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_NO_BLEED  50 SM_CC  275 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  23 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  275 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  588 DEVICE2  20
T_MISSION  530 CALL_TRIES  5 VBD_MAX  3951 DEVICE3  -1
T_ABORT  1440 CALL_WAIT  60 C_VBD  2895 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  0.0012300001 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  100 T_GPS_CHARGE  -112613.92 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  350 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3700 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2657 PRESSURE_YINT  -22.639299 SEABIRD_T_G  0.0043498399
RHO  1.02765 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001161151 SEABIRD_T_H  0.0006493734
MASS  51779 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_T_I  2.8112627e-05
NAV_MODE  1 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  3.1957888e-06
FERRY_MAX  45 PITCH_GAIN  15.9 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.106751
KALMAN_USE  1 PITCH_TIMEOUT  20 COMPASS_USE  0 SEABIRD_C_H  1.1366181
HD_A  0.0038000001 PITCH_AD_RATE  150 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  0.00038917549
HD_B  0.0099999998 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  7.9540005e-05
HD_C  2.7999999e-06 PITCH_ADJ_GAIN  0.045000002 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  211438,6655.257,-5808.171,32,1.2,32,-37.7 TGT_NAME  TARGET_ADD3_WB
_CALLS  1 TGT_LATLONG  6655.000,-5823.000
_XMS_NAKs  6 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.178,0.150
_SM_DEPTHo  2.36 KALMAN_X  12723.9,-400.3,-401.2,100.0,3125.0
_SM_ANGLEo  -70.4 KALMAN_Y  -11706.1,372.0,1269.7,14931.1,-4002.9
GPS2  212123,6655.269,-5808.119,10,3.8,29,-37.7 MHEAD_RNG_PITCHd_Wd  347.8,10817,-13.0,-7.021
SPEED_LIMITS  0.122,0.233 D_GRID  918

Post-dive calculations and measurements:
FINISH  1.5,1.022718 TCM_TEMP  16.30
SM_CCo  23970,0.00,0.000,0,0,1532,334.10 XPDR_PINGS  36
SM_GC  2.46,7.12,0.00,0.00,0.056,0.000,0.000,340,2237,1532,-10.57,0.20,334.10 _24V_AH  22.9,18.847
RAFOS_CLK  1002 _10V_AH  10.6,9.019
RAFOS  0,1222041854,0.083333,0.070556,83,66,60,60,55,54,776,202,215,175,131,113 DATA_FILE_SIZE  37840,1087
RAFOS_FIX  6655.394043,-5810.455566,220908,000008,4,98,0.15 CAP_FILE_SIZE  179070,0
IRIDIUM_FIX  6631.12,-5803.75,161297,151523 CFSIZE  260165632,247615488
TT8_MAMPS  0.026078 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID  1809 SOUNDSPEED  1459.1
INTERNAL_PRESSURE  9.93202 GPS  220908,040356,6655.723,-5812.932,40,0.9,40,-37.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor24259147.38 SBE_CT75824416.64
Roll_motor19288392.97 SBE_O20190.00
VBD_pump_during_apogee421143113808.12 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3010371.26 nil000.00
Iridium_during_connect43160160.70 nil000.00
Iridium_during_xfer1992231018.86
Transponder_ping942086.56
Mmodem_TX000.00
Mmodem_RX000.00
GPS325017.01
TT8217919460.26
LPSleep188602461.82
TT8_Active62419131.79
TT8_Sampling229039969.35
TT8_CF846145224.83
TT8_Kalman338128.97
Analog_circuits184012234.08
GPS_charging000.00
Compass22418190.09
RAFOS1800128.62
Transponder0300.17

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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
17 -1.00 -146.0 0.0 0.0 0 60 0.00 0.00 -40.03 0.000 2 0.000 0.000 343 2251 2661
62 -1.00 -146.0 3.0 -2.1 7 104 8.50 2.28 -27.73 0.000 4 0.259 0.089 2429 3599 3494
290 -0.76 -146.0 37.4 -13.2 47 297 0.22 2.20 0.00 0.000 6 0.143 0.051 2495 2212 3498
633 -0.76 -146.0 65.2 -7.9 108 640 0.00 2.25 0.00 0.000 4 0.000 0.063 2495 816 3501
735 -0.76 -146.0 74.7 -9.6 126 741 0.00 2.30 0.00 0.000 6 0.000 0.060 2487 2232 3502
1085 -0.76 -146.0 110.1 -9.6 175 1089 0.00 2.17 0.00 0.000 4 0.000 0.079 2476 3596 3502
1230 -0.76 -146.0 123.9 -9.4 181 1235 0.00 2.17 0.00 0.000 6 0.000 0.051 2476 2229 3502
1551 -0.76 -146.0 151.6 -8.5 197 1555 0.00 2.25 0.00 0.000 4 0.000 0.065 2476 823 3501
1618 -0.69 -146.0 157.7 -8.8 200 1623 0.15 2.28 0.00 0.000 6 0.141 0.063 2508 2232 3501
1944 -0.78 -146.0 180.8 -7.0 216 1945 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2231 3501
2253 -0.90 -146.0 200.5 -6.1 231 2255 0.17 0.00 0.00 0.000 6 0.081 0.000 2438 2231 3500
2563 -0.76 -146.0 230.0 -9.5 246 2567 0.20 2.20 0.00 0.000 4 0.151 0.077 2492 3606 3499
2630 -0.85 -146.0 235.1 -7.0 249 2633 0.00 2.17 0.00 0.000 6 0.000 0.054 2492 2223 3499
2956 -0.92 -146.0 257.1 -6.7 265 2958 0.12 0.00 0.00 0.000 6 0.087 0.000 2439 2223 3499
3265 -0.81 -146.0 285.4 -9.5 280 3270 0.15 2.25 0.00 0.000 4 0.156 0.065 2481 824 3499
3353 -0.81 -146.0 293.0 -7.9 284 3358 0.00 2.30 0.00 0.000 6 0.000 0.064 2473 2228 3499
3680 -0.81 -146.0 319.8 -8.6 300 3684 0.00 2.20 0.00 0.000 4 0.000 0.076 2462 3600 3499
3769 -0.81 -146.0 328.2 -9.5 304 3773 0.00 2.15 0.00 0.000 6 0.000 0.052 2462 2221 3499
4100 -0.81 -146.0 358.1 -8.9 320 4104 0.00 2.25 0.00 0.000 4 0.000 0.067 2463 811 3499
4178 -0.75 -146.0 365.8 -9.3 323 4183 0.15 2.28 0.00 0.000 6 0.143 0.061 2494 2234 3499
4499 -0.86 -146.0 388.8 -6.7 339 4503 0.10 2.15 0.00 0.000 4 0.094 0.075 2443 3598 3499
4616 -0.80 -146.0 399.1 -8.9 344 4620 0.15 2.15 0.00 0.000 6 0.153 0.051 2484 2214 3498
4957 -0.87 -146.0 421.6 -6.4 353 4961 0.00 2.22 0.00 0.000 4 0.000 0.065 2484 822 3498
5040 -0.87 -146.0 427.4 -7.3 354 5047 0.00 2.30 0.00 0.000 6 0.000 0.061 2476 2236 3498
5371 -0.87 -146.0 450.5 -7.1 363 5375 0.00 2.17 0.00 0.000 4 0.000 0.075 2465 3593 3498
5454 -0.87 -146.0 457.0 -8.2 364 5461 0.00 2.17 0.00 0.000 6 0.000 0.051 2465 2221 3498
5785 -0.87 -146.0 481.8 -7.3 373 5789 0.00 2.25 0.00 0.000 4 0.000 0.065 2465 810 3498
5879 -0.87 -146.0 488.8 -7.8 375 5883 0.00 2.30 0.00 0.000 6 0.000 0.060 2455 2231 3498
6203 -0.87 -146.0 512.8 -7.4 383 6207 0.00 2.15 0.00 0.000 4 0.000 0.074 2445 3596 3499
6320 -0.82 -146.0 522.4 -8.5 385 6325 0.10 2.17 0.00 0.000 6 0.145 0.050 2478 2217 3499
6662 -0.88 -146.0 544.0 -6.2 394 6664 0.00 0.00 0.00 0.000 6 0.000 0.000 2478 2217 3499
6987 -0.95 -146.0 564.3 -6.3 402 6992 0.12 2.25 0.00 0.000 4 0.085 0.064 2426 816 3499
7086 -0.79 -146.0 573.2 -9.5 404 7091 0.25 2.28 0.00 0.000 6 0.143 0.061 2490 2236 3499
7399 -0.91 -146.0 591.8 -5.9 412 7404 0.12 2.17 0.00 0.000 4 0.086 0.072 2429 3599 3499
7534 -0.81 -146.0 603.3 -9.1 415 7539 0.20 2.15 0.00 0.000 6 0.149 0.050 2486 2211 3500
7858 -0.92 -146.0 622.6 -5.9 423 7862 0.12 2.22 0.00 0.000 4 0.086 0.063 2434 818 3499
7934 -0.80 -146.0 629.0 -9.0 424 7939 0.20 2.30 0.00 0.000 6 0.143 0.061 2482 2232 3499
8271 -0.89 -146.0 649.9 -6.2 433 8275 0.00 2.17 0.00 0.000 4 0.000 0.073 2474 3601 3499
8354 -0.98 -146.0 655.4 -6.3 434 8361 0.12 2.15 0.00 0.000 6 0.087 0.050 2422 2218 3499
8685 -0.84 -146.0 683.3 -8.5 443 8690 0.17 2.22 0.00 0.000 4 0.146 0.064 2473 820 3499
8756 -0.84 -146.0 688.6 -7.3 444 8760 0.00 2.28 0.00 0.000 6 0.000 0.060 2465 2227 3499
9093 -0.84 -146.0 711.0 -6.5 453 9097 0.00 2.17 0.00 0.000 4 0.000 0.074 2454 3597 3499
9192 -0.84 -146.0 718.3 -7.2 455 9197 0.00 2.15 0.00 0.000 6 0.000 0.049 2455 2230 3499
9511 -0.84 -146.0 740.9 -7.2 463 9515 0.00 2.25 0.00 0.000 4 0.000 0.064 2455 817 3499
9594 -0.79 -146.0 747.7 -8.7 464 9602 0.15 2.28 0.00 0.000 6 0.141 0.060 2486 2227 3499
9926 -0.91 -146.0 767.7 -5.8 473 9928 0.12 0.00 0.00 0.000 6 0.086 0.000 2436 2227 3499
10250 -0.83 -146.0 792.0 -7.5 481 10255 0.15 2.17 0.00 0.000 4 0.156 0.073 2469 3594 3499
10314 -0.91 -146.0 796.0 -7.0 482 10318 0.00 2.15 0.00 0.000 6 0.000 0.050 2469 2215 3499
10626 -0.96 -146.0 815.4 -6.1 490 10628 0.00 0.00 0.00 0.000 6 0.000 0.000 2469 2214 3499
10952 -1.02 -146.0 835.3 -6.2 498 10953 0.12 0.00 0.00 0.000 6 0.088 0.000 2418 2214 3499
11277 -0.89 -146.0 862.3 -8.4 506 11281 0.17 2.25 0.00 0.000 4 0.156 0.073 2459 3600 3499
11371 -0.89 -146.0 869.2 -6.6 508 11375 0.00 2.15 0.00 0.000 6 0.000 0.050 2459 2222 3499
11695 -0.89 -146.0 889.9 -6.3 516 11696 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 2222 3499
12020 -0.89 -146.0 910.7 -6.4 524 12021 0.00 0.00 0.00 0.000 6 0.000 0.000 2459 2222 3499
12143 end dive: TARGET_DEPTH_EXCEEDED
state 12143 begin apogee
12147 -0.31 0.0 918.6 6.4 527 12277 0.43 0.00 126.62 1.432 6 0.130 0.000 2594 1745 2895
12278 end apogee: CONTROL_FINISHED_OK
state 12278 begin climb
12279 1.00 146.0 921.3 0.0 530 12413 0.88 0.00 130.15 1.358 6 0.094 0.000 2876 1745 2299
12707 0.68 146.0 880.1 11.0 541 12709 0.28 0.00 0.00 0.000 6 0.133 0.000 2798 1745 2293
13032 0.68 146.0 856.4 7.3 549 13036 0.00 2.42 0.00 0.000 4 0.000 0.068 2798 3146 2292
13070 0.53 146.0 853.1 9.0 549 13077 0.15 2.38 0.00 0.000 6 0.138 0.054 2764 1723 2292
13401 0.69 188.5 833.4 5.7 558 13444 0.15 2.53 36.12 1.346 4 0.080 0.067 2824 3147 2125
13483 0.47 188.5 826.5 10.1 559 13490 0.28 2.40 0.00 0.000 6 0.135 0.054 2758 1730 2121
13814 0.89 196.8 805.5 6.8 568 13829 0.28 2.45 8.00 1.156 4 0.071 0.071 2872 335 2092
13918 0.66 196.8 795.9 11.3 570 13923 0.25 2.35 0.00 0.000 6 0.134 0.056 2799 1746 2092
14230 0.66 197.4 773.6 7.0 578 14234 0.00 2.30 0.00 0.000 4 0.000 0.069 2800 3155 2091
14257 0.60 197.4 771.5 7.5 578 14261 0.00 2.33 0.00 0.000 6 0.000 0.054 2807 1734 2090
14599 0.60 197.4 746.0 7.4 587 14603 0.00 2.38 0.00 0.000 4 0.000 0.069 2807 3151 2090
14614 0.55 197.4 744.7 8.1 587 14619 0.15 2.30 0.00 0.000 6 0.142 0.054 2776 1727 2089
14927 0.69 204.7 723.8 6.8 595 14941 0.12 2.42 7.97 1.144 4 0.081 0.068 2826 3144 2060
14952 0.61 204.7 721.4 9.4 595 14957 0.17 2.33 0.00 0.000 6 0.139 0.054 2788 1716 2058
15294 0.69 204.7 696.1 7.1 604 15298 0.00 2.40 0.00 0.000 4 0.000 0.068 2788 3155 2058
15315 0.69 204.7 694.5 7.7 604 15320 0.00 2.33 0.00 0.000 6 0.000 0.054 2795 1740 2057
15664 0.74 204.7 668.2 7.7 613 15668 0.08 2.35 0.00 0.000 4 0.105 0.067 2830 3149 2058
15690 0.60 204.7 665.6 9.5 613 15695 0.20 2.30 0.00 0.000 6 0.140 0.054 2784 1727 2057
16032 0.73 214.7 642.1 6.7 622 16047 0.12 2.42 9.80 1.156 4 0.083 0.069 2836 3158 2019
16068 0.54 214.7 638.5 9.5 622 16076 0.25 2.33 0.00 0.000 6 0.138 0.055 2774 1738 2018
16400 0.74 237.6 617.1 6.3 631 16424 0.15 0.00 21.12 1.222 6 0.077 0.000 2835 1737 1926
16725 0.64 237.6 587.4 9.2 639 16729 0.15 2.40 0.00 0.000 4 0.131 0.069 2792 3155 1921
16745 0.59 237.6 585.6 8.4 639 16750 0.00 2.33 0.00 0.000 6 0.000 0.054 2800 1734 1921
17088 0.66 237.6 559.8 7.6 648 17092 0.00 2.38 0.00 0.000 4 0.000 0.070 2800 3150 1920
17097 0.72 237.6 559.1 7.6 648 17102 0.00 2.33 0.00 0.000 6 0.000 0.054 2809 1735 1920
17416 0.72 237.6 533.3 8.0 656 17420 0.00 2.38 0.00 0.000 4 0.000 0.069 2809 3157 1920
17426 0.72 237.6 532.4 7.9 656 17430 0.00 2.30 0.00 0.000 6 0.000 0.054 2815 1733 1920
17744 0.72 237.6 507.3 7.9 664 17745 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 1733 1920
18069 0.72 237.6 482.0 7.8 672 18070 0.00 0.00 0.00 0.000 6 0.000 0.000 2815 1733 1920
18394 0.72 237.6 456.8 7.8 680 18398 0.00 2.38 0.00 0.000 4 0.000 0.069 2815 3156 1920
18415 0.67 237.6 454.9 8.2 680 18420 0.10 2.30 0.00 0.000 6 0.150 0.055 2799 1728 1919
18763 0.76 239.4 430.2 7.0 689 18765 0.10 0.00 0.00 0.000 6 0.091 0.000 2841 1729 1920
19087 0.65 239.4 400.2 9.3 697 19089 0.15 0.00 0.00 0.000 6 0.132 0.000 2797 1729 1919
19398 0.83 278.7 381.5 5.8 711 19437 0.15 0.00 34.38 1.091 6 0.077 0.000 2857 1729 1759
19746 0.70 278.7 345.6 10.6 728 19747 0.17 0.00 0.00 0.000 6 0.129 0.000 2806 1729 1752
20055 0.83 278.7 323.6 7.1 743 20060 0.12 2.40 0.00 0.000 4 0.081 0.067 2855 3154 1750
20065 0.92 280.1 322.9 7.0 743 20071 0.00 2.30 0.00 0.000 6 0.000 0.053 2865 1738 1750
20380 0.78 280.1 285.9 12.3 759 20382 0.15 0.00 0.00 0.000 6 0.135 0.000 2821 1738 1750
20690 0.84 280.1 257.4 8.8 774 20691 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 1738 1749
20999 0.92 290.2 234.7 6.7 789 21011 0.12 0.00 9.65 0.928 6 0.082 0.000 2870 1738 1712
21308 0.80 290.2 205.0 9.4 804 21313 0.15 2.35 0.00 0.000 4 0.131 0.068 2834 327 1710
21334 0.80 290.2 202.7 7.5 805 21339 0.00 2.33 0.00 0.000 6 0.000 0.054 2835 1737 1710
21656 0.86 290.2 180.0 7.3 821 21659 0.00 2.28 0.00 0.000 4 0.000 0.067 2834 3158 1710
21682 0.86 290.2 177.6 9.1 822 21687 0.00 2.30 0.00 0.000 6 0.000 0.054 2843 1742 1709
22011 0.92 290.2 150.4 8.4 838 22012 0.00 0.00 0.00 0.000 6 0.000 0.000 2843 1742 1709
22318 0.98 290.2 127.4 7.1 853 22323 0.10 2.33 0.00 0.000 4 0.092 0.069 2894 330 1709
22335 0.98 290.2 126.2 7.1 854 22340 0.10 2.28 0.00 0.000 6 0.147 0.054 2868 1744 1709
22667 0.98 290.2 99.4 7.6 870 22673 0.00 2.25 0.00 0.000 4 0.000 0.071 2867 3157 1709
22678 0.98 290.2 98.5 7.7 872 22685 0.00 2.28 0.00 0.000 6 0.000 0.055 2875 1724 1709
23022 0.98 290.2 69.3 7.9 933 23027 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 1724 1709
23363 0.98 290.2 42.0 8.5 994 23370 0.00 2.35 0.00 0.000 4 0.000 0.071 2875 3152 1708
23381 0.98 290.2 40.6 7.7 997 23387 0.00 2.25 0.00 0.000 6 0.000 0.056 2884 1741 1707
23725 1.08 308.7 13.4 6.4 1058 23749 0.00 2.38 16.45 0.871 4 0.000 0.071 2893 322 1636
23777 1.24 331.8 10.0 6.3 1067 23803 0.12 2.33 20.80 0.853 6 0.087 0.056 2946 1751 1542
23858 end climb: SURFACE_DEPTH_REACHED
state 23858 begin surface coast
23895 end surface coast: CONTROL_FINISHED_OK
state 23896 begin surface