OKMC Nov12 * SG124 * Dive index * Mission links * Dive 106 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  124 HD_C  2.53e-05 ROLL_MIN  183 ALTIM_TOP_MIN_OBSTACLE  0
MISSION  14 HEADING  -1 ROLL_MAX  3883 ALTIM_PING_DEPTH  0
DIVE  106 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  10
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2500 ALTIM_FREQUENCY  13
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  1700 ALTIM_PULSE  3
D_FLARE  3 TGT_DEFAULT_LAT  47.599998 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_TGT  950 TGT_DEFAULT_LON  -122.3 ROLL_CNV  0.028270001 XPDR_VALID  0
D_ABORT  980 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_NO_BLEED  500 SM_CC  450 R_PORT_OVSHOOT  28 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  4 R_STBD_OVSHOOT  28 INT_PRESSURE_YINT  0
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  250 DEEPGLIDER  0
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
D_SAFE  0 PROTOCOL  1 ROLL_ADJ_DBAND  0 DEVICE1  -1
D_CALL  0 N_NOCOMM  1 VBD_MIN  244 DEVICE2  -1
SURFACE_URGENCY  0 NOCOMM_ACTION  163 VBD_MAX  3700 DEVICE3  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 C_VBD  2509 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_DBAND  2 DEVICE5  -1
T_DIVE  280 CALL_TRIES  5 VBD_CNV  -0.24529999 DEVICE6  -1
T_MISSION  300 CALL_WAIT  60 VBD_TIMEOUT  540 LOGGERS  1
T_ABORT  1440 CAPUPLOAD  0 PITCH_VBD_SHIFT  0.00039999999 LOGGERDEVICE1  53
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_NO_W  120 T_GPS  10 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
T_LOITER  0 N_GPS  20 UNCOM_BLEED  0 COMPASS_DEVICE  97
T_EPIRB  0 T_GPS_ALMANAC  0 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
USE_BATHY  -6 T_GPS_CHARGE  -303683.16 CF8_MAXERRORS  0 PHONE_DEVICE  48
USE_ICE  0 T_RSLEEP  3 AH0_24V  150 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_10V  100 RAFOS_DEVICE  -1
D_OFFGRID  100 RAFOS_PEAK_OFFSET  1.5 MINV_24V  22 XPDR_DEVICE  24
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_10V  9.5 SIM_W  0
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 FG_AHR_10V  0 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_MIN  50 FG_AHR_24V  69.417763 SEABIRD_T_G  0.0043984288
MAX_BUOY  200 PITCH_MAX  3900 PHONE_SUPPLY  -2 SEABIRD_T_H  0.00063808635
COURSE_BIAS  0 C_PITCH  2275 PRESSURE_YINT  -21.889965 SEABIRD_T_I  2.5525775e-05
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001157801 SEABIRD_T_J  3.0944329e-06
SPEED_FACTOR  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -9.6676407
RHO  1.0275 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1061285
MASS  51525 PITCH_GAIN  23 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0013205735
NAV_MODE  2 PITCH_TIMEOUT  20 COMPASS_USE  4 SEABIRD_C_J  0.00018109973
FERRY_MAX  40 PITCH_AD_RATE  135 ALTIM_BOTTOM_PING_RANGE  0 SC_RECORDABOVE  2000.0
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SC_PROFILE  3.0
HD_A  0.003 PITCH_ADJ_GAIN  0.0099999998 ALTIM_BOTTOM_TURN_MARGIN  0 SC_XMITPROFILE  3.0
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  241112,071435,1807.778,12411.566,33,1.0,33,-2.0 TGT_NAME  S1
_CALLS  1 TGT_LATLONG  1831.410,12216.350
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.60 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  241112,072213,1807.759,12411.663,14,1.0,14,-2.0 MHEAD_RNG_PITCHd_Wd  261.1,207180,-17.1,-11.310,-20.62
SPEED_LIMITS  0.196,0.301 D_GRID  5351

Post-dive calculations and measurements:
FINISH  2.1,1.006692 _10V_AH  10.0,14.795
SM_CCo  16657,0.00,0.000,0,0,240,556.34 FG_AHR_24Vo  69.418
SM_GC  2.92,6.78,3.47,0.00,0.046,0.042,0.000,44,2487,240,-10.18,-0.99,556.34,0,0,0,0,0,0,26.58,26.59,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1758.70,12411.59,241112,020228 MEM  329168
TT8_MAMPS  0.028462,0.028462 DATA_FILE_SIZE  30080,780
HUMID  59.33 CAP_FILE_SIZE  190583,0
INTERNAL_PRESSURE  9.39489 CFSIZE  260034560,240091136
TCM_TEMP  24.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  12 CURRENT  0.181, 55.9,1
SC_FREEKB  3979584 GPS  241112,120135,1808.823,12410.263,37,0.9,37,-2.0
_24V_AH  24.1,21.040

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor18257113.70 nil000.00
Roll_motor13474243.55 nil000.00
VBD_pump_during_apogee606129218904.93 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon16593114655.93
Iridium_during_xfer305125922.19 nil000.00
Transponder_ping342030.37 nil000.00
GUMSTIX_24V000.00
GPS15294.61
TT8251414369.87
LPSleep113622248.84
TT8_Active74013103.33
TT8_Sampling226038874.21
TT8_CF824147114.98
TT8_Kalman000.00
Analog_circuits213216341.17
GPS_charging000.00
Compass18607139.32
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 pitch_volts roll_volts vbd_volts
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
17 -0.82 -194.6 0.0 0.0 0 84 0.00 0.00 -64.30 0.000 2 0.000 0.000 36 2504 1436 0 0 0 0 0 0 28.83 28.83 28.83
87 -0.82 -194.6 3.0 -1.2 11 195 8.73 2.20 -91.25 0.000 4 0.258 0.075 2093 3877 3304 0 0 0 0 0 0 26.07 26.46 26.86
424 -0.81 -194.6 51.1 -19.6 60 429 0.00 2.12 0.00 0.000 6 0.000 0.040 2093 2490 3304 0 0 0 0 0 0 28.83 26.68 28.83
736 -0.81 -194.6 111.2 -16.5 76 741 0.00 2.20 0.00 0.000 4 0.000 0.055 2093 3881 3305 0 0 0 0 0 0 28.83 26.73 28.83
828 -0.82 -194.6 124.5 -16.2 80 834 0.00 2.08 0.00 0.000 6 0.000 0.038 2094 2494 3304 0 0 0 0 0 0 28.83 26.82 28.83
1142 -0.85 -194.6 169.5 -11.9 96 1147 0.00 2.15 0.00 0.000 4 0.000 0.056 2093 3885 3304 0 0 0 0 0 0 28.83 26.81 28.83
1266 -0.90 -194.6 182.6 -10.4 102 1271 0.00 2.08 0.00 0.000 6 0.000 0.037 2093 2481 3305 0 0 0 0 0 0 28.83 26.89 28.83
1589 -0.95 -194.6 215.0 -9.9 118 1596 0.10 2.12 0.00 0.000 4 0.120 0.043 2050 1085 3305 0 0 0 0 0 0 26.96 26.89 28.83
1634 -0.98 -194.6 220.3 -11.0 120 1640 0.00 2.17 0.00 0.000 6 0.000 0.042 2050 2504 3305 0 0 0 0 0 0 28.83 26.89 28.83
1959 -1.01 -194.6 257.1 -10.4 136 1964 0.00 2.10 0.00 0.000 4 0.000 0.057 2050 3877 3305 0 0 0 0 0 0 28.83 26.87 28.83
2077 -1.05 -194.6 267.7 -9.7 141 2083 0.00 2.05 0.00 0.000 6 0.000 0.038 2050 2498 3305 0 0 0 0 0 0 28.83 26.95 28.83
2382 -1.08 -194.6 301.8 -10.4 157 2383 0.00 0.00 0.00 0.000 6 0.000 0.000 2050 2498 3304 0 0 0 0 0 0 28.83 28.83 28.83
2683 -1.12 -194.6 329.7 -9.2 172 2685 0.00 0.00 0.00 0.000 6 0.000 0.000 2050 2498 3302 0 0 0 0 0 0 28.83 28.83 28.83
2983 -1.16 -194.6 359.4 -10.1 187 2989 0.10 2.15 0.00 0.000 4 0.109 0.056 2008 3886 3301 0 0 0 0 0 0 27.04 26.90 28.83
3068 -1.19 -194.6 369.5 -12.0 191 3074 0.00 2.08 0.00 0.000 6 0.000 0.041 2008 2498 3301 0 0 0 0 0 0 28.83 26.98 28.83
3391 -1.21 -194.6 407.5 -11.8 207 3392 0.00 0.00 0.00 0.000 6 0.000 0.000 2008 2498 3298 0 0 0 0 0 0 28.83 28.83 28.83
3692 -1.24 -194.6 442.8 -11.4 222 3697 0.00 2.17 0.00 0.000 4 0.000 0.047 2008 1081 3295 0 0 0 0 0 0 28.83 26.94 28.83
3730 -1.26 -194.6 445.5 -11.5 223 3737 0.00 2.20 -0.08 0.000 6 0.000 0.046 2008 2498 3316 0 0 0 0 0 0 28.83 26.94 26.31
4036 -1.28 -194.6 481.7 -11.0 239 4041 0.00 2.15 0.00 0.000 4 0.000 0.062 2008 3886 3314 0 0 0 0 0 0 28.83 26.89 28.83
4189 -1.32 -194.6 497.3 -10.6 246 4194 0.00 2.10 0.00 0.000 6 0.000 0.044 2008 2497 3312 0 0 0 0 0 0 28.83 26.97 28.83
4504 -1.35 -194.6 527.6 -9.1 262 4511 0.10 2.17 0.00 0.000 4 0.112 0.060 1969 3886 3310 0 0 0 0 0 0 27.04 26.89 28.83
4578 -1.37 -194.6 534.9 -10.6 265 4583 0.00 2.10 0.00 0.000 6 0.000 0.044 1968 2498 3310 0 0 0 0 0 0 28.83 26.96 28.83
4890 -1.37 -194.6 571.5 -11.4 281 4891 0.00 0.00 0.00 0.000 6 0.000 0.000 1968 2498 3307 0 0 0 0 0 0 28.83 28.83 28.83
5211 -1.37 -194.6 608.9 -11.8 296 5216 0.00 2.17 0.00 0.000 4 0.000 0.063 1968 3879 3304 0 0 0 0 0 0 28.83 26.87 28.83
5373 -1.38 -194.6 626.8 -11.5 301 5378 0.00 2.10 0.00 0.000 6 0.000 0.044 1968 2497 3302 0 0 0 0 0 0 28.83 26.96 28.83
5695 -1.38 -194.6 665.4 -12.0 312 5701 0.00 2.17 0.00 0.000 4 0.000 0.063 1967 3878 3300 0 0 0 0 0 0 28.83 26.86 28.83
5732 -1.38 -194.6 669.5 -12.1 313 5737 0.00 2.10 0.00 0.000 6 0.000 0.044 1967 2499 3299 0 0 0 0 0 0 28.83 26.95 28.83
6060 -1.38 -194.6 709.7 -12.1 324 6061 0.00 0.00 0.00 0.000 6 0.000 0.000 1967 2498 3298 0 0 0 0 0 0 28.83 28.83 28.83
6360 -1.38 -194.6 745.8 -12.0 334 6361 0.00 0.00 0.00 0.000 6 0.000 0.000 1967 2498 3296 0 0 0 0 0 0 28.83 28.83 28.83
6660 -1.39 -194.6 781.1 -11.5 344 6665 0.00 2.17 0.00 0.000 4 0.000 0.066 1967 3885 3293 0 0 0 0 0 0 28.83 26.84 28.83
6707 -1.40 -194.6 784.7 -11.2 345 6712 0.00 2.12 0.00 0.000 6 0.000 0.047 1967 2498 3293 0 0 0 0 0 0 28.83 26.94 28.83
7026 -1.42 -194.6 820.0 -10.5 356 7032 0.00 2.20 0.00 0.000 4 0.000 0.065 1967 3888 3291 0 0 0 0 0 0 28.83 26.83 28.83
7064 -1.43 -194.6 823.6 -10.4 357 7069 0.00 2.12 0.00 0.000 6 0.000 0.047 1967 2498 3291 0 0 0 0 0 0 28.83 26.93 28.83
7393 -1.45 -194.6 858.3 -10.6 368 7394 0.00 0.00 0.00 0.000 6 0.000 0.000 1967 2498 3289 0 0 0 0 0 0 28.83 28.83 28.83
7692 -1.46 -194.6 890.7 -10.9 378 7698 0.00 2.20 0.00 0.000 4 0.000 0.067 1967 3882 3286 0 0 0 0 0 0 28.83 26.82 28.83
7765 -1.48 -194.6 898.1 -11.2 380 7770 0.00 2.12 0.00 0.000 6 0.000 0.047 1967 2497 3287 0 0 0 0 0 0 28.83 26.92 28.83
8089 -1.50 -194.6 935.8 -11.4 391 8095 0.00 2.22 0.00 0.000 4 0.000 0.054 1967 1076 3287 0 0 0 0 0 0 28.83 26.86 28.83
8123 -1.52 -194.6 940.0 -11.5 392 8128 0.00 2.25 0.00 0.000 6 0.000 0.052 1967 2497 3285 0 0 0 0 0 0 28.83 26.86 28.83
8214 end dive: TARGET_DEPTH_EXCEEDED
state 8214 begin apogee
8219 -0.22 0.0 950.6 -11.6 395 8377 0.77 0.00 149.18 1.293 6 0.117 0.000 2227 1686 2509 0 0 0 0 0 0 26.67 28.83 24.37
8378 end apogee: CONTROL_FINISHED_OK
state 8378 begin climb
8380 0.82 194.6 957.4 0.0 400 8548 0.65 0.00 159.48 1.252 6 0.060 0.000 2464 1686 1714 0 0 0 0 0 0 25.38 28.83 24.08
8846 0.83 213.7 919.9 10.5 416 8869 0.00 2.30 15.52 1.138 4 0.000 0.060 2468 299 1636 0 0 0 0 0 0 28.83 25.86 24.98
8938 0.83 216.2 909.6 11.2 419 8943 0.00 2.28 0.00 0.000 6 0.000 0.046 2468 1713 1607 0 0 0 0 0 0 28.83 26.13 28.83
9272 0.83 221.6 872.7 11.1 430 9281 0.00 0.00 7.25 0.991 6 0.000 0.000 2468 1714 1605 0 0 0 0 0 0 28.83 28.83 25.40
9570 0.83 224.7 839.1 11.2 440 9572 0.00 0.00 0.00 0.000 6 0.000 0.000 2468 1716 1602 0 0 0 0 0 0 28.83 28.83 28.83
9871 0.83 227.8 805.4 11.2 450 9885 0.00 2.35 6.22 0.938 4 0.000 0.062 2468 292 1579 0 0 0 0 0 0 28.83 26.55 25.60
9935 0.83 227.8 798.1 11.4 452 9941 0.00 2.22 0.00 0.000 6 0.000 0.048 2468 1700 1578 0 0 0 0 0 0 28.83 26.60 28.83
10265 0.83 227.8 759.9 11.5 463 10270 0.00 2.25 0.00 0.000 4 0.000 0.061 2468 294 1577 0 0 0 0 0 0 28.83 26.66 28.83
10297 0.83 230.6 756.2 11.2 464 10302 0.00 2.20 0.00 0.000 6 0.000 0.048 2468 1702 1577 0 0 0 0 0 0 28.83 26.71 28.83
10631 0.85 259.7 721.4 10.1 475 10665 0.00 2.30 27.20 1.130 4 0.000 0.059 2468 3113 1449 0 0 0 0 0 0 28.83 26.16 25.35
10686 0.86 291.1 718.5 10.1 476 10724 0.00 2.30 26.83 1.106 6 0.000 0.052 2472 1700 1321 0 0 0 0 0 0 28.83 26.24 24.94
11022 0.86 291.1 677.6 11.6 488 11027 0.00 2.25 0.00 0.000 4 0.000 0.063 2472 292 1313 0 0 0 0 0 0 28.83 26.36 28.83
11085 0.87 291.1 670.4 11.6 490 11090 0.00 2.25 0.00 0.000 6 0.000 0.047 2472 1707 1284 0 0 0 0 0 0 28.83 26.46 28.83
11419 0.88 291.1 630.2 12.0 501 11420 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1709 1311 0 0 0 0 0 0 28.83 28.83 28.83
11728 0.90 299.6 595.1 11.0 512 11736 0.00 0.00 6.50 0.856 6 0.000 0.000 2472 1710 1287 0 0 0 0 0 0 28.83 28.83 25.69
12029 0.92 318.4 563.3 10.6 527 12052 0.00 2.33 16.88 0.992 4 0.000 0.063 2472 288 1210 0 0 0 0 0 0 28.83 26.36 25.55
12074 0.94 333.3 558.7 10.7 529 12094 0.00 2.25 13.68 0.961 6 0.000 0.047 2472 1694 1150 0 0 0 0 0 0 28.83 26.41 25.35
12413 0.98 354.1 521.6 10.5 546 12437 0.00 2.33 17.52 0.962 4 0.000 0.058 2472 3117 1064 0 0 0 0 0 0 28.83 26.17 25.35
12459 1.00 364.9 516.8 10.9 548 12476 0.00 2.28 10.12 0.882 6 0.000 0.051 2472 1703 1021 0 0 0 0 0 0 28.83 26.22 25.25
12775 1.04 382.0 482.0 10.6 564 12796 0.10 0.00 14.75 0.918 6 0.108 0.000 2523 1703 951 0 0 0 0 0 0 26.54 28.83 25.38
13095 1.04 382.0 434.1 15.6 580 13101 0.10 2.25 0.00 0.000 4 0.145 0.060 2498 286 947 0 0 0 0 0 0 26.50 26.47 28.83
13180 1.06 382.0 422.8 13.4 584 13186 0.00 2.25 0.00 0.000 6 0.000 0.047 2498 1714 947 0 0 0 0 0 0 28.83 26.55 28.83
13504 1.08 382.0 380.6 12.6 600 13509 0.00 2.30 0.00 0.000 4 0.000 0.058 2498 284 947 0 0 0 0 0 0 28.83 26.63 28.83
13540 1.10 382.0 377.8 12.5 601 13547 0.00 2.25 0.00 0.000 6 0.000 0.046 2498 1714 947 0 0 0 0 0 0 28.83 26.67 28.83
13847 1.13 389.7 341.5 11.0 617 13857 0.10 0.00 6.93 0.727 6 0.104 0.000 2547 1716 920 0 0 0 0 0 0 26.83 28.83 25.79
14147 1.13 389.7 295.5 14.3 632 14153 0.12 2.30 0.00 0.000 4 0.132 0.057 2511 281 918 0 0 0 0 0 0 26.67 26.68 28.83
14245 1.16 389.7 285.1 12.4 636 14253 0.00 2.22 0.00 0.000 6 0.000 0.046 2512 1705 917 0 0 0 0 0 0 28.83 26.73 28.83
14550 1.18 389.7 248.3 11.5 652 14551 0.00 0.00 0.00 0.000 6 0.000 0.000 2511 1706 917 0 0 0 0 0 0 28.83 28.83 28.83
14851 1.23 421.7 217.5 10.0 667 14885 0.12 2.22 25.83 0.733 4 0.090 0.057 2575 3097 791 0 0 0 0 0 0 26.91 26.43 25.77
14934 1.23 421.7 205.0 15.2 671 14940 0.15 2.20 0.00 0.000 6 0.134 0.047 2536 1694 788 0 0 0 0 0 0 26.41 26.48 28.83
15258 1.28 452.8 168.5 10.1 687 15292 0.00 2.28 24.27 0.679 4 0.000 0.057 2537 285 663 0 0 0 0 0 0 28.83 26.32 25.67
15374 1.37 509.0 159.1 9.1 692 15425 0.12 2.22 43.55 0.675 6 0.090 0.041 2595 1710 432 0 0 0 0 0 0 26.45 26.45 25.32
15743 1.39 509.0 106.1 14.0 711 15748 0.00 2.28 0.00 0.000 4 0.000 0.054 2595 294 430 0 0 0 0 0 0 28.83 26.42 28.83
15827 1.44 509.0 95.5 12.8 715 15832 0.00 2.17 0.00 0.000 6 0.000 0.041 2595 1693 429 0 0 0 0 0 0 28.83 26.53 28.83
16150 1.52 579.7 61.1 8.5 731 16190 0.00 2.33 35.05 0.576 4 0.000 0.054 2595 285 243 0 0 0 0 0 0 28.83 26.25 25.67
16234 1.62 649.4 54.1 8.5 735 16241 0.12 2.22 0.00 0.000 6 0.087 0.039 2658 1716 243 0 0 0 0 0 0 26.36 26.37 28.83
16544 1.62 649.4 5.6 16.6 774 16551 0.12 2.25 0.00 0.000 4 0.129 0.050 2620 293 242 0 0 0 0 0 0 26.55 26.57 28.83
16562 end climb: SURFACE_DEPTH_REACHED
state 16562 begin surface coast
16578 end surface coast: CONTROL_FINISHED_OK
state 16578 begin surface