OKMC Mar12 * SG176 * Dive index * Mission links * Dive 110 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  176 HD_B  0.0099999998 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  110 HEADING  -1 ROLL_MIN  160 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3752 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  4 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2610 ALTIM_PING_DELTA  0
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  2500 ALTIM_FREQUENCY  13
D_ABORT  1010 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  500 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_BOOST  100 SM_CC  375 ROLL_TIMEOUT  15 XPDR_VALID  3
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  -15 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  -15 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.30000001
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  161 VBD_MIN  500 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
T_DIVE  360 UPLOAD_DIVES_MAX  -1 C_VBD  2929 DEVICE3  35
T_MISSION  500 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  4 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -6 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -7566.7495 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  150 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -7 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  200 PITCH_MIN  224 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  4024 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2510 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043285224
SPEED_FACTOR  1 PITCH_DBAND  0.02 PRESSURE_YINT  -70.662712 SEABIRD_T_H  0.00062606536
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001162977 SEABIRD_T_I  2.5051821e-05
MASS  51719 P_OVSHOOT  0.0099999998 AD7714Ch0Gain  128 SEABIRD_T_J  2.9112039e-06
NAV_MODE  2 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.134115
FERRY_MAX  45 PITCH_TIMEOUT  18 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1528351
KALMAN_USE  2 PITCH_AD_RATE  170 COMPASS_USE  4 SEABIRD_C_I  -0.0013358581
HD_A  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00019115997

Pre-dive calculations and measurements:
GPS1  010412,022137,2036.058,12306.241,39,1.0,39,-2.6 TGT_NAME  DOGLEG2
_CALLS  1 TGT_LATLONG  1930.000,12325.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.69 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  010412,022826,2035.956,12306.195,13,1.7,13,-2.6 MHEAD_RNG_PITCHd_Wd  139.8,126486,-13.6,-9.167
SPEED_LIMITS  0.159,0.286 D_GRID  5497

Post-dive calculations and measurements:
FINISH  0.7,1.010384 _10V_AH  10.1,14.796
SM_CCo  15241,21.23,0.134,0,0,1398,375.06 FG_AHR_24Vo  0.000
SM_GC  1.28,6.53,1.75,21.23,0.037,0.024,0.134,185,2553,1398,-7.14,0.59,375.06,0,0,0,0,0,0,26.41,26.47,26.01 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2034.08,12306.26,310312,222206 MEM  329640
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  106877,1405
HUMID  42.83 CAP_FILE_SIZE  162072,0
INTERNAL_PRESSURE  9.4074 CFSIZE  260165632,213155840
TCM_TEMP  23.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.152,223.0,1
_24V_AH  22.8,25.390 GPS  010412,064425,2033.507,12306.883,40,1.1,40,-2.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor18257110.06 SBE_CT95724523.78
Roll_motor13761191.72 AA43301776331336.60
VBD_pump_during_apogee431172917002.99 WL_BB2F000.00
VBD_pump_during_surface2113364.79 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910370.45 nil000.00
Iridium_during_connect1916072.95 nil000.00
Iridium_during_xfer2262231150.26 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS15508.04
TT8353719707.42
LPSleep83972185.75
TT8_Active55719111.48
TT8_Sampling2821391134.25
TT8_CF833645155.68
TT8_Kalman000.00
Analog_circuits190912231.48
GPS_charging000.00
Compass240115363.85
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.58 -194.6 0.0 0.0 0 61 0.00 0.00 -41.55 0.000 2 0.000 0.000 190 2637 2467 0 0 0 0 0 0 28.83 28.83 28.83
64 -0.58 -194.6 3.0 -5.2 7 112 8.65 2.22 -28.90 0.000 4 0.244 0.043 2329 1148 3726 0 0 0 0 0 0 25.60 26.10 26.45
230 -0.58 -194.6 39.2 -17.9 35 236 0.00 2.25 0.00 0.000 6 0.000 0.044 2318 2628 3727 0 0 0 0 0 0 28.83 26.14 28.83
540 -0.58 -194.6 151.2 -33.3 96 547 0.00 1.73 0.00 0.000 4 0.000 0.053 2308 3777 3727 0 0 0 0 0 0 28.83 26.24 28.83
579 -0.58 -194.6 164.0 -32.5 103 586 0.10 1.73 0.00 0.000 6 0.193 0.023 2332 2521 3727 0 0 0 0 0 0 26.12 26.44 28.83
889 -0.58 -194.6 243.0 -20.7 146 897 0.00 1.92 0.00 0.000 4 0.000 0.025 2332 1148 3727 0 0 0 0 0 0 28.83 26.47 28.83
1041 -0.58 -194.6 265.4 -12.7 161 1051 0.00 2.22 0.00 0.000 6 0.000 0.045 2321 2629 3727 0 0 0 0 0 0 28.83 26.39 28.83
1350 -0.58 -194.6 332.0 -23.5 192 1358 0.00 2.12 0.00 0.000 4 0.000 0.025 2321 1135 3727 0 0 0 0 0 0 28.83 26.53 28.83
1444 -0.58 -194.6 347.8 -14.1 201 1452 0.00 2.25 0.00 0.000 6 0.000 0.047 2321 2628 3727 0 0 0 0 0 0 28.83 26.42 28.83
1751 -0.58 -194.6 408.1 -19.8 232 1760 0.00 2.10 0.00 0.000 4 0.000 0.025 2321 1138 3727 0 0 0 0 0 0 28.83 26.56 28.83
1815 -0.58 -194.6 418.1 -14.4 238 1822 0.00 2.25 0.00 0.000 6 0.000 0.047 2320 2633 3726 0 0 0 0 0 0 28.83 26.44 28.83
2122 -0.58 -194.6 468.0 -15.8 269 2125 0.00 1.70 0.00 0.000 4 0.000 0.054 2312 3781 3725 0 0 0 0 0 0 28.83 26.42 28.83
2153 -0.58 -194.6 472.9 -16.3 272 2157 0.08 1.73 0.00 0.000 6 0.186 0.024 2332 2508 3725 0 0 0 0 0 0 26.41 26.64 28.83
2465 -0.58 -194.6 514.1 -13.0 303 2469 0.05 1.90 0.00 0.000 4 0.176 0.023 2287 1145 3723 0 0 0 0 0 0 26.70 26.59 28.83
2497 -0.58 -194.6 518.6 -13.7 306 2508 0.17 2.25 0.00 0.000 6 0.148 0.044 2331 2633 3724 0 0 0 0 0 0 26.23 26.45 28.83
2806 -0.58 -194.6 558.2 -12.3 337 2816 0.00 2.12 0.00 0.000 4 0.000 0.026 2332 1150 3722 0 0 0 0 0 0 28.83 26.58 28.83
2881 -0.58 -194.6 566.0 -9.7 344 2889 0.00 2.25 0.00 0.000 6 0.000 0.046 2331 2615 3722 0 0 0 0 0 0 28.83 26.46 28.83
3191 -0.58 -194.6 603.3 -12.6 374 3195 0.00 2.10 0.00 0.000 4 0.000 0.025 2331 1144 3719 0 0 0 0 0 0 28.83 26.58 28.83
3212 -0.58 -194.6 606.2 -12.6 375 3218 0.00 2.25 0.00 0.000 6 0.000 0.047 2330 2626 3719 0 0 0 0 0 0 28.83 26.44 28.83
3533 -0.58 -194.6 643.9 -11.5 391 3539 0.00 2.12 0.00 0.000 4 0.000 0.025 2330 1148 3717 0 0 0 0 0 0 28.83 26.57 28.83
3594 -0.58 -194.6 650.2 -10.7 394 3599 0.00 2.22 0.00 0.000 6 0.000 0.047 2330 2619 3717 0 0 0 0 0 0 28.83 26.44 28.83
3913 -0.58 -194.6 684.2 -11.0 410 3914 0.00 0.00 0.00 0.000 6 0.000 0.000 2330 2619 3714 0 0 0 0 0 0 28.83 28.83 28.83
4213 -0.58 -194.6 720.2 -12.6 425 4219 0.00 2.10 0.00 0.000 4 0.000 0.025 2330 1143 3712 0 0 0 0 0 0 28.83 26.57 28.83
4280 -0.58 -194.6 727.3 -12.1 428 4284 0.00 2.28 0.00 0.000 6 0.000 0.048 2330 2631 3711 0 0 0 0 0 0 28.83 26.42 28.83
4588 -0.58 -194.6 763.7 -10.7 443 4589 0.00 0.00 0.00 0.000 6 0.000 0.000 2330 2632 3708 0 0 0 0 0 0 28.83 28.83 28.83
4888 -0.58 -194.6 791.0 -8.6 458 4894 0.00 2.15 0.00 0.000 4 0.000 0.026 2330 1143 3706 0 0 0 0 0 0 28.83 26.55 28.83
4916 -0.58 -194.6 792.6 -8.6 459 4920 0.00 2.28 0.00 0.000 6 0.000 0.049 2330 2626 3706 0 0 0 0 0 0 28.83 26.40 28.83
5224 -0.58 -194.6 818.5 -8.5 474 5230 0.00 2.10 0.00 0.000 4 0.000 0.026 2330 1155 3704 0 0 0 0 0 0 28.83 26.54 28.83
5252 -0.58 -194.6 820.2 -8.5 475 5261 0.00 2.25 0.00 0.000 6 0.000 0.048 2329 2625 3703 0 0 0 0 0 0 28.83 26.39 28.83
5562 -0.58 -194.6 848.7 -9.4 491 5566 0.00 1.77 0.00 0.000 4 0.000 0.061 2330 3763 3702 0 0 0 0 0 0 28.83 26.31 28.83
5587 -0.58 -194.6 850.7 -9.6 492 5590 0.00 1.70 0.00 0.000 6 0.000 0.025 2330 2514 3701 0 0 0 0 0 0 28.83 26.66 28.83
5904 -0.58 -194.6 882.5 -10.2 508 5905 0.00 0.00 0.00 0.000 6 0.000 0.000 2330 2499 3699 0 0 0 0 0 0 28.83 28.83 28.83
6204 -0.58 -194.6 913.0 -9.9 523 6209 0.00 1.95 0.00 0.000 4 0.000 0.059 2329 3763 3697 0 0 0 0 0 0 28.83 26.27 28.83
6265 -0.58 -194.6 918.8 -9.8 526 6268 0.00 1.73 0.00 0.000 6 0.000 0.024 2329 2509 3696 0 0 0 0 0 0 28.83 26.67 28.83
6586 -0.58 -194.6 946.8 -8.1 542 6587 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2490 3695 0 0 0 0 0 0 28.83 28.83 28.83
6887 -0.58 -194.6 971.1 -8.0 557 6888 0.00 0.00 0.00 0.000 6 0.000 0.000 2329 2490 3694 0 0 0 0 0 0 28.83 28.83 28.83
7124 end dive: TARGET_DEPTH_EXCEEDED
state 7124 begin apogee
7128 -0.17 0.0 990.6 -8.1 569 7299 0.38 0.00 164.20 1.730 6 0.109 0.000 2463 2489 2928 0 0 0 0 0 0 26.17 28.83 23.44
7300 end apogee: CONTROL_FINISHED_OK
state 7300 begin climb
7303 0.58 194.6 997.0 0.0 577 7496 0.65 2.33 183.88 1.688 4 0.051 0.032 2725 1062 2136 0 0 0 0 0 0 24.64 23.89 22.84
7516 0.58 194.6 981.8 15.8 588 7524 0.15 2.45 0.00 0.000 6 0.177 0.047 2690 2519 2132 0 0 0 0 0 0 24.24 24.39 28.83
7824 0.58 194.6 929.4 16.5 604 7825 0.00 0.00 0.00 0.000 6 0.000 0.000 2690 2519 2127 0 0 0 0 0 0 28.83 28.83 28.83
8124 0.58 194.6 882.0 15.4 619 8130 0.00 1.95 0.00 0.000 4 0.000 0.056 2690 3771 2125 0 0 0 0 0 0 28.83 25.95 28.83
8144 0.58 194.6 878.7 15.5 620 8150 0.00 1.95 0.00 0.000 6 0.000 0.026 2700 2444 2125 0 0 0 0 0 0 28.83 26.10 28.83
8464 0.58 194.6 829.0 15.3 636 8470 0.00 2.08 0.00 0.000 4 0.000 0.056 2700 3766 2123 0 0 0 0 0 0 28.83 26.08 28.83
8496 0.58 194.6 825.9 15.2 637 8504 0.10 1.92 0.00 0.000 6 0.220 0.026 2687 2451 2123 0 0 0 0 0 0 25.91 26.24 28.83
8804 0.58 194.6 781.4 14.3 653 8809 0.00 2.05 0.00 0.000 4 0.000 0.031 2697 1049 2122 0 0 0 0 0 0 28.83 26.26 28.83
8823 0.58 194.6 778.3 14.5 654 8827 0.00 2.28 0.00 0.000 6 0.000 0.048 2697 2515 2121 0 0 0 0 0 0 28.83 26.18 28.83
9144 0.58 194.6 727.4 16.2 670 9151 0.00 2.15 0.00 0.000 4 0.000 0.033 2708 1060 2121 0 0 0 0 0 0 28.83 26.29 28.83
9185 0.58 194.6 721.4 15.7 672 9191 0.08 2.25 0.00 0.000 6 0.202 0.047 2693 2518 2120 0 0 0 0 0 0 26.10 26.24 28.83
9504 0.58 194.6 672.4 15.3 688 9508 0.00 1.92 0.00 0.000 4 0.000 0.056 2693 3781 2120 0 0 0 0 0 0 28.83 26.22 28.83
9547 0.58 194.6 665.3 16.3 690 9552 0.00 1.92 0.00 0.000 6 0.000 0.024 2702 2446 2120 0 0 0 0 0 0 28.83 26.41 28.83
9867 0.58 194.6 618.8 13.2 706 9872 0.00 2.00 0.00 0.000 4 0.000 0.034 2713 1063 2120 0 0 0 0 0 0 28.83 26.35 28.83
9913 0.58 194.6 613.6 13.1 708 9918 0.10 2.25 0.00 0.000 6 0.187 0.046 2689 2524 2118 0 0 0 0 0 0 26.09 26.29 28.83
10221 0.58 194.6 570.8 14.6 733 10222 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2524 2118 0 0 0 0 0 0 28.83 28.83 28.83
10524 0.58 194.6 527.2 14.8 763 10533 0.00 2.12 0.00 0.000 4 0.000 0.033 2699 1061 2118 0 0 0 0 0 0 28.83 26.39 28.83
10599 0.58 194.6 517.0 13.2 770 10606 0.00 2.22 0.00 0.000 6 0.000 0.044 2699 2519 2117 0 0 0 0 0 0 28.83 26.32 28.83
10907 0.58 194.6 472.1 14.7 801 10908 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2519 2117 0 0 0 0 0 0 28.83 28.83 28.83
11207 0.58 194.6 434.2 10.9 831 11213 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2520 2117 0 0 0 0 0 0 28.83 28.83 28.83
11516 0.58 194.6 399.2 12.4 862 11526 0.00 2.12 0.00 0.000 4 0.000 0.034 2710 1062 2117 0 0 0 0 0 0 28.83 26.41 28.83
11549 0.58 194.6 395.1 12.3 865 11554 0.10 2.22 0.00 0.000 6 0.176 0.044 2685 2530 2117 0 0 0 0 0 0 26.16 26.36 28.83
11861 0.59 199.4 363.6 9.0 896 11871 0.08 2.20 0.00 0.000 4 0.128 0.032 2745 1051 2117 0 0 0 0 0 0 26.62 26.41 28.83
12033 0.59 199.4 341.6 13.1 913 12043 0.17 2.22 0.00 0.000 6 0.158 0.043 2694 2521 2117 0 0 0 0 0 0 26.05 26.37 28.83
12344 0.59 199.4 306.6 10.5 944 12348 0.00 1.90 0.00 0.000 4 0.000 0.051 2694 3762 2118 0 0 0 0 0 0 28.83 26.32 28.83
12385 0.59 199.4 301.4 12.5 948 12389 0.00 1.88 0.00 0.000 6 0.000 0.024 2703 2442 2119 0 0 0 0 0 0 28.83 26.53 28.83
12690 0.59 199.4 267.5 10.7 978 12694 0.00 2.03 0.00 0.000 4 0.000 0.035 2713 1058 2119 0 0 0 0 0 0 28.83 26.43 28.83
12848 0.59 199.4 250.3 10.7 993 12858 0.10 2.22 0.00 0.000 6 0.168 0.043 2686 2531 2119 0 0 0 0 0 0 26.21 26.39 28.83
13158 0.59 199.4 216.7 9.9 1024 13168 0.05 2.17 0.00 0.000 4 0.173 0.032 2744 1058 2120 0 0 0 0 0 0 26.67 26.44 28.83
13282 0.59 199.4 203.3 10.6 1036 13291 0.15 2.17 0.00 0.000 6 0.134 0.041 2692 2516 2120 0 0 0 0 0 0 26.08 26.41 28.83
13595 0.67 271.3 177.7 6.9 1094 13670 0.12 2.30 64.82 1.155 4 0.090 0.035 2781 1061 1823 0 0 0 0 0 0 26.60 25.34 24.46
13728 0.67 271.3 160.7 14.6 1117 13736 0.22 2.28 0.00 0.000 6 0.141 0.042 2715 2519 1819 0 0 0 0 0 0 25.46 25.65 28.83
14041 0.67 271.3 124.6 10.5 1178 14049 0.05 1.90 0.00 0.000 4 0.172 0.048 2761 3765 1818 0 0 0 0 0 0 26.22 25.98 28.83
14076 0.67 271.3 119.3 16.4 1184 14084 0.12 1.92 0.00 0.000 6 0.143 0.026 2717 2452 1818 0 0 0 0 0 0 25.80 26.16 28.83
14388 0.67 271.3 88.0 10.3 1245 14395 0.03 2.05 0.00 0.000 4 0.258 0.034 2751 1055 1817 0 0 0 0 0 0 26.41 26.22 28.83
14453 0.67 271.3 80.9 10.9 1257 14461 0.12 2.22 0.00 0.000 6 0.140 0.041 2713 2525 1816 0 0 0 0 0 0 26.06 26.22 28.83
14768 0.67 271.3 47.4 10.4 1318 14776 0.08 2.17 0.00 0.000 4 0.132 0.032 2769 1057 1816 0 0 0 0 0 0 26.48 26.33 28.83
14819 0.67 271.3 41.4 11.7 1327 14826 0.17 2.20 0.00 0.000 6 0.135 0.041 2714 2522 1816 0 0 0 0 0 0 26.10 26.31 28.83
15130 0.73 317.3 16.8 7.7 1388 15156 0.12 1.85 18.25 0.165 4 0.093 0.047 2800 3767 1632 0 0 0 0 0 0 26.51 26.29 25.97
15207 end climb: SURFACE_DEPTH_REACHED
state 15208 begin surface coast
15224 end surface coast: CONTROL_FINISHED_OK
state 15224 begin surface