OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 127 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  144 HD_C  1.0513e-05 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  13 HEADING  -1 PITCH_ADJ_GAIN  0.039999999 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  127 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  160 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3940 ALTIM_PING_DEPTH  0
D_TGT  990 TGT_DEFAULT_LAT  4736 ROLL_DEG  40 ALTIM_PING_DELTA  10
D_ABORT  1090 TGT_DEFAULT_LON  -12218 C_ROLL_DIVE  1900 ALTIM_FREQUENCY  13
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2100 ALTIM_PULSE  3
D_FINISH  0 SM_CC  400 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  33 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  33 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  400 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  412.5 N_NOSURFACE  0 ROLL_ADJ_GAIN  0 DEVICE2  20
T_MISSION  450 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0 DEVICE3  53
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  480 DEVICE4  35
T_TURN  225 CALL_WAIT  60 VBD_MAX  3950 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2931 DEVICE6  -1
T_NO_W  120 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  -1 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  10 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.0012300001 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -38255.758 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  2 VBD_BLEED_AD_RATE  8 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  24
MAX_BUOY  150 RAFOS_CORR_THRESH  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  2 SIM_PITCH  0
GLIDE_SLOPE  45 PITCH_MIN  500 AH0_24V  91.800003 SEABIRD_T_G  0.0043142079
SPEED_FACTOR  1 PITCH_MAX  3812 AH0_10V  61.200001 SEABIRD_T_H  0.00062953553
RHO  1.023 C_PITCH  2728 PRESSURE_YINT  -2.1256177 SEABIRD_T_I  2.3274781e-05
MASS  51458 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.00011159377 SEABIRD_T_J  2.4096155e-06
NAV_MODE  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -10.012566
FERRY_MAX  45 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1222577
KALMAN_USE  1 PITCH_GAIN  15 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0011971687
HD_A  0.0044757999 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_J  0.000188736
HD_B  0.0099689998 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  213907,5012.578,-14456.259,119,2.0,119,18.5 TGT_NAME  NW
_CALLS  1 TGT_LATLONG  5021.009,-14511.944
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.195,0.146
_SM_DEPTHo  1.63 KALMAN_X  4898.1,238.4,-183.8,-2703.7,-183.6
_SM_ANGLEo  -56.1 KALMAN_Y  95510.4,-4.1,18.9,-73092.0,562.3
GPS2  214426,5012.627,-14456.245,35,2.0,52,18.5 MHEAD_RNG_PITCHd_Wd  288.2,24189,-15.3,-8.000
SPEED_LIMITS  0.080,0.243 D_GRID  1001

Post-dive calculations and measurements:
FINISH  0.9,1.025087 XPDR_PINGS  105
SM_CCo  23271,40.97,0.625,2,0,1299,400.08 _24V_AH  23.4,27.178
SM_GC  1.75,0.00,0.00,40.97,0.000,0.000,0.625,496,1899,1299,-10.27,-0.03,400.08 _10V_AH  10.2,13.700
IRIDIUM_FIX  4949.70,-14449.20,051097,151534 DATA_FILE_SIZE  34937,607
TT8_MAMPS  0.029146 CAP_FILE_SIZE  157959,0
HUMID  1772 CFSIZE  260165632,250073088
INTERNAL_PRESSURE  7.65654 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
TCM_TEMP  15.50 GPS  120708,041627,5015.256,-14459.757,89,2.3,108,18.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor26169104.91 SBE_CT43124242.54
Roll_motor223100525.66 SBE_O249019218.05
VBD_pump_during_apogee435136313892.54 Optode62833485.02
VBD_pump_during_surface40625599.36 WL_BB2F368105905.28
VBD_valve000.00 nil000.00
Iridium_during_init2710366.54 nil000.00
Iridium_during_connect2616097.49 nil000.00
Iridium_during_xfer131223688.30
Transponder_ping26420257.99
Mmodem_TX000.00
Mmodem_RX000.00
GPS525026.86
TT8140519283.80
LPSleep193152431.48
TT8_Active63619128.56
TT8_Sampling187939763.06
TT8_CF840945191.13
TT8_Kalman338127.84
Analog_circuits169012206.91
GPS_charging000.00
Compass18158148.15
RAFOS000.00

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
18 end surface: CONTROL_FINISHED_OK
state 18 begin dive
20 -1.20 -146.6 0.0 0.0 0 105 0.00 0.00 -82.55 0.000 2 0.000 0.000 491 1892 3030
107 -1.20 -146.6 3.6 -3.8 8 135 10.57 2.40 -11.75 0.000 4 0.170 0.071 2459 503 3530
249 -1.07 -146.6 26.3 -17.1 20 254 0.17 2.33 0.00 0.000 6 0.107 0.041 2494 1908 3532
573 -1.07 -146.6 60.4 -10.4 50 577 0.00 2.42 0.00 0.000 4 0.000 0.059 2494 502 3534
623 -1.07 -146.6 65.6 -10.2 54 627 0.00 2.33 0.00 0.000 6 0.000 0.034 2494 1908 3533
942 -1.07 -146.6 97.3 -10.0 76 946 0.00 2.35 0.00 0.000 4 0.000 0.050 2494 3295 3534
962 -1.07 -146.6 99.5 -10.2 77 967 0.00 2.35 0.00 0.000 6 0.000 0.039 2494 1902 3534
1290 -1.14 -146.6 129.7 -8.4 93 1295 0.00 2.42 0.00 0.000 4 0.000 0.061 2494 493 3534
1312 -1.21 -146.6 131.8 -8.8 94 1317 0.15 2.33 0.00 0.000 6 0.066 0.038 2454 1897 3534
1647 -1.21 -146.6 167.0 -10.3 108 1648 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 1899 3534
1953 -1.21 -146.6 196.6 -9.6 118 1957 0.00 2.38 0.00 0.000 4 0.000 0.051 2454 3298 3534
1979 -1.21 -146.6 199.2 -9.6 118 1986 0.00 2.35 0.00 0.000 6 0.000 0.035 2454 1900 3534
2291 -1.21 -146.6 226.7 -8.6 129 2292 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 1899 3534
2598 -1.21 -146.6 253.8 -9.0 139 2602 0.00 2.40 0.00 0.000 4 0.000 0.059 2454 498 3534
2641 -1.21 -146.6 258.1 -9.8 140 2646 0.00 2.35 0.00 0.000 6 0.000 0.044 2454 1894 3533
2970 -1.21 -146.6 288.3 -9.2 151 2975 0.00 2.40 0.00 0.000 4 0.000 0.048 2454 3309 3533
3002 -1.21 -146.6 291.6 -9.8 152 3007 0.00 2.38 0.00 0.000 6 0.000 0.035 2454 1900 3533
3335 -1.21 -146.6 322.5 -9.3 159 3339 0.00 2.40 0.00 0.000 4 0.000 0.061 2454 495 3532
3391 -1.21 -146.6 328.1 -10.4 159 3395 0.00 2.33 0.00 0.000 6 0.000 0.042 2454 1900 3532
3699 -1.21 -146.6 357.4 -9.5 164 3703 0.00 2.42 0.00 0.000 4 0.000 0.061 2454 497 3532
3747 -1.21 -146.6 362.4 -10.4 164 3751 0.00 2.35 0.00 0.000 6 0.000 0.039 2454 1892 3532
4062 -1.21 -146.6 391.2 -9.2 170 4066 0.00 2.40 0.00 0.000 4 0.000 0.048 2454 3309 3532
4111 -1.26 -146.6 395.8 -8.8 170 4115 0.00 2.35 0.00 0.000 6 0.000 0.041 2454 1894 3531
4426 -1.26 -146.6 421.1 -8.0 176 4430 0.00 2.38 0.00 0.000 4 0.000 0.056 2454 498 3531
4463 -1.26 -146.6 424.3 -8.6 176 4467 0.00 2.33 0.00 0.000 6 0.000 0.037 2454 1899 3531
4789 -1.26 -146.6 450.2 -8.0 182 4790 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 1902 3530
5092 -1.26 -146.6 476.3 -8.7 187 5093 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 1902 3530
5395 -1.26 -146.6 504.2 -9.3 192 5396 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 1902 3530
5699 -1.30 -146.6 531.9 -9.2 197 5700 0.00 0.00 0.00 0.000 6 0.000 0.000 2454 1902 3530
6002 -1.34 -146.6 558.1 -8.6 202 6003 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 1902 3530
6305 -1.38 -146.6 582.3 -7.9 207 6310 0.12 2.42 0.00 0.000 4 0.074 0.057 2421 498 3529
6337 -1.33 -146.6 585.5 -9.8 207 6341 0.00 2.33 0.00 0.000 6 0.000 0.043 2421 1899 3529
6669 -1.28 -146.6 615.8 -9.1 213 6674 0.12 2.42 0.00 0.000 4 0.117 0.061 2446 498 3529
6701 -1.28 -146.6 618.9 -9.0 213 6705 0.00 2.35 0.00 0.000 6 0.000 0.041 2446 1894 3529
7033 -1.28 -146.6 645.3 -8.0 219 7034 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1897 3528
7336 -1.28 -146.6 671.1 -8.6 224 7340 0.00 2.42 0.00 0.000 4 0.000 0.058 2446 492 3528
7368 -1.28 -146.6 674.3 -9.6 224 7372 0.00 2.38 0.00 0.000 6 0.000 0.044 2447 1900 3528
7699 -1.28 -146.6 704.4 -9.1 230 7701 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1903 3528
8002 -1.28 -146.6 733.1 -9.5 235 8004 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1902 3528
8306 -1.28 -146.6 761.2 -9.2 240 8310 0.00 2.42 0.00 0.000 4 0.000 0.058 2446 498 3527
8338 -1.28 -146.6 764.4 -9.9 240 8343 0.00 2.35 0.00 0.000 6 0.000 0.041 2446 1894 3527
8669 -1.28 -146.6 793.9 -8.8 246 8671 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1896 3527
8973 -1.32 -146.6 818.3 -7.9 251 8974 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1896 3527
9276 -1.37 -146.6 840.9 -7.5 256 9278 0.00 0.00 0.00 0.000 6 0.000 0.000 2446 1896 3527
9580 -1.41 -146.6 862.7 -7.1 261 9582 0.12 0.00 0.00 0.000 6 0.077 0.000 2413 1896 3526
9882 -1.37 -146.6 887.9 -8.4 266 9886 0.00 2.45 0.00 0.000 4 0.000 0.066 2413 501 3526
9915 -1.30 -146.6 890.9 -9.6 266 9919 0.15 2.35 0.00 0.000 6 0.116 0.042 2442 1901 3526
10247 -1.30 -146.6 914.9 -7.2 272 10248 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1901 3526
10549 -1.30 -146.6 936.5 -7.1 277 10551 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1901 3525
10853 -1.34 -146.6 958.5 -7.3 282 10854 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 1901 3525
11156 -1.39 -146.6 981.6 -7.6 287 11157 0.00 0.00 0.00 0.000 6 0.000 0.000 2442 1901 3526
11275 end dive: TARGET_DEPTH_EXCEEDED
state 11275 begin apogee
11280 -0.33 0.0 991.1 7.7 289 11410 1.00 0.00 126.55 1.364 6 0.100 0.000 2655 2087 2931
11411 end apogee: CONTROL_FINISHED_OK
state 11411 begin climb
11413 1.20 146.6 994.9 0.0 291 11546 1.48 2.67 124.28 1.334 4 0.069 0.089 2989 3512 2333
11591 1.00 146.6 985.8 8.8 293 11598 0.22 2.50 0.00 0.000 6 0.119 0.066 2948 2112 2330
11900 0.96 175.9 964.3 6.9 299 11934 0.00 2.67 26.52 1.265 4 0.000 0.074 2947 690 2212
11979 0.87 175.9 958.0 8.7 300 11984 0.15 2.47 0.00 0.000 6 0.118 0.053 2919 2113 2209
12333 0.91 208.2 934.0 6.8 306 12368 0.00 2.60 29.25 1.265 4 0.000 0.067 2918 675 2081
12424 0.91 210.4 926.5 7.9 307 12428 0.00 2.47 0.00 0.000 6 0.000 0.049 2918 2106 2078
12767 0.91 210.4 899.2 8.0 313 12771 0.00 2.50 0.00 0.000 4 0.000 0.066 2918 684 2075
12792 0.91 210.4 896.8 9.2 313 12798 0.00 2.42 0.00 0.000 6 0.000 0.045 2918 2102 2075
13130 0.96 210.4 868.5 8.5 319 13134 0.00 2.47 0.00 0.000 4 0.000 0.058 2918 681 2074
13186 0.96 210.4 863.3 8.9 319 13191 0.00 2.40 0.00 0.000 6 0.000 0.044 2918 2108 2074
13495 1.00 210.4 837.6 8.2 324 13500 0.12 2.50 0.00 0.000 4 0.076 0.056 2949 678 2074
13539 0.94 210.4 833.2 10.4 324 13543 0.00 2.40 0.00 0.000 6 0.000 0.038 2950 2105 2073
13859 0.94 210.4 801.8 9.8 330 13863 0.00 2.47 0.00 0.000 4 0.000 0.061 2950 681 2074
13891 0.88 210.4 798.4 10.0 330 13896 0.15 2.40 0.00 0.000 6 0.117 0.044 2922 2110 2073
14216 0.92 210.4 771.5 8.1 336 14221 0.00 2.47 0.00 0.000 4 0.000 0.058 2921 683 2073
14265 0.92 210.4 767.1 9.3 336 14270 0.00 2.40 0.00 0.000 6 0.000 0.043 2921 2099 2073
14580 0.92 210.4 741.3 8.2 342 14584 0.00 2.45 0.00 0.000 4 0.000 0.058 2921 682 2073
14624 0.92 210.4 737.5 9.7 342 14628 0.00 2.40 0.00 0.000 6 0.000 0.045 2921 2096 2073
14951 0.97 211.5 711.7 8.0 348 14955 0.00 2.45 0.00 0.000 4 0.000 0.060 2921 681 2073
14983 0.97 211.5 708.8 8.4 348 14987 0.00 2.40 0.00 0.000 6 0.000 0.044 2921 2096 2073
15315 1.02 212.3 682.2 8.0 354 15320 0.12 2.45 0.00 0.000 4 0.077 0.058 2953 683 2073
15364 0.96 212.3 677.4 9.7 354 15368 0.00 2.38 0.00 0.000 6 0.000 0.038 2953 2099 2073
15679 0.96 212.3 648.7 9.0 360 15683 0.00 2.45 0.00 0.000 4 0.000 0.058 2953 683 2073
15728 0.90 212.3 644.0 9.5 360 15733 0.15 2.38 0.00 0.000 6 0.115 0.046 2924 2099 2072
16037 0.97 222.7 620.2 7.6 365 16056 0.00 2.55 12.60 1.035 4 0.000 0.056 2924 680 2023
16107 0.97 222.7 614.0 9.6 366 16111 0.00 2.42 0.00 0.000 6 0.000 0.044 2924 2097 2021
16473 1.02 222.7 584.0 8.3 372 16478 0.12 2.45 0.00 0.000 4 0.076 0.055 2956 683 2020
16534 0.97 222.7 577.5 10.7 373 16538 0.00 2.38 0.00 0.000 6 0.000 0.044 2957 2099 2020
16899 0.97 222.7 543.0 9.3 379 16903 0.00 2.45 0.00 0.000 4 0.000 0.061 2956 676 2020
16943 0.92 222.7 538.5 8.9 379 16947 0.15 2.40 0.00 0.000 6 0.114 0.040 2927 2106 2020
17262 0.97 222.7 512.4 8.1 385 17266 0.00 2.47 0.00 0.000 4 0.000 0.054 2927 677 2020
17324 1.01 222.7 506.7 9.7 386 17328 0.00 2.40 0.00 0.000 6 0.000 0.039 2927 2108 2020
17694 1.08 222.7 476.5 8.1 392 17699 0.15 2.47 0.00 0.000 4 0.071 0.054 2970 680 2019
17766 0.99 222.7 469.1 10.2 393 17771 0.12 2.38 0.00 0.000 6 0.119 0.043 2947 2099 2019
18120 0.99 222.7 438.4 8.5 399 18124 0.00 2.45 0.00 0.000 4 0.000 0.058 2947 684 2019
18198 0.99 222.7 431.2 8.8 400 18202 0.00 2.38 0.00 0.000 6 0.000 0.041 2947 2104 2019
18545 0.99 222.7 401.7 8.5 406 18549 0.00 2.45 0.00 0.000 4 0.000 0.054 2947 675 2019
18589 0.99 222.7 397.9 8.7 406 18593 0.00 2.40 0.00 0.000 6 0.000 0.040 2947 2107 2019
18909 1.01 234.8 373.2 7.6 412 18928 0.00 2.58 11.68 0.882 4 0.000 0.055 2947 676 1972
18973 1.01 234.8 368.1 8.5 413 18977 0.00 2.40 0.00 0.000 6 0.000 0.039 2947 2101 1971
19338 1.03 254.3 341.5 7.3 419 19363 0.00 2.55 17.85 0.887 4 0.000 0.058 2946 682 1893
19402 1.03 254.3 336.3 8.4 420 19406 0.00 2.40 0.00 0.000 6 0.000 0.043 2947 2101 1892
19767 1.03 254.3 306.0 8.4 426 19771 0.00 2.45 0.00 0.000 4 0.000 0.054 2947 684 1890
19828 1.03 254.3 300.1 9.6 427 19832 0.00 2.38 0.00 0.000 6 0.000 0.043 2947 2100 1890
20164 1.08 254.3 269.3 9.3 437 20168 0.00 2.45 0.00 0.000 4 0.000 0.060 2947 679 1889
20219 1.08 254.3 263.7 10.4 438 20223 0.00 2.40 0.00 0.000 6 0.000 0.043 2947 2107 1889
20538 1.13 254.3 234.9 9.0 449 20542 0.12 2.47 0.00 0.000 4 0.076 0.056 2978 677 1889
20581 1.08 254.3 230.1 11.0 450 20585 0.00 2.40 0.00 0.000 6 0.000 0.038 2978 2096 1888
20905 1.08 254.3 199.4 9.2 461 20906 0.00 0.00 0.00 0.000 6 0.000 0.000 2979 2099 1889
21211 1.08 254.3 172.1 8.8 471 21215 0.00 2.42 0.00 0.000 4 0.000 0.054 2979 682 1889
21242 1.08 254.3 169.0 9.1 472 21247 0.00 2.40 0.00 0.000 6 0.000 0.040 2979 2099 1888
21558 1.08 254.3 138.8 10.6 484 21562 0.00 2.45 0.00 0.000 4 0.000 0.055 2979 680 1888
21608 1.08 254.3 133.2 10.8 486 21612 0.00 2.38 0.00 0.000 6 0.000 0.045 2978 2101 1888
21923 1.12 289.0 107.5 6.7 501 21958 0.00 2.50 30.12 0.751 4 0.000 0.052 2978 684 1752
22005 1.17 289.0 101.4 8.1 504 22009 0.00 2.40 0.00 0.000 6 0.000 0.042 2978 2100 1749
22323 1.23 289.0 76.6 8.0 521 22327 0.00 2.45 0.00 0.000 4 0.000 0.059 2978 684 1746
22400 1.29 294.7 70.1 7.8 527 22411 0.12 2.38 5.35 0.606 6 0.074 0.043 3011 2106 1729
22736 1.31 310.6 43.3 7.4 559 22758 0.00 2.50 15.15 0.693 4 0.000 0.058 3011 684 1663
22792 1.33 331.6 38.9 7.2 564 22815 0.00 2.38 18.70 0.681 6 0.000 0.044 3011 2099 1579
23133 1.40 351.5 11.2 7.3 596 23156 0.10 2.50 17.30 0.664 4 0.079 0.048 3039 3502 1497
23172 1.40 351.5 6.9 11.4 599 23179 0.00 2.42 0.00 0.000 6 0.000 0.042 3039 2083 1495
23230 end climb: SURFACE_DEPTH_REACHED
state 23230 begin surface coast
23253 end surface coast: CONTROL_FINISHED_OK
state 23253 begin surface