WA coast Sep21 * SG204 * Dive index * Mission links * Dive 13 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  204 ESCAPE_HEADING  0 ROLL_CNV  0.028270001 ALTIM_TOP_MIN_OBSTACLE  0
MISSION  9 ESCAPE_HEADING_DELTA  10 ROLL_TIMEOUT  15 ALTIM_PING_DEPTH  170
DIVE  13 FIX_MISSING_TIMEOUT  0 R_PORT_OVSHOOT  52 ALTIM_PING_DELTA  10
N_DIVES  0 TGT_DEFAULT_LAT  57.182999 R_STBD_OVSHOOT  63 ALTIM_FREQUENCY  13
STOP_T  0 TGT_DEFAULT_LON  -151 ROLL_AD_RATE  350 ALTIM_PULSE  2
D_SURF  2 TGT_AUTO_DEFAULT  0 ROLL_MAXERRORS  1 ALTIM_SENSITIVITY  4
D_FLARE  3 SM_CC  541.92499 ROLL_ADJ_GAIN  0 XPDR_VALID  4
D_TGT  350 N_FILEKB  8 ROLL_ADJ_DBAND  0 XPDR_INHIBIT  90
D_ABORT  1000 FILEMGR  0 VBD_MIN  550 XPDR_INT  0
D_NO_BLEED  50 CALL_NDIVES  1 VBD_MAX  3960 XPDR_REP  0
D_BOOST  0 COMM_SEQ  0 C_VBD  2800 INT_PRESSURE_SLOPE  0.0097655999
T_BOOST  4 PROTOCOL  9 VBD_DBAND  4 INT_PRESSURE_YINT  0.74000001
D_FINISH  0 N_NOCOMM  2 VBD_CNV  -0.24529999 DEEPGLIDER  0
D_PITCH  0 NOCOMM_ACTION  163 VBD_LP_IGNORE  0 MOTHERBOARD  4
D_SAFE  0 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE1  2
D_CALL  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0012000001 DEVICE2  115
SURFACE_URGENCY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  2 DEVICE3  -1
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  2 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 DEVICE5  -1
T_DIVE  115 CAPMAXSIZE  200000 UNCOM_BLEED  60 DEVICE6  -1
T_MISSION  235 HEAPDBG  0 VBD_MAXERRORS  1 LOGGERS  1
T_ABORT  1440 T_GPS  5 W_ADJ_DBAND  0 LOGGERDEVICE1  135
T_TURN  225 N_GPS  100840 DBDW  0 LOGGERDEVICE2  -1
T_TURN_SAMPINT  -5 T_RSLEEP  1 LOITER_W_DBAND  0.5 LOGGERDEVICE3  -1
T_NO_W  120 STROBE  0 LOITER_DBDW  800 LOGGERDEVICE4  -1
T_LOITER  3600 RAFOS_PEAK_OFFSET  1.5 LOITER_D_TOP  80 COMPASS_DEVICE  97
T_EPIRB  0 RAFOS_CORR_THRESH  60 LOITER_D_BOTTOM  90 COMPASS2_DEVICE  -1
USE_BATHY  -1 RAFOS_HIT_WINDOW  3600 LOITER_N_DIVE  0 PHONE_DEVICE  49
USE_ICE  0 RAFOS_MMODEM  0 PITCH_W_GAIN  0 GPS_DEVICE  64
ICE_FREEZE_MARGIN  0.30000001 PITCH_MIN  210 PITCH_W_DBAND  0 RAFOS_DEVICE  -1
D_OFFGRID  150 PITCH_MAX  3900 CF8_MAXERRORS  20 XPDR_DEVICE  24
T_WATCHDOG  10 C_PITCH  2600 AH0_24V  127.5 SIM_W  0
RELAUNCH  1 PITCH_DBAND  0.1 AH0_10V  100 SEABIRD_T_G  0.0043722652
APOGEE_PITCH  -5 PITCH_CNV  0.003125763 MINV_24V  16 SEABIRD_T_H  0.00063104689
MAX_BUOY  120 P_OVSHOOT  0.079999998 MINV_10V  9.5 SEABIRD_T_I  2.5179608e-05
COURSE_BIAS  0 P_OVSHOOT_WITHG  0 MAXI_24V  1.5 SEABIRD_T_J  2.8304141e-06
GLIDE_SLOPE  30 PITCH_GAIN  28 MAXI_10V  0.80000001 SEABIRD_C_G  -10.191285
SPEED_FACTOR  1 PITCH_TIMEOUT  17 FG_AHR_10V  0 SEABIRD_C_H  1.1531761
RHO  1.0275 PITCH_AD_RATE  140 FG_AHR_24V  0 SEABIRD_C_I  -0.0027973817
MASS  55599 PITCH_MAXERRORS  1 PHONE_SUPPLY  -2 SEABIRD_C_J  0.00030337134
MASS_COMP  0 PITCH_ADJ_GAIN  0 PRESSURE_YINT  -171.33574 CP_RECORDABOVE  2000.0
NAV_MODE  2 PITCH_ADJ_DBAND  0 PRESSURE_SLOPE  0.00014064999 CP_PROFILE  7.0
FERRY_MAX  45 ROLL_MIN  236 AD7714Ch0Gain  32 CP_XMITPROFILE  7.0
KALMAN_USE  2 ROLL_MAX  3704 COMPASS_USE  4 CP_UPLOADMAX  100000.0
HD_A  0.0019952599 ROLL_DEG  20 ALTIM_PING_FIT  0 CP_STARTS  24.0
HD_B  0.0099999998 C_ROLL_DIVE  2000 ALTIM_TOP_PING_RANGE  0 CP_NDIVE  1.0
HD_C  5.7000002e-06 C_ROLL_CLIMB  1800 ALTIM_BOTTOM_TURN_MARGIN  20
HEADING  270 HEAD_ERRBAND  10 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  150921,143801,4745.4058,-12509.6709,7,0.9,34,15.6,0.7,210.2,10,1.8 SPEED_LIMITS  0.176,0.235
_CALLS  1 TGT_NAME  HEADING
_XMS_NAKs  0 TGT_LATLONG  4745.348,-12525.724
_XMS_TOUTs  0 TGT_RADIUS  1852.000
_SM_DEPTHo  0.54 MHEAD_RNG_PITCHd_Wd  247.7,20000,-18.4,-10.145,-23.37,1754
_SM_ANGLEo  -50.9 D_GRID  616
GPS2  150921,144444,4745.3481,-12509.6602,4,0.6,6,15.6,1.1,155.7,12,7.7

Post-dive calculations and measurements:
FINISH  -0.0,1.025334 _24V_AH  24.42,1.576
SM_CCo  7172,210.30,0.564,1,0,587,542.11 _10V_AH  10.07,0.715
SM_GC  0.60,7.75,0.28,210.30,0.055,0.045,0.564,172,2021,587,-7.39,-1.58,542.11,0,0,0,0,1,0,25.67,25.63,24.42 FG_AHR_24Vo  0.000
IRIDIUM_FIX  4744.82,-12508.44,150921,122821 FG_AHR_10Vo  0.000
TT8_MAMPS  0.021721,0.223202 MEM  155144
HUMID  53.46 DATA_FILE_SIZE  50274,944
INTERNAL_PRESSURE  8.74779 CAP_FILE_SIZE  123171,0
TCM_TEMP  15.40 CFSIZE  260030464,250003456
XPDR_PINGS  0 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
CP_FREE  124581412864.000000 CURRENT  0.086,334.97,1
CP_POWER  323.300000 GPS  150921,165001,4745.520,-12510.944,11,0.9,28,15.6,0.8,138.5,9,2.7
CP_POWER1  0.000000

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor18247109.71 SBE_CT53264837.06
Roll_motor48109128.43 WL_blue_red_Chl1673371530.41
VBD_pump_during_apogee63468310589.74 nil000.00
VBD_pump_during_surface2105632895.44 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 NCP6970254255.19
Iridium_during_xfer262110707.09 nil000.00
Transponder_ping442046.15 nil000.00
GUMSTIX_24V000.00
GPS18112.18
TT8212212261.13
LPSleep2136247.12
TT8_Active94312116.16
TT8_Sampling226937861.38
TT8_CF835142151.96
TT8_Kalman000.00
Analog_circuits206811229.12
GPS_charging000.00
Compass20658171.36
RAFOS000.00
Transponder31309.52

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
23 end surface: CONTROL_FINISHED_OK
state 23 begin dive
25 -0.80 -116.8 162 2023 729 439 0.0 0.0 0 134 0.00 0.00 -105.55 0.011 16386 0.000 0.000 162 2024 3092 3080 3104 0 0 0 0 0 0 26.07 28.83 26.15
136 -0.80 -116.8 162 2022 3082 3105 4.2 -7.3 15 153 8.32 1.05 -3.88 0.023 18724 0.213 0.086 2316 2682 3278 3278 3278 0 0 0 0 0 0 25.21 24.45 25.83
323 -0.80 -116.8 2315 2683 3288 3276 36.9 -16.6 50 331 0.00 1.00 0.00 0.000 1030 0.000 0.038 2316 1990 3282 3288 3277 0 0 0 0 0 0 26.22 26.22 26.23
460 -0.80 -116.8 2315 1990 3290 3276 56.0 -13.3 75 467 0.00 1.00 0.00 0.000 516 0.000 0.040 2316 1316 3282 3290 3275 0 0 0 0 0 0 26.38 26.33 26.44
678 -0.80 -116.8 2315 1316 3292 3276 85.1 -12.3 117 687 0.05 1.02 0.00 0.000 3078 0.204 0.035 2325 1992 3283 3292 3275 0 0 0 0 0 0 26.11 26.42 26.19
817 -0.80 -116.8 2325 1992 3293 3276 101.3 -11.8 142 821 0.00 1.02 0.00 0.000 516 0.000 0.039 2330 1308 3284 3293 3275 0 0 0 0 0 0 26.60 26.42 26.65
947 -0.80 -116.8 2330 1307 3293 3275 115.2 -10.9 167 955 0.00 1.05 0.00 0.000 1030 0.000 0.035 2327 2011 3284 3293 3275 0 0 0 0 0 0 26.50 26.46 26.55
1075 -0.80 -116.8 2326 2011 3293 3274 129.1 -10.9 180 1079 0.00 1.05 0.00 0.000 516 0.000 0.039 2330 1309 3283 3293 3274 0 0 0 0 0 0 26.61 26.47 26.67
1203 -0.80 -116.8 2329 1309 3293 3274 143.0 -10.4 204 1206 0.00 1.02 0.00 0.000 1030 0.000 0.036 2327 1999 3284 3294 3274 0 0 0 0 0 0 26.53 26.51 26.54
1335 -0.80 -116.8 2326 1999 3294 3274 157.0 -10.9 218 1339 0.00 1.02 0.00 0.000 260 0.000 0.043 2322 2700 3283 3294 3273 0 0 0 0 0 0 26.64 26.48 26.70
1391 -0.80 -116.8 2321 2700 3294 3274 163.5 -10.9 229 1400 0.00 1.00 0.00 0.000 1030 0.000 0.031 2325 1994 3284 3294 3274 0 0 0 0 0 0 26.57 26.55 26.59
1519 -0.80 -116.8 2324 1993 3294 3274 176.8 -10.5 242 1523 0.00 1.00 0.00 0.000 516 0.000 0.093 2330 1320 3284 3294 3274 0 0 0 0 0 0 26.51 26.49 26.58
1564 -0.80 -116.8 2329 1320 3294 3274 181.7 -9.8 251 1573 0.00 1.00 0.00 0.000 1062 0.000 0.035 2326 1999 3284 3294 3274 0 0 0 0 0 0 26.56 26.53 26.59
1694 -0.80 -116.8 2326 1999 3294 3274 194.0 -9.6 264 1702 0.00 0.00 0.00 0.000 38 0.000 0.000 2326 1999 3284 3294 3274 0 0 0 0 0 0 26.70 26.76 26.73
1823 -0.80 -116.8 2326 1999 3294 3273 206.3 -9.4 277 1827 0.00 1.00 0.00 0.000 548 0.000 0.038 2330 1323 3284 3294 3274 0 0 0 0 0 0 26.71 26.53 26.77
1922 -0.80 -116.8 2329 1324 3294 3274 215.9 -9.6 296 1930 0.00 1.00 0.00 0.000 1062 0.000 0.103 2327 1990 3284 3294 3274 0 0 0 0 0 0 26.08 25.88 26.20
2050 -0.80 -116.8 2326 1990 3293 3274 228.0 -9.5 309 2055 0.00 1.00 0.00 0.000 548 0.000 0.040 2330 1320 3283 3294 3273 0 0 0 0 0 0 26.67 26.53 26.72
2158 -0.80 -116.8 2329 1320 3294 3274 239.2 -10.2 329 2162 0.00 1.02 0.00 0.000 1030 0.000 0.035 2326 2009 3283 3294 3273 0 0 0 0 0 0 26.59 26.56 26.60
2291 -0.80 -116.8 2326 2009 3294 3272 252.8 -10.1 343 2298 0.00 0.00 0.00 0.000 38 0.000 0.000 2327 2009 3283 3294 3273 0 0 0 0 0 0 26.71 26.78 26.77
2420 -0.80 -116.8 2326 2009 3294 3272 266.2 -10.7 356 2422 0.00 0.00 0.00 0.000 6 0.000 0.000 2326 2010 3283 3294 3272 0 0 0 0 0 0 26.70 26.77 26.77
2541 -0.80 -116.8 2325 2009 3294 3272 278.5 -9.4 368 2544 0.00 1.02 0.00 0.000 548 0.000 0.038 2330 1322 3283 3294 3272 0 0 0 0 0 0 26.70 26.53 26.76
2597 -0.80 -116.8 2329 1322 3294 3272 283.5 -8.8 378 2601 0.00 1.00 0.00 0.000 1062 0.000 0.036 2326 1996 3283 3294 3272 0 0 0 0 0 0 26.60 26.58 26.63
2729 -0.80 -116.8 2326 1996 3294 3271 295.3 -8.9 392 2733 0.00 1.00 0.00 0.000 548 0.000 0.047 2330 1324 3282 3294 3271 0 0 0 0 0 0 26.77 26.53 26.79
2816 -0.80 -116.8 2328 1324 3294 3271 303.0 -8.6 408 2820 0.00 1.00 0.00 0.000 1062 0.000 0.036 2326 1998 3282 3294 3270 0 0 0 0 0 0 26.60 26.57 26.61
2959 -0.80 -116.8 2326 1998 3294 3269 316.1 -9.3 418 2961 0.00 0.00 0.00 0.000 38 0.000 0.000 2326 1998 3282 3294 3270 0 0 0 0 0 0 26.72 26.79 26.78
3078 -0.80 -116.8 2326 1998 3294 3269 326.8 -8.9 424 3082 0.00 1.00 0.00 0.000 548 0.000 0.041 2330 1323 3281 3294 3269 0 0 0 0 0 0 26.74 26.41 26.79
3135 -0.80 -116.8 2329 1323 3293 3269 332.0 -8.9 435 3142 0.00 1.00 0.00 0.000 1062 0.000 0.036 2326 1997 3281 3294 3269 0 0 0 0 0 0 26.58 26.27 26.62
3262 -0.80 -116.8 2325 1997 3294 3268 343.0 -8.6 442 3265 0.00 1.02 0.00 0.000 292 0.000 0.043 2321 2697 3281 3294 3268 0 0 0 0 0 0 26.74 26.53 26.79
3306 -0.80 -116.8 2321 2697 3294 3268 346.7 -8.8 450 3310 0.00 0.98 0.00 0.000 1062 0.000 0.032 2324 2003 3281 3294 3268 0 0 0 0 0 0 26.63 26.61 26.65
3347 end dive: TARGET_DEPTH_EXCEEDED
state 3347 begin apogee
3352 -0.18 0.0 2326 1788 3294 3268 350.5 -8.6 455 3561 0.68 0.00 205.02 0.619 10246 0.151 0.000 2525 1787 2800 2856 2745 0 0 0 0 0 0 25.97 25.13 24.60
3565 end apogee: CONTROL_FINISHED_OK
state 3565 begin climb
3567 0.80 116.8 2525 1787 2847 2737 354.7 0.0 465 3768 1.02 0.00 193.73 0.597 10246 0.119 0.000 2835 1787 2316 2445 2187 0 0 0 0 0 0 25.20 24.91 24.42
3890 0.80 116.8 2834 1787 2420 2167 328.9 11.0 482 3894 0.00 1.10 0.00 0.000 260 0.000 0.042 2831 2491 2294 2420 2168 0 0 0 0 0 0 25.79 25.67 25.85
3945 0.80 116.8 2831 2491 2419 2163 322.4 10.9 493 3953 0.00 1.00 0.00 0.000 1030 0.000 0.035 2835 1829 2292 2420 2164 0 0 0 0 0 0 25.89 25.86 25.91
4073 0.80 116.8 2834 1829 2419 2164 309.3 10.6 500 4077 0.00 1.15 0.00 0.000 516 0.000 0.109 2840 1095 2291 2419 2163 0 0 0 0 0 0 26.17 26.03 26.23
4123 0.80 116.8 2840 1095 2418 2163 303.8 10.6 510 4127 0.00 1.08 0.00 0.000 1030 0.000 0.043 2837 1802 2291 2418 2164 0 0 0 0 0 0 26.13 26.11 26.17
4255 0.80 116.8 2836 1802 2417 2163 290.1 10.7 522 4260 0.00 1.10 0.00 0.000 516 0.000 0.045 2841 1098 2290 2417 2163 0 0 0 0 0 0 26.32 26.20 26.38
4321 0.80 116.8 2840 1098 2417 2163 282.9 10.7 535 4329 0.00 1.08 0.00 0.000 1030 0.000 0.034 2837 1806 2290 2417 2163 0 0 0 0 0 0 26.29 26.27 26.33
4449 0.80 116.8 2836 1806 2415 2163 270.0 10.2 548 4453 0.00 1.02 0.00 0.000 260 0.000 0.045 2832 2487 2289 2415 2163 0 0 0 0 0 0 26.43 26.29 26.49
4502 0.80 116.8 2831 2487 2415 2162 264.6 10.2 558 4507 0.00 1.02 0.00 0.000 1030 0.000 0.037 2835 1792 2288 2415 2162 0 0 0 0 0 0 26.39 26.35 26.37
4637 0.80 120.2 2834 1792 2415 2162 251.3 9.9 572 4641 0.00 1.05 0.00 0.000 548 0.000 0.051 2840 1109 2288 2415 2162 0 0 0 0 0 0 26.53 26.23 26.59
4659 0.81 126.4 2840 1109 2415 2162 249.0 9.8 576 4664 0.00 1.05 0.00 0.000 1062 0.000 0.035 2837 1804 2288 2415 2162 0 0 0 0 0 0 26.41 26.40 26.40
4792 0.83 140.8 2836 1804 2414 2162 236.6 9.3 590 4822 0.00 0.00 28.25 0.640 8230 0.000 0.000 2837 1804 2228 2361 2096 0 0 0 0 0 0 26.53 25.93 25.37
4944 0.83 140.8 2836 1805 2341 2079 220.8 10.5 605 4951 0.00 0.00 0.00 0.000 6 0.000 0.000 2837 1804 2210 2341 2079 0 0 0 0 0 0 26.33 26.40 26.39
5072 0.83 142.0 2836 1805 2340 2079 207.7 10.1 618 5077 0.00 1.02 0.00 0.000 292 0.000 0.052 2832 2490 2209 2340 2079 0 0 0 0 0 0 26.38 26.22 26.45
5105 0.83 142.0 2831 2490 2339 2078 204.3 10.7 624 5109 0.00 1.02 0.00 0.000 1030 0.000 0.037 2835 1798 2209 2340 2078 0 0 0 0 0 0 26.31 26.27 26.34
5237 0.83 142.0 2834 1798 2339 2078 190.8 10.7 638 5242 0.00 1.05 0.00 0.000 516 0.000 0.051 2840 1109 2209 2340 2079 0 0 0 0 0 0 26.51 26.21 26.55
5301 0.83 142.7 2840 1109 2340 2078 184.0 10.1 650 5306 0.00 1.05 0.00 0.000 1062 0.000 0.037 2836 1804 2209 2340 2079 0 0 0 0 0 0 26.36 26.37 26.36
5436 0.84 154.3 2836 1804 2339 2078 170.6 9.5 664 5458 0.08 1.08 16.10 0.684 10532 0.248 0.051 2845 2501 2167 2301 2034 0 0 0 0 0 0 26.22 26.08 25.44
5564 0.84 154.3 2844 2501 2294 2027 156.3 10.9 688 5568 0.00 1.05 0.00 0.000 1030 0.000 0.038 2848 1795 2160 2294 2027 0 0 0 0 0 0 26.26 26.27 26.28
5696 0.84 154.3 2848 1795 2293 2027 141.5 10.9 702 5698 0.00 0.00 0.00 0.000 6 0.000 0.000 2848 1796 2160 2294 2027 0 0 0 0 0 0 26.48 26.55 26.53
5818 0.84 154.3 2848 1795 2293 2027 128.2 11.2 714 5823 0.00 1.05 0.00 0.000 260 0.000 0.052 2845 2491 2159 2292 2027 0 0 0 0 0 0 26.53 26.34 26.58
5873 0.84 154.3 2844 2491 2291 2027 121.3 11.3 725 5881 0.00 1.02 0.00 0.000 1030 0.000 0.040 2848 1801 2159 2291 2027 0 0 0 0 0 0 26.42 26.38 26.44
6002 0.84 154.3 2848 1801 2291 2027 107.1 11.1 738 6006 0.00 1.05 0.00 0.000 516 0.000 0.047 2853 1111 2159 2291 2027 0 0 0 0 0 0 26.56 26.39 26.62
6157 0.84 154.3 2853 1111 2291 2027 89.2 11.7 768 6165 0.00 1.05 0.00 0.000 1030 0.000 0.036 2850 1813 2159 2291 2027 0 0 0 0 0 0 26.43 26.44 26.43
6296 0.85 164.5 2849 1813 2290 2027 75.0 9.5 793 6304 0.00 0.00 3.33 0.662 8230 0.000 0.000 2850 1813 2129 2264 1994 0 0 0 0 0 0 26.60 26.06 25.01
6430 0.87 181.6 2850 1813 2266 1993 62.6 9.1 818 6459 0.00 0.00 22.70 0.585 8230 0.000 0.000 2850 1813 2054 2195 1914 0 0 0 0 0 0 26.58 25.84 25.48
6586 0.89 193.4 2849 1813 2188 1910 48.3 9.5 846 6602 0.10 1.12 6.80 0.633 10788 0.174 0.047 2883 1102 2008 2149 1867 0 0 0 0 0 0 26.10 25.97 25.31
6835 0.89 194.2 2882 1102 2143 1866 22.6 10.1 893 6843 0.00 1.05 0.00 0.000 1062 0.000 0.037 2880 1798 2004 2143 1866 0 0 0 0 0 0 26.32 26.29 26.33
6972 1.01 297.5 2878 1798 2142 1864 14.0 4.1 918 7134 0.12 0.00 158.15 0.509 10530 0.150 0.000 2915 1803 1626 1774 1479 0 0 0 0 0 0 26.19 28.83 26.29
7135 end climb: SURFACE_DEPTH_REACHED
state 7135 begin surface coast
7152 end surface coast: CONTROL_FINISHED_OK
state 7153 begin surface