OKMC Jun11 * SG181 * Dive index * Mission links * Dive 142 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 INT_PRESSURE_YINT  0
MISSION  6 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 DEEPGLIDER  0
DIVE  142 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  45 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  31 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  475 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  2 DEVICE3  39
D_ABORT  1030 FILEMGR  0 ROLL_ADJ_DBAND  0.029999999 DEVICE4  -1
D_NO_BLEED  200 CALL_NDIVES  1 VBD_MIN  440 DEVICE5  -1
D_BOOST  3 COMM_SEQ  0 VBD_MAX  3960 DEVICE6  -1
T_BOOST  0 PROTOCOL  9 C_VBD  2869 LOGGERS  0
D_FINISH  0 N_NOCOMM  1 VBD_DBAND  2 LOGGERDEVICE1  99
D_PITCH  0 NOCOMM_ACTION  0 VBD_CNV  -0.24529999 LOGGERDEVICE2  117
D_SAFE  0 N_NOSURFACE  0 VBD_TIMEOUT  720 LOGGERDEVICE3  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  5 COMPASS_DEVICE  33
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 PHONE_DEVICE  49
T_DIVE  300 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  340 HEAPDBG  0 VBD_MAXERRORS  1 RAFOS_DEVICE  -1
T_ABORT  1440 T_GPS  15 CF8_MAXERRORS  20 XPDR_DEVICE  24
T_TURN  225 N_GPS  20 AH0_24V  150 SIM_W  0
T_TURN_SAMPINT  5 T_GPS_ALMANAC  0 AH0_10V  110 SIM_PITCH  0
T_NO_W  120 T_GPS_CHARGE  -40690.418 MINV_24V  19 SEABIRD_T_G  0.0043841996
T_LOITER  0 T_RSLEEP  2 MINV_10V  8 SEABIRD_T_H  0.00063541438
T_EPIRB  0 STROBE  0 FG_AHR_10V  0 SEABIRD_T_I  2.4687597e-05
USE_BATHY  -4 RAFOS_PEAK_OFFSET  1.5 FG_AHR_24V  0 SEABIRD_T_J  2.6519353e-06
USE_ICE  0 RAFOS_CORR_THRESH  60 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9512653
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 PRESSURE_YINT  -61.82621 SEABIRD_C_H  1.1266108
D_OFFGRID  1000 PITCH_MIN  225 PRESSURE_SLOPE  0.000116609 SEABIRD_C_I  -0.0016982662
T_WATCHDOG  10 PITCH_MAX  3941 AD7714Ch0Gain  128 SEABIRD_C_J  0.00020129427
RELAUNCH  1 C_PITCH  2320 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -8 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  2.0
MAX_BUOY  225 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  2.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  60 ALTIM_TOP_PING_RANGE  0 TM_STARTS  2.0
SPEED_FACTOR  1 PITCH_TIMEOUT  15 ALTIM_BOTTOM_TURN_MARGIN  0 TM_NFFT  256.0
RHO  1.0275 PITCH_AD_RATE  145 ALTIM_TOP_TURN_MARGIN  0 TM_NAVG  1.0
MASS  51861 PITCH_MAXERRORS  1 ALTIM_TOP_MIN_OBSTACLE  1 TM_PSD  0.0
NAV_MODE  0 PITCH_ADJ_GAIN  0 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  100.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 ALTIM_PING_DELTA  10 LA_PROFILE  2.0
KALMAN_USE  2 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  2.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  40 ALTIM_SENSITIVITY  2 LA_STARTS  12.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2600 XPDR_VALID  2
HEADING  135 C_ROLL_CLIMB  2125 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  10 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  070711,045336,1947.390,11942.520,21,1.4,21,-2.2 TGT_NAME  HEADING
_CALLS  3 TGT_LATLONG  1939.946,11950.258
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.299,-0.061
_SM_DEPTHo  0.93 KALMAN_X  -45911.5,389.4,844.6,41510.1,-5401.7
_SM_ANGLEo  -65.2 KALMAN_Y  23776.0,369.6,-164.2,-95083.8,1680.3
GPS2  070711,050328,1947.582,11942.148,11,2.9,30,-2.2 MHEAD_RNG_PITCHd_Wd  137.2,20000,-15.3,-11.000
SPEED_LIMITS  0.191,0.321 D_GRID  3496

Post-dive calculations and measurements:
FINISH  -0.0,1.020623 _10V_AH  10.1,22.730
SM_CCo  16751,0.00,0.000,0,0,441,595.59 FG_AHR_24Vo  0.000
SM_GC  0.82,6.43,0.00,0.00,0.038,0.000,0.000,209,2656,441,-6.53,1.58,595.59,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1943.54,11951.80,070711,000042 MEM  322676
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  90525,1332
HUMID  39.64 CAP_FILE_SIZE  175987,0
INTERNAL_PRESSURE  9.34606 CFSIZE  260165632,237895680
TCM_TEMP  25.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  2 GPS  070711,094424,1947.508,11942.296,23,1.0,41,-2.2
_24V_AH  23.9,22.301

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1623390.90 SBE_CT92724532.26
Roll_motor15056204.06 AA43301354331068.09
VBD_pump_during_apogee622110716467.14 WL_BB2F14251053576.85
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init85103210.56 nil000.00
Iridium_during_connect45160173.53 TMicro000.00
Iridium_during_xfer171223915.14 LAB000.00
Transponder_ping04205.02 nil000.00
GUMSTIX_24V000.00
GPS345017.22
TT8319119638.33
LPSleep97122214.82
TT8_Active65919131.87
TT8_Sampling3432391379.62
TT8_CF833845156.47
TT8_Kalman000.00
Analog_circuits206912250.82
GPS_charging000.00
Compass233215353.42
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.52 -219.0 0.0 0.0 0 90 0.00 0.00 -71.38 0.000 2 0.000 0.000 184 2605 2452 0 0 0 0 0 0
93 -0.52 -219.0 3.3 -3.7 10 138 7.95 1.88 -26.05 0.000 4 0.233 0.057 2130 3789 3764 0 0 0 0 0 0
199 -0.52 -219.0 52.0 -57.6 27 207 0.00 1.80 0.00 0.000 6 0.000 0.024 2130 2593 3766 0 0 0 0 0 0
333 -0.52 -219.0 108.4 -41.1 52 341 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2590 3766 0 0 0 0 0 0
466 -0.52 -219.0 150.7 -30.5 77 473 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2590 3767 0 0 0 0 0 0
599 -0.52 -219.0 185.9 -24.9 102 606 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2590 3768 0 0 0 0 0 0
733 -0.52 -219.0 216.6 -20.7 120 737 0.00 1.83 0.00 0.000 4 0.000 0.041 2124 3787 3768 0 0 0 0 0 0
782 -0.52 -219.0 226.0 -17.2 124 791 0.00 1.77 0.00 0.000 6 0.000 0.023 2124 2576 3769 0 0 0 0 0 0
1110 -0.52 -219.0 290.6 -21.5 155 1113 0.00 1.85 0.00 0.000 4 0.000 0.042 2115 3784 3768 0 0 0 0 0 0
1169 -0.52 -219.0 303.8 -18.8 160 1178 0.10 1.75 0.00 0.000 6 0.126 0.024 2149 2599 3768 0 0 0 0 0 0
1496 -0.52 -219.0 345.9 -11.5 191 1500 0.00 2.03 0.00 0.000 4 0.000 0.028 2149 1196 3766 0 0 0 0 0 0
1542 -0.52 -219.0 350.8 -10.5 195 1546 0.00 2.12 0.00 0.000 6 0.000 0.034 2150 2596 3765 0 0 0 0 0 0
1873 -0.52 -219.0 386.5 -11.7 226 1877 0.00 1.77 0.00 0.000 4 0.000 0.044 2143 3777 3762 0 0 0 0 0 0
1919 -0.52 -219.0 391.8 -11.6 230 1923 0.00 1.73 0.00 0.000 6 0.000 0.024 2143 2587 3761 0 0 0 0 0 0
2250 -0.52 -219.0 433.5 -13.2 261 2251 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2583 3757 0 0 0 0 0 0
2570 -0.52 -219.0 473.5 -12.0 291 2573 0.00 2.03 0.00 0.000 4 0.000 0.030 2143 1200 3754 0 0 0 0 0 0
2596 -0.52 -219.0 477.1 -12.2 293 2604 0.00 2.15 0.00 0.000 6 0.000 0.037 2139 2580 3754 0 0 0 0 0 0
2922 -0.52 -219.0 510.4 -9.6 319 2925 0.00 1.83 0.00 0.000 4 0.000 0.047 2138 3781 3751 0 0 0 0 0 0
3017 -0.52 -219.0 517.9 -6.4 323 3020 0.00 1.73 0.00 0.000 6 0.000 0.025 2139 2588 3749 0 0 0 0 0 0
3345 -0.52 -219.0 545.0 -9.6 339 3348 0.00 2.03 0.00 0.000 4 0.000 0.029 2138 1204 3746 0 0 0 0 0 0
3395 -0.52 -219.0 550.0 -9.4 341 3399 0.00 2.17 0.00 0.000 6 0.000 0.037 2138 2619 3746 0 0 0 0 0 0
3722 -0.52 -219.0 586.3 -11.6 357 3726 0.00 1.77 0.00 0.000 4 0.000 0.048 2138 3783 3742 0 0 0 0 0 0
3777 -0.52 -219.0 592.2 -9.6 359 3781 0.00 1.73 0.00 0.000 6 0.000 0.026 2138 2629 3745 0 0 0 0 0 0
4099 -0.52 -219.0 629.3 -11.7 375 4103 0.00 2.10 0.00 0.000 4 0.000 0.031 2138 1201 3739 0 0 0 0 0 0
4145 -0.52 -219.0 634.0 -10.6 377 4149 0.00 2.17 0.00 0.000 6 0.000 0.038 2139 2614 3738 0 0 0 0 0 0
4478 -0.52 -219.0 667.5 -9.7 393 4481 0.00 1.77 0.00 0.000 4 0.000 0.048 2138 3777 3735 0 0 0 0 0 0
4547 -0.52 -219.0 672.8 -7.2 396 4550 0.00 1.70 0.00 0.000 6 0.000 0.027 2138 2613 3734 0 0 0 0 0 0
4880 -0.52 -219.0 697.8 -7.5 412 4884 0.00 2.08 0.00 0.000 4 0.000 0.031 2138 1202 3732 0 0 0 0 0 0
4920 -0.52 -219.0 701.0 -7.7 414 4924 0.00 2.17 0.00 0.000 6 0.000 0.037 2138 2628 3732 0 0 0 0 0 0
5247 -0.52 -219.0 730.0 -9.5 430 5249 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2628 3729 0 0 0 0 0 0
5556 -0.52 -219.0 761.7 -10.4 445 5557 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2628 3727 0 0 0 0 0 0
5866 -0.52 -219.0 794.0 -10.3 460 5870 0.00 2.12 0.00 0.000 4 0.000 0.032 2138 1209 3725 0 0 0 0 0 0
5915 -0.52 -219.0 799.3 -10.3 462 5919 0.00 2.15 0.00 0.000 6 0.000 0.038 2138 2614 3725 0 0 0 0 0 0
6237 -0.52 -219.0 828.8 -8.9 478 6238 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2615 3723 0 0 0 0 0 0
6547 -0.52 -219.0 853.2 -7.5 493 6551 0.00 2.12 0.00 0.000 4 0.000 0.032 2140 1208 3721 0 0 0 0 0 0
6574 -0.52 -219.0 855.4 -7.2 494 6578 0.00 2.15 0.00 0.000 6 0.000 0.038 2138 2606 3721 0 0 0 0 0 0
6901 -0.52 -219.0 877.4 -6.6 510 6905 0.00 2.10 0.00 0.000 4 0.000 0.032 2139 1208 3719 0 0 0 0 0 0
6936 -0.52 -219.0 879.8 -6.7 511 6943 0.00 2.15 0.00 0.000 6 0.000 0.038 2138 2604 3719 0 0 0 0 0 0
7253 -0.52 -219.0 901.9 -7.2 527 7256 0.00 1.83 0.00 0.000 4 0.000 0.050 2138 3777 3717 0 0 0 0 0 0
7280 -0.52 -219.0 904.1 -7.2 528 7284 0.00 1.75 0.00 0.000 6 0.000 0.027 2138 2592 3717 0 0 0 0 0 0
7607 -0.52 -219.0 928.1 -7.6 544 7611 0.00 2.05 0.00 0.000 4 0.000 0.033 2138 1207 3716 0 0 0 0 0 0
7646 -0.52 -219.0 931.1 -7.9 545 7653 0.00 2.15 0.00 0.000 6 0.000 0.037 2138 2605 3716 0 0 0 0 0 0
7963 -0.52 -219.0 953.0 -6.6 561 7964 0.00 0.00 0.00 0.000 6 0.000 0.000 2138 2605 3714 0 0 0 0 0 0
8272 -0.52 -219.0 974.6 -6.8 576 8276 0.00 2.12 0.00 0.000 4 0.000 0.034 2138 1193 3712 0 0 0 0 0 0
8305 -0.52 -219.0 977.1 -6.6 577 8309 0.00 2.15 0.00 0.000 6 0.000 0.039 2138 2593 3712 0 0 0 0 0 0
8500 end dive: TARGET_DEPTH_EXCEEDED
state 8501 begin apogee
8508 -0.13 0.0 990.4 6.9 587 8680 0.40 0.00 165.25 1.108 4 0.111 0.000 2275 2103 2869 0 0 0 0 0 0
8680 end apogee: CONTROL_FINISHED_OK
state 8680 begin climb
8683 0.52 219.0 997.3 0.0 595 8868 0.60 2.22 177.05 1.078 4 0.050 0.038 2509 745 1976 0 0 0 0 0 0
8991 0.52 219.0 965.9 15.2 609 8996 0.00 2.22 0.00 0.000 6 0.000 0.034 2509 2135 1976 0 0 0 0 0 0
9313 0.52 219.0 911.4 17.3 625 9317 0.00 2.17 0.00 0.000 4 0.000 0.035 2519 735 1973 0 0 0 0 0 0
9570 0.52 219.0 868.3 16.4 636 9574 0.00 2.20 0.00 0.000 6 0.000 0.035 2518 2123 1972 0 0 0 0 0 0
9892 0.52 219.0 812.8 17.0 652 9896 0.00 2.12 0.00 0.000 4 0.000 0.037 2528 738 1972 0 0 0 0 0 0
9959 0.52 219.0 801.6 16.2 655 9964 0.15 2.15 0.00 0.000 6 0.170 0.036 2489 2134 1972 0 0 0 0 0 0
10280 0.52 219.0 759.1 12.7 671 10281 0.00 0.00 0.00 0.000 6 0.000 0.000 2489 2134 1971 0 0 0 0 0 0
10590 0.52 219.0 722.4 11.3 686 10591 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 2134 1970 0 0 0 0 0 0
10899 0.52 219.0 687.9 11.1 701 10903 0.00 2.20 0.00 0.000 4 0.000 0.047 2489 3545 1970 0 0 0 0 0 0
10959 0.52 219.0 680.3 12.5 703 10966 0.00 2.15 0.00 0.000 6 0.000 0.027 2498 2115 1969 0 0 0 0 0 0
11276 0.52 219.0 640.6 13.2 719 11277 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2115 1969 0 0 0 0 0 0
11585 0.52 219.0 597.4 14.2 734 11589 0.00 2.20 0.00 0.000 4 0.000 0.042 2497 3538 1969 0 0 0 0 0 0
11606 0.52 219.0 594.1 14.9 735 11610 0.00 2.15 0.00 0.000 6 0.000 0.027 2509 2109 1969 0 0 0 0 0 0
11934 0.52 219.0 548.0 13.8 751 11938 0.00 2.10 0.00 0.000 4 0.000 0.037 2519 707 1969 0 0 0 0 0 0
11974 0.52 219.0 542.1 14.3 753 11978 0.00 2.17 0.00 0.000 6 0.000 0.033 2519 2126 1969 0 0 0 0 0 0
12291 0.52 219.0 497.1 14.1 769 12295 0.00 2.12 0.00 0.000 4 0.000 0.036 2529 720 1969 0 0 0 0 0 0
12313 0.52 219.0 494.0 13.0 770 12321 0.10 2.15 0.00 0.000 6 0.146 0.034 2495 2108 1969 0 0 0 0 0 0
12639 0.52 219.0 458.5 11.1 801 12643 0.00 2.20 0.00 0.000 4 0.000 0.044 2495 3545 1969 0 0 0 0 0 0
12835 0.52 219.0 434.5 12.0 818 12839 0.00 2.12 0.00 0.000 6 0.000 0.028 2504 2133 1969 0 0 0 0 0 0
13167 0.56 244.3 399.1 10.1 849 13192 0.00 2.28 19.17 0.737 4 0.000 0.041 2504 3546 1872 0 0 0 0 0 0
13239 0.56 244.3 390.3 13.2 855 13246 0.00 2.12 0.00 0.000 6 0.000 0.028 2514 2139 1873 0 0 0 0 0 0
13564 0.56 244.3 346.6 14.6 886 13568 0.00 2.15 0.00 0.000 4 0.000 0.037 2524 713 1877 0 0 0 0 0 0
13593 0.56 244.3 342.4 14.5 888 13598 0.00 2.20 0.00 0.000 6 0.000 0.034 2524 2160 1874 0 0 0 0 0 0
13919 0.56 244.3 295.5 14.4 918 13920 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2160 1874 0 0 0 0 0 0
14238 0.56 244.3 252.6 11.5 948 14243 0.00 2.17 0.00 0.000 4 0.000 0.035 2534 720 1873 0 0 0 0 0 0
14271 0.56 244.3 248.7 11.2 950 14280 0.10 2.20 0.00 0.000 6 0.141 0.034 2501 2139 1874 0 0 0 0 0 0
14599 0.61 285.0 218.1 9.6 981 14635 0.00 2.25 30.85 0.628 4 0.000 0.041 2501 3542 1706 0 0 0 0 0 0
14681 0.65 319.2 210.2 9.8 988 14717 0.00 2.15 26.08 0.576 6 0.000 0.027 2509 2122 1566 0 0 0 0 0 0
15032 0.72 376.9 177.0 9.0 1044 15085 0.12 2.30 42.67 0.575 4 0.092 0.041 2561 3535 1331 0 0 0 0 0 0
15167 0.72 376.9 161.2 12.7 1066 15175 0.00 2.17 0.00 0.000 6 0.000 0.027 2570 2144 1330 0 0 0 0 0 0
15304 0.72 376.9 145.6 11.7 1091 15312 0.00 2.20 0.00 0.000 4 0.000 0.036 2581 728 1330 0 0 0 0 0 0
15392 0.72 376.9 135.1 11.4 1107 15401 0.10 2.15 0.00 0.000 6 0.118 0.032 2548 2099 1333 0 0 0 0 0 0
15530 0.72 376.9 119.8 11.8 1132 15538 0.00 2.25 0.00 0.000 4 0.000 0.043 2548 3533 1330 0 0 0 0 0 0
15633 0.72 376.9 106.6 12.9 1151 15641 0.00 2.15 0.00 0.000 6 0.000 0.027 2555 2136 1330 0 0 0 0 0 0
15770 0.77 415.8 92.5 9.7 1176 15808 0.00 2.20 29.15 0.543 4 0.000 0.034 2565 728 1173 0 0 0 0 0 0
15842 0.89 512.8 86.6 7.7 1187 15922 0.08 2.20 69.38 0.485 6 0.057 0.028 2618 2141 779 0 0 0 0 0 0
16050 0.89 512.8 62.1 11.8 1222 16057 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2140 777 0 0 0 0 0 0
16184 0.96 570.5 48.2 9.0 1247 16237 0.00 2.25 42.38 0.487 4 0.000 0.039 2618 3540 542 0 0 0 0 0 0
16289 1.06 658.0 39.8 8.0 1263 16320 0.08 2.22 20.00 0.466 6 0.054 0.025 2688 2110 440 0 0 0 0 0 0
16447 1.06 658.0 22.0 12.0 1291 16456 0.00 2.15 0.00 0.000 4 0.000 0.034 2698 721 440 0 0 0 0 0 0
16531 1.06 658.0 12.3 12.2 1306 16540 0.10 2.12 0.03 0.201 6 0.106 0.027 2667 2101 440 0 0 0 0 0 0
16637 end climb: SURFACE_DEPTH_REACHED
state 16637 begin surface coast
16675 end surface coast: CONTROL_FINISHED_OK
state 16675 begin surface