DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 151 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  193 HD_B  0.0099999998 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  2 HD_C  6.0000002e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  151 HEADING  -1 ROLL_MIN  300 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3841 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0.5 C_ROLL_DIVE  2120 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  6000 C_ROLL_CLIMB  2200 ALTIM_FREQUENCY  13
D_ABORT  1015 TGT_DEFAULT_LON  -5500 HEAD_ERRBAND  10 ALTIM_PULSE  5
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  1
D_BOOST  100 SM_CC  290 ROLL_TIMEOUT  15 XPDR_VALID  6
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  18 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  14 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  260 INT_PRESSURE_YINT  0.93000001
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  1 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  20
T_DIVE  370 UPLOAD_DIVES_MAX  -1 C_VBD  2772 DEVICE3  -1
T_MISSION  420 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  360 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  5 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  5 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -1044.2377 VBD_MAXERRORS  1 COMPASS_DEVICE  97
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 AH0_24V  350 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  0 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  12 RAFOS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  12 XPDR_DEVICE  24
MAX_BUOY  140 PITCH_MIN  149 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3928 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  50 C_PITCH  2680 PHONE_SUPPLY  -2 SEABIRD_T_G  0.0043053469
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -48.048229 SEABIRD_T_H  0.00061871461
RHO  1.023 PITCH_CNV  0.0046000001 PRESSURE_SLOPE  0.0001163556 SEABIRD_T_I  2.1533233e-05
MASS  52000 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.1546668e-06
NAV_MODE  2 PITCH_GAIN  13 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8788214
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1391871
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  4 SEABIRD_C_I  -0.0018439521
HD_A  0.0043000001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00022276744

Pre-dive calculations and measurements:
GPS1  041012,221734,6656.295,-5746.326,36,0.9,37,-33.6 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.94 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  041012,222407,6656.255,-5746.066,4,0.8,4,-33.6 MHEAD_RNG_PITCHd_Wd  328.5,119182,-17.3,-8.919,-19.96
SPEED_LIMITS  0.075,0.246 D_GRID  856

Post-dive calculations and measurements:
FINISH  2.1,1.025177 _24V_AH  12.4,49.805
SM_CCo  15661,18.35,0.203,0,0,1586,290.19 _10V_AH  12.7,0.000
SM_GC  2.66,8.45,2.75,18.35,0.099,0.106,0.203,139,2112,1586,-11.60,0.40,290.19,0,0,0,0,0,0,14.73,14.71,14.61 FG_AHR_24Vo  0.000
RAFOS_CLK  693 FG_AHR_10Vo  0.000
RAFOS  0,1349395262,0.033333,0.017222,59,58,57,52,51,51,173,197,221,135,119,184 MEM  188700
RAFOS_FIX  6656.943848,-5824.915527,051012,000012,4,79,3.82 DATA_FILE_SIZE  53339,1146
IRIDIUM_FIX  6631.12,-5739.31,041012,171709 CAP_FILE_SIZE  143294,0
TT8_MAMPS  0.025466,0.025466 CFSIZE  259252224,240164864
HUMID  46.25 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  8.69397 SOUNDSPEED  1455.5
TCM_TEMP  12.70 CURRENT  0.229,127.2,1
XPDR_PINGS  8 GPS  051012,024805,6655.958,-5746.808,34,0.8,35,-33.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23466133.81 SBE_CT83323247.75
Roll_motor155185357.03 SBE_O2812337.67
VBD_pump_during_apogee357260911567.54 nil000.00
VBD_pump_during_surface1820346.30 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer234152443.00 nil000.00
Transponder_ping242010.42 nil000.00
GUMSTIX_24V000.00
GPS5211.55
TT8299514569.10
LPSleep96272282.43
TT8_Active57414109.20
TT8_Sampling222933953.96
TT8_CF866538322.74
TT8_Kalman000.00
Analog_circuits197012300.23
GPS_charging000.00
Compass20226173.16
RAFOS2520148.01
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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
19 -1.50 -136.9 0.0 0.0 0 43 0.00 0.00 -22.55 0.000 2 0.000 0.000 123 2108 1997 0 0 0 0 0 0 28.83 28.83 28.83
50 -1.50 -136.9 3.1 -1.4 4 146 11.35 2.65 -74.10 0.000 4 0.467 0.161 2350 712 3331 0 0 0 0 0 0 14.35 14.51 14.77
267 -1.50 -136.9 25.4 -11.9 42 273 0.00 2.65 0.00 0.000 6 0.000 0.146 2342 2119 3332 0 0 0 0 0 0 28.83 14.52 28.83
585 -1.50 -136.9 71.6 -14.2 103 592 0.00 2.70 0.00 0.000 4 0.000 0.159 2331 3531 3333 0 0 0 0 0 0 28.83 14.57 28.83
642 -1.50 -136.9 80.0 -14.3 113 651 0.10 2.55 0.00 0.000 6 0.314 0.106 2349 2111 3333 0 0 0 0 0 0 14.52 14.64 28.83
962 -1.50 -136.9 123.5 -13.9 158 971 0.00 2.70 0.00 0.000 4 0.000 0.158 2340 3525 3333 0 0 0 0 0 0 28.83 14.60 28.83
1000 -1.50 -136.9 128.4 -13.5 161 1008 0.00 2.50 0.00 0.000 6 0.000 0.103 2340 2121 3333 0 0 0 0 0 0 28.83 14.69 28.83
1308 -1.50 -136.9 172.8 -14.5 192 1314 0.00 0.00 0.00 0.000 6 0.000 0.000 2340 2121 3332 0 0 0 0 0 0 28.83 28.83 28.83
1623 -1.50 -136.9 213.7 -12.4 223 1632 0.00 2.53 0.00 0.000 4 0.000 0.135 2340 716 3332 0 0 0 0 0 0 28.83 14.67 28.83
1688 -1.50 -136.9 222.7 -12.9 229 1697 0.00 2.60 0.00 0.000 6 0.000 0.142 2332 2121 3331 0 0 0 0 0 0 28.83 14.67 28.83
1998 -1.50 -136.9 262.0 -12.9 260 2007 0.00 2.65 0.00 0.000 4 0.000 0.154 2322 3528 3332 0 0 0 0 0 0 28.83 14.66 28.83
2042 -1.50 -136.9 267.7 -12.8 264 2052 0.10 2.47 0.00 0.000 6 0.288 0.104 2347 2125 3331 0 0 0 0 0 0 14.59 14.72 28.83
2352 -1.50 -136.9 304.3 -11.5 295 2358 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2125 3332 0 0 0 0 0 0 28.83 28.83 28.83
2669 -1.50 -136.9 339.3 -11.2 326 2678 0.00 2.55 0.00 0.000 4 0.000 0.135 2347 701 3331 0 0 0 0 0 0 28.83 14.71 28.83
2714 -1.50 -136.9 345.4 -11.6 330 2723 0.00 2.60 0.00 0.000 6 0.000 0.136 2341 2124 3331 0 0 0 0 0 0 28.83 14.71 28.83
3024 -1.50 -136.9 381.9 -11.4 361 3033 0.00 2.62 0.00 0.000 4 0.000 0.153 2330 3524 3331 0 0 0 0 0 0 28.83 14.69 28.83
3122 -1.50 -136.9 392.9 -11.3 370 3130 0.10 2.50 0.00 0.000 6 0.314 0.104 2348 2115 3331 0 0 0 0 0 0 14.64 14.77 28.83
3430 -1.50 -136.9 426.3 -10.7 385 3436 0.00 2.50 0.00 0.000 4 0.000 0.134 2349 712 3331 0 0 0 0 0 0 28.83 14.74 28.83
3480 -1.50 -136.9 429.8 -10.6 386 3489 0.00 2.58 0.00 0.000 6 0.000 0.139 2342 2122 3331 0 0 0 0 0 0 28.83 14.71 28.83
3792 -1.50 -136.9 466.0 -11.0 397 3793 0.00 0.00 0.00 0.000 6 0.000 0.000 2342 2122 3331 0 0 0 0 0 0 28.83 28.83 28.83
4092 -1.50 -136.9 497.3 -10.0 407 4097 0.00 2.62 0.00 0.000 4 0.000 0.156 2330 3528 3331 0 0 0 0 0 0 28.83 14.73 28.83
4123 -1.50 -136.9 500.5 -10.0 408 4129 0.00 2.47 0.00 0.000 6 0.000 0.105 2331 2122 3331 0 0 0 0 0 0 28.83 14.81 28.83
4454 -1.50 -136.9 536.3 -11.0 419 4456 0.10 0.00 0.00 0.000 6 0.324 0.000 2349 2121 3332 0 0 0 0 0 0 14.69 28.83 28.83
4754 -1.50 -136.9 566.9 -9.9 429 4760 0.00 2.53 0.00 0.000 4 0.000 0.136 2349 709 3332 0 0 0 0 0 0 28.83 14.78 28.83
4794 -1.50 -136.9 570.1 -10.0 430 4799 0.00 2.60 0.00 0.000 6 0.000 0.143 2342 2124 3332 0 0 0 0 0 0 28.83 14.76 28.83
5116 -1.50 -136.9 604.3 -10.6 441 5121 0.00 2.62 0.00 0.000 4 0.000 0.158 2332 3524 3332 0 0 0 0 0 0 28.83 14.76 28.83
5179 -1.50 -136.9 610.9 -10.7 443 5185 0.00 2.47 0.00 0.000 6 0.000 0.105 2331 2116 3332 0 0 0 0 0 0 28.83 14.82 28.83
5508 -1.50 -136.9 646.1 -10.4 454 5510 0.10 0.00 0.00 0.000 6 0.324 0.000 2349 2115 3332 0 0 0 0 0 0 14.71 28.83 28.83
5807 -1.50 -136.9 675.8 -9.7 464 5812 0.00 2.70 0.00 0.000 4 0.000 0.161 2341 3531 3332 0 0 0 0 0 0 28.83 14.76 28.83
5838 -1.50 -136.9 679.0 -9.8 465 5843 0.00 2.50 0.00 0.000 6 0.000 0.103 2341 2115 3332 0 0 0 0 0 0 28.83 14.83 28.83
6171 -1.50 -136.9 712.5 -10.0 476 6177 0.00 2.55 0.00 0.000 4 0.000 0.135 2341 701 3332 0 0 0 0 0 0 28.83 14.80 28.83
6226 -1.50 -136.9 715.8 -10.0 477 6233 0.00 2.62 0.00 0.000 6 0.000 0.138 2333 2129 3332 0 0 0 0 0 0 28.83 14.79 28.83
6532 -1.50 -136.9 748.7 -9.9 488 6534 0.00 0.00 0.00 0.000 6 0.000 0.000 2333 2129 3332 0 0 0 0 0 0 28.83 28.83 28.83
6833 -1.50 -136.9 777.0 -9.3 498 6839 0.00 2.55 0.00 0.000 4 0.000 0.133 2333 709 3332 0 0 0 0 0 0 28.83 14.80 28.83
6873 -1.50 -136.9 780.1 -9.4 499 6878 0.10 2.58 0.00 0.000 6 0.300 0.138 2350 2116 3333 0 0 0 0 0 0 14.67 14.77 28.83
7195 -1.50 -136.9 808.2 -8.4 510 7201 0.00 2.65 0.00 0.000 4 0.000 0.155 2342 3529 3332 0 0 0 0 0 0 28.83 14.77 28.83
7258 -1.50 -136.9 814.1 -8.8 512 7264 0.00 2.45 0.00 0.000 6 0.000 0.104 2342 2124 3332 0 0 0 0 0 0 28.83 14.82 28.83
7590 -1.50 -136.9 844.6 -9.3 523 7592 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2123 3332 0 0 0 0 0 0 28.83 28.83 28.83
7734 end dive: TARGET_DEPTH_EXCEEDED
state 7734 begin apogee
7747 -0.38 0.0 858.0 -9.0 528 7899 0.90 0.00 142.38 2.609 6 0.269 0.000 2590 2204 2772 0 0 0 0 0 0 14.71 28.83 13.03
7900 end apogee: CONTROL_FINISHED_OK
state 7900 begin climb
7905 1.50 136.9 861.3 0.0 533 8075 1.40 3.05 155.15 2.570 4 0.170 0.148 3004 3609 2215 0 0 0 0 0 0 13.83 13.12 12.40
8158 1.50 136.9 835.8 12.5 542 8164 0.00 2.72 0.00 0.000 6 0.000 0.106 3014 2203 2209 0 0 0 0 0 0 28.83 13.66 28.83
8485 1.50 136.9 794.1 12.8 553 8487 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2204 2204 0 0 0 0 0 0 28.83 28.83 28.83
8786 1.50 136.9 755.4 12.9 563 8787 0.00 0.00 0.00 0.000 6 0.000 0.000 3014 2203 2203 0 0 0 0 0 0 28.83 28.83 28.83
9085 1.50 136.9 717.4 12.4 573 9091 0.00 2.60 0.00 0.000 4 0.000 0.135 3025 788 2202 0 0 0 0 0 0 28.83 14.50 28.83
9117 1.50 136.9 713.4 12.5 574 9122 0.00 2.60 0.00 0.000 6 0.000 0.128 3025 2196 2201 0 0 0 0 0 0 28.83 14.53 28.83
9449 1.50 136.9 671.6 12.4 585 9454 0.00 2.70 0.00 0.000 4 0.000 0.149 3025 3615 2201 0 0 0 0 0 0 28.83 14.58 28.83
9493 1.50 136.9 667.3 12.5 586 9499 0.10 2.55 0.00 0.000 6 0.285 0.108 3009 2200 2201 0 0 0 0 0 0 14.52 14.62 28.83
9810 1.50 136.9 627.5 12.1 597 9811 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2201 2201 0 0 0 0 0 0 28.83 28.83 28.83
10111 1.50 136.9 592.3 11.8 607 10117 0.00 2.70 0.00 0.000 4 0.000 0.148 3009 3621 2200 0 0 0 0 0 0 28.83 14.67 28.83
10136 1.50 136.9 592.3 11.8 607 10142 0.00 2.55 0.00 0.000 6 0.000 0.106 3018 2199 2201 0 0 0 0 0 0 28.83 14.73 28.83
10443 1.50 136.9 550.9 12.6 618 10444 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2199 2200 0 0 0 0 0 0 28.83 28.83 28.83
10743 1.50 136.9 512.6 13.0 628 10749 0.00 2.53 0.00 0.000 4 0.000 0.132 3029 788 2200 0 0 0 0 0 0 28.83 14.73 28.83
10774 1.50 136.9 508.5 12.9 629 10781 0.08 2.55 0.00 0.000 6 0.285 0.122 3009 2206 2198 0 0 0 0 0 0 14.66 14.74 28.83
11106 1.50 136.9 468.0 11.8 640 11112 0.00 2.62 0.00 0.000 4 0.000 0.145 3008 3613 2198 0 0 0 0 0 0 28.83 14.74 28.83
11168 1.50 136.9 460.0 12.4 642 11174 0.00 2.50 0.00 0.000 6 0.000 0.106 3017 2200 2199 0 0 0 0 0 0 28.83 14.79 28.83
11500 1.50 136.9 421.9 11.7 653 11506 0.00 2.50 0.00 0.000 4 0.000 0.130 3028 788 2199 0 0 0 0 0 0 28.83 14.77 28.83
11575 1.50 136.9 414.3 12.0 655 11581 0.08 2.53 0.00 0.000 6 0.288 0.120 3008 2200 2198 0 0 0 0 0 0 14.68 14.76 28.83
11896 1.50 136.9 376.0 11.3 678 11903 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2200 2198 0 0 0 0 0 0 28.83 28.83 28.83
12209 1.50 136.9 339.8 11.4 709 12215 0.00 0.00 0.00 0.000 6 0.000 0.000 3008 2200 2198 0 0 0 0 0 0 28.83 28.83 28.83
12520 1.50 136.9 305.4 10.7 740 12529 0.00 2.58 0.00 0.000 4 0.000 0.132 3017 781 2198 0 0 0 0 0 0 28.83 14.76 28.83
12555 1.50 136.9 301.1 10.7 743 12564 0.00 2.55 0.00 0.000 6 0.000 0.122 3017 2200 2198 0 0 0 0 0 0 28.83 14.76 28.83
12865 1.50 136.9 268.0 11.3 774 12872 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2200 2198 0 0 0 0 0 0 28.83 28.83 28.83
13180 1.50 136.9 233.5 10.4 805 13189 0.00 2.62 0.00 0.000 4 0.000 0.150 3017 3609 2198 0 0 0 0 0 0 28.83 14.73 28.83
13205 1.50 136.9 230.1 11.0 807 13215 0.08 2.53 0.00 0.000 6 0.291 0.107 3007 2195 2199 0 0 0 0 0 0 14.66 14.78 28.83
13516 1.50 136.9 197.3 10.6 838 13526 0.00 2.67 0.00 0.000 4 0.000 0.151 3007 3616 2199 0 0 0 0 0 0 28.83 14.73 28.83
13574 1.50 136.9 191.0 11.9 843 13581 0.00 2.53 0.00 0.000 6 0.000 0.106 3017 2197 2199 0 0 0 0 0 0 28.83 14.81 28.83
13882 1.50 136.9 158.1 10.3 874 13891 0.00 2.50 0.00 0.000 4 0.000 0.132 3027 791 2198 0 0 0 0 0 0 28.83 14.75 28.83
13957 1.50 136.9 150.3 10.5 881 13966 0.00 2.53 0.00 0.000 6 0.000 0.123 3027 2197 2198 0 0 0 0 0 0 28.83 14.75 28.83
14267 1.50 136.9 119.9 9.3 912 14276 0.00 2.53 0.00 0.000 4 0.000 0.133 3036 791 2198 0 0 0 0 0 0 28.83 14.74 28.83
14292 1.50 136.9 117.5 9.1 914 14303 0.10 2.55 0.00 0.000 6 0.275 0.123 3009 2204 2198 0 0 0 0 0 0 14.66 14.75 28.83
14608 1.56 185.6 93.4 6.8 953 14640 0.00 2.72 25.05 0.464 4 0.000 0.147 3009 3615 2015 0 0 0 0 0 0 28.83 14.69 14.51
14671 1.56 185.6 88.2 10.0 963 14679 0.00 2.53 0.00 0.000 6 0.000 0.105 3018 2200 2012 0 0 0 0 0 0 28.83 14.73 28.83
14987 1.56 185.6 56.2 11.0 1024 14994 0.00 2.55 0.00 0.000 4 0.000 0.132 3028 780 2008 0 0 0 0 0 0 28.83 14.71 28.83
15104 1.56 185.6 43.7 10.3 1046 15112 0.00 2.60 0.00 0.000 6 0.000 0.124 3027 2210 2006 0 0 0 0 0 0 28.83 14.71 28.83
15423 1.64 251.8 18.9 6.0 1107 15466 0.00 2.65 34.92 0.243 4 0.000 0.148 3028 3611 1742 0 0 0 0 0 0 28.83 14.64 14.58
15601 end climb: SURFACE_DEPTH_REACHED
state 15601 begin surface coast
15632 end surface coast: CONTROL_FINISHED_OK
state 15632 begin surface