SCALE Oct19 * SG574 * Dive index * Mission links * Dive 174 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  574 HD_C  9.8500004e-06 C_ROLL_DIVE  1805 ALTIM_BOTTOM_TURN_MARGIN  20
MISSION  7 HEADING  -1 C_ROLL_CLIMB  1733 ALTIM_TOP_TURN_MARGIN  0
DIVE  174 ESCAPE_HEADING  0 HEAD_ERRBAND  20 ALTIM_TOP_MIN_OBSTACLE  1
N_DIVES  0 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 ALTIM_PING_DEPTH  0
STOP_T  0 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 ALTIM_PING_DELTA  5
D_SURF  3 TGT_DEFAULT_LAT  4743.3999 R_PORT_OVSHOOT  18 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LON  -12224.2 R_STBD_OVSHOOT  46 ALTIM_PULSE  3
D_TGT  995 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 ALTIM_SENSITIVITY  2
D_ABORT  1030 SM_CC  358.37747 ROLL_MAXERRORS  1 XPDR_VALID  2
D_NO_BLEED  29 N_FILEKB  4 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
D_BOOST  20 FILEMGR  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097655999
T_BOOST  0 CALL_NDIVES  1 VBD_MIN  600 INT_PRESSURE_YINT  3.1600001
D_FINISH  5 COMM_SEQ  0 VBD_MAX  3960 DEEPGLIDER  0
D_PITCH  0 PROTOCOL  9 C_VBD  2061 MOTHERBOARD  4
D_SAFE  0 N_NOCOMM  9 VBD_DBAND  2 DEVICE1  -1
D_CALL  0 NOCOMM_ACTION  291 VBD_CNV  -0.245296 DEVICE2  -1
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 VBD_TIMEOUT  720 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_DIVE  333 CALL_WAIT  60 VBD_PUMP_AD_RATE_SURFACE  4 DEVICE6  -1
T_MISSION  343 CAPUPLOAD  0 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERS  1
T_ABORT  350 CAPMAXSIZE  400000 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN  500 HEAPDBG  0 UNCOM_BLEED  60 LOGGERDEVICE2  -1
T_TURN_SAMPINT  5 T_GPS  15 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_NO_W  120 N_GPS  100840 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
T_LOITER  0 T_RSLEEP  2 DBDW  0 COMPASS_DEVICE  17
T_EPIRB  0 STROBE  0 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
USE_BATHY  0 RAFOS_PEAK_OFFSET  1.5 PITCH_W_DBAND  0 PHONE_DEVICE  49
USE_ICE  0 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  20 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 AH0_24V  310 RAFOS_DEVICE  -1
D_OFFGRID  100 PITCH_MIN  117 AH0_10V  0 XPDR_DEVICE  24
T_WATCHDOG  10 PITCH_MAX  3869 MINV_24V  11.5 SIM_W  0
RELAUNCH  0 C_PITCH  2900 MINV_10V  10 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_DBAND  0.0099999998 MAXI_24V  3 SEABIRD_T_G  0.0042907312
MAX_BUOY  5 PITCH_CNV  0.003125763 MAXI_10V  2 SEABIRD_T_H  0.00061813911
COURSE_BIAS  0 P_OVSHOOT  0.039999999 FG_AHR_10V  0 SEABIRD_T_I  2.1013675e-05
GLIDE_SLOPE  30 P_OVSHOOT_WITHG  0.079999998 FG_AHR_24V  0 SEABIRD_T_J  2.0586713e-06
SPEED_FACTOR  1 PITCH_GAIN  30 PHONE_SUPPLY  2 SEABIRD_C_G  -9.7689371
RHO  1.0275 PITCH_TIMEOUT  25 PRESSURE_YINT  -148.55536 SEABIRD_C_H  1.1415389
MASS  52719 PITCH_AD_RATE  125 PRESSURE_SLOPE  0.0001058 SEABIRD_C_I  -0.0022330475
MASS_COMP  0 PITCH_MAXERRORS  1 AD7714Ch0Gain  1 SEABIRD_C_J  0.00024789109
NAV_MODE  0 PITCH_ADJ_GAIN  0 TCM_PITCH_OFFSET  0 SC_RECORDABOVE  2000.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 TCM_ROLL_OFFSET  0 SC_PROFILE  3.0
KALMAN_USE  2 ROLL_MIN  301 COMPASS_USE  4 SC_XMITPROFILE  3.0
HD_A  0.0038360001 ROLL_MAX  3936 ALTIM_BOTTOM_PING_RANGE  0
HD_B  0.0101 ROLL_DEG  40 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  201119,033606,-5409.0029,1.7072,26,0.8,32,-20.4,0.0,120.5,10,9.7 TGT_NAME  WPNW
_CALLS  1 TGT_LATLONG  -5400.834,-2.894
_XMS_NAKs  0 TGT_RADIUS  3000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000000,0.000000
_SM_DEPTHo  0.78 KALMAN_X  0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo  -73.4 KALMAN_Y  0.000000,0.000000,0.000000,0.000000,0.000000
GPS2  201119,034802,-5409.0225,1.6951,7,0.9,19,-20.4,0.5,62.8,9,9.2 MHEAD_RNG_PITCHd_Wd  2.2,15966,-26.4,-9.960,-28.62,1079
SPEED_LIMITS  0.173,0.183 D_GRID  995

Post-dive calculations and measurements:
FINISH  0.1,1.001632 _24V_AH  12.95,74.313
SM_CCo  15018,167.77,0.159,0,0,600,358.38 _10V_AH  13.00,0.000
SM_GC  0.75,15.27,0.12,167.77,0.078,0.113,0.159,131,1828,600,-8.61,-0.71,358.38,0,0,0,0,0,0,14.63,14.66,14.47 FG_AHR_24Vo  0.000
IRIDIUM_FIX  -5350.58,0.00,191119,230424 FG_AHR_10Vo  0.000
TT8_MAMPS  0.041195,0.680092 MEM  340216
HUMID  52.87 DATA_FILE_SIZE  56631,1570
INTERNAL_PRESSURE  9.15608 CAP_FILE_SIZE  258832,0
TCM_TEMP  13.20 CFSIZE  2097086464,2054914048
XPDR_PINGS  0 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,2,0,2,0
SC_FREEKB  3715264 GPS  201119,080226,-5407.490,2.567,37,0.8,44,-20.5,0.4,204.0,10,9.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor34381172.16 nil000.00
Roll_motor147113216.34 nil000.00
VBD_pump_during_apogee19021255248.76 nil000.00
VBD_pump_during_surface167159345.72 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init22329.49 nil000.00
Iridium_during_connect2716056.83 SciCon15096469041.76
Iridium_during_xfer3992231154.55 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS21102.87
TT8000.00
LPSleep104452297.38
TT8_Active6131296.20
TT8_Sampling4585331969.49
TT8_CF823441125.68
TT8_Kalman000.00
Analog_circuits211711327.50
GPS_charging000.00
Compass322817723.24
RAFOS000.00
Transponder050.03

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
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
18 -0.89 -4.9 124 1829 636 560 0.0 0.0 0 114 0.00 0.00 -91.03 0.000 16390 0.000 0.000 123 1828 2083 2056 2110 0 0 0 0 0 0 14.67 13.29 14.66
116 -0.89 -4.9 124 1830 2057 2112 3.3 -5.6 17 139 16.15 2.50 0.00 0.000 2308 0.382 0.083 2604 3198 2087 2063 2111 0 0 0 0 0 0 14.19 14.42 14.48
639 -0.89 -4.9 2605 3199 2066 2111 91.7 -15.9 95 644 0.00 2.55 0.00 0.000 3078 0.000 0.069 2604 1803 2085 2065 2105 0 0 0 0 0 0 14.66 14.50 14.67
949 -0.89 -4.9 2604 1804 2067 2100 142.0 -16.7 126 954 0.00 2.53 0.00 0.000 2308 0.000 0.083 2604 3193 2088 2066 2111 0 0 0 0 0 0 14.81 14.54 14.81
1454 -0.89 -4.9 2604 3193 2067 2102 218.5 -14.2 176 1460 0.00 2.53 0.00 0.000 3078 0.000 0.069 2605 1807 2082 2065 2100 0 0 0 0 0 0 14.56 14.48 14.58
1759 -0.89 -4.9 2603 1809 2067 2099 262.2 -13.2 207 1764 0.00 2.53 0.00 0.000 2308 0.000 0.082 2603 3194 2082 2066 2098 0 0 0 0 0 0 14.81 14.52 14.81
2163 -0.89 -4.9 2603 3195 2067 2098 314.2 -13.1 247 2171 0.00 2.55 0.00 0.000 3078 0.000 0.067 2603 1797 2082 2066 2098 0 0 0 0 0 0 14.55 14.49 14.58
2469 -0.89 -4.9 2603 1796 2067 2098 355.6 -12.4 278 2474 0.00 2.55 0.00 0.000 2308 0.000 0.081 2603 3199 2082 2067 2098 0 0 0 0 0 0 14.81 14.54 14.81
2909 -0.89 -4.9 2601 3199 2066 2098 404.5 -10.4 322 2914 0.00 2.53 0.00 0.000 3078 0.000 0.067 2603 1801 2080 2065 2096 0 0 1 0 0 0 14.59 14.51 14.62
3219 -0.89 -4.9 2603 1802 2067 2098 435.5 -9.2 353 3224 0.00 2.53 0.00 0.000 2308 0.000 0.080 2603 3196 2082 2068 2096 0 0 0 0 0 0 14.81 14.56 14.81
3614 -0.89 -4.9 2602 3197 2067 2095 472.6 -9.6 392 3620 0.00 2.53 0.00 0.000 3078 0.000 0.067 2602 1803 2080 2066 2095 0 0 0 0 0 0 14.59 14.53 14.63
3919 -0.89 -4.9 2603 1802 2068 2096 503.4 -9.9 423 3924 0.00 2.53 0.00 0.000 2308 0.000 0.080 2602 3197 2081 2068 2095 0 0 0 0 0 0 14.82 14.57 14.81
4273 -0.89 -4.9 2602 3198 2068 2096 539.0 -10.3 458 4280 0.00 2.53 0.00 0.000 3078 0.000 0.066 2602 1804 2081 2067 2095 0 0 0 0 0 0 14.60 14.53 14.65
4579 -0.89 -4.9 2603 1803 2068 2096 572.4 -10.9 489 4584 0.00 2.53 0.00 0.000 2308 0.000 0.079 2602 3200 2081 2068 2095 0 0 0 0 0 0 14.82 14.57 14.82
4999 -0.89 -4.9 2602 3201 2069 2094 619.0 -10.9 531 5004 0.00 2.53 0.00 0.000 3078 0.000 0.066 2602 1806 2081 2068 2095 0 0 0 0 0 0 14.60 14.56 14.63
5309 -0.89 -4.9 2603 1810 2069 2096 653.5 -11.2 562 5314 0.00 2.53 0.00 0.000 2308 0.000 0.078 2601 3203 2081 2068 2095 0 0 0 0 0 0 14.82 14.57 14.82
5623 -0.89 -4.9 2601 3204 2069 2094 687.5 -10.9 593 5630 0.00 2.53 0.00 0.000 3078 0.000 0.065 2601 1806 2081 2068 2094 0 0 0 0 0 0 14.59 14.54 14.63
5929 -0.89 -4.9 2603 1807 2069 2094 721.8 -10.8 624 5934 0.00 2.53 0.00 0.000 2308 0.000 0.080 2599 3201 2081 2068 2094 0 0 0 0 0 0 14.82 14.57 14.82
6103 -0.89 -4.9 2600 3201 2069 2095 740.3 -10.9 641 6110 0.00 2.53 0.00 0.000 3078 0.000 0.065 2599 1806 2081 2068 2094 0 0 0 0 0 0 14.61 14.54 14.63
6409 -0.89 -4.9 2600 1807 2070 2094 773.8 -10.9 672 6414 0.00 2.50 0.00 0.000 2308 0.000 0.077 2599 3196 2079 2069 2090 0 0 0 0 0 0 14.82 14.57 14.83
6654 -0.89 -4.9 2600 3196 2070 2095 800.4 -10.9 696 6661 0.05 2.53 0.00 0.000 3078 0.364 0.064 2607 1775 2081 2069 2094 0 0 0 0 0 0 14.40 14.57 14.62
6959 -0.89 -4.9 2607 1775 2078 2094 833.3 -10.4 727 6964 0.00 2.58 0.00 0.000 2308 0.000 0.078 2607 3199 2082 2070 2094 0 0 0 0 0 0 14.82 14.57 14.82
7179 -0.89 -4.9 2607 3201 2071 2093 855.8 -10.0 749 7184 0.00 2.53 0.00 0.000 3078 0.000 0.064 2607 1806 2081 2070 2093 0 0 0 0 0 0 14.61 14.54 14.64
7489 -0.89 -4.9 2607 1807 2070 2093 886.8 -9.9 780 7494 0.00 2.50 0.00 0.000 2308 0.000 0.076 2607 3195 2081 2070 2093 0 0 0 0 0 0 14.82 14.57 14.82
7649 -0.89 -4.9 2607 3195 2071 2092 902.5 -9.7 796 7654 0.00 2.47 0.00 0.000 3078 0.000 0.064 2607 1798 2081 2070 2093 0 0 0 0 0 0 14.69 14.56 14.71
7959 -0.89 -4.9 2607 1798 2071 2094 933.7 -10.1 827 7964 0.00 2.53 0.00 0.000 2308 0.000 0.078 2605 3196 2081 2070 2093 0 0 0 0 0 0 14.82 14.56 14.83
8200 -0.89 -4.9 2605 3197 2072 2093 957.4 -9.8 851 8204 0.00 2.47 0.00 0.000 3078 0.000 0.064 2605 1802 2082 2071 2093 0 0 0 0 0 0 14.69 14.57 14.70
8509 -0.89 -4.9 2605 1803 2072 2093 987.2 -9.7 882 8514 0.00 2.53 0.00 0.000 2308 0.000 0.079 2603 3194 2081 2070 2093 0 0 0 0 0 0 14.82 14.57 14.82
8587 end dive: TARGET_DEPTH_EXCEEDED
state 8587 begin apogee
8594 -0.17 0.0 2604 1736 2076 2093 995.7 -9.5 890 8611 1.30 0.00 8.43 1.782 10246 0.241 0.000 2835 1735 2060 2062 2059 0 0 0 0 0 0 14.36 14.59 13.75
8612 end apogee: CONTROL_FINISHED_OK
state 8612 begin climb
8613 0.89 4.9 2835 1735 2063 2061 997.0 0.0 892 8630 1.70 2.62 7.15 1.678 10756 0.167 0.096 3162 325 2040 2045 2036 0 0 0 0 0 0 14.51 14.40 13.70
8744 1.09 174.8 3162 325 2045 2037 999.8 -6.2 904 8931 0.35 2.45 175.07 2.126 11270 0.158 0.054 3233 1732 1347 1416 1279 0 0 0 0 0 0 14.51 14.58 12.95
9229 1.09 174.8 3233 1732 1412 1279 937.6 18.0 953 9234 0.00 2.53 0.00 0.000 2308 0.000 0.070 3233 3129 1344 1412 1277 0 0 0 0 0 0 14.57 14.33 14.57
9274 1.09 174.8 3233 3131 1411 1277 931.1 16.5 957 9280 0.00 2.58 0.00 0.000 3078 0.000 0.078 3233 1740 1343 1409 1277 0 0 1 0 0 0 14.40 14.33 14.43
9579 1.09 174.8 3234 1741 1410 1276 875.1 17.7 988 9584 0.00 2.62 0.00 0.000 2564 0.000 0.105 3234 320 1343 1410 1276 0 0 0 0 0 0 14.78 14.52 14.80
9704 1.09 174.8 3233 321 1411 1276 852.6 19.3 1000 9710 0.00 2.50 0.00 0.000 3078 0.000 0.054 3239 1719 1342 1409 1276 0 0 0 0 0 0 14.60 14.55 14.62
10009 1.09 174.8 3234 1725 1409 1276 795.3 17.5 1031 10014 0.00 2.60 0.00 0.000 2564 0.000 0.105 3234 318 1342 1409 1275 0 0 0 0 0 0 14.92 14.63 14.92
10114 1.09 174.8 3235 318 1410 1275 775.5 19.7 1041 10120 0.00 2.50 0.00 0.000 3078 0.000 0.054 3234 1732 1342 1409 1275 0 0 0 0 0 0 14.73 14.68 14.75
10419 1.09 174.8 3234 1739 1410 1275 717.2 18.7 1072 10424 0.00 2.62 0.00 0.000 2564 0.000 0.104 3234 313 1341 1409 1274 0 0 0 0 0 0 14.97 14.68 14.97
10539 1.09 174.8 3234 314 1411 1274 693.4 19.9 1084 10544 0.00 2.50 0.00 0.000 3078 0.000 0.055 3234 1735 1342 1409 1275 0 0 0 0 0 0 14.76 14.71 14.80
10849 1.09 174.8 3234 1741 1410 1275 636.2 18.3 1115 10854 0.00 2.60 0.00 0.000 2564 0.000 0.104 3234 318 1341 1409 1273 0 0 0 0 0 0 15.00 14.71 15.01
10940 1.09 174.8 3234 319 1410 1271 618.8 19.0 1124 10944 0.00 2.45 0.00 0.000 3078 0.000 0.054 3234 1741 1341 1409 1274 0 0 0 0 0 0 14.88 14.78 14.90
11249 1.09 174.8 3234 1748 1409 1273 563.3 17.6 1155 11254 0.00 2.62 0.00 0.000 2564 0.000 0.104 3234 320 1341 1409 1274 0 0 0 0 0 0 15.02 14.73 15.02
11314 1.09 174.8 3235 320 1410 1275 552.3 18.5 1161 11321 0.00 2.47 0.00 0.000 3078 0.000 0.054 3234 1730 1341 1409 1274 0 0 0 0 0 0 14.81 14.76 14.83
11619 1.09 174.8 3234 1738 1410 1273 499.7 16.5 1192 11624 0.00 2.60 0.00 0.000 2564 0.000 0.102 3234 317 1341 1409 1273 0 0 0 0 0 0 15.03 14.73 15.04
11714 1.09 174.8 3235 318 1409 1274 484.3 17.1 1201 11721 0.00 2.45 0.00 0.000 3078 0.000 0.054 3234 1747 1340 1408 1273 0 0 0 0 0 0 14.90 14.81 14.92
12019 1.09 174.8 3234 1752 1409 1274 433.2 16.5 1232 12024 0.00 2.62 0.00 0.000 2564 0.000 0.103 3234 318 1341 1409 1273 0 0 0 0 0 0 15.04 14.74 15.04
12094 1.09 174.8 3234 318 1410 1273 421.0 17.7 1239 12100 0.00 2.47 0.00 0.000 3078 0.000 0.054 3234 1736 1341 1409 1273 0 0 0 0 0 0 14.83 14.77 14.85
12399 1.09 174.8 3235 1742 1409 1273 368.4 17.1 1270 12404 0.00 2.62 0.00 0.000 2564 0.000 0.103 3234 318 1341 1409 1273 0 0 0 0 0 0 14.97 14.64 14.97
12494 1.09 174.8 3235 318 1410 1274 352.1 18.2 1279 12501 0.00 2.45 0.00 0.000 3078 0.000 0.054 3234 1732 1341 1409 1273 0 0 0 0 0 0 14.82 14.72 14.83
12799 1.09 174.8 3234 1740 1410 1273 300.5 16.2 1310 12804 0.00 2.62 0.00 0.000 2564 0.000 0.102 3234 313 1340 1408 1273 0 0 0 0 0 0 14.91 14.59 14.92
12919 1.09 174.8 3235 313 1410 1274 280.0 16.8 1322 12924 0.00 2.50 0.00 0.000 3078 0.000 0.054 3234 1730 1340 1408 1273 0 0 0 0 0 0 14.73 14.67 14.75
13229 1.09 174.8 3234 1738 1410 1272 230.5 16.5 1353 13234 0.00 2.62 0.00 0.000 2564 0.000 0.102 3234 314 1344 1416 1273 0 0 0 0 0 0 14.88 14.56 14.89
13404 1.09 174.8 3234 315 1410 1273 202.8 16.3 1370 13411 0.00 2.47 0.00 0.000 3078 0.000 0.055 3234 1733 1341 1409 1273 0 0 0 0 0 0 14.74 14.63 14.75
13709 1.09 174.8 3234 1740 1409 1274 159.8 13.0 1401 13714 0.00 2.65 0.00 0.000 2564 0.000 0.103 3234 314 1341 1409 1273 0 0 0 0 0 0 14.87 14.54 14.88
13834 1.09 174.8 3235 314 1409 1274 143.2 13.8 1413 13841 0.00 2.53 0.00 0.000 3078 0.000 0.054 3235 1741 1340 1409 1272 0 0 0 0 0 0 14.65 14.60 14.66
14139 1.09 174.8 3234 1747 1410 1274 105.1 12.1 1444 14141 0.00 0.00 0.00 0.000 2054 0.000 0.000 3234 1747 1341 1409 1273 0 0 0 0 0 0 14.86 14.87 14.87
14439 1.09 174.8 3235 1747 1409 1273 68.8 11.8 1474 14444 0.00 2.65 0.00 0.000 2564 0.000 0.104 3234 317 1340 1408 1273 0 0 0 0 0 0 14.86 14.54 14.87
14559 1.09 174.8 3233 318 1409 1273 53.2 13.2 1486 14564 0.00 2.53 0.00 0.000 3078 0.000 0.056 3234 1738 1341 1409 1273 0 0 0 0 0 0 14.69 14.62 14.71
14864 1.09 174.8 3235 1744 1409 1274 16.3 11.9 1544 14871 0.00 2.65 0.00 0.000 2564 0.000 0.104 3234 317 1340 1408 1272 0 0 0 0 0 0 14.83 14.55 14.84
14940 1.09 174.8 3234 318 1408 1272 6.5 13.5 1559 14947 0.00 2.53 0.00 0.000 3078 0.000 0.054 3234 1729 1341 1410 1272 0 0 0 0 0 0 14.59 14.54 14.61
14970 end climb: SURFACE_DEPTH_REACHED
state 14970 begin surface coast
14996 end surface coast: CONTROL_FINISHED_OK
state 14996 begin surface