Glider dive log

PN07 DabobBay Sep07 * SG023 * Dive index * Mission links * Dive 230 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 23 HD_B 0.0123087 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 3.5261501e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 230 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 208 ALTIM_PING_DEPTH 50

D_TGT 55 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1850 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_PITCH 0 SM_CC 350 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 13 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 15 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 35 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 580 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -28656.234 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 370 AH0_24V 91.800003 SEABIRD_T_G 0.0043036696

SPEED_FACTOR 1 PITCH_MAX 3518 AH0_10V 61.200001 SEABIRD_T_H 0.00062677584

RHO 1.023 C_PITCH 2610 PRESSURE_YINT -24.5345 SEABIRD_T_I 2.2664151e-05

MASS 51702 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.2667414e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.310682

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1615626

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0017275931

HD_A 0.0030006149 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00021877716

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3518 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 2 PITCH_MIN 370 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 55 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -24.5345 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 16 RAFOS_HIT_WINDOW 3600 T_DIVE 15

CALL_TRIES 5 HD_A 0.0030006149 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0123087 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 3.5261501e-06 RHO 1.023 T_GPS_CHARGE -28656.234

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 35

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 23 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2610 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1850 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51702 R_PORT_OVSHOOT 19 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 13 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.310682 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1615626 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0017275931 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00021877716 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043036696 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062677584 VBD_MIN 580

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2664151e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 230 PHONE_DEVICE 48 SEABIRD_T_J 2.2667414e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 180803,4739.591,-12252.943,11,1.4,11,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.140,-0.172

_SM_DEPTHo 0.82 KALMAN_X 12489.6,378.6,209.3,-13019.4,30.6

_SM_ANGLEo -68.2 KALMAN_Y 5827.5,-292.4,-4.8,-5807.8,76.3

GPS2 181409,4739.634,-12252.898,13,1.2,13,18.3 MHEAD_RNG_PITCHd_Wd 201.0,490,-25.7,-12.222

SPEED_LIMITS 0.212,0.222 D_GRID 120

Post-dive calculations and measurements:

FINISH 0.2,1.021074 ALTIM_BOTTOM_PING 40.2,999.0

SM_CCo 1262,117.57,0.621,0,0,2056,350.04 _24V_AH 24.0,18.938

SM_GC 0.90,0.00,0.00,117.57,0.000,0.000,0.621,368,2139,2056,-10.31,-0.34,350.04 _10V_AH 10.2,7.138

IRIDIUM_FIX 4722.92,-12251.79,280907,222220 DATA_FILE_SIZE 3335,128

TT8_MAMPS 0.026845 CFSIZE 260034560,251719680

HUMID 2120 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 280907,183926,4739.599,-12252.916,7,1.8,12,18.3

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 148 92.40 SBE_CT 84 24 48.65

Roll_motor 20 58 28.85 nil 0 0 0.00

VBD_pump_during_apogee 148 691 2463.38 nil 0 0 0.00

VBD_pump_during_surface 117 621 1753.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 ARS 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 1 420 10.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 93 14.46

TT8 274 19 55.49

LPSleep 546 2 12.21

TT8_Active 355 19 71.85

TT8_Sampling 247 39 100.57

TT8_CF8 54 45 25.67

TT8_Kalman 33 81 27.80

Analog_circuits 523 12 64.12

GPS_charging 0 0 0.00

Compass 242 8 19.75

RAFOS 0 0 0.00

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

21 -1.72 -97.8 0.0 0.0 0 90 0.00 0.00 -66.68 0.000 2 0.000 0.000 365 2133 3414

93 -1.72 -97.8 2.2 -4.7 11 124 10.43 0.00 -15.55 0.000 6 0.149 0.000 2231 2133 3883

190 -1.72 -97.8 9.7 -10.1 26 195 0.00 0.00 0.00 0.000 6 0.000 0.000 2231 2133 3885

261 -1.72 -97.8 14.4 -6.2 37 268 0.00 2.47 0.00 0.000 4 0.000 0.047 2231 3571 3885

412 -1.72 -97.8 25.7 -8.4 54 419 0.00 2.40 0.00 0.000 6 0.000 0.032 2231 2151 3887

608 -1.72 -97.8 41.3 -8.2 70 612 0.00 2.45 0.00 0.000 4 0.000 0.048 2231 3572 3889

759 end dive: TARGET_DEPTH_EXCEEDED

state 759 begin apogee

767 -0.31 0.0 55.1 9.6 81 847 1.55 0.00 75.57 0.691 6 0.111 0.000 2535 1849 3484

848 end apogee: CONTROL_FINISHED_OK

state 848 begin climb

850 1.72 97.8 57.4 0.0 88 936 2.08 2.97 72.95 0.680 4 0.067 0.058 2979 431 3084

950 1.72 97.8 46.8 16.8 96 955 0.00 2.72 0.00 0.000 6 0.000 0.028 2980 1854 3084

1148 1.72 97.8 13.0 16.2 114 1154 0.00 2.55 0.00 0.000 4 0.000 0.041 2978 3278 3083

1224 end climb: SURFACE_DEPTH_REACHED

state 1226 begin surface coast

1239 end surface coast: CONTROL_FINISHED_OK

state 1239 begin surface

ID	23	HD_B	0.0123087	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	3.5261501e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	230	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	208	ALTIM_PING_DEPTH	50
D_TGT	55	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1850	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_PITCH	0	SM_CC	350	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	13	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	15	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	35	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	580	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-28656.234	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	370	AH0_24V	91.800003	SEABIRD_T_G	0.0043036696
SPEED_FACTOR	1	PITCH_MAX	3518	AH0_10V	61.200001	SEABIRD_T_H	0.00062677584
RHO	1.023	C_PITCH	2610	PRESSURE_YINT	-24.5345	SEABIRD_T_I	2.2664151e-05
MASS	51702	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.2667414e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.310682
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1615626
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0017275931
HD_A	0.0030006149	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00021877716

GPS1	180803,4739.591,-12252.943,11,1.4,11,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.140,-0.172
_SM_DEPTHo	0.82	KALMAN_X	12489.6,378.6,209.3,-13019.4,30.6
_SM_ANGLEo	-68.2	KALMAN_Y	5827.5,-292.4,-4.8,-5807.8,76.3
GPS2	181409,4739.634,-12252.898,13,1.2,13,18.3	MHEAD_RNG_PITCHd_Wd	201.0,490,-25.7,-12.222
SPEED_LIMITS	0.212,0.222	D_GRID	120

FINISH	0.2,1.021074	ALTIM_BOTTOM_PING	40.2,999.0
SM_CCo	1262,117.57,0.621,0,0,2056,350.04	_24V_AH	24.0,18.938
SM_GC	0.90,0.00,0.00,117.57,0.000,0.000,0.621,368,2139,2056,-10.31,-0.34,350.04	_10V_AH	10.2,7.138
IRIDIUM_FIX	4722.92,-12251.79,280907,222220	DATA_FILE_SIZE	3335,128
TT8_MAMPS	0.026845	CFSIZE	260034560,251719680
HUMID	2120	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	280907,183926,4739.599,-12252.916,7,1.8,12,18.3
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	148	92.40	SBE_CT	84	24	48.65
Roll_motor	20	58	28.85	nil	0	0	0.00
VBD_pump_during_apogee	148	691	2463.38	nil	0	0	0.00
VBD_pump_during_surface	117	621	1753.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	ARS	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	1	420	10.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	93	14.46
TT8	274	19	55.49
LPSleep	546	2	12.21
TT8_Active	355	19	71.85
TT8_Sampling	247	39	100.57
TT8_CF8	54	45	25.67
TT8_Kalman	33	81	27.80
Analog_circuits	523	12	64.12
GPS_charging	0	0	0.00
Compass	242	8	19.75
RAFOS	0	0	0.00

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
21	-1.72	-97.8	0.0	0.0	0	90	0.00	0.00	-66.68	0.000	2	0.000	0.000	365	2133	3414
93	-1.72	-97.8	2.2	-4.7	11	124	10.43	0.00	-15.55	0.000	6	0.149	0.000	2231	2133	3883
190	-1.72	-97.8	9.7	-10.1	26	195	0.00	0.00	0.00	0.000	6	0.000	0.000	2231	2133	3885
261	-1.72	-97.8	14.4	-6.2	37	268	0.00	2.47	0.00	0.000	4	0.000	0.047	2231	3571	3885
412	-1.72	-97.8	25.7	-8.4	54	419	0.00	2.40	0.00	0.000	6	0.000	0.032	2231	2151	3887
608	-1.72	-97.8	41.3	-8.2	70	612	0.00	2.45	0.00	0.000	4	0.000	0.048	2231	3572	3889
759	end dive: TARGET_DEPTH_EXCEEDED
state	759	begin apogee
767	-0.31	0.0	55.1	9.6	81	847	1.55	0.00	75.57	0.691	6	0.111	0.000	2535	1849	3484
848	end apogee: CONTROL_FINISHED_OK
state	848	begin climb
850	1.72	97.8	57.4	0.0	88	936	2.08	2.97	72.95	0.680	4	0.067	0.058	2979	431	3084
950	1.72	97.8	46.8	16.8	96	955	0.00	2.72	0.00	0.000	6	0.000	0.028	2980	1854	3084
1148	1.72	97.8	13.0	16.2	114	1154	0.00	2.55	0.00	0.000	4	0.000	0.041	2978	3278	3083
1224	end climb: SURFACE_DEPTH_REACHED
state	1226	begin surface coast
1239	end surface coast: CONTROL_FINISHED_OK
state	1239	begin surface