SAGE 17Apr15 * SG573 * Dive index * Mission links * Dive 24 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  573 HD_B  0.010078 ROLL_MIN  150 ALTIM_TOP_TURN_MARGIN  0
MISSION  9 HD_C  9.8500004e-06 ROLL_MAX  3785 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  24 HEADING  -1 ROLL_DEG  40 ALTIM_PING_DEPTH  100
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  2169 ALTIM_PING_DELTA  10
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1673 ALTIM_FREQUENCY  13
D_TGT  500 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_ABORT  600 TGT_DEFAULT_LAT  -3415 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_NO_BLEED  500 TGT_DEFAULT_LON  2600 ROLL_TIMEOUT  15 XPDR_VALID  5
D_BOOST  0 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  23 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  375 R_STBD_OVSHOOT  18 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST_BLACKOUT  0 N_FILEKB  4 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.55000001
D_FINISH  0 FILEMGR  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 KERMIT  0 ROLL_GAIN_P  0 DEVICE1  2
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  409 DEVICE2  101
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE3  35
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 C_VBD  2762 DEVICE4  135
T_DIVE  160 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  180 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE6  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_TIMEOUT  720 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012000001 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_ALMANAC  0 UNCOM_BLEED  60 COMPASS_DEVICE  33
USE_ICE  0 T_GPS_CHARGE  -13562.154 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  1 CF8_MAXERRORS  20 PHONE_DEVICE  48
D_OFFGRID  100 STROBE  0 AH0_24V  150 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_CORR_THRESH  60 MINV_24V  20 XPDR_DEVICE  24
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 SIM_W  0
MAX_BUOY  230 PITCH_MIN  100 FG_AHR_10V  0 SIM_PITCH  0
COURSE_BIAS  0 PITCH_MAX  3858 FG_AHR_24V  0 SEABIRD_T_G  0.0042828661
GLIDE_SLOPE  30 C_PITCH  3050 PHONE_SUPPLY  2 SEABIRD_T_H  0.00061930995
SPEED_FACTOR  1 PITCH_DBAND  0.0099999998 PRESSURE_YINT  -86.704987 SEABIRD_T_I  2.1971719e-05
RHO  1.0278 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011693723 SEABIRD_T_J  2.301111e-06
MASS  52922 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9469662
LENGTH  1.8 PITCH_GAIN  20 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.155618
NAV_MODE  2 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0016006827
DIRECT_CONTROL  0 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_J  0.00019558761
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 EBE_ENABLE  0
KALMAN_USE  2 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  0 GC_WINDOW  0
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20 GC_LAST_COLLECTION  23

Pre-dive calculations and measurements:
GPS1  230415,194916,-3430.711,2548.392,34,1.3,45,-27.9 TGT_NAME  DEPLOY
_CALLS  1 TGT_LATLONG  -3425.000,2548.000
_XMS_NAKs  0 TGT_RADIUS  1000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.229,0.204
_SM_DEPTHo  2.06 KALMAN_X  -18488.8,-8625.5,-2647.6,-6374.3,-1020.9
_SM_ANGLEo  -68.2 KALMAN_Y  -14362.4,-6812.0,-2167.9,-3593.3,-569.5
GPS2  230415,195805,-3430.840,2548.194,45,1.1,46,-27.9 MHEAD_RNG_PITCHd_Wd  71.3,10820,-15.1,-10.417
SPEED_LIMITS  0.180,0.319 D_GRID  500

Post-dive calculations and measurements:
FINISH  1.4,1.007793 _10V_AH  10.3,4.317
SM_CCo  7916,0.00,0.000,0,0,945,445.70 FG_AHR_24Vo  0.000
SM_GC  1.97,8.55,0.00,0.00,0.038,0.000,0.000,71,2179,945,-9.18,0.28,445.70 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -3414.71,2547.13,180208,090955 MEM  331588
TT8_MAMPS  0.026964 DATA_FILE_SIZE  90524,1231
HUMID  60.67 CAP_FILE_SIZE  161987,0
INTERNAL_PRESSURE  9.25506 CFSIZE  2097086464,2089287680
TCM_TEMP  16.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS  0 CURRENT  0.265,261.8,1
ALTIM_BOTTOM_PING  420.2,7.6 GPS  230415,221135,-3430.054,2548.102,39,1.1,39,-27.9
_24V_AH  23.9,5.858

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor24263156.12 SBE_CT83923465.63
Roll_motor183123540.23 AA43303172171306.24
VBD_pump_during_apogee54386511254.99 WL_BB2F21541055406.26
VBD_pump_during_surface000.00 QSP21503424171410.09
VBD_valve000.00 nil000.00
Iridium_during_init339172.33 nil000.00
Iridium_during_connect43160165.77 nil000.00
Iridium_during_xfer3102231653.75 nil000.00
Transponder_ping842085.32 nil000.00
GUMSTIX_24V000.00
GPS482713.89
TT8291813417.48
LPSleep715216.14
TT8_Active75013107.40
TT8_Sampling3909401645.04
TT8_CF81475076.84
TT8_Kalman000.00
Analog_circuits202915320.30
GPS_charging000.00
Compass311615504.89
RAFOS000.00
Transponder553017.22

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
22 end surface: CONTROL_FINISHED_OK
state 22 begin dive
24 -1.02 -223.8 0.0 0.0 0 77 0.00 0.00 -51.62 0.000 2 0.000 0.000 67 2173 2462 0 0 0 0 0 0
79 -1.02 -223.8 3.2 -3.1 6 141 11.50 2.38 -39.72 0.000 4 0.264 0.086 2697 3584 3678 0 0 0 0 0 0
187 -0.87 -223.8 13.0 -16.9 20 197 0.20 2.35 0.00 0.000 6 0.157 0.067 2757 2186 3680 0 0 0 0 0 0
274 -0.79 -223.8 26.3 -13.9 33 283 0.12 0.00 0.00 0.000 6 0.188 0.000 2789 2182 3681 0 0 0 0 0 0
355 -0.79 -223.8 34.9 -9.8 46 363 0.00 2.35 0.00 0.000 4 0.000 0.073 2780 3589 3682 0 0 0 0 0 0
377 -0.79 -223.8 37.0 -10.1 49 385 0.03 2.38 0.00 0.000 6 0.243 0.076 2789 2168 3681 0 0 0 0 0 0
490 -0.79 -223.8 48.2 -10.0 68 499 0.00 2.50 0.00 0.000 4 0.000 0.099 2790 736 3682 0 0 0 0 0 0
536 -0.79 -223.8 53.0 -10.9 75 545 0.00 2.53 0.00 0.000 6 0.000 0.105 2781 2162 3682 0 0 0 0 0 0
648 -0.79 -223.8 65.2 -11.0 94 658 0.00 2.38 0.00 0.000 4 0.000 0.080 2770 3589 3683 0 0 0 0 0 0
718 -0.79 -223.8 72.2 -10.0 105 725 0.10 2.40 0.00 0.000 6 0.175 0.082 2794 2161 3683 0 0 0 0 0 0
830 -0.81 -223.8 83.5 -10.5 124 839 0.00 2.47 0.00 0.000 4 0.000 0.102 2793 739 3684 0 0 0 0 0 0
881 -0.81 -223.8 88.8 -10.6 132 890 0.00 2.55 0.00 0.000 6 0.000 0.103 2784 2163 3684 0 0 0 0 0 0
998 -0.81 -223.8 100.9 -10.9 151 1006 0.00 2.35 0.00 0.000 4 0.000 0.084 2774 3596 3684 0 0 0 0 0 0
1056 -0.84 -223.8 107.4 -10.8 160 1064 0.00 2.45 0.00 0.000 6 0.000 0.088 2774 2173 3685 0 0 0 0 0 0
1172 -0.84 -223.8 120.1 -11.2 179 1180 0.00 2.47 0.00 0.000 4 0.000 0.106 2774 731 3685 0 0 0 0 0 0
1245 -0.84 -223.8 128.9 -11.7 191 1254 0.05 2.50 0.00 0.000 6 0.247 0.093 2772 2181 3685 0 0 0 0 0 0
1361 -0.84 -223.8 142.3 -10.8 210 1371 0.00 2.38 0.00 0.000 4 0.000 0.087 2763 3598 3686 0 0 0 0 0 0
1397 -0.84 -223.8 145.9 -11.5 215 1406 0.08 2.42 0.00 0.000 6 0.176 0.088 2778 2162 3685 0 0 0 0 0 0
1514 -0.84 -223.8 158.4 -10.5 234 1523 0.00 2.47 0.00 0.000 4 0.000 0.104 2778 737 3686 0 0 0 0 0 0
1554 -0.84 -223.8 162.7 -11.1 240 1563 0.00 2.53 0.00 0.000 6 0.000 0.096 2769 2172 3686 0 0 0 0 0 0
1671 -0.84 -223.8 175.4 -11.1 259 1679 0.00 2.35 0.00 0.000 4 0.000 0.087 2758 3601 3688 0 0 0 0 0 0
1710 -0.84 -223.8 179.8 -11.0 265 1719 0.08 2.42 0.00 0.000 6 0.177 0.088 2774 2166 3686 0 0 0 0 0 0
1827 -0.84 -223.8 192.1 -10.3 284 1835 0.00 2.47 0.00 0.000 4 0.000 0.102 2773 733 3686 0 0 0 0 0 0
1872 -0.84 -223.8 197.1 -11.5 291 1880 0.00 2.47 0.00 0.000 6 0.000 0.091 2762 2177 3684 0 0 0 0 0 0
1987 -0.84 -223.8 210.0 -11.5 310 1999 0.00 2.38 0.00 0.000 4 0.000 0.090 2754 3593 3685 0 0 0 0 0 0
2026 -0.84 -223.8 214.2 -11.1 315 2035 0.10 2.42 0.00 0.000 6 0.168 0.092 2778 2168 3685 0 0 0 0 0 0
2141 -0.84 -223.8 226.5 -10.2 334 2150 0.00 2.47 0.00 0.000 4 0.000 0.105 2778 740 3685 0 0 0 0 0 0
2200 -0.84 -223.8 232.6 -10.9 343 2208 0.00 2.45 0.00 0.000 6 0.000 0.089 2769 2176 3685 0 0 0 0 0 0
2314 -0.84 -223.8 245.4 -11.2 362 2323 0.00 2.38 0.00 0.000 4 0.000 0.090 2758 3589 3685 0 0 0 0 0 0
2359 -0.84 -223.8 250.1 -10.7 369 2367 0.08 2.40 0.00 0.000 6 0.176 0.089 2774 2168 3685 0 0 0 0 0 0
2473 -0.84 -223.8 263.2 -11.3 388 2482 0.00 2.45 0.00 0.000 4 0.000 0.103 2774 744 3685 0 0 0 0 0 0
2518 -0.84 -223.8 268.3 -11.4 395 2526 0.00 2.42 0.00 0.000 6 0.000 0.088 2765 2169 3685 0 0 0 0 0 0
2630 -0.84 -223.8 281.7 -11.7 414 2639 0.00 2.40 0.00 0.000 4 0.000 0.090 2754 3596 3684 0 0 0 0 0 0
2666 -0.84 -223.8 285.3 -12.2 419 2674 0.10 2.45 0.00 0.000 6 0.165 0.096 2778 2166 3684 0 0 0 0 0 0
2782 -0.84 -223.8 298.4 -10.8 438 2791 0.00 2.45 0.00 0.000 4 0.000 0.103 2778 745 3684 0 0 0 0 0 0
2831 -0.84 -223.8 303.8 -11.2 446 2840 0.00 2.45 0.00 0.000 6 0.000 0.088 2769 2160 3684 0 0 0 0 0 0
2947 -0.84 -223.8 316.1 -10.6 465 2954 0.00 2.40 0.00 0.000 4 0.000 0.093 2758 3609 3684 0 0 0 0 0 0
2992 -0.84 -223.8 321.2 -10.7 472 3002 0.05 2.53 0.00 0.000 6 0.157 0.099 2773 2167 3683 0 0 0 0 0 0
3109 -0.84 -223.8 332.7 -9.9 491 3117 0.00 2.42 0.00 0.000 4 0.000 0.100 2773 731 3684 0 0 0 0 0 0
3171 -0.84 -223.8 339.4 -11.1 501 3183 0.05 2.45 0.00 0.000 6 0.246 0.087 2772 2178 3684 0 0 0 0 0 0
3291 -0.84 -223.8 351.8 -10.4 520 3300 0.00 2.40 0.00 0.000 4 0.000 0.096 2762 3592 3683 0 0 0 0 0 0
3325 -0.84 -223.8 355.0 -9.7 525 3333 0.08 2.45 0.00 0.000 6 0.187 0.099 2777 2167 3683 0 0 0 0 0 0
3437 -0.84 -223.8 365.9 -9.3 544 3446 0.00 2.45 0.00 0.000 4 0.000 0.098 2778 735 3683 0 0 0 0 0 0
3489 -0.84 -223.8 371.1 -10.1 552 3498 0.00 2.47 0.00 0.000 6 0.000 0.087 2769 2167 3683 0 0 0 0 0 0
3606 -0.84 -223.8 382.9 -10.3 571 3614 0.00 2.40 0.00 0.000 4 0.000 0.097 2758 3602 3683 0 0 0 0 0 0
3634 -0.84 -223.8 385.8 -10.1 575 3643 0.08 2.47 0.00 0.000 6 0.185 0.101 2773 2169 3682 0 0 0 0 0 0
3750 -0.84 -223.8 396.8 -9.8 594 3759 0.00 2.45 0.00 0.000 4 0.000 0.097 2774 736 3682 0 0 0 0 0 0
3796 -0.84 -223.8 401.4 -10.2 601 3804 0.05 2.42 0.00 0.000 6 0.243 0.083 2772 2175 3682 0 0 0 0 0 0
3911 -0.84 -223.8 413.0 -10.2 620 3920 0.00 2.42 0.00 0.000 4 0.000 0.099 2762 3592 3682 0 0 0 0 0 0
3948 -0.84 -223.8 417.0 -10.5 626 3957 0.00 2.53 0.00 0.000 6 0.000 0.109 2762 2174 3681 0 0 0 0 0 0
3985 end dive: BOTTOM_OBSTACLE_DETECTED
state 3985 begin apogee
3989 -0.25 0.0 420.2 9.8 631 4177 0.62 0.00 176.43 0.866 6 0.144 0.000 2962 1671 2761 0 0 0 0 0 0
4178 end apogee: CONTROL_FINISHED_OK
state 4178 begin climb
4179 1.02 223.8 428.7 0.0 657 4372 1.25 2.53 183.45 0.835 4 0.093 0.056 3386 243 1848 0 0 0 0 0 0
4521 0.86 223.8 390.8 15.9 708 4531 0.20 2.35 0.00 0.000 6 0.154 0.037 3327 1696 1842 0 0 0 0 0 0
4642 0.78 223.8 375.3 12.6 727 4649 0.10 2.40 0.00 0.000 4 0.192 0.056 3313 238 1841 0 0 0 0 0 0
4706 0.69 223.8 367.1 13.3 737 4714 0.15 2.25 0.00 0.000 6 0.161 0.037 3274 1671 1840 0 0 0 0 0 0
4824 0.73 252.0 355.2 9.5 756 4854 0.00 0.00 23.70 0.792 6 0.000 0.000 3274 1672 1735 0 0 0 0 0 0
4962 0.76 279.9 342.0 9.5 778 4993 0.05 2.47 24.88 0.785 4 0.155 0.058 3320 244 1621 0 0 0 0 0 0
5014 0.72 279.9 336.5 11.0 785 5022 0.15 2.28 0.00 0.000 6 0.144 0.036 3279 1668 1617 0 0 0 0 0 0
5132 0.74 302.1 324.5 9.7 804 5156 0.00 0.00 20.12 0.770 6 0.000 0.000 3279 1668 1530 0 0 0 0 0 0
5267 0.81 329.4 311.4 9.6 825 5298 0.10 2.47 24.62 0.771 4 0.095 0.057 3340 242 1417 0 0 0 0 0 0
5325 0.77 329.4 304.4 12.4 833 5333 0.15 2.30 0.00 0.000 6 0.148 0.037 3300 1681 1416 0 0 0 0 0 0
5441 0.77 333.8 291.2 10.3 852 5450 0.00 0.00 4.35 0.554 6 0.000 0.000 3300 1681 1401 0 0 0 0 0 0
5560 0.78 338.3 279.2 10.3 871 5568 0.00 0.00 5.78 0.581 6 0.000 0.000 3300 1681 1381 0 0 0 0 0 0
5675 0.81 362.1 267.5 9.7 890 5706 0.00 2.45 22.02 0.741 4 0.000 0.060 3309 244 1284 0 0 0 0 0 0
5739 0.81 362.1 261.1 11.1 899 5746 0.00 2.28 0.00 0.000 6 0.000 0.037 3309 1668 1282 0 0 0 0 0 0
5854 0.86 387.9 249.1 9.6 918 5884 0.00 0.00 23.12 0.746 6 0.000 0.000 3309 1668 1179 0 0 0 0 0 0
5993 0.92 407.4 235.5 9.8 940 6017 0.10 0.00 17.60 0.725 6 0.095 0.000 3362 1669 1100 0 0 0 0 0 0
6127 0.88 407.4 217.9 14.0 961 6135 0.10 2.38 0.00 0.000 4 0.154 0.059 3348 243 1095 0 0 0 0 0 0
6179 0.85 407.4 210.6 13.7 969 6187 0.10 2.28 0.00 0.000 6 0.162 0.037 3322 1690 1095 0 0 0 0 0 0
6295 0.85 407.4 196.4 11.8 988 6304 0.00 2.40 0.00 0.000 4 0.000 0.059 3333 250 1095 0 0 0 0 0 0
6323 0.85 407.4 193.1 12.1 992 6332 0.00 2.28 0.00 0.000 6 0.000 0.037 3333 1676 1094 0 0 0 0 0 0
6442 0.85 407.4 178.6 13.1 1011 6448 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 1675 1094 0 0 0 0 0 0
6556 0.85 407.4 163.9 12.8 1030 6566 0.00 2.38 0.00 0.000 4 0.000 0.059 3342 245 1094 0 0 0 0 0 0
6593 0.85 407.4 159.4 14.1 1035 6600 0.08 2.22 0.00 0.000 6 0.172 0.037 3324 1676 1094 0 0 0 0 0 0
6708 0.85 407.4 144.2 12.3 1054 6717 0.00 0.00 0.00 0.000 6 0.000 0.000 3325 1678 1093 0 0 0 0 0 0
6826 0.85 407.4 130.2 11.8 1073 6833 0.00 2.33 0.00 0.000 4 0.000 0.060 3335 247 1093 0 0 0 0 0 0
6866 0.85 407.4 125.4 12.5 1079 6873 0.00 2.22 0.00 0.000 6 0.000 0.037 3335 1674 1093 0 0 0 0 0 0
6981 0.85 407.4 110.7 12.5 1098 6990 0.00 0.00 0.00 0.000 6 0.000 0.000 3335 1674 1093 0 0 0 0 0 0
7099 0.85 407.4 96.0 13.3 1117 7106 0.00 2.30 0.00 0.000 4 0.000 0.057 3345 248 1093 0 0 0 0 0 0
7139 0.85 407.4 90.6 14.5 1123 7146 0.08 2.22 0.00 0.000 6 0.174 0.037 3327 1683 1092 0 0 0 0 0 0
7254 0.85 407.4 75.0 13.2 1142 7264 0.00 2.38 0.00 0.000 4 0.000 0.060 3338 241 1092 0 0 0 0 0 0
7290 0.85 407.4 70.5 14.1 1147 7298 0.05 2.22 0.00 0.000 6 0.201 0.037 3326 1676 1091 0 0 0 0 0 0
7406 0.85 407.4 54.4 14.0 1166 7415 0.00 2.25 0.00 0.000 4 0.000 0.058 3326 3079 1091 0 0 0 0 0 0
7433 0.85 407.4 50.5 14.1 1170 7443 0.00 2.28 0.00 0.000 6 0.000 0.050 3335 1648 1091 0 0 0 0 0 0
7552 0.85 407.4 34.2 13.8 1189 7559 0.00 2.20 0.00 0.000 4 0.000 0.059 3346 267 1091 0 0 0 0 0 0
7611 0.85 407.4 26.6 13.1 1198 7621 0.05 2.22 0.00 0.000 6 0.136 0.038 3328 1674 1091 0 0 0 0 0 0
7698 0.92 442.9 17.1 9.3 1211 7725 0.03 2.22 17.73 0.578 4 0.236 0.055 3372 3081 953 0 0 0 0 0 0
7746 0.90 442.9 11.3 13.5 1217 7755 0.12 2.25 0.00 0.000 6 0.120 0.047 3338 1669 949 0 0 0 0 0 0
7812 end climb: SURFACE_DEPTH_REACHED
state 7813 begin surface coast
7840 end surface coast: CONTROL_FINISHED_OK
state 7840 begin surface