Glider dive log

PN07 DabobBay 26Sep07 * SG116 * Dive index * Mission links * Dive 32 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HD_B 0.0099999998 PITCH_AD_RATE 140 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 32 HEADING 270 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 155 ALTIM_PING_DEPTH 90

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3900 ALTIM_PING_DELTA 10

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 2350 ALTIM_PULSE 2

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 30 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 640 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3893 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3281 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 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 19

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -29485.502 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 10 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 132 AH0_24V 91.800003 SEABIRD_T_G 0.0043755369

SPEED_FACTOR 1 PITCH_MAX 3449 AH0_10V 61.200001 SEABIRD_T_H 0.00063954171

RHO 1.023 C_PITCH 2905 PRESSURE_YINT 0 SEABIRD_T_I 2.7100008e-05

MASS 51361 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_J 3.135212e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8677502

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1239791

KALMAN_USE 2 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015851235

HD_A 0.003 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021129416

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 140 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 12 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3449 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 132 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 90 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 2 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158926 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT 0 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 30

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -29485.502

CAPUPLOAD 0 HEADING 270 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 10 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 116 ROLL_MAX 3900 T_TURN_SAMPINT 6

C_PITCH 2905 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2350 INT_PRESSURE_YINT 0 ROLL_MIN 155 UNCOM_BLEED 20

C_ROLL_DIVE 2150 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3281 MASS 51361 R_PORT_OVSHOOT 24 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 22 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.8677502 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1239791 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0015851235 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00021129416 VBD_MAX 3893

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043755369 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063954171 VBD_MIN 640

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7100008e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 32 PHONE_DEVICE 48 SEABIRD_T_J 3.135212e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 24

Pre-dive calculations and measurements:

GPS1 184433,4739.072,-12251.912,12,1.7,12,18.3 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 4739.054,-12259.255

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.216,0.051

_SM_DEPTHo 0.81 KALMAN_X -1109.7,7.8,-155.9,522.4,-348.4

_SM_ANGLEo -66.7 KALMAN_Y -954.8,-121.1,-285.1,523.4,-76.2

GPS2 185357,4739.054,-12251.980,11,1.6,11,18.3 MHEAD_RNG_PITCHd_Wd 251.7,20000,-19.2,-11.111

SPEED_LIMITS 0.192,0.269 D_GRID 127

Post-dive calculations and measurements:

FINISH 0.9,1.020294 XPDR_PINGS 116

SM_CCo 2178,115.88,0.571,0,0,1649,400.08 _24V_AH 23.9,18.949

SM_GC 0.86,0.00,0.00,115.88,0.000,0.000,0.571,132,2142,1649,-12.76,-0.23,400.08 _10V_AH 10.1,11.069

IRIDIUM_FIX 4722.92,-12253.53,270907,222236 DATA_FILE_SIZE 6445,193

TT8_MAMPS 0.070564 CFSIZE 260034560,256102400

HUMID 2185 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 11.5043 GPS 270907,193333,4738.848,-12251.864,8,1.9,8,18.3

TCM_TEMP 19.80

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 210 169.76 SBE_CT 126 24 72.28

Roll_motor 26 71 45.09 nil 0 0 0.00

VBD_pump_during_apogee 339 642 5214.89 nil 0 0 0.00

VBD_pump_during_surface 115 571 1582.48 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 77 103 189.83 nil 0 0 0.00

Iridium_during_connect 76 160 290.64 ARS 0 0 0.00

Iridium_during_xfer 225 223 1201.59

Transponder_ping 29 420 296.12

Mmodem_TX 0 1000 0.00

Mmodem_RX 2964 6 453.37

GPS 11 50 5.74

TT8 365 19 73.19

LPSleep 1062 2 23.51

TT8_Active 509 19 101.92

TT8_Sampling 418 39 168.37

TT8_CF8 532 45 246.26

TT8_Kalman 0 81 0.00

Analog_circuits 774 12 93.87

GPS_charging 0 0 0.00

Compass 404 8 32.71

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

31 end surface: CONTROL_FINISHED_OK

state 31 begin dive

35 -1.78 -146.6 0.0 0.0 0 103 0.00 0.00 -66.50 0.000 2 0.000 0.000 137 2143 3149

107 -1.78 -146.6 2.0 -3.8 11 151 15.27 2.62 -22.58 0.000 4 0.211 0.071 2512 748 3880

402 -1.78 -146.6 28.1 -9.4 50 409 0.00 2.47 0.00 0.000 6 0.000 0.039 2512 2152 3881

599 -1.78 -146.6 46.1 -9.3 66 603 0.00 2.60 0.00 0.000 4 0.000 0.061 2512 740 3881

857 -1.78 -146.6 70.7 -9.4 85 861 0.00 2.50 0.00 0.000 6 0.000 0.040 2512 2156 3881

1052 -1.78 -146.6 89.2 -10.0 100 1057 0.00 2.60 0.00 0.000 4 0.000 0.061 2512 742 3881

1170 end dive: TARGET_DEPTH_EXCEEDED

state 1170 begin apogee

1179 -0.42 0.0 100.6 9.6 108 1356 1.48 0.00 170.88 0.643 6 0.107 0.000 2805 2345 3281

1357 end apogee: CONTROL_FINISHED_OK

state 1357 begin climb

1360 1.78 146.6 104.3 0.0 123 1538 2.20 2.72 168.60 0.616 4 0.055 0.067 3299 3755 2684

1793 1.78 146.6 49.3 14.5 156 1798 0.00 2.50 0.00 0.000 6 0.000 0.041 3299 2346 2684

1989 1.78 146.6 21.2 14.2 171 1993 0.00 2.62 0.00 0.000 4 0.000 0.064 3299 3755 2684

2131 end climb: SURFACE_DEPTH_REACHED

state 2131 begin surface coast

2146 end surface coast: CONTROL_FINISHED_OK

state 2146 begin surface

ID	116	HD_B	0.0099999998	PITCH_AD_RATE	140	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	32	HEADING	270	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	155	ALTIM_PING_DEPTH	90
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3900	ALTIM_PING_DELTA	10
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	2350	ALTIM_PULSE	2
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	30	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	640	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3893	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3281	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	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	19
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-29485.502	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	10	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	132	AH0_24V	91.800003	SEABIRD_T_G	0.0043755369
SPEED_FACTOR	1	PITCH_MAX	3449	AH0_10V	61.200001	SEABIRD_T_H	0.00063954171
RHO	1.023	C_PITCH	2905	PRESSURE_YINT	0	SEABIRD_T_I	2.7100008e-05
MASS	51361	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_J	3.135212e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8677502
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1239791
KALMAN_USE	2	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015851235
HD_A	0.003	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021129416

GPS1	184433,4739.072,-12251.912,12,1.7,12,18.3	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	4739.054,-12259.255
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.216,0.051
_SM_DEPTHo	0.81	KALMAN_X	-1109.7,7.8,-155.9,522.4,-348.4
_SM_ANGLEo	-66.7	KALMAN_Y	-954.8,-121.1,-285.1,523.4,-76.2
GPS2	185357,4739.054,-12251.980,11,1.6,11,18.3	MHEAD_RNG_PITCHd_Wd	251.7,20000,-19.2,-11.111
SPEED_LIMITS	0.192,0.269	D_GRID	127

FINISH	0.9,1.020294	XPDR_PINGS	116
SM_CCo	2178,115.88,0.571,0,0,1649,400.08	_24V_AH	23.9,18.949
SM_GC	0.86,0.00,0.00,115.88,0.000,0.000,0.571,132,2142,1649,-12.76,-0.23,400.08	_10V_AH	10.1,11.069
IRIDIUM_FIX	4722.92,-12253.53,270907,222236	DATA_FILE_SIZE	6445,193
TT8_MAMPS	0.070564	CFSIZE	260034560,256102400
HUMID	2185	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	11.5043	GPS	270907,193333,4738.848,-12251.864,8,1.9,8,18.3
TCM_TEMP	19.80

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	210	169.76	SBE_CT	126	24	72.28
Roll_motor	26	71	45.09	nil	0	0	0.00
VBD_pump_during_apogee	339	642	5214.89	nil	0	0	0.00
VBD_pump_during_surface	115	571	1582.48	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	77	103	189.83	nil	0	0	0.00
Iridium_during_connect	76	160	290.64	ARS	0	0	0.00
Iridium_during_xfer	225	223	1201.59
Transponder_ping	29	420	296.12
Mmodem_TX	0	1000	0.00
Mmodem_RX	2964	6	453.37
GPS	11	50	5.74
TT8	365	19	73.19
LPSleep	1062	2	23.51
TT8_Active	509	19	101.92
TT8_Sampling	418	39	168.37
TT8_CF8	532	45	246.26
TT8_Kalman	0	81	0.00
Analog_circuits	774	12	93.87
GPS_charging	0	0	0.00
Compass	404	8	32.71
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
31	end surface: CONTROL_FINISHED_OK
state	31	begin dive
35	-1.78	-146.6	0.0	0.0	0	103	0.00	0.00	-66.50	0.000	2	0.000	0.000	137	2143	3149
107	-1.78	-146.6	2.0	-3.8	11	151	15.27	2.62	-22.58	0.000	4	0.211	0.071	2512	748	3880
402	-1.78	-146.6	28.1	-9.4	50	409	0.00	2.47	0.00	0.000	6	0.000	0.039	2512	2152	3881
599	-1.78	-146.6	46.1	-9.3	66	603	0.00	2.60	0.00	0.000	4	0.000	0.061	2512	740	3881
857	-1.78	-146.6	70.7	-9.4	85	861	0.00	2.50	0.00	0.000	6	0.000	0.040	2512	2156	3881
1052	-1.78	-146.6	89.2	-10.0	100	1057	0.00	2.60	0.00	0.000	4	0.000	0.061	2512	742	3881
1170	end dive: TARGET_DEPTH_EXCEEDED
state	1170	begin apogee
1179	-0.42	0.0	100.6	9.6	108	1356	1.48	0.00	170.88	0.643	6	0.107	0.000	2805	2345	3281
1357	end apogee: CONTROL_FINISHED_OK
state	1357	begin climb
1360	1.78	146.6	104.3	0.0	123	1538	2.20	2.72	168.60	0.616	4	0.055	0.067	3299	3755	2684
1793	1.78	146.6	49.3	14.5	156	1798	0.00	2.50	0.00	0.000	6	0.000	0.041	3299	2346	2684
1989	1.78	146.6	21.2	14.2	171	1993	0.00	2.62	0.00	0.000	4	0.000	0.064	3299	3755	2684
2131	end climb: SURFACE_DEPTH_REACHED
state	2131	begin surface coast
2146	end surface coast: CONTROL_FINISHED_OK
state	2146	begin surface