Glider dive log

PN07 DabobBay 26Sep07 * SG116 * Dive index * Mission links * Dive 366 * 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 366 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 155 ALTIM_PING_DEPTH 90

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3900 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1000 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2510 ALTIM_PULSE 2

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 450 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 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 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 50 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 -37677.98 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 140 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 1 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 450

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 90 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 35

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 -37677.98

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 50

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 2510 INT_PRESSURE_YINT 0 ROLL_MIN 155 UNCOM_BLEED 20

C_ROLL_DIVE 1000 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3281 MASS 51361 R_PORT_OVSHOOT 16 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 140 R_STBD_OVSHOOT 18 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 366 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 142829,4743.002,-12250.891,10,2.6,29,18.3 TGT_NAME WP1

_CALLS 1 TGT_LATLONG 4743.050,-12250.817

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.090,0.118

_SM_DEPTHo 1.50 KALMAN_X 30122.5,192.9,-21.4,-27198.1,-22.0

_SM_ANGLEo -63.3 KALMAN_Y 24288.5,363.2,-50.9,-16698.5,-51.7

GPS2 143537,4743.014,-12250.874,9,1.6,26,18.3 MHEAD_RNG_PITCHd_Wd 18.9,97,-27.0,-8.571

SPEED_LIMITS 0.148,0.239 D_GRID 163

Post-dive calculations and measurements:

FINISH 0.8,1.001816 XPDR_PINGS 100

SM_CCo 1861,151.38,0.565,0,0,1446,450.13 _24V_AH 23.9,55.919

SM_GC 1.52,0.00,0.00,151.38,0.000,0.000,0.565,137,992,1446,-12.74,-0.25,450.13 _10V_AH 10.1,35.810

IRIDIUM_FIX 4726.11,-12252.58,101007,171707 DATA_FILE_SIZE 3327,169

TT8_MAMPS 0.067496 CFSIZE 260034560,245710848

HUMID 2100 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 11.4555 GPS 101007,151135,4742.962,-12250.715,12,3.0,31,18.3

TCM_TEMP 19.70

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 210 174.55 SBE_CT 109 24 63.02

Roll_motor 25 68 42.38 nil 0 0 0.00

VBD_pump_during_apogee 257 640 3947.20 nil 0 0 0.00

VBD_pump_during_surface 151 564 2042.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 94.56 nil 0 0 0.00

Iridium_during_connect 38 160 147.84 ARS 0 36 0.00

Iridium_during_xfer 158 223 846.15

Transponder_ping 25 420 253.46

Mmodem_TX 0 1000 0.00

Mmodem_RX 2587 6 395.71

GPS 26 50 13.60

TT8 314 19 62.95

LPSleep 808 2 17.88

TT8_Active 501 19 100.33

TT8_Sampling 376 39 151.33

TT8_CF8 468 45 216.83

TT8_Kalman 33 81 27.54

Analog_circuits 734 12 88.97

GPS_charging 0 0 0.00

Compass 343 8 27.73

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

29 end surface: CONTROL_FINISHED_OK

state 29 begin dive

34 -2.31 -50.1 0.0 0.0 0 119 0.00 0.00 -82.97 0.000 2 0.000 0.000 133 990 3161

125 -2.38 -104.8 2.2 -2.3 14 174 14.50 2.58 -25.20 0.000 4 0.211 0.051 2381 2421 3709

427 -2.38 -108.1 26.2 -8.2 55 432 0.00 2.58 -0.20 0.000 6 0.000 0.048 2381 999 3726

624 -2.38 -108.1 44.7 -9.5 70 628 0.00 2.50 0.00 0.000 4 0.000 0.038 2382 2421 3727

883 -2.38 -108.1 68.6 -9.6 89 887 0.00 2.58 0.00 0.000 6 0.000 0.048 2381 999 3727

1080 -2.38 -108.1 86.5 -8.9 104 1084 0.00 2.50 0.00 0.000 4 0.000 0.038 2381 2423 3727

1117 end dive: TARGET_DEPTH_EXCEEDED

state 1117 begin apogee

1126 -0.42 0.0 90.0 8.9 106 1265 2.20 0.00 130.60 0.640 6 0.124 0.000 2808 2522 3280

1270 end apogee: CONTROL_FINISHED_OK

state 1270 begin climb

1274 2.38 108.1 91.5 0.0 118 1415 2.78 2.67 127.28 0.614 4 0.054 0.048 3430 1089 2840

1587 2.38 108.1 40.6 18.7 142 1594 0.00 2.53 0.00 0.000 6 0.000 0.040 3430 2505 2840

1788 2.38 108.1 5.0 15.3 164 1794 0.00 2.60 0.00 0.000 4 0.000 0.068 3430 3895 2840

1805 end climb: SURFACE_DEPTH_REACHED

state 1805 begin surface coast

1819 end surface coast: CONTROL_FINISHED_OK

state 1819 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	366	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	155	ALTIM_PING_DEPTH	90
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3900	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1000	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2510	ALTIM_PULSE	2
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	450	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	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	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	50	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	-37677.98	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	140	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	1	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	142829,4743.002,-12250.891,10,2.6,29,18.3	TGT_NAME	WP1
_CALLS	1	TGT_LATLONG	4743.050,-12250.817
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.090,0.118
_SM_DEPTHo	1.50	KALMAN_X	30122.5,192.9,-21.4,-27198.1,-22.0
_SM_ANGLEo	-63.3	KALMAN_Y	24288.5,363.2,-50.9,-16698.5,-51.7
GPS2	143537,4743.014,-12250.874,9,1.6,26,18.3	MHEAD_RNG_PITCHd_Wd	18.9,97,-27.0,-8.571
SPEED_LIMITS	0.148,0.239	D_GRID	163

FINISH	0.8,1.001816	XPDR_PINGS	100
SM_CCo	1861,151.38,0.565,0,0,1446,450.13	_24V_AH	23.9,55.919
SM_GC	1.52,0.00,0.00,151.38,0.000,0.000,0.565,137,992,1446,-12.74,-0.25,450.13	_10V_AH	10.1,35.810
IRIDIUM_FIX	4726.11,-12252.58,101007,171707	DATA_FILE_SIZE	3327,169
TT8_MAMPS	0.067496	CFSIZE	260034560,245710848
HUMID	2100	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	11.4555	GPS	101007,151135,4742.962,-12250.715,12,3.0,31,18.3
TCM_TEMP	19.70

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	210	174.55	SBE_CT	109	24	63.02
Roll_motor	25	68	42.38	nil	0	0	0.00
VBD_pump_during_apogee	257	640	3947.20	nil	0	0	0.00
VBD_pump_during_surface	151	564	2042.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	94.56	nil	0	0	0.00
Iridium_during_connect	38	160	147.84	ARS	0	36	0.00
Iridium_during_xfer	158	223	846.15
Transponder_ping	25	420	253.46
Mmodem_TX	0	1000	0.00
Mmodem_RX	2587	6	395.71
GPS	26	50	13.60
TT8	314	19	62.95
LPSleep	808	2	17.88
TT8_Active	501	19	100.33
TT8_Sampling	376	39	151.33
TT8_CF8	468	45	216.83
TT8_Kalman	33	81	27.54
Analog_circuits	734	12	88.97
GPS_charging	0	0	0.00
Compass	343	8	27.73
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
29	end surface: CONTROL_FINISHED_OK
state	29	begin dive
34	-2.31	-50.1	0.0	0.0	0	119	0.00	0.00	-82.97	0.000	2	0.000	0.000	133	990	3161
125	-2.38	-104.8	2.2	-2.3	14	174	14.50	2.58	-25.20	0.000	4	0.211	0.051	2381	2421	3709
427	-2.38	-108.1	26.2	-8.2	55	432	0.00	2.58	-0.20	0.000	6	0.000	0.048	2381	999	3726
624	-2.38	-108.1	44.7	-9.5	70	628	0.00	2.50	0.00	0.000	4	0.000	0.038	2382	2421	3727
883	-2.38	-108.1	68.6	-9.6	89	887	0.00	2.58	0.00	0.000	6	0.000	0.048	2381	999	3727
1080	-2.38	-108.1	86.5	-8.9	104	1084	0.00	2.50	0.00	0.000	4	0.000	0.038	2381	2423	3727
1117	end dive: TARGET_DEPTH_EXCEEDED
state	1117	begin apogee
1126	-0.42	0.0	90.0	8.9	106	1265	2.20	0.00	130.60	0.640	6	0.124	0.000	2808	2522	3280
1270	end apogee: CONTROL_FINISHED_OK
state	1270	begin climb
1274	2.38	108.1	91.5	0.0	118	1415	2.78	2.67	127.28	0.614	4	0.054	0.048	3430	1089	2840
1587	2.38	108.1	40.6	18.7	142	1594	0.00	2.53	0.00	0.000	6	0.000	0.040	3430	2505	2840
1788	2.38	108.1	5.0	15.3	164	1794	0.00	2.60	0.00	0.000	4	0.000	0.068	3430	3895	2840
1805	end climb: SURFACE_DEPTH_REACHED
state	1805	begin surface coast
1819	end surface coast: CONTROL_FINISHED_OK
state	1819	begin surface