SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 518 * 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  4 HD_C  9.8500004e-06 ROLL_MAX  3785 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  518 HEADING  -1 ROLL_DEG  40 ALTIM_PING_DEPTH  1050
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  1910 ALTIM_PING_DELTA  5
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1585 ALTIM_FREQUENCY  13
D_TGT  1000 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  15 ALTIM_PULSE  3
D_ABORT  1100 TGT_DEFAULT_LAT  -4235 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_NO_BLEED  200 TGT_DEFAULT_LON  -200 ROLL_TIMEOUT  15 XPDR_VALID  5
D_BOOST  0 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  28 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  200 R_STBD_OVSHOOT  34 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  0.5 DEVICE1  2
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  409 DEVICE2  115
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE3  20
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 C_VBD  2862 DEVICE4  134
T_DIVE  340 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  355 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE6  -1
T_ABORT  720 CAPUPLOAD  0 VBD_TIMEOUT  720 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  4.9999999e-05 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  -5929.3608 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 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  170 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  3049 PHONE_SUPPLY  2 SEABIRD_T_H  0.00061930995
SPEED_FACTOR  1 PITCH_DBAND  0.0099999998 PRESSURE_YINT  -87.947678 SEABIRD_T_I  2.1971719e-05
RHO  1.0278 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011693723 SEABIRD_T_J  2.301111e-06
MASS  52752 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9469662
LENGTH  1.8 PITCH_GAIN  17 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.155618
NAV_MODE  1 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  0 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  0 GC_WINDOW  20
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20 GC_LAST_COLLECTION  497

Pre-dive calculations and measurements:
GPS1  260113,075605,-4249.411,-314.226,29,1.1,29,-22.2 TGT_NAME  ACC_WP1
_CALLS  1 TGT_LATLONG  -4330.000,-230.000
_XMS_NAKs  0 TGT_RADIUS  6000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.017,-0.273
_SM_DEPTHo  3.12 KALMAN_X  -309192.6,-80.6,-931.1,540223.2,1025.8
_SM_ANGLEo  -70.2 KALMAN_Y  1583.2,168.2,-165.1,-102030.1,4725.7
GPS2  260113,080500,-4249.414,-314.150,45,1.4,45,-22.2 MHEAD_RNG_PITCHd_Wd  205.8,95748,-16.8,-9.804
SPEED_LIMITS  0.170,0.273 D_GRID  1000

Post-dive calculations and measurements:
FINISH  2.4,1.012831 _10V_AH  9.9,67.973
SM_CCo  19960,0.00,0.000,0,0,726,523.95 FG_AHR_24Vo  0.000
SM_GC  3.19,8.68,0.00,0.00,0.034,0.000,0.000,86,1892,726,-9.17,-0.51,523.95 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4233.25,-307.86,260113,020202 MEM  354628
TT8_MAMPS  0.026964 DATA_FILE_SIZE  56862,939
HUMID  48.93 CAP_FILE_SIZE  175465,0
INTERNAL_PRESSURE  9.06951 CFSIZE  2097086464,2025979904
TCM_TEMP  16.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS  2 GPS  260113,133953,-4249.626,-312.643,42,2.0,42,-22.2
_24V_AH  22.2,90.775

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22269134.80 SBE_CT62624333.97
Roll_motor7377126.20 WL_BB2FLVMT9111052125.55
VBD_pump_during_apogee627125017414.65 SBE_O263719269.03
VBD_pump_during_surface000.00 QSP21507747.51
VBD_valve000.00 nil000.00
Iridium_during_init2610359.73 nil000.00
Iridium_during_connect41160148.22 nil000.00
Iridium_during_xfer2932231455.19 nil000.00
Transponder_ping04204.66 nil000.00
GUMSTIX_24V000.00
GPS462612.51
TT8247214366.23
LPSleep137592298.33
TT8_Active6791495.61
TT8_Sampling3273371213.13
TT8_CF830347141.78
TT8_Kalman335919.55
Analog_circuits200412238.15
GPS_charging000.00
Compass286415446.03
RAFOS000.00
Transponder150.05

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
23 end surface: CONTROL_FINISHED_OK
state 23 begin dive
26 -1.00 -165.3 0.0 0.0 0 35 0.00 0.00 -6.88 0.000 2 0.000 0.000 85 1922 1036 0 0 0 0 0 0
38 -1.00 -165.4 3.1 -0.0 1 178 10.50 2.35 -117.18 0.000 4 0.212 0.077 2715 3313 3538 0 0 0 0 0 0
262 -1.00 -165.4 12.0 -11.1 38 269 0.00 2.25 0.00 0.000 6 0.000 0.049 2715 1914 3539 0 0 0 0 0 0
343 -1.00 -165.4 21.0 -11.4 51 350 0.00 0.60 0.00 0.000 4 0.000 0.059 2715 1525 3539 0 0 0 0 0 0
411 -1.00 -165.4 28.9 -11.7 62 418 0.00 0.60 0.00 0.000 6 0.000 0.056 2712 1909 3539 0 0 0 0 0 0
490 -1.00 -165.4 37.8 -11.2 75 495 0.03 0.00 0.00 0.000 6 0.269 0.000 2722 1909 3540 0 0 0 0 0 0
728 -1.02 -165.4 63.8 -10.6 114 729 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1909 3540 0 0 0 0 0 0
1050 -1.06 -165.4 94.6 -9.6 144 1051 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1909 3540 0 0 0 0 0 0
1363 -1.10 -165.4 124.3 -9.0 166 1367 0.08 1.20 0.00 0.000 4 0.117 0.055 2669 1168 3540 0 0 0 0 0 0
1431 -1.04 -165.4 131.0 -9.4 170 1435 0.12 1.17 0.00 0.000 6 0.132 0.050 2706 1911 3540 0 0 0 0 0 0
1765 -1.06 -165.4 165.4 -10.6 191 1769 0.00 0.52 0.00 0.000 4 0.000 0.057 2706 1569 3541 0 0 0 0 0 0
1884 -1.06 -165.4 178.1 -10.0 198 1888 0.00 0.52 0.00 0.000 6 0.000 0.056 2704 1910 3540 0 0 0 0 0 0
2208 -1.08 -165.4 207.6 -8.8 217 2212 0.00 0.73 0.00 0.000 4 0.000 0.055 2704 1435 3541 0 0 0 0 0 0
2428 -1.10 -165.4 227.7 -9.3 226 2433 0.00 0.75 0.00 0.000 6 0.000 0.052 2701 1917 3541 0 0 0 0 0 0
2744 -1.10 -165.4 254.7 -8.6 242 2748 0.00 0.55 0.00 0.000 4 0.000 0.057 2701 1556 3541 0 0 0 0 0 0
3002 -1.10 -165.4 279.1 -9.5 253 3006 0.00 0.55 0.00 0.000 6 0.000 0.055 2698 1913 3541 0 0 0 0 0 0
3345 -1.10 -165.4 313.4 -10.6 268 3348 0.00 1.95 0.00 0.000 4 0.000 0.055 2698 700 3540 0 0 0 0 0 0
3450 -1.10 -165.4 325.6 -11.3 271 3454 0.00 1.92 0.00 0.000 6 0.000 0.047 2689 1905 3540 0 0 0 0 0 0
3786 -1.10 -165.4 363.4 -11.6 282 3790 0.00 0.70 0.00 0.000 4 0.000 0.055 2689 1453 3540 0 0 0 0 0 0
3958 -1.10 -165.4 384.3 -12.0 287 3962 0.00 0.70 0.00 0.000 6 0.000 0.052 2686 1907 3540 0 0 0 0 0 0
4294 -1.10 -165.4 422.8 -11.4 298 4297 0.00 0.73 0.00 0.000 4 0.000 0.054 2686 1444 3540 0 0 0 0 0 0
4539 -1.10 -165.4 450.3 -11.2 305 4543 0.00 0.75 0.00 0.000 6 0.000 0.053 2683 1917 3540 0 0 0 0 0 0
4869 -1.10 -165.4 483.9 -10.1 316 4873 0.00 1.80 0.00 0.000 4 0.000 0.055 2682 816 3540 0 0 0 0 0 0
4991 -1.08 -165.4 496.5 -9.9 319 4996 0.08 1.75 0.00 0.000 6 0.138 0.047 2702 1908 3539 0 0 0 0 0 0
5310 -1.12 -165.4 527.6 -10.0 330 5313 0.00 1.35 0.00 0.000 4 0.000 0.054 2702 1071 3539 0 0 0 0 0 0
5447 -1.15 -165.4 541.6 -10.6 334 5450 0.00 1.33 0.00 0.000 6 0.000 0.049 2696 1906 3539 0 0 0 0 0 0
5788 -1.17 -165.4 578.0 -10.9 345 5792 0.08 1.00 0.00 0.000 4 0.116 0.056 2642 1283 3538 0 0 0 0 0 0
5890 -1.10 -165.4 590.0 -11.1 348 5894 0.15 1.00 0.00 0.000 6 0.132 0.050 2688 1919 3538 0 0 0 0 0 0
6230 -1.10 -165.4 629.1 -11.5 359 6231 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 1920 3538 0 0 0 0 0 0
6536 -1.10 -165.4 663.6 -11.1 369 6540 0.00 1.08 0.00 0.000 4 0.000 0.057 2688 1249 3537 0 0 0 0 0 0
6754 -1.10 -165.4 688.6 -11.0 375 6758 0.00 1.05 0.00 0.000 6 0.000 0.050 2683 1913 3537 0 0 0 0 0 0
7078 -1.10 -165.4 722.7 -10.3 386 7082 0.00 1.40 0.00 0.000 4 0.000 0.056 2683 1050 3535 0 0 0 0 0 0
7161 -1.10 -165.4 731.5 -10.7 388 7166 0.03 1.38 0.00 0.000 6 0.181 0.050 2688 1906 3535 0 0 0 0 0 0
7486 -1.12 -165.4 763.0 -9.9 399 7487 0.00 0.00 0.00 0.000 6 0.000 0.000 2688 1907 3534 0 0 0 0 0 0
7792 -1.12 -165.4 791.8 -9.3 409 7795 0.00 1.12 0.00 0.000 4 0.000 0.057 2688 1200 3533 0 0 0 0 0 0
7914 -1.12 -165.4 803.9 -10.3 412 7918 0.00 1.12 0.00 0.000 6 0.000 0.050 2683 1908 3533 0 0 0 0 0 0
8233 -1.12 -165.4 834.6 -9.9 423 8237 0.00 1.02 0.00 0.000 4 0.000 0.056 2683 1269 3533 0 0 0 0 0 0
8322 -1.12 -165.4 844.0 -10.9 425 8326 0.00 1.02 0.00 0.000 6 0.000 0.051 2679 1910 3533 0 0 0 0 0 0
8640 -1.12 -165.4 877.0 -10.5 436 8644 0.00 1.65 0.00 0.000 4 0.000 0.057 2678 911 3532 0 0 0 0 0 0
8746 -1.12 -165.4 888.1 -9.9 439 8750 0.00 1.62 0.00 0.000 6 0.000 0.049 2671 1917 3531 0 0 0 0 0 0
9082 -1.12 -165.4 923.7 -10.7 450 9086 0.05 1.60 0.00 0.000 4 0.232 0.057 2682 955 3530 0 0 0 0 0 0
9284 -1.12 -165.4 946.3 -11.3 456 9288 0.00 1.55 0.00 0.000 6 0.000 0.050 2675 1911 3530 0 0 0 0 0 0
9625 -1.15 -165.4 984.7 -11.5 467 9629 0.00 1.23 0.00 0.000 4 0.000 0.057 2675 1156 3528 0 0 0 0 0 0
9730 -1.15 -165.4 997.0 -12.2 470 9735 0.00 1.20 0.00 0.000 6 0.000 0.052 2670 1904 3528 0 0 0 0 0 0
9757 end dive: TARGET_DEPTH_EXCEEDED
state 9758 begin apogee
9763 -0.29 0.0 1000.2 12.2 471 9912 0.88 0.00 144.75 1.250 6 0.116 0.000 2948 1580 2861 0 0 0 0 0 0
9912 end apogee: CONTROL_FINISHED_OK
state 9912 begin climb
9914 1.00 165.4 1014.7 0.0 476 10073 1.23 0.65 151.43 1.220 4 0.054 0.053 3378 1945 2187 0 0 0 0 0 0
10152 0.80 321.2 1022.7 3.6 483 10302 0.25 0.60 143.73 1.213 6 0.150 0.057 3309 1584 1552 0 0 0 0 0 0
10617 0.80 368.7 991.9 7.9 499 10664 0.00 0.00 44.70 1.193 6 0.000 0.000 3309 1584 1357 0 0 0 0 0 0
10952 0.84 378.5 961.0 9.4 510 10967 0.00 1.10 9.40 1.051 4 0.000 0.058 3309 2254 1318 0 0 0 0 0 0
11042 0.88 390.9 952.1 9.3 512 11061 0.03 1.08 13.40 1.105 6 0.094 0.057 3343 1591 1268 0 0 0 0 0 0
11392 0.88 390.9 915.5 10.6 524 11396 0.00 0.55 0.00 0.000 4 0.000 0.058 3343 1945 1264 0 0 0 0 0 0
11481 0.88 390.9 905.9 10.3 526 11485 0.00 0.57 0.00 0.000 6 0.000 0.064 3346 1587 1263 0 0 0 0 0 0
11800 0.88 390.9 873.5 10.2 537 11801 0.00 0.00 0.00 0.000 6 0.000 0.000 3346 1587 1263 0 0 0 0 0 0
12107 0.88 402.5 844.0 9.3 547 12120 0.00 0.00 11.57 1.052 6 0.000 0.000 3346 1587 1221 0 0 0 0 0 0
12413 0.88 412.8 815.5 9.4 557 12428 0.00 0.98 11.55 1.037 4 0.000 0.066 3350 1014 1178 0 0 0 0 0 0
12513 0.91 430.8 806.2 9.1 560 12539 0.00 0.93 19.02 1.082 6 0.000 0.050 3350 1584 1105 0 0 0 0 0 0
12848 0.94 451.9 775.8 9.0 571 12873 0.00 1.42 21.27 1.075 4 0.000 0.066 3357 739 1018 0 0 0 0 0 0
12944 0.98 479.3 767.5 8.7 573 12978 0.00 1.40 27.90 1.077 6 0.000 0.052 3357 1589 907 0 0 0 0 0 0
13315 1.03 487.7 733.0 9.5 585 13329 0.05 1.30 8.12 0.949 4 0.164 0.067 3398 837 872 0 0 0 0 0 0
13396 1.03 487.7 724.5 10.2 587 13401 0.05 1.23 0.00 0.000 6 0.138 0.050 3380 1586 871 0 0 0 0 0 0
13721 1.05 487.7 691.5 10.3 598 13722 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 1586 870 0 0 0 0 0 0
14027 1.08 487.7 658.9 10.8 608 14031 0.00 1.35 0.00 0.000 4 0.000 0.067 3386 782 869 0 0 0 0 0 0
14099 1.11 487.7 651.0 10.9 610 14103 0.00 1.30 0.00 0.000 6 0.000 0.051 3386 1582 868 0 0 0 0 0 0
14435 1.13 487.7 613.7 11.7 621 14439 0.08 0.45 0.00 0.000 4 0.121 0.073 3430 1311 868 0 0 0 0 0 0
14503 1.08 487.7 605.2 12.9 623 14508 0.10 0.43 0.00 0.000 6 0.129 0.060 3396 1587 868 0 0 0 0 0 0
14843 1.08 487.7 563.6 12.4 634 14844 0.00 0.00 0.00 0.000 6 0.000 0.000 3396 1587 867 0 0 0 0 0 0
15149 1.08 487.7 525.3 12.6 644 15153 0.00 0.62 0.00 0.000 4 0.000 0.065 3398 1191 867 0 0 0 0 0 0
15244 1.08 487.7 513.0 13.1 646 15249 0.00 0.65 0.00 0.000 6 0.000 0.055 3398 1593 867 0 0 0 0 0 0
15557 1.08 487.7 473.1 12.7 657 15558 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 1593 867 0 0 0 0 0 0
15863 1.08 487.7 435.3 12.4 667 15864 0.00 0.00 0.00 0.000 6 0.000 0.000 3398 1593 867 0 0 0 0 0 0
16169 1.08 487.7 397.8 12.1 677 16173 0.00 0.52 0.00 0.000 4 0.000 0.067 3401 1265 866 0 0 0 0 0 0
16247 1.08 487.7 388.6 11.3 679 16251 0.00 0.52 0.00 0.000 6 0.000 0.057 3401 1589 866 0 0 0 0 0 0
16577 1.08 487.7 353.0 10.6 690 16580 0.00 0.80 0.00 0.000 4 0.000 0.064 3404 1100 866 0 0 0 0 0 0
16648 1.08 487.7 345.5 11.7 692 16653 0.00 0.80 0.00 0.000 6 0.000 0.052 3404 1591 866 0 0 0 0 0 0
16984 1.08 492.8 312.6 9.6 703 16993 0.00 1.52 4.97 0.605 4 0.000 0.066 3411 697 853 0 0 0 0 0 0
17066 1.08 492.8 304.0 10.4 705 17070 0.03 1.45 0.00 0.000 6 0.170 0.050 3401 1589 853 0 0 0 0 0 0
17383 1.08 492.8 273.0 9.8 720 17386 0.00 0.88 0.00 0.000 4 0.000 0.063 3405 1057 853 0 0 0 0 0 0
17483 1.08 492.8 262.8 10.0 724 17487 0.00 0.85 0.00 0.000 6 0.000 0.050 3404 1590 852 0 0 0 0 0 0
17805 1.08 492.8 229.9 10.6 740 17806 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 1590 853 0 0 0 0 0 0
18120 1.08 492.8 193.3 12.2 756 18121 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 1589 853 0 0 0 0 0 0
18434 1.08 492.8 153.8 12.4 776 18435 0.00 0.00 0.00 0.000 6 0.000 0.000 3405 1590 852 0 0 0 0 0 0
18745 1.08 492.8 117.4 11.3 796 18748 0.00 0.90 0.00 0.000 4 0.000 0.061 3408 1036 853 0 0 0 0 0 0
18832 1.08 492.8 108.4 10.9 801 18835 0.00 0.88 0.00 0.000 6 0.000 0.050 3408 1586 853 0 0 0 0 0 0
19158 1.08 492.8 74.6 10.1 829 19162 0.00 0.52 0.00 0.000 4 0.000 0.056 3408 1942 853 0 0 0 0 0 0
19193 1.08 492.8 70.9 11.0 832 19198 0.03 0.57 0.00 0.000 6 0.189 0.060 3402 1580 852 0 0 0 0 0 0
19539 1.08 492.8 33.9 10.8 883 19544 0.00 0.45 0.00 0.000 4 0.000 0.066 3403 1288 853 0 0 0 0 0 0
19651 1.08 492.8 22.1 10.1 902 19658 0.00 0.47 0.00 0.000 6 0.000 0.057 3403 1593 853 0 0 0 0 0 0
19731 1.08 492.8 13.5 11.1 915 19738 0.00 0.00 0.00 0.000 6 0.000 0.000 3402 1593 852 0 0 0 0 0 0
19812 1.04 522.1 5.6 8.6 928 19832 0.08 0.47 15.73 0.520 4 0.194 0.057 3385 1891 732 0 0 0 0 0 0
19839 end climb: SURFACE_DEPTH_REACHED
state 19839 begin surface coast
19883 end surface coast: CONTROL_FINISHED_OK
state 19883 begin surface