OKMC Jun11 * SG181 * Dive index * Mission links * Dive 523 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 INT_PRESSURE_YINT  0
MISSION  6 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 DEEPGLIDER  0
DIVE  523 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  67 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  48 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  475 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  0 DEVICE3  39
D_ABORT  1030 FILEMGR  0 ROLL_ADJ_DBAND  0 DEVICE4  -1
D_NO_BLEED  200 CALL_NDIVES  1 VBD_MIN  440 DEVICE5  -1
D_BOOST  3 COMM_SEQ  0 VBD_MAX  3960 DEVICE6  -1
T_BOOST  0 PROTOCOL  9 C_VBD  2869 LOGGERS  0
D_FINISH  0 N_NOCOMM  1 VBD_DBAND  2 LOGGERDEVICE1  99
D_PITCH  0 NOCOMM_ACTION  0 VBD_CNV  -0.24529999 LOGGERDEVICE2  117
D_SAFE  0 N_NOSURFACE  0 VBD_TIMEOUT  720 LOGGERDEVICE3  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  5 COMPASS_DEVICE  33
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 PHONE_DEVICE  49
T_DIVE  280 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  320 HEAPDBG  0 VBD_MAXERRORS  1 RAFOS_DEVICE  -1
T_ABORT  1440 T_GPS  15 CF8_MAXERRORS  20 XPDR_DEVICE  24
T_TURN  225 N_GPS  20 AH0_24V  150 SIM_W  0
T_TURN_SAMPINT  5 T_GPS_ALMANAC  0 AH0_10V  110 SIM_PITCH  0
T_NO_W  120 T_GPS_CHARGE  -41244.289 MINV_24V  19 SEABIRD_T_G  0.0043841996
T_LOITER  0 T_RSLEEP  2 MINV_10V  8 SEABIRD_T_H  0.00063541438
T_EPIRB  0 STROBE  0 FG_AHR_10V  0 SEABIRD_T_I  2.4687597e-05
USE_BATHY  -4 RAFOS_PEAK_OFFSET  1.5 FG_AHR_24V  0 SEABIRD_T_J  2.6519353e-06
USE_ICE  0 RAFOS_CORR_THRESH  60 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9512653
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 PRESSURE_YINT  -61.82621 SEABIRD_C_H  1.1266108
D_OFFGRID  1000 PITCH_MIN  225 PRESSURE_SLOPE  0.000116609 SEABIRD_C_I  -0.0016982662
T_WATCHDOG  10 PITCH_MAX  3941 AD7714Ch0Gain  128 SEABIRD_C_J  0.00020129427
RELAUNCH  1 C_PITCH  2300 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -8 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  1.0
MAX_BUOY  200 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  1.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  60 ALTIM_TOP_PING_RANGE  0 TM_STARTS  41.0
SPEED_FACTOR  1 PITCH_TIMEOUT  15 ALTIM_BOTTOM_TURN_MARGIN  0 TM_NFFT  256.0
RHO  1.0275 PITCH_AD_RATE  145 ALTIM_TOP_TURN_MARGIN  0 TM_NAVG  1.0
MASS  51861 PITCH_MAXERRORS  1 ALTIM_TOP_MIN_OBSTACLE  1 TM_PSD  0.0
NAV_MODE  2 PITCH_ADJ_GAIN  0 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  200.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 ALTIM_PING_DELTA  10 LA_PROFILE  1.0
KALMAN_USE  1 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  1.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  15 ALTIM_SENSITIVITY  2 LA_STARTS  23.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2610 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2165 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  20 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  190911,205707,1854.380,12010.163,29,1.2,29,-2.0 TGT_NAME  W3A
_CALLS  1 TGT_LATLONG  1900.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.302,0.079
_SM_DEPTHo  1.33 KALMAN_X  68482.0,-758.7,162.5,-47144.4,2162.9
_SM_ANGLEo  -70.7 KALMAN_Y  82468.9,-921.3,-1461.9,-117445.5,5178.3
GPS2  190911,210301,1854.395,12010.159,11,1.4,11,-2.0 MHEAD_RNG_PITCHd_Wd  286.4,20597,-17.4,-11.786
SPEED_LIMITS  0.204,0.312 D_GRID  1959

Post-dive calculations and measurements:
FINISH  0.3,1.008197 _10V_AH  9.8,69.674
SM_CCo  17337,0.00,0.000,0,0,442,595.34 FG_AHR_24Vo  0.000
SM_GC  1.34,6.55,0.00,0.00,0.031,0.000,0.000,212,2603,442,-6.44,-0.20,595.34,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1844.15,11939.33,190911,151547 MEM  322248
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  80193,1375
HUMID  47.08 CAP_FILE_SIZE  171062,0
INTERNAL_PRESSURE  9.31676 CFSIZE  260165632,202788864
TCM_TEMP  24.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.213, 51.5,1
_24V_AH  23.5,85.785 GPS  200911,015407,1856.007,12009.155,33,1.1,33,-2.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622486.28 SBE_CT95624539.40
Roll_motor516174.41 AA4330000.00
VBD_pump_during_apogee656107216541.68 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910370.21 nil000.00
Iridium_during_connect2616098.94 TMicro000.00
Iridium_during_xfer145223763.81 LAB000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS13506.86
TT8345019669.47
LPSleep105372226.16
TT8_Active79919155.13
TT8_Sampling251939982.79
TT8_CF836945165.74
TT8_Kalman338126.74
Analog_circuits206212242.58
GPS_charging000.00
Compass229915338.01
RAFOS000.00
Transponder050.03

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.53 -194.6 0.0 0.0 0 76 0.00 0.00 -57.90 0.000 2 0.000 0.000 168 2633 2108 0 0 0 0 0 0
80 -0.53 -194.6 3.1 -3.4 10 130 8.25 0.82 -34.62 0.000 4 0.225 0.062 2121 2067 3665 0 0 0 0 0 0
195 -0.53 -194.6 38.0 -27.7 29 203 0.00 0.82 0.00 0.000 6 0.000 0.037 2120 2609 3665 0 0 0 0 0 0
338 -0.53 -194.6 80.7 -31.1 54 344 0.00 0.00 0.00 0.000 6 0.000 0.000 2120 2610 3665 0 0 0 0 0 0
480 -0.53 -194.6 110.6 -17.7 79 487 0.00 0.80 0.00 0.000 4 0.000 0.041 2115 3137 3665 0 0 0 0 0 0
659 -0.53 -194.6 140.7 -15.1 110 665 0.00 0.75 0.00 0.000 6 0.000 0.024 2116 2585 3665 0 0 0 0 0 0
801 -0.53 -194.6 162.7 -13.7 135 808 0.00 0.62 0.00 0.000 4 0.000 0.024 2115 2084 3666 0 0 0 0 0 0
831 -0.53 -194.6 166.8 -13.4 140 838 0.00 0.77 0.00 0.000 6 0.000 0.035 2112 2608 3666 0 0 0 0 0 0
975 -0.53 -194.6 186.4 -15.6 165 982 0.00 0.77 0.00 0.000 4 0.000 0.037 2108 3139 3666 0 0 0 0 0 0
1039 -0.53 -194.6 197.6 -17.4 176 1046 0.00 0.73 0.00 0.000 6 0.000 0.024 2108 2605 3666 0 0 0 0 0 0
1175 -0.53 -194.6 219.6 -15.1 190 1179 0.00 0.68 0.00 0.000 4 0.000 0.024 2108 2077 3666 0 0 0 0 0 0
1226 -0.53 -194.6 226.7 -13.2 194 1232 0.00 0.80 0.00 0.000 6 0.000 0.035 2104 2615 3666 0 0 0 0 0 0
1551 -0.53 -194.6 261.5 -10.9 225 1555 0.00 0.70 0.00 0.000 4 0.000 0.024 2104 2087 3666 0 0 0 0 0 0
1598 -0.53 -194.6 266.4 -10.9 229 1602 0.00 0.77 0.00 0.000 6 0.000 0.036 2100 2608 3666 0 0 0 0 0 0
1929 -0.53 -194.6 306.5 -12.9 260 1930 0.00 0.00 0.00 0.000 6 0.000 0.000 2100 2608 3664 0 0 0 0 0 0
2251 -0.53 -194.6 349.6 -13.7 290 2255 0.00 0.70 0.00 0.000 4 0.000 0.026 2100 2090 3661 0 0 0 0 0 0
2323 -0.53 -194.6 359.8 -13.1 296 2331 0.08 0.77 0.00 0.000 6 0.126 0.037 2123 2605 3660 0 0 0 0 0 0
2650 -0.53 -194.6 396.7 -10.9 327 2652 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2605 3657 0 0 0 0 0 0
2970 -0.53 -194.6 430.8 -10.2 357 2971 0.00 0.00 0.00 0.000 6 0.000 0.000 2123 2605 3654 0 0 0 0 0 0
3289 -0.53 -194.6 460.9 -9.3 387 3293 0.00 0.70 0.00 0.000 4 0.000 0.026 2123 2087 3651 0 0 0 0 0 0
3415 -0.53 -194.6 473.0 -9.5 398 3419 0.00 0.80 0.00 0.000 6 0.000 0.038 2121 2614 3650 0 0 0 0 0 0
3745 -0.53 -194.6 503.8 -8.7 427 3746 0.00 0.00 0.00 0.000 6 0.000 0.000 2121 2615 3647 0 0 0 0 0 0
4055 -0.53 -194.6 530.0 -8.9 442 4058 0.00 0.70 0.00 0.000 4 0.000 0.027 2121 2107 3644 0 0 0 0 0 0
4124 -0.53 -194.6 536.2 -8.8 445 4129 0.00 0.75 0.00 0.000 6 0.000 0.039 2118 2599 3644 0 0 0 0 0 0
4457 -0.53 -194.6 568.5 -10.2 461 4459 0.00 0.00 0.00 0.000 6 0.000 0.000 2118 2599 3641 0 0 0 0 0 0
4767 -0.53 -194.6 601.0 -10.5 476 4770 0.00 0.68 0.00 0.000 4 0.000 0.027 2118 2099 3639 0 0 0 0 0 0
4817 -0.53 -194.6 606.6 -10.7 478 4821 0.00 0.77 0.00 0.000 6 0.000 0.040 2114 2606 3639 0 0 0 0 0 0
5145 -0.53 -194.6 641.7 -10.7 494 5146 0.00 0.00 0.00 0.000 6 0.000 0.000 2114 2607 3637 0 0 0 0 0 0
5455 -0.53 -194.6 672.8 -9.8 509 5458 0.00 0.70 0.00 0.000 4 0.000 0.028 2114 2102 3635 0 0 0 0 0 0
5516 -0.53 -194.6 679.0 -9.5 511 5523 0.00 0.77 0.00 0.000 6 0.000 0.041 2112 2606 3634 0 0 0 0 0 0
5832 -0.53 -194.6 709.3 -9.8 527 5836 0.00 0.70 0.00 0.000 4 0.000 0.028 2112 2104 3632 0 0 0 0 0 0
5888 -0.53 -194.6 714.9 -9.7 529 5892 0.00 0.77 0.00 0.000 6 0.000 0.042 2112 2605 3632 0 0 0 0 0 0
6210 -0.53 -194.6 745.4 -9.3 545 6214 0.00 0.70 0.00 0.000 4 0.000 0.028 2112 2100 3630 0 0 0 0 0 0
6261 -0.53 -194.6 750.2 -9.2 547 6265 0.00 0.80 0.00 0.000 6 0.000 0.041 2112 2617 3630 0 0 0 0 0 0
6590 -0.53 -194.6 776.6 -7.6 563 6593 0.00 0.73 0.00 0.000 4 0.000 0.027 2113 2098 3629 0 0 0 0 0 0
6645 -0.53 -194.6 780.9 -7.7 565 6649 0.00 0.80 0.00 0.000 6 0.000 0.042 2112 2617 3628 0 0 0 0 0 0
6968 -0.53 -194.6 805.4 -7.8 581 6972 0.00 0.73 0.00 0.000 4 0.000 0.026 2112 2094 3627 0 0 0 0 0 0
7048 -0.53 -194.6 811.9 -8.1 584 7052 0.00 0.80 0.00 0.000 6 0.000 0.043 2112 2609 3625 0 0 0 0 0 0
7370 -0.53 -194.6 839.0 -9.1 600 7371 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 2610 3625 0 0 0 0 0 0
7680 -0.53 -194.6 870.4 -10.8 615 7684 0.00 0.70 0.00 0.000 4 0.000 0.028 2111 2101 3624 0 0 0 0 0 0
7726 -0.53 -194.6 875.8 -11.2 617 7730 0.00 0.77 0.00 0.000 6 0.000 0.042 2112 2605 3624 0 0 0 0 0 0
8059 -0.53 -194.6 914.9 -12.0 633 8064 0.00 0.70 0.00 0.000 4 0.000 0.027 2112 2094 3622 0 0 0 0 0 0
8137 -0.53 -194.6 924.4 -12.0 636 8141 0.00 0.80 0.00 0.000 6 0.000 0.041 2112 2609 3622 0 0 0 0 0 0
8459 -0.53 -194.6 964.1 -13.1 652 8460 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 2609 3620 0 0 0 0 0 0
8663 end dive: TARGET_DEPTH_EXCEEDED
state 8663 begin apogee
8670 -0.13 0.0 991.0 12.7 662 8826 0.43 0.00 150.88 1.073 6 0.109 0.000 2254 2170 2869 0 0 0 0 0 0
8827 end apogee: CONTROL_FINISHED_OK
state 8827 begin climb
8830 0.53 194.6 1006.5 0.0 669 8998 0.57 0.00 160.18 1.057 6 0.055 0.000 2479 2169 2074 0 0 0 0 0 0
9307 0.67 307.7 985.0 7.2 693 9401 0.10 0.00 91.35 1.044 6 0.106 0.000 2520 2169 1614 0 0 0 0 0 0
9699 0.70 337.5 945.7 10.6 712 9729 0.00 0.85 24.95 0.988 4 0.000 0.040 2521 2698 1493 0 0 0 0 0 0
9774 0.73 354.9 937.3 11.1 715 9794 0.00 0.80 16.00 0.930 6 0.000 0.028 2524 2151 1421 0 0 0 0 0 0
10119 0.75 377.9 900.2 10.9 732 10141 0.00 0.00 20.38 0.949 6 0.000 0.000 2524 2151 1328 0 0 0 0 0 0
10446 0.75 377.9 861.7 11.9 748 10449 0.00 0.82 0.00 0.000 4 0.000 0.037 2524 2695 1330 0 0 0 0 0 0
10560 0.75 377.9 846.8 13.8 753 10564 0.00 0.77 0.00 0.000 6 0.000 0.028 2527 2158 1330 0 0 0 0 0 0
10892 0.75 377.9 803.8 13.0 769 10893 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2158 1330 0 0 0 0 0 0
11202 0.75 377.9 764.1 12.8 784 11203 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2158 1329 0 0 0 0 0 0
11512 0.75 377.9 725.9 12.2 799 11516 0.00 0.82 0.00 0.000 4 0.000 0.036 2527 2703 1329 0 0 0 0 0 0
11567 0.75 377.9 718.5 12.7 801 11571 0.00 0.77 0.00 0.000 6 0.000 0.028 2530 2163 1329 0 0 0 0 0 0
11891 0.76 383.2 679.8 11.6 817 11901 0.00 0.77 6.53 0.731 4 0.000 0.033 2534 1648 1305 0 0 0 0 0 0
11962 0.77 390.5 671.0 11.5 820 11975 0.00 0.77 7.62 0.710 6 0.000 0.032 2534 2170 1275 0 0 0 0 0 0
12284 0.77 394.5 633.5 11.6 836 12294 0.00 0.80 4.80 0.617 4 0.000 0.040 2534 2690 1260 0 0 0 0 0 0
12402 0.77 394.5 618.8 12.4 841 12406 0.00 0.75 0.00 0.000 6 0.000 0.027 2537 2161 1259 0 0 0 0 0 0
12729 0.78 400.9 580.8 11.5 857 12739 0.00 0.85 6.95 0.687 4 0.000 0.035 2537 2699 1233 0 0 0 0 0 0
12785 0.78 400.9 574.0 12.4 859 12791 0.00 0.75 0.00 0.000 6 0.000 0.028 2541 2172 1233 0 0 0 0 0 0
13101 0.81 425.3 538.4 10.8 875 13123 0.00 0.00 20.30 0.760 6 0.000 0.000 2541 2172 1135 0 0 0 0 0 0
13431 0.89 489.0 506.6 9.2 891 13490 0.15 0.00 51.67 0.755 6 0.088 0.000 2606 2171 875 0 0 0 0 0 0
13808 0.89 489.0 455.1 14.5 924 13812 0.00 0.77 0.00 0.000 4 0.000 0.035 2606 2690 880 0 0 0 0 0 0
13836 0.89 489.0 450.9 14.8 926 13844 0.00 0.75 0.00 0.000 6 0.000 0.028 2610 2166 881 0 0 0 0 0 0
14161 0.89 489.0 401.1 15.8 957 14171 0.00 0.00 4.03 0.513 6 0.000 0.000 2610 2166 875 0 0 0 0 0 0
14490 0.89 489.0 346.3 16.5 988 14491 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2166 875 0 0 0 0 0 0
14810 0.89 489.0 296.7 13.4 1018 14814 0.00 0.73 0.00 0.000 4 0.000 0.032 2613 1649 875 0 0 0 0 0 0
14860 0.89 489.0 289.9 13.5 1022 14867 0.00 0.77 0.00 0.000 6 0.000 0.032 2613 2170 875 0 0 0 0 0 0
15185 0.93 524.3 252.6 10.3 1053 15220 0.00 0.73 28.48 0.604 4 0.000 0.034 2613 2689 730 0 0 0 0 0 0
15273 0.97 550.0 243.6 10.7 1060 15303 0.00 0.75 21.67 0.558 6 0.000 0.027 2616 2167 625 0 0 0 0 0 0
15620 0.97 550.0 201.1 14.5 1093 15624 0.00 0.73 0.00 0.000 4 0.000 0.033 2620 1654 624 0 0 0 0 0 0
15694 0.97 550.0 189.2 16.3 1105 15701 0.00 0.75 0.00 0.000 6 0.000 0.031 2620 2163 624 0 0 0 0 0 0
15838 0.97 550.0 167.8 14.1 1130 15845 0.00 0.75 0.00 0.000 4 0.000 0.037 2620 2684 624 0 0 0 0 0 0
15897 0.97 550.0 158.6 15.3 1140 15905 0.00 0.75 0.00 0.000 6 0.000 0.027 2623 2156 624 0 0 0 0 0 0
16045 0.97 550.0 139.7 13.1 1165 16051 0.00 0.70 0.00 0.000 4 0.000 0.032 2626 1656 624 0 0 0 0 0 0
16098 0.97 550.0 131.8 14.7 1174 16105 0.00 0.75 0.00 0.000 6 0.000 0.031 2626 2165 625 0 0 0 0 0 0
16243 0.97 552.0 113.4 11.7 1199 16249 0.00 0.75 0.00 0.000 4 0.000 0.037 2626 2684 625 0 0 0 0 0 0
16314 1.03 602.6 106.2 9.7 1211 16357 0.00 0.75 34.90 0.508 6 0.000 0.028 2629 2158 440 0 0 0 0 0 0
16491 1.16 706.0 91.0 7.6 1242 16500 0.12 0.70 1.42 0.082 4 0.084 0.028 2693 1644 442 0 0 0 0 0 0
16587 1.16 709.0 80.8 11.7 1258 16596 0.00 0.77 1.33 0.078 6 0.000 0.031 2692 2167 441 0 0 0 0 0 0
16730 1.16 709.0 61.9 13.9 1283 16738 0.00 0.80 2.17 0.161 4 0.000 0.038 2693 2686 440 0 0 0 0 0 0
16819 1.16 709.0 48.8 14.8 1298 16827 0.00 0.75 0.30 0.087 6 0.000 0.028 2697 2158 440 0 0 0 0 0 0
16962 1.24 768.6 31.7 9.4 1323 16968 0.00 0.70 0.00 0.000 4 0.000 0.034 2701 1655 441 0 0 0 0 0 0
17060 1.37 874.5 24.2 7.5 1340 17068 0.08 0.75 0.05 0.145 6 0.057 0.031 2755 2172 441 0 0 0 0 0 0
17203 1.37 874.5 7.1 12.8 1365 17210 0.00 0.00 0.35 0.103 6 0.000 0.000 2755 2171 442 0 0 0 0 0 0
17237 end climb: SURFACE_DEPTH_REACHED
state 17237 begin surface coast
17260 end surface coast: CONTROL_FINISHED_OK
state 17260 begin surface