Bermuda Mar15 * SG036 * Dive index * Mission links * Dive 9 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  36 HD_B  0.011518 PITCH_ADJ_DBAND  0 COMPASS_USE  4
MISSION  18 HD_C  1.6100001e-05 ROLL_MIN  187 ALTIM_BOTTOM_PING_RANGE  0
DIVE  9 HEADING  -1 ROLL_MAX  3990 ALTIM_TOP_PING_RANGE  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_DEG  45 ALTIM_BOTTOM_TURN_MARGIN  30
D_SURF  3 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  1900 ALTIM_TOP_TURN_MARGIN  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  1900 ALTIM_TOP_MIN_OBSTACLE  1
D_TGT  1080 TGT_DEFAULT_LAT  3210 HEAD_ERRBAND  15 ALTIM_PING_DEPTH  500
D_ABORT  5500 TGT_DEFAULT_LON  -6430 ROLL_CNV  0.028270001 ALTIM_PING_DELTA  10
D_NO_BLEED  50 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 ALTIM_FREQUENCY  13
D_BOOST  0 SM_CC  350 R_PORT_OVSHOOT  64 ALTIM_PULSE  3
T_BOOST  0 N_FILEKB  4 R_STBD_OVSHOOT  59 ALTIM_SENSITIVITY  2
D_FINISH  0 FILEMGR  0 ROLL_AD_RATE  300 XPDR_VALID  2
D_PITCH  0 CALL_NDIVES  1 ROLL_MAXERRORS  2 XPDR_INHIBIT  90
D_SAFE  0 COMM_SEQ  0 ROLL_ADJ_GAIN  0 INT_PRESSURE_SLOPE  0.0097660003
D_CALL  0 PROTOCOL  0 ROLL_ADJ_DBAND  0 INT_PRESSURE_YINT  1.7
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  321 DEEPGLIDER  1
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  0 VBD_MAX  3926 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 C_VBD  2300 DEVICE1  2
T_DIVE  360 UPLOAD_DIVES_MAX  -1 VBD_DBAND  2 DEVICE2  101
T_MISSION  390 CALL_TRIES  10 VBD_CNV  -0.29049 DEVICE3  -1
T_ABORT  3720 CALL_WAIT  30 VBD_TIMEOUT  720 DEVICE4  -1
T_TURN  540 CAPUPLOAD  0 PITCH_VBD_SHIFT  0.00030000001 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  200000 VBD_PUMP_AD_RATE_SURFACE  2 DEVICE6  -1
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERS  0
T_LOITER  0 T_GPS  15 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  -1
T_EPIRB  0 N_GPS  20 UNCOM_BLEED  50 LOGGERDEVICE2  -1
USE_BATHY  0 T_GPS_ALMANAC  0 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
USE_ICE  0 T_RSLEEP  12 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 DBDW  0 COMPASS_DEVICE  33
D_OFFGRID  100 RAFOS_PEAK_OFFSET  1.5 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 PITCH_W_DBAND  0 PHONE_DEVICE  49
RELAUNCH  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  2 GPS_DEVICE  32
APOGEE_PITCH  -5 PITCH_MIN  208 AH0_24V  150 RAFOS_DEVICE  -1
MAX_BUOY  150 PITCH_MAX  3959 AH0_10V  100 XPDR_DEVICE  24
COURSE_BIAS  0 C_PITCH  3220 MINV_24V  17 SIM_W  0
GLIDE_SLOPE  45 PITCH_DBAND  0.1 MINV_10V  8 SIM_PITCH  0
SPEED_FACTOR  1 PITCH_CNV  0.003125763 FG_AHR_10V  0 SEABIRD_T_G  0.0043996978
RHO  1.0233001 P_OVSHOOT  0.026000001 FG_AHR_24V  0 SEABIRD_T_H  0.0006365396
MASS  78685 P_OVSHOOT_WITHG  0.089000002 PHONE_SUPPLY  2 SEABIRD_T_I  2.6113061e-05
MASS_COMP  9146 PITCH_GAIN  24 PRESSURE_YINT  -978.6759 SEABIRD_T_J  3.2649082e-06
NAV_MODE  1 PITCH_TIMEOUT  17 PRESSURE_SLOPE  0.00091862795 SEABIRD_C_G  -9.7572823
FERRY_MAX  45 PITCH_AD_RATE  145 AD7714Ch0Gain  32 SEABIRD_C_H  1.1335733
KALMAN_USE  2 PITCH_MAXERRORS  1 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0016566192
HD_A  0.0047458 PITCH_ADJ_GAIN  0 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00021344022

Pre-dive calculations and measurements:
GPS1  090315,101659,3214.7185,-6432.8623,39,1.9,39,-15.5,0.7,123.9,5,14.8 TGT_NAME  HYDRO_S
_CALLS  1 TGT_LATLONG  3210.000,-6430.000
_XMS_NAKs  0 TGT_RADIUS  9000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000000,0.000000
_SM_DEPTHo  1.49 KALMAN_X  0.000000,0.000000,0.000000,0.000000,0.000000
_SM_ANGLEo  -66.8 KALMAN_Y  0.000000,0.000000,0.000000,0.000000,0.000000
GPS2  090315,102249,3214.6655,-6432.8745,13,1.9,13,-15.5,0.5,196.9,5,14.8 MHEAD_RNG_PITCHd_Wd  168.0,9745,-19.7,-10.000,-22.23,2234
SPEED_LIMITS  0.100,0.245 D_GRID  1080

Post-dive calculations and measurements:
FINISH  0.5,1.017804 _10V_AH  10.30,3.598
SM_CCo  17283,49.90,0.872,0,0,1094,350.04 FG_AHR_24Vo  0.000
SM_GC  1.80,8.38,2.30,49.90,0.055,0.050,0.872,196,1917,1094,-9.33,1.98,350.04,0,0,0,0,0,0,26.67,26.70,25.06 FG_AHR_10Vo  0.000
IRIDIUM_FIX  3203.33,-6432.20,030108,191049 MEM  330684
TT8_MAMPS  0.023219,0.023219 DATA_FILE_SIZE  43640,692
HUMID  38.69 CAP_FILE_SIZE  171183,0
INTERNAL_PRESSURE  8.90731 CFSIZE  1024409600,1018626048
TCM_TEMP  18.90 ERRORS  0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  13 INTR  1,8589.85,0x238a9a,2,5
_24V_AH  23.63,4.478 GPS  090315,151323,3212.610,-6430.929,42,1.5,42,-15.5,0.6,156.6,6,11.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21255129.48 SBE_CT46723264.93
Roll_motor13872235.83 AA433022559519.06
VBD_pump_during_apogee313157411673.00 nil000.00
VBD_pump_during_surface498711027.66 nil000.00
VBD_valve1044191032.73 nil000.00
Iridium_during_init2614188.33 nil000.00
Iridium_during_connect27160104.57 nil000.00
Iridium_during_xfer2032231070.70 nil000.00
Transponder_ping18420178.64 nil000.00
GUMSTIX_24V000.00
GPS14375.61
TT8213915351.65
LPSleep104462235.64
TT8_Active4761578.28
TT8_Sampling4525411931.28
TT8_CF8986061.87
TT8_Kalman000.00
Analog_circuits195011220.97
GPS_charging000.00
Compass41278350.28
RAFOS000.00
Transponder1093033.82

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
13 end surface: CONTROL_FINISHED_OK
state 14 begin dive
15 -0.87 -146.6 174 1892 1001 1190 0.0 0.0 0 121 0.00 0.00 -103.68 0.102 16386 0.000 0.000 170 1893 2792 2695 2889 0 0 0 0 0 0 26.48 28.83 26.49
124 -0.87 -146.6 171 1893 2695 2890 3.3 -2.3 10 145 10.73 2.38 -0.47 0.420 18948 0.256 0.062 2937 334 2806 2702 2910 0 0 0 0 0 0 25.84 26.12 25.99
754 -0.87 -146.6 2936 333 2702 2911 96.1 -13.4 66 765 0.00 2.25 0.00 0.000 1030 0.000 0.047 2928 1938 2806 2702 2911 0 0 0 0 0 0 26.55 26.53 26.56
1065 -0.87 -146.6 2928 1938 2702 2911 136.1 -12.5 97 1075 0.00 2.40 0.00 0.000 516 0.000 0.062 2928 324 2807 2702 2912 0 0 0 0 0 0 26.81 26.54 26.82
1393 -0.87 -146.6 2927 324 2702 2912 180.0 -13.4 117 1398 0.00 2.25 0.00 0.000 1030 0.000 0.047 2917 1898 2806 2702 2911 0 0 0 0 0 0 26.67 26.65 26.68
1714 -0.87 -146.6 2916 1898 2702 2911 219.8 -12.2 133 1719 0.00 2.33 0.00 0.000 516 0.000 0.062 2917 324 2807 2702 2912 0 0 0 0 0 0 26.89 26.62 26.91
2101 -0.87 -146.6 2917 324 2702 2912 270.4 -13.5 151 2106 0.10 2.25 0.00 0.000 3078 0.171 0.047 2938 1903 2807 2702 2912 0 0 0 0 0 0 26.50 26.72 26.67
2435 -0.87 -146.6 2938 1903 2702 2912 308.5 -11.1 167 2440 0.00 2.33 0.00 0.000 516 0.000 0.062 2938 335 2807 2702 2912 0 0 0 0 0 0 26.94 26.66 26.96
2706 -0.87 -146.6 2938 335 2702 2913 339.1 -12.2 175 2715 0.00 2.25 0.00 0.000 1030 0.000 0.047 2929 1908 2807 2702 2913 0 0 0 0 0 0 26.76 26.74 26.77
3015 -0.87 -146.6 2929 1908 2702 2913 379.0 -12.4 186 3020 0.00 2.30 0.00 0.000 516 0.000 0.062 2930 335 2807 2702 2913 0 0 0 0 0 0 26.96 26.68 26.97
3407 -0.87 -146.6 2929 335 2702 2913 428.3 -13.0 198 3412 0.00 2.20 0.00 0.000 1030 0.000 0.047 2919 1917 2808 2703 2913 0 0 0 0 0 0 26.79 26.75 26.81
3716 -0.87 -146.6 2919 1917 2702 2913 465.6 -11.2 208 3722 0.00 2.33 0.00 0.000 516 0.000 0.062 2919 325 2807 2702 2913 0 0 0 0 0 0 26.97 26.70 26.98
3950 -0.87 -146.6 2919 324 2702 2913 494.1 -13.4 215 3955 0.10 2.22 0.00 0.000 3078 0.166 0.047 2941 1889 2807 2702 2913 0 0 0 0 0 0 26.58 26.76 26.64
4266 -0.87 -146.6 2940 1889 2702 2913 533.3 -12.5 226 4271 0.00 2.30 0.00 0.000 516 0.000 0.062 2940 335 2807 2702 2913 0 0 0 0 0 0 26.94 26.70 26.96
4535 -0.87 -146.6 2940 335 2702 2913 567.6 -13.4 234 4540 0.00 2.25 0.00 0.000 1030 0.000 0.047 2933 1909 2807 2702 2913 0 0 0 0 0 0 26.78 26.77 26.79
4849 -0.87 -146.6 2932 1909 2702 2913 605.1 -10.7 245 4855 0.00 2.33 0.00 0.000 516 0.000 0.062 2933 333 2807 2702 2913 0 0 0 0 0 0 26.98 26.70 26.99
5009 -0.87 -146.6 2932 333 2702 2914 624.2 -12.2 250 5014 0.00 2.25 0.00 0.000 1030 0.000 0.047 2922 1905 2807 2702 2913 0 0 0 0 0 0 26.78 26.77 26.79
5340 -0.87 -146.6 2922 1905 2702 2913 662.1 -11.4 261 5346 0.00 2.33 0.00 0.000 516 0.000 0.062 2922 333 2807 2702 2913 0 0 0 0 0 0 26.95 26.70 26.96
5596 -0.87 -146.6 2922 334 2702 2913 696.1 -13.4 269 5600 0.00 2.22 0.00 0.000 1030 0.000 0.047 2912 1897 2807 2702 2913 0 0 0 0 0 0 26.78 26.76 26.79
5925 -0.87 -146.6 2912 1897 2702 2913 736.9 -12.0 280 5931 0.00 2.30 0.00 0.000 516 0.000 0.062 2912 329 2807 2702 2913 0 0 0 0 0 0 26.97 26.70 26.99
6147 -0.87 -146.6 2912 330 2702 2913 766.6 -13.6 287 6153 0.12 2.17 0.00 0.000 3078 0.159 0.050 2942 1890 2807 2702 2913 0 0 0 0 0 0 26.55 26.76 26.64
6479 -0.87 -146.6 2942 1890 2702 2911 805.3 -12.3 298 6484 0.00 2.28 0.00 0.000 516 0.000 0.062 2943 338 2806 2702 2911 0 0 0 0 0 0 26.97 26.70 26.98
6649 -0.87 -146.6 2942 338 2702 2911 827.0 -13.7 303 6653 0.00 2.22 0.00 0.000 1030 0.000 0.050 2942 1901 2806 2702 2911 0 0 0 0 0 0 26.79 26.75 26.81
6962 -0.87 -146.6 2941 1902 2702 2909 866.8 -12.1 314 6968 0.00 2.33 0.00 0.000 516 0.000 0.062 2942 328 2805 2702 2909 0 0 0 0 0 0 26.96 26.69 26.98
7144 -0.87 -146.6 2941 328 2702 2909 887.7 -13.1 319 7155 0.00 2.28 0.00 0.000 1030 0.000 0.050 2931 1903 2805 2702 2908 0 0 0 0 0 0 26.77 26.74 26.78
7455 -0.87 -146.6 2931 1903 2702 2905 930.2 -12.8 330 7460 0.00 2.30 0.00 0.000 516 0.000 0.065 2931 339 2804 2702 2906 0 0 0 0 0 0 26.93 26.69 26.95
7714 -0.87 -146.6 2931 339 2702 2905 964.8 -13.6 338 7718 0.00 2.25 0.00 0.000 1030 0.000 0.050 2921 1893 2803 2702 2905 0 0 0 0 0 0 26.77 26.74 26.78
8038 -0.87 -146.6 2920 1893 2702 2901 1008.5 -13.3 348 8044 0.00 2.30 0.00 0.000 516 0.000 0.065 2921 332 2801 2702 2901 0 0 0 0 0 0 26.96 26.68 26.98
8243 -0.87 -146.6 2921 332 2702 2900 1035.8 -14.4 351 8247 0.00 2.28 0.00 0.000 1030 0.000 0.050 2910 1902 2801 2702 2900 0 0 0 0 0 0 26.76 26.74 26.77
8589 end dive: TARGET_DEPTH_EXCEEDED
state 8589 begin apogee
8592 -0.21 0.0 2909 1901 2702 2896 1085.9 -13.6 357 8708 0.73 0.00 107.20 1.574 10246 0.134 0.000 3161 1902 2299 2218 2380 0 0 0 0 0 0 26.55 23.99 23.74
8709 end apogee: CONTROL_FINISHED_OK
state 8709 begin climb
8710 0.87 146.6 3161 1902 2219 2380 1091.0 0.0 359 8829 0.90 2.50 109.07 1.554 10500 0.074 0.067 3516 3456 1794 1710 1878 0 0 0 0 0 0 25.05 24.32 23.63
9273 0.89 226.9 3516 3456 1710 1875 1074.0 6.3 368 9338 0.00 2.33 58.95 1.539 9222 0.000 0.052 3528 1889 1518 1432 1604 0 0 0 0 0 0 26.24 26.19 23.84
9682 0.89 226.9 3528 1888 1432 1603 1031.1 11.0 375 9687 0.00 2.42 0.00 0.000 260 0.000 0.062 3528 3460 1517 1432 1602 0 0 0 0 0 0 26.33 26.08 26.35
9789 0.89 226.9 3528 3460 1432 1601 1024.5 10.8 376 9794 0.12 2.35 0.00 0.000 5126 0.196 0.052 3504 1880 1516 1432 1601 0 0 0 0 0 0 26.02 26.20 26.17
10104 0.89 226.9 3503 1880 1432 1601 990.0 9.2 383 10109 0.00 2.40 0.00 0.000 260 0.000 0.062 3495 3452 1516 1432 1600 0 0 0 0 0 0 26.58 26.32 26.60
10338 0.89 226.9 3494 3452 1432 1598 969.2 9.5 390 10342 0.00 2.33 0.00 0.000 1030 0.000 0.052 3503 1897 1515 1432 1599 0 0 0 0 0 0 26.50 26.43 26.51
10652 0.89 226.9 3503 1897 1432 1598 937.1 9.4 401 10657 0.00 2.38 0.00 0.000 260 0.000 0.062 3498 3459 1514 1432 1597 0 0 0 0 0 0 26.72 26.46 26.74
10845 0.89 226.9 3497 3459 1432 1596 918.4 10.4 407 10850 0.00 2.33 0.00 0.000 1030 0.000 0.052 3506 1900 1514 1432 1596 0 0 0 0 0 0 26.55 26.51 26.56
11171 0.89 226.9 3506 1899 1432 1596 885.9 9.8 418 11176 0.00 2.33 0.00 0.000 260 0.000 0.060 3506 3457 1513 1432 1595 0 0 0 0 0 0 26.79 26.53 26.81
11514 0.89 226.9 3506 3456 1432 1594 853.7 8.4 429 11518 0.00 2.33 0.00 0.000 1030 0.000 0.052 3517 1897 1513 1432 1594 0 0 0 0 0 0 26.61 26.58 26.63
11845 0.91 276.5 3516 1897 1432 1594 828.1 7.7 440 11885 0.00 2.42 35.15 1.383 8708 0.000 0.072 3529 332 1348 1265 1431 0 0 0 0 0 0 26.84 25.23 24.55
11921 0.91 276.5 3528 332 1265 1431 822.9 8.4 442 11930 0.00 2.38 0.00 0.000 1030 0.000 0.050 3529 1901 1348 1265 1432 0 0 0 0 0 0 25.82 25.79 25.83
12230 0.91 276.5 3528 1901 1265 1431 781.6 13.1 453 12235 0.00 2.35 0.00 0.000 260 0.000 0.062 3529 3453 1348 1265 1431 0 0 0 0 0 0 26.43 26.17 26.45
12522 0.91 276.5 3528 3453 1265 1431 738.5 15.9 462 12527 0.00 2.33 0.00 0.000 1030 0.000 0.052 3540 1907 1348 1265 1431 0 0 0 0 0 0 26.39 26.36 26.40
12843 0.91 276.5 3539 1907 1265 1431 692.1 13.6 473 12848 0.00 2.35 0.00 0.000 260 0.000 0.060 3540 3458 1348 1265 1431 0 0 0 0 0 0 26.68 26.41 26.70
12920 0.91 276.5 3539 3458 1264 1431 683.3 13.9 475 12925 0.12 2.33 0.00 0.000 5126 0.186 0.052 3513 1902 1348 1265 1431 0 0 0 0 0 0 26.26 26.46 26.37
13235 0.91 276.5 3513 1902 1265 1431 640.0 12.2 486 13241 0.00 2.35 0.00 0.000 260 0.000 0.060 3508 3460 1348 1265 1432 0 0 0 0 0 0 26.75 26.49 26.77
13389 0.91 276.5 3507 3460 1265 1431 618.5 14.0 491 13394 0.00 2.28 0.00 0.000 1030 0.000 0.052 3517 1890 1348 1265 1432 0 0 0 0 0 0 26.58 26.55 26.59
13721 0.91 276.5 3516 1890 1265 1431 571.0 14.7 502 13726 0.00 2.35 0.00 0.000 260 0.000 0.060 3517 3466 1348 1265 1432 0 0 0 0 0 0 26.82 26.55 26.84
14022 0.91 276.5 3516 3466 1265 1432 526.4 15.9 511 14031 0.00 2.33 0.00 0.000 1030 0.000 0.052 3527 1905 1348 1265 1432 0 0 0 0 0 0 26.64 26.61 26.65
14331 0.91 276.5 3527 1905 1265 1434 474.5 15.4 522 14336 0.00 2.30 0.00 0.000 260 0.000 0.060 3527 3460 1349 1265 1434 0 0 0 0 0 0 26.86 26.60 26.88
14623 0.91 276.5 3527 3461 1265 1436 426.8 17.7 531 14627 0.00 2.33 0.00 0.000 1030 0.000 0.050 3539 1895 1350 1265 1435 0 0 0 0 0 0 26.72 26.65 26.73
14943 0.91 276.5 3538 1895 1265 1438 371.8 16.6 542 14948 0.00 2.33 0.00 0.000 260 0.000 0.057 3539 3469 1351 1265 1438 0 0 0 0 0 0 26.89 26.63 26.91
15223 0.91 276.5 3538 3469 1265 1438 322.8 17.6 551 15229 0.12 2.33 0.00 0.000 5126 0.176 0.050 3511 1895 1352 1265 1439 0 0 0 0 0 0 26.47 26.67 26.57
15543 0.91 276.5 3511 1894 1265 1442 275.5 14.3 564 15548 0.00 2.33 0.00 0.000 260 0.000 0.060 3507 3471 1353 1265 1441 0 0 0 0 0 0 26.91 26.65 26.94
15735 0.91 276.5 3507 3471 1265 1442 246.2 15.0 573 15740 0.00 2.33 0.00 0.000 1030 0.000 0.050 3516 1889 1353 1264 1442 0 0 0 0 0 0 26.72 26.69 26.73
16054 0.91 276.5 3515 1889 1265 1445 195.2 16.5 589 16060 0.00 2.33 0.00 0.000 260 0.000 0.060 3516 3472 1355 1265 1445 0 0 0 0 0 0 26.93 26.66 26.95
16385 0.91 276.5 3516 3471 1265 1446 140.5 15.7 607 16396 0.00 2.25 3.42 0.489 9222 0.000 0.050 3527 1899 1348 1265 1431 0 0 0 0 0 0 26.73 26.71 25.65
16695 0.91 276.5 3527 1898 1266 1431 93.0 15.6 638 16705 0.00 2.30 0.00 0.000 260 0.000 0.060 3527 3461 1348 1265 1431 0 0 0 0 0 0 26.91 26.65 26.93
16921 0.91 276.5 3527 3460 1265 1432 55.0 17.1 658 16931 0.00 2.22 0.00 0.000 1030 0.000 0.050 3537 1898 1348 1265 1432 0 0 0 0 0 0 26.72 26.69 26.74
17231 0.91 276.5 3537 1898 1265 1435 5.1 16.2 689 17241 0.00 2.30 0.00 0.000 260 0.000 0.057 3538 3459 1350 1265 1435 0 0 0 0 0 0 26.94 26.67 26.95
17254 end climb: SURFACE_DEPTH_REACHED
state 17254 begin surface coast
17267 end surface coast: CONTROL_FINISHED_OK
state 17267 begin surface