DavisStrait 20Oct09 * SG143 * Dive index * Mission links * Dive 92 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  143 HEADING  -1 ROLL_MIN  290 ALTIM_BOTTOM_TURN_MARGIN  8
MISSION  10 ESCAPE_HEADING  0 ROLL_MAX  3915 ALTIM_TOP_TURN_MARGIN  0
DIVE  92 ESCAPE_HEADING_DELTA  10 ROLL_DEG  45 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  2 FIX_MISSING_TIMEOUT  0.5 C_ROLL_DIVE  2460 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  -2030 C_ROLL_CLIMB  1950 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LON  5900 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  4
D_NO_BLEED  50 SM_CC  275 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  15 XPDR_VALID  0
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  17 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  0 INT_PRESSURE_YINT  0
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  1.75 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0.025 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  442 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3793 DEVICE1  2
T_DIVE  360 CALL_TRIES  5 C_VBD  2800 DEVICE2  20
T_MISSION  420 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  720 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -2 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -25738.213 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 CF8_MAXERRORS  20 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  150 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  100 RAFOS_DEVICE  16
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  127 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  4070 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2390 FG_AHR_24V  0 SEABIRD_T_G  0.0043131942
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062854384
RHO  1.0275 PITCH_CNV  0.0031256729 PRESSURE_YINT  -24.446302 SEABIRD_T_I  2.3348166e-05
MASS  51204 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001163694 SEABIRD_T_J  2.4454023e-06
NAV_MODE  2 PITCH_GAIN  31 AD7714Ch0Gain  128 SEABIRD_C_G  -10.029707
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1484355
KALMAN_USE  2 PITCH_AD_RATE  150 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0010294267
HD_A  0.0038360001 PITCH_MAXERRORS  1 COMPASS_USE  1 SEABIRD_C_J  0.00016845814
HD_B  0.010078 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_PING_RANGE  0
HD_C  9.8541004e-06 PITCH_ADJ_DBAND  1 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  044137,6646.646,-5935.946,30,1.3,31,-38.0 TGT_NAME  TARGET_ADD1_WB
_CALLS  1 TGT_LATLONG  6647.000,-5956.000
_XMS_NAKs  13 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.33 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -66.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  044852,6646.454,-5935.983,24,1.3,25,-38.0 MHEAD_RNG_PITCHd_Wd  317.4,14649,-16.9,-9.167
SPEED_LIMITS  0.159,0.253 D_GRID  872

Post-dive calculations and measurements:
FINISH  0.6,1.025443 _24V_AH  22.6,26.740
SM_CCo  18238,0.00,0.000,0,0,1533,310.55 _10V_AH  10.2,13.963
SM_GC  1.46,7.62,0.00,0.00,0.088,0.000,0.000,129,2461,1533,-7.03,0.03,310.55 FG_AHR_24Vo  0.000
RAFOS_CLK  1229 FG_AHR_10Vo  0.000
RAFOS  4,1257481984,4.566667,4.551111,83,59,58,0,0,0,616,151,213,0,0,0 MEM  188084
RAFOS_FIX  6643.143066,-5938.307129,061109,040453,6,92,0.00 DATA_FILE_SIZE  56701,1458
IRIDIUM_FIX  6614.97,-5936.77,300199,232346 CAP_FILE_SIZE  183910,0
TT8_MAMPS  0.026845 CFSIZE  260165632,242761728
HUMID  50.11 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.8187 SOUNDSPEED  1454.3
TCM_TEMP  16.30 CURRENT  0.257,172.9,1
XPDR_PINGS  7 GPS  061109,095506,6644.396,-5940.812,29,1.0,30,-37.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20319145.11 SBE_CT107524583.28
Roll_motor198117525.19 SBE_O2102019438.11
VBD_pump_during_apogee390133911831.51 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710364.41 nil000.00
Iridium_during_connect47160171.73 nil000.00
Iridium_during_xfer2192231108.56
Transponder_ping142016.61
GUMSTIX_24V000.00
GPS275013.83
TT8274419557.71
LPSleep123862291.86
TT8_Active55819113.47
TT8_Sampling2476391008.28
TT8_CF853745251.83
TT8_Kalman000.00
Analog_circuits187012228.96
GPS_charging000.00
Compass24338198.59
RAFOS2880144.06
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.73 -146.0 0.0 0.0 0 88 0.00 0.00 -68.68 0.000 2 0.000 0.000 124 2473 2742 0 0 0 0 0 0
90 -0.73 -146.0 3.2 -5.7 13 127 10.25 2.55 -19.33 0.000 4 0.320 0.117 2147 3919 3399 0 0 0 0 0 0
363 -0.73 -146.0 47.8 -14.8 62 368 0.00 2.42 0.00 0.000 6 0.000 0.073 2147 2457 3401 0 0 0 0 0 0
706 -0.73 -146.0 95.0 -12.8 123 711 0.00 2.53 0.00 0.000 4 0.000 0.100 2147 3918 3401 0 0 0 0 0 0
829 -0.73 -146.0 110.8 -13.4 138 834 0.00 2.40 0.00 0.000 6 0.000 0.073 2148 2462 3401 0 0 0 0 0 0
1153 -0.73 -146.0 151.3 -12.9 168 1155 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2462 3402 0 0 0 0 0 0
1473 -0.73 -146.0 190.7 -12.4 198 1477 0.00 2.50 0.00 0.000 4 0.000 0.102 2148 3917 3402 0 0 0 0 0 0
1572 -0.73 -146.0 203.4 -12.1 206 1578 0.00 2.38 0.00 0.000 6 0.000 0.074 2148 2468 3401 0 0 0 0 0 0
1897 -0.73 -146.0 239.5 -10.6 237 1902 0.00 2.47 0.00 0.000 4 0.000 0.102 2148 3910 3402 0 0 0 0 0 0
1919 -0.73 -146.0 241.9 -10.5 238 1925 0.00 2.35 0.00 0.000 6 0.000 0.075 2148 2477 3401 0 0 0 0 0 0
2244 -0.73 -146.0 273.7 -9.7 269 2248 0.00 2.65 0.00 0.000 4 0.000 0.094 2148 868 3401 0 0 0 0 0 0
2310 -0.73 -146.0 280.8 -10.8 274 2316 0.00 2.62 0.00 0.000 6 0.000 0.086 2148 2458 3401 0 0 0 0 0 0
2635 -0.73 -146.0 312.3 -9.9 305 2639 0.00 2.47 0.00 0.000 4 0.000 0.103 2147 3915 3401 0 0 0 0 0 0
2700 -0.73 -146.0 318.9 -9.4 310 2706 0.00 2.38 0.00 0.000 6 0.000 0.076 2148 2465 3400 0 0 0 0 0 0
3026 -0.73 -146.0 348.7 -8.8 341 3030 0.00 2.47 0.00 0.000 4 0.000 0.102 2148 3911 3400 0 0 0 0 0 0
3080 -0.73 -146.0 353.8 -9.4 345 3086 0.00 2.35 0.00 0.000 6 0.000 0.075 2148 2473 3400 0 0 0 0 0 0
3405 -0.73 -146.0 381.1 -8.7 376 3406 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2474 3400 0 0 0 0 0 0
3725 -0.73 -146.0 408.2 -8.4 406 3729 0.00 2.45 0.00 0.000 4 0.000 0.102 2148 3910 3400 0 0 0 0 0 0
3753 -0.73 -146.0 410.7 -8.8 408 3757 0.00 2.33 0.00 0.000 6 0.000 0.074 2147 2486 3400 0 0 0 0 0 0
4077 -0.73 -146.0 438.4 -8.8 438 4081 0.00 2.42 0.00 0.000 4 0.000 0.100 2148 3911 3400 0 0 0 0 0 0
4103 -0.73 -146.0 440.9 -9.4 440 4111 0.00 2.35 0.00 0.000 6 0.000 0.073 2148 2493 3400 0 0 0 0 0 0
4429 -0.73 -146.0 469.1 -8.8 471 4433 0.00 2.65 0.00 0.000 4 0.000 0.092 2148 869 3400 0 0 0 0 0 0
4472 -0.73 -146.0 473.2 -9.3 474 4478 0.00 2.65 0.00 0.000 6 0.000 0.083 2148 2490 3401 0 0 0 0 0 0
4798 -0.73 -146.0 500.1 -8.2 505 4799 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2491 3401 0 0 0 0 0 0
5117 -0.73 -146.0 525.8 -7.8 535 5121 0.00 2.67 0.00 0.000 4 0.000 0.091 2148 862 3402 0 0 0 0 0 0
5171 -0.73 -146.0 530.4 -8.0 539 5177 0.00 2.65 0.00 0.000 6 0.000 0.083 2148 2492 3402 0 0 0 0 0 0
5496 -0.73 -146.0 554.4 -7.1 570 5501 0.00 2.67 0.00 0.000 4 0.000 0.091 2148 864 3402 0 0 0 0 0 0
5524 -0.73 -146.0 556.5 -8.1 572 5528 0.00 2.62 0.00 0.000 6 0.000 0.082 2148 2478 3402 0 0 0 0 0 0
5848 -0.73 -146.0 580.7 -7.3 602 5849 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2478 3402 0 0 0 0 0 0
6176 -0.73 -146.0 605.3 -7.8 629 6181 0.00 2.65 0.00 0.000 4 0.000 0.091 2148 863 3403 0 0 0 0 0 0
6226 -0.73 -146.0 609.7 -8.5 630 6231 0.00 2.62 0.00 0.000 6 0.000 0.081 2147 2483 3403 0 0 0 0 0 0
6538 -0.73 -146.0 633.8 -7.6 640 6543 0.00 2.65 0.00 0.000 4 0.000 0.089 2147 862 3403 0 0 0 0 0 0
6559 -0.73 -146.0 635.6 -8.5 640 6566 0.00 2.60 0.00 0.000 6 0.000 0.081 2148 2470 3403 0 0 0 0 0 0
6872 -0.73 -146.0 658.3 -7.2 651 6876 0.00 2.42 0.00 0.000 4 0.000 0.097 2147 3921 3403 0 0 0 0 0 0
6899 -0.73 -146.0 660.3 -7.8 652 6904 0.00 2.35 0.00 0.000 6 0.000 0.071 2147 2465 3403 0 0 0 0 0 0
7235 -0.73 -146.0 682.9 -6.7 663 7240 0.00 2.58 0.00 0.000 4 0.000 0.090 2148 872 3403 0 0 0 0 0 0
7270 -0.73 -146.0 685.4 -7.6 664 7274 0.00 2.58 0.00 0.000 6 0.000 0.080 2147 2464 3404 0 0 0 0 0 0
7598 -0.73 -146.0 707.9 -6.9 675 7602 0.00 2.42 0.00 0.000 4 0.000 0.097 2147 3918 3404 0 0 0 0 0 0
7641 -0.73 -146.0 711.1 -7.3 676 7645 0.00 2.35 0.00 0.000 6 0.000 0.070 2147 2460 3404 0 0 0 0 0 0
7965 -0.73 -146.0 733.6 -7.1 687 7969 0.00 2.60 0.00 0.000 4 0.000 0.089 2148 867 3404 0 0 0 0 0 0
7997 -0.73 -146.0 736.3 -8.8 688 8002 0.00 2.58 0.00 0.000 6 0.000 0.080 2148 2463 3404 0 0 0 0 0 0
8327 -0.73 -146.0 759.8 -7.0 699 8331 0.00 2.60 0.00 0.000 4 0.000 0.090 2148 870 3405 0 0 0 0 0 0
8370 -0.73 -146.0 763.4 -8.1 700 8374 0.00 2.58 0.00 0.000 6 0.000 0.080 2148 2464 3405 0 0 0 0 0 0
8694 -0.73 -146.0 788.1 -7.5 711 8695 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2464 3405 0 0 0 0 0 0
9001 -0.73 -146.0 810.6 -7.0 721 9002 0.00 0.00 0.00 0.000 6 0.000 0.000 2147 2464 3405 0 0 0 0 0 0
9306 -0.73 -146.0 830.1 -6.3 731 9310 0.00 2.42 0.00 0.000 4 0.000 0.097 2148 3918 3405 0 0 0 0 0 0
9349 -0.73 -146.0 833.2 -7.3 732 9353 0.00 2.38 0.00 0.000 6 0.000 0.071 2148 2448 3405 0 0 0 0 0 0
9673 -0.73 -146.0 856.2 -7.1 743 9674 0.00 0.00 0.00 0.000 6 0.000 0.000 2148 2448 3405 0 0 0 0 0 0
9916 end dive: TARGET_DEPTH_EXCEEDED
state 9916 begin apogee
9921 -0.16 0.0 872.8 6.8 751 10049 0.68 0.00 124.25 1.340 6 0.194 0.000 2335 1943 2799 0 0 0 0 0 0
10050 end apogee: CONTROL_FINISHED_OK
state 10050 begin climb
10052 0.73 146.0 874.8 0.0 755 10192 0.95 3.00 129.85 1.279 4 0.135 0.094 2626 361 2202 0 0 0 0 0 0
10259 0.73 146.0 854.6 12.5 761 10263 0.00 2.80 0.00 0.000 6 0.000 0.071 2626 1958 2197 0 0 0 0 0 0
10571 0.73 146.0 814.8 13.0 771 10573 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 1958 2193 0 0 0 0 0 0
10878 0.73 146.0 776.7 12.5 781 10882 0.00 2.72 0.00 0.000 4 0.000 0.096 2638 362 2192 0 0 0 0 0 0
10909 0.73 146.0 772.4 13.1 782 10914 0.00 2.62 0.00 0.000 6 0.000 0.072 2638 1955 2192 0 0 0 0 0 0
11245 0.73 146.0 728.3 13.3 793 11250 0.00 2.70 0.00 0.000 4 0.000 0.097 2650 364 2191 0 0 0 0 0 0
11306 0.73 146.0 719.7 14.3 795 11310 0.00 2.55 0.00 0.000 6 0.000 0.073 2650 1930 2191 0 0 0 0 0 0
11640 0.73 146.0 676.2 12.6 806 11644 0.00 2.70 0.00 0.000 4 0.000 0.088 2650 3548 2190 0 0 0 0 0 0
11677 0.73 146.0 671.0 13.6 807 11682 0.15 2.67 0.00 0.000 6 0.212 0.078 2630 1934 2189 0 0 0 0 0 0
12007 0.73 146.0 632.8 11.5 818 12012 0.00 2.62 0.00 0.000 4 0.000 0.097 2639 354 2189 0 0 0 0 0 0
12057 0.73 146.0 626.2 13.7 819 12061 0.00 2.55 0.00 0.000 6 0.000 0.073 2639 1940 2189 0 0 0 0 0 0
12379 0.73 146.0 584.9 13.0 836 12384 0.00 2.62 0.00 0.000 4 0.000 0.097 2651 362 2189 0 0 0 0 0 0
12400 0.73 146.0 581.9 12.8 837 12406 0.00 2.53 0.00 0.000 6 0.000 0.073 2651 1908 2189 0 0 0 0 0 0
12725 0.73 146.0 537.9 13.5 868 12729 0.00 2.70 0.00 0.000 4 0.000 0.088 2650 3547 2189 0 0 0 0 0 0
12763 0.73 146.0 532.3 14.5 871 12768 0.15 2.67 0.00 0.000 6 0.207 0.077 2629 1913 2187 0 0 0 0 0 0
13087 0.73 146.0 494.1 11.4 901 13092 0.00 2.58 0.00 0.000 4 0.000 0.096 2639 352 2187 0 0 0 0 0 0
13165 0.73 146.0 484.5 12.0 907 13171 0.00 2.47 0.00 0.000 6 0.000 0.071 2638 1905 2188 0 0 0 0 0 0
13490 0.73 146.0 445.7 11.7 938 13494 0.00 2.67 0.00 0.000 4 0.000 0.088 2639 3536 2188 0 0 0 0 0 0
13517 0.73 146.0 442.2 12.9 940 13521 0.00 2.67 0.00 0.000 6 0.000 0.077 2651 1897 2188 0 0 0 0 0 0
13841 0.73 146.0 402.7 11.7 970 13842 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 1898 2188 0 0 0 0 0 0
14161 0.73 146.0 367.8 10.5 1000 14165 0.00 2.53 0.00 0.000 4 0.000 0.097 2663 358 2187 0 0 0 0 0 0
14188 0.73 146.0 364.6 11.6 1002 14193 0.15 2.45 0.00 0.000 6 0.206 0.073 2629 1897 2188 0 0 0 0 0 0
14512 0.73 146.0 333.0 9.3 1032 14513 0.00 0.00 0.00 0.000 6 0.000 0.000 2628 1897 2188 0 0 0 0 0 0
14831 0.73 152.7 302.9 8.9 1062 14842 0.00 2.72 4.40 0.726 4 0.000 0.090 2629 3546 2177 0 0 0 0 0 0
14880 0.73 152.7 298.0 10.4 1066 14886 0.00 2.70 0.00 0.000 6 0.000 0.078 2638 1889 2176 0 0 0 0 0 0
15206 0.75 163.5 268.5 8.7 1097 15222 0.00 2.55 10.75 0.904 4 0.000 0.097 2650 353 2132 0 0 0 0 0 0
15244 0.75 163.5 264.8 9.6 1100 15249 0.00 2.47 0.00 0.000 6 0.000 0.074 2650 1894 2132 0 0 0 0 0 0
15568 0.75 163.5 233.5 9.5 1130 15573 0.00 2.72 0.00 0.000 4 0.000 0.091 2650 3543 2131 0 0 0 0 0 0
15601 0.75 163.5 230.3 10.3 1132 15608 0.12 2.70 0.00 0.000 6 0.208 0.079 2635 1902 2130 0 0 0 0 0 0
15927 0.79 195.4 203.7 7.8 1163 15956 0.00 0.00 27.40 0.920 6 0.000 0.000 2635 1902 2002 0 0 0 0 0 0
16274 0.79 198.6 173.0 9.0 1196 16278 0.00 2.78 0.00 0.000 4 0.000 0.093 2635 3542 1998 0 0 0 0 0 0
16335 0.79 198.6 166.8 10.3 1201 16340 0.00 2.72 0.00 0.000 6 0.000 0.081 2645 1913 1997 0 0 0 0 0 0
16660 0.85 244.1 141.0 7.3 1231 16706 0.00 2.83 40.90 0.891 4 0.000 0.092 2645 3534 1803 0 0 0 0 0 0
16775 0.85 244.1 131.1 9.8 1241 16779 0.00 2.72 0.00 0.000 6 0.000 0.081 2656 1933 1799 0 0 0 0 0 0
17099 0.85 244.1 101.2 9.4 1271 17103 0.00 2.67 0.00 0.000 4 0.000 0.101 2668 352 1795 0 0 0 0 0 0
17148 0.85 244.1 96.3 10.0 1278 17154 0.00 2.60 0.00 0.000 6 0.000 0.077 2668 1939 1794 0 0 0 0 0 0
17491 0.85 244.1 62.2 10.9 1339 17497 0.00 2.70 0.00 0.000 4 0.000 0.094 2668 3542 1793 0 0 0 0 0 0
17519 0.85 244.1 59.2 11.4 1344 17526 0.00 2.67 0.00 0.000 6 0.000 0.083 2680 1937 1792 0 0 0 0 0 0
17865 0.87 264.3 27.1 8.3 1405 17887 0.00 2.75 16.35 0.830 4 0.000 0.094 2680 3543 1720 0 0 0 0 0 0
17962 0.92 307.4 19.4 7.4 1422 18004 0.00 2.70 36.80 0.821 6 0.000 0.082 2692 1933 1546 0 0 0 0 0 0
18137 end climb: SURFACE_DEPTH_REACHED
state 18137 begin surface coast
18161 end surface coast: CONTROL_FINISHED_OK
state 18161 begin surface