Monterey Mar10 * SG503 * Dive index * Mission links * Dive 157 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  503 HEADING  -1 ROLL_MIN  187 ALTIM_BOTTOM_TURN_MARGIN  10
MISSION  5 ESCAPE_HEADING  0 ROLL_MAX  3764 ALTIM_TOP_TURN_MARGIN  0
DIVE  157 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1800 ALTIM_PING_DEPTH  500
D_FLARE  3 TGT_DEFAULT_LAT  3647.3999 C_ROLL_CLIMB  1750 ALTIM_PING_DELTA  50
D_TGT  991 TGT_DEFAULT_LON  -12151.5 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1070 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  2
D_NO_BLEED  200 SM_CC  250 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  4
D_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  39 XPDR_VALID  1
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  53 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  400 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 INT_PRESSURE_YINT  0
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  0 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  445 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3956 DEVICE1  2
T_DIVE  420 CALL_TRIES  5 C_VBD  2792 DEVICE2  101
T_MISSION  480 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  83
T_ABORT  1440 CAPUPLOAD  0 VBD_CNV  -0.245296 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  360 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  12 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE1  -1
USE_BATHY  -2 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -11318.63 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  1001 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  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  120 PITCH_MIN  203 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3889 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2700 FG_AHR_24V  0 SEABIRD_T_G  0.0043281103
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00062152545
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_YINT  -51.589809 SEABIRD_T_I  2.1491383e-05
MASS  52098 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.00011732637 SEABIRD_T_J  2.0368557e-06
NAV_MODE  0 PITCH_GAIN  37 AD7714Ch0Gain  128 SEABIRD_C_G  -10.162479
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1594115
KALMAN_USE  2 PITCH_AD_RATE  175 TCM_ROLL_OFFSET  0 SEABIRD_C_I  4.3937558e-05
HD_A  0.003 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  0.00011023274
HD_B  0.0099999998 PITCH_ADJ_GAIN  0.02 ALTIM_BOTTOM_PING_RANGE  0
HD_C  9.9999997e-06 PITCH_ADJ_DBAND  2 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  023331,3643.207,-12209.624,109,0.8,109,14.8 TGT_NAME  SIX
_CALLS  1 TGT_LATLONG  3641.000,-12210.000
_XMS_NAKs  4 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.68 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -75.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  024050,3643.171,-12209.638,13,1.2,13,14.8 MHEAD_RNG_PITCHd_Wd  172.8,4056,-18.5,-7.865
SPEED_LIMITS  0.136,0.217 D_GRID  835

Post-dive calculations and measurements:
FINISH  0.1,1.001451 _10V_AH  9.8,35.034
SM_CCo  17663,0.88,0.094,0,0,1771,250.20 FG_AHR_24Vo  0.000
SM_GC  1.64,0.00,0.00,0.88,0.000,0.000,0.094,186,1755,1771,-7.86,-1.27,250.20 FG_AHR_10Vo  0.000
IRIDIUM_FIX  3632.29,-12134.69,130799,222247 MEM  286700
TT8_MAMPS  0.052156 DATA_FILE_SIZE  117283,1681
HUMID  54.80 CAP_FILE_SIZE  197529,0
INTERNAL_PRESSURE  9.36559 CFSIZE  260165632,239116288
TCM_TEMP  16.40 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  58 GPS  190410,073731,3641.300,-12209.378,111,1.1,111,14.8
_24V_AH  23.7,23.311

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1821094.01 SBE_CT116524662.67
Roll_motor18243188.66 AA43303516332750.41
VBD_pump_during_apogee31610968229.83 WL_BBFL2VMT25181056267.32
VBD_pump_during_surface0931.94 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2610363.49 nil000.00
Iridium_during_connect32160124.02 nil000.00
Iridium_during_xfer2592231370.07
Transponder_ping16420161.75
GUMSTIX_24V000.00
GPS15507.56
TT80190.00
LPSleep125342269.03
TT8_Active5021997.56
TT8_Sampling4449391735.51
TT8_CF857945260.12
TT8_Kalman000.00
Analog_circuits194812229.12
GPS_charging000.00
Compass38138299.00
RAFOS000.00
Transponder13303.99

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
10 end surface: CONTROL_FINISHED_OK
state 10 begin dive
12 -0.61 -88.2 0.0 0.0 0 52 0.00 0.00 -38.03 0.000 2 0.000 0.000 183 1755 2799 0 0 0 0 0 0
53 -0.64 -116.8 3.5 -5.9 7 80 8.65 2.28 -10.20 0.000 4 0.210 0.044 2473 3197 3272 0 0 0 0 0 0
320 -0.64 -116.8 48.7 -14.6 57 326 0.00 2.20 0.00 0.000 6 0.000 0.036 2473 1789 3274 0 0 0 0 0 0
646 -0.56 -116.8 100.6 -14.4 118 653 0.15 2.17 0.00 0.000 4 0.144 0.038 2521 405 3274 0 0 0 0 0 0
684 -0.56 -116.8 105.8 -13.3 125 690 0.00 2.10 0.00 0.000 6 0.000 0.033 2513 1797 3274 0 0 0 0 0 0
1010 -0.56 -116.8 140.2 -10.6 186 1017 0.00 2.17 0.00 0.000 4 0.000 0.037 2513 405 3274 0 0 0 0 0 0
1075 -0.56 -116.8 147.9 -12.1 198 1081 0.00 2.10 0.00 0.000 6 0.000 0.024 2505 1803 3275 0 0 0 0 0 0
1401 -0.56 -116.8 183.4 -10.7 259 1407 0.00 2.17 0.00 0.000 4 0.000 0.038 2505 403 3274 0 0 0 0 0 0
1508 -0.56 -116.8 195.6 -11.2 279 1514 0.00 2.08 0.00 0.000 6 0.000 0.023 2496 1795 3275 0 0 0 0 0 0
1829 -0.56 -116.8 231.2 -11.2 314 1830 0.00 0.00 0.00 0.000 6 0.000 0.000 2495 1796 3275 0 0 0 0 0 0
2140 -0.56 -116.8 268.0 -11.7 344 2144 0.00 2.15 0.00 0.000 4 0.000 0.038 2495 406 3274 0 0 0 0 0 0
2161 -0.56 -116.8 270.6 -12.3 346 2165 0.08 2.08 0.00 0.000 6 0.117 0.023 2516 1794 3274 0 0 0 0 0 0
2482 -0.63 -116.8 303.3 -9.7 377 2483 0.00 0.00 0.00 0.000 6 0.000 0.000 2516 1796 3274 0 0 0 0 0 0
2794 -0.69 -116.8 333.5 -9.8 407 2797 0.12 2.15 0.00 0.000 4 0.083 0.038 2440 393 3273 0 0 0 0 0 0
2829 -0.59 -116.8 338.9 -16.1 410 2834 0.22 2.10 0.00 0.000 6 0.113 0.023 2509 1805 3273 0 0 0 0 0 0
3151 -0.65 -116.8 369.8 -8.9 441 3154 0.00 2.12 0.00 0.000 4 0.000 0.031 2500 3195 3273 0 0 0 0 0 0
3172 -0.72 -116.8 371.6 -8.8 443 3175 0.00 2.12 0.00 0.000 6 0.000 0.025 2500 1801 3273 0 0 0 0 0 0
3492 -0.72 -116.8 400.8 -9.4 474 3492 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1801 3273 0 0 0 0 0 0
3803 -0.77 -116.8 429.4 -9.1 504 3807 0.12 2.17 0.00 0.000 4 0.084 0.031 2416 3199 3272 0 0 0 0 0 0
3814 -0.77 -116.8 430.4 -9.4 505 3817 0.12 2.12 0.00 0.000 6 0.150 0.026 2453 1790 3272 0 0 0 0 0 0
4133 -0.77 -116.8 471.0 -12.9 536 4138 0.00 2.15 0.00 0.000 4 0.000 0.030 2445 3194 3272 0 0 0 0 0 0
4154 -0.77 -116.8 473.7 -13.0 538 4159 0.00 2.12 0.00 0.000 6 0.000 0.025 2444 1803 3272 0 0 0 0 0 0
4483 -0.72 -116.8 516.8 -13.0 564 4488 0.00 2.15 0.00 0.000 4 0.000 0.031 2436 3195 3271 0 0 0 0 0 0
4499 -0.72 -116.8 518.8 -12.7 564 4507 0.12 2.15 0.00 0.000 6 0.142 0.025 2474 1797 3271 0 0 0 0 0 0
4810 -0.72 -116.8 552.1 -10.3 580 4814 0.00 2.15 0.00 0.000 4 0.000 0.031 2465 3192 3270 0 0 0 0 0 0
4825 -0.72 -116.8 553.8 -10.3 580 4833 0.00 2.15 0.00 0.000 6 0.000 0.026 2465 1800 3270 0 0 0 0 0 0
5135 -0.72 -116.8 587.7 -11.0 596 5140 0.00 2.15 0.00 0.000 4 0.000 0.038 2465 405 3270 0 0 0 0 0 0
5162 -0.72 -116.8 590.8 -11.8 597 5166 0.00 2.08 0.00 0.000 6 0.000 0.024 2455 1793 3270 0 0 0 0 0 0
5484 -0.72 -116.8 628.5 -11.3 613 5484 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 1793 3269 0 0 0 0 0 0
5788 -0.72 -116.8 663.4 -11.1 628 5792 0.00 2.15 0.00 0.000 4 0.000 0.032 2445 3193 3269 0 0 0 0 0 0
5820 -0.72 -116.8 666.9 -11.1 629 5824 0.00 2.12 0.00 0.000 6 0.000 0.026 2445 1807 3269 0 0 0 0 0 0
6137 -0.72 -116.8 701.2 -10.6 645 6140 0.00 2.15 0.00 0.000 4 0.000 0.039 2445 396 3269 0 0 0 0 0 0
6161 -0.67 -116.8 704.3 -11.9 646 6166 0.12 2.10 0.00 0.000 6 0.108 0.024 2483 1802 3269 0 0 0 0 0 0
6483 -0.71 -116.8 732.7 -8.1 662 6487 0.00 2.12 0.00 0.000 4 0.000 0.031 2474 3186 3268 0 0 0 0 0 0
6498 -0.76 -116.8 733.9 -8.1 662 6505 0.00 2.12 0.00 0.000 6 0.000 0.026 2474 1798 3268 0 0 0 0 0 0
6809 -0.76 -116.8 761.3 -8.7 678 6813 0.00 2.17 0.00 0.000 4 0.000 0.040 2474 396 3268 0 0 0 0 0 0
6840 -0.76 -116.8 764.5 -9.8 679 6845 0.00 2.12 0.00 0.000 6 0.000 0.024 2466 1807 3267 0 0 0 0 0 0
7156 -0.76 -116.8 794.3 -9.4 695 7160 0.00 2.12 0.00 0.000 4 0.000 0.031 2456 3194 3267 0 0 0 0 0 0
7221 -0.81 -116.8 800.1 -9.1 698 7225 0.00 2.12 0.00 0.000 6 0.000 0.027 2456 1792 3267 0 0 0 0 0 0
7541 -0.81 -116.8 834.8 -11.3 714 7545 0.00 2.17 0.00 0.000 4 0.000 0.031 2448 3197 3267 0 0 0 0 0 0
7550 end dive: TARGET_DEPTH_EXCEEDED
state 7550 begin apogee
7555 -0.14 0.0 836.0 11.3 714 7652 0.57 0.00 94.40 1.097 6 0.104 0.000 2649 1746 2792 0 0 0 0 0 0
7652 end apogee: CONTROL_FINISHED_OK
state 7652 begin climb
7653 0.64 116.8 839.9 0.0 719 7762 0.70 2.33 101.12 1.065 4 0.059 0.031 2909 3143 2314 0 0 0 0 0 0
7794 0.56 132.5 838.9 6.9 726 7816 0.10 2.30 14.45 0.979 6 0.146 0.030 2889 1750 2252 0 0 0 0 0 0
8119 0.56 132.5 813.3 8.2 742 8123 0.00 2.25 0.00 0.000 4 0.000 0.032 2889 3144 2246 0 0 0 0 0 0
8210 0.52 132.5 805.1 9.1 746 8214 0.00 2.22 0.00 0.000 6 0.000 0.029 2898 1748 2244 0 0 0 0 0 0
8530 0.48 132.5 774.3 9.7 762 8535 0.15 2.20 0.00 0.000 4 0.153 0.031 2854 3149 2243 0 0 0 0 0 0
8642 0.48 132.5 764.7 8.4 767 8647 0.00 2.20 0.00 0.000 6 0.000 0.028 2864 1749 2242 0 0 0 0 0 0
8964 0.48 136.3 739.6 7.6 783 8965 0.00 0.00 0.00 0.000 6 0.000 0.000 2864 1749 2241 0 0 0 0 0 0
9268 0.50 148.7 717.2 7.1 798 9285 0.00 2.22 13.18 0.975 4 0.000 0.031 2864 3148 2184 0 0 0 0 0 0
9321 0.50 148.7 712.8 9.2 799 9327 0.00 2.20 0.00 0.000 6 0.000 0.028 2874 1750 2184 0 0 0 0 0 0
9632 0.50 148.7 686.5 8.6 815 9636 0.00 2.20 0.00 0.000 4 0.000 0.031 2874 3145 2184 0 0 0 0 0 0
9754 0.50 148.7 675.5 9.2 820 9761 0.00 2.17 0.00 0.000 6 0.000 0.028 2885 1751 2183 0 0 0 0 0 0
10064 0.50 148.7 648.8 8.4 836 10068 0.00 2.17 0.00 0.000 4 0.000 0.030 2885 3150 2183 0 0 0 0 0 0
10112 0.50 148.7 644.7 8.6 838 10117 0.10 2.17 0.00 0.000 6 0.121 0.028 2860 1751 2183 0 0 0 0 0 0
10434 0.57 165.8 622.1 6.8 854 10456 0.00 2.20 15.20 0.941 4 0.000 0.031 2860 3145 2116 0 0 0 0 0 0
10523 0.57 165.8 615.1 8.2 858 10528 0.00 2.20 0.00 0.000 6 0.000 0.028 2869 1750 2116 0 0 0 0 0 0
10845 0.57 168.3 590.6 7.7 874 10854 0.00 2.22 3.83 0.634 4 0.000 0.031 2869 3154 2106 0 0 0 0 0 0
10891 0.57 168.3 586.5 9.0 876 10896 0.00 2.22 0.00 0.000 6 0.000 0.028 2880 1742 2105 0 0 0 0 0 0
11213 0.57 168.3 559.3 8.3 892 11214 0.00 0.00 0.00 0.000 6 0.000 0.000 2880 1742 2105 0 0 0 0 0 0
11519 0.57 170.9 536.0 7.7 907 11528 0.00 2.22 3.80 0.618 4 0.000 0.031 2880 3150 2095 0 0 0 0 0 0
11592 0.57 170.9 529.7 8.4 910 11596 0.00 2.20 0.00 0.000 6 0.000 0.028 2890 1749 2095 0 0 0 0 0 0
11908 0.57 170.9 503.5 8.2 926 11912 0.00 2.17 0.00 0.000 4 0.000 0.030 2890 3148 2095 0 0 0 0 0 0
11966 0.57 170.9 498.6 8.5 929 11972 0.00 2.17 0.00 0.000 6 0.000 0.028 2901 1749 2095 0 0 0 0 0 0
12281 0.57 170.9 470.8 8.7 960 12286 0.00 2.17 0.00 0.000 4 0.000 0.030 2901 3150 2095 0 0 0 0 0 0
12329 0.57 170.9 466.3 9.4 964 12336 0.00 2.20 0.00 0.000 6 0.000 0.028 2912 1743 2094 0 0 0 0 0 0
12645 0.57 170.9 435.9 10.1 995 12649 0.00 2.17 0.00 0.000 4 0.000 0.030 2913 3151 2094 0 0 0 0 0 0
12752 0.57 170.9 424.7 9.7 1005 12756 0.10 2.17 0.00 0.000 6 0.122 0.028 2887 1748 2094 0 0 0 0 0 0
13072 0.57 171.1 398.0 7.9 1036 13077 0.00 2.15 0.00 0.000 4 0.000 0.030 2886 3139 2094 0 0 0 0 0 0
13163 0.58 176.8 390.1 7.5 1044 13173 0.00 2.15 6.43 0.722 6 0.000 0.028 2895 1747 2070 0 0 0 0 0 0
13489 0.58 176.8 360.8 9.5 1076 13493 0.00 2.15 0.00 0.000 4 0.000 0.030 2895 3139 2071 0 0 0 0 0 0
13569 0.58 176.8 353.0 10.2 1083 13575 0.00 2.17 0.00 0.000 6 0.000 0.028 2906 1747 2070 0 0 0 0 0 0
13884 0.58 176.8 321.7 9.6 1114 13889 0.00 2.15 0.00 0.000 4 0.000 0.031 2906 3138 2071 0 0 0 0 0 0
13927 0.58 176.8 317.7 9.0 1118 13931 0.08 2.15 0.00 0.000 6 0.124 0.028 2889 1749 2070 0 0 0 0 0 0
14249 0.60 188.9 293.8 7.1 1149 14264 0.00 2.15 11.48 0.733 4 0.000 0.028 2889 3148 2020 0 0 0 0 0 0
14299 0.60 188.9 289.9 8.0 1153 14306 0.00 2.20 0.00 0.000 6 0.000 0.028 2898 1745 2020 0 0 0 0 0 0
14615 0.60 195.5 266.0 7.5 1184 14628 0.00 2.17 7.25 0.670 4 0.000 0.029 2898 3138 1993 0 0 0 0 0 0
14680 0.60 195.5 260.8 7.9 1190 14684 0.00 2.15 0.00 0.000 6 0.000 0.028 2909 1754 1993 0 0 0 0 0 0
15001 0.60 195.5 233.9 8.6 1221 15005 0.00 2.15 0.00 0.000 4 0.000 0.031 2909 3145 1993 0 0 0 0 0 0
15069 0.60 195.5 227.5 9.5 1227 15076 0.00 2.20 0.00 0.000 6 0.000 0.028 2920 1742 1993 0 0 0 0 0 0
15385 0.60 195.5 199.7 8.5 1258 15392 0.00 2.17 0.00 0.000 4 0.000 0.041 2931 346 1993 0 0 0 0 0 0
15418 0.60 195.5 196.5 9.5 1264 15425 0.10 2.10 0.00 0.000 6 0.109 0.024 2893 1749 1993 0 0 0 0 0 0
15746 0.68 217.3 171.7 6.6 1325 15768 0.00 2.20 18.75 0.673 4 0.000 0.031 2893 3148 1905 0 0 0 0 0 0
15874 0.73 217.3 161.7 8.0 1349 15881 0.05 2.17 0.00 0.000 6 0.069 0.028 2949 1753 1904 0 0 0 0 0 0
16202 0.73 217.3 128.6 11.1 1410 16208 0.00 2.20 0.00 0.000 4 0.000 0.041 2961 349 1904 0 0 0 0 0 0
16234 0.68 217.3 124.4 13.5 1416 16240 0.10 2.10 0.00 0.000 6 0.114 0.024 2923 1742 1904 0 0 0 0 0 0
16561 0.68 217.3 90.9 8.9 1477 16566 0.00 2.17 0.00 0.000 4 0.000 0.029 2923 3154 1904 0 0 0 0 0 0
16635 0.68 217.3 84.4 8.2 1491 16642 0.00 2.17 0.00 0.000 6 0.000 0.028 2932 1746 1904 0 0 0 0 0 0
16962 0.68 217.3 49.3 9.2 1552 16968 0.00 2.17 0.00 0.000 4 0.000 0.030 2932 3155 1904 0 0 0 0 0 0
17004 0.68 217.3 45.2 9.1 1560 17011 0.00 2.17 0.00 0.000 6 0.000 0.028 2943 1748 1904 0 0 0 0 0 0
17331 0.71 243.1 22.9 6.3 1621 17358 0.00 2.15 21.12 0.578 4 0.000 0.028 2943 3155 1801 0 0 0 0 0 0
17475 0.72 247.8 12.5 7.6 1648 17487 0.00 2.17 5.60 0.490 6 0.000 0.028 2954 1756 1782 0 0 0 0 0 0
17608 end climb: SURFACE_DEPTH_REACHED
state 17608 begin surface coast
17651 end surface coast: CONTROL_FINISHED_OK
state 17651 begin surface