Faroes Jun09 * SG105 * Dive index * Mission links * Dive 167 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  105 HEADING  -1 PITCH_ADJ_DBAND  0 ALTIM_TOP_TURN_MARGIN  0
MISSION  6 ESCAPE_HEADING  0 ROLL_MIN  253 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  167 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3840 ALTIM_PING_DEPTH  150
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  25
D_FLARE  4 TGT_DEFAULT_LAT  61.599998 C_ROLL_DIVE  2250 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -8.75 C_ROLL_CLIMB  1454 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_NO_BLEED  200 SM_CC  300 ROLL_CNV  0.028270001 XPDR_VALID  0
D_FINISH  0 N_FILEKB  4 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  25 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  28 INT_PRESSURE_YINT  -1.8522969
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  400 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0 DEVICE1  2
T_DIVE  550 UPLOAD_DIVES_MAX  -1 VBD_MIN  475 DEVICE2  20
T_MISSION  580 CALL_TRIES  5 VBD_MAX  3851 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  2832 DEVICE4  -1
T_TURN  300 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  320 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  0 T_GPS  15 PITCH_VBD_SHIFT  0.0012300001 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  4 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  3 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_CHARGE  -1630963.9 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  27 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  2 RAFOS_DEVICE  -1
MAX_BUOY  150 RAFOS_HIT_WINDOW  3600 AH0_24V  91.800003 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  401 AH0_10V  61.200001 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3705 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2800 PRESSURE_YINT  -18.439545 SEABIRD_T_G  0.0043067979
RHO  1.023 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001163108 SEABIRD_T_H  0.0006302988
MASS  52000 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_T_I  2.3035876e-05
NAV_MODE  1 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.3016955e-06
FERRY_MAX  11 PITCH_GAIN  14 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.448573
KALMAN_USE  2 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_H  1.1833477
HD_A  0.0038945 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.0016540284
HD_B  0.0099684997 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00022965467
HD_C  2.576e-06 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_TURN_MARGIN  10

Pre-dive calculations and measurements:
GPS1  212707,6213.656,-1144.357,33,1.8,34,-11.0 TGT_NAME  EE
_CALLS  1 TGT_LATLONG  6217.000,-1145.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.025,-0.238
_SM_DEPTHo  1.07 KALMAN_X  -160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo  -59.7 KALMAN_Y  127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2  213320,6213.621,-1144.368,12,2.0,12,-11.0 MHEAD_RNG_PITCHd_Wd  6.0,6282,-13.6,-6.000
SPEED_LIMITS  0.104,0.221 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.5,1.015248 ALTIM_BOTTOM_PING  975.4,34.4
SM_CCo  24217,21.75,0.759,0,0,1609,300.00 _24V_AH  23.1,42.520
SM_GC  0.71,0.00,0.00,21.75,0.000,0.000,0.759,384,2251,1609,-11.11,0.03,300.00 _10V_AH  10.1,24.032
IRIDIUM_FIX  6148.92,-1145.72,111098,131336 DATA_FILE_SIZE  59939,1166
TT8_MAMPS  0.027612 CAP_FILE_SIZE  169091,0
HUMID  1874 CFSIZE  260165632,245882880
INTERNAL_PRESSURE  8.12856 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,13,0,0
TCM_TEMP  14.30 GPS  180709,041906,6214.760,-1145.359,40,1.3,46,-11.0
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2512775.07 SBE_CT98524546.10
Roll_motor20766319.58 SBE_O288219387.28
VBD_pump_during_apogee356142911783.60 WL_BB2F6381051549.83
VBD_pump_during_surface21759381.51 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910370.12 nil000.00
Iridium_during_connect2616096.92 nil000.00
Iridium_during_xfer180223930.89
Transponder_ping942087.32
Mmodem_TX000.00
Mmodem_RX000.00
GPS12506.23
TT8213219426.40
LPSleep184972409.16
TT8_Active53419106.81
TT8_Sampling2498391004.32
TT8_CF893945434.77
TT8_Kalman0810.00
Analog_circuits183312222.19
GPS_charging000.00
Compass26958217.81
RAFOS000.00
Transponder613018.73

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -1.10 -103.4 0.0 0.0 0 71 0.00 0.00 -53.78 0.000 6 0.000 0.000 388 2249 3256
74 -1.10 -103.4 2.4 -6.0 2 95 11.43 2.53 0.00 0.000 4 0.127 0.049 2553 3651 3257
380 -1.10 -103.4 48.7 -12.4 15 387 0.00 2.42 0.00 0.000 6 0.000 0.030 2553 2228 3258
697 -1.10 -103.4 85.6 -10.5 31 699 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2228 3259
1005 -1.10 -103.4 114.6 -8.8 46 1010 0.00 2.58 0.00 0.000 4 0.000 0.052 2553 3650 3260
1112 -1.10 -103.4 123.5 -8.2 51 1117 0.00 2.38 0.00 0.000 6 0.000 0.030 2553 2253 3260
1440 -1.12 -116.9 143.2 -5.5 67 1445 0.00 2.53 -0.25 0.000 4 0.000 0.064 2553 3651 3315
1503 -1.12 -118.1 146.9 -6.0 70 1507 0.00 2.40 0.00 0.000 6 0.000 0.030 2553 2243 3316
1833 -1.12 -120.7 165.8 -5.9 86 1838 0.00 2.55 -0.08 0.000 4 0.000 0.066 2553 3651 3333
1877 -1.12 -120.7 168.8 -6.2 88 1881 0.00 2.40 0.00 0.000 6 0.000 0.031 2553 2251 3333
2198 -1.12 -120.7 189.0 -6.5 104 2200 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2251 3333
2507 -1.12 -120.7 210.1 -7.0 119 2511 0.00 2.53 0.00 0.000 4 0.000 0.052 2553 3651 3333
2608 -1.12 -120.7 217.6 -7.9 123 2614 0.00 2.42 0.00 0.000 6 0.000 0.031 2553 2219 3332
2923 -1.12 -120.7 241.3 -7.8 139 2927 0.00 2.60 0.00 0.000 4 0.000 0.054 2553 3654 3332
3012 -1.12 -120.7 249.1 -8.6 143 3016 0.00 2.40 0.00 0.000 6 0.000 0.031 2553 2253 3332
3333 -1.12 -120.7 276.7 -8.7 159 3337 0.00 2.53 0.00 0.000 4 0.000 0.052 2553 3651 3332
3411 -1.12 -120.7 284.2 -9.4 162 3417 0.00 2.40 0.00 0.000 6 0.000 0.031 2553 2248 3332
3729 -1.12 -120.7 312.5 -8.9 178 3733 0.00 2.53 0.00 0.000 4 0.000 0.053 2553 3651 3332
3795 -1.12 -120.7 319.0 -9.5 181 3800 0.00 2.42 0.00 0.000 6 0.000 0.031 2553 2252 3332
4121 -1.12 -120.7 346.9 -8.4 197 4126 0.00 2.53 0.00 0.000 4 0.000 0.053 2553 3653 3331
4188 -1.12 -120.7 353.0 -9.1 200 4192 0.00 2.40 0.00 0.000 6 0.000 0.031 2553 2247 3331
4510 -1.12 -120.7 379.4 -8.2 216 4515 0.00 2.53 0.00 0.000 4 0.000 0.053 2553 3651 3331
4577 -1.12 -120.7 385.4 -8.8 219 4582 0.00 2.40 0.00 0.000 6 0.000 0.031 2553 2248 3331
4898 -1.12 -120.7 412.2 -8.6 235 4902 0.00 2.53 0.00 0.000 4 0.000 0.053 2553 3651 3331
4960 -1.12 -120.7 417.6 -9.0 238 4965 0.00 2.42 0.00 0.000 6 0.000 0.031 2553 2251 3331
5292 -1.12 -120.7 444.8 -8.1 254 5297 0.00 2.53 0.00 0.000 4 0.000 0.053 2553 3651 3331
5349 -1.12 -120.7 449.7 -8.9 256 5356 0.00 2.40 0.00 0.000 6 0.000 0.031 2553 2249 3331
5665 -1.12 -120.7 475.2 -7.9 272 5670 0.00 2.55 0.00 0.000 4 0.000 0.053 2553 3650 3331
5749 -1.12 -120.7 482.3 -8.0 275 5756 0.00 2.42 0.00 0.000 6 0.000 0.031 2553 2250 3331
6064 -1.12 -120.7 506.6 -7.7 291 6069 0.00 2.53 0.00 0.000 4 0.000 0.052 2553 3652 3330
6120 -1.12 -120.7 511.1 -8.3 293 6127 0.00 2.40 0.00 0.000 6 0.000 0.032 2553 2240 3330
6436 -1.12 -120.7 533.8 -6.9 309 6440 0.00 2.55 0.00 0.000 4 0.000 0.054 2553 3651 3330
6530 -1.12 -120.7 541.1 -7.5 313 6534 0.00 2.40 0.00 0.000 6 0.000 0.031 2553 2250 3330
6846 -1.12 -120.7 562.2 -6.7 328 6851 0.00 2.53 0.00 0.000 4 0.000 0.053 2553 3652 3330
6913 -1.12 -120.7 567.2 -7.7 331 6918 0.00 2.42 0.00 0.000 6 0.000 0.032 2553 2255 3330
7239 -1.12 -120.7 589.7 -7.3 347 7243 0.00 2.50 0.00 0.000 4 0.000 0.052 2553 3650 3330
7325 -1.12 -120.7 596.3 -8.3 351 7329 0.00 2.40 0.00 0.000 6 0.000 0.032 2553 2250 3329
7651 -1.12 -120.7 620.5 -7.4 367 7655 0.00 2.53 0.00 0.000 4 0.000 0.053 2553 3655 3329
7690 -1.12 -120.7 623.5 -7.8 369 7694 0.00 2.40 0.00 0.000 6 0.000 0.032 2553 2251 3329
8020 -1.12 -120.7 647.0 -7.1 385 8024 0.00 2.53 0.00 0.000 4 0.000 0.053 2553 3653 3329
8104 -1.12 -120.7 653.5 -7.5 389 8108 0.00 2.40 0.00 0.000 6 0.000 0.033 2553 2252 3329
8430 -1.12 -120.7 676.6 -7.0 405 8435 0.00 2.55 0.00 0.000 4 0.000 0.053 2553 3653 3329
8497 -1.12 -120.7 682.0 -8.5 408 8502 0.00 2.42 0.00 0.000 6 0.000 0.033 2553 2238 3329
8824 -1.12 -120.7 707.6 -7.7 424 8828 0.00 2.55 0.00 0.000 4 0.000 0.054 2553 3651 3328
8896 -1.12 -120.7 713.4 -8.6 427 8900 0.00 2.40 0.00 0.000 6 0.000 0.032 2553 2254 3329
9212 -1.12 -121.0 733.7 -6.0 442 9216 0.00 2.53 0.00 0.000 4 0.000 0.054 2553 3654 3329
9261 -1.12 -121.0 737.1 -6.9 444 9265 0.00 2.42 0.00 0.000 6 0.000 0.032 2553 2244 3329
9577 -1.12 -121.0 756.1 -6.3 459 9579 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2244 3329
9886 -1.12 -121.0 779.3 -8.0 474 9890 0.00 2.55 0.00 0.000 4 0.000 0.055 2553 3651 3328
9912 -1.12 -121.0 781.7 -9.7 475 9917 0.00 2.42 0.00 0.000 6 0.000 0.034 2553 2244 3328
10228 -1.12 -121.0 806.2 -7.4 490 10229 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2244 3328
10538 -1.12 -121.0 828.3 -7.3 505 10543 0.00 2.47 0.00 0.000 4 0.000 0.049 2553 844 3328
10561 -1.12 -121.0 830.0 -7.1 506 10566 0.00 2.45 0.00 0.000 6 0.000 0.035 2553 2259 3328
10882 -1.12 -121.0 854.9 -8.0 522 10883 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2259 3328
11192 -1.12 -121.0 877.2 -6.8 537 11193 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2260 3328
11501 -1.12 -121.0 897.6 -6.7 552 11502 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2260 3328
11811 -1.13 -123.7 916.1 -5.9 567 11816 0.00 2.55 0.00 0.000 4 0.000 0.059 2553 3648 3327
11933 -1.13 -123.7 924.9 -7.0 572 11944 0.00 2.42 0.00 0.000 6 0.000 0.036 2553 2251 3327
12260 -1.13 -123.7 944.8 -6.1 588 12261 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2251 3327
12569 -1.13 -123.7 964.8 -6.6 603 12571 0.00 0.00 0.00 0.000 6 0.000 0.000 2553 2251 3326
12878 -1.13 -123.7 985.0 -6.6 618 12883 0.00 2.55 0.00 0.000 4 0.000 0.060 2553 3647 3325
12953 end dive: TARGET_DEPTH_EXCEEDED
state 12953 begin apogee
12964 -0.36 0.0 990.2 6.2 621 13077 0.75 0.00 109.55 1.430 6 0.064 0.000 2719 1464 2832
13077 end apogee: CONTROL_FINISHED_OK
state 13077 begin climb
13080 1.13 123.7 992.6 0.0 627 13199 1.50 0.00 114.32 1.389 6 0.048 0.000 3048 1464 2327
13502 1.13 123.7 969.7 7.8 648 13506 0.00 2.50 0.00 0.000 4 0.000 0.048 3048 2857 2318
13546 1.13 123.7 965.8 8.2 650 13550 0.00 2.53 0.00 0.000 6 0.000 0.044 3048 1451 2317
13869 1.13 123.7 937.7 10.0 666 13873 0.00 2.20 0.00 0.000 4 0.000 0.067 3048 261 2316
13970 1.13 123.7 926.4 11.5 670 13974 0.00 2.05 0.00 0.000 6 0.000 0.038 3048 1456 2315
14292 1.13 123.7 897.0 7.2 686 14293 0.00 0.00 0.00 0.000 6 0.000 0.000 3048 1456 2313
14603 1.24 215.5 885.7 2.4 701 14694 0.00 2.62 83.85 1.375 4 0.000 0.051 3048 2854 1952
14759 1.29 256.6 880.0 4.4 708 14805 0.15 2.53 39.42 1.320 6 0.036 0.043 3110 1450 1784
15129 1.29 256.6 846.5 10.7 726 15134 0.15 2.17 0.00 0.000 4 0.077 0.062 3080 263 1773
15162 1.29 256.6 842.6 9.6 727 15168 0.00 2.05 0.00 0.000 6 0.000 0.037 3079 1455 1773
15480 1.29 256.6 811.2 10.2 743 15483 0.00 2.20 0.00 0.000 4 0.000 0.060 3079 259 1771
15519 1.29 256.6 806.8 10.9 744 15526 0.00 2.05 0.00 0.000 6 0.000 0.035 3079 1457 1771
15835 1.29 256.6 774.9 10.5 760 15836 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1457 1770
16144 1.29 256.6 740.1 11.8 775 16148 0.00 2.17 0.00 0.000 4 0.000 0.058 3079 262 1769
16183 1.29 256.6 735.0 12.7 776 16189 0.00 2.05 0.00 0.000 6 0.000 0.035 3079 1456 1769
16501 1.29 256.6 699.2 11.1 792 16505 0.00 2.50 0.00 0.000 4 0.000 0.048 3079 2854 1769
16529 1.29 256.6 695.6 12.4 793 16534 0.00 2.50 0.00 0.000 6 0.000 0.039 3079 1452 1768
16849 1.29 256.6 660.9 10.2 809 16851 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1452 1768
17159 1.29 256.6 631.2 9.4 824 17160 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 1452 1768
17468 1.29 256.6 602.2 9.6 839 17473 0.00 2.50 0.00 0.000 4 0.000 0.044 3079 2845 1768
17495 1.29 256.6 599.4 10.4 840 17499 0.00 2.45 0.00 0.000 6 0.000 0.039 3079 1453 1768
17817 1.29 256.6 567.9 9.9 856 17818 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1453 1768
18126 1.29 256.6 536.2 10.3 871 18127 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1452 1768
18435 1.29 256.6 503.7 10.7 886 18440 0.00 2.47 0.00 0.000 4 0.000 0.044 3079 2853 1769
18479 1.29 256.6 498.8 10.8 888 18484 0.00 2.45 0.00 0.000 6 0.000 0.039 3079 1456 1768
18801 1.29 256.6 464.9 10.7 904 18803 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1456 1768
19109 1.29 256.6 433.0 10.0 919 19110 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1456 1769
19419 1.29 256.6 402.4 9.7 934 19423 0.00 2.47 0.00 0.000 4 0.000 0.043 3079 2860 1769
19459 1.29 256.6 398.5 9.8 936 19463 0.00 2.47 0.00 0.000 6 0.000 0.039 3079 1447 1769
19786 1.29 256.6 367.3 9.5 952 19787 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1447 1769
20094 1.29 256.6 338.9 8.9 967 20095 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1447 1770
20404 1.29 256.6 311.3 8.6 982 20408 0.00 2.47 0.00 0.000 4 0.000 0.044 3079 2855 1770
20443 1.29 256.6 307.7 9.6 984 20447 0.00 2.45 0.00 0.000 6 0.000 0.039 3080 1456 1769
20769 1.29 256.6 279.6 8.6 1000 20770 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1456 1769
21078 1.29 256.6 252.8 8.7 1015 21080 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1456 1769
21387 1.29 256.6 225.2 8.9 1030 21392 0.00 2.47 0.00 0.000 4 0.000 0.042 3079 2861 1769
21427 1.29 256.6 221.6 9.8 1032 21431 0.00 2.47 0.00 0.000 6 0.000 0.039 3080 1448 1769
21753 1.29 256.6 192.8 8.8 1048 21755 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1449 1770
22062 1.29 256.6 165.8 8.7 1063 22067 0.00 2.47 0.00 0.000 4 0.000 0.042 3079 2860 1770
22102 1.29 256.6 162.5 8.4 1065 22106 0.00 2.47 0.00 0.000 6 0.000 0.038 3080 1447 1770
22429 1.29 256.6 134.1 8.9 1081 22430 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1447 1770
22738 1.29 256.6 108.3 8.1 1096 22739 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1447 1770
23048 1.29 256.6 86.2 6.5 1111 23053 0.00 2.47 0.00 0.000 4 0.000 0.043 3079 2856 1770
23082 1.30 264.1 84.0 5.7 1112 23092 0.00 2.45 5.25 0.643 6 0.000 0.038 3079 1454 1755
23420 1.30 264.1 64.3 6.1 1129 23425 0.00 2.47 0.00 0.000 4 0.000 0.042 3079 2857 1754
23454 1.30 267.0 62.0 5.9 1130 23465 0.00 2.45 4.40 0.581 6 0.000 0.038 3079 1453 1742
23793 1.30 267.0 34.4 7.7 1147 23796 0.00 2.15 0.00 0.000 4 0.000 0.058 3079 258 1741
23838 1.30 267.0 30.8 7.0 1149 23843 0.00 2.05 0.00 0.000 6 0.000 0.031 3079 1460 1742
24168 end climb: SURFACE_DEPTH_REACHED
state 24168 begin surface coast
24191 end surface coast: CONTROL_FINISHED_OK
state 24193 begin surface