OKMC Jun11 * SG181 * Dive index * Mission links * Dive 17 * 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  17 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  38 DEEPGLIDERMB  0
N_DIVES  25 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  68 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  500 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  0 DEVICE3  39
D_ABORT  1050 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  300 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  350 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  -39531.438 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  -7 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  2330 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -5 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  2.0
MAX_BUOY  200 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  2.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  42 ALTIM_TOP_PING_RANGE  0 TM_STARTS  2.0
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  0.0099999998 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  100.0
FERRY_MAX  45 PITCH_ADJ_DBAND  1 ALTIM_PING_DELTA  10 LA_PROFILE  2.0
KALMAN_USE  2 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  2.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  40 ALTIM_SENSITIVITY  2 LA_STARTS  12.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2600 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2270 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  10 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  140611,041201,2149.207,12007.562,38,1.5,38,-2.6 TGT_NAME  W2
_CALLS  1 TGT_LATLONG  2145.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.55 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -71.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  140611,041902,2149.205,12007.612,13,1.2,13,-2.6 MHEAD_RNG_PITCHd_Wd  250.4,15235,-16.3,-11.000
SPEED_LIMITS  0.191,0.305 D_GRID  1196

Post-dive calculations and measurements:
FINISH  -0.4,1.010015 _10V_AH  10.3,3.513
SM_CCo  16161,0.00,0.000,0,0,436,596.81 FG_AHR_24Vo  0.000
SM_GC  0.26,6.65,0.00,0.00,0.037,0.000,0.000,208,2620,436,-6.55,0.59,596.81,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2141.13,12012.04,130611,232327 MEM  323180
TT8_MAMPS  0.027713,0.027713 DATA_FILE_SIZE  97113,1455
HUMID  40.74 CAP_FILE_SIZE  189390,0
INTERNAL_PRESSURE  9.307 CFSIZE  260165632,249397248
TCM_TEMP  24.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.221, 73.3,1
_24V_AH  24.0,3.337 GPS  140611,085007,2148.879,12007.272,39,1.0,39,-2.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor18240106.13 SBE_CT101224582.99
Roll_motor17157235.88 AA43302215331754.75
VBD_pump_during_apogee629113917200.41 WL_BB2F17981054532.77
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2210356.63 nil000.00
Iridium_during_connect61160235.21 TMicro000.00
Iridium_during_xfer182223977.06 LAB000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS15508.16
TT8370519755.67
LPSleep80582181.77
TT8_Active69719142.24
TT8_Sampling3763391542.80
TT8_CF834145161.04
TT8_Kalman000.00
Analog_circuits216112267.14
GPS_charging000.00
Compass248515383.96
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.63 -194.6 0.0 0.0 0 100 0.00 0.00 -81.28 0.000 2 0.000 0.000 201 2638 2747 0 0 0 0 0 0
103 -0.63 -194.6 3.9 -7.3 11 136 7.90 2.22 -16.08 0.000 4 0.241 0.045 2118 1176 3665 0 0 0 0 0 0
191 -0.53 -194.6 40.7 -28.5 25 201 0.15 2.22 0.00 0.000 6 0.168 0.047 2152 2551 3666 0 0 0 0 0 0
395 -0.38 -194.6 105.7 -29.5 62 403 0.20 1.95 0.00 0.000 4 0.186 0.047 2196 3785 3668 0 0 0 0 0 0
471 -0.39 -194.6 121.4 -14.1 75 479 0.00 1.83 0.00 0.000 6 0.000 0.028 2196 2568 3668 0 0 0 0 0 0
674 -0.37 -194.6 148.5 -14.8 112 682 0.00 2.05 0.00 0.000 4 0.000 0.032 2196 1206 3669 0 0 0 0 0 0
761 -0.42 -194.6 159.7 -11.1 127 769 0.00 2.17 0.00 0.000 6 0.000 0.037 2194 2602 3669 0 0 0 0 0 0
964 -0.44 -194.6 184.8 -11.4 164 972 0.00 1.83 0.00 0.000 4 0.000 0.047 2192 3777 3669 0 0 0 0 0 0
1045 -0.51 -194.6 192.0 -7.8 178 1053 0.00 1.75 0.00 0.000 6 0.000 0.028 2196 2597 3669 0 0 0 0 0 0
1250 -0.54 -194.6 208.7 -8.4 215 1258 0.12 2.10 0.00 0.000 4 0.081 0.034 2124 1210 3668 0 0 0 0 0 0
1320 -0.52 -194.6 217.7 -14.4 227 1328 0.12 2.17 0.00 0.000 6 0.133 0.041 2158 2601 3668 0 0 0 0 0 0
1522 -0.50 -194.6 248.7 -15.4 264 1530 0.00 1.83 0.00 0.000 4 0.000 0.048 2151 3782 3667 0 0 0 0 0 0
1572 -0.53 -194.6 255.5 -13.2 269 1576 0.00 1.70 0.00 0.000 6 0.000 0.029 2152 2606 3668 0 0 0 0 0 0
1905 -0.53 -194.6 299.0 -13.7 300 1908 0.00 2.05 0.00 0.000 4 0.000 0.034 2151 1214 3666 0 0 0 0 0 0
1938 -0.54 -194.6 303.9 -14.0 303 1942 0.00 2.12 0.00 0.000 6 0.000 0.041 2151 2601 3665 0 0 0 0 0 0
2263 -0.54 -194.6 349.2 -14.3 333 2267 0.00 2.10 0.00 0.000 4 0.000 0.035 2150 1198 3663 0 0 0 0 0 0
2309 -0.57 -194.6 355.0 -12.2 337 2313 0.00 2.15 0.00 0.000 6 0.000 0.041 2151 2602 3663 0 0 0 0 0 0
2635 -0.59 -194.6 386.8 -8.3 367 2639 0.00 1.80 0.00 0.000 4 0.000 0.050 2151 3788 3660 0 0 0 0 0 0
2696 -0.64 -194.6 391.3 -7.0 372 2703 0.00 1.77 0.00 0.000 6 0.000 0.031 2151 2579 3659 0 0 0 0 0 0
3022 -0.66 -194.6 415.4 -7.6 403 3024 0.10 0.00 0.00 0.000 6 0.098 0.000 2096 2579 3657 0 0 0 0 0 0
3342 -0.61 -194.6 468.8 -17.6 433 3346 0.12 2.05 0.00 0.000 4 0.158 0.038 2129 1204 3653 0 0 0 0 0 0
3393 -0.63 -194.6 476.6 -13.5 437 3397 0.00 2.15 0.00 0.000 6 0.000 0.043 2125 2602 3654 0 0 0 0 0 0
3720 -0.62 -194.6 522.7 -14.3 467 3724 0.00 1.80 0.00 0.000 4 0.000 0.053 2117 3786 3651 0 0 0 0 0 0
3755 -0.62 -194.6 528.1 -14.5 470 3759 0.00 1.75 0.00 0.000 6 0.000 0.033 2117 2608 3651 0 0 0 0 0 0
4087 -0.61 -194.6 575.9 -13.9 501 4090 0.00 2.10 0.00 0.000 4 0.000 0.040 2117 1194 3648 0 0 0 0 0 0
4183 -0.63 -194.6 587.2 -10.6 509 4187 0.00 2.17 0.00 0.000 6 0.000 0.045 2113 2604 3647 0 0 0 0 0 0
4504 -0.61 -194.6 623.7 -10.5 529 4508 0.00 1.80 0.00 0.000 4 0.000 0.056 2112 3778 3645 0 0 0 0 0 0
4551 -0.61 -194.6 628.5 -10.0 531 4555 0.00 1.75 0.00 0.000 6 0.000 0.034 2112 2595 3644 0 0 0 0 0 0
4884 -0.60 -194.6 661.5 -10.6 547 4888 0.00 2.08 0.00 0.000 4 0.000 0.040 2112 1199 3642 0 0 0 0 0 0
4917 -0.60 -194.6 665.4 -11.0 548 4924 0.00 2.22 0.00 0.000 6 0.000 0.047 2112 2604 3641 0 0 0 0 0 0
5234 -0.58 -194.6 701.6 -11.7 564 5236 0.12 0.00 0.00 0.000 6 0.171 0.000 2145 2604 3640 0 0 0 0 0 0
5544 -0.62 -194.6 728.3 -8.7 579 5548 0.00 2.12 0.00 0.000 4 0.000 0.041 2145 1202 3637 0 0 0 0 0 0
5594 -0.69 -194.6 733.4 -9.5 581 5599 0.00 2.17 0.00 0.000 6 0.000 0.045 2141 2612 3637 0 0 0 0 0 0
5917 -0.73 -194.6 763.8 -9.4 597 5921 0.15 2.15 0.00 0.000 4 0.078 0.041 2071 1202 3635 0 0 0 0 0 0
5971 -0.71 -194.6 771.5 -14.0 599 5976 0.12 2.17 0.00 0.000 6 0.173 0.048 2103 2599 3634 0 0 0 0 0 0
6288 -0.70 -194.6 808.3 -11.4 614 6292 0.00 1.85 0.00 0.000 4 0.000 0.057 2097 3775 3632 0 0 0 0 0 0
6311 -0.70 -194.6 811.0 -11.3 615 6315 0.00 1.75 0.00 0.000 6 0.000 0.037 2097 2600 3632 0 0 0 0 0 0
6644 -0.68 -194.6 851.5 -12.9 631 6648 0.00 2.10 0.00 0.000 4 0.000 0.043 2096 1196 3630 0 0 0 0 0 0
6738 -0.70 -194.6 862.9 -11.1 635 6742 0.00 2.22 0.00 0.000 6 0.000 0.049 2096 2615 3630 0 0 0 0 0 0
7060 -0.68 -194.6 904.4 -13.3 651 7064 0.00 2.17 0.00 0.000 4 0.000 0.043 2096 1196 3628 0 0 0 0 0 0
7131 -0.70 -194.6 913.9 -12.4 654 7136 0.00 2.17 0.00 0.000 6 0.000 0.049 2096 2598 3627 0 0 0 0 0 0
7448 -0.68 -194.6 956.8 -14.0 669 7452 0.00 2.12 0.00 0.000 4 0.000 0.044 2096 1200 3625 0 0 0 0 0 0
7504 -0.70 -194.6 964.8 -13.0 671 7511 0.00 2.20 0.00 0.000 6 0.000 0.049 2096 2604 3625 0 0 0 0 0 0
7694 end dive: TARGET_DEPTH_EXCEEDED
state 7694 begin apogee
7700 -0.12 0.0 990.9 13.6 681 7857 0.57 0.00 150.32 1.139 6 0.128 0.000 2287 2273 2869 0 0 0 0 0 0
7858 end apogee: CONTROL_FINISHED_OK
state 7858 begin climb
7860 0.63 194.6 1000.2 0.0 688 8034 0.68 2.47 161.40 1.112 4 0.048 0.051 2543 3681 2075 0 0 0 0 0 0
8157 0.49 194.6 967.1 19.3 701 8163 0.25 2.22 0.00 0.000 6 0.196 0.037 2498 2278 2067 0 0 0 0 0 0
8474 0.41 194.6 923.2 13.6 716 8478 0.00 2.20 0.00 0.000 4 0.000 0.047 2502 860 2063 0 0 0 0 0 0
8672 0.34 194.6 895.9 14.3 725 8677 0.22 2.22 0.00 0.000 6 0.174 0.043 2446 2281 2062 0 0 0 0 0 0
9002 0.35 225.2 861.6 9.8 741 9032 0.00 2.33 23.98 1.028 4 0.000 0.046 2451 862 1950 0 0 0 0 0 0
9084 0.35 225.7 852.5 11.0 744 9092 0.00 2.25 0.00 0.000 6 0.000 0.044 2452 2270 1944 0 0 0 0 0 0
9400 0.33 225.7 812.7 12.5 760 9404 0.00 2.25 0.00 0.000 4 0.000 0.047 2462 854 1943 0 0 0 0 0 0
9439 0.32 226.7 808.2 11.0 761 9446 0.00 2.25 0.00 0.000 6 0.000 0.044 2462 2276 1943 0 0 0 0 0 0
9756 0.28 226.7 768.9 12.5 777 9761 0.15 2.22 0.00 0.000 4 0.174 0.054 2423 3685 1942 0 0 0 0 0 0
9800 0.28 226.7 763.3 11.6 779 9804 0.00 2.17 0.00 0.000 6 0.000 0.037 2430 2268 1941 0 0 0 0 0 0
10128 0.28 228.2 728.8 10.9 795 10132 0.00 2.15 0.00 0.000 4 0.000 0.047 2442 862 1941 0 0 0 0 0 0
10193 0.28 228.2 721.3 11.6 798 10197 0.00 2.20 0.00 0.000 6 0.000 0.044 2441 2277 1941 0 0 0 0 0 0
10521 0.29 235.9 685.5 10.7 814 10535 0.00 2.28 8.95 0.883 4 0.000 0.047 2451 859 1906 0 0 0 0 0 0
10558 0.30 239.8 681.3 10.9 815 10568 0.00 2.22 4.97 0.667 6 0.000 0.043 2451 2277 1890 0 0 0 0 0 0
10897 0.30 239.8 639.7 12.7 832 10899 0.00 0.00 0.00 0.000 6 0.000 0.000 2451 2277 1888 0 0 0 0 0 0
11206 0.29 239.8 602.6 11.3 847 11210 0.00 2.20 0.00 0.000 4 0.000 0.054 2451 3688 1887 0 0 0 0 0 0
11272 0.27 239.8 594.5 12.1 851 11280 0.15 2.20 0.00 0.000 6 0.164 0.038 2422 2261 1886 0 0 0 0 0 0
11598 0.42 342.7 569.8 7.1 882 11692 0.12 2.33 82.05 0.874 4 0.096 0.046 2482 863 1471 0 0 0 0 0 0
11720 0.50 387.9 557.7 9.3 892 11762 0.00 2.30 37.10 0.827 6 0.000 0.044 2482 2269 1288 0 0 0 0 0 0
12079 0.52 387.9 516.6 13.0 926 12083 0.00 2.25 0.00 0.000 4 0.000 0.054 2482 3680 1279 0 0 0 0 0 0
12137 0.54 387.9 508.0 15.1 931 12141 0.00 2.20 0.00 0.000 6 0.000 0.037 2491 2271 1277 0 0 0 0 0 0
12464 0.54 387.9 463.0 13.0 961 12468 0.00 2.20 0.00 0.000 4 0.000 0.046 2502 851 1276 0 0 0 0 0 0
12505 0.57 387.9 457.7 12.1 964 12509 0.00 2.22 0.00 0.000 6 0.000 0.043 2502 2271 1276 0 0 0 0 0 0
12830 0.57 387.9 418.4 12.3 994 12834 0.00 2.22 0.00 0.000 4 0.000 0.054 2502 3685 1276 0 0 0 0 0 0
12885 0.57 387.9 410.9 13.7 998 12892 0.00 2.20 0.00 0.000 6 0.000 0.037 2512 2266 1275 0 0 0 0 0 0
13211 0.57 387.9 365.1 14.4 1029 13215 0.00 2.25 0.00 0.000 4 0.000 0.054 2512 3684 1277 0 0 0 0 0 0
13240 0.55 387.9 360.6 15.5 1031 13244 0.00 2.17 0.00 0.000 6 0.000 0.037 2521 2262 1275 0 0 0 0 0 0
13566 0.54 387.9 314.8 12.1 1061 13567 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2262 1274 0 0 0 0 0 0
13887 0.55 398.9 279.3 10.6 1091 13897 0.00 0.00 8.07 0.689 6 0.000 0.000 2522 2262 1243 0 0 0 0 0 0
14214 0.55 398.9 237.3 16.0 1129 14222 0.00 2.28 0.00 0.000 4 0.000 0.053 2521 3682 1241 0 0 0 0 0 0
14290 0.56 398.9 223.6 18.0 1142 14298 0.00 2.20 0.00 0.000 6 0.000 0.037 2537 2270 1241 0 0 0 0 0 0
14491 0.56 398.9 189.6 15.7 1179 14499 0.00 2.17 0.00 0.000 4 0.000 0.044 2542 861 1241 0 0 0 0 0 0
14551 0.58 398.9 180.9 14.4 1189 14559 0.00 2.22 0.00 0.000 6 0.000 0.042 2542 2275 1240 0 0 0 0 0 0
14753 0.58 398.9 151.6 12.2 1226 14761 0.00 2.20 0.00 0.000 4 0.000 0.051 2542 3681 1241 0 0 0 0 0 0
14780 0.57 398.9 148.0 12.8 1230 14789 0.10 2.17 0.00 0.000 6 0.134 0.036 2517 2271 1241 0 0 0 0 0 0
14984 0.69 465.2 127.9 8.5 1267 15046 0.12 2.25 51.15 0.583 4 0.089 0.044 2583 859 971 0 0 0 0 0 0
15146 0.73 474.5 110.0 10.6 1293 15163 0.00 2.25 8.23 0.537 6 0.000 0.041 2583 2265 933 0 0 0 0 0 0
15356 0.73 474.5 84.0 13.2 1331 15364 0.00 2.25 0.00 0.000 4 0.000 0.050 2583 3679 930 0 0 0 0 0 0
15415 0.75 474.5 75.9 14.2 1341 15424 0.00 2.20 0.00 0.000 6 0.000 0.034 2593 2273 930 0 0 0 0 0 0
15618 0.75 474.5 49.0 11.4 1378 15626 0.00 2.20 0.00 0.000 4 0.000 0.043 2603 852 929 0 0 0 0 0 0
15667 0.78 479.1 43.8 10.8 1386 15676 0.00 2.22 4.55 0.414 6 0.000 0.037 2602 2270 915 0 0 0 0 0 0
15872 0.92 562.8 25.2 7.8 1423 15941 0.00 2.30 62.80 0.508 4 0.000 0.045 2603 3681 574 0 0 0 0 0 0
15974 1.14 676.2 18.1 6.7 1437 16007 0.20 2.22 25.60 0.470 6 0.037 0.033 2718 2274 440 0 0 0 0 0 0
16067 end climb: SURFACE_DEPTH_REACHED
state 16067 begin surface coast
16085 end surface coast: CONTROL_FINISHED_OK
state 16085 begin surface