DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 19 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  193 HD_B  0.0099999998 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  2 HD_C  9.9999997e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  19 HEADING  -1 ROLL_MIN  300 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3841 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0.5 C_ROLL_DIVE  2120 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  6000 C_ROLL_CLIMB  2200 ALTIM_FREQUENCY  13
D_ABORT  1015 TGT_DEFAULT_LON  -5500 HEAD_ERRBAND  10 ALTIM_PULSE  5
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  1
D_BOOST  100 SM_CC  349.6098 ROLL_TIMEOUT  15 XPDR_VALID  6
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  17 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  13 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  260 INT_PRESSURE_YINT  0.93000001
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  1 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  161 VBD_MIN  500 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  20
T_DIVE  370 UPLOAD_DIVES_MAX  -1 C_VBD  2772 DEVICE3  -1
T_MISSION  420 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  360 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  5 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -766.30536 VBD_MAXERRORS  1 COMPASS_DEVICE  97
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 AH0_24V  350 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  0 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  12 RAFOS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  12 XPDR_DEVICE  24
MAX_BUOY  140 PITCH_MIN  149 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3928 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  50 C_PITCH  2680 PHONE_SUPPLY  -2 SEABIRD_T_G  0.0043053469
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -48.048229 SEABIRD_T_H  0.00061871461
RHO  1.023 PITCH_CNV  0.0046000001 PRESSURE_SLOPE  0.0001163556 SEABIRD_T_I  2.1533233e-05
MASS  52000 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.1546668e-06
NAV_MODE  2 PITCH_GAIN  13 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8788214
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1391871
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  4 SEABIRD_C_I  -0.0018439521
HD_A  0.003 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00022276744

Pre-dive calculations and measurements:
GPS1  110912,173837,6658.640,-5743.998,225,1.0,226,-33.6 TGT_NAME  TARGET_E
_CALLS  1 TGT_LATLONG  6703.000,-5648.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.91 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -62.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  110912,174604,6653.937,-5752.935,12,1.2,12,-33.6 MHEAD_RNG_PITCHd_Wd  110.6,49806,-16.3,-8.919,-20.19
SPEED_LIMITS  0.075,0.243 D_GRID  814

Post-dive calculations and measurements:
FINISH  1.3,1.011487 _24V_AH  12.8,10.629
SM_CCo  15604,0.00,0.000,0,0,1321,355.93 _10V_AH  13.1,0.000
SM_GC  2.41,8.62,0.20,0.00,0.105,0.157,0.000,136,2112,1321,-11.60,0.34,355.93,0,0,0,0,0,0,14.65,14.63,28.83 FG_AHR_24Vo  0.000
RAFOS_CLK  680 FG_AHR_10Vo  0.000
RAFOS  0,1347393670,20.033333,20.019444,64,60,54,52,51,51,208,160,145,124,183,227 MEM  188856
RAFOS_FIX  6704.056641,-5838.786133,110912,202000,2,116,3.82 DATA_FILE_SIZE  56781,1184
IRIDIUM_FIX  6631.12,-5756.18,110912,121227 CAP_FILE_SIZE  144125,0
TT8_MAMPS  0.025466,0.025466 CFSIZE  259252224,249139200
HUMID  47.04 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  8.72327 SOUNDSPEED  1458.2
TCM_TEMP  12.90 CURRENT  0.809, 24.7,1
XPDR_PINGS  11 GPS  110912,220857,6700.559,-5740.724,40,1.7,43,-33.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor23455135.54 SBE_CT85523262.45
Roll_motor151201390.29 SBE_O2836340.04
VBD_pump_during_apogee406253113169.68 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer291145542.28 nil000.00
Transponder_ping242014.78 nil000.00
GUMSTIX_24V000.00
GPS13213.95
TT8303614595.03
LPSleep95012287.52
TT8_Active55714109.23
TT8_Sampling2322331024.99
TT8_CF865138325.65
TT8_Kalman000.00
Analog_circuits203012319.17
GPS_charging000.00
Compass20546181.41
RAFOS2520149.52
Transponder050.04

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 pitch_volts roll_volts vbd_volts
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
18 -1.42 -136.9 0.0 0.0 0 67 0.00 0.00 -46.15 0.000 2 0.000 0.000 101 2118 2213 0 0 0 0 0 0 28.83 28.83 28.83
73 -1.42 -136.9 3.1 -4.8 8 136 11.27 2.90 -39.12 0.000 4 0.456 0.201 2357 3538 3331 0 0 0 0 0 0 14.34 14.44 14.70
369 -1.42 -136.9 49.6 -13.0 63 376 0.00 2.60 0.00 0.000 6 0.000 0.116 2356 2111 3333 0 0 0 0 0 0 28.83 14.56 28.83
686 -1.42 -136.9 90.4 -12.6 124 693 0.00 2.78 0.00 0.000 4 0.000 0.175 2346 3532 3332 0 0 0 0 0 0 28.83 14.57 28.83
806 -1.42 -136.9 106.4 -13.6 142 813 0.10 2.55 0.00 0.000 6 0.319 0.112 2364 2117 3333 0 0 0 0 0 0 14.55 14.64 28.83
1114 -1.42 -136.9 146.4 -12.5 173 1123 0.00 2.70 0.00 0.000 4 0.000 0.171 2355 3525 3333 0 0 0 0 0 0 28.83 14.63 28.83
1149 -1.42 -136.9 151.1 -13.1 176 1158 0.00 2.50 0.00 0.000 6 0.000 0.110 2355 2119 3333 0 0 0 0 0 0 28.83 14.66 28.83
1459 -1.42 -136.9 191.0 -12.2 207 1468 0.00 2.58 0.00 0.000 4 0.000 0.147 2355 708 3331 0 0 0 0 0 0 28.83 14.66 28.83
1524 -1.42 -136.9 199.3 -12.9 213 1534 0.08 2.65 0.00 0.000 6 0.298 0.155 2365 2123 3332 0 0 0 0 0 0 14.62 14.66 28.83
1835 -1.42 -136.9 234.4 -10.8 244 1840 0.00 0.00 0.00 0.000 6 0.000 0.000 2365 2122 3331 0 0 0 0 0 0 28.83 28.83 28.83
2150 -1.42 -136.9 268.4 -11.3 275 2159 0.00 2.67 0.00 0.000 4 0.000 0.167 2356 3535 3331 0 0 0 0 0 0 28.83 14.70 28.83
2244 -1.42 -136.9 279.8 -11.6 284 2253 0.00 2.50 0.00 0.000 6 0.000 0.112 2356 2124 3331 0 0 0 0 0 0 28.83 14.74 28.83
2554 -1.42 -136.9 313.9 -11.2 315 2560 0.00 0.00 0.00 0.000 6 0.000 0.000 2356 2124 3331 0 0 0 0 0 0 28.83 28.83 28.83
2871 -1.42 -136.9 347.0 -10.2 346 2880 0.00 2.67 0.00 0.000 4 0.000 0.171 2347 3529 3331 0 0 0 0 0 0 28.83 14.72 28.83
2888 -1.42 -136.9 348.9 -10.4 347 2895 0.10 2.53 0.00 0.000 6 0.326 0.111 2365 2110 3330 0 0 0 0 0 0 14.69 14.78 28.83
3197 -1.42 -136.9 380.8 -10.7 378 3202 0.00 0.00 0.00 0.000 6 0.000 0.000 2365 2110 3331 0 0 0 0 0 0 28.83 28.83 28.83
3506 -1.42 -136.9 413.3 -10.5 401 3507 0.00 0.00 0.00 0.000 6 0.000 0.000 2365 2110 3331 0 0 0 0 0 0 28.83 28.83 28.83
3806 -1.42 -136.9 444.9 -10.5 411 3807 0.00 0.00 0.00 0.000 6 0.000 0.000 2365 2110 3331 0 0 0 0 0 0 28.83 28.83 28.83
4106 -1.42 -136.9 475.2 -9.9 421 4107 0.00 0.00 0.00 0.000 6 0.000 0.000 2365 2110 3330 0 0 0 0 0 0 28.83 28.83 28.83
4406 -1.42 -136.9 504.7 -9.8 431 4407 0.00 0.00 0.00 0.000 6 0.000 0.000 2365 2110 3331 0 0 0 0 0 0 28.83 28.83 28.83
4706 -1.42 -136.9 533.5 -9.5 441 4707 0.00 0.00 0.00 0.000 6 0.000 0.000 2365 2110 3330 0 0 0 0 0 0 28.83 28.83 28.83
5006 -1.42 -136.9 562.9 -10.0 451 5012 0.00 2.72 0.00 0.000 4 0.000 0.176 2356 3534 3331 0 0 0 0 0 0 28.83 14.81 28.83
5031 -1.42 -136.9 562.9 -10.0 451 5038 0.00 2.53 0.00 0.000 6 0.000 0.118 2356 2116 3330 0 0 0 0 0 0 28.83 14.86 28.83
5338 -1.42 -136.9 597.3 -10.4 462 5344 0.00 2.55 0.00 0.000 4 0.000 0.155 2355 706 3330 0 0 0 0 0 0 28.83 14.83 28.83
5373 -1.42 -136.9 600.8 -10.4 463 5379 0.05 2.60 0.00 0.000 6 0.316 0.158 2362 2117 3330 0 0 0 0 0 0 14.77 14.82 28.83
5700 -1.42 -136.9 634.2 -10.1 474 5706 0.00 2.65 0.00 0.000 4 0.000 0.170 2352 3525 3330 0 0 0 0 0 0 28.83 14.83 28.83
5732 -1.42 -136.9 637.7 -10.1 475 5737 0.00 2.47 0.00 0.000 6 0.000 0.112 2352 2119 3330 0 0 0 0 0 0 28.83 14.86 28.83
6064 -1.42 -136.9 672.4 -10.6 486 6065 0.00 0.00 0.00 0.000 6 0.000 0.000 2352 2119 3331 0 0 0 0 0 0 28.83 28.83 28.83
6363 -1.42 -136.9 702.6 -9.9 496 6368 0.00 2.53 0.00 0.000 4 0.000 0.150 2352 711 3331 0 0 0 0 0 0 28.83 14.85 28.83
6397 -1.42 -136.9 705.8 -10.0 497 6403 0.08 2.60 0.00 0.000 6 0.303 0.157 2365 2122 3330 0 0 0 0 0 0 14.78 14.83 28.83
6724 -1.42 -136.9 737.8 -9.5 508 6730 0.00 2.62 0.00 0.000 4 0.000 0.168 2356 3529 3330 0 0 0 0 0 0 28.83 14.83 28.83
6756 -1.42 -136.9 741.0 -9.7 509 6761 0.00 2.47 0.00 0.000 6 0.000 0.111 2355 2120 3330 0 0 0 0 0 0 28.83 14.87 28.83
7087 -1.42 -136.9 773.5 -9.9 520 7092 0.00 2.53 0.00 0.000 4 0.000 0.148 2355 709 3330 0 0 0 0 0 0 28.83 14.84 28.83
7118 -1.42 -136.9 776.7 -10.0 521 7124 0.05 2.58 0.00 0.000 6 0.319 0.152 2362 2119 3330 0 0 0 0 0 0 14.78 14.83 28.83
7450 -1.42 -136.9 807.7 -9.2 532 7456 0.00 2.62 0.00 0.000 4 0.000 0.167 2352 3531 3330 0 0 0 0 0 0 28.83 14.83 28.83
7475 -1.42 -136.9 807.7 -9.2 532 7481 0.00 2.50 0.00 0.000 6 0.000 0.108 2352 2110 3330 0 0 0 0 0 0 28.83 14.88 28.83
7536 end dive: TARGET_DEPTH_EXCEEDED
state 7536 begin apogee
7549 -0.38 0.0 816.4 -9.4 535 7700 0.85 0.00 141.15 2.531 6 0.265 0.000 2591 2203 2772 0 0 0 0 0 0 14.80 28.83 12.98
7701 end apogee: CONTROL_FINISHED_OK
state 7701 begin climb
7706 1.42 136.9 820.8 0.0 540 7876 1.35 3.00 153.10 2.494 4 0.174 0.156 2987 3611 2214 0 0 0 0 0 0 13.80 13.55 12.84
7911 1.42 136.9 804.9 9.9 547 7917 0.00 2.67 0.00 0.000 6 0.000 0.108 2997 2201 2210 0 0 0 0 0 0 28.83 13.85 28.83
8243 1.42 136.9 766.2 11.5 558 8249 0.00 2.65 0.00 0.000 4 0.000 0.145 3007 793 2203 0 0 0 0 0 0 28.83 14.26 28.83
8284 1.42 136.9 762.4 11.6 559 8289 0.00 2.65 0.00 0.000 6 0.000 0.137 3007 2201 2202 0 0 0 0 0 0 28.83 14.31 28.83
8605 1.42 136.9 722.2 12.1 570 8611 0.00 2.70 0.00 0.000 4 0.000 0.158 3007 3617 2201 0 0 0 0 0 0 28.83 14.42 28.83
8654 1.42 136.9 718.2 12.3 571 8663 0.10 2.58 0.00 0.000 6 0.294 0.109 2992 2198 2202 0 0 0 0 0 0 14.39 14.48 28.83
8967 1.42 136.9 678.5 12.1 582 8973 0.00 2.58 0.00 0.000 4 0.000 0.145 3001 791 2200 0 0 0 0 0 0 28.83 14.54 28.83
9011 1.42 136.9 674.6 12.2 583 9016 0.00 2.60 0.00 0.000 6 0.000 0.136 3001 2206 2200 0 0 0 0 0 0 28.83 14.55 28.83
9332 1.42 136.9 634.1 12.1 594 9333 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2206 2199 0 0 0 0 0 0 28.83 28.83 28.83
9632 1.42 136.9 598.5 11.9 604 9633 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2206 2199 0 0 0 0 0 0 28.83 28.83 28.83
9932 1.42 136.9 562.7 12.0 614 9933 0.00 0.00 0.00 0.000 6 0.000 0.000 3001 2206 2199 0 0 0 0 0 0 28.83 28.83 28.83
10232 1.42 136.9 527.2 11.8 624 10237 0.00 2.62 0.00 0.000 4 0.000 0.158 3001 3610 2199 0 0 0 0 0 0 28.83 14.70 28.83
10271 1.42 136.9 523.4 11.9 625 10277 0.08 2.50 0.00 0.000 6 0.301 0.113 2992 2201 2199 0 0 0 0 0 0 14.66 14.73 28.83
10593 1.42 136.9 485.9 11.2 636 10598 0.00 2.58 0.00 0.000 4 0.000 0.146 3001 780 2198 0 0 0 0 0 0 28.83 14.72 28.83
10624 1.42 136.9 482.4 11.2 637 10629 0.00 2.58 0.00 0.000 6 0.000 0.137 3001 2204 2197 0 0 0 0 0 0 28.83 14.73 28.83
10958 1.42 136.9 443.6 11.8 648 10963 0.00 2.62 0.00 0.000 4 0.000 0.158 3001 3613 2198 0 0 0 0 0 0 28.83 14.74 28.83
10997 1.42 136.9 439.4 12.0 649 11003 0.08 2.50 0.00 0.000 6 0.307 0.110 2993 2196 2198 0 0 0 0 0 0 14.69 14.78 28.83
11319 1.42 136.9 401.9 11.2 660 11320 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2196 2198 0 0 0 0 0 0 28.83 28.83 28.83
11624 1.42 136.9 368.2 11.4 688 11633 0.00 2.55 0.00 0.000 4 0.000 0.146 3001 784 2197 0 0 0 0 0 0 28.83 14.76 28.83
11672 1.42 136.9 362.5 11.5 692 11679 0.00 2.58 0.00 0.000 6 0.000 0.136 3001 2203 2197 0 0 0 0 0 0 28.83 14.78 28.83
11979 1.42 136.9 327.3 10.7 723 11988 0.00 2.62 0.00 0.000 4 0.000 0.157 3001 3617 2197 0 0 0 0 0 0 28.83 14.75 28.83
12107 1.42 136.9 312.7 11.9 735 12114 0.10 2.53 0.00 0.000 6 0.340 0.110 2994 2197 2197 0 0 0 0 0 0 14.71 14.80 28.83
12416 1.42 136.9 280.2 10.4 766 12425 0.00 2.53 0.00 0.000 4 0.000 0.145 3002 790 2197 0 0 0 0 0 0 28.83 14.76 28.83
12473 1.42 136.9 274.3 10.9 771 12480 0.00 2.60 0.00 0.000 6 0.000 0.136 3002 2210 2197 0 0 0 0 0 0 28.83 14.78 28.83
12781 1.42 136.9 240.8 11.2 802 12787 0.00 0.00 0.00 0.000 6 0.000 0.000 3003 2210 2197 0 0 0 0 0 0 28.83 28.83 28.83
13097 1.42 136.9 207.5 10.3 833 13103 0.00 0.00 0.00 0.000 6 0.000 0.000 3002 2209 2197 0 0 0 0 0 0 28.83 28.83 28.83
13408 1.42 136.9 175.4 10.3 864 13417 0.00 2.58 0.00 0.000 4 0.000 0.146 3013 793 2197 0 0 0 0 0 0 28.83 14.77 28.83
13496 1.42 136.9 165.8 11.1 872 13504 0.10 2.60 0.00 0.000 6 0.318 0.138 2994 2209 2197 0 0 0 0 0 0 14.73 14.79 28.83
13804 1.42 136.9 135.2 9.1 903 13813 0.00 2.60 0.00 0.000 4 0.000 0.158 2993 3613 2197 0 0 0 0 0 0 28.83 14.77 28.83
13880 1.42 136.9 128.0 9.7 910 13888 0.00 2.53 0.00 0.000 6 0.000 0.109 3002 2195 2198 0 0 0 0 0 0 28.83 14.81 28.83
14189 1.44 149.7 101.1 8.4 941 14200 0.00 2.78 5.28 1.437 4 0.000 0.159 3002 3619 2162 0 0 0 0 0 0 28.83 14.73 14.21
14235 1.44 149.7 96.7 10.5 947 14242 0.00 2.55 0.00 0.000 6 0.000 0.109 3013 2199 2162 0 0 0 0 0 0 28.83 14.78 28.83
14554 1.44 149.7 67.0 9.3 1008 14560 0.00 2.55 0.00 0.000 4 0.000 0.145 3022 791 2160 0 0 0 0 0 0 28.83 14.74 28.83
14591 1.44 149.7 63.3 10.0 1014 14599 0.12 2.58 0.00 0.000 6 0.303 0.137 2996 2206 2161 0 0 0 0 0 0 14.69 14.74 28.83
14914 1.52 214.5 38.9 6.1 1075 14958 0.00 2.70 35.72 0.296 4 0.000 0.145 3005 783 1894 0 0 0 0 0 0 28.83 14.67 14.61
15029 1.52 214.5 28.4 9.6 1095 15035 0.00 2.60 0.00 0.000 6 0.000 0.138 3005 2201 1888 0 0 0 0 0 0 28.83 14.68 28.83
15346 1.62 294.2 13.2 5.4 1156 15395 0.10 2.65 41.33 0.225 4 0.182 0.151 3056 781 1568 0 0 0 0 0 0 14.73 14.62 14.59
15412 1.69 351.8 9.2 6.4 1166 15449 0.00 2.62 29.88 0.211 6 0.000 0.144 3056 2200 1334 0 0 0 0 0 0 28.83 14.63 14.57
15484 end climb: SURFACE_DEPTH_REACHED
state 15484 begin surface coast
15516 end surface coast: CONTROL_FINISHED_OK
state 15516 begin surface