OKMC Nov12 * SG124 * Dive index * Mission links * Dive 204 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  124 HD_C  2.53e-05 ROLL_MIN  183 ALTIM_TOP_MIN_OBSTACLE  0
MISSION  14 HEADING  -1 ROLL_MAX  3883 ALTIM_PING_DEPTH  0
DIVE  204 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DELTA  10
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2500 ALTIM_FREQUENCY  13
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  1700 ALTIM_PULSE  3
D_FLARE  3 TGT_DEFAULT_LAT  47.599998 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_TGT  950 TGT_DEFAULT_LON  -122.3 ROLL_CNV  0.028270001 XPDR_VALID  0
D_ABORT  980 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_NO_BLEED  500 SM_CC  450 R_PORT_OVSHOOT  31 INT_PRESSURE_SLOPE  0.0097660003
D_BOOST  20 N_FILEKB  4 R_STBD_OVSHOOT  25 INT_PRESSURE_YINT  0
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  250 DEEPGLIDER  0
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
D_SAFE  0 PROTOCOL  1 ROLL_ADJ_DBAND  0 DEVICE1  -1
D_CALL  0 N_NOCOMM  3 VBD_MIN  244 DEVICE2  -1
SURFACE_URGENCY  0 NOCOMM_ACTION  163 VBD_MAX  3700 DEVICE3  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 C_VBD  2509 DEVICE4  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_DBAND  2 DEVICE5  -1
T_DIVE  280 CALL_TRIES  5 VBD_CNV  -0.24529999 DEVICE6  -1
T_MISSION  300 CALL_WAIT  60 VBD_TIMEOUT  540 LOGGERS  1
T_ABORT  1440 CAPUPLOAD  0 PITCH_VBD_SHIFT  0.00039999999 LOGGERDEVICE1  53
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_NO_W  120 T_GPS  10 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
T_LOITER  0 N_GPS  20 UNCOM_BLEED  0 COMPASS_DEVICE  97
T_EPIRB  0 T_GPS_ALMANAC  0 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
USE_BATHY  -13 T_GPS_CHARGE  -303807.5 CF8_MAXERRORS  0 PHONE_DEVICE  48
USE_ICE  0 T_RSLEEP  3 AH0_24V  150 GPS_DEVICE  32
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_10V  100 RAFOS_DEVICE  -1
D_OFFGRID  100 RAFOS_PEAK_OFFSET  1.5 MINV_24V  22 XPDR_DEVICE  24
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_10V  9.5 SIM_W  0
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 FG_AHR_10V  0 SIM_PITCH  0
APOGEE_PITCH  -5 PITCH_MIN  50 FG_AHR_24V  69.417763 SEABIRD_T_G  0.0043984288
MAX_BUOY  200 PITCH_MAX  3900 PHONE_SUPPLY  -2 SEABIRD_T_H  0.00063808635
COURSE_BIAS  0 C_PITCH  2275 PRESSURE_YINT  -21.889965 SEABIRD_T_I  2.5525775e-05
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001157801 SEABIRD_T_J  3.0944329e-06
SPEED_FACTOR  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -9.6676407
RHO  1.0275 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1061285
MASS  51525 PITCH_GAIN  23 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0013205735
NAV_MODE  2 PITCH_TIMEOUT  20 COMPASS_USE  4 SEABIRD_C_J  0.00018109973
FERRY_MAX  40 PITCH_AD_RATE  135 ALTIM_BOTTOM_PING_RANGE  0 SC_RECORDABOVE  2000.0
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SC_PROFILE  3.0
HD_A  0.003 PITCH_ADJ_GAIN  0.0099999998 ALTIM_BOTTOM_TURN_MARGIN  0 SC_XMITPROFILE  3.0
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  131212,140935,1845.543,12250.059,37,1.0,37,-2.1 TGT_NAME  MEAST
_CALLS  1 TGT_LATLONG  1845.000,12300.070
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.17 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -57.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  131212,141731,1845.636,12249.964,12,2.0,12,-2.1 MHEAD_RNG_PITCHd_Wd  130.3,17763,-17.1,-11.310,-20.62
SPEED_LIMITS  0.196,0.301 D_GRID  3907

Post-dive calculations and measurements:
FINISH  1.7,1.022054 _10V_AH  10.0,26.210
SM_CCo  16081,0.00,0.000,0,0,238,557.08 FG_AHR_24Vo  69.418
SM_GC  2.46,6.90,3.47,0.00,0.051,0.041,0.000,40,2485,238,-10.22,-1.16,557.08,0,0,0,0,0,0,26.29,26.46,28.83 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1837.32,12247.12,131212,090956 MEM  306144
TT8_MAMPS  0.027713,0.027713 DATA_FILE_SIZE  26657,755
HUMID  61.02 CAP_FILE_SIZE  178922,0
INTERNAL_PRESSURE  9.38513 CFSIZE  260034560,230666240
TCM_TEMP  24.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS  10 CURRENT  0.094,351.4,1
SC_FREEKB  3942208 GPS  131212,184725,1844.537,12252.046,25,2.1,44,-2.1
_24V_AH  23.3,39.900

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor18251107.76 nil000.00
Roll_motor13164197.30 nil000.00
VBD_pump_during_apogee622126918406.37 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon16028114426.90
Iridium_during_xfer301126891.28 nil000.00
Transponder_ping242024.46 nil000.00
GUMSTIX_24V000.00
GPS12293.88
TT8226414333.11
LPSleep112742246.91
TT8_Active72513101.28
TT8_Sampling200438775.25
TT8_CF828647136.53
TT8_Kalman000.00
Analog_circuits199716319.66
GPS_charging000.00
Compass16247121.66
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 pitch_volts roll_volts vbd_volts
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
19 -0.82 -194.6 0.0 0.0 0 97 0.00 0.00 -76.15 0.000 2 0.000 0.000 37 2513 1716 0 0 0 0 0 0 28.83 28.83 28.83
101 -0.82 -194.6 3.2 -3.4 13 168 8.77 2.22 -50.58 0.000 4 0.252 0.055 2091 1078 3302 0 0 0 0 0 0 25.84 26.34 26.82
206 -0.81 -194.6 16.5 -20.0 31 212 0.00 2.25 0.00 0.000 6 0.000 0.045 2091 2505 3302 0 0 0 0 0 0 28.83 26.36 28.83
525 -0.79 -194.6 79.9 -19.8 60 530 0.00 2.15 0.00 0.000 4 0.000 0.057 2091 3888 3302 0 0 0 0 0 0 28.83 26.44 28.83
587 -0.79 -194.6 91.2 -18.1 63 592 0.00 2.15 0.00 0.000 6 0.000 0.038 2091 2483 3302 0 0 0 0 0 0 28.83 26.60 28.83
910 -0.80 -194.6 137.6 -12.9 79 915 0.00 2.20 0.00 0.000 4 0.000 0.056 2091 3878 3303 0 0 0 0 0 0 28.83 26.53 28.83
1030 -0.85 -194.6 148.9 -10.6 84 1037 0.00 2.10 0.00 0.000 6 0.000 0.037 2091 2486 3303 0 0 0 0 0 0 28.83 26.69 28.83
1334 -0.90 -194.6 183.0 -10.7 100 1339 0.00 2.10 0.00 0.000 4 0.000 0.044 2091 1091 3303 0 0 0 0 0 0 28.83 26.65 28.83
1361 -0.95 -194.6 185.8 -10.8 101 1367 0.10 2.20 0.00 0.000 6 0.108 0.042 2047 2510 3303 0 0 0 0 0 0 26.64 26.66 28.83
1680 -0.98 -194.6 224.9 -11.6 117 1686 0.00 2.10 0.00 0.000 4 0.000 0.057 2043 3878 3303 0 0 0 0 0 0 28.83 26.59 28.83
1733 -1.00 -194.6 229.9 -11.4 119 1739 0.00 2.10 0.00 0.000 6 0.000 0.037 2043 2504 3303 0 0 0 0 0 0 28.83 26.75 28.83
2047 -1.03 -194.6 265.2 -10.7 135 2048 0.00 0.00 0.00 0.000 6 0.000 0.000 2043 2504 3303 0 0 0 0 0 0 28.83 28.83 28.83
2349 -1.07 -194.6 296.3 -9.5 150 2354 0.00 2.12 0.00 0.000 4 0.000 0.045 2043 1079 3302 0 0 0 0 0 0 28.83 26.69 28.83
2387 -1.11 -194.6 298.8 -9.6 151 2394 0.00 2.22 0.00 0.000 6 0.000 0.044 2042 2508 3301 0 0 0 0 0 0 28.83 26.69 28.83
2693 -1.15 -194.6 327.8 -9.2 167 2694 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2508 3299 0 0 0 0 0 0 28.83 28.83 28.83
2995 -1.20 -194.6 356.0 -9.8 182 3002 0.10 2.15 0.00 0.000 4 0.113 0.057 1998 3891 3297 0 0 0 0 0 0 26.95 26.58 28.83
3020 -1.24 -194.6 359.1 -10.2 183 3026 0.00 2.15 0.00 0.000 6 0.000 0.041 1998 2497 3297 0 0 0 0 0 0 28.83 26.74 28.83
3344 -1.26 -194.6 397.9 -11.6 199 3350 0.00 2.12 0.00 0.000 4 0.000 0.047 1998 1086 3294 0 0 0 0 0 0 28.83 26.65 28.83
3397 -1.28 -194.6 402.8 -11.6 201 3403 0.00 2.22 -0.08 0.000 6 0.000 0.046 1998 2504 3314 0 0 0 0 0 0 28.83 26.67 25.67
3711 -1.30 -194.6 438.1 -11.2 217 3717 0.00 2.22 0.00 0.000 4 0.000 0.047 1998 1086 3312 0 0 0 0 0 0 28.83 26.64 28.83
3735 -1.32 -194.6 440.7 -11.2 218 3740 0.00 2.22 0.00 0.000 6 0.000 0.046 1998 2511 3312 0 0 0 0 0 0 28.83 26.65 28.83
4059 -1.34 -194.6 475.7 -10.6 234 4061 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2510 3309 0 0 0 0 0 0 28.83 28.83 28.83
4361 -1.37 -194.6 506.9 -10.5 249 4362 0.00 0.00 0.00 0.000 6 0.000 0.000 1998 2510 3307 0 0 0 0 0 0 28.83 28.83 28.83
4660 -1.40 -194.6 537.3 -9.9 264 4666 0.10 2.25 0.00 0.000 4 0.121 0.047 1955 1086 3304 0 0 0 0 0 0 26.94 26.61 28.83
4694 -1.42 -194.6 540.2 -10.4 265 4699 0.00 2.25 0.00 0.000 6 0.000 0.048 1955 2504 3304 0 0 0 0 0 0 28.83 26.61 28.83
5006 -1.42 -194.6 580.8 -12.6 281 5012 0.00 2.15 0.00 0.000 4 0.000 0.063 1955 3878 3301 0 0 0 0 0 0 28.83 26.49 28.83
5033 -1.42 -194.6 583.8 -12.7 282 5038 0.00 2.15 0.00 0.000 6 0.000 0.043 1955 2498 3301 0 0 0 0 0 0 28.83 26.70 28.83
5353 -1.42 -194.6 624.8 -12.8 295 5358 0.00 2.25 0.00 0.000 4 0.000 0.063 1955 3882 3257 0 0 0 0 0 0 28.83 26.48 28.83
5374 -1.42 -194.6 624.8 -12.8 295 5379 0.00 2.17 0.00 0.000 6 0.000 0.044 1955 2484 3257 0 0 0 0 0 0 28.83 26.66 28.83
5687 -1.42 -194.6 665.5 -12.0 306 5692 0.00 2.12 0.00 0.000 4 0.000 0.050 1955 1090 3296 0 0 0 0 0 0 28.83 26.58 28.83
5709 -1.42 -194.6 665.5 -12.0 306 5714 0.00 2.22 0.00 0.000 6 0.000 0.050 1955 2504 3296 0 0 0 0 0 0 28.83 26.57 28.83
6022 -1.42 -194.6 705.3 -11.8 317 6027 0.00 2.22 0.00 0.000 4 0.000 0.051 1955 1096 3286 0 0 0 0 0 0 28.83 26.54 28.83
6079 -1.42 -194.6 709.4 -11.9 318 6085 0.00 2.25 0.00 0.000 6 0.000 0.050 1955 2505 3293 0 0 0 0 0 0 28.83 26.54 28.83
6385 -1.42 -194.6 748.3 -11.7 329 6386 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2504 3291 0 0 0 0 0 0 28.83 28.83 28.83
6684 -1.42 -194.6 783.6 -11.8 339 6685 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2505 3289 0 0 0 0 0 0 28.83 28.83 28.83
6986 -1.43 -194.6 818.8 -11.6 349 6987 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2505 3289 0 0 0 0 0 0 28.83 28.83 28.83
7285 -1.44 -194.6 853.3 -11.5 359 7286 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2505 3285 0 0 0 0 0 0 28.83 28.83 28.83
7585 -1.45 -194.6 888.4 -11.9 369 7586 0.00 0.00 0.00 0.000 6 0.000 0.000 1955 2505 3283 0 0 0 0 0 0 28.83 28.83 28.83
7885 -1.46 -194.6 923.3 -11.4 379 7890 0.00 2.25 0.00 0.000 4 0.000 0.055 1955 1097 3218 0 0 0 0 0 0 28.83 26.43 28.83
7927 -1.47 -194.6 927.2 -11.6 380 7932 0.00 2.25 0.00 0.000 6 0.000 0.054 1955 2506 3282 0 0 0 0 0 0 28.83 26.44 28.83
8128 end dive: TARGET_DEPTH_EXCEEDED
state 8128 begin apogee
8135 -0.22 0.0 951.2 -11.1 387 8300 0.82 0.00 153.25 1.270 6 0.114 0.000 2227 1708 2509 0 0 0 0 1 0 26.06 28.83 24.08
8301 end apogee: CONTROL_FINISHED_OK
state 8301 begin climb
8304 0.82 194.6 957.3 0.0 392 8480 0.65 2.55 164.25 1.239 4 0.058 0.056 2464 3117 1714 0 0 0 0 0 0 25.24 24.27 23.29
8513 0.81 277.2 947.9 8.0 399 8592 0.00 2.42 71.20 1.200 6 0.000 0.050 2471 1703 1377 0 0 0 0 0 0 28.83 24.83 23.32
8915 0.81 277.2 896.0 12.2 413 8921 0.00 2.30 0.00 0.000 4 0.000 0.064 2471 288 1358 0 0 0 0 0 0 28.83 26.01 28.83
8973 0.81 277.2 891.9 12.2 414 8979 0.00 2.30 0.00 0.000 6 0.000 0.047 2471 1713 1365 0 0 0 0 0 0 28.83 26.17 28.83
9278 0.81 277.2 852.3 11.6 425 9279 0.00 0.00 0.00 0.000 6 0.000 0.000 2472 1716 1364 0 0 0 0 0 0 28.83 28.83 28.83
9578 0.81 277.2 818.0 11.3 435 9579 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 1716 1363 0 0 0 0 0 0 28.83 28.83 28.83
9879 0.82 294.9 785.2 10.6 445 9897 0.00 2.20 13.45 1.091 4 0.000 0.057 2472 3111 1306 0 0 0 0 0 0 28.83 26.38 25.25
9919 0.82 312.5 781.8 10.6 446 9941 0.00 2.30 16.33 1.096 6 0.000 0.051 2472 1690 1235 0 0 0 0 0 0 28.83 26.36 25.01
10242 0.85 330.0 745.6 10.6 457 10260 0.00 0.00 15.80 1.082 6 0.000 0.000 2472 1690 1163 0 0 0 0 0 0 28.83 28.83 25.08
10542 0.87 351.6 714.2 10.4 467 10563 0.00 0.00 19.35 1.080 6 0.000 0.000 2472 1690 1075 0 0 0 0 0 0 28.83 28.83 25.05
10842 0.89 357.8 681.0 11.1 477 10850 0.00 0.00 6.15 0.868 6 0.000 0.000 2472 1690 1050 0 0 0 0 0 0 28.83 28.83 25.12
11142 0.92 375.2 648.3 10.6 487 11164 0.00 2.30 15.65 1.027 4 0.000 0.064 2472 260 979 0 0 0 0 0 0 28.83 26.21 25.18
11203 0.96 398.5 641.8 10.4 489 11232 0.00 2.33 20.83 1.036 6 0.000 0.047 2473 1709 883 0 0 0 0 0 0 28.83 26.25 24.91
11533 1.00 432.1 608.9 10.0 500 11567 0.00 2.25 28.20 1.034 4 0.000 0.057 2472 3106 745 0 0 0 0 0 0 28.83 25.88 24.93
11616 1.04 462.3 602.4 10.1 502 11651 0.10 2.30 25.52 1.012 6 0.104 0.051 2523 1695 624 0 0 0 0 0 0 26.05 26.03 24.74
11959 1.04 462.3 547.5 16.5 520 11964 0.00 2.22 0.00 0.000 4 0.000 0.063 2525 294 622 0 0 0 0 0 0 28.83 26.25 28.83
12045 1.04 462.3 534.3 15.9 524 12051 0.10 2.25 0.00 0.000 6 0.140 0.047 2497 1705 619 0 0 0 0 0 0 26.29 26.39 28.83
12364 1.06 462.3 491.3 13.1 540 12370 0.00 2.30 0.00 0.000 4 0.000 0.060 2498 293 618 0 0 0 0 0 0 28.83 26.42 28.83
12392 1.08 462.3 488.1 13.1 541 12398 0.00 2.25 0.00 0.000 6 0.000 0.047 2498 1712 617 0 0 0 0 0 0 28.83 26.49 28.83
12710 1.11 462.3 447.7 13.2 557 12715 0.00 2.20 0.00 0.000 4 0.000 0.059 2498 3104 614 0 0 0 0 0 0 28.83 26.47 28.83
12753 1.12 462.3 441.5 14.0 559 12758 0.00 2.25 0.00 0.000 6 0.000 0.051 2498 1699 616 0 0 0 0 0 0 28.83 26.52 28.83
13076 1.14 462.3 395.6 14.2 575 13082 0.10 2.20 0.00 0.000 4 0.105 0.060 2550 295 616 0 0 0 0 0 0 26.82 26.48 28.83
13119 1.16 462.3 388.5 15.3 577 13125 0.10 2.22 0.00 0.000 6 0.136 0.047 2522 1707 616 0 0 0 0 0 0 26.49 26.59 28.83
13443 1.16 462.3 336.6 15.9 593 13444 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 1708 616 0 0 0 0 0 0 28.83 28.83 28.83
13744 1.17 462.3 290.0 14.8 608 13750 0.00 2.30 0.00 0.000 4 0.000 0.060 2524 286 616 0 0 0 0 0 0 28.83 26.51 28.83
13792 1.19 462.3 283.5 14.9 610 13798 0.00 2.22 0.00 0.000 6 0.000 0.046 2524 1696 616 0 0 0 0 0 0 28.83 26.61 28.83
14110 1.21 462.3 238.4 13.4 626 14116 0.00 2.22 0.00 0.000 4 0.000 0.056 2524 3117 616 0 0 0 0 0 0 28.83 26.52 28.83
14143 1.23 462.3 235.1 13.6 627 14148 0.00 2.25 0.00 0.000 6 0.000 0.049 2526 1700 616 0 0 0 0 0 0 28.83 26.57 28.83
14456 1.26 462.3 192.8 12.9 643 14462 0.10 2.22 0.00 0.000 4 0.099 0.058 2580 282 616 0 0 0 0 0 0 26.91 26.50 28.83
14541 1.28 462.3 179.4 16.3 647 14547 0.12 2.22 0.00 0.000 6 0.119 0.043 2541 1711 616 0 0 0 0 0 0 26.52 26.64 28.83
14866 1.33 498.3 141.2 9.9 663 14896 0.10 0.00 28.00 0.663 6 0.100 0.000 2594 1715 476 0 0 0 0 0 0 26.93 28.83 25.57
15186 1.36 498.3 97.3 13.9 679 15188 0.10 0.00 0.00 0.000 6 0.133 0.000 2564 1719 475 0 0 0 0 0 0 26.61 28.83 28.83
15485 1.46 556.8 69.8 9.0 694 15535 0.10 2.30 44.10 0.588 4 0.105 0.053 2619 285 243 0 0 0 0 0 0 26.79 26.17 25.49
15597 1.49 556.8 57.9 11.9 699 15602 0.00 2.22 0.00 0.000 6 0.000 0.039 2619 1711 240 0 0 0 0 0 0 28.83 26.26 28.83
15907 1.52 556.8 13.1 13.9 737 15914 0.00 2.28 0.00 0.000 4 0.000 0.053 2619 289 240 0 0 0 0 0 0 28.83 26.37 28.83
15990 end climb: SURFACE_DEPTH_REACHED
state 15990 begin surface coast
16001 end surface coast: CONTROL_FINISHED_OK
state 16001 begin surface