Glider dive log

PN07 DabobBay 26Sep07 * SG116 * Dive index * Mission links * Dive 320 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HD_B 0.0099999998 PITCH_AD_RATE 140 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 320 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 155 ALTIM_PING_DEPTH 90

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3900 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1000 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2510 ALTIM_PULSE 2

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 16 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 30 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 45 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 640 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3893 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3281 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 3

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -36514.992 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 140 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 10 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 132 AH0_24V 91.800003 SEABIRD_T_G 0.0043755369

SPEED_FACTOR 1 PITCH_MAX 3449 AH0_10V 61.200001 SEABIRD_T_H 0.00063954171

RHO 1.023 C_PITCH 2905 PRESSURE_YINT 0 SEABIRD_T_I 2.7100008e-05

MASS 51361 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_J 3.135212e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8677502

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1239791

KALMAN_USE 1 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015851235

HD_A 0.003 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021129416

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 140 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 3

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 12 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3449 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 132 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 90 D_TGT 90 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 2 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158926 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT 0 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 30

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -36514.992

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 45

CF8_MAXERRORS 10 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 116 ROLL_MAX 3900 T_TURN_SAMPINT 6

C_PITCH 2905 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2510 INT_PRESSURE_YINT 0 ROLL_MIN 155 UNCOM_BLEED 20

C_ROLL_DIVE 1000 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3281 MASS 51361 R_PORT_OVSHOOT 16 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 140 R_STBD_OVSHOOT 18 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.8677502 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1239791 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0015851235 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00021129416 VBD_MAX 3893

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043755369 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063954171 VBD_MIN 640

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7100008e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 320 PHONE_DEVICE 48 SEABIRD_T_J 3.135212e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 071407,4742.977,-12250.640,14,1.8,30,18.3 TGT_NAME WP1

_CALLS 1 TGT_LATLONG 4743.050,-12250.817

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.140,0.103

_SM_DEPTHo 1.34 KALMAN_X 28755.1,-309.2,-15.8,-25079.9,36.4

_SM_ANGLEo -64.3 KALMAN_Y 22509.1,-356.1,-56.0,-14313.5,20.3

GPS2 072239,4742.951,-12250.666,14,2.0,14,18.3 MHEAD_RNG_PITCHd_Wd 288.0,263,-27.2,-10.000

SPEED_LIMITS 0.173,0.252 D_GRID 163

Post-dive calculations and measurements:

FINISH 0.7,1.011287 XPDR_PINGS 63

SM_CCo 1707,141.55,0.559,0,0,1445,450.13 _24V_AH 23.3,51.039

SM_GC 1.40,0.00,0.00,141.55,0.000,0.000,0.559,133,1008,1445,-12.76,0.23,450.13 _10V_AH 10.0,33.073

IRIDIUM_FIX 4726.11,-12255.26,091007,101026 DATA_FILE_SIZE 3305,155

TT8_MAMPS 0.070564 CFSIZE 260034560,247013376

HUMID 2081 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 11.4653 GPS 091007,075547,4743.070,-12250.836,13,2.1,32,18.3

TCM_TEMP 19.70

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 211 171.53 SBE_CT 99 24 55.89

Roll_motor 25 70 42.71 nil 0 0 0.00

VBD_pump_during_apogee 304 640 4542.00 nil 0 0 0.00

VBD_pump_during_surface 141 559 1844.12 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 96.48 nil 0 0 0.00

Iridium_during_connect 46 160 172.55 ARS 2365 36 2029.52

Iridium_during_xfer 203 223 1055.02

Transponder_ping 16 420 156.58

Mmodem_TX 87 1000 2049.00

Mmodem_RX 2405 6 358.64

GPS 14 50 7.11

TT8 263 19 52.15

LPSleep 726 2 15.91

TT8_Active 529 19 104.90

TT8_Sampling 321 39 128.11

TT8_CF8 526 45 241.18

TT8_Kalman 33 81 27.27

Analog_circuits 748 12 89.85

GPS_charging 0 0 0.00

Compass 300 8 24.01

RAFOS 0 0 0.00

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

34 end surface: CONTROL_FINISHED_OK

state 34 begin dive

39 -2.35 -63.1 0.0 0.0 0 124 0.00 0.00 -82.95 0.000 2 0.000 0.000 136 1004 3170

129 -2.43 -129.1 2.2 -3.0 14 178 14.50 2.55 -26.85 0.000 4 0.212 0.051 2367 2424 3808

430 -2.43 -129.1 32.4 -10.9 52 435 0.00 2.60 0.00 0.000 6 0.000 0.049 2368 996 3809

627 -2.43 -129.1 54.1 -11.4 67 631 0.00 2.53 0.00 0.000 4 0.000 0.039 2368 2422 3809

779 -2.43 -129.1 70.7 -10.7 78 784 0.00 2.62 0.00 0.000 6 0.000 0.049 2368 993 3809

960 end dive: TARGET_DEPTH_EXCEEDED

state 960 begin apogee

972 -0.42 0.0 91.2 11.3 92 1134 2.30 0.00 153.23 0.640 6 0.123 0.000 2810 2517 3281

1137 end apogee: CONTROL_FINISHED_OK

state 1137 begin climb

1141 2.43 129.1 93.1 0.0 106 1299 2.83 0.00 151.15 0.608 6 0.054 0.000 3439 2517 2753

1491 2.43 129.1 32.7 20.3 134 1495 0.00 2.58 0.00 0.000 4 0.000 0.071 3439 3885 2753

1557 2.43 129.1 18.0 21.7 139 1563 0.00 2.45 0.00 0.000 6 0.000 0.036 3439 2494 2753

1631 2.43 129.1 4.4 15.8 150 1637 0.00 2.62 0.00 0.000 4 0.000 0.066 3439 3890 2753

1649 end climb: SURFACE_DEPTH_REACHED

state 1650 begin surface coast

1661 end surface coast: CONTROL_FINISHED_OK

state 1661 begin surface

ID	116	HD_B	0.0099999998	PITCH_AD_RATE	140	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	320	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	155	ALTIM_PING_DEPTH	90
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3900	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1000	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2510	ALTIM_PULSE	2
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	16	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	30	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	45	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	640	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3893	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3281	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	3
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-36514.992	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	140	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	10	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	132	AH0_24V	91.800003	SEABIRD_T_G	0.0043755369
SPEED_FACTOR	1	PITCH_MAX	3449	AH0_10V	61.200001	SEABIRD_T_H	0.00063954171
RHO	1.023	C_PITCH	2905	PRESSURE_YINT	0	SEABIRD_T_I	2.7100008e-05
MASS	51361	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_J	3.135212e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8677502
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1239791
KALMAN_USE	1	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015851235
HD_A	0.003	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021129416

GPS1	071407,4742.977,-12250.640,14,1.8,30,18.3	TGT_NAME	WP1
_CALLS	1	TGT_LATLONG	4743.050,-12250.817
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.140,0.103
_SM_DEPTHo	1.34	KALMAN_X	28755.1,-309.2,-15.8,-25079.9,36.4
_SM_ANGLEo	-64.3	KALMAN_Y	22509.1,-356.1,-56.0,-14313.5,20.3
GPS2	072239,4742.951,-12250.666,14,2.0,14,18.3	MHEAD_RNG_PITCHd_Wd	288.0,263,-27.2,-10.000
SPEED_LIMITS	0.173,0.252	D_GRID	163

FINISH	0.7,1.011287	XPDR_PINGS	63
SM_CCo	1707,141.55,0.559,0,0,1445,450.13	_24V_AH	23.3,51.039
SM_GC	1.40,0.00,0.00,141.55,0.000,0.000,0.559,133,1008,1445,-12.76,0.23,450.13	_10V_AH	10.0,33.073
IRIDIUM_FIX	4726.11,-12255.26,091007,101026	DATA_FILE_SIZE	3305,155
TT8_MAMPS	0.070564	CFSIZE	260034560,247013376
HUMID	2081	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	11.4653	GPS	091007,075547,4743.070,-12250.836,13,2.1,32,18.3
TCM_TEMP	19.70

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	211	171.53	SBE_CT	99	24	55.89
Roll_motor	25	70	42.71	nil	0	0	0.00
VBD_pump_during_apogee	304	640	4542.00	nil	0	0	0.00
VBD_pump_during_surface	141	559	1844.12	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	96.48	nil	0	0	0.00
Iridium_during_connect	46	160	172.55	ARS	2365	36	2029.52
Iridium_during_xfer	203	223	1055.02
Transponder_ping	16	420	156.58
Mmodem_TX	87	1000	2049.00
Mmodem_RX	2405	6	358.64
GPS	14	50	7.11
TT8	263	19	52.15
LPSleep	726	2	15.91
TT8_Active	529	19	104.90
TT8_Sampling	321	39	128.11
TT8_CF8	526	45	241.18
TT8_Kalman	33	81	27.27
Analog_circuits	748	12	89.85
GPS_charging	0	0	0.00
Compass	300	8	24.01
RAFOS	0	0	0.00

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
34	end surface: CONTROL_FINISHED_OK
state	34	begin dive
39	-2.35	-63.1	0.0	0.0	0	124	0.00	0.00	-82.95	0.000	2	0.000	0.000	136	1004	3170
129	-2.43	-129.1	2.2	-3.0	14	178	14.50	2.55	-26.85	0.000	4	0.212	0.051	2367	2424	3808
430	-2.43	-129.1	32.4	-10.9	52	435	0.00	2.60	0.00	0.000	6	0.000	0.049	2368	996	3809
627	-2.43	-129.1	54.1	-11.4	67	631	0.00	2.53	0.00	0.000	4	0.000	0.039	2368	2422	3809
779	-2.43	-129.1	70.7	-10.7	78	784	0.00	2.62	0.00	0.000	6	0.000	0.049	2368	993	3809
960	end dive: TARGET_DEPTH_EXCEEDED
state	960	begin apogee
972	-0.42	0.0	91.2	11.3	92	1134	2.30	0.00	153.23	0.640	6	0.123	0.000	2810	2517	3281
1137	end apogee: CONTROL_FINISHED_OK
state	1137	begin climb
1141	2.43	129.1	93.1	0.0	106	1299	2.83	0.00	151.15	0.608	6	0.054	0.000	3439	2517	2753
1491	2.43	129.1	32.7	20.3	134	1495	0.00	2.58	0.00	0.000	4	0.000	0.071	3439	3885	2753
1557	2.43	129.1	18.0	21.7	139	1563	0.00	2.45	0.00	0.000	6	0.000	0.036	3439	2494	2753
1631	2.43	129.1	4.4	15.8	150	1637	0.00	2.62	0.00	0.000	4	0.000	0.066	3439	3890	2753
1649	end climb: SURFACE_DEPTH_REACHED
state	1650	begin surface coast
1661	end surface coast: CONTROL_FINISHED_OK
state	1661	begin surface