NAB Apr08 * SG140 * Dive index * Mission links * Dive 353 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  140 HD_C  9.9999997e-06 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  5 HEADING  -1 PITCH_ADJ_GAIN  0.02 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  353 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  2 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  157 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3940 ALTIM_PING_DEPTH  0
D_TGT  990 TGT_DEFAULT_LAT  5900 ROLL_DEG  40 ALTIM_PING_DELTA  0
D_ABORT  1040 TGT_DEFAULT_LON  -2030 C_ROLL_DIVE  2235 ALTIM_FREQUENCY  13
D_NO_BLEED  350 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2330 ALTIM_PULSE  3
D_FINISH  0 SM_CC  200 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  14 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  13 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  350 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  330 N_NOSURFACE  0 ROLL_ADJ_GAIN  3 DEVICE2  20
T_MISSION  390 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0.029999999 DEVICE3  35
T_ABORT  720 CALL_TRIES  5 VBD_MIN  520 DEVICE4  53
T_TURN  225 CALL_WAIT  60 VBD_MAX  3978 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  3085 DEVICE6  -1
T_NO_W  120 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  0 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  15 VBD_TIMEOUT  720 SMARTDEVICE2  -1
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  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -19673.807 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  3 VBD_BLEED_AD_RATE  8 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  24
MAX_BUOY  200 RAFOS_CORR_THRESH  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  20 SIM_PITCH  0
GLIDE_SLOPE  30 PITCH_MIN  592 AH0_24V  91.800003 SEABIRD_T_G  0.0043273787
SPEED_FACTOR  1 PITCH_MAX  3894 AH0_10V  100 SEABIRD_T_H  0.0006414231
RHO  1.0273 C_PITCH  2960 PRESSURE_YINT  -1.4601949 SEABIRD_T_I  2.3931538e-05
MASS  51662 PITCH_DBAND  0.1 PRESSURE_SLOPE  9.0994887e-05 SEABIRD_T_J  2.340664e-06
NAV_MODE  2 PITCH_CNV  0.0046000001 AD7714Ch0Gain  64 SEABIRD_C_G  -10.258962
FERRY_MAX  0 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1819305
KALMAN_USE  2 PITCH_GAIN  14.2 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0037964056
HD_A  0.003 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_J  0.00031207138
HD_B  0.0099999998 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  023955,6143.578,-2553.656,24,1.0,41,-18.5 TGT_NAME  SE
_CALLS  1 TGT_LATLONG  6137.290,-2543.110
_XMS_NAKs  2 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.08 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -61.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  024839,6143.599,-2553.712,12,1.2,12,-18.5 MHEAD_RNG_PITCHd_Wd  159.9,14953,-14.9,-10.000
SPEED_LIMITS  0.173,0.295 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.3,1.013990 _24V_AH  23.0,75.443
SM_CCo  21044,0.00,0.000,0,0,1371,420.20 _10V_AH  10.6,62.482
SM_GC  0.98,11.70,0.00,0.00,0.041,0.000,0.000,584,2227,1371,-10.86,-0.23,420.20 DATA_FILE_SIZE  126518,2100
IRIDIUM_FIX  6121.73,-2553.22,180997,202034 CAP_FILE_SIZE  213852,0
TT8_MAMPS  0.022243 CFSIZE  260165632,222027776
HUMID  1716 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  8.40853 CURRENT  0.158,155.6,1
TCM_TEMP  18.00 GPS  250608,084101,6139.733,-2548.520,38,1.3,43,-18.4
XPDR_PINGS  788

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor27183114.89 SBE_CT145324802.43
Roll_motor275137868.62 SBE_O2160119699.80
VBD_pump_during_apogee539141417536.11 WL_BB2F18471054462.16
VBD_pump_during_surface000.00 Optode59133448.87
VBD_valve000.00 nil000.00
Iridium_during_init2910369.87 nil000.00
Iridium_during_connect31160116.11 nil000.00
Iridium_during_xfer2902231489.57
Transponder_ping1974201903.02
Mmodem_TX000.00
Mmodem_RX000.00
GPS12506.52
TT8434219911.43
LPSleep116692270.91
TT8_Active84319177.11
TT8_Sampling3816391610.11
TT8_CF886845421.70
TT8_Kalman000.00
Analog_circuits261112332.18
GPS_charging000.00
Compass38048322.58
RAFOS000.00

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
20 end surface: CONTROL_FINISHED_OK
state 20 begin dive
23 -1.29 -194.7 0.0 0.0 0 99 0.00 0.00 -72.88 0.000 2 0.000 0.000 589 2231 3544
102 -1.29 -194.7 3.6 -6.9 10 132 12.35 2.75 -6.82 0.000 4 0.183 0.104 2673 823 3882
187 -1.29 -194.7 17.1 -10.4 23 194 0.00 2.62 0.00 0.000 6 0.000 0.076 2673 2239 3883
330 -1.29 -194.7 31.3 -9.5 48 337 0.00 2.67 0.00 0.000 4 0.000 0.092 2673 3649 3883
385 -1.29 -194.7 36.6 -9.7 57 392 0.00 2.55 0.00 0.000 6 0.000 0.071 2673 2257 3882
530 -1.29 -194.7 49.6 -8.6 82 538 0.00 2.72 0.00 0.000 4 0.000 0.093 2673 823 3883
573 -1.29 -194.7 53.7 -9.8 89 580 0.00 2.67 0.00 0.000 6 0.000 0.076 2673 2261 3883
919 -1.29 -194.7 85.7 -8.7 150 927 0.00 2.60 0.00 0.000 4 0.000 0.087 2673 3643 3884
941 -1.29 -194.7 87.6 -9.0 153 949 0.00 2.60 0.00 0.000 6 0.000 0.080 2673 2249 3884
1286 -1.29 -194.7 118.0 -8.7 214 1294 0.00 2.75 0.00 0.000 4 0.000 0.102 2673 823 3884
1312 -1.29 -194.7 120.3 -9.1 218 1320 0.00 2.70 0.00 0.000 6 0.000 0.084 2673 2252 3884
1659 -1.29 -194.7 151.9 -9.2 279 1666 0.00 2.70 0.00 0.000 4 0.000 0.101 2673 3646 3884
1686 -1.29 -194.7 154.3 -9.5 283 1693 0.00 2.67 0.00 0.000 6 0.000 0.085 2672 2234 3884
2031 -1.29 -194.7 186.5 -9.1 344 2038 0.00 2.72 0.00 0.000 4 0.000 0.100 2673 820 3884
2063 -1.29 -194.7 189.5 -10.0 349 2071 0.00 2.70 0.00 0.000 6 0.000 0.087 2673 2236 3884
2410 -1.29 -194.7 222.4 -9.2 410 2417 0.00 2.75 0.00 0.000 4 0.000 0.104 2673 3647 3884
2430 -1.29 -194.7 224.4 -9.8 413 2438 0.00 2.70 0.00 0.000 6 0.000 0.086 2673 2215 3884
2777 -1.29 -194.7 255.9 -8.7 474 2785 0.00 2.72 0.00 0.000 4 0.000 0.109 2673 824 3884
2814 -1.29 -194.7 259.3 -9.2 480 2822 0.00 2.67 0.00 0.000 6 0.000 0.089 2673 2230 3884
3161 -1.29 -194.7 289.3 -8.9 541 3168 0.00 2.75 0.00 0.000 4 0.000 0.105 2673 3644 3884
3187 -1.29 -194.7 291.6 -8.8 545 3194 0.00 2.70 0.00 0.000 6 0.000 0.084 2673 2218 3883
3533 -1.29 -194.7 323.0 -9.0 606 3540 0.00 2.75 0.00 0.000 4 0.000 0.109 2672 820 3883
3565 -1.29 -194.7 325.9 -9.3 611 3572 0.00 2.67 0.00 0.000 6 0.000 0.091 2673 2221 3884
3905 -1.29 -194.7 358.7 -10.0 664 3910 0.00 2.72 0.00 0.000 4 0.000 0.095 2673 3652 3883
3936 -1.29 -194.7 361.6 -10.3 666 3940 0.00 2.75 0.00 0.000 6 0.000 0.088 2673 2211 3883
4264 -1.29 -194.7 392.6 -9.5 696 4268 0.00 2.75 0.00 0.000 4 0.000 0.112 2673 824 3883
4296 -1.29 -194.7 396.2 -9.9 698 4304 0.00 2.67 0.00 0.000 6 0.000 0.094 2673 2216 3883
4625 -1.29 -194.7 427.6 -9.6 729 4629 0.00 2.78 0.00 0.000 4 0.000 0.103 2673 3645 3883
4646 -1.29 -194.7 430.2 -9.7 730 4654 0.00 2.72 0.00 0.000 6 0.000 0.088 2672 2211 3883
4974 -1.29 -194.7 460.9 -9.4 761 4979 0.00 2.75 0.00 0.000 4 0.000 0.114 2673 823 3882
5007 -1.29 -194.7 464.4 -9.6 763 5014 0.00 2.65 0.00 0.000 6 0.000 0.094 2673 2204 3882
5335 -1.29 -194.7 494.8 -9.4 794 5339 0.00 2.80 0.00 0.000 4 0.000 0.101 2672 3652 3882
5378 -1.29 -194.7 498.8 -9.7 797 5382 0.00 2.78 0.00 0.000 6 0.000 0.091 2673 2203 3882
5707 -1.29 -194.7 528.3 -9.0 827 5711 0.00 2.78 0.00 0.000 4 0.000 0.117 2672 816 3882
5740 -1.29 -194.7 531.9 -9.9 829 5747 0.00 2.67 0.00 0.000 6 0.000 0.094 2672 2210 3882
6068 -1.29 -194.7 563.0 -10.0 860 6072 0.00 2.85 0.00 0.000 4 0.000 0.113 2672 3651 3881
6112 -1.29 -194.7 567.8 -9.8 863 6119 0.00 2.72 0.00 0.000 6 0.000 0.091 2672 2220 3881
6440 -1.29 -194.7 597.3 -9.0 894 6444 0.00 2.80 0.00 0.000 4 0.000 0.118 2672 817 3881
6461 -1.29 -194.7 599.6 -9.2 895 6468 0.00 2.72 0.00 0.000 6 0.000 0.097 2673 2235 3881
6778 -1.29 -194.7 625.2 -7.5 911 6782 0.00 2.75 0.00 0.000 4 0.000 0.105 2672 3647 3881
6811 -1.29 -194.7 627.9 -8.1 912 6819 0.00 2.72 0.00 0.000 6 0.000 0.094 2672 2225 3881
7127 -1.29 -194.7 649.5 -6.6 928 7132 0.00 2.78 0.00 0.000 4 0.000 0.114 2672 823 3881
7160 -1.29 -194.7 651.8 -7.0 929 7167 0.00 2.72 0.00 0.000 6 0.000 0.099 2672 2235 3881
7477 -1.29 -194.7 670.9 -5.9 945 7482 0.00 2.80 0.00 0.000 4 0.000 0.113 2672 3654 3881
7504 -1.29 -194.7 672.8 -6.5 946 7509 0.00 2.75 0.00 0.000 6 0.000 0.094 2672 2219 3880
7821 -1.29 -194.7 692.4 -6.5 961 7826 0.00 2.80 0.00 0.000 4 0.000 0.122 2672 823 3880
7844 -1.29 -194.7 694.2 -7.2 962 7849 0.00 2.75 0.00 0.000 6 0.000 0.099 2672 2242 3880
8167 -1.29 -194.7 718.7 -7.8 978 8171 0.00 2.80 0.00 0.000 4 0.000 0.117 2673 3651 3880
8207 -1.29 -194.7 722.1 -8.5 980 8211 0.00 2.75 0.00 0.000 6 0.000 0.097 2672 2230 3880
8535 -1.29 -194.7 748.8 -8.4 996 8540 0.00 2.85 0.00 0.000 4 0.000 0.126 2672 823 3880
8556 -1.29 -194.7 750.9 -8.5 997 8561 0.00 2.78 0.00 0.000 6 0.000 0.101 2672 2249 3880
8878 -1.29 -194.7 778.5 -8.7 1013 8883 0.00 2.78 0.00 0.000 4 0.000 0.120 2672 3644 3879
8922 -1.29 -194.7 782.5 -8.8 1015 8927 0.00 2.70 0.00 0.000 6 0.000 0.100 2672 2246 3879
9244 -1.29 -194.7 811.8 -9.6 1031 9249 0.00 2.90 0.00 0.000 4 0.000 0.127 2672 820 3879
9271 -1.29 -194.7 814.7 -10.7 1032 9275 0.00 2.78 0.00 0.000 6 0.000 0.099 2672 2251 3879
9588 -1.29 -194.7 844.1 -9.0 1047 9593 0.00 2.80 0.00 0.000 4 0.000 0.121 2672 3649 3879
9631 -1.29 -194.7 847.9 -9.7 1049 9635 0.00 2.72 0.00 0.000 6 0.000 0.100 2672 2252 3878
9959 -1.29 -194.7 875.2 -7.6 1065 9963 0.00 2.92 0.00 0.000 4 0.000 0.130 2672 818 3878
10003 -1.29 -194.7 878.7 -7.2 1067 10007 0.00 2.80 0.00 0.000 6 0.000 0.102 2672 2257 3878
10324 -1.29 -194.7 901.8 -7.1 1083 10328 0.00 2.85 0.00 0.000 4 0.000 0.130 2672 3647 3878
10368 -1.29 -194.7 905.2 -7.3 1085 10373 0.00 2.72 0.00 0.000 6 0.000 0.102 2672 2250 3878
10690 -1.29 -194.7 929.0 -7.7 1101 10695 0.00 2.90 0.00 0.000 4 0.000 0.125 2672 823 3878
10734 -1.29 -194.7 932.7 -8.7 1103 10739 0.00 2.72 0.00 0.000 6 0.000 0.091 2672 2248 3877
11056 -1.29 -194.7 959.0 -8.6 1119 11061 0.00 2.85 0.00 0.000 4 0.000 0.126 2672 3648 3877
11100 -1.29 -194.7 963.2 -9.1 1121 11105 0.00 2.75 0.00 0.000 6 0.000 0.104 2672 2243 3877
11419 end dive: TARGET_DEPTH_EXCEEDED
state 11420 begin apogee
11427 -0.35 0.0 990.4 8.2 1137 11602 1.02 0.00 169.20 1.414 6 0.100 0.000 2878 2329 3085
11603 end apogee: CONTROL_FINISHED_OK
state 11603 begin climb
11606 1.29 194.7 996.9 0.0 1146 11784 1.62 3.03 165.62 1.379 4 0.060 0.127 3238 3736 2290
11796 1.19 194.7 984.0 11.4 1154 11801 0.00 2.88 0.00 0.000 6 0.000 0.106 3238 2328 2289
12112 1.11 194.7 945.7 11.9 1169 12118 0.15 2.92 0.00 0.000 4 0.113 0.131 3207 918 2288
12140 1.11 194.7 942.2 12.1 1170 12144 0.00 2.72 0.00 0.000 6 0.000 0.091 3207 2328 2288
12457 1.12 205.4 910.6 9.6 1185 12473 0.00 2.97 10.68 1.227 4 0.000 0.122 3207 3737 2247
12497 1.07 210.5 906.5 9.8 1186 12511 0.00 2.85 6.22 1.020 6 0.000 0.104 3207 2330 2226
12829 1.07 210.5 871.2 10.5 1202 12833 0.00 2.90 0.00 0.000 4 0.000 0.127 3207 917 2225
12868 1.07 210.5 866.4 12.3 1204 12873 0.00 2.80 0.00 0.000 6 0.000 0.102 3206 2342 2225
13195 1.07 210.5 830.4 10.7 1220 13197 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 2342 2225
13506 1.07 210.5 797.7 10.5 1235 13507 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 2342 2224
13816 1.07 211.7 766.5 10.0 1250 13817 0.00 0.00 0.00 0.000 6 0.000 0.000 3207 2342 2224
14124 1.07 211.7 735.1 10.0 1265 14128 0.00 2.88 0.00 0.000 4 0.000 0.117 3207 912 2224
14147 1.07 212.3 732.7 10.0 1266 14151 0.00 2.72 0.00 0.000 6 0.000 0.098 3207 2321 2224
14469 1.08 221.6 701.3 9.7 1282 14491 0.00 2.95 10.98 1.171 4 0.000 0.123 3207 3737 2180
14515 1.03 221.6 696.5 10.1 1284 14520 0.12 2.83 0.00 0.000 6 0.114 0.098 3185 2318 2180
14843 1.08 261.4 667.0 8.6 1300 14888 0.00 2.90 35.58 1.188 4 0.000 0.114 3185 916 2019
14916 1.12 292.1 660.3 8.9 1303 14955 0.00 2.75 28.27 1.154 6 0.000 0.096 3185 2325 1894
15266 1.16 327.9 629.2 8.8 1320 15304 0.12 0.00 32.28 1.146 6 0.065 0.000 3217 2325 1748
15614 1.16 327.9 592.4 11.3 1340 15618 0.00 2.78 0.00 0.000 4 0.000 0.105 3217 914 1744
15656 1.16 327.9 587.4 13.4 1343 15660 0.00 2.67 0.00 0.000 6 0.000 0.084 3217 2326 1743
15983 1.16 327.9 546.0 12.2 1373 15987 0.00 2.80 0.00 0.000 4 0.000 0.111 3217 918 1742
16004 1.16 327.9 542.9 12.6 1374 16011 0.00 2.67 0.00 0.000 6 0.000 0.095 3217 2305 1742
16334 1.16 327.9 506.2 10.7 1405 16338 0.00 2.75 0.00 0.000 4 0.000 0.110 3217 918 1742
16355 1.16 327.9 503.1 11.2 1406 16362 0.00 2.62 0.00 0.000 6 0.000 0.094 3217 2286 1742
16684 1.16 327.9 465.9 11.3 1437 16691 0.00 0.00 0.00 0.000 6 0.000 0.000 3217 2286 1741
17009 1.16 327.9 424.5 12.5 1468 17014 0.00 2.70 0.00 0.000 4 0.000 0.107 3217 916 1741
17042 1.16 327.9 420.1 13.4 1470 17050 0.00 2.62 0.00 0.000 6 0.000 0.092 3217 2289 1741
17370 1.16 327.9 383.0 10.3 1501 17376 0.00 0.00 0.00 0.000 6 0.000 0.000 3217 2290 1742
17695 1.16 327.9 349.6 10.1 1532 17703 0.00 2.70 0.00 0.000 4 0.000 0.107 3217 918 1741
17733 1.16 327.9 345.7 10.9 1538 17740 0.00 2.60 0.00 0.000 6 0.000 0.091 3217 2279 1741
18079 1.18 340.4 311.1 9.6 1599 18093 0.00 0.00 11.12 0.937 6 0.000 0.000 3217 2279 1697
18432 1.18 340.4 273.4 11.5 1661 18439 0.00 2.67 0.00 0.000 4 0.000 0.105 3217 917 1696
18469 1.18 340.4 269.1 12.2 1667 18476 0.00 2.58 0.00 0.000 6 0.000 0.087 3217 2273 1695
18814 1.18 340.4 231.3 11.8 1728 18821 0.00 0.00 0.00 0.000 6 0.000 0.000 3217 2273 1695
19160 1.19 350.6 193.7 9.6 1789 19180 0.00 2.70 10.48 0.856 4 0.000 0.100 3216 924 1655
19199 1.19 350.6 189.7 10.7 1795 19206 0.00 2.53 0.00 0.000 6 0.000 0.085 3217 2252 1654
19546 1.19 350.6 155.5 10.8 1856 19553 0.00 0.00 0.00 0.000 6 0.000 0.000 3217 2252 1653
19893 1.19 350.6 118.4 10.9 1917 19899 0.00 2.58 0.00 0.000 4 0.000 0.094 3217 911 1653
19912 1.19 350.6 115.7 12.5 1920 19919 0.00 2.53 0.00 0.000 6 0.000 0.084 3217 2245 1652
20257 1.19 350.6 78.0 10.4 1981 20264 0.00 2.92 0.00 0.000 4 0.000 0.100 3217 3738 1652
20271 1.19 350.6 76.2 10.8 1983 20278 0.00 2.85 0.00 0.000 6 0.000 0.081 3217 2241 1652
20617 1.23 387.2 40.9 8.7 2044 20659 0.00 2.65 31.98 0.769 4 0.000 0.099 3217 918 1505
20673 1.33 416.9 35.7 9.0 2052 20710 0.15 2.50 26.67 0.732 6 0.057 0.081 3257 2243 1383
20847 1.33 416.9 14.7 13.1 2081 20855 0.00 2.92 0.00 0.000 4 0.000 0.098 3257 3738 1377
20896 1.33 416.9 7.9 14.2 2089 20903 0.00 2.70 0.00 0.000 6 0.000 0.078 3257 2316 1376
20942 end climb: SURFACE_DEPTH_REACHED
state 20942 begin surface coast
20960 end surface coast: CONTROL_FINISHED_OK
state 20961 begin surface