Glider dive log

PN07 DabobBay 26Sep07 * SG116 * Dive index * Mission links * Dive 365 * 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 365 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 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 50 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 2

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 -37650.422 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 2

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 35

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 -37650.422

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 50

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 14 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 140 R_STBD_OVSHOOT 24 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 365 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 134417,4743.112,-12250.953,12,2.8,31,18.3 TGT_NAME WP1

_CALLS 1 TGT_LATLONG 4743.050,-12250.817

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.125,-0.080

_SM_DEPTHo 1.47 KALMAN_X 30234.9,223.5,-40.4,-27440.9,45.7

_SM_ANGLEo -62.0 KALMAN_Y 24245.1,405.0,-9.0,-16531.4,-51.3

GPS2 135221,4743.126,-12250.968,40,2.4,59,18.3 MHEAD_RNG_PITCHd_Wd 104.4,235,-27.0,-8.571

SPEED_LIMITS 0.148,0.239 D_GRID 164

Post-dive calculations and measurements:

FINISH 0.9,1.022180 XPDR_PINGS 101

SM_CCo 1872,151.57,0.558,0,0,1445,450.13 _24V_AH 23.9,55.829

SM_GC 1.54,0.00,0.00,151.57,0.000,0.000,0.558,133,990,1445,-12.75,-0.28,450.13 _10V_AH 10.1,35.752

IRIDIUM_FIX 4726.11,-12248.15,101007,171703 DATA_FILE_SIZE 3306,169

TT8_MAMPS 0.068263 CFSIZE 260034560,245739520

HUMID 2093 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 11.4555 GPS 101007,142829,4743.002,-12250.891,10,2.6,29,18.3

TCM_TEMP 19.60

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 212 175.82 SBE_CT 110 24 63.17

Roll_motor 25 69 43.16 nil 0 0 0.00

VBD_pump_during_apogee 256 640 3921.56 nil 0 0 0.00

VBD_pump_during_surface 151 558 2022.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 97.37 nil 0 0 0.00

Iridium_during_connect 38 160 148.07 ARS 0 36 0.00

Iridium_during_xfer 180 223 964.56

Transponder_ping 25 420 255.97

Mmodem_TX 0 1000 0.00

Mmodem_RX 2653 6 405.80

GPS 60 50 30.33

TT8 315 19 63.07

LPSleep 828 2 18.32

TT8_Active 497 19 99.48

TT8_Sampling 405 39 162.95

TT8_CF8 491 45 227.39

TT8_Kalman 33 81 27.54

Analog_circuits 727 12 88.16

GPS_charging 0 0 0.00

Compass 337 8 27.23

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

29 end surface: CONTROL_FINISHED_OK

state 29 begin dive

34 -2.31 -50.1 0.0 0.0 0 119 0.00 0.00 -82.93 0.000 2 0.000 0.000 134 1004 3155

125 -2.38 -104.2 2.3 -2.4 14 174 14.55 2.53 -26.12 0.000 4 0.212 0.051 2382 2414 3707

427 -2.38 -104.2 26.4 -8.9 55 431 0.00 2.58 0.00 0.000 6 0.000 0.049 2382 993 3708

624 -2.38 -105.9 43.1 -8.4 70 628 0.00 2.50 0.00 0.000 4 0.000 0.038 2382 2416 3708

883 -2.38 -107.3 65.5 -8.4 89 888 0.00 2.58 -0.12 0.000 6 0.000 0.048 2382 992 3724

1080 -2.38 -107.3 83.7 -9.1 104 1084 0.00 2.50 0.00 0.000 4 0.000 0.038 2382 2417 3724

1151 end dive: TARGET_DEPTH_EXCEEDED

state 1151 begin apogee

1160 -0.42 0.0 90.0 8.3 109 1299 2.20 0.00 129.55 0.640 6 0.126 0.000 2808 2517 3281

1304 end apogee: CONTROL_FINISHED_OK

state 1304 begin climb

1308 2.38 107.3 91.2 0.0 121 1449 2.78 2.65 126.65 0.614 4 0.055 0.048 3427 1095 2843

1510 2.38 107.3 60.8 19.7 137 1514 0.00 2.53 0.00 0.000 6 0.000 0.040 3427 2514 2842

1714 2.38 107.3 22.0 18.8 153 1718 0.00 2.58 0.00 0.000 4 0.000 0.070 3427 3889 2842

1823 end climb: SURFACE_DEPTH_REACHED

state 1823 begin surface coast

1831 end surface coast: CONTROL_FINISHED_OK

state 1831 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	365	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	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	50	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	2
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	-37650.422	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	134417,4743.112,-12250.953,12,2.8,31,18.3	TGT_NAME	WP1
_CALLS	1	TGT_LATLONG	4743.050,-12250.817
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.125,-0.080
_SM_DEPTHo	1.47	KALMAN_X	30234.9,223.5,-40.4,-27440.9,45.7
_SM_ANGLEo	-62.0	KALMAN_Y	24245.1,405.0,-9.0,-16531.4,-51.3
GPS2	135221,4743.126,-12250.968,40,2.4,59,18.3	MHEAD_RNG_PITCHd_Wd	104.4,235,-27.0,-8.571
SPEED_LIMITS	0.148,0.239	D_GRID	164

FINISH	0.9,1.022180	XPDR_PINGS	101
SM_CCo	1872,151.57,0.558,0,0,1445,450.13	_24V_AH	23.9,55.829
SM_GC	1.54,0.00,0.00,151.57,0.000,0.000,0.558,133,990,1445,-12.75,-0.28,450.13	_10V_AH	10.1,35.752
IRIDIUM_FIX	4726.11,-12248.15,101007,171703	DATA_FILE_SIZE	3306,169
TT8_MAMPS	0.068263	CFSIZE	260034560,245739520
HUMID	2093	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	11.4555	GPS	101007,142829,4743.002,-12250.891,10,2.6,29,18.3
TCM_TEMP	19.60

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	212	175.82	SBE_CT	110	24	63.17
Roll_motor	25	69	43.16	nil	0	0	0.00
VBD_pump_during_apogee	256	640	3921.56	nil	0	0	0.00
VBD_pump_during_surface	151	558	2022.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	97.37	nil	0	0	0.00
Iridium_during_connect	38	160	148.07	ARS	0	36	0.00
Iridium_during_xfer	180	223	964.56
Transponder_ping	25	420	255.97
Mmodem_TX	0	1000	0.00
Mmodem_RX	2653	6	405.80
GPS	60	50	30.33
TT8	315	19	63.07
LPSleep	828	2	18.32
TT8_Active	497	19	99.48
TT8_Sampling	405	39	162.95
TT8_CF8	491	45	227.39
TT8_Kalman	33	81	27.54
Analog_circuits	727	12	88.16
GPS_charging	0	0	0.00
Compass	337	8	27.23
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
29	end surface: CONTROL_FINISHED_OK
state	29	begin dive
34	-2.31	-50.1	0.0	0.0	0	119	0.00	0.00	-82.93	0.000	2	0.000	0.000	134	1004	3155
125	-2.38	-104.2	2.3	-2.4	14	174	14.55	2.53	-26.12	0.000	4	0.212	0.051	2382	2414	3707
427	-2.38	-104.2	26.4	-8.9	55	431	0.00	2.58	0.00	0.000	6	0.000	0.049	2382	993	3708
624	-2.38	-105.9	43.1	-8.4	70	628	0.00	2.50	0.00	0.000	4	0.000	0.038	2382	2416	3708
883	-2.38	-107.3	65.5	-8.4	89	888	0.00	2.58	-0.12	0.000	6	0.000	0.048	2382	992	3724
1080	-2.38	-107.3	83.7	-9.1	104	1084	0.00	2.50	0.00	0.000	4	0.000	0.038	2382	2417	3724
1151	end dive: TARGET_DEPTH_EXCEEDED
state	1151	begin apogee
1160	-0.42	0.0	90.0	8.3	109	1299	2.20	0.00	129.55	0.640	6	0.126	0.000	2808	2517	3281
1304	end apogee: CONTROL_FINISHED_OK
state	1304	begin climb
1308	2.38	107.3	91.2	0.0	121	1449	2.78	2.65	126.65	0.614	4	0.055	0.048	3427	1095	2843
1510	2.38	107.3	60.8	19.7	137	1514	0.00	2.53	0.00	0.000	6	0.000	0.040	3427	2514	2842
1714	2.38	107.3	22.0	18.8	153	1718	0.00	2.58	0.00	0.000	4	0.000	0.070	3427	3889	2842
1823	end climb: SURFACE_DEPTH_REACHED
state	1823	begin surface coast
1831	end surface coast: CONTROL_FINISHED_OK
state	1831	begin surface