OKMC Jun11 * SG181 * Dive index * Mission links * Dive 369 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 INT_PRESSURE_YINT  0
MISSION  6 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 DEEPGLIDER  0
DIVE  369 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  47 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  41 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  475 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  2 DEVICE3  39
D_ABORT  1030 FILEMGR  0 ROLL_ADJ_DBAND  0.029999999 DEVICE4  -1
D_NO_BLEED  200 CALL_NDIVES  1 VBD_MIN  440 DEVICE5  -1
D_BOOST  3 COMM_SEQ  0 VBD_MAX  3960 DEVICE6  -1
T_BOOST  0 PROTOCOL  9 C_VBD  2869 LOGGERS  0
D_FINISH  0 N_NOCOMM  1 VBD_DBAND  2 LOGGERDEVICE1  99
D_PITCH  0 NOCOMM_ACTION  0 VBD_CNV  -0.24529999 LOGGERDEVICE2  117
D_SAFE  0 N_NOSURFACE  0 VBD_TIMEOUT  720 LOGGERDEVICE3  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  5 COMPASS_DEVICE  33
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 PHONE_DEVICE  49
T_DIVE  280 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  320 HEAPDBG  0 VBD_MAXERRORS  1 RAFOS_DEVICE  -1
T_ABORT  1440 T_GPS  15 CF8_MAXERRORS  20 XPDR_DEVICE  24
T_TURN  225 N_GPS  20 AH0_24V  150 SIM_W  0
T_TURN_SAMPINT  5 T_GPS_ALMANAC  0 AH0_10V  110 SIM_PITCH  0
T_NO_W  120 T_GPS_CHARGE  -41000.309 MINV_24V  19 SEABIRD_T_G  0.0043841996
T_LOITER  0 T_RSLEEP  2 MINV_10V  8 SEABIRD_T_H  0.00063541438
T_EPIRB  0 STROBE  0 FG_AHR_10V  0 SEABIRD_T_I  2.4687597e-05
USE_BATHY  -7 RAFOS_PEAK_OFFSET  1.5 FG_AHR_24V  0 SEABIRD_T_J  2.6519353e-06
USE_ICE  0 RAFOS_CORR_THRESH  60 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9512653
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 PRESSURE_YINT  -61.82621 SEABIRD_C_H  1.1266108
D_OFFGRID  1000 PITCH_MIN  225 PRESSURE_SLOPE  0.000116609 SEABIRD_C_I  -0.0016982662
T_WATCHDOG  10 PITCH_MAX  3941 AD7714Ch0Gain  128 SEABIRD_C_J  0.00020129427
RELAUNCH  1 C_PITCH  2320 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -8 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  1.0
MAX_BUOY  225 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  1.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  60 ALTIM_TOP_PING_RANGE  0 TM_STARTS  41.0
SPEED_FACTOR  1 PITCH_TIMEOUT  15 ALTIM_BOTTOM_TURN_MARGIN  0 TM_NFFT  256.0
RHO  1.0275 PITCH_AD_RATE  145 ALTIM_TOP_TURN_MARGIN  0 TM_NAVG  1.0
MASS  51861 PITCH_MAXERRORS  1 ALTIM_TOP_MIN_OBSTACLE  1 TM_PSD  0.0
NAV_MODE  1 PITCH_ADJ_GAIN  0 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  200.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 ALTIM_PING_DELTA  10 LA_PROFILE  1.0
KALMAN_USE  2 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  1.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  40 ALTIM_SENSITIVITY  2 LA_STARTS  23.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2600 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2125 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  10 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  190811,105225,2137.846,11959.017,38,1.6,38,-2.6 TGT_NAME  W3
_CALLS  1 TGT_LATLONG  1900.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.299,-0.061
_SM_DEPTHo  1.32 KALMAN_X  -45911.5,389.4,844.6,41510.1,-5401.7
_SM_ANGLEo  -68.4 KALMAN_Y  23776.0,369.6,-164.2,-95083.8,1680.3
GPS2  190811,105855,2137.845,11958.967,8,0.9,13,-2.6 MHEAD_RNG_PITCHd_Wd  182.2,292335,-16.3,-11.786
SPEED_LIMITS  0.204,0.329 D_GRID  2881

Post-dive calculations and measurements:
FINISH  0.3,1.012428 _10V_AH  9.8,54.926
SM_CCo  17637,0.00,0.000,0,0,437,596.57 FG_AHR_24Vo  0.000
SM_GC  1.09,6.55,0.00,0.00,0.042,0.000,0.000,210,2636,437,-6.51,0.99,596.57,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2131.85,12001.37,190811,050523 MEM  323588
TT8_MAMPS  0.027713,0.027713 DATA_FILE_SIZE  97045,1444
HUMID  45.19 CAP_FILE_SIZE  192618,0
INTERNAL_PRESSURE  9.31676 CFSIZE  260165632,216584192
TCM_TEMP  24.50 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 GPS  190811,155436,2137.768,11958.880,40,0.9,40,-2.6
_24V_AH  23.3,59.863

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622786.32 SBE_CT100224560.78
Roll_motor15845169.91 AA43301438331105.77
VBD_pump_during_apogee644104115638.62 WL_BB2F6581051610.80
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2610362.72 nil000.00
Iridium_during_connect1916072.65 TMicro000.00
Iridium_during_xfer186223971.19 LAB000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS16507.97
TT8352219683.47
LPSleep98972212.42
TT8_Active69819135.58
TT8_Sampling3482391358.21
TT8_CF840845183.49
TT8_Kalman000.00
Analog_circuits226812266.81
GPS_charging000.00
Compass279315410.59
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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.54 -219.0 0.0 0.0 0 83 0.00 0.00 -64.78 0.000 2 0.000 0.000 193 2617 2298 0 0 0 0 0 0
86 -0.54 -219.0 3.5 -3.6 10 134 8.10 2.17 -30.88 0.000 4 0.228 0.037 2135 1178 3763 0 0 0 0 0 0
204 -0.54 -219.0 38.0 -22.2 29 211 0.00 2.20 0.00 0.000 6 0.000 0.037 2125 2596 3764 0 0 0 0 0 0
342 -0.54 -219.0 78.0 -27.4 54 351 0.00 1.85 0.00 0.000 4 0.000 0.044 2115 3780 3764 0 0 0 0 0 0
433 -0.54 -219.0 102.7 -19.3 70 442 0.00 1.75 0.00 0.000 6 0.000 0.023 2116 2606 3763 0 0 0 0 0 0
576 -0.54 -219.0 129.1 -21.0 95 582 0.00 0.00 0.00 0.000 6 0.000 0.000 2116 2606 3763 0 0 0 0 0 0
713 -0.54 -219.0 158.9 -18.7 120 721 0.00 1.85 0.00 0.000 4 0.000 0.041 2111 3786 3763 0 0 0 0 0 0
767 -0.54 -219.0 168.6 -16.3 129 775 0.08 1.67 0.00 0.000 6 0.125 0.022 2149 2658 3764 0 0 0 0 0 0
911 -0.54 -219.0 184.6 -10.5 154 918 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2655 3764 0 0 0 0 0 0
1052 -0.54 -219.0 198.5 -9.3 179 1059 0.00 2.12 0.00 0.000 4 0.000 0.027 2149 1200 3764 0 0 0 0 0 0
1113 -0.54 -219.0 203.7 -8.3 186 1117 0.00 2.22 0.00 0.000 6 0.000 0.031 2149 2677 3766 0 0 0 0 0 0
1438 -0.54 -219.0 234.6 -9.6 216 1442 0.00 2.17 0.00 0.000 4 0.000 0.027 2155 1204 3763 0 0 0 0 0 0
1471 -0.54 -219.0 238.1 -9.8 218 1478 0.00 2.22 0.00 0.000 6 0.000 0.033 2149 2668 3764 0 0 0 0 0 0
1798 -0.54 -219.0 270.8 -10.7 249 1802 0.00 2.17 0.00 0.000 4 0.000 0.028 2149 1199 3761 0 0 0 0 0 0
1816 -0.54 -219.0 272.8 -11.3 250 1820 0.00 2.22 0.00 0.000 6 0.000 0.034 2149 2663 3761 0 0 0 0 0 0
2141 -0.54 -219.0 307.8 -10.5 280 2145 0.00 2.17 0.00 0.000 4 0.000 0.028 2149 1194 3758 0 0 0 0 0 0
2182 -0.54 -219.0 311.8 -9.8 283 2186 0.00 2.20 0.00 0.000 6 0.000 0.034 2149 2647 3758 0 0 0 0 0 0
2509 -0.54 -219.0 339.8 -7.7 313 2513 0.00 2.15 0.00 0.000 4 0.000 0.030 2149 1200 3754 0 0 0 0 0 0
2538 -0.54 -219.0 342.1 -7.4 315 2543 0.00 2.20 0.00 0.000 6 0.000 0.034 2153 2638 3754 0 0 0 0 0 0
2869 -0.54 -219.0 363.1 -6.5 346 2871 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2638 3752 0 0 0 0 0 0
3190 -0.54 -219.0 387.7 -8.7 376 3193 0.00 1.73 0.00 0.000 4 0.000 0.046 2149 3774 3750 0 0 0 0 0 0
3214 -0.54 -219.0 389.9 -8.6 378 3218 0.00 1.65 0.00 0.000 6 0.000 0.024 2149 2639 3750 0 0 0 0 0 0
3545 -0.54 -219.0 417.1 -7.6 409 3548 0.00 1.75 0.00 0.000 4 0.000 0.042 2149 3779 3747 0 0 0 0 0 0
3568 -0.54 -219.0 419.0 -7.7 411 3572 0.00 1.80 0.00 0.000 6 0.000 0.024 2149 2545 3747 0 0 0 0 0 0
3899 -0.54 -219.0 440.2 -6.3 442 3903 0.00 2.00 0.00 0.000 4 0.000 0.029 2149 1203 3744 0 0 0 0 0 0
4152 -0.54 -219.0 459.9 -8.5 464 4159 0.00 2.00 0.00 0.000 6 0.000 0.031 2149 2520 3742 0 0 0 0 0 0
4477 -0.54 -219.0 483.3 -6.8 495 4481 0.00 2.00 0.00 0.000 4 0.000 0.029 2145 1203 3740 0 0 0 0 0 0
4528 -0.54 -219.0 487.1 -7.3 499 4535 0.00 1.98 0.00 0.000 6 0.000 0.032 2149 2510 3739 0 0 0 0 0 0
4852 -0.54 -219.0 507.7 -6.2 524 4853 0.00 0.00 0.00 0.000 6 0.000 0.000 2150 2510 3738 0 0 0 0 0 0
5160 -0.54 -219.0 528.7 -7.2 539 5161 0.00 0.00 0.00 0.000 6 0.000 0.000 2149 2510 3736 0 0 0 0 0 0
5469 -0.54 -219.0 553.5 -8.4 554 5472 0.00 1.95 0.00 0.000 4 0.000 0.031 2149 1199 3733 0 0 0 0 0 0
5726 -0.54 -219.0 576.5 -8.6 565 5730 0.00 1.98 0.00 0.000 6 0.000 0.033 2149 2504 3731 0 0 0 0 0 0
6048 -0.54 -219.0 602.3 -7.9 581 6051 0.00 1.95 0.00 0.000 4 0.000 0.030 2149 1195 3730 0 0 0 0 0 0
6306 -0.54 -219.0 624.3 -8.3 592 6310 0.00 2.00 0.00 0.000 6 0.000 0.033 2149 2484 3730 0 0 0 0 0 0
6628 -0.54 -219.0 649.7 -8.1 608 6631 0.00 1.92 0.00 0.000 4 0.000 0.031 2156 1193 3728 0 0 0 0 0 0
6885 -0.54 -219.0 672.5 -9.1 619 6889 0.00 1.92 0.00 0.000 6 0.000 0.032 2156 2463 3726 0 0 0 0 0 0
7208 -0.54 -219.0 700.5 -8.6 635 7212 0.00 1.90 0.00 0.000 4 0.000 0.031 2156 1191 3724 0 0 0 0 0 0
7466 -0.54 -219.0 724.5 -8.7 646 7470 0.00 1.92 0.00 0.000 6 0.000 0.033 2156 2458 3722 0 0 0 0 0 0
7789 -0.54 -219.0 751.0 -8.1 662 7792 0.00 1.88 0.00 0.000 4 0.000 0.031 2160 1201 3721 0 0 0 0 0 0
8047 -0.54 -219.0 772.9 -8.7 673 8051 0.00 1.88 0.00 0.000 6 0.000 0.031 2160 2438 3720 0 0 0 0 0 0
8369 -0.54 -219.0 799.1 -8.5 689 8373 0.00 1.85 0.00 0.000 4 0.000 0.031 2160 1200 3719 0 0 0 0 0 0
8626 -0.54 -219.0 822.6 -9.2 700 8630 0.00 1.88 0.00 0.000 6 0.000 0.034 2160 2431 3718 0 0 0 0 0 0
8948 -0.54 -219.0 849.5 -8.6 716 8952 0.00 1.85 0.00 0.000 4 0.000 0.032 2160 1200 3716 0 0 0 0 0 0
9096 -0.54 -219.0 862.7 -9.1 722 9100 0.00 1.88 0.00 0.000 6 0.000 0.034 2159 2428 3716 0 0 0 0 0 0
9418 -0.54 -219.0 892.4 -9.7 738 9419 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 2429 3712 0 0 0 0 0 0
9621 end dive: HALF_MISSION_TIME_EXCEEDED
state 9622 begin apogee
9628 -0.13 0.0 912.8 9.9 748 9797 0.30 0.00 164.50 1.042 4 0.065 0.000 2291 2103 2869 0 0 0 0 0 0
9798 end apogee: CONTROL_FINISHED_OK
state 9798 begin climb
9801 0.54 219.0 924.9 0.0 756 9984 0.55 2.20 175.50 1.021 4 0.046 0.037 2512 746 1977 0 0 0 0 0 0
10175 0.54 219.0 895.9 12.0 772 10179 0.00 2.17 0.00 0.000 6 0.000 0.034 2513 2131 1974 0 0 0 0 0 0
10491 0.54 219.0 855.1 13.1 787 10495 0.00 2.17 0.00 0.000 4 0.000 0.037 2522 734 1973 0 0 0 0 0 0
10651 0.54 219.0 834.8 12.6 794 10655 0.00 2.17 0.00 0.000 6 0.000 0.034 2519 2146 1974 0 0 0 0 0 0
10977 0.54 219.0 792.2 12.8 810 10979 0.00 0.00 0.00 0.000 6 0.000 0.000 2521 2152 1972 0 0 0 0 0 0
11287 0.54 219.0 752.5 12.9 825 11289 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2147 1972 0 0 0 0 0 0
11596 0.54 219.0 712.7 13.2 840 11600 0.00 2.15 0.00 0.000 4 0.000 0.044 2522 3541 1972 0 0 0 0 0 0
11645 0.54 219.0 705.5 15.1 842 11650 0.10 2.12 0.00 0.000 6 0.158 0.026 2501 2154 1971 0 0 0 0 0 0
11969 0.55 223.8 668.1 11.6 858 11978 0.00 2.22 4.85 0.689 4 0.000 0.037 2511 717 1956 0 0 0 0 0 0
12152 0.55 223.8 645.7 11.8 866 12156 0.00 2.12 0.00 0.000 6 0.000 0.033 2511 2109 1956 0 0 0 0 0 0
12475 0.55 223.8 608.0 12.1 882 12479 0.00 2.22 0.00 0.000 4 0.000 0.044 2511 3543 1957 0 0 0 0 0 0
12513 0.55 223.8 602.6 13.9 883 12520 0.00 2.17 0.00 0.000 6 0.000 0.028 2521 2096 1955 0 0 0 0 0 0
12830 0.55 226.0 563.4 11.7 899 12834 0.00 2.08 0.00 0.000 4 0.000 0.037 2537 719 1955 0 0 0 0 0 0
12987 0.59 255.2 545.9 10.7 906 13017 0.00 2.10 25.20 0.799 6 0.000 0.032 2531 2096 1828 0 0 0 0 0 0
13334 0.63 290.2 509.1 10.5 923 13369 0.00 2.35 27.42 0.770 4 0.000 0.042 2531 3538 1686 0 0 0 0 0 0
13392 0.65 306.9 502.6 11.2 925 13412 0.00 2.22 14.38 0.710 6 0.000 0.027 2541 2091 1617 0 0 0 0 0 0
13738 0.65 306.9 462.6 12.2 957 13739 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 2091 1616 0 0 0 0 0 0
14059 0.65 306.9 423.5 12.8 987 14064 0.00 2.25 0.00 0.000 4 0.000 0.039 2541 3540 1616 0 0 0 0 0 0
14122 0.65 306.9 413.8 15.5 992 14126 0.00 2.17 0.00 0.000 6 0.000 0.027 2550 2098 1616 0 0 0 0 0 0
14447 0.65 306.9 368.6 13.4 1022 14451 0.00 2.10 0.00 0.000 4 0.000 0.036 2561 710 1616 0 0 0 0 0 0
14531 0.65 306.9 357.0 13.2 1029 14539 0.12 2.10 0.00 0.000 6 0.161 0.031 2529 2094 1616 0 0 0 0 0 0
14857 0.68 331.6 320.9 10.9 1060 14883 0.00 2.28 19.73 0.665 4 0.000 0.041 2533 3523 1516 0 0 0 0 0 0
15003 0.69 340.7 303.8 11.5 1073 15018 0.00 2.12 9.20 0.581 6 0.000 0.027 2537 2117 1479 0 0 0 0 0 0
15344 0.75 389.5 268.6 10.0 1105 15392 0.00 2.20 41.28 0.620 4 0.000 0.036 2547 727 1285 0 0 0 0 0 0
15456 0.82 443.4 257.8 9.8 1115 15513 0.10 2.15 47.10 0.594 6 0.102 0.030 2594 2125 1060 0 0 0 0 0 0
15831 0.82 443.4 206.2 14.9 1150 15834 0.00 2.20 0.00 0.000 4 0.000 0.034 2605 711 1058 0 0 0 0 0 0
15965 0.82 443.4 186.2 15.1 1170 15973 0.00 2.25 0.00 0.000 6 0.000 0.031 2604 2150 1060 0 0 0 0 0 0
16109 0.82 443.4 164.3 15.2 1195 16115 0.00 2.15 0.00 0.000 4 0.000 0.043 2605 3536 1058 0 0 0 0 0 0
16161 0.82 443.4 155.2 17.1 1204 16169 0.08 2.08 0.00 0.000 6 0.146 0.026 2591 2185 1058 0 0 0 0 0 0
16302 0.82 443.4 136.7 12.1 1229 16309 0.00 2.22 0.00 0.000 4 0.000 0.034 2598 711 1058 0 0 0 0 0 0
16350 0.82 445.4 131.1 11.7 1237 16357 0.00 2.28 0.00 0.000 6 0.000 0.030 2598 2209 1059 0 0 0 0 0 0
16490 0.89 501.3 116.8 9.8 1262 16538 0.00 2.15 43.00 0.526 4 0.000 0.041 2599 3541 823 0 0 0 0 0 0
16608 0.89 501.3 103.9 12.0 1281 16615 0.00 2.08 0.00 0.000 6 0.000 0.027 2608 2181 822 0 0 0 0 0 0
16748 0.89 501.3 87.9 11.8 1306 16756 0.00 2.25 0.00 0.000 4 0.000 0.036 2618 726 822 0 0 0 0 0 0
16836 0.90 508.0 77.4 11.5 1321 16851 0.00 2.17 6.30 0.458 6 0.000 0.030 2618 2155 797 0 0 0 0 0 0
16986 1.00 590.5 63.4 8.8 1347 17053 0.00 2.17 60.12 0.476 4 0.000 0.039 2618 3532 459 0 0 0 0 0 0
17101 1.16 718.9 54.5 7.1 1365 17117 0.17 2.12 5.60 0.392 6 0.069 0.025 2710 2141 438 0 0 0 0 0 0
17252 1.16 718.9 37.0 12.7 1391 17259 0.00 2.15 0.00 0.000 4 0.000 0.035 2721 724 437 0 0 0 0 0 0
17310 1.16 718.9 29.9 12.6 1401 17317 0.00 2.10 0.00 0.000 6 0.000 0.028 2721 2103 437 0 0 0 0 0 0
17452 1.16 718.9 12.3 11.9 1426 17460 0.00 2.22 0.00 0.000 4 0.000 0.041 2721 3524 437 0 0 0 0 0 0
17490 1.16 718.9 7.5 11.8 1432 17498 0.10 2.17 0.00 0.000 6 0.128 0.026 2696 2102 437 0 0 0 0 0 0
17532 end climb: SURFACE_DEPTH_REACHED
state 17532 begin surface coast
17559 end surface coast: CONTROL_FINISHED_OK
state 17559 begin surface