GulfOfMexico Jul15 * SG163 * Dive index * Mission links * Dive 38 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  163 HD_C  1.6100001e-05 ROLL_MAX  3809 ALTIM_BOTTOM_TURN_MARGIN  15
MISSION  7 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  38 ESCAPE_HEADING  0 C_ROLL_DIVE  2400 ALTIM_TOP_MIN_OBSTACLE  1
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2575 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  5
D_FLARE  5 TGT_DEFAULT_LAT  27.983 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  750 TGT_DEFAULT_LON  -87.467003 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  68 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  500 R_STBD_OVSHOOT  40 XPDR_VALID  2
D_BOOST  20 N_FILEKB  8 ROLL_AD_RATE  290 XPDR_INHIBIT  90
T_BOOST  2 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  3.8499999
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  73 VBD_MIN  550 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_MAX  3960 DEVICE1  2
SURFACE_URGENCY  0 NOCOMM_ACTION  0 C_VBD  2880 DEVICE2  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.245296 DEVICE4  -1
T_DIVE  250 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE5  -1
T_MISSION  330 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0020000001 DEVICE6  -1
T_ABORT  720 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  1
T_TURN  540 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  115
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  15 UNCOM_BLEED  50 LOGGERDEVICE3  -1
T_LOITER  3600 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE4  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  2 COMPASS_DEVICE  33
USE_BATHY  0 T_RSLEEP  3 DBDW  0 COMPASS2_DEVICE  -1
USE_ICE  0 STROBE  0 PITCH_W_GAIN  2 PHONE_DEVICE  49
ICE_FREEZE_MARGIN  0.30000001 RAFOS_PEAK_OFFSET  1.5 PITCH_W_DBAND  0.5 GPS_DEVICE  32
D_OFFGRID  1001 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  1 RAFOS_DEVICE  -1
T_WATCHDOG  10 RAFOS_HIT_WINDOW  3600 AH0_24V  150 XPDR_DEVICE  -1
RELAUNCH  1 PITCH_MIN  139 AH0_10V  100 SIM_W  0
APOGEE_PITCH  -5 PITCH_MAX  3886 MINV_24V  19 SIM_PITCH  0
MAX_BUOY  225 C_PITCH  2700 MINV_10V  8 SEABIRD_T_G  0.004370783
COURSE_BIAS  0 PITCH_DBAND  0.1 FG_AHR_10V  0 SEABIRD_T_H  0.00063893938
GLIDE_SLOPE  30 PITCH_CNV  0.003125763 FG_AHR_24V  0 SEABIRD_T_I  2.6964792e-05
SPEED_FACTOR  1 P_OVSHOOT  0.039999999 PHONE_SUPPLY  2 SEABIRD_T_J  3.1314887e-06
RHO  1.0275 P_OVSHOOT_WITHG  0.079999998 PRESSURE_YINT  -19.837452 SEABIRD_C_G  -9.7295246
MASS  51703 PITCH_GAIN  20 PRESSURE_SLOPE  0.00011605668 SEABIRD_C_H  1.088999
MASS_COMP  0 PITCH_TIMEOUT  16 AD7714Ch0Gain  128 SEABIRD_C_I  -0.0021791991
NAV_MODE  2 PITCH_AD_RATE  175 TCM_PITCH_OFFSET  0 SEABIRD_C_J  0.00024473958
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 MI_OFFLOAD  1.0
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  0 MI_POWERSOURCE  0.0
HD_A  0.0022199999 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 MI_RESTARTMONITOR  0.0
HD_B  0.0116 ROLL_MIN  198 ALTIM_TOP_PING_RANGE  0 MI_NOTIFYMOTORS  0.0

Pre-dive calculations and measurements:
GPS1  240715,182830,2758.622,-8727.670,37,0.8,47,-2.0 SPEED_LIMITS  0.173,0.278
_CALLS  1 TGT_NAME  SOURCE
_XMS_NAKs  0 TGT_LATLONG  2759.000,-8728.000
_XMS_TOUTs  0 TGT_RADIUS  500.000
_SM_DEPTHo  3.08 MHEAD_RNG_PITCHd_Wd  326.9,1282,-19.2,-10.000,-24.54,1860
_SM_ANGLEo  -62.2 D_GRID  750
GPS2  240715,184016,2758.440,-8727.539,4,0.8,15,-2.0

Post-dive calculations and measurements:
FINISH  2.4,1.012700 MI_HOME  2.9/436550/424007
SM_CCo  12646,100.82,0.351,1,0,840,500.65 _24V_AH  23.92,9.733
SM_GC  3.34,8.23,2.17,100.82,0.034,0.025,0.351,145,2397,840,-7.92,1.67,500.65,0,0,0,0,1,0,25.58,25.63,24.70 _10V_AH  10.16,8.789
IRIDIUM_FIX  2722.64,-8719.43,200508,080100 FG_AHR_24Vo  0.000
TT8_MAMPS  0.096621,0.096621 FG_AHR_10Vo  0.000
HUMID  37.24 MEM  295872
INTERNAL_PRESSURE  9.27013 DATA_FILE_SIZE  33392,944
TCM_TEMP  24.90 CAP_FILE_SIZE  143954,0
MI_MIVER  0.4 CFSIZE  260034560,254943232
MI_ROOTFSVER  rootfs created by gbs@granite.apl.washington.edu Mon Jun 6 12:33:49 PDT 2011 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
MI_BOOTCOUNT  146 INTR  0,13046.85,0x236bc6,7,5
MI_LOG  3.5/516052/497888 CURRENT  0.112,140.74,1
MI_ROOT  70.6/190403/55925 GPS  240715,221401,2758.934,-8727.837,34,0.8,45,-2.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20234113.81 SBE_CT63823354.79
Roll_motor9953127.00 nil000.00
VBD_pump_during_apogee3499668081.47 nil000.00
VBD_pump_during_surface100351846.84 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init316045.93 nil000.00
Iridium_during_connect37160143.79 MIB135234113562.78
Iridium_during_xfer2522231346.19 nil000.00
Transponder_ping000.00 nil000.00
GUMSTIX_24V135233511588.00
GPS16305.26
TT8000.00
LPSleep9497037.63
TT8_Active6181281.41
TT8_Sampling3012381176.22
TT8_CF81234556.54
TT8_Kalman000.00
Analog_circuits163917283.17
GPS_charging000.00
Compass198816332.88
RAFOS000.00
Transponder000.00

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
15 -1.21 -124.9 134 2377 949 729 0.0 0.0 0 84 0.00 0.00 -67.18 0.000 16386 0.000 0.000 134 2378 2789 2752 2827 0 0 0 0 0 0 28.83 28.83 28.83
86 -1.29 -167.0 134 2378 2753 2829 5.7 -7.7 10 114 8.93 2.28 -14.15 0.000 19204 0.234 0.054 2269 3801 3564 3511 3618 0 0 0 0 0 0 25.11 25.52 25.64
188 -1.29 -167.0 2270 3801 3512 3622 43.5 -38.3 29 196 0.00 2.15 0.00 0.000 1030 0.000 0.024 2269 2396 3566 3511 3622 0 0 0 0 0 0 28.83 25.62 28.83
260 -1.29 -167.0 2269 2393 3512 3623 66.5 -29.6 38 264 0.00 2.15 0.00 0.000 516 0.000 0.032 2269 997 3566 3511 3622 0 0 0 0 0 0 28.83 25.63 28.83
330 -1.29 -167.0 2269 997 3513 3622 84.9 -25.7 45 334 0.00 2.17 0.00 0.000 1030 0.000 0.028 2260 2410 3567 3512 3622 0 0 0 0 0 0 28.83 25.68 28.83
460 -1.29 -167.0 2260 2410 3514 3625 113.6 -21.3 56 464 0.00 2.15 0.00 0.000 260 0.000 0.039 2249 3796 3569 3514 3624 0 0 0 0 0 0 28.83 25.70 28.83
505 -1.29 -167.0 2249 3797 3515 3626 123.0 -20.9 59 510 0.10 2.10 0.00 0.000 3078 0.158 0.021 2277 2382 3569 3513 3625 0 0 0 0 0 0 25.37 25.78 28.83
820 -1.29 -167.0 2277 2383 3518 3626 185.5 -19.3 80 824 0.00 2.20 0.00 0.000 260 0.000 0.040 2268 3790 3572 3517 3627 0 0 0 0 0 0 28.83 25.81 28.83
994 -1.29 -167.0 2268 3791 3518 3627 217.7 -19.7 91 1002 0.00 2.08 0.00 0.000 1030 0.000 0.022 2268 2412 3572 3517 3627 0 0 0 0 0 0 28.83 25.85 28.83
1300 -1.29 -167.0 2269 2409 3517 3627 276.4 -18.8 112 1304 0.00 2.20 0.00 0.000 260 0.000 0.040 2258 3798 3571 3516 3627 0 0 0 0 0 0 28.83 25.80 28.83
1350 -1.29 -167.0 2259 3798 3517 3627 285.2 -19.3 115 1354 0.00 2.12 0.00 0.000 1030 0.000 0.022 2258 2392 3571 3516 3626 0 0 0 0 0 0 28.83 25.88 28.83
1660 -1.29 -167.0 2259 2387 3517 3625 345.3 -18.8 136 1661 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2386 3570 3516 3625 0 0 0 0 0 0 28.83 28.83 28.83
1960 -1.29 -167.0 2258 2383 3517 3622 401.6 -19.4 156 1964 0.00 2.22 0.00 0.000 260 0.000 0.041 2248 3794 3568 3515 3621 0 0 0 0 0 0 28.83 25.81 28.83
2015 -1.29 -167.0 2248 3794 3516 3621 410.6 -19.9 159 2023 0.10 2.12 0.00 0.000 3078 0.152 0.023 2277 2382 3567 3514 3621 0 0 0 0 0 0 25.44 25.88 28.83
2321 -1.29 -167.0 2277 2383 3514 3617 468.5 -17.8 180 2321 0.00 0.00 0.00 0.000 6 0.000 0.000 2277 2382 3565 3513 3617 0 0 0 0 0 0 28.83 28.83 28.83
2620 -1.29 -167.0 2277 2383 3512 3613 522.1 -17.8 200 2624 0.00 2.25 0.00 0.000 260 0.000 0.043 2268 3788 3561 3510 3613 0 0 0 0 0 0 28.83 25.79 28.83
2704 -1.29 -167.0 2269 3789 3509 3612 535.6 -18.2 205 2713 0.00 2.08 0.00 0.000 1030 0.000 0.022 2268 2419 3560 3508 3612 0 0 0 0 0 0 28.83 25.85 28.83
3010 -1.29 -167.0 2269 2419 3508 3608 591.0 -17.3 226 3014 0.00 2.25 0.00 0.000 260 0.000 0.043 2258 3798 3557 3507 3607 0 0 0 0 0 0 28.83 25.50 28.83
3055 -1.29 -167.0 2258 3799 3507 3608 599.1 -17.8 229 3059 0.00 2.15 0.00 0.000 1030 0.000 0.023 2258 2400 3556 3506 3607 0 0 0 0 0 0 28.83 25.56 28.83
3370 -1.29 -167.0 2259 2401 3504 3604 655.1 -17.6 250 3371 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2400 3553 3503 3604 0 0 0 0 0 0 28.83 28.83 28.83
3670 -1.29 -167.0 2259 2401 3501 3600 707.9 -17.8 270 3674 0.00 2.25 0.00 0.000 260 0.000 0.045 2248 3820 3550 3500 3600 0 0 0 0 0 0 28.83 25.65 28.83
3724 -1.29 -167.0 2248 3821 3500 3600 716.4 -18.7 273 3734 0.10 2.17 0.00 0.000 3078 0.151 0.024 2277 2389 3549 3499 3599 0 0 0 0 0 0 25.30 25.77 28.83
3924 end dive: TARGET_DEPTH_EXCEEDED
state 3924 begin apogee
3927 -0.25 0.0 2280 2578 3500 3596 750.9 -15.9 287 4063 1.12 0.00 130.65 0.949 10246 0.135 0.000 2612 2577 2877 2899 2855 0 0 0 0 0 0 25.41 28.83 24.01
4064 end apogee: CONTROL_FINISHED_OK
state 4064 begin loiter
4360 -0.23 10.0 2613 2578 2896 2850 756.4 -0.6 316 4377 0.00 1.95 8.73 0.779 8452 0.000 0.049 2610 3789 2836 2860 2813 0 0 0 0 0 0 28.83 25.53 24.70
4917 -0.26 -2.6 2610 3789 2855 2808 752.1 0.7 353 4920 0.00 1.80 0.00 0.000 1030 0.000 0.026 2611 2579 2830 2853 2807 0 0 0 0 0 0 28.83 25.84 28.83
5232 -0.28 -15.1 2610 2579 2853 2804 750.2 0.7 374 5235 0.00 1.92 0.00 0.000 260 0.000 0.049 2605 3819 2827 2851 2804 0 0 0 0 0 0 28.83 25.71 28.83
5776 -0.29 -18.0 2606 3820 2848 2803 748.2 0.2 410 5780 0.00 1.85 0.00 0.000 1030 0.000 0.027 2605 2577 2824 2847 2802 0 0 0 0 0 0 28.83 25.86 28.83
6087 -0.29 -20.3 2606 2577 2847 2800 748.1 0.1 431 6091 0.00 2.12 0.00 0.000 516 0.000 0.035 2605 1187 2822 2846 2799 0 0 0 0 0 0 28.83 25.72 28.83
6176 -0.29 -18.8 2605 1187 2847 2799 748.1 -0.1 437 6180 0.00 2.20 0.00 0.000 1030 0.000 0.035 2605 2575 2822 2845 2799 0 0 0 0 0 0 28.83 25.75 28.83
6492 -0.30 -25.2 2606 2576 2845 2798 747.6 0.4 458 6495 0.00 1.92 0.00 0.000 260 0.000 0.050 2605 3795 2821 2844 2798 0 0 0 0 0 0 28.83 25.65 28.83
7036 -0.33 -41.0 2605 3795 2841 2797 743.3 0.9 494 7040 0.00 1.83 0.00 0.000 1030 0.000 0.027 2605 2578 2818 2840 2796 0 0 0 0 0 0 28.83 25.72 28.83
7346 -0.36 -55.5 2606 2578 2842 2794 740.6 0.8 515 7350 0.00 1.95 0.00 0.000 260 0.000 0.050 2602 3793 2817 2840 2794 0 0 0 0 0 0 28.83 25.56 28.83
7491 -0.38 -64.4 2602 3793 2839 2794 739.8 0.5 524 7499 0.00 1.83 0.00 0.000 1030 0.000 0.028 2602 2574 2816 2839 2794 0 0 0 0 0 0 28.83 25.75 28.83
7660 end loiter: LOITER_COMPLETE
state 7660 begin climb
7661 1.29 167.0 2602 2575 2839 2793 739.0 0.0 536 7792 1.42 2.25 123.03 0.966 10756 0.077 0.039 3107 1191 2196 2261 2131 0 0 0 0 0 0 25.52 24.64 23.92
7861 1.29 167.0 3108 1196 2260 2121 720.1 15.2 549 7865 0.00 2.25 0.00 0.000 1030 0.000 0.034 3107 2577 2189 2258 2120 0 0 0 0 0 0 28.83 25.13 28.83
8171 1.29 167.0 3108 2577 2254 2117 670.1 15.8 570 8175 0.00 2.22 0.00 0.000 516 0.000 0.038 3117 1190 2184 2253 2116 0 0 0 0 0 0 28.83 25.48 28.83
8191 1.29 167.0 3117 1190 2254 2115 667.8 15.6 571 8195 0.00 2.22 0.00 0.000 1030 0.000 0.034 3117 2581 2184 2253 2115 0 0 0 0 0 0 28.83 25.55 28.83
8501 1.29 167.0 3118 2581 2252 2115 619.4 15.5 592 8502 0.00 0.00 0.00 0.000 6 0.000 0.000 3117 2581 2182 2251 2114 0 0 0 0 0 0 28.83 28.83 28.83
8801 1.29 167.0 3118 2582 2250 2114 573.1 15.1 612 8805 0.00 1.90 0.00 0.000 260 0.000 0.047 3117 3796 2181 2250 2113 0 0 0 0 0 0 28.83 25.63 28.83
8826 1.29 167.0 3117 3796 2250 2114 570.5 15.4 613 8835 0.00 1.85 0.00 0.000 1030 0.000 0.026 3126 2576 2181 2249 2113 0 0 0 0 0 0 28.83 25.72 28.83
9131 1.29 167.0 3127 2569 2249 2113 519.0 16.6 634 9135 0.00 1.95 0.00 0.000 260 0.000 0.046 3126 3792 2179 2247 2112 0 0 0 0 0 0 28.83 25.63 28.83
9181 1.29 167.0 3127 3793 2248 2112 510.9 17.6 637 9185 0.00 1.85 0.00 0.000 1030 0.000 0.027 3135 2581 2179 2247 2112 0 0 0 0 0 0 28.83 25.74 28.83
9491 1.29 167.0 3136 2574 2246 2112 457.7 17.2 658 9492 0.00 0.00 0.00 0.000 6 0.000 0.000 3135 2573 2178 2245 2111 0 0 0 0 0 0 28.83 28.83 28.83
9791 1.29 167.0 3136 2563 2246 2111 406.8 16.8 678 9795 0.00 1.98 0.00 0.000 260 0.000 0.046 3135 3801 2178 2245 2111 0 0 0 0 0 0 28.83 25.62 28.83
9896 1.29 167.0 3136 3801 2246 2111 388.1 17.8 685 9900 0.08 1.88 0.00 0.000 5126 0.168 0.026 3124 2581 2177 2244 2111 0 0 0 0 0 0 25.20 25.70 28.83
10212 1.29 167.0 3125 2563 2244 2111 338.5 15.3 706 10213 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2562 2177 2244 2110 0 0 0 0 0 0 28.83 28.83 28.83
10512 1.29 167.0 3125 2562 2244 2110 289.3 16.7 726 10512 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2562 2176 2243 2110 0 0 0 0 0 0 28.83 28.83 28.83
10811 1.29 167.0 3125 2563 2244 2109 238.3 16.8 746 10815 0.00 2.20 0.00 0.000 516 0.000 0.038 3132 1171 2175 2242 2109 0 0 0 0 0 0 28.83 25.51 28.83
10836 1.29 167.0 3133 1171 2243 2109 235.8 16.9 747 10844 0.00 2.22 0.00 0.000 1030 0.000 0.032 3132 2579 2175 2242 2108 0 0 0 0 0 0 28.83 25.58 28.83
11141 1.29 167.0 3133 2577 2243 2109 184.0 16.6 768 11145 0.00 1.90 0.00 0.000 260 0.000 0.044 3132 3791 2175 2242 2108 0 0 0 0 0 0 28.83 25.58 28.83
11201 1.29 167.0 3133 3791 2243 2109 172.3 19.7 772 11205 0.00 1.88 0.00 0.000 1030 0.000 0.026 3142 2572 2175 2242 2108 0 0 0 0 0 0 28.83 25.65 28.83
11517 1.29 167.0 3142 2553 2243 2108 122.9 15.0 793 11520 0.00 1.98 0.00 0.000 260 0.000 0.044 3142 3801 2175 2242 2109 0 0 0 0 0 0 28.83 25.58 28.83
11716 1.29 167.0 3142 3801 2243 2109 91.8 17.8 808 11720 0.10 1.88 0.00 0.000 5126 0.160 0.025 3123 2578 2175 2242 2108 0 0 0 0 0 0 25.16 25.67 28.83
11846 1.29 167.0 3123 2560 2243 2109 76.5 10.2 821 11851 0.00 1.95 0.00 0.000 260 0.000 0.044 3123 3793 2175 2242 2108 0 0 0 0 0 0 28.83 25.60 28.83
11971 1.29 167.0 3123 3794 2244 2109 63.9 10.3 833 11979 0.00 1.88 0.00 0.000 1030 0.000 0.024 3130 2562 2175 2242 2108 0 0 0 0 0 0 28.83 25.71 28.83
12096 1.43 233.0 3131 2553 2244 2109 52.6 6.4 846 12149 0.00 0.00 46.65 0.473 8198 0.000 0.000 3131 2552 1927 2005 1850 0 0 0 0 0 0 28.83 28.83 24.93
12267 1.53 286.6 3131 2553 2001 1845 41.9 7.0 874 12313 0.15 0.00 40.62 0.453 10502 0.070 0.000 3198 2552 1707 1787 1627 0 0 0 0 0 0 25.52 28.83 24.79
12372 1.53 286.6 3198 2552 1783 1624 30.0 13.0 893 12378 0.00 0.00 0.00 0.000 6 0.000 0.000 3198 2552 1703 1782 1624 0 0 0 0 0 0 28.83 28.83 28.83
12438 1.53 286.6 3198 2553 1781 1624 21.2 13.6 906 12444 0.00 0.00 0.00 0.000 6 0.000 0.000 3198 2552 1701 1780 1623 0 0 0 0 0 0 28.83 28.83 28.83
12502 1.53 286.6 3198 2552 1781 1623 12.4 11.5 919 12510 0.00 1.98 0.00 0.000 260 0.000 0.042 3198 3801 1700 1779 1622 0 0 0 0 0 0 28.83 25.49 28.83
12603 end climb: SURFACE_DEPTH_REACHED
state 12603 begin surface coast
12628 end surface coast: CONTROL_FINISHED_OK
state 12628 begin surface