Glider dive log

PN07 DabobBay 26Sep07 * SG116 * Dive index * Mission links * Dive 392 * 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 392 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 50 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 23 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 15 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 30 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 15 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 -38350.332 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 150 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 40 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 50 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 40 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 15 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -38350.332

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 30

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 150 R_STBD_OVSHOOT 23 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 392 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 103503,4742.395,-12251.239,15,1.5,15,18.3 TGT_NAME PT4

_CALLS 1 TGT_LATLONG 4441.500,-12251.167

_XMS_NAKs 8 TGT_RADIUS 400.000

_XMS_TOUTs 2 KALMAN_CONTROL -0.028,-2.494

_SM_DEPTHo 1.72 KALMAN_X 28272.5,-206.6,-87.9,-25321.4,25.8

_SM_ANGLEo -62.7 KALMAN_Y 39539.0,6336.0,3954.1,-43193.0,1582.6

GPS2 104333,4742.401,-12251.224,16,1.5,16,18.3 MHEAD_RNG_PITCHd_Wd 162.4,335028,-3.8,-11.111

SPEED_LIMITS 0.132,0.269 D_GRID 142

Post-dive calculations and measurements:

FINISH 1.0,1.010181 XPDR_PINGS 40

SM_CCo 1560,74.80,0.550,0,0,1445,450.13 _24V_AH 23.5,59.031

SM_GC 1.66,0.00,0.00,74.80,0.000,0.000,0.550,136,1010,1445,-12.74,0.28,450.13 _10V_AH 10.0,37.477

IRIDIUM_FIX 4726.11,-12250.84,111007,141417 DATA_FILE_SIZE 3312,162

TT8_MAMPS 0.068263 CFSIZE 260034560,244981760

HUMID 2076 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 11.4653 GPS 111007,111251,4742.394,-12251.271,11,1.5,11,18.3

TCM_TEMP 19.80

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 201 165.20 SBE_CT 102 24 57.54

Roll_motor 20 74 36.41 nil 0 0 0.00

VBD_pump_during_apogee 441 605 6274.45 nil 0 0 0.00

VBD_pump_during_surface 74 549 966.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 92.38 nil 0 0 0.00

Iridium_during_connect 38 160 146.02 ARS 0 36 0.00

Iridium_during_xfer 243 223 1278.44

Transponder_ping 10 420 98.70

Mmodem_TX 80 1000 1902.09

Mmodem_RX 2174 6 326.98

GPS 16 50 8.37

TT8 256 19 50.85

LPSleep 454 2 9.96

TT8_Active 575 19 113.85

TT8_Sampling 325 39 129.46

TT8_CF8 560 45 256.70

TT8_Kalman 33 81 27.26

Analog_circuits 826 12 99.13

GPS_charging 0 0 0.00

Compass 306 8 24.55

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

31 end surface: CONTROL_FINISHED_OK

state 31 begin dive

36 -0.50 -146.6 0.0 0.0 0 109 0.00 0.00 -71.22 0.000 2 0.000 0.000 134 1015 2947

115 -0.50 -146.6 2.0 -1.0 12 188 16.88 2.55 -45.90 0.000 4 0.202 0.051 2793 2420 3879

316 -0.50 -146.6 8.9 -5.1 42 322 0.00 2.58 0.00 0.000 6 0.000 0.046 2792 999 3880

390 -0.50 -146.6 12.5 -4.6 53 396 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 999 3881

464 -0.50 -146.6 16.3 -4.9 64 470 0.00 2.53 0.00 0.000 4 0.000 0.039 2793 2420 3880

670 -0.50 -146.6 24.9 -4.6 87 676 0.00 2.60 0.00 0.000 6 0.000 0.047 2793 996 3879

868 -0.50 -146.6 33.5 -4.2 103 872 0.00 2.53 0.00 0.000 4 0.000 0.038 2792 2418 3880

904 end dive: HALF_MISSION_TIME_EXCEEDED

state 904 begin apogee

913 -0.42 0.0 34.9 3.5 105 1092 0.10 0.00 170.35 0.605 6 0.077 0.000 2816 2514 3281

1093 end apogee: CONTROL_FINISHED_OK

state 1094 begin climb

1098 0.50 146.6 37.6 0.0 120 1279 0.90 2.70 168.35 0.578 4 0.061 0.074 3014 3884 2682

1400 3.93 2938.7 20.3 6.1 144 1515 1.92 2.45 102.50 0.561 2 0.031 0.036 3463 2483 2139

1516 end climb: SURFACE_DEPTH_REACHED

state 1516 begin surface coast

1521 end surface coast: CONTROL_FINISHED_OK

state 1521 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	392	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	50	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	23	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	15	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	30	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	15	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	-38350.332	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	150	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	40	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	103503,4742.395,-12251.239,15,1.5,15,18.3	TGT_NAME	PT4
_CALLS	1	TGT_LATLONG	4441.500,-12251.167
_XMS_NAKs	8	TGT_RADIUS	400.000
_XMS_TOUTs	2	KALMAN_CONTROL	-0.028,-2.494
_SM_DEPTHo	1.72	KALMAN_X	28272.5,-206.6,-87.9,-25321.4,25.8
_SM_ANGLEo	-62.7	KALMAN_Y	39539.0,6336.0,3954.1,-43193.0,1582.6
GPS2	104333,4742.401,-12251.224,16,1.5,16,18.3	MHEAD_RNG_PITCHd_Wd	162.4,335028,-3.8,-11.111
SPEED_LIMITS	0.132,0.269	D_GRID	142

FINISH	1.0,1.010181	XPDR_PINGS	40
SM_CCo	1560,74.80,0.550,0,0,1445,450.13	_24V_AH	23.5,59.031
SM_GC	1.66,0.00,0.00,74.80,0.000,0.000,0.550,136,1010,1445,-12.74,0.28,450.13	_10V_AH	10.0,37.477
IRIDIUM_FIX	4726.11,-12250.84,111007,141417	DATA_FILE_SIZE	3312,162
TT8_MAMPS	0.068263	CFSIZE	260034560,244981760
HUMID	2076	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	11.4653	GPS	111007,111251,4742.394,-12251.271,11,1.5,11,18.3
TCM_TEMP	19.80

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	201	165.20	SBE_CT	102	24	57.54
Roll_motor	20	74	36.41	nil	0	0	0.00
VBD_pump_during_apogee	441	605	6274.45	nil	0	0	0.00
VBD_pump_during_surface	74	549	966.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	92.38	nil	0	0	0.00
Iridium_during_connect	38	160	146.02	ARS	0	36	0.00
Iridium_during_xfer	243	223	1278.44
Transponder_ping	10	420	98.70
Mmodem_TX	80	1000	1902.09
Mmodem_RX	2174	6	326.98
GPS	16	50	8.37
TT8	256	19	50.85
LPSleep	454	2	9.96
TT8_Active	575	19	113.85
TT8_Sampling	325	39	129.46
TT8_CF8	560	45	256.70
TT8_Kalman	33	81	27.26
Analog_circuits	826	12	99.13
GPS_charging	0	0	0.00
Compass	306	8	24.55
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
31	end surface: CONTROL_FINISHED_OK
state	31	begin dive
36	-0.50	-146.6	0.0	0.0	0	109	0.00	0.00	-71.22	0.000	2	0.000	0.000	134	1015	2947
115	-0.50	-146.6	2.0	-1.0	12	188	16.88	2.55	-45.90	0.000	4	0.202	0.051	2793	2420	3879
316	-0.50	-146.6	8.9	-5.1	42	322	0.00	2.58	0.00	0.000	6	0.000	0.046	2792	999	3880
390	-0.50	-146.6	12.5	-4.6	53	396	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	999	3881
464	-0.50	-146.6	16.3	-4.9	64	470	0.00	2.53	0.00	0.000	4	0.000	0.039	2793	2420	3880
670	-0.50	-146.6	24.9	-4.6	87	676	0.00	2.60	0.00	0.000	6	0.000	0.047	2793	996	3879
868	-0.50	-146.6	33.5	-4.2	103	872	0.00	2.53	0.00	0.000	4	0.000	0.038	2792	2418	3880
904	end dive: HALF_MISSION_TIME_EXCEEDED
state	904	begin apogee
913	-0.42	0.0	34.9	3.5	105	1092	0.10	0.00	170.35	0.605	6	0.077	0.000	2816	2514	3281
1093	end apogee: CONTROL_FINISHED_OK
state	1094	begin climb
1098	0.50	146.6	37.6	0.0	120	1279	0.90	2.70	168.35	0.578	4	0.061	0.074	3014	3884	2682
1400	3.93	2938.7	20.3	6.1	144	1515	1.92	2.45	102.50	0.561	2	0.031	0.036	3463	2483	2139
1516	end climb: SURFACE_DEPTH_REACHED
state	1516	begin surface coast
1521	end surface coast: CONTROL_FINISHED_OK
state	1521	begin surface