OKMC Feb13 * SG171 * Dive index * Mission links * Dive 51 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  171 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 ESCAPE_HEADING  0 C_ROLL_DIVE  2500 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  51 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2000 ALTIM_PING_DEPTH  0
N_DIVES  0 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_SURF  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_TGT  920 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  50 ALTIM_SENSITIVITY  2
D_ABORT  1010 SM_CC  400 R_STBD_OVSHOOT  28 XPDR_VALID  2
D_NO_BLEED  200 N_FILEKB  8 ROLL_AD_RATE  400 XPDR_INHIBIT  90
D_BOOST  20 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  3 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  1.4
D_FINISH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_PITCH  0 PROTOCOL  9 VBD_MIN  415 DEEPGLIDERMB  0
D_SAFE  0 N_NOCOMM  1 VBD_MAX  3400 MOTHERBOARD  4
D_CALL  0 NOCOMM_ACTION  163 C_VBD  2730 DEVICE1  -1
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  330 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0020000001 DEVICE5  -1
T_MISSION  360 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERS  1
T_TURN  225 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  5 T_GPS  15 UNCOM_BLEED  20 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
T_EPIRB  0 T_GPS_CHARGE  -20562.793 DBDW  0 COMPASS_DEVICE  33
USE_BATHY  -8 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
USE_ICE  0 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
ICE_FREEZE_MARGIN  0.30000001 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
D_OFFGRID  1000 RAFOS_CORR_THRESH  60 AH0_24V  150 RAFOS_DEVICE  -1
T_WATCHDOG  10 RAFOS_HIT_WINDOW  3600 AH0_10V  100 XPDR_DEVICE  24
RELAUNCH  1 PITCH_MIN  154 MINV_24V  22 SIM_W  0
APOGEE_PITCH  -5 PITCH_MAX  3952 MINV_10V  9.5 SIM_PITCH  0
MAX_BUOY  175 C_PITCH  2810 FG_AHR_10V  0 SEABIRD_T_G  0.0043708701
COURSE_BIAS  0 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00064764963
GLIDE_SLOPE  30 PITCH_CNV  0.003125763 PHONE_SUPPLY  -2 SEABIRD_T_I  2.5888983e-05
SPEED_FACTOR  1 P_OVSHOOT  0.039999999 PRESSURE_YINT  -74.53199 SEABIRD_T_J  2.7074855e-06
RHO  1.0275 PITCH_GAIN  20 PRESSURE_SLOPE  0.0001165165 SEABIRD_C_G  -10.475479
MASS  52107 PITCH_TIMEOUT  16 AD7714Ch0Gain  128 SEABIRD_C_H  1.2050543
NAV_MODE  2 PITCH_AD_RATE  175 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0015894541
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00021379974
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.003 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.0099999998 ROLL_MIN  181 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0
HD_C  9.9999997e-06 ROLL_MAX  3676 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  040313,040636,2319.500,12222.292,32,1.1,32,-3.1 TGT_NAME  N2
_CALLS  2 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.24 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -68.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  040313,041407,2319.502,12222.268,13,1.8,13,-3.1 MHEAD_RNG_PITCHd_Wd  97.6,166940,-15.0,-9.293,-18.92,2788
SPEED_LIMITS  0.161,0.271 D_GRID  4695

Post-dive calculations and measurements:
FINISH  0.5,1.023433 _10V_AH  10.4,6.319
SM_CCo  14056,47.17,0.058,0,0,1096,400.08 FG_AHR_24Vo  0.000
SM_GC  1.80,8.02,0.75,47.17,0.040,0.047,0.058,125,2495,1096,-8.26,-1.39,400.08,0,0,0,0,0,0,26.60,26.57,26.48 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2309.79,12222.70,040313,040451 MEM  323980
TT8_MAMPS  0.047936,0.047936 DATA_FILE_SIZE  23457,633
HUMID  41.88 CAP_FILE_SIZE  366326,0
INTERNAL_PRESSURE  9.62297 CFSIZE  260034560,248217600
TCM_TEMP  23.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.196,349.1,1
SC_FREEKB  4004256 GPS  040313,081124,2320.600,12224.021,69,1.0,69,-3.2
_24V_AH  24.2,9.916

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19223107.03 nil000.00
Roll_motor10858152.03 nil000.00
VBD_pump_during_apogee85373415171.92 nil000.00
VBD_pump_during_surface475866.37 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1403631254.41
Iridium_during_xfer256127793.32 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS14274.29
TT82907351086.42
LPSleep83422190.01
TT8_Active88235329.89
TT8_Sampling2198581335.52
TT8_CF821265145.91
TT8_Kalman000.00
Analog_circuits223115348.13
GPS_charging000.00
Compass18265113.79
RAFOS000.00
Transponder050.03

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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
17 -1.09 -170.3 125 2490 1200 1016 0.0 0.0 0 74 0.00 0.00 -54.53 0.000 16386 0.000 0.000 125 2492 2758 2820 2697 0 0 0 0 0 0 28.83 28.83 28.83
76 -1.09 -170.3 125 2492 2823 2697 4.3 -9.0 7 102 9.02 2.17 -10.15 0.000 18948 0.223 0.046 2451 1096 3408 3423 3393 0 0 0 0 0 0 25.94 26.17 26.46
167 -1.09 -170.3 2450 1095 3421 3398 41.9 -33.0 18 172 0.00 2.20 0.00 0.000 1030 0.000 0.047 2440 2501 3410 3422 3398 0 0 0 0 0 0 28.83 26.21 28.83
481 -1.09 -170.3 2439 2500 3422 3399 149.0 -31.0 35 487 0.00 1.85 0.00 0.000 260 0.000 0.056 2430 3671 3410 3422 3399 0 0 0 0 0 0 28.83 26.40 28.83
646 -1.09 -170.3 2430 3671 3422 3402 199.5 -31.5 43 652 0.00 1.73 0.00 0.000 1030 0.000 0.026 2431 2471 3412 3422 3402 0 0 0 0 0 0 28.83 26.54 28.83
970 -1.09 -170.3 2430 2470 3422 3406 286.7 -24.6 59 971 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 2470 3414 3422 3406 0 0 0 0 0 0 28.83 28.83 28.83
1270 -1.09 -170.3 2430 2470 3422 3407 352.8 -21.2 74 1276 0.00 1.88 0.00 0.000 260 0.000 0.056 2421 3670 3414 3422 3407 0 0 0 0 0 0 28.83 26.60 28.83
1316 -1.09 -170.3 2421 3670 3422 3407 362.5 -21.3 76 1322 0.12 1.67 0.00 0.000 3078 0.160 0.025 2455 2489 3414 3422 3407 0 0 0 0 0 0 26.52 26.70 28.83
1641 -1.09 -170.3 2454 2489 3422 3407 423.7 -19.1 92 1647 0.00 1.85 0.00 0.000 260 0.000 0.057 2446 3674 3415 3422 3408 0 0 0 0 0 0 28.83 26.65 28.83
1726 -1.09 -170.3 2445 3674 3422 3408 440.7 -19.8 96 1733 0.00 1.67 0.00 0.000 1030 0.000 0.024 2446 2490 3415 3422 3408 0 0 0 0 0 0 28.83 26.74 28.83
2051 -1.09 -170.3 2446 2488 3422 3408 504.2 -20.0 112 2057 0.00 1.85 0.00 0.000 260 0.000 0.058 2439 3670 3415 3422 3408 0 0 0 0 0 0 28.83 26.68 28.83
2104 -1.09 -170.3 2436 3669 3422 3408 512.5 -19.2 114 2110 0.00 1.65 0.00 0.000 1030 0.000 0.024 2437 2494 3415 3422 3408 0 0 0 0 0 0 28.83 26.77 28.83
2418 -1.09 -170.3 2436 2495 3422 3408 573.2 -18.6 130 2424 0.00 2.03 0.00 0.000 516 0.000 0.031 2437 1122 3414 3421 3408 0 0 0 0 0 0 28.83 26.75 28.83
2445 -1.09 -170.3 2437 1122 3421 3408 577.5 -18.5 131 2452 0.12 2.10 0.00 0.000 3078 0.161 0.044 2460 2503 3414 3421 3408 0 0 0 0 0 0 26.63 26.72 28.83
2764 -1.09 -170.3 2460 2503 3420 3407 631.1 -16.9 144 2770 0.00 2.05 0.00 0.000 516 0.000 0.031 2465 1115 3414 3421 3407 0 0 0 0 0 0 28.83 26.76 28.83
2798 -1.09 -170.3 2460 1115 3420 3407 636.8 -16.8 145 2804 0.00 2.12 0.00 0.000 1030 0.000 0.045 2451 2501 3414 3420 3409 0 0 0 0 0 0 28.83 26.74 28.83
3132 -1.09 -170.3 2450 2501 3417 3405 693.7 -16.9 156 3139 0.00 1.80 0.00 0.000 260 0.000 0.057 2441 3668 3411 3418 3404 0 0 0 0 0 0 28.83 26.74 28.83
3205 -1.09 -170.3 2441 3668 3417 3404 704.9 -17.1 158 3211 0.00 1.65 0.00 0.000 1030 0.000 0.028 2441 2513 3410 3417 3404 0 0 0 0 0 0 28.83 26.83 28.83
3528 -1.09 -170.3 2441 2512 3415 3400 761.9 -16.9 169 3535 0.00 2.08 0.00 0.000 516 0.000 0.032 2441 1108 3408 3415 3401 0 0 0 0 0 0 28.83 26.79 28.83
3582 -1.09 -170.3 2441 1108 3414 3400 767.8 -17.0 170 3587 0.00 2.12 0.00 0.000 1030 0.000 0.046 2431 2500 3407 3414 3400 0 0 0 0 0 0 28.83 26.76 28.83
3896 -1.09 -170.3 2430 2501 3412 3398 823.8 -16.5 181 3901 0.00 1.83 0.00 0.000 260 0.000 0.058 2421 3676 3404 3412 3397 0 0 0 0 0 0 28.83 26.75 28.83
3990 -1.09 -170.3 2421 3676 3411 3397 839.8 -16.9 184 3997 0.12 1.70 0.00 0.000 3078 0.155 0.028 2453 2500 3402 3411 3394 0 0 0 0 0 0 26.67 26.85 28.83
4325 -1.09 -170.3 2455 2500 3408 3394 889.4 -15.0 195 4326 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2500 3401 3408 3394 0 0 0 0 0 0 28.83 28.83 28.83
4533 end dive: TARGET_DEPTH_EXCEEDED
state 4533 begin apogee
4538 -0.25 0.0 2456 2008 3407 3391 921.1 -15.1 202 4990 0.77 0.00 440.62 0.575 10246 0.107 0.000 2725 2007 2728 2851 2605 0 0 0 0 0 0 26.71 28.83 24.58
4992 end apogee: CONTROL_FINISHED_OK
state 4992 begin climb
4994 1.09 170.3 2725 2007 2849 2601 955.7 0.0 216 5256 1.17 2.35 251.48 0.734 11012 0.041 0.041 3187 612 2028 2169 1888 0 0 0 0 0 0 25.21 24.87 24.22
5488 1.09 170.3 3187 612 2128 1886 934.6 12.7 232 5494 0.00 2.17 0.00 0.000 1030 0.000 0.037 3187 2006 2007 2129 1886 0 0 0 0 0 0 28.83 25.88 28.83
5822 1.09 170.3 3187 2006 2123 1879 895.4 11.6 243 5823 0.00 0.00 0.00 0.000 6 0.000 0.000 3190 2006 2000 2123 1878 0 0 0 0 0 0 28.83 28.83 28.83
6121 1.09 170.3 3187 2006 2122 1876 860.7 11.4 253 6127 0.00 2.20 0.00 0.000 260 0.000 0.051 3187 3405 1999 2122 1876 0 0 0 0 0 0 28.83 26.38 28.83
6190 1.09 170.3 3187 3405 2122 1875 853.1 11.7 255 6197 0.15 2.10 0.00 0.000 5126 0.168 0.030 3160 1993 1997 2122 1872 0 0 0 0 0 0 26.28 26.46 28.83
6520 1.09 170.3 3159 1993 2120 1872 818.8 10.0 266 6526 0.00 2.22 0.00 0.000 260 0.000 0.051 3160 3405 1996 2120 1872 0 0 0 0 0 0 28.83 26.50 28.83
6639 1.09 170.3 3159 3405 2119 1873 808.7 10.4 269 6647 0.00 2.10 0.00 0.000 1030 0.000 0.030 3170 1998 1995 2119 1872 0 0 0 0 0 0 28.83 26.58 28.83
6947 1.09 170.3 3169 1998 2117 1871 775.7 10.2 280 6953 0.00 2.22 0.00 0.000 260 0.000 0.051 3170 3412 1993 2117 1870 0 0 0 0 0 0 28.83 26.58 28.83
6981 1.09 170.3 3169 3412 2117 1871 772.0 10.3 281 6987 0.00 2.10 0.00 0.000 1030 0.000 0.031 3181 2006 1994 2117 1871 0 0 0 0 0 0 28.83 26.63 28.83
7314 1.09 170.3 3181 2005 2116 1870 736.8 10.6 292 7316 0.00 0.00 0.00 0.000 6 0.000 0.000 3181 2005 1993 2116 1871 0 0 0 0 0 0 28.83 28.83 28.83
7615 1.09 170.3 3181 2005 2115 1869 705.7 10.0 302 7621 0.00 2.12 0.00 0.000 516 0.000 0.041 3191 606 1992 2115 1869 0 0 0 0 0 0 28.83 26.65 28.83
7688 1.09 170.3 3192 606 2115 1869 698.9 10.5 304 7695 0.12 2.10 0.00 0.000 5126 0.178 0.037 3161 2004 1992 2115 1869 0 0 0 0 0 0 26.52 26.67 28.83
8013 1.09 170.3 3160 2004 2114 1868 666.0 9.6 315 8018 0.00 2.17 0.00 0.000 260 0.000 0.050 3161 3404 1990 2114 1867 0 0 0 0 0 0 28.83 26.67 28.83
8207 1.09 170.3 3160 3404 2114 1867 646.7 10.5 321 8213 0.00 2.08 0.00 0.000 1030 0.000 0.031 3171 1996 1991 2114 1868 0 0 0 0 0 0 28.83 26.73 28.83
8531 1.09 170.3 3169 1995 2114 1866 613.0 10.0 332 8537 0.00 2.20 0.00 0.000 260 0.000 0.050 3171 3405 1990 2114 1867 0 0 0 0 0 0 28.83 26.70 28.83
8553 1.09 170.3 3171 3405 2114 1866 613.0 10.0 332 8559 0.00 2.08 0.00 0.000 1030 0.000 0.031 3183 2001 1990 2114 1866 0 0 0 0 0 0 28.83 26.74 28.83
8878 1.09 173.6 3182 1998 2113 1866 577.2 9.2 347 8884 0.00 2.10 0.00 0.000 516 0.000 0.044 3194 609 1989 2113 1866 0 0 0 0 0 0 28.83 26.71 28.83
9119 1.17 212.2 3193 609 2113 1866 558.3 7.9 358 9187 0.00 2.08 62.95 0.592 9222 0.000 0.037 3193 2000 1864 1995 1734 0 0 0 0 0 0 28.83 26.74 25.37
9501 1.17 212.2 3193 2000 1959 1711 514.7 12.3 377 9507 0.00 2.20 0.00 0.000 260 0.000 0.050 3193 3402 1835 1959 1711 0 0 0 0 0 0 28.83 26.30 28.83
9615 1.17 212.2 3192 3402 1958 1711 501.3 12.6 382 9621 0.00 2.10 0.00 0.000 1030 0.000 0.031 3204 2002 1834 1958 1711 0 0 0 0 0 0 28.83 26.41 28.83
9929 1.17 212.2 3204 2002 1956 1711 458.3 14.4 398 9935 0.00 2.20 0.00 0.000 260 0.000 0.050 3205 3400 1833 1956 1711 0 0 0 0 0 0 28.83 26.47 28.83
10047 1.17 212.2 3204 3401 1955 1711 443.1 14.5 403 10055 0.00 2.10 0.00 0.000 1030 0.000 0.031 3216 1993 1833 1956 1711 0 0 0 0 0 0 28.83 26.55 28.83
10354 1.17 212.2 3216 1993 1954 1711 404.0 12.0 419 10359 0.00 2.20 0.00 0.000 260 0.000 0.050 3216 3401 1832 1954 1711 0 0 0 0 0 0 28.83 26.56 28.83
10479 1.17 212.2 3216 3401 1954 1711 387.3 13.4 425 10486 0.15 2.10 0.00 0.000 5126 0.171 0.031 3189 1993 1832 1954 1711 0 0 0 0 0 0 26.44 26.63 28.83
10804 1.17 212.2 3189 1993 1954 1711 350.4 11.2 441 10806 0.00 0.00 0.00 0.000 6 0.000 0.000 3189 1996 1832 1954 1711 0 0 0 0 0 0 28.83 28.83 28.83
11103 1.17 212.2 3190 1993 1954 1708 319.6 10.4 456 11110 0.00 2.20 0.00 0.000 260 0.000 0.050 3189 3402 1832 1954 1711 0 0 0 0 0 0 28.83 26.65 28.83
11340 1.17 212.2 3189 3402 1955 1711 293.2 11.7 467 11346 0.00 2.08 0.00 0.000 1030 0.000 0.031 3202 1995 1832 1954 1711 0 0 0 0 0 0 28.83 26.73 28.83
11653 1.17 212.2 3199 1994 1954 1711 257.1 10.7 483 11659 0.00 2.20 0.00 0.000 260 0.000 0.049 3199 3409 1832 1954 1711 0 0 0 0 0 0 28.83 26.68 28.83
11808 1.17 212.2 3199 3409 1954 1712 242.8 9.5 490 11814 0.00 2.08 0.00 0.000 1030 0.000 0.031 3210 1999 1833 1954 1712 0 0 0 0 0 0 28.83 26.74 28.83
12122 1.17 212.2 3210 1999 1954 1711 213.3 9.6 506 12128 0.00 2.12 0.00 0.000 516 0.000 0.044 3222 601 1832 1954 1711 0 0 0 0 0 0 28.83 26.71 28.83
12246 1.24 244.2 2240 601 1906 1704 203.0 8.1 512 12293 0.00 2.10 40.35 0.445 9222 0.000 0.035 3222 2010 1734 1850 1618 0 0 0 0 0 0 28.83 26.73 25.84
12587 1.24 244.2 3221 2010 1815 1605 166.2 10.5 529 12592 0.00 2.15 0.00 0.000 516 0.000 0.043 3232 609 1710 1815 1606 0 0 0 0 0 0 28.83 26.48 28.83
12781 1.24 244.2 3232 609 1813 1606 145.2 10.2 538 12787 0.00 2.10 0.00 0.000 1030 0.000 0.034 3233 2005 1709 1813 1606 0 0 0 0 0 0 28.83 26.55 28.83
13101 1.33 290.6 3232 2005 1813 1605 119.4 7.6 554 13162 0.00 0.00 58.28 0.405 8710 0.000 0.000 3232 2005 1544 1650 1439 0 0 0 0 0 0 28.83 28.83 25.68
13470 1.33 290.6 3232 2004 1622 1417 77.2 12.3 572 13476 0.00 2.17 0.00 0.000 516 0.000 0.044 3244 606 1519 1622 1417 0 0 0 0 0 0 28.83 26.37 28.83
13527 1.33 290.6 2304 605 1589 1413 71.3 12.8 574 13535 0.00 2.10 0.00 0.000 1030 0.000 0.034 3244 1998 1519 1622 1417 0 0 0 0 0 0 28.83 26.42 28.83
13835 1.33 290.6 3243 1998 1622 1417 29.5 14.5 597 13836 0.00 0.00 0.00 0.000 6 0.000 0.000 3244 1998 1519 1622 1417 0 0 0 0 0 0 28.83 28.83 28.83
14021 end climb: SURFACE_DEPTH_REACHED
state 14021 begin surface coast
14039 end surface coast: CONTROL_FINISHED_OK
state 14039 begin surface