DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 73 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  193 HD_B  0.0099999998 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0
MISSION  2 HD_C  6.0000002e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  73 HEADING  -1 ROLL_MIN  300 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3841 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0.5 C_ROLL_DIVE  2120 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  6000 C_ROLL_CLIMB  2200 ALTIM_FREQUENCY  13
D_ABORT  1015 TGT_DEFAULT_LON  -5500 HEAD_ERRBAND  10 ALTIM_PULSE  5
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  1
D_BOOST  100 SM_CC  290 ROLL_TIMEOUT  15 XPDR_VALID  6
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  15 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  14 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  260 INT_PRESSURE_YINT  0.93000001
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  1 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  161 VBD_MIN  500 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  20
T_DIVE  370 UPLOAD_DIVES_MAX  -1 C_VBD  2772 DEVICE3  -1
T_MISSION  420 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  360 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  5 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -2 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -872.07953 VBD_MAXERRORS  1 COMPASS_DEVICE  97
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
D_OFFGRID  100 STROBE  0 AH0_24V  350 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  0 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  12 RAFOS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  12 XPDR_DEVICE  24
MAX_BUOY  140 PITCH_MIN  149 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3928 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  50 C_PITCH  2680 PHONE_SUPPLY  -2 SEABIRD_T_G  0.0043053469
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -48.048229 SEABIRD_T_H  0.00061871461
RHO  1.023 PITCH_CNV  0.0046000001 PRESSURE_SLOPE  0.0001163556 SEABIRD_T_I  2.1533233e-05
MASS  52000 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.1546668e-06
NAV_MODE  2 PITCH_GAIN  13 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8788214
FERRY_MAX  45 PITCH_TIMEOUT  15 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1391871
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  4 SEABIRD_C_I  -0.0018439521
HD_A  0.0043000001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00022276744

Pre-dive calculations and measurements:
GPS1  210912,164522,6647.904,-5939.020,34,0.7,35,-33.8 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.92 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  210912,165206,6647.910,-5939.315,6,0.7,6,-33.8 MHEAD_RNG_PITCHd_Wd  256.3,34912,-17.3,-8.919,-19.96
SPEED_LIMITS  0.075,0.246 D_GRID  885

Post-dive calculations and measurements:
FINISH  2.0,1.013803 _24V_AH  12.6,26.918
SM_CCo  15943,10.52,0.194,0,0,1588,290.19 _10V_AH  12.9,0.000
SM_GC  4.25,8.52,2.78,10.52,0.101,0.112,0.194,131,2120,1588,-11.63,0.57,290.19,0,0,0,0,0,0,14.71,14.69,14.63 FG_AHR_24Vo  0.000
RAFOS_CLK  707 FG_AHR_10Vo  0.000
RAFOS  5,1348245662,16.700001,16.683889,67,63,59,57,53,53,194,212,183,170,118,136 MEM  188748
RAFOS_FIX  6643.652344,-5932.451660,210912,202012,5,103,0.70 DATA_FILE_SIZE  53316,1165
IRIDIUM_FIX  6620.33,-5936.77,210912,121252 CAP_FILE_SIZE  143844,0
TT8_MAMPS  0.025466,0.025466 CFSIZE  259252224,245391360
HUMID  46.96 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  8.69397 SOUNDSPEED  1454.7
TCM_TEMP  12.60 CURRENT  0.088, 1.2,1
XPDR_PINGS  8 GPS  210912,212052,6647.161,-5942.813,37,0.9,37,-33.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22467134.87 SBE_CT85223257.48
Roll_motor150188357.24 SBE_O2822338.76
VBD_pump_during_apogee367264412231.68 nil000.00
VBD_pump_during_surface1019425.77 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer243149457.82 nil000.00
Transponder_ping242010.58 nil000.00
GUMSTIX_24V000.00
GPS6211.92
TT8303114584.94
LPSleep98602293.84
TT8_Active56114108.41
TT8_Sampling225933981.90
TT8_CF867638333.15
TT8_Kalman000.00
Analog_circuits196612304.43
GPS_charging000.00
Compass20456177.88
RAFOS2520148.76
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 pitch_volts roll_volts vbd_volts
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
19 -1.50 -136.9 0.0 0.0 0 39 0.00 0.00 -17.62 0.000 2 0.000 0.000 133 2121 1874 0 0 0 0 0 0 28.83 28.83 28.83
45 -1.50 -136.9 3.1 -3.6 3 142 11.20 2.85 -77.57 0.000 4 0.467 0.189 2338 3531 3330 0 0 0 0 0 0 14.39 14.48 14.73
256 -1.50 -136.9 30.3 -23.3 40 262 0.00 2.58 0.00 0.000 6 0.000 0.111 2338 2118 3331 0 0 0 0 0 0 28.83 14.56 28.83
573 -1.50 -136.9 78.2 -14.0 101 581 0.00 2.60 0.00 0.000 4 0.000 0.143 2338 705 3332 0 0 0 0 0 0 28.83 14.59 28.83
738 -1.50 -136.9 102.5 -15.9 130 746 0.12 2.65 0.00 0.000 6 0.316 0.145 2353 2128 3332 0 0 0 0 0 0 14.55 14.62 28.83
1047 -1.50 -136.9 146.0 -13.9 161 1053 0.00 0.00 0.00 0.000 6 0.000 0.000 2353 2128 3332 0 0 0 0 0 0 28.83 28.83 28.83
1363 -1.50 -136.9 187.6 -13.3 192 1371 0.00 2.60 0.00 0.000 4 0.000 0.141 2353 705 3331 0 0 0 0 0 0 28.83 14.67 28.83
1390 -1.50 -136.9 191.7 -13.3 194 1397 0.00 2.62 0.00 0.000 6 0.000 0.142 2345 2125 3332 0 0 0 0 0 0 28.83 14.69 28.83
1697 -1.50 -136.9 232.6 -12.8 225 1707 0.00 2.62 0.00 0.000 4 0.000 0.154 2335 3529 3331 0 0 0 0 0 0 28.83 14.69 28.83
1755 -1.50 -136.9 240.0 -13.6 230 1762 0.00 2.53 0.00 0.000 6 0.000 0.106 2334 2112 3331 0 0 0 0 0 0 28.83 14.74 28.83
2063 -1.50 -136.9 282.4 -13.1 261 2073 0.00 2.53 0.00 0.000 4 0.000 0.137 2334 716 3330 0 0 0 0 0 0 28.83 14.71 28.83
2112 -1.50 -136.9 288.7 -14.0 265 2120 0.12 2.60 0.00 0.000 6 0.319 0.144 2350 2126 3330 0 0 0 0 0 0 14.66 14.72 28.83
2421 -1.50 -136.9 325.5 -10.9 296 2430 0.00 2.58 0.00 0.000 4 0.000 0.141 2351 716 3330 0 0 0 0 0 0 28.83 14.72 28.83
2468 -1.50 -136.9 330.5 -11.4 300 2475 0.00 2.58 0.00 0.000 6 0.000 0.140 2344 2121 3330 0 0 0 0 0 0 28.83 14.73 28.83
2775 -1.50 -136.9 364.9 -11.1 331 2784 0.00 2.62 0.00 0.000 4 0.000 0.154 2333 3531 3330 0 0 0 0 0 0 28.83 14.72 28.83
2852 -1.50 -136.9 373.6 -11.8 338 2859 0.00 2.53 0.00 0.000 6 0.000 0.106 2333 2110 3330 0 0 0 0 0 0 28.83 14.77 28.83
3174 -1.50 -136.9 411.4 -11.9 364 3180 0.00 2.53 0.00 0.000 4 0.000 0.138 2333 709 3330 0 0 0 0 0 0 28.83 14.75 28.83
3224 -1.50 -136.9 415.8 -11.9 365 3234 0.08 2.58 0.00 0.000 6 0.298 0.140 2344 2125 3330 0 0 0 0 0 0 14.69 14.73 28.83
3536 -1.50 -136.9 452.6 -10.9 376 3542 0.00 2.60 0.00 0.000 4 0.000 0.155 2335 3531 3330 0 0 0 0 0 0 28.83 14.76 28.83
3570 -1.50 -136.9 456.1 -11.0 377 3575 0.00 2.47 0.00 0.000 6 0.000 0.101 2335 2119 3330 0 0 0 0 0 0 28.83 14.81 28.83
3897 -1.50 -136.9 493.6 -11.2 388 3898 0.00 0.00 0.00 0.000 6 0.000 0.000 2335 2120 3330 0 0 0 0 0 0 28.83 28.83 28.83
4198 -1.50 -136.9 526.4 -10.8 398 4204 0.00 2.65 0.00 0.000 4 0.000 0.159 2325 3530 3330 0 0 0 0 0 0 28.83 14.78 28.83
4259 -1.50 -136.9 533.3 -10.8 400 4266 0.08 2.50 0.00 0.000 6 0.281 0.106 2345 2119 3330 0 0 0 0 0 0 14.73 14.82 28.83
4592 -1.50 -136.9 566.3 -9.7 411 4593 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2119 3330 0 0 0 0 0 0 28.83 28.83 28.83
4892 -1.50 -136.9 597.0 -10.5 421 4893 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2119 3330 0 0 0 0 0 0 28.83 28.83 28.83
5191 -1.50 -136.9 629.2 -11.0 431 5192 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2119 3331 0 0 0 0 0 0 28.83 28.83 28.83
5491 -1.50 -136.9 661.2 -10.6 441 5497 0.00 2.53 0.00 0.000 4 0.000 0.142 2345 711 3331 0 0 0 0 0 0 28.83 14.83 28.83
5523 -1.50 -136.9 664.5 -10.5 442 5529 0.00 2.58 0.00 0.000 6 0.000 0.148 2338 2115 3331 0 0 0 0 0 0 28.83 14.83 28.83
5855 -1.50 -136.9 699.4 -10.3 453 5856 0.00 0.00 0.00 0.000 6 0.000 0.000 2338 2115 3331 0 0 0 0 0 0 28.83 28.83 28.83
6155 -1.50 -136.9 729.6 -10.0 463 6156 0.00 0.00 0.00 0.000 6 0.000 0.000 2338 2115 3331 0 0 0 0 0 0 28.83 28.83 28.83
6455 -1.50 -136.9 759.8 -10.0 473 6460 0.00 2.55 0.00 0.000 4 0.000 0.145 2338 712 3331 0 0 0 0 0 0 28.83 14.85 28.83
6494 -1.50 -136.9 763.0 -10.1 474 6500 0.08 2.58 0.00 0.000 6 0.298 0.148 2350 2121 3331 0 0 0 0 0 0 14.77 14.84 28.83
6816 -1.50 -136.9 794.6 -9.5 485 6822 0.00 2.62 0.00 0.000 4 0.000 0.160 2341 3530 3331 0 0 0 0 0 0 28.83 14.83 28.83
6856 -1.50 -136.9 797.8 -9.6 486 6861 0.00 2.47 0.00 0.000 6 0.000 0.108 2341 2121 3331 0 0 0 0 0 0 28.83 14.88 28.83
7178 -1.50 -136.9 831.8 -10.2 497 7183 0.00 2.53 0.00 0.000 4 0.000 0.142 2341 708 3331 0 0 0 0 0 0 28.83 14.84 28.83
7239 -1.50 -136.9 838.5 -10.4 499 7245 0.00 2.55 0.00 0.000 6 0.000 0.141 2333 2118 3331 0 0 0 0 0 0 28.83 14.84 28.83
7572 -1.50 -136.9 873.3 -10.1 510 7577 0.00 2.60 0.00 0.000 4 0.000 0.155 2323 3531 3331 0 0 0 0 0 0 28.83 14.83 28.83
7611 -1.50 -136.9 876.9 -10.1 511 7617 0.10 2.47 0.00 0.000 6 0.278 0.103 2349 2115 3331 0 0 0 0 0 0 14.78 14.88 28.83
7688 end dive: TARGET_DEPTH_EXCEEDED
state 7688 begin apogee
7700 -0.38 0.0 885.2 -9.7 514 7852 0.85 0.00 141.65 2.645 6 0.269 0.000 2588 2208 2771 0 0 0 0 0 0 14.79 28.83 12.99
7853 end apogee: CONTROL_FINISHED_OK
state 7853 begin climb
7859 1.50 136.9 889.8 0.0 519 8017 1.40 0.00 153.35 2.598 6 0.171 0.000 3002 2208 2213 0 0 0 0 0 0 13.83 28.83 12.59
8318 1.50 136.9 842.3 12.2 535 8324 0.00 2.78 0.00 0.000 4 0.000 0.149 3002 3608 2204 0 0 0 0 0 0 28.83 14.03 28.83
8373 1.50 136.9 838.3 12.2 536 8380 0.00 2.65 0.00 0.000 6 0.000 0.108 3013 2200 2204 0 0 0 0 0 0 28.83 14.12 28.83
8680 1.50 136.9 797.3 12.2 547 8685 0.00 2.62 0.00 0.000 4 0.000 0.138 3023 790 2201 0 0 0 0 0 0 28.83 14.31 28.83
8704 1.50 136.9 797.3 12.2 547 8711 0.00 2.65 0.00 0.000 6 0.000 0.126 3023 2210 2201 0 0 0 0 0 0 28.83 14.33 28.83
9012 1.50 136.9 754.3 12.8 558 9013 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2210 2201 0 0 0 0 0 0 28.83 28.83 28.83
9311 1.50 136.9 715.7 13.0 568 9312 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2210 2200 0 0 0 0 0 0 28.83 28.83 28.83
9611 1.50 136.9 676.9 12.9 578 9617 0.00 2.62 0.00 0.000 4 0.000 0.146 3023 3611 2200 0 0 0 0 0 0 28.83 14.59 28.83
9661 1.50 136.9 672.6 13.1 579 9670 0.10 2.53 0.00 0.000 6 0.288 0.106 3007 2201 2200 0 0 0 0 0 0 14.54 14.62 28.83
9973 1.50 136.9 633.2 11.5 590 9979 0.00 2.55 0.00 0.000 4 0.000 0.138 3016 792 2199 0 0 0 0 0 0 28.83 14.66 28.83
10042 1.50 136.9 625.9 11.7 592 10048 0.00 2.53 0.00 0.000 6 0.000 0.123 3016 2198 2198 0 0 0 0 0 0 28.83 14.66 28.83
10365 1.50 136.9 585.5 12.3 603 10366 0.00 0.00 0.00 0.000 6 0.000 0.000 3017 2199 2198 0 0 0 0 0 0 28.83 28.83 28.83
10664 1.50 136.9 547.9 12.5 613 10670 0.00 2.62 0.00 0.000 4 0.000 0.148 3017 3617 2198 0 0 0 0 0 0 28.83 14.71 28.83
10698 1.50 136.9 543.6 12.8 614 10704 0.00 2.53 0.00 0.000 6 0.000 0.106 3027 2196 2198 0 0 0 0 0 0 28.83 14.76 28.83
11027 1.50 136.9 499.8 13.3 625 11028 0.00 0.00 0.00 0.000 6 0.000 0.000 3027 2196 2198 0 0 0 0 0 0 28.83 28.83 28.83
11329 1.50 136.9 460.1 13.1 635 11334 0.00 2.65 0.00 0.000 4 0.000 0.152 3027 3613 2198 0 0 0 0 0 0 28.83 14.76 28.83
11390 1.50 136.9 451.3 13.4 637 11396 0.10 2.50 0.00 0.000 6 0.282 0.109 3010 2201 2198 0 0 0 0 0 0 14.71 14.78 28.83
11723 1.50 136.9 411.0 11.9 648 11729 0.00 2.53 0.00 0.000 4 0.000 0.138 3019 793 2198 0 0 0 0 0 0 28.83 14.78 28.83
11773 1.50 136.9 406.9 12.0 649 11777 0.00 2.50 0.00 0.000 6 0.000 0.125 3019 2197 2196 0 0 0 0 0 0 28.83 14.78 28.83
12089 1.50 136.9 367.7 11.5 678 12095 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 2197 2197 0 0 0 0 0 0 28.83 28.83 28.83
12398 1.50 136.9 331.7 11.6 709 12407 0.00 2.62 0.00 0.000 4 0.000 0.148 3019 3613 2197 0 0 0 0 0 0 28.83 14.77 28.83
12483 1.50 136.9 320.9 12.7 717 12493 0.08 2.50 0.00 0.000 6 0.290 0.108 3009 2198 2197 0 0 0 0 0 0 14.72 14.78 28.83
12794 1.50 136.9 286.5 10.7 748 12800 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 2198 2197 0 0 0 0 0 0 28.83 28.83 28.83
13109 1.50 136.9 252.3 11.2 779 13118 0.00 2.50 0.00 0.000 4 0.000 0.138 3019 778 2197 0 0 0 0 0 0 28.83 14.78 28.83
13207 1.50 136.9 240.8 11.7 788 13214 0.00 2.58 0.00 0.000 6 0.000 0.126 3018 2208 2196 0 0 0 0 0 0 28.83 14.78 28.83
13514 1.50 136.9 207.2 10.5 819 13524 0.00 2.60 0.00 0.000 4 0.000 0.148 3019 3613 2197 0 0 0 0 0 0 28.83 14.76 28.83
13552 1.50 136.9 203.4 10.9 822 13561 0.08 2.50 0.00 0.000 6 0.291 0.109 3009 2198 2197 0 0 0 0 0 0 14.71 14.78 28.83
13862 1.51 148.6 175.3 8.4 853 13879 0.00 2.50 9.30 1.838 4 0.000 0.135 3018 779 2166 0 0 0 0 0 0 28.83 14.69 14.04
13992 1.51 148.6 164.3 8.9 865 14000 0.00 2.58 0.00 0.000 6 0.000 0.125 3018 2203 2165 0 0 0 0 0 0 28.83 14.69 28.83
14301 1.51 148.6 137.2 9.4 896 14306 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2203 2165 0 0 0 0 0 0 28.83 28.83 28.83
14610 1.51 148.6 107.8 9.3 927 14616 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2203 2165 0 0 0 0 0 0 28.83 28.83 28.83
14926 1.51 148.6 81.7 9.1 980 14932 0.00 2.62 0.00 0.000 4 0.000 0.150 3018 3611 2165 0 0 0 0 0 0 28.83 14.73 28.83
14948 1.51 149.6 79.6 8.9 983 14955 0.00 2.55 0.00 0.000 6 0.000 0.109 3028 2189 2164 0 0 0 0 0 0 28.83 14.77 28.83
15265 1.57 194.4 53.7 7.0 1044 15296 0.00 2.65 25.33 0.344 4 0.000 0.145 3038 780 1976 0 0 0 0 0 0 28.83 14.68 14.59
15431 1.57 194.4 37.5 10.5 1074 15438 0.00 2.60 0.00 0.000 6 0.000 0.132 3038 2200 1970 0 0 0 0 0 0 28.83 14.69 28.83
15748 1.66 266.1 13.7 5.8 1135 15792 0.00 2.75 37.45 0.217 4 0.000 0.155 3038 3616 1683 0 0 0 0 0 0 28.83 14.64 14.62
15883 end climb: SURFACE_DEPTH_REACHED
state 15883 begin surface coast
15913 end surface coast: CONTROL_FINISHED_OK
state 15913 begin surface