OKMC Jun11 * SG181 * Dive index * Mission links * Dive 766 * 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  766 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  53 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  67 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  0 DEVICE3  39
D_ABORT  1030 FILEMGR  0 ROLL_ADJ_DBAND  0 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  1 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  320 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  350 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  -41815.367 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  2375 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  42 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  0 PITCH_ADJ_GAIN  0.0099999998 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  200.0
FERRY_MAX  45 PITCH_ADJ_DBAND  1 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  15 ALTIM_SENSITIVITY  2 LA_STARTS  23.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2500 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2100 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  10 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  041111,181207,2136.725,12023.160,37,0.8,37,-2.6 TGT_NAME  W3
_CALLS  1 TGT_LATLONG  1900.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.206,0.235
_SM_DEPTHo  1.32 KALMAN_X  28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo  -63.9 KALMAN_Y  68902.1,-606.5,-201.3,102840.5,390.9
GPS2  041111,181850,2136.653,12023.112,13,1.0,13,-2.6 MHEAD_RNG_PITCHd_Wd  190.5,292930,-14.3,-10.312
SPEED_LIMITS  0.179,0.314 D_GRID  1369

Post-dive calculations and measurements:
FINISH  0.6,1.022012 _10V_AH  9.6,90.859
SM_CCo  18976,0.00,0.000,0,0,441,595.59 FG_AHR_24Vo  0.000
SM_GC  1.27,6.68,0.00,0.00,0.031,0.000,0.000,209,2505,441,-6.69,0.14,595.59,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2129.53,12020.06,041111,121207 MEM  322720
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  90263,1588
HUMID  50.35 CAP_FILE_SIZE  209022,0
INTERNAL_PRESSURE  9.3363 CFSIZE  260165632,182530048
TCM_TEMP  24.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  2 GPS  041111,233636,2136.112,12023.757,25,1.6,25,-2.6
_24V_AH  22.7,127.388

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1922398.75 SBE_CT109724597.70
Roll_motor645582.21 AA4330000.00
VBD_pump_during_apogee660105915873.80 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2910369.38 nil000.00
Iridium_during_connect2016072.75 TMicro000.00
Iridium_during_xfer182223924.21 LAB000.00
Transponder_ping04204.77 nil000.00
GUMSTIX_24V000.00
GPS16507.92
TT8386619734.85
LPSleep110662232.66
TT8_Active70619134.34
TT8_Sampling3215391228.68
TT8_CF850745223.18
TT8_Kalman000.00
Analog_circuits231312266.56
GPS_charging000.00
Compass295315425.24
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 -0.61 -219.0 0.0 0.0 0 87 0.00 0.00 -67.78 0.000 2 0.000 0.000 184 2508 2394 0 0 0 0 0 0
90 -0.61 -219.0 3.4 -3.3 12 138 8.30 0.80 -31.42 0.000 4 0.223 0.056 2171 1937 3762 0 0 0 0 0 0
242 -0.48 -219.0 32.7 -19.9 38 249 0.15 0.82 0.00 0.000 6 0.131 0.037 2215 2475 3763 0 0 0 0 0 0
590 -0.44 -219.0 82.9 -12.1 99 596 0.00 0.82 0.00 0.000 4 0.000 0.037 2213 3030 3762 0 0 0 0 0 0
683 -0.38 -219.0 92.8 -9.8 115 690 0.10 0.77 0.00 0.000 6 0.116 0.024 2248 2472 3761 0 0 0 0 0 0
1030 -0.50 -219.0 124.5 -12.9 176 1037 0.00 0.65 0.00 0.000 4 0.000 0.024 2248 1963 3762 0 0 0 0 0 0
1248 -0.64 -219.0 151.4 -10.6 214 1255 0.20 0.82 0.00 0.000 6 0.045 0.034 2159 2513 3762 0 0 0 0 0 0
1596 -0.68 -219.0 180.0 -8.5 275 1603 0.00 0.75 0.00 0.000 4 0.000 0.037 2157 3024 3762 0 0 0 0 0 0
1644 -0.66 -219.0 185.0 -10.8 283 1651 0.00 0.73 0.00 0.000 6 0.000 0.024 2157 2496 3761 0 0 0 0 0 0
1980 -0.66 -219.0 217.2 -8.1 326 1984 0.00 0.80 0.00 0.000 4 0.000 0.036 2153 3026 3762 0 0 0 0 0 0
2085 -0.65 -219.0 226.3 -9.0 335 2088 0.00 0.73 0.00 0.000 6 0.000 0.024 2153 2504 3762 0 0 0 0 0 0
2416 -0.67 -219.0 263.3 -12.2 366 2420 0.00 0.73 0.00 0.000 4 0.000 0.026 2153 1961 3761 0 0 0 0 0 0
2452 -0.67 -219.0 267.3 -11.2 369 2456 0.00 0.80 0.00 0.000 6 0.000 0.034 2152 2497 3761 0 0 0 0 0 0
2784 -0.69 -219.0 302.3 -9.5 400 2788 0.00 0.77 0.00 0.000 4 0.000 0.038 2152 3022 3759 0 0 0 0 0 0
2903 -0.69 -219.0 313.7 -9.7 410 2910 0.00 0.73 0.00 0.000 6 0.000 0.024 2152 2497 3759 0 0 0 0 0 0
3229 -0.74 -219.0 341.3 -8.8 441 3233 0.00 0.80 0.00 0.000 4 0.000 0.037 2152 3025 3757 0 0 0 0 0 0
3337 -0.74 -219.0 351.4 -9.8 450 3344 0.00 0.73 0.00 0.000 6 0.000 0.024 2152 2501 3756 0 0 0 0 0 0
3663 -0.79 -219.0 386.3 -11.3 481 3667 0.00 0.73 0.00 0.000 4 0.000 0.028 2152 1969 3754 0 0 0 0 0 0
3760 -0.80 -219.0 397.3 -11.2 489 3767 0.08 0.80 0.00 0.000 6 0.059 0.035 2097 2501 3753 0 0 0 0 0 0
4086 -0.70 -219.0 441.0 -14.4 520 4090 0.17 0.75 0.00 0.000 4 0.140 0.025 2146 1967 3751 0 0 0 0 0 0
4182 -0.68 -219.0 451.3 -9.6 528 4190 0.00 0.80 0.00 0.000 6 0.000 0.034 2144 2500 3750 0 0 0 0 0 0
4508 -0.73 -219.0 478.2 -8.7 559 4512 0.00 0.75 0.00 0.000 4 0.000 0.027 2144 1971 3748 0 0 0 0 0 0
4592 -0.74 -219.0 486.5 -10.0 566 4599 0.00 0.80 0.00 0.000 6 0.000 0.035 2142 2498 3747 0 0 0 0 0 0
4926 -0.78 -219.0 518.4 -9.8 589 4930 0.00 0.73 0.00 0.000 4 0.000 0.024 2142 1975 3745 0 0 0 0 0 0
4955 -0.82 -219.0 521.7 -9.9 590 4959 0.00 0.80 0.00 0.000 6 0.000 0.037 2139 2498 3744 0 0 0 0 0 0
5283 -0.84 -219.0 551.4 -8.7 606 5285 0.10 0.00 0.00 0.000 6 0.093 0.000 2083 2499 3742 0 0 0 0 0 0
5593 -0.73 -219.0 587.4 -13.8 621 5598 0.20 0.73 0.00 0.000 4 0.142 0.021 2140 1987 3740 0 0 0 0 0 0
5744 -0.71 -219.0 604.5 -10.6 627 5751 0.00 0.77 0.00 0.000 6 0.000 0.037 2138 2494 3739 0 0 0 0 0 0
6062 -0.74 -219.0 637.9 -10.5 643 6066 0.00 0.80 0.00 0.000 4 0.000 0.043 2138 3021 3736 0 0 0 0 0 0
6157 -0.77 -219.0 648.1 -10.6 647 6161 0.00 0.73 0.00 0.000 6 0.000 0.025 2138 2507 3735 0 0 0 0 0 0
6486 -0.81 -219.0 677.1 -8.5 663 6487 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2504 3734 0 0 0 0 0 0
6794 -0.85 -219.0 703.1 -8.6 678 6798 0.12 0.73 0.00 0.000 4 0.082 0.028 2075 1976 3732 0 0 0 0 0 0
6856 -0.75 -219.0 710.3 -12.7 680 6864 0.17 0.80 0.00 0.000 6 0.129 0.037 2127 2490 3731 0 0 0 0 0 0
7173 -0.71 -219.0 744.7 -10.5 696 7177 0.00 0.82 0.00 0.000 4 0.000 0.042 2125 3026 3729 0 0 0 0 0 0
7347 -0.66 -219.0 765.0 -11.8 703 7354 0.10 0.75 0.00 0.000 6 0.135 0.027 2158 2505 3729 0 0 0 0 0 0
7663 -0.72 -219.0 797.4 -10.4 719 7667 0.00 0.82 0.00 0.000 4 0.000 0.041 2156 3032 3727 0 0 0 0 0 0
7779 -0.77 -219.0 809.6 -10.6 724 7782 0.00 0.77 0.00 0.000 6 0.000 0.027 2156 2499 3726 0 0 0 0 0 0
8112 -0.84 -219.0 841.5 -9.1 740 8117 0.15 0.85 0.00 0.000 4 0.076 0.041 2083 3026 3724 0 0 0 0 0 0
8182 -0.77 -219.0 849.6 -12.7 743 8187 0.12 0.75 0.00 0.000 6 0.134 0.027 2123 2502 3723 0 0 0 0 0 0
8519 -0.73 -219.0 889.2 -11.8 759 8522 0.00 0.82 0.00 0.000 4 0.000 0.042 2121 3030 3722 0 0 0 0 0 0
8649 -0.69 -219.0 905.8 -13.0 764 8656 0.08 0.77 0.00 0.000 6 0.141 0.027 2145 2491 3721 0 0 0 0 0 0
8965 -0.69 -219.0 939.0 -10.2 780 8969 0.00 0.85 0.00 0.000 4 0.000 0.041 2143 3029 3720 0 0 0 0 0 0
9062 -0.67 -219.0 948.7 -9.9 784 9066 0.00 0.77 0.00 0.000 6 0.000 0.027 2143 2491 3720 0 0 0 0 0 0
9390 -0.67 -219.0 980.1 -9.1 800 9394 0.00 0.82 0.00 0.000 4 0.000 0.041 2139 3020 3718 0 0 0 0 0 0
9492 -0.65 -219.0 989.3 -9.3 804 9495 0.00 0.75 0.00 0.000 6 0.000 0.027 2139 2500 3718 0 0 0 0 0 0
9501 end dive: TARGET_DEPTH_EXCEEDED
state 9501 begin apogee
9510 -0.19 0.0 990.3 9.0 805 9683 0.52 0.00 167.80 1.060 6 0.112 0.000 2309 2091 2869 0 0 0 0 0 0
9683 end apogee: CONTROL_FINISHED_OK
state 9683 begin climb
9687 0.61 219.0 1000.9 0.0 813 9875 0.73 0.82 180.82 1.043 4 0.050 0.029 2584 1592 1976 0 0 0 0 0 0
10038 0.51 219.0 977.0 10.9 829 10046 0.12 0.80 0.00 0.000 6 0.145 0.031 2548 2120 1974 0 0 0 0 0 0
10358 0.51 280.4 949.6 8.4 845 10411 0.00 0.80 48.78 1.007 4 0.000 0.037 2548 2622 1726 0 0 0 0 0 0
10578 0.48 302.2 929.3 9.6 855 10601 0.00 0.75 18.92 0.940 6 0.000 0.028 2549 2108 1637 0 0 0 0 0 0
10912 0.51 357.9 901.4 8.5 871 10962 0.00 0.82 44.95 0.978 4 0.000 0.034 2550 2618 1409 0 0 0 0 0 0
11037 0.49 360.6 888.8 10.2 876 11045 0.00 0.77 3.97 0.575 6 0.000 0.028 2553 2093 1398 0 0 0 0 0 0
11354 0.47 360.6 855.9 10.8 892 11355 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2093 1399 0 0 0 0 0 0
11663 0.46 360.6 821.4 10.8 907 11667 0.00 0.80 0.00 0.000 4 0.000 0.033 2552 2624 1400 0 0 0 0 0 0
11771 0.42 360.6 809.6 10.4 911 11778 0.12 0.77 0.00 0.000 6 0.128 0.028 2515 2102 1401 0 0 0 0 0 0
12090 0.59 445.8 784.0 7.6 927 12162 0.15 0.75 67.72 0.926 4 0.081 0.031 2582 1581 1051 0 0 0 0 0 0
12244 0.59 445.8 767.9 10.7 934 12248 0.00 0.77 0.00 0.000 6 0.000 0.029 2583 2097 1054 0 0 0 0 0 0
12573 0.61 445.8 733.7 10.8 950 12577 0.00 0.77 0.00 0.000 4 0.000 0.035 2582 2625 1054 0 0 0 0 0 0
12674 0.61 445.8 722.5 11.2 954 12677 0.00 0.77 0.00 0.000 6 0.000 0.030 2584 2102 1054 0 0 0 0 0 0
12997 0.64 445.8 687.4 11.3 970 13001 0.00 0.77 0.00 0.000 4 0.000 0.036 2588 1572 1053 0 0 0 0 0 0
13044 0.66 445.8 681.9 12.1 972 13047 0.00 0.80 0.00 0.000 6 0.000 0.029 2588 2109 1053 0 0 0 0 0 0
13377 0.69 445.8 644.4 10.8 988 13381 0.00 0.75 0.00 0.000 4 0.000 0.035 2588 2623 1054 0 0 0 0 0 0
13474 0.69 449.1 634.4 10.2 992 13483 0.00 0.77 4.62 0.597 6 0.000 0.030 2591 2096 1040 0 0 0 0 0 0
13802 0.82 522.0 606.3 8.0 1008 13865 0.15 0.77 57.65 0.812 4 0.080 0.032 2661 1588 739 0 0 0 0 0 0
13898 0.84 535.3 596.0 9.9 1012 13914 0.00 0.77 12.70 0.717 6 0.000 0.028 2662 2100 686 0 0 0 0 0 0
14234 0.79 535.3 549.9 14.9 1029 14239 0.12 0.80 0.00 0.000 4 0.153 0.034 2629 1575 690 0 0 0 0 0 0
14359 0.77 535.3 532.7 13.4 1034 14363 0.00 0.77 0.00 0.000 6 0.000 0.029 2629 2097 691 0 0 0 0 0 0
14683 0.82 535.3 495.9 10.7 1051 14687 0.00 0.77 0.00 0.000 4 0.000 0.033 2632 1574 690 0 0 0 0 0 0
14730 0.85 535.3 490.4 11.2 1055 14734 0.00 0.80 0.00 0.000 6 0.000 0.029 2632 2109 690 0 0 0 0 0 0
15063 0.89 535.3 455.5 10.6 1086 15066 0.00 0.75 0.00 0.000 4 0.000 0.036 2632 2619 691 0 0 0 0 0 0
15136 0.89 535.3 447.8 10.7 1092 15143 0.00 0.77 0.00 0.000 6 0.000 0.031 2635 2095 690 0 0 0 0 0 0
15463 0.93 535.3 412.7 10.8 1123 15468 0.10 0.77 0.00 0.000 4 0.103 0.036 2688 1579 690 0 0 0 0 0 0
15555 0.85 535.3 400.5 14.8 1131 15559 0.12 0.77 0.00 0.000 6 0.126 0.031 2648 2097 690 0 0 0 0 0 0
15886 0.89 535.3 359.3 12.1 1162 15890 0.00 0.77 0.00 0.000 4 0.000 0.033 2650 1574 690 0 0 0 0 0 0
15947 0.92 535.3 351.5 12.2 1167 15954 0.00 0.80 0.00 0.000 6 0.000 0.030 2650 2105 691 0 0 0 0 0 0
16273 0.97 535.3 314.9 11.4 1198 16277 0.12 0.77 0.00 0.000 4 0.088 0.035 2714 2623 691 0 0 0 0 0 0
16297 0.99 535.3 312.0 12.0 1200 16301 0.00 0.77 0.00 0.000 6 0.000 0.029 2717 2094 691 0 0 0 0 0 0
16628 0.92 535.3 257.8 15.6 1231 16632 0.17 0.82 0.00 0.000 4 0.154 0.034 2669 2627 692 0 0 0 0 0 0
16718 0.86 535.3 245.6 13.9 1239 16722 0.00 0.77 0.00 0.000 6 0.000 0.030 2670 2098 691 0 0 0 0 0 0
17050 0.84 535.3 204.5 12.4 1270 17053 0.00 0.75 0.00 0.000 4 0.000 0.034 2673 1578 691 0 0 0 0 0 0
17158 0.84 535.3 190.6 13.4 1285 17164 0.00 0.77 0.00 0.000 6 0.000 0.029 2674 2100 692 0 0 0 0 0 0
17506 0.91 547.8 154.1 9.9 1346 17525 0.00 0.75 12.55 0.531 4 0.000 0.031 2673 2637 636 0 0 0 0 0 0
17584 0.91 547.8 145.0 12.0 1359 17591 0.00 0.77 0.00 0.000 6 0.000 0.029 2676 2111 635 0 0 0 0 0 0
17933 1.00 568.6 106.7 9.6 1420 17954 0.00 0.82 17.10 0.492 4 0.000 0.034 2680 1573 550 0 0 0 0 0 0
18211 1.20 669.6 79.5 7.1 1468 18242 0.17 0.80 22.00 0.465 6 0.044 0.028 2777 2118 438 0 0 0 0 0 0
18582 1.20 669.6 38.1 13.2 1533 18589 0.00 0.73 0.00 0.000 4 0.000 0.034 2777 2628 439 0 0 0 0 0 0
18691 1.13 669.6 22.6 14.6 1552 18700 0.12 0.77 0.40 0.078 6 0.128 0.029 2740 2096 440 0 0 0 0 0 0
18869 end climb: SURFACE_DEPTH_REACHED
state 18869 begin surface coast
18898 end surface coast: CONTROL_FINISHED_OK
state 18898 begin surface