WA coast Jul17 * SG203 * Dive index * Mission links * Dive 77 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  203 ESCAPE_HEADING_DELTA  10 R_PORT_OVSHOOT  36 ALTIM_PULSE  2
MISSION  13 FIX_MISSING_TIMEOUT  0 R_STBD_OVSHOOT  33 ALTIM_SENSITIVITY  4
DIVE  77 TGT_DEFAULT_LAT  57.182999 ROLL_AD_RATE  350 XPDR_VALID  4
N_DIVES  0 TGT_DEFAULT_LON  -151 ROLL_MAXERRORS  1 XPDR_INHIBIT  90
STOP_T  0 TGT_AUTO_DEFAULT  0 ROLL_ADJ_GAIN  0 INT_PRESSURE_SLOPE  0.0093
D_SURF  2 SM_CC  598.77728 ROLL_ADJ_DBAND  0 INT_PRESSURE_YINT  -1
D_FLARE  3 N_FILEKB  8 VBD_MIN  500 DEEPGLIDER  0
D_TGT  600 FILEMGR  0 VBD_MAX  3960 MOTHERBOARD  4
D_ABORT  1020 CALL_NDIVES  1 C_VBD  2941 DEVICE1  -1
D_NO_BLEED  50 COMM_SEQ  0 VBD_DBAND  4 DEVICE2  -1
D_BOOST  50 PROTOCOL  9 VBD_CNV  -0.24529999 DEVICE3  -1
T_BOOST  4 N_NOCOMM  3 VBD_LP_IGNORE  0 DEVICE4  -1
D_FINISH  0 NOCOMM_ACTION  163 VBD_TIMEOUT  720 DEVICE5  -1
D_PITCH  0 N_NOSURFACE  0 PITCH_VBD_SHIFT  0.00113 DEVICE6  -1
D_SAFE  0 UPLOAD_DIVES_MAX  -1 VBD_PUMP_AD_RATE_SURFACE  4 LOGGERS  3
D_CALL  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERDEVICE1  51
SURFACE_URGENCY  0 CALL_WAIT  60 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  85
SURFACE_URGENCY_TRY  0 CAPUPLOAD  0 UNCOM_BLEED  60 LOGGERDEVICE3  -1
SURFACE_URGENCY_FORCE  0 CAPMAXSIZE  100000 VBD_MAXERRORS  1 LOGGERDEVICE4  -1
T_DIVE  200 HEAPDBG  0 W_ADJ_DBAND  0.5 COMPASS_DEVICE  33
T_MISSION  270 T_GPS  15 DBDW  0 COMPASS2_DEVICE  -1
T_ABORT  1440 N_GPS  100740 LOITER_W_DBAND  0 PHONE_DEVICE  49
T_TURN  225 T_RSLEEP  3 LOITER_DBDW  0 GPS_DEVICE  64
T_TURN_SAMPINT  -5 STROBE  0 PITCH_W_GAIN  7 RAFOS_DEVICE  -1
T_NO_W  120 RAFOS_PEAK_OFFSET  1.5 PITCH_W_DBAND  0.5 XPDR_DEVICE  24
T_LOITER  0 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  20 SIM_W  0
T_EPIRB  0 RAFOS_HIT_WINDOW  3600 AH0_24V  150 SIM_PITCH  0
USE_BATHY  -1 RAFOS_MMODEM  0 AH0_10V  100 SEABIRD_T_G  0.0043963501
USE_ICE  0 PITCH_MIN  202 MINV_24V  21 SEABIRD_T_H  0.00063669891
ICE_FREEZE_MARGIN  0.30000001 PITCH_MAX  3901 MINV_10V  9.5 SEABIRD_T_I  2.4874016e-05
D_OFFGRID  1010 C_PITCH  2350 MAXI_24V  0.60000002 SEABIRD_T_J  2.9344606e-06
T_WATCHDOG  10 PITCH_DBAND  0.1 MAXI_10V  0.80000001 SEABIRD_C_G  -10.04379
RELAUNCH  1 PITCH_CNV  0.003125763 FG_AHR_10V  0 SEABIRD_C_H  1.1655113
APOGEE_PITCH  -5 P_OVSHOOT  0.079999998 FG_AHR_24V  0 SEABIRD_C_I  -0.0016799819
MAX_BUOY  150 P_OVSHOOT_WITHG  0 PHONE_SUPPLY  -2 SEABIRD_C_J  0.00021581368
COURSE_BIAS  0 PITCH_GAIN  20 PRESSURE_YINT  -167.37723 SC_RECORDABOVE  2000.0
GLIDE_SLOPE  30 PITCH_TIMEOUT  17 PRESSURE_SLOPE  0.00010878081 SC_PROFILE  3.0
SPEED_FACTOR  1 PITCH_AD_RATE  160 AD7714Ch0Gain  1 SC_XMITPROFILE  3.0
RHO  1.0275 PITCH_MAXERRORS  1 TCM_PITCH_OFFSET  0 SC_NDIVE  1.0
MASS  52418 PITCH_ADJ_GAIN  0 TCM_ROLL_OFFSET  0 PM_RECORDABOVE  2000.0
MASS_COMP  0 PITCH_ADJ_DBAND  0 COMPASS_USE  4 PM_PROFILE  3.0
NAV_MODE  2 ROLL_MIN  302 ALTIM_BOTTOM_PING_RANGE  0 PM_XMITPROFILE  3.0
FERRY_MAX  45 ROLL_MAX  3859 ALTIM_TOP_PING_RANGE  0 PM_NDIVE  1.0
KALMAN_USE  2 ROLL_DEG  40 ALTIM_BOTTOM_TURN_MARGIN  0 PM_XMITRAW  0.0
HD_A  0.003 C_ROLL_DIVE  2600 ALTIM_TOP_TURN_MARGIN  0 PM_MOTORS  0.0
HD_B  0.0099999998 C_ROLL_CLIMB  2600 ALTIM_TOP_MIN_OBSTACLE  0 PM_SENDDEPTH  0.0
HD_C  9.9999997e-06 HEAD_ERRBAND  10 ALTIM_PING_DEPTH  0
HEADING  -1 ROLL_CNV  0.028270001 ALTIM_PING_DELTA  0
ESCAPE_HEADING  0 ROLL_TIMEOUT  15 ALTIM_FREQUENCY  13

Pre-dive calculations and measurements:
GPS1  180717,052014,4730.9194,-12523.4521,45,1.3,59,16.1,0.4,221.8,9,10.0 SPEED_LIMITS  0.173,0.260
_CALLS  5 TGT_NAME  SHELF2
_XMS_NAKs  0 TGT_LATLONG  4721.000,-12515.000
_XMS_TOUTs  0 TGT_RADIUS  2500.000
_SM_DEPTHo  0.70 MHEAD_RNG_PITCHd_Wd  128.9,20961,-17.5,-10.000,-21.06,2227
_SM_ANGLEo  -45.1 D_GRID  1000
GPS2  180717,053406,4730.7471,-12523.4912,6,1.2,16,16.1,0.5,171.5,9,10.0

Post-dive calculations and measurements:
FINISH  0.1,1.023151 PM_FREEKB_06  124834944
SM_CCo  12371,96.22,0.149,0,0,498,598.78 PM_FREEKB_07  124834944
SM_GC  0.82,6.82,0.00,96.22,0.038,0.000,0.149,194,2607,498,-6.64,0.20,598.78,0,0,0,0,0,0,26.36,26.74,25.82 PM_ACTIVECARD  2
IRIDIUM_FIX  4729.41,-12520.41,180717,053046 _24V_AH  24.19,17.420
TT8_MAMPS  0.053928,0.337799 _10V_AH  10.06,13.402
HUMID  51.61 FG_AHR_24Vo  0.000
INTERNAL_PRESSURE  8.5976 FG_AHR_10Vo  0.000
TCM_TEMP  19.20 MEM  277712
XPDR_PINGS  0 DATA_FILE_SIZE  23374,720
PM_FREEKB_00  124817984 CAP_FILE_SIZE  105204,0
PM_FREEKB_01  6560640 CFSIZE  1024393216,988381184
PM_FREEKB_02  107889088 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
PM_FREEKB_03  124834944 INTR  0,12362.02,0x213ad4,7,24
PM_FREEKB_04  124834944 CURRENT  0.038,216.71,1
PM_FREEKB_05  124834944 GPS  180717,090404,4729.515,-12522.541,58,1.2,73,16.1,0.4,0.0,10,10.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622489.09 nil000.00
Roll_motor9512822950.30 nil000.00
VBD_pump_during_apogee57789112454.38 nil000.00
VBD_pump_during_surface96149347.23 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1237331119.69
Iridium_during_xfer41675762.77 PMAR123754212581.73
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS18122.37
TT8000.00
LPSleep104252229.69
TT8_Active85119170.38
TT8_Sampling187449940.07
TT8_CF815767107.34
TT8_Kalman000.00
Analog_circuits190011221.04
GPS_charging000.00
Compass1033885.68
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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
14 -1.04 -146.0 188 2591 487 508 0.0 0.0 0 108 0.00 0.00 -92.03 0.000 16386 0.000 0.000 187 2590 2898 2947 2850 0 0 0 0 0 0 26.74 28.83 26.82
110 -1.04 -146.0 186 2591 2946 2852 4.1 -7.2 9 137 7.07 2.15 -12.80 0.000 18724 0.225 1.282 1986 3848 3542 3612 3472 0 0 0 0 0 0 25.91 24.70 26.09
201 -1.04 -146.0 1985 3848 3611 3476 25.1 -20.4 27 206 0.00 1.90 0.00 0.000 1030 0.000 0.030 1986 2575 3543 3612 3475 0 0 0 0 0 0 26.49 26.44 26.51
531 -1.04 -146.0 1985 2575 3615 3476 70.9 -13.4 51 536 0.00 2.05 0.00 0.000 516 0.000 0.034 1986 1193 3545 3615 3476 0 0 0 0 0 0 26.86 26.52 26.92
761 -1.04 -146.0 1986 1194 3615 3477 101.5 -12.6 97 767 0.08 2.20 0.00 0.000 3078 0.147 0.035 2001 2610 3546 3616 3476 0 0 0 0 0 0 26.31 26.58 26.39
1071 -1.04 -146.0 2002 2611 3617 3477 135.7 -10.4 109 1078 0.00 2.17 0.00 0.000 516 0.000 0.034 2001 1193 3546 3616 3476 0 0 0 0 0 0 27.01 26.64 27.08
1147 -1.04 -146.0 2002 1194 3617 3477 143.7 -10.9 124 1152 0.00 2.17 0.00 0.000 1030 0.000 0.036 1995 2596 3546 3616 3476 0 0 0 0 0 0 26.68 26.63 26.72
1462 -1.04 -146.0 1995 2597 3615 3478 178.1 -11.4 137 1468 0.00 1.98 0.00 0.000 260 0.000 0.057 1986 3840 3546 3616 3476 0 0 0 0 0 0 27.08 26.57 27.14
1492 -1.04 -146.0 1987 3841 3617 3477 181.7 -12.1 143 1498 0.00 1.88 0.00 0.000 1030 0.000 0.033 1986 2608 3545 3615 3476 0 0 0 0 0 0 26.79 26.76 26.82
1822 -1.04 -146.0 1985 2609 3614 3477 218.2 -10.9 159 1823 0.00 0.00 0.00 0.000 6 0.000 0.000 1986 2610 3545 3614 3477 0 0 0 0 0 0 27.13 27.20 27.18
2122 -1.04 -146.0 1987 2609 3614 3477 250.4 -10.6 169 2128 0.00 2.17 0.00 0.000 516 0.000 0.037 1986 1186 3544 3612 3476 0 0 0 0 0 0 27.15 26.72 27.21
2152 -1.04 -146.0 1986 1187 3614 3477 253.7 -10.6 175 2158 0.08 2.20 0.00 0.000 3078 0.145 0.038 2001 2604 3544 3613 3476 0 0 0 0 0 0 26.46 26.72 26.53
2482 -1.04 -146.0 2002 2604 3612 3477 285.7 -9.5 186 2483 0.00 0.00 0.00 0.000 6 0.000 0.000 2001 2604 3543 3610 3476 0 0 0 0 0 0 27.18 27.26 27.24
2783 -1.04 -146.0 2000 2605 3608 3477 313.2 -9.2 191 2788 0.00 1.98 0.00 0.000 292 0.000 0.059 1994 3843 3541 3607 3476 0 0 0 0 0 0 27.20 26.63 27.27
2807 -1.04 -146.0 1995 3843 3608 3477 315.7 -10.1 196 2813 0.00 1.90 0.00 0.000 1030 0.000 0.034 1994 2601 3541 3607 3476 0 0 0 0 0 0 26.88 26.84 26.90
3142 -1.04 -146.0 1993 2602 3606 3477 349.5 -10.0 208 3148 0.00 2.15 0.00 0.000 516 0.000 0.038 1994 1192 3540 3605 3476 0 0 0 0 0 0 27.22 26.76 27.28
3187 -1.04 -146.0 1993 1194 3607 3477 354.0 -10.0 217 3194 0.00 2.17 0.00 0.000 1030 0.000 0.039 1985 2596 3540 3604 3476 0 0 0 0 0 0 26.79 26.75 26.84
3503 -1.04 -146.0 1984 2596 3602 3476 386.2 -10.3 225 3509 0.08 2.00 0.00 0.000 2308 0.212 0.060 1992 3849 3538 3601 3476 0 0 0 0 0 0 26.93 26.63 26.95
3553 -1.04 -146.0 1993 3849 3603 3477 391.5 -10.3 235 3559 0.00 1.92 0.00 0.000 1030 0.000 0.036 1993 2596 3538 3601 3476 0 0 0 0 0 0 26.88 26.84 26.91
3864 -1.04 -146.0 1992 2598 3602 3477 422.5 -10.1 242 3869 0.00 2.15 0.00 0.000 516 0.000 0.039 1993 1191 3538 3600 3476 0 0 0 0 0 0 27.24 26.75 27.31
3923 -1.04 -146.0 1992 1191 3598 3477 428.8 -10.6 254 3929 0.05 2.20 0.00 0.000 3078 0.161 0.040 1999 2606 3538 3600 3476 0 0 0 0 0 0 26.52 26.76 26.59
4284 -1.04 -146.0 2000 2607 3599 3476 463.9 -9.5 271 4289 0.00 1.98 0.00 0.000 260 0.000 0.060 1993 3843 3536 3596 3477 0 0 0 0 0 0 27.26 26.62 27.32
4308 -1.04 -146.0 1991 3844 3596 3477 466.3 -9.7 276 4314 0.00 1.92 0.00 0.000 1030 0.000 0.037 1993 2596 3536 3596 3476 0 0 0 0 0 0 26.89 26.84 26.91
4644 -1.04 -146.0 1991 2595 3594 3476 496.6 -8.9 288 4644 0.00 0.00 0.00 0.000 38 0.000 0.000 1993 2595 3535 3594 3476 0 0 0 0 0 0 27.27 27.34 27.32
4944 -1.04 -146.0 1992 2597 3592 3477 522.2 -8.5 293 4944 0.00 0.00 0.00 0.000 38 0.000 0.000 1993 2596 3534 3593 3475 0 0 0 0 0 0 27.28 27.35 27.34
5244 -1.04 -146.0 1992 2596 3591 3476 548.5 -8.8 298 5244 0.00 0.00 0.00 0.000 38 0.000 0.000 1993 2595 3533 3591 3476 0 0 0 0 0 0 27.29 27.36 27.35
5544 -1.04 -146.0 1991 2596 3589 3477 574.5 -8.8 303 5544 0.00 0.00 0.00 0.000 38 0.000 0.000 1994 2595 3532 3589 3476 0 0 0 0 0 0 27.29 27.36 27.36
5842 end dive: TARGET_DEPTH_EXCEEDED
state 5842 begin apogee
5846 -0.25 0.0 1994 2596 3589 3477 600.3 -8.6 308 6056 0.80 0.00 202.60 0.720 10246 0.117 0.000 2252 2595 2938 2975 2901 0 0 0 0 1 0 26.26 25.20 24.36
6057 end apogee: CONTROL_FINISHED_OK
state 6058 begin climb
6059 1.04 146.0 2253 2596 2987 2902 607.3 0.0 311 6221 1.17 2.38 151.52 0.812 10756 0.060 0.042 2686 1194 2334 2366 2303 0 0 0 0 0 0 25.34 24.77 24.19
6280 1.06 161.0 2686 1195 2358 2297 599.7 9.3 357 6301 0.00 2.33 13.27 0.892 9254 0.000 0.037 2685 2598 2276 2308 2245 0 0 0 0 0 0 25.36 25.32 24.47
6651 1.06 161.0 2687 2599 2299 2234 563.7 9.8 376 6656 0.00 2.05 0.00 0.000 260 0.000 0.060 2685 3858 2264 2296 2233 0 0 0 0 0 0 26.33 25.91 26.39
6720 1.06 161.0 2687 3859 2299 2233 556.4 10.3 390 6726 0.00 2.00 0.00 0.000 1030 0.000 0.040 2694 2609 2264 2297 2232 0 0 0 0 0 0 26.15 26.10 26.18
7070 1.09 191.2 2693 2610 2296 2233 525.5 8.6 405 7102 0.00 0.00 30.17 0.846 8230 0.000 0.000 2694 2609 2159 2192 2126 0 0 0 0 0 0 26.68 25.82 25.22
7370 1.13 223.7 2693 2610 2178 2111 500.2 8.5 410 7412 0.00 2.10 33.88 0.822 8484 0.000 0.060 2694 3844 2018 2053 1983 0 0 0 0 0 0 26.56 25.71 25.08
7441 1.13 223.7 2693 3845 2047 1977 493.5 10.4 424 7446 0.00 2.03 0.00 0.000 1030 0.000 0.041 2704 2596 2012 2048 1976 0 0 0 0 0 0 25.95 25.92 25.98
7791 1.13 223.7 2703 2596 2045 1973 458.6 10.1 439 7797 0.00 2.08 0.00 0.000 260 0.000 0.060 2704 3847 2009 2045 1973 0 0 0 0 0 0 26.61 26.22 26.67
7836 1.13 223.7 2705 3848 2046 1973 453.4 11.5 448 7841 0.00 2.00 0.00 0.000 1030 0.000 0.041 2713 2589 2008 2044 1972 0 0 0 0 0 0 26.39 26.35 26.42
8151 1.13 223.7 2712 2590 2042 1972 420.0 10.6 456 8152 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2589 2007 2043 1971 0 0 0 0 0 0 26.79 26.87 26.86
8451 1.13 223.7 2714 2590 2044 1971 387.4 10.9 461 8457 0.00 2.08 0.00 0.000 260 0.000 0.060 2713 3853 2006 2042 1971 0 0 0 0 0 0 26.89 26.44 26.96
8486 1.13 223.7 2712 3853 2041 1971 383.3 11.8 468 8492 0.00 1.98 0.00 0.000 1030 0.000 0.040 2721 2599 2006 2042 1970 0 0 0 0 0 0 26.62 26.58 26.65
8811 1.13 223.7 2722 2599 2043 1970 348.0 10.9 478 8817 0.00 2.05 0.00 0.000 260 0.000 0.060 2721 3846 2005 2041 1970 0 0 0 0 0 0 26.97 26.49 27.04
8851 1.13 223.7 2720 3848 2040 1970 343.4 11.7 486 8857 0.00 1.98 0.00 0.000 1030 0.000 0.041 2730 2597 2005 2040 1970 0 0 0 0 0 0 26.67 26.64 26.72
9171 1.13 223.7 2729 2597 2040 1970 309.0 10.6 495 9177 0.00 2.05 0.00 0.000 260 0.000 0.061 2730 3847 2004 2040 1969 0 0 0 0 0 0 27.03 26.53 27.10
9201 1.13 223.7 2731 3848 2041 1971 305.6 11.3 501 9208 0.00 1.95 0.00 0.000 1030 0.000 0.042 2737 2604 2005 2040 1970 0 0 0 0 0 0 26.72 26.68 26.76
9532 1.13 223.7 2736 2604 2039 1970 271.3 10.3 512 9537 0.00 2.03 0.00 0.000 260 0.000 0.060 2737 3846 2004 2039 1970 0 0 0 0 0 0 27.08 26.55 27.14
9582 1.13 223.7 2737 3846 2042 1970 265.8 11.1 522 9588 0.05 1.95 0.00 0.000 5126 0.186 0.041 2731 2597 2005 2041 1970 0 0 0 0 0 0 26.43 26.72 26.50
9892 1.13 223.7 2732 2597 2039 1970 234.5 10.2 531 9897 0.00 2.05 0.00 0.000 260 0.000 0.060 2732 3852 2004 2039 1969 0 0 0 0 0 0 27.10 26.56 27.17
9932 1.13 223.7 2733 3852 2041 1970 230.0 11.4 539 9937 0.00 1.98 0.00 0.000 1030 0.000 0.041 2737 2591 2003 2038 1969 0 0 0 0 0 0 26.77 26.73 26.81
10252 1.13 223.7 2739 2592 2040 1970 196.5 10.7 553 10258 0.00 2.20 0.00 0.000 516 0.000 0.047 2746 1193 2004 2039 1969 0 0 0 0 0 0 27.13 26.65 27.20
10313 1.13 223.7 2745 1193 2038 1970 189.8 11.2 565 10319 0.05 2.20 0.00 0.000 5126 0.164 0.040 2732 2597 2003 2038 1969 0 0 0 0 0 0 26.46 26.70 26.53
10643 1.13 223.7 2731 2598 2038 1970 155.2 10.0 581 10649 0.00 2.00 0.00 0.000 260 0.000 0.060 2731 3839 2003 2038 1969 0 0 0 0 0 0 27.16 26.59 27.23
10678 1.13 223.7 2730 3840 2040 1970 151.4 11.1 588 10684 0.00 1.92 0.00 0.000 1030 0.000 0.041 2738 2605 2004 2039 1969 0 0 0 0 0 0 26.80 26.77 26.84
11004 1.13 223.7 2738 2606 2040 1970 119.7 9.6 603 11009 0.00 2.03 0.00 0.000 260 0.000 0.059 2738 3846 2003 2038 1968 0 0 0 0 0 0 27.18 26.60 27.25
11073 1.13 223.7 2738 3847 2039 1969 112.0 10.9 617 11080 0.05 1.95 0.00 0.000 5126 0.184 0.039 2733 2591 2003 2038 1969 0 0 0 0 0 0 26.49 26.79 26.55
11394 1.15 245.2 2732 2592 2038 1969 82.5 9.0 631 11419 0.00 0.00 23.27 0.610 8230 0.000 0.000 2733 2591 1941 1978 1905 0 0 0 0 0 0 27.20 26.51 25.98
11694 1.23 311.5 2733 2592 1969 1893 58.5 6.9 641 11787 0.00 2.30 81.82 0.583 8740 0.000 0.043 2739 1192 1669 1710 1628 0 0 0 0 1 0 26.98 25.74 25.03
11802 1.26 344.2 2739 1192 1713 1630 49.8 8.5 662 11824 0.00 2.25 16.30 0.266 9254 0.000 0.039 2739 2606 1534 1577 1492 0 0 0 0 0 0 25.96 25.89 25.52
12128 1.32 394.5 2739 2607 1579 1495 19.7 7.7 697 12154 0.08 0.00 24.35 0.197 10278 0.124 0.000 2792 2605 1329 1375 1283 0 0 0 0 0 0 26.41 26.07 25.78
12338 end climb: SURFACE_DEPTH_REACHED
state 12338 begin surface coast
12357 end surface coast: CONTROL_FINISHED_OK
state 12357 begin surface