Glider dive log

PortSusan 15Jul09 * SG168 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 168 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 160 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 8 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3729 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1850 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 80 SM_CC 480 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 415 DEVICE2 101

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3313 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -2130.4954 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 120 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 143 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3945 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2655 PRESSURE_YINT -59.815266 SEABIRD_T_G 0.0042824708

RHO 1.023 PITCH_DBAND 0.050000001 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00062080647

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3031862e-05

NAV_MODE 1 P_OVSHOOT 0.029999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5001771e-06

FERRY_MAX 45 PITCH_GAIN 40 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8237314

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1028168

HD_A 0.003 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0011486846

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00017813468

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 80 PITCH_DBAND 0.050000001 SM_CC 480

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 40 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3945 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 143 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -59.815266 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.029999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -2130.4954

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 168 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3729 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2655 KALMAN_USE 1 ROLL_MIN 160 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1850 MASS 52000 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 3313 MAX_BUOY 120 R_STBD_OVSHOOT 33 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.8237314 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1028168 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0011486846 VBD_MAXERRORS 1

DEVICE2 101 N_FILEKB 4 SEABIRD_C_J 0.00017813468 VBD_MIN 415

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0042824708 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062080647 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3031862e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5001771e-06 XPDR_DEVICE 24

DIVE 8 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 001606,4806.645,-12222.173,36,1.1,36,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.025,-0.234

_SM_DEPTHo 1.05 KALMAN_X -186.9,-72.3,-16.9,880.6,-32.3

_SM_ANGLEo -76.4 KALMAN_Y 1531.8,392.1,63.9,-3572.0,450.3

GPS2 002026,4806.641,-12222.169,13,1.4,13,18.3 MHEAD_RNG_PITCHd_Wd 155.5,1205,-19.7,-10.000

SPEED_LIMITS 0.173,0.235 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.4,1.019520 ALTIM_BOTTOM_PING 90.4,31.3

SM_CCo 2122,177.00,0.576,0,0,1355,480.05 _24V_AH 24.6,0.869

SM_GC 0.87,0.00,0.00,177.00,0.000,0.000,0.576,112,1845,1355,-7.95,-0.14,480.05 _10V_AH 10.6,0.941

IRIDIUM_FIX 4751.72,-12220.85,091098,232345 DATA_FILE_SIZE 6579,147

TT8_MAMPS 0.027612 CAP_FILE_SIZE 58403,0

HUMID 1937 CFSIZE 260165632,258146304

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.50 GPS 160709,010014,4806.497,-12222.198,11,1.3,11,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 221 92.97 SBE_CT 99 24 58.57

Roll_motor 4 52 5.71 AA4330 1625 33 1319.38

VBD_pump_during_apogee 174 648 2777.38 WL_BB2F 165 105 427.77

VBD_pump_during_surface 177 576 2508.09 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 69.55 nil 0 0 0.00

Iridium_during_connect 28 160 113.10 nil 0 0 0.00

Iridium_during_xfer 134 223 737.75

Transponder_ping 1 420 10.33

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.33

TT8 262 19 55.17

LPSleep 68 2 1.59

TT8_Active 285 19 59.87

TT8_Sampling 1713 39 722.85

TT8_CF8 241 45 117.10

TT8_Kalman 33 81 28.91

Analog_circuits 672 12 85.51

GPS_charging 0 0 0.00

Compass 273 8 23.17

RAFOS 0 0 0.00

Transponder 10 30 3.32

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.64 -117.3 0.0 0.0 0 119 0.00 0.00 -85.40 0.000 6 0.000 0.000 114 1857 3792

121 -0.64 -117.3 4.2 -3.3 7 142 8.65 2.22 0.00 0.000 4 0.222 0.051 2432 3252 3793

660 -0.64 -117.3 65.0 -11.0 42 680 0.03 2.22 0.00 0.000 6 0.173 0.052 2444 1846 3795

1042 -0.64 -117.3 102.8 -10.2 73 1047 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 1846 3795

1139 end dive: BOTTOM_OBSTACLE_DETECTED

state 1139 begin apogee

1142 -0.12 0.0 111.9 9.1 81 1252 0.50 0.00 86.57 0.648 6 0.138 0.000 2609 1845 3312

1253 end apogee: CONTROL_FINISHED_OK

state 1253 begin climb

1254 0.64 117.3 114.8 0.0 89 1362 0.70 0.00 87.62 0.633 6 0.088 0.000 2858 1845 2833

1720 0.64 117.3 40.0 16.4 127 1742 0.00 0.00 0.00 0.000 6 0.000 0.000 2858 1846 2831

1972 end climb: SURFACE_DEPTH_REACHED

state 1972 begin surface coast

2109 end surface coast: CONTROL_FINISHED_OK

state 2109 begin surface

ID	168	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	160	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	8	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3729	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1850	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	80	SM_CC	480	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	415	DEVICE2	101
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3313	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-2130.4954	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	120	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	143	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3945	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2655	PRESSURE_YINT	-59.815266	SEABIRD_T_G	0.0042824708
RHO	1.023	PITCH_DBAND	0.050000001	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00062080647
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3031862e-05
NAV_MODE	1	P_OVSHOOT	0.029999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5001771e-06
FERRY_MAX	45	PITCH_GAIN	40	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8237314
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1028168
HD_A	0.003	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0011486846
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00017813468
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	001606,4806.645,-12222.173,36,1.1,36,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.025,-0.234
_SM_DEPTHo	1.05	KALMAN_X	-186.9,-72.3,-16.9,880.6,-32.3
_SM_ANGLEo	-76.4	KALMAN_Y	1531.8,392.1,63.9,-3572.0,450.3
GPS2	002026,4806.641,-12222.169,13,1.4,13,18.3	MHEAD_RNG_PITCHd_Wd	155.5,1205,-19.7,-10.000
SPEED_LIMITS	0.173,0.235	D_GRID	150

FINISH	2.4,1.019520	ALTIM_BOTTOM_PING	90.4,31.3
SM_CCo	2122,177.00,0.576,0,0,1355,480.05	_24V_AH	24.6,0.869
SM_GC	0.87,0.00,0.00,177.00,0.000,0.000,0.576,112,1845,1355,-7.95,-0.14,480.05	_10V_AH	10.6,0.941
IRIDIUM_FIX	4751.72,-12220.85,091098,232345	DATA_FILE_SIZE	6579,147
TT8_MAMPS	0.027612	CAP_FILE_SIZE	58403,0
HUMID	1937	CFSIZE	260165632,258146304
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.50	GPS	160709,010014,4806.497,-12222.198,11,1.3,11,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	221	92.97	SBE_CT	99	24	58.57
Roll_motor	4	52	5.71	AA4330	1625	33	1319.38
VBD_pump_during_apogee	174	648	2777.38	WL_BB2F	165	105	427.77
VBD_pump_during_surface	177	576	2508.09	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	69.55	nil	0	0	0.00
Iridium_during_connect	28	160	113.10	nil	0	0	0.00
Iridium_during_xfer	134	223	737.75
Transponder_ping	1	420	10.33
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.33
TT8	262	19	55.17
LPSleep	68	2	1.59
TT8_Active	285	19	59.87
TT8_Sampling	1713	39	722.85
TT8_CF8	241	45	117.10
TT8_Kalman	33	81	28.91
Analog_circuits	672	12	85.51
GPS_charging	0	0	0.00
Compass	273	8	23.17
RAFOS	0	0	0.00
Transponder	10	30	3.32

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.64	-117.3	0.0	0.0	0	119	0.00	0.00	-85.40	0.000	6	0.000	0.000	114	1857	3792
121	-0.64	-117.3	4.2	-3.3	7	142	8.65	2.22	0.00	0.000	4	0.222	0.051	2432	3252	3793
660	-0.64	-117.3	65.0	-11.0	42	680	0.03	2.22	0.00	0.000	6	0.173	0.052	2444	1846	3795
1042	-0.64	-117.3	102.8	-10.2	73	1047	0.00	0.00	0.00	0.000	6	0.000	0.000	2444	1846	3795
1139	end dive: BOTTOM_OBSTACLE_DETECTED
state	1139	begin apogee
1142	-0.12	0.0	111.9	9.1	81	1252	0.50	0.00	86.57	0.648	6	0.138	0.000	2609	1845	3312
1253	end apogee: CONTROL_FINISHED_OK
state	1253	begin climb
1254	0.64	117.3	114.8	0.0	89	1362	0.70	0.00	87.62	0.633	6	0.088	0.000	2858	1845	2833
1720	0.64	117.3	40.0	16.4	127	1742	0.00	0.00	0.00	0.000	6	0.000	0.000	2858	1846	2831
1972	end climb: SURFACE_DEPTH_REACHED
state	1972	begin surface coast
2109	end surface coast: CONTROL_FINISHED_OK
state	2109	begin surface