NISKINE May19 * SG141 * Dive index * Mission links * Dive 97 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  141 HEADING  -1 C_ROLL_CLIMB  2500 ALTIM_TOP_PING_RANGE  0
MISSION  11 ESCAPE_HEADING  0 HEAD_ERRBAND  10 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  97 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 ALTIM_TOP_MIN_OBSTACLE  0
STOP_T  0 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  37 ALTIM_PING_DEPTH  0
D_SURF  3 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  23 ALTIM_PING_DELTA  0
D_FLARE  2 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  50 ALTIM_FREQUENCY  13
D_TGT  750 SM_CC  300 ROLL_MAXERRORS  1 ALTIM_PULSE  3
D_ABORT  1010 N_FILEKB  8 ROLL_ADJ_GAIN  0 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 FILEMGR  0 ROLL_ADJ_DBAND  0 XPDR_VALID  6
D_BOOST  2 CALL_NDIVES  1 VBD_MIN  470 XPDR_INHIBIT  90
T_BOOST  0 COMM_SEQ  0 VBD_MAX  3935 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 PROTOCOL  9 C_VBD  2950 INT_PRESSURE_YINT  0
D_PITCH  0 N_NOCOMM  2 VBD_DBAND  2 DEEPGLIDER  0
D_SAFE  0 NOCOMM_ACTION  163 VBD_CNV  -0.24529999 MOTHERBOARD  4
D_CALL  0 N_NOSURFACE  0 VBD_LP_IGNORE  0 DEVICE1  -1
SURFACE_URGENCY  0 UPLOAD_DIVES_MAX  -1 VBD_TIMEOUT  720 DEVICE2  -1
SURFACE_URGENCY_TRY  0 CALL_TRIES  5 PITCH_VBD_SHIFT  9.9999997e-05 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_SURFACE  1 DEVICE4  -1
T_DIVE  180 CAPUPLOAD  0 VBD_PUMP_AD_RATE_APOGEE  1 DEVICE5  -1
T_MISSION  220 CAPMAXSIZE  100000 VBD_BLEED_AD_RATE  8 DEVICE6  -1
T_ABORT  720 HEAPDBG  0 UNCOM_BLEED  50 LOGGERS  1
T_TURN  225 T_GPS  5 VBD_MAXERRORS  1 LOGGERDEVICE1  53
T_TURN_SAMPINT  -5 N_GPS  100440 W_ADJ_DBAND  2 LOGGERDEVICE2  -1
T_NO_W  120 T_RSLEEP  2 DBDW  0 LOGGERDEVICE3  -1
T_LOITER  0 STROBE  0 LOITER_W_DBAND  0 LOGGERDEVICE4  -1
T_EPIRB  0 RAFOS_PEAK_OFFSET  1.5 LOITER_DBDW  0 COMPASS_DEVICE  97
USE_BATHY  0 RAFOS_CORR_THRESH  60 LOITER_D_TOP  0 COMPASS2_DEVICE  149
USE_ICE  0 RAFOS_HIT_WINDOW  3600 LOITER_D_BOTTOM  0 PHONE_DEVICE  49
ICE_FREEZE_MARGIN  0.30000001 RAFOS_MMODEM  0 LOITER_N_DIVE  0 GPS_DEVICE  32
D_OFFGRID  1000 PITCH_MIN  225 PITCH_W_GAIN  2 RAFOS_DEVICE  -1
T_WATCHDOG  10 PITCH_MAX  3920 PITCH_W_DBAND  0.5 XPDR_DEVICE  24
RELAUNCH  1 C_PITCH  2790 CF8_MAXERRORS  20 SIM_W  0
APOGEE_PITCH  -5 PITCH_DBAND  0.1 AH0_24V  350 SEABIRD_T_G  0.0043955045
MAX_BUOY  200 PITCH_CNV  0.003125763 AH0_10V  0 SEABIRD_T_H  0.00063085643
COURSE_BIAS  0 P_OVSHOOT  0.039999999 MINV_24V  11 SEABIRD_T_I  2.5021687e-05
GLIDE_SLOPE  45 P_OVSHOOT_WITHG  0 MINV_10V  11 SEABIRD_T_J  3.0087358e-06
SPEED_FACTOR  1 PITCH_GAIN  35 MAXI_24V  0.60000002 SEABIRD_C_G  -9.7732916
RHO  1.0275 PITCH_TIMEOUT  30 MAXI_10V  0.80000001 SEABIRD_C_H  1.1286387
MASS  55610 PITCH_AD_RATE  50 FG_AHR_10V  0 SEABIRD_C_I  -0.0014607979
MASS_COMP  0 PITCH_MAXERRORS  1 FG_AHR_24V  0 SEABIRD_C_J  0.00018615076
NAV_MODE  2 PITCH_ADJ_GAIN  0 PHONE_SUPPLY  -2 SC_RECORDABOVE  2000.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 PRESSURE_YINT  -166.67619 SC_PROFILE  3.0
KALMAN_USE  2 ROLL_MIN  276 PRESSURE_SLOPE  0.00010932798 SC_XMITPROFILE  3.0
HD_A  0.00281838 ROLL_MAX  3935 AD7714Ch0Gain  1 SC_NDIVE  1.0
HD_B  0.0139236 ROLL_DEG  40 COMPASS_USE  4
HD_C  5.7000002e-06 C_ROLL_DIVE  2700 ALTIM_PING_FIT  0

Pre-dive calculations and measurements:
GPS1  150619,232025,5817.8633,-2107.2849,15,1.0,38,-12.0,0.0,76.5,7,8.3 SPEED_LIMITS  0.139,0.281
_CALLS  1 TGT_NAME  T_EAST_3
_XMS_NAKs  0 TGT_LATLONG  5811.000,-2056.000
_XMS_TOUTs  0 TGT_RADIUS  4000.000
_SM_DEPTHo  1.05 MHEAD_RNG_PITCHd_Wd  143.9,16653,-22.5,-13.889,-26.27,2148
_SM_ANGLEo  -69.6 D_GRID  750
GPS2  150619,232952,5817.7764,-2107.2109,9,1.0,15,-12.0,0.0,268.9,7,9.8

Post-dive calculations and measurements:
FINISH  0.9,1.026830 _10V_AH  13.30,0.000
SM_CCo  9764,87.38,0.468,1,0,1727,300.00 FG_AHR_24Vo  0.000
SM_GC  1.04,8.48,0.43,87.38,0.088,0.083,0.468,220,2724,1727,-7.98,-0.37,300.00,0,0,0,0,1,0,14.66,14.69,14.07 FG_AHR_10Vo  0.000
IRIDIUM_FIX  5822.22,-2112.27,150619,202210 MEM  334888
TT8_MAMPS  0.020223,0.566244 DATA_FILE_SIZE  30083,819
HUMID  42.95 CAP_FILE_SIZE  106544,0
INTERNAL_PRESSURE  8.90659 CFSIZE  260034560,245125120
TCM_TEMP  18.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
XPDR_PINGS  3 CURRENT  0.219,143.67,1
SC_FREEKB  3825024 GPS  160619,021633,5815.799,-2103.785,39,1.0,48,-11.9,0.0,325.8,9,9.7
_24V_AH  13.21,37.421

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21415119.08 nil000.00
Roll_motor13086148.99 nil000.00
VBD_pump_during_apogee37717088522.58 nil000.00
VBD_pump_during_surface87468540.38 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon9773202704.67
Iridium_during_xfer356204960.97 nil000.00
Transponder_ping04204.16 nil000.00
GUMSTIX_24V000.00
GPS26114.00
TT8193810282.80
LPSleep58182169.48
TT8_Active6791099.12
TT8_Sampling166728642.20
TT8_CF833634156.20
TT8_Kalman000.00
Analog_circuits175310233.18
GPS_charging000.00
Compass126011188.43
RAFOS000.00
Transponder050.04

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R

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
7 end surface: CONTROL_FINISHED_OK
state 7 begin dive
11 -0.66 -194.6 215 2721 1693 1736 0.0 0.0 0 94 0.00 0.00 -80.00 0.005 16386 0.000 0.000 215 2721 3663 3589 3737 0 0 0 0 0 0 14.62 28.83 14.64
98 -0.66 -194.6 215 2721 3590 3737 3.8 -5.5 8 122 11.55 2.45 -1.48 0.078 18980 0.415 0.069 2569 1285 3746 3679 3813 0 0 0 0 0 0 14.24 13.57 14.42
196 -0.66 -194.6 2569 1284 3680 3813 29.3 -17.1 26 202 0.00 2.50 0.00 0.000 1030 0.000 0.073 2569 2703 3746 3680 3813 0 0 0 0 0 0 14.55 14.47 14.57
391 -0.66 -194.6 2569 2703 3681 3812 65.5 -18.4 46 397 0.00 2.15 0.00 0.000 260 0.000 0.086 2569 3939 3749 3681 3817 0 0 0 0 0 0 14.73 14.52 14.75
426 -0.66 -194.6 2569 3939 3681 3812 71.9 -20.0 52 432 0.00 2.08 0.00 0.000 1030 0.000 0.040 2569 2667 3746 3681 3812 0 0 0 0 0 0 14.59 14.54 14.61
621 -0.66 -194.6 2569 2662 3682 3812 108.3 -19.2 72 627 0.00 2.22 0.00 0.000 516 0.000 0.044 2569 1297 3747 3682 3812 0 0 0 0 0 0 14.79 14.58 14.81
667 -0.66 -194.6 2568 1295 3682 3812 116.5 -16.5 80 672 0.00 2.47 0.00 0.000 1030 0.000 0.074 2569 2711 3747 3682 3812 0 0 0 0 0 0 14.65 14.57 14.66
862 -0.66 -194.6 2568 2710 3682 3811 150.5 -17.2 100 869 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2710 3747 3683 3812 0 0 0 0 0 0 14.81 14.83 14.83
1051 -0.66 -194.6 2568 2710 3683 3812 183.8 -17.7 119 1058 0.00 2.35 0.00 0.000 516 0.000 0.043 2569 1292 3747 3683 3812 0 0 0 0 0 0 14.81 14.64 14.84
1081 -0.66 -194.6 2568 1291 3683 3812 189.1 -18.5 124 1088 0.00 2.47 0.00 0.000 1030 0.000 0.073 2569 2708 3747 3683 3812 0 0 0 0 0 0 14.70 14.62 14.71
1267 -0.66 -194.6 2569 2710 3683 3811 221.5 -18.0 143 1274 0.00 2.33 0.00 0.000 516 0.000 0.043 2569 1298 3747 3683 3811 0 0 0 0 0 0 14.84 14.64 14.85
1303 -0.66 -194.6 2568 1297 3683 3812 227.7 -17.0 149 1308 0.00 2.47 0.00 0.000 1030 0.000 0.073 2569 2724 3747 3683 3811 0 0 0 0 0 0 14.71 14.62 14.71
1497 -0.66 -194.6 2569 2720 3683 3811 261.7 -17.5 166 1503 0.00 2.35 0.00 0.000 516 0.000 0.043 2569 1292 3747 3683 3811 0 0 0 0 0 0 14.84 14.66 14.86
1526 -0.66 -194.6 2568 1291 3684 3811 266.7 -17.2 171 1533 0.00 2.47 0.00 0.000 1030 0.000 0.075 2569 2709 3747 3683 3811 0 0 0 0 0 0 14.70 14.62 14.72
1847 -0.66 -194.6 2568 2709 3685 3811 320.0 -16.9 189 1852 0.00 2.33 0.00 0.000 516 0.000 0.041 2569 1290 3747 3683 3811 0 0 0 0 0 0 14.87 14.69 14.88
1880 -0.66 -194.6 2568 1288 3683 3811 325.6 -15.7 195 1887 0.00 2.47 0.00 0.000 1030 0.000 0.075 2569 2708 3746 3683 3809 0 0 0 0 0 0 14.72 14.63 14.73
2196 -0.66 -194.6 2568 2708 3682 3810 375.8 -15.6 212 2202 0.00 2.33 0.00 0.000 516 0.000 0.042 2569 1291 3746 3683 3810 0 0 0 0 0 0 14.90 14.69 14.91
2255 -0.66 -194.6 2568 1289 3683 3811 384.5 -12.7 223 2263 0.00 2.47 0.00 0.000 1030 0.000 0.073 2569 2706 3747 3683 3811 0 0 0 0 0 0 14.72 14.64 14.74
2561 -0.66 -194.6 2568 2709 3683 3810 432.3 -15.7 239 2567 0.00 2.33 0.00 0.000 516 0.000 0.043 2569 1294 3746 3683 3810 0 0 0 0 0 0 14.88 14.71 14.90
2606 -0.66 -194.6 2566 1292 3683 3810 439.2 -14.0 247 2613 0.00 2.47 0.00 0.000 1030 0.000 0.074 2569 2713 3746 3683 3810 0 0 0 0 0 0 14.75 14.67 14.78
2932 -0.66 -194.6 2568 2713 3683 3810 491.0 -16.3 266 2938 0.00 2.33 0.00 0.000 516 0.000 0.043 2569 1299 3746 3683 3809 0 0 0 0 0 0 14.90 14.69 14.91
2977 -0.66 -194.6 2568 1297 3683 3810 498.2 -15.0 274 2982 0.00 2.47 0.00 0.000 1030 0.000 0.074 2569 2715 3746 3683 3810 0 0 0 0 0 0 14.75 14.66 14.76
3302 -0.66 -194.6 2568 2715 3683 3809 552.2 -16.3 293 3307 0.00 2.33 0.00 0.000 516 0.000 0.043 2569 1296 3746 3683 3809 0 0 0 0 0 0 14.91 14.72 14.92
3341 -0.66 -194.6 2569 1294 3683 3809 558.4 -14.7 300 3348 0.00 2.50 0.00 0.000 1030 0.000 0.075 2569 2718 3746 3683 3809 0 0 0 0 0 0 14.78 14.69 14.80
3647 -0.66 -194.6 2569 2718 3683 3808 604.4 -15.2 316 3652 0.00 2.33 0.00 0.000 516 0.000 0.044 2569 1303 3745 3683 3808 0 0 0 0 0 0 14.91 14.72 14.93
3675 -0.66 -194.6 2568 1300 3684 3808 608.9 -16.0 321 3681 0.00 2.47 0.00 0.000 1030 0.000 0.078 2568 2709 3743 3683 3804 0 0 0 0 0 0 14.78 14.69 14.80
3995 -0.66 -194.6 2568 2709 3683 3807 657.4 -15.4 339 4001 0.00 2.33 0.00 0.000 516 0.000 0.046 2569 1297 3745 3683 3807 0 0 0 0 0 0 14.92 14.73 14.95
4040 -0.66 -194.6 2568 1296 3683 3807 664.2 -13.5 347 4047 0.00 2.45 0.00 0.000 1030 0.000 0.076 2569 2704 3744 3683 3806 0 0 0 0 0 0 14.76 14.67 14.78
4366 -0.66 -194.6 2568 2704 3683 3805 714.3 -15.3 366 4372 0.00 2.33 0.00 0.000 516 0.000 0.046 2569 1294 3744 3683 3805 0 0 0 0 0 0 14.92 14.73 14.94
4400 -0.66 -194.6 2568 1292 3683 3805 719.2 -14.2 372 4406 0.00 2.47 0.00 0.000 1030 0.000 0.076 2569 2712 3744 3683 3805 0 0 0 0 0 0 14.76 14.67 14.78
4632 end dive: TARGET_DEPTH_EXCEEDED
state 4632 begin apogee
4640 -0.14 0.0 2569 2499 3681 3804 752.8 -14.7 385 4814 0.62 0.00 165.70 1.708 10246 0.239 0.000 2738 2498 2949 2990 2908 0 0 0 0 0 0 14.60 13.83 13.33
4816 end apogee: CONTROL_FINISHED_OK
state 4816 begin climb
4819 0.66 194.6 2738 2498 2990 2906 760.0 0.0 394 5001 0.90 2.55 170.68 1.659 10756 0.164 0.054 3003 1113 2158 2206 2110 0 0 0 0 0 0 13.93 13.80 13.21
5049 0.69 194.6 3003 1113 2199 2105 739.5 12.6 437 5056 0.00 2.55 0.00 0.000 1094 0.000 0.063 3003 2515 2151 2199 2104 0 0 0 0 0 0 14.07 14.00 14.09
5355 0.71 194.6 3003 2515 2197 2101 700.1 12.6 453 5357 0.00 0.00 0.00 0.000 70 0.000 0.000 3008 2515 2148 2195 2101 0 0 0 0 0 0 14.57 14.59 14.59
5656 0.74 194.6 3003 2515 2195 2101 662.5 12.6 468 5662 0.00 2.42 0.00 0.000 580 0.000 0.057 3003 1104 2148 2195 2101 0 0 0 0 0 0 14.71 14.52 14.73
5695 0.74 241.2 3003 1103 2193 2100 657.5 11.7 475 5744 0.00 2.47 41.30 1.541 9254 0.000 0.069 3003 2511 1965 2011 1920 0 0 0 0 0 0 14.59 14.50 13.65
6044 0.76 241.2 3002 2511 2007 1914 612.9 12.8 499 6051 0.00 2.40 0.00 0.000 580 0.000 0.054 3003 1102 1960 2006 1914 0 0 0 0 0 0 14.67 14.49 14.69
6070 0.79 241.2 3003 1102 2004 1914 609.3 12.6 503 6077 0.15 2.47 0.00 0.000 3142 0.135 0.068 3062 2514 1958 2004 1913 0 0 0 0 0 0 14.49 14.47 14.56
6397 0.79 241.2 3062 2514 2004 1913 552.6 18.3 522 6402 0.00 2.38 0.00 0.000 516 0.000 0.054 3060 1109 1958 2004 1913 0 0 0 0 0 0 14.78 14.59 14.80
6425 0.79 241.2 3069 1108 2002 1913 547.5 17.8 527 6432 0.00 2.42 0.00 0.000 1030 0.000 0.066 3063 2509 1958 2003 1913 0 0 0 0 0 0 14.66 14.58 14.69
6746 0.79 241.2 3063 2509 2002 1913 488.9 18.1 545 6751 0.00 2.38 0.00 0.000 516 0.000 0.057 3063 1109 1957 2002 1913 0 0 0 0 0 0 14.83 14.61 14.85
6773 0.79 241.2 3063 1108 2001 1912 483.9 17.9 550 6779 0.00 2.45 0.00 0.000 1030 0.000 0.066 3063 2514 1957 2001 1913 0 0 0 0 0 0 14.66 14.59 14.69
7094 0.79 241.2 3063 2513 2001 1913 429.1 17.0 568 7100 0.00 2.38 0.00 0.000 516 0.000 0.055 3063 1106 1957 2001 1913 0 0 0 0 0 0 14.85 14.65 14.87
7142 0.79 241.2 3063 1106 2000 1913 421.1 16.1 577 7148 0.00 2.42 0.00 0.000 1030 0.000 0.066 3067 2508 1956 2000 1913 0 0 0 0 0 0 14.73 14.65 14.75
7462 0.79 241.2 3063 2510 2000 1918 368.6 16.7 595 7469 0.00 2.38 0.00 0.000 516 0.000 0.057 3063 1106 1956 2000 1913 0 0 0 0 0 0 14.88 14.67 14.89
7497 0.79 241.2 3063 1107 2000 1913 362.9 15.6 601 7503 0.00 2.42 0.00 0.000 1030 0.000 0.066 3063 2512 1956 1999 1913 0 0 0 0 0 0 14.74 14.66 14.76
7811 0.79 241.2 3063 2512 1999 1913 312.2 16.1 618 7813 0.00 0.00 0.00 0.000 6 0.000 0.000 3063 2512 1956 1999 1913 0 0 0 0 0 0 14.88 14.90 14.89
8112 0.79 241.2 3063 2512 2000 1913 262.7 16.9 633 8117 0.00 2.38 0.00 0.000 516 0.000 0.057 3063 1108 1956 1999 1913 0 0 0 0 0 0 14.88 14.68 14.90
8171 0.79 241.2 3063 1108 1999 1912 253.1 15.4 644 8178 0.00 2.42 0.00 0.000 1030 0.000 0.066 3063 2512 1955 1999 1912 0 0 0 0 0 0 14.73 14.66 14.76
8476 0.79 241.2 3063 2514 1998 1913 201.4 17.0 674 8483 0.00 0.00 0.00 0.000 6 0.000 0.000 3065 2514 1955 1998 1913 0 0 0 0 0 0 14.88 14.90 14.90
8666 0.79 241.2 3064 2514 1999 1912 170.6 16.0 693 8672 0.00 2.40 0.00 0.000 516 0.000 0.057 3063 1102 1956 1999 1913 0 0 0 0 0 0 14.89 14.68 14.90
8695 0.79 241.2 3063 1103 1998 1912 166.2 15.6 698 8701 0.00 2.45 0.00 0.000 1030 0.000 0.068 3063 2514 1955 1998 1912 0 0 0 0 0 0 14.74 14.66 14.79
8882 0.79 241.2 3063 2514 1998 1913 137.7 15.4 717 8887 0.00 2.45 0.00 0.000 260 0.000 0.086 3063 3917 1955 1998 1913 0 0 0 0 0 0 14.88 14.66 14.90
8917 0.79 241.2 3063 3918 1998 1913 131.5 18.4 723 8923 0.00 2.35 0.00 0.000 1030 0.000 0.045 3064 2502 1955 1998 1913 0 0 0 0 0 0 14.76 14.70 14.78
9112 0.79 241.2 3063 2499 1998 1912 100.6 15.9 743 9119 0.00 2.38 0.00 0.000 516 0.000 0.055 3064 1085 1955 1998 1912 0 0 0 0 0 0 14.88 14.66 14.90
9171 0.79 241.2 3064 1085 1997 1913 91.7 14.0 754 9178 0.00 2.45 0.00 0.000 1030 0.000 0.067 3064 2507 1955 1997 1913 0 0 0 0 0 0 14.75 14.67 14.78
9358 0.79 241.2 3063 2508 2003 1913 62.0 15.8 773 9364 0.00 2.38 0.00 0.000 516 0.000 0.054 3064 1093 1955 1997 1913 0 0 0 0 0 0 14.88 14.66 14.90
9387 0.79 241.2 3063 1093 1996 1913 57.5 15.0 778 9394 0.00 2.42 0.00 0.000 1030 0.000 0.065 3064 2506 1955 1997 1913 0 0 0 0 0 0 14.73 14.64 14.76
9574 0.79 241.2 3063 2506 1997 1913 29.1 14.5 797 9579 0.00 2.45 0.00 0.000 260 0.000 0.085 3064 3920 1954 1996 1913 0 0 0 0 0 0 14.88 14.65 14.90
9628 0.79 241.2 3063 3920 1996 1913 19.6 16.9 807 9635 0.00 2.38 0.00 0.000 1030 0.000 0.044 3063 2489 1953 1996 1911 0 0 0 0 0 0 14.73 14.67 14.74
9730 end climb: SURFACE_DEPTH_REACHED
state 9730 begin surface coast
9742 end surface coast: CONTROL_FINISHED_OK
state 9742 begin surface