AMOS Sep20 * SG233 * Dive index * Mission links * Dive 145 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  233 ESCAPE_HEADING_DELTA  10 ROLL_TIMEOUT  15 XPDR_INT  0
MISSION  7 FIX_MISSING_TIMEOUT  0 ROLL_MAXERRORS  1 XPDR_REP  0
DIVE  145 TGT_DEFAULT_LAT  4736 ROLL_ADJ_GAIN  0 INT_PRESSURE_SLOPE  1.9639999e-06
N_DIVES  0 TGT_DEFAULT_LON  -12218 ROLL_ADJ_DBAND  0 INT_PRESSURE_YINT  4
STOP_T  0 TGT_AUTO_DEFAULT  0 VBD_MIN  500 DEEPGLIDER  0
D_SURF  2 SM_CC  570.32251 VBD_MAX  3960 DEEPGLIDERMB  0
D_FLARE  3 N_FILEKB  8 C_VBD  2825 MOTHERBOARD  6
D_TGT  450 FILEMGR  0 VBD_DBAND  2 DEVICE1  -1
D_ABORT  750 CALL_NDIVES  1 VBD_CNV  -0.24529999 DEVICE2  -1
D_NO_BLEED  500 COMM_SEQ  0 VBD_LP_IGNORE  0 DEVICE3  -1
D_BOOST  2 PROTOCOL  9 VBD_TIMEOUT  720 DEVICE4  -1
T_BOOST  0 N_NOCOMM  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
D_FINISH  0 NOCOMM_ACTION  163 UNCOM_BLEED  20 DEVICE6  -1
D_PITCH  0 N_NOSURFACE  0 VBD_MAXERRORS  1 LOGGERS  3
D_SAFE  0 UPLOAD_DIVES_MAX  1 W_ADJ_DBAND  2 LOGGERDEVICE1  7
D_CALL  0 CALL_TRIES  5 DBDW  0 LOGGERDEVICE2  35
SURFACE_URGENCY  0 CALL_WAIT  60 LOITER_W_DBAND  2 LOGGERDEVICE3  -1
SURFACE_URGENCY_TRY  0 CAPUPLOAD  0 LOITER_DBDW  400 LOGGERDEVICE4  -1
SURFACE_URGENCY_FORCE  0 CAPMAXSIZE  100000 LOITER_D_TOP  450 COMPASS_DEVICE  66
T_DIVE  150 T_GPS  5 LOITER_D_BOTTOM  550 COMPASS2_DEVICE  -1
T_MISSION  300 N_GPS  100440 LOITER_N_DIVE  0 PHONE_DEVICE  33
T_ABORT  1440 T_RSLEEP  1 CF8_MAXERRORS  20 GPS_DEVICE  48
T_TURN  225 STROBE  0 AH0_24V  350 RAFOS_DEVICE  104
T_TURN_SAMPINT  -5 RAFOS_PEAK_OFFSET  0 AH0_10V  0 NETWORK_DEVICE  -1
T_NO_W  120 RAFOS_CORR_THRESH  60 MINV_24V  11 PRESSURE_DEVICE  34
T_LOITER  0 RAFOS_HIT_WINDOW  3600 MINV_10V  11 XPDR_DEVICE  -1
T_EPIRB  0 RAFOS_MMODEM  0 MAXI_24V  5 SIM_W  0
USE_BATHY  0 PITCH_MIN  210 MAXI_10V  1.5 SEABIRD_T_G  0.0044157342
USE_ICE  0 PITCH_MAX  3900 FG_AHR_10V  35.863514 SEABIRD_T_H  0.00064262876
ICE_FREEZE_MARGIN  0.30000001 C_PITCH  2640 FG_AHR_24V  148.78986 SEABIRD_T_I  2.7006432e-05
D_OFFGRID  990 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_J  3.3103631e-06
RELAUNCH  1 PITCH_CNV  0.0041299998 PRESSURE_YINT  -168.21758 SEABIRD_C_G  -9.9894733
APOGEE_PITCH  -5 PITCH_GAIN  25 PRESSURE_SLOPE  0.00022579571 SEABIRD_C_H  1.1093811
MAX_BUOY  220 PITCH_TIMEOUT  30 COMPASS_USE  4 SEABIRD_C_I  -0.0026526626
GLIDE_SLOPE  30 PITCH_MAXERRORS  1 ALTIM_PING_FIT  0 SEABIRD_C_J  0.00026268355
SPEED_FACTOR  1 PITCH_ADJ_GAIN  0.029999999 ALTIM_TOP_PING_RANGE  0 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_ADJ_DBAND  2 ALTIM_BOTTOM_TURN_MARGIN  0 SC_PROFILE  7.0
MASS  72131 PITCH_W_GAIN  0 ALTIM_TOP_TURN_MARGIN  0 SC_XMITPROFILE  3.0
NAV_MODE  2 PITCH_W_DBAND  0 ALTIM_TOP_MIN_OBSTACLE  0 SC_NDIVE  1.0
FERRY_MAX  45 ROLL_MIN  580 ALTIM_PING_DEPTH  0 PM_RECORDABOVE  2000.0
KALMAN_USE  2 ROLL_MAX  3340 ALTIM_PING_DELTA  0 PM_PROFILE  7.0
HD_A  0.003 ROLL_DEG  80 ALTIM_FREQUENCY  13 PM_XMITPROFILE  3.0
HD_B  0.0099999998 C_ROLL_DIVE  2050 ALTIM_PULSE  3 PM_NDIVE  1.0
HD_C  1.6e-05 C_ROLL_CLIMB  1950 ALTIM_SENSITIVITY  2 PM_XMITRAW  0.0
HEADING  -1 HEAD_ERRBAND  10 XPDR_VALID  4 PM_MOTORS  1.0
ESCAPE_HEADING  0 ROLL_CNV  0.054945 XPDR_INHIBIT  90 PM_SENDDEPTH  1.0

Pre-dive calculations and measurements:
GPS1  201020,202200,7134.821,-15206.800,29,0.7,29,15.1 TGT_LATLONG  7130.000,-15200.000
_CALLS  1 TGT_RADIUS  3000.000
_SM_DEPTHo  1.56 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -60.3 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  201020,202746,7134.868,-15206.848,2,0.6,3,15.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.173,0.304 MHEAD_RNG_PITCHd_Wd  139.8,9873,-14.2,-10.000,-18.23
TGT_NAME  SHELF D_GRID  450

Post-dive calculations and measurements:
MODEM_MSG  CACST,6,1,20201020203636.195728,18,464,-15,0909,0150,432,02,02,07,04,-1,-01,-01,1,3,0,0,150,-4.4,0.55,-100,2.45,-01,0.09,58,925,0025*28 INTERNAL_PRESSURE  8.13922
FINISH  0.4,1.023724 _24V_AH  14.41,79.946
SM_CCo  9563.68,0.00,0.008,0,500.7,495.6,505.9,570.15 _10V_AH  14.66,0.000
SM_GC  1.69,0.00,18.28,0.18,0.008,0.071,0.096,500.7,495.6,505.9,197.9,2104.1,0,0,0,30.36,15.47,15.50 FG_AHR_24Vo  149.116
SUPER  19,71,254,1,0,0 FG_AHR_10Vo  35.926
IRIDIUM_FIX  7135.25,-15200.86,201020,173304 MEM  1152416,35,24372,77
TCM_TEMP  1.08 DATA_FILE_SIZE  32065,1135
SC_FREEKB  3832352 CAP_FILE_SIZE  301059,0
PM_FREEKB_00  36135680 SDSIZE  3918848,3775712
PM_ACTIVECARD  0 SDFILEDIR  1187,1
RAFOS_CLK  -16 ERRORS  0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
MODEM  0,1603224354,74.83892,-145.28152,54.286,79529.6 SOUNDSPEED  1465.0
RAFOS_FIX  7607.083008,-14107.816406,201020,202036,6,255,1123.35 CURRENT  0.187,330.0,1
HUMID  53.11 GPS  201020,230839,7134.404,-15207.060,6,0.8,20,15.1
TEMP  -0.04

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump949171123415.27 nil000.00
Pitch_motor44316203.47 nil000.00
Roll_motor135166324.68 nil000.00
Iridium214210648.53 nil000.00
Transponder_ping000.00 nil000.00
GPS12152.82 nil000.00
Core460910683.82 SciCon94914677.60
LPSleep5217185.67 PMAR949991349.38
Compass26625195.14 nil000.00
RAFOS000.00
Transponder000.00

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 flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts
10 end surface: CONTROL_FINISHED_OK
state 10 begin dive
10.87 16386 -214.11 -0.83 0.00 501.8 506.8 496.9 198.8 2020.4 0.00 0.00 0 151.29 138.29 0.00 0.00 0.005 0.000 0.000 2607.28 2597.06 2617.50 199.25 2020.94 0 0 0 15.40 30.00 30.00
151.55 18727 -214.11 -0.83 80.00 2607.8 2596.8 2618.9 199.1 2021.4 4.27 -2.17 27 206.60 23.78 20.08 3.48 0.006 0.317 0.145 3703.41 3701.44 3705.38 2435.19 3350.69 0 0 0 15.44 15.37 15.39
270.51 1028 -214.11 -0.83 0.00 3705.1 3705.6 3704.5 2435.9 3349.4 37.12 -16.59 50 277.78 0.00 0.00 3.22 0.000 0.000 0.047 3706.38 3706.12 3706.62 2435.50 2024.44 0 0 0 30.00 30.00 15.53
456.76 8710 -214.11 -0.83 -80.00 3706.1 3706.7 3705.4 2437.6 2024.6 62.49 -12.42 87 467.55 0.00 0.00 3.84 0.000 0.000 0.125 3705.91 3705.94 3705.88 2437.12 584.50 0 0 0 30.00 30.00 15.47
496.53 1028 -214.11 -0.83 0.00 3705.4 3706.5 3704.4 2435.9 584.7 67.71 -13.03 95 507.18 0.00 0.00 3.52 0.000 0.000 0.043 3706.47 3707.50 3705.44 2435.44 2074.38 0 0 0 30.00 30.00 15.49
686.87 8194 -214.11 -0.83 0.00 3706.2 3707.5 3704.9 2436.2 2075.2 90.77 -12.33 133 692.45 0.00 0.00 0.00 0.000 0.000 0.000 3705.53 3706.69 3704.38 2436.88 2074.44 0 0 0 30.00 30.00 30.00
871.75 516 -214.11 -0.83 -80.00 3705.4 3706.1 3704.6 2436.1 2074.3 111.45 -10.74 160 879.26 0.00 0.00 3.91 0.000 0.000 0.119 3705.69 3707.12 3704.25 2436.25 586.50 0 0 0 30.00 30.00 15.62
917.96 1028 -214.11 -0.83 0.00 3705.9 3707.2 3704.6 2436.4 586.3 116.33 -10.93 169 924.91 0.00 0.00 3.48 0.000 0.000 0.044 3706.16 3707.12 3705.19 2435.75 2074.31 0 0 0 30.00 30.00 15.65
1223.24 0 -214.11 -0.83 0.00 3705.6 3707.1 3704.2 2436.9 2074.9 146.61 -9.42 200 1226.14 0.00 0.00 0.00 0.000 0.000 0.000 3704.62 3706.38 3702.88 2436.38 2075.12 0 0 0 30.00 30.00 30.00
1522.65 676 -214.11 -0.92 -80.00 3705.4 3705.8 3705.0 2436.2 2074.5 172.14 -7.92 230 1530.05 0.00 0.00 3.88 0.000 0.000 0.117 3705.31 3706.62 3704.00 2436.88 584.31 0 0 0 30.00 30.00 15.73
1582.28 5285 -214.11 -1.06 0.00 3705.3 3706.7 3704.0 2436.0 584.6 176.73 -7.65 242 1590.37 0.00 0.45 3.45 0.000 0.082 0.046 3706.41 3707.19 3705.62 2367.81 2076.06 0 0 0 30.00 15.77 15.78
1888.29 0 -214.11 -1.06 0.00 3705.8 3706.9 3704.7 2368.4 2076.9 206.56 -10.15 273 1892.15 0.00 0.00 0.00 0.000 0.000 0.000 3704.41 3705.38 3703.44 2368.06 2077.62 0 0 0 30.00 30.00 30.00
2189.13 0 -214.11 -1.06 0.00 3705.3 3706.5 3704.2 2368.3 2076.9 236.69 -9.79 303 2192.76 0.00 0.00 0.00 0.000 0.000 0.000 3705.03 3706.19 3703.88 2367.94 2075.75 0 0 0 30.00 30.00 30.00
2489.00 8710 -214.11 -1.06 -80.00 3706.3 3707.8 3704.9 2368.1 2076.1 267.50 -10.43 333 2496.25 0.00 0.00 3.89 0.000 0.000 0.120 3704.84 3705.81 3703.88 2367.94 585.31 0 0 0 30.00 30.00 15.81
2534.96 1028 -214.11 -1.06 0.00 3705.4 3706.7 3704.2 2368.5 585.7 272.63 -11.47 342 2542.30 0.00 0.00 3.45 0.000 0.000 0.047 3706.50 3707.50 3705.50 2367.12 2074.38 0 0 0 30.00 30.00 15.88
2839.90 0 -214.11 -1.06 0.00 3705.1 3706.5 3703.8 2367.9 2074.5 304.34 -10.01 371 2843.50 0.00 0.00 0.00 0.000 0.000 0.000 3704.38 3706.00 3702.75 2368.56 2074.62 0 0 0 30.00 30.00 30.00
3139.92 516 -214.11 -1.06 -80.00 3705.5 3706.9 3704.1 2368.8 2074.3 333.52 -9.67 386 3147.43 0.00 0.00 3.85 0.000 0.000 0.119 3705.56 3706.69 3704.44 2368.19 585.25 0 0 0 30.00 30.00 15.85
3189.58 9222 -214.11 -1.06 0.00 3706.5 3707.8 3705.3 2367.5 585.1 338.75 -10.51 396 3197.64 0.00 0.00 3.44 0.000 0.000 0.046 3705.84 3707.56 3704.12 2368.06 2075.94 0 0 0 30.00 30.00 15.91
3496.31 0 -214.11 -1.06 0.00 3704.7 3706.0 3703.4 2368.8 2075.5 366.97 -8.98 412 3499.20 0.00 0.00 0.00 0.000 0.000 0.000 3705.00 3706.38 3703.62 2368.19 2075.69 0 0 0 30.00 30.00 30.00
3795.70 8710 -214.11 -1.06 -80.00 3706.1 3705.9 3706.2 2368.8 2076.6 393.76 -9.22 427 3803.20 0.00 0.00 3.83 0.000 0.000 0.119 3705.19 3707.38 3703.00 2368.56 584.56 0 0 0 30.00 30.00 15.87
3860.35 1028 -214.11 -1.06 0.00 3704.5 3706.6 3702.4 2368.0 584.4 400.38 -10.31 440 3866.85 0.00 0.00 3.43 0.000 0.000 0.046 3707.22 3707.94 3706.50 2367.25 2076.81 0 0 0 30.00 30.00 15.94
4172.04 0 -214.11 -1.06 0.00 3705.4 3706.8 3703.9 2368.8 2077.1 428.17 -9.06 457 4174.94 0.00 0.00 0.00 0.000 0.000 0.000 3705.59 3707.88 3703.31 2368.00 2076.62 0 0 0 30.00 30.00 30.00
4432 end dive: TARGET_DEPTH_EXCEEDED
state 4432 begin apogee
4433.25 10243 0.00 -0.20 0.00 3705.3 3705.8 3704.8 2368.8 1912.2 451.56 -9.01 470 4618.04 180.93 1.64 0.12 1.711 0.166 0.166 2823.75 2854.44 2793.06 2591.88 1976.31 0 0 0 11.93 15.89 15.11
4621 end apogee: CONTROL_FINISHED_OK
state 4621 begin climb
4620.69 10503 214.11 0.83 80.00 2823.2 2855.1 2791.4 2591.5 1992.6 457.26 0.00 479 4820.07 188.55 1.78 3.63 1.559 0.110 0.117 1948.97 2004.62 1893.31 2844.38 3348.38 0 0 0 11.45 15.11 14.83
4857.28 21639 214.11 0.58 0.00 1943.4 1999.6 1887.1 2845.1 3350.6 435.20 15.51 525 4864.89 0.00 0.64 3.56 0.000 0.197 0.047 1943.00 1999.44 1886.56 2774.44 1927.06 0 0 0 30.00 14.96 15.02
5163.50 17030 214.11 0.49 -80.00 1937.3 1991.6 1883.1 2775.3 1927.6 402.28 10.24 541 5170.78 0.00 0.00 3.64 0.000 0.000 0.129 1936.62 1990.75 1882.50 2775.06 570.06 0 0 0 30.00 30.00 15.22
5253.00 21639 214.11 0.33 0.00 1935.0 1986.6 1883.4 2774.6 570.4 391.16 12.03 559 5260.67 0.00 0.44 3.34 0.000 0.177 0.045 1935.22 1986.25 1884.19 2714.94 1978.88 0 0 0 30.00 15.36 15.44
5559.82 10791 305.75 0.45 -80.00 1933.7 1985.8 1881.6 2716.2 1980.2 368.13 7.07 575 5647.47 80.31 0.29 3.83 1.490 0.101 0.123 1576.50 1625.00 1528.00 2754.12 571.88 0 0 0 11.51 15.54 15.19
5716.39 1028 305.75 0.45 0.00 1571.8 1617.6 1526.0 2754.6 571.6 352.14 11.35 606 5723.61 0.00 0.00 3.35 0.000 0.000 0.044 1571.16 1616.69 1525.62 2754.81 1978.94 0 0 0 30.00 30.00 15.34
6032.33 16902 305.75 0.45 -80.00 1565.8 1614.2 1517.3 2754.8 1980.6 320.72 9.99 624 6039.38 0.00 0.00 3.71 0.000 0.000 0.121 1566.44 1614.06 1518.81 2753.81 570.12 0 0 0 30.00 30.00 15.48
6087.61 17414 305.75 0.45 0.00 1564.8 1613.1 1516.5 2754.9 570.2 314.32 11.54 635 6094.01 0.00 0.00 3.29 0.000 0.000 0.044 1564.66 1612.06 1517.25 2753.44 1977.94 0 0 0 30.00 30.00 15.56
6392.70 16902 305.75 0.45 -80.00 1563.4 1611.9 1514.9 2754.6 1979.1 284.26 9.93 660 6400.12 0.00 0.00 3.69 0.000 0.000 0.120 1563.09 1611.81 1514.38 2755.62 570.25 0 0 0 30.00 30.00 15.60
6468.91 17414 305.75 0.45 0.00 1562.2 1610.6 1513.8 2754.2 569.4 275.33 11.73 675 6475.74 0.00 0.00 3.26 0.000 0.000 0.042 1562.88 1610.25 1515.50 2754.69 1979.50 0 0 0 30.00 30.00 15.68
6774.10 16902 305.75 0.45 -80.00 1562.5 1610.5 1514.5 2755.2 1980.7 242.54 10.35 706 6780.85 0.00 0.00 3.67 0.000 0.000 0.120 1562.34 1610.50 1514.19 2754.31 569.88 0 0 0 30.00 30.00 15.68
6849.81 17414 305.75 0.45 0.00 1561.7 1609.7 1513.6 2754.8 569.9 233.88 11.04 721 6856.72 0.00 0.00 3.24 0.000 0.000 0.043 1560.94 1607.81 1514.06 2754.75 1980.81 0 0 0 30.00 30.00 15.74
7154.38 16902 305.75 0.45 -80.00 1561.9 1609.6 1514.2 2753.8 1982.1 205.66 8.88 752 7161.80 0.00 0.00 3.65 0.000 0.000 0.120 1560.72 1607.50 1513.94 2754.94 569.75 0 0 0 30.00 30.00 15.74
7203.95 17414 305.75 0.45 0.00 1561.5 1609.4 1513.6 2754.9 569.8 200.77 9.70 762 7211.49 0.00 0.00 3.25 0.000 0.000 0.045 1561.03 1608.25 1513.81 2755.31 1980.31 0 0 0 30.00 30.00 15.72
7510.08 10919 370.87 0.61 -80.00 1561.4 1609.6 1513.2 2754.5 1982.9 174.60 7.92 793 7576.78 58.79 0.21 3.72 1.345 0.112 0.121 1312.25 1357.44 1267.06 2796.00 570.06 0 0 0 11.80 15.79 15.52
7664.00 1028 370.87 0.61 0.00 1308.3 1351.8 1264.9 2795.9 570.1 159.55 9.01 824 7671.61 0.00 0.00 3.28 0.000 0.000 0.043 1307.78 1351.31 1264.25 2795.06 1979.88 0 0 0 30.00 30.00 15.55
7970.62 10919 445.39 0.80 -80.00 1304.0 1351.1 1256.9 2795.7 1982.0 135.76 7.62 855 8077.68 97.42 0.23 3.81 1.237 0.107 0.124 1009.38 1052.62 966.12 2838.75 571.00 0 0 0 11.66 15.67 15.31
8160.97 1028 445.39 0.80 0.00 1007.3 1048.7 966.0 2839.1 571.2 117.90 9.73 893 8167.33 0.00 0.00 3.32 0.000 0.000 0.045 1006.75 1048.25 965.25 2839.50 1973.94 0 0 0 30.00 30.00 15.44
8466.64 644 445.39 0.86 -80.00 1004.8 1049.0 960.6 2838.6 1981.6 89.75 9.41 934 8476.56 0.00 0.00 3.76 0.000 0.000 0.122 1005.06 1048.94 961.19 2838.12 572.81 0 0 0 30.00 30.00 15.43
8516.68 1028 445.39 0.86 0.00 1004.0 1047.6 960.4 2839.1 572.5 84.71 10.25 944 8523.46 0.00 0.00 3.27 0.000 0.000 0.044 1003.91 1047.56 960.25 2838.56 1981.19 0 0 0 30.00 30.00 15.62
8701.73 2693 445.39 0.95 -80.00 1003.3 1047.6 959.0 2837.8 1982.6 68.34 8.79 981 8709.33 0.00 0.20 3.73 0.000 0.114 0.122 1003.19 1047.56 958.81 2875.88 570.19 0 0 0 30.00 15.64 15.61
8758.30 1028 445.39 0.95 0.00 1002.9 1046.8 958.9 2876.1 570.1 62.06 11.58 992 8768.00 0.00 0.00 3.26 0.000 0.000 0.046 1003.00 1046.88 959.12 2876.62 1980.88 0 0 0 30.00 30.00 15.68
8947.57 516 445.39 0.95 -80.00 1002.4 1046.6 958.1 2876.4 1983.4 41.48 11.50 1030 8955.12 0.00 0.00 3.71 0.000 0.000 0.122 1002.34 1046.25 958.44 2876.25 570.06 0 0 0 30.00 30.00 15.65
8993.33 1028 445.39 0.95 0.00 1002.0 1046.0 958.1 2876.6 570.2 36.00 12.29 1039 9000.83 0.00 0.00 3.25 0.000 0.000 0.045 1002.16 1045.88 958.44 2876.12 1981.25 0 0 0 30.00 30.00 15.72
9179.85 10403 528.96 1.19 0.00 1001.7 1046.1 957.2 2876.9 1982.6 19.93 7.33 1076 9307.64 123.18 0.34 0.00 1.166 0.101 0.000 669.50 693.12 645.88 2933.94 1982.81 0 0 0 11.92 15.72 30.00
9441 end climb: SURFACE_DEPTH_REACHED
state 9441 begin surface coast
9476 end surface coast: CONTROL_FINISHED_OK
state 9476 begin surface