OKMC Aug11 * SG166 * Dive index * Mission links * Dive 246 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  166 HD_B  0.010078 PITCH_ADJ_GAIN  0.0099999998 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  30
DIVE  246 HEADING  -1 ROLL_MIN  197 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3786 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  20 ALTIM_PING_DEPTH  0
D_FLARE  5 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1550 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1820 ALTIM_FREQUENCY  13
D_ABORT  1030 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  71 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  50 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  2.7
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  0 VBD_MIN  455 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  53
T_DIVE  350 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  400 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  3 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24708.408 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  147 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  109 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  175 PITCH_MIN  160 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3938 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2745 PHONE_SUPPLY  2 SEABIRD_T_G  0.004315557
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -27.509327 SEABIRD_T_H  0.00063223497
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001160501 SEABIRD_T_I  2.3993638e-05
MASS  51906 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.5696888e-06
NAV_MODE  2 PITCH_GAIN  45 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.9842854
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1210135
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.0013500623
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00018873326

Pre-dive calculations and measurements:
GPS1  180911,120430,2118.598,12337.676,38,2.0,38,-2.8 TGT_NAME  N1
_CALLS  1 TGT_LATLONG  2303.600,12125.840
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.70 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  180911,121149,2118.544,12337.700,9,1.8,14,-2.8 MHEAD_RNG_PITCHd_Wd  270.8,297223,-16.0,-9.429
SPEED_LIMITS  0.163,0.274 D_GRID  4982

Post-dive calculations and measurements:
FINISH  1.0,1.011702 _10V_AH  9.9,40.709
SM_CCo  19083,22.48,0.217,1,0,1049,450.13 FG_AHR_24Vo  0.000
SM_GC  2.21,0.00,0.00,22.48,0.000,0.000,0.217,152,1558,1049,-8.10,0.25,450.13,0,0,0,0,1,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2111.01,12340.12,180911,060611 MEM  330184
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  100361,1762
HUMID  34.99 CAP_FILE_SIZE  209184,0
INTERNAL_PRESSURE  9.46784 CFSIZE  260165632,125726720
TCM_TEMP  26.80 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  102 CURRENT  0.234, 87.3,1
_24V_AH  22.7,58.111 GPS  180911,173206,2118.651,12337.311,38,1.5,43,-2.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20227107.02 SBE_CT120524656.75
Roll_motor8365122.99 AA38301804331352.04
VBD_pump_during_apogee537145517758.96 WL_BB2F20501054886.25
VBD_pump_during_surface22217110.84 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2610362.04 nil000.00
Iridium_during_connect42160153.05 nil000.00
Iridium_during_xfer195223987.70 nil000.00
Transponder_ping25420243.12 nil000.00
GUMSTIX_24V000.00
GPS15507.56
TT8445419873.12
LPSleep95792207.70
TT8_Active64619126.66
TT8_Sampling4284391688.08
TT8_CF856245254.89
TT8_Kalman000.00
Analog_circuits230712274.18
GPS_charging000.00
Compass402315597.48
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.56 -170.3 0.0 0.0 0 109 0.00 0.00 -88.57 0.000 2 0.000 0.000 154 1518 3253 0 0 0 0 0 0
112 -0.56 -170.3 6.6 -9.8 12 136 9.65 1.10 -5.95 0.000 4 0.227 0.060 2548 2261 3581 0 0 0 0 0 0
241 -0.40 -170.3 60.5 -33.2 34 251 0.22 1.02 0.00 0.000 6 0.164 0.040 2605 1574 3583 0 0 0 0 0 0
568 -0.36 -170.3 123.6 -13.2 95 576 0.00 1.00 0.00 0.000 4 0.000 0.041 2600 2251 3584 0 0 0 0 0 0
634 -0.34 -170.3 131.9 -12.2 106 644 0.08 1.05 0.00 0.000 6 0.137 0.039 2627 1542 3584 0 0 0 0 0 0
965 -0.37 -170.3 164.0 -9.2 167 973 0.00 1.02 0.00 0.000 4 0.000 0.044 2627 849 3585 0 0 0 0 0 0
1106 -0.42 -170.3 176.2 -8.0 192 1114 0.00 1.02 0.00 0.000 6 0.000 0.036 2624 1552 3585 0 0 0 0 0 0
1436 -0.46 -170.3 202.6 -8.4 253 1444 0.00 1.00 0.00 0.000 4 0.000 0.043 2621 2239 3585 0 0 0 0 0 0
1541 -0.51 -170.3 211.6 -8.0 272 1550 0.08 1.02 0.00 0.000 6 0.049 0.041 2545 1557 3585 0 0 0 0 0 0
1878 -0.47 -170.3 261.4 -14.6 327 1882 0.17 1.05 0.00 0.000 4 0.152 0.045 2593 2238 3585 0 0 0 0 0 0
1972 -0.50 -170.3 270.7 -8.9 335 1976 0.00 1.02 0.00 0.000 6 0.000 0.042 2597 1556 3585 0 0 0 0 0 0
2305 -0.52 -170.3 302.8 -9.5 366 2309 0.00 1.02 0.00 0.000 4 0.000 0.046 2600 2235 3584 0 0 0 0 0 0
2385 -0.56 -170.3 310.2 -8.7 373 2389 0.08 1.02 0.00 0.000 6 0.050 0.044 2537 1553 3584 0 0 0 0 0 0
2718 -0.51 -170.3 359.2 -13.9 404 2725 0.15 0.00 0.00 0.000 6 0.157 0.000 2577 1553 3583 0 0 0 0 0 0
3044 -0.52 -170.3 390.7 -8.5 435 3046 0.00 0.00 0.00 0.000 6 0.000 0.000 2577 1553 3582 0 0 0 0 0 0
3366 -0.54 -170.3 419.5 -10.0 465 3369 0.00 1.08 0.00 0.000 4 0.000 0.050 2578 844 3579 0 0 0 0 0 0
3427 -0.56 -170.3 426.6 -11.1 470 3435 0.00 1.02 0.00 0.000 6 0.000 0.041 2575 1537 3579 0 0 0 0 0 0
3753 -0.58 -170.3 457.9 -8.4 501 3757 0.00 1.05 0.00 0.000 4 0.000 0.048 2570 2246 3577 0 0 0 0 0 0
3825 -0.61 -170.3 462.9 -6.8 507 3832 0.00 1.05 0.00 0.000 6 0.000 0.045 2570 1553 3576 0 0 0 0 0 0
4151 -0.63 -170.3 487.8 -7.4 538 4155 0.00 1.05 0.00 0.000 4 0.000 0.049 2565 2240 3575 0 0 0 0 0 0
4201 -0.66 -170.3 491.9 -8.2 542 4208 0.00 1.05 0.00 0.000 6 0.000 0.045 2565 1553 3575 0 0 0 0 0 0
4527 -0.68 -170.3 518.4 -8.0 573 4531 0.12 1.10 0.00 0.000 4 0.083 0.053 2489 848 3572 0 0 0 0 0 0
4587 -0.63 -170.3 526.1 -13.2 578 4595 0.15 1.08 0.00 0.000 6 0.142 0.044 2533 1551 3572 0 0 0 0 0 0
4912 -0.63 -170.3 561.0 -10.4 609 4916 0.00 1.10 0.00 0.000 4 0.000 0.054 2533 855 3569 0 0 0 0 0 0
5105 -0.63 -170.3 581.5 -10.6 626 5109 0.00 1.05 0.00 0.000 6 0.000 0.045 2530 1546 3567 0 0 0 0 0 0
5432 -0.63 -170.3 613.8 -9.5 650 5435 0.00 1.05 0.00 0.000 4 0.000 0.054 2525 2243 3565 0 0 0 0 0 0
5569 -0.63 -170.3 625.8 -8.7 656 5573 0.00 1.05 0.00 0.000 6 0.000 0.049 2525 1557 3564 0 0 0 0 0 0
5902 -0.63 -170.3 657.0 -9.2 672 5906 0.00 1.10 0.00 0.000 4 0.000 0.057 2525 843 3561 0 0 0 0 0 0
5986 -0.62 -170.3 665.5 -10.0 675 5993 0.00 1.08 0.00 0.000 6 0.000 0.047 2520 1545 3560 0 0 0 0 0 0
6305 -0.61 -170.3 699.3 -11.0 691 6306 0.00 0.00 0.00 0.000 6 0.000 0.000 2519 1544 3558 0 0 0 0 0 0
6611 -0.61 -170.3 732.5 -10.7 706 6615 0.00 1.08 0.00 0.000 4 0.000 0.057 2514 2245 3556 0 0 0 0 0 0
6656 -0.61 -170.3 737.5 -11.2 708 6661 0.08 1.08 0.00 0.000 6 0.138 0.049 2541 1553 3555 0 0 0 0 0 0
6993 -0.62 -170.3 767.1 -8.6 724 6994 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 1552 3554 0 0 0 0 0 0
7299 -0.64 -170.3 791.5 -7.8 739 7300 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 1552 3551 0 0 0 0 0 0
7610 -0.65 -170.3 815.2 -7.3 754 7611 0.00 0.00 0.00 0.000 6 0.000 0.000 2541 1553 3549 0 0 0 0 0 0
7917 -0.67 -170.3 837.3 -7.2 769 7921 0.00 1.10 0.00 0.000 4 0.000 0.058 2538 2246 3548 0 0 0 0 0 0
7992 -0.69 -170.3 842.6 -7.1 772 7996 0.00 1.08 0.00 0.000 6 0.000 0.049 2538 1553 3547 0 0 0 0 0 0
8320 -0.71 -170.3 868.0 -8.0 788 8321 0.00 0.00 0.00 0.000 6 0.000 0.000 2538 1553 3545 0 0 0 0 0 0
8632 -0.72 -170.3 892.9 -8.0 803 8636 0.00 1.08 0.00 0.000 4 0.000 0.059 2533 2237 3543 0 0 0 0 0 0
8665 -0.74 -170.3 896.0 -7.9 804 8669 0.00 1.08 0.00 0.000 6 0.000 0.052 2533 1549 3543 0 0 0 0 0 0
8988 -0.75 -170.3 922.7 -8.1 820 8989 0.00 0.00 0.00 0.000 6 0.000 0.000 2533 1549 3542 0 0 0 0 0 0
9300 -0.77 -170.3 947.2 -7.7 835 9304 0.10 1.12 0.00 0.000 4 0.103 0.060 2474 2244 3541 0 0 0 0 0 0
9391 -0.73 -170.3 956.5 -10.3 839 9396 0.08 1.08 0.00 0.000 6 0.154 0.052 2499 1555 3540 0 0 0 0 0 0
9731 -0.72 -170.3 988.5 -9.4 855 9732 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 1556 3538 0 0 0 0 0 0
9746 end dive: TARGET_DEPTH_EXCEEDED
state 9746 begin apogee
9752 -0.11 0.0 990.4 9.4 856 9903 0.62 0.00 142.25 1.455 6 0.129 0.000 2700 1821 2883 0 0 0 0 0 0
9904 end apogee: CONTROL_FINISHED_OK
state 9904 begin climb
9907 0.56 170.3 993.3 0.0 863 10071 0.62 1.23 157.70 1.390 4 0.070 0.065 2921 2515 2188 0 0 0 0 0 0
10200 0.53 170.3 961.2 14.4 875 10207 0.00 1.12 0.00 0.000 6 0.000 0.052 2924 1819 2182 0 0 0 0 0 0
10516 0.49 170.3 916.3 14.1 891 10520 0.00 1.10 0.00 0.000 4 0.000 0.062 2922 2509 2179 0 0 0 0 0 0
10670 0.45 170.3 894.4 13.9 897 10678 0.10 1.08 0.00 0.000 6 0.148 0.051 2895 1822 2178 0 0 0 0 0 0
10989 0.44 170.3 858.0 11.1 913 10993 0.00 1.10 0.00 0.000 4 0.000 0.059 2893 2522 2176 0 0 0 0 0 0
11038 0.44 170.3 851.9 11.3 915 11042 0.00 1.10 0.00 0.000 6 0.000 0.049 2896 1814 2175 0 0 0 0 0 0
11366 0.42 170.3 817.7 10.1 931 11370 0.00 1.10 0.00 0.000 4 0.000 0.058 2893 2514 2175 0 0 0 0 0 0
11451 0.41 170.3 809.4 9.7 934 11458 0.00 1.08 0.00 0.000 6 0.000 0.047 2897 1817 2174 0 0 0 0 0 0
11768 0.43 196.8 782.0 8.4 950 11795 0.00 1.12 23.27 1.277 4 0.000 0.056 2897 2515 2080 0 0 0 0 0 0
11825 0.45 225.2 777.0 8.4 952 11859 0.00 1.10 27.27 1.262 6 0.000 0.046 2903 1813 1964 0 0 0 0 0 0
12169 0.49 257.6 747.6 8.2 969 12202 0.00 1.17 29.77 1.252 4 0.000 0.057 2900 2521 1834 0 0 0 0 0 0
12252 0.54 295.5 740.8 8.0 972 12295 0.00 1.10 36.65 1.239 6 0.000 0.046 2904 1822 1679 0 0 0 0 0 0
12605 0.55 295.5 705.9 10.4 989 12609 0.00 1.08 0.00 0.000 4 0.000 0.050 2908 1115 1673 0 0 0 0 0 0
12640 0.56 295.5 702.0 10.7 990 12644 0.00 1.10 0.00 0.000 6 0.000 0.047 2908 1826 1673 0 0 0 0 0 0
12962 0.56 295.5 665.5 11.8 1006 12965 0.00 1.05 0.00 0.000 4 0.000 0.057 2908 2517 1672 0 0 0 0 0 0
13045 0.58 295.5 655.3 11.9 1009 13052 0.00 1.08 0.00 0.000 6 0.000 0.046 2913 1813 1671 0 0 0 0 0 0
13363 0.58 295.5 614.3 13.1 1025 13366 0.00 1.10 0.00 0.000 4 0.000 0.057 2913 2516 1671 0 0 0 0 0 0
13409 0.59 295.5 608.3 12.5 1027 13413 0.00 1.05 0.00 0.000 6 0.000 0.044 2918 1821 1671 0 0 0 0 0 0
13738 0.59 295.5 568.7 11.8 1054 13742 0.00 1.08 0.00 0.000 4 0.000 0.054 2918 2519 1669 0 0 0 0 0 0
13829 0.60 295.5 558.7 10.8 1062 13833 0.00 1.05 0.00 0.000 6 0.000 0.044 2922 1826 1669 0 0 0 0 0 0
14160 0.60 295.5 518.3 12.5 1093 14164 0.00 1.08 0.00 0.000 4 0.000 0.049 2927 1113 1669 0 0 0 0 0 0
14232 0.60 295.5 509.7 11.4 1099 14240 0.00 1.08 0.00 0.000 6 0.000 0.044 2928 1822 1669 0 0 0 0 0 0
14558 0.60 295.5 472.3 11.1 1130 14561 0.00 1.05 0.00 0.000 4 0.000 0.054 2930 2519 1668 0 0 0 0 0 0
14607 0.60 295.5 466.8 10.6 1134 14614 0.00 1.08 0.00 0.000 6 0.000 0.041 2933 1810 1669 0 0 0 0 0 0
14933 0.60 295.5 430.7 10.4 1165 14937 0.00 1.02 0.00 0.000 4 0.000 0.047 2941 1120 1668 0 0 0 0 0 0
15016 0.60 295.5 422.2 10.1 1172 15023 0.00 1.05 0.00 0.000 6 0.000 0.043 2943 1816 1668 0 0 0 0 0 0
15341 0.60 295.5 387.7 11.2 1203 15345 0.00 1.05 0.00 0.000 4 0.000 0.050 2947 2520 1668 0 0 0 0 0 0
15456 0.60 295.5 374.6 11.6 1213 15460 0.00 1.05 0.00 0.000 6 0.000 0.041 2952 1819 1668 0 0 0 0 0 0
15787 0.60 295.5 334.6 11.2 1244 15791 0.00 1.02 0.00 0.000 4 0.000 0.047 2958 1125 1668 0 0 0 0 0 0
15810 0.60 295.5 331.8 11.2 1246 15814 0.00 1.05 0.00 0.000 6 0.000 0.040 2957 1831 1668 0 0 0 0 0 0
16143 0.61 295.5 296.3 9.8 1277 16146 0.00 1.08 0.00 0.000 4 0.000 0.044 2960 1117 1668 0 0 0 0 0 0
16243 0.63 296.1 286.4 9.4 1286 16247 0.00 1.05 0.00 0.000 6 0.000 0.039 2960 1827 1668 0 0 0 0 0 0
16576 0.65 296.1 254.6 9.9 1317 16579 0.00 1.08 0.00 0.000 4 0.000 0.044 2964 1115 1668 0 0 0 0 0 0
16614 0.67 296.1 250.3 10.4 1320 16622 0.00 1.05 0.00 0.000 6 0.000 0.039 2964 1823 1668 0 0 0 0 0 0
16940 0.70 308.0 217.0 9.0 1381 16957 0.00 1.10 11.57 0.747 4 0.000 0.044 2969 1117 1628 0 0 0 0 0 0
17009 0.78 347.8 211.4 8.0 1392 17055 0.00 1.05 35.75 0.812 6 0.000 0.037 2969 1829 1465 0 0 0 0 0 0
17377 0.82 347.8 180.4 9.5 1458 17385 0.10 0.00 0.00 0.000 6 0.097 0.000 3038 1829 1464 0 0 0 0 0 0
17705 0.78 347.8 130.2 14.6 1519 17715 0.15 1.08 0.00 0.000 4 0.148 0.043 3000 1121 1463 0 0 0 0 0 0
17804 0.82 347.8 118.6 10.4 1536 17812 0.00 1.02 0.00 0.000 6 0.000 0.037 2997 1820 1463 0 0 0 0 0 0
18134 0.86 347.8 85.4 9.7 1597 18142 0.00 1.08 0.00 0.000 4 0.000 0.043 3001 1111 1463 0 0 0 0 0 0
18171 0.92 347.8 81.6 9.6 1603 18181 0.08 1.02 0.00 0.000 6 0.050 0.035 3072 1816 1463 0 0 0 0 0 0
18500 0.92 347.8 44.3 10.6 1664 18509 0.12 1.05 0.00 0.000 4 0.151 0.042 3041 1118 1463 0 0 0 0 0 0
18619 1.00 383.8 33.3 8.1 1685 18657 0.00 1.02 31.70 0.641 6 0.000 0.034 3038 1829 1318 0 0 0 0 0 0
18981 1.10 433.1 8.1 7.6 1750 19028 0.17 1.12 41.72 0.615 4 0.066 0.040 3146 1114 1117 0 0 0 0 0 0
19034 end climb: SURFACE_DEPTH_REACHED
state 19034 begin surface coast
19066 end surface coast: CONTROL_FINISHED_OK
state 19066 begin surface