OKMC Aug11 * SG166 * Dive index * Mission links * Dive 295 * 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  295 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  1610 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1780 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  58 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  63 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  380 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  -8 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24770.465 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  200 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  290911,060206,2223.109,12215.754,76,1.3,81,-2.9 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  1.81 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  290911,061030,2223.066,12215.773,38,1.7,44,-2.9 MHEAD_RNG_PITCHd_Wd  324.0,113470,-14.9,-9.429
SPEED_LIMITS  0.163,0.290 D_GRID  4774

Post-dive calculations and measurements:
FINISH  1.3,0.998369 _10V_AH  9.8,49.826
SM_CCo  19157,0.00,0.000,0,0,541,574.74 FG_AHR_24Vo  0.000
SM_GC  2.02,7.88,0.00,0.00,0.037,0.000,0.000,158,1598,541,-8.04,-0.34,574.74,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2211.35,12216.12,290911,000007 MEM  324652
TT8_MAMPS  0.026964,0.026964 DATA_FILE_SIZE  96855,1740
HUMID  38.10 CAP_FILE_SIZE  206043,0
INTERNAL_PRESSURE  9.35065 CFSIZE  260165632,120971264
TCM_TEMP  24.30 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  121 CURRENT  0.124,152.5,1
_24V_AH  22.5,70.398 GPS  290911,113145,2224.245,12214.446,52,1.6,60,-2.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2021799.72 SBE_CT119224643.69
Roll_motor8471136.84 AA38301780331322.07
VBD_pump_during_apogee694145222695.08 WL_BB2F19631054639.55
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2510359.51 nil000.00
Iridium_during_connect2016074.03 nil000.00
Iridium_during_xfer2492231252.53 nil000.00
Transponder_ping30420285.86 nil000.00
GUMSTIX_24V000.00
GPS445022.00
TT8435119844.28
LPSleep97252208.72
TT8_Active74419144.42
TT8_Sampling4253391659.04
TT8_CF855845250.46
TT8_Kalman000.00
Analog_circuits242112284.72
GPS_charging000.00
Compass393215578.09
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.57 -194.6 0.0 0.0 0 131 0.00 0.00 -111.95 0.000 2 0.000 0.000 142 1581 3204 0 0 0 0 0 0
134 -0.57 -194.6 6.4 -9.6 15 159 9.45 1.02 -8.80 0.000 4 0.217 0.069 2550 914 3680 0 0 0 0 0 0
399 -0.48 -194.6 76.3 -19.2 63 408 0.12 1.02 0.00 0.000 6 0.140 0.037 2584 1600 3682 0 0 0 0 0 0
727 -0.45 -194.6 123.4 -11.3 124 735 0.00 1.05 0.00 0.000 4 0.000 0.044 2580 2315 3683 0 0 0 0 0 0
826 -0.45 -194.6 132.3 -8.2 141 835 0.00 1.02 0.00 0.000 6 0.000 0.037 2575 1627 3682 0 0 0 0 0 0
1155 -0.43 -194.6 167.7 -13.3 202 1164 0.10 1.08 0.00 0.000 4 0.167 0.044 2606 918 3683 0 0 0 0 0 0
1220 -0.46 -194.6 176.3 -12.4 213 1229 0.00 1.02 0.00 0.000 6 0.000 0.037 2603 1610 3683 0 0 0 0 0 0
1549 -0.49 -194.6 212.1 -8.9 274 1557 0.00 1.05 0.00 0.000 4 0.000 0.044 2598 2309 3682 0 0 0 0 0 0
1718 -0.53 -194.6 222.6 -5.5 304 1726 0.00 1.05 0.00 0.000 6 0.000 0.040 2598 1609 3682 0 0 0 0 0 0
2045 -0.56 -194.6 243.6 -8.2 365 2055 0.12 1.08 0.00 0.000 4 0.080 0.046 2508 2307 3681 0 0 0 0 0 0
2117 -0.52 -194.6 253.4 -15.0 375 2121 0.20 1.05 0.00 0.000 6 0.124 0.041 2575 1608 3681 0 0 0 0 0 0
2449 -0.54 -194.6 295.4 -12.2 406 2452 0.00 1.05 0.00 0.000 4 0.000 0.047 2580 2299 3679 0 0 0 0 0 0
2509 -0.57 -194.6 302.1 -10.3 411 2516 0.00 1.02 0.00 0.000 6 0.000 0.041 2580 1614 3679 0 0 0 0 0 0
2836 -0.59 -194.6 332.6 -8.6 442 2837 0.10 0.00 0.00 0.000 6 0.096 0.000 2515 1614 3677 0 0 0 0 0 0
3153 -0.54 -194.6 376.2 -12.9 472 3157 0.17 1.08 0.00 0.000 4 0.148 0.049 2562 2299 3676 0 0 0 0 0 0
3216 -0.55 -194.6 382.0 -8.8 477 3224 0.00 1.05 0.00 0.000 6 0.000 0.044 2562 1609 3675 0 0 0 0 0 0
3541 -0.55 -194.6 412.6 -9.3 508 3542 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 1608 3674 0 0 0 0 0 0
3865 -0.55 -194.6 447.6 -12.7 538 3869 0.00 1.08 0.00 0.000 4 0.000 0.050 2562 905 3672 0 0 0 0 0 0
3926 -0.55 -194.6 457.3 -14.3 543 3934 0.00 1.05 0.00 0.000 6 0.000 0.042 2557 1598 3671 0 0 0 0 0 0
4252 -0.55 -194.6 500.2 -10.3 574 4253 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 1598 3668 0 0 0 0 0 0
4572 -0.55 -194.6 520.3 -5.3 604 4576 0.00 1.08 0.00 0.000 4 0.000 0.051 2552 2308 3665 0 0 0 0 0 0
4614 -0.57 -194.6 522.5 -5.5 607 4620 0.00 1.08 0.00 0.000 6 0.000 0.045 2552 1604 3664 0 0 0 0 0 0
4939 -0.57 -194.6 554.2 -11.6 638 4943 0.00 1.10 0.00 0.000 4 0.000 0.054 2547 2308 3663 0 0 0 0 0 0
4980 -0.58 -194.6 559.0 -11.6 641 4987 0.00 1.08 0.00 0.000 6 0.000 0.047 2548 1608 3662 0 0 0 0 0 0
5305 -0.58 -194.6 596.2 -9.7 672 5309 0.00 1.05 0.00 0.000 4 0.000 0.051 2547 916 3660 0 0 0 0 0 0
5362 -0.58 -194.6 601.5 -9.2 676 5366 0.00 1.05 0.00 0.000 6 0.000 0.047 2542 1601 3659 0 0 0 0 0 0
5684 -0.58 -194.6 629.0 -8.6 692 5688 0.00 1.08 0.00 0.000 4 0.000 0.055 2537 2308 3657 0 0 0 0 0 0
5756 -0.59 -194.6 635.0 -8.3 695 5760 0.00 1.08 0.00 0.000 6 0.000 0.048 2537 1609 3656 0 0 0 0 0 0
6086 -0.59 -194.6 661.7 -8.4 711 6089 0.00 1.08 0.00 0.000 4 0.000 0.054 2537 905 3654 0 0 0 0 0 0
6158 -0.59 -194.6 668.9 -9.9 714 6162 0.00 1.10 0.00 0.000 6 0.000 0.047 2532 1615 3653 0 0 0 0 0 0
6487 -0.59 -194.6 703.0 -10.5 730 6488 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 1615 3651 0 0 0 0 0 0
6794 -0.59 -194.6 731.9 -8.8 745 6798 0.00 1.10 0.00 0.000 4 0.000 0.054 2532 918 3649 0 0 0 0 0 0
6894 -0.59 -194.6 740.5 -8.5 749 6898 0.00 1.08 0.00 0.000 6 0.000 0.047 2527 1611 3648 0 0 0 0 0 0
7218 -0.59 -194.6 768.0 -9.0 765 7222 0.00 1.10 0.00 0.000 4 0.000 0.052 2527 908 3646 0 0 0 0 0 0
7267 -0.59 -194.6 773.5 -10.4 767 7272 0.08 1.08 0.00 0.000 6 0.138 0.049 2548 1602 3646 0 0 0 0 0 0
7597 -0.61 -194.6 805.7 -10.6 783 7601 0.00 1.08 0.00 0.000 4 0.000 0.057 2545 2301 3644 0 0 0 0 0 0
7652 -0.64 -194.6 811.9 -10.5 785 7656 0.00 1.08 0.00 0.000 6 0.000 0.050 2545 1606 3643 0 0 0 0 0 0
7976 -0.66 -194.6 845.6 -10.2 801 7980 0.00 1.10 0.00 0.000 4 0.000 0.059 2540 2305 3642 0 0 0 0 0 0
8031 -0.69 -194.6 851.3 -9.7 803 8035 0.00 1.08 0.00 0.000 6 0.000 0.052 2540 1612 3641 0 0 0 0 0 0
8354 -0.70 -194.6 882.5 -9.3 819 8357 0.00 1.08 0.00 0.000 4 0.000 0.057 2540 916 3639 0 0 0 0 0 0
8470 -0.72 -194.6 892.6 -8.7 824 8473 0.00 1.08 0.00 0.000 6 0.000 0.049 2535 1610 3639 0 0 0 0 0 0
8803 -0.73 -194.6 917.2 -6.8 840 8807 0.00 1.08 0.00 0.000 4 0.000 0.057 2529 2312 3637 0 0 0 0 0 0
8852 -0.75 -194.6 920.4 -6.7 842 8856 0.00 1.08 0.00 0.000 6 0.000 0.049 2530 1613 3637 0 0 0 0 0 0
9186 -0.75 -194.6 943.4 -6.8 858 9190 0.00 1.08 0.00 0.000 4 0.000 0.057 2530 915 3636 0 0 0 0 0 0
9280 -0.75 -194.6 950.1 -7.2 862 9284 0.00 1.08 0.00 0.000 6 0.000 0.051 2525 1606 3636 0 0 0 0 0 0
9614 -0.75 -194.6 971.6 -6.0 878 9617 0.00 1.10 0.00 0.000 4 0.000 0.057 2525 908 3634 0 0 0 0 0 0
9664 -0.75 -194.6 974.8 -6.1 880 9668 0.00 1.10 0.00 0.000 6 0.000 0.053 2520 1611 3634 0 0 0 0 0 0
9927 end dive: TARGET_DEPTH_EXCEEDED
state 9927 begin apogee
9935 -0.11 0.0 990.4 6.0 893 10109 0.57 0.00 164.40 1.453 6 0.120 0.000 2707 1786 2882 0 0 0 0 0 0
10110 end apogee: CONTROL_FINISHED_OK
state 10110 begin climb
10115 0.57 194.6 993.3 0.0 901 10308 0.62 1.23 182.90 1.390 4 0.066 0.062 2934 2485 2090 0 0 0 0 0 0
10409 0.53 194.6 966.1 11.5 914 10413 0.00 1.12 0.00 0.000 6 0.000 0.053 2938 1788 2084 0 0 0 0 0 0
10731 0.47 194.6 929.9 11.6 930 10736 0.15 1.10 0.00 0.000 4 0.164 0.062 2894 2484 2081 0 0 0 0 0 0
10772 0.45 194.6 925.9 9.7 931 10779 0.00 1.10 0.00 0.000 6 0.000 0.050 2897 1782 2080 0 0 0 0 0 0
11089 0.48 223.8 899.7 8.5 947 11119 0.00 1.10 26.48 1.339 4 0.000 0.057 2896 2486 1971 0 0 0 0 0 0
11179 0.51 247.6 891.9 8.7 951 11206 0.00 1.12 23.30 1.310 6 0.000 0.050 2898 1779 1874 0 0 0 0 0 0
11528 0.52 261.2 859.5 9.0 968 11549 0.00 0.00 13.32 1.240 6 0.000 0.000 2898 1779 1818 0 0 0 0 0 0
11860 0.54 277.9 830.7 8.9 984 11882 0.00 1.15 16.70 1.264 4 0.000 0.057 2897 2485 1751 0 0 0 0 0 0
11916 0.60 311.9 825.5 8.3 986 11955 0.08 1.12 33.67 1.309 6 0.056 0.048 2951 1773 1611 0 0 0 0 0 0
12277 0.56 311.9 777.0 14.3 1004 12281 0.00 1.10 0.00 0.000 4 0.000 0.058 2953 2480 1605 0 0 0 0 0 0
12361 0.53 311.9 764.8 14.3 1007 12368 0.10 1.10 0.00 0.000 6 0.141 0.047 2919 1767 1605 0 0 0 0 0 0
12679 0.53 311.9 730.3 10.4 1023 12680 0.00 0.00 0.00 0.000 6 0.000 0.000 2918 1767 1604 0 0 0 0 0 0
12986 0.53 311.9 699.2 10.0 1038 12988 0.00 0.00 0.00 0.000 6 0.000 0.000 2917 1767 1603 0 0 0 0 0 0
13297 0.53 311.9 667.3 10.8 1053 13301 0.00 1.10 0.00 0.000 4 0.000 0.055 2921 2482 1602 0 0 0 0 0 0
13342 0.53 311.9 661.7 11.8 1055 13347 0.00 1.08 0.00 0.000 6 0.000 0.047 2925 1781 1602 0 0 0 0 0 0
13675 0.53 311.9 618.4 13.3 1071 13679 0.00 1.05 0.00 0.000 4 0.000 0.050 2932 1079 1602 0 0 0 0 0 0
13704 0.53 311.9 614.6 13.2 1072 13707 0.00 1.08 0.00 0.000 6 0.000 0.044 2932 1785 1601 0 0 0 0 0 0
14028 0.53 311.9 574.7 11.6 1097 14031 0.00 1.05 0.00 0.000 4 0.000 0.055 2932 2482 1601 0 0 0 0 0 0
14074 0.53 311.9 569.3 11.4 1101 14077 0.00 1.08 0.00 0.000 6 0.000 0.045 2936 1777 1601 0 0 0 0 0 0
14405 0.55 325.2 538.4 9.0 1132 14420 0.00 1.05 11.85 1.050 4 0.000 0.049 2937 2480 1557 0 0 0 0 0 0
14467 0.55 325.2 532.1 10.1 1137 14471 0.00 1.08 0.00 0.000 6 0.000 0.044 2941 1779 1556 0 0 0 0 0 0
14798 0.55 325.2 496.6 10.9 1168 14802 0.00 1.05 0.00 0.000 4 0.000 0.049 2946 1078 1555 0 0 0 0 0 0
14832 0.55 325.2 492.5 11.7 1171 14836 0.00 1.08 0.00 0.000 6 0.000 0.042 2946 1789 1555 0 0 0 0 0 0
15164 0.55 325.2 450.9 12.8 1202 15165 0.00 0.00 0.00 0.000 6 0.000 0.000 2946 1789 1555 0 0 0 0 0 0
15487 0.55 325.2 411.8 11.9 1232 15490 0.00 1.10 0.00 0.000 4 0.000 0.049 2951 1076 1555 0 0 0 0 0 0
15570 0.55 325.2 401.7 11.0 1239 15577 0.00 1.08 0.00 0.000 6 0.000 0.041 2951 1785 1555 0 0 0 0 0 0
15899 0.59 359.2 373.4 8.3 1270 15935 0.00 1.08 31.58 0.993 4 0.000 0.050 2951 2477 1419 0 0 0 0 0 0
16033 0.60 359.2 359.0 11.3 1282 16036 0.00 1.08 0.00 0.000 6 0.000 0.041 2955 1777 1416 0 0 0 0 0 0
16364 0.62 375.1 322.8 8.9 1313 16388 0.00 1.10 15.55 0.900 4 0.000 0.048 2961 1077 1353 0 0 0 0 0 0
16424 0.68 413.9 317.8 8.2 1318 16469 0.00 1.08 35.08 0.932 6 0.000 0.041 2961 1782 1195 0 0 0 0 0 0
16787 0.75 450.7 290.1 8.2 1352 16827 0.00 1.12 32.50 0.900 4 0.000 0.047 2966 1078 1045 0 0 0 0 0 0
16867 0.80 453.9 282.6 9.3 1358 16877 0.08 1.08 4.12 0.560 6 0.056 0.037 3026 1785 1033 0 0 0 0 0 0
17194 0.75 453.9 223.7 15.6 1403 17203 0.15 1.05 0.00 0.000 4 0.149 0.047 2980 2477 1031 0 0 0 0 0 0
17249 0.76 453.9 217.8 10.6 1411 17257 0.00 1.05 0.00 0.000 6 0.000 0.041 2983 1782 1030 0 0 0 0 0 0
17581 0.80 459.0 190.0 9.3 1472 17590 0.00 1.10 5.82 0.626 4 0.000 0.045 2988 1070 1012 0 0 0 0 0 0
17661 0.83 459.0 181.9 9.6 1486 17669 0.00 1.05 0.00 0.000 6 0.000 0.037 2988 1785 1011 0 0 0 0 0 0
17990 0.87 459.0 141.8 11.6 1547 17999 0.10 1.10 0.00 0.000 4 0.099 0.044 3064 1068 1011 0 0 0 0 0 0
18094 0.83 459.0 122.7 20.6 1565 18104 0.15 1.05 0.00 0.000 6 0.127 0.036 3013 1790 1011 0 0 0 0 0 0
18427 0.85 459.0 77.7 11.5 1626 18434 0.00 0.00 0.00 0.000 6 0.000 0.000 3013 1790 1011 0 0 0 0 0 0
18752 0.92 492.3 42.9 8.3 1687 18790 0.00 1.12 29.58 0.671 4 0.000 0.041 3017 1068 875 0 0 0 0 0 0
18860 1.09 572.6 35.5 6.8 1704 18939 0.17 1.05 67.47 0.670 6 0.034 0.033 3135 1786 547 0 0 0 0 0 0
19059 end climb: SURFACE_DEPTH_REACHED
state 19060 begin surface coast
19077 end surface coast: CONTROL_FINISHED_OK
state 19077 begin surface