ITOP Sep10 * SG176 * Dive index * Mission links * Dive 429 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  176 HD_C  9.9999997e-06 ROLL_MIN  160 ALTIM_TOP_TURN_MARGIN  0
MISSION  2 HEADING  -1 ROLL_MAX  3752 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  429 ESCAPE_HEADING  0 ROLL_DEG  40 ALTIM_PING_DEPTH  0
N_DIVES  438 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2400 ALTIM_PING_DELTA  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_CLIMB  2100 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LAT  4736 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_TGT  880 TGT_DEFAULT_LON  -12218 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_ABORT  950 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  3
D_NO_BLEED  200 SM_CC  375 R_PORT_OVSHOOT  -15 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 R_STBD_OVSHOOT  -15 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  0 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.30000001
D_FINISH  0 CALL_NDIVES  1 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 PROTOCOL  9 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_MIN  500 DEVICE1  2
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  101
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 C_VBD  3027 DEVICE3  35
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_DIVE  300 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_MISSION  350 CAPUPLOAD  0 VBD_TIMEOUT  540 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  4 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_BATHY  -5 T_GPS_CHARGE  -5477.1084 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  3 CF8_MAXERRORS  20 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
D_OFFGRID  1000 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  224 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  200 PITCH_MAX  4024 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2590 PHONE_SUPPLY  2 SEABIRD_T_G  0.00432827
GLIDE_SLOPE  30 PITCH_DBAND  0.02 PRESSURE_YINT  -70.249977 SEABIRD_T_H  0.00062557345
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001162977 SEABIRD_T_I  2.4575895e-05
RHO  1.0275 P_OVSHOOT  0.0099999998 AD7714Ch0Gain  128 SEABIRD_T_J  2.763237e-06
MASS  51802 PITCH_GAIN  45 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.125947
NAV_MODE  2 PITCH_TIMEOUT  18 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1501343
FERRY_MAX  45 PITCH_AD_RATE  170 COMPASS_USE  0 SEABIRD_C_I  -0.00052266428
KALMAN_USE  2 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00012672807
HD_A  0.003 PITCH_ADJ_GAIN  0.0020000001 ALTIM_TOP_PING_RANGE  0
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  111110,142730,2135.292,12608.363,39,1.4,39,-2.9 TGT_NAME  PICKUP
_CALLS  1 TGT_LATLONG  2121.600,12601.200
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.69 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -62.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  111110,143426,2135.285,12608.354,12,2.0,12,-2.9 MHEAD_RNG_PITCHd_Wd  195.0,28189,-14.6,-9.778
SPEED_LIMITS  0.169,0.292 D_GRID  1000

Post-dive calculations and measurements:
FINISH  0.8,1.022425 _10V_AH  10.1,64.948
SM_CCo  19159,0.00,0.000,0,0,498,620.36 FG_AHR_24Vo  0.000
SM_GC  1.53,6.78,0.00,0.00,0.039,0.000,0.000,205,2437,498,-7.39,1.05,620.36 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2131.85,12606.76,111110,090938 MEM  333944
TT8_MAMPS  0.026215 DATA_FILE_SIZE  130037,2191
HUMID  50.66 CAP_FILE_SIZE  238450,0
INTERNAL_PRESSURE  8.68472 CFSIZE  260165632,224694272
TCM_TEMP  25.70 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.054, 52.9,1
_24V_AH  23.4,68.400 GPS  111110,195507,2133.055,12608.321,26,1.8,26,-2.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor24250146.49 SBE_CT148324833.04
Roll_motor17355222.97 AA4330000.00
VBD_pump_during_apogee981100323052.21 WL_BB2F33101058132.89
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3000.00 nil000.00
Iridium_during_connect2200.00 nil000.00
Iridium_during_xfer19800.00 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS1400.00
TT85293191058.64
LPSleep71012157.07
TT8_Active98419196.90
TT8_Sampling5702392292.40
TT8_CF846745216.27
TT8_Kalman000.00
Analog_circuits296012358.87
GPS_charging000.00
Compass548415830.94
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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
15 -0.56 -194.6 0.0 0.0 0 90 0.00 0.00 -72.43 0.000 2 0.000 0.000 201 2466 2614 0 0 0 0 0 0
93 -0.56 -194.6 3.4 -3.8 9 135 8.95 2.22 -24.88 0.000 4 0.236 0.043 2406 953 3823 0 0 0 0 0 0
248 -0.56 -194.6 31.2 -16.2 33 257 0.00 2.25 0.00 0.000 6 0.000 0.041 2405 2425 3823 0 0 0 0 0 0
614 -0.55 -194.6 94.0 -18.4 94 623 0.05 2.08 0.00 0.000 4 0.251 0.055 2418 3766 3823 0 0 0 0 0 0
656 -0.54 -194.6 100.2 -13.9 100 665 0.00 2.05 0.00 0.000 6 0.000 0.024 2418 2328 3823 0 0 0 0 0 0
1024 -0.55 -194.6 141.3 -10.8 161 1032 0.00 0.00 0.00 0.000 6 0.000 0.000 2419 2327 3823 0 0 0 0 0 0
1372 -0.55 -194.6 176.2 -9.0 222 1381 0.00 2.00 0.00 0.000 4 0.000 0.032 2418 948 3823 0 0 0 0 0 0
1411 -0.56 -194.6 179.8 -9.1 228 1420 0.00 2.20 0.00 0.000 6 0.000 0.037 2418 2421 3823 0 0 0 0 0 0
1764 -0.57 -194.6 209.5 -8.4 289 1771 0.05 2.05 0.00 0.000 4 0.183 0.051 2373 3778 3823 0 0 0 0 0 0
1803 -0.57 -194.6 213.4 -9.9 295 1811 0.12 2.00 0.00 0.000 6 0.129 0.024 2415 2324 3823 0 0 0 0 0 0
2155 -0.58 -194.6 242.2 -7.6 356 2164 0.05 2.03 0.00 0.000 4 0.178 0.032 2364 945 3822 0 0 0 0 0 0
2179 -0.58 -194.6 244.3 -8.2 359 2188 0.15 2.20 0.00 0.000 6 0.138 0.037 2411 2430 3822 0 0 0 0 0 0
2533 -0.59 -194.6 272.0 -9.0 420 2542 0.08 2.20 0.00 0.000 4 0.129 0.031 2355 945 3821 0 0 0 0 0 0
2559 -0.59 -194.6 274.5 -9.7 423 2568 0.17 2.20 0.00 0.000 6 0.134 0.038 2410 2428 3821 0 0 0 0 0 0
2910 -0.60 -194.6 302.9 -6.5 484 2919 0.08 2.17 0.00 0.000 4 0.128 0.031 2352 956 3821 0 0 0 0 0 0
2939 -0.61 -194.6 305.4 -8.1 488 2948 0.12 2.20 0.00 0.000 6 0.111 0.039 2399 2420 3820 0 0 0 0 0 0
3291 -0.61 -194.6 331.7 -7.8 549 3298 0.00 2.12 0.00 0.000 4 0.000 0.031 2400 952 3819 0 0 0 0 0 0
3331 -0.62 -194.6 335.0 -8.3 555 3340 0.05 2.17 0.00 0.000 6 0.168 0.037 2354 2429 3818 0 0 0 0 0 0
3682 -0.62 -194.6 373.7 -11.3 616 3692 0.15 2.20 0.00 0.000 4 0.138 0.031 2402 946 3817 0 0 0 0 0 0
3718 -0.63 -194.6 377.2 -9.6 621 3725 0.08 2.20 0.00 0.000 6 0.125 0.037 2344 2426 3816 0 0 0 0 0 0
4068 -0.62 -194.6 419.2 -11.6 682 4077 0.17 2.20 0.00 0.000 4 0.135 0.031 2401 946 3815 0 0 0 0 0 0
4091 -0.62 -194.6 421.6 -10.8 685 4098 0.08 2.22 0.00 0.000 6 0.122 0.040 2346 2435 3815 0 0 0 0 0 0
4439 -0.62 -194.6 456.7 -9.3 746 4448 0.17 2.20 0.00 0.000 4 0.129 0.031 2403 953 3813 0 0 0 0 0 0
4475 -0.63 -194.6 459.2 -7.5 751 4484 0.08 2.20 0.00 0.000 6 0.126 0.037 2345 2434 3813 0 0 0 0 0 0
4826 -0.63 -194.6 494.7 -10.7 812 4835 0.15 0.00 0.00 0.000 6 0.134 0.000 2395 2434 3811 0 0 0 0 0 0
5159 -0.64 -194.6 517.8 -6.4 848 5164 0.08 2.20 0.00 0.000 4 0.126 0.031 2338 941 3809 0 0 0 0 0 0
5234 -0.64 -194.6 524.5 -9.6 854 5239 0.17 2.22 0.00 0.000 6 0.129 0.040 2394 2426 3809 0 0 0 0 0 0
5562 -0.65 -194.6 546.5 -6.8 884 5566 0.08 2.15 0.00 0.000 4 0.126 0.032 2336 954 3807 0 0 0 0 0 0
5591 -0.66 -194.6 549.2 -9.4 886 5596 0.15 2.20 0.00 0.000 6 0.134 0.040 2384 2427 3806 0 0 0 0 0 0
5922 -0.67 -194.6 573.6 -7.1 917 5926 0.00 2.15 0.00 0.000 4 0.000 0.032 2384 949 3804 0 0 0 0 0 0
5957 -0.68 -194.6 576.2 -7.7 920 5962 0.08 2.20 0.00 0.000 6 0.125 0.037 2331 2426 3804 0 0 0 0 0 0
6281 -0.67 -194.6 608.3 -9.6 946 6283 0.15 0.00 0.00 0.000 6 0.138 0.000 2380 2426 3802 0 0 0 0 0 0
6590 -0.68 -194.6 627.8 -6.2 961 6594 0.05 2.17 0.00 0.000 4 0.174 0.033 2333 954 3801 0 0 0 0 0 0
6633 -0.68 -194.6 631.8 -10.1 963 6638 0.15 2.22 0.00 0.000 6 0.135 0.041 2381 2426 3801 0 0 0 0 0 0
6957 -0.69 -194.6 654.5 -7.5 979 6961 0.08 2.17 0.00 0.000 4 0.126 0.033 2322 949 3798 0 0 0 0 0 0
6996 -0.69 -194.6 658.8 -11.4 981 7001 0.17 2.22 0.00 0.000 6 0.126 0.042 2379 2421 3797 0 0 0 0 0 0
7325 -0.70 -194.6 683.9 -7.3 997 7330 0.08 2.17 0.00 0.000 4 0.127 0.032 2321 953 3795 0 0 0 0 0 0
7357 -0.70 -194.6 687.5 -11.3 998 7365 0.12 2.25 0.00 0.000 6 0.106 0.042 2378 2423 3795 0 0 0 0 0 0
7675 -0.71 -194.6 706.9 -5.6 1014 7679 0.08 2.20 0.00 0.000 4 0.127 0.033 2320 946 3793 0 0 0 0 0 0
7723 -0.71 -194.6 711.4 -9.1 1016 7728 0.15 2.25 0.00 0.000 6 0.137 0.042 2368 2429 3792 0 0 0 0 0 0
8047 -0.72 -194.6 731.6 -6.3 1032 8052 0.05 2.17 0.00 0.000 4 0.171 0.032 2320 957 3790 0 0 0 0 0 0
8087 -0.72 -194.6 735.2 -9.5 1034 8092 0.15 2.22 0.00 0.000 6 0.134 0.041 2369 2423 3790 0 0 0 0 0 0
8416 -0.72 -194.6 757.6 -6.8 1050 8420 0.08 2.17 0.00 0.000 4 0.125 0.033 2309 949 3789 0 0 0 0 0 0
8443 -0.72 -194.6 760.5 -10.3 1051 8447 0.17 2.22 0.00 0.000 6 0.133 0.042 2364 2424 3787 0 0 0 0 0 0
8771 -0.73 -194.6 785.6 -7.6 1067 8776 0.05 2.17 0.00 0.000 4 0.175 0.034 2318 957 3787 0 0 0 0 0 0
8821 -0.73 -194.6 791.1 -10.7 1069 8826 0.15 2.22 0.00 0.000 6 0.134 0.042 2366 2418 3787 0 0 0 0 0 0
9144 -0.74 -194.6 816.7 -8.1 1085 9149 0.08 2.17 0.00 0.000 4 0.126 0.033 2308 945 3785 0 0 0 0 0 0
9194 -0.74 -194.6 822.5 -11.4 1087 9199 0.17 2.25 0.00 0.000 6 0.131 0.043 2364 2418 3784 0 0 0 0 0 0
9512 -0.74 -194.6 848.7 -8.2 1102 9517 0.08 2.17 0.00 0.000 4 0.128 0.033 2308 957 3783 0 0 0 0 0 0
9552 -0.74 -194.6 853.3 -12.3 1104 9557 0.17 2.22 0.00 0.000 6 0.129 0.042 2364 2419 3781 0 0 0 0 0 0
9877 end dive: TARGET_DEPTH_EXCEEDED
state 9877 begin apogee
9885 -0.11 0.0 880.3 8.0 1120 10122 0.52 0.17 225.43 1.004 6 0.093 0.047 2559 2136 3026 0 0 0 0 0 0
10123 end apogee: CONTROL_FINISHED_OK
state 10123 begin climb
10125 0.56 194.6 894.1 0.0 1131 10381 0.57 2.33 242.30 0.967 4 0.039 0.047 2816 3518 2232 0 0 0 0 0 0
10459 0.53 194.6 870.0 19.8 1146 10464 0.28 2.22 0.00 0.000 6 0.174 0.028 2753 2061 2227 0 0 0 0 0 0
10776 0.52 194.6 831.0 12.1 1161 10777 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2058 2222 0 0 0 0 0 0
11084 0.51 194.6 796.6 10.6 1176 11085 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2058 2219 0 0 0 0 0 0
11394 0.49 194.6 764.4 10.5 1191 11398 0.00 2.25 0.00 0.000 4 0.000 0.047 2753 3528 2219 0 0 0 0 0 0
11443 0.48 194.6 758.5 11.9 1193 11448 0.10 2.15 0.00 0.000 6 0.190 0.028 2736 2057 2219 0 0 0 0 0 0
11766 0.47 194.6 727.1 9.9 1209 11770 0.00 2.25 0.00 0.000 4 0.000 0.048 2736 3526 2218 0 0 0 0 0 0
11798 0.45 194.6 723.3 10.9 1210 11805 0.00 2.15 0.00 0.000 6 0.000 0.029 2736 2060 2218 0 0 0 0 0 0
12114 0.44 194.6 691.2 10.2 1226 12115 0.00 0.00 0.00 0.000 6 0.000 0.000 2735 2058 2217 0 0 0 0 0 0
12424 0.44 194.6 658.9 10.4 1241 12428 0.00 2.25 0.00 0.000 4 0.000 0.047 2735 3526 2216 0 0 0 0 0 0
12463 0.42 194.6 654.1 11.4 1242 12470 0.08 2.15 0.00 0.000 6 0.200 0.028 2721 2059 2216 0 0 0 0 0 0
12780 0.46 227.1 625.3 8.7 1258 12824 0.08 2.38 37.70 0.891 4 0.129 0.047 2773 3526 2101 0 0 0 0 0 0
12880 0.44 227.1 612.1 13.5 1262 12884 0.20 2.17 0.00 0.000 6 0.151 0.027 2725 2055 2099 0 0 0 0 0 0
13201 0.44 231.0 580.1 9.6 1286 13211 0.00 0.00 5.20 0.657 6 0.000 0.000 2725 2051 2085 0 0 0 0 0 0
13531 0.48 262.5 551.0 8.7 1317 13577 0.10 2.40 40.42 0.850 4 0.105 0.047 2789 3529 1956 0 0 0 0 0 0
13618 0.46 262.5 539.5 15.1 1324 13626 0.22 2.22 0.00 0.000 6 0.145 0.026 2733 2046 1952 0 0 0 0 0 0
13943 0.51 299.7 509.9 8.5 1355 13992 0.10 2.42 40.97 0.845 4 0.103 0.047 2799 3532 1804 0 0 0 0 0 0
14012 0.49 299.7 501.0 14.7 1361 14017 0.20 2.22 0.00 0.000 6 0.144 0.028 2743 2065 1802 0 0 0 0 0 0
14372 0.50 307.5 465.2 9.5 1421 14388 0.05 2.17 9.93 0.720 4 0.174 0.038 2801 654 1773 0 0 0 0 0 0
14408 0.50 307.5 460.8 11.3 1426 14417 0.17 2.25 0.00 0.000 6 0.122 0.033 2741 2132 1771 0 0 0 0 0 0
14769 0.50 307.5 425.3 10.0 1487 14776 0.00 2.10 0.00 0.000 4 0.000 0.047 2741 3525 1769 0 0 0 0 0 0
14823 0.50 307.5 419.2 11.0 1496 14833 0.00 2.17 0.00 0.000 6 0.000 0.026 2748 2061 1768 0 0 0 0 0 0
15183 0.52 321.5 384.9 9.3 1557 15204 0.00 0.00 18.30 0.729 6 0.000 0.000 2748 2059 1716 0 0 0 0 0 0
15558 0.57 364.9 353.4 8.3 1620 15625 0.10 2.38 54.50 0.731 4 0.104 0.047 2819 3530 1537 0 0 0 0 0 0
15657 0.56 364.9 339.4 16.2 1634 15666 0.20 2.22 0.00 0.000 6 0.116 0.028 2761 2069 1536 0 0 0 0 0 0
16019 0.62 409.6 306.6 8.3 1695 16082 0.10 2.33 54.83 0.694 4 0.099 0.047 2832 3533 1356 0 0 0 0 0 0
16097 0.60 409.6 295.3 15.2 1706 16106 0.15 2.25 0.00 0.000 6 0.112 0.028 2778 2067 1355 0 0 0 0 0 0
16459 0.61 409.6 259.1 10.7 1767 16465 0.00 0.00 0.00 0.000 6 0.000 0.000 2778 2065 1350 0 0 0 0 0 0
16815 0.65 435.2 225.2 8.9 1828 16854 0.10 2.35 31.58 0.629 4 0.099 0.046 2847 3537 1251 0 0 0 0 0 0
16885 0.64 435.2 215.3 16.7 1838 16894 0.20 2.22 0.00 0.000 6 0.106 0.026 2785 2058 1250 0 0 0 0 0 0
17247 0.69 470.0 182.6 8.6 1899 17298 0.10 2.10 43.00 0.603 4 0.099 0.037 2858 659 1109 0 0 0 0 0 0
17324 0.68 470.0 172.6 15.3 1910 17333 0.15 2.22 0.00 0.000 6 0.104 0.032 2802 2119 1107 0 0 0 0 0 0
17689 0.77 531.6 139.8 7.7 1971 17772 0.12 2.20 73.07 0.577 4 0.087 0.045 2888 3529 860 0 0 0 0 0 0
17805 0.76 531.6 123.0 17.0 1986 17815 0.20 2.22 0.00 0.000 6 0.105 0.025 2824 2055 858 0 0 0 0 0 0
18176 0.87 603.6 92.5 7.3 2047 18267 0.15 2.17 84.68 0.542 4 0.077 0.040 2927 664 565 0 0 0 0 0 0
18308 0.87 603.6 74.4 13.8 2064 18318 0.17 2.22 0.00 0.000 6 0.094 0.031 2860 2124 564 0 0 0 0 0 0
18672 0.95 657.7 43.1 7.9 2125 18698 0.12 2.28 19.62 0.487 4 0.085 0.040 2940 656 500 0 0 0 0 0 0
18719 0.95 657.7 36.9 13.4 2131 18728 0.15 2.22 0.00 0.000 6 0.103 0.032 2884 2137 499 0 0 0 0 0 0
19051 end climb: SURFACE_DEPTH_REACHED
state 19051 begin surface coast
19083 end surface coast: CONTROL_FINISHED_OK
state 19083 begin surface