MISOBOB Jul19 * SG181 * Dive index * Mission links * Dive 445 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 FIX_MISSING_TIMEOUT  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
MISSION  19 TGT_DEFAULT_LAT  4736 ROLL_ADJ_DBAND  0 MOTHERBOARD  6
DIVE  445 TGT_DEFAULT_LON  -12218 VBD_MIN  340 DEVICE1  10
N_DIVES  0 TGT_AUTO_DEFAULT  0 VBD_MAX  3900 DEVICE2  -1
STOP_T  0 SM_CC  500 C_VBD  2825 DEVICE3  -1
D_SURF  3 N_FILEKB  8 VBD_DBAND  2 DEVICE4  -1
D_FLARE  3 FILEMGR  0 VBD_CNV  -0.24529999 DEVICE5  -1
D_TGT  990 CALL_NDIVES  1 VBD_LP_IGNORE  0 DEVICE6  -1
D_ABORT  1020 COMM_SEQ  0 VBD_TIMEOUT  720 LOGGERS  0
D_NO_BLEED  200 PROTOCOL  9 PITCH_VBD_SHIFT  0.001 LOGGERDEVICE1  1
D_BOOST  2 N_NOCOMM  2 UNCOM_BLEED  50 LOGGERDEVICE2  38
T_BOOST  0 NOCOMM_ACTION  163 VBD_MAXERRORS  1 LOGGERDEVICE3  23
D_FINISH  0 N_NOSURFACE  0 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
D_PITCH  0 UPLOAD_DIVES_MAX  -1 DBDW  0 COMPASS_DEVICE  34
D_SAFE  0 CALL_TRIES  5 LOITER_W_DBAND  0 COMPASS2_DEVICE  49
D_CALL  0 CALL_WAIT  60 LOITER_DBDW  0 PHONE_DEVICE  33
SURFACE_URGENCY  0 CAPUPLOAD  0 LOITER_D_TOP  0 GPS_DEVICE  48
SURFACE_URGENCY_TRY  0 CAPMAXSIZE  100000 LOITER_D_BOTTOM  0 RAFOS_DEVICE  -1
SURFACE_URGENCY_FORCE  0 T_GPS  5 LOITER_N_DIVE  0 XPDR_DEVICE  0
T_DIVE  390 N_GPS  100840 CF8_MAXERRORS  20 SIM_W  0
T_MISSION  430 T_RSLEEP  2 AH0_24V  350 SEABIRD_T_G  0.0043108878
T_ABORT  1440 STROBE  0 AH0_10V  0 SEABIRD_T_H  0.00063072296
T_TURN  225 RAFOS_PEAK_OFFSET  0 MINV_24V  11 SEABIRD_T_I  2.4115308e-05
T_TURN_SAMPINT  5 RAFOS_CORR_THRESH  60 MINV_10V  11 SEABIRD_T_J  2.5979039e-06
T_NO_W  120 RAFOS_HIT_WINDOW  3600 MAXI_24V  5 SEABIRD_C_G  -9.7531929
T_LOITER  0 RAFOS_MMODEM  0 MAXI_10V  1.4 SEABIRD_C_H  1.1283317
T_EPIRB  0 PITCH_MIN  360 FG_AHR_10V  23.844322 SEABIRD_C_I  -0.0020527283
USE_BATHY  0 PITCH_MAX  3941 FG_AHR_24V  66.87159 SEABIRD_C_J  0.00023027747
USE_ICE  0 C_PITCH  2495 PHONE_SUPPLY  2 SC_RECORDABOVE  2000.0
ICE_FREEZE_MARGIN  0.30000001 PITCH_DBAND  0.1 PRESSURE_YINT  -160.23283 SC_PROFILE  3.0
D_OFFGRID  1020 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000109637 SC_XMITPROFILE  3.0
RELAUNCH  1 PITCH_GAIN  37 COMPASS_USE  4 SC_NDIVE  1.0
APOGEE_PITCH  -5 PITCH_TIMEOUT  17 ALTIM_PING_FIT  0 PM_RECORDABOVE  2000.0
MAX_BUOY  120 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 PM_PROFILE  3.0
GLIDE_SLOPE  45 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_TURN_MARGIN  0 PM_XMITPROFILE  3.0
SPEED_FACTOR  1 PITCH_ADJ_DBAND  0 ALTIM_TOP_TURN_MARGIN  0 PM_NDIVE  1.0
RHO  1.0275 PITCH_W_GAIN  2 ALTIM_TOP_MIN_OBSTACLE  0 PM_XMITRAW  0.0
MASS  54159 PITCH_W_DBAND  0.5 ALTIM_PING_DEPTH  0 PM_MOTORS  1.0
NAV_MODE  2 ROLL_MIN  209 ALTIM_PING_DELTA  0 PM_SENDDEPTH  1.0
FERRY_MAX  45 ROLL_MAX  3785 ALTIM_FREQUENCY  13 TM_RECORDABOVE  200.0
KALMAN_USE  2 ROLL_DEG  30 ALTIM_PULSE  3 TM_PROFILE  1.0
HD_A  0.00177828 C_ROLL_DIVE  3050 ALTIM_SENSITIVITY  2 TM_XMITPROFILE  1.0
HD_B  0.019109501 C_ROLL_CLIMB  2600 XPDR_VALID  5 TM_NDIVE  1.0
HD_C  2.4475299e-05 HEAD_ERRBAND  12 XPDR_INHIBIT  90 TM_XMITRAW  0.0
HEADING  -1 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  1.9639999e-06 TM_LOGSAMPLE  0.0
ESCAPE_HEADING  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  -1.65
ESCAPE_HEADING_DELTA  10 ROLL_MAXERRORS  1 DEEPGLIDER  0

Pre-dive calculations and measurements:
GPS1  171019,013031,1017.929,8709.540,29,0.7,30,-1.1 TGT_LATLONG  930.000,8700.000
_CALLS  1 TGT_RADIUS  8000.000
_SM_DEPTHo  0.82 KALMAN_CONTROL  0.000,0.000
_SM_ANGLEo  -76.3 KALMAN_X  0.0,0.0,0.0,0.0,0.0
GPS2  171019,013616,1017.944,8709.471,2,0.5,5,-1.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
SPEED_LIMITS  0.085,0.138 MHEAD_RNG_PITCHd_Wd  157.0,90462,-18.5,-8.462,-31.46
TGT_NAME  R2 D_GRID  990

Post-dive calculations and measurements:
FINISH  -0.2,1.020096 _10V_AH  14.91,0.000
SM_CCo  21657.31,0.00,0.015,0,787.2,781.5,792.8,499.88 FG_AHR_24Vo  67.003
SM_GC  0.92,0.00,7.30,1.09,0.015,0.053,0.085,787.2,781.5,792.8,333.2,3069.4,0,0,0,30.36,15.74,15.74 FG_AHR_10Vo  23.878
SUPER  59,70,254,1,0,0 MEM  1155432,36,23496,77
IRIDIUM_FIX  1017.81,8655.78,161019,193944 DATA_FILE_SIZE  74708,1491
TCM_TEMP  25.00 CAP_FILE_SIZE  408952,0
XPDR_PINGS  106 SDSIZE  3918848,3787488
HUMID  52.83 SDFILEDIR  2519,1
TEMP  21.80 ERRORS  0,0,0,0,0,1,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  9.53451 CURRENT  0.083,323.8,1
_24V_AH  14.08,128.537 GPS  171019,073801,1016.644,8710.215,22,0.8,23,-1.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump573260721060.66 SBE_CT160624542.92
Pitch_motor20370105.15 nil000.00
Roll_motor219196607.43 nil000.00
Iridium229172557.03 nil000.00
Transponder_ping26420156.71 nil000.00
GPS1461.35 nil000.00
Core40459591.70 SciCon000.00
LPSleep179032584.59 PMAR000.00
Compass2734181.12 TMICL000.00
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
2 end surface: CONTROL_FINISHED_OK
state 2 begin dive
3.56 2 -116.79 -0.62 0.00 784.2 790.0 778.3 331.3 2907.8 0.00 0.00 0 79.98 75.91 0.00 0.00 0.005 0.000 0.000 2659.53 2697.50 2621.56 331.19 2904.12 0 0 0 14.91 30.00 30.00
80.23 263 -116.79 -0.62 30.00 2658.5 2697.3 2619.7 331.2 2904.8 5.20 -8.08 8 107.07 12.34 9.97 1.64 0.007 0.370 0.090 3299.03 3407.31 3190.75 2291.62 3803.31 0 0 0 15.15 15.15 15.02
173.72 1028 -116.79 -0.62 0.00 3298.7 3407.1 3190.4 2291.5 3804.8 42.15 -33.83 17 176.38 0.00 0.00 1.28 0.000 0.000 0.017 3299.81 3406.69 3192.94 2290.62 2912.31 0 0 0 30.00 30.00 15.81
358.75 516 -116.79 -0.62 -30.00 3298.4 3406.2 3190.6 2291.2 2907.5 90.45 -17.81 36 361.46 0.00 0.00 1.59 0.000 0.000 0.014 3298.97 3406.44 3191.50 2291.75 1912.12 0 0 0 30.00 30.00 15.87
433.76 1028 -116.79 -0.62 0.00 3298.5 3406.7 3190.2 2291.1 1908.8 100.98 -12.33 44 438.99 0.00 0.00 2.15 0.000 0.000 0.078 3298.47 3405.56 3191.38 2282.38 3070.56 0 0 0 30.00 30.00 15.79
623.79 260 -116.79 -0.62 30.00 3298.6 3405.9 3191.2 2281.3 3070.8 127.69 -14.14 63 626.47 0.00 0.00 1.30 0.000 0.000 0.089 3298.91 3406.75 3191.06 2275.88 3799.44 0 0 0 30.00 30.00 15.78
713.82 1028 -116.79 -0.62 0.00 3298.6 3407.2 3189.9 2276.2 3799.8 140.66 -14.45 72 716.48 0.00 0.00 1.29 0.000 0.000 0.031 3299.50 3406.00 3193.00 2273.19 2973.31 0 0 0 30.00 30.00 15.94
893.86 0 -116.79 -0.62 0.00 3298.2 3405.5 3190.9 2276.6 2973.6 165.09 -12.41 90 895.19 0.00 0.00 0.00 0.000 0.000 0.000 3298.84 3406.94 3190.75 2276.69 2973.69 0 0 0 30.00 30.00 30.00
1073.89 0 -116.79 -0.62 0.00 3297.7 3405.3 3190.0 2276.2 2974.1 187.38 -12.15 108 1075.22 0.00 0.00 0.00 0.000 0.000 0.000 3297.75 3405.62 3189.88 2276.44 2973.12 0 0 0 30.00 30.00 30.00
1253.99 516 -116.79 -0.62 -30.00 3296.8 3405.1 3188.4 2275.8 2973.8 212.37 -14.63 126 1256.72 0.00 0.00 1.70 0.000 0.000 0.018 3297.81 3407.12 3188.50 2276.00 1907.00 0 0 0 30.00 30.00 15.98
1278.97 1028 -116.79 -0.62 0.00 3297.2 3405.8 3188.6 2276.7 1903.8 215.86 -14.10 129 1284.19 0.00 0.00 2.16 0.000 0.000 0.080 3298.44 3406.25 3190.62 2264.06 3068.56 0 0 0 30.00 30.00 15.87
1468.94 516 -116.79 -0.62 -30.00 3295.8 3405.3 3186.3 2266.1 3069.7 242.93 -14.14 148 1471.71 0.00 0.00 1.88 0.000 0.000 0.020 3295.94 3405.56 3186.31 2267.19 1924.69 0 0 0 30.00 30.00 15.99
1538.93 1028 -116.79 -0.62 0.00 3296.2 3406.4 3186.1 2266.5 1905.3 252.26 -13.00 155 1544.18 0.00 0.00 2.15 0.000 0.000 0.081 3296.25 3406.44 3186.06 2256.94 3065.00 0 0 0 30.00 30.00 15.87
1723.98 1 -116.79 -0.62 0.00 3294.7 3405.3 3184.0 2257.6 3065.5 275.08 -11.71 174 1725.43 0.00 0.16 0.00 0.000 0.220 0.000 3294.22 3404.88 3183.56 2298.25 3064.88 0 0 0 30.00 15.71 30.00
1904.01 516 -116.79 -0.62 -30.00 3294.0 3404.8 3183.3 2298.9 3065.6 291.31 -9.15 192 1906.77 0.00 0.00 1.88 0.000 0.000 0.022 3295.00 3405.75 3184.25 2296.75 1918.56 0 0 0 30.00 30.00 15.99
1939.00 1028 -116.79 -0.62 0.00 3293.9 3405.2 3182.5 2297.9 1906.9 294.41 -9.09 196 1944.22 0.00 0.00 2.17 0.000 0.000 0.086 3294.34 3405.25 3183.44 2290.00 3065.00 0 0 0 30.00 30.00 15.84
2129.04 0 -116.79 -0.62 0.00 3292.3 3403.7 3181.0 2292.2 3065.2 312.96 -9.92 215 2130.37 0.00 0.00 0.00 0.000 0.000 0.000 3292.22 3404.00 3180.44 2292.44 3065.38 0 0 0 30.00 30.00 30.00
2309.07 516 -116.79 -0.62 -30.00 3290.8 3403.2 3178.4 2291.6 3065.2 331.70 -10.39 233 2311.84 0.00 0.00 1.88 0.000 0.000 0.023 3291.47 3403.62 3179.31 2292.19 1927.56 0 0 0 30.00 30.00 16.00
2364.08 1028 -116.79 -0.62 0.00 3290.8 3403.3 3178.2 2291.7 1906.8 337.32 -10.02 239 2369.32 0.00 0.00 2.18 0.000 0.000 0.087 3291.12 3404.38 3177.88 2282.00 3066.38 0 0 0 30.00 30.00 15.85
2554.14 516 -116.79 -0.62 -30.00 3288.1 3401.6 3174.6 2282.2 3066.2 358.02 -11.01 258 2556.91 0.00 0.00 1.89 0.000 0.000 0.023 3288.69 3402.56 3174.81 2282.25 1928.56 0 0 0 30.00 30.00 16.01
2584.12 1028 -116.79 -0.62 0.00 3288.5 3402.4 3174.6 2282.2 1905.6 361.22 -10.83 261 2589.43 0.00 0.00 2.18 0.000 0.000 0.086 3288.88 3403.00 3174.75 2272.69 3066.06 0 0 0 30.00 30.00 15.85
2769.19 516 -116.79 -0.62 -30.00 3287.1 3401.2 3173.1 2272.1 3066.8 382.10 -11.44 280 2771.96 0.00 0.00 1.87 0.000 0.000 0.020 3286.62 3401.19 3172.06 2272.19 1926.94 0 0 0 30.00 30.00 16.00
2799.17 1028 -116.79 -0.62 0.00 3286.7 3400.2 3173.1 2271.8 1908.4 385.41 -11.10 283 2804.42 0.00 0.00 2.18 0.000 0.000 0.086 3287.12 3399.75 3174.50 2262.69 3067.44 0 0 0 30.00 30.00 15.85
2994.25 517 -116.79 -0.62 -30.00 3285.6 3397.8 3173.4 2262.6 3068.0 407.65 -11.44 300 2999.49 0.00 0.14 1.89 0.000 0.225 0.024 3286.47 3399.12 3173.81 2299.81 1911.00 0 0 0 30.00 15.70 15.69
3044.23 1028 -116.79 -0.62 0.00 3285.4 3397.7 3173.1 2299.4 1908.5 412.31 -8.85 302 3049.47 0.00 0.00 2.18 0.000 0.000 0.088 3286.16 3398.56 3173.75 2292.56 3064.56 0 0 0 30.00 30.00 15.84
3354.30 0 -116.79 -0.62 0.00 3282.8 3394.9 3170.7 2292.9 3064.6 440.62 -8.86 318 3355.63 0.00 0.00 0.00 0.000 0.000 0.000 3284.25 3396.50 3172.00 2292.94 3064.81 0 0 0 30.00 30.00 30.00
3654.34 516 -116.79 -0.62 -30.00 3281.0 3393.1 3168.9 2292.6 3064.5 465.52 -8.05 333 3657.11 0.00 0.00 1.89 0.000 0.000 0.024 3280.19 3392.44 3167.94 2292.94 1922.81 0 0 0 30.00 30.00 16.01
3769.38 1028 -116.79 -0.62 0.00 3280.5 3392.8 3168.2 2292.9 1907.4 474.18 -7.45 339 3774.61 0.00 0.00 2.20 0.000 0.000 0.090 3281.19 3393.38 3169.00 2283.25 3065.00 0 0 0 30.00 30.00 15.83
4089.43 516 -116.79 -0.62 -30.00 3278.0 3390.5 3165.5 2282.9 3065.9 502.77 -9.31 355 4092.19 0.00 0.00 1.89 0.000 0.000 0.025 3278.09 3390.44 3165.75 2282.06 1931.25 0 0 0 30.00 30.00 16.02
4154.43 1028 -116.79 -0.62 0.00 3278.4 3391.6 3165.2 2282.8 1908.2 508.74 -8.98 358 4159.66 0.00 0.00 2.19 0.000 0.000 0.086 3279.19 3391.94 3166.44 2273.06 3068.12 0 0 0 30.00 30.00 15.83
4464.50 516 -116.79 -0.62 -30.00 3276.9 3388.9 3164.9 2273.7 3067.2 540.00 -10.23 374 4467.27 0.00 0.00 1.90 0.000 0.000 0.024 3276.41 3388.81 3164.00 2273.81 1917.31 0 0 0 30.00 30.00 16.02
4499.50 1028 -116.79 -0.62 0.00 3276.6 3388.4 3164.9 2273.2 1904.6 543.53 -10.10 376 4504.73 0.00 0.00 2.19 0.000 0.000 0.086 3276.56 3389.19 3163.94 2264.19 3067.75 0 0 0 30.00 30.00 15.82
4819.55 517 -116.79 -0.62 -30.00 3275.2 3386.1 3164.2 2264.4 3068.2 577.84 -10.72 392 4824.80 0.00 0.13 1.90 0.000 0.226 0.026 3275.72 3386.69 3164.75 2299.62 1911.69 0 0 0 30.00 15.68 15.66
4859.56 1028 -116.79 -0.62 0.00 3275.1 3387.2 3163.0 2299.6 1909.1 581.41 -8.94 394 4864.79 0.00 0.00 2.19 0.000 0.000 0.088 3275.62 3387.38 3163.88 2292.88 3063.12 0 0 0 30.00 30.00 15.80
5179.61 516 -116.79 -0.62 -30.00 3273.3 3385.1 3161.5 2292.7 3062.9 610.84 -9.28 410 5182.38 0.00 0.00 1.89 0.000 0.000 0.025 3271.72 3384.44 3159.00 2292.69 1933.56 0 0 0 30.00 30.00 16.00
5249.60 1028 -116.79 -0.62 0.00 3272.7 3383.8 3161.7 2292.2 1913.7 617.26 -9.00 413 5254.86 0.00 0.00 2.18 0.000 0.000 0.087 3273.22 3385.38 3161.06 2282.94 3066.88 0 0 0 30.00 30.00 15.82
5554.65 516 -116.79 -0.62 -30.00 3271.2 3382.9 3159.5 2283.4 3065.9 647.23 -9.96 429 5557.44 0.00 0.00 1.90 0.000 0.000 0.025 3269.88 3382.38 3157.38 2283.25 1932.69 0 0 0 30.00 30.00 16.01
5604.63 1028 -116.79 -0.62 0.00 3271.3 3382.5 3160.1 2282.5 1908.7 652.09 -9.66 431 5609.88 0.00 0.00 2.19 0.000 0.000 0.087 3271.56 3383.06 3160.06 2272.38 3066.19 0 0 0 30.00 30.00 15.77
5909.68 516 -116.79 -0.62 -30.00 3270.2 3381.6 3158.9 2273.6 3066.3 683.29 -10.26 447 5912.47 0.00 0.00 1.90 0.000 0.000 0.024 3269.34 3381.75 3156.94 2273.62 1936.62 0 0 0 30.00 30.00 16.00
5979.67 1028 -116.79 -0.62 0.00 3270.2 3382.2 3158.1 2273.1 1911.3 690.07 -9.60 450 5984.92 0.00 0.00 2.19 0.000 0.000 0.086 3270.75 3382.25 3159.25 2263.50 3067.81 0 0 0 30.00 30.00 15.80
6284.72 517 -116.79 -0.62 -30.00 3268.8 3380.3 3157.3 2264.3 3068.0 722.08 -10.50 466 6289.98 0.00 0.14 1.91 0.000 0.222 0.024 3269.62 3380.25 3159.00 2299.81 1910.69 0 0 0 30.00 15.65 15.62
6359.71 1028 -116.79 -0.62 0.00 3269.0 3380.1 3157.8 2300.0 1908.2 728.34 -8.10 469 6364.97 0.00 0.00 2.19 0.000 0.000 0.087 3268.22 3379.88 3156.56 2292.94 3065.06 0 0 0 30.00 30.00 15.78
6664.76 516 -116.79 -0.62 -30.00 3267.3 3379.4 3155.2 2292.9 3065.2 754.36 -8.24 485 6667.54 0.00 0.00 1.91 0.000 0.000 0.026 3267.25 3379.31 3155.19 2291.12 1929.81 0 0 0 30.00 30.00 15.99
6709.73 1028 -116.79 -0.62 0.00 3267.2 3379.5 3154.9 2294.2 1918.4 758.02 -8.16 487 6714.96 0.00 0.00 2.18 0.000 0.000 0.086 3268.91 3381.31 3156.50 2283.50 3064.56 0 0 0 30.00 30.00 15.77
7019.79 516 -116.79 -0.62 -30.00 3266.5 3377.9 3155.2 2284.0 3064.1 784.30 -8.46 503 7022.57 0.00 0.00 1.91 0.000 0.000 0.026 3266.75 3378.44 3155.06 2282.56 1939.19 0 0 0 30.00 30.00 16.00
7094.80 1028 -116.79 -0.62 0.00 3266.0 3377.9 3154.1 2283.6 1925.6 790.40 -7.98 507 7100.04 0.00 0.00 2.16 0.000 0.000 0.084 3266.62 3378.38 3154.88 2274.00 3066.00 0 0 0 30.00 30.00 15.75
7414.83 516 -116.79 -0.62 -30.00 3264.9 3376.2 3153.6 2274.4 3066.4 818.63 -8.84 523 7417.62 0.00 0.00 1.91 0.000 0.000 0.026 3265.62 3377.94 3153.31 2274.44 1934.75 0 0 0 30.00 30.00 16.00
7469.84 1028 -116.79 -0.62 0.00 3265.2 3376.8 3153.5 2273.9 1926.9 823.46 -8.70 526 7475.06 0.00 0.00 2.16 0.000 0.000 0.084 3265.56 3376.69 3154.44 2264.56 3063.88 0 0 0 30.00 30.00 15.76
7789.87 517 -116.79 -0.62 -30.00 3264.2 3375.3 3153.0 2264.9 3065.3 855.06 -10.20 542 7795.13 0.00 0.12 1.92 0.000 0.225 0.027 3264.31 3375.38 3153.25 2298.75 1928.62 0 0 0 30.00 15.61 15.57
7819.84 1028 -116.79 -0.62 0.00 3263.7 3374.7 3152.7 2299.3 1925.2 857.74 -10.00 543 7825.08 0.00 0.00 2.17 0.000 0.000 0.086 3263.72 3374.69 3152.75 2292.19 3065.62 0 0 0 30.00 30.00 15.74
8129.89 516 -116.79 -0.62 -30.00 3262.7 3374.4 3150.9 2291.9 3066.3 885.22 -8.89 559 8132.67 0.00 0.00 1.92 0.000 0.000 0.026 3262.94 3374.75 3151.12 2291.81 1933.56 0 0 0 30.00 30.00 15.99
8209.88 1028 -116.79 -0.62 0.00 3262.9 3374.7 3151.1 2291.9 1927.1 892.14 -8.60 563 8215.11 0.00 0.00 2.16 0.000 0.000 0.084 3262.69 3374.56 3150.81 2282.75 3066.25 0 0 0 30.00 30.00 15.74
8524.92 516 -116.79 -0.62 -30.00 3261.4 3372.2 3150.6 2282.9 3065.0 920.29 -8.78 579 8527.71 0.00 0.00 1.91 0.000 0.000 0.027 3261.00 3371.31 3150.69 2282.06 1943.06 0 0 0 30.00 30.00 15.98
8589.92 1028 -116.79 -0.62 0.00 3261.2 3371.9 3150.6 2282.1 1927.6 925.69 -8.07 582 8595.14 0.00 0.00 2.16 0.000 0.000 0.084 3261.81 3371.94 3151.69 2272.62 3065.69 0 0 0 30.00 30.00 15.73
8899.98 516 -116.79 -0.62 -30.00 3260.9 3371.5 3150.4 2273.6 3065.9 952.53 -8.63 598 8902.76 0.00 0.00 1.92 0.000 0.000 0.027 3260.66 3371.31 3150.00 2273.06 1942.19 0 0 0 30.00 30.00 15.98
8939.94 1028 -116.79 -0.62 0.00 3260.6 3371.0 3150.2 2273.0 1927.1 955.90 -8.52 600 8945.17 0.00 0.00 2.16 0.000 0.000 0.082 3262.25 3372.12 3152.38 2261.88 3067.62 0 0 0 30.00 30.00 15.72
9254.99 517 -116.79 -0.62 -30.00 3260.7 3371.6 3149.7 2264.2 3067.2 985.35 -9.55 616 9260.25 0.00 0.13 1.92 0.000 0.223 0.027 3261.03 3371.94 3150.12 2299.25 1930.00 0 0 0 30.00 15.56 15.53
9309.98 1028 -116.79 -0.62 0.00 3260.5 3371.1 3149.8 2298.9 1928.5 989.76 -7.76 618 9315.23 0.00 0.00 2.15 0.000 0.000 0.082 3260.09 3370.94 3149.25 2292.12 3063.12 0 0 0 30.00 30.00 15.71
9335 end dive: TARGET_DEPTH_EXCEEDED
state 9335 begin apogee
9336.88 3 0.00 -0.14 0.00 3260.0 3371.1 3148.8 2292.2 2562.8 991.74 -7.91 620 9436.69 97.04 0.56 0.12 2.114 0.170 0.197 2823.38 2924.44 2722.31 2454.94 2620.31 0 0 0 10.18 14.78 14.98
9437 end apogee: CONTROL_FINISHED_OK
state 9437 begin climb
9437.01 519 116.79 0.62 -30.00 2823.2 2924.4 2722.1 2455.6 2620.4 994.31 0.00 625 9547.89 106.67 0.75 2.00 2.065 0.085 0.033 2348.53 2409.69 2287.38 2710.06 1489.50 0 0 0 11.78 15.22 14.85
9590.01 1092 116.79 0.64 0.00 2342.6 2405.9 2279.2 2709.7 1490.2 987.06 7.16 632 9595.24 0.00 0.00 2.08 0.000 0.000 0.065 2343.09 2406.19 2280.00 2709.19 2612.00 0 0 0 30.00 30.00 15.31
9895.04 262 116.79 0.64 30.00 2338.7 2405.6 2271.8 2709.0 2611.9 961.58 8.43 648 9900.26 0.00 0.00 2.06 0.000 0.000 0.106 2339.06 2406.06 2272.06 2704.88 3671.94 0 0 0 30.00 30.00 15.58
9925.01 1030 116.79 0.64 0.00 2338.4 2405.9 2271.0 2704.2 3671.8 958.67 8.58 649 9927.81 0.00 0.00 1.95 0.000 0.000 0.035 2339.69 2405.75 2273.62 2709.00 2552.31 0 0 0 30.00 30.00 15.72
10230.07 262 116.79 0.64 30.00 2337.1 2405.9 2268.4 2711.9 2533.4 930.95 9.07 665 10235.32 0.00 0.00 2.26 0.000 0.000 0.109 2337.00 2405.62 2268.38 2711.56 3666.50 0 0 0 30.00 30.00 15.63
10270.07 1030 116.79 0.64 0.00 2337.1 2405.5 2268.7 2711.9 3666.1 926.89 10.20 667 10272.86 0.00 0.00 1.92 0.000 0.000 0.035 2336.50 2405.56 2267.44 2720.19 2558.00 0 0 0 30.00 30.00 15.82
10585.12 262 116.79 0.64 30.00 2336.1 2405.4 2266.9 2721.2 2531.1 897.21 9.19 683 10590.37 0.00 0.00 2.26 0.000 0.000 0.105 2336.88 2406.12 2267.62 2721.25 3667.06 0 0 0 30.00 30.00 15.66
10615.10 1030 116.79 0.64 0.00 2336.2 2405.4 2267.1 2721.2 3667.3 894.17 9.53 684 10617.89 0.00 0.00 1.91 0.000 0.000 0.034 2334.78 2403.94 2265.62 2729.56 2548.75 0 0 0 30.00 30.00 15.87
10920.17 262 116.79 0.64 30.00 2335.8 2404.9 2266.8 2729.6 2534.7 865.97 9.01 700 10925.41 0.00 0.00 2.24 0.000 0.000 0.104 2337.41 2407.38 2267.44 2728.50 3670.56 0 0 0 30.00 30.00 15.66
10965.16 1030 116.79 0.64 0.00 2335.6 2404.7 2266.4 2730.9 3670.2 861.40 10.43 702 10967.95 0.00 0.00 1.91 0.000 0.000 0.032 2336.50 2404.75 2268.25 2739.25 2556.31 0 0 0 30.00 30.00 15.91
11275.23 263 116.79 0.64 30.00 2335.2 2404.2 2266.1 2739.6 2533.9 832.21 9.50 718 11280.62 0.00 0.17 2.24 0.000 0.239 0.103 2336.91 2405.56 2268.25 2684.56 3671.50 0 0 0 30.00 15.55 15.55
11335.25 1030 116.79 0.64 0.00 2334.8 2404.0 2265.6 2684.8 3671.4 826.96 8.68 721 11338.04 0.00 0.00 1.92 0.000 0.000 0.034 2335.78 2405.56 2266.00 2690.69 2547.88 0 0 0 30.00 30.00 15.91
11650.31 326 116.79 0.66 30.00 2334.5 2404.2 2264.8 2690.8 2530.3 802.92 7.69 737 11655.56 0.00 0.00 2.25 0.000 0.000 0.103 2334.53 2405.06 2264.00 2684.44 3675.62 0 0 0 30.00 30.00 15.68
11680.29 1094 116.79 0.67 0.00 2333.7 2403.2 2264.2 2685.2 3675.2 800.43 7.74 738 11683.08 0.00 0.00 1.93 0.000 0.000 0.034 2335.03 2404.44 2265.62 2689.00 2551.19 0 0 0 30.00 30.00 15.87
11985.36 326 116.79 0.69 30.00 2333.7 2404.3 2263.1 2691.6 2533.6 777.04 7.64 754 11990.60 0.00 0.00 2.25 0.000 0.000 0.105 2335.84 2407.12 2264.56 2684.62 3672.81 0 0 0 30.00 30.00 15.65
12055.34 1030 116.79 0.69 0.00 2333.6 2404.3 2262.9 2685.2 3673.8 771.18 8.54 757 12058.14 0.00 0.00 1.92 0.000 0.000 0.035 2334.62 2405.62 2263.62 2691.50 2551.44 0 0 0 30.00 30.00 15.91
12360.41 66 116.79 0.71 0.00 2333.5 2404.3 2262.7 2691.9 2534.9 748.46 7.35 773 12361.75 0.00 0.00 0.00 0.000 0.000 0.000 2334.38 2405.06 2263.69 2692.25 2534.94 0 0 0 30.00 30.00 30.00
12660.46 327 116.79 0.73 30.00 2333.2 2404.7 2261.6 2691.9 2534.5 726.37 7.37 788 12665.85 0.00 0.12 2.24 0.000 0.096 0.102 2334.91 2405.75 2264.06 2753.50 3671.06 0 0 0 30.00 15.93 15.66
12730.45 1030 116.79 0.73 0.00 2333.3 2404.3 2262.2 2753.2 3671.8 718.83 11.23 791 12733.24 0.00 0.00 1.91 0.000 0.000 0.033 2333.31 2404.75 2261.88 2759.12 2556.50 0 0 0 30.00 30.00 15.92
13035.50 518 116.79 0.73 -30.00 2333.6 2404.4 2262.8 2760.4 2533.0 688.43 9.83 807 13038.23 0.00 0.00 1.67 0.000 0.000 0.029 2331.97 2403.56 2260.38 2766.81 1487.19 0 0 0 30.00 30.00 15.98
13075.49 1031 116.79 0.73 0.00 2333.2 2404.1 2262.4 2767.4 1487.0 684.59 9.62 809 13080.77 0.00 0.16 2.03 0.000 0.231 0.072 2334.94 2406.56 2263.31 2723.81 2613.19 0 0 0 30.00 15.45 15.75
13390.57 2 116.79 0.73 0.00 2333.1 2403.9 2262.2 2723.2 2613.1 658.55 8.21 825 13391.91 0.00 0.00 0.00 0.000 0.000 0.000 2333.62 2404.62 2262.62 2723.25 2613.06 0 0 0 30.00 30.00 30.00
13690.60 2 116.79 0.73 0.00 2332.9 2403.8 2262.0 2723.6 2612.8 632.53 8.94 840 13691.94 0.00 0.00 0.00 0.000 0.000 0.000 2332.81 2404.25 2261.38 2723.56 2613.12 0 0 0 30.00 30.00 30.00
13990.63 518 116.79 0.73 -30.00 2332.8 2404.3 2261.3 2723.0 2613.8 605.32 9.13 855 13993.40 0.00 0.00 1.85 0.000 0.000 0.028 2332.75 2403.81 2261.69 2728.19 1482.50 0 0 0 30.00 30.00 15.94
14025.62 1030 116.79 0.73 0.00 2333.1 2404.8 2261.4 2728.4 1482.4 602.21 9.10 857 14030.84 0.00 0.00 2.03 0.000 0.000 0.071 2334.12 2405.81 2262.44 2727.00 2610.44 0 0 0 30.00 30.00 15.74
14345.65 262 116.79 0.73 30.00 2333.1 2404.2 2261.9 2727.6 2609.9 573.58 8.77 873 14350.87 0.00 0.00 2.04 0.000 0.000 0.103 2333.91 2405.12 2262.69 2727.06 3673.81 0 0 0 30.00 30.00 15.62
14375.63 1030 116.79 0.73 0.00 2332.8 2404.2 2261.4 2727.1 3674.1 570.65 8.96 874 14378.42 0.00 0.00 1.92 0.000 0.000 0.034 2333.38 2404.88 2261.88 2732.06 2555.19 0 0 0 30.00 30.00 15.91
14680.69 2 116.79 0.73 0.00 2333.0 2404.4 2261.7 2734.2 2525.6 543.35 8.88 890 14682.02 0.00 0.00 0.00 0.000 0.000 0.000 2332.91 2404.38 2261.44 2734.44 2525.25 0 0 0 30.00 30.00 30.00
14980.72 262 116.79 0.73 30.00 2333.0 2404.4 2261.6 2734.7 2525.8 517.50 8.44 905 14985.97 0.00 0.00 2.28 0.000 0.000 0.108 2333.94 2405.62 2262.25 2732.50 3671.69 0 0 0 30.00 30.00 15.57
15020.71 1030 116.79 0.73 0.00 2332.8 2404.0 2261.6 2734.3 3671.4 513.72 9.46 907 15023.50 0.00 0.00 1.92 0.000 0.000 0.035 2332.53 2404.00 2261.06 2743.38 2553.56 0 0 0 30.00 30.00 15.90
15335.74 262 116.79 0.73 30.00 2333.0 2404.1 2261.9 2744.5 2522.4 487.34 8.12 923 15340.99 0.00 0.00 2.28 0.000 0.000 0.105 2333.25 2404.56 2261.94 2744.38 3672.12 0 0 0 30.00 30.00 15.57
15360.71 1030 116.79 0.73 0.00 2332.8 2404.2 2261.4 2744.5 3671.1 485.02 8.13 924 15363.50 0.00 0.00 1.92 0.000 0.000 0.034 2331.84 2402.56 2261.12 2753.81 2552.31 0 0 0 30.00 30.00 15.91
15670.76 2 116.79 0.73 0.00 2333.0 2404.3 2261.7 2753.4 2523.1 459.15 8.44 940 15672.10 0.00 0.00 0.00 0.000 0.000 0.000 2331.72 2403.25 2260.19 2754.00 2522.69 0 0 0 30.00 30.00 30.00
15970.80 518 116.79 0.73 -30.00 2333.2 2404.1 2262.2 2753.6 2522.8 433.02 8.78 955 15973.53 0.00 0.00 1.65 0.000 0.000 0.026 2333.50 2405.00 2262.00 2758.69 1475.94 0 0 0 30.00 30.00 16.00
16020.77 1030 116.79 0.73 0.00 2332.8 2403.8 2261.9 2760.8 1476.2 428.63 8.84 957 16026.01 0.00 0.00 2.03 0.000 0.000 0.069 2333.28 2404.75 2261.81 2760.50 2613.75 0 0 0 30.00 30.00 15.74
16325.81 262 116.79 0.73 30.00 2333.0 2404.2 2261.7 2760.1 2613.1 400.40 9.34 973 16331.03 0.00 0.00 2.02 0.000 0.000 0.098 2333.06 2404.06 2262.06 2760.94 3673.12 0 0 0 30.00 30.00 15.60
16360.80 1030 116.79 0.73 0.00 2332.8 2403.6 2261.9 2760.9 3673.1 396.60 10.86 975 16363.58 0.00 0.00 1.91 0.000 0.000 0.033 2332.06 2402.62 2261.50 2769.44 2545.44 0 0 0 30.00 30.00 15.89
16540.84 3 116.79 0.73 0.00 2332.8 2403.9 2261.8 2769.6 2524.4 378.27 9.94 993 16542.30 0.00 0.17 0.00 0.000 0.229 0.000 2331.44 2402.56 2260.31 2722.94 2525.31 0 0 0 30.00 15.45 30.00
16720.90 66 116.79 0.74 0.00 2332.7 2403.8 2261.7 2723.0 2523.8 363.58 7.95 1011 16722.23 0.00 0.00 0.00 0.000 0.000 0.000 2331.72 2402.94 2260.50 2722.88 2523.94 0 0 0 30.00 30.00 30.00
16900.92 326 116.79 0.76 30.00 2332.8 2404.1 2261.4 2721.9 2524.1 349.77 7.45 1029 16906.17 0.00 0.00 2.28 0.000 0.000 0.104 2334.41 2405.88 2262.94 2722.75 3671.75 0 0 0 30.00 30.00 15.56
16965.91 1030 116.79 0.76 0.00 2333.0 2404.2 2261.8 2723.2 3670.9 344.14 8.76 1035 16968.70 0.00 0.00 1.92 0.000 0.000 0.034 2334.19 2405.75 2262.62 2729.62 2551.94 0 0 0 30.00 30.00 15.88
17145.96 326 116.79 0.78 30.00 2333.3 2404.8 2261.9 2730.9 2522.0 330.48 7.55 1053 17151.21 0.00 0.00 2.28 0.000 0.000 0.104 2333.06 2403.44 2262.69 2729.44 3672.12 0 0 0 30.00 30.00 15.55
17185.95 1030 116.79 0.78 0.00 2332.8 2404.2 2261.4 2729.3 3671.9 327.03 8.62 1057 17188.74 0.00 0.00 1.90 0.000 0.000 0.033 2334.75 2405.81 2263.69 2736.69 2551.12 0 0 0 30.00 30.00 15.89
17370.98 2 116.79 0.78 0.00 2333.1 2404.3 2261.8 2739.8 2524.4 311.89 8.15 1076 17372.32 0.00 0.00 0.00 0.000 0.000 0.000 2331.75 2403.31 2260.19 2739.38 2523.88 0 0 0 30.00 30.00 30.00
17551.02 2 116.79 0.78 0.00 2332.8 2404.2 2261.3 2739.8 2524.2 297.21 8.02 1094 17552.36 0.00 0.00 0.00 0.000 0.000 0.000 2333.03 2404.19 2261.88 2739.50 2524.19 0 0 0 30.00 30.00 30.00
17731.06 326 116.79 0.80 30.00 2333.2 2404.3 2262.1 2740.0 2523.9 283.61 7.68 1112 17736.30 0.00 0.00 2.27 0.000 0.000 0.101 2334.47 2404.88 2264.06 2737.69 3672.94 0 0 0 30.00 30.00 15.56
17776.02 1030 116.79 0.80 0.00 2333.3 2404.0 2262.6 2739.9 3672.3 279.78 8.67 1116 17778.81 0.00 0.00 1.91 0.000 0.000 0.032 2334.50 2405.94 2263.06 2748.62 2542.56 0 0 0 30.00 30.00 15.90
17956.12 66 116.79 0.82 0.00 2333.4 2404.9 2261.9 2749.3 2522.6 266.17 7.31 1134 17957.46 0.00 0.00 0.00 0.000 0.000 0.000 2332.78 2404.19 2261.38 2750.06 2523.06 0 0 0 30.00 30.00 30.00
18136.16 326 116.79 0.85 30.00 2333.1 2404.8 2261.4 2749.8 2522.4 253.07 7.25 1152 18141.41 0.00 0.00 2.26 0.000 0.000 0.099 2333.41 2404.81 2262.00 2749.44 3673.12 0 0 0 30.00 30.00 15.57
18211.14 1030 116.79 0.85 0.00 2333.0 2404.6 2261.4 2749.2 3671.9 246.75 8.57 1159 18213.94 0.00 0.00 1.91 0.000 0.000 0.032 2331.53 2403.12 2259.94 2759.44 2539.50 0 0 0 30.00 30.00 15.91
18391.23 66 116.79 0.86 0.00 2333.0 2404.1 2261.8 2759.2 2524.1 232.39 7.92 1177 18392.57 0.00 0.00 0.00 0.000 0.000 0.000 2332.06 2403.19 2260.94 2758.56 2523.94 0 0 0 30.00 30.00 30.00
18571.28 66 116.79 0.87 0.00 2333.1 2404.2 2261.9 2759.9 2523.9 218.51 7.80 1195 18572.61 0.00 0.00 0.00 0.000 0.000 0.000 2333.66 2405.56 2261.75 2759.00 2524.38 0 0 0 30.00 30.00 30.00
18751.32 66 116.79 0.89 0.00 2333.2 2404.7 2261.8 2758.9 2524.6 204.75 7.40 1213 18752.66 0.00 0.00 0.00 0.000 0.000 0.000 2332.12 2403.56 2260.69 2759.00 2524.62 0 0 0 30.00 30.00 30.00
18931.37 327 116.79 0.93 30.00 2332.9 2403.9 2261.9 2759.4 2524.6 192.61 6.68 1231 18936.77 0.00 0.10 2.25 0.000 0.089 0.098 2333.28 2404.75 2261.81 2812.81 3671.94 0 0 0 30.00 15.94 15.58
19006.36 1094 116.79 0.94 0.00 2333.3 2404.6 2261.9 2813.1 3671.2 186.82 7.66 1238 19009.14 0.00 0.00 1.90 0.000 0.000 0.029 2333.75 2404.69 2262.81 2818.00 2550.94 0 0 0 30.00 30.00 15.92
19186.43 66 116.79 0.97 0.00 2333.1 2404.6 2261.6 2819.8 2522.8 173.78 7.34 1256 19187.76 0.00 0.00 0.00 0.000 0.000 0.000 2332.97 2404.19 2261.75 2820.38 2522.88 0 0 0 30.00 30.00 30.00
19366.47 262 116.79 0.97 30.00 2333.2 2404.4 2261.9 2819.6 2522.2 160.00 8.00 1274 19371.71 0.00 0.00 2.23 0.000 0.000 0.092 2333.94 2405.19 2262.69 2820.50 3675.25 0 0 0 30.00 30.00 15.61
19381.43 1030 116.79 0.97 0.00 2333.5 2405.2 2261.7 2819.6 3674.9 158.63 8.17 1275 19384.22 0.00 0.00 1.91 0.000 0.000 0.029 2331.75 2403.25 2260.25 2829.25 2550.19 0 0 0 30.00 30.00 15.90
19561.52 582 116.79 0.98 -30.00 2333.1 2404.7 2261.4 2828.9 2518.6 145.57 7.63 1293 19564.25 0.00 0.00 1.63 0.000 0.000 0.024 2331.97 2403.56 2260.38 2835.62 1467.44 0 0 0 30.00 30.00 15.97
19646.56 1062 154.49 1.02 0.00 2333.2 2404.6 2261.7 2835.3 1466.9 140.06 6.09 1302 19682.11 30.78 0.00 2.02 0.939 0.000 0.062 2193.56 2274.19 2112.94 2835.81 2614.44 0 0 0 10.52 30.00 15.74
19866.61 294 187.61 1.05 30.00 2189.8 2273.6 2106.1 2834.9 2614.6 125.86 6.38 1324 19897.61 27.58 0.00 2.00 0.908 0.000 0.094 2057.94 2139.75 1976.12 2836.00 3673.69 0 0 0 11.53 30.00 15.44
19986.63 1028 187.61 1.05 0.00 2056.2 2138.8 1973.6 2835.3 3673.8 114.81 10.44 1336 19989.42 0.00 0.00 1.91 0.000 0.000 0.028 2054.59 2137.50 1971.69 2843.88 2543.25 0 0 0 30.00 30.00 15.79
20171.65 260 187.61 1.05 30.00 2055.2 2138.7 1971.7 2844.6 2522.2 97.97 9.34 1355 20176.90 0.00 0.00 2.26 0.000 0.000 0.097 2055.91 2139.94 1971.88 2844.50 3676.06 0 0 0 30.00 30.00 15.59
20216.64 1028 187.61 1.05 0.00 2054.9 2138.1 1971.6 2844.1 3675.7 93.06 11.02 1359 20219.42 0.00 0.00 1.91 0.000 0.000 0.029 2055.28 2138.62 1971.94 2853.31 2542.12 0 0 0 30.00 30.00 15.82
20396.71 324 187.61 1.07 30.00 2055.1 2138.8 1971.4 2855.2 2517.1 78.32 7.50 1377 20401.95 0.00 0.00 2.26 0.000 0.000 0.097 2055.72 2139.75 1971.69 2853.44 3673.06 0 0 0 30.00 30.00 15.59
20626.75 1062 272.27 1.16 0.00 2055.0 2138.5 1971.5 2854.0 3673.7 66.23 3.14 1400 20693.51 63.78 0.00 1.90 0.793 0.000 0.028 1715.00 1795.50 1634.50 2863.62 2523.62 0 0 0 11.31 30.00 15.87
20876.80 294 341.30 1.23 30.00 1708.7 1792.9 1624.4 2863.2 2524.0 51.54 4.12 1425 20932.75 50.96 0.00 2.26 0.735 0.000 0.098 1431.38 1504.19 1358.56 2863.31 3671.00 0 0 0 11.53 30.00 15.39
21006.80 1093 341.30 1.26 0.00 1429.2 1502.6 1355.8 2863.9 3670.4 43.56 6.56 1438 21012.05 0.00 0.09 1.91 0.000 0.095 0.027 1429.03 1502.31 1355.75 2928.88 2510.69 0 0 0 30.00 15.61 15.68
21196.82 260 341.30 1.26 30.00 1428.3 1502.2 1354.4 2927.8 2510.2 27.73 8.08 1457 21202.06 0.00 0.00 2.28 0.000 0.000 0.096 1428.44 1502.81 1354.06 2928.00 3672.69 0 0 0 30.00 30.00 15.56
21376.88 1028 341.30 1.26 0.00 1428.2 1502.2 1354.3 2928.2 3673.2 10.77 7.96 1475 21379.64 0.00 0.00 1.89 0.000 0.000 0.025 1427.97 1501.25 1354.69 2937.00 2534.12 0 0 0 30.00 30.00 15.81
21492 end climb: SURFACE_DEPTH_REACHED
state 21492 begin surface coast
21532 end surface coast: CONTROL_FINISHED_OK
state 21532 begin surface