DavisStrait Dec14 * SG193 * Dive index * Mission links * Dive 64 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  193 HD_C  6.0000002e-06 ROLL_MAX  3841 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  4 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  64 ESCAPE_HEADING  0 C_ROLL_DIVE  2650 ALTIM_TOP_MIN_OBSTACLE  1
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2400 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  0.5 HEAD_ERRBAND  10 ALTIM_PING_DELTA  10
D_FLARE  3 TGT_DEFAULT_LAT  6000 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  840 TGT_DEFAULT_LON  -5500 ROLL_TIMEOUT  15 ALTIM_PULSE  5
D_ABORT  950 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  17 ALTIM_SENSITIVITY  1
D_NO_BLEED  50 SM_CC  300 R_STBD_OVSHOOT  12 XPDR_VALID  4
D_BOOST  100 N_FILEKB  8 ROLL_AD_RATE  300 XPDR_INHIBIT  90
T_BOOST  5 FILEMGR  0 ROLL_MAXERRORS  2 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  0.93000001
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  9 VBD_MIN  500 MOTHERBOARD  4
D_CALL  0 N_NOCOMM  1 VBD_MAX  3960 DEVICE1  -1
SURFACE_URGENCY  0 NOCOMM_ACTION  163 C_VBD  2951 DEVICE2  -1
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE4  -1
T_DIVE  280 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE5  -1
T_MISSION  320 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERDEVICE1  53
T_TURN_SAMPINT  -5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  5 UNCOM_BLEED  20 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE4  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 COMPASS_DEVICE  97
USE_BATHY  -5 T_RSLEEP  2 DBDW  0 COMPASS2_DEVICE  -1
USE_ICE  0 STROBE  0 PITCH_W_GAIN  0 PHONE_DEVICE  49
ICE_FREEZE_MARGIN  0.30000001 RAFOS_PEAK_OFFSET  1.5 PITCH_W_DBAND  0 GPS_DEVICE  32
D_OFFGRID  300 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  20 RAFOS_DEVICE  32
T_WATCHDOG  10 RAFOS_HIT_WINDOW  3600 AH0_24V  350 XPDR_DEVICE  24
RELAUNCH  1 PITCH_MIN  225 AH0_10V  0 SIM_W  0
APOGEE_PITCH  -5 PITCH_MAX  3900 MINV_24V  12 SIM_PITCH  0
MAX_BUOY  150 C_PITCH  2550 MINV_10V  12 SEABIRD_T_G  0.0042903274
COURSE_BIAS  0 PITCH_DBAND  0.1 FG_AHR_10V  0 SEABIRD_T_H  0.00062837056
GLIDE_SLOPE  30 PITCH_CNV  0.0046000001 FG_AHR_24V  0 SEABIRD_T_I  2.3004332e-05
SPEED_FACTOR  1 P_OVSHOOT  0.039999999 PHONE_SUPPLY  -2 SEABIRD_T_J  2.3253908e-06
RHO  1.0275 P_OVSHOOT_WITHG  0 PRESSURE_YINT  -50.214073 SEABIRD_C_G  -9.879467
MASS  52059 PITCH_GAIN  13 PRESSURE_SLOPE  0.0001163556 SEABIRD_C_H  1.1201456
MASS_COMP  0 PITCH_TIMEOUT  15 AD7714Ch0Gain  128 SEABIRD_C_I  -0.00035123606
NAV_MODE  2 PITCH_AD_RATE  175 TCM_PITCH_OFFSET  0 SEABIRD_C_J  0.00012622437
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SC_RECORDABOVE  2000.0
KALMAN_USE  2 PITCH_ADJ_GAIN  0.02 COMPASS_USE  4 SC_PROFILE  3.0
HD_A  0.0043000001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_PING_RANGE  0 SC_XMITPROFILE  3.0
HD_B  0.0099999998 ROLL_MIN  300 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  211214,210523,6523.985,-5629.878,39,1.4,40,-30.7 SPEED_LIMITS  0.173,0.262
_CALLS  1 TGT_NAME  TARGET_3
_XMS_NAKs  0 TGT_LATLONG  6600.000,-5650.000
_XMS_TOUTs  0 TGT_RADIUS  5000.000
_SM_DEPTHo  2.14 MHEAD_RNG_PITCHd_Wd  18.6,68447,-18.4,-10.000,-20.87,2243
_SM_ANGLEo  -58.2 D_GRID  674
GPS2  211214,211031,6523.955,-5629.925,5,1.4,5,-30.7

Post-dive calculations and measurements:
FINISH  1.6,1.016658 _24V_AH  13.42,16.024
SM_CCo  13813,81.62,0.158,0,0,1727,300.00 _10V_AH  13.65,0.000
SM_GC  2.23,7.57,0.52,81.62,0.084,0.163,0.158,204,2651,1727,-10.66,-0.37,300.00,0,0,0,0,0,0,14.81,14.74,14.65 FG_AHR_24Vo  0.000
RAFOS_CLK  583 FG_AHR_10Vo  0.000
RAFOS  0,1419206465,0.033333,0.018056,63,60,56,55,52,47,226,179,206,141,163,124 MEM  227156
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE  26728,832
IRIDIUM_FIX  6451.58,-5627.19,211214,171240 CAP_FILE_SIZE  138127,0
TT8_MAMPS  0.025466,0.025466 CFSIZE  260034560,248029184
HUMID  45.47 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE  8.51818 INTR  0,14093.83,0x23769e,7,5
TCM_TEMP  9.80 SOUNDSPEED  1471.7
XPDR_PINGS  0 CURRENT  0.058,178.28,1
SC_FREEKB  7749440 GPS  221214,010404,6525.325,-5631.305,39,0.9,39,-30.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20449123.60 nil000.00
Roll_motor96162211.78 nil000.00
VBD_pump_during_apogee32813966151.96 nil000.00
VBD_pump_during_surface81158173.46 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1380961242.92
Iridium_during_xfer191162418.27 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS6302.80
TT8191311299.56
LPSleep100632317.32
TT8_Active6161196.54
TT8_Sampling151730640.86
TT8_CF81103654.49
TT8_Kalman000.00
Analog_circuits147311221.29
GPS_charging000.00
Compass12386101.44
RAFOS2520151.60
Transponder050.04

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -1.60 -146.0 197 2651 1720 1718 0.0 0.0 0 113 0.00 0.00 -92.18 0.000 16386 0.000 0.000 196 2651 3422 3399 3445 0 0 0 0 0 0 28.83 28.83 28.83
115 -1.60 -146.0 197 2651 3400 3445 3.2 -1.8 9 132 9.77 0.00 -3.88 0.000 18438 0.450 0.000 2195 2651 3548 3541 3555 0 0 0 0 0 0 14.40 28.83 14.76
442 -1.60 -146.0 2194 2651 3549 3555 40.7 -11.0 35 447 0.00 2.50 0.00 0.000 516 0.000 0.111 2196 1236 3552 3549 3555 0 0 0 0 0 0 28.83 14.61 28.83
498 -1.60 -146.0 2195 1237 3548 3555 47.4 -11.9 46 505 0.00 2.60 0.00 0.000 1030 0.000 0.135 2187 2655 3552 3549 3555 0 0 0 0 0 0 28.83 14.61 28.83
805 -1.58 -146.0 2187 2657 3549 3555 82.4 -12.0 62 806 0.00 0.00 0.00 0.000 6 0.000 0.000 2187 2655 3552 3549 3555 0 0 0 0 0 0 28.83 28.83 28.83
1104 -1.58 -146.0 2193 2655 3549 3554 117.0 -10.6 77 1105 0.00 0.00 0.00 0.000 6 0.000 0.000 2187 2655 3551 3549 3554 0 0 0 0 0 0 28.83 28.83 28.83
1404 -1.58 -146.0 2187 2654 3548 3553 148.1 -10.3 92 1406 0.00 0.00 0.00 0.000 6 0.000 0.000 2186 2655 3551 3549 3553 0 0 0 0 0 0 28.83 28.83 28.83
1705 -1.58 -146.0 2187 2655 3548 3553 177.4 -9.3 107 1710 0.00 2.47 0.00 0.000 516 0.000 0.112 2188 1238 3550 3548 3552 0 0 0 0 0 0 28.83 14.72 28.83
1841 -1.58 -146.0 2187 1238 3549 3551 191.3 -10.4 134 1849 0.12 2.58 0.00 0.000 3078 0.314 0.138 2206 2651 3550 3549 3551 0 0 0 0 0 0 14.64 14.71 28.83
2148 -1.58 -146.0 2206 2652 3549 3551 219.5 -9.1 150 2153 0.00 2.47 0.00 0.000 516 0.000 0.112 2212 1235 3547 3549 3546 0 0 0 0 0 0 28.83 14.73 28.83
2240 -1.58 -146.0 2206 1235 3549 3550 228.1 -8.8 168 2245 0.00 2.58 0.00 0.000 1030 0.000 0.137 2198 2654 3549 3548 3550 0 0 0 0 0 0 28.83 14.72 28.83
2572 -1.58 -146.0 2198 2654 3549 3550 256.9 -8.7 185 2579 0.00 2.47 0.00 0.000 516 0.000 0.113 2198 1233 3548 3547 3550 0 0 0 0 0 0 28.83 14.73 28.83
2686 -1.58 -146.0 2198 1234 3549 3550 266.7 -8.4 207 2691 0.00 2.58 0.00 0.000 1030 0.000 0.139 2191 2649 3550 3549 3551 0 0 0 0 0 0 28.83 14.73 28.83
2999 -1.58 -146.0 2191 2649 3556 3551 292.2 -7.9 219 3004 0.00 2.47 0.00 0.000 516 0.000 0.114 2191 1235 3553 3556 3551 0 0 0 0 0 0 28.83 14.75 28.83
3072 -1.58 -146.0 2191 1235 3553 3551 298.2 -8.3 233 3079 0.10 2.60 0.00 0.000 3078 0.320 0.142 2203 2659 3550 3549 3551 0 0 0 0 0 0 14.68 14.73 28.83
3397 -1.58 -146.0 2202 2659 3549 3551 322.7 -7.6 247 3402 0.00 2.50 0.00 0.000 516 0.000 0.114 2203 1229 3550 3549 3551 0 0 0 0 0 0 28.83 14.76 28.83
3474 -1.58 -146.0 2203 1229 3549 3551 328.8 -8.0 262 3480 0.00 2.60 0.00 0.000 1030 0.000 0.142 2197 2649 3550 3549 3551 0 0 0 0 0 0 28.83 14.74 28.83
3793 -1.58 -146.0 2196 2649 3550 3551 353.7 -7.8 275 3798 0.00 2.47 0.00 0.000 516 0.000 0.116 2196 1235 3550 3550 3551 0 0 0 0 0 0 28.83 14.76 28.83
3839 -1.58 -146.0 2196 1235 3548 3551 357.6 -7.6 284 3845 0.00 2.60 0.00 0.000 1030 0.000 0.142 2189 2656 3550 3549 3551 0 0 0 0 0 0 28.83 14.76 28.83
4158 -1.58 -146.0 2189 2656 3550 3551 384.1 -8.4 297 4164 0.00 2.50 0.00 0.000 516 0.000 0.118 2189 1234 3550 3550 3551 0 0 0 0 0 0 28.83 14.76 28.83
4226 -1.58 -146.0 2189 1234 3550 3551 390.1 -8.1 310 4232 0.10 2.60 0.00 0.000 3078 0.319 0.144 2202 2652 3551 3551 3551 0 0 0 0 0 0 14.69 14.76 28.83
4555 -1.58 -146.0 2202 2652 3551 3551 415.5 -7.5 325 4561 0.00 2.50 0.00 0.000 516 0.000 0.119 2202 1230 3551 3551 3552 0 0 0 0 0 0 28.83 14.77 28.83
4642 -1.58 -146.0 2202 1230 3551 3551 422.1 -6.9 342 4649 0.00 2.60 0.00 0.000 1030 0.000 0.145 2195 2649 3551 3551 3551 0 0 0 0 0 0 28.83 14.74 28.83
4948 -1.58 -146.0 2195 2649 3551 3552 444.8 -7.6 353 4949 0.00 0.00 0.00 0.000 6 0.000 0.000 2195 2646 3550 3551 3550 0 0 0 0 0 0 28.83 28.83 28.83
5248 -1.58 -146.0 2195 2649 3551 3552 466.1 -6.9 363 5253 0.00 2.47 0.00 0.000 516 0.000 0.118 2195 1238 3551 3551 3552 0 0 0 0 0 0 28.83 14.78 28.83
5360 -1.58 -146.0 2195 1238 3551 3552 474.2 -7.4 385 5366 0.00 2.60 0.00 0.000 1030 0.000 0.146 2189 2650 3551 3551 3552 0 0 0 0 0 0 28.83 14.76 28.83
5674 -1.58 -146.0 2189 2650 3551 3552 496.8 -7.4 397 5680 0.00 2.50 0.00 0.000 516 0.000 0.120 2188 1229 3551 3551 3552 0 0 0 0 0 0 28.83 14.78 28.83
5731 -1.58 -146.0 2189 1229 3551 3552 501.0 -7.5 408 5739 0.10 2.60 0.00 0.000 3078 0.321 0.146 2202 2650 3551 3551 3552 0 0 0 0 0 0 14.70 14.76 28.83
6038 -1.60 -146.0 2202 2650 3551 3552 521.4 -6.8 419 6044 0.00 2.47 0.00 0.000 516 0.000 0.120 2202 1238 3552 3551 3553 0 0 0 0 0 0 28.83 14.78 28.83
6151 -1.62 -146.0 2202 1238 3551 3551 529.7 -7.0 441 6158 0.00 2.60 0.00 0.000 1030 0.000 0.145 2196 2658 3552 3551 3553 0 0 0 0 0 0 28.83 14.77 28.83
6465 -1.62 -146.0 2196 2657 3552 3553 553.3 -7.5 453 6466 0.00 0.00 0.00 0.000 6 0.000 0.000 2196 2658 3552 3551 3553 0 0 0 0 0 0 28.83 28.83 28.83
6765 -1.62 -146.0 2196 2658 3551 3553 577.3 -7.8 463 6771 0.00 2.50 0.00 0.000 516 0.000 0.121 2196 1237 3552 3552 3553 0 0 0 0 0 0 28.83 14.78 28.83
6892 -1.62 -146.0 2196 1236 3551 3552 587.3 -7.2 488 6897 0.00 2.60 0.00 0.000 1030 0.000 0.148 2189 2653 3552 3551 3553 0 0 0 0 0 0 28.83 14.77 28.83
7220 -1.62 -146.0 2189 2653 3553 3549 612.5 -7.7 503 7226 0.00 2.50 0.00 0.000 516 0.000 0.121 2189 1232 3552 3551 3553 0 0 0 0 0 0 28.83 14.78 28.83
7338 -1.62 -146.0 2189 1232 3551 3552 621.9 -8.4 526 7345 0.00 2.60 0.00 0.000 1030 0.000 0.150 2182 2649 3552 3552 3553 0 0 0 0 0 0 28.83 14.77 28.83
7643 -1.62 -146.0 2182 2649 3551 3553 645.4 -7.6 537 7649 0.00 2.50 0.00 0.000 516 0.000 0.122 2182 1228 3552 3551 3553 0 0 0 0 0 0 28.83 14.78 28.83
7696 -1.62 -146.0 2182 1228 3551 3553 649.5 -7.7 547 7702 0.10 2.62 0.00 0.000 3078 0.325 0.149 2194 2658 3552 3551 3553 0 0 0 0 0 0 14.71 14.77 28.83
8010 -1.64 -146.0 2194 2658 3551 3553 671.6 -7.1 559 8016 0.00 2.50 0.00 0.000 516 0.000 0.121 2192 1236 3551 3549 3553 0 0 0 0 0 0 28.83 14.78 28.83
8041 end dive: TARGET_DEPTH_EXCEEDED
state 8041 begin apogee
8047 -0.38 0.0 2190 2407 3551 3553 674.1 -6.8 565 8216 0.95 0.00 164.93 1.396 10246 0.243 0.000 2462 2407 2951 2972 2931 0 0 0 0 0 0 14.71 28.83 13.57
8217 end apogee: CONTROL_FINISHED_OK
state 8218 begin climb
8219 1.60 146.0 2461 2407 2966 2924 675.8 0.0 570 8392 1.42 0.00 163.43 1.334 10246 0.161 0.000 2895 2407 2351 2397 2306 0 0 0 0 1 0 13.97 28.83 13.42
8673 1.57 146.0 2895 2407 2389 2293 619.9 13.5 586 8674 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2407 2341 2389 2293 0 0 0 0 0 0 28.83 28.83 28.83
8973 1.55 146.0 2895 2407 2386 2292 579.2 13.7 596 8974 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2407 2339 2386 2292 0 0 0 0 0 0 28.83 28.83 28.83
9273 1.52 146.0 2895 2407 2385 2291 538.6 13.4 606 9274 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2407 2338 2385 2292 0 0 0 0 0 0 28.83 28.83 28.83
9573 1.50 146.0 2895 2413 2384 2291 498.8 13.7 616 9574 0.00 0.00 0.00 0.000 6 0.000 0.000 2895 2407 2337 2384 2291 0 0 0 0 0 0 28.83 28.83 28.83
9874 1.48 146.0 2895 2407 2382 2292 457.2 13.6 626 9875 0.10 0.00 0.00 0.000 4102 0.314 0.000 2875 2407 2337 2382 2292 0 0 0 0 0 0 14.60 28.83 28.83
10173 1.48 146.0 2874 2407 2382 2291 419.5 12.7 636 10174 0.00 0.00 0.00 0.000 6 0.000 0.000 2874 2407 2336 2382 2291 0 0 0 0 0 0 28.83 28.83 28.83
10473 1.48 146.0 2875 2407 2381 2290 381.4 12.5 646 10474 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 2407 2336 2382 2290 0 0 0 0 0 0 28.83 28.83 28.83
10772 1.48 146.0 2875 2407 2382 2290 344.1 12.6 656 10774 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 2407 2336 2382 2290 0 0 0 0 0 0 28.83 28.83 28.83
11074 1.48 146.0 2875 2407 2382 2289 306.9 12.5 666 11075 0.00 0.00 0.00 0.000 6 0.000 0.000 2874 2407 2336 2382 2290 0 0 0 0 0 0 28.83 28.83 28.83
11372 1.48 146.0 2874 2407 2382 2289 270.5 12.0 676 11374 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 2407 2336 2382 2290 0 0 0 0 0 0 28.83 28.83 28.83
11673 1.48 146.0 2875 2407 2382 2289 235.3 11.5 688 11674 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 2405 2336 2382 2290 0 0 0 0 0 0 28.83 28.83 28.83
11973 1.48 146.0 2875 2407 2382 2289 201.7 10.9 703 11974 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 2407 2336 2382 2290 0 0 0 0 0 0 28.83 28.83 28.83
12273 1.48 146.0 2874 2407 2382 2290 167.7 11.2 718 12274 0.00 0.00 0.00 0.000 6 0.000 0.000 2875 2407 2335 2382 2289 0 0 0 0 0 0 28.83 28.83 28.83
12572 1.48 146.0 2874 2407 2382 2290 133.4 11.1 733 12579 0.00 2.55 0.00 0.000 516 0.000 0.133 2884 986 2336 2382 2290 0 0 0 0 0 0 28.83 14.74 28.83
12616 1.50 146.0 2884 985 2382 2290 128.2 11.9 741 12623 0.00 2.55 0.00 0.000 1030 0.000 0.134 2884 2400 2336 2382 2290 0 0 0 0 0 0 28.83 14.74 28.83
12939 1.50 146.0 2884 2400 2382 2290 91.3 10.8 760 12945 0.00 2.53 0.00 0.000 516 0.000 0.128 2894 985 2336 2382 2290 0 0 0 0 0 0 28.83 14.74 28.83
12976 1.52 146.0 2894 985 2382 2290 87.3 11.0 767 12983 0.00 2.55 0.00 0.000 1030 0.000 0.133 2893 2400 2336 2382 2290 0 0 0 0 0 0 28.83 14.73 28.83
13281 1.52 146.0 2894 2400 2382 2292 54.6 10.2 783 13287 0.00 2.70 0.00 0.000 260 0.000 0.159 2894 3813 2337 2382 2292 0 0 0 0 0 0 28.83 14.73 28.83
13344 1.50 146.0 2894 3813 2382 2292 47.3 12.7 795 13350 0.12 2.47 0.00 0.000 5126 0.296 0.089 2876 2390 2337 2382 2293 0 0 0 0 0 0 14.69 14.76 28.83
13658 1.52 146.0 2876 2390 2382 2292 14.8 10.1 818 13659 0.00 0.00 0.00 0.000 6 0.000 0.000 2876 2390 2337 2382 2292 0 0 0 0 0 0 28.83 28.83 28.83
13776 end climb: SURFACE_DEPTH_REACHED
state 13776 begin surface coast
13798 end surface coast: CONTROL_FINISHED_OK
state 13798 begin surface