HI Oct09 * SG022 * Dive index * Mission links * Dive 70 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  22 HEADING  -1 ROLL_MIN  150 ALTIM_BOTTOM_TURN_MARGIN  0
MISSION  14 ESCAPE_HEADING  0 ROLL_MAX  3954 ALTIM_TOP_TURN_MARGIN  0
DIVE  70 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  1
D_SURF  3 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  2900 ALTIM_PING_DEPTH  0
D_FLARE  3 TGT_DEFAULT_LAT  19.66667 C_ROLL_CLIMB  2750 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LON  -156.10001 HEAD_ERRBAND  10 ALTIM_FREQUENCY  15
D_ABORT  1090 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  5
D_NO_BLEED  200 SM_CC  556.34039 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  2
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  41 XPDR_VALID  4
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  41 XPDR_INHIBIT  90
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  100 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  2 INT_PRESSURE_YINT  0
D_CALL  0 KERMIT  0 ROLL_ADJ_GAIN  0 DEEPGLIDER  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MIN  350 MOTHERBOARD  2
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_MAX  3841 DEVICE1  2
T_DIVE  330 CALL_TRIES  5 C_VBD  2618 DEVICE2  -1
T_MISSION  360 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  150000 VBD_TIMEOUT  720 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.00109 DEVICE6  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  1
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERDEVICE1  69
USE_BATHY  0 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  4 LOGGERDEVICE2  -1
USE_ICE  0 T_GPS_CHARGE  -249567.72 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  1001 STROBE  0 CF8_MAXERRORS  1 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  91.800003 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  61.200001 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  19
MAX_BUOY  200 PITCH_MIN  380 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3641 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2495 FG_AHR_24V  0 SEABIRD_T_G  0.0044149966
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00064680085
RHO  1.0275 PITCH_CNV  0.0046000001 PRESSURE_YINT  -22.757658 SEABIRD_T_I  2.5778523e-05
MASS  52177 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.00011632 SEABIRD_T_J  2.7323422e-06
NAV_MODE  2 PITCH_GAIN  18 AD7714Ch0Gain  128 SEABIRD_C_G  -10.507483
FERRY_MAX  0 PITCH_TIMEOUT  20 TCM_PITCH_OFFSET  1.7 SEABIRD_C_H  1.1800622
KALMAN_USE  1 PITCH_AD_RATE  150 TCM_ROLL_OFFSET  -0.89999998 SEABIRD_C_I  -0.00046262925
HD_A  0.0040048002 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  0.00014728548
HD_B  0.010364 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_PING_RANGE  0 PA_OFFLOAD  1.0
HD_C  5.4717998e-06 PITCH_ADJ_DBAND  0 ALTIM_TOP_PING_RANGE  0 PA_MAXUPLOADSIZE  100000.0

Pre-dive calculations and measurements:
GPS1  091109,211600,1922.001,-15557.573,38,1.2,43,9.7 TGT_NAME  K1
_CALLS  5 TGT_LATLONG  1920.000,-15557.000
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.291,-0.040
_SM_DEPTHo  -0.42 KALMAN_X  -61772.2,305.6,164.0,91980.5,-5203.2
_SM_ANGLEo  -34.9 KALMAN_Y  48769.3,536.6,1113.7,-108757.4,-2136.5
GPS2  091109,214204,1924.869,-15557.979,627,2.8,646,9.7 MHEAD_RNG_PITCHd_Wd  159.6,9178,-15.9,-10.000
SPEED_LIMITS  0.173,0.294 D_GRID  990

Post-dive calculations and measurements:
FINISH  -0.0,1.023108 PA_DATA0  43.1/7836665/4459792
SM_CCo  17824,46.45,0.486,0,0,350,556.34 PA_DATA1  71.6/7836665/2222663
SM_GC  0.70,0.00,0.00,46.45,0.000,0.000,0.486,373,2920,350,-9.76,0.57,556.34 PA_USB  66.5/30829585/10327000
IRIDIUM_FIX  1916.08,-15559.47,050511,151523 _24V_AH  23.4,14.575
TT8_MAMPS  0.174109 _10V_AH  9.9,36.842
HUMID  1078550313 FG_AHR_24Vo  0.000
TCM_TEMP  24.10 FG_AHR_10Vo  0.000
XPDR_PINGS  0 MEM  354020
PA_PMVER  0.2 DATA_FILE_SIZE  15892,489
PA_ROOTFSVER  rootfs created by jmpyle@grebe Mon Aug 31 14:11:27 PDT 2009 CAP_FILE_SIZE  145598,0
PA_DFQS  0/0 CFSIZE  260034560,251006976
PA_CMQS  0/163 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
PA_ROOT  87.1/128908/16630 CURRENT  0.032, 23.2,1
PA_HOME  5.5/483886/457510 GPS  101109,024137,1922.287,-15557.636,41,1.4,41,9.7
PA_LOG  3.7/297829/286945

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2316791.98 SBE_CT32524182.61
Roll_motor168205808.44 nil000.00
VBD_pump_during_apogee594130018079.51 nil000.00
VBD_pump_during_surface46485527.72 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init15500.00 nil000.00
Iridium_during_connect21400.00 PAAM195329443027.90
Iridium_during_xfer13800.00
Transponder_ping04200.00
GUMSTIX_24V000.00
GPS64700.00
TT8000.00
LPSleep150632326.60
TT8_Active74719146.61
TT8_Sampling2809391107.00
TT8_CF880045362.88
TT8_Kalman3300.00
Analog_circuits188012223.44
GPS_charging000.00
Compass14778117.05
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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -1.10 -194.6 0.0 0.0 0 111 0.00 0.00 -92.80 0.000 2 0.000 0.000 373 2923 2752 0 0 0 0 0 0
113 -1.10 -194.6 3.2 -7.7 18 146 10.23 1.70 -16.05 0.000 4 0.168 0.071 2250 3939 3412 0 0 0 0 0 0
385 -1.10 -194.6 64.9 -18.0 50 391 0.00 1.75 0.00 0.000 6 0.000 0.037 2250 2865 3414 0 0 0 0 0 0
576 -1.10 -194.6 99.6 -18.5 69 577 0.00 0.00 0.00 0.000 6 0.000 0.000 2250 2865 3414 0 0 0 0 0 0
769 -1.10 -194.6 132.4 -17.1 76 773 0.00 1.90 0.00 0.000 4 0.000 0.054 2250 3931 3414 0 0 0 0 0 0
859 -1.10 -194.6 148.2 -18.1 78 865 0.00 1.70 0.00 0.000 6 0.000 0.038 2250 2887 3414 0 0 0 0 0 0
1168 -1.10 -194.6 199.1 -15.9 89 1172 0.00 2.30 0.00 0.000 4 0.000 0.042 2250 1525 3415 0 0 0 0 0 0
1226 -1.10 -194.6 207.9 -13.8 90 1232 0.00 2.35 0.00 0.000 6 0.000 0.044 2250 2885 3415 0 0 0 0 0 0
1535 -1.10 -194.6 249.2 -12.9 101 1539 0.00 1.88 0.00 0.000 4 0.000 0.057 2250 3946 3414 0 0 0 0 0 0
1598 -1.10 -194.6 258.2 -13.3 103 1603 0.00 1.73 0.00 0.000 6 0.000 0.038 2250 2895 3414 0 0 0 0 0 0
1964 -1.10 -194.6 309.5 -13.6 114 1968 0.00 2.33 0.00 0.000 4 0.000 0.044 2250 1531 3414 0 0 0 0 0 0
1990 -1.10 -194.6 312.9 -13.0 114 1994 0.00 2.40 0.00 0.000 6 0.000 0.045 2250 2907 3414 0 0 0 0 0 0
2329 -1.10 -194.6 356.0 -12.9 120 2330 0.00 0.00 0.00 0.000 6 0.000 0.000 2250 2907 3412 0 0 0 0 0 0
2631 -1.10 -194.6 397.0 -13.5 125 2635 0.00 2.40 0.00 0.000 4 0.000 0.045 2250 1532 3409 0 0 0 0 0 0
2646 -1.10 -194.6 399.1 -13.4 125 2650 0.00 2.42 0.00 0.000 6 0.000 0.047 2250 2909 3408 0 0 0 0 0 0
2996 -1.10 -194.6 444.3 -12.6 131 3000 0.00 1.88 0.00 0.000 4 0.000 0.061 2250 3952 3405 0 0 0 0 0 0
3060 -1.10 -194.6 452.4 -12.7 132 3064 0.00 1.77 0.00 0.000 6 0.000 0.041 2250 2914 3404 0 0 0 0 0 0
3426 -1.10 -194.6 496.4 -11.8 138 3429 0.00 1.90 0.00 0.000 4 0.000 0.062 2249 3949 3400 0 0 0 0 0 0
3462 -1.10 -194.6 501.0 -12.7 138 3467 0.00 1.83 0.00 0.000 6 0.000 0.041 2249 2889 3399 0 0 0 0 0 0
3791 -1.10 -194.6 542.2 -12.7 144 3797 0.00 0.00 0.00 0.000 6 0.000 0.000 2250 2884 3397 0 0 0 0 0 0
4093 -1.10 -194.6 575.8 -10.9 149 4102 0.00 1.95 0.00 0.000 4 0.000 0.065 2250 3944 3393 0 0 0 0 0 0
4116 -1.10 -194.6 578.4 -11.3 149 4124 0.00 1.77 0.00 0.000 6 0.000 0.043 2250 2889 3393 0 0 0 0 0 0
4462 -1.10 -194.6 616.6 -11.1 155 4470 0.00 1.92 0.00 0.000 4 0.000 0.067 2250 3946 3391 0 0 0 0 0 0
4615 -1.10 -194.6 633.4 -10.4 157 4623 0.00 1.77 0.00 0.000 6 0.000 0.044 2250 2903 3390 0 0 0 0 0 0
4961 -1.10 -194.6 667.5 -9.7 163 4968 0.00 1.92 0.00 0.000 4 0.000 0.074 2250 3943 3388 0 0 0 0 0 0
5081 -1.10 -194.6 680.4 -10.9 164 5089 0.00 1.80 0.00 0.000 6 0.000 0.045 2250 2900 3386 0 0 0 0 0 0
5396 -1.10 -194.6 713.0 -10.4 170 5404 0.00 1.98 0.00 0.000 4 0.000 0.081 2250 3953 3383 0 0 0 0 0 0
5424 -1.10 -194.6 716.3 -11.9 170 5432 0.00 1.85 0.00 0.000 6 0.000 0.048 2250 2900 3383 0 0 0 0 0 0
5765 -1.10 -194.6 753.7 -10.9 176 5773 0.00 2.00 0.00 0.000 4 0.000 0.087 2250 3951 3381 0 0 0 0 0 0
5819 -1.10 -194.6 759.8 -11.5 176 5827 0.00 1.88 0.00 0.000 6 0.000 0.055 2250 2904 3380 0 0 0 0 0 0
6133 -1.10 -194.6 789.8 -9.4 182 6139 0.00 0.00 0.00 0.000 6 0.000 0.000 2249 2904 3379 0 0 0 0 0 0
6435 -1.10 -194.6 817.2 -9.2 187 6443 0.00 2.08 0.00 0.000 4 0.000 0.110 2249 3946 3377 0 0 0 0 0 0
6517 -1.10 -194.6 825.4 -9.9 188 6525 0.00 2.00 0.00 0.000 6 0.000 0.082 2250 2894 3376 0 0 0 0 0 0
6863 -1.10 -194.6 854.9 -8.3 194 6869 0.00 0.00 0.00 0.000 6 0.000 0.000 2250 2896 3374 0 0 0 0 0 0
7165 -1.10 -194.6 880.0 -8.3 199 7174 0.00 2.20 0.00 0.000 4 0.000 0.139 2251 3935 3372 0 0 0 0 0 0
7237 -1.10 -194.6 886.6 -9.0 200 7245 0.00 2.12 0.00 0.000 6 0.000 0.115 2250 2908 3372 0 0 0 0 0 0
7594 -1.10 -194.6 919.6 -9.3 206 7603 0.00 2.30 0.00 0.000 4 0.000 0.161 2250 3943 3370 0 0 0 0 0 0
7638 -1.10 -194.6 924.1 -10.3 206 7647 0.00 2.25 0.00 0.000 6 0.000 0.141 2250 2890 3370 0 0 0 0 0 0
7953 -1.10 -194.6 956.5 -10.3 212 7963 0.00 2.45 0.00 0.000 4 0.000 0.187 2250 3933 3369 0 0 0 0 0 0
8036 -1.10 -194.6 966.1 -11.9 213 8044 0.00 2.38 0.00 0.000 6 0.000 0.170 2249 2894 3370 0 0 0 0 0 0
8254 end dive: TARGET_DEPTH_EXCEEDED
state 8254 begin apogee
8259 -0.28 0.0 990.0 10.9 217 8434 0.90 0.00 167.48 1.300 6 0.110 0.000 2433 2743 2618 0 0 0 0 0 0
8435 end apogee: CONTROL_FINISHED_OK
state 8435 begin climb
8436 1.10 194.6 996.0 0.0 219 8631 1.40 3.50 181.35 1.293 4 0.085 0.206 2727 1335 1823 0 0 0 0 0 0
8704 1.10 194.6 977.8 10.5 223 8714 0.00 3.25 0.00 0.000 6 0.000 0.171 2727 2740 1814 0 0 0 0 0 0
9047 1.10 194.6 941.2 10.7 229 9053 0.00 0.00 0.00 0.000 6 0.000 0.000 2728 2740 1807 0 0 0 0 0 0
9350 1.10 194.6 909.2 10.7 234 9359 0.00 2.97 0.00 0.000 4 0.000 0.135 2727 1332 1806 0 0 0 0 0 0
9406 1.10 194.6 902.9 11.6 234 9416 0.00 2.90 0.00 0.000 6 0.000 0.122 2727 2763 1805 0 0 0 0 0 0
9715 1.10 194.6 865.9 12.4 240 9721 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2764 1803 0 0 0 0 0 0
10017 1.10 194.6 829.8 11.9 245 10028 0.00 2.80 0.00 0.000 4 0.000 0.097 2727 1331 1802 0 0 0 0 0 0
10058 1.10 194.6 825.0 11.6 245 10067 0.00 2.72 0.00 0.000 6 0.000 0.084 2727 2757 1803 0 0 0 0 0 0
10379 1.10 194.6 789.3 11.2 251 10387 0.00 2.38 0.00 0.000 4 0.000 0.109 2727 3955 1802 0 0 0 0 0 0
10418 1.10 194.6 784.6 12.1 251 10426 0.00 2.25 0.00 0.000 6 0.000 0.061 2727 2729 1800 0 0 0 0 0 0
10738 1.10 194.6 747.5 11.7 257 10747 0.00 2.55 0.00 0.000 4 0.000 0.074 2727 1332 1800 0 0 0 0 0 0
10799 1.10 194.6 740.2 11.8 258 10808 0.00 2.60 0.00 0.000 6 0.000 0.061 2727 2757 1801 0 0 0 0 0 0
11167 1.10 194.6 695.9 12.2 264 11176 0.00 2.58 0.00 0.000 4 0.000 0.061 2727 1335 1800 0 0 0 0 0 0
11239 1.10 194.6 687.1 12.8 265 11247 0.00 2.55 0.00 0.000 6 0.000 0.052 2726 2766 1801 0 0 0 0 0 0
11591 1.10 194.6 647.3 11.1 271 11597 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2767 1799 0 0 0 0 0 0
11892 1.10 194.6 616.5 10.1 276 11901 0.00 2.17 0.00 0.000 4 0.000 0.069 2727 3943 1799 0 0 0 0 0 0
11932 1.10 194.6 612.0 11.2 276 11940 0.00 2.15 0.00 0.000 6 0.000 0.044 2727 2732 1798 0 0 0 0 0 0
12266 1.10 194.6 575.8 11.0 282 12272 0.00 2.42 0.00 0.000 4 0.000 0.055 2728 1350 1798 0 0 0 0 0 0
12303 1.10 194.6 571.3 10.6 282 12311 0.00 2.50 0.00 0.000 6 0.000 0.048 2727 2768 1798 0 0 0 0 0 0
12633 1.10 194.6 534.4 11.2 288 12639 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2769 1798 0 0 0 0 0 0
12935 1.10 194.6 503.4 10.2 293 12945 0.00 2.50 0.00 0.000 4 0.000 0.051 2727 1347 1798 0 0 0 0 0 0
12970 1.10 194.6 499.7 10.1 293 12978 0.00 2.45 0.00 0.000 6 0.000 0.046 2727 2754 1798 0 0 0 0 0 0
13295 1.10 194.6 467.1 10.1 299 13296 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 2753 1798 0 0 0 0 0 0
13597 1.11 207.4 438.3 9.6 304 13610 0.00 2.22 7.97 0.846 4 0.000 0.062 2727 3946 1772 0 0 0 0 0 0
13648 1.11 207.4 432.8 11.2 304 13652 0.00 2.12 0.00 0.000 6 0.000 0.042 2727 2735 1771 0 0 0 0 0 0
13961 1.11 207.4 401.3 10.0 310 13965 0.00 2.42 0.00 0.000 4 0.000 0.051 2727 1354 1771 0 0 0 0 0 0
14019 1.11 207.4 395.7 10.0 310 14025 0.00 2.45 0.00 0.000 6 0.000 0.044 2727 2766 1771 0 0 0 0 0 0
14326 1.11 208.8 365.7 10.0 316 14330 0.00 2.15 0.00 0.000 4 0.000 0.061 2727 3949 1771 0 0 0 0 0 0
14357 1.11 208.8 362.2 11.7 316 14361 0.00 2.10 0.00 0.000 6 0.000 0.041 2727 2741 1770 0 0 0 0 0 0
14691 1.11 208.8 325.6 11.1 322 14695 0.00 2.20 0.00 0.000 4 0.000 0.058 2727 3943 1770 0 0 0 0 0 0
14749 1.11 208.8 319.2 11.1 322 14755 0.00 2.08 0.00 0.000 6 0.000 0.041 2727 2755 1770 0 0 0 0 0 0
15057 1.18 267.9 292.8 8.0 329 15119 0.10 2.38 55.90 0.847 4 0.103 0.048 2751 1349 1524 0 0 0 0 0 0
15187 1.20 291.4 280.2 9.2 333 15214 0.00 2.47 21.52 0.792 6 0.000 0.043 2752 2749 1430 0 0 0 0 0 0
15516 1.20 291.4 246.0 10.6 344 15520 0.00 2.45 0.00 0.000 4 0.000 0.047 2752 1341 1423 0 0 0 0 0 0
15548 1.20 291.4 242.5 10.7 345 15552 0.00 2.47 0.00 0.000 6 0.000 0.042 2752 2750 1422 0 0 0 0 0 0
15883 1.20 291.4 206.5 10.6 356 15887 0.00 2.15 0.00 0.000 4 0.000 0.056 2752 3944 1421 0 0 0 0 0 0
15915 1.20 291.4 203.0 11.7 357 15919 0.00 2.08 0.00 0.000 6 0.000 0.038 2752 2739 1421 0 0 0 0 0 0
16250 1.20 291.4 167.5 10.8 368 16254 0.00 2.40 0.00 0.000 4 0.000 0.045 2752 1358 1420 0 0 0 0 0 0
16287 1.20 291.4 163.5 10.8 369 16291 0.00 2.42 0.00 0.000 6 0.000 0.040 2751 2756 1419 0 0 0 0 0 0
16617 1.21 296.4 130.4 9.8 380 16626 0.00 2.45 4.40 0.486 4 0.000 0.044 2751 1360 1408 0 0 0 0 0 0
16664 1.21 296.4 125.5 10.3 381 16668 0.00 2.40 0.00 0.000 6 0.000 0.039 2752 2749 1408 0 0 0 0 0 0
16975 1.23 321.6 94.2 9.1 395 17006 0.00 2.50 22.80 0.603 4 0.000 0.042 2752 1349 1305 0 0 0 0 0 0
17020 1.28 361.3 89.7 8.6 399 17061 0.00 2.45 35.42 0.602 6 0.000 0.038 2752 2759 1143 0 0 0 0 0 0
17253 1.40 478.2 71.3 6.0 422 17358 0.22 2.53 97.45 0.572 4 0.067 0.043 2808 1350 667 0 0 0 0 0 0
17378 1.40 478.2 56.0 12.7 434 17382 0.00 2.45 0.00 0.000 6 0.000 0.039 2808 2758 664 0 0 0 0 0 0
17575 1.40 478.2 30.4 13.6 453 17576 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2758 663 0 0 0 0 0 0
17766 1.40 478.2 5.3 12.5 481 17771 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 2758 662 0 0 0 0 0 0
17785 end climb: SURFACE_DEPTH_REACHED
state 17785 begin surface coast
17806 end surface coast: CONTROL_FINISHED_OK
state 17806 begin surface