DavisStrait Sep08 * SG108 * Dive index * Mission links * Dive 781 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  108 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  5
MISSION  11 ESCAPE_HEADING  150 ROLL_MIN  294 ALTIM_TOP_MIN_OBSTACLE  1.8
DIVE  781 ESCAPE_HEADING_DELTA  5 ROLL_MAX  3598 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  3 ROLL_DEG  40 ALTIM_PING_DELTA  0
D_FLARE  3 TGT_DEFAULT_LAT  47.599998 C_ROLL_DIVE  2230 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -122.3 C_ROLL_CLIMB  1740 ALTIM_PULSE  3
D_ABORT  1070 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_NO_BLEED  50 SM_CC  225 ROLL_CNV  0.028270001 XPDR_VALID  4
D_FINISH  7 N_FILEKB  4 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  1.75 FILEMGR  2 R_PORT_OVSHOOT  38 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  500 CALL_NDIVES  1 R_STBD_OVSHOOT  31 INT_PRESSURE_YINT  0
D_CALL  3 COMM_SEQ  0 ROLL_AD_RATE  275 DEEPGLIDER  0
SURFACE_URGENCY  10 KERMIT  0 ROLL_MAXERRORS  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  5 N_NOCOMM  0 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  10 N_NOSURFACE  0 ROLL_ADJ_DBAND  0 DEVICE1  2
T_DIVE  470 UPLOAD_DIVES_MAX  5 VBD_MIN  588 DEVICE2  20
T_MISSION  550 CALL_TRIES  3 VBD_MAX  3951 DEVICE3  -1
T_ABORT  1440 CALL_WAIT  60 C_VBD  2650 DEVICE4  -1
T_TURN  225 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  120 HEAPDBG  0 VBD_TIMEOUT  360 SMARTS  0
USE_BATHY  -5 T_GPS  3 PITCH_VBD_SHIFT  0.0012300001 SMARTDEVICE1  -1
USE_ICE  1 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  4 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.1 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS_DEVICE  33
D_OFFGRID  900 T_GPS_CHARGE  -142918.12 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  60 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  0 RAFOS_DEVICE  32
MAX_BUOY  150 RAFOS_HIT_WINDOW  3600 AH0_24V  150 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  350 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3700 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2680 PRESSURE_YINT  -22.639299 SEABIRD_T_G  0.0043498399
RHO  1.02765 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001161151 SEABIRD_T_H  0.0006493734
MASS  51779 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_T_I  2.8112627e-05
NAV_MODE  0 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  3.1957888e-06
FERRY_MAX  45 PITCH_GAIN  16 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.106751
KALMAN_USE  2 PITCH_TIMEOUT  20 COMPASS_USE  0 SEABIRD_C_H  1.1366181
HD_A  0.0038000001 PITCH_AD_RATE  150 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  0.00038917549
HD_B  0.0099999998 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  7.9540005e-05
HD_C  2.7999999e-06 PITCH_ADJ_GAIN  0.045000002 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  101037,6526.934,-5613.582,41,0.9,41,-35.3 TGT_NAME  NUUK2
_CALLS  1 TGT_LATLONG  6500.000,-5600.000
_XMS_NAKs  4 TGT_RADIUS  20000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.09 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -65.6 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  102131,6527.032,-5613.567,11,1.0,11,-35.3 MHEAD_RNG_PITCHd_Wd  203.3,51177,-13.0,-7.021
SPEED_LIMITS  0.122,0.233 D_GRID  703

Post-dive calculations and measurements:
FREEZE  1.37,-0.360,-0.923 TCM_TEMP  16.80
FINISH  1.4,1.013630 XPDR_PINGS  312
SM_CCo  21667,0.00,0.000,0,0,1565,266.15 _24V_AH  21.7,117.083
SM_GC  2.22,7.25,0.00,0.00,0.044,0.000,0.000,334,2230,1565,-10.68,0.00,266.15 _10V_AH  10.4,53.045
RAFOS_CLK  830 DATA_FILE_SIZE  34712,1090
RAFOS  0,1233835459,12.083333,12.071944,59,59,57,55,53,52,119,188,213,153,170,179 CAP_FILE_SIZE  183022,0
RAFOS_FIX  6614.886719,-5648.581055,290109,161652,2,86,0.18 CFSIZE  260165632,203046912
IRIDIUM_FIX  6501.76,-5609.99,020598,040437 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS  0.026845 SOUNDSPEED  1466.2
HUMID  1789 GPS  050209,162431,6526.065,-5608.257,37,1.9,37,-35.3
INTERNAL_PRESSURE  9.94179

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor24234125.54 SBE_CT75724394.48
Roll_motor21764303.73 SBE_O2000.00
VBD_pump_during_apogee37012139744.32 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710361.43 nil000.00
Iridium_during_connect37160130.18 nil000.00
Iridium_during_xfer3962231920.89
Transponder_ping78420710.89
Mmodem_TX000.00
Mmodem_RX000.00
GPS16508.80
TT8212019439.23
LPSleep163032391.68
TT8_Active54119112.22
TT8_Sampling217439902.66
TT8_CF8116945558.59
TT8_Kalman000.00
Analog_circuits175612219.17
GPS_charging000.00
Compass21478178.66
RAFOS2520139.31
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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
17 -0.99 -146.0 0.0 0.0 0 104 0.00 0.00 -83.90 0.000 2 0.000 0.000 332 2244 3168
110 -0.99 -146.0 3.4 -2.2 15 129 8.68 2.33 -2.12 0.000 4 0.235 0.064 2472 817 3250
375 -0.82 -146.0 32.9 -9.6 61 382 0.15 2.28 0.00 0.000 6 0.127 0.051 2507 2231 3252
725 -0.82 -146.0 59.3 -6.8 122 730 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2231 3252
1072 -0.82 -146.0 78.4 -6.0 183 1078 0.00 0.00 0.00 0.000 6 0.000 0.000 2506 2231 3251
1420 -0.87 -146.0 97.4 -5.6 244 1426 0.00 2.28 0.00 0.000 4 0.000 0.053 2507 819 3250
1435 -0.87 -146.0 98.1 -5.3 246 1441 0.00 2.30 0.00 0.000 6 0.000 0.053 2499 2240 3250
1762 -0.87 -146.0 114.1 -4.7 266 1766 0.00 2.30 0.00 0.000 4 0.000 0.054 2499 816 3248
1793 -0.87 -146.0 115.7 -5.4 267 1797 0.00 2.30 0.00 0.000 6 0.000 0.053 2489 2236 3248
2123 -0.87 -146.0 134.8 -6.0 283 2127 0.00 2.28 0.00 0.000 4 0.000 0.053 2489 824 3248
2136 -0.87 -146.0 135.9 -6.2 283 2140 0.00 2.28 0.00 0.000 6 0.000 0.051 2479 2230 3248
2461 -0.87 -146.0 156.8 -6.7 299 2464 0.00 2.28 0.00 0.000 4 0.000 0.051 2479 814 3248
2475 -0.87 -146.0 157.9 -6.7 299 2480 0.10 2.30 0.00 0.000 6 0.133 0.051 2495 2239 3247
2798 -0.92 -146.0 178.0 -5.9 315 2803 0.00 2.28 0.00 0.000 4 0.000 0.051 2495 818 3247
2812 -0.92 -146.0 178.8 -5.8 315 2816 0.00 2.30 0.00 0.000 6 0.000 0.050 2488 2243 3247
3135 -0.92 -146.0 199.3 -6.3 331 3139 0.00 2.28 0.00 0.000 4 0.000 0.050 2487 821 3248
3148 -0.92 -146.0 200.2 -6.2 331 3152 0.00 2.28 0.00 0.000 6 0.000 0.050 2478 2234 3248
3472 -0.92 -146.0 219.2 -5.6 347 3476 0.00 2.28 0.00 0.000 4 0.000 0.050 2478 813 3248
3485 -0.92 -146.0 220.0 -5.7 347 3489 0.00 2.28 0.00 0.000 6 0.000 0.048 2468 2237 3249
3808 -0.92 -146.0 239.3 -6.2 363 3812 0.00 2.28 0.00 0.000 4 0.000 0.049 2468 813 3249
3822 -0.87 -146.0 240.2 -6.2 363 3826 0.12 2.28 0.00 0.000 6 0.127 0.048 2491 2234 3249
4145 -0.93 -146.0 256.5 -4.5 379 4149 0.00 2.25 0.00 0.000 4 0.000 0.048 2492 816 3250
4157 -0.93 -146.0 257.3 -4.5 379 4161 0.00 2.28 0.00 0.000 6 0.000 0.047 2484 2241 3250
4483 -0.93 -146.0 272.7 -4.7 395 4487 0.00 2.28 0.00 0.000 4 0.000 0.048 2484 817 3252
4558 -0.93 -146.0 276.5 -5.2 398 4562 0.00 2.28 0.00 0.000 6 0.000 0.048 2474 2238 3251
4887 -0.93 -146.0 293.2 -5.1 414 4888 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2238 3252
5197 -0.93 -146.0 308.4 -4.9 429 5198 0.00 0.00 0.00 0.000 6 0.000 0.000 2474 2238 3253
5505 -0.93 -146.0 322.5 -4.6 444 5509 0.00 2.17 0.00 0.000 4 0.000 0.061 2464 3602 3254
5524 -0.93 -146.0 323.4 -4.5 444 5530 0.00 2.12 0.00 0.000 6 0.000 0.036 2463 2203 3253
5843 -0.88 -146.0 338.9 -4.9 460 5845 0.10 0.00 0.00 0.000 6 0.137 0.000 2491 2203 3254
6154 -0.95 -146.0 351.8 -3.9 475 6158 0.00 2.15 0.00 0.000 4 0.000 0.048 2491 823 3255
6168 -1.00 -146.0 352.6 -3.9 475 6171 0.00 2.28 0.00 0.000 6 0.000 0.047 2483 2245 3255
6492 -1.00 -146.0 366.8 -4.4 491 6496 0.00 2.25 0.00 0.000 4 0.000 0.047 2483 831 3255
6505 -1.00 -146.0 367.5 -4.3 491 6509 0.00 2.25 0.00 0.000 6 0.000 0.046 2473 2244 3255
6828 -1.00 -146.0 382.8 -4.8 507 6832 0.00 2.25 0.00 0.000 4 0.000 0.046 2473 830 3256
6841 -1.00 -146.0 383.4 -5.0 507 6845 0.00 2.25 0.00 0.000 6 0.000 0.046 2464 2241 3256
7166 -0.95 -146.0 399.9 -5.2 523 7167 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2241 3256
7470 -0.90 -146.0 415.6 -5.2 531 7473 0.00 2.25 0.00 0.000 4 0.000 0.048 2463 831 3256
7483 -0.85 -146.0 416.4 -5.3 531 7488 0.15 2.25 0.00 0.000 6 0.123 0.045 2496 2246 3257
7800 -0.93 -146.0 430.1 -4.3 539 7804 0.00 2.25 0.00 0.000 4 0.000 0.046 2496 829 3257
7813 -1.01 -146.0 430.8 -4.4 539 7818 0.12 2.25 0.00 0.000 6 0.066 0.045 2431 2246 3256
8135 -0.86 -146.0 451.1 -6.5 547 8137 0.22 0.00 0.00 0.000 6 0.129 0.000 2498 2247 3257
8459 -0.95 -146.0 466.8 -4.7 555 8463 0.10 2.28 0.00 0.000 4 0.081 0.045 2446 823 3257
8471 -0.95 -146.0 467.5 -4.8 555 8476 0.15 2.28 0.00 0.000 6 0.127 0.047 2478 2242 3257
8793 -0.95 -146.0 485.1 -5.5 563 8796 0.00 2.25 0.00 0.000 4 0.000 0.047 2478 831 3257
8817 -0.95 -146.0 486.7 -5.9 563 8821 0.00 2.25 0.00 0.000 6 0.000 0.046 2470 2245 3257
9167 -0.95 -146.0 506.8 -5.7 572 9170 0.00 2.25 0.00 0.000 4 0.000 0.046 2470 829 3257
9191 -0.90 -146.0 508.4 -6.1 572 9196 0.10 2.25 0.00 0.000 6 0.131 0.046 2486 2242 3257
9543 -0.96 -146.0 525.7 -5.0 581 9546 0.00 2.25 0.00 0.000 4 0.000 0.047 2487 827 3257
9578 -0.96 -146.0 527.6 -5.3 581 9582 0.00 2.25 0.00 0.000 6 0.000 0.047 2479 2232 3257
9918 -0.96 -146.0 545.8 -5.3 590 9919 0.00 0.00 0.00 0.000 6 0.000 0.000 2479 2232 3257
10243 -0.96 -146.0 562.3 -5.1 598 10248 0.00 2.22 0.00 0.000 4 0.000 0.047 2479 828 3257
10256 -0.96 -146.0 563.1 -5.0 598 10260 0.00 2.25 0.00 0.000 6 0.000 0.046 2469 2239 3257
10577 -0.96 -146.0 580.3 -5.4 606 10580 0.00 2.25 0.00 0.000 4 0.000 0.048 2469 828 3257
10591 -0.96 -146.0 581.0 -5.3 606 10595 0.00 2.25 0.00 0.000 6 0.000 0.047 2459 2238 3257
10912 -0.96 -146.0 598.3 -5.1 614 10916 0.00 2.25 0.00 0.000 4 0.000 0.048 2459 829 3257
10925 -0.90 -146.0 598.9 -4.9 614 10930 0.12 2.25 0.00 0.000 6 0.127 0.046 2483 2244 3257
11247 -0.96 -146.0 613.4 -4.6 622 11251 0.00 2.25 0.00 0.000 4 0.000 0.047 2483 827 3257
11305 -0.96 -146.0 616.2 -4.5 623 11309 0.00 2.25 0.00 0.000 6 0.000 0.047 2475 2233 3257
11626 -0.96 -146.0 632.7 -5.2 631 11630 0.00 2.25 0.00 0.000 4 0.000 0.048 2475 822 3257
11639 -0.96 -146.0 633.5 -5.0 631 11643 0.00 2.25 0.00 0.000 6 0.000 0.046 2466 2231 3257
11960 -0.96 -146.0 649.8 -5.2 639 11962 0.00 0.00 0.00 0.000 6 0.000 0.000 2466 2231 3257
12284 -0.96 -146.0 665.4 -4.8 647 12288 0.00 2.25 0.00 0.000 4 0.000 0.048 2466 822 3257
12297 -0.96 -146.0 666.1 -4.9 647 12301 0.00 2.28 0.00 0.000 6 0.000 0.047 2456 2241 3257
12619 -0.90 -146.0 683.2 -5.3 655 12624 0.12 2.17 0.00 0.000 4 0.132 0.060 2483 3594 3257
12631 -0.90 -146.0 683.9 -5.2 655 12635 0.00 2.10 0.00 0.000 6 0.000 0.036 2483 2213 3257
12953 -0.96 -146.0 698.4 -4.7 663 12957 0.00 2.15 0.00 0.000 4 0.000 0.049 2483 828 3257
12968 -1.01 -146.0 699.1 -4.4 663 12972 0.00 2.28 0.00 0.000 6 0.000 0.047 2473 2244 3256
13081 end dive: TARGET_DEPTH_EXCEEDED
state 13081 begin apogee
13092 -0.31 0.0 704.8 4.8 666 13225 0.45 0.00 130.48 1.213 6 0.109 0.000 2617 1737 2650
13226 end apogee: CONTROL_FINISHED_OK
state 13226 begin climb
13231 0.99 146.0 705.8 0.0 669 13372 0.85 2.55 134.25 1.147 4 0.088 0.053 2898 3146 2054
13407 0.70 146.0 689.6 11.9 673 13412 0.30 2.38 0.00 0.000 6 0.124 0.038 2826 1737 2049
13728 0.75 146.0 664.4 7.0 681 13732 0.00 2.25 0.00 0.000 4 0.000 0.056 2834 329 2046
13764 0.84 146.0 661.6 7.5 681 13769 0.10 2.25 0.00 0.000 6 0.074 0.042 2889 1754 2046
14104 0.67 146.0 627.5 10.2 690 14108 0.22 2.20 0.00 0.000 4 0.124 0.056 2818 3151 2045
14206 0.67 146.0 619.1 7.5 692 14210 0.00 2.20 0.00 0.000 6 0.000 0.041 2826 1725 2044
14528 0.74 150.3 597.2 6.9 700 14529 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 1725 2044
14852 0.80 159.0 575.0 6.7 708 14868 0.10 2.30 10.82 1.032 4 0.073 0.054 2882 3162 2001
14939 0.56 159.0 566.1 10.9 710 14944 0.32 2.20 0.00 0.000 6 0.127 0.041 2795 1735 1999
15267 0.83 211.1 548.1 5.3 718 15319 0.20 2.30 46.25 1.121 4 0.053 0.055 2906 334 1789
15350 0.71 211.1 539.7 11.3 720 15355 0.25 2.25 0.00 0.000 6 0.122 0.042 2831 1740 1786
15678 0.79 211.3 516.1 7.0 728 15682 0.00 2.22 0.00 0.000 4 0.000 0.057 2832 3161 1780
15791 0.79 211.3 506.6 8.3 730 15795 0.00 2.20 0.00 0.000 6 0.000 0.041 2840 1730 1778
16141 0.79 211.3 480.1 7.7 739 16145 0.00 2.28 0.00 0.000 4 0.000 0.054 2840 3151 1777
16183 0.79 211.3 476.4 9.2 739 16190 0.00 2.20 0.00 0.000 6 0.000 0.041 2849 1725 1777
16517 0.79 211.3 447.0 9.0 748 16518 0.00 0.00 0.00 0.000 6 0.000 0.000 2850 1725 1777
16842 0.79 211.3 417.2 9.1 756 16846 0.00 2.28 0.00 0.000 4 0.000 0.054 2849 3151 1777
16883 0.71 211.3 413.0 9.5 756 16890 0.10 2.20 0.00 0.000 6 0.137 0.041 2831 1725 1776
17199 0.80 211.3 388.4 7.7 768 17203 0.08 2.22 0.00 0.000 4 0.087 0.053 2887 327 1776
17247 0.74 211.3 383.6 9.9 770 17252 0.17 2.25 0.00 0.000 6 0.114 0.041 2834 1757 1776
17577 0.82 211.3 357.8 7.4 786 17581 0.10 2.20 0.00 0.000 4 0.072 0.055 2889 3151 1776
17692 0.62 211.3 344.5 13.6 791 17697 0.30 2.20 0.00 0.000 6 0.122 0.041 2810 1727 1776
18022 0.85 228.0 322.6 6.5 807 18044 0.17 2.25 14.20 0.905 4 0.058 0.054 2912 325 1720
18080 0.74 228.0 316.0 13.1 809 18085 0.25 2.25 0.00 0.000 6 0.119 0.041 2835 1751 1719
18399 0.83 228.0 290.1 7.9 824 18404 0.10 2.20 0.00 0.000 4 0.072 0.054 2891 3151 1718
18519 0.66 228.0 275.7 12.5 829 18524 0.28 2.20 0.00 0.000 6 0.120 0.040 2818 1725 1717
18844 0.88 252.9 254.6 6.2 845 18874 0.17 2.30 22.90 0.894 4 0.055 0.053 2920 326 1618
18906 0.77 252.9 248.2 11.4 847 18912 0.25 2.25 0.00 0.000 6 0.115 0.041 2843 1750 1616
19224 0.88 252.9 223.5 7.7 863 19228 0.10 2.20 0.00 0.000 4 0.072 0.053 2899 3156 1613
19328 0.70 252.9 210.8 12.0 867 19332 0.28 2.20 0.00 0.000 6 0.117 0.040 2826 1730 1612
19646 0.92 264.7 188.3 6.6 882 19662 0.17 2.22 11.18 0.795 4 0.056 0.053 2928 329 1570
19712 0.82 264.7 181.2 11.8 884 19717 0.25 2.20 0.00 0.000 6 0.118 0.041 2852 1742 1569
20046 0.91 264.7 154.5 7.8 900 20051 0.10 2.20 0.00 0.000 4 0.073 0.052 2909 3150 1567
20150 0.73 264.7 141.2 14.0 904 20155 0.28 2.17 0.00 0.000 6 0.117 0.039 2835 1736 1566
20468 0.93 264.7 116.8 7.1 919 20473 0.15 2.22 0.00 0.000 4 0.061 0.052 2924 335 1566
20539 0.84 264.7 108.8 13.3 922 20544 0.22 2.20 0.00 0.000 6 0.119 0.041 2856 1742 1566
20879 0.99 264.7 81.4 7.8 969 20886 0.12 2.20 0.00 0.000 4 0.064 0.052 2925 3145 1566
20964 0.81 264.7 70.6 13.9 983 20971 0.28 2.17 0.00 0.000 6 0.116 0.040 2852 1733 1566
21315 1.51 264.7 37.1 8.6 1044 21322 0.43 2.28 0.00 0.000 4 0.069 0.053 3013 3146 1566
21354 1.63 264.7 33.5 9.6 1050 21360 0.00 2.17 0.00 0.000 6 0.000 0.041 3023 1741 1566
21565 end climb: SURFACE_DEPTH_REACHED
state 21566 begin surface coast
21583 end surface coast: CONTROL_FINISHED_OK
state 21583 begin surface