SOSCEx Feb12 * SG573 * Dive index * Mission links * Dive 188 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  573 HD_B  0.010078 ROLL_MIN  150 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 HD_C  9.8500004e-06 ROLL_MAX  3785 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  188 HEADING  -1 ROLL_DEG  40 ALTIM_PING_DEPTH  1050
D_SURF  3 ESCAPE_HEADING  0 C_ROLL_DIVE  1819 ALTIM_PING_DELTA  5
D_FLARE  3 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  1646 ALTIM_FREQUENCY  13
D_TGT  1000 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_ABORT  1100 TGT_DEFAULT_LAT  -4235 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_NO_BLEED  200 TGT_DEFAULT_LON  -200 ROLL_TIMEOUT  15 XPDR_VALID  5
D_BOOST  0 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  35 XPDR_INHIBIT  90
T_BOOST  0 SM_CC  250 R_STBD_OVSHOOT  32 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST_BLACKOUT  0 N_FILEKB  4 ROLL_AD_RATE  350 INT_PRESSURE_YINT  -0.55000001
D_FINISH  0 FILEMGR  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_PITCH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  0 KERMIT  0 ROLL_GAIN_P  0.5 DEVICE1  2
SURFACE_URGENCY  0 N_NOCOMM  1 VBD_MIN  409 DEVICE2  115
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE3  20
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 C_VBD  2862 DEVICE4  134
T_DIVE  450 CALL_TRIES  5 VBD_DBAND  2 DEVICE5  -1
T_MISSION  520 CALL_WAIT  60 VBD_CNV  -0.245296 DEVICE6  -1
T_ABORT  720 CAPUPLOAD  0 VBD_TIMEOUT  720 LOGGERS  1
T_TURN  225 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  4.9999999e-05 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE2  -1
T_NO_W  120 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE3  -1
T_LOITER  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_ALMANAC  0 UNCOM_BLEED  60 COMPASS_DEVICE  33
USE_ICE  0 T_GPS_CHARGE  -4891.4395 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  20 PHONE_DEVICE  48
D_OFFGRID  100 STROBE  0 AH0_24V  150 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_CORR_THRESH  60 MINV_24V  20 XPDR_DEVICE  24
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 SIM_W  0
MAX_BUOY  125 PITCH_MIN  100 FG_AHR_10V  0 SIM_PITCH  0
COURSE_BIAS  0 PITCH_MAX  3858 FG_AHR_24V  0 SEABIRD_T_G  0.0042828661
GLIDE_SLOPE  30 C_PITCH  3022 PHONE_SUPPLY  2 SEABIRD_T_H  0.00061930995
SPEED_FACTOR  1 PITCH_DBAND  0.0099999998 PRESSURE_YINT  -87.947678 SEABIRD_T_I  2.1971719e-05
RHO  1.0278 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.00011693723 SEABIRD_T_J  2.301111e-06
MASS  52752 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_G  -9.9469662
LENGTH  1.8 PITCH_GAIN  22 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.155618
NAV_MODE  1 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0016006827
DIRECT_CONTROL  0 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_J  0.00019558761
FERRY_MAX  45 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 EBE_ENABLE  0
KALMAN_USE  1 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  0 GC_WINDOW  20
HD_A  0.0038360001 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  20 GC_LAST_COLLECTION  167

Pre-dive calculations and measurements:
GPS1  101112,042837,-4210.879,-710.938,128,1.4,128,-21.9 TGT_NAME  ACC_WPcal
_CALLS  3 TGT_LATLONG  -4211.000,-710.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.125,-0.028
_SM_DEPTHo  2.60 KALMAN_X  -212515.9,-211.7,-580.7,445421.8,160.9
_SM_ANGLEo  -66.9 KALMAN_Y  -134774.2,261.8,-165.3,188170.4,95.5
GPS2  101112,044413,-4210.882,-711.165,21,0.9,23,-21.9 MHEAD_RNG_PITCHd_Wd  124.3,1614,-27.5,-7.407
SPEED_LIMITS  0.128,0.217 D_GRID  1000

Post-dive calculations and measurements:
FINISH  1.8,1.026555 _10V_AH  10.2,29.366
SM_CCo  20301,31.80,0.571,0,0,1842,250.20 FG_AHR_24Vo  0.000
SM_GC  2.67,0.00,0.00,31.80,0.000,0.000,0.571,84,1832,1842,-9.18,0.37,250.20 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4152.48,-710.74,101112,040458 MEM  354484
TT8_MAMPS  0.026964 DATA_FILE_SIZE  63619,1063
HUMID  43.14 CAP_FILE_SIZE  189558,0
INTERNAL_PRESSURE  9.07928 CFSIZE  2097086464,2069626880
TCM_TEMP  15.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS  0 GPS  101112,102735,-4211.930,-708.611,179,1.0,179,-21.9
_24V_AH  23.8,30.554

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor22296160.12 SBE_CT70624403.42
Roll_motor9070151.84 WL_BB2FLVMT12171053042.97
VBD_pump_during_apogee22012986826.75 SBE_O269319313.46
VBD_pump_during_surface31570431.92 QSP21509249.63
VBD_valve000.00 nil000.00
Iridium_during_init79103194.83 nil000.00
Iridium_during_connect178160680.54 nil000.00
Iridium_during_xfer4032232139.35 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS24266.84
TT8280414427.96
LPSleep137592307.36
TT8_Active3691453.60
TT8_Sampling4156371586.73
TT8_CF81744784.09
TT8_Kalman335920.13
Analog_circuits177512217.26
GPS_charging000.00
Compass340915547.01
RAFOS000.00
Transponder150.05

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
22 end surface: CONTROL_FINISHED_OK
state 22 begin dive
24 -1.25 -40.3 0.0 0.0 0 63 0.00 0.00 -36.72 0.000 2 0.000 0.000 81 1815 2684 0 0 0 0 0 0
65 -1.25 -86.6 3.1 -1.7 6 103 10.48 2.33 -18.45 0.000 4 0.243 0.070 2604 3229 3218 0 0 0 0 0 0
282 -1.16 -86.6 31.0 -15.9 42 290 0.12 2.22 0.00 0.000 6 0.181 0.043 2642 1827 3219 0 0 0 0 0 0
520 -1.10 -86.6 68.2 -15.9 83 525 0.10 1.45 0.00 0.000 4 0.220 0.055 2660 2716 3219 0 0 0 0 0 0
583 -1.10 -86.6 76.6 -12.7 94 588 0.00 1.42 0.00 0.000 6 0.000 0.044 2659 1813 3219 0 0 0 0 0 0
918 -1.08 -86.6 122.4 -13.8 136 923 0.03 0.88 0.00 0.000 4 0.296 0.054 2667 1252 3220 0 0 0 0 0 0
996 -1.06 -86.6 133.2 -13.5 140 1005 0.08 0.90 0.00 0.000 6 0.225 0.046 2678 1827 3220 0 0 0 0 0 0
1318 -1.06 -86.6 172.9 -12.7 161 1322 0.00 1.00 0.00 0.000 4 0.000 0.052 2674 2475 3221 0 0 0 0 0 0
1437 -1.06 -86.6 188.8 -13.6 168 1441 0.00 1.02 0.00 0.000 6 0.000 0.044 2674 1810 3220 0 0 0 0 0 0
1768 -1.06 -86.6 234.7 -14.0 189 1772 0.00 2.15 0.00 0.000 4 0.000 0.057 2664 3167 3220 0 0 0 0 0 0
1902 -1.06 -86.6 252.9 -12.9 197 1906 0.08 2.08 0.00 0.000 6 0.217 0.041 2680 1820 3221 0 0 0 0 0 0
2229 -1.06 -86.6 294.4 -12.5 213 2233 0.00 1.88 0.00 0.000 4 0.000 0.056 2672 2988 3221 0 0 0 0 0 0
2357 -1.06 -86.6 311.1 -12.4 218 2366 0.00 1.83 0.00 0.000 6 0.000 0.042 2672 1822 3221 0 0 0 0 0 0
2674 -1.06 -86.6 351.2 -12.9 234 2678 0.00 1.23 0.00 0.000 4 0.000 0.053 2666 2598 3221 0 0 0 0 0 0
2789 -1.06 -86.6 366.2 -13.1 239 2793 0.03 1.23 0.00 0.000 6 0.219 0.044 2674 1808 3221 0 0 0 0 0 0
3130 -1.06 -86.6 413.4 -13.7 254 3134 0.00 2.25 0.00 0.000 4 0.000 0.057 2663 3222 3221 0 0 0 0 0 0
3293 -1.06 -86.6 436.5 -14.2 259 3298 0.08 2.17 0.00 0.000 6 0.219 0.042 2679 1811 3221 0 0 0 0 0 0
3627 -1.06 -86.6 483.2 -13.9 270 3631 0.00 1.92 0.00 0.000 4 0.000 0.057 2670 3011 3221 0 0 0 0 0 0
3765 -1.06 -86.6 502.6 -13.4 274 3770 0.00 1.85 0.00 0.000 6 0.000 0.042 2671 1827 3220 0 0 0 0 0 0
4101 -1.06 -86.6 547.7 -13.4 285 4104 0.00 1.42 0.00 0.000 4 0.000 0.054 2664 2723 3220 0 0 0 0 0 0
4217 -1.06 -86.6 563.6 -13.5 288 4223 0.08 1.45 0.00 0.000 6 0.221 0.042 2680 1800 3220 0 0 0 0 0 0
4541 -1.06 -86.6 605.7 -13.2 299 4545 0.00 1.15 0.00 0.000 4 0.000 0.054 2675 2527 3219 0 0 0 0 0 0
4646 -1.06 -86.6 620.2 -13.4 302 4651 0.00 1.12 0.00 0.000 6 0.000 0.044 2675 1810 3219 0 0 0 0 0 0
4982 -1.06 -86.6 667.0 -14.3 313 4985 0.00 2.03 0.00 0.000 4 0.000 0.058 2665 3082 3218 0 0 0 0 0 0
5117 -1.06 -86.6 686.3 -13.3 317 5121 0.05 1.95 0.00 0.000 6 0.249 0.043 2675 1821 3218 0 0 0 0 0 0
5456 -1.06 -86.6 732.0 -13.2 328 5460 0.00 1.25 0.00 0.000 4 0.000 0.054 2670 2607 3217 0 0 0 0 0 0
5591 -1.06 -86.6 749.2 -12.4 332 5595 0.00 1.23 0.00 0.000 6 0.000 0.045 2669 1821 3217 0 0 0 0 0 0
5931 -1.06 -86.6 791.2 -12.3 343 5935 0.00 2.22 0.00 0.000 4 0.000 0.058 2659 3217 3217 0 0 0 0 0 0
6153 -1.06 -86.6 819.4 -11.9 349 6160 0.05 2.20 0.00 0.000 6 0.195 0.043 2674 1807 3216 0 0 0 0 0 0
6466 -1.06 -86.6 857.0 -12.2 360 6470 0.00 1.12 0.00 0.000 4 0.000 0.054 2669 2519 3215 0 0 0 0 0 0
6588 -1.06 -86.6 872.5 -12.6 363 6593 0.00 1.10 0.00 0.000 6 0.000 0.044 2670 1818 3215 0 0 0 0 0 0
6907 -1.06 -86.6 914.0 -13.5 374 6910 0.00 0.85 0.00 0.000 4 0.000 0.054 2666 2368 3214 0 0 0 0 0 0
7008 -1.06 -86.6 928.0 -13.1 377 7012 0.03 0.85 0.00 0.000 6 0.219 0.047 2674 1812 3214 0 0 0 0 0 0
7347 -1.06 -86.6 975.7 -14.2 388 7351 0.00 1.50 0.00 0.000 4 0.000 0.056 2667 2754 3214 0 0 0 0 0 0
7504 -1.06 -86.6 997.9 -14.1 392 7508 0.00 1.45 0.00 0.000 6 0.000 0.044 2666 1828 3213 0 0 0 0 0 0
7545 end dive: TARGET_DEPTH_EXCEEDED
state 7545 begin apogee
7549 -0.23 0.0 1003.6 13.9 394 7625 0.93 0.00 72.18 1.298 6 0.163 0.000 2940 1642 2862 0 0 0 0 0 0
7626 end apogee: CONTROL_FINISHED_OK
state 7626 begin climb
7627 1.25 86.6 1007.4 0.0 396 7706 1.48 0.38 73.95 1.269 4 0.092 0.059 3424 1417 2508 0 0 0 0 0 0
7851 1.21 86.6 996.5 7.7 403 7857 0.05 0.38 0.00 0.000 6 0.233 0.052 3416 1653 2507 0 0 0 0 0 0
8164 1.18 86.6 972.4 8.1 414 8169 0.05 0.28 0.00 0.000 4 0.258 0.063 3405 1842 2505 0 0 0 0 0 0
8420 1.18 86.6 952.0 7.8 421 8424 0.00 0.32 0.00 0.000 6 0.000 0.059 3405 1637 2505 0 0 0 0 0 0
8739 1.15 86.6 927.3 7.7 432 8742 0.00 2.17 0.00 0.000 4 0.000 0.056 3396 2981 2505 0 0 0 0 0 0
8890 1.12 87.0 915.7 7.4 436 8894 0.10 2.10 0.00 0.000 6 0.216 0.043 3383 1643 2504 0 0 0 0 0 0
9202 1.13 100.1 896.7 5.8 446 9216 0.00 0.00 11.82 1.151 6 0.000 0.000 3383 1643 2452 0 0 0 0 0 0
9508 1.13 110.3 877.7 6.2 456 9522 0.00 0.38 9.82 1.108 4 0.000 0.057 3383 1885 2412 0 0 0 0 0 0
9691 1.15 119.5 865.5 6.3 461 9707 0.00 0.40 9.65 1.064 6 0.000 0.054 3385 1634 2374 0 0 0 0 0 0
10014 1.17 119.5 841.5 7.4 472 10018 0.00 0.75 0.00 0.000 4 0.000 0.051 3385 2117 2373 0 0 0 0 0 0
10192 1.20 125.7 828.3 6.7 477 10203 0.05 0.75 6.47 0.949 6 0.168 0.048 3412 1644 2349 0 0 0 0 0 0
10521 1.20 125.7 802.4 8.0 488 10522 0.00 0.00 0.00 0.000 6 0.000 0.000 3412 1645 2348 0 0 0 0 0 0
10827 1.20 125.7 776.4 8.6 498 10830 0.00 0.35 0.00 0.000 4 0.000 0.054 3411 1886 2348 0 0 0 0 0 0
11084 1.20 125.7 753.5 8.8 505 11087 0.00 0.38 0.00 0.000 6 0.000 0.054 3413 1646 2347 0 0 0 0 0 0
11402 1.20 125.7 726.0 8.7 516 11405 0.00 1.33 0.00 0.000 4 0.000 0.052 3413 2476 2347 0 0 0 0 0 0
11558 1.20 125.7 712.2 8.4 520 11562 0.00 1.30 0.00 0.000 6 0.000 0.044 3418 1653 2347 0 0 0 0 0 0
11876 1.20 125.7 684.8 8.6 531 11879 0.00 0.80 0.00 0.000 4 0.000 0.050 3418 2174 2347 0 0 0 0 0 0
12093 1.20 125.7 666.2 7.8 537 12098 0.00 0.85 0.00 0.000 6 0.000 0.049 3421 1637 2347 0 0 0 0 0 0
12417 1.20 125.7 639.1 8.3 548 12421 0.00 0.40 0.00 0.000 4 0.000 0.054 3421 1910 2347 0 0 0 0 0 0
12511 1.20 125.7 631.0 8.1 550 12517 0.05 0.43 0.00 0.000 6 0.256 0.055 3414 1639 2347 0 0 0 0 0 0
12823 1.20 125.7 606.9 7.5 561 12824 0.00 0.00 0.00 0.000 6 0.000 0.000 3414 1639 2347 0 0 0 0 0 0
13130 1.20 126.2 584.4 7.3 571 13131 0.00 0.00 0.00 0.000 6 0.000 0.000 3414 1639 2347 0 0 0 0 0 0
13436 1.20 130.5 563.0 6.9 581 13445 0.00 0.30 5.12 0.770 4 0.000 0.047 3412 1844 2330 0 0 0 0 0 0
13495 1.20 138.9 558.9 6.4 582 13507 0.00 0.32 8.88 0.911 6 0.000 0.061 3414 1637 2295 0 0 0 0 0 0
13836 1.20 138.9 532.3 7.9 594 13839 0.00 0.60 0.00 0.000 4 0.000 0.050 3411 2038 2294 0 0 0 0 0 0
14059 1.20 138.9 513.5 8.0 600 14063 0.00 0.62 0.00 0.000 6 0.000 0.050 3414 1643 2294 0 0 0 0 0 0
14377 1.20 138.9 485.5 9.0 611 14380 0.00 0.60 0.00 0.000 4 0.000 0.055 3417 1246 2294 0 0 0 0 0 0
14487 1.20 138.9 475.6 8.9 614 14492 0.00 0.62 0.00 0.000 6 0.000 0.047 3416 1645 2294 0 0 0 0 0 0
14817 1.20 138.9 446.6 8.5 625 14818 0.00 0.00 0.00 0.000 6 0.000 0.000 3416 1646 2294 0 0 0 0 0 0
15123 1.20 138.9 421.9 7.7 635 15124 0.00 0.00 0.00 0.000 6 0.000 0.000 3416 1646 2294 0 0 0 0 0 0
15429 1.20 138.9 398.9 7.5 645 15433 0.00 0.30 0.00 0.000 4 0.000 0.059 3416 1870 2294 0 0 0 0 0 0
15551 1.20 138.9 389.2 7.9 650 15555 0.00 0.35 0.00 0.000 6 0.000 0.060 3417 1644 2294 0 0 0 0 0 0
15873 1.20 138.9 363.0 8.3 666 15874 0.00 0.00 0.00 0.000 6 0.000 0.000 3417 1644 2294 0 0 0 0 0 0
16184 1.20 138.9 335.2 9.2 681 16187 0.00 0.65 0.00 0.000 4 0.000 0.056 3421 1215 2294 0 0 0 0 0 0
16312 1.20 138.9 322.7 9.8 686 16320 0.00 0.73 0.00 0.000 6 0.000 0.045 3421 1680 2294 0 0 0 0 0 0
16628 1.20 138.9 293.4 9.1 702 16631 0.00 0.45 0.00 0.000 4 0.000 0.057 3422 1380 2294 0 0 0 0 0 0
16697 1.20 138.9 286.9 8.8 705 16702 0.05 0.40 0.00 0.000 6 0.187 0.053 3407 1654 2294 0 0 0 0 0 0
17031 1.20 138.9 256.9 8.8 721 17035 0.00 0.43 0.00 0.000 4 0.000 0.053 3407 1963 2294 0 0 0 0 0 0
17078 1.20 138.9 252.8 7.5 723 17082 0.00 0.47 0.00 0.000 6 0.000 0.055 3409 1648 2294 0 0 0 0 0 0
17405 1.20 138.9 227.4 7.4 743 17409 0.00 2.25 0.00 0.000 4 0.000 0.057 3420 236 2294 0 0 0 0 0 0
17545 1.20 139.7 216.1 7.3 751 17551 0.00 2.20 0.00 0.000 6 0.000 0.041 3420 1653 2294 0 0 0 0 0 0
17864 1.20 139.7 191.8 7.7 772 17867 0.00 1.38 0.00 0.000 4 0.000 0.050 3420 2535 2295 0 0 0 0 0 0
18022 1.20 139.7 179.3 8.1 781 18027 0.03 1.38 0.00 0.000 6 0.216 0.044 3418 1656 2295 0 0 0 0 0 0
18347 1.20 139.7 154.4 8.1 802 18350 0.00 0.57 0.00 0.000 4 0.000 0.055 3420 1267 2295 0 0 0 0 0 0
18459 1.20 139.7 145.8 7.7 808 18467 0.00 0.57 0.00 0.000 6 0.000 0.047 3420 1642 2295 0 0 0 0 0 0
18779 1.20 139.7 118.8 8.9 829 18783 0.00 0.40 0.00 0.000 4 0.000 0.060 3422 1370 2296 0 0 0 0 0 0
18936 1.20 139.7 104.6 8.2 838 18940 0.00 0.45 0.00 0.000 6 0.000 0.049 3422 1668 2296 0 0 0 0 0 0
19276 1.20 139.7 73.3 8.7 892 19281 0.00 0.80 0.00 0.000 4 0.000 0.050 3422 2203 2296 0 0 0 0 0 0
19328 1.20 139.7 68.9 8.9 901 19333 0.03 0.88 0.00 0.000 6 0.221 0.047 3418 1636 2296 0 0 0 0 0 0
19677 1.20 147.9 44.3 6.4 962 19696 0.00 2.22 9.12 0.628 4 0.000 0.055 3428 265 2258 0 0 0 0 0 0
19871 1.20 149.6 28.0 7.2 995 19879 0.03 2.17 0.00 0.000 6 0.211 0.041 3416 1649 2257 0 0 0 0 0 0
19952 1.20 172.1 24.2 4.6 1008 19972 0.00 0.75 11.68 0.623 4 0.000 0.050 3417 2143 2159 0 0 0 0 0 0
20186 1.23 178.3 6.8 6.6 1047 20194 0.00 0.77 2.25 0.183 6 0.000 0.048 3420 1639 2135 0 0 0 0 0 0
20236 end climb: SURFACE_DEPTH_REACHED
state 20236 begin surface coast
20285 end surface coast: CONTROL_FINISHED_OK
state 20285 begin surface