DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 247 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  108 HD_B  0.0103 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  20
MISSION  21 HD_C  3.68e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15
DIVE  247 HEADING  -1 ROLL_MIN  294 ALTIM_TOP_TURN_MARGIN  5
N_DIVES  0 ESCAPE_HEADING  100 ROLL_MAX  3598 ALTIM_TOP_MIN_OBSTACLE  2.8
D_SURF  4 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  300
D_FLARE  3 FIX_MISSING_TIMEOUT  5 C_ROLL_DIVE  2100 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LAT  6000 C_ROLL_CLIMB  1900 ALTIM_FREQUENCY  13
D_ABORT  1030 TGT_DEFAULT_LON  -5500 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_BOOST  20 SM_CC  400 ROLL_TIMEOUT  15 XPDR_VALID  5
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  63 XPDR_INHIBIT  90
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  55 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  1.75 CALL_NDIVES  1 ROLL_AD_RATE  300 INT_PRESSURE_YINT  0
D_SAFE  500 COMM_SEQ  0 ROLL_MAXERRORS  0 DEEPGLIDER  0
D_CALL  3 PROTOCOL  0 ROLL_ADJ_GAIN  1.5 DEEPGLIDERMB  0
SURFACE_URGENCY  10 N_NOCOMM  6 ROLL_ADJ_DBAND  0.029999999 MOTHERBOARD  4
SURFACE_URGENCY_TRY  5 NOCOMM_ACTION  161 VBD_MIN  448 DEVICE1  2
SURFACE_URGENCY_FORCE  10 N_NOSURFACE  0 VBD_MAX  4001 DEVICE2  20
T_DIVE  360 UPLOAD_DIVES_MAX  5 C_VBD  3279 DEVICE3  -1
T_MISSION  440 CALL_TRIES  3 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  3 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  2 T_GPS_CHARGE  -191395.08 VBD_MAXERRORS  1 COMPASS_DEVICE  97
ICE_FREEZE_MARGIN  0.1 T_RSLEEP  10 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  250 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  100 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  64
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  350 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3700 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  3130 PHONE_SUPPLY  -1 SEABIRD_T_G  0.0044220644
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -22.860044 SEABIRD_T_H  0.00065538363
RHO  1.023 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001161151 SEABIRD_T_I  2.8550956e-05
MASS  51396 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  3.214675e-06
NAV_MODE  2 PITCH_GAIN  30 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.084064
FERRY_MAX  45 PITCH_TIMEOUT  20 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1288997
KALMAN_USE  2 PITCH_AD_RATE  150 COMPASS_USE  4 SEABIRD_C_I  -0.0014441535
HD_A  0.0038399999 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00017831143

Pre-dive calculations and measurements:
GPS1  020812,111804,6700.962,-5736.842,31,0.9,31,-33.6 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.31 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -78.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  020812,112530,6701.011,-5736.849,19,1.0,19,-33.6 MHEAD_RNG_PITCHd_Wd  326.0,127692,-16.9,-9.167
SPEED_LIMITS  0.159,0.252 D_GRID  842

Post-dive calculations and measurements:
FREEZE  1.31,5.679,-1.770,0,1,0 ALTIM_BOTTOM_PING  801.8,58.5
FINISH  1.3,1.025469 _24V_AH  22.9,29.351
SM_CCo  15952,48.45,0.069,0,0,1647,400.08 _10V_AH  10.0,32.863
SM_GC  2.38,8.23,2.53,48.45,0.050,0.035,0.069,337,2095,1647,-8.67,-1.44,400.08,0,0,0,0,0,0,26.20,26.26,26.07 FG_AHR_24Vo  0.000
RAFOS_CLK  804 FG_AHR_10Vo  0.000
RAFOS  0,1343908865,12.033333,12.018056,47,46,45,45,42,39,787,414,1418,1022,657,860 MEM  151628
RAFOS_FIX  0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE  66704,1436
IRIDIUM_FIX  6631.12,-5738.07,020812,070739 CAP_FILE_SIZE  171226,0
TT8_MAMPS  0.026215,0.026215 CFSIZE  260165632,225763328
HUMID  43.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  9.06285 SOUNDSPEED  1465.4
TCM_TEMP  16.50 CURRENT  0.079, 7.2,1
XPDR_PINGS  12 GPS  020812,155405,6702.768,-5740.225,26,0.9,27,-33.7
ALTIM_TOP_PING  19.6,18.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20247117.41 SBE_CT103223566.92
Roll_motor13065194.99 SBE_O29915135.94
VBD_pump_during_apogee320139410245.94 nil000.00
VBD_pump_during_surface486876.39 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer3062811978.24 nil000.00
Transponder_ping642060.11 nil000.00
GUMSTIX_24V000.00
GPS20265.39
TT8372617669.36
LPSleep88372204.14
TT8_Active5501798.86
TT8_Sampling2935401186.79
TT8_CF839648193.10
TT8_Kalman000.00
Analog_circuits224112268.98
GPS_charging000.00
Compass25887193.88
RAFOS2520375.60
Transponder24307.46

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 pitch_volts roll_volts vbd_volts
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
17 -0.75 -146.6 0.0 0.0 0 75 0.00 0.00 -55.97 0.000 2 0.000 0.000 335 2134 2955 0 0 0 0 0 0 28.83 28.83 28.83
79 -0.75 -146.6 3.1 -2.7 10 124 10.18 2.17 -26.90 0.000 4 0.247 0.065 2873 3504 3881 0 0 0 0 0 0 25.70 26.32 26.79
355 -0.75 -146.6 43.9 -12.3 62 361 0.00 2.10 0.00 0.000 6 0.000 0.029 2877 2086 3886 0 0 0 0 0 0 28.83 26.48 28.83
667 -0.75 -146.6 79.0 -10.9 123 674 0.00 2.20 0.00 0.000 4 0.000 0.048 2869 3501 3888 0 0 0 0 0 0 28.83 26.34 28.83
903 -0.75 -146.6 107.7 -12.2 163 907 0.00 2.05 0.00 0.000 6 0.000 0.030 2869 2109 3888 0 0 0 0 0 0 28.83 26.53 28.83
1215 -0.75 -146.6 145.2 -11.8 194 1224 0.00 2.17 0.00 0.000 4 0.000 0.049 2860 3505 3888 0 0 0 0 0 0 28.83 26.36 28.83
1359 -0.75 -146.6 163.0 -12.1 208 1369 0.00 2.05 0.00 0.000 6 0.000 0.030 2860 2109 3888 0 0 0 0 0 0 28.83 26.55 28.83
1667 -0.75 -146.6 198.3 -11.4 239 1677 0.12 2.10 0.00 0.000 4 0.180 0.047 2888 3497 3887 0 0 0 0 0 0 26.26 26.38 28.83
1774 -0.75 -146.6 208.1 -9.3 249 1780 0.00 2.00 0.00 0.000 6 0.000 0.029 2889 2120 3887 0 0 0 0 0 0 28.83 26.57 28.83
2081 -0.75 -146.6 235.3 -8.8 280 2084 0.00 2.12 0.00 0.000 4 0.000 0.047 2880 3508 3886 0 0 0 0 0 0 28.83 26.39 28.83
2184 -0.75 -146.6 245.1 -9.9 290 2192 0.00 2.00 0.00 0.000 6 0.000 0.029 2881 2137 3886 0 0 0 0 0 0 28.83 26.58 28.83
2494 -0.75 -146.6 274.9 -9.3 321 2503 0.00 2.05 0.00 0.000 4 0.000 0.047 2871 3498 3886 0 0 0 0 0 0 28.83 26.39 28.83
2606 -0.75 -146.6 286.3 -10.3 332 2616 0.00 1.98 0.00 0.000 6 0.000 0.029 2870 2143 3885 0 0 0 0 0 0 28.83 26.59 28.83
2916 -0.75 -146.6 316.5 -9.4 363 2925 0.00 2.08 0.00 0.000 4 0.000 0.047 2860 3495 3885 0 0 0 0 0 0 28.83 26.40 28.83
3068 -0.75 -146.6 332.2 -10.1 378 3071 0.00 1.95 0.00 0.000 6 0.000 0.029 2860 2163 3885 0 0 0 0 0 0 28.83 26.60 28.83
3374 -0.75 -146.6 363.1 -10.2 408 3377 0.00 2.05 0.00 0.000 4 0.000 0.047 2850 3500 3885 0 0 0 0 0 0 28.83 26.41 28.83
3457 -0.75 -146.6 372.0 -11.1 416 3461 0.15 1.92 0.00 0.000 6 0.155 0.029 2889 2169 3885 0 0 0 0 0 0 26.18 26.61 28.83
3770 -0.75 -146.6 398.8 -8.2 447 3778 0.00 2.00 0.00 0.000 4 0.000 0.047 2882 3493 3885 0 0 0 0 0 0 28.83 26.42 28.83
3865 -0.75 -146.6 406.9 -8.8 456 3873 0.00 1.90 0.00 0.000 6 0.000 0.028 2882 2179 3885 0 0 0 0 0 0 28.83 26.62 28.83
4172 -0.75 -146.6 434.2 -8.9 487 4181 0.00 2.00 0.00 0.000 4 0.000 0.047 2872 3505 3885 0 0 0 0 0 0 28.83 26.42 28.83
4267 -0.75 -146.6 443.3 -9.8 496 4275 0.00 1.90 0.00 0.000 6 0.000 0.028 2872 2187 3885 0 0 0 0 0 0 28.83 26.62 28.83
4575 -0.75 -146.6 473.2 -9.5 527 4579 0.00 2.03 0.00 0.000 4 0.000 0.047 2862 3510 3885 0 0 0 0 0 0 28.83 26.42 28.83
4637 -0.75 -146.6 479.3 -10.3 533 4646 0.00 1.90 0.00 0.000 6 0.000 0.028 2863 2198 3885 0 0 0 0 0 0 28.83 26.62 28.83
4947 -0.75 -146.6 510.5 -10.1 564 4956 0.00 1.98 0.00 0.000 4 0.000 0.047 2852 3498 3886 0 0 0 0 0 0 28.83 26.42 28.83
5013 -0.75 -146.6 517.2 -10.6 570 5021 0.15 1.85 0.00 0.000 6 0.152 0.029 2892 2210 3886 0 0 0 0 0 0 26.20 26.62 28.83
5321 -0.75 -146.6 542.8 -8.1 601 5330 0.00 1.95 0.00 0.000 4 0.000 0.047 2884 3495 3886 0 0 0 0 0 0 28.83 26.42 28.83
5364 -0.75 -146.6 546.6 -8.7 605 5368 0.00 1.88 0.00 0.000 6 0.000 0.028 2884 2208 3886 0 0 0 0 0 0 28.83 26.63 28.83
5676 -0.75 -146.6 573.6 -8.5 636 5686 0.00 1.98 0.00 0.000 4 0.000 0.047 2875 3498 3886 0 0 0 0 0 0 28.83 26.41 28.83
5742 -0.75 -146.6 579.6 -9.7 642 5749 0.00 1.85 0.00 0.000 6 0.000 0.029 2875 2213 3886 0 0 0 0 0 0 28.83 26.62 28.83
6073 -0.75 -146.6 608.8 -9.0 669 6078 0.00 1.95 0.00 0.000 4 0.000 0.047 2865 3496 3886 0 0 0 0 0 0 28.83 26.41 28.83
6115 -0.75 -146.6 611.7 -8.9 670 6118 0.00 1.83 0.00 0.000 6 0.000 0.029 2865 2231 3886 0 0 0 0 0 0 28.83 26.63 28.83
6434 -0.75 -146.6 643.1 -9.7 681 6440 0.00 1.95 0.00 0.000 4 0.000 0.047 2856 3509 3885 0 0 0 0 0 0 28.83 26.42 28.83
6501 -0.75 -146.6 649.4 -9.9 683 6505 0.12 1.85 0.00 0.000 6 0.154 0.028 2887 2223 3885 0 0 0 0 0 0 26.27 26.63 28.83
6819 -0.75 -146.6 675.2 -7.5 694 6825 0.00 1.98 0.00 0.000 4 0.000 0.048 2879 3508 3886 0 0 0 0 0 0 28.83 26.42 28.83
6880 -0.75 -146.6 680.0 -7.9 696 6883 0.00 1.85 0.00 0.000 6 0.000 0.029 2880 2232 3886 0 0 0 0 0 0 28.83 26.63 28.83
7212 -0.75 -146.6 707.2 -8.2 707 7217 0.00 1.95 0.00 0.000 4 0.000 0.047 2870 3497 3886 0 0 0 0 0 0 28.83 26.41 28.83
7272 -0.75 -146.6 712.6 -8.6 709 7276 0.00 1.83 0.00 0.000 6 0.000 0.029 2871 2256 3886 0 0 0 0 0 0 28.83 26.63 28.83
7605 -0.75 -146.6 741.4 -8.6 720 7608 0.00 1.90 0.00 0.000 4 0.000 0.048 2861 3501 3885 0 0 0 0 0 0 28.83 26.42 28.83
7639 -0.75 -146.6 744.2 -8.6 721 7643 0.00 1.80 0.00 0.000 6 0.000 0.029 2862 2256 3885 0 0 0 0 0 0 28.83 26.63 28.83
7968 -0.75 -146.6 773.9 -9.1 732 7972 0.00 1.92 0.00 0.000 4 0.000 0.048 2851 3501 3885 0 0 0 0 0 0 28.83 26.41 28.83
8032 -0.75 -146.6 780.0 -9.5 734 8037 0.15 1.80 0.00 0.000 6 0.151 0.029 2891 2255 3885 0 0 0 0 0 0 26.20 26.62 28.83
8359 -0.75 -146.6 804.0 -7.2 745 8360 0.00 0.00 0.00 0.000 6 0.000 0.000 2891 2255 3884 0 0 0 0 0 0 28.83 28.83 28.83
8655 -0.75 -146.6 826.3 -7.4 755 8656 0.00 0.00 0.00 0.000 6 0.000 0.000 2891 2255 3884 0 0 0 0 0 0 28.83 28.83 28.83
8892 end dive: TARGET_DEPTH_EXCEEDED
state 8892 begin apogee
8899 -0.17 0.0 844.1 -7.4 763 9027 0.55 0.00 123.10 1.395 4 0.129 0.000 3071 1902 3279 0 0 0 0 0 0 25.99 28.83 23.69
9031 end apogee: CONTROL_FINISHED_OK
state 9031 begin climb
9034 0.75 146.6 848.1 0.0 767 9169 0.85 2.28 125.38 1.218 4 0.066 0.037 3376 523 2681 0 0 0 0 0 0 24.75 24.77 22.93
9387 0.75 146.6 813.1 13.8 779 9392 0.00 2.22 0.00 0.000 6 0.000 0.035 3376 1894 2670 0 0 0 0 0 0 28.83 25.29 28.83
9702 0.75 146.6 767.7 13.7 790 9708 0.00 2.20 0.00 0.000 4 0.000 0.037 3383 518 2667 0 0 0 0 0 0 28.83 25.82 28.83
9935 0.75 146.6 738.6 13.7 797 9942 0.00 2.17 0.00 0.000 6 0.000 0.035 3384 1903 2666 0 0 0 0 0 0 28.83 26.03 28.83
10243 0.75 146.6 691.5 14.0 808 10248 0.00 2.12 0.00 0.000 4 0.000 0.037 3393 523 2664 0 0 0 0 0 0 28.83 26.15 28.83
10302 0.75 146.6 683.0 14.0 810 10308 0.00 2.15 0.00 0.000 6 0.000 0.035 3393 1901 2664 0 0 0 0 0 0 28.83 26.19 28.83
10633 0.75 146.6 635.5 14.4 821 10634 0.00 0.00 0.00 0.000 6 0.000 0.000 3393 1901 2663 0 0 0 0 0 0 28.83 28.83 28.83
10933 0.75 146.6 592.5 14.2 833 10942 0.00 2.12 0.00 0.000 4 0.000 0.037 3401 517 2662 0 0 0 0 0 0 28.83 26.29 28.83
10995 0.75 146.6 583.4 14.3 839 11000 0.12 2.15 0.00 0.000 6 0.174 0.035 3372 1906 2661 0 0 0 0 0 0 26.01 26.33 28.83
11309 0.75 146.6 542.7 12.8 870 11312 0.00 2.15 0.00 0.000 4 0.000 0.038 3379 517 2662 0 0 0 0 0 0 28.83 26.34 28.83
11343 0.75 146.6 538.4 12.9 873 11350 0.00 2.12 0.00 0.000 6 0.000 0.034 3379 1893 2661 0 0 0 0 0 0 28.83 26.37 28.83
11651 0.75 146.6 496.1 13.6 904 11652 0.00 0.00 0.00 0.000 6 0.000 0.000 3379 1893 2661 0 0 0 0 0 0 28.83 28.83 28.83
11954 0.75 146.6 453.6 13.7 934 11960 0.00 0.00 0.00 0.000 6 0.000 0.000 3379 1893 2661 0 0 0 0 0 0 28.83 28.83 28.83
12264 0.75 146.6 411.4 13.9 965 12272 0.00 2.12 0.00 0.000 4 0.000 0.038 3386 514 2661 0 0 0 0 0 0 28.83 26.41 28.83
12335 0.75 146.6 400.9 14.0 972 12345 0.00 2.15 0.00 0.000 6 0.000 0.034 3386 1901 2660 0 0 0 0 0 0 28.83 26.45 28.83
12646 0.75 146.6 356.8 14.1 1003 12654 0.00 2.12 0.00 0.000 4 0.000 0.037 3395 514 2660 0 0 0 0 0 0 28.83 26.43 28.83
12690 0.75 146.6 351.0 14.0 1007 12697 0.00 2.12 0.00 0.000 6 0.000 0.034 3396 1894 2660 0 0 0 0 0 0 28.83 26.46 28.83
12998 0.75 146.6 306.6 13.9 1038 13007 0.00 2.10 0.00 0.000 4 0.000 0.038 3404 514 2660 0 0 0 0 0 0 28.83 26.44 28.83
13051 0.75 146.6 298.8 14.4 1043 13060 0.12 2.12 0.00 0.000 6 0.173 0.034 3375 1893 2660 0 0 0 0 0 0 26.15 26.48 28.83
13361 0.75 146.6 257.5 13.2 1074 13365 0.00 2.10 0.00 0.000 4 0.000 0.037 3381 520 2660 0 0 0 0 0 0 28.83 26.45 28.83
13426 0.75 146.6 249.2 13.4 1080 13434 0.00 2.08 0.00 0.000 6 0.000 0.034 3381 1873 2660 0 0 0 0 0 0 28.83 26.49 28.83
13733 0.75 146.6 209.9 12.0 1111 13734 0.00 0.00 0.00 0.000 6 0.000 0.000 3381 1873 2660 0 0 0 0 0 0 28.83 28.83 28.83
14036 0.75 146.6 176.2 11.0 1141 14042 0.00 0.00 0.00 0.000 6 0.000 0.000 3382 1872 2660 0 0 0 0 0 0 28.83 28.83 28.83
14346 0.75 146.6 142.6 11.1 1172 14353 0.00 0.00 0.00 0.000 6 0.000 0.000 3381 1872 2660 0 0 0 0 0 0 28.83 28.83 28.83
14655 0.75 146.6 110.0 9.7 1203 14661 0.00 0.00 0.00 0.000 6 0.000 0.000 3382 1873 2660 0 0 0 0 0 0 28.83 28.83 28.83
14966 0.75 146.6 80.6 9.3 1254 14973 0.00 2.08 0.00 0.000 4 0.000 0.040 3389 520 2660 0 0 0 0 0 0 28.83 26.48 28.83
15036 0.75 146.6 73.5 10.4 1267 15043 0.00 2.10 0.00 0.000 6 0.000 0.034 3389 1881 2660 0 0 0 0 0 0 28.83 26.53 28.83
15350 0.77 170.2 44.1 8.2 1328 15376 0.00 2.20 17.60 0.873 4 0.000 0.046 3389 3300 2584 0 0 0 0 0 0 28.83 26.32 25.40
15467 0.77 170.2 33.0 10.1 1349 15474 0.00 2.08 0.00 0.000 6 0.000 0.030 3398 1885 2582 0 0 0 0 0 0 28.83 26.35 28.83
15782 0.92 287.3 12.4 4.3 1410 15844 0.00 2.10 54.75 0.086 4 0.000 0.037 3409 507 2105 0 0 0 0 0 0 28.83 26.25 26.06
15888 end climb: SURFACE_DEPTH_REACHED
state 15888 begin surface coast
15930 end surface coast: CONTROL_FINISHED_OK
state 15931 begin surface