OKMC Aug11 * SG166 * Dive index * Mission links * Dive 269 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  166 HD_B  0.010078 PITCH_ADJ_GAIN  0.0099999998 ALTIM_TOP_PING_RANGE  0
MISSION  6 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  30
DIVE  269 HEADING  -1 ROLL_MIN  197 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3786 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  3 ESCAPE_HEADING_DELTA  10 ROLL_DEG  20 ALTIM_PING_DEPTH  0
D_FLARE  5 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1610 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1780 ALTIM_FREQUENCY  13
D_ABORT  1030 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  3
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  4
T_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  40 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  50 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  2.7
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  1 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  1 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  0 VBD_MIN  455 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3960 DEVICE2  53
T_DIVE  350 UPLOAD_DIVES_MAX  -1 C_VBD  2884 DEVICE3  35
T_MISSION  380 CALL_TRIES  5 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  3 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -9 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -24737.426 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1000 STROBE  0 AH0_24V  147 PHONE_DEVICE  49
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  109 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
MAX_BUOY  200 PITCH_MIN  160 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3938 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2745 PHONE_SUPPLY  2 SEABIRD_T_G  0.004315557
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -27.509327 SEABIRD_T_H  0.00063223497
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001160501 SEABIRD_T_I  2.3993638e-05
MASS  51906 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.5696888e-06
NAV_MODE  2 PITCH_GAIN  45 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.9842854
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1210135
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.0013500623
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00018873326

Pre-dive calculations and measurements:
GPS1  230911,070957,2139.701,12302.851,29,99.0,48,-2.8 TGT_NAME  NINNER
_CALLS  1 TGT_LATLONG  2114.000,12117.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.81 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -65.2 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  230911,071737,2139.767,12302.885,34,1.6,35,-2.8 MHEAD_RNG_PITCHd_Wd  247.2,188913,-14.9,-9.429
SPEED_LIMITS  0.163,0.290 D_GRID  4657

Post-dive calculations and measurements:
FINISH  1.1,1.018507 _10V_AH  9.9,44.746
SM_CCo  19200,0.00,0.000,0,0,902,486.18 FG_AHR_24Vo  0.000
SM_GC  1.83,7.47,0.00,0.00,0.037,0.000,0.000,134,1591,902,-8.05,-0.54,486.18,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2131.85,12306.68,230911,010113 MEM  330176
TT8_MAMPS  0.026215,0.026215 DATA_FILE_SIZE  96694,1762
HUMID  35.90 CAP_FILE_SIZE  207687,0
INTERNAL_PRESSURE  9.42877 CFSIZE  260165632,123531264
TCM_TEMP  26.30 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  92 CURRENT  0.100, 59.6,1
_24V_AH  22.6,63.919 GPS  230911,123906,2139.074,12300.876,32,1.1,32,-2.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20218101.87 SBE_CT120524654.13
Roll_motor8174136.05 AA38301804331345.52
VBD_pump_during_apogee610144719977.30 WL_BB2F20121054774.61
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710364.57 nil000.00
Iridium_during_connect2216082.74 nil000.00
Iridium_during_xfer2042231033.10 nil000.00
Transponder_ping23420218.32 nil000.00
GUMSTIX_24V000.00
GPS365017.88
TT8443319869.07
LPSleep97532211.47
TT8_Active67819133.10
TT8_Sampling4211391659.30
TT8_CF855345251.16
TT8_Kalman000.00
Analog_circuits230612274.07
GPS_charging000.00
Compass393315584.12
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -0.57 -194.6 0.0 0.0 0 125 0.00 0.00 -104.07 0.000 2 0.000 0.000 158 1608 3164 0 0 0 0 0 0
128 -0.57 -194.6 5.6 -7.5 14 153 9.38 1.08 -9.73 0.000 4 0.218 0.065 2549 2327 3679 0 0 0 0 0 0
371 -0.46 -194.6 81.7 -24.3 58 380 0.17 1.08 0.00 0.000 6 0.144 0.038 2589 1599 3681 0 0 0 0 0 0
700 -0.42 -194.6 142.7 -14.5 119 708 0.00 1.00 0.00 0.000 4 0.000 0.038 2588 906 3682 0 0 0 0 0 0
732 -0.38 -194.6 147.0 -14.2 123 741 0.10 1.02 0.00 0.000 6 0.134 0.033 2619 1614 3681 0 0 0 0 0 0
1059 -0.40 -194.6 180.7 -9.8 184 1068 0.00 1.00 0.00 0.000 4 0.000 0.039 2616 2312 3682 0 0 0 0 0 0
1149 -0.44 -194.6 188.6 -8.1 200 1158 0.00 1.02 0.00 0.000 6 0.000 0.035 2616 1605 3681 0 0 0 0 0 0
1478 -0.46 -194.6 221.6 -10.5 261 1486 0.00 1.05 0.00 0.000 4 0.000 0.039 2611 2313 3682 0 0 0 0 0 0
1510 -0.48 -194.6 224.8 -9.8 266 1518 0.00 1.02 0.00 0.000 6 0.000 0.034 2610 1609 3682 0 0 0 0 0 0
1837 -0.51 -194.6 252.8 -8.7 324 1841 0.00 1.05 0.00 0.000 4 0.000 0.040 2606 2310 3682 0 0 0 0 0 0
1933 -0.56 -194.6 260.8 -8.5 332 1943 0.10 1.02 0.00 0.000 6 0.041 0.035 2517 1606 3682 0 0 0 0 0 0
2258 -0.50 -194.6 310.9 -15.6 363 2262 0.20 1.02 0.00 0.000 4 0.148 0.037 2582 914 3681 0 0 0 0 0 0
2285 -0.47 -194.6 314.2 -14.5 365 2288 0.00 1.02 0.00 0.000 6 0.000 0.037 2581 1611 3681 0 0 0 0 0 0
2616 -0.48 -194.6 347.1 -9.0 396 2617 0.00 0.00 0.00 0.000 6 0.000 0.000 2593 1611 3680 0 0 0 0 0 0
2938 -0.51 -194.6 375.3 -8.0 426 2942 0.00 1.00 0.00 0.000 4 0.000 0.042 2591 2300 3679 0 0 0 0 0 0
3041 -0.55 -194.6 383.5 -7.5 435 3045 0.00 1.00 0.00 0.000 6 0.000 0.038 2591 1621 3678 0 0 0 0 0 0
3372 -0.57 -194.6 412.6 -9.1 466 3376 0.00 1.05 0.00 0.000 4 0.000 0.043 2591 911 3676 0 0 0 0 0 0
3408 -0.60 -194.6 415.8 -8.7 469 3412 0.08 1.02 0.00 0.000 6 0.052 0.037 2517 1607 3677 0 0 0 0 0 0
3738 -0.55 -194.6 458.9 -12.5 500 3743 0.17 1.05 0.00 0.000 4 0.148 0.044 2565 2307 3675 0 0 0 0 0 0
3820 -0.57 -194.6 465.6 -7.5 507 3824 0.00 1.05 0.00 0.000 6 0.000 0.041 2565 1604 3674 0 0 0 0 0 0
4151 -0.58 -194.6 495.6 -8.8 538 4155 0.00 1.02 0.00 0.000 4 0.000 0.046 2565 914 3672 0 0 0 0 0 0
4204 -0.60 -194.6 500.6 -9.5 542 4210 0.00 1.02 0.00 0.000 6 0.000 0.041 2560 1595 3671 0 0 0 0 0 0
4530 -0.60 -194.6 531.4 -8.4 573 4533 0.00 1.05 0.00 0.000 4 0.000 0.050 2555 2299 3669 0 0 0 0 0 0
4577 -0.61 -194.6 535.1 -7.8 577 4581 0.00 1.02 0.00 0.000 6 0.000 0.044 2555 1619 3668 0 0 0 0 0 0
4908 -0.61 -194.6 563.8 -8.4 608 4911 0.00 1.08 0.00 0.000 4 0.000 0.049 2555 902 3666 0 0 0 0 0 0
4954 -0.62 -194.6 568.1 -9.5 612 4958 0.00 1.08 0.00 0.000 6 0.000 0.044 2550 1608 3666 0 0 0 0 0 0
5285 -0.62 -194.6 596.5 -8.2 643 5289 0.00 1.05 0.00 0.000 4 0.000 0.053 2545 2305 3663 0 0 0 0 0 0
5312 -0.63 -194.6 599.0 -8.2 645 5319 0.00 1.08 0.00 0.000 6 0.000 0.046 2545 1597 3662 0 0 0 0 0 0
5641 -0.63 -194.6 627.8 -8.7 662 5645 0.00 1.08 0.00 0.000 4 0.000 0.054 2540 2295 3660 0 0 0 0 0 0
5680 -0.63 -194.6 631.4 -8.4 663 5687 0.00 1.02 0.00 0.000 6 0.000 0.046 2540 1616 3659 0 0 0 0 0 0
5998 -0.63 -194.6 660.0 -8.9 679 6002 0.00 1.08 0.00 0.000 4 0.000 0.052 2540 907 3657 0 0 0 0 0 0
6116 -0.63 -194.6 670.9 -8.7 684 6119 0.00 1.08 0.00 0.000 6 0.000 0.047 2535 1605 3656 0 0 0 0 0 0
6443 -0.63 -194.6 698.7 -8.6 700 6444 0.00 0.00 0.00 0.000 6 0.000 0.000 2535 1605 3653 0 0 0 0 0 0
6755 -0.63 -194.6 725.8 -9.1 715 6758 0.00 1.08 0.00 0.000 4 0.000 0.054 2535 914 3651 0 0 0 0 0 0
6801 -0.63 -194.6 730.4 -10.0 717 6805 0.00 1.08 0.00 0.000 6 0.000 0.050 2529 1608 3650 0 0 0 0 0 0
7135 -0.63 -194.6 763.5 -10.0 733 7137 0.00 0.00 0.00 0.000 6 0.000 0.000 2530 1608 3649 0 0 0 0 0 0
7442 -0.63 -194.6 791.4 -8.5 748 7444 0.00 0.00 0.00 0.000 6 0.000 0.000 2529 1608 3646 0 0 0 0 0 0
7752 -0.63 -194.6 818.5 -8.8 763 7756 0.00 1.08 0.00 0.000 4 0.000 0.056 2530 919 3645 0 0 0 0 0 0
7800 -0.63 -194.6 822.9 -9.6 765 7804 0.00 1.08 0.00 0.000 6 0.000 0.050 2525 1609 3644 0 0 0 0 0 0
8136 -0.63 -194.6 854.1 -9.2 781 8139 0.00 1.08 0.00 0.000 4 0.000 0.056 2524 919 3642 0 0 0 0 0 0
8163 -0.63 -194.6 857.1 -9.1 782 8167 0.00 1.08 0.00 0.000 6 0.000 0.052 2519 1608 3642 0 0 0 0 0 0
8493 -0.63 -194.6 887.4 -9.3 798 8497 0.00 1.08 0.00 0.000 4 0.000 0.056 2519 920 3640 0 0 0 0 0 0
8548 -0.63 -194.6 893.0 -9.7 800 8552 0.00 1.08 0.00 0.000 6 0.000 0.052 2514 1607 3640 0 0 0 0 0 0
8872 -0.63 -194.6 922.1 -8.9 816 8876 0.00 1.08 0.00 0.000 4 0.000 0.056 2514 919 3638 0 0 0 0 0 0
8923 -0.62 -194.6 927.2 -9.5 818 8927 0.08 1.08 0.00 0.000 6 0.142 0.053 2535 1604 3638 0 0 0 0 0 0
9251 -0.64 -194.6 951.0 -7.2 834 9255 0.00 1.08 0.00 0.000 4 0.000 0.057 2535 918 3637 0 0 0 0 0 0
9338 -0.65 -194.6 957.7 -7.8 837 9344 0.00 1.08 0.00 0.000 6 0.000 0.053 2532 1602 3636 0 0 0 0 0 0
9655 -0.66 -194.6 984.3 -8.9 853 9656 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 1602 3635 0 0 0 0 0 0
9734 end dive: TARGET_DEPTH_EXCEEDED
state 9734 begin apogee
9742 -0.11 0.0 991.6 8.9 857 9912 0.52 0.00 163.68 1.447 6 0.117 0.000 2705 1788 2883 0 0 0 0 0 0
9913 end apogee: CONTROL_FINISHED_OK
state 9913 begin climb
9915 0.57 194.6 997.7 0.0 865 10106 0.62 0.00 181.70 1.385 6 0.067 0.000 2931 1788 2089 0 0 0 0 0 0
10420 0.52 194.6 943.9 12.5 889 10424 0.00 1.08 0.00 0.000 4 0.000 0.065 2931 2480 2081 0 0 0 0 0 0
10504 0.48 194.6 932.7 12.1 892 10512 0.10 1.08 0.00 0.000 6 0.145 0.052 2905 1791 2080 0 0 0 0 0 0
10820 0.46 194.6 901.5 10.1 908 10821 0.00 0.00 0.00 0.000 6 0.000 0.000 2897 1791 2079 0 0 0 0 0 0
11132 0.45 194.6 869.2 10.4 923 11136 0.00 1.08 0.00 0.000 4 0.000 0.063 2894 2480 2078 0 0 0 0 0 0
11187 0.43 194.6 863.1 10.2 925 11190 0.00 1.10 0.00 0.000 6 0.000 0.050 2897 1767 2078 0 0 0 0 0 0
11511 0.41 194.6 830.0 10.6 941 11515 0.00 1.12 0.00 0.000 4 0.000 0.062 2896 2484 2076 0 0 0 0 0 0
11584 0.40 194.6 821.5 10.8 944 11587 0.00 1.08 0.00 0.000 6 0.000 0.049 2899 1783 2076 0 0 0 0 0 0
11913 0.38 194.6 786.5 10.7 960 11918 0.12 1.10 0.00 0.000 4 0.171 0.058 2862 2488 2076 0 0 0 0 0 0
11986 0.44 229.3 779.9 8.3 963 12025 0.00 1.10 30.52 1.290 6 0.000 0.047 2865 1773 1948 0 0 0 0 0 0
12333 0.47 235.6 749.6 9.2 980 12341 0.00 0.00 6.45 1.012 6 0.000 0.000 2865 1773 1923 0 0 0 0 0 0
12642 0.56 282.5 722.8 7.9 995 12692 0.17 1.20 44.75 1.263 4 0.071 0.059 2950 2493 1732 0 0 0 0 0 0
12773 0.51 282.5 705.2 14.2 1001 12777 0.12 1.12 0.00 0.000 6 0.145 0.046 2917 1773 1728 0 0 0 0 0 0
13107 0.50 282.5 666.2 12.0 1017 13111 0.00 1.10 0.00 0.000 4 0.000 0.057 2915 2485 1725 0 0 0 0 0 0
13179 0.50 282.5 658.0 11.7 1020 13183 0.00 1.08 0.00 0.000 6 0.000 0.047 2918 1784 1724 0 0 0 0 0 0
13512 0.49 282.5 618.6 11.5 1036 13513 0.00 0.00 0.00 0.000 6 0.000 0.000 2919 1784 1724 0 0 0 0 0 0
13827 0.49 282.5 581.7 12.1 1058 13831 0.00 1.08 0.00 0.000 4 0.000 0.055 2919 2486 1723 0 0 0 0 0 0
13908 0.49 282.5 571.9 11.8 1065 13911 0.00 1.08 0.00 0.000 6 0.000 0.046 2924 1781 1723 0 0 0 0 0 0
14240 0.49 282.5 536.3 9.7 1096 14244 0.00 1.10 0.00 0.000 4 0.000 0.054 2925 2495 1723 0 0 0 0 0 0
14301 0.49 282.5 530.1 9.5 1101 14308 0.00 1.10 0.00 0.000 6 0.000 0.045 2930 1771 1723 0 0 0 0 0 0
14627 0.48 282.5 497.5 11.2 1132 14631 0.00 1.05 0.00 0.000 4 0.000 0.050 2936 1069 1723 0 0 0 0 0 0
14661 0.47 282.5 493.6 11.3 1135 14666 0.12 1.10 0.00 0.000 6 0.127 0.044 2895 1795 1722 0 0 0 0 0 0
14994 0.52 290.0 462.7 9.2 1166 15003 0.00 0.00 6.80 0.880 6 0.000 0.000 2894 1796 1700 0 0 0 0 0 0
15321 0.66 377.0 436.9 6.6 1197 15403 0.17 0.00 79.12 1.053 6 0.067 0.000 2981 1797 1347 0 0 0 0 0 0
15719 0.62 377.0 376.1 13.8 1235 15723 0.15 1.05 0.00 0.000 4 0.155 0.052 2944 2482 1340 0 0 0 0 0 0
15781 0.66 386.0 369.6 9.1 1240 15793 0.00 1.08 8.57 0.846 6 0.000 0.042 2947 1782 1310 0 0 0 0 0 0
16114 0.69 386.0 337.9 9.6 1271 16117 0.00 1.08 0.00 0.000 4 0.000 0.047 2952 1068 1307 0 0 0 0 0 0
16155 0.75 404.6 334.3 8.8 1274 16177 0.05 1.08 17.70 0.906 6 0.070 0.040 3002 1783 1234 0 0 0 0 0 0
16497 0.71 404.6 277.6 17.1 1306 16500 0.00 1.02 0.00 0.000 4 0.000 0.050 3002 2473 1233 0 0 0 0 0 0
16601 0.69 404.6 260.9 16.4 1315 16606 0.12 1.05 0.00 0.000 6 0.132 0.041 2967 1773 1233 0 0 0 0 0 0
16929 0.71 404.6 226.2 10.3 1367 16937 0.00 1.02 0.00 0.000 4 0.000 0.046 2970 1083 1232 0 0 0 0 0 0
17035 0.77 420.7 215.8 8.9 1386 17059 0.00 1.02 15.35 0.784 6 0.000 0.038 2970 1779 1167 0 0 0 0 0 0
17383 0.82 423.2 186.2 9.3 1449 17393 0.12 1.10 3.65 0.461 4 0.087 0.044 3060 1076 1157 0 0 0 0 0 0
17526 0.78 423.2 162.5 17.5 1474 17534 0.17 1.02 0.00 0.000 6 0.129 0.037 3001 1781 1157 0 0 0 0 0 0
17857 0.80 423.2 125.6 10.4 1535 17865 0.00 1.05 0.00 0.000 4 0.000 0.044 3004 1081 1157 0 0 0 0 0 0
17893 0.83 423.2 122.1 10.1 1540 17902 0.00 1.02 0.00 0.000 6 0.000 0.036 3003 1783 1157 0 0 0 0 0 0
18222 0.95 484.8 93.2 7.4 1601 18283 0.15 1.05 52.42 0.709 4 0.071 0.038 3104 1074 905 0 0 0 0 0 0
18356 0.92 484.8 72.9 17.0 1622 18364 0.17 1.05 0.00 0.000 6 0.127 0.035 3046 1785 903 0 0 0 0 0 0
18688 0.96 484.8 39.8 10.4 1683 18696 0.00 1.05 0.00 0.000 4 0.000 0.041 3050 1083 902 0 0 0 0 0 0
18813 1.02 484.8 27.7 9.7 1705 18821 0.00 1.00 0.00 0.000 6 0.000 0.034 3049 1772 902 0 0 0 0 0 0
19084 end climb: SURFACE_DEPTH_REACHED
state 19085 begin surface coast
19122 end surface coast: CONTROL_FINISHED_OK
state 19122 begin surface