Faroes Jun08 * SG005 * Dive index * Mission links * Dive 349 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  5 HD_C  2.576e-06 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  20
MISSION  3 HEADING  -1 PITCH_ADJ_GAIN  0.039999999 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  349 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  159 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3943 ALTIM_PING_DEPTH  150
D_TGT  990 TGT_DEFAULT_LAT  52 ROLL_DEG  40 ALTIM_PING_DELTA  25
D_ABORT  1090 TGT_DEFAULT_LON  -7 C_ROLL_DIVE  2150 ALTIM_FREQUENCY  13
D_NO_BLEED  50 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2100 ALTIM_PULSE  5
D_FINISH  0 SM_CC  547.01898 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  50 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  16 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  400 MOTHERBOARD  2
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  412.5 N_NOSURFACE  0 ROLL_ADJ_GAIN  3 DEVICE2  20
T_MISSION  440 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0.029999999 DEVICE3  35
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  390 DEVICE4  -1
T_TURN  225 CALL_WAIT  60 VBD_MAX  3851 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2620 DEVICE6  -1
T_NO_W  600 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  0 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  5 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.0016 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  6 PHONE_DEVICE  16
T_WATCHDOG  10 T_GPS_CHARGE  -83253.188 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  12 VBD_BLEED_AD_RATE  8 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  21
MAX_BUOY  120 RAFOS_CORR_THRESH  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  0 SIM_PITCH  0
GLIDE_SLOPE  30 PITCH_MIN  432 AH0_24V  91.800003 SEABIRD_T_G  0.0043890956
SPEED_FACTOR  1 PITCH_MAX  3760 AH0_10V  61.200001 SEABIRD_T_H  0.00065287336
RHO  1.023 C_PITCH  2730 PRESSURE_YINT  -24.477776 SEABIRD_T_I  2.754709e-05
MASS  52000 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_J  3.0424237e-06
NAV_MODE  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -10.354986
FERRY_MAX  12 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1996267
KALMAN_USE  1 PITCH_GAIN  15 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0023424325
HD_A  0.0038945 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_J  0.0002635108
HD_B  0.0099684997 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  104938,6355.734,-735.863,30,1.3,30,-9.3 TGT_NAME  NSEC_N
_CALLS  2 TGT_LATLONG  6430.000,-605.000
_XMS_NAKs  4 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.132,0.178
_SM_DEPTHo  0.42 KALMAN_X  -122612.6,120.1,859.6,292580.2,-4141.9
_SM_ANGLEo  -60.2 KALMAN_Y  -160635.8,-236.9,912.9,357169.8,-5121.7
GPS2  105915,6355.745,-735.982,13,1.3,13,-9.3 MHEAD_RNG_PITCHd_Wd  45.8,96368,-16.7,-8.000
SPEED_LIMITS  0.139,0.222 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.2,1.026657 ALTIM_TOP_PING  19.8,19.6
SM_CCo  23563,213.80,0.882,0,0,389,547.02 _24V_AH  23.3,64.071
SM_GC  0.28,0.00,0.00,213.80,0.000,0.000,0.882,422,2108,389,-10.62,-1.19,547.02 _10V_AH  10.0,30.980
IRIDIUM_FIX  0.00,0.00,010170,000000 DATA_FILE_SIZE  56924,1130
TT8_MAMPS  0.028379 CAP_FILE_SIZE  192513,0
HUMID  1712 CFSIZE  254472192,229400576
TCM_TEMP  16.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,33,0,0
XPDR_PINGS  136 GPS  190808,173738,6357.032,-733.063,33,1.3,34,-9.3

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2614187.63 SBE_CT80124448.12
Roll_motor25289527.85 SBE_O282919367.30
VBD_pump_during_apogee292158410786.67 WL_BB2F6341051552.15
VBD_pump_during_surface2138824393.97 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init75103181.21 nil000.00
Iridium_during_connect57160212.69 nil000.00
Iridium_during_xfer2292231192.22
Transponder_ping41420406.12
Mmodem_TX000.00
Mmodem_RX000.00
GPS13506.75
TT8217319430.42
LPSleep179152392.35
TT8_Active76519151.51
TT8_Sampling2677391065.79
TT8_CF881345372.56
TT8_Kalman338127.30
Analog_circuits210412252.52
GPS_charging000.00
Compass26168209.28
RAFOS000.00

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
22 end surface: CONTROL_FINISHED_OK
state 22 begin dive
25 -1.30 -117.3 0.0 0.0 0 148 0.00 0.00 -118.95 0.000 6 0.000 0.000 425 2117 3099
151 -1.30 -117.3 2.6 -2.6 6 167 10.57 2.62 0.00 0.000 4 0.141 0.059 2440 3567 3098
260 -1.01 -117.3 20.3 -13.9 10 266 0.32 2.50 0.00 0.000 6 0.094 0.045 2506 2167 3097
590 -0.96 -117.3 52.6 -8.7 26 594 0.00 2.55 0.00 0.000 4 0.000 0.058 2506 744 3098
662 -0.90 -117.3 58.9 -8.2 29 667 0.12 2.55 0.00 0.000 6 0.100 0.051 2531 2155 3098
979 -0.90 -117.3 81.2 -7.5 44 980 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2154 3099
1288 -0.90 -117.3 105.3 -7.8 59 1289 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2154 3100
1598 -0.90 -117.3 127.1 -6.6 74 1600 0.00 0.00 0.00 0.000 6 0.000 0.000 2531 2154 3100
1908 -0.94 -117.3 143.9 -4.7 89 1912 0.00 2.60 0.00 0.000 4 0.000 0.064 2531 740 3100
2003 -0.94 -117.3 148.6 -5.1 93 2007 0.00 2.60 0.00 0.000 6 0.000 0.057 2531 2165 3100
2320 -0.99 -117.3 166.1 -6.0 108 2324 0.00 2.55 0.00 0.000 4 0.000 0.067 2531 3565 3100
2502 -0.99 -117.3 178.5 -6.6 116 2506 0.00 2.50 0.00 0.000 6 0.000 0.053 2531 2169 3099
2825 -1.03 -117.3 200.2 -7.2 132 2830 0.12 2.60 0.00 0.000 4 0.058 0.070 2498 749 3099
2926 -0.97 -117.3 209.5 -8.8 136 2932 0.00 2.62 0.00 0.000 6 0.000 0.062 2498 2172 3099
3243 -0.93 -117.3 234.8 -8.3 152 3248 0.15 2.67 0.00 0.000 4 0.103 0.072 2531 750 3098
3366 -0.97 -117.3 245.6 -8.3 157 3373 0.00 2.60 0.00 0.000 6 0.000 0.065 2531 2153 3098
3683 -1.03 -117.3 272.3 -8.4 173 3688 0.12 2.60 0.00 0.000 4 0.062 0.076 2498 3557 3097
3773 -0.97 -117.3 281.4 -10.2 177 3778 0.00 2.58 0.00 0.000 6 0.000 0.061 2498 2153 3097
4094 -0.97 -117.3 309.9 -8.3 193 4098 0.00 2.60 0.00 0.000 4 0.000 0.078 2498 746 3096
4150 -0.92 -117.3 314.6 -8.6 195 4158 0.15 2.65 0.00 0.000 6 0.107 0.069 2527 2168 3096
4468 -0.98 -117.3 335.7 -6.5 211 4472 0.00 2.60 0.00 0.000 4 0.000 0.081 2527 3560 3094
4536 -0.98 -117.3 340.4 -7.0 214 4540 0.00 2.55 0.00 0.000 6 0.000 0.065 2527 2181 3094
4857 -1.04 -117.3 359.3 -5.8 230 4862 0.12 2.67 0.00 0.000 4 0.065 0.077 2496 741 3092
4981 -0.99 -117.3 368.8 -8.6 235 4988 0.00 2.70 0.00 0.000 6 0.000 0.071 2496 2180 3092
5298 -0.99 -117.3 392.9 -7.6 251 5302 0.00 2.60 0.00 0.000 4 0.000 0.084 2495 3566 3090
5406 -0.93 -117.3 401.7 -8.3 256 5411 0.15 2.58 0.00 0.000 6 0.109 0.067 2524 2173 3090
5734 -0.99 -117.3 423.7 -6.6 272 5739 0.00 2.67 0.00 0.000 4 0.000 0.083 2524 742 3089
5877 -1.03 -117.3 433.9 -7.1 278 5881 0.00 2.70 0.00 0.000 6 0.000 0.074 2524 2174 3089
6194 -1.09 -117.3 455.9 -6.8 293 6196 0.15 0.00 0.00 0.000 6 0.067 0.000 2488 2173 3088
6502 -1.04 -117.3 479.2 -7.4 308 6507 0.00 2.72 0.00 0.000 4 0.000 0.082 2487 741 3087
6566 -0.98 -117.3 484.0 -8.1 311 6571 0.12 2.67 0.00 0.000 6 0.116 0.074 2512 2164 3086
6893 -0.98 -117.3 504.6 -6.0 327 6898 0.00 2.65 0.00 0.000 4 0.000 0.086 2511 3565 3086
6979 -0.98 -117.3 510.1 -6.3 331 6983 0.00 2.62 0.00 0.000 6 0.000 0.070 2512 2154 3086
7306 -0.98 -117.3 528.8 -5.6 347 7311 0.00 2.65 0.00 0.000 4 0.000 0.085 2511 744 3084
7392 -0.98 -117.3 534.0 -6.3 351 7397 0.00 2.67 0.00 0.000 6 0.000 0.075 2511 2162 3084
7721 -0.98 -117.3 552.3 -5.6 367 7723 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2163 3083
8028 -0.98 -117.3 569.2 -5.7 382 8033 0.00 2.70 0.00 0.000 4 0.000 0.084 2512 743 3082
8136 -0.98 -117.3 575.5 -6.2 387 8141 0.00 2.65 0.00 0.000 6 0.000 0.075 2511 2149 3082
8464 -0.98 -117.3 593.8 -5.7 403 8468 0.00 2.67 0.00 0.000 4 0.000 0.087 2512 3565 3081
8530 -0.98 -117.3 598.0 -6.1 406 8535 0.00 2.67 0.00 0.000 6 0.000 0.073 2512 2137 3081
8852 -0.98 -117.3 617.2 -6.0 422 8857 0.00 2.60 0.00 0.000 4 0.000 0.085 2511 742 3081
8919 -0.98 -117.3 621.8 -7.3 425 8924 0.00 2.65 0.00 0.000 6 0.000 0.076 2511 2143 3080
9242 -0.98 -117.3 641.6 -6.2 441 9243 0.00 0.00 0.00 0.000 6 0.000 0.000 2512 2143 3079
9551 -0.98 -117.3 660.3 -5.9 456 9555 0.00 2.70 0.00 0.000 4 0.000 0.088 2512 741 3079
9613 -0.98 -117.3 664.2 -6.1 459 9617 0.00 2.60 0.00 0.000 6 0.000 0.077 2512 2129 3079
9941 -0.98 -117.3 683.4 -5.6 475 9945 0.00 2.72 0.00 0.000 4 0.000 0.087 2512 3569 3078
10063 -0.98 -117.3 691.4 -7.2 480 10070 0.00 2.70 0.00 0.000 6 0.000 0.073 2511 2129 3079
10381 -0.98 -117.3 709.8 -5.7 496 10385 0.00 2.60 0.00 0.000 4 0.000 0.090 2511 741 3078
10437 -0.98 -117.3 713.3 -6.2 498 10443 0.00 2.65 0.00 0.000 6 0.000 0.077 2512 2143 3078
10753 -0.98 -117.3 730.4 -5.2 514 10757 0.00 2.70 0.00 0.000 4 0.000 0.089 2512 3567 3078
10871 -0.98 -117.3 737.5 -6.0 519 10876 0.00 2.67 0.00 0.000 6 0.000 0.073 2512 2138 3077
11187 -0.98 -117.3 753.2 -5.0 534 11191 0.00 2.62 0.00 0.000 4 0.000 0.086 2511 742 3077
11273 -0.98 -117.3 758.0 -5.5 538 11278 0.00 2.65 0.00 0.000 6 0.000 0.077 2512 2143 3077
11600 -0.98 -117.3 774.9 -5.1 554 11605 0.00 2.65 0.00 0.000 4 0.000 0.089 2512 3549 3077
11678 -0.98 -117.3 779.2 -5.5 557 11682 0.00 2.67 0.00 0.000 6 0.000 0.074 2512 2128 3077
11995 -0.98 -117.3 795.4 -4.7 572 11999 0.00 2.62 0.00 0.000 4 0.000 0.090 2512 742 3077
12084 -0.98 -117.3 800.3 -5.3 576 12089 0.00 2.65 0.00 0.000 6 0.000 0.077 2512 2141 3077
12407 -0.98 -117.3 816.0 -4.9 592 12411 0.00 2.70 0.00 0.000 4 0.000 0.089 2512 3566 3077
12530 -0.98 -117.3 822.7 -5.0 597 12536 0.00 2.70 0.00 0.000 6 0.000 0.074 2512 2128 3077
12846 -0.98 -117.3 838.3 -4.9 613 12850 0.00 2.62 0.00 0.000 4 0.000 0.088 2512 740 3076
12909 -0.98 -117.3 841.5 -5.6 616 12914 0.00 2.62 0.00 0.000 6 0.000 0.077 2512 2141 3077
13213 end dive: HALF_MISSION_TIME_EXCEEDED
state 13213 begin apogee
13221 -0.33 0.0 857.5 5.3 631 13325 0.70 0.00 101.20 1.585 6 0.099 0.000 2652 2075 2620
13326 end apogee: CONTROL_FINISHED_OK
state 13326 begin climb
13330 1.30 117.3 859.1 0.0 636 13441 1.70 2.80 103.18 1.539 4 0.082 0.082 3013 3508 2141
13447 1.16 117.3 850.6 9.2 642 13454 0.17 2.67 0.00 0.000 6 0.108 0.071 2983 2123 2140
13764 1.16 117.3 823.2 8.6 658 13768 0.00 2.67 0.00 0.000 4 0.000 0.085 2983 3508 2140
13826 1.16 117.3 817.3 9.4 661 13831 0.00 2.65 0.00 0.000 6 0.000 0.071 2983 2108 2140
14153 1.16 117.3 788.3 8.9 677 14158 0.00 2.70 0.00 0.000 4 0.000 0.085 2983 3508 2139
14232 1.16 117.3 780.9 9.5 680 14238 0.00 2.62 0.00 0.000 6 0.000 0.072 2983 2122 2139
14548 1.16 117.3 754.3 8.3 696 14553 0.00 2.65 0.00 0.000 4 0.000 0.085 2983 3508 2139
14610 1.16 117.3 748.7 9.7 699 14614 0.00 2.58 0.00 0.000 6 0.000 0.070 2982 2139 2139
14937 1.16 117.3 721.2 8.4 715 14942 0.00 2.65 0.00 0.000 4 0.000 0.083 2983 3511 2138
15010 1.16 117.3 714.5 8.7 718 15014 0.00 2.55 0.00 0.000 6 0.000 0.070 2983 2154 2138
15326 1.16 117.3 689.4 8.1 733 15330 0.00 2.60 0.00 0.000 4 0.000 0.084 2983 3508 2138
15382 1.16 117.3 684.6 9.3 735 15388 0.00 2.53 0.00 0.000 6 0.000 0.071 2983 2166 2138
15698 1.16 117.3 659.3 8.1 751 15702 0.00 2.58 0.00 0.000 4 0.000 0.085 2983 3510 2138
15753 1.16 117.3 654.4 8.8 753 15759 0.00 2.50 0.00 0.000 6 0.000 0.069 2983 2180 2138
16070 1.17 123.5 629.6 7.7 769 16084 0.00 2.62 6.68 1.216 4 0.000 0.084 2983 3511 2116
16141 1.17 123.5 623.6 8.4 772 16145 0.00 2.50 0.00 0.000 6 0.000 0.069 2983 2192 2116
16462 1.17 123.5 598.0 8.1 788 16467 0.00 2.55 0.00 0.000 4 0.000 0.085 2983 3508 2115
16513 1.17 123.5 593.5 8.0 790 16517 0.00 2.47 0.00 0.000 6 0.000 0.070 2983 2194 2115
16829 1.17 123.5 566.9 8.6 805 16833 0.00 2.53 0.00 0.000 4 0.000 0.085 2983 3508 2115
16869 1.17 123.5 563.2 8.8 807 16874 0.00 2.45 0.00 0.000 6 0.000 0.069 2983 2204 2115
17196 1.17 123.5 536.0 8.2 823 17201 0.00 2.53 0.00 0.000 4 0.000 0.084 2983 3511 2115
17236 1.17 123.5 532.3 9.3 825 17241 0.00 2.42 0.00 0.000 6 0.000 0.067 2983 2212 2115
17565 1.17 123.5 505.3 8.3 841 17569 0.00 2.50 0.00 0.000 4 0.000 0.084 2983 3508 2115
17592 1.17 123.5 502.6 10.5 842 17596 0.00 2.42 0.00 0.000 6 0.000 0.069 2983 2215 2115
17908 1.17 123.5 475.9 8.4 857 17912 0.00 2.50 0.00 0.000 4 0.000 0.084 2983 3510 2115
17953 1.17 123.5 471.9 8.4 859 17957 0.00 2.40 0.00 0.000 6 0.000 0.069 2983 2228 2115
18274 1.17 123.5 444.5 8.6 875 18278 0.00 2.47 0.00 0.000 4 0.000 0.084 2983 3510 2115
18314 1.17 123.5 440.9 9.0 877 18318 0.00 2.38 0.00 0.000 6 0.000 0.067 2983 2233 2115
18641 1.17 123.5 413.8 8.2 893 18645 0.00 2.45 0.00 0.000 4 0.000 0.083 2983 3512 2115
18669 1.17 123.5 411.4 8.9 894 18673 0.00 2.38 0.00 0.000 6 0.000 0.067 2983 2242 2115
18990 1.19 136.7 386.9 7.4 910 19012 0.00 2.50 12.88 1.225 4 0.000 0.082 2983 3501 2062
19030 1.19 136.7 383.6 8.0 911 19037 0.00 2.38 0.00 0.000 6 0.000 0.066 2983 2228 2062
19346 1.19 136.7 357.9 8.4 927 19347 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2224 2061
19655 1.19 136.7 331.5 8.8 942 19656 0.00 0.00 0.00 0.000 6 0.000 0.000 2983 2224 2061
19965 1.19 136.7 304.4 9.0 957 19969 0.00 2.45 0.00 0.000 4 0.000 0.083 2983 3514 2061
20010 1.19 136.7 300.1 8.6 959 20014 0.00 2.38 0.00 0.000 6 0.000 0.066 2982 2238 2061
20344 1.24 141.3 272.8 7.8 975 20351 0.00 0.00 5.80 1.012 6 0.000 0.000 2983 2220 2043
20654 1.33 166.7 250.9 6.8 990 20684 0.15 2.55 22.33 1.172 4 0.060 0.080 3023 3511 1940
20746 1.27 166.7 242.4 9.7 994 20751 0.00 2.40 0.00 0.000 6 0.000 0.064 3023 2230 1939
21069 1.22 166.7 215.3 8.2 1010 21074 0.15 2.45 0.00 0.000 4 0.104 0.078 2993 3508 1939
21120 1.28 177.9 211.3 7.5 1012 21135 0.00 2.35 10.95 1.084 6 0.000 0.064 2993 2226 1893
21460 1.36 190.7 186.8 7.4 1029 21477 0.15 0.00 12.25 1.074 6 0.060 0.000 3028 2226 1842
21788 1.31 190.7 154.1 10.6 1045 21791 0.00 2.42 0.00 0.000 4 0.000 0.077 3029 3514 1841
21812 1.26 190.7 151.3 11.5 1046 21816 0.12 2.33 0.00 0.000 6 0.108 0.061 3006 2257 1841
22140 1.26 190.7 120.3 9.1 1062 22144 0.00 2.38 0.00 0.000 4 0.000 0.074 3006 3515 1841
22207 1.26 190.7 113.5 10.5 1065 22211 0.00 2.30 0.00 0.000 6 0.000 0.058 3006 2264 1841
22530 1.26 190.7 82.4 10.0 1081 22534 0.00 2.35 0.00 0.000 4 0.000 0.071 3006 3510 1841
22554 1.26 190.7 79.7 11.1 1082 22558 0.00 2.25 0.00 0.000 6 0.000 0.058 3006 2279 1841
22875 1.26 190.7 50.1 8.1 1098 22877 0.00 0.00 0.00 0.000 6 0.000 0.000 3006 2261 1842
23187 1.34 209.2 27.5 7.2 1113 23209 0.00 0.00 16.90 0.930 6 0.000 0.000 3006 2261 1766
23516 end climb: SURFACE_DEPTH_REACHED
state 23516 begin surface coast
23540 end surface coast: CONTROL_FINISHED_OK
state 23540 begin surface