NAB Apr08 * SG140 * Dive index * Mission links * Dive 352 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  140 HD_C  9.9999997e-06 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  5 HEADING  -1 PITCH_ADJ_GAIN  0.02 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  352 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  2 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  157 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3940 ALTIM_PING_DEPTH  0
D_TGT  990 TGT_DEFAULT_LAT  5900 ROLL_DEG  40 ALTIM_PING_DELTA  0
D_ABORT  1040 TGT_DEFAULT_LON  -2030 C_ROLL_DIVE  2235 ALTIM_FREQUENCY  13
D_NO_BLEED  350 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2330 ALTIM_PULSE  3
D_FINISH  0 SM_CC  200 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
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  12 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  13 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  350 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  330 N_NOSURFACE  0 ROLL_ADJ_GAIN  3 DEVICE2  20
T_MISSION  390 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0.029999999 DEVICE3  35
T_ABORT  720 CALL_TRIES  5 VBD_MIN  520 DEVICE4  53
T_TURN  225 CALL_WAIT  60 VBD_MAX  3978 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  3085 DEVICE6  -1
T_NO_W  120 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  0 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  15 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.0012300001 COMPASS_DEVICE  33
D_OFFGRID  100 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -19660.885 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  3 VBD_BLEED_AD_RATE  8 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  24
MAX_BUOY  200 RAFOS_CORR_THRESH  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  20 SIM_PITCH  0
GLIDE_SLOPE  30 PITCH_MIN  592 AH0_24V  91.800003 SEABIRD_T_G  0.0043273787
SPEED_FACTOR  1 PITCH_MAX  3894 AH0_10V  100 SEABIRD_T_H  0.0006414231
RHO  1.0273 C_PITCH  2960 PRESSURE_YINT  -1.4601949 SEABIRD_T_I  2.3931538e-05
MASS  51662 PITCH_DBAND  0.1 PRESSURE_SLOPE  9.0994887e-05 SEABIRD_T_J  2.340664e-06
NAV_MODE  2 PITCH_CNV  0.0046000001 AD7714Ch0Gain  64 SEABIRD_C_G  -10.258962
FERRY_MAX  0 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1819305
KALMAN_USE  2 PITCH_GAIN  14.2 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0037964056
HD_A  0.003 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_J  0.00031207138
HD_B  0.0099999998 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  203601,6146.501,-2558.506,38,0.9,43,-18.6 TGT_NAME  SE
_CALLS  1 TGT_LATLONG  6137.290,-2543.110
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.08 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -63.7 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  204439,6146.447,-2558.595,14,1.1,14,-18.6 MHEAD_RNG_PITCHd_Wd  159.8,21758,-14.9,-10.000
SPEED_LIMITS  0.173,0.295 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.3,1.012993 _24V_AH  23.0,75.204
SM_CCo  21220,0.00,0.000,0,0,1778,320.61 _10V_AH  10.6,62.298
SM_GC  1.17,11.55,0.00,0.00,0.044,0.000,0.000,588,2233,1778,-10.85,-0.06,320.61 DATA_FILE_SIZE  129323,2137
IRIDIUM_FIX  6126.23,-2607.40,180997,141447 CAP_FILE_SIZE  212100,0
TT8_MAMPS  0.022243 CFSIZE  260165632,222138368
HUMID  1732 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE  8.42806 CURRENT  0.072,148.6,1
TCM_TEMP  16.60 GPS  250608,023955,6143.578,-2553.656,24,1.0,41,-18.5
XPDR_PINGS  797

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor26184114.21 SBE_CT148124817.60
Roll_motor260131791.03 SBE_O2163519714.74
VBD_pump_during_apogee454142014843.31 WL_BB2F18971054582.34
VBD_pump_during_surface000.00 Optode61033463.15
VBD_valve000.00 nil000.00
Iridium_during_init2310355.12 nil000.00
Iridium_during_connect40160150.56 nil000.00
Iridium_during_xfer2802231439.99
Transponder_ping1994201924.76
Mmodem_TX000.00
Mmodem_RX000.00
GPS14507.85
TT8442619929.06
LPSleep118332274.71
TT8_Active76219159.95
TT8_Sampling3835391617.99
TT8_CF885345414.47
TT8_Kalman000.00
Analog_circuits250012318.05
GPS_charging000.00
Compass38248324.29
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
20 end surface: CONTROL_FINISHED_OK
state 21 begin dive
24 -1.29 -194.7 0.0 0.0 0 100 0.00 0.00 -73.70 0.000 2 0.000 0.000 589 2239 3414
103 -1.29 -194.7 3.4 -7.0 10 133 12.43 2.72 -10.05 0.000 4 0.184 0.103 2673 818 3879
209 -1.29 -194.7 16.8 -9.0 27 216 0.00 2.65 0.00 0.000 6 0.000 0.084 2673 2245 3879
355 -1.29 -194.7 29.2 -8.1 52 362 0.00 2.65 0.00 0.000 4 0.000 0.091 2673 3646 3880
392 -1.29 -194.7 32.2 -7.7 58 400 0.00 2.60 0.00 0.000 6 0.000 0.074 2674 2239 3880
539 -1.29 -194.7 42.3 -7.0 83 546 0.00 2.67 0.00 0.000 4 0.000 0.092 2674 826 3880
565 -1.29 -194.7 44.3 -6.8 87 572 0.00 2.67 0.00 0.000 6 0.000 0.076 2673 2270 3880
709 -1.29 -194.7 55.3 -8.6 112 716 0.00 0.00 0.00 0.000 6 0.000 0.000 2674 2270 3880
1053 -1.29 -194.7 87.3 -9.4 173 1061 0.00 2.75 0.00 0.000 4 0.000 0.088 2673 818 3881
1080 -1.29 -194.7 89.8 -9.8 177 1087 0.00 2.62 0.00 0.000 6 0.000 0.081 2673 2220 3881
1426 -1.29 -194.7 123.0 -9.8 238 1434 0.00 2.75 0.00 0.000 4 0.000 0.098 2673 3647 3881
1447 -1.29 -194.7 125.1 -9.7 241 1454 0.00 2.70 0.00 0.000 6 0.000 0.082 2673 2215 3881
1793 -1.29 -194.7 157.5 -8.8 302 1800 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2215 3882
2139 -1.29 -194.7 188.9 -9.4 363 2146 0.00 2.72 0.00 0.000 4 0.000 0.106 2673 821 3882
2170 -1.29 -194.7 191.9 -9.7 368 2178 0.00 2.67 0.00 0.000 6 0.000 0.090 2673 2228 3881
2516 -1.29 -194.7 223.5 -9.1 429 2523 0.00 2.78 0.00 0.000 4 0.000 0.104 2674 3651 3882
2547 -1.29 -194.7 226.6 -10.0 434 2554 0.00 2.70 0.00 0.000 6 0.000 0.085 2674 2224 3881
2894 -1.29 -194.7 257.6 -8.4 495 2901 0.00 2.75 0.00 0.000 4 0.000 0.108 2674 823 3881
2931 -1.29 -194.7 260.8 -9.0 501 2938 0.00 2.67 0.00 0.000 6 0.000 0.090 2673 2222 3881
3276 -1.29 -194.7 288.5 -7.7 562 3283 0.00 2.78 0.00 0.000 4 0.000 0.105 2673 3646 3881
3308 -1.29 -194.7 291.1 -8.4 567 3315 0.00 2.72 0.00 0.000 6 0.000 0.087 2673 2215 3881
3654 -1.29 -194.7 319.2 -8.3 628 3662 0.00 2.72 0.00 0.000 4 0.000 0.108 2673 824 3880
3680 -1.29 -194.7 321.4 -8.8 632 3687 0.00 2.70 0.00 0.000 6 0.000 0.093 2673 2230 3880
4031 -1.29 -194.7 351.0 -8.4 693 4035 0.00 2.78 0.00 0.000 4 0.000 0.107 2673 3645 3880
4071 -1.29 -194.7 354.5 -9.0 696 4075 0.00 2.72 0.00 0.000 6 0.000 0.089 2674 2219 3881
4398 -1.29 -194.7 382.4 -8.7 726 4403 0.00 2.78 0.00 0.000 4 0.000 0.113 2673 821 3879
4438 -1.29 -194.7 386.1 -8.9 729 4443 0.00 2.70 0.00 0.000 6 0.000 0.091 2673 2232 3880
4767 -1.29 -194.7 414.7 -9.0 759 4771 0.00 2.78 0.00 0.000 4 0.000 0.108 2673 3646 3879
4807 -1.29 -194.7 418.7 -9.6 762 4811 0.00 2.70 0.00 0.000 6 0.000 0.088 2674 2220 3879
5134 -1.29 -194.7 448.1 -9.2 792 5138 0.00 2.78 0.00 0.000 4 0.000 0.114 2674 821 3879
5167 -1.29 -194.7 451.4 -9.2 794 5174 0.00 2.67 0.00 0.000 6 0.000 0.094 2674 2220 3879
5497 -1.29 -194.7 480.6 -9.1 825 5501 0.00 2.80 0.00 0.000 4 0.000 0.106 2673 3651 3879
5540 -1.29 -194.7 485.3 -9.0 828 5548 0.00 2.72 0.00 0.000 6 0.000 0.091 2674 2220 3879
5868 -1.29 -194.7 513.8 -9.2 859 5873 0.00 2.78 0.00 0.000 4 0.000 0.115 2673 825 3879
5909 -1.29 -194.7 517.8 -9.7 862 5914 0.00 2.67 0.00 0.000 6 0.000 0.096 2674 2218 3879
6237 -1.29 -194.7 546.3 -8.3 892 6241 0.00 2.83 0.00 0.000 4 0.000 0.110 2673 3651 3879
6266 -1.29 -194.7 548.9 -8.9 894 6271 0.00 2.78 0.00 0.000 6 0.000 0.094 2673 2206 3879
6594 -1.29 -194.7 575.9 -8.7 924 6595 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2207 3878
6920 -1.29 -194.7 603.5 -8.0 953 6921 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2207 3878
7228 -1.29 -194.7 627.6 -8.0 968 7229 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2207 3878
7538 -1.29 -194.7 653.5 -9.1 983 7539 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2207 3878
7847 -1.29 -194.7 683.3 -9.8 998 7852 0.00 2.88 0.00 0.000 4 0.000 0.113 2673 3649 3877
7891 -1.29 -194.7 687.8 -9.8 1000 7896 0.00 2.75 0.00 0.000 6 0.000 0.100 2673 2233 3877
8213 -1.29 -194.7 719.5 -9.8 1016 8217 0.00 2.88 0.00 0.000 4 0.000 0.124 2673 818 3877
8257 -1.29 -194.7 724.0 -10.0 1018 8261 0.00 2.72 0.00 0.000 6 0.000 0.100 2673 2230 3877
8578 -1.29 -194.7 751.1 -7.7 1034 8583 0.00 2.88 0.00 0.000 4 0.000 0.125 2673 3650 3876
8605 -1.29 -194.7 753.3 -7.9 1035 8610 0.00 2.78 0.00 0.000 6 0.000 0.100 2673 2220 3877
8922 -1.29 -194.7 777.3 -7.9 1050 8927 0.00 2.85 0.00 0.000 4 0.000 0.127 2673 817 3876
8972 -1.29 -194.7 781.6 -8.5 1052 8976 0.00 2.70 0.00 0.000 6 0.000 0.097 2673 2227 3877
9288 -1.29 -194.7 806.7 -7.9 1067 9293 0.00 2.90 0.00 0.000 4 0.000 0.127 2673 3649 3876
9316 -1.29 -194.7 809.1 -8.5 1068 9321 0.00 2.78 0.00 0.000 6 0.000 0.099 2673 2219 3876
9633 -1.29 -194.7 834.7 -8.3 1083 9637 0.00 2.85 0.00 0.000 4 0.000 0.129 2673 817 3876
9654 -1.29 -194.7 836.7 -9.1 1084 9659 0.00 2.72 0.00 0.000 6 0.000 0.097 2673 2227 3875
9978 -1.29 -194.7 863.4 -8.1 1100 9983 0.00 2.90 0.00 0.000 4 0.000 0.130 2673 3646 3875
9996 -1.29 -194.7 865.0 -8.4 1101 10001 0.00 2.80 0.00 0.000 6 0.000 0.103 2673 2214 3875
10324 -1.29 -194.7 892.3 -8.4 1117 10328 0.00 2.85 0.00 0.000 4 0.000 0.132 2673 824 3875
10351 -1.29 -194.7 894.8 -9.1 1118 10356 0.00 2.75 0.00 0.000 6 0.000 0.104 2673 2233 3875
10667 -1.29 -194.7 922.8 -9.0 1133 10672 0.00 2.88 0.00 0.000 4 0.000 0.128 2673 3644 3875
10700 -1.29 -194.7 925.9 -9.4 1134 10708 0.00 2.80 0.00 0.000 6 0.000 0.105 2672 2222 3874
11017 -1.29 -194.7 954.0 -8.6 1150 11022 0.00 2.85 0.00 0.000 4 0.000 0.125 2673 817 3874
11044 -1.29 -194.7 956.6 -8.9 1151 11049 0.00 2.78 0.00 0.000 6 0.000 0.105 2673 2233 3874
11361 -1.29 -194.7 983.2 -8.3 1166 11365 0.00 2.90 0.00 0.000 4 0.000 0.129 2673 3648 3873
11394 -1.29 -194.7 986.2 -9.5 1167 11401 0.00 2.80 0.00 0.000 6 0.000 0.107 2673 2229 3873
11439 end dive: TARGET_DEPTH_EXCEEDED
state 11439 begin apogee
11445 -0.35 0.0 990.3 8.9 1170 11622 1.02 0.00 168.93 1.420 6 0.096 0.000 2880 2340 3084
11622 end apogee: CONTROL_FINISHED_OK
state 11623 begin climb
11626 1.29 194.7 998.5 0.0 1179 11805 1.62 3.03 165.30 1.384 4 0.060 0.130 3238 3737 2290
11829 1.18 194.7 986.6 10.8 1188 11834 0.12 2.88 0.00 0.000 6 0.117 0.108 3218 2331 2290
12157 1.13 194.7 953.2 10.3 1204 12158 0.00 0.00 0.00 0.000 6 0.000 0.000 3217 2331 2289
12465 1.07 194.7 920.0 10.8 1219 12471 0.12 2.92 0.00 0.000 4 0.116 0.131 3195 918 2288
12483 1.07 194.7 918.1 10.5 1220 12488 0.00 2.80 0.00 0.000 6 0.000 0.104 3195 2336 2288
12812 1.10 213.4 886.5 9.4 1236 12836 0.00 3.03 17.40 1.285 4 0.000 0.124 3195 3738 2214
12861 1.06 220.8 881.5 9.7 1238 12875 0.00 2.83 8.55 1.131 6 0.000 0.102 3195 2338 2183
13194 1.06 220.8 845.6 10.7 1254 13199 0.00 2.88 0.00 0.000 4 0.000 0.122 3195 918 2182
13226 1.06 220.8 841.7 10.7 1255 13233 0.00 2.80 0.00 0.000 6 0.000 0.104 3195 2336 2182
13543 1.06 220.8 807.6 11.1 1271 13544 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2337 2181
13852 1.12 265.3 778.7 8.5 1286 13894 0.00 0.00 39.92 1.263 6 0.000 0.000 3194 2337 2003
14202 1.12 267.4 745.4 9.9 1303 14206 0.00 2.85 0.00 0.000 4 0.000 0.117 3195 919 1998
14223 1.12 267.4 742.9 10.5 1304 14227 0.00 2.78 0.00 0.000 6 0.000 0.101 3195 2334 1997
14546 1.14 285.8 712.6 9.4 1320 14574 0.00 0.00 20.65 1.108 6 0.000 0.000 3195 2334 1920
14873 1.14 285.8 680.1 10.2 1336 14877 0.00 2.85 0.00 0.000 4 0.000 0.115 3195 915 1917
14891 1.14 285.8 678.3 10.6 1337 14895 0.00 2.72 0.00 0.000 6 0.000 0.100 3195 2309 1917
15220 1.14 285.8 641.6 11.6 1353 15221 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2309 1917
15528 1.14 285.8 608.1 10.5 1368 15529 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2309 1916
15842 1.14 285.8 576.1 11.3 1394 15847 0.00 2.75 0.00 0.000 4 0.000 0.109 3195 915 1917
15872 1.14 285.8 573.0 10.5 1396 15876 0.00 2.67 0.00 0.000 6 0.000 0.097 3195 2299 1917
16197 1.14 285.8 538.5 10.7 1426 16201 0.00 2.90 0.00 0.000 4 0.000 0.114 3195 3737 1916
16214 1.14 285.8 536.7 11.0 1427 16219 0.00 2.83 0.00 0.000 6 0.000 0.091 3195 2283 1915
16540 1.16 301.8 503.8 9.4 1457 16562 0.00 0.00 15.45 1.074 6 0.000 0.000 3195 2283 1853
16880 1.16 301.8 470.4 10.3 1489 16882 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2284 1851
17199 1.16 301.8 436.0 11.0 1519 17204 0.00 2.90 0.00 0.000 4 0.000 0.107 3195 3736 1851
17231 1.16 301.8 431.9 11.4 1521 17239 0.00 2.80 0.00 0.000 6 0.000 0.087 3195 2280 1850
17556 1.16 301.8 396.3 10.8 1552 17558 0.00 0.00 0.00 0.000 6 0.000 0.000 3195 2281 1851
17877 1.18 314.4 364.4 9.6 1582 17894 0.00 2.95 12.12 0.971 4 0.000 0.104 3195 3736 1802
17919 1.18 314.4 360.0 10.4 1585 17924 0.00 2.80 0.00 0.000 6 0.000 0.087 3195 2297 1801
18258 1.18 319.4 326.7 9.8 1636 18273 0.10 2.75 6.00 0.830 4 0.071 0.108 3222 915 1782
18286 1.18 319.4 323.6 10.8 1640 18293 0.00 2.67 0.00 0.000 6 0.000 0.089 3222 2307 1781
18632 1.18 319.4 285.5 10.7 1701 18639 0.00 2.85 0.00 0.000 4 0.000 0.106 3222 3738 1780
18653 1.18 319.4 283.2 10.8 1704 18660 0.00 2.78 0.00 0.000 6 0.000 0.087 3221 2300 1781
18999 1.18 319.4 244.6 11.0 1765 19007 0.00 2.67 0.00 0.000 4 0.000 0.103 3222 918 1781
19014 1.18 319.4 242.9 11.5 1767 19021 0.00 2.62 0.00 0.000 6 0.000 0.087 3222 2304 1781
19359 1.18 319.4 203.1 11.5 1828 19367 0.00 2.83 0.00 0.000 4 0.000 0.104 3222 3735 1780
19380 1.18 319.4 200.7 11.6 1831 19387 0.00 2.75 0.00 0.000 6 0.000 0.084 3222 2300 1781
19725 1.18 319.4 161.1 10.6 1892 19733 0.00 2.67 0.00 0.000 4 0.000 0.104 3222 918 1781
19746 1.18 319.4 158.8 11.0 1895 19753 0.00 2.62 0.00 0.000 6 0.000 0.087 3222 2305 1781
20091 1.18 319.4 118.2 11.1 1956 20099 0.00 2.83 0.00 0.000 4 0.000 0.104 3222 3735 1781
20129 1.18 319.4 113.8 11.8 1962 20136 0.00 2.70 0.00 0.000 6 0.000 0.082 3221 2316 1780
20475 1.18 319.4 74.1 12.3 2023 20482 0.00 2.70 0.00 0.000 4 0.000 0.101 3222 918 1781
20495 1.18 319.4 71.8 12.3 2026 20502 0.00 2.65 0.00 0.000 6 0.000 0.084 3222 2325 1781
20840 1.18 319.4 33.3 10.2 2087 20848 0.00 2.70 0.00 0.000 4 0.000 0.096 3222 912 1781
20855 1.18 319.4 31.5 10.2 2089 20862 0.00 2.60 0.00 0.000 6 0.000 0.082 3222 2303 1781
21001 1.18 319.4 15.6 11.0 2114 21008 0.00 2.78 0.00 0.000 4 0.000 0.100 3221 3735 1780
21061 1.18 319.4 8.2 12.2 2124 21069 0.00 2.58 0.00 0.000 6 0.000 0.081 3222 2372 1780
21120 end climb: SURFACE_DEPTH_REACHED
state 21120 begin surface coast
21138 end surface coast: CONTROL_FINISHED_OK
state 21138 begin surface