NANOOS Sep13 * SG108 * Dive index * Mission links * Dive 467 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  108 ESCAPE_HEADING  0 HEAD_ERRBAND  10 ALTIM_PULSE  4
MISSION  25 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
DIVE  467 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 XPDR_VALID  5
N_DIVES  0 TGT_DEFAULT_LAT  6000 R_PORT_OVSHOOT  57 XPDR_INHIBIT  90
D_SURF  4 TGT_DEFAULT_LON  -5500 R_STBD_OVSHOOT  53 INT_PRESSURE_SLOPE  0.0097660003
D_FLARE  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  300 INT_PRESSURE_YINT  0
D_TGT  990 SM_CC  375 ROLL_MAXERRORS  2 DEEPGLIDER  0
D_ABORT  1030 N_FILEKB  4 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_NO_BLEED  200 FILEMGR  0 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_BOOST  20 CALL_NDIVES  1 VBD_MIN  448 DEVICE1  -1
T_BOOST  5 COMM_SEQ  0 VBD_MAX  4001 DEVICE2  -1
D_FINISH  0 PROTOCOL  1 C_VBD  3009 DEVICE3  -1
D_PITCH  0 N_NOCOMM  1 VBD_DBAND  2 DEVICE4  -1
D_SAFE  0 NOCOMM_ACTION  163 VBD_CNV  -0.24529999 DEVICE5  -1
D_CALL  0 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE6  -1
SURFACE_URGENCY  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.003 LOGGERS  3
SURFACE_URGENCY_TRY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  3 LOGGERDEVICE1  53
SURFACE_URGENCY_FORCE  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  2 LOGGERDEVICE2  86
T_DIVE  410 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_MISSION  430 CAPMAXSIZE  100000 UNCOM_BLEED  20 LOGGERDEVICE4  -1
T_ABORT  1440 HEAPDBG  0 VBD_MAXERRORS  1 COMPASS_DEVICE  97
T_TURN  225 T_GPS  5 W_ADJ_DBAND  0 COMPASS2_DEVICE  -1
T_TURN_SAMPINT  5 N_GPS  20 DBDW  0 PHONE_DEVICE  48
T_NO_W  120 T_GPS_ALMANAC  0 PITCH_W_GAIN  0 GPS_DEVICE  32
T_LOITER  0 T_GPS_CHARGE  -194792.66 PITCH_W_DBAND  0 RAFOS_DEVICE  -1
T_EPIRB  0 T_RSLEEP  3 CF8_MAXERRORS  0 XPDR_DEVICE  24
USE_BATHY  -1 STROBE  0 AH0_24V  150 SIM_W  0
USE_ICE  0 RAFOS_PEAK_OFFSET  1.5 AH0_10V  108 SIM_PITCH  0
ICE_FREEZE_MARGIN  0.1 RAFOS_CORR_THRESH  60 MINV_24V  22 SEABIRD_T_G  0.0042902208
D_OFFGRID  1000 RAFOS_HIT_WINDOW  3600 MINV_10V  9 SEABIRD_T_H  0.00062879291
T_WATCHDOG  10 PITCH_MIN  350 FG_AHR_10V  0 SEABIRD_T_I  2.3436274e-05
RELAUNCH  1 PITCH_MAX  3700 FG_AHR_24V  0 SEABIRD_T_J  2.4509632e-06
APOGEE_PITCH  -5 C_PITCH  3200 PHONE_SUPPLY  -2 SEABIRD_C_G  -9.8955164
MAX_BUOY  110 PITCH_DBAND  0.1 PRESSURE_YINT  -21.975828 SEABIRD_C_H  1.1345812
COURSE_BIAS  0 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.0001161151 SEABIRD_C_I  -0.0014690319
GLIDE_SLOPE  30 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_C_J  0.0002024868
SPEED_FACTOR  1 PITCH_GAIN  20 TCM_PITCH_OFFSET  0 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_TIMEOUT  20 TCM_ROLL_OFFSET  0 SC_PROFILE  3.0
MASS  51925 PITCH_AD_RATE  150 COMPASS_USE  4 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 PM_RECORDABOVE  2000.0
NAV_MODE  2 PITCH_ADJ_GAIN  0 ALTIM_TOP_PING_RANGE  0 PM_PROFILE  1.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_TURN_MARGIN  0 PM_XMITPROFILE  1.0
KALMAN_USE  2 ROLL_MIN  294 ALTIM_TOP_TURN_MARGIN  0 PM_XMITRAW  0.0
HD_A  0.0020999999 ROLL_MAX  3598 ALTIM_TOP_MIN_OBSTACLE  0 PM_NDIVE  14.0
HD_B  0.0116 ROLL_DEG  40 ALTIM_PING_DEPTH  0
HD_C  9.4299997e-07 C_ROLL_DIVE  2300 ALTIM_PING_DELTA  10
HEADING  -1 C_ROLL_CLIMB  2025 ALTIM_FREQUENCY  13

Pre-dive calculations and measurements:
GPS1  171213,010858,4745.666,-12523.450,39,1.0,39,17.2 TGT_NAME  OFFSHORE
_CALLS  1 TGT_LATLONG  4700.000,-12700.000
_XMS_NAKs  0 TGT_RADIUS  2500.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.66 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  171213,011659,4745.645,-12523.357,18,1.1,18,17.2 MHEAD_RNG_PITCHd_Wd  208.6,148479,-15.8,-8.049,-22.04,2046
SPEED_LIMITS  0.139,0.199 D_GRID  812

Post-dive calculations and measurements:
FINISH  1.8,1.024868 _24V_AH  23.4,48.920
SM_CCo  14599,97.55,0.057,0,0,1480,375.06 _10V_AH  9.7,48.869
SM_GC  2.66,8.82,1.70,97.55,0.047,0.026,0.057,333,2314,1480,-8.89,1.87,375.06,0,0,0,0,0,0,25.87,26.16,25.77 FG_AHR_24Vo  0.000
IRIDIUM_FIX  4726.11,-12559.05,161213,212100 FG_AHR_10Vo  0.000
TT8_MAMPS  0.027713,0.027713 MEM  258752
HUMID  56.77 DATA_FILE_SIZE  26734,723
INTERNAL_PRESSURE  9.00425 CAP_FILE_SIZE  165725,0
TCM_TEMP  18.20 CFSIZE  260034560,203923456
XPDR_PINGS  0 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
SC_FREEKB  3788736 CURRENT  0.045,307.0,1
PM_FREEKB  2771996 GPS  171213,052353,4744.711,-12525.418,41,1.0,41,17.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21231116.21 nil000.00
Roll_motor656093.16 nil000.00
VBD_pump_during_apogee3449407573.61 nil000.00
VBD_pump_during_surface9757130.97 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1457331279.12
Iridium_during_xfer257123745.29 PMAR3631086.49
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS20295.89
TT8208711237.91
LPSleep98812209.91
TT8_Active5281160.26
TT8_Sampling216838814.39
TT8_CF850549241.05
TT8_Kalman000.00
Analog_circuits199615309.23
GPS_charging000.00
Compass14657106.48
RAFOS000.00
Transponder050.03

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
20 end surface: CONTROL_FINISHED_OK
state 20 begin dive
24 -1.11 -107.1 329 2275 1531 1389 0.0 0.0 0 70 0.00 0.00 -38.95 0.000 16386 0.000 0.000 329 2276 2483 2527 2439 0 0 0 0 0 0 28.83 28.83 28.83
75 -1.11 -107.1 329 2276 2535 2440 3.0 -1.1 7 135 10.02 2.05 -36.12 0.000 18692 0.232 0.060 2832 3579 3449 3489 3410 0 0 0 0 0 0 25.31 25.88 26.43
156 -1.11 -107.1 1832 3578 3481 3411 6.7 -12.0 19 168 0.00 1.88 0.00 0.000 1030 0.000 0.026 2839 2270 3453 3493 3414 0 0 0 0 0 0 28.83 26.08 28.83
478 -1.11 -107.1 2839 2269 3495 3415 60.8 -16.6 57 489 0.00 2.00 0.00 0.000 260 0.000 0.043 2831 3589 3455 3495 3415 0 0 0 0 0 0 28.83 25.92 28.83
720 -1.11 -107.1 2831 3589 3495 3416 94.8 -14.3 68 731 0.00 1.83 0.00 0.000 1030 0.000 0.026 2838 2300 3455 3495 3416 0 0 0 0 0 0 28.83 26.26 28.83
1040 -1.11 -107.1 2838 2299 3497 3416 137.6 -12.3 84 1050 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 2299 3457 3499 3416 0 0 0 0 0 0 28.83 28.83 28.83
1340 -1.11 -107.1 2838 2299 3497 3416 173.2 -12.2 99 1351 0.00 2.10 0.00 0.000 516 0.000 0.031 2839 905 3457 3498 3416 0 0 0 0 0 0 28.83 26.18 28.83
1410 -1.11 -107.1 2838 905 3498 3417 181.8 -12.2 102 1421 0.00 2.15 0.00 0.000 1030 0.000 0.031 2831 2311 3457 3498 3417 0 0 0 0 0 0 28.83 26.20 28.83
1740 -1.11 -107.1 2830 2311 3498 3417 220.9 -11.7 118 1750 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2310 3457 3498 3417 0 0 0 0 0 0 28.83 28.83 28.83
2040 -1.11 -107.1 2831 2310 3498 3417 255.1 -11.1 133 2050 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2312 3457 3498 3417 0 0 0 0 0 0 28.83 28.83 28.83
2340 -1.11 -107.1 2831 2310 3498 3417 289.3 -11.3 148 2350 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2310 3457 3498 3417 0 0 0 0 0 0 28.83 28.83 28.83
2640 -1.11 -107.1 2831 2310 3498 3417 323.2 -11.2 163 2650 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2310 3457 3498 3417 0 0 0 0 0 0 28.83 28.83 28.83
2940 -1.11 -107.1 2831 2310 3498 3417 357.3 -11.1 178 2950 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2310 3457 3498 3417 0 0 0 0 0 0 28.83 28.83 28.83
3240 -1.11 -107.1 2831 2310 3497 3417 391.3 -11.1 193 3251 0.00 1.90 0.00 0.000 260 0.000 0.044 2821 3591 3457 3497 3417 0 0 0 0 0 0 28.83 26.06 28.83
3284 -1.11 -107.1 2821 3591 3497 3417 394.7 -11.3 194 3296 0.00 1.83 0.00 0.000 1030 0.000 0.026 2821 2292 3457 3498 3417 0 0 0 0 0 0 28.83 26.41 28.83
3590 -1.11 -107.1 2821 2292 3497 3417 430.2 -11.1 210 3601 0.00 1.95 0.00 0.000 260 0.000 0.044 2814 3586 3457 3497 3417 0 0 0 0 0 0 28.83 26.05 28.83
3645 -1.11 -107.1 2814 3586 3496 3417 436.0 -11.3 212 3656 0.00 1.80 0.00 0.000 1030 0.000 0.027 2813 2302 3457 3497 3417 0 0 0 0 0 0 28.83 26.40 28.83
3971 -1.11 -107.1 2813 2302 3496 3417 473.5 -11.2 228 3981 0.00 0.00 0.00 0.000 6 0.000 0.000 2813 2302 3456 3496 3417 0 0 0 0 0 0 28.83 28.83 28.83
4270 -1.11 -107.1 2813 2302 3495 3417 509.4 -12.5 243 4281 0.00 2.10 0.00 0.000 516 0.000 0.031 2816 909 3456 3495 3417 0 0 0 0 0 0 28.83 26.22 28.83
4315 -1.11 -107.1 2815 909 3495 3417 513.2 -12.4 244 4329 0.12 2.12 0.00 0.000 3078 0.175 0.031 2838 2304 3456 3495 3417 0 0 0 0 0 0 25.81 26.23 28.83
4621 -1.11 -107.1 2838 2303 3495 3417 547.5 -10.0 260 4631 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 2303 3455 3494 3417 0 0 0 0 0 0 28.83 28.83 28.83
4920 -1.11 -107.1 2838 2303 3494 3417 576.1 -9.2 275 4931 0.00 0.00 0.00 0.000 6 0.000 0.000 2838 2303 3455 3494 3416 0 0 0 0 0 0 28.83 28.83 28.83
5232 -1.11 -107.1 2838 2303 3494 3417 603.3 -8.7 290 5242 0.00 1.90 0.00 0.000 260 0.000 0.044 2831 3580 3455 3494 3417 0 0 0 0 0 0 28.83 26.02 28.83
5296 -1.11 -107.1 2830 3580 3493 3417 607.2 -9.0 291 5308 0.00 1.85 0.00 0.000 1030 0.000 0.027 2834 2301 3455 3494 3417 0 0 0 0 0 0 28.83 26.39 28.83
5605 -1.11 -107.1 2833 2300 3493 3417 636.3 -8.5 302 5615 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 2300 3455 3493 3417 0 0 0 0 0 0 28.83 28.83 28.83
5904 -1.11 -107.1 2833 2300 3492 3417 665.2 -9.5 312 5914 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 2301 3454 3492 3417 0 0 0 0 0 0 28.83 28.83 28.83
6205 -1.11 -107.1 2835 2300 3490 3417 693.5 -9.6 322 6215 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 2300 3453 3490 3417 0 0 0 0 0 0 28.83 28.83 28.83
6504 -1.11 -107.1 2834 2300 3490 3417 722.9 -9.4 332 6514 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 2300 3453 3490 3417 0 0 0 0 0 0 28.83 28.83 28.83
6805 -1.11 -107.1 2833 2301 3489 3417 749.3 -8.6 342 6815 0.00 0.00 0.00 0.000 6 0.000 0.000 2835 2300 3452 3487 3417 0 0 0 0 0 0 28.83 28.83 28.83
7104 -1.11 -107.1 2833 2300 3488 3416 774.8 -8.5 352 7114 0.00 0.00 0.00 0.000 6 0.000 0.000 2834 2300 3451 3487 3416 0 0 0 0 0 0 28.83 28.83 28.83
7405 -1.11 -107.1 2833 2300 3487 3416 799.5 -8.1 362 7416 0.00 2.10 0.00 0.000 516 0.000 0.031 2837 913 3451 3488 3415 0 0 0 0 0 0 28.83 26.17 28.83
7459 -1.11 -107.1 2836 913 3488 3415 803.1 -8.2 363 7470 0.00 2.12 0.00 0.000 1030 0.000 0.031 2831 2301 3451 3488 3415 0 0 0 0 0 0 28.83 26.20 28.83
7571 end dive: TARGET_DEPTH_EXCEEDED
state 7571 begin apogee
7580 -0.25 0.0 2829 2017 3487 3415 814.3 -8.6 367 7733 0.90 0.00 139.90 0.940 10246 0.132 0.000 3113 2013 3006 3092 2921 0 0 0 0 0 0 25.20 28.83 23.89
7735 end apogee: CONTROL_FINISHED_OK
state 7735 begin climb
7738 1.11 107.1 3112 2013 3090 2918 816.8 0.0 372 7899 1.27 2.33 142.80 0.900 10756 0.075 0.032 3565 635 2565 2662 2469 0 0 0 0 0 0 24.96 24.26 23.37
7952 1.11 107.1 3565 636 2650 2467 797.4 11.7 379 7963 0.00 2.30 0.00 0.000 1030 0.000 0.028 3565 2019 2558 2650 2467 0 0 0 0 0 0 28.83 24.86 28.83
8282 1.11 107.1 3565 2018 2643 2460 751.0 13.6 390 8293 0.00 2.17 0.00 0.000 260 0.000 0.041 3565 3444 2552 2644 2461 0 0 0 0 0 0 28.83 25.74 28.83
8336 1.11 107.1 3565 3444 2642 2460 745.0 13.9 391 8347 0.00 2.10 0.00 0.000 1030 0.000 0.026 3575 2016 2551 2642 2460 0 0 0 0 0 0 28.83 25.98 28.83
8661 1.11 107.1 3575 2009 2640 2459 697.8 13.7 402 8672 0.00 0.00 0.00 0.000 6 0.000 0.000 3576 2009 2549 2640 2459 0 0 0 0 0 0 28.83 28.83 28.83
8962 1.11 107.1 3575 2009 2640 2458 657.0 13.5 412 8972 0.00 0.00 0.00 0.000 6 0.000 0.000 3576 2009 2549 2640 2458 0 0 0 0 0 0 28.83 28.83 28.83
9262 1.11 107.1 3575 2009 2640 2457 616.4 13.7 422 9273 0.00 0.00 0.00 0.000 6 0.000 0.000 3575 2009 2548 2639 2457 0 0 0 0 0 0 28.83 28.83 28.83
9564 1.11 107.1 3575 2009 2639 2457 573.8 13.9 435 9574 0.00 0.00 0.00 0.000 6 0.000 0.000 3576 2009 2548 2639 2457 0 0 0 0 0 0 28.83 28.83 28.83
9863 1.11 107.1 3575 2009 2638 2456 532.1 13.8 450 9873 0.00 0.00 0.00 0.000 6 0.000 0.000 3576 2009 2547 2638 2456 0 0 0 0 0 0 28.83 28.83 28.83
10164 1.11 107.1 3575 2009 2637 2455 491.8 13.1 465 10174 0.00 0.00 0.00 0.000 6 0.000 0.000 3576 2009 2546 2636 2456 0 0 0 0 0 0 28.83 28.83 28.83
10464 1.11 107.1 3575 2009 2636 2455 452.6 13.0 480 10475 0.00 2.12 0.00 0.000 516 0.000 0.035 3585 640 2545 2635 2455 0 0 0 0 0 0 28.83 26.15 28.83
10498 1.11 107.1 2816 640 2582 2446 448.7 12.8 481 10509 0.00 2.15 0.00 0.000 1030 0.000 0.029 3585 2039 2545 2635 2455 0 0 0 0 0 0 28.83 26.26 28.83
10823 1.11 107.1 3585 2038 2635 2455 407.2 12.4 497 10833 0.00 0.00 0.00 0.000 6 0.000 0.000 3585 2038 2544 2634 2454 0 0 0 0 0 0 28.83 28.83 28.83
11123 1.11 107.1 3585 2038 2634 2454 370.7 11.9 512 11133 0.00 0.00 0.00 0.000 6 0.000 0.000 3585 2038 2544 2634 2454 0 0 0 0 0 0 28.83 28.83 28.83
11423 1.11 107.1 3585 2038 2634 2454 334.1 12.2 527 11433 0.00 0.00 0.00 0.000 6 0.000 0.000 3585 2038 2544 2634 2454 0 0 0 0 0 0 28.83 28.83 28.83
11724 1.11 107.1 3585 2038 2634 2454 298.0 12.2 542 11735 0.00 2.10 0.00 0.000 260 0.000 0.041 3585 3430 2543 2633 2454 0 0 0 0 0 0 28.83 26.06 28.83
11785 1.11 107.1 3585 3430 2634 2453 291.2 12.8 544 11796 0.15 2.08 0.00 0.000 5126 0.168 0.026 3557 2014 2544 2634 2454 0 0 0 0 0 0 25.79 26.36 28.83
12105 1.11 107.1 3557 2009 2633 2453 252.6 11.6 560 12116 0.00 0.00 0.00 0.000 6 0.000 0.000 3557 2009 2543 2633 2454 0 0 0 0 0 0 28.83 28.83 28.83
12405 1.11 107.1 3557 2009 2633 2453 218.1 11.6 575 12416 0.00 2.15 0.00 0.000 260 0.000 0.040 3547 3423 2543 2634 2453 0 0 0 0 0 0 28.83 26.06 28.83
12479 1.11 107.1 2720 3421 2580 2444 209.6 12.1 578 12491 0.00 2.05 0.00 0.000 1030 0.000 0.026 3555 2011 2543 2634 2453 0 0 0 0 0 0 28.83 26.36 28.83
12805 1.11 107.1 3555 2011 2633 2453 172.5 10.7 594 12816 0.00 0.00 0.00 0.000 6 0.000 0.000 3555 2011 2543 2633 2453 0 0 0 0 0 0 28.83 28.83 28.83
13106 1.11 107.1 3555 2011 2633 2453 140.6 10.8 609 13116 0.00 0.00 0.00 0.000 6 0.000 0.000 3555 2011 2543 2633 2453 0 0 0 0 0 0 28.83 28.83 28.83
13407 1.11 107.1 3555 2011 2633 2453 104.5 11.9 624 13418 0.00 2.15 0.00 0.000 260 0.000 0.040 3547 3424 2543 2634 2453 0 0 0 0 0 0 28.83 26.04 28.83
13491 1.11 107.1 3547 3424 2633 2453 96.4 11.4 627 13503 0.00 2.03 0.00 0.000 1030 0.000 0.026 3555 2025 2543 2634 2453 0 0 0 0 0 0 28.83 26.37 28.83
13797 1.13 114.3 3555 2025 2633 2453 67.6 7.7 643 13808 0.00 2.12 0.00 0.000 516 0.000 0.034 3565 627 2543 2634 2453 0 0 0 0 0 0 28.83 26.13 28.83
14004 1.26 157.5 3565 626 2634 2453 55.1 5.9 652 14083 0.12 2.15 61.55 0.591 11270 0.093 0.030 3616 2030 2362 2456 2268 0 0 0 0 0 0 26.13 26.25 25.00
14387 1.26 157.5 3616 2029 2448 2262 22.1 9.6 689 14399 0.00 2.12 0.00 0.000 260 0.000 0.041 3616 3423 2355 2447 2263 0 0 0 0 0 0 28.83 25.83 28.83
14550 end climb: SURFACE_DEPTH_REACHED
state 14550 begin surface coast
14572 end surface coast: CONTROL_FINISHED_OK
state 14572 begin surface