SOSCEx 24Jul16 * SG574 * Dive index * Mission links * Dive 509 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  574 HD_C  9.8500004e-06 ROLL_MAX  3880 ALTIM_BOTTOM_TURN_MARGIN  15
MISSION  20 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
DIVE  509 ESCAPE_HEADING  0 C_ROLL_DIVE  2124 ALTIM_TOP_MIN_OBSTACLE  1
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2097 ALTIM_PING_DEPTH  1050
D_SURF  3 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  10
D_FLARE  3 TGT_DEFAULT_LAT  4808 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  1000 TGT_DEFAULT_LON  -12223 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  25 ALTIM_SENSITIVITY  2
D_NO_BLEED  500 SM_CC  446.92932 R_STBD_OVSHOOT  21 XPDR_VALID  2
D_BOOST  5 N_FILEKB  4 ROLL_AD_RATE  350 XPDR_INHIBIT  90
T_BOOST  0 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  0 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  0
D_PITCH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  0 PROTOCOL  0 VBD_MIN  500 DEEPGLIDERMB  0
D_CALL  0 N_NOCOMM  1 VBD_MAX  3961 MOTHERBOARD  4
SURFACE_URGENCY  0 NOCOMM_ACTION  0 C_VBD  2322 DEVICE1  2
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  134
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.245296 DEVICE3  147
T_DIVE  363 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  165
T_MISSION  395 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_ABORT  720 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  500 CAPMAXSIZE  400000 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERS  0
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  -1
T_NO_W  120 T_GPS  15 UNCOM_BLEED  60 LOGGERDEVICE2  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
USE_BATHY  0 T_GPS_CHARGE  -2400089.8 DBDW  0 COMPASS_DEVICE  33
USE_ICE  0 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.30000001 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  48
D_OFFGRID  100 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  145 RAFOS_DEVICE  -1
RELAUNCH  0 RAFOS_HIT_WINDOW  3600 AH0_10V  96.25 XPDR_DEVICE  24
APOGEE_PITCH  0 PITCH_MIN  143 MINV_24V  19 SIM_W  0
MAX_BUOY  90 PITCH_MAX  3888 MINV_10V  8.5 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2845 FG_AHR_10V  0 SEABIRD_T_G  0.0043017557
GLIDE_SLOPE  17 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00062339538
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PHONE_SUPPLY  2 SEABIRD_T_I  2.3377639e-05
RHO  1.0275 P_OVSHOOT  0.039999999 PRESSURE_YINT  -47.130039 SEABIRD_T_J  2.5612862e-06
MASS  53162 PITCH_GAIN  45 PRESSURE_SLOPE  0.0001171049 SEABIRD_C_G  -9.9136524
MASS_COMP  0 PITCH_TIMEOUT  17 AD7714Ch0Gain  128 SEABIRD_C_H  1.1456692
NAV_MODE  2 PITCH_AD_RATE  175 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.00078246131
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00012677554
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  0
HD_A  0.0038360001 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0
HD_B  0.010078 ROLL_MIN  245 ALTIM_TOP_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  301116,202434,-4538.020,556.847,32,0.8,32,-24.1 TGT_NAME  SOUTH
_CALLS  1 TGT_LATLONG  -4620.000,470.000
_XMS_NAKs  0 TGT_RADIUS  1000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.90 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -74.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  301116,203227,-4537.955,556.861,5,1.1,5,-24.1 MHEAD_RNG_PITCHd_Wd  244.1,98256,-13.1,-9.183,-16.48,3878
SPEED_LIMITS  0.300,0.310 D_GRID  1000

Post-dive calculations and measurements:
FINISH  2.0,1.022985 _10V_AH  9.6,68.459
SM_CCo  21084,144.27,0.055,0,0,499,446.93 FG_AHR_24Vo  0.000
SM_GC  2.90,7.78,0.00,144.27,0.044,0.000,0.055,129,2110,499,-8.40,-0.42,446.93,0,0,0,0,0,0,25.86,28.83,25.56 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -4521.02,551.83,270909,030348 MEM  352972
TT8_MAMPS  0.025466,0.025466 DATA_FILE_SIZE  83423,1353
HUMID  59.56 CAP_FILE_SIZE  149547,0
INTERNAL_PRESSURE  8.90659 CFSIZE  2097086464,2026668032
TCM_TEMP  6.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  1 CURRENT  0.227, 43.9,1
_24V_AH  22.4,53.250 GPS  011216,022821,-4537.201,557.462,40,0.8,40,-24.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20241111.41 SBE_CT959541175.57
Roll_motor12880231.12 QSP2150125618.88
VBD_pump_during_apogee20413156021.70 WL_BB2FL7011051648.98
VBD_pump_during_surface14455178.01 AA433072143702.42
VBD_valve000.00 nil000.00
Iridium_during_init369173.96 nil000.00
Iridium_during_connect1816064.96 nil000.00
Iridium_during_xfer2972231486.32 nil000.00
Transponder_ping04202.35 nil000.00
GUMSTIX_24V000.00
GPS8322.83
TT8343313447.30
LPSleep143412301.51
TT8_Active5411370.48
TT8_Sampling3167411255.29
TT8_CF823848109.83
TT8_Kalman000.00
Analog_circuits177415266.50
GPS_charging000.00
Compass277219518.21
RAFOS000.00
Transponder050.05

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -0.40 -87.6 129 2094 491 429 0.0 0.0 0 71 0.00 0.00 -53.53 0.000 16386 0.000 0.000 128 2094 1786 1783 1789 0 0 0 0 0 0 28.83 28.83 28.83
74 -0.40 -87.6 129 2094 1798 1777 3.2 -0.8 6 138 10.95 2.47 -41.38 0.000 18692 0.242 0.080 2707 3530 2680 2703 2657 0 0 0 0 0 0 24.72 25.29 26.09
358 -0.40 -87.6 2707 3537 2699 2661 7.1 -11.3 44 368 0.00 2.33 0.00 0.000 1030 0.000 0.049 2708 2121 2680 2700 2660 0 0 0 0 0 0 28.83 25.44 28.83
428 -0.40 -87.6 2707 2117 2701 2661 14.5 -11.6 53 437 0.00 2.33 0.00 0.000 516 0.000 0.050 2707 712 2680 2701 2660 0 0 0 0 0 0 28.83 25.44 28.83
455 -0.40 -87.6 2707 712 2701 2661 17.4 -10.7 56 464 0.00 2.38 0.00 0.000 1030 0.000 0.053 2697 2129 2681 2702 2661 0 0 0 0 0 0 28.83 25.44 28.83
523 -0.40 -87.6 2697 2129 2701 2660 25.3 -11.9 65 533 0.00 2.33 0.00 0.000 260 0.000 0.060 2687 3527 2681 2702 2660 0 0 0 0 0 0 28.83 25.38 28.83
564 -0.40 -87.6 2686 3527 2701 2660 30.4 -12.0 70 574 0.00 2.30 0.00 0.000 1030 0.000 0.049 2687 2127 2680 2701 2660 0 0 0 0 0 0 28.83 25.49 28.83
720 -0.40 -87.6 2686 2123 2701 2660 51.5 -13.6 95 727 0.00 2.33 0.00 0.000 516 0.000 0.055 2686 711 2680 2701 2660 0 0 0 0 0 0 28.83 25.44 28.83
752 -0.40 -87.6 2686 711 2702 2661 55.8 -13.9 100 760 0.15 2.38 0.00 0.000 3078 0.200 0.054 2712 2147 2681 2701 2661 0 0 0 0 0 0 25.08 25.48 28.83
1089 -0.40 -87.6 2712 2147 2702 2661 94.2 -10.8 161 1095 0.00 2.33 0.00 0.000 516 0.000 0.047 2713 711 2681 2702 2661 0 0 0 0 0 0 28.83 25.57 28.83
1116 -0.40 -87.6 2713 710 2702 2661 97.2 -11.1 165 1122 0.00 2.33 0.00 0.000 1030 0.000 0.051 2704 2132 2681 2702 2661 0 0 0 0 0 0 28.83 25.53 28.83
1426 -0.40 -87.6 2704 2132 2702 2661 131.7 -10.8 198 1435 0.00 2.30 0.00 0.000 260 0.000 0.060 2693 3545 2681 2702 2661 0 0 0 0 0 0 28.83 25.48 28.83
1488 -0.40 -87.6 2693 3545 2701 2661 137.8 -9.2 204 1497 0.00 2.28 0.00 0.000 1030 0.000 0.049 2693 2121 2681 2701 2662 0 0 0 0 0 0 28.83 25.60 28.83
1799 -0.40 -87.6 2693 2119 2701 2661 171.7 -11.2 235 1808 0.00 2.28 0.00 0.000 516 0.000 0.054 2693 711 2681 2701 2661 0 0 0 0 0 0 28.83 25.57 28.83
1834 -0.40 -87.6 2693 711 2702 2661 175.5 -11.5 238 1841 0.12 2.30 0.00 0.000 3078 0.221 0.052 2711 2126 2681 2702 2661 0 0 0 0 0 0 25.18 25.58 28.83
2151 -0.40 -87.6 2711 2125 2701 2661 206.2 -9.8 267 2156 0.00 2.28 0.00 0.000 260 0.000 0.060 2702 3534 2681 2701 2661 0 0 0 0 0 0 28.83 25.52 28.83
2244 -0.40 -87.6 2702 3534 2701 2661 213.2 -8.8 271 2252 0.00 2.28 0.00 0.000 1030 0.000 0.050 2702 2118 2680 2701 2660 0 0 0 0 0 0 28.83 25.63 28.83
3051 -0.40 -87.6 2702 2115 2702 2660 298.3 -10.1 312 3057 0.00 2.28 0.00 0.000 516 0.000 0.053 2702 711 2681 2702 2661 0 0 0 0 0 0 28.83 25.62 28.83
3074 -0.40 -87.6 2701 711 2703 2661 300.4 -10.2 313 3078 0.00 2.30 0.00 0.000 1030 0.000 0.050 2692 2129 2682 2703 2661 0 0 0 0 0 0 28.83 25.63 28.83
3886 -0.40 -87.6 2692 2129 2703 2660 388.1 -10.6 354 3892 0.00 2.28 0.00 0.000 260 0.000 0.061 2681 3532 2681 2703 2660 0 0 0 0 0 0 28.83 25.52 28.83
3949 -0.40 -87.6 2681 3532 2701 2660 394.2 -10.3 357 3954 0.12 2.28 0.00 0.000 3078 0.195 0.052 2712 2116 2680 2700 2660 0 0 0 0 0 0 25.27 25.64 28.83
4762 -0.40 -87.6 2711 2115 2701 2659 460.0 -7.2 398 4767 0.00 2.28 0.00 0.000 516 0.000 0.053 2712 712 2680 2701 2659 0 0 0 0 0 0 28.83 25.60 28.83
4794 -0.40 -87.6 2712 712 2701 2660 461.6 -7.2 399 4802 0.00 2.30 0.00 0.000 1030 0.000 0.051 2703 2129 2680 2701 2659 0 0 0 0 0 0 28.83 25.63 28.83
5603 -0.40 -87.6 2703 2129 2701 2659 527.1 -8.3 440 5609 0.00 2.28 0.00 0.000 260 0.000 0.062 2692 3534 2680 2701 2659 0 0 0 0 0 0 28.83 25.51 28.83
5695 -0.40 -87.6 2692 3534 2701 2658 533.5 -8.0 444 5701 0.00 2.30 0.00 0.000 1030 0.000 0.055 2692 2122 2680 2701 2659 0 0 0 0 0 0 28.83 25.61 28.83
6501 -0.40 -87.6 2692 2121 2702 2658 606.9 -9.5 485 6507 0.00 2.30 0.00 0.000 516 0.000 0.057 2692 711 2680 2702 2658 0 0 0 0 0 0 28.83 25.54 28.83
6534 -0.40 -87.6 2692 711 2702 2658 608.9 -9.6 486 6542 0.12 2.30 0.00 0.000 3078 0.174 0.054 2712 2124 2680 2702 2658 0 0 0 0 0 0 25.32 25.58 28.83
7342 -0.40 -87.6 2712 2123 2703 2658 670.2 -7.0 527 7347 0.00 2.30 0.00 0.000 260 0.000 0.063 2703 3543 2679 2702 2657 0 0 0 0 0 0 28.83 25.43 28.83
7451 -0.40 -87.6 2703 3543 2700 2657 677.1 -6.8 532 7460 0.00 2.28 0.00 0.000 1030 0.000 0.052 2703 2122 2679 2701 2657 0 0 0 0 0 0 28.83 25.60 28.83
8263 -0.40 -87.6 2703 2123 2700 2657 739.1 -7.7 573 8269 0.00 2.28 0.00 0.000 516 0.000 0.057 2703 720 2678 2701 2656 0 0 0 0 0 0 28.83 25.51 28.83
8291 -0.40 -87.6 2702 720 2701 2657 740.7 -7.7 574 8300 0.00 2.30 0.00 0.000 1030 0.000 0.054 2692 2129 2679 2701 2657 0 0 0 0 0 0 28.83 25.55 28.83
9103 -0.40 -87.6 2692 2129 2701 2656 808.8 -8.2 615 9108 0.00 2.25 0.00 0.000 260 0.000 0.062 2682 3528 2678 2701 2655 0 0 0 0 0 0 28.83 25.43 28.83
9251 -0.40 -87.6 2682 3527 2700 2656 819.3 -7.5 622 9260 0.12 2.28 0.00 0.000 3078 0.175 0.054 2713 2120 2677 2700 2655 0 0 0 0 0 0 25.29 25.55 28.83
10062 -0.40 -87.6 2713 2116 2701 2655 868.9 -5.7 663 10067 0.00 2.30 0.00 0.000 516 0.000 0.056 2714 705 2678 2701 2655 0 0 0 0 0 0 28.83 25.51 28.83
10130 -0.40 -87.6 2714 705 2701 2656 872.5 -6.0 666 10134 0.00 2.33 0.00 0.000 1030 0.000 0.052 2706 2131 2678 2701 2656 0 0 0 0 0 0 28.83 25.55 28.83
10937 -0.40 -87.6 2705 2131 2701 2655 921.0 -6.4 706 10942 0.00 2.28 0.00 0.000 260 0.000 0.061 2695 3535 2678 2701 2655 0 0 0 0 0 0 28.83 25.41 28.83
11045 -0.40 -87.6 2694 3534 2700 2654 928.0 -7.1 711 11049 0.00 2.28 0.00 0.000 1030 0.000 0.053 2695 2123 2677 2700 2655 0 0 0 0 0 0 28.83 25.53 28.83
11853 -0.40 -87.6 2694 2120 2700 2654 987.9 -7.2 751 11859 0.00 2.30 0.00 0.000 516 0.000 0.057 2695 712 2677 2700 2654 0 0 0 0 0 0 28.83 25.45 28.83
11870 end dive: HALF_MISSION_TIME_EXCEEDED
state 11870 begin apogee
11878 0.00 0.0 2685 2098 2700 2655 989.5 -7.5 752 11957 0.52 0.00 76.28 1.315 10246 0.149 0.000 2841 2098 2322 2361 2283 0 0 0 0 0 0 24.86 28.83 23.10
11958 end apogee: CONTROL_FINISHED_OK
state 11958 begin climb
11960 0.40 87.6 2841 2098 2361 2283 991.6 0.0 756 12050 0.40 0.00 82.55 1.306 10246 0.069 0.000 2990 2098 1963 2021 1906 0 0 0 0 0 0 24.66 28.83 22.35
12851 0.40 87.6 2990 2098 2011 1897 883.3 13.3 801 12857 0.00 2.30 0.00 0.000 516 0.000 0.047 3001 676 1953 2011 1896 0 0 0 0 0 0 28.83 25.60 28.83
12912 0.40 87.6 3001 676 2007 1896 875.1 13.6 804 12918 0.00 2.30 0.00 0.000 1030 0.000 0.041 3001 2109 1951 2007 1895 0 0 0 0 0 0 28.83 25.65 28.83
13733 0.40 87.6 3000 2108 2007 1894 766.6 12.8 845 13738 0.00 2.20 0.00 0.000 260 0.000 0.052 3001 3505 1950 2007 1894 0 0 0 0 0 0 28.83 25.69 28.83
13751 0.40 87.6 3001 3505 2006 1894 763.9 12.8 846 13758 0.15 2.22 0.00 0.000 5126 0.239 0.043 2978 2091 1950 2006 1894 0 0 0 0 0 0 25.15 25.75 28.83
14571 0.40 87.6 2978 2089 2006 1894 674.9 9.8 887 14577 0.00 2.25 0.00 0.000 516 0.000 0.049 2988 680 1949 2006 1893 0 0 0 0 0 0 28.83 25.71 28.83
14725 0.40 87.6 2987 680 2005 1893 660.5 10.3 894 14732 0.00 2.28 0.00 0.000 1030 0.000 0.044 2988 2106 1949 2005 1893 0 0 0 0 0 0 28.83 25.77 28.83
15532 0.40 87.6 2987 2107 2005 1892 569.1 11.2 935 15538 0.00 2.28 0.00 0.000 516 0.000 0.047 2998 684 1948 2005 1892 0 0 0 0 0 0 28.83 25.74 28.83
15572 0.40 87.6 2998 683 2004 1892 564.6 11.1 937 15578 0.00 2.28 0.00 0.000 1030 0.000 0.044 2998 2103 1948 2004 1892 0 0 0 0 0 0 28.83 25.77 28.83
16392 0.40 87.6 2998 2103 2004 1892 475.9 10.3 978 16393 0.00 0.00 0.00 0.000 6 0.000 0.000 2999 2104 1948 2005 1892 0 0 0 0 0 0 28.83 28.83 28.83
17192 0.40 87.6 2998 2103 2004 1892 393.9 10.5 1018 17193 0.00 0.00 0.00 0.000 6 0.000 0.000 2998 2103 1948 2004 1892 0 0 0 0 0 0 28.83 28.83 28.83
17992 0.40 87.6 2998 2103 2005 1892 310.0 9.6 1058 17998 0.00 2.28 0.00 0.000 516 0.000 0.047 3008 684 1948 2004 1892 0 0 0 0 0 0 28.83 25.71 28.83
18014 0.40 87.6 2128 683 1975 1888 308.1 9.6 1059 18019 0.12 2.28 0.00 0.000 5126 0.222 0.044 2981 2106 1947 2003 1892 0 0 0 0 0 0 25.25 25.76 28.83
18827 0.40 87.6 2981 2106 2004 1892 237.3 9.3 1100 18833 0.00 2.28 0.00 0.000 516 0.000 0.047 2991 686 1948 2004 1892 0 0 0 0 0 0 28.83 25.68 28.83
18880 0.40 87.6 2990 686 2003 1892 233.4 9.6 1102 18887 0.00 2.25 0.00 0.000 1030 0.000 0.044 2991 2099 1947 2003 1892 0 0 0 0 0 0 28.83 25.74 28.83
19689 0.47 144.3 2990 2098 2004 1892 165.0 7.7 1164 19740 0.00 2.33 45.60 0.806 8708 0.000 0.047 3001 683 1732 1809 1656 0 0 0 0 0 0 28.83 25.47 24.25
19823 0.47 144.3 3001 683 1802 1656 151.1 11.2 1177 19832 0.00 2.33 0.00 0.000 1030 0.000 0.044 3001 2105 1728 1802 1655 0 0 0 0 0 0 28.83 25.44 28.83
20133 0.47 144.3 3000 2105 1802 1654 115.8 10.9 1208 20142 0.00 2.25 0.00 0.000 260 0.000 0.050 3001 3508 1728 1802 1654 0 0 0 0 0 0 28.83 25.48 28.83
20158 0.47 144.3 3001 3508 1801 1654 113.2 11.5 1210 20164 0.00 2.25 0.00 0.000 1030 0.000 0.044 3011 2098 1727 1801 1654 0 0 0 0 0 0 28.83 25.55 28.83
20483 0.47 144.3 3011 2096 1801 1653 73.9 11.6 1261 20489 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2096 1727 1801 1654 0 0 0 0 0 0 28.83 28.83 28.83
20837 0.47 144.3 1984 2095 1770 1650 30.0 13.1 1322 20847 0.00 2.30 0.00 0.000 516 0.000 0.048 3022 688 1726 1798 1654 0 0 0 0 0 0 28.83 25.59 28.83
20878 0.47 144.3 3021 688 1795 1653 24.6 13.8 1327 20888 0.00 2.30 0.00 0.000 1030 0.000 0.041 3021 2104 1725 1797 1653 0 0 0 0 0 0 28.83 25.71 28.83
21037 end climb: SURFACE_DEPTH_REACHED
state 21037 begin surface coast
21068 end surface coast: CONTROL_FINISHED_OK
state 21068 begin surface