OKMC Jun11 * SG181 * Dive index * Mission links * Dive 510 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 INT_PRESSURE_YINT  0
MISSION  6 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 DEEPGLIDER  0
DIVE  510 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  58 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  36 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  475 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  0 DEVICE3  39
D_ABORT  1030 FILEMGR  0 ROLL_ADJ_DBAND  0 DEVICE4  -1
D_NO_BLEED  200 CALL_NDIVES  1 VBD_MIN  440 DEVICE5  -1
D_BOOST  3 COMM_SEQ  0 VBD_MAX  3960 DEVICE6  -1
T_BOOST  0 PROTOCOL  9 C_VBD  2869 LOGGERS  0
D_FINISH  0 N_NOCOMM  1 VBD_DBAND  2 LOGGERDEVICE1  99
D_PITCH  0 NOCOMM_ACTION  0 VBD_CNV  -0.24529999 LOGGERDEVICE2  117
D_SAFE  0 N_NOSURFACE  0 VBD_TIMEOUT  720 LOGGERDEVICE3  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  5 COMPASS_DEVICE  33
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 PHONE_DEVICE  49
T_DIVE  280 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  320 HEAPDBG  0 VBD_MAXERRORS  1 RAFOS_DEVICE  -1
T_ABORT  1440 T_GPS  15 CF8_MAXERRORS  20 XPDR_DEVICE  24
T_TURN  225 N_GPS  20 AH0_24V  150 SIM_W  0
T_TURN_SAMPINT  5 T_GPS_ALMANAC  0 AH0_10V  110 SIM_PITCH  0
T_NO_W  120 T_GPS_CHARGE  -41227.938 MINV_24V  19 SEABIRD_T_G  0.0043841996
T_LOITER  0 T_RSLEEP  2 MINV_10V  8 SEABIRD_T_H  0.00063541438
T_EPIRB  0 STROBE  0 FG_AHR_10V  0 SEABIRD_T_I  2.4687597e-05
USE_BATHY  -5 RAFOS_PEAK_OFFSET  1.5 FG_AHR_24V  0 SEABIRD_T_J  2.6519353e-06
USE_ICE  0 RAFOS_CORR_THRESH  60 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9512653
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 PRESSURE_YINT  -61.82621 SEABIRD_C_H  1.1266108
D_OFFGRID  1000 PITCH_MIN  225 PRESSURE_SLOPE  0.000116609 SEABIRD_C_I  -0.0016982662
T_WATCHDOG  10 PITCH_MAX  3941 AD7714Ch0Gain  128 SEABIRD_C_J  0.00020129427
RELAUNCH  1 C_PITCH  2300 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -8 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  1.0
MAX_BUOY  200 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  1.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  60 ALTIM_TOP_PING_RANGE  0 TM_STARTS  41.0
SPEED_FACTOR  1 PITCH_TIMEOUT  15 ALTIM_BOTTOM_TURN_MARGIN  0 TM_NFFT  256.0
RHO  1.0275 PITCH_AD_RATE  145 ALTIM_TOP_TURN_MARGIN  0 TM_NAVG  1.0
MASS  51861 PITCH_MAXERRORS  1 ALTIM_TOP_MIN_OBSTACLE  1 TM_PSD  0.0
NAV_MODE  1 PITCH_ADJ_GAIN  0 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  200.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 ALTIM_PING_DELTA  10 LA_PROFILE  1.0
KALMAN_USE  1 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  1.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  15 ALTIM_SENSITIVITY  2 LA_STARTS  23.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2610 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2165 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  20 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  170911,025137,1843.126,12027.378,39,1.0,39,-2.0 TGT_NAME  W3A
_CALLS  2 TGT_LATLONG  1900.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.257,0.177
_SM_DEPTHo  1.28 KALMAN_X  36203.6,970.9,1072.2,12997.7,-1614.3
_SM_ANGLEo  -65.5 KALMAN_Y  83360.6,258.0,-151.7,-141582.8,851.7
GPS2  170911,025950,1843.182,12027.603,10,1.7,10,-2.0 MHEAD_RNG_PITCHd_Wd  306.6,57501,-17.4,-11.786
SPEED_LIMITS  0.204,0.312 D_GRID  2975

Post-dive calculations and measurements:
FINISH  0.4,1.020380 _10V_AH  9.8,68.471
SM_CCo  17120,0.00,0.000,0,0,440,595.59 FG_AHR_24Vo  0.000
SM_GC  1.21,6.53,0.00,0.00,0.033,0.000,0.000,211,2622,440,-6.44,0.34,595.59,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1839.59,12026.20,170911,020250 MEM  321184
TT8_MAMPS  0.025466,0.025466 DATA_FILE_SIZE  80280,1387
HUMID  46.96 CAP_FILE_SIZE  181306,0
INTERNAL_PRESSURE  9.3363 CFSIZE  260165632,203919360
TCM_TEMP  25.00 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 GPS  170911,074724,1844.935,12025.819,23,1.0,40,-2.0
_24V_AH  23.5,83.528

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622887.89 SBE_CT96324543.42
Roll_motor586488.15 AA4330000.00
VBD_pump_during_apogee637107216058.39 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init53103129.69 nil000.00
Iridium_during_connect85160322.05 TMicro000.00
Iridium_during_xfer148223778.46 LAB000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS12506.23
TT8331919644.05
LPSleep103482222.11
TT8_Active69419134.82
TT8_Sampling2863391116.87
TT8_CF837345167.42
TT8_Kalman338126.74
Analog_circuits211012248.20
GPS_charging000.00
Compass254315373.85
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
15 end surface: CONTROL_FINISHED_OK
state 15 begin dive
17 -0.53 -194.6 0.0 0.0 0 82 0.00 0.00 -61.80 0.000 2 0.000 0.000 150 2605 2228 0 0 0 0 0 0
85 -0.53 -194.6 3.6 -3.9 11 132 8.38 0.80 -30.20 0.000 4 0.229 0.064 2119 2041 3664 0 0 0 0 0 0
168 -0.53 -194.6 27.0 -30.3 25 174 0.00 0.88 0.00 0.000 6 0.000 0.039 2117 2614 3665 0 0 0 0 0 0
310 -0.53 -194.6 72.6 -28.1 50 317 0.00 0.77 0.00 0.000 4 0.000 0.044 2113 3131 3663 0 0 0 0 0 0
437 -0.53 -194.6 103.2 -21.0 72 444 0.00 0.75 0.00 0.000 6 0.000 0.026 2113 2585 3662 0 0 0 0 0 0
580 -0.53 -194.6 129.7 -17.9 97 586 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2585 3662 0 0 0 0 0 0
722 -0.53 -194.6 150.0 -13.6 122 728 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2584 3662 0 0 0 0 0 0
864 -0.53 -194.6 169.2 -12.4 147 870 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2585 3662 0 0 0 0 0 0
1007 -0.53 -194.6 186.6 -12.0 172 1013 0.00 0.00 0.00 0.000 6 0.000 0.000 2113 2585 3662 0 0 0 0 0 0
1153 -0.53 -194.6 204.7 -13.2 195 1157 0.00 0.65 0.00 0.000 4 0.000 0.026 2113 2077 3662 0 0 0 0 0 0
1225 -0.53 -194.6 215.1 -14.2 201 1232 0.00 0.80 0.00 0.000 6 0.000 0.037 2111 2611 3662 0 0 0 0 0 0
1550 -0.53 -194.6 259.8 -13.2 232 1554 0.00 0.70 0.00 0.000 4 0.000 0.026 2111 2090 3661 0 0 0 0 0 0
1588 -0.53 -194.6 265.0 -13.4 235 1595 0.00 0.77 0.00 0.000 6 0.000 0.038 2111 2605 3660 0 0 0 0 0 0
1914 -0.53 -194.6 312.7 -14.5 266 1915 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2605 3657 0 0 0 0 0 0
2234 -0.53 -194.6 352.5 -11.1 296 2238 0.00 0.70 0.00 0.000 4 0.000 0.028 2111 2093 3654 0 0 0 0 0 0
2373 -0.53 -194.6 368.0 -11.0 308 2376 0.00 0.77 0.00 0.000 6 0.000 0.041 2108 2604 3653 0 0 0 0 0 0
2704 -0.53 -194.6 405.0 -11.0 339 2707 0.00 0.70 0.00 0.000 4 0.000 0.028 2108 2096 3649 0 0 0 0 0 0
2772 -0.53 -194.6 412.7 -10.8 345 2776 0.00 0.80 0.00 0.000 6 0.000 0.041 2104 2618 3648 0 0 0 0 0 0
3104 -0.53 -194.6 447.9 -10.0 376 3109 0.00 0.73 0.00 0.000 4 0.000 0.028 2104 2095 3645 0 0 0 0 0 0
3222 -0.53 -194.6 459.8 -9.8 386 3229 0.00 0.80 0.00 0.000 6 0.000 0.041 2100 2615 3644 0 0 0 0 0 0
3547 -0.53 -194.6 494.4 -10.7 417 3551 0.00 0.73 0.00 0.000 4 0.000 0.028 2100 2098 3641 0 0 0 0 0 0
3605 -0.53 -194.6 500.6 -10.6 422 3609 0.08 0.77 0.00 0.000 6 0.131 0.043 2123 2601 3640 0 0 0 0 0 0
3927 -0.53 -194.6 528.9 -9.2 438 3931 0.00 0.70 0.00 0.000 4 0.000 0.030 2123 2094 3638 0 0 0 0 0 0
4000 -0.53 -194.6 536.4 -9.8 441 4003 0.00 0.80 0.00 0.000 6 0.000 0.042 2121 2612 3637 0 0 0 0 0 0
4327 -0.53 -194.6 571.9 -11.2 457 4331 0.00 0.73 0.00 0.000 4 0.000 0.029 2121 2093 3633 0 0 0 0 0 0
4419 -0.53 -194.6 582.1 -10.8 461 4423 0.00 0.80 0.00 0.000 6 0.000 0.044 2118 2611 3633 0 0 0 0 0 0
4752 -0.53 -194.6 618.3 -10.4 477 4753 0.00 0.00 0.00 0.000 6 0.000 0.000 2117 2611 3630 0 0 0 0 0 0
5062 -0.53 -194.6 647.1 -9.2 492 5065 0.00 0.73 0.00 0.000 4 0.000 0.031 2118 2100 3628 0 0 0 0 0 0
5203 -0.53 -194.6 659.5 -8.6 498 5207 0.00 0.80 0.00 0.000 6 0.000 0.044 2113 2613 3627 0 0 0 0 0 0
5532 -0.53 -194.6 689.0 -9.3 514 5535 0.00 0.73 0.00 0.000 4 0.000 0.031 2114 2109 3625 0 0 0 0 0 0
5587 -0.53 -194.6 694.5 -9.1 516 5591 0.00 0.77 0.00 0.000 6 0.000 0.044 2112 2607 3624 0 0 0 0 0 0
5909 -0.53 -194.6 725.2 -9.5 532 5910 0.00 0.00 0.00 0.000 6 0.000 0.000 2112 2608 3622 0 0 0 0 0 0
6219 -0.53 -194.6 754.6 -9.8 547 6223 0.00 0.70 0.00 0.000 4 0.000 0.031 2112 2110 3620 0 0 0 0 0 0
6312 -0.53 -194.6 763.7 -10.1 551 6316 0.00 0.77 0.00 0.000 6 0.000 0.045 2112 2606 3620 0 0 0 0 0 0
6646 -0.53 -194.6 797.3 -9.8 567 6650 0.00 0.70 0.00 0.000 4 0.000 0.031 2112 2108 3618 0 0 0 0 0 0
6763 -0.53 -194.6 808.5 -8.9 572 6767 0.00 0.80 0.00 0.000 6 0.000 0.045 2112 2615 3618 0 0 0 0 0 0
7091 -0.53 -194.6 836.0 -8.3 588 7095 0.00 0.73 0.00 0.000 4 0.000 0.031 2112 2105 3616 0 0 0 0 0 0
7147 -0.53 -194.6 840.6 -8.2 590 7151 0.00 0.80 0.00 0.000 6 0.000 0.046 2112 2611 3616 0 0 0 0 0 0
7469 -0.53 -194.6 867.6 -8.6 606 7473 0.00 0.73 0.00 0.000 4 0.000 0.031 2112 2103 3614 0 0 0 0 0 0
7576 -0.53 -194.6 877.3 -8.9 610 7583 0.00 0.80 0.00 0.000 6 0.000 0.046 2112 2609 3614 0 0 0 0 0 0
7892 -0.53 -194.6 906.5 -9.3 626 7896 0.00 0.73 0.00 0.000 4 0.000 0.032 2112 2104 3612 0 0 0 0 0 0
8057 -0.53 -194.6 921.7 -9.1 633 8060 0.00 0.80 0.00 0.000 6 0.000 0.045 2112 2612 3611 0 0 0 0 0 0
8384 -0.53 -194.6 951.2 -8.8 649 8388 0.00 0.73 0.00 0.000 4 0.000 0.032 2112 2109 3610 0 0 0 0 0 0
8537 -0.53 -194.6 964.2 -8.2 655 8544 0.00 0.80 0.00 0.000 6 0.000 0.045 2112 2617 3610 0 0 0 0 0 0
8851 end dive: TARGET_DEPTH_EXCEEDED
state 8851 begin apogee
8857 -0.13 0.0 990.0 8.1 671 9012 0.43 0.00 148.57 1.073 6 0.112 0.000 2254 2186 2869 0 0 0 0 0 0
9013 end apogee: CONTROL_FINISHED_OK
state 9013 begin climb
9016 0.53 194.6 997.1 0.0 678 9180 0.57 0.88 158.05 1.054 4 0.055 0.042 2479 2703 2075 0 0 0 0 0 0
9263 0.56 220.9 984.0 10.7 690 9289 0.00 0.82 22.35 0.980 6 0.000 0.031 2483 2158 1968 0 0 0 0 0 0
9611 0.65 295.7 951.5 8.7 707 9675 0.00 0.82 60.35 1.025 4 0.000 0.037 2487 1639 1663 0 0 0 0 0 0
9732 0.75 374.1 941.0 8.6 712 9800 0.12 0.85 63.53 1.008 6 0.060 0.035 2545 2181 1343 0 0 0 0 0 0
10110 0.76 385.5 896.7 11.3 730 10125 0.00 0.75 11.05 0.893 4 0.000 0.041 2545 2687 1297 0 0 0 0 0 0
10204 0.76 385.5 885.5 11.9 734 10207 0.00 0.77 0.00 0.000 6 0.000 0.031 2548 2170 1298 0 0 0 0 0 0
10531 0.76 386.1 847.5 11.8 750 10535 0.00 0.80 0.00 0.000 4 0.000 0.044 2549 2689 1300 0 0 0 0 0 0
10580 0.76 386.1 841.1 13.1 752 10584 0.00 0.77 0.00 0.000 6 0.000 0.030 2552 2156 1300 0 0 0 0 0 0
10908 0.76 386.1 799.2 13.3 768 10912 0.00 0.82 0.00 0.000 4 0.000 0.041 2553 2695 1299 0 0 0 0 0 0
10986 0.76 386.1 787.4 14.7 771 10990 0.00 0.77 0.00 0.000 6 0.000 0.029 2556 2160 1299 0 0 0 0 0 0
11309 0.76 386.1 740.3 14.8 787 11312 0.00 0.80 0.00 0.000 4 0.000 0.040 2556 2688 1299 0 0 0 0 0 0
11347 0.76 386.1 734.0 15.8 788 11354 0.00 0.75 0.00 0.000 6 0.000 0.030 2559 2167 1299 0 0 0 0 0 0
11663 0.76 386.1 685.4 15.5 804 11667 0.00 0.80 0.00 0.000 4 0.000 0.041 2559 2690 1298 0 0 0 0 0 0
11757 0.76 386.1 670.8 16.7 808 11760 0.00 0.77 0.00 0.000 6 0.000 0.030 2563 2156 1298 0 0 0 0 0 0
12089 0.76 386.1 619.4 15.0 824 12090 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2156 1298 0 0 0 0 0 0
12399 0.76 386.1 573.8 14.4 839 12402 0.00 0.80 0.00 0.000 4 0.000 0.038 2563 2688 1297 0 0 0 0 0 0
12445 0.76 386.1 567.0 15.1 841 12449 0.00 0.77 0.00 0.000 6 0.000 0.030 2566 2153 1298 0 0 0 0 0 0
12778 0.76 386.1 522.5 12.9 857 12782 0.00 0.82 0.00 0.000 4 0.000 0.038 2566 2697 1298 0 0 0 0 0 0
12840 0.76 386.1 514.3 12.8 859 12847 0.00 0.77 0.00 0.000 6 0.000 0.030 2570 2164 1298 0 0 0 0 0 0
13164 0.80 415.3 477.6 10.6 884 13194 0.00 0.85 25.12 0.739 4 0.000 0.041 2570 2690 1175 0 0 0 0 0 0
13233 0.83 437.6 469.9 10.9 890 13255 0.00 0.77 18.45 0.697 6 0.000 0.031 2573 2166 1085 0 0 0 0 0 0
13575 0.83 437.6 434.8 11.9 922 13578 0.00 0.75 0.00 0.000 4 0.000 0.036 2577 1646 1087 0 0 0 0 0 0
13613 0.83 437.6 429.7 13.1 925 13620 0.00 0.80 0.00 0.000 6 0.000 0.034 2577 2172 1087 0 0 0 0 0 0
13939 0.83 437.6 383.8 15.0 956 13942 0.00 0.77 0.00 0.000 4 0.000 0.041 2577 2691 1087 0 0 0 0 0 0
14053 0.83 437.6 365.9 16.6 966 14057 0.00 0.77 0.00 0.000 6 0.000 0.031 2580 2160 1087 0 0 0 0 0 0
14383 0.83 437.6 315.1 14.8 997 14384 0.00 0.00 0.00 0.000 6 0.000 0.000 2581 2160 1087 0 0 0 0 0 0
14704 0.83 437.6 270.1 14.1 1027 14705 0.00 0.00 0.00 0.000 6 0.000 0.000 2580 2161 1087 0 0 0 0 0 0
15021 0.83 437.6 225.7 12.9 1057 15025 0.00 0.73 0.00 0.000 4 0.000 0.035 2584 1654 1088 0 0 0 0 0 0
15083 0.84 448.3 218.3 11.4 1062 15101 0.00 0.77 10.90 0.590 6 0.000 0.035 2584 2167 1040 0 0 0 0 0 0
15429 0.84 448.3 177.3 14.3 1109 15436 0.00 0.77 0.00 0.000 4 0.000 0.041 2584 2692 1040 0 0 0 0 0 0
15550 0.84 448.3 159.2 15.0 1130 15556 0.00 0.77 0.00 0.000 6 0.000 0.031 2587 2161 1039 0 0 0 0 0 0
15695 0.84 448.3 139.3 12.4 1155 15702 0.00 0.73 0.00 0.000 4 0.000 0.035 2591 1649 1039 0 0 0 0 0 0
15754 0.86 464.7 132.3 11.1 1165 15773 0.00 0.77 13.90 0.542 6 0.000 0.034 2591 2168 973 0 0 0 0 0 0
15910 0.89 486.5 115.0 10.9 1192 15934 0.00 0.75 18.05 0.499 4 0.000 0.036 2591 2692 885 0 0 0 0 0 0
16037 0.97 555.7 103.0 9.0 1214 16096 0.00 0.77 52.58 0.489 6 0.000 0.031 2594 2164 602 0 0 0 0 0 0
16233 0.98 560.1 86.6 11.6 1248 16245 0.00 0.00 6.60 0.459 6 0.000 0.000 2594 2164 584 0 0 0 0 0 0
16383 1.10 659.1 71.6 7.7 1274 16420 0.17 0.82 27.60 0.471 4 0.077 0.034 2669 2694 439 0 0 0 0 0 0
16463 1.27 797.5 66.6 6.1 1287 16471 0.08 0.77 0.00 0.000 6 0.056 0.029 2727 2164 439 0 0 0 0 0 0
16608 1.27 797.5 49.4 16.1 1312 16614 0.00 0.73 0.00 0.000 4 0.000 0.034 2731 1653 439 0 0 0 0 0 0
16655 1.28 805.7 43.2 11.5 1320 16662 0.00 0.77 0.00 0.000 6 0.000 0.033 2730 2172 439 0 0 0 0 0 0
16800 1.35 865.2 25.5 9.4 1345 16806 0.00 0.75 0.00 0.000 4 0.000 0.040 2730 2688 439 0 0 0 0 0 0
16916 1.41 910.1 13.1 10.0 1365 16923 0.00 0.77 0.03 0.199 6 0.000 0.030 2734 2153 440 0 0 0 0 0 0
17012 end climb: SURFACE_DEPTH_REACHED
state 17012 begin surface coast
17042 end surface coast: CONTROL_FINISHED_OK
state 17042 begin surface