OKMC Feb13 * SG171 * Dive index * Mission links * Dive 52 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  171 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
MISSION  4 ESCAPE_HEADING  0 C_ROLL_DIVE  2500 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  52 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2000 ALTIM_PING_DEPTH  0
N_DIVES  0 FIX_MISSING_TIMEOUT  0 HEAD_ERRBAND  10 ALTIM_PING_DELTA  0
D_SURF  3 TGT_DEFAULT_LAT  4736 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_FLARE  3 TGT_DEFAULT_LON  -12218 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_TGT  920 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  54 ALTIM_SENSITIVITY  2
D_ABORT  1010 SM_CC  400 R_STBD_OVSHOOT  35 XPDR_VALID  2
D_NO_BLEED  200 N_FILEKB  8 ROLL_AD_RATE  400 XPDR_INHIBIT  90
D_BOOST  20 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  3 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  1.4
D_FINISH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_PITCH  0 PROTOCOL  9 VBD_MIN  415 DEEPGLIDERMB  0
D_SAFE  0 N_NOCOMM  1 VBD_MAX  3400 MOTHERBOARD  4
D_CALL  0 NOCOMM_ACTION  163 C_VBD  2730 DEVICE1  -1
SURFACE_URGENCY  0 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  -1
SURFACE_URGENCY_TRY  0 UPLOAD_DIVES_MAX  -1 VBD_CNV  -0.24529999 DEVICE3  -1
SURFACE_URGENCY_FORCE  0 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  330 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0020000001 DEVICE5  -1
T_MISSION  360 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERS  1
T_TURN  225 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  5 T_GPS  15 UNCOM_BLEED  20 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
T_EPIRB  0 T_GPS_CHARGE  -20564.053 DBDW  0 COMPASS_DEVICE  33
USE_BATHY  -8 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
USE_ICE  0 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  49
ICE_FREEZE_MARGIN  0.30000001 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
D_OFFGRID  1000 RAFOS_CORR_THRESH  60 AH0_24V  150 RAFOS_DEVICE  -1
T_WATCHDOG  10 RAFOS_HIT_WINDOW  3600 AH0_10V  100 XPDR_DEVICE  24
RELAUNCH  1 PITCH_MIN  154 MINV_24V  22 SIM_W  0
APOGEE_PITCH  -5 PITCH_MAX  3952 MINV_10V  9.5 SIM_PITCH  0
MAX_BUOY  175 C_PITCH  2810 FG_AHR_10V  0 SEABIRD_T_G  0.0043708701
COURSE_BIAS  0 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00064764963
GLIDE_SLOPE  30 PITCH_CNV  0.003125763 PHONE_SUPPLY  -2 SEABIRD_T_I  2.5888983e-05
SPEED_FACTOR  1 P_OVSHOOT  0.039999999 PRESSURE_YINT  -74.53199 SEABIRD_T_J  2.7074855e-06
RHO  1.0275 PITCH_GAIN  20 PRESSURE_SLOPE  0.0001165165 SEABIRD_C_G  -10.475479
MASS  52107 PITCH_TIMEOUT  16 AD7714Ch0Gain  128 SEABIRD_C_H  1.2050543
NAV_MODE  2 PITCH_AD_RATE  175 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0015894541
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00021379974
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.003 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.0099999998 ROLL_MIN  181 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0
HD_C  9.9999997e-06 ROLL_MAX  3676 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  040313,081124,2320.600,12224.021,69,1.0,69,-3.2 TGT_NAME  N2
_CALLS  1 TGT_LATLONG  2350.000,12355.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.29 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -67.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  040313,081648,2320.653,12224.004,13,1.3,13,-3.2 MHEAD_RNG_PITCHd_Wd  118.8,163455,-15.0,-9.293,-18.92,2788
SPEED_LIMITS  0.161,0.271 D_GRID  5011

Post-dive calculations and measurements:
FINISH  0.4,1.023448 _10V_AH  10.3,6.427
SM_CCo  13459,28.38,0.057,0,0,1098,400.08 FG_AHR_24Vo  0.000
SM_GC  0.71,8.07,0.77,28.38,0.032,0.048,0.057,122,2491,1098,-8.26,-1.41,400.08,0,0,0,0,0,0,26.38,26.33,26.29 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2309.79,12223.95,040313,040404 MEM  324016
TT8_MAMPS  0.047936,0.047936 DATA_FILE_SIZE  23365,602
HUMID  42.47 CAP_FILE_SIZE  367559,0
INTERNAL_PRESSURE  9.61321 CFSIZE  260034560,248098816
TCM_TEMP  23.20 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.218, 5.4,1
SC_FREEKB  4003936 GPS  040313,120355,2321.503,12225.756,55,6.5,74,-3.2
_24V_AH  24.1,10.039

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20224109.12 nil000.00
Roll_motor11958167.41 nil000.00
VBD_pump_during_apogee56987812057.67 nil000.00
VBD_pump_during_surface285739.24 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1345431188.67
Iridium_during_xfer186133597.88 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS13273.98
TT83016351116.16
LPSleep76942173.57
TT8_Active70135259.67
TT8_Sampling2163581301.53
TT8_CF822265151.13
TT8_Kalman000.00
Analog_circuits195015301.35
GPS_charging000.00
Compass18645115.02
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
16 end surface: CONTROL_FINISHED_OK
state 16 begin dive
18 -1.09 -170.3 124 2496 1190 1012 0.0 0.0 0 74 0.00 0.00 -53.85 0.000 16386 0.000 0.000 125 2497 2672 2734 2611 0 0 0 0 0 0 28.83 28.83 28.83
76 -1.09 -170.3 125 2496 2736 2611 3.7 -6.7 7 108 8.98 2.15 -12.25 0.000 18948 0.224 0.049 2453 1107 3408 3425 3392 0 0 0 0 0 0 26.03 26.27 26.56
200 -1.09 -170.3 2453 1108 3423 3395 49.5 -30.8 21 206 0.00 2.17 0.00 0.000 1030 0.000 0.047 2442 2496 3409 3423 3395 0 0 0 0 0 0 28.83 26.32 28.83
514 -1.09 -170.3 2442 2497 3423 3397 148.9 -28.1 37 520 0.00 1.85 0.00 0.000 260 0.000 0.057 2433 3677 3410 3424 3397 0 0 0 0 0 0 28.83 26.47 28.83
609 -1.09 -170.3 2433 3677 3424 3398 173.5 -28.7 41 615 0.00 1.70 0.00 0.000 1030 0.000 0.026 2433 2494 3410 3424 3397 0 0 0 0 0 0 28.83 26.57 28.83
922 -1.09 -170.3 2433 2493 3424 3402 261.9 -26.9 57 928 0.00 1.88 0.00 0.000 260 0.000 0.055 2423 3684 3412 3423 3402 0 0 0 0 0 0 28.83 26.58 28.83
990 -1.09 -170.3 2423 3684 3424 3402 278.4 -25.8 60 998 0.12 1.70 0.00 0.000 3078 0.162 0.027 2457 2497 3413 3424 3402 0 0 0 0 0 0 26.50 26.65 28.83
1311 -1.09 -170.3 2457 2496 3423 3404 349.3 -21.3 76 1317 0.00 1.88 0.00 0.000 260 0.000 0.055 2449 3693 3414 3424 3404 0 0 0 0 0 0 28.83 26.64 28.83
1359 -1.09 -170.3 2448 3693 3423 3404 359.0 -21.7 78 1365 0.00 1.73 0.00 0.000 1030 0.000 0.027 2448 2499 3414 3424 3404 0 0 0 0 0 0 28.83 26.72 28.83
1678 -1.09 -170.3 2448 2498 3423 3404 426.1 -20.2 94 1684 0.00 1.85 0.00 0.000 260 0.000 0.057 2439 3684 3412 3423 3402 0 0 0 0 0 0 28.83 26.68 28.83
1758 -1.09 -170.3 2436 3684 3423 3404 440.4 -21.3 97 1767 0.00 1.70 0.00 0.000 1030 0.000 0.028 2439 2502 3414 3424 3404 0 0 0 0 0 0 28.83 26.75 28.83
2065 -1.09 -170.3 2438 2500 3423 3404 505.4 -20.3 113 2072 0.00 1.83 0.00 0.000 260 0.000 0.057 2430 3676 3414 3424 3404 0 0 0 0 0 0 28.83 26.72 28.83
2119 -1.09 -170.3 2429 3676 3423 3405 514.3 -20.0 115 2125 0.10 1.70 0.00 0.000 3078 0.160 0.026 2455 2477 3413 3423 3404 0 0 0 0 0 0 26.63 26.79 28.83
2434 -1.09 -170.3 2456 2475 3423 3404 572.9 -18.3 131 2440 0.00 1.88 0.00 0.000 260 0.000 0.057 2448 3674 3413 3423 3404 0 0 0 0 0 0 28.83 26.73 28.83
2482 -1.09 -170.3 2447 3674 3423 3404 581.4 -18.7 133 2488 0.00 1.67 0.00 0.000 1030 0.000 0.027 2448 2498 3413 3423 3404 0 0 0 0 0 0 28.83 26.81 28.83
2791 -1.09 -170.3 2447 2496 3420 3404 640.3 -18.9 145 2797 0.00 2.05 0.00 0.000 516 0.000 0.034 2447 1109 3412 3420 3404 0 0 0 0 0 0 28.83 26.78 28.83
2825 -1.09 -170.3 2447 1109 3420 3404 646.6 -18.8 146 2831 0.00 2.12 0.00 0.000 1030 0.000 0.043 2436 2500 3411 3419 3404 0 0 0 0 0 0 28.83 26.74 28.83
3159 -1.09 -170.3 2437 2500 3418 3401 709.3 -18.3 157 3166 0.00 1.85 0.00 0.000 260 0.000 0.057 2427 3669 3409 3418 3401 0 0 0 0 0 0 28.83 26.76 28.83
3278 -1.09 -170.3 2427 3669 3417 3401 726.9 -18.2 160 3287 0.08 1.73 0.00 0.000 3078 0.130 0.028 2455 2499 3409 3417 3401 0 0 0 0 0 0 26.67 26.83 28.83
3588 -1.09 -170.3 2455 2498 3414 3398 780.1 -15.4 171 3589 0.00 0.00 0.00 0.000 6 0.000 0.000 2455 2498 3405 3414 3397 0 0 0 0 0 0 28.83 28.83 28.83
3885 -1.09 -170.3 2455 2498 3413 3395 824.9 -15.1 181 3892 0.00 1.83 0.00 0.000 260 0.000 0.058 2447 3673 3404 3413 3395 0 0 0 0 0 0 28.83 26.77 28.83
3943 -1.09 -170.3 2446 3673 3412 3395 830.3 -15.3 182 3951 0.00 1.70 0.00 0.000 1030 0.000 0.029 2450 2489 3405 3412 3399 0 0 0 0 0 0 28.83 26.84 28.83
4250 -1.09 -170.3 2446 2489 3410 3391 882.9 -16.2 193 4256 0.00 1.85 0.00 0.000 260 0.000 0.057 2437 3675 3400 3410 3391 0 0 0 0 0 0 28.83 26.77 28.83
4302 -1.09 -170.3 2437 3676 3409 3391 888.5 -16.2 194 4309 0.00 1.70 0.00 0.000 1030 0.000 0.029 2437 2490 3399 3408 3391 0 0 0 0 0 0 28.83 26.85 28.83
4495 end dive: TARGET_DEPTH_EXCEEDED
state 4495 begin apogee
4500 -0.25 0.0 2437 1995 3407 3390 924.0 -16.6 201 4686 0.82 0.00 176.02 0.873 10246 0.110 0.000 2722 1993 2721 2848 2594 0 0 0 0 0 0 26.70 28.83 24.32
4687 end apogee: CONTROL_FINISHED_OK
state 4687 begin climb
4689 1.09 170.3 2723 1993 2840 2591 935.5 0.0 206 4882 1.20 2.45 179.85 0.879 11012 0.045 0.050 3173 3415 2020 2160 1880 0 0 0 0 0 0 25.20 24.88 24.15
5114 1.09 170.3 3172 3415 2129 1871 917.4 12.9 220 5120 0.00 2.12 0.00 0.000 1030 0.000 0.030 3184 2019 2000 2129 1871 0 0 0 0 0 0 28.83 25.96 28.83
5438 1.09 170.3 3184 2019 2123 1868 876.7 12.4 231 5444 0.00 2.22 0.00 0.000 260 0.000 0.050 3184 3418 1995 2123 1868 0 0 0 0 0 0 28.83 26.26 28.83
5635 1.09 170.3 3184 3418 2123 1867 851.5 13.3 237 5641 0.12 2.12 0.00 0.000 5126 0.177 0.031 3165 1997 1995 2123 1867 0 0 0 0 0 0 26.25 26.41 28.83
5959 1.09 170.3 3165 1996 2122 1864 812.8 11.4 248 5966 0.00 2.25 0.00 0.000 260 0.000 0.050 3165 3421 1992 2121 1864 0 0 0 0 0 0 28.83 26.48 28.83
5997 1.09 170.3 3164 3421 2121 1864 808.5 11.7 249 6004 0.00 2.12 0.00 0.000 1030 0.000 0.030 3175 1994 1993 2122 1864 0 0 0 0 0 0 28.83 26.53 28.83
6327 1.09 170.3 3175 1994 2120 1862 768.5 11.8 260 6333 0.00 2.25 0.00 0.000 260 0.000 0.051 3175 3417 1991 2121 1862 0 0 0 0 0 0 28.83 26.56 28.83
6462 1.09 170.3 3174 3417 2117 1862 752.5 12.7 264 6468 0.00 2.10 0.00 0.000 1030 0.000 0.031 3186 2000 1990 2118 1862 0 0 0 0 0 0 28.83 26.63 28.83
6786 1.09 170.3 3186 1998 2116 1860 715.5 10.4 275 6792 0.00 2.22 0.00 0.000 260 0.000 0.051 3186 3417 1988 2116 1861 0 0 0 0 0 0 28.83 26.63 28.83
6839 1.09 170.3 3186 3417 2116 1861 711.6 10.7 276 6846 0.15 2.10 0.00 0.000 5126 0.167 0.032 3158 2000 1988 2117 1860 0 0 0 0 0 0 26.50 26.67 28.83
7154 1.09 170.3 3158 1999 2116 1859 678.9 9.4 287 7159 0.00 2.22 0.00 0.000 260 0.000 0.051 3158 3421 1987 2116 1859 0 0 0 0 0 0 28.83 26.65 28.83
7221 1.09 170.3 3157 3421 2115 1859 672.4 9.7 289 7227 0.00 2.12 0.00 0.000 1030 0.000 0.031 3168 1990 1987 2115 1859 0 0 0 0 0 0 28.83 26.70 28.83
7550 1.09 170.3 3168 1990 2114 1859 639.0 10.3 300 7556 0.00 2.22 0.00 0.000 260 0.000 0.051 3169 3417 1986 2114 1858 0 0 0 0 0 0 28.83 26.68 28.83
7663 1.09 170.3 3168 3417 2114 1858 628.7 10.7 303 7669 0.00 2.10 0.00 0.000 1030 0.000 0.031 3180 1996 1986 2114 1858 0 0 0 0 0 0 28.83 26.73 28.83
7987 1.09 170.3 3180 1996 2113 1854 593.5 9.8 315 7994 0.00 2.10 0.00 0.000 516 0.000 0.041 3191 608 1985 2114 1857 0 0 0 0 0 0 28.83 26.71 28.83
8224 1.09 170.3 3190 609 2113 1857 570.6 10.7 326 8230 0.12 2.10 0.00 0.000 5126 0.177 0.034 3159 2018 1985 2113 1857 0 0 0 0 0 0 26.58 26.74 28.83
8539 1.17 211.1 3159 2018 2114 1856 541.8 7.8 342 8600 0.00 2.17 55.47 0.595 8452 0.000 0.051 3159 3401 1865 2000 1731 0 0 0 0 0 0 28.83 26.05 25.48
8793 1.17 211.1 3159 3400 1973 1718 512.7 12.0 354 8800 0.00 2.10 0.00 0.000 1030 0.000 0.031 3169 2002 1845 1973 1718 0 0 0 0 0 0 28.83 26.32 28.83
9113 1.17 211.1 3168 2004 1968 1717 477.6 11.6 370 9120 0.00 2.20 0.00 0.000 260 0.000 0.050 3169 3401 1842 1968 1717 0 0 0 0 0 0 28.83 26.44 28.83
9178 1.17 211.1 3169 3401 1967 1715 469.4 12.2 373 9184 0.00 2.10 0.00 0.000 1030 0.000 0.031 3181 1994 1842 1968 1716 0 0 0 0 0 0 28.83 26.50 28.83
9503 1.17 211.1 3180 1994 1970 1717 432.8 10.4 389 9509 0.00 2.25 0.00 0.000 260 0.000 0.050 3181 3414 1841 1966 1717 0 0 0 0 0 0 28.83 26.54 28.83
9744 1.17 211.1 3180 3414 1964 1717 407.6 10.4 400 9749 0.00 2.10 0.00 0.000 1030 0.000 0.032 3192 2002 1841 1965 1717 0 0 0 0 0 0 28.83 26.62 28.83
10057 1.17 211.1 3191 2001 1964 1717 373.4 11.0 416 10064 0.00 2.12 0.00 0.000 516 0.000 0.042 3202 605 1840 1964 1717 0 0 0 0 0 0 28.83 26.63 28.83
10193 1.17 211.1 3204 605 1964 1717 359.9 10.8 422 10199 0.00 2.08 0.00 0.000 1030 0.000 0.033 3203 2001 1840 1964 1717 0 0 0 0 0 0 28.83 26.65 28.83
10507 1.17 211.1 3202 2001 1964 1717 326.6 10.8 438 10512 0.00 2.17 0.00 0.000 260 0.000 0.049 3202 3408 1840 1964 1717 0 0 0 0 0 0 28.83 26.66 28.83
10742 1.17 211.1 3202 3408 1964 1717 302.7 10.3 449 10748 0.00 2.08 0.00 0.000 1030 0.000 0.031 3214 1994 1840 1964 1717 0 0 0 0 0 0 28.83 26.72 28.83
11056 1.19 223.4 3214 1994 1964 1717 272.7 8.8 465 11067 0.00 2.22 3.05 0.304 8452 0.000 0.049 3214 3399 1818 1946 1691 0 0 0 0 0 0 28.83 26.67 25.97
11297 1.19 223.4 3214 3399 1947 1691 250.4 9.8 476 11306 0.12 2.05 0.00 0.000 5126 0.173 0.031 3193 2002 1820 1950 1691 0 0 0 0 0 0 26.56 26.74 28.83
11604 1.19 223.4 3193 2002 1954 1691 222.0 9.6 492 11609 0.00 2.15 0.00 0.000 260 0.000 0.048 3194 3402 1822 1954 1691 0 0 0 0 0 0 28.83 26.70 28.83
11846 1.20 225.1 3193 3402 1955 1691 199.9 9.2 503 11860 0.00 2.08 2.42 0.188 9222 0.000 0.030 3204 1991 1810 1940 1681 0 0 0 0 0 0 28.83 26.76 26.00
12158 1.20 227.3 3203 1990 1947 1681 169.7 9.2 519 12166 0.00 2.25 2.22 0.158 8452 0.000 0.047 3204 3405 1802 1932 1673 0 0 0 0 0 0 28.83 26.71 25.96
12314 1.23 239.2 3204 3405 1945 1673 156.1 8.9 526 12350 0.00 2.08 29.30 0.420 9222 0.000 0.031 3215 1993 1751 1874 1628 0 0 0 0 0 0 28.83 26.76 26.01
12645 1.23 239.2 3215 1993 1846 1618 119.2 11.2 543 12651 0.00 2.10 0.00 0.000 516 0.000 0.040 3226 606 1733 1846 1621 0 0 0 0 0 0 28.83 26.57 28.83
12882 1.42 334.5 3226 605 1845 1621 101.4 5.8 554 13012 0.12 2.08 120.85 0.396 11270 0.082 0.031 3324 2009 1359 1467 1252 0 0 0 0 0 0 26.64 26.63 25.34
13319 1.42 334.5 3320 2010 1437 1235 25.2 21.8 581 13326 0.17 2.17 0.00 0.000 4356 0.161 0.044 3266 3414 1335 1437 1234 0 0 0 0 0 0 26.15 26.24 28.83
13369 1.42 334.5 2240 3412 1410 1232 13.9 22.5 589 13378 0.00 2.12 0.00 0.000 1030 0.000 0.031 3278 1997 1336 1438 1235 0 0 0 0 0 0 28.83 26.32 28.83
13425 end climb: SURFACE_DEPTH_REACHED
state 13425 begin surface coast
13443 end surface coast: CONTROL_FINISHED_OK
state 13443 begin surface