OKMC Jun11 * SG181 * Dive index * Mission links * Dive 716 * 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  716 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  57 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  30 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  320 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  350 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  -41507.359 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  -7 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  2375 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  225 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  42 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  0 PITCH_ADJ_GAIN  0.0099999998 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  200.0
FERRY_MAX  45 PITCH_ADJ_DBAND  1 ALTIM_PING_DELTA  10 LA_PROFILE  1.0
KALMAN_USE  2 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  2500 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2100 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  10 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  261011,111606,2144.356,12005.478,35,1.1,46,-2.6 TGT_NAME  W3
_CALLS  2 TGT_LATLONG  1900.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.206,0.235
_SM_DEPTHo  1.47 KALMAN_X  28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo  -64.5 KALMAN_Y  68902.1,-606.5,-201.3,102840.5,390.9
GPS2  261011,112444,2144.606,12005.439,12,1.6,12,-2.6 MHEAD_RNG_PITCHd_Wd  184.4,304998,-14.3,-10.312
SPEED_LIMITS  0.179,0.314 D_GRID  2422

Post-dive calculations and measurements:
FINISH  0.7,1.021557 _10V_AH  9.7,86.356
SM_CCo  18662,0.00,0.000,0,0,441,595.59 FG_AHR_24Vo  0.000
SM_GC  1.43,6.60,0.00,0.00,0.030,0.000,0.000,204,2514,441,-6.68,0.40,595.59,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2134.17,12002.53,261011,111141 MEM  322720
TT8_MAMPS  0.025466,0.025466 DATA_FILE_SIZE  90145,1573
HUMID  47.24 CAP_FILE_SIZE  210781,0
INTERNAL_PRESSURE  9.38513 CFSIZE  260165632,186839040
TCM_TEMP  25.50 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 GPS  261011,163730,2144.621,12005.699,40,1.0,40,-2.6
_24V_AH  23.9,118.957

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor20219107.05 SBE_CT108524622.55
Roll_motor6664102.25 AA4330000.00
VBD_pump_during_apogee653106616647.60 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init60103147.76 nil000.00
Iridium_during_connect83160317.43 TMicro000.00
Iridium_during_xfer149223796.57 LAB000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS15507.48
TT8383419736.50
LPSleep108352230.17
TT8_Active71619137.52
TT8_Sampling3274391264.25
TT8_CF850045222.49
TT8_Kalman000.00
Analog_circuits232512270.70
GPS_charging000.00
Compass294715428.87
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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
18 -0.61 -219.0 0.0 0.0 0 87 0.00 0.00 -66.68 0.000 2 0.000 0.000 127 2490 2318 0 0 0 0 0 0
91 -0.61 -219.0 3.2 -2.6 12 138 8.50 0.77 -32.72 0.000 4 0.220 0.064 2170 1936 3764 0 0 0 0 0 0
183 -0.48 -219.0 22.7 -21.7 27 190 0.15 0.88 0.00 0.000 6 0.142 0.037 2214 2508 3764 0 0 0 0 0 0
530 -0.40 -219.0 86.5 -17.5 88 537 0.12 0.80 0.00 0.000 4 0.160 0.039 2247 3030 3762 0 0 0 0 0 0
731 -0.37 -219.0 113.2 -11.2 123 738 0.00 0.77 0.00 0.000 6 0.000 0.025 2247 2466 3762 0 0 0 0 0 0
1077 -0.53 -219.0 145.1 -10.7 184 1085 0.12 0.65 0.00 0.000 4 0.084 0.028 2197 1973 3762 0 0 0 0 0 0
1233 -0.64 -219.0 158.8 -7.3 211 1240 0.00 0.80 0.00 0.000 6 0.000 0.033 2197 2512 3762 0 0 0 0 0 0
1582 -0.71 -219.0 187.6 -8.4 272 1590 0.15 0.77 0.00 0.000 4 0.066 0.037 2106 3029 3762 0 0 0 0 0 0
1729 -0.59 -219.0 208.0 -16.1 292 1736 0.22 0.73 0.00 0.000 6 0.128 0.026 2177 2505 3762 0 0 0 0 0 0
2057 -0.56 -219.0 242.7 -10.1 323 2061 0.00 0.77 0.00 0.000 4 0.000 0.038 2176 3021 3762 0 0 0 0 0 0
2184 -0.53 -219.0 256.0 -10.5 334 2188 0.00 0.73 0.00 0.000 6 0.000 0.026 2176 2497 3762 0 0 0 0 0 0
2517 -0.61 -219.0 287.0 -9.0 365 2520 0.00 0.80 0.00 0.000 4 0.000 0.039 2176 3024 3760 0 0 0 0 0 0
2533 -0.69 -219.0 288.8 -9.0 366 2540 0.00 0.73 0.00 0.000 6 0.000 0.026 2176 2496 3760 0 0 0 0 0 0
2861 -0.76 -219.0 316.1 -8.3 397 2865 0.12 0.82 0.00 0.000 4 0.078 0.039 2097 3022 3758 0 0 0 0 0 0
3019 -0.64 -219.0 336.8 -14.3 411 3023 0.20 0.73 0.00 0.000 6 0.125 0.027 2161 2506 3756 0 0 0 0 0 0
3352 -0.62 -219.0 373.3 -11.1 442 3355 0.00 0.77 0.00 0.000 4 0.000 0.041 2159 3015 3754 0 0 0 0 0 0
3437 -0.59 -219.0 383.5 -11.9 449 3444 0.00 0.73 0.00 0.000 6 0.000 0.027 2159 2500 3753 0 0 0 0 0 0
3763 -0.59 -219.0 419.1 -10.9 480 3766 0.00 0.80 0.00 0.000 4 0.000 0.041 2155 3020 3750 0 0 0 0 0 0
3835 -0.63 -219.0 426.8 -10.4 486 3842 0.00 0.75 0.00 0.000 6 0.000 0.028 2155 2491 3750 0 0 0 0 0 0
4161 -0.68 -219.0 458.6 -9.9 517 4165 0.00 0.80 0.00 0.000 4 0.000 0.041 2153 3011 3747 0 0 0 0 0 0
4212 -0.74 -219.0 463.8 -10.0 521 4219 0.00 0.73 0.00 0.000 6 0.000 0.028 2153 2499 3747 0 0 0 0 0 0
4538 -0.79 -219.0 497.8 -10.8 552 4541 0.00 0.70 0.00 0.000 4 0.000 0.028 2153 1979 3745 0 0 0 0 0 0
4594 -0.82 -219.0 504.3 -11.2 555 4598 0.10 0.77 0.00 0.000 6 0.050 0.038 2088 2486 3744 0 0 0 0 0 0
4916 -0.71 -219.0 553.7 -17.2 571 4921 0.20 0.85 0.00 0.000 4 0.141 0.038 2142 3032 3741 0 0 0 0 0 0
5081 -0.68 -219.0 575.2 -12.4 578 5084 0.00 0.77 0.00 0.000 6 0.000 0.028 2142 2496 3740 0 0 0 0 0 0
5410 -0.65 -219.0 611.1 -10.4 594 5413 0.00 0.82 0.00 0.000 4 0.000 0.043 2138 3025 3737 0 0 0 0 0 0
5533 -0.62 -219.0 624.8 -11.3 599 5537 0.10 0.75 0.00 0.000 6 0.120 0.028 2173 2500 3736 0 0 0 0 0 0
5858 -0.71 -219.0 652.5 -8.4 615 5862 0.00 0.85 0.00 0.000 4 0.000 0.042 2173 3033 3733 0 0 0 0 0 0
5989 -0.79 -219.0 663.1 -7.9 620 5997 0.12 0.77 0.00 0.000 6 0.047 0.028 2098 2497 3733 0 0 0 0 0 0
6307 -0.79 -219.0 695.4 -10.2 636 6311 0.00 0.70 0.00 0.000 4 0.000 0.028 2097 1974 3730 0 0 0 0 0 0
6342 -0.78 -219.0 699.4 -10.8 637 6345 0.00 0.80 0.00 0.000 6 0.000 0.038 2095 2495 3730 0 0 0 0 0 0
6665 -0.70 -219.0 744.0 -13.8 653 6670 0.20 0.82 0.00 0.000 4 0.142 0.041 2150 3020 3728 0 0 0 0 0 0
6839 -0.68 -219.0 762.2 -9.5 660 6845 0.00 0.75 0.00 0.000 6 0.000 0.028 2149 2497 3727 0 0 0 0 0 0
7157 -0.67 -219.0 791.8 -9.3 676 7160 0.00 0.82 0.00 0.000 4 0.000 0.043 2146 3023 3725 0 0 0 0 0 0
7280 -0.66 -219.0 804.6 -10.3 681 7284 0.00 0.75 0.00 0.000 6 0.000 0.027 2146 2499 3723 0 0 0 0 0 0
7604 -0.65 -219.0 838.1 -10.7 697 7607 0.00 0.82 0.00 0.000 4 0.000 0.043 2142 3025 3722 0 0 0 0 0 0
7665 -0.63 -219.0 845.4 -11.3 699 7672 0.00 0.75 0.00 0.000 6 0.000 0.028 2142 2502 3722 0 0 0 0 0 0
7982 -0.61 -219.0 881.0 -11.4 715 7986 0.12 0.85 0.00 0.000 4 0.145 0.045 2177 3026 3720 0 0 0 0 0 0
8061 -0.68 -219.0 888.5 -9.0 718 8065 0.00 0.75 0.00 0.000 6 0.000 0.028 2177 2505 3720 0 0 0 0 0 0
8384 -0.80 -219.0 919.6 -10.1 734 8388 0.17 0.82 0.00 0.000 4 0.078 0.041 2103 3021 3719 0 0 0 0 0 0
8533 -0.74 -219.0 940.0 -14.9 740 8537 0.10 0.75 0.00 0.000 6 0.125 0.028 2136 2501 3718 0 0 0 0 0 0
8854 -0.72 -219.0 977.8 -10.9 756 8858 0.00 0.82 0.00 0.000 4 0.000 0.044 2134 3026 3716 0 0 0 0 0 0
8906 -0.70 -219.0 983.7 -11.3 758 8910 0.00 0.77 0.00 0.000 6 0.000 0.028 2134 2495 3715 0 0 0 0 0 0
8962 end dive: TARGET_DEPTH_EXCEEDED
state 8963 begin apogee
8969 -0.19 0.0 990.4 11.1 761 9140 0.52 0.00 166.07 1.066 6 0.111 0.000 2307 2086 2868 0 0 0 0 0 0
9141 end apogee: CONTROL_FINISHED_OK
state 9141 begin climb
9144 0.61 219.0 1002.1 0.0 769 9328 0.70 0.82 174.48 1.050 4 0.047 0.032 2586 2634 1975 0 0 0 0 0 0
9356 0.50 219.0 990.2 13.1 779 9361 0.17 0.80 0.00 0.000 6 0.152 0.027 2539 2103 1975 0 0 0 0 0 0
9686 0.44 219.0 953.2 11.6 795 9689 0.00 0.75 0.00 0.000 4 0.000 0.034 2542 1585 1972 0 0 0 0 0 0
9748 0.38 219.0 945.6 11.6 797 9756 0.12 0.80 0.00 0.000 6 0.143 0.031 2503 2115 1972 0 0 0 0 0 0
10065 0.38 243.9 914.9 9.5 813 10090 0.00 0.80 20.70 0.962 4 0.000 0.037 2502 2621 1874 0 0 0 0 0 0
10253 0.41 288.2 897.1 8.9 821 10294 0.00 0.77 36.08 0.972 6 0.000 0.029 2504 2094 1693 0 0 0 0 0 0
10623 0.56 390.1 869.1 7.1 839 10713 0.15 0.80 81.47 0.975 4 0.082 0.032 2574 1578 1277 0 0 0 0 0 0
10845 0.55 405.8 848.0 9.8 849 10868 0.00 0.80 14.35 0.873 6 0.000 0.031 2574 2100 1213 0 0 0 0 0 0
11179 0.53 405.8 814.0 10.8 865 11182 0.00 0.80 0.00 0.000 4 0.000 0.033 2577 1572 1212 0 0 0 0 0 0
11318 0.51 405.8 798.0 11.9 871 11322 0.10 0.80 0.00 0.000 6 0.119 0.031 2544 2102 1212 0 0 0 0 0 0
11652 0.56 405.8 762.2 10.9 887 11656 0.00 0.77 0.00 0.000 4 0.000 0.037 2543 2629 1211 0 0 0 0 0 0
11700 0.60 405.8 757.0 11.1 889 11704 0.00 0.77 0.00 0.000 6 0.000 0.031 2545 2105 1211 0 0 0 0 0 0
12034 0.66 409.2 721.9 10.2 905 12044 0.12 0.80 4.22 0.604 4 0.087 0.035 2608 1573 1200 0 0 0 0 0 0
12131 0.62 409.2 709.0 13.9 909 12136 0.10 0.80 0.00 0.000 6 0.129 0.032 2576 2102 1199 0 0 0 0 0 0
12459 0.59 409.2 671.2 11.0 925 12463 0.00 0.77 0.00 0.000 4 0.000 0.031 2577 1572 1199 0 0 0 0 0 0
12567 0.57 409.2 658.4 11.8 929 12573 0.00 0.80 0.00 0.000 6 0.000 0.031 2577 2102 1199 0 0 0 0 0 0
12883 0.56 409.2 621.5 11.5 945 12887 0.00 0.77 0.00 0.000 4 0.000 0.032 2580 1573 1199 0 0 0 0 0 0
13008 0.53 409.2 606.6 11.9 950 13012 0.10 0.80 0.00 0.000 6 0.118 0.030 2546 2111 1199 0 0 0 0 0 0
13331 0.59 409.2 573.0 10.3 966 13335 0.00 0.73 0.00 0.000 4 0.000 0.038 2547 2607 1198 0 0 0 0 0 0
13416 0.65 427.7 564.2 9.7 969 13437 0.08 0.75 15.57 0.755 6 0.061 0.031 2593 2098 1125 0 0 0 0 0 0
13754 0.67 444.9 530.0 9.8 986 13776 0.00 0.75 16.02 0.725 4 0.000 0.032 2596 1569 1054 0 0 0 0 0 0
13835 0.67 444.9 521.7 10.6 989 13839 0.00 0.80 0.00 0.000 6 0.000 0.029 2597 2103 1054 0 0 0 0 0 0
14162 0.69 444.9 487.0 11.4 1010 14166 0.00 0.75 0.00 0.000 4 0.000 0.037 2596 2618 1054 0 0 0 0 0 0
14258 0.69 444.9 475.5 12.3 1018 14265 0.00 0.77 0.00 0.000 6 0.000 0.029 2599 2091 1054 0 0 0 0 0 0
14584 0.70 444.9 438.4 11.5 1049 14588 0.00 0.77 0.00 0.000 4 0.000 0.034 2600 2616 1054 0 0 0 0 0 0
14597 0.72 444.9 436.9 11.7 1050 14601 0.00 0.75 0.00 0.000 6 0.000 0.029 2602 2104 1054 0 0 0 0 0 0
14928 0.74 444.9 399.5 10.8 1081 14932 0.00 0.75 0.00 0.000 4 0.000 0.035 2606 1585 1055 0 0 0 0 0 0
14967 0.75 444.9 395.1 10.4 1084 14976 0.00 0.77 0.00 0.000 6 0.000 0.031 2606 2106 1055 0 0 0 0 0 0
15293 0.81 477.9 364.2 9.3 1115 15327 0.00 0.77 26.62 0.656 4 0.000 0.032 2606 2619 920 0 0 0 0 0 0
15418 0.77 477.9 350.5 12.7 1126 15422 0.00 0.77 0.00 0.000 6 0.000 0.029 2610 2091 923 0 0 0 0 0 0
15750 0.81 477.9 309.7 11.8 1157 15753 0.00 0.80 0.00 0.000 4 0.000 0.032 2610 2632 928 0 0 0 0 0 0
15779 0.84 477.9 306.3 12.0 1159 15786 0.00 0.77 3.55 0.425 6 0.000 0.030 2612 2108 920 0 0 0 0 0 0
16105 0.92 524.0 271.9 8.8 1190 16151 0.17 0.80 36.85 0.597 4 0.074 0.034 2694 1577 732 0 0 0 0 0 0
16182 0.87 524.0 263.3 11.3 1196 16189 0.10 0.77 0.00 0.000 6 0.136 0.029 2663 2098 734 0 0 0 0 0 0
16509 0.84 524.0 222.3 13.0 1227 16513 0.00 0.77 0.00 0.000 4 0.000 0.031 2664 1570 735 0 0 0 0 0 0
16612 0.81 524.0 209.3 12.4 1236 16615 0.00 0.77 0.00 0.000 6 0.000 0.029 2664 2093 735 0 0 0 0 0 0
16952 0.81 524.0 170.1 11.5 1289 16959 0.00 0.77 0.00 0.000 4 0.000 0.031 2666 1564 735 0 0 0 0 0 0
17042 0.81 524.0 159.9 11.4 1304 17050 0.08 0.80 0.00 0.000 6 0.114 0.030 2639 2107 735 0 0 0 0 0 0
17392 0.99 585.0 128.1 8.4 1365 17445 0.15 0.00 46.80 0.503 6 0.077 0.000 2714 2107 483 0 0 0 0 0 0
17786 1.07 585.0 87.8 10.9 1434 17793 0.00 0.77 0.00 0.000 4 0.000 0.031 2717 1574 483 0 0 0 0 0 0
17817 1.12 585.0 84.3 10.8 1439 17824 0.00 0.77 0.00 0.000 6 0.000 0.030 2717 2098 484 0 0 0 0 0 0
18166 1.25 622.9 50.4 9.1 1500 18185 0.17 0.80 10.38 0.439 4 0.065 0.034 2811 2627 439 0 0 0 0 0 0
18239 1.15 622.9 40.9 15.2 1512 18246 0.22 0.77 0.00 0.000 6 0.135 0.030 2746 2092 439 0 0 0 0 0 0
18560 end climb: SURFACE_DEPTH_REACHED
state 18560 begin surface coast
18585 end surface coast: CONTROL_FINISHED_OK
state 18585 begin surface