OKMC Mar13 * SG169 * Dive index * Mission links * Dive 675 * Log results * Raw log file
prev dive * next dive * dive

Parameter values: Sort by alphabetical glider order
ID  169 HEADING  -1 ROLL_DEG  40 ALTIM_TOP_TURN_MARGIN  0
MISSION  8 ESCAPE_HEADING  0 C_ROLL_DIVE  2600 ALTIM_TOP_MIN_OBSTACLE  0
DIVE  675 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2575 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  7
D_TGT  990 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  -10 ALTIM_SENSITIVITY  2
D_ABORT  1020 SM_CC  592.89008 R_STBD_OVSHOOT  -10 XPDR_VALID  4
D_NO_BLEED  200 N_FILEKB  4 ROLL_AD_RATE  200 XPDR_INHIBIT  90
D_BOOST  130 FILEMGR  0 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  4 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  -1.1
D_FINISH  0 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_PITCH  0 PROTOCOL  9 VBD_MIN  435 DEEPGLIDERMB  0
D_SAFE  0 N_NOCOMM  1 VBD_MAX  3960 MOTHERBOARD  4
D_CALL  0 NOCOMM_ACTION  163 C_VBD  2852 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  350 CALL_WAIT  60 PITCH_VBD_SHIFT  0.003 DEVICE5  -1
T_MISSION  380 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  3 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  2 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  -23384.508 DBDW  0 COMPASS_DEVICE  33
USE_BATHY  -5 T_RSLEEP  2 PITCH_W_GAIN  0 COMPASS2_DEVICE  150
USE_ICE  0 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  48
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  146 MINV_24V  22 SIM_W  0
APOGEE_PITCH  -5 PITCH_MAX  3945 MINV_10V  9.5 SIM_PITCH  0
MAX_BUOY  180 C_PITCH  2365 FG_AHR_10V  0 SEABIRD_T_G  0.0042608725
COURSE_BIAS  0 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00061783189
GLIDE_SLOPE  30 PITCH_CNV  0.003125763 PHONE_SUPPLY  -2 SEABIRD_T_I  2.1692709e-05
SPEED_FACTOR  1 P_OVSHOOT  0.039999999 PRESSURE_YINT  -154.03682 SEABIRD_T_J  2.1724361e-06
RHO  1.0275 PITCH_GAIN  40 PRESSURE_SLOPE  0.0001078585 SEABIRD_C_G  -10.034778
MASS  52063 PITCH_TIMEOUT  16 AD7714Ch0Gain  1 SEABIRD_C_H  1.1503564
NAV_MODE  2 PITCH_AD_RATE  165 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0019294197
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.0002327933
KALMAN_USE  2 PITCH_ADJ_GAIN  0 COMPASS_USE  4 SC_RECORDABOVE  2000.0
HD_A  0.00091300003 PITCH_ADJ_DBAND  0 ALTIM_BOTTOM_PING_RANGE  0 SC_PROFILE  3.0
HD_B  0.0119 ROLL_MIN  220 ALTIM_TOP_PING_RANGE  0 SC_XMITPROFILE  3.0
HD_C  2.0500001e-07 ROLL_MAX  3795 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  070813,034905,1840.809,12226.147,38,1.2,38,-2.1 TGT_NAME  S1
_CALLS  1 TGT_LATLONG  1831.410,12216.350
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.33 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  070813,040413,1841.330,12225.766,14,1.7,14,-2.1 MHEAD_RNG_PITCHd_Wd  179.1,24718,-5.6,-9.429,-20.04,2855
SPEED_LIMITS  0.163,0.258 D_GRID  856

Post-dive calculations and measurements:
FINISH  -0.6,1.008441 _10V_AH  9.7,68.958
SM_CCo  12584,118.03,0.118,0,0,432,592.89 FG_AHR_24Vo  0.000
SM_GC  0.28,6.65,0.00,118.03,0.021,0.000,0.118,134,2600,432,-6.89,-0.03,592.89,0,0,0,0,0,0,26.06,28.83,25.24 FG_AHR_10Vo  0.000
IRIDIUM_FIX  1835.04,12222.51,060813,232323 MEM  323188
TT8_MAMPS  0.02247,0.02247 DATA_FILE_SIZE  23405,597
HUMID  52.36 CAP_FILE_SIZE  318694,0
INTERNAL_PRESSURE  9.39845 CFSIZE  260034560,145801216
TCM_TEMP  25.10 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.346,335.9,1
SC_FREEKB  3678656 GPS  070813,073736,1842.245,12224.794,25,1.1,26,-2.1
_24V_AH  23.6,92.197

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1722492.04 nil000.00
Roll_motor12773221.67 nil000.00
VBD_pump_during_apogee60887812611.25 nil000.00
VBD_pump_during_surface118117328.15 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon1263861852.47
Iridium_during_xfer5471201551.52 nil000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS15324.98
TT8242114333.72
LPSleep72912154.89
TT8_Active81414112.23
TT8_Sampling196240769.74
TT8_CF8109247507.71
TT8_Kalman000.00
Analog_circuits224112260.86
GPS_charging000.00
Compass14168113.18
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
22 end surface: CONTROL_FINISHED_OK
state 22 begin dive
27 -0.67 -175.2 132 2602 616 255 0.0 0.0 0 121 0.00 0.00 -92.03 0.000 16386 0.000 0.000 132 2603 2834 2810 2859 0 0 0 0 0 0 28.83 28.83 28.83
133 -0.67 -175.2 132 2603 2811 2859 3.7 -9.3 12 159 8.62 2.90 -10.93 0.000 18948 0.224 0.040 2140 1140 3570 3439 3702 0 0 0 0 0 0 24.60 25.91 26.52
177 -0.67 -175.2 2140 1140 3440 3702 25.6 -46.1 16 185 0.00 2.83 0.00 0.000 1030 0.000 0.037 2131 2607 3571 3440 3702 0 0 0 0 0 0 28.83 25.85 28.83
486 -0.67 -175.2 2128 2604 3440 3702 115.0 -23.6 35 492 0.00 1.95 0.00 0.000 260 0.000 0.051 2121 3831 3571 3440 3702 0 0 0 0 0 0 28.83 25.87 28.83
517 -0.67 -175.2 2120 3831 3440 3702 119.9 -21.1 36 523 0.00 1.92 0.00 0.000 1030 0.000 0.025 2121 2569 3571 3440 3702 0 0 0 0 0 0 28.83 26.27 28.83
839 -0.67 -175.2 2120 2569 3438 3702 176.7 -17.7 52 845 0.00 2.65 0.00 0.000 516 0.000 0.028 2121 1125 3570 3439 3702 0 0 0 0 0 0 28.83 26.13 28.83
896 -0.67 -175.2 2121 1124 3440 3702 184.1 -16.5 54 903 0.12 2.80 0.00 0.000 3078 0.142 0.034 2152 2609 3571 3440 3702 0 0 0 0 0 0 25.86 26.06 28.83
1221 -0.67 -175.2 2151 2606 3440 3702 225.9 -12.6 70 1228 0.00 1.90 0.00 0.000 260 0.000 0.046 2146 3828 3571 3440 3702 0 0 0 0 0 0 28.83 26.01 28.83
1278 -0.67 -175.2 2145 3828 3440 3702 232.3 -12.6 72 1284 0.00 1.88 0.00 0.000 1030 0.000 0.023 2146 2559 3571 3440 3702 0 0 0 0 0 0 28.83 26.39 28.83
1605 -0.67 -175.2 2146 2559 3439 3702 279.8 -14.7 88 1610 0.00 2.60 0.00 0.000 516 0.000 0.025 2146 1121 3570 3439 3702 0 0 0 0 0 0 28.83 26.16 28.83
1625 -0.67 -175.2 2145 1121 3439 3701 279.8 -14.7 88 1633 0.00 2.78 0.00 0.000 1030 0.000 0.031 2142 2611 3570 3439 3701 0 0 0 0 0 0 28.83 26.10 28.83
1931 -0.67 -175.2 2141 2609 3440 3699 322.0 -11.2 104 1937 0.00 1.92 0.00 0.000 260 0.000 0.048 2142 3842 3568 3439 3698 0 0 0 0 0 0 28.83 25.96 28.83
2003 -0.67 -175.2 2141 3842 3439 3697 329.6 -10.7 107 2009 0.00 1.92 0.00 0.000 1030 0.000 0.026 2141 2566 3568 3439 3697 0 0 0 0 0 0 28.83 26.34 28.83
2336 -0.67 -175.2 2141 2566 3438 3691 361.2 -10.5 123 2338 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2566 3565 3439 3691 0 0 0 0 0 0 28.83 28.83 28.83
2629 -0.67 -175.2 2141 2566 3438 3685 395.8 -11.9 138 2636 0.00 2.10 0.00 0.000 260 0.000 0.045 2138 3844 3561 3438 3685 0 0 0 0 0 0 28.83 25.95 28.83
2675 -0.67 -175.2 2138 3844 3438 3684 399.1 -12.1 139 2683 0.00 1.92 0.00 0.000 1030 0.000 0.026 2138 2569 3561 3438 3684 0 0 0 0 0 0 28.83 26.32 28.83
2977 -0.67 -175.2 2138 2569 3438 3678 439.8 -13.3 155 2983 0.00 2.10 0.00 0.000 260 0.000 0.049 2138 3836 3557 3438 3677 0 0 0 0 0 0 28.83 25.90 28.83
3058 -0.67 -175.2 2138 3836 3438 3676 449.7 -13.6 158 3064 0.00 1.92 0.00 0.000 1030 0.000 0.027 2138 2563 3557 3438 3676 0 0 0 0 0 0 28.83 26.31 28.83
3374 -0.67 -175.2 2138 2564 3438 3669 491.3 -12.2 174 3375 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2563 3554 3438 3670 0 0 0 0 0 0 28.83 28.83 28.83
3677 -0.67 -175.2 2138 2563 3437 3663 523.6 -10.5 189 3682 0.00 2.65 0.00 0.000 516 0.000 0.030 2138 1124 3550 3437 3663 0 0 0 0 0 0 28.83 26.04 28.83
3707 -0.67 -175.2 2138 1124 3437 3663 526.6 -10.5 190 3713 0.00 2.78 0.00 0.000 1030 0.000 0.034 2138 2614 3550 3437 3663 0 0 0 0 0 0 28.83 26.01 28.83
4033 -0.67 -175.2 2137 2612 3435 3659 561.8 -11.2 206 4040 0.00 1.95 0.00 0.000 260 0.000 0.048 2130 3842 3547 3435 3659 0 0 0 0 0 0 28.83 25.89 28.83
4069 -0.67 -175.2 2130 3842 3434 3659 565.6 -11.4 207 4075 0.00 1.95 0.00 0.000 1030 0.000 0.027 2130 2563 3547 3435 3659 0 0 0 0 0 0 28.83 26.27 28.83
4408 -0.67 -175.2 2130 2563 3433 3654 608.7 -13.0 223 4414 0.00 2.12 0.00 0.000 260 0.000 0.050 2125 3827 3543 3433 3653 0 0 0 0 0 0 28.83 25.82 28.83
4433 -0.67 -175.2 2125 3827 3432 3653 608.7 -13.0 223 4439 0.00 1.95 0.00 0.000 1030 0.000 0.027 2125 2560 3542 3432 3653 0 0 0 0 0 0 28.83 26.26 28.83
4754 -0.67 -175.2 2125 2560 3432 3649 661.2 -16.4 234 4760 0.00 2.60 0.00 0.000 516 0.000 0.031 2126 1145 3537 3431 3644 0 0 0 0 0 0 28.83 25.98 28.83
4781 -0.67 -175.2 2125 1145 3431 3649 661.2 -16.4 234 4787 0.00 2.78 0.00 0.000 1030 0.000 0.035 2125 2618 3540 3431 3649 0 0 0 0 0 0 28.83 25.94 28.83
5103 -0.67 -175.2 2125 2616 3430 3645 714.1 -14.8 245 5104 0.00 0.00 0.00 0.000 6 0.000 0.000 2125 2617 3537 3430 3645 0 0 0 0 0 0 28.83 28.83 28.83
5400 -0.67 -175.2 2125 2616 3428 3642 755.1 -13.2 255 5406 0.00 2.75 0.00 0.000 516 0.000 0.031 2125 1127 3535 3428 3642 0 0 0 0 0 0 28.83 25.96 28.83
5449 -0.67 -175.2 2125 1129 3428 3641 760.4 -13.4 256 5456 0.12 2.78 0.00 0.000 3078 0.122 0.034 2152 2618 3534 3428 3641 0 0 0 0 0 0 25.79 25.94 28.83
5776 -0.67 -175.2 2151 2619 3432 3637 796.4 -10.0 267 5778 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2615 3531 3426 3637 0 0 0 0 0 0 28.83 28.83 28.83
6077 -0.67 -175.2 2152 2615 3425 3633 826.7 -9.7 277 6083 0.00 2.75 0.00 0.000 516 0.000 0.031 2152 1131 3529 3425 3633 0 0 0 0 0 0 28.83 25.93 28.83
6132 -0.67 -175.2 2152 1130 3425 3633 829.6 -9.2 278 6138 0.00 2.78 0.00 0.000 1030 0.000 0.034 2142 2620 3528 3425 3632 0 0 0 0 0 0 28.83 25.89 28.83
6391 end dive: TARGET_DEPTH_EXCEEDED
state 6391 begin apogee
6402 -0.12 0.0 2142 2533 3424 3630 856.8 -9.9 287 6589 0.52 0.15 174.68 0.810 10246 0.098 0.073 2322 2603 2846 2872 2820 0 0 0 0 0 0 25.53 25.01 23.56
6591 end apogee: CONTROL_FINISHED_OK
state 6591 begin climb
6595 0.67 175.2 2323 2603 2867 2802 868.8 0.0 292 6775 0.68 2.90 167.30 0.878 10756 0.042 0.023 2605 1102 2124 2257 1991 0 0 0 0 0 0 25.37 25.20 23.70
6807 1.01 290.3 2605 1101 2240 1977 864.1 5.3 298 6929 0.28 2.75 108.10 0.832 11270 0.041 0.024 2725 2598 1667 1827 1507 0 0 0 0 0 0 25.65 25.57 23.81
7250 1.01 290.3 2726 2597 1808 1463 770.7 23.0 312 7257 0.12 2.00 0.00 0.000 4356 0.182 0.037 2679 3847 1635 1808 1463 0 0 0 0 0 0 25.77 25.91 28.83
7439 1.01 290.3 2679 3847 1805 1463 732.8 21.9 317 7445 0.00 2.03 0.00 0.000 1030 0.000 0.015 2689 2521 1634 1805 1463 0 0 0 0 0 0 28.83 26.27 28.83
7761 1.01 290.3 2690 2519 1802 1462 663.7 19.8 328 7767 0.00 2.22 0.00 0.000 260 0.000 0.038 2680 3848 1632 1802 1462 0 0 0 0 0 0 28.83 25.96 28.83
7787 1.01 290.3 2680 3847 1802 1462 663.7 19.8 328 7792 0.00 2.00 0.00 0.000 1030 0.000 0.015 2689 2529 1632 1802 1462 0 0 0 0 0 0 28.83 26.36 28.83
8108 1.01 290.3 2690 2527 1802 1461 596.0 19.5 339 8114 0.00 2.17 0.00 0.000 260 0.000 0.038 2680 3841 1631 1802 1461 0 0 0 0 0 0 28.83 25.96 28.83
8210 1.01 290.3 2680 3841 1802 1461 576.5 19.4 343 8216 0.00 2.00 0.00 0.000 1030 0.000 0.015 2690 2523 1631 1802 1461 0 0 0 0 0 0 28.83 26.35 28.83
8536 1.01 290.3 2690 2521 1802 1461 514.9 19.1 359 8538 0.00 0.00 0.00 0.000 6 0.000 0.000 2691 2521 1632 1803 1461 0 0 0 0 0 0 28.83 28.83 28.83
8832 1.01 290.3 2691 2521 1802 1460 452.3 21.3 374 8837 0.00 2.53 0.00 0.000 516 0.000 0.025 2703 1101 1631 1802 1460 0 0 0 0 0 0 28.83 26.03 28.83
8860 1.01 290.3 2703 1101 1796 1462 446.7 21.2 375 8866 0.00 2.70 0.00 0.000 1030 0.000 0.024 2691 2600 1628 1796 1461 0 0 0 0 0 0 28.83 26.06 28.83
9190 1.01 290.3 2690 2597 1796 1461 385.2 17.7 391 9195 0.00 2.00 0.00 0.000 260 0.000 0.039 2681 3841 1628 1796 1461 0 0 0 0 0 0 28.83 25.91 28.83
9318 1.01 290.3 2681 3841 1796 1461 364.4 17.6 396 9326 0.00 2.00 0.00 0.000 1030 0.000 0.015 2692 2514 1628 1796 1461 0 0 0 0 0 0 28.83 26.32 28.83
9626 1.01 290.3 2691 2513 1796 1461 321.0 11.3 412 9632 0.00 2.50 0.00 0.000 516 0.000 0.026 2704 1103 1628 1796 1461 0 0 0 0 0 0 28.83 26.00 28.83
9738 1.01 290.3 2704 1102 1792 1462 310.9 10.8 416 9747 0.00 2.67 0.00 0.000 1030 0.000 0.024 2699 2601 1627 1792 1462 0 0 0 0 0 0 28.83 26.03 28.83
10038 1.01 290.3 2699 2600 1792 1462 268.0 15.0 432 10045 0.00 2.00 0.00 0.000 260 0.000 0.038 2699 3851 1627 1792 1462 0 0 0 0 0 0 28.83 25.89 28.83
10055 1.01 290.3 2699 3851 1792 1462 268.0 15.0 432 10061 0.00 2.03 0.00 0.000 1030 0.000 0.016 2709 2495 1627 1792 1462 0 0 0 0 0 0 28.83 26.29 28.83
10372 1.01 290.3 2710 2493 1792 1462 219.3 12.8 448 10378 0.00 2.45 0.00 0.000 516 0.000 0.026 2723 1090 1627 1792 1462 0 0 0 0 0 0 28.83 26.00 28.83
10469 1.01 290.3 2722 1090 1792 1462 207.9 12.3 452 10477 0.00 2.70 0.00 0.000 1030 0.000 0.024 2716 2602 1627 1792 1462 0 0 0 0 0 0 28.83 26.01 28.83
10800 1.01 290.3 2717 2600 1792 1462 165.3 13.2 468 10806 0.00 1.98 0.00 0.000 260 0.000 0.038 2707 3848 1627 1792 1462 0 0 0 0 0 0 28.83 25.89 28.83
10837 1.01 290.3 2706 3848 1792 1463 161.0 13.2 469 10843 0.00 2.00 0.00 0.000 1030 0.000 0.015 2718 2517 1627 1792 1462 0 0 0 0 0 0 28.83 26.39 28.83
11160 1.05 304.1 2717 2517 1792 1463 127.2 8.9 485 11175 0.00 2.53 8.52 0.129 8708 0.000 0.024 2730 1100 1614 1770 1458 0 0 0 0 0 0 28.83 25.92 24.76
11288 1.12 327.8 2730 1099 1776 1471 116.6 8.6 490 11351 0.00 2.67 51.28 0.307 9222 0.000 0.022 2727 2605 1531 1685 1377 0 0 0 0 0 0 28.83 26.04 24.46
11677 1.29 383.6 2727 2604 1688 1394 82.2 7.4 509 11763 0.12 2.75 77.72 0.282 10756 0.076 0.023 2823 1103 1298 1463 1134 0 0 0 0 0 0 26.36 25.78 24.70
11824 1.29 383.6 2827 1103 1473 1151 66.3 11.0 515 11837 0.15 2.70 4.15 0.156 13318 0.151 0.021 2783 2602 1288 1459 1118 0 0 0 0 0 0 25.44 25.84 24.70
12147 1.32 393.5 2782 2599 1467 1152 37.5 9.1 537 12165 0.00 2.72 13.10 0.182 8708 0.000 0.021 2795 1098 1257 1425 1090 0 0 0 0 0 0 28.83 25.97 24.75
12239 1.32 393.5 2795 1097 1428 1108 29.2 9.5 544 12249 0.00 2.67 3.62 0.148 9222 0.000 0.021 2795 2600 1248 1419 1078 0 0 0 0 0 0 28.83 26.04 24.77
12521 end climb: SURFACE_DEPTH_REACHED
state 12521 begin surface coast
12561 end surface coast: CONTROL_FINISHED_OK
state 12561 begin surface