OKMC Jun11 * SG181 * Dive index * Mission links * Dive 13 * Log results * Raw log file
prev dive * next dive * dive

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  13 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  35 DEEPGLIDERMB  0
N_DIVES  20 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  35 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  500 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  0 DEVICE3  39
D_ABORT  1050 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  300 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  -39526.406 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  2330 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -5 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  2.0
MAX_BUOY  200 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  2.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  39 ALTIM_TOP_PING_RANGE  0 TM_STARTS  2.0
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  2 PITCH_ADJ_GAIN  0.0099999998 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  100.0
FERRY_MAX  45 PITCH_ADJ_DBAND  1 ALTIM_PING_DELTA  10 LA_PROFILE  2.0
KALMAN_USE  2 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  2.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  40 ALTIM_SENSITIVITY  2 LA_STARTS  12.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2600 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2270 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  10 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  130611,094907,2153.780,12014.678,21,1.9,21,-2.7 TGT_NAME  W2
_CALLS  2 TGT_LATLONG  2145.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  2000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.38 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -70.4 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  130611,095758,2153.708,12014.860,15,2.1,34,-2.7 MHEAD_RNG_PITCHd_Wd  260.9,30225,-16.3,-11.000
SPEED_LIMITS  0.191,0.305 D_GRID  1330

Post-dive calculations and measurements:
FINISH  -0.2,1.020769 _10V_AH  10.2,2.806
SM_CCo  15753,0.00,0.000,0,0,565,565.17 FG_AHR_24Vo  0.000
SM_GC  0.36,6.25,0.00,0.00,0.030,0.000,0.000,209,2640,565,-6.53,1.13,565.17,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2145.77,12010.04,130611,090912 MEM  323192
TT8_MAMPS  0.027713,0.027713 DATA_FILE_SIZE  93614,1404
HUMID  41.53 CAP_FILE_SIZE  187322,0
INTERNAL_PRESSURE  9.307 CFSIZE  260165632,249806848
TCM_TEMP  24.60 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 CURRENT  0.126,148.0,1
_24V_AH  23.9,2.616 GPS  130611,142207,2152.109,12012.886,31,1.2,31,-2.6

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor18241105.15 SBE_CT97824561.26
Roll_motor17060246.38 AA43302136331685.16
VBD_pump_during_apogee609114116621.08 WL_BB2F17371054359.65
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init49103122.49 nil000.00
Iridium_during_connect60160230.58 TMicro000.00
Iridium_during_xfer187223998.36 LAB000.00
Transponder_ping04200.00 nil000.00
GUMSTIX_24V000.00
GPS375019.37
TT8360719728.51
LPSleep79162176.84
TT8_Active69119139.62
TT8_Sampling3708391505.65
TT8_CF834545161.32
TT8_Kalman000.00
Analog_circuits211712259.20
GPS_charging000.00
Compass241815370.03
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 -0.66 -194.6 0.0 0.0 0 102 0.00 0.00 -81.78 0.000 2 0.000 0.000 199 2614 2706 0 0 0 0 0 0
105 -0.66 -194.6 3.6 -7.0 11 136 7.90 0.00 -16.90 0.000 6 0.242 0.000 2111 2611 3665 0 0 0 0 0 0
332 -0.50 -194.6 107.3 -30.3 51 341 0.20 2.17 0.00 0.000 4 0.181 0.031 2164 1185 3668 0 0 0 0 0 0
365 -0.43 -194.6 115.9 -25.8 56 373 0.00 2.25 0.00 0.000 6 0.000 0.043 2164 2598 3668 0 0 0 0 0 0
567 -0.37 -194.6 154.8 -19.1 93 577 0.15 2.20 0.00 0.000 4 0.161 0.034 2205 1177 3669 0 0 0 0 0 0
612 -0.41 -194.6 160.1 -12.7 100 620 0.00 2.25 0.00 0.000 6 0.000 0.039 2204 2609 3669 0 0 0 0 0 0
816 -0.47 -194.6 174.4 -7.8 137 825 0.00 1.83 0.00 0.000 4 0.000 0.049 2205 3778 3669 0 0 0 0 0 0
839 -0.55 -194.6 176.3 -7.8 140 848 0.12 1.80 0.00 0.000 6 0.044 0.028 2122 2571 3672 0 0 0 0 0 0
1043 -0.48 -194.6 211.3 -18.1 177 1052 0.17 2.08 0.00 0.000 4 0.153 0.035 2171 1210 3669 0 0 0 0 0 0
1082 -0.48 -194.6 218.2 -17.3 183 1090 0.00 2.17 0.00 0.000 6 0.000 0.041 2165 2598 3667 0 0 0 0 0 0
1283 -0.48 -194.6 244.2 -12.1 220 1291 0.00 1.85 0.00 0.000 4 0.000 0.050 2164 3777 3667 0 0 0 0 0 0
1368 -0.54 -194.6 253.7 -10.1 232 1376 0.00 1.75 0.00 0.000 6 0.000 0.030 2164 2607 3667 0 0 0 0 0 0
1695 -0.56 -194.6 290.6 -11.8 263 1699 0.00 2.08 0.00 0.000 4 0.000 0.036 2164 1200 3665 0 0 0 0 0 0
1771 -0.63 -194.6 298.7 -9.3 269 1780 0.12 2.17 0.00 0.000 6 0.083 0.042 2094 2611 3665 0 0 0 0 0 0
2097 -0.56 -194.6 361.7 -19.4 300 2101 0.17 1.80 0.00 0.000 4 0.162 0.052 2137 3778 3663 0 0 0 0 0 0
2123 -0.54 -194.6 366.3 -16.4 302 2130 0.00 1.77 0.00 0.000 6 0.000 0.031 2137 2579 3662 0 0 0 0 0 0
2450 -0.54 -194.6 407.2 -11.7 333 2453 0.00 2.03 0.00 0.000 4 0.000 0.037 2137 1208 3660 0 0 0 0 0 0
2521 -0.58 -194.6 414.4 -9.2 339 2525 0.00 2.15 0.00 0.000 6 0.000 0.043 2129 2607 3660 0 0 0 0 0 0
2846 -0.58 -194.6 452.4 -12.7 369 2850 0.00 2.10 0.00 0.000 4 0.000 0.038 2129 1208 3656 0 0 0 0 0 0
2867 -0.58 -194.6 455.1 -12.2 370 2874 0.00 2.17 0.00 0.000 6 0.000 0.044 2125 2608 3656 0 0 0 0 0 0
3192 -0.58 -194.6 494.9 -12.7 401 3196 0.00 1.80 0.00 0.000 4 0.000 0.054 2125 3784 3652 0 0 0 0 0 0
3230 -0.60 -194.6 499.6 -11.7 404 3237 0.00 1.80 0.00 0.000 6 0.000 0.034 2125 2597 3653 0 0 0 0 0 0
3557 -0.60 -194.6 539.2 -12.7 435 3561 0.00 2.08 0.00 0.000 4 0.000 0.040 2125 1199 3650 0 0 0 0 0 0
3608 -0.63 -194.6 545.0 -10.7 439 3612 0.00 2.17 0.00 0.000 6 0.000 0.046 2125 2609 3650 0 0 0 0 0 0
3935 -0.63 -194.6 582.1 -11.3 469 3938 0.00 1.80 0.00 0.000 4 0.000 0.057 2125 3778 3647 0 0 0 0 0 0
3964 -0.65 -194.6 585.2 -10.6 471 3971 0.00 1.77 0.00 0.000 6 0.000 0.035 2125 2593 3647 0 0 0 0 0 0
4297 -0.66 -194.6 621.4 -11.5 494 4301 0.00 2.08 0.00 0.000 4 0.000 0.041 2125 1199 3644 0 0 0 0 0 0
4352 -0.70 -194.6 628.2 -10.9 496 4359 0.00 2.20 0.00 0.000 6 0.000 0.047 2125 2609 3644 0 0 0 0 0 0
4669 -0.71 -194.6 666.0 -12.0 512 4672 0.00 1.80 0.00 0.000 4 0.000 0.057 2124 3778 3641 0 0 0 0 0 0
4697 -0.74 -194.6 669.5 -11.9 513 4700 0.00 1.75 0.00 0.000 6 0.000 0.036 2125 2599 3641 0 0 0 0 0 0
5024 -0.75 -194.6 707.1 -11.8 529 5029 0.12 2.12 0.00 0.000 4 0.090 0.043 2066 1200 3639 0 0 0 0 0 0
5093 -0.73 -194.6 717.3 -14.9 532 5098 0.15 2.17 0.00 0.000 6 0.170 0.048 2097 2604 3638 0 0 0 0 0 0
5421 -0.71 -194.6 761.0 -13.0 548 5425 0.00 1.83 0.00 0.000 4 0.000 0.059 2089 3778 3636 0 0 0 0 0 0
5445 -0.70 -194.6 764.2 -13.0 549 5449 0.00 1.75 0.00 0.000 6 0.000 0.037 2090 2603 3636 0 0 0 0 0 0
5778 -0.67 -194.6 807.1 -12.4 565 5782 0.00 2.10 0.00 0.000 4 0.000 0.043 2086 1197 3634 0 0 0 0 0 0
5828 -0.67 -194.6 813.3 -11.9 567 5832 0.00 2.17 0.00 0.000 6 0.000 0.050 2084 2590 3634 0 0 0 0 0 0
6151 -0.65 -194.6 852.3 -12.0 583 6155 0.12 1.88 0.00 0.000 4 0.171 0.060 2110 3790 3632 0 0 0 0 0 0
6177 -0.65 -194.6 855.5 -11.9 584 6181 0.00 1.83 0.00 0.000 6 0.000 0.038 2111 2602 3631 0 0 0 0 0 0
6505 -0.65 -194.6 887.6 -10.6 600 6509 0.00 2.12 0.00 0.000 4 0.000 0.045 2111 1188 3629 0 0 0 0 0 0
6549 -0.68 -194.6 892.6 -10.8 602 6554 0.00 2.22 0.00 0.000 6 0.000 0.050 2111 2612 3629 0 0 0 0 0 0
6872 -0.69 -194.6 927.1 -10.5 618 6876 0.00 2.17 0.00 0.000 4 0.000 0.044 2111 1186 3627 0 0 0 0 0 0
6899 -0.71 -194.6 930.2 -10.9 619 6903 0.00 2.22 0.00 0.000 6 0.000 0.050 2111 2609 3627 0 0 0 0 0 0
7216 -0.73 -194.6 961.0 -9.4 634 7217 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2611 3626 0 0 0 0 0 0
7525 -0.74 -194.6 987.1 -7.3 649 7526 0.00 0.00 0.00 0.000 6 0.000 0.000 2111 2611 3624 0 0 0 0 0 0
7563 end dive: TARGET_DEPTH_EXCEEDED
state 7563 begin apogee
7569 -0.13 0.0 990.0 7.0 651 7724 0.50 0.00 150.20 1.141 6 0.125 0.000 2280 2262 2871 0 0 0 0 0 0
7725 end apogee: CONTROL_FINISHED_OK
state 7725 begin climb
7727 0.66 194.6 992.4 0.0 658 7897 0.73 2.38 161.68 1.110 4 0.049 0.047 2566 877 2074 0 0 0 0 0 0
8150 0.53 194.6 936.8 15.1 677 8158 0.25 2.28 0.00 0.000 6 0.184 0.045 2504 2278 2065 0 0 0 0 0 0
8466 0.45 194.6 898.5 12.0 693 8470 0.00 2.22 0.00 0.000 4 0.000 0.047 2513 871 2061 0 0 0 0 0 0
8533 0.37 194.6 889.6 12.8 696 8538 0.22 2.22 0.00 0.000 6 0.174 0.045 2455 2276 2061 0 0 0 0 0 0
8857 0.34 201.2 856.5 10.8 712 8866 0.00 2.25 4.43 0.782 4 0.000 0.055 2454 3682 2048 0 0 0 0 0 0
8879 0.30 201.2 853.5 11.5 713 8884 0.12 2.17 0.00 0.000 6 0.189 0.040 2432 2282 2049 0 0 0 0 0 0
9209 0.30 208.3 818.6 10.7 729 9223 0.00 2.30 7.72 0.922 4 0.000 0.049 2442 855 2019 0 0 0 0 0 0
9321 0.30 208.3 805.5 11.8 734 9325 0.00 2.22 0.00 0.000 6 0.000 0.044 2442 2269 2017 0 0 0 0 0 0
9649 0.28 208.3 766.8 11.7 750 9653 0.00 2.22 0.00 0.000 4 0.000 0.056 2442 3682 2015 0 0 0 0 0 0
9676 0.26 208.3 763.2 11.9 751 9680 0.15 2.20 0.00 0.000 6 0.174 0.040 2413 2261 2015 0 0 0 0 0 0
9998 0.31 245.2 731.4 9.6 767 10033 0.00 2.25 30.38 0.975 4 0.000 0.050 2422 862 1871 0 0 0 0 0 0
10090 0.42 299.3 722.7 8.9 771 10142 0.12 2.25 45.40 0.949 6 0.096 0.044 2474 2270 1648 0 0 0 0 0 0
10459 0.45 338.6 682.7 9.5 789 10496 0.00 2.35 31.65 0.930 4 0.000 0.056 2474 3685 1488 0 0 0 0 0 0
10520 0.51 385.6 676.9 9.2 791 10567 0.00 2.28 39.25 0.910 6 0.000 0.038 2485 2263 1297 0 0 0 0 0 0
10895 0.59 444.0 644.0 8.8 809 10945 0.10 0.00 46.78 0.908 6 0.104 0.000 2530 2263 1060 0 0 0 0 0 0
11248 0.57 444.0 596.4 15.0 827 11253 0.00 2.30 0.00 0.000 4 0.000 0.057 2529 3677 1053 0 0 0 0 0 0
11290 0.55 444.0 589.1 17.7 830 11295 0.12 2.20 0.00 0.000 6 0.164 0.038 2507 2272 1052 0 0 0 0 0 0
11615 0.55 444.0 544.1 13.7 860 11619 0.00 2.20 0.00 0.000 4 0.000 0.047 2517 853 1050 0 0 0 0 0 0
11649 0.58 444.0 539.6 13.2 863 11653 0.00 2.25 0.00 0.000 6 0.000 0.045 2517 2276 1050 0 0 0 0 0 0
11981 0.58 444.0 494.3 12.9 894 11985 0.00 2.22 0.00 0.000 4 0.000 0.056 2517 3679 1050 0 0 0 0 0 0
12054 0.58 444.0 484.3 13.4 900 12058 0.00 2.17 0.00 0.000 6 0.000 0.039 2526 2270 1050 0 0 0 0 0 0
12380 0.57 444.0 436.5 15.1 930 12384 0.00 2.15 0.00 0.000 4 0.000 0.046 2536 858 1049 0 0 0 0 0 0
12413 0.58 444.0 431.5 13.9 932 12420 0.00 2.22 0.00 0.000 6 0.000 0.044 2536 2274 1049 0 0 0 0 0 0
12740 0.56 444.0 376.5 17.3 963 12744 0.00 2.22 0.00 0.000 4 0.000 0.055 2536 3686 1050 0 0 0 0 0 0
12791 0.56 444.0 367.1 18.1 967 12796 0.12 2.17 0.00 0.000 6 0.164 0.038 2512 2268 1049 0 0 0 0 0 0
13117 0.58 444.0 323.9 12.6 997 13121 0.00 2.17 0.00 0.000 4 0.000 0.046 2522 860 1049 0 0 0 0 0 0
13163 0.62 444.0 318.2 11.9 1001 13167 0.00 2.20 0.00 0.000 6 0.000 0.044 2522 2278 1049 0 0 0 0 0 0
13490 0.63 444.0 276.5 13.1 1031 13494 0.00 2.20 0.00 0.000 4 0.000 0.055 2522 3683 1050 0 0 0 0 0 0
13556 0.65 444.0 266.8 14.0 1036 13564 0.00 2.20 0.00 0.000 6 0.000 0.037 2531 2273 1049 0 0 0 0 0 0
13883 0.65 444.0 219.4 13.2 1086 13890 0.00 0.00 0.00 0.000 6 0.000 0.000 2532 2273 1049 0 0 0 0 0 0
14084 0.65 444.0 190.1 13.9 1123 14092 0.00 2.25 0.00 0.000 4 0.000 0.052 2532 3674 1049 0 0 0 0 0 0
14138 0.66 444.0 181.8 15.6 1132 14146 0.00 2.17 0.00 0.000 6 0.000 0.037 2541 2274 1050 0 0 0 0 0 0
14339 0.66 444.0 151.2 13.9 1169 14348 0.00 2.17 0.00 0.000 4 0.000 0.044 2552 867 1050 0 0 0 0 0 0
14378 0.68 444.0 146.3 12.8 1175 14386 0.00 2.20 0.00 0.000 6 0.000 0.041 2552 2268 1050 0 0 0 0 0 0
14580 0.68 444.0 119.8 12.9 1212 14588 0.00 2.22 0.00 0.000 4 0.000 0.052 2552 3678 1050 0 0 0 0 0 0
14670 0.70 444.0 106.8 14.0 1228 14678 0.00 2.17 0.00 0.000 6 0.000 0.034 2561 2269 1050 0 0 0 0 0 0
14872 0.70 444.0 81.7 11.5 1265 14881 0.00 2.22 0.00 0.000 4 0.000 0.051 2561 3671 1050 0 0 0 0 0 0
14910 0.70 444.0 77.1 12.1 1271 14918 0.00 2.15 0.00 0.000 6 0.000 0.034 2572 2271 1050 0 0 0 0 0 0
15112 0.73 459.7 54.9 10.4 1308 15130 0.00 2.22 12.38 0.569 4 0.000 0.044 2583 854 994 0 0 0 0 0 0
15165 0.82 502.9 50.0 9.4 1316 15204 0.00 2.22 33.50 0.532 6 0.000 0.039 2583 2276 817 0 0 0 0 0 0
15399 0.95 563.8 27.9 8.7 1357 15454 0.15 2.28 45.95 0.508 4 0.073 0.040 2667 863 567 0 0 0 0 0 0
15484 0.95 563.8 17.0 13.6 1369 15494 0.10 2.25 0.00 0.000 6 0.115 0.037 2632 2271 567 0 0 0 0 0 0
15644 end climb: SURFACE_DEPTH_REACHED
state 15644 begin surface coast
15677 end surface coast: CONTROL_FINISHED_OK
state 15677 begin surface