OcnStnPapa Jun08 * SG144 * Dive index * Mission links * Dive 22 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  144 HD_C  1.0513e-05 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  13 HEADING  -1 PITCH_ADJ_GAIN  0.039999999 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  22 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  160 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3940 ALTIM_PING_DEPTH  0
D_TGT  990 TGT_DEFAULT_LAT  4736 ROLL_DEG  40 ALTIM_PING_DELTA  10
D_ABORT  1090 TGT_DEFAULT_LON  -12218 C_ROLL_DIVE  1900 ALTIM_FREQUENCY  13
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2100 ALTIM_PULSE  3
D_FINISH  0 SM_CC  300 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  28 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  29 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  400 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  412.5 N_NOSURFACE  0 ROLL_ADJ_GAIN  0 DEVICE2  20
T_MISSION  450 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0 DEVICE3  53
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  480 DEVICE4  35
T_TURN  225 CALL_WAIT  60 VBD_MAX  3950 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2931 DEVICE6  -1
T_NO_W  120 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  -1 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  5 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.0012300001 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -21597.922 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  2 VBD_BLEED_AD_RATE  8 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  24
MAX_BUOY  150 RAFOS_CORR_THRESH  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  2 SIM_PITCH  0
GLIDE_SLOPE  45 PITCH_MIN  500 AH0_24V  91.800003 SEABIRD_T_G  0.0043142079
SPEED_FACTOR  1 PITCH_MAX  3812 AH0_10V  61.200001 SEABIRD_T_H  0.00062953553
RHO  1.023 C_PITCH  2728 PRESSURE_YINT  -2.1256177 SEABIRD_T_I  2.3274781e-05
MASS  51458 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.00011159377 SEABIRD_T_J  2.4096155e-06
NAV_MODE  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -10.012566
FERRY_MAX  45 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1222577
KALMAN_USE  1 PITCH_GAIN  15 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0011971687
HD_A  0.0044757999 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_J  0.000188736
HD_B  0.0099689998 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  202107,5014.156,-14459.788,156,1.8,156,18.5 TGT_NAME  SW
_CALLS  1 TGT_LATLONG  4953.581,-14459.120
_XMS_NAKs  0 TGT_RADIUS  1852.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.069,-0.233
_SM_DEPTHo  1.74 KALMAN_X  -446.2,-90.5,-555.7,-916.5,1907.3
_SM_ANGLEo  -60.7 KALMAN_Y  10313.8,932.5,409.3,13585.4,-3488.9
GPS2  202107,5014.156,-14459.788,156,1.8,156,18.5 MHEAD_RNG_PITCHd_Wd  177.9,38114,-15.3,-8.000
SPEED_LIMITS  0.080,0.243 D_GRID  1001

Post-dive calculations and measurements:
FINISH  1.0,1.025655 XPDR_PINGS  100
SM_CCo  23435,6.62,0.623,0,0,1707,300.00 _24V_AH  23.3,9.705
SM_GC  2.65,0.00,0.00,6.62,0.000,0.000,0.623,497,1885,1707,-10.26,-0.42,300.00 _10V_AH  10.1,4.479
IRIDIUM_FIX  4959.75,-14453.58,060997,131335 DATA_FILE_SIZE  34951,616
TT8_MAMPS  0.029146 CAP_FILE_SIZE  152943,0
HUMID  1687 CFSIZE  260165632,256806912
INTERNAL_PRESSURE  7.65654 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
TCM_TEMP  15.10 GPS  120608,202107,5014.156,-14459.788,156,1.8,156,18.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor26174106.96 SBE_CT43624243.93
Roll_motor215121609.83 SBE_O250219222.56
VBD_pump_during_apogee398136312670.21 Optode63733490.05
VBD_pump_during_surface662296.14 WL_BB2F375105918.48
VBD_valve000.00 nil000.00
Iridium_during_init2810369.49 nil000.00
Iridium_during_connect2516094.73 nil000.00
Iridium_during_xfer118223615.87
Transponder_ping25420244.65
Mmodem_TX000.00
Mmodem_RX000.00
GPS30350153.12
TT8138819277.77
LPSleep196622434.92
TT8_Active57419114.89
TT8_Sampling200539806.11
TT8_CF836345168.34
TT8_Kalman338127.56
Analog_circuits155812188.89
GPS_charging000.00
Compass17028137.54
RAFOS000.00

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
17 end surface: CONTROL_FINISHED_OK
state 17 begin dive
18 -1.20 -146.6 0.0 0.0 0 82 0.00 0.00 -61.85 0.000 2 0.000 0.000 497 1898 2914
85 -1.20 -146.6 3.5 -4.4 6 119 10.65 2.42 -17.12 0.000 4 0.175 0.067 2460 3304 3530
269 -1.20 -146.6 25.8 -11.4 22 277 0.00 2.40 0.00 0.000 6 0.000 0.048 2460 1897 3532
596 -1.15 -146.6 63.5 -11.6 53 597 0.00 0.00 0.00 0.000 6 0.000 0.000 2460 1898 3532
909 -1.11 -146.6 100.9 -12.1 75 913 0.12 2.45 0.00 0.000 4 0.123 0.064 2483 492 3533
934 -1.11 -146.6 104.2 -11.5 76 939 0.00 2.40 0.00 0.000 6 0.000 0.043 2483 1901 3532
1256 -1.17 -146.6 135.3 -8.1 92 1260 0.00 2.45 0.00 0.000 4 0.000 0.062 2483 499 3533
1299 -1.22 -146.6 139.1 -8.5 94 1303 0.00 2.38 0.00 0.000 6 0.000 0.048 2483 1911 3533
1624 -1.30 -146.6 165.4 -7.8 107 1626 0.17 0.00 0.00 0.000 6 0.071 0.000 2440 1914 3533
1930 -1.30 -146.6 194.0 -9.4 117 1934 0.00 2.47 0.00 0.000 4 0.000 0.067 2440 499 3533
1968 -1.25 -146.6 197.9 -10.0 118 1972 0.00 2.35 0.00 0.000 6 0.000 0.043 2439 1901 3533
2296 -1.25 -146.6 228.1 -9.2 129 2301 0.00 2.45 0.00 0.000 4 0.000 0.067 2439 498 3533
2334 -1.21 -146.6 232.1 -11.1 130 2339 0.12 2.35 0.00 0.000 6 0.119 0.044 2463 1900 3533
2664 -1.25 -146.6 261.2 -8.6 141 2668 0.00 2.45 0.00 0.000 4 0.000 0.068 2463 498 3533
2701 -1.25 -146.6 264.8 -9.1 142 2706 0.00 2.38 0.00 0.000 6 0.000 0.051 2463 1896 3533
3031 -1.30 -146.6 291.8 -8.3 153 3035 0.00 2.45 0.00 0.000 4 0.000 0.066 2463 494 3533
3085 -1.30 -146.6 296.7 -9.6 154 3091 0.00 2.38 0.00 0.000 6 0.000 0.044 2463 1894 3533
3395 -1.35 -146.6 321.7 -8.0 161 3400 0.12 2.45 0.00 0.000 4 0.078 0.067 2430 494 3533
3444 -1.29 -146.6 326.6 -10.5 161 3449 0.00 2.35 0.00 0.000 6 0.000 0.050 2430 1898 3532
3759 -1.29 -146.6 357.3 -9.8 167 3760 0.00 0.00 0.00 0.000 6 0.000 0.000 2431 1901 3532
4062 -1.29 -146.6 387.3 -9.8 172 4066 0.00 2.45 0.00 0.000 4 0.000 0.066 2430 492 3532
4105 -1.25 -146.6 391.9 -11.0 172 4110 0.08 2.38 0.00 0.000 6 0.114 0.050 2450 1891 3532
4431 -1.25 -146.6 420.9 -8.9 178 4435 0.00 2.42 0.00 0.000 4 0.000 0.066 2449 498 3532
4487 -1.25 -146.6 426.3 -9.5 178 4491 0.00 2.35 0.00 0.000 6 0.000 0.045 2450 1901 3532
4795 -1.25 -146.6 453.6 -8.8 183 4799 0.00 2.45 0.00 0.000 4 0.000 0.067 2449 499 3532
4826 -1.25 -146.6 456.6 -8.6 183 4831 0.00 2.38 0.00 0.000 6 0.000 0.044 2449 1901 3531
5158 -1.25 -146.6 484.3 -8.3 189 5162 0.00 2.45 0.00 0.000 4 0.000 0.062 2450 494 3531
5195 -1.25 -146.6 487.7 -9.1 189 5200 0.00 2.38 0.00 0.000 6 0.000 0.048 2450 1891 3531
5522 -1.25 -146.6 513.2 -7.8 195 5523 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 1894 3531
5824 -1.25 -146.6 537.6 -8.1 200 5828 0.00 2.42 0.00 0.000 4 0.000 0.064 2450 3302 3531
5851 -1.29 -146.6 540.0 -8.9 200 5855 0.00 2.35 0.00 0.000 6 0.000 0.049 2450 1902 3531
6188 -1.29 -146.6 568.1 -8.4 206 6192 0.00 2.45 0.00 0.000 4 0.000 0.064 2450 491 3531
6215 -1.29 -146.6 570.7 -9.5 206 6219 0.00 2.38 0.00 0.000 6 0.000 0.051 2450 1892 3531
6552 -1.34 -146.6 599.7 -8.6 212 6554 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 1895 3531
6856 -1.38 -146.6 623.9 -8.0 217 6860 0.00 2.42 0.00 0.000 4 0.000 0.070 2450 498 3531
6887 -1.38 -146.6 626.7 -8.9 217 6892 0.00 2.38 0.00 0.000 6 0.000 0.049 2450 1899 3531
7220 -1.42 -146.6 652.7 -7.8 223 7225 0.15 2.45 0.00 0.000 4 0.073 0.064 2411 498 3531
7263 -1.34 -146.6 657.0 -10.5 223 7268 0.12 2.35 0.00 0.000 6 0.126 0.047 2435 1901 3530
7583 -1.34 -146.6 683.2 -8.1 229 7584 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 1902 3530
7886 -1.34 -146.6 708.2 -8.2 234 7887 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 1902 3530
8189 -1.34 -146.6 734.1 -8.6 239 8193 0.00 2.47 0.00 0.000 4 0.000 0.067 2435 491 3530
8220 -1.34 -146.6 737.1 -9.9 239 8225 0.00 2.38 0.00 0.000 6 0.000 0.047 2435 1892 3529
8558 -1.34 -146.6 765.2 -8.3 245 8562 0.00 2.45 0.00 0.000 4 0.000 0.065 2435 498 3530
8595 -1.34 -146.6 768.7 -9.5 245 8599 0.00 2.38 0.00 0.000 6 0.000 0.051 2435 1899 3529
8921 -1.34 -146.6 796.2 -8.5 251 8922 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 1901 3530
9224 -1.34 -146.6 821.7 -8.4 256 9225 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 1901 3529
9527 -1.34 -146.6 846.7 -8.2 261 9528 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 1901 3529
9831 -1.34 -146.6 870.6 -7.7 266 9835 0.00 2.47 0.00 0.000 4 0.000 0.071 2435 499 3530
9868 -1.34 -146.6 873.8 -8.2 266 9873 0.00 2.38 0.00 0.000 6 0.000 0.048 2435 1897 3529
10195 -1.34 -146.6 897.1 -7.1 272 10196 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 1897 3529
10498 -1.34 -146.6 918.6 -7.1 277 10502 0.00 2.50 0.00 0.000 4 0.000 0.074 2435 494 3530
10541 -1.34 -146.6 922.1 -7.4 277 10546 0.00 2.40 0.00 0.000 6 0.000 0.048 2435 1889 3529
10867 -1.34 -146.6 945.6 -7.1 283 10868 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 1889 3529
11170 -1.34 -146.6 967.2 -7.1 288 11171 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 1889 3529
11473 -1.34 -146.6 989.4 -7.4 293 11474 0.00 0.00 0.00 0.000 6 0.000 0.000 2435 1889 3529
11532 end dive: TARGET_DEPTH_EXCEEDED
state 11532 begin apogee
11536 -0.33 0.0 993.8 7.4 294 11669 1.02 0.00 128.80 1.364 6 0.102 0.000 2652 2098 2931
11669 end apogee: CONTROL_FINISHED_OK
state 11669 begin climb
11671 1.20 146.6 996.9 0.0 296 11808 1.50 2.72 127.72 1.330 4 0.071 0.099 2988 3510 2332
11859 1.01 146.6 985.5 9.5 299 11864 0.20 2.55 0.00 0.000 6 0.120 0.069 2950 2106 2329
12224 0.94 149.3 956.4 7.9 305 12225 0.00 0.00 0.00 0.000 6 0.000 0.000 2950 2106 2324
12527 0.88 155.7 932.9 7.8 310 12541 0.15 2.60 8.18 1.114 4 0.126 0.074 2918 694 2295
12574 0.88 160.1 929.1 7.8 310 12585 0.00 2.47 5.60 0.979 6 0.000 0.056 2918 2123 2278
12889 0.92 188.9 907.4 6.9 315 12923 0.00 2.65 27.60 1.258 4 0.000 0.071 2918 681 2159
12951 0.95 213.2 902.6 7.1 316 12987 0.00 2.45 25.00 1.154 6 0.000 0.050 2918 2104 2061
13313 1.03 223.7 875.1 7.6 322 13329 0.15 2.55 10.60 1.142 4 0.076 0.069 2959 685 2018
13356 0.96 223.7 870.9 9.8 322 13361 0.12 2.42 0.00 0.000 6 0.126 0.050 2937 2101 2016
13676 0.96 223.7 842.9 8.7 328 13680 0.00 2.53 0.00 0.000 4 0.000 0.064 2936 679 2014
13702 0.96 223.7 840.4 9.2 328 13707 0.00 2.47 0.00 0.000 6 0.000 0.048 2936 2104 2014
14040 0.96 223.7 810.9 8.7 334 14041 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2104 2013
14342 0.96 223.7 785.3 8.4 339 14347 0.00 2.50 0.00 0.000 4 0.000 0.064 2936 684 2013
14380 0.96 223.7 782.0 9.6 339 14385 0.00 2.42 0.00 0.000 6 0.000 0.053 2936 2106 2013
14707 0.96 226.9 756.2 7.9 345 14710 0.00 2.47 0.00 0.000 4 0.000 0.062 2936 684 2012
14738 0.96 226.9 753.3 8.8 345 14743 0.00 2.45 0.00 0.000 6 0.000 0.052 2936 2103 2012
15076 0.97 232.8 726.9 7.8 351 15090 0.00 2.58 8.82 1.061 4 0.000 0.065 2936 684 1981
15113 0.98 239.9 723.9 7.7 351 15128 0.00 2.45 8.20 1.023 6 0.000 0.053 2936 2110 1952
15443 1.03 242.8 697.9 7.9 357 15448 0.00 2.50 0.00 0.000 4 0.000 0.066 2936 684 1949
15464 1.03 242.8 696.0 8.6 357 15469 0.00 2.45 0.00 0.000 6 0.000 0.053 2935 2100 1949
15808 1.08 242.8 668.6 8.1 363 15812 0.12 2.50 0.00 0.000 4 0.079 0.061 2967 676 1948
15840 1.02 242.8 665.2 10.0 363 15844 0.00 2.42 0.00 0.000 6 0.000 0.052 2967 2101 1948
16171 1.02 242.8 631.9 10.1 369 16175 0.00 2.47 0.00 0.000 4 0.000 0.064 2967 682 1948
16203 0.96 242.8 628.4 11.0 369 16208 0.12 2.45 0.00 0.000 6 0.110 0.048 2939 2099 1948
16534 1.01 242.8 597.7 9.2 375 16538 0.00 2.47 0.00 0.000 4 0.000 0.061 2939 682 1947
16565 1.01 242.8 594.4 9.0 375 16570 0.00 2.42 0.00 0.000 6 0.000 0.051 2939 2096 1948
16903 1.05 242.8 564.4 8.8 381 16907 0.00 2.47 0.00 0.000 4 0.000 0.063 2939 677 1948
16924 1.05 242.8 562.3 10.3 381 16929 0.00 2.45 0.00 0.000 6 0.000 0.047 2939 2106 1947
17268 1.10 242.8 534.2 8.2 387 17269 0.12 0.00 0.00 0.000 6 0.081 0.000 2970 2108 1947
17570 1.10 242.8 506.0 9.3 392 17574 0.00 2.47 0.00 0.000 4 0.000 0.066 2970 678 1947
17607 1.04 242.8 502.3 10.4 392 17612 0.00 2.40 0.00 0.000 6 0.000 0.052 2970 2099 1947
17939 1.04 242.8 471.7 9.2 398 17940 0.00 0.00 0.00 0.000 6 0.000 0.000 2970 2102 1947
18242 1.04 242.8 443.8 9.2 403 18246 0.00 2.47 0.00 0.000 4 0.000 0.067 2970 683 1947
18285 0.98 242.8 439.6 10.0 403 18290 0.15 2.40 0.00 0.000 6 0.120 0.053 2942 2099 1947
18606 1.05 253.2 415.0 7.6 409 18625 0.00 2.55 12.48 0.930 4 0.000 0.064 2942 684 1898
18652 1.05 253.2 411.1 8.9 409 18657 0.00 2.45 0.00 0.000 6 0.000 0.053 2942 2096 1897
18974 1.13 263.7 386.7 7.6 415 18990 0.15 2.50 10.80 0.894 4 0.075 0.062 2983 684 1854
19029 1.06 263.7 381.2 9.8 415 19036 0.12 2.42 0.00 0.000 6 0.121 0.053 2960 2101 1853
19337 1.06 263.7 355.0 8.4 421 19339 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2104 1851
19640 1.06 263.7 329.9 8.3 426 19645 0.00 2.50 0.00 0.000 4 0.000 0.066 2960 674 1851
19672 1.06 263.7 327.0 8.8 426 19677 0.00 2.45 0.00 0.000 6 0.000 0.053 2960 2096 1851
20004 1.06 263.7 298.4 8.7 432 20009 0.00 2.47 0.00 0.000 4 0.000 0.062 2960 678 1851
20048 1.06 263.7 294.3 9.4 433 20052 0.00 2.45 0.00 0.000 6 0.000 0.048 2960 2101 1850
20372 1.11 263.7 265.4 8.9 444 20373 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2104 1850
20678 1.15 263.7 237.1 9.3 454 20682 0.00 2.47 0.00 0.000 4 0.000 0.067 2960 683 1850
20692 1.15 263.7 235.6 9.3 454 20697 0.00 2.42 0.00 0.000 6 0.000 0.045 2960 2100 1850
21011 1.20 263.7 206.3 9.0 465 21016 0.12 2.47 0.00 0.000 4 0.080 0.063 2991 680 1850
21043 1.14 263.7 202.8 10.2 466 21047 0.00 2.40 0.00 0.000 6 0.000 0.051 2991 2099 1850
21378 1.14 263.7 169.6 9.6 477 21379 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2101 1850
21696 1.14 263.7 140.2 9.4 489 21697 0.00 0.00 0.00 0.000 6 0.000 0.000 2991 2102 1851
22004 1.14 263.7 112.9 8.8 504 22008 0.00 2.42 0.00 0.000 4 0.000 0.061 2991 3502 1850
22081 1.14 263.7 105.8 8.7 507 22088 0.00 2.40 0.00 0.000 6 0.000 0.041 2991 2089 1850
22397 1.15 275.6 81.1 7.6 523 22413 0.00 2.45 11.05 0.723 4 0.000 0.061 2991 695 1806
22481 1.15 275.6 74.1 8.6 529 22485 0.00 2.40 0.00 0.000 6 0.000 0.048 2991 2104 1805
22806 1.21 290.9 48.6 7.4 559 22825 0.00 0.00 13.90 0.709 6 0.000 0.000 2991 2109 1747
23145 1.26 290.9 21.9 8.1 591 23149 0.00 2.45 0.00 0.000 4 0.000 0.058 2991 697 1743
23167 1.26 290.9 19.9 8.7 592 23173 0.00 2.38 0.00 0.000 6 0.000 0.053 2991 2107 1743
23393 end climb: SURFACE_DEPTH_REACHED
state 23394 begin surface coast
23417 end surface coast: CONTROL_FINISHED_OK
state 23417 begin surface