DavisStrait Sep13 * SG192 * Dive index * Mission links * Dive 619 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  192 HD_C  3.62024e-06 ROLL_MAX  3873 ALTIM_BOTTOM_TURN_MARGIN  15
MISSION  2 HEADING  -1 ROLL_DEG  24 ALTIM_TOP_TURN_MARGIN  5
DIVE  619 ESCAPE_HEADING  100 C_ROLL_DIVE  2500 ALTIM_TOP_MIN_OBSTACLE  2.8
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_CLIMB  2510 ALTIM_PING_DEPTH  300
D_SURF  3 FIX_MISSING_TIMEOUT  5 HEAD_ERRBAND  10 ALTIM_PING_DELTA  50
D_FLARE  3 TGT_DEFAULT_LAT  6000 ROLL_CNV  0.028270001 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -5500 ROLL_TIMEOUT  15 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 R_PORT_OVSHOOT  25 ALTIM_SENSITIVITY  5
D_NO_BLEED  200 SM_CC  400 R_STBD_OVSHOOT  14 XPDR_VALID  6
D_BOOST  110 N_FILEKB  4 ROLL_AD_RATE  300 XPDR_INHIBIT  90
T_BOOST  0 FILEMGR  2 ROLL_MAXERRORS  2 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  9 CALL_NDIVES  1 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  0.5
D_PITCH  1.75 COMM_SEQ  0 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
D_SAFE  500 PROTOCOL  1 VBD_MIN  500 DEEPGLIDERMB  0
D_CALL  3 N_NOCOMM  6 VBD_MAX  3960 MOTHERBOARD  4
SURFACE_URGENCY  10 NOCOMM_ACTION  161 C_VBD  2741 DEVICE1  2
SURFACE_URGENCY_TRY  10 N_NOSURFACE  0 VBD_DBAND  2 DEVICE2  20
SURFACE_URGENCY_FORCE  20 UPLOAD_DIVES_MAX  3 VBD_CNV  -0.24529999 DEVICE3  -1
T_DIVE  400 CALL_TRIES  3 VBD_TIMEOUT  720 DEVICE4  -1
T_MISSION  430 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0015 DEVICE5  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE6  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_PUMP_AD_RATE_APOGEE  3 LOGGERS  0
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  -1
T_NO_W  120 T_GPS  3 UNCOM_BLEED  20 LOGGERDEVICE2  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE3  -1
T_EPIRB  0 T_GPS_ALMANAC  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
USE_BATHY  -4 T_GPS_CHARGE  -15404.44 DBDW  0 COMPASS_DEVICE  97
USE_ICE  2 T_RSLEEP  3 PITCH_W_GAIN  0 COMPASS2_DEVICE  -1
ICE_FREEZE_MARGIN  0.1 STROBE  0 PITCH_W_DBAND  0 PHONE_DEVICE  48
D_OFFGRID  250 RAFOS_PEAK_OFFSET  1.5 CF8_MAXERRORS  20 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 AH0_24V  350 RAFOS_DEVICE  32
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 AH0_10V  0 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  145 MINV_24V  10 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3924 MINV_10V  9.5 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2510 FG_AHR_10V  0 SEABIRD_T_G  0.0042877649
GLIDE_SLOPE  30 PITCH_DBAND  0.1 FG_AHR_24V  0 SEABIRD_T_H  0.00062281737
SPEED_FACTOR  1 PITCH_CNV  0.003125763 PHONE_SUPPLY  -2 SEABIRD_T_I  2.2009486e-05
RHO  1.0275 P_OVSHOOT  0.039999999 PRESSURE_YINT  -62.7798 SEABIRD_T_J  2.217299e-06
MASS  52018 PITCH_GAIN  23 PRESSURE_SLOPE  0.0001164018 SEABIRD_C_G  -9.8550158
MASS_COMP  0 PITCH_TIMEOUT  18 AD7714Ch0Gain  128 SEABIRD_C_H  1.1245382
NAV_MODE  2 PITCH_AD_RATE  175 TCM_PITCH_OFFSET  0 SEABIRD_C_I  -0.0013153109
FERRY_MAX  45 PITCH_MAXERRORS  1 TCM_ROLL_OFFSET  0 SEABIRD_C_J  0.00017883891
KALMAN_USE  2 PITCH_ADJ_GAIN  0.0099999998 COMPASS_USE  4
HD_A  0.0041718199 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_PING_RANGE  0
HD_B  0.0099987797 ROLL_MIN  318 ALTIM_TOP_PING_RANGE  20

Pre-dive calculations and measurements:
GPS1  080114,061205,6348.222,-5908.636,84,1.1,84,-30.5 TGT_NAME  TARGET_1
_CALLS  1 TGT_LATLONG  6350.000,-5600.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.51 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -64.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  080114,062001,6348.239,-5908.550,4,1.7,4,-30.5 MHEAD_RNG_PITCHd_Wd  119.5,154024,-15.5,-8.250,-18.49,2720
SPEED_LIMITS  0.143,0.247 D_GRID  618

Post-dive calculations and measurements:
FREEZE  0.59,-1.082,-1.831,2,1,0 ALTIM_TOP_PING  20.0,17.8
FINISH  0.6,1.026856 _24V_AH  11.7,253.784
SM_CCo  12778,57.25,0.163,0,0,1109,400.08 _10V_AH  11.6,0.000
SM_GC  1.90,8.10,0.00,57.25,0.088,0.000,0.163,143,2511,1109,-7.35,0.31,400.08,0,0,0,0,0,0,14.20,28.83,14.17 FG_AHR_24Vo  0.000
RAFOS_CLK  598 FG_AHR_10Vo  0.000
RAFOS  0,1389168078,8.033334,8.021667,69,61,58,53,53,52,191,220,148,114,817,125 MEM  238824
RAFOS_FIX  6632.709473,-5809.086426,281213,202044,2,98,0.12 DATA_FILE_SIZE  23372,523
IRIDIUM_FIX  6322.64,-5915.53,080114,020242 CAP_FILE_SIZE  112526,0
TT8_MAMPS  0.024717,0.024717 CFSIZE  259252224,204402688
HUMID  44.13 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE  8.69367 SOUNDSPEED  1462.9
TCM_TEMP  13.10 CURRENT  0.022,353.6,1
XPDR_PINGS  51 GPS  080114,095729,6348.294,-5904.530,106,1.1,106,-30.5

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21419104.54 SBE_CT3652399.35
Roll_motor74129112.73 SBE_O2000.00
VBD_pump_during_apogee461247213344.49 nil000.00
VBD_pump_during_surface57162109.14 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer299143501.24 nil000.00
Transponder_ping1442072.48 nil000.00
GUMSTIX_24V000.00
GPS5181.15
TT8157614273.64
LPSleep90462242.40
TT8_Active5291487.34
TT8_Sampling156533612.00
TT8_CF859739274.90
TT8_Kalman000.00
Analog_circuits165012229.68
GPS_charging000.00
Compass12916100.97
RAFOS2520143.85
Transponder21307.38

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
13 end surface: CONTROL_FINISHED_OK
state 14 begin dive
20 -0.89 -146.0 95 2524 1113 1068 0.0 0.0 0 121 0.00 0.00 -97.93 0.000 16386 0.000 0.000 94 2525 2926 2974 2878 0 0 0 0 0 0 28.83 28.83 28.83
129 -0.89 -146.0 94 2525 2988 2870 4.3 -5.7 10 155 10.43 1.52 -8.23 0.000 18948 0.420 0.117 2209 1654 3339 3486 3192 0 0 0 0 0 0 13.85 14.37 14.75
388 -0.81 -146.0 2209 1654 3494 3185 60.6 -19.2 35 396 0.17 1.55 0.00 0.000 3078 0.285 0.111 2242 2504 3339 3494 3185 0 0 0 0 0 0 13.90 14.16 28.83
704 -0.75 -146.0 2242 2504 3494 3184 117.3 -17.7 60 707 0.00 1.50 0.00 0.000 516 0.000 0.093 2243 1643 3338 3494 3183 0 0 0 0 0 0 28.83 14.14 28.83
732 -0.68 -146.0 2243 1643 3494 3183 117.3 -17.7 60 740 0.20 1.58 0.00 0.000 3078 0.261 0.118 2284 2502 3339 3495 3183 0 0 0 0 0 0 13.87 14.11 28.83
1040 -0.66 -146.0 2284 2502 3494 3182 160.9 -11.9 71 1044 0.00 1.58 0.00 0.000 260 0.000 0.129 2280 3353 3338 3494 3182 0 0 0 0 0 0 28.83 14.03 28.83
1106 -0.64 -146.0 2280 3353 3494 3182 168.9 -11.8 73 1109 0.00 1.52 0.00 0.000 1030 0.000 0.085 2280 2506 3337 3494 3181 0 0 0 0 0 0 28.83 14.17 28.83
1441 -0.62 -146.0 2280 2506 3494 3181 205.4 -10.8 84 1443 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 2506 3337 3494 3181 0 0 0 0 0 0 28.83 28.83 28.83
1743 -0.60 -146.0 2280 2506 3495 3182 236.3 -10.5 94 1747 0.12 1.58 0.00 0.000 2308 0.267 0.127 2308 3348 3338 3495 3182 0 0 0 0 0 0 14.09 14.01 28.83
1787 -0.58 -146.0 2308 3347 3496 3182 240.2 -10.4 95 1791 0.00 1.50 0.00 0.000 1030 0.000 0.082 2308 2491 3338 3496 3181 0 0 0 0 0 0 28.83 14.19 28.83
2113 -0.58 -146.0 2308 2491 3497 3181 272.8 -10.0 106 2117 0.00 1.60 0.00 0.000 260 0.000 0.129 2301 3349 3339 3497 3181 0 0 0 0 0 0 28.83 13.99 28.83
2202 -0.58 -146.0 2302 3349 3497 3182 279.9 -10.6 108 2208 0.00 1.50 0.00 0.000 1030 0.000 0.082 2301 2498 3339 3497 3181 0 0 0 0 0 0 28.83 14.16 28.83
2509 -0.58 -146.0 2301 2498 3498 3182 313.7 -10.0 119 2512 0.00 1.58 0.00 0.000 260 0.000 0.127 2295 3348 3340 3498 3182 0 0 0 0 0 0 28.83 13.99 28.83
2563 -0.58 -146.0 2295 3348 3498 3182 317.5 -10.0 120 2566 0.00 1.50 0.00 0.000 1030 0.000 0.082 2295 2490 3340 3498 3182 0 0 0 0 0 0 28.83 14.17 28.83
2879 -0.58 -146.0 2295 2490 3499 3182 352.9 -10.6 131 2883 0.00 1.65 0.00 0.000 260 0.000 0.128 2289 3351 3340 3498 3182 0 0 0 0 0 0 28.83 13.93 28.83
2957 -0.58 -146.0 2289 3351 3499 3182 360.2 -10.8 133 2961 0.12 1.50 0.00 0.000 3078 0.256 0.080 2315 2495 3340 3499 3182 0 0 0 0 0 0 13.93 14.18 28.83
3279 -0.59 -146.0 2315 2495 3500 3182 393.0 -9.7 144 3283 0.00 1.62 0.00 0.000 260 0.000 0.126 2311 3345 3340 3500 3181 0 0 0 0 0 0 28.83 13.93 28.83
3339 -0.60 -146.0 2311 3345 3500 3181 396.7 -9.7 145 3347 0.00 1.50 0.00 0.000 1030 0.000 0.080 2311 2492 3341 3500 3182 0 0 0 0 0 0 28.83 14.16 28.83
3646 -0.60 -146.0 2311 2492 3501 3182 429.9 -10.0 156 3649 0.00 1.60 0.00 0.000 260 0.000 0.127 2305 3349 3341 3501 3182 0 0 0 0 0 0 28.83 13.97 28.83
3724 -0.60 -146.0 2305 3349 3501 3182 436.9 -10.3 158 3728 0.00 1.50 0.00 0.000 1030 0.000 0.080 2305 2488 3341 3501 3181 0 0 0 0 0 0 28.83 14.17 28.83
4044 -0.60 -146.0 2305 2488 3503 3182 470.5 -9.7 169 4048 0.00 1.62 0.00 0.000 260 0.000 0.125 2298 3352 3342 3503 3182 0 0 0 0 0 0 28.83 13.98 28.83
4083 -0.60 -146.0 1424 3351 3496 3179 474.2 -9.9 170 4086 0.00 1.50 0.00 0.000 1030 0.000 0.079 2298 2493 3342 3503 3182 0 0 0 0 0 0 28.83 14.17 28.83
4413 -0.60 -146.0 2299 2494 3505 3182 509.2 -10.7 181 4416 0.00 1.60 0.00 0.000 260 0.000 0.125 2292 3352 3344 3506 3182 0 0 0 0 0 0 28.83 13.98 28.83
4502 -0.60 -146.0 2292 3352 3506 3182 516.3 -10.7 183 4508 0.00 1.50 0.00 0.000 1030 0.000 0.078 2292 2496 3343 3505 3182 0 0 0 0 0 0 28.83 14.16 28.83
4808 -0.60 -146.0 2292 2496 3506 3182 549.8 -9.8 194 4812 0.00 1.62 0.00 0.000 260 0.000 0.125 2286 3346 3344 3506 3182 0 0 0 0 0 0 28.83 13.91 28.83
4882 -0.60 -146.0 2286 3346 3506 3182 556.7 -10.0 196 4886 0.00 1.50 0.00 0.000 1030 0.000 0.078 2287 2486 3344 3506 3182 0 0 0 0 0 0 28.83 14.16 28.83
5208 -0.60 -146.0 2286 2486 3506 3182 590.6 -10.3 207 5212 0.00 1.65 0.00 0.000 260 0.000 0.128 2280 3346 3344 3506 3182 0 0 0 0 0 0 28.83 13.90 28.83
5257 -0.60 -146.0 2280 3346 3506 3182 594.5 -10.4 208 5262 0.10 1.52 0.00 0.000 3078 0.227 0.079 2307 2497 3344 3506 3182 0 0 0 0 0 0 13.81 14.14 28.83
5513 end dive: TARGET_DEPTH_EXCEEDED
state 5513 begin apogee
5526 -0.22 0.0 2307 2497 3506 3182 619.7 -9.1 217 5702 0.45 0.00 161.57 2.472 10246 0.213 0.000 2433 2497 2741 2853 2630 0 0 0 0 0 0 13.81 28.83 12.29
5703 end apogee: CONTROL_FINISHED_OK
state 5703 begin climb
5709 0.89 146.0 2433 2497 2853 2630 627.0 0.0 223 5899 1.23 1.70 174.50 2.355 10756 0.158 0.096 2794 1669 2145 2242 2048 0 0 0 0 0 0 13.53 12.90 11.69
5946 0.84 146.0 2794 1669 2242 2042 613.5 8.5 231 5950 0.00 1.65 0.00 0.000 1030 0.000 0.113 2794 2511 2142 2242 2043 0 0 0 0 0 0 28.83 13.31 28.83
6282 0.79 146.0 2795 2511 2242 2038 580.0 10.2 242 6284 0.12 0.00 0.00 0.000 4102 0.264 0.000 2767 2511 2139 2242 2037 0 0 0 0 0 0 14.23 28.83 28.83
6582 0.76 146.0 2767 2511 2242 2035 553.1 8.8 252 6586 0.00 1.50 0.00 0.000 516 0.000 0.096 2771 1643 2138 2242 2035 0 0 0 0 0 0 28.83 14.31 28.83
6656 0.74 146.0 2771 1643 2242 2034 546.6 9.2 254 6659 0.00 1.62 0.00 0.000 1030 0.000 0.116 2771 2514 2138 2242 2034 0 0 0 0 0 0 28.83 14.25 28.83
6982 0.71 146.0 2771 2514 2242 2034 516.7 8.9 265 6984 0.12 0.00 0.00 0.000 4102 0.262 0.000 2744 2514 2138 2242 2034 0 0 0 0 0 0 14.28 28.83 28.83
7281 0.74 166.8 2743 2514 2242 2033 494.0 7.5 275 7307 0.00 0.00 22.08 2.260 8198 0.000 0.000 2743 2514 2061 2168 1954 0 0 0 0 0 0 28.83 28.83 13.14
7612 0.74 166.8 2744 2514 2168 1951 466.9 8.4 286 7613 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 2514 2059 2168 1951 0 0 0 0 0 0 28.83 28.83 28.83
7911 0.74 166.8 2743 2514 2168 1950 440.2 9.0 296 7914 0.00 1.50 0.00 0.000 516 0.000 0.097 2747 1646 2059 2168 1951 0 0 0 0 0 0 28.83 14.29 28.83
7985 0.74 166.8 2748 1646 2168 1950 434.4 9.0 298 7988 0.00 1.58 0.00 0.000 1030 0.000 0.115 2747 2520 2059 2168 1950 0 0 0 0 0 0 28.83 14.26 28.83
8311 0.74 166.8 2748 2520 2168 1950 403.7 9.4 309 8312 0.00 0.00 0.00 0.000 6 0.000 0.000 2748 2520 2059 2168 1950 0 0 0 0 0 0 28.83 28.83 28.83
8610 0.74 166.8 2747 2520 2168 1950 374.5 9.6 319 8613 0.00 1.52 0.00 0.000 516 0.000 0.097 2754 1666 2058 2167 1950 0 0 0 0 0 0 28.83 14.20 28.83
8658 0.74 166.8 2753 1666 2168 1949 371.0 9.7 320 8662 0.00 1.58 0.00 0.000 1030 0.000 0.116 2754 2508 2058 2168 1949 0 0 0 0 0 0 28.83 14.16 28.83
8979 0.74 166.8 2754 2508 2168 1950 338.9 9.5 331 8980 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2509 2058 2168 1949 0 0 0 0 0 0 28.83 28.83 28.83
9278 0.74 166.8 2753 2509 2168 1947 310.3 9.4 341 9282 0.00 1.50 0.00 0.000 516 0.000 0.097 2760 1648 2058 2168 1949 0 0 0 0 0 0 28.83 14.19 28.83
9317 0.74 166.8 1792 1647 2125 1944 307.1 9.2 342 9320 0.00 1.58 0.00 0.000 1030 0.000 0.114 2760 2514 2058 2168 1948 0 0 0 0 0 0 28.83 14.19 28.83
9648 0.73 166.8 2759 2514 2168 1948 277.7 8.6 353 9649 0.00 0.00 0.00 0.000 6 0.000 0.000 2759 2514 2058 2168 1948 0 0 0 0 0 0 28.83 28.83 28.83
9947 0.76 188.4 2760 2514 2168 1948 253.8 7.4 363 9975 0.00 1.52 23.70 2.060 8708 0.000 0.098 2765 1674 1972 2082 1863 0 0 0 0 0 0 28.83 14.27 13.19
10016 0.81 218.0 2765 1675 2081 1862 249.7 7.1 365 10055 0.00 1.50 33.05 2.040 9222 0.000 0.112 2766 2514 1852 1960 1744 0 0 0 0 0 0 28.83 14.31 13.02
10372 0.81 218.0 2765 2514 1958 1739 218.6 9.4 377 10376 0.00 1.52 0.00 0.000 516 0.000 0.097 2772 1667 1848 1957 1739 0 0 0 0 0 0 28.83 14.31 28.83
10416 0.81 218.0 2772 1666 1957 1738 214.8 9.6 378 10420 0.00 1.55 0.00 0.000 1030 0.000 0.115 2772 2509 1847 1957 1738 0 0 0 0 0 0 28.83 14.28 28.83
10742 0.81 218.0 2772 2508 1956 1738 184.2 8.9 389 10743 0.00 0.00 0.00 0.000 6 0.000 0.000 2771 2509 1846 1955 1738 0 0 0 0 0 0 28.83 28.83 28.83
11041 0.81 218.0 2771 2509 1956 1737 158.3 8.7 399 11045 0.00 1.50 0.00 0.000 516 0.000 0.096 2777 1668 1846 1956 1737 0 0 0 0 0 0 28.83 14.23 28.83
11085 0.81 218.0 2778 1668 1956 1737 155.0 9.0 400 11088 0.00 1.55 0.00 0.000 1030 0.000 0.115 2777 2504 1846 1956 1737 0 0 0 0 0 0 28.83 14.19 28.83
11411 0.81 218.0 2777 2504 1956 1737 121.9 9.8 411 11412 0.00 0.00 0.00 0.000 6 0.000 0.000 2778 2504 1846 1956 1737 0 0 0 0 0 0 28.83 28.83 28.83
11710 0.83 232.2 2778 2504 1956 1737 96.4 7.7 423 11727 0.00 1.50 8.02 0.470 8708 0.000 0.094 2783 1663 1794 1899 1689 0 0 0 0 0 0 28.83 14.31 13.74
11873 0.93 293.9 1808 1662 1860 1685 86.6 5.9 438 11916 0.00 1.55 38.38 0.432 9222 0.000 0.112 2783 2514 1541 1636 1447 0 0 0 0 0 0 28.83 14.21 13.93
12221 0.96 293.9 2783 2514 1632 1443 53.8 10.2 473 12225 0.10 1.55 0.00 0.000 2564 0.173 0.096 2827 1673 1537 1632 1442 0 0 0 0 0 0 14.50 14.19 28.83
12307 0.96 293.9 2827 1673 1632 1441 46.2 8.9 481 12311 0.00 1.52 0.00 0.000 1030 0.000 0.113 2827 2514 1536 1632 1441 0 0 0 0 0 0 28.83 14.19 28.83
12625 0.96 293.9 2826 2514 1628 1441 12.8 9.0 512 12629 0.00 1.55 0.00 0.000 516 0.000 0.103 2833 1673 1534 1628 1441 0 0 0 0 0 0 28.83 14.14 28.83
12671 0.96 293.9 2833 1673 1628 1441 8.3 10.4 516 12675 0.00 1.58 0.00 0.000 1030 0.000 0.119 2833 2511 1534 1627 1441 0 0 0 0 0 0 28.83 14.10 28.83
12721 end climb: SURFACE_DEPTH_REACHED
state 12722 begin surface coast
12743 end surface coast: CONTROL_FINISHED_OK
state 12749 begin surface