Glider dive log

PortSusan 15Jan08 * SG140 * Dive index * Mission links * Dive 64 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 64 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DEPTH 0

D_TGT 150 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 200 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2048 ALTIM_FREQUENCY 13

D_NO_BLEED 500 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2048 ALTIM_PULSE 3

D_FINISH 0 SM_CC 500 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 14 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 520 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3978 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3457 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 1

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 32

T_WATCHDOG 10 T_GPS_CHARGE -3857.0359 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 145 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 20 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 592 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3894 AH0_10V 61.200001 SEABIRD_T_H 0.0006414231

RHO 1.023 C_PITCH 2990 PRESSURE_YINT -0.40656364 SEABIRD_T_I 2.3931538e-05

MASS 51445 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 1 SEABIRD_C_G -10.258962

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 1 PITCH_GAIN 14.2 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 1 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 500 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14.2 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3894 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 592 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -0.40656364 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -3857.0359

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 140 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2990 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2048 KALMAN_USE 1 ROLL_MIN 157 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2048 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -4

C_VBD 3457 MASS 51445 R_PORT_OVSHOOT 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 145 R_STBD_OVSHOOT 14 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 -1 NAV_MODE 2 SEABIRD_C_I -0.0037964056 VBD_MAX 3978

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 20

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 520

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 64 PHONE_DEVICE 32 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 093526,4806.996,-12222.898,21,1.1,21,18.0 TGT_NAME SIX_sb

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.170,-0.192

_SM_DEPTHo 0.00 KALMAN_X 12297.6,1058.3,144.5,-13784.1,636.8

_SM_ANGLEo -51.3 KALMAN_Y -20735.6,337.6,858.4,20575.8,-61.8

GPS2 093714,4806.974,-12222.883,14,1.1,14,18.0 MHEAD_RNG_PITCHd_Wd 123.3,2109,-17.8,-10.000

SPEED_LIMITS 0.173,0.256 D_GRID 105

Post-dive calculations and measurements:

FINISH 0.7,0.998367 _24V_AH 23.5,9.796

SM_CCo 1617,72.40,0.667,0,0,1417,500.17 _10V_AH 9.8,2.826

SM_GC 0.00,0.00,0.00,72.40,0.000,0.000,0.667,586,2049,1417,-11.06,0.03,500.17 DATA_FILE_SIZE 6436,295

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 30797,0

TT8_MAMPS 0.029146 CFSIZE 260165632,257560576

HUMID 1763 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,116,0

INTERNAL_PRESSURE 14.2486 CURRENT 0.229,145.0,1

TCM_TEMP 15.00 GPS 160108,100711,4806.800,-12222.700,14,1.1,14,18.0

XPDR_PINGS 53

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 55 32.73 SBE_CT 207 24 116.84

Roll_motor 16 74 28.54 nil 0 0 0.00

VBD_pump_during_apogee 14 616 207.59 nil 0 0 0.00

VBD_pump_during_surface 72 667 1135.33 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 39 223 209.21

Transponder_ping 13 420 130.78

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.16

TT8 295 19 57.29

LPSleep 426 2 9.16

TT8_Active 761 19 147.79

TT8_Sampling 260 39 101.56

TT8_CF8 81 45 36.73

TT8_Kalman 33 81 26.71

Analog_circuits 1016 12 119.60

GPS_charging 0 0 0.00

Compass 239 26 61.13

RAFOS 0 0 0.00

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.43 -141.7 0.0 0.0 0 157 0.00 0.00 -135.27 0.000 2 0.000 0.000 586 2051 1808

159 -1.43 -141.7 3.2 -6.8 27 785 9.32 0.00 -604.58 0.000 2 0.041 0.000 2683 2051 2221

786 end dive: TARGET_DEPTH_EXCEEDED

state 786 begin apogee

790 -0.35 0.0 105.1 16.8 151 794 1.00 0.00 0.00 0.000 6 0.044 0.000 2919 2051 2222

795 end apogee: CONTROL_FINISHED_OK

state 795 begin climb

797 1.43 141.7 106.9 0.0 152 802 1.67 0.00 0.00 0.000 6 0.041 0.000 3306 2050 2221

936 1.67 336.5 112.1 0.7 177 958 0.22 2.75 14.32 0.617 4 0.056 0.074 3360 3459 2084

1209 1.67 336.5 65.5 18.9 226 1216 0.00 2.65 0.00 0.000 6 0.000 0.059 3361 2047 2084

1349 1.67 336.5 39.1 19.4 251 1356 0.00 2.75 0.00 0.000 4 0.000 0.074 3360 3460 2084

1439 1.67 336.5 23.6 14.3 267 1445 0.00 2.67 0.00 0.000 6 0.000 0.058 3361 2039 2084

1511 1.67 336.5 13.1 14.7 280 1517 0.00 2.78 0.00 0.000 4 0.000 0.073 3361 3463 2083

1582 end climb: SURFACE_DEPTH_REACHED

state 1583 begin surface coast

1595 end surface coast: CONTROL_FINISHED_OK

state 1595 begin surface

ID	140	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	64	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DEPTH	0
D_TGT	150	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	200	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2048	ALTIM_FREQUENCY	13
D_NO_BLEED	500	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2048	ALTIM_PULSE	3
D_FINISH	0	SM_CC	500	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	14	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	520	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3978	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3457	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	1
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	32
T_WATCHDOG	10	T_GPS_CHARGE	-3857.0359	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	145	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	20	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	592	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3894	AH0_10V	61.200001	SEABIRD_T_H	0.0006414231
RHO	1.023	C_PITCH	2990	PRESSURE_YINT	-0.40656364	SEABIRD_T_I	2.3931538e-05
MASS	51445	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	1	SEABIRD_C_G	-10.258962
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	1	PITCH_GAIN	14.2	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	093526,4806.996,-12222.898,21,1.1,21,18.0	TGT_NAME	SIX_sb
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.170,-0.192
_SM_DEPTHo	0.00	KALMAN_X	12297.6,1058.3,144.5,-13784.1,636.8
_SM_ANGLEo	-51.3	KALMAN_Y	-20735.6,337.6,858.4,20575.8,-61.8
GPS2	093714,4806.974,-12222.883,14,1.1,14,18.0	MHEAD_RNG_PITCHd_Wd	123.3,2109,-17.8,-10.000
SPEED_LIMITS	0.173,0.256	D_GRID	105

FINISH	0.7,0.998367	_24V_AH	23.5,9.796
SM_CCo	1617,72.40,0.667,0,0,1417,500.17	_10V_AH	9.8,2.826
SM_GC	0.00,0.00,0.00,72.40,0.000,0.000,0.667,586,2049,1417,-11.06,0.03,500.17	DATA_FILE_SIZE	6436,295
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	30797,0
TT8_MAMPS	0.029146	CFSIZE	260165632,257560576
HUMID	1763	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,116,0
INTERNAL_PRESSURE	14.2486	CURRENT	0.229,145.0,1
TCM_TEMP	15.00	GPS	160108,100711,4806.800,-12222.700,14,1.1,14,18.0
XPDR_PINGS	53

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	55	32.73	SBE_CT	207	24	116.84
Roll_motor	16	74	28.54	nil	0	0	0.00
VBD_pump_during_apogee	14	616	207.59	nil	0	0	0.00
VBD_pump_during_surface	72	667	1135.33	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	39	223	209.21
Transponder_ping	13	420	130.78
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.16
TT8	295	19	57.29
LPSleep	426	2	9.16
TT8_Active	761	19	147.79
TT8_Sampling	260	39	101.56
TT8_CF8	81	45	36.73
TT8_Kalman	33	81	26.71
Analog_circuits	1016	12	119.60
GPS_charging	0	0	0.00
Compass	239	26	61.13
RAFOS	0	0	0.00

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.43	-141.7	0.0	0.0	0	157	0.00	0.00	-135.27	0.000	2	0.000	0.000	586	2051	1808
159	-1.43	-141.7	3.2	-6.8	27	785	9.32	0.00	-604.58	0.000	2	0.041	0.000	2683	2051	2221
786	end dive: TARGET_DEPTH_EXCEEDED
state	786	begin apogee
790	-0.35	0.0	105.1	16.8	151	794	1.00	0.00	0.00	0.000	6	0.044	0.000	2919	2051	2222
795	end apogee: CONTROL_FINISHED_OK
state	795	begin climb
797	1.43	141.7	106.9	0.0	152	802	1.67	0.00	0.00	0.000	6	0.041	0.000	3306	2050	2221
936	1.67	336.5	112.1	0.7	177	958	0.22	2.75	14.32	0.617	4	0.056	0.074	3360	3459	2084
1209	1.67	336.5	65.5	18.9	226	1216	0.00	2.65	0.00	0.000	6	0.000	0.059	3361	2047	2084
1349	1.67	336.5	39.1	19.4	251	1356	0.00	2.75	0.00	0.000	4	0.000	0.074	3360	3460	2084
1439	1.67	336.5	23.6	14.3	267	1445	0.00	2.67	0.00	0.000	6	0.000	0.058	3361	2039	2084
1511	1.67	336.5	13.1	14.7	280	1517	0.00	2.78	0.00	0.000	4	0.000	0.073	3361	3463	2083
1582	end climb: SURFACE_DEPTH_REACHED
state	1583	begin surface coast
1595	end surface coast: CONTROL_FINISHED_OK
state	1595	begin surface