Faroes Jun09 * SG105 * Dive index * Mission links * Dive 79 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  105 HEADING  -1 PITCH_ADJ_DBAND  0 ALTIM_TOP_TURN_MARGIN  0
MISSION  6 ESCAPE_HEADING  0 ROLL_MIN  253 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  79 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3840 ALTIM_PING_DEPTH  150
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  25
D_FLARE  4 TGT_DEFAULT_LAT  61.599998 C_ROLL_DIVE  2350 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LON  -8.75 C_ROLL_CLIMB  1454 ALTIM_PULSE  3
D_ABORT  1090 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  3
D_NO_BLEED  200 SM_CC  300 ROLL_CNV  0.028270001 XPDR_VALID  0
D_FINISH  0 N_FILEKB  4 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  43 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  46 INT_PRESSURE_YINT  -1.8522969
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  400 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  1 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  0 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0 DEVICE1  2
T_DIVE  440 UPLOAD_DIVES_MAX  -1 VBD_MIN  475 DEVICE2  20
T_MISSION  480 CALL_TRIES  5 VBD_MAX  3851 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  2832 DEVICE4  -1
T_TURN  300 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  320 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  0 T_GPS  15 PITCH_VBD_SHIFT  0.0012300001 SMARTDEVICE1  -1
USE_ICE  0 N_GPS  20 VBD_PUMP_AD_RATE_SURFACE  4 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_APOGEE  3 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_CHARGE  -1629429.9 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  2 UNCOM_BLEED  20 PHONE_DEVICE  48
RELAUNCH  1 RAFOS_PEAK_OFFSET  1.5 VBD_MAXERRORS  1 GPS_DEVICE  32
APOGEE_PITCH  -5 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  2 RAFOS_DEVICE  -1
MAX_BUOY  150 RAFOS_HIT_WINDOW  3600 AH0_24V  91.800003 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  401 AH0_10V  61.200001 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3705 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2800 PRESSURE_YINT  -18.439545 SEABIRD_T_G  0.0043067979
RHO  1.023 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.0001163108 SEABIRD_T_H  0.0006302988
MASS  52000 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_T_I  2.3035876e-05
NAV_MODE  1 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.3016955e-06
FERRY_MAX  11 PITCH_GAIN  14 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.448573
KALMAN_USE  2 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_H  1.1833477
HD_A  0.0038945 PITCH_AD_RATE  175 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.0016540284
HD_B  0.0099684997 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.00022965467
HD_C  2.576e-06 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_TURN_MARGIN  10

Pre-dive calculations and measurements:
GPS1  102407,6237.281,-1306.730,39,1.4,39,-11.9 TGT_NAME  IW
_CALLS  1 TGT_LATLONG  6245.000,-1320.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.025,-0.238
_SM_DEPTHo  0.95 KALMAN_X  -160384.0,991.3,628.8,104309.0,-21.7
_SM_ANGLEo  -61.8 KALMAN_Y  127308.9,-3266.1,-2239.5,-49887.2,54062.8
GPS2  102956,6237.280,-1306.762,11,1.7,11,-11.9 MHEAD_RNG_PITCHd_Wd  333.8,18178,-13.9,-7.500
SPEED_LIMITS  0.130,0.240 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.2,1.026956 ALTIM_BOTTOM_PING  876.6,91.5
SM_CCo  23481,29.73,0.731,0,0,1609,300.00 _24V_AH  23.2,29.579
SM_GC  1.24,0.00,0.00,29.73,0.000,0.000,0.731,388,2343,1609,-11.10,-0.20,300.00 _10V_AH  10.1,13.731
IRIDIUM_FIX  6207.28,-1301.08,150998,040452 DATA_FILE_SIZE  56863,1126
TT8_MAMPS  0.027612 CAP_FILE_SIZE  168844,0
HUMID  1816 CFSIZE  260165632,253071360
INTERNAL_PRESSURE  8.11879 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP  19.20 GPS  210609,170330,6239.167,-1316.474,39,1.4,44,-12.0
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2513480.03 SBE_CT90924506.29
Roll_motor21564321.48 SBE_O287019383.71
VBD_pump_during_apogee364137511620.03 WL_BB2F6311051538.34
VBD_pump_during_surface29730504.08 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3310379.33 nil000.00
Iridium_during_connect37160138.75 nil000.00
Iridium_during_xfer155223802.52
Transponder_ping742075.52
Mmodem_TX000.00
Mmodem_RX000.00
GPS13506.74
TT8208319416.62
LPSleep179232396.44
TT8_Active53619107.37
TT8_Sampling241739971.92
TT8_CF889545414.23
TT8_Kalman0810.00
Analog_circuits182312220.97
GPS_charging000.00
Compass26128211.07
RAFOS000.00
Transponder523015.92

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
12 end surface: CONTROL_FINISHED_OK
state 12 begin dive
15 -1.17 -146.6 0.0 0.0 0 77 0.00 0.00 -59.60 0.000 6 0.000 0.000 398 2325 3430
80 -1.17 -146.6 2.8 -4.3 3 101 11.43 2.45 0.00 0.000 4 0.134 0.036 2534 954 3432
220 -1.17 -146.6 27.0 -10.5 9 224 0.00 2.40 0.00 0.000 6 0.000 0.033 2534 2334 3432
540 -1.17 -146.6 58.2 -9.1 25 545 0.00 2.58 0.00 0.000 4 0.000 0.058 2534 3749 3433
581 -1.17 -146.6 62.1 -10.1 27 586 0.00 2.40 0.00 0.000 6 0.000 0.027 2534 2346 3434
913 -1.17 -146.6 92.0 -8.7 43 914 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2346 3433
1223 -1.17 -146.6 119.8 -9.1 58 1224 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2346 3434
1531 -1.17 -146.6 146.9 -8.6 73 1533 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2345 3434
1840 -1.17 -146.6 172.5 -8.4 88 1841 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2345 3434
2149 -1.17 -146.6 198.6 -8.5 103 2154 0.00 2.42 0.00 0.000 4 0.000 0.039 2534 950 3434
2189 -1.17 -146.6 202.2 -9.4 105 2193 0.00 2.42 0.00 0.000 6 0.000 0.035 2534 2347 3433
2516 -1.17 -146.6 230.3 -8.7 121 2520 0.00 2.42 0.00 0.000 4 0.000 0.039 2534 961 3433
2549 -1.17 -146.6 233.3 -9.0 122 2555 0.00 2.40 0.00 0.000 6 0.000 0.034 2534 2351 3434
2865 -1.17 -146.6 260.3 -8.6 138 2866 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2351 3433
3173 -1.17 -146.6 285.9 -8.2 153 3175 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2351 3433
3483 -1.17 -146.6 311.3 -8.3 168 3488 0.00 2.45 0.00 0.000 4 0.000 0.040 2534 965 3433
3515 -1.17 -146.6 314.1 -8.3 169 3519 0.00 2.40 0.00 0.000 6 0.000 0.035 2534 2349 3433
3832 -1.17 -146.6 339.9 -8.3 184 3836 0.00 2.42 0.00 0.000 4 0.000 0.040 2534 961 3433
3867 -1.17 -146.6 342.8 -7.9 185 3873 0.00 2.40 0.00 0.000 6 0.000 0.035 2534 2352 3433
4185 -1.17 -146.6 368.9 -8.4 201 4186 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2351 3433
4492 -1.17 -146.6 394.6 -8.3 216 4496 0.00 2.42 0.00 0.000 4 0.000 0.040 2534 961 3433
4547 -1.17 -146.6 399.3 -8.2 218 4554 0.00 2.42 0.00 0.000 6 0.000 0.035 2534 2342 3433
4862 -1.17 -146.6 424.8 -8.0 234 4867 0.00 2.42 0.00 0.000 4 0.000 0.041 2534 957 3432
4908 -1.17 -146.6 428.6 -8.5 236 4913 0.00 2.45 0.00 0.000 6 0.000 0.035 2534 2351 3432
5239 -1.17 -146.6 456.5 -8.6 252 5244 0.00 2.42 0.00 0.000 4 0.000 0.040 2534 962 3433
5261 -1.17 -146.6 458.5 -8.8 253 5265 0.00 2.42 0.00 0.000 6 0.000 0.035 2534 2358 3432
5585 -1.17 -146.6 486.4 -8.9 269 5586 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2358 3432
5892 -1.17 -146.6 513.6 -8.8 284 5896 0.00 2.45 0.00 0.000 4 0.000 0.040 2534 959 3432
5936 -1.17 -146.6 517.6 -8.6 286 5940 0.00 2.42 0.00 0.000 6 0.000 0.035 2534 2355 3432
6257 -1.17 -146.6 544.3 -7.9 302 6258 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2355 3432
6566 -1.17 -146.6 567.9 -7.4 317 6571 0.00 2.45 0.00 0.000 4 0.000 0.041 2534 955 3431
6600 -1.17 -146.6 570.6 -7.5 318 6606 0.00 2.42 0.00 0.000 6 0.000 0.036 2534 2351 3432
6916 -1.17 -146.6 595.0 -7.8 334 6920 0.00 2.45 0.00 0.000 4 0.000 0.041 2534 952 3432
6956 -1.17 -146.6 598.1 -8.6 336 6960 0.00 2.42 0.00 0.000 6 0.000 0.036 2534 2351 3432
7283 -1.17 -146.6 624.0 -7.8 352 7284 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2352 3432
7592 -1.17 -146.6 648.4 -8.0 367 7596 0.00 2.45 0.00 0.000 4 0.000 0.041 2534 953 3431
7670 -1.17 -146.6 655.0 -8.7 370 7676 0.00 2.45 0.00 0.000 6 0.000 0.036 2534 2358 3431
7987 -1.17 -146.6 680.4 -8.2 386 7991 0.00 2.45 0.00 0.000 4 0.000 0.040 2534 959 3432
8014 -1.17 -146.6 683.0 -9.0 387 8019 0.00 2.45 0.00 0.000 6 0.000 0.035 2534 2351 3432
8334 -1.17 -146.6 709.8 -8.5 403 8335 0.00 0.00 0.00 0.000 6 0.000 0.000 2534 2351 3431
8643 -1.17 -146.6 737.2 -8.8 418 8648 0.00 2.45 0.00 0.000 4 0.000 0.041 2534 954 3431
8665 -1.17 -146.6 739.1 -8.5 419 8669 0.00 2.42 0.00 0.000 6 0.000 0.036 2534 2351 3431
8989 -1.17 -146.6 763.9 -7.1 435 8993 0.00 2.45 0.00 0.000 4 0.000 0.041 2533 952 3431
9039 -1.17 -146.6 767.5 -6.8 437 9044 0.00 2.42 0.00 0.000 6 0.000 0.036 2534 2353 3431
9356 -1.17 -146.6 791.7 -8.3 452 9360 0.00 2.45 0.00 0.000 4 0.000 0.041 2534 955 3431
9405 -1.17 -146.6 796.0 -8.1 454 9410 0.00 2.42 0.00 0.000 6 0.000 0.037 2534 2351 3431
9721 -1.17 -146.6 822.2 -8.6 469 9726 0.00 2.55 0.00 0.000 4 0.000 0.060 2533 3742 3431
9776 -1.17 -146.6 827.3 -8.7 471 9780 0.00 2.35 0.00 0.000 6 0.000 0.030 2534 2360 3431
10096 -1.17 -146.6 851.4 -7.4 486 10100 0.00 2.47 0.00 0.000 4 0.000 0.043 2534 942 3430
10173 -1.17 -146.6 857.6 -8.3 489 10180 0.00 2.45 0.00 0.000 6 0.000 0.037 2534 2353 3430
10489 -1.17 -146.6 883.1 -7.9 505 10493 0.00 2.47 0.00 0.000 4 0.000 0.042 2534 947 3430
10540 -1.17 -146.6 887.0 -7.6 507 10545 0.00 2.45 0.00 0.000 6 0.000 0.038 2534 2351 3430
10856 -1.17 -146.6 910.6 -7.5 522 10860 0.00 2.55 0.00 0.000 4 0.000 0.063 2534 3751 3429
10968 -1.17 -146.6 919.6 -7.9 527 10972 0.00 2.40 0.00 0.000 6 0.000 0.033 2534 2352 3429
11289 -1.17 -146.6 944.6 -7.3 543 11293 0.00 2.47 0.00 0.000 4 0.000 0.046 2534 944 3429
11355 -1.17 -146.6 948.8 -6.1 546 11359 0.00 2.47 0.00 0.000 6 0.000 0.040 2534 2353 3429
11487 end dive: BOTTOM_OBSTACLE_DETECTED
state 11487 begin apogee
11495 -0.36 0.0 958.1 8.2 553 11631 0.88 0.00 131.10 1.376 6 0.073 0.000 2719 1460 2832
11632 end apogee: CONTROL_FINISHED_OK
state 11632 begin climb
11635 1.17 146.6 961.1 0.0 560 11776 1.52 2.25 131.90 1.339 4 0.052 0.064 3055 264 2233
11950 1.17 146.6 941.4 10.3 573 11956 0.00 2.08 0.00 0.000 6 0.000 0.035 3055 1472 2225
12265 1.17 146.6 916.2 8.6 589 12269 0.00 2.22 0.00 0.000 4 0.000 0.060 3054 264 2222
12326 1.17 146.6 910.2 9.5 591 12332 0.00 2.05 0.00 0.000 6 0.000 0.036 3054 1456 2222
12642 1.20 168.2 886.4 6.8 607 12667 0.00 2.60 18.60 1.263 4 0.000 0.051 3054 2842 2146
12771 1.20 168.2 877.3 7.7 612 12777 0.00 2.47 0.00 0.000 6 0.000 0.041 3055 1448 2144
13086 1.21 174.8 853.9 7.3 628 13100 0.00 2.25 7.22 1.081 4 0.000 0.060 3054 260 2119
13184 1.21 174.8 846.1 7.7 632 13188 0.00 2.08 0.00 0.000 6 0.000 0.034 3055 1456 2117
13506 1.21 174.8 821.8 7.6 648 13510 0.00 2.17 0.00 0.000 4 0.000 0.058 3054 262 2116
13551 1.21 174.8 817.7 9.2 650 13555 0.00 2.05 0.00 0.000 6 0.000 0.035 3054 1456 2116
13887 1.21 174.8 790.9 8.3 666 13891 0.00 2.47 0.00 0.000 4 0.000 0.046 3054 2848 2115
13927 1.21 174.8 787.5 7.6 668 13931 0.00 2.45 0.00 0.000 6 0.000 0.038 3054 1446 2115
14253 1.21 174.8 761.1 8.2 684 14258 0.00 2.15 0.00 0.000 4 0.000 0.057 3054 268 2115
14375 1.21 174.8 749.2 9.9 689 14379 0.00 2.03 0.00 0.000 6 0.000 0.031 3054 1461 2115
14698 1.21 174.8 721.5 8.7 705 14703 0.00 2.47 0.00 0.000 4 0.000 0.047 3055 2850 2115
14777 1.21 174.8 714.7 7.6 708 14783 0.00 2.42 0.00 0.000 6 0.000 0.037 3054 1445 2114
15092 1.21 174.8 689.5 7.7 724 15093 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1445 2115
15401 1.22 182.5 666.5 7.2 739 15417 0.00 2.55 7.70 1.007 4 0.000 0.043 3054 2848 2088
15479 1.25 207.2 660.9 6.7 742 15511 0.00 2.42 24.23 1.153 6 0.000 0.035 3055 1452 1987
15822 1.25 207.2 634.7 7.8 759 15823 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 1451 1984
16129 1.25 207.2 608.9 8.4 774 16133 0.00 2.50 0.00 0.000 4 0.000 0.043 3055 2857 1984
16168 1.25 207.2 605.5 8.6 776 16173 0.00 2.45 0.00 0.000 6 0.000 0.035 3054 1452 1983
16496 1.25 207.2 578.7 8.0 792 16497 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 1452 1984
16804 1.25 207.2 552.2 8.7 807 16809 0.00 2.50 0.00 0.000 4 0.000 0.042 3055 2860 1983
16844 1.25 207.2 548.7 8.2 809 16849 0.00 2.45 0.00 0.000 6 0.000 0.034 3054 1451 1983
17170 1.25 207.2 519.8 8.8 825 17174 0.00 2.47 0.00 0.000 4 0.000 0.041 3054 2852 1983
17203 1.25 207.2 516.9 8.2 826 17209 0.00 2.45 0.00 0.000 6 0.000 0.035 3055 1446 1983
17521 1.25 207.2 490.6 8.1 842 17522 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1446 1983
17827 1.25 207.2 465.8 7.8 857 17832 0.00 2.47 0.00 0.000 4 0.000 0.041 3055 2853 1983
17877 1.25 207.2 461.7 7.6 859 17882 0.00 2.42 0.00 0.000 6 0.000 0.035 3055 1454 1983
18193 1.25 207.2 437.2 7.9 874 18194 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 1454 1983
18505 1.25 207.2 412.6 8.2 889 18509 0.00 2.47 0.00 0.000 4 0.000 0.041 3055 2856 1984
18554 1.25 207.2 408.1 8.2 891 18559 0.00 2.42 0.00 0.000 6 0.000 0.035 3055 1454 1983
18873 1.25 207.2 381.5 8.7 906 18874 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1454 1984
19181 1.25 207.2 353.1 9.3 921 19185 0.00 2.47 0.00 0.000 4 0.000 0.041 3055 2860 1984
19224 1.25 207.2 348.6 9.2 923 19229 0.00 2.45 0.00 0.000 6 0.000 0.035 3055 1450 1984
19546 1.25 207.2 318.8 9.3 939 19547 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1450 1984
19857 1.25 207.2 290.6 8.9 954 19862 0.00 2.47 0.00 0.000 4 0.000 0.041 3055 2853 1984
19924 1.25 207.2 284.3 8.4 957 19929 0.00 2.45 0.00 0.000 6 0.000 0.035 3055 1461 1984
20251 1.25 207.2 256.6 8.3 973 20252 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1461 1984
20560 1.25 207.2 230.9 8.3 988 20564 0.00 2.45 0.00 0.000 4 0.000 0.039 3055 2857 1984
20609 1.25 208.0 226.7 7.5 990 20614 0.00 2.45 0.00 0.000 6 0.000 0.035 3055 1446 1984
20927 1.25 208.0 200.6 8.2 1005 20928 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1445 1984
21234 1.25 208.0 175.1 8.6 1020 21238 0.00 2.47 0.00 0.000 4 0.000 0.039 3055 2858 1984
21283 1.25 208.0 171.0 9.2 1022 21287 0.00 2.45 0.00 0.000 6 0.000 0.035 3054 1447 1984
21600 1.25 208.0 145.9 7.9 1037 21604 0.00 2.47 0.00 0.000 4 0.000 0.039 3055 2859 1984
21639 1.25 208.0 142.6 7.8 1039 21644 0.00 2.45 0.00 0.000 6 0.000 0.035 3055 1448 1984
21967 1.25 208.0 115.5 8.5 1055 21968 0.00 0.00 0.00 0.000 6 0.000 0.000 3055 1447 1984
22276 1.25 208.0 88.9 8.7 1070 22280 0.00 2.45 0.00 0.000 4 0.000 0.039 3055 2854 1984
22342 1.25 208.0 83.1 8.3 1073 22346 0.00 2.42 0.00 0.000 6 0.000 0.035 3055 1454 1984
22663 1.25 208.0 58.2 7.5 1089 22667 0.00 2.42 0.00 0.000 4 0.000 0.038 3055 2854 1984
22708 1.26 212.6 54.9 7.3 1091 22719 0.00 2.42 6.18 0.655 6 0.000 0.035 3055 1453 1965
23030 1.26 218.2 31.3 7.3 1106 23039 0.00 0.00 6.55 0.653 6 0.000 0.000 3055 1454 1942
23340 1.31 252.5 11.2 6.3 1121 23377 0.12 2.22 30.52 0.755 4 0.051 0.056 3091 265 1801
23430 end climb: SURFACE_DEPTH_REACHED
state 23430 begin surface coast
23455 end surface coast: CONTROL_FINISHED_OK
state 23455 begin surface