NORSE Jun23 * SG248 * Dive index * Mission links * Dive 103 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  248 TGT_DEFAULT_LON  -12218 ROLL_MAXERRORS  1 INT_PRESSURE_SLOPE  1.9639999e-06
MISSION  7 TGT_AUTO_DEFAULT  0 ROLL_ADJ_GAIN  0 INT_PRESSURE_YINT  -1
DIVE  103 SM_CC  605 ROLL_ADJ_DBAND  0 DEEPGLIDER  0
N_DIVES  0 N_FILEKB  8 VBD_MIN  500 DEEPGLIDERMB  0
STOP_T  0 FILEMGR  0 VBD_MAX  3960 MOTHERBOARD  6
D_SURF  5 CALL_NDIVES  1 C_VBD  3000 DEVICE1  10
D_FLARE  3 COMM_SEQ  7 VBD_DBAND  2 DEVICE2  -1
D_TGT  500 PROTOCOL  9 VBD_CNV  -0.24529999 DEVICE3  -1
D_ABORT  600 N_NOCOMM  2 VBD_LP_IGNORE  0 DEVICE4  -1
D_NO_BLEED  200 NOCOMM_ACTION  131 VBD_TIMEOUT  720 DEVICE5  -1
D_BOOST  0 N_NOSURFACE  0 PITCH_VBD_SHIFT  0.0015 DEVICE6  -1
T_BOOST  0 UPLOAD_DIVES_MAX  -1 UNCOM_BLEED  20 LOGGERS  2
D_FINISH  0 NETBOX  1 VBD_MAXERRORS  1 LOGGERDEVICE1  7
D_PITCH  0 CALL_TRIES  15 C_VBD_AUTO_DELTA  0 LOGGERDEVICE2  72
D_SAFE  0 CALL_WAIT  60 C_VBD_AUTO_MAX  0 LOGGERDEVICE3  -1
D_CALL  0 CAPUPLOAD  0 W_ADJ_DBAND  0 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CAPMAXSIZE  100000 DBDW  0 COMPASS_DEVICE  66
SURFACE_URGENCY_TRY  0 T_GPS  30 LOITER_W_DBAND  0 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 N_GPS  100440 LOITER_DBDW  0 PHONE_DEVICE  33
T_DIVE  166 T_RSLEEP  2 LOITER_D_TOP  0 GPS_DEVICE  48
T_MISSION  185 STROBE  0 LOITER_D_BOTTOM  0 RAFOS_DEVICE  -1
T_ABORT  1440 RAFOS_PEAK_OFFSET  0 LOITER_N_DIVE  0 NAV_DEVICE  -1
T_TURN  225 RAFOS_CORR_THRESH  60 CF8_MAXERRORS  20 NAV2_DEVICE  -1
T_TURN_SAMPINT  -5 RAFOS_HIT_WINDOW  3600 AH0_24V  575 NETWORK_DEVICE  -1
T_NO_W  120 RAFOS_MMODEM  0 AH0_10V  0 PRESSURE_DEVICE  34
T_LOITER  0 PITCH_MIN  205 MINV_24V  11 XPDR_DEVICE  21
T_EPIRB  0 PITCH_MAX  3600 MINV_10V  11 SIM_W  0.1
USE_BATHY  -6 C_PITCH  2050 MAXI_24V  5 SEABIRD_T_G  0.0044090361
USE_ICE  0 PITCH_DBAND  0.1 MAXI_10V  1.5 SEABIRD_T_H  0.00064173015
ICE_FREEZE_MARGIN  0.30000001 PITCH_CNV  0.0041299998 FG_AHR_10V  61.128391 SEABIRD_T_I  2.932871e-05
D_OFFGRID  1000 PITCH_GAIN  14 FG_AHR_24V  127.45248 SEABIRD_T_J  3.827171e-06
RELAUNCH  1 PITCH_TIMEOUT  30 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9958668
APOGEE_PITCH  -5 PITCH_MAXERRORS  1 PRESSURE_YINT  0 SEABIRD_C_H  1.1120801
MAX_BUOY  150 PITCH_ADJ_GAIN  0 PRESSURE_SLOPE  6.9999999e-07 SEABIRD_C_I  -0.0034223681
GLIDE_SLOPE  30 PITCH_ADJ_DBAND  0 COMPASS_USE  16388 SEABIRD_C_J  0.00032313328
SPEED_FACTOR  1 C_PITCH_AUTO_DELTA  0 ALTIM_PING_FIT  0 OPTIONS  0
RHO  1.0275 C_PITCH_AUTO_MAX  0 ALTIM_TOP_PING_RANGE  0 SC_RECORDABOVE  2000.0
MASS  74553 PITCH_GAIN_AUTO_DELTA  0 ALTIM_BOTTOM_TURN_MARGIN  0 SC_PROFILE  3.0
NAV_MODE  0 PITCH_GAIN_AUTO_MAX  0 ALTIM_TOP_TURN_MARGIN  0 SC_XMITPROFILE  3.0
FERRY_MAX  45 PITCH_W_GAIN  0 ALTIM_TOP_MIN_OBSTACLE  1 SC_NDIVE  1.0
KALMAN_USE  2 PITCH_W_DBAND  0 ALTIM_PING_DEPTH  0 CP_RECORDABOVE  1000.0
HD_A  0.0025118899 ROLL_MIN  265 ALTIM_PING_DELTA  0 CP_PROFILE  3.0
HD_B  0.0146701 ROLL_MAX  3870 ALTIM_FREQUENCY  13 CP_XMITPROFILE  0.0
HD_C  5.7000002e-06 ROLL_DEG  80 ALTIM_PULSE  3 CP_UPLOADMAX  100000.0
HEADING  -1 C_ROLL_DIVE  2360 ALTIM_SENSITIVITY  2 CP_STARTS  59.0
ESCAPE_HEADING  0 C_ROLL_CLIMB  2025 XPDR_VALID  4 CP_NDIVE  1.0
ESCAPE_HEADING_DELTA  10 HEAD_ERRBAND  10 XPDR_INHIBIT  90
FIX_MISSING_TIMEOUT  0 ROLL_CNV  0.054945 XPDR_INT  -1
TGT_DEFAULT_LAT  4736 ROLL_TIMEOUT  15 XPDR_REP  -1

Pre-dive calculations and measurements:
GPS1  040723,233139,6307.262,-1658.768,55,0.9,55,-9.0 TGT_RADIUS  3000.000
_CALLS  3 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.39 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -48.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  040723,233916,6307.215,-1658.553,3,0.8,5,-9.0 MHEAD_RNG_PITCHd_Wd  269.4,76856,-19.2,-10.040,-24.79,2220,0.134
SPEED_LIMITS  0.174,0.217 D_GRID  1000
TGT_NAME  T2 IRON  1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,789.000000,-1157.000000,312.000000
TGT_LATLONG  6300.300,-1828.700 OSC  8000266

Post-dive calculations and measurements:
FINISH  1.4,1.027328 _10V_AH  14.86,0.000
SURF  forcing FG_AHR_24Vo  127.661
SM_CCo  10360.06,299.74,0.946,0,533.9,674.5,393.3,604.93 FG_AHR_10Vo  61.221
SM_GC  0.48,299.74,14.03,4.19,0.946,0.064,0.033,533.9,674.5,393.3,181.7,2386.8,0,0,0,12.06,15.80,15.90 MEM0  60108,1,0,0
SUPER  27,71,254,1,0,0 MEM1  65508,1,0,0
IRIDIUM_FIX  6309.61,-1640.59,040723,233311 MEM2  993744,29,52064,109
TCM_TEMP  10.96 DATA_FILE_SIZE  48173,1312
XPDR_PINGS  0,10.3,13.6 CAP_FILE_SIZE  276286,0
CP_FREE  15880486912.000000 SDSIZE  3887104,3845472
CP_POWER  293.030000 SDFILEDIR  562,105
CP_POWER1  0.000000 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
HUMID  51.96 IMPLIED_C_PITCH  2054,12.49,1055,0.0,0.00
TEMP  8.70 IMPLIED_C_VBD  2997,26.883745,1055,0
INTERNAL_PRESSURE  8.06041 GPS  050723,023431,6306.938,-1659.145,121,0.7,122,-9.0
_24V_AH  14.83,132.499

Energy measurements:
devicesecsmAJsensorsecsmAJ
VBD_pump708158116618.62 SBE_CT170824608.02
Pitch_motor3019387.32 nil000.00
Roll_motor121169305.02 nil000.00
Iridium253182686.37 nil000.00
Transponder_ping04200.00 nil000.00
GPS14153.31 nil000.00
Core38716391.23 SciCon000.00
Fast100.00 NCP10039253729.72
Slow000.00 nil000.00
LPSleep65852195.71
Compass17505130.08
RAFOS000.00
Transponder000.00
Compass2000.00

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R

Guidance and control:
st_secs flags vbd_ctl pitch_ctl roll_ctl vbd_ad_start vbd_pot1_ad_start vbd_pot2_ad_start pitch_ad_start roll_ad_start depth ob_vertv data_pts end_secs vbd_secs pitch_secs roll_secs vbd_i pitch_i roll_i vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_ad roll_ad vbd_errors pitch_errors roll_errors vbd_volts pitch_volts roll_volts
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
15.64 16386 -145.99 -1.59 0.00 526.9 662.1 391.8 181.8 2332.2 0.00 0.00 0 32.01 15.01 0.00 0.00 0.006 0.000 0.000 946.94 1054.00 839.88 181.69 2331.94 0 0 0 15.40 30.00 30.00
32.31 18727 -145.99 -1.59 80.00 946.8 1053.6 839.9 181.5 2331.7 3.04 -9.39 3 177.96 120.28 11.13 3.98 0.005 0.194 0.108 3590.94 3647.00 3534.88 1665.81 3825.94 0 0 0 15.44 15.55 15.33
405.48 1028 -145.99 -1.59 0.00 3593.6 3648.2 3539.0 1665.8 3826.1 40.48 -10.35 76 412.40 0.00 0.00 3.57 0.000 0.000 0.028 3594.91 3649.69 3540.12 1665.62 2316.12 0 0 0 30.00 30.00 15.75
595.68 548 -145.99 -1.59 -80.00 3593.6 3648.6 3538.6 1666.0 2315.4 59.38 -9.67 114 602.54 0.00 0.00 3.72 0.000 0.000 0.087 3593.44 3648.12 3538.75 1665.69 893.81 0 0 0 30.00 30.00 15.75
720.70 1060 -145.99 -1.59 0.00 3593.4 3648.0 3538.8 1665.5 893.7 71.72 -9.83 139 727.47 0.00 0.00 3.51 0.000 0.000 0.039 3593.47 3648.31 3538.62 1665.94 2380.56 0 0 0 30.00 30.00 15.80
910.71 0 -145.99 -1.59 0.00 3593.6 3648.5 3538.7 1665.7 2381.1 90.58 -10.13 177 912.27 0.00 0.00 0.00 0.000 0.000 0.000 3593.09 3647.56 3538.62 1665.69 2381.62 0 0 0 30.00 30.00 30.00
1095.78 0 -145.99 -1.59 0.00 3593.4 3648.4 3538.4 1665.5 2381.5 109.23 -10.32 214 1097.35 0.00 0.00 0.00 0.000 0.000 0.000 3592.09 3647.00 3537.19 1665.94 2381.44 0 0 0 30.00 30.00 30.00
1400.94 32 -145.99 -1.59 0.00 3593.5 3648.4 3538.6 1665.6 2381.9 139.59 -10.02 275 1402.51 0.00 0.00 0.00 0.000 0.000 0.000 3592.41 3646.50 3538.31 1665.81 2381.38 0 0 0 30.00 30.00 30.00
1706.00 0 -145.99 -1.59 0.00 3593.4 3648.2 3538.6 1665.8 2381.1 170.17 -10.25 336 1707.57 0.00 0.00 0.00 0.000 0.000 0.000 3592.25 3646.19 3538.31 1665.56 2381.88 0 0 0 30.00 30.00 30.00
2011.27 32 -145.99 -1.59 0.00 3593.2 3647.9 3538.4 1665.6 2381.5 200.62 -9.94 397 2012.84 0.00 0.00 0.00 0.000 0.000 0.000 3591.81 3646.50 3537.12 1665.75 2381.25 0 0 0 30.00 30.00 30.00
2316.17 292 -145.99 -1.59 80.00 3593.0 3647.8 3538.2 1665.2 2381.5 231.11 -9.83 458 2323.25 0.00 0.00 3.79 0.000 0.000 0.111 3593.41 3648.56 3538.25 1665.69 3823.12 0 0 0 30.00 30.00 15.79
2361.12 1028 -145.99 -1.59 0.00 3593.1 3648.4 3537.8 1665.6 3823.1 235.69 -10.27 467 2368.08 0.00 0.00 3.49 0.000 0.000 0.027 3593.06 3648.12 3538.00 1665.69 2317.62 0 0 0 30.00 30.00 15.90
2686.18 292 -145.99 -1.59 80.00 3592.7 3647.9 3537.5 1665.8 2316.6 268.30 -10.00 505 2693.31 0.00 0.00 3.97 0.000 0.000 0.106 3593.19 3648.25 3538.12 1664.44 3823.31 0 0 0 30.00 30.00 15.75
2721.11 1060 -145.99 -1.59 0.00 3592.9 3648.1 3537.8 1665.6 3823.7 271.80 -9.99 512 2728.18 0.00 0.00 3.52 0.000 0.000 0.027 3593.66 3648.31 3539.00 1666.00 2313.81 0 0 0 30.00 30.00 15.91
3046.20 292 -145.99 -1.59 80.00 3592.6 3647.7 3537.4 1665.9 2312.7 303.67 -9.73 529 3053.36 0.00 0.00 4.01 0.000 0.000 0.105 3593.38 3648.38 3538.38 1665.38 3827.00 0 0 0 30.00 30.00 15.76
3091.12 1060 -145.99 -1.59 0.00 3592.9 3648.4 3537.4 1665.9 3827.3 308.22 -9.95 538 3098.09 0.00 0.00 3.51 0.000 0.000 0.027 3593.56 3648.50 3538.62 1665.00 2315.00 0 0 0 30.00 30.00 15.86
3406.17 0 -145.99 -1.59 0.00 3592.2 3647.8 3536.6 1665.8 2314.2 340.09 -10.17 556 3407.78 0.00 0.00 0.00 0.000 0.000 0.000 3591.19 3646.88 3535.50 1665.75 2314.56 0 0 0 30.00 30.00 30.00
3726.22 292 -145.99 -1.59 80.00 3592.0 3647.7 3536.3 1665.4 2314.0 372.53 -9.84 572 3733.37 0.00 0.00 4.01 0.000 0.000 0.106 3592.31 3648.00 3536.62 1665.75 3823.44 0 0 0 30.00 30.00 15.83
3806.17 1028 -145.99 -1.59 0.00 3591.9 3647.9 3536.0 1665.8 3823.5 380.58 -10.09 588 3813.06 0.00 0.00 3.50 0.000 0.000 0.027 3592.53 3648.56 3536.50 1665.62 2320.00 0 0 0 30.00 30.00 15.40
4126.20 0 -145.99 -1.59 0.00 3591.9 3648.1 3535.8 1665.8 2320.1 412.26 -10.27 607 4127.81 0.00 0.00 0.00 0.000 0.000 0.000 3590.53 3646.81 3534.25 1665.94 2319.81 0 0 0 30.00 30.00 30.00
4446.19 260 -145.99 -1.59 80.00 3591.8 3648.4 3535.2 1665.6 2318.1 444.22 -10.17 623 4453.35 0.00 0.00 4.00 0.000 0.000 0.107 3592.16 3648.12 3536.19 1664.25 3825.00 0 0 0 30.00 30.00 15.82
4506.24 1060 -145.99 -1.59 0.00 3591.6 3648.2 3535.1 1665.5 3824.7 450.00 -9.59 635 4513.13 0.00 0.00 3.51 0.000 0.000 0.027 3592.09 3648.00 3536.19 1665.69 2316.69 0 0 0 30.00 30.00 15.92
4826.21 0 -145.99 -1.59 0.00 3591.2 3647.7 3534.6 1665.9 2316.6 482.38 -10.13 654 4827.81 0.00 0.00 0.00 0.000 0.000 0.000 3590.25 3646.38 3534.12 1665.44 2316.00 0 0 0 30.00 30.00 30.00
5006 end dive: TARGET_DEPTH_EXCEEDED
state 5006 begin apogee
5008.55 10243 0.00 -0.36 0.00 3591.3 3648.1 3534.6 1665.6 1991.9 500.12 -9.62 663 5134.19 115.70 2.11 0.11 1.582 0.124 0.170 3000.44 3113.12 2887.75 1964.69 2090.06 0 0 0 11.69 15.28 15.45
5183 end apogee: CONTROL_FINISHED_OK
state 5183 begin climb
5183.90 10759 145.99 1.59 -80.00 2995.2 3108.6 2881.9 1964.9 2090.2 488.24 0.00 669 5372.90 118.20 3.14 4.28 1.541 0.070 0.109 2395.62 2515.56 2275.69 2441.56 559.25 0 0 0 12.26 15.54 15.26
5415.46 1060 146.97 1.59 0.00 2395.2 2514.6 2275.8 2441.8 559.1 457.67 9.99 679 5422.38 0.00 0.00 3.47 0.000 0.000 0.025 2396.69 2516.50 2276.88 2441.06 2067.38 0 0 0 30.00 30.00 15.52
5725.52 0 146.97 1.59 0.00 2392.7 2514.0 2271.4 2441.7 2068.7 425.68 10.37 696 5727.12 0.00 0.00 0.00 0.000 0.000 0.000 2391.84 2513.69 2270.00 2441.06 2068.44 0 0 0 30.00 30.00 30.00
6045.54 16902 146.97 1.59 -80.00 2391.9 2513.4 2270.3 2441.9 2068.2 393.44 10.37 712 6052.77 0.00 0.00 4.05 0.000 0.000 0.105 2392.12 2514.06 2270.19 2441.75 560.44 0 0 0 30.00 30.00 15.76
6110.48 17414 146.97 1.59 0.00 2391.2 2512.7 2269.8 2441.9 560.4 386.76 10.31 725 6117.44 0.00 0.00 3.41 0.000 0.000 0.025 2391.34 2512.62 2270.06 2441.81 2065.88 0 0 0 30.00 30.00 15.47
6425.64 8226 158.68 1.61 0.00 2390.8 2512.6 2269.1 2441.6 2067.3 355.76 9.50 743 6438.00 10.58 0.00 0.00 1.160 0.000 0.000 2353.06 2476.25 2229.88 2438.81 2067.06 0 0 0 11.97 30.00 30.00
6745.67 8742 161.47 1.61 -80.00 2350.3 2472.4 2228.2 2441.6 2067.2 324.14 9.91 759 6758.18 4.82 0.00 4.01 0.710 0.000 0.107 2342.16 2464.56 2219.75 2441.19 558.81 0 0 0 12.15 30.00 15.75
6800.74 1060 163.56 1.62 0.00 2340.5 2462.5 2218.5 2441.4 558.9 318.57 9.94 770 6807.73 0.00 0.00 3.40 0.000 0.000 0.026 2340.59 2462.69 2218.50 2441.50 2067.31 0 0 0 30.00 30.00 15.56
7125.85 8742 172.39 1.63 -80.00 2339.8 2462.0 2217.7 2441.6 2069.4 286.23 9.63 787 7148.10 11.63 0.00 4.01 1.140 0.000 0.106 2295.56 2420.06 2171.06 2441.88 559.12 0 0 0 12.13 30.00 15.78
7185.86 9254 175.47 1.64 0.00 2294.0 2416.8 2171.2 2441.7 559.1 280.24 9.90 799 7198.10 5.12 0.00 3.40 0.733 0.000 0.026 2283.12 2407.50 2158.75 2441.44 2068.75 0 0 0 12.40 30.00 15.86
7500.84 0 175.47 1.64 0.00 2280.9 2404.0 2157.8 2441.8 2069.1 248.33 10.06 820 7502.45 0.00 0.00 0.00 0.000 0.000 0.000 2279.78 2402.75 2156.81 2441.44 2069.44 0 0 0 30.00 30.00 30.00
7805.94 516 175.47 1.64 -80.00 2280.3 2404.5 2156.1 2441.9 2069.2 217.74 10.10 881 7813.26 0.00 0.00 4.05 0.000 0.000 0.104 2281.38 2405.06 2157.69 2441.81 560.69 0 0 0 30.00 30.00 15.45
7880.96 1028 175.47 1.64 0.00 2280.1 2403.7 2156.5 2442.0 560.5 210.13 10.27 896 7887.93 0.00 0.00 3.40 0.000 0.000 0.026 2280.84 2405.06 2156.62 2439.88 2067.06 0 0 0 30.00 30.00 15.52
8191.05 0 175.47 1.64 0.00 2280.0 2403.9 2156.2 2441.9 2068.0 179.05 10.05 958 8192.66 0.00 0.00 0.00 0.000 0.000 0.000 2278.78 2402.88 2154.69 2441.56 2068.12 0 0 0 30.00 30.00 30.00
8496.08 516 175.47 1.64 -80.00 2279.6 2403.7 2155.5 2441.9 2068.4 148.62 10.13 1019 8503.38 0.00 0.00 4.05 0.000 0.000 0.105 2280.16 2404.44 2155.88 2441.81 559.56 0 0 0 30.00 30.00 15.42
8566.09 1028 175.47 1.64 0.00 2279.4 2403.2 2155.6 2442.2 559.2 141.59 10.19 1033 8572.99 0.00 0.00 3.38 0.000 0.000 0.026 2280.62 2404.56 2156.69 2441.62 2068.44 0 0 0 30.00 30.00 15.89
8876.16 32 176.65 1.64 0.00 2279.4 2403.1 2155.7 2442.1 2070.1 110.50 9.99 1095 8877.77 0.00 0.00 0.00 0.000 0.000 0.000 2278.72 2403.44 2154.00 2442.31 2070.25 0 0 0 30.00 30.00 30.00
9181.14 516 176.65 1.64 -80.00 2279.6 2403.6 2155.6 2442.1 2069.9 79.73 10.28 1156 9188.45 0.00 0.00 4.01 0.000 0.000 0.105 2280.75 2405.06 2156.44 2442.12 559.00 0 0 0 30.00 30.00 15.80
9261.15 1028 176.65 1.64 0.00 2279.2 2403.1 2155.3 2442.2 559.1 71.66 10.06 1172 9268.12 0.00 0.00 3.40 0.000 0.000 0.025 2279.41 2403.12 2155.69 2441.69 2065.00 0 0 0 30.00 30.00 15.47
9451.36 32 177.66 1.64 0.00 2279.2 2402.8 2155.6 2442.1 2067.2 52.58 9.99 1210 9452.96 0.00 0.00 0.00 0.000 0.000 0.000 2277.69 2401.31 2154.06 2441.88 2067.38 0 0 0 30.00 30.00 30.00
9636.19 516 177.66 1.64 -80.00 2279.1 2402.7 2155.4 2442.1 2067.2 33.85 10.14 1247 9643.49 0.00 0.00 4.03 0.000 0.000 0.104 2279.28 2402.88 2155.69 2442.06 559.06 0 0 0 30.00 30.00 15.38
9696.25 9254 182.37 1.65 0.00 2279.0 2402.4 2155.6 2442.1 559.2 27.95 9.82 1259 9712.85 7.41 0.00 3.41 0.790 0.000 0.026 2256.25 2379.75 2132.75 2441.88 2066.94 0 0 0 11.89 30.00 15.46
9896.21 516 182.37 1.65 -80.00 2254.7 2378.4 2130.9 2442.4 2067.1 8.14 10.28 1299 9903.53 0.00 0.00 4.01 0.000 0.000 0.104 2255.59 2380.00 2131.19 2442.25 559.00 0 0 0 30.00 30.00 15.82
9926 end climb: SURFACE_DEPTH_REACHED
state 9926 begin surface coast
9961 end surface coast: CONTROL_FINISHED_OK
state 9961 begin surface