SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 222 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  160 HEADING  -1 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
MISSION  3 ESCAPE_HEADING  0 ROLL_MIN  220 ALTIM_TOP_MIN_OBSTACLE  1
DIVE  222 ESCAPE_HEADING_DELTA  10 ROLL_MAX  3792 ALTIM_PING_DEPTH  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_DEG  40 ALTIM_PING_DELTA  50
D_FLARE  3 TGT_DEFAULT_LAT  4736 C_ROLL_DIVE  2300 ALTIM_FREQUENCY  12
D_TGT  990 TGT_DEFAULT_LON  -12218 C_ROLL_CLIMB  2300 ALTIM_PULSE  3
D_ABORT  1050 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  2
D_NO_BLEED  200 SM_CC  225 ROLL_CNV  0.028270001 XPDR_VALID  4
D_FINISH  0 N_FILEKB  8 ROLL_TIMEOUT  15 XPDR_INHIBIT  90
D_PITCH  0 FILEMGR  0 R_PORT_OVSHOOT  35 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  30 INT_PRESSURE_YINT  1
D_CALL  0 COMM_SEQ  0 ROLL_AD_RATE  300 DEEPGLIDER  0
SURFACE_URGENCY  0 KERMIT  0 ROLL_MAXERRORS  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 N_NOCOMM  1 ROLL_ADJ_GAIN  1.75 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 ROLL_ADJ_DBAND  0.029999999 DEVICE1  2
T_DIVE  480 UPLOAD_DIVES_MAX  -1 VBD_MIN  490 DEVICE2  20
T_MISSION  540 CALL_TRIES  5 VBD_MAX  3961 DEVICE3  35
T_ABORT  1440 CALL_WAIT  60 C_VBD  3046 DEVICE4  -1
T_TURN  225 CAPUPLOAD  0 VBD_DBAND  2 DEVICE5  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 VBD_CNV  -0.24529999 DEVICE6  -1
T_NO_W  120 HEAPDBG  0 VBD_TIMEOUT  720 SMARTS  0
USE_BATHY  -3 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  4 COMPASS_DEVICE  33
D_OFFGRID  1000 T_GPS_CHARGE  -12313.882 VBD_BLEED_AD_RATE  8 COMPASS2_DEVICE  -1
T_WATCHDOG  10 T_RSLEEP  3 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  0 RAFOS_DEVICE  -1
MAX_BUOY  120 RAFOS_HIT_WINDOW  3600 AH0_24V  146 XPDR_DEVICE  24
COURSE_BIAS  0 PITCH_MIN  155 AH0_10V  100 SIM_W  0
GLIDE_SLOPE  30 PITCH_MAX  3934 PHONE_SUPPLY  2 SIM_PITCH  0
SPEED_FACTOR  1 C_PITCH  2613 PRESSURE_YINT  -22.900637 SEABIRD_T_G  0.0043896637
RHO  1.028 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_H  0.00063842954
MASS  51810 PITCH_CNV  0.003125763 AD7714Ch0Gain  128 SEABIRD_T_I  2.5580319e-05
NAV_MODE  2 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_T_J  2.7701631e-06
FERRY_MAX  45 PITCH_GAIN  22 TCM_ROLL_OFFSET  0 SEABIRD_C_G  -10.180033
KALMAN_USE  2 PITCH_TIMEOUT  15 COMPASS_USE  0 SEABIRD_C_H  1.1381946
HD_A  0.003 PITCH_AD_RATE  140 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_I  -0.00092952099
HD_B  0.0099999998 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0 SEABIRD_C_J  0.0001655513
HD_C  9.9999997e-06 PITCH_ADJ_GAIN  0.059999999 ALTIM_BOTTOM_TURN_MARGIN  0

Pre-dive calculations and measurements:
GPS1  060836,6430.556,35.732,40,1.6,40,-4.8 TGT_NAME  INSHORE
_CALLS  1 TGT_LATLONG  6300.600,352.100
_XMS_NAKs  2 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  3.56 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -61.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  061501,6430.562,35.740,9,1.5,14,-4.8 MHEAD_RNG_PITCHd_Wd  153.1,234515,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  2580

Post-dive calculations and measurements:
FINISH  3.0,1.027188 _24V_AH  22.0,38.144
SM_CCo  26148,0.00,0.000,0,0,1933,273.26 _10V_AH  10.5,28.866
SM_GC  3.91,7.22,0.00,0.00,0.045,0.000,0.000,139,2306,1933,-7.65,0.17,273.26 DATA_FILE_SIZE  78916,1616
IRIDIUM_FIX  6406.52,24.98,260698,232352 CAP_FILE_SIZE  208992,0
TT8_MAMPS  0.027612 CFSIZE  260165632,235978752
HUMID  1695 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  9.06672 CURRENT  0.063,132.8,1
TCM_TEMP  17.70 GPS  020409,133230,6427.277,41.356,35,0.8,40,-4.7
XPDR_PINGS  1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor31209147.07 SBE_CT114424604.55
Roll_motor15978275.25 SBE_O288119368.62
VBD_pump_during_apogee341142210694.08 WL_BB2F5661051308.25
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2810365.54 nil000.00
Iridium_during_connect35160125.25 nil000.00
Iridium_during_xfer190223933.20
Transponder_ping04202.31
Mmodem_TX000.00
Mmodem_RX000.00
GPS16508.62
TT8307819640.02
LPSleep193532445.03
TT8_Active52519109.31
TT8_Sampling2986391248.04
TT8_CF857645277.24
TT8_Kalman000.00
Analog_circuits200012252.08
GPS_charging000.00
Compass29478247.61
RAFOS000.00
Transponder050.04

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
14 -0.77 -116.7 0.0 0.0 0 23 0.00 0.00 -7.00 0.000 2 0.000 0.000 121 2295 2149
26 -0.77 -116.7 3.6 -0.0 1 125 8.50 2.38 -83.50 0.000 4 0.209 0.064 2365 3706 3523
288 -0.53 -116.7 21.5 -9.9 45 296 0.25 2.22 0.00 0.000 6 0.124 0.033 2442 2299 3523
634 -0.63 -116.7 45.0 -6.5 106 641 0.00 2.28 0.00 0.000 4 0.000 0.044 2443 888 3525
681 -0.69 -116.7 48.5 -7.7 114 689 0.08 2.28 0.00 0.000 6 0.060 0.038 2379 2304 3524
1027 -0.52 -116.7 79.9 -8.8 175 1033 0.20 2.25 0.00 0.000 4 0.126 0.041 2445 888 3525
1160 -0.60 -116.7 89.2 -6.7 198 1167 0.00 2.22 0.00 0.000 6 0.000 0.038 2445 2282 3525
1506 -0.70 -116.7 111.8 -6.7 259 1512 0.17 2.20 0.00 0.000 4 0.058 0.041 2370 891 3526
1541 -0.57 -116.7 115.1 -8.9 265 1550 0.20 2.20 0.00 0.000 6 0.133 0.036 2429 2300 3526
1888 -0.57 -116.7 141.4 -7.7 326 1894 0.00 2.22 0.00 0.000 4 0.000 0.043 2429 894 3526
1940 -0.57 -116.7 145.4 -7.8 335 1946 0.00 2.17 0.00 0.000 6 0.000 0.036 2429 2284 3526
2268 -0.57 -116.7 169.9 -7.1 371 2272 0.00 2.20 0.00 0.000 4 0.000 0.042 2429 891 3526
2371 -0.57 -116.7 177.4 -8.1 380 2375 0.00 2.17 0.00 0.000 6 0.000 0.036 2429 2281 3526
2702 -0.57 -116.7 200.5 -7.0 411 2703 0.00 0.00 0.00 0.000 6 0.000 0.000 2429 2280 3527
3013 -0.57 -116.7 221.3 -6.2 431 3017 0.00 2.20 0.00 0.000 4 0.000 0.042 2429 888 3527
3097 -0.57 -116.7 227.1 -6.8 436 3101 0.00 2.17 0.00 0.000 6 0.000 0.038 2429 2278 3527
3427 -0.57 -116.7 248.7 -6.8 457 3431 0.00 2.20 0.00 0.000 4 0.000 0.043 2429 891 3527
3465 -0.57 -116.7 251.5 -7.1 459 3469 0.00 2.17 0.00 0.000 6 0.000 0.036 2430 2262 3527
3791 -0.64 -116.7 273.3 -6.3 480 3792 0.00 0.00 0.00 0.000 6 0.000 0.000 2428 2262 3527
4102 -0.70 -116.7 293.0 -6.4 500 4107 0.12 2.17 0.00 0.000 4 0.066 0.042 2375 889 3527
4168 -0.50 -116.7 299.0 -9.2 504 4173 0.25 2.17 0.00 0.000 6 0.127 0.038 2450 2278 3527
4485 -0.67 -116.7 318.2 -6.2 520 4487 0.17 0.00 0.00 0.000 6 0.063 0.000 2378 2279 3527
4793 -0.52 -116.7 345.3 -8.8 535 4798 0.20 2.22 0.00 0.000 4 0.124 0.044 2445 891 3527
4884 -0.63 -116.7 351.5 -7.3 539 4888 0.12 2.15 0.00 0.000 6 0.068 0.038 2391 2260 3527
5210 -0.54 -116.7 376.9 -7.9 555 5212 0.15 0.00 0.00 0.000 6 0.126 0.000 2436 2260 3526
5520 -0.66 -116.7 397.1 -6.5 570 5525 0.12 2.17 0.00 0.000 4 0.072 0.042 2381 890 3526
5575 -0.49 -116.7 402.0 -9.0 572 5582 0.25 2.15 0.00 0.000 6 0.129 0.038 2456 2260 3525
5891 -0.69 -116.7 420.3 -5.5 588 5893 0.20 0.00 0.00 0.000 6 0.060 0.000 2374 2261 3525
6201 -0.54 -116.7 446.0 -8.4 603 6205 0.20 2.20 0.00 0.000 4 0.125 0.044 2441 889 3525
6261 -0.64 -116.7 450.1 -6.2 605 6270 0.12 2.17 0.00 0.000 6 0.071 0.039 2390 2267 3524
6577 -0.56 -116.7 472.9 -7.2 621 6582 0.15 2.22 0.00 0.000 4 0.128 0.047 2435 887 3524
6627 -0.65 -116.7 476.2 -6.4 623 6630 0.00 2.17 0.00 0.000 6 0.000 0.041 2435 2259 3524
6948 -0.77 -116.7 494.3 -5.6 639 6950 0.20 0.00 0.00 0.000 6 0.062 0.000 2351 2260 3523
7258 -0.53 -116.7 522.4 -9.2 654 7263 0.28 2.20 0.00 0.000 4 0.130 0.044 2441 888 3522
7358 -0.64 -116.7 529.0 -6.7 658 7365 0.12 2.15 0.00 0.000 6 0.071 0.041 2390 2256 3522
7674 -0.56 -116.7 552.5 -7.5 674 7676 0.15 0.00 0.00 0.000 6 0.128 0.000 2434 2257 3522
7983 -0.69 -116.7 570.9 -6.0 689 7988 0.15 2.20 0.00 0.000 4 0.067 0.048 2372 890 3522
8021 -0.48 -116.7 574.1 -8.7 690 8028 0.28 2.12 0.00 0.000 6 0.132 0.041 2454 2237 3521
8337 -0.70 -116.7 591.2 -5.4 706 8339 0.20 0.00 0.00 0.000 6 0.061 0.000 2373 2237 3520
8645 -0.55 -116.7 616.5 -8.5 718 8649 0.20 2.17 0.00 0.000 4 0.126 0.045 2440 882 3520
8700 -0.68 -116.7 620.4 -7.0 719 8707 0.15 2.15 0.00 0.000 6 0.068 0.041 2378 2240 3520
9013 -0.56 -116.7 645.8 -8.3 730 9015 0.17 0.00 0.00 0.000 6 0.126 0.000 2431 2240 3520
9319 -0.68 -116.7 665.7 -6.3 740 9321 0.12 0.00 0.00 0.000 6 0.074 0.000 2378 2240 3520
9626 -0.57 -116.7 690.8 -8.3 750 9630 0.17 2.17 0.00 0.000 4 0.128 0.045 2431 882 3519
9675 -0.67 -116.7 694.6 -7.4 751 9679 0.00 2.15 0.00 0.000 6 0.000 0.041 2431 2239 3519
9994 -0.80 -116.7 714.5 -6.2 762 9996 0.22 0.00 0.00 0.000 6 0.061 0.000 2339 2240 3519
10299 -0.52 -116.7 744.3 -9.9 772 10304 0.32 2.17 0.00 0.000 4 0.133 0.045 2444 891 3518
10362 -0.66 -116.7 748.7 -6.7 774 10366 0.15 2.10 0.00 0.000 6 0.069 0.040 2382 2221 3519
10702 -0.58 -116.7 775.4 -7.8 785 10704 0.15 0.00 0.00 0.000 6 0.130 0.000 2427 2222 3518
11010 -0.69 -116.7 794.2 -6.1 795 11012 0.12 0.00 0.00 0.000 6 0.072 0.000 2376 2222 3518
11316 -0.58 -116.7 818.0 -7.8 805 11318 0.17 0.00 0.00 0.000 6 0.127 0.000 2429 2222 3517
11623 -0.71 -116.7 835.6 -5.7 815 11624 0.15 0.00 0.00 0.000 6 0.069 0.000 2365 2222 3517
11928 -0.56 -116.7 860.0 -8.1 825 11933 0.20 2.15 0.00 0.000 4 0.125 0.046 2432 894 3517
11984 -0.67 -116.7 863.9 -6.3 826 11990 0.12 2.12 0.00 0.000 6 0.076 0.041 2380 2233 3517
12296 -0.58 -116.7 887.3 -7.6 837 12298 0.15 0.00 0.00 0.000 6 0.130 0.000 2425 2234 3517
12602 -0.70 -116.7 905.9 -6.0 847 12607 0.12 2.20 0.00 0.000 4 0.076 0.051 2374 888 3516
12635 -0.55 -116.7 908.5 -8.1 848 12640 0.20 2.15 0.00 0.000 6 0.134 0.044 2431 2226 3516
12969 -0.70 -116.7 927.7 -5.8 859 12971 0.15 0.00 0.00 0.000 6 0.068 0.000 2368 2226 3516
13275 -0.57 -116.7 952.4 -8.2 869 13277 0.20 0.00 0.00 0.000 6 0.129 0.000 2429 2226 3516
13584 -0.72 -116.7 970.6 -5.9 879 13588 0.15 2.17 0.00 0.000 4 0.067 0.050 2365 892 3516
13616 -0.54 -116.7 973.4 -7.8 880 13621 0.20 2.15 0.00 0.000 6 0.127 0.041 2442 2214 3516
13949 end dive: TARGET_DEPTH_EXCEEDED
state 13949 begin apogee
13955 -0.23 0.0 990.8 5.1 891 14057 0.30 0.00 98.95 1.423 6 0.112 0.000 2541 2311 3046
14057 end apogee: CONTROL_FINISHED_OK
state 14057 begin climb
14059 0.77 116.7 993.6 0.0 894 14175 0.98 2.60 106.70 1.397 4 0.078 0.051 2855 3703 2569
14203 0.30 116.7 990.3 7.7 899 14209 0.55 2.42 0.00 0.000 6 0.140 0.031 2713 2288 2567
14535 0.70 191.2 976.7 3.9 910 14607 0.32 2.45 65.22 1.389 4 0.056 0.049 2842 891 2266
14702 0.59 191.2 962.1 9.6 915 14706 0.15 2.33 0.00 0.000 6 0.125 0.035 2801 2299 2259
15038 0.59 191.2 936.4 7.7 926 15041 0.00 2.30 0.00 0.000 4 0.000 0.053 2802 3705 2257
15092 0.59 191.2 931.6 8.2 927 15097 0.00 2.28 0.00 0.000 6 0.000 0.035 2801 2272 2257
15412 0.59 191.2 908.0 7.4 938 15415 0.00 2.20 0.00 0.000 4 0.000 0.047 2802 895 2256
15479 0.67 191.2 902.9 7.6 940 15483 0.00 2.20 0.00 0.000 6 0.000 0.035 2801 2299 2256
15819 0.67 191.2 876.9 7.8 951 15820 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 2299 2255
16128 0.73 191.2 853.5 7.6 961 16129 0.15 0.00 0.00 0.000 6 0.066 0.000 2864 2300 2255
16433 0.54 191.2 823.8 9.9 971 16435 0.25 0.00 0.00 0.000 6 0.123 0.000 2788 2300 2255
16740 0.67 191.2 802.3 6.9 981 16741 0.12 0.00 0.00 0.000 6 0.069 0.000 2841 2300 2254
17046 0.58 191.2 775.2 9.0 991 17048 0.15 0.00 0.00 0.000 6 0.129 0.000 2796 2300 2254
17352 0.66 191.2 752.7 7.3 1001 17353 0.00 0.00 0.00 0.000 6 0.000 0.000 2797 2300 2253
17658 0.76 191.2 731.0 6.9 1011 17660 0.17 0.00 0.00 0.000 6 0.063 0.000 2869 2300 2254
17965 0.57 191.2 701.3 9.8 1021 17967 0.25 0.00 0.00 0.000 6 0.123 0.000 2791 2300 2253
18271 0.69 194.9 680.1 6.7 1031 18273 0.12 0.00 0.00 0.000 6 0.072 0.000 2844 2300 2253
18577 0.60 194.9 653.3 8.8 1041 18579 0.15 0.00 0.00 0.000 6 0.127 0.000 2800 2300 2253
18883 0.69 194.9 630.7 7.3 1051 18885 0.12 0.00 0.00 0.000 6 0.070 0.000 2853 2300 2253
19189 0.56 194.9 602.4 9.4 1061 19191 0.20 0.00 0.00 0.000 6 0.127 0.000 2793 2300 2253
19507 0.70 201.7 580.2 6.6 1076 19518 0.15 0.00 8.12 1.055 6 0.064 0.000 2856 2300 2223
19817 0.58 201.7 552.2 9.2 1091 19818 0.20 0.00 0.00 0.000 6 0.122 0.000 2795 2300 2221
20126 0.72 206.8 531.2 6.7 1106 20135 0.15 0.00 6.28 0.970 6 0.066 0.000 2857 2300 2202
20435 0.61 206.8 504.0 8.8 1121 20437 0.17 0.00 0.00 0.000 6 0.124 0.000 2804 2300 2201
20744 0.72 213.0 483.2 6.6 1136 20758 0.12 2.33 6.75 0.963 4 0.070 0.048 2865 894 2176
20798 0.60 213.0 478.5 9.6 1138 20802 0.20 2.20 0.00 0.000 6 0.123 0.035 2804 2290 2176
21113 0.71 213.0 456.1 7.2 1153 21118 0.12 2.30 0.00 0.000 4 0.071 0.052 2858 3707 2175
21175 0.51 213.0 450.0 10.7 1156 21180 0.30 2.22 0.00 0.000 6 0.129 0.034 2774 2277 2176
21503 0.79 239.7 429.9 5.8 1172 21533 0.22 2.25 23.83 1.056 4 0.054 0.045 2878 906 2067
21619 0.66 239.7 418.6 10.6 1177 21624 0.17 2.22 0.00 0.000 6 0.127 0.035 2827 2305 2063
21939 0.72 239.7 392.1 8.0 1193 21941 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2304 2062
22249 0.79 239.7 367.9 7.7 1208 22253 0.12 2.28 0.00 0.000 4 0.071 0.051 2880 3714 2061
22304 0.56 239.7 362.2 10.6 1210 22309 0.30 2.22 0.00 0.000 6 0.127 0.035 2790 2297 2062
22620 0.82 269.9 343.4 5.7 1225 22653 0.22 2.30 25.80 0.995 4 0.056 0.043 2891 893 1944
22720 0.70 269.9 333.5 10.5 1229 22725 0.20 2.22 0.00 0.000 6 0.128 0.033 2833 2302 1940
23035 0.79 269.9 308.7 7.6 1244 23037 0.10 0.00 0.00 0.000 6 0.078 0.000 2876 2301 1938
23358 0.72 269.9 276.3 10.4 1263 23362 0.12 2.25 0.00 0.000 4 0.127 0.044 2841 893 1936
23418 0.82 269.9 270.4 8.4 1266 23425 0.12 2.17 0.00 0.000 6 0.071 0.034 2893 2284 1936
23739 0.70 269.9 233.0 12.0 1287 23740 0.17 0.00 0.00 0.000 6 0.123 0.000 2840 2284 1935
24049 0.78 269.9 205.2 8.7 1307 24053 0.00 2.22 0.00 0.000 4 0.000 0.042 2840 894 1935
24083 0.87 269.9 202.4 8.8 1309 24088 0.15 2.20 0.00 0.000 6 0.064 0.033 2905 2302 1935
24407 0.69 269.9 166.8 11.4 1339 24412 0.20 2.25 0.00 0.000 4 0.126 0.048 2839 3700 1935
24459 0.69 269.9 161.5 9.9 1343 24463 0.00 2.22 0.00 0.000 6 0.000 0.033 2839 2270 1935
24795 0.77 269.9 130.9 8.5 1392 24802 0.00 2.17 0.00 0.000 4 0.000 0.044 2839 893 1934
24865 0.88 269.9 124.7 8.7 1404 24872 0.17 2.17 0.00 0.000 6 0.061 0.034 2913 2289 1934
25211 0.68 269.9 81.2 13.0 1465 25219 0.25 2.30 0.00 0.000 4 0.125 0.048 2830 3720 1935
25248 0.68 269.9 77.1 11.0 1471 25254 0.00 2.22 0.00 0.000 6 0.000 0.032 2830 2280 1934
25594 0.80 269.9 45.6 8.9 1532 25601 0.12 2.17 0.00 0.000 4 0.067 0.044 2882 905 1935
25716 0.72 269.9 32.2 11.5 1553 25724 0.12 2.17 0.00 0.000 6 0.135 0.035 2847 2302 1934
26031 end climb: SURFACE_DEPTH_REACHED
state 26031 begin surface coast
26073 end surface coast: CONTROL_FINISHED_OK
state 26073 begin surface