SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 234 * 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  234 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  2180 ALTIM_FREQUENCY  12
D_TGT  990 TGT_DEFAULT_LON  -12218 C_ROLL_CLIMB  2270 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  37 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 CALL_NDIVES  1 R_STBD_OVSHOOT  39 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  2 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  -12501.148 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  164801,6400.297,139.137,36,1.5,36,-4.1 TGT_NAME  INSHORE
_CALLS  1 TGT_LATLONG  6300.600,352.100
_XMS_NAKs  0 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  -68.3 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  165414,6400.309,139.116,11,1.5,11,-4.1 MHEAD_RNG_PITCHd_Wd  139.5,157231,-13.7,-6.875
SPEED_LIMITS  0.119,0.206 D_GRID  1980

Post-dive calculations and measurements:
FINISH  3.0,1.018858 _24V_AH  22.0,39.727
SM_CCo  26234,0.00,0.000,0,0,1905,279.89 _10V_AH  10.5,30.196
SM_GC  3.77,7.28,0.00,0.00,0.048,0.000,0.000,140,2170,1905,-7.66,-0.28,279.89 DATA_FILE_SIZE  82079,1648
IRIDIUM_FIX  6337.14,133.29,300698,090941 CAP_FILE_SIZE  211730,0
TT8_MAMPS  0.026078 CFSIZE  260165632,234901504
HUMID  1683 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  9.07648 CURRENT  0.065,217.9,1
TCM_TEMP  18.00 GPS  060409,001306,6357.280,143.051,39,1.5,39,-4.1
XPDR_PINGS  0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor35216169.88 SBE_CT116524615.62
Roll_motor15374251.16 SBE_O291419382.08
VBD_pump_during_apogee346141810830.70 WL_BB2F5931051371.76
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3310375.23 nil000.00
Iridium_during_connect52160185.91 nil000.00
Iridium_during_xfer161223790.97
Transponder_ping04200.00
Mmodem_TX000.00
Mmodem_RX000.00
GPS13507.21
TT8311719648.09
LPSleep193482444.92
TT8_Active53719111.80
TT8_Sampling3005391255.93
TT8_CF858245280.27
TT8_Kalman000.00
Analog_circuits201912254.49
GPS_charging000.00
Compass29758249.94
RAFOS000.00
Transponder050.03

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 -0.77 -116.7 0.0 0.0 0 24 0.00 0.00 -7.38 0.000 2 0.000 0.000 123 2166 2115
27 -0.77 -116.7 3.6 -0.0 1 129 8.62 2.30 -83.95 0.000 4 0.216 0.063 2361 3578 3522
298 -0.54 -116.7 20.9 -10.4 45 305 0.25 2.17 0.00 0.000 6 0.125 0.032 2438 2189 3524
644 -0.61 -116.7 44.8 -6.2 106 651 0.00 0.00 0.00 0.000 6 0.000 0.000 2438 2189 3524
990 -0.68 -116.7 66.7 -6.2 167 996 0.15 0.00 0.00 0.000 6 0.066 0.000 2376 2189 3525
1334 -0.48 -116.7 98.1 -9.4 228 1341 0.22 2.25 0.00 0.000 4 0.125 0.043 2451 762 3525
1392 -0.60 -116.7 102.4 -6.9 238 1400 0.00 2.20 0.00 0.000 6 0.000 0.035 2450 2174 3526
1741 -0.73 -116.7 124.8 -6.5 299 1747 0.20 0.00 0.00 0.000 6 0.058 0.000 2360 2175 3526
2080 -0.48 -116.7 158.9 -9.9 352 2082 0.32 0.00 0.00 0.000 6 0.123 0.000 2461 2175 3526
2399 -0.68 -116.7 177.4 -5.5 382 2404 0.20 2.25 0.00 0.000 4 0.055 0.048 2367 3591 3526
2427 -0.54 -116.7 179.6 -9.0 384 2432 0.25 2.20 0.00 0.000 6 0.127 0.034 2444 2172 3526
2757 -0.67 -116.7 201.2 -6.5 414 2759 0.15 0.00 0.00 0.000 6 0.064 0.000 2378 2171 3526
3070 -0.51 -116.7 227.7 -8.6 434 3074 0.20 2.22 0.00 0.000 4 0.124 0.046 2445 761 3526
3188 -0.60 -116.7 235.1 -5.9 441 3192 0.00 2.20 0.00 0.000 6 0.000 0.035 2445 2175 3527
3512 -0.74 -116.7 252.7 -5.3 462 3514 0.20 0.00 0.00 0.000 6 0.058 0.000 2361 2177 3527
3824 -0.52 -116.7 279.1 -8.4 482 3826 0.28 0.00 0.00 0.000 6 0.125 0.000 2447 2177 3527
4139 -0.68 -116.7 295.5 -5.5 502 4141 0.17 0.00 0.00 0.000 6 0.060 0.000 2373 2177 3527
4446 -0.51 -116.7 320.8 -8.7 518 4448 0.25 0.00 0.00 0.000 6 0.122 0.000 2451 2177 3526
4756 -0.68 -116.7 337.8 -5.3 533 4758 0.17 0.00 0.00 0.000 6 0.062 0.000 2377 2177 3526
5065 -0.53 -116.7 362.4 -8.0 548 5067 0.20 0.00 0.00 0.000 6 0.124 0.000 2439 2177 3526
5375 -0.67 -116.7 380.4 -5.7 563 5377 0.12 0.00 0.00 0.000 6 0.074 0.000 2387 2176 3525
5684 -0.57 -116.7 404.5 -7.8 578 5686 0.15 0.00 0.00 0.000 6 0.127 0.000 2432 2177 3525
5993 -0.67 -116.7 423.7 -6.1 593 5997 0.12 2.30 0.00 0.000 4 0.074 0.052 2377 3589 3525
6025 -0.54 -116.7 426.4 -8.5 594 6034 0.20 2.25 0.00 0.000 6 0.131 0.037 2437 2162 3525
6342 -0.67 -116.7 445.1 -6.0 610 6346 0.12 2.22 0.00 0.000 4 0.075 0.048 2383 761 3524
6374 -0.50 -116.7 447.8 -8.8 611 6381 0.22 2.20 0.00 0.000 6 0.133 0.038 2449 2165 3524
6691 -0.68 -116.7 466.1 -6.0 627 6693 0.17 0.00 0.00 0.000 6 0.064 0.000 2377 2166 3522
6999 -0.54 -116.7 493.5 -8.9 642 7001 0.20 0.00 0.00 0.000 6 0.127 0.000 2438 2167 3522
7308 -0.68 -116.7 512.2 -5.6 657 7313 0.15 2.30 0.00 0.000 4 0.070 0.056 2376 3582 3521
7343 -0.55 -116.7 514.7 -7.7 658 7351 0.20 2.25 0.00 0.000 6 0.130 0.039 2436 2162 3521
7658 -0.68 -116.7 533.2 -5.7 674 7663 0.12 2.25 0.00 0.000 4 0.077 0.049 2384 761 3521
7691 -0.54 -116.7 535.8 -8.5 675 7695 0.20 2.22 0.00 0.000 6 0.136 0.038 2442 2170 3521
8013 -0.70 -116.7 553.3 -5.3 691 8014 0.17 0.00 0.00 0.000 6 0.064 0.000 2368 2171 3520
8321 -0.53 -116.7 580.0 -9.1 706 8323 0.25 0.00 0.00 0.000 6 0.126 0.000 2445 2171 3520
8631 -0.71 -116.7 599.6 -6.3 721 8633 0.17 0.00 0.00 0.000 6 0.064 0.000 2374 2171 3519
8957 -0.57 -116.7 627.8 -8.5 732 8958 0.17 0.00 0.00 0.000 6 0.127 0.000 2428 2171 3519
9263 -0.67 -116.7 647.1 -6.0 742 9264 0.00 0.00 0.00 0.000 6 0.000 0.000 2428 2171 3518
9570 -0.78 -116.7 665.8 -6.1 752 9572 0.20 0.00 0.00 0.000 6 0.061 0.000 2347 2171 3518
9875 -0.52 -116.7 693.9 -9.5 762 9880 0.28 2.30 0.00 0.000 4 0.133 0.048 2437 756 3517
9924 -0.65 -116.7 697.6 -7.3 763 9928 0.00 2.22 0.00 0.000 6 0.000 0.041 2437 2162 3517
10244 -0.80 -116.7 715.9 -5.9 774 10246 0.22 0.00 0.00 0.000 6 0.061 0.000 2347 2163 3517
10549 -0.55 -116.7 744.3 -9.5 784 10551 0.28 0.00 0.00 0.000 6 0.130 0.000 2431 2162 3517
10856 -0.69 -116.7 764.0 -6.3 794 10858 0.12 0.00 0.00 0.000 6 0.073 0.000 2378 2162 3516
11161 -0.59 -116.7 787.4 -7.7 804 11166 0.15 2.35 0.00 0.000 4 0.129 0.060 2423 3584 3516
11189 -0.66 -116.7 789.2 -6.3 805 11193 0.00 2.28 0.00 0.000 6 0.000 0.042 2422 2160 3516
11531 -0.76 -116.7 809.0 -5.8 816 11532 0.15 0.00 0.00 0.000 6 0.070 0.000 2360 2159 3516
11836 -0.58 -116.7 832.2 -7.7 826 11841 0.20 2.28 0.00 0.000 4 0.132 0.054 2426 760 3516
11891 -0.66 -116.7 835.9 -6.1 827 11898 0.00 2.25 0.00 0.000 6 0.000 0.041 2426 2171 3516
12204 -0.77 -116.7 853.6 -5.8 838 12206 0.17 0.00 0.00 0.000 6 0.066 0.000 2352 2171 3516
12510 -0.57 -116.7 879.7 -8.7 848 12512 0.25 0.00 0.00 0.000 6 0.131 0.000 2429 2171 3515
12816 -0.71 -116.7 897.4 -5.7 858 12818 0.15 0.00 0.00 0.000 6 0.068 0.000 2366 2172 3515
13124 -0.57 -116.7 921.5 -7.8 868 13126 0.20 0.00 0.00 0.000 6 0.128 0.000 2427 2172 3515
13430 -0.71 -116.7 939.2 -5.7 878 13432 0.12 0.00 0.00 0.000 6 0.073 0.000 2376 2172 3514
13736 -0.61 -116.7 962.5 -7.7 888 13738 0.15 0.00 0.00 0.000 6 0.131 0.000 2420 2173 3514
14043 -0.71 -116.7 982.3 -6.6 898 14044 0.12 0.00 0.00 0.000 6 0.074 0.000 2366 2172 3514
14161 end dive: TARGET_DEPTH_EXCEEDED
state 14161 begin apogee
14166 -0.23 0.0 991.8 7.8 902 14268 0.55 0.00 98.93 1.419 6 0.125 0.000 2538 2284 3046
14269 end apogee: CONTROL_FINISHED_OK
state 14269 begin climb
14272 0.77 116.7 994.6 0.0 905 14387 0.98 2.58 107.03 1.394 4 0.082 0.048 2856 3671 2570
14433 0.33 116.7 989.2 7.4 910 14438 0.52 2.40 0.00 0.000 6 0.138 0.032 2720 2254 2567
14768 0.71 199.8 976.5 3.6 921 14848 0.32 2.42 73.30 1.389 4 0.052 0.044 2854 856 2230
14915 0.56 199.8 964.5 8.9 925 14920 0.22 2.38 0.00 0.000 6 0.124 0.035 2791 2274 2224
15229 0.67 199.8 943.2 6.9 935 15233 0.12 2.30 0.00 0.000 4 0.068 0.053 2842 3677 2220
15295 0.47 199.8 936.5 10.1 937 15300 0.28 2.25 0.00 0.000 6 0.132 0.035 2767 2255 2220
15626 0.71 225.7 916.3 5.8 948 15658 0.20 2.33 21.77 1.325 4 0.061 0.047 2855 866 2125
15696 0.60 225.7 909.7 10.8 950 15701 0.17 2.28 0.00 0.000 6 0.129 0.036 2804 2280 2122
16031 0.69 225.7 881.2 8.8 961 16035 0.00 2.28 0.00 0.000 4 0.000 0.052 2804 3684 2120
16081 0.69 225.7 876.3 9.9 962 16085 0.00 2.22 0.00 0.000 6 0.000 0.035 2804 2269 2120
16405 0.78 225.7 848.5 8.6 973 16409 0.17 2.25 0.00 0.000 4 0.062 0.049 2878 859 2120
16467 0.58 225.7 841.6 12.0 975 16472 0.28 2.22 0.00 0.000 6 0.127 0.038 2794 2274 2119
16802 0.71 225.7 815.5 7.6 986 16806 0.15 2.28 0.00 0.000 4 0.067 0.054 2856 3680 2119
16863 0.51 225.7 809.0 10.5 988 16868 0.28 2.22 0.00 0.000 6 0.127 0.037 2773 2256 2119
17200 0.75 235.2 786.8 6.5 999 17212 0.22 0.00 8.85 1.175 6 0.057 0.000 2865 2254 2087
17504 0.62 235.2 754.7 10.8 1009 17506 0.17 0.00 0.00 0.000 6 0.123 0.000 2812 2254 2085
17810 0.70 235.2 731.2 7.6 1019 17814 0.00 2.30 0.00 0.000 4 0.000 0.050 2813 3677 2084
17854 0.70 235.2 727.3 9.7 1020 17858 0.00 2.20 0.00 0.000 6 0.000 0.035 2813 2261 2084
18184 0.79 235.2 700.4 8.2 1031 18189 0.15 2.22 0.00 0.000 4 0.064 0.050 2878 866 2084
18245 0.62 235.2 693.9 10.7 1032 18252 0.22 2.20 0.00 0.000 6 0.127 0.036 2810 2279 2083
18558 0.71 235.2 668.1 8.3 1043 18562 0.00 2.25 0.00 0.000 4 0.000 0.053 2810 3681 2083
18612 0.71 235.2 662.9 9.2 1044 18617 0.00 2.22 0.00 0.000 6 0.000 0.036 2810 2274 2083
18932 0.81 235.2 635.6 8.5 1055 18937 0.17 2.22 0.00 0.000 4 0.063 0.046 2882 866 2083
18994 0.62 235.2 628.6 11.7 1057 18998 0.22 2.20 0.00 0.000 6 0.128 0.036 2814 2283 2082
19333 0.71 235.2 599.4 8.3 1068 19337 0.00 2.22 0.00 0.000 4 0.000 0.051 2814 3677 2082
19372 0.71 235.2 595.7 9.3 1069 19379 0.00 2.20 0.00 0.000 6 0.000 0.035 2814 2261 2083
19688 0.81 235.2 569.1 8.5 1085 19693 0.17 2.22 0.00 0.000 4 0.059 0.048 2892 858 2082
19732 0.59 235.2 564.2 11.7 1087 19737 0.30 2.20 0.00 0.000 6 0.127 0.036 2800 2272 2082
20053 0.75 235.2 538.2 8.3 1103 20058 0.15 2.28 0.00 0.000 4 0.064 0.055 2865 3680 2082
20108 0.54 235.2 531.7 12.1 1105 20115 0.28 2.20 0.00 0.000 6 0.128 0.036 2785 2271 2082
20424 0.76 235.2 507.0 7.7 1121 20429 0.20 2.25 0.00 0.000 4 0.056 0.048 2878 853 2082
20473 0.60 235.2 501.7 11.8 1123 20478 0.25 2.22 0.00 0.000 6 0.126 0.035 2801 2284 2082
20790 0.75 235.2 475.9 8.0 1138 20794 0.15 2.22 0.00 0.000 4 0.064 0.051 2866 3670 2082
20829 0.54 235.2 471.5 12.1 1140 20834 0.28 2.20 0.00 0.000 6 0.127 0.035 2784 2254 2082
21157 0.78 235.2 446.2 7.4 1156 21158 0.22 0.00 0.00 0.000 6 0.054 0.000 2879 2253 2082
21465 0.62 235.2 412.3 10.7 1171 21467 0.22 0.00 0.00 0.000 6 0.121 0.000 2809 2253 2082
21774 0.75 235.2 389.2 7.2 1186 21778 0.12 2.30 0.00 0.000 4 0.071 0.050 2865 3672 2082
21836 0.56 235.2 382.7 11.5 1189 21841 0.25 2.20 0.00 0.000 6 0.129 0.035 2793 2256 2082
22162 0.77 235.2 359.4 6.9 1205 22164 0.20 0.00 0.00 0.000 6 0.057 0.000 2876 2253 2082
22472 0.63 235.2 327.1 10.5 1220 22474 0.20 0.00 0.00 0.000 6 0.123 0.000 2814 2254 2082
22781 0.75 235.2 302.5 7.8 1235 22786 0.12 2.30 0.00 0.000 4 0.065 0.051 2869 3671 2082
22845 0.55 235.2 295.6 12.6 1239 22850 0.30 2.20 0.00 0.000 6 0.124 0.036 2787 2254 2082
23171 0.81 242.9 272.8 6.6 1260 23181 0.22 0.00 7.70 0.875 6 0.055 0.000 2885 2252 2055
23496 0.66 242.9 238.1 10.9 1280 23500 0.20 2.30 0.00 0.000 4 0.122 0.048 2817 3678 2054
23534 0.66 242.9 234.3 9.3 1282 23542 0.00 2.20 0.00 0.000 6 0.000 0.033 2817 2255 2054
23853 0.78 242.9 210.3 7.8 1303 23855 0.15 0.00 0.00 0.000 6 0.061 0.000 2882 2254 2053
24176 0.64 242.9 176.9 10.7 1330 24181 0.20 2.30 0.00 0.000 4 0.122 0.048 2814 3681 2053
24216 0.73 242.9 173.2 9.3 1333 24219 0.00 2.20 0.00 0.000 6 0.000 0.033 2814 2253 2053
24542 0.86 242.9 148.5 7.8 1365 24549 0.20 2.17 0.00 0.000 4 0.055 0.043 2908 867 2054
24645 0.64 242.9 136.9 11.9 1383 24652 0.30 2.15 0.00 0.000 6 0.126 0.032 2814 2263 2053
24991 0.78 242.9 109.1 8.0 1444 24998 0.15 2.28 0.00 0.000 4 0.063 0.048 2879 3681 2053
25044 0.57 242.9 103.2 11.7 1453 25052 0.30 2.20 0.00 0.000 6 0.123 0.032 2792 2253 2053
25390 0.86 277.2 79.5 5.5 1514 25425 0.25 0.00 29.38 0.774 6 0.053 0.000 2900 2251 1914
25766 0.67 277.2 35.6 12.8 1579 25772 0.20 2.30 0.00 0.000 4 0.124 0.044 2833 3670 1908
25801 0.67 277.2 31.6 10.9 1585 25807 0.00 2.20 0.00 0.000 6 0.000 0.030 2838 2247 1908
26104 end climb: SURFACE_DEPTH_REACHED
state 26104 begin surface coast
26156 end surface coast: CONTROL_FINISHED_OK
state 26158 begin surface