OKMC Nov11 * SG165 * Dive index * Mission links * Dive 255 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  165 HD_B  0.010078 PITCH_ADJ_GAIN  0.0070000002 ALTIM_TOP_PING_RANGE  0
MISSION  5 HD_C  9.8500004e-06 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  255 HEADING  -1 ROLL_MIN  200 ALTIM_TOP_TURN_MARGIN  0
N_DIVES  0 ESCAPE_HEADING  0 ROLL_MAX  3692 ALTIM_TOP_MIN_OBSTACLE  0
D_SURF  11 ESCAPE_HEADING_DELTA  10 ROLL_DEG  40 ALTIM_PING_DEPTH  0
D_FLARE  11 FIX_MISSING_TIMEOUT  0 C_ROLL_DIVE  1955 ALTIM_PING_DELTA  10
D_TGT  990 TGT_DEFAULT_LAT  4736 C_ROLL_CLIMB  1990 ALTIM_FREQUENCY  13
D_ABORT  1020 TGT_DEFAULT_LON  -12218 HEAD_ERRBAND  10 ALTIM_PULSE  4
D_NO_BLEED  200 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  2
D_BOOST  3 SM_CC  450 ROLL_TIMEOUT  15 XPDR_VALID  6
T_BOOST  0 N_FILEKB  4 R_PORT_OVSHOOT  39 XPDR_INHIBIT  90
D_FINISH  0 FILEMGR  0 R_STBD_OVSHOOT  42 INT_PRESSURE_SLOPE  0.0097660003
D_PITCH  0 CALL_NDIVES  1 ROLL_AD_RATE  350 INT_PRESSURE_YINT  0.85000002
D_SAFE  0 COMM_SEQ  0 ROLL_MAXERRORS  1 DEEPGLIDER  0
D_CALL  0 PROTOCOL  9 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
SURFACE_URGENCY  0 N_NOCOMM  3 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 NOCOMM_ACTION  163 VBD_MIN  485 DEVICE1  2
SURFACE_URGENCY_FORCE  0 N_NOSURFACE  0 VBD_MAX  3959 DEVICE2  53
T_DIVE  300 UPLOAD_DIVES_MAX  -1 C_VBD  2786 DEVICE3  35
T_MISSION  340 CALL_TRIES  5 VBD_DBAND  2 DEVICE4  -1
T_ABORT  1440 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_TURN  225 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_TURN_SAMPINT  5 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_NO_W  120 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  4 LOGGERDEVICE1  -1
T_LOITER  0 T_GPS  15 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_EPIRB  0 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
USE_BATHY  -7 T_GPS_ALMANAC  0 UNCOM_BLEED  20 LOGGERDEVICE4  -1
USE_ICE  0 T_GPS_CHARGE  -271731.34 VBD_MAXERRORS  1 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.30000001 T_RSLEEP  3 CF8_MAXERRORS  0 COMPASS2_DEVICE  -1
D_OFFGRID  1001 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_10V  9.5 XPDR_DEVICE  24
MAX_BUOY  200 PITCH_MIN  180 FG_AHR_10V  0 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3922 FG_AHR_24V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  2950 PHONE_SUPPLY  2 SEABIRD_T_G  0.0043567759
SPEED_FACTOR  1 PITCH_DBAND  0.1 PRESSURE_YINT  -57.316994 SEABIRD_T_H  0.00062679156
RHO  1.0275 PITCH_CNV  0.003125763 PRESSURE_SLOPE  0.000116182 SEABIRD_T_I  2.4204959e-05
MASS  51872 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.6176024e-06
NAV_MODE  0 PITCH_GAIN  30 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -10.134539
FERRY_MAX  45 PITCH_TIMEOUT  16 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1435308
KALMAN_USE  2 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.0010041125
HD_A  0.0038360001 PITCH_MAXERRORS  1 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00016055659

Pre-dive calculations and measurements:
GPS1  110112,004839,2140.658,12011.857,40,1.2,41,-2.6 TGT_NAME  W2A
_CALLS  2 TGT_LATLONG  2145.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.084,-0.266
_SM_DEPTHo  6.92 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -60.1 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  110112,005850,2140.774,12012.073,15,1.9,15,-2.6 MHEAD_RNG_PITCHd_Wd  293.3,22194,-17.0,-11.000
SPEED_LIMITS  0.191,0.306 D_GRID  1921

Post-dive calculations and measurements:
FINISH  5.6,1.012738 _10V_AH  10.0,47.108
SM_CCo  16191,0.00,0.000,0,0,481,565.42 FG_AHR_24Vo  0.000
SM_GC  6.43,7.95,0.00,0.00,0.032,0.000,0.000,156,2009,481,-8.64,1.53,565.42,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2129.53,12018.06,110112,000037 MEM  325104
TT8_MAMPS  0.023968,0.023968 DATA_FILE_SIZE  76784,1391
HUMID  44.40 CAP_FILE_SIZE  182411,0
INTERNAL_PRESSURE  9.33665 CFSIZE  260165632,176898048
TCM_TEMP  23.10 ERRORS  0,2,0,0,0,0,0,0,0,0,0,0,0,4,0
XPDR_PINGS  28 GPS  110112,053007,2141.144,12010.377,28,1.6,28,-2.6
_24V_AH  22.4,58.275

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor21243117.84 SBE_CT94424507.75
Roll_motor140130412.07 AA3830121633899.28
VBD_pump_during_apogee685132820389.18 WL_BB2F10521052474.95
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init58103134.91 nil000.00
Iridium_during_connect62160225.40 nil000.00
Iridium_during_xfer2402231199.03 nil000.00
Transponder_ping742065.86 nil000.00
GUMSTIX_24V000.00
GPS17508.80
TT8323019639.66
LPSleep88782194.43
TT8_Active79419157.40
TT8_Sampling3487391388.11
TT8_CF839045179.01
TT8_Kalman000.00
Analog_circuits221312265.57
GPS_charging000.00
Compass307215460.87
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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
16 -0.81 -194.6 0.0 0.0 0 127 0.00 0.00 -107.75 0.000 2 0.000 0.000 126 1961 3351 0 0 0 0 0 0 28.83 28.83 28.83
130 -0.81 -194.6 11.1 -11.6 16 154 10.48 2.22 -3.83 0.000 4 0.243 0.053 2672 3369 3582 0 0 0 0 0 0 25.12 26.01 25.72
300 -0.75 -194.6 62.6 -21.5 43 307 0.12 2.15 0.00 0.000 6 0.164 0.031 2704 1946 3583 0 0 0 0 0 0 25.87 26.16 28.83
666 -0.70 -194.6 142.4 -20.7 104 675 0.00 2.17 0.00 0.000 4 0.000 0.047 2704 558 3584 0 0 0 0 0 0 28.83 26.16 28.83
838 -0.67 -194.6 176.3 -14.6 132 848 0.10 2.15 0.00 0.000 6 0.138 0.036 2731 1949 3584 0 0 0 0 0 0 25.95 26.25 28.83
1189 -0.67 -194.6 209.4 -10.6 184 1200 0.00 2.17 0.00 0.000 4 0.000 0.046 2731 555 3585 0 0 0 0 0 0 28.83 26.20 28.83
1213 -0.67 -194.6 211.8 -9.9 186 1224 0.00 2.15 0.00 0.000 6 0.000 0.036 2729 1956 3585 0 0 0 0 0 0 28.83 26.27 28.83
1526 -0.67 -194.6 249.2 -13.8 217 1534 0.00 2.17 0.00 0.000 4 0.000 0.047 2729 560 3585 0 0 0 0 0 0 28.83 26.20 28.83
1550 -0.68 -194.6 252.4 -13.4 219 1558 0.00 2.12 0.00 0.000 6 0.000 0.037 2726 1959 3585 0 0 0 0 0 0 28.83 26.27 28.83
1857 -0.69 -194.6 289.2 -9.8 250 1859 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1960 3585 0 0 0 0 0 0 28.83 28.83 28.83
2157 -0.70 -194.6 314.0 -8.0 280 2159 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 1960 3585 0 0 0 0 0 0 28.83 28.83 28.83
2462 -0.71 -194.6 340.7 -9.6 310 2468 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1960 3584 0 0 0 0 0 0 28.83 28.83 28.83
2769 -0.73 -194.6 369.9 -9.0 341 2777 0.00 2.20 0.00 0.000 4 0.000 0.054 2727 3365 3582 0 0 0 0 0 0 28.83 26.15 28.83
2835 -0.76 -194.6 375.3 -8.5 347 2842 0.00 2.15 0.00 0.000 6 0.000 0.033 2726 1946 3582 0 0 0 0 0 0 28.83 26.32 28.83
3140 -0.78 -194.6 406.4 -11.2 378 3144 0.00 2.15 0.00 0.000 4 0.000 0.050 2726 558 3581 0 0 0 0 0 0 28.83 26.17 28.83
3185 -0.80 -194.6 411.4 -12.0 382 3192 0.00 2.15 0.00 0.000 6 0.000 0.039 2726 1954 3581 0 0 0 0 0 0 28.83 26.25 28.83
3492 -0.81 -194.6 446.2 -10.7 413 3502 0.12 2.17 0.00 0.000 4 0.089 0.050 2644 3351 3579 0 0 0 0 0 0 26.51 26.14 28.83
3549 -0.80 -194.6 453.6 -14.2 418 3557 0.17 2.12 0.00 0.000 6 0.144 0.033 2693 1948 3579 0 0 0 0 0 0 25.96 26.30 28.83
3856 -0.80 -194.6 493.0 -13.2 449 3865 0.00 2.15 0.00 0.000 4 0.000 0.050 2694 566 3577 0 0 0 0 0 0 28.83 26.17 28.83
3890 -0.80 -194.6 497.2 -13.4 452 3897 0.00 2.15 0.00 0.000 6 0.000 0.039 2687 1955 3577 0 0 0 0 0 0 28.83 26.25 28.83
4197 -0.80 -194.6 537.2 -11.6 483 4206 0.00 2.20 0.00 0.000 4 0.000 0.052 2677 3366 3575 0 0 0 0 0 0 28.83 26.13 28.83
4252 -0.80 -194.6 542.7 -10.6 488 4259 0.00 2.15 0.00 0.000 6 0.000 0.034 2677 1953 3575 0 0 0 0 0 0 28.83 26.29 28.83
4560 -0.78 -194.6 573.2 -8.7 519 4568 0.00 2.22 0.00 0.000 4 0.000 0.050 2671 3361 3573 0 0 0 0 0 0 28.83 26.13 28.83
4591 -0.78 -194.6 576.0 -8.9 522 4600 0.00 2.15 0.00 0.000 6 0.000 0.033 2671 1946 3573 0 0 0 0 0 0 28.83 26.29 28.83
4904 -0.76 -194.6 604.1 -8.9 551 4910 0.12 2.22 0.00 0.000 4 0.158 0.047 2703 3353 3572 0 0 0 0 0 0 26.22 26.13 28.83
4945 -0.76 -194.6 607.2 -8.1 553 4950 0.00 2.10 0.00 0.000 6 0.000 0.033 2703 1960 3571 0 0 0 0 0 0 28.83 26.29 28.83
5265 -0.77 -194.6 630.2 -8.1 569 5266 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 1960 3569 0 0 0 0 0 0 28.83 28.83 28.83
5564 -0.78 -194.6 657.3 -9.6 584 5565 0.00 0.00 0.00 0.000 6 0.000 0.000 2703 1960 3568 0 0 0 0 0 0 28.83 28.83 28.83
5865 -0.80 -194.6 686.9 -10.2 599 5871 0.00 2.20 0.00 0.000 4 0.000 0.052 2703 558 3567 0 0 0 0 0 0 28.83 26.10 28.83
5907 -0.81 -194.6 691.2 -10.3 601 5912 0.00 2.15 0.00 0.000 6 0.000 0.040 2700 1950 3567 0 0 0 0 0 0 28.83 26.19 28.83
6226 -0.82 -194.6 725.0 -10.1 617 6231 0.00 2.20 0.00 0.000 4 0.000 0.054 2691 3363 3566 0 0 0 0 0 0 28.83 26.07 28.83
6329 -0.84 -194.6 734.7 -9.6 622 6334 0.00 2.15 0.00 0.000 6 0.000 0.034 2691 1945 3565 0 0 0 0 0 0 28.83 26.26 28.83
6641 -0.84 -194.6 764.4 -8.8 638 6647 0.00 2.28 0.00 0.000 4 0.000 0.051 2687 3364 3563 0 0 0 0 0 0 28.83 26.05 28.83
6696 -0.84 -194.6 767.8 -8.7 640 6703 0.00 2.17 0.00 0.000 6 0.000 0.033 2686 1943 3563 0 0 0 0 0 0 28.83 26.25 28.83
7001 -0.84 -194.6 794.1 -8.3 656 7003 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 1943 3562 0 0 0 0 0 0 28.83 28.83 28.83
7303 -0.84 -194.6 820.9 -9.3 671 7304 0.00 0.00 0.00 0.000 6 0.000 0.000 2687 1943 3561 0 0 0 0 0 0 28.83 28.83 28.83
7601 -0.84 -194.6 853.6 -11.8 686 7607 0.00 2.20 0.00 0.000 4 0.000 0.053 2686 553 3560 0 0 0 0 0 0 28.83 26.06 28.83
7634 -0.84 -194.6 856.1 -12.0 687 7641 0.00 2.20 0.00 0.000 6 0.000 0.041 2686 1961 3560 0 0 0 0 0 0 28.83 26.14 28.83
7942 -0.84 -194.6 897.8 -13.6 703 7948 0.00 2.20 0.00 0.000 4 0.000 0.056 2686 3357 3558 0 0 0 0 0 0 28.83 25.99 28.83
8009 -0.86 -194.6 905.8 -13.4 706 8014 0.00 2.15 0.00 0.000 6 0.000 0.034 2686 1958 3558 0 0 0 0 0 0 28.83 26.22 28.83
8316 -0.86 -194.6 950.4 -14.8 721 8322 0.00 2.28 0.00 0.000 4 0.000 0.054 2686 3365 3557 0 0 0 0 0 0 28.83 25.98 28.83
8351 -0.87 -194.6 953.4 -14.8 722 8358 0.00 2.17 0.00 0.000 6 0.000 0.034 2687 1949 3556 0 0 0 0 0 0 28.83 26.21 28.83
8614 end dive: TARGET_DEPTH_EXCEEDED
state 8614 begin apogee
8620 -0.17 0.0 992.7 -13.7 736 8790 0.62 0.00 160.88 1.329 6 0.120 0.000 2892 1998 2786 0 0 0 0 0 0 25.57 28.83 23.08
8791 end apogee: CONTROL_FINISHED_OK
state 8791 begin climb
8793 0.81 194.6 1003.6 0.0 744 8977 0.88 2.53 176.05 1.289 4 0.048 0.052 3224 3390 1991 0 0 0 0 0 0 24.65 23.77 22.43
9002 0.71 194.6 982.0 17.0 755 9008 0.17 2.38 0.00 0.000 6 0.155 0.041 3185 1991 1989 0 0 0 0 0 0 24.08 24.28 28.83
9322 0.64 194.6 930.0 16.4 771 9323 0.00 0.00 0.00 0.000 6 0.000 0.000 3185 1991 1984 0 0 0 0 0 0 28.83 28.83 28.83
9621 0.58 194.6 879.3 17.8 786 9623 0.17 0.00 0.00 0.000 6 0.164 0.000 3138 1991 1983 0 0 0 0 0 0 25.88 28.83 28.83
9922 0.54 194.6 836.8 13.3 801 9927 0.00 2.20 0.00 0.000 4 0.000 0.054 3146 592 1982 0 0 0 0 0 0 28.83 26.10 28.83
9974 0.51 194.6 831.2 13.9 803 9981 0.12 2.17 0.00 0.000 6 0.158 0.035 3113 1993 1980 0 0 0 0 0 0 25.96 26.22 28.83
10282 0.50 194.6 792.9 11.7 819 10287 0.00 2.17 0.00 0.000 4 0.000 0.048 3113 3393 1980 0 0 0 0 0 0 28.83 26.13 28.83
10334 0.48 194.6 787.7 12.1 821 10340 0.00 2.17 0.00 0.000 6 0.000 0.035 3120 1988 1980 0 0 0 0 0 0 28.83 26.23 28.83
10642 0.46 194.6 749.9 11.6 837 10643 0.00 0.00 0.00 0.000 6 0.000 0.000 3121 1988 1979 0 0 0 0 0 0 28.83 28.83 28.83
10941 0.48 227.6 717.9 9.8 852 10974 0.00 2.35 28.40 1.143 4 0.000 0.046 3120 3410 1857 0 0 0 0 0 0 28.83 25.75 24.25
11000 0.50 257.9 712.2 9.9 854 11037 0.00 2.25 28.67 1.118 6 0.000 0.035 3130 1970 1732 0 0 0 0 0 0 28.83 25.83 24.01
11342 0.55 313.1 678.7 8.9 871 11398 0.00 2.33 49.45 1.111 4 0.000 0.055 3141 596 1508 0 0 0 0 0 0 28.83 25.29 24.03
11446 0.62 364.0 669.5 9.1 876 11500 0.00 2.20 45.70 1.089 6 0.000 0.033 3141 1998 1301 0 0 0 0 0 0 28.83 25.67 23.86
11802 0.73 453.7 640.9 7.6 894 11883 0.12 0.00 77.70 1.074 6 0.093 0.000 3206 1998 936 0 0 0 0 0 0 26.14 28.83 23.92
12181 0.70 453.7 581.5 16.0 918 12190 0.00 2.28 0.00 0.000 4 0.000 0.055 3216 593 930 0 0 0 0 0 0 28.83 25.94 28.83
12276 0.68 453.7 566.5 16.0 927 12283 0.17 2.17 0.00 0.000 6 0.141 0.033 3168 2006 929 0 0 0 0 0 0 25.82 26.10 28.83
12583 0.69 453.7 529.7 12.1 958 12592 0.00 2.28 0.00 0.000 4 0.000 0.054 3175 592 928 0 0 0 0 0 0 28.83 26.08 28.83
12638 0.70 453.7 523.2 12.9 963 12644 0.00 2.12 0.00 0.000 6 0.000 0.032 3175 1990 928 0 0 0 0 0 0 28.83 26.22 28.83
12944 0.70 453.7 478.5 15.3 994 12953 0.00 2.25 0.00 0.000 4 0.000 0.054 3184 596 928 0 0 0 0 0 0 28.83 26.12 28.83
13019 0.71 453.7 467.8 14.6 1001 13026 0.00 2.12 0.00 0.000 6 0.000 0.032 3184 1990 928 0 0 0 0 0 0 28.83 26.27 28.83
13326 0.71 453.7 418.6 16.0 1032 13334 0.00 2.25 0.00 0.000 4 0.000 0.054 3194 586 928 0 0 0 0 0 0 28.83 26.13 28.83
13369 0.71 453.7 411.9 16.5 1036 13376 0.00 2.15 0.00 0.000 6 0.000 0.032 3194 1998 928 0 0 0 0 0 0 28.83 26.29 28.83
13677 0.71 453.7 359.3 17.5 1067 13686 0.00 2.22 0.00 0.000 4 0.000 0.054 3204 596 928 0 0 0 0 0 0 28.83 26.13 28.83
13749 0.71 453.7 347.2 17.2 1074 13758 0.00 2.12 0.00 0.000 6 0.000 0.032 3203 1991 928 0 0 0 0 0 0 28.83 26.29 28.83
14061 0.71 453.7 287.7 18.5 1105 14070 0.00 2.22 0.00 0.000 4 0.000 0.054 3213 589 928 0 0 0 0 0 0 28.83 26.13 28.83
14107 0.70 453.7 278.5 20.5 1109 14116 0.12 2.15 0.00 0.000 6 0.142 0.032 3179 2001 929 0 0 0 0 0 0 26.06 26.29 28.83
14416 0.72 453.7 231.2 11.6 1140 14427 0.00 2.22 0.00 0.000 4 0.000 0.054 3186 596 928 0 0 0 0 0 0 28.83 26.12 28.83
14485 0.76 463.4 223.9 10.6 1146 14499 0.00 2.10 8.98 0.709 6 0.000 0.032 3186 1991 895 0 0 0 0 0 0 28.83 26.29 24.46
14807 0.93 580.7 198.0 6.6 1180 14949 0.15 2.33 109.18 0.718 4 0.080 0.054 3276 598 483 0 0 0 0 4 0 26.39 25.32 24.28
15057 0.94 580.7 162.1 15.0 1218 15066 0.00 2.17 0.00 0.000 6 0.000 0.037 3277 1986 482 0 0 0 0 0 0 28.83 25.84 28.83
15425 0.94 580.7 100.5 17.4 1279 15432 0.00 2.22 0.00 0.000 4 0.000 0.053 3287 590 482 0 0 0 0 0 0 28.83 26.01 28.83
15529 0.96 580.7 82.8 16.7 1296 15538 0.00 2.15 0.00 0.000 6 0.000 0.031 3287 1993 482 0 0 0 0 0 0 28.83 26.20 28.83
15899 0.97 580.7 26.5 13.4 1357 15906 0.00 2.20 0.00 0.000 4 0.000 0.051 3297 592 482 0 0 0 0 0 0 28.83 26.12 28.83
16000 0.99 580.7 12.7 13.5 1373 16007 0.00 2.10 0.00 0.000 6 0.000 0.030 3297 1997 482 0 0 0 0 0 0 28.83 26.29 28.83
16014 end climb: SURFACE_DEPTH_REACHED
state 16014 begin surface coast
16114 end surface coast: CONTROL_FINISHED_OK
state 16115 begin surface