Philippines Feb08 * SG122 * Dive index * Mission links * Dive 295 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  122 HD_C  4.5199999e-05 PITCH_MAXERRORS  1 ALTIM_TOP_PING_RANGE  0
MISSION  6 HEADING  -1 PITCH_ADJ_GAIN  0.029999999 ALTIM_BOTTOM_TURN_MARGIN  0
DIVE  295 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  1 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_MIN  168 ALTIM_TOP_MIN_OBSTACLE  0
D_FLARE  3 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3733 ALTIM_PING_DEPTH  500
D_TGT  990 TGT_DEFAULT_LAT  47.599998 ROLL_DEG  40 ALTIM_PING_DELTA  10
D_ABORT  1040 TGT_DEFAULT_LON  -122.3 C_ROLL_DIVE  2150 ALTIM_FREQUENCY  13
D_NO_BLEED  100 TGT_AUTO_DEFAULT  0 C_ROLL_CLIMB  2375 ALTIM_PULSE  8
D_FINISH  0 SM_CC  475 HEAD_ERRBAND  15 ALTIM_SENSITIVITY  2
D_PITCH  0 N_FILEKB  4 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 FILEMGR  0 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  0
D_CALL  0 CALL_NDIVES  1 R_PORT_OVSHOOT  60 DEEPGLIDER  0
SURFACE_URGENCY  0 COMM_SEQ  0 R_STBD_OVSHOOT  21 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 KERMIT  0 ROLL_AD_RATE  350 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  1 DEVICE1  2
T_DIVE  366 N_NOSURFACE  0 ROLL_ADJ_GAIN  3 DEVICE2  -1
T_MISSION  439 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0.029999999 DEVICE3  -1
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  417 DEVICE4  -1
T_TURN  225 CALL_WAIT  60 VBD_MAX  3757 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2748 DEVICE6  -1
T_NO_W  120 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  -2 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  15 VBD_TIMEOUT  720 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.00167 COMPASS_DEVICE  33
D_OFFGRID  1001 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  5 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -33340.012 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  3 VBD_BLEED_AD_RATE  8 RAFOS_DEVICE  -1
APOGEE_PITCH  -5 RAFOS_PEAK_OFFSET  1.5 UNCOM_BLEED  20 XPDR_DEVICE  24
MAX_BUOY  150 RAFOS_CORR_THRESH  70 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  0 SIM_PITCH  0
GLIDE_SLOPE  30 PITCH_MIN  250 AH0_24V  91.800003 SEABIRD_T_G  0.0044208211
SPEED_FACTOR  1 PITCH_MAX  3579 AH0_10V  61.200001 SEABIRD_T_H  0.00065343338
RHO  1.0274 C_PITCH  2905 PRESSURE_YINT  -4.1162887 SEABIRD_T_I  2.7514026e-05
MASS  51598 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.00025722419 SEABIRD_T_J  3.0288847e-06
NAV_MODE  2 PITCH_CNV  0.0046000001 AD7714Ch0Gain  64 SEABIRD_C_G  -10.084093
FERRY_MAX  45 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1290534
KALMAN_USE  2 PITCH_GAIN  14.2 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0015321091
HD_A  0.0031900001 PITCH_TIMEOUT  20 COMPASS_USE  0 SEABIRD_C_J  0.00018406138
HD_B  0.0133 PITCH_AD_RATE  150 ALTIM_BOTTOM_PING_RANGE  0

Pre-dive calculations and measurements:
GPS1  071831,1249.524,12036.694,41,1.2,41,-0.8 TGT_NAME  EAST
_CALLS  1 TGT_LATLONG  1250.710,12042.750
_XMS_NAKs  0 TGT_RADIUS  1000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  0.72 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -72.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  072445,1249.614,12036.708,10,2.0,10,-0.8 MHEAD_RNG_PITCHd_Wd  97.1,11097,-18.6,-9.016
SPEED_LIMITS  0.156,0.206 D_GRID  1659

Post-dive calculations and measurements:
FINISH  -0.1,1.021111 _24V_AH  23.0,54.435
SM_CCo  23127,1.70,0.644,0,0,811,475.15 _10V_AH  10.1,27.881
SM_GC  1.59,0.00,0.00,1.70,0.000,0.000,0.644,249,2112,811,-12.22,-1.07,475.15 DATA_FILE_SIZE  66087,2035
IRIDIUM_FIX  1245.46,12037.35,140797,010114 CAP_FILE_SIZE  226302,0
TT8_MAMPS  0.023777 CFSIZE  260165632,232890368
HUMID  1990 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE  9.63904 CURRENT  0.006, 66.3,1
TCM_TEMP  24.90 GPS  190408,135202,1249.442,12038.307,37,1.4,37,-0.8
XPDR_PINGS  401

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor34167132.90 SBE_CT136824755.18
Roll_motor23871390.92 nil000.00
VBD_pump_during_apogee530138516918.87 nil000.00
VBD_pump_during_surface164425.19 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410357.67 nil000.00
Iridium_during_connect43160158.42 nil000.00
Iridium_during_xfer172223886.55
Transponder_ping1124201089.16
Mmodem_TX000.00
Mmodem_RX000.00
GPS10505.10
TT8432119864.12
LPSleep142672315.58
TT8_Active79119158.35
TT8_Sampling3411391371.52
TT8_CF870945328.25
TT8_Kalman000.00
Analog_circuits254112308.08
GPS_charging000.00
Compass33498270.67
RAFOS000.00

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
19 end surface: CONTROL_FINISHED_OK
state 19 begin dive
21 -1.56 -146.0 0.0 0.0 0 84 0.00 0.00 -60.03 0.000 2 0.000 0.000 251 2107 2465
87 -1.56 -146.0 3.4 -8.1 10 126 13.30 2.53 -17.02 0.000 4 0.168 0.051 2560 3571 3345
133 -0.85 -146.0 13.9 -19.2 17 142 0.82 2.33 0.00 0.000 6 0.121 0.026 2714 2169 3346
480 -0.89 -146.0 56.2 -11.7 78 487 0.00 2.45 0.00 0.000 4 0.000 0.042 2714 753 3347
533 -0.96 -146.0 62.2 -11.5 87 540 0.00 2.42 0.00 0.000 6 0.000 0.027 2714 2205 3347
878 -1.16 -146.0 96.4 -9.0 148 886 0.25 2.53 0.00 0.000 4 0.038 0.041 2636 747 3349
955 -1.16 -146.0 105.2 -11.8 161 962 0.00 2.53 0.00 0.000 6 0.000 0.028 2636 2252 3350
1300 -1.16 -146.0 142.0 -9.9 222 1307 0.00 2.60 0.00 0.000 4 0.000 0.042 2636 749 3352
1387 -1.16 -146.0 150.5 -9.9 237 1394 0.00 2.60 0.00 0.000 6 0.000 0.028 2636 2299 3352
1733 -1.27 -146.0 179.8 -7.7 298 1741 0.00 2.17 0.00 0.000 4 0.000 0.048 2636 3565 3353
1799 -1.27 -146.0 184.9 -8.0 309 1806 0.00 2.05 0.00 0.000 6 0.000 0.028 2636 2311 3353
2145 -1.41 -146.0 212.0 -8.3 370 2153 0.15 2.72 0.00 0.000 4 0.049 0.044 2584 749 3353
2193 -1.35 -146.0 216.7 -9.9 378 2201 0.12 2.67 0.00 0.000 6 0.104 0.031 2607 2326 3352
2539 -1.45 -146.0 246.3 -8.1 439 2546 0.00 2.78 0.00 0.000 4 0.000 0.046 2607 747 3351
2624 -1.45 -146.0 254.2 -9.0 450 2632 0.00 2.53 0.00 0.000 6 0.000 0.032 2607 2237 3350
2953 -1.53 -146.0 281.2 -8.4 481 2958 0.15 2.60 0.00 0.000 4 0.051 0.047 2558 758 3349
2982 -1.47 -146.0 284.2 -9.8 483 2987 0.15 2.78 0.00 0.000 6 0.105 0.033 2585 2383 3348
3307 -1.47 -146.0 313.2 -8.1 513 3308 0.00 0.00 0.00 0.000 6 0.000 0.000 2585 2383 3347
3625 -1.47 -146.0 343.2 -9.9 543 3629 0.00 2.88 0.00 0.000 4 0.000 0.049 2585 756 3345
3676 -1.47 -146.0 348.3 -9.8 547 3680 0.00 2.78 0.00 0.000 6 0.000 0.033 2585 2373 3345
4004 -1.47 -146.0 376.3 -8.5 577 4008 0.00 2.08 0.00 0.000 4 0.000 0.050 2585 3569 3343
4028 -1.43 -146.0 378.8 -8.8 579 4032 0.00 2.08 0.00 0.000 6 0.000 0.031 2585 2331 3342
4361 -1.43 -146.0 405.1 -7.5 610 4366 0.00 2.80 0.00 0.000 4 0.000 0.051 2585 755 3340
4428 -1.43 -146.0 411.0 -8.5 615 4435 0.00 2.72 0.00 0.000 6 0.000 0.035 2585 2340 3340
4756 -1.49 -146.0 436.9 -8.3 646 4760 0.00 2.83 0.00 0.000 4 0.000 0.050 2585 756 3337
4773 -1.53 -146.0 438.6 -8.4 647 4778 0.00 2.53 0.00 0.000 6 0.000 0.034 2585 2228 3336
5101 -1.60 -146.0 464.7 -7.7 677 5106 0.15 2.62 0.00 0.000 4 0.053 0.051 2542 753 3335
5202 -1.50 -146.0 474.6 -10.1 685 5210 0.17 2.47 0.00 0.000 6 0.108 0.034 2574 2193 3333
5530 -1.50 -146.0 500.7 -7.8 716 5534 0.00 2.40 0.00 0.000 4 0.000 0.052 2574 3556 3332
5639 -1.44 -146.0 510.2 -9.0 721 5643 0.00 2.28 0.00 0.000 6 0.000 0.035 2574 2223 3331
5968 -1.41 -146.0 538.2 -8.4 737 5973 0.12 2.35 0.00 0.000 4 0.114 0.051 2596 3550 3329
6001 -1.41 -146.0 541.4 -8.3 738 6008 0.00 2.22 0.00 0.000 6 0.000 0.034 2596 2241 3329
6317 -1.41 -146.0 565.8 -7.9 754 6322 0.00 2.33 0.00 0.000 4 0.000 0.053 2596 3552 3327
6344 -1.41 -146.0 568.3 -9.1 755 6348 0.00 2.22 0.00 0.000 6 0.000 0.034 2596 2246 3327
6669 -1.52 -146.0 593.1 -7.7 771 6670 0.00 0.00 0.00 0.000 6 0.000 0.000 2596 2245 3326
6977 -1.62 -146.0 617.1 -7.9 786 6982 0.17 2.67 0.00 0.000 4 0.052 0.054 2546 752 3324
7043 -1.53 -146.0 623.7 -9.9 789 7048 0.12 2.62 0.00 0.000 6 0.117 0.036 2567 2267 3323
7367 -1.49 -146.0 652.4 -9.0 805 7371 0.00 2.28 0.00 0.000 4 0.000 0.056 2567 3551 3322
7423 -1.44 -146.0 658.1 -9.5 807 7430 0.12 2.17 0.00 0.000 6 0.117 0.035 2589 2269 3322
7741 -1.44 -146.0 682.0 -7.4 823 7745 0.00 2.28 0.00 0.000 4 0.000 0.054 2589 3555 3320
7774 -1.44 -146.0 685.0 -8.0 824 7778 0.00 2.15 0.00 0.000 6 0.000 0.035 2589 2289 3320
8092 -1.44 -146.0 710.6 -8.7 839 8093 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2287 3319
8400 -1.44 -146.0 734.6 -7.4 854 8404 0.00 2.25 0.00 0.000 4 0.000 0.056 2589 3553 3317
8427 -1.44 -146.0 737.2 -8.5 855 8431 0.00 2.15 0.00 0.000 6 0.000 0.035 2589 2290 3317
8744 -1.44 -146.0 760.8 -7.4 870 8745 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2289 3316
9053 -1.44 -146.0 783.0 -7.4 885 9054 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2289 3315
9361 -1.44 -146.0 806.2 -7.5 900 9365 0.00 2.25 0.00 0.000 4 0.000 0.057 2589 3553 3314
9406 -1.44 -146.0 809.8 -7.8 902 9414 0.00 2.15 0.00 0.000 6 0.000 0.037 2589 2291 3314
9736 -1.44 -146.0 834.7 -7.8 918 9737 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2290 3312
10045 -1.44 -146.0 858.6 -7.3 933 10046 0.00 0.00 0.00 0.000 6 0.000 0.000 2589 2290 3312
10356 -1.47 -146.0 880.1 -7.0 948 10360 0.00 2.22 0.00 0.000 4 0.000 0.058 2589 3547 3311
10395 -1.47 -146.0 883.4 -8.0 949 10402 0.00 2.12 0.00 0.000 6 0.000 0.038 2589 2309 3310
10712 -1.47 -146.0 908.1 -8.0 965 10716 0.00 2.80 0.00 0.000 4 0.000 0.060 2589 762 3309
10752 -1.53 -146.0 911.7 -9.2 967 10756 0.00 2.67 0.00 0.000 6 0.000 0.038 2589 2292 3309
11080 -1.56 -146.0 937.0 -7.4 983 11085 0.12 2.25 0.00 0.000 4 0.063 0.060 2557 3553 3309
11125 -1.52 -146.0 941.1 -9.5 985 11129 0.00 2.12 0.00 0.000 6 0.000 0.037 2557 2305 3309
11454 -1.49 -146.0 967.3 -8.1 1001 11456 0.12 0.00 0.00 0.000 6 0.122 0.000 2577 2303 3308
11761 end dive: TARGET_DEPTH_EXCEEDED
state 11761 begin apogee
11768 -0.35 0.0 990.1 6.8 1016 11894 1.25 0.00 122.22 1.386 6 0.104 0.000 2826 2380 2748
11895 end apogee: CONTROL_FINISHED_OK
state 11895 begin climb
11897 1.56 146.0 993.9 0.0 1022 12034 1.92 2.50 128.45 1.338 4 0.051 0.061 3251 3719 2152
12076 1.24 146.0 983.2 13.8 1030 12081 0.43 2.35 0.00 0.000 6 0.133 0.040 3177 2386 2150
12399 1.14 160.2 953.9 8.4 1046 12423 0.12 2.72 12.07 1.345 4 0.130 0.061 3156 963 2094
12492 1.06 169.9 945.8 8.6 1050 12507 0.00 2.47 8.95 1.336 6 0.000 0.041 3156 2350 2054
12826 1.02 182.6 917.8 8.4 1066 12849 0.15 2.60 11.60 1.343 4 0.126 0.060 3130 965 2003
12888 1.04 199.6 912.4 8.3 1068 12909 0.00 2.45 15.12 1.325 6 0.000 0.041 3130 2341 1933
13227 1.07 215.1 885.4 8.3 1085 13250 0.00 2.62 13.65 1.332 4 0.000 0.061 3130 973 1870
13307 1.07 215.1 878.1 9.2 1088 13311 0.00 2.38 0.00 0.000 6 0.000 0.041 3130 2313 1870
13628 1.07 215.1 848.8 9.2 1104 13632 0.00 2.47 0.00 0.000 4 0.000 0.061 3130 968 1869
13660 1.07 215.1 845.4 10.1 1105 13667 0.00 2.35 0.00 0.000 6 0.000 0.041 3130 2297 1869
13977 1.08 222.7 816.0 8.7 1121 13991 0.00 2.55 6.68 1.316 4 0.000 0.061 3130 965 1840
14025 1.08 223.6 811.8 9.0 1123 14029 0.00 2.30 0.00 0.000 6 0.000 0.039 3130 2264 1840
14347 1.08 223.6 783.5 9.1 1139 14351 0.00 2.38 0.00 0.000 4 0.000 0.061 3130 969 1839
14403 1.08 223.6 778.1 9.4 1141 14410 0.00 2.22 0.00 0.000 6 0.000 0.039 3130 2235 1839
14719 1.11 238.8 751.5 8.3 1157 14739 0.00 0.00 14.45 1.272 6 0.000 0.000 3130 2235 1774
15049 1.16 247.7 723.7 8.6 1173 15064 0.12 2.40 8.25 1.260 4 0.073 0.060 3160 971 1738
15125 1.16 247.7 716.0 9.9 1176 15129 0.00 2.20 0.00 0.000 6 0.000 0.040 3159 2219 1737
15441 1.16 247.7 686.8 9.4 1191 15442 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 2219 1737
15751 1.17 251.0 658.3 8.9 1206 15760 0.00 2.35 3.17 1.202 4 0.000 0.059 3159 966 1724
15788 1.17 251.0 654.5 9.4 1207 15796 0.00 2.17 0.00 0.000 6 0.000 0.038 3160 2204 1724
16105 1.17 251.0 626.1 9.2 1223 16109 0.00 2.25 0.00 0.000 4 0.000 0.060 3159 970 1723
16138 1.17 251.0 622.9 9.8 1224 16145 0.00 2.12 0.00 0.000 6 0.000 0.038 3159 2190 1724
16453 1.18 255.5 594.6 8.8 1240 16463 0.00 2.83 4.50 1.179 4 0.000 0.060 3159 3732 1706
16492 1.18 255.5 590.9 10.5 1242 16497 0.00 2.72 0.00 0.000 6 0.000 0.039 3159 2179 1706
16820 1.19 262.4 562.5 8.7 1258 16831 0.00 2.28 6.50 1.157 4 0.000 0.059 3159 969 1677
16853 1.19 262.4 559.1 10.1 1259 16861 0.00 2.17 0.00 0.000 6 0.000 0.037 3159 2208 1676
17170 1.19 262.4 530.0 9.3 1275 17171 0.00 0.00 0.00 0.000 6 0.000 0.000 3159 2208 1677
17479 1.19 262.4 501.3 9.1 1290 17483 0.00 2.72 0.00 0.000 4 0.000 0.058 3159 3729 1677
17511 1.19 262.4 497.9 10.1 1292 17518 0.00 2.70 0.00 0.000 6 0.000 0.038 3160 2174 1677
17839 1.21 276.7 470.2 8.4 1323 17856 0.00 0.00 12.85 1.069 6 0.000 0.000 3159 2174 1619
18176 1.24 294.0 442.0 8.2 1355 18200 0.00 2.88 15.02 1.031 4 0.000 0.054 3159 3732 1549
18238 1.24 294.0 436.3 9.8 1360 18245 0.00 2.70 0.00 0.000 6 0.000 0.038 3159 2194 1548
18565 1.28 295.5 409.6 8.9 1391 18570 0.12 2.22 0.00 0.000 4 0.067 0.057 3190 959 1547
18610 1.23 295.5 404.9 9.5 1394 18617 0.00 2.15 0.00 0.000 6 0.000 0.036 3190 2197 1547
18937 1.23 295.5 373.4 9.6 1425 18941 0.00 2.72 0.00 0.000 4 0.000 0.054 3190 3727 1547
18976 1.20 295.5 369.0 10.1 1428 18982 0.12 2.67 0.00 0.000 6 0.126 0.038 3170 2186 1546
19302 1.22 305.0 339.7 8.6 1458 19315 0.00 2.28 9.25 0.973 4 0.000 0.056 3170 969 1503
19374 1.22 305.0 333.2 9.3 1464 19378 0.00 2.12 0.00 0.000 6 0.000 0.035 3170 2191 1503
19702 1.26 313.5 305.8 8.6 1494 19716 0.00 2.85 7.25 0.948 4 0.000 0.054 3170 3737 1470
19775 1.27 319.3 299.3 8.8 1500 19788 0.00 2.70 5.18 0.940 6 0.000 0.036 3170 2184 1446
20105 1.35 327.9 270.9 8.6 1531 20119 0.12 2.85 7.80 0.911 4 0.067 0.051 3201 3729 1411
20192 1.32 327.9 261.7 11.0 1538 20200 0.00 2.58 0.00 0.000 6 0.000 0.036 3202 2234 1410
20529 1.32 327.9 228.2 9.7 1588 20536 0.00 2.28 0.00 0.000 4 0.000 0.054 3202 960 1410
20628 1.32 327.9 218.2 10.2 1605 20635 0.00 2.17 0.00 0.000 6 0.000 0.035 3201 2220 1409
20973 1.32 327.9 187.4 9.1 1666 20980 0.00 2.25 0.00 0.000 4 0.000 0.053 3202 960 1408
21021 1.32 327.9 183.0 9.2 1674 21027 0.00 2.08 0.00 0.000 6 0.000 0.034 3201 2170 1408
21368 1.41 358.3 154.0 7.7 1735 21401 0.00 2.22 25.50 0.762 4 0.000 0.051 3201 957 1285
21471 1.48 370.1 145.1 8.5 1752 21486 0.12 2.22 9.70 0.777 6 0.062 0.033 3236 2245 1239
21826 1.63 417.9 116.2 6.9 1814 21874 0.10 2.40 39.88 0.698 4 0.061 0.051 3267 964 1043
21922 1.63 417.9 107.8 9.4 1829 21929 0.00 2.10 0.00 0.000 6 0.000 0.033 3267 2182 1040
22268 1.76 431.4 77.0 8.4 1890 22284 0.00 2.25 10.25 0.687 4 0.000 0.048 3267 965 989
22353 1.88 470.3 70.3 7.3 1904 22393 0.22 2.30 32.45 0.637 6 0.041 0.031 3332 2305 829
22734 1.88 470.3 34.9 9.7 1970 22741 0.00 2.38 0.00 0.000 4 0.000 0.045 3332 956 826
22849 1.88 470.3 23.3 10.8 1990 22856 0.00 2.22 0.00 0.000 6 0.000 0.029 3332 2273 825
23078 end climb: SURFACE_DEPTH_REACHED
state 23079 begin surface coast
23102 end surface coast: CONTROL_FINISHED_OK
state 23102 begin surface