Faroes 14Feb08 * SG104 * Dive index * Mission links * Dive 47 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  104 HD_B  0.0099684997 PITCH_AD_RATE  175 ALTIM_TOP_PING_RANGE  0
MISSION  4 HD_C  2.5700001e-06 PITCH_MAXERRORS  1 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  47 HEADING  -1 PITCH_ADJ_GAIN  0 ALTIM_TOP_TURN_MARGIN  0
D_SURF  2 ESCAPE_HEADING  0 PITCH_ADJ_DBAND  0 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 ESCAPE_HEADING_DELTA  10 ROLL_MIN  176 ALTIM_PING_DEPTH  150
D_TGT  990 FIX_MISSING_TIMEOUT  0 ROLL_MAX  3929 ALTIM_PING_DELTA  25
D_ABORT  1090 TGT_DEFAULT_LAT  61.599998 C_ROLL_DIVE  1900 ALTIM_FREQUENCY  13
D_NO_BLEED  100 TGT_DEFAULT_LON  -8.75 C_ROLL_CLIMB  2000 ALTIM_PULSE  3
D_FINISH  0 TGT_AUTO_DEFAULT  0 HEAD_ERRBAND  10 ALTIM_SENSITIVITY  4
D_PITCH  0 SM_CC  250 ROLL_CNV  0.028270001 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 N_FILEKB  4 ROLL_TIMEOUT  15 INT_PRESSURE_YINT  -1.784981
D_CALL  0 FILEMGR  0 R_PORT_OVSHOOT  34 DEEPGLIDER  0
SURFACE_URGENCY  0 CALL_NDIVES  1 R_STBD_OVSHOOT  27 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  0 COMM_SEQ  0 ROLL_AD_RATE  400 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  0 N_NOCOMM  1 ROLL_MAXERRORS  12 DEVICE1  2
T_DIVE  412.5 N_NOSURFACE  0 ROLL_ADJ_GAIN  0 DEVICE2  20
T_MISSION  450 UPLOAD_DIVES_MAX  -1 ROLL_ADJ_DBAND  0 DEVICE3  35
T_ABORT  1440 CALL_TRIES  5 VBD_MIN  607 DEVICE4  -1
T_TURN  225 CALL_WAIT  60 VBD_MAX  3934 DEVICE5  -1
T_TURN_SAMPINT  5 CAPUPLOAD  0 C_VBD  2915 DEVICE6  -1
T_NO_W  300 CAPMAXSIZE  100000 VBD_DBAND  2 SMARTS  0
USE_BATHY  0 HEAPDBG  0 VBD_CNV  -0.24529999 SMARTDEVICE1  -1
USE_ICE  0 T_GPS  5 VBD_TIMEOUT  360 SMARTDEVICE2  -1
ICE_FREEZE_MARGIN  0.30000001 N_GPS  20 PITCH_VBD_SHIFT  0.0012300001 COMPASS_DEVICE  33
D_OFFGRID  100 T_GPS_ALMANAC  0 VBD_PUMP_AD_RATE_SURFACE  6 PHONE_DEVICE  48
T_WATCHDOG  10 T_GPS_CHARGE  -35998.539 VBD_PUMP_AD_RATE_APOGEE  4 GPS_DEVICE  32
RELAUNCH  1 T_RSLEEP  57 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  60 VBD_MAXERRORS  1 SIM_W  0
COURSE_BIAS  0 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  2 SIM_PITCH  0
GLIDE_SLOPE  30 PITCH_MIN  45 AH0_24V  91.800003 SEABIRD_T_G  0.0043062796
SPEED_FACTOR  1 PITCH_MAX  3331 AH0_10V  61.200001 SEABIRD_T_H  0.0006289829
RHO  1.023 C_PITCH  2450 PRESSURE_YINT  -16.564281 SEABIRD_T_I  2.2033064e-05
MASS  52000 PITCH_DBAND  0.1 PRESSURE_SLOPE  0.000115925 SEABIRD_T_J  2.057111e-06
NAV_MODE  1 PITCH_CNV  0.0046000001 AD7714Ch0Gain  128 SEABIRD_C_G  -10.442612
FERRY_MAX  12 P_OVSHOOT  0.039999999 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1821688
KALMAN_USE  1 PITCH_GAIN  15 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.0015124022
HD_A  0.0038945 PITCH_TIMEOUT  15 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00022414648

Pre-dive calculations and measurements:
GPS1  085808,6121.733,-337.124,39,1.1,39,-6.3 TGT_NAME  FSC_S
_CALLS  1 TGT_LATLONG  6025.000,-500.000
_XMS_NAKs  0 TGT_RADIUS  5000.000
_XMS_TOUTs  0 KALMAN_CONTROL  -0.201,-0.141
_SM_DEPTHo  0.81 KALMAN_X  163643.7,390.2,-279.5,-188106.7,2489.4
_SM_ANGLEo  -60.4 KALMAN_Y  -50046.1,188.9,-693.3,27889.4,-67.7
GPS2  090445,6121.755,-336.836,13,1.1,13,-6.3 MHEAD_RNG_PITCHd_Wd  241.3,129731,-14.8,-8.000
SPEED_LIMITS  0.139,0.245 D_GRID  990

Post-dive calculations and measurements:
FINISH  0.5,1.027429 XPDR_PINGS  0
SM_CCo  23439,30.23,0.621,4,0,1895,250.21 _24V_AH  23.0,9.932
SM_GC  0.78,0.00,0.00,30.23,0.000,0.000,0.621,45,1905,1895,-11.07,0.11,250.21 _10V_AH  10.1,5.840
IRIDIUM_FIX  6059.36,-340.18,200597,020225 DATA_FILE_SIZE  56836,1128
TT8_MAMPS  0.026845 CFSIZE  260165632,254025728
HUMID  1692 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,32,14,0
INTERNAL_PRESSURE  8.38143 GPS  240208,153826,6120.126,-335.515,39,1.4,39,-6.3
TCM_TEMP  19.90

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor2615694.74 SBE_CT84824468.29
Roll_motor24172400.14 SBE_O276219333.43
VBD_pump_during_apogee392143112914.11 WL_BB2F6591051592.27
VBD_pump_during_surface30621431.89 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init3210377.64 nil000.00
Iridium_during_connect38160139.93 nil000.00
Iridium_during_xfer1962231006.64
Transponder_ping842082.11
Mmodem_TX000.00
Mmodem_RX000.00
GPS14507.49
TT8210619421.18
LPSleep178482394.79
TT8_Active68719137.54
TT8_Sampling2609391048.88
TT8_CF862845290.87
TT8_Kalman338127.58
Analog_circuits198112240.13
GPS_charging000.00
Compass25668207.41
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
21 end surface: CONTROL_FINISHED_OK
state 21 begin dive
24 -1.17 -146.6 0.0 0.0 0 117 0.00 0.00 -91.22 0.000 6 0.000 0.000 39 1883 3515
120 -1.17 -146.6 2.9 -3.2 4 142 12.02 2.58 0.00 0.000 4 0.156 0.049 2189 3305 3515
349 -1.17 -146.6 39.0 -9.4 14 353 0.00 2.42 0.00 0.000 6 0.000 0.039 2189 1906 3516
671 -1.17 -146.6 69.7 -12.3 30 672 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 1906 3516
980 -1.17 -146.6 102.7 -9.0 45 984 0.00 2.47 0.00 0.000 4 0.000 0.049 2189 3305 3517
1030 -1.17 -146.6 106.7 -8.4 47 1034 0.00 2.45 0.00 0.000 6 0.000 0.040 2189 1891 3517
1346 -1.17 -146.6 130.0 -7.1 62 1351 0.00 2.53 0.00 0.000 4 0.000 0.050 2190 3310 3518
1413 -1.17 -146.6 135.9 -9.2 65 1418 0.00 2.45 0.00 0.000 6 0.000 0.039 2189 1893 3518
1735 -1.17 -146.6 168.5 -10.9 81 1736 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 1893 3518
2044 -1.17 -146.6 197.6 -8.9 96 2049 0.00 2.53 0.00 0.000 4 0.000 0.051 2189 3308 3518
2139 -1.17 -146.6 206.4 -9.2 100 2144 0.00 2.42 0.00 0.000 6 0.000 0.041 2189 1903 3518
2455 -1.17 -146.6 233.5 -8.0 115 2456 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 1903 3518
2764 -1.17 -146.6 259.7 -9.3 130 2768 0.00 2.50 0.00 0.000 4 0.000 0.051 2189 3305 3518
2841 -1.17 -146.6 267.3 -9.9 133 2847 0.00 2.45 0.00 0.000 6 0.000 0.041 2189 1895 3519
3157 -1.17 -146.6 296.6 -9.5 149 3161 0.00 2.50 0.00 0.000 4 0.000 0.051 2189 3304 3519
3211 -1.17 -146.6 301.5 -7.6 151 3217 0.00 2.45 0.00 0.000 6 0.000 0.041 2189 1898 3518
3527 -1.17 -146.6 327.5 -8.4 167 3531 0.00 2.50 0.00 0.000 4 0.000 0.051 2189 3304 3519
3616 -1.17 -146.6 335.1 -8.1 171 3620 0.00 2.45 0.00 0.000 6 0.000 0.042 2189 1893 3518
3937 -1.17 -146.6 361.5 -8.6 187 3941 0.00 2.50 0.00 0.000 4 0.000 0.051 2189 3302 3518
3980 -1.17 -146.6 365.5 -9.5 189 3985 0.00 2.42 0.00 0.000 6 0.000 0.041 2190 1902 3518
4302 -1.17 -146.6 394.6 -8.3 205 4305 0.00 2.50 0.00 0.000 4 0.000 0.051 2189 3306 3518
4380 -1.17 -146.6 400.4 -7.0 208 4384 0.00 2.45 0.00 0.000 6 0.000 0.042 2189 1896 3518
4695 -1.17 -146.6 421.2 -7.2 223 4700 0.00 2.50 0.00 0.000 4 0.000 0.051 2189 3304 3518
4808 -1.17 -146.6 430.0 -7.3 228 4812 0.00 2.45 0.00 0.000 6 0.000 0.043 2189 1902 3517
5128 -1.17 -146.6 455.8 -8.3 244 5129 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 1903 3517
5437 -1.17 -146.6 482.0 -8.3 259 5441 0.00 2.50 0.00 0.000 4 0.000 0.053 2189 3303 3516
5549 -1.17 -146.6 491.3 -8.3 264 5553 0.00 2.47 0.00 0.000 6 0.000 0.045 2189 1895 3516
5869 -1.17 -146.6 517.0 -8.0 280 5871 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 1896 3516
6181 -1.17 -146.6 541.9 -7.9 295 6185 0.00 2.53 0.00 0.000 4 0.000 0.055 2189 3302 3515
6288 -1.17 -146.6 550.6 -7.8 300 6292 0.00 2.47 0.00 0.000 6 0.000 0.048 2189 1897 3515
6616 -1.17 -146.6 575.7 -7.5 316 6620 0.00 2.53 0.00 0.000 4 0.000 0.056 2189 3302 3513
6655 -1.17 -146.6 579.0 -8.6 318 6659 0.00 2.47 0.00 0.000 6 0.000 0.048 2189 1897 3513
6981 -1.17 -146.6 603.2 -7.2 334 6986 0.00 2.53 0.00 0.000 4 0.000 0.057 2189 3302 3512
7015 -1.17 -146.6 605.7 -7.4 335 7021 0.00 2.47 0.00 0.000 6 0.000 0.048 2189 1901 3511
7331 -1.17 -146.6 628.5 -7.7 351 7336 0.00 2.53 0.00 0.000 4 0.000 0.057 2189 3302 3510
7398 -1.17 -146.6 634.1 -8.3 354 7402 0.00 2.47 0.00 0.000 6 0.000 0.049 2189 1897 3509
7720 -1.17 -146.6 658.3 -7.1 370 7724 0.00 2.53 0.00 0.000 4 0.000 0.058 2190 3301 3508
7786 -1.17 -146.6 663.2 -7.1 373 7790 0.00 2.47 0.00 0.000 6 0.000 0.049 2189 1894 3508
8107 -1.17 -146.6 685.9 -6.9 389 8111 0.00 2.55 0.00 0.000 4 0.000 0.058 2189 3305 3508
8156 -1.17 -146.6 689.5 -7.3 391 8161 0.00 2.47 0.00 0.000 6 0.000 0.049 2189 1901 3507
8473 -1.17 -146.6 711.5 -6.9 406 8477 0.00 2.53 0.00 0.000 4 0.000 0.058 2189 3301 3507
8516 -1.17 -146.6 714.7 -7.4 408 8521 0.00 2.47 0.00 0.000 6 0.000 0.048 2189 1901 3507
8838 -1.17 -146.6 736.0 -6.6 424 8842 0.00 2.53 0.00 0.000 4 0.000 0.058 2189 3299 3506
8882 -1.17 -146.6 738.9 -6.3 426 8886 0.00 2.47 0.00 0.000 6 0.000 0.049 2189 1901 3506
9203 -1.17 -146.6 759.9 -6.7 442 9207 0.00 2.53 0.00 0.000 4 0.000 0.058 2189 3301 3504
9242 -1.17 -146.6 762.5 -7.2 444 9247 0.00 2.47 0.00 0.000 6 0.000 0.050 2189 1901 3504
9569 -1.17 -146.6 785.1 -7.0 460 9574 0.00 2.53 0.00 0.000 4 0.000 0.058 2189 3301 3504
9620 -1.17 -146.6 788.8 -7.8 462 9624 0.00 2.50 0.00 0.000 6 0.000 0.051 2189 1893 3503
9935 -1.17 -146.6 811.2 -7.3 477 9939 0.00 2.55 0.00 0.000 4 0.000 0.059 2189 3304 3503
9968 -1.17 -146.6 813.8 -7.7 478 9974 0.00 2.50 0.00 0.000 6 0.000 0.050 2189 1895 3502
10284 -1.17 -146.6 838.2 -7.9 494 10285 0.00 0.00 0.00 0.000 6 0.000 0.000 2189 1895 3502
10593 -1.17 -146.6 862.0 -7.7 509 10598 0.00 2.55 0.00 0.000 4 0.000 0.059 2189 3303 3501
10666 -1.17 -146.6 867.6 -7.8 512 10670 0.00 2.50 0.00 0.000 6 0.000 0.051 2189 1893 3502
10982 -1.17 -146.6 891.7 -7.7 527 10986 0.00 2.55 0.00 0.000 4 0.000 0.059 2189 3301 3501
11014 -1.17 -146.6 894.3 -7.9 528 11021 0.00 2.50 0.00 0.000 6 0.000 0.051 2189 1895 3501
11330 -1.17 -146.6 917.5 -7.2 544 11334 0.00 2.55 0.00 0.000 4 0.000 0.060 2189 3303 3501
11371 -1.17 -146.6 920.5 -7.2 546 11375 0.00 2.50 0.00 0.000 6 0.000 0.051 2189 1894 3501
11697 -1.17 -146.6 944.0 -7.2 562 11701 0.00 2.55 0.00 0.000 4 0.000 0.059 2189 3303 3500
11741 -1.17 -146.6 947.3 -7.1 564 11745 0.00 2.50 0.00 0.000 6 0.000 0.051 2189 1900 3500
12062 -1.17 -146.6 970.6 -7.3 580 12067 0.00 2.53 0.00 0.000 4 0.000 0.060 2189 3301 3500
12096 -1.17 -146.6 972.9 -6.6 581 12102 0.00 2.50 0.00 0.000 6 0.000 0.051 2189 1893 3500
12367 end dive: TARGET_DEPTH_EXCEEDED
state 12367 begin apogee
12374 -0.33 0.0 991.6 6.9 595 12540 0.93 0.00 146.93 1.352 6 0.095 0.000 2375 2003 2915
12540 end apogee: CONTROL_FINISHED_OK
state 12540 begin climb
12543 1.17 146.6 997.1 0.0 603 12678 1.52 0.00 130.82 1.432 6 0.064 0.000 2701 2004 2317
12980 1.17 146.6 965.4 9.0 625 12981 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2004 2317
13290 1.17 146.6 937.9 8.9 640 13291 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2004 2317
13599 1.17 146.6 911.5 8.6 655 13600 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2004 2317
13908 1.17 146.6 885.1 8.6 670 13909 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2004 2317
14217 1.17 146.6 858.3 8.8 685 14222 0.00 2.62 0.00 0.000 4 0.000 0.072 2701 594 2317
14245 1.17 146.6 855.6 9.1 686 14249 0.00 2.45 0.00 0.000 6 0.000 0.043 2701 1997 2317
14563 1.17 146.6 827.1 9.1 701 14567 0.00 2.62 0.00 0.000 4 0.000 0.071 2701 592 2316
14584 1.17 146.6 824.8 9.4 702 14588 0.00 2.47 0.00 0.000 6 0.000 0.043 2701 2007 2316
14905 1.17 146.6 796.5 8.7 718 14906 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2007 2316
15214 1.17 146.6 770.0 8.4 733 15215 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2007 2316
15523 1.17 146.6 743.8 8.4 748 15528 0.00 2.62 0.00 0.000 4 0.000 0.070 2701 592 2316
15573 1.17 146.6 738.9 9.8 750 15577 0.00 2.47 0.00 0.000 6 0.000 0.043 2701 2007 2316
15889 1.17 146.6 711.0 8.8 765 15893 0.00 2.62 0.00 0.000 4 0.000 0.071 2701 588 2316
15928 1.17 146.6 707.3 10.2 767 15932 0.00 2.47 0.00 0.000 6 0.000 0.043 2701 2002 2316
16254 1.17 146.6 677.9 9.0 783 16258 0.00 2.60 0.00 0.000 4 0.000 0.069 2701 593 2316
16293 1.17 146.6 674.2 9.7 785 16298 0.00 2.47 0.00 0.000 6 0.000 0.043 2701 2008 2316
16620 1.17 146.6 644.8 9.2 801 16625 0.00 2.62 0.00 0.000 4 0.000 0.070 2701 592 2316
16670 1.17 146.6 639.8 10.5 803 16674 0.00 2.45 0.00 0.000 6 0.000 0.043 2701 2001 2316
16986 1.17 146.6 611.0 9.3 818 16990 0.00 2.60 0.00 0.000 4 0.000 0.069 2701 591 2316
17035 1.17 146.6 606.0 9.9 820 17039 0.00 2.47 0.00 0.000 6 0.000 0.042 2701 2004 2316
17350 1.17 146.6 576.0 9.5 835 17352 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2004 2315
17660 1.17 146.6 548.0 9.1 850 17664 0.00 2.60 0.00 0.000 4 0.000 0.068 2701 593 2316
17721 1.17 146.6 542.1 9.3 853 17726 0.00 2.45 0.00 0.000 6 0.000 0.042 2702 2002 2316
18048 1.19 166.7 516.1 7.3 869 18113 0.00 2.70 44.00 0.826 4 0.000 0.069 2701 595 2233
18184 1.21 178.2 506.2 7.6 875 18221 0.00 2.47 22.02 0.812 6 0.000 0.041 2701 2001 2186
18530 1.21 184.5 480.8 7.8 892 18552 0.00 2.70 11.50 0.791 4 0.000 0.068 2701 589 2163
18665 1.21 184.5 469.8 9.2 898 18669 0.00 2.50 0.00 0.000 6 0.000 0.043 2701 2008 2163
18991 1.23 200.0 445.9 7.4 914 19023 0.00 2.70 20.92 0.907 4 0.000 0.068 2701 591 2098
19045 1.25 212.8 441.3 7.5 916 19064 0.00 2.50 12.20 1.045 6 0.000 0.041 2701 2001 2047
19380 1.25 212.8 407.1 11.1 933 19385 0.00 2.62 0.00 0.000 4 0.000 0.067 2701 590 2047
19420 1.25 212.8 402.5 11.9 935 19424 0.00 2.47 0.00 0.000 6 0.000 0.041 2701 2001 2047
19747 1.25 212.8 369.4 10.4 951 19751 0.00 2.60 0.00 0.000 4 0.000 0.067 2701 591 2048
19779 1.25 212.8 365.7 11.3 952 19785 0.00 2.45 0.00 0.000 6 0.000 0.041 2702 2001 2047
20096 1.25 212.8 331.6 10.6 968 20100 0.00 2.60 0.00 0.000 4 0.000 0.065 2701 591 2048
20135 1.25 212.8 327.4 11.2 970 20139 0.00 2.45 0.00 0.000 6 0.000 0.039 2701 2000 2048
20462 1.25 212.8 294.2 9.8 986 20463 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2000 2049
20771 1.25 212.8 262.9 10.8 1001 20775 0.00 2.58 0.00 0.000 4 0.000 0.063 2701 593 2050
20837 1.25 212.8 255.3 11.0 1004 20841 0.00 2.45 0.00 0.000 6 0.000 0.037 2701 2005 2049
21158 1.25 212.8 222.1 9.8 1020 21162 0.00 2.58 0.00 0.000 4 0.000 0.061 2701 593 2050
21207 1.25 212.8 216.9 10.5 1022 21211 0.00 2.45 0.00 0.000 6 0.000 0.036 2701 2009 2050
21529 1.25 212.8 186.2 9.6 1038 21530 0.00 0.00 0.00 0.000 6 0.000 0.000 2701 2010 2051
21838 1.25 212.8 159.1 9.0 1053 21842 0.00 2.58 0.00 0.000 4 0.000 0.061 2701 593 2052
21915 1.25 212.8 151.5 10.0 1056 21921 0.00 2.42 0.00 0.000 6 0.000 0.035 2701 2001 2052
22231 1.25 212.8 120.3 10.0 1072 22236 0.00 2.55 0.00 0.000 4 0.000 0.061 2701 589 2053
22298 1.25 212.8 113.3 10.6 1075 22302 0.00 2.42 0.00 0.000 6 0.000 0.035 2701 2001 2053
22619 1.25 212.8 82.8 9.5 1091 22623 0.00 2.55 0.00 0.000 4 0.000 0.060 2701 590 2054
22652 1.25 212.8 79.4 10.1 1092 22658 0.00 2.42 0.00 0.000 6 0.000 0.035 2701 2009 2055
22968 1.25 212.8 48.5 9.8 1108 22972 0.00 2.55 0.00 0.000 4 0.000 0.061 2701 594 2055
23039 1.25 212.8 39.8 10.4 1111 23043 0.00 2.42 0.00 0.000 6 0.000 0.035 2701 2003 2055
23355 1.25 212.8 7.2 8.8 1126 23364 0.00 2.60 3.70 0.519 4 0.000 0.061 2701 591 2047
23408 end climb: SURFACE_DEPTH_REACHED
state 23408 begin surface coast
23415 end surface coast: CONTROL_FINISHED_OK
state 23415 begin surface