GINA2017 Jun17 * SG574 * Dive index * Mission links * Dive 642 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  574 HD_B  0.010078 ROLL_MAX  3880 COMPASS_USE  0
MISSION  23 HD_C  9.8500004e-06 ROLL_DEG  40 ALTIM_BOTTOM_PING_RANGE  0
DIVE  642 HEADING  180 C_ROLL_DIVE  1980 ALTIM_TOP_PING_RANGE  0
N_DIVES  0 ESCAPE_HEADING  0 C_ROLL_CLIMB  1860 ALTIM_BOTTOM_TURN_MARGIN  15
STOP_T  0 ESCAPE_HEADING_DELTA  10 HEAD_ERRBAND  10 ALTIM_TOP_TURN_MARGIN  0
D_SURF  3 FIX_MISSING_TIMEOUT  0 ROLL_CNV  0.028270001 ALTIM_TOP_MIN_OBSTACLE  1
D_FLARE  3 TGT_DEFAULT_LAT  4808 ROLL_TIMEOUT  15 ALTIM_PING_DEPTH  100
D_TGT  1000 TGT_DEFAULT_LON  -12223 R_PORT_OVSHOOT  40 ALTIM_PING_DELTA  10
D_ABORT  1050 TGT_AUTO_DEFAULT  0 R_STBD_OVSHOOT  52 ALTIM_FREQUENCY  13
D_NO_BLEED  500 SM_CC  270 ROLL_AD_RATE  350 ALTIM_PULSE  3
D_BOOST  5 N_FILEKB  4 ROLL_MAXERRORS  1 ALTIM_SENSITIVITY  2
T_BOOST  0 FILEMGR  0 ROLL_ADJ_GAIN  0 XPDR_VALID  2
D_FINISH  0 CALL_NDIVES  2 ROLL_ADJ_DBAND  0 XPDR_INHIBIT  90
D_PITCH  0 COMM_SEQ  0 VBD_MIN  500 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  0 PROTOCOL  0 VBD_MAX  3961 INT_PRESSURE_YINT  0
D_CALL  0 N_NOCOMM  1 C_VBD  2465 DEEPGLIDER  0
SURFACE_URGENCY  0 NOCOMM_ACTION  0 VBD_DBAND  2 MOTHERBOARD  4
SURFACE_URGENCY_TRY  0 N_NOSURFACE  0 VBD_CNV  -0.245296 DEVICE1  2
SURFACE_URGENCY_FORCE  0 UPLOAD_DIVES_MAX  -1 VBD_LP_IGNORE  0 DEVICE2  38
T_DIVE  333 CALL_TRIES  5 VBD_TIMEOUT  720 DEVICE3  51
T_MISSION  343 CALL_WAIT  60 PITCH_VBD_SHIFT  0.0012300001 DEVICE4  69
T_ABORT  400 CAPUPLOAD  0 VBD_PUMP_AD_RATE_SURFACE  5 DEVICE5  -1
T_TURN  225 CAPMAXSIZE  400000 VBD_PUMP_AD_RATE_APOGEE  4 DEVICE6  -1
T_TURN_SAMPINT  5 HEAPDBG  0 VBD_BLEED_AD_RATE  8 LOGGERS  0
T_NO_W  120 T_GPS  15 UNCOM_BLEED  60 LOGGERDEVICE1  -1
T_LOITER  0 N_GPS  20 VBD_MAXERRORS  1 LOGGERDEVICE2  -1
T_EPIRB  0 T_RSLEEP  3 W_ADJ_DBAND  0 LOGGERDEVICE3  -1
USE_BATHY  0 STROBE  0 DBDW  0 LOGGERDEVICE4  -1
USE_ICE  0 RAFOS_PEAK_OFFSET  1.5 PITCH_W_GAIN  0 COMPASS_DEVICE  17
ICE_FREEZE_MARGIN  0.30000001 RAFOS_CORR_THRESH  60 PITCH_W_DBAND  0 COMPASS2_DEVICE  -1
D_OFFGRID  100 RAFOS_HIT_WINDOW  3600 CF8_MAXERRORS  20 PHONE_DEVICE  48
T_WATCHDOG  10 PITCH_MIN  143 AH0_24V  145 GPS_DEVICE  32
RELAUNCH  0 PITCH_MAX  3888 AH0_10V  96.25 RAFOS_DEVICE  -1
APOGEE_PITCH  0 C_PITCH  2810 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  180 PITCH_DBAND  0.1 MINV_10V  8.5 SIM_W  0
COURSE_BIAS  0 PITCH_CNV  0.003125763 MAXI_24V  0.60000002 SIM_PITCH  0
GLIDE_SLOPE  17 P_OVSHOOT  0.039999999 MAXI_10V  0.80000001 SEABIRD_T_G  0.0043017557
SPEED_FACTOR  1 P_OVSHOOT_WITHG  -6.8056469e+38 FG_AHR_10V  0 SEABIRD_T_H  0.00062339538
RHO  1.0275 PITCH_GAIN  57 FG_AHR_24V  0 SEABIRD_T_I  2.3377639e-05
MASS  52970 PITCH_TIMEOUT  17 PHONE_SUPPLY  2 SEABIRD_T_J  2.5612862e-06
MASS_COMP  0 PITCH_AD_RATE  175 PRESSURE_YINT  -48.230709 SEABIRD_C_G  -9.9136524
NAV_MODE  0 PITCH_MAXERRORS  1 PRESSURE_SLOPE  0.0001171049 SEABIRD_C_H  1.1456692
FERRY_MAX  45 PITCH_ADJ_GAIN  0 AD7714Ch0Gain  128 SEABIRD_C_I  -0.00078246131
KALMAN_USE  2 PITCH_ADJ_DBAND  0 TCM_PITCH_OFFSET  0 SEABIRD_C_J  0.00012677554
HD_A  0.0038360001 ROLL_MIN  245 TCM_ROLL_OFFSET  0

Pre-dive calculations and measurements:
GPS1  050817,082646,-3336.8572,2732.8899,8,0.9,8,-27.7,1.0,355.0,10,336.7 SPEED_LIMITS  0.327,0.337
_CALLS  1 TGT_NAME  HEADING
_XMS_NAKs  4 TGT_LATLONG  -3347.636,2732.920
_XMS_TOUTs  2 TGT_RADIUS  1852.000
_SM_DEPTHo  1.67 MHEAD_RNG_PITCHd_Wd  207.7,20000,-13.3,-10.010,-16.52,4021
_SM_ANGLEo  -78.5 D_GRID  1000
GPS2  050817,082753,-3336.8369,2732.9199,6,0.9,6,-27.7,1.2,11.0,10,351.1

Post-dive calculations and measurements:
FINISH  0.8,1.026151 _10V_AH  10.00,31.476
SM_CCo  6105,0.00,0.000,0,0,877,389.28 FG_AHR_24Vo  0.000
SM_GC  1.62,7.57,2.38,0.00,0.021,0.019,0.000,126,1975,877,-8.33,-1.30,389.28,0,0,0,0,0,0,25.91,25.89,25.97 FG_AHR_10Vo  0.000
IRIDIUM_FIX  -3325.38,2732.97,050817,012707 MEM  343588
TT8_MAMPS  0.026215,0.291361 DATA_FILE_SIZE  43837,595
HUMID  62.36 CAP_FILE_SIZE  104206,0
INTERNAL_PRESSURE  9.29723 CFSIZE  2097086464,2025553920
TCM_TEMP  14.10 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS  0 WARN  PPS timeout
ALTIM_BOTTOM_PING  240.5,70.9 GPS  050817,101132,-3335.699,2733.545,31,0.8,31,-27.7,0.6,38.2,10,8.4
_24V_AH  23.75,59.498

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor19219102.33 SBE_CT41023233.64
Roll_motor12986266.80 QSP2150100717.81
VBD_pump_during_apogee4498398965.21 WL_BB2FL44245480.44
VBD_pump_during_surface000.00 AA4330_CNF881501050.31
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer000.00 nil000.00
Transponder_ping442039.90 nil000.00
GUMSTIX_24V000.00
GPS13324.47
TT8147112181.86
LPSleep2537255.57
TT8_Active5771271.40
TT8_Sampling144738558.34
TT8_CF81584978.75
TT8_Kalman000.00
Analog_circuits135016217.44
GPS_charging000.00
Compass141716233.56
RAFOS000.00
Transponder27308.26

Guidance and control:
st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start 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 vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.45 -175.2 125 1970 1256 1077 0.0 0.0 0 81 0.00 0.00 -62.05 0.000 16386 0.000 0.000 125 1970 2855 2835 2875 0 0 0 0 0 0 26.36 28.83 26.38
84 -0.45 -175.2 125 1970 2841 2870 3.3 -4.2 8 109 10.02 2.17 -6.72 0.000 18948 0.220 0.040 2652 570 3177 3200 3155 0 0 0 0 0 0 25.23 25.39 25.41
126 -0.45 -175.2 2652 570 3202 3154 13.1 -22.3 13 135 0.00 2.17 0.00 0.000 1030 0.000 0.027 2644 1963 3177 3205 3150 0 0 0 0 0 0 25.97 25.93 25.97
186 -0.45 -175.2 2643 1963 3207 3149 20.3 -9.8 22 195 0.00 2.15 0.00 0.000 516 0.000 0.030 2644 578 3178 3207 3149 0 0 0 0 0 0 26.39 25.89 26.40
217 -0.45 -175.2 2643 578 3207 3150 23.3 -9.9 26 226 0.00 2.20 0.00 0.000 1030 0.000 0.028 2635 1981 3178 3206 3150 0 0 0 0 0 0 25.99 25.96 26.02
276 -0.45 -175.2 2634 1981 3208 3149 29.9 -11.1 35 286 0.08 2.17 0.00 0.000 2308 0.169 0.033 2654 3387 3178 3207 3149 0 0 0 0 0 0 25.91 25.91 25.94
343 -0.45 -175.2 2653 3387 3207 3149 35.9 -8.7 45 352 0.00 2.15 0.00 0.000 1030 0.000 0.024 2654 1976 3178 3208 3149 0 0 0 0 0 0 26.03 26.01 26.07
400 -0.45 -175.2 2653 1972 3209 3148 41.3 -8.6 54 408 0.00 2.15 0.00 0.000 516 0.000 0.029 2654 578 3178 3209 3148 0 0 0 0 0 0 26.46 25.95 26.47
447 -0.45 -175.2 2653 578 3210 3148 45.7 -8.8 62 454 0.00 2.15 0.00 0.000 1030 0.000 0.028 2644 1988 3179 3210 3148 0 0 0 0 0 0 26.09 26.00 26.12
498 -0.45 -175.2 2644 1989 3210 3148 50.5 -10.0 71 505 0.00 2.10 0.00 0.000 260 0.000 0.032 2634 3395 3178 3210 3147 0 0 0 0 0 0 26.48 25.96 26.49
546 -0.45 -175.2 2633 3395 3210 3147 54.9 -10.1 79 554 0.10 2.12 0.00 0.000 3078 0.134 0.024 2666 1972 3178 3210 3147 0 0 0 0 0 0 25.80 26.03 25.91
598 -0.45 -175.2 2665 1969 3212 3147 59.7 -8.0 88 606 0.00 2.15 0.00 0.000 516 0.000 0.030 2666 575 3179 3212 3147 0 0 0 0 0 0 26.51 25.99 26.51
645 -0.45 -175.2 2666 575 3213 3147 64.0 -8.9 96 654 0.00 2.17 0.00 0.000 1030 0.000 0.027 2658 1977 3179 3212 3147 0 0 0 0 0 0 26.08 26.04 26.10
699 -0.45 -175.2 2657 1977 3213 3147 68.6 -8.9 105 706 0.00 2.12 0.00 0.000 260 0.000 0.033 2647 3389 3180 3213 3147 0 0 0 0 0 0 26.52 25.98 26.53
759 -0.45 -175.2 2646 3389 3212 3147 73.7 -9.3 115 766 0.00 2.10 0.00 0.000 1030 0.000 0.024 2647 1977 3179 3212 3147 0 0 0 0 0 0 26.15 26.08 26.17
810 -0.45 -175.2 2646 1973 3213 3147 78.7 -8.7 124 818 0.00 2.15 0.00 0.000 516 0.000 0.028 2647 573 3180 3213 3147 0 0 0 0 0 0 26.53 26.02 26.55
865 -0.45 -175.2 2646 573 3213 3147 83.7 -9.3 133 871 0.00 2.15 0.00 0.000 1030 0.000 0.028 2637 1987 3180 3213 3147 0 0 0 0 0 0 26.15 26.06 26.17
915 -0.45 -175.2 2636 1986 3213 3147 88.5 -8.8 142 922 0.00 2.08 0.00 0.000 260 0.000 0.031 2626 3390 3180 3213 3147 0 0 0 0 0 0 26.55 26.02 26.56
979 -0.45 -175.2 2626 3390 3213 3147 94.3 -8.9 153 986 0.12 2.12 0.00 0.000 3078 0.126 0.024 2667 1968 3180 3213 3148 0 0 0 0 0 0 25.81 26.09 25.93
1030 -0.45 -175.2 2666 1964 3214 3147 98.6 -7.7 162 1038 0.00 2.12 0.00 0.000 516 0.000 0.030 2667 583 3180 3214 3147 0 0 0 0 0 0 26.56 26.03 26.57
1077 -0.45 -175.2 2666 583 3214 3147 102.3 -7.7 168 1086 0.00 2.12 0.00 0.000 1030 0.000 0.027 2659 1982 3180 3214 3147 0 0 0 0 0 0 26.16 26.08 26.20
1268 -0.45 -175.2 2658 1983 3215 3147 118.0 -8.3 187 1276 0.00 2.08 0.00 0.000 260 0.000 0.033 2648 3386 3180 3214 3147 0 0 0 0 0 0 26.58 26.03 26.60
1289 -0.45 -175.2 2647 3386 3214 3147 119.9 -8.5 189 1299 0.00 2.10 0.00 0.000 1030 0.000 0.023 2648 1963 3181 3215 3147 0 0 0 0 0 0 26.20 26.12 26.22
1481 -0.45 -175.2 2648 1964 3217 3147 136.9 -9.0 208 1485 0.00 2.12 0.00 0.000 260 0.000 0.031 2639 3389 3182 3217 3147 0 0 0 0 0 0 26.60 26.06 26.61
1536 -0.45 -175.2 2639 3390 3215 3147 142.0 -9.9 213 1543 0.00 2.10 0.00 0.000 1030 0.000 0.024 2639 1975 3181 3216 3147 0 0 0 0 0 0 26.20 26.13 26.23
1723 -0.45 -175.2 2638 1971 3217 3147 160.8 -10.1 232 1727 0.00 2.10 0.00 0.000 516 0.000 0.029 2639 573 3182 3217 3147 0 0 0 0 0 0 26.58 26.07 26.60
1805 -0.45 -175.2 2638 572 3217 3147 169.7 -11.1 240 1815 0.10 2.15 0.00 0.000 3078 0.145 0.027 2660 1990 3182 3217 3147 0 0 0 0 0 0 25.84 26.10 25.96
1997 -0.45 -175.2 2660 1989 3218 3147 187.2 -9.2 259 2001 0.00 2.12 0.00 0.000 516 0.000 0.029 2660 580 3182 3217 3147 0 0 0 0 0 0 26.63 26.06 26.64
2022 -0.45 -175.2 2660 579 3217 3147 189.4 -9.5 261 2032 0.00 2.12 0.00 0.000 1030 0.000 0.026 2653 1988 3182 3218 3147 0 0 0 0 0 0 26.21 26.13 26.24
2210 -0.45 -175.2 2652 1988 3218 3147 208.4 -10.0 276 2215 0.00 2.12 0.00 0.000 516 0.000 0.028 2654 577 3182 3218 3147 0 0 0 0 0 0 26.63 26.07 26.64
2232 -0.45 -175.2 2652 577 3218 3147 210.5 -10.1 277 2236 0.00 2.12 0.00 0.000 1030 0.000 0.027 2644 1982 3182 3217 3147 0 0 0 0 0 0 26.20 26.11 26.23
2427 -0.45 -175.2 2644 1982 3218 3147 230.5 -10.0 287 2432 0.00 2.10 0.00 0.000 516 0.000 0.028 2644 578 3182 3217 3147 0 0 0 0 0 0 26.60 26.08 26.62
2458 -0.45 -175.2 2644 578 3217 3147 232.6 -10.1 288 2465 0.10 2.12 0.00 0.000 3078 0.142 0.027 2666 1979 3182 3217 3147 0 0 0 0 0 0 25.86 26.10 25.96
2646 -0.45 -175.2 2665 1979 3218 3147 251.2 -8.9 298 2647 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 1979 3182 3218 3147 0 0 0 0 0 0 26.64 26.65 26.65
2826 -0.45 -175.2 2665 1979 3217 3147 266.8 -8.5 307 2831 0.00 2.10 0.00 0.000 516 0.000 0.030 2666 578 3182 3218 3147 0 0 0 0 0 0 26.65 26.06 26.66
2873 -0.45 -175.2 2665 578 3217 3147 270.1 -8.3 309 2878 0.00 2.12 0.00 0.000 1030 0.000 0.027 2656 1987 3182 3217 3147 0 0 0 0 0 0 26.20 26.12 26.23
3062 -0.45 -175.2 2656 1987 3217 3146 287.1 -9.3 318 3067 0.00 2.10 0.00 0.000 516 0.000 0.030 2657 585 3182 3218 3146 0 0 0 0 0 0 26.65 26.06 26.66
3094 -0.45 -175.2 2656 584 3218 3146 289.0 -9.5 319 3101 0.00 2.12 0.00 0.000 1030 0.000 0.027 2647 1986 3181 3218 3145 0 0 0 0 0 0 26.20 26.11 26.22
3158 end dive: BOTTOM_OBSTACLE_DETECTED
state 3158 begin apogee
3165 0.00 0.0 2647 1769 3217 3145 296.8 -9.8 323 3304 0.52 0.15 134.82 0.840 10246 0.118 0.056 2809 1937 2464 2529 2400 0 0 0 0 0 0 25.53 24.74 23.99
3305 end apogee: CONTROL_FINISHED_OK
state 3305 begin climb
3307 0.45 175.2 2809 1937 2529 2400 305.8 0.0 330 3461 0.43 2.42 138.80 0.821 10756 0.038 0.032 3009 464 1746 1838 1655 0 0 0 0 0 0 25.04 24.24 23.75
3544 0.45 175.2 3009 463 1825 1655 285.8 12.4 342 3551 0.20 2.20 0.00 0.000 5126 0.164 0.024 2956 1867 1740 1825 1655 0 0 0 0 0 0 24.90 25.30 25.16
3744 0.45 175.2 2955 1870 1827 1654 263.6 10.6 352 3750 0.00 2.15 0.00 0.000 260 0.000 0.031 2956 3276 1740 1827 1654 0 0 0 0 0 0 26.10 25.70 26.11
3846 0.45 175.2 2955 3276 1827 1654 252.9 10.5 357 3851 0.00 2.15 0.00 0.000 1030 0.000 0.028 2965 1859 1740 1826 1654 0 0 0 0 0 0 25.89 25.81 25.93
4039 0.45 175.2 2964 1858 1827 1652 231.5 10.9 367 4045 0.00 2.17 0.00 0.000 516 0.000 0.035 2975 452 1738 1826 1651 0 0 0 0 0 0 26.33 25.84 26.34
4101 0.45 175.2 2974 452 1822 1651 225.1 10.7 370 4105 0.00 2.15 0.00 0.000 1030 0.000 0.027 2975 1859 1736 1822 1651 0 0 0 0 0 0 26.03 25.94 26.06
4296 0.45 175.2 2974 1860 1824 1651 203.5 11.2 380 4301 0.00 2.10 0.00 0.000 260 0.000 0.031 2975 3266 1737 1824 1651 0 0 0 0 0 0 26.44 25.97 26.44
4404 0.45 175.2 2974 3266 1824 1651 192.0 10.4 389 4413 0.00 2.12 0.00 0.000 1030 0.000 0.028 2985 1860 1737 1824 1651 0 0 0 0 0 0 26.09 26.00 26.13
4594 0.45 175.2 2984 1860 1824 1650 170.8 10.9 408 4603 0.00 2.17 0.00 0.000 516 0.000 0.036 2996 450 1736 1822 1650 0 0 0 0 0 0 26.50 25.94 26.51
4676 0.45 175.2 2995 450 1818 1650 162.1 10.2 416 4685 0.12 2.17 0.00 0.000 5126 0.165 0.028 2960 1869 1735 1820 1650 0 0 0 0 0 0 25.65 26.04 25.84
4868 0.46 187.0 2960 1870 1822 1650 143.6 9.7 435 4885 0.00 2.22 9.02 0.654 8964 0.000 0.033 2969 452 1701 1791 1611 0 0 0 0 0 0 26.54 25.74 24.79
4983 0.55 255.0 2968 452 1788 1611 133.8 8.3 446 5048 0.00 2.15 56.60 0.729 9222 0.000 0.026 2969 1864 1424 1534 1314 0 0 0 0 0 0 26.12 26.03 24.50
5229 0.55 255.9 2969 1864 1528 1313 109.2 10.0 471 5238 0.00 2.12 0.00 0.000 260 0.000 0.032 2969 3264 1420 1528 1313 0 0 0 0 0 0 26.14 25.71 26.15
5331 0.63 319.5 2968 3264 1527 1313 99.9 8.4 481 5392 0.00 2.15 55.05 0.705 9222 0.000 0.028 2979 1850 1161 1292 1030 0 0 0 0 0 0 25.91 25.81 24.42
5438 0.63 319.5 2977 1850 1288 1029 88.4 11.7 499 5445 0.00 2.20 0.00 0.000 516 0.000 0.037 2990 454 1158 1287 1029 0 0 0 0 0 0 25.81 25.41 25.82
5542 0.71 384.9 2989 454 1277 1025 78.2 8.3 518 5604 0.12 2.15 55.10 0.691 11270 0.089 0.020 3042 1873 893 1035 752 0 0 0 0 0 0 25.60 25.72 24.34
5651 0.71 384.9 3042 1873 1028 752 63.1 19.0 536 5659 0.00 2.30 0.00 0.000 516 0.000 0.039 3053 458 890 1028 752 0 0 0 0 0 0 25.76 25.37 25.77
5684 0.71 384.9 3052 456 1022 752 57.0 19.8 541 5690 0.00 2.17 0.00 0.000 1030 0.000 0.028 3053 1844 887 1022 752 0 0 0 0 0 0 25.60 25.52 25.63
5734 0.71 384.9 3053 1844 1022 752 47.2 19.9 550 5741 0.00 2.20 0.00 0.000 260 0.000 0.032 3053 3276 887 1022 752 0 0 0 0 0 0 25.98 25.60 25.99
5780 0.71 384.9 3053 3276 1021 752 39.8 13.1 558 5788 0.00 2.22 0.00 0.000 1030 0.000 0.029 3063 1858 886 1021 752 0 0 0 0 0 0 25.72 25.66 25.75
5840 0.71 384.9 3063 1858 1020 752 29.9 19.2 567 5848 0.00 2.25 0.00 0.000 516 0.000 0.040 3075 456 885 1019 752 0 0 0 0 0 0 26.13 25.67 26.15
5905 0.71 384.9 3074 456 1013 753 16.7 18.4 577 5915 0.12 2.20 0.00 0.000 5126 0.149 0.024 3037 1873 883 1014 752 0 0 0 0 0 0 25.48 25.84 25.56
5966 0.71 384.9 3037 1877 1013 752 7.7 14.7 586 5974 0.00 2.28 0.00 0.000 516 0.000 0.037 3047 451 882 1013 752 0 0 0 0 0 0 26.25 25.77 26.26
5999 end climb: SURFACE_DEPTH_REACHED
state 5999 begin surface coast
6025 end surface coast: CONTROL_FINISHED_OK
state 6025 begin surface