OKMC Jun11 * SG181 * Dive index * Mission links * Dive 684 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  181 ESCAPE_HEADING_DELTA  10 ROLL_CNV  0.028270001 INT_PRESSURE_YINT  0
MISSION  6 FIX_MISSING_TIMEOUT  0 ROLL_TIMEOUT  15 DEEPGLIDER  0
DIVE  684 TGT_DEFAULT_LAT  4736 R_PORT_OVSHOOT  49 DEEPGLIDERMB  0
N_DIVES  0 TGT_DEFAULT_LON  -12218 R_STBD_OVSHOOT  41 MOTHERBOARD  4
D_SURF  3 TGT_AUTO_DEFAULT  0 ROLL_AD_RATE  350 DEVICE1  2
D_FLARE  3 SM_CC  475 ROLL_MAXERRORS  1 DEVICE2  102
D_TGT  990 N_FILEKB  8 ROLL_ADJ_GAIN  0 DEVICE3  39
D_ABORT  1030 FILEMGR  0 ROLL_ADJ_DBAND  0 DEVICE4  -1
D_NO_BLEED  200 CALL_NDIVES  1 VBD_MIN  440 DEVICE5  -1
D_BOOST  3 COMM_SEQ  0 VBD_MAX  3960 DEVICE6  -1
T_BOOST  0 PROTOCOL  9 C_VBD  2869 LOGGERS  0
D_FINISH  0 N_NOCOMM  1 VBD_DBAND  2 LOGGERDEVICE1  99
D_PITCH  0 NOCOMM_ACTION  0 VBD_CNV  -0.24529999 LOGGERDEVICE2  117
D_SAFE  0 N_NOSURFACE  0 VBD_TIMEOUT  720 LOGGERDEVICE3  -1
D_CALL  0 UPLOAD_DIVES_MAX  -1 PITCH_VBD_SHIFT  0.0012300001 LOGGERDEVICE4  -1
SURFACE_URGENCY  0 CALL_TRIES  5 VBD_PUMP_AD_RATE_SURFACE  5 COMPASS_DEVICE  33
SURFACE_URGENCY_TRY  0 CALL_WAIT  60 VBD_PUMP_AD_RATE_APOGEE  4 COMPASS2_DEVICE  -1
SURFACE_URGENCY_FORCE  0 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 PHONE_DEVICE  49
T_DIVE  320 CAPMAXSIZE  100000 UNCOM_BLEED  50 GPS_DEVICE  32
T_MISSION  350 HEAPDBG  0 VBD_MAXERRORS  1 RAFOS_DEVICE  -1
T_ABORT  1440 T_GPS  15 CF8_MAXERRORS  20 XPDR_DEVICE  24
T_TURN  225 N_GPS  20 AH0_24V  150 SIM_W  0
T_TURN_SAMPINT  5 T_GPS_ALMANAC  0 AH0_10V  110 SIM_PITCH  0
T_NO_W  120 T_GPS_CHARGE  -41454.559 MINV_24V  19 SEABIRD_T_G  0.0043841996
T_LOITER  0 T_RSLEEP  2 MINV_10V  8 SEABIRD_T_H  0.00063541438
T_EPIRB  0 STROBE  0 FG_AHR_10V  0 SEABIRD_T_I  2.4687597e-05
USE_BATHY  -7 RAFOS_PEAK_OFFSET  1.5 FG_AHR_24V  0 SEABIRD_T_J  2.6519353e-06
USE_ICE  0 RAFOS_CORR_THRESH  60 PHONE_SUPPLY  2 SEABIRD_C_G  -9.9512653
ICE_FREEZE_MARGIN  0.30000001 RAFOS_HIT_WINDOW  3600 PRESSURE_YINT  -61.82621 SEABIRD_C_H  1.1266108
D_OFFGRID  1000 PITCH_MIN  225 PRESSURE_SLOPE  0.000116609 SEABIRD_C_I  -0.0016982662
T_WATCHDOG  10 PITCH_MAX  3941 AD7714Ch0Gain  128 SEABIRD_C_J  0.00020129427
RELAUNCH  1 C_PITCH  2375 TCM_PITCH_OFFSET  0 TM_RECORDABOVE  200.0
APOGEE_PITCH  -8 PITCH_DBAND  0.1 TCM_ROLL_OFFSET  0 TM_PROFILE  1.0
MAX_BUOY  175 PITCH_CNV  0.003125763 COMPASS_USE  0 TM_XMITPROFILE  1.0
COURSE_BIAS  0 P_OVSHOOT  0.039999999 ALTIM_BOTTOM_PING_RANGE  0 TM_UPLOADMAX  0.0
GLIDE_SLOPE  30 PITCH_GAIN  42 ALTIM_TOP_PING_RANGE  0 TM_STARTS  41.0
SPEED_FACTOR  1 PITCH_TIMEOUT  15 ALTIM_BOTTOM_TURN_MARGIN  0 TM_NFFT  256.0
RHO  1.0275 PITCH_AD_RATE  145 ALTIM_TOP_TURN_MARGIN  0 TM_NAVG  1.0
MASS  51861 PITCH_MAXERRORS  1 ALTIM_TOP_MIN_OBSTACLE  1 TM_PSD  0.0
NAV_MODE  0 PITCH_ADJ_GAIN  0 ALTIM_PING_DEPTH  0 LA_RECORDABOVE  200.0
FERRY_MAX  45 PITCH_ADJ_DBAND  0 ALTIM_PING_DELTA  10 LA_PROFILE  1.0
KALMAN_USE  2 ROLL_MIN  209 ALTIM_FREQUENCY  13 LA_XMITPROFILE  1.0
HD_A  0.003 ROLL_MAX  3785 ALTIM_PULSE  3 LA_UPLOADMAX  10000.0
HD_B  0.0099999998 ROLL_DEG  20 ALTIM_SENSITIVITY  2 LA_STARTS  23.0
HD_C  9.9999997e-06 C_ROLL_DIVE  2590 XPDR_VALID  2
HEADING  -1 C_ROLL_CLIMB  2165 XPDR_INHIBIT  90
ESCAPE_HEADING  0 HEAD_ERRBAND  10 INT_PRESSURE_SLOPE  0.0097660003

Pre-dive calculations and measurements:
GPS1  191011,061636,2138.005,12021.062,30,1.4,30,-2.6 TGT_NAME  W2
_CALLS  1 TGT_LATLONG  2145.000,12000.000
_XMS_NAKs  0 TGT_RADIUS  4000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.206,0.235
_SM_DEPTHo  1.42 KALMAN_X  28223.1,-227.3,-456.5,-48601.6,-2485.5
_SM_ANGLEo  -62.5 KALMAN_Y  68902.1,-606.5,-201.3,102840.5,390.9
GPS2  191011,062232,2137.882,12020.939,12,1.7,12,-2.6 MHEAD_RNG_PITCHd_Wd  292.7,38355,-16.5,-10.312
SPEED_LIMITS  0.179,0.281 D_GRID  1954

Post-dive calculations and measurements:
FINISH  0.7,1.010072 _10V_AH  9.7,83.153
SM_CCo  19019,0.00,0.000,0,0,663,540.89 FG_AHR_24Vo  0.000
SM_GC  1.63,6.53,0.00,0.00,0.032,0.000,0.000,211,2580,663,-6.68,-0.28,540.89,0,0,0,0,0,0 FG_AHR_10Vo  0.000
IRIDIUM_FIX  2134.17,12026.40,191011,000032 MEM  322712
TT8_MAMPS  0.025466,0.025466 DATA_FILE_SIZE  90157,1553
HUMID  45.15 CAP_FILE_SIZE  192019,0
INTERNAL_PRESSURE  9.42419 CFSIZE  260165632,189911040
TCM_TEMP  25.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  2 GPS  191011,114106,2137.333,12019.098,33,1.2,33,-2.6
_24V_AH  23.7,113.177

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1622087.98 SBE_CT107424610.94
Roll_motor8562127.56 AA4330000.00
VBD_pump_during_apogee562106814239.58 WL_BB2F000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2410358.60 nil000.00
Iridium_during_connect1816071.51 TMicro000.00
Iridium_during_xfer153223808.66 LAB000.00
Transponder_ping04204.98 nil000.00
GUMSTIX_24V000.00
GPS14507.14
TT8373919718.23
LPSleep114242242.69
TT8_Active62319119.66
TT8_Sampling3105391199.07
TT8_CF846445206.42
TT8_Kalman000.00
Analog_circuits217412253.11
GPS_charging000.00
Compass288915420.46
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
14 end surface: CONTROL_FINISHED_OK
state 14 begin dive
17 -0.60 -170.3 0.0 0.0 0 75 0.00 0.00 -56.00 0.000 2 0.000 0.000 127 2611 2212 0 0 0 0 0 0
78 -0.60 -170.3 3.1 -3.3 10 126 8.55 1.05 -32.30 0.000 4 0.220 0.063 2168 3302 3564 0 0 0 0 0 0
258 -0.60 -170.3 49.8 -30.3 41 264 0.00 1.08 0.00 0.000 6 0.000 0.024 2168 2567 3559 0 0 0 0 0 0
604 -0.60 -170.3 124.6 -17.2 102 611 0.00 1.12 0.00 0.000 4 0.000 0.038 2163 3295 3559 0 0 0 0 0 0
765 -0.60 -170.3 152.7 -15.6 130 772 0.00 1.02 0.00 0.000 6 0.000 0.024 2163 2579 3559 0 0 0 0 0 0
1114 -0.60 -170.3 206.9 -15.8 188 1118 0.00 0.95 0.00 0.000 4 0.000 0.024 2163 1880 3559 0 0 0 0 0 0
1267 -0.60 -170.3 225.6 -10.7 201 1274 0.00 1.08 0.00 0.000 6 0.000 0.034 2158 2590 3559 0 0 0 0 0 0
1593 -0.60 -170.3 257.1 -10.4 232 1596 0.00 1.08 0.00 0.000 4 0.000 0.040 2153 3288 3560 0 0 0 0 0 0
1621 -0.60 -170.3 260.3 -10.8 234 1628 0.00 1.00 0.00 0.000 6 0.000 0.024 2153 2586 3560 0 0 0 0 0 0
1946 -0.60 -170.3 302.0 -12.9 265 1950 0.00 0.95 0.00 0.000 4 0.000 0.025 2152 1897 3559 0 0 0 0 0 0
2008 -0.60 -170.3 309.2 -11.1 270 2015 0.00 1.05 0.00 0.000 6 0.000 0.037 2152 2583 3559 0 0 0 0 0 0
2334 -0.60 -170.3 341.0 -10.5 301 2337 0.00 0.98 0.00 0.000 4 0.000 0.026 2152 1888 3557 0 0 0 0 0 0
2369 -0.60 -170.3 344.9 -11.3 304 2373 0.08 1.08 0.00 0.000 6 0.132 0.037 2173 2589 3557 0 0 0 0 0 0
2700 -0.60 -170.3 378.6 -9.8 335 2704 0.00 1.00 0.00 0.000 4 0.000 0.028 2173 1904 3555 0 0 0 0 0 0
2757 -0.60 -170.3 383.7 -9.1 340 2760 0.00 1.05 0.00 0.000 6 0.000 0.035 2170 2591 3554 0 0 0 0 0 0
3088 -0.60 -170.3 413.0 -9.1 371 3092 0.00 1.00 0.00 0.000 4 0.000 0.027 2170 1893 3551 0 0 0 0 0 0
3150 -0.60 -170.3 419.0 -9.5 376 3156 0.00 1.08 0.00 0.000 6 0.000 0.037 2166 2589 3550 0 0 0 0 0 0
3475 -0.60 -170.3 452.1 -10.6 407 3479 0.00 1.00 0.00 0.000 4 0.000 0.028 2166 1890 3548 0 0 0 0 0 0
3554 -0.60 -170.3 460.3 -10.4 414 3558 0.00 1.08 0.00 0.000 6 0.000 0.037 2161 2586 3547 0 0 0 0 0 0
3885 -0.60 -170.3 496.7 -11.3 445 3889 0.00 0.98 0.00 0.000 4 0.000 0.029 2161 1908 3543 0 0 0 0 0 0
3931 -0.60 -170.3 501.7 -10.9 449 3935 0.00 1.05 0.00 0.000 6 0.000 0.040 2157 2583 3543 0 0 0 0 0 0
4266 -0.60 -170.3 537.2 -10.2 465 4270 0.00 0.98 0.00 0.000 4 0.000 0.029 2157 1905 3541 0 0 0 0 0 0
4298 -0.60 -170.3 540.6 -9.9 466 4302 0.00 1.08 0.00 0.000 6 0.000 0.040 2152 2588 3540 0 0 0 0 0 0
4620 -0.60 -170.3 569.3 -8.4 482 4624 0.00 1.00 0.00 0.000 4 0.000 0.029 2152 1901 3538 0 0 0 0 0 0
4672 -0.60 -170.3 574.0 -8.9 484 4675 0.00 1.08 0.00 0.000 6 0.000 0.040 2152 2587 3537 0 0 0 0 0 0
4999 -0.60 -170.3 599.7 -8.1 500 5003 0.00 1.00 0.00 0.000 4 0.000 0.029 2151 1901 3534 0 0 0 0 0 0
5107 -0.60 -170.3 610.4 -10.2 504 5113 0.00 1.08 0.00 0.000 6 0.000 0.041 2151 2585 3533 0 0 0 0 0 0
5423 -0.60 -170.3 645.4 -11.6 520 5426 0.00 1.00 0.00 0.000 4 0.000 0.030 2152 1903 3532 0 0 0 0 0 0
5473 -0.60 -170.3 651.5 -11.7 522 5477 0.00 1.08 0.00 0.000 6 0.000 0.040 2151 2591 3532 0 0 0 0 0 0
5801 -0.60 -170.3 689.6 -11.2 538 5805 0.00 1.00 0.00 0.000 4 0.000 0.031 2151 1910 3529 0 0 0 0 0 0
5853 -0.60 -170.3 695.7 -11.6 540 5857 0.08 1.08 0.00 0.000 6 0.135 0.040 2173 2592 3529 0 0 0 0 0 0
6181 -0.60 -170.3 724.7 -8.1 556 6185 0.00 1.00 0.00 0.000 4 0.000 0.030 2173 1909 3527 0 0 0 0 0 0
6295 -0.60 -170.3 733.5 -7.2 561 6298 0.00 1.08 0.00 0.000 6 0.000 0.041 2171 2593 3526 0 0 0 0 0 0
6628 -0.60 -170.3 757.6 -7.2 577 6632 0.00 1.00 0.00 0.000 4 0.000 0.031 2171 1911 3524 0 0 0 0 0 0
6702 -0.60 -170.3 762.9 -7.0 580 6706 0.00 1.08 0.00 0.000 6 0.000 0.041 2166 2591 3524 0 0 0 0 0 0
7030 -0.60 -170.3 785.6 -6.9 596 7033 0.00 1.00 0.00 0.000 4 0.000 0.031 2166 1912 3522 0 0 0 0 0 0
7145 -0.60 -170.3 793.6 -6.9 601 7148 0.00 1.08 0.00 0.000 6 0.000 0.042 2165 2591 3521 0 0 0 0 0 0
7478 -0.60 -170.3 819.8 -8.7 617 7482 0.00 1.00 0.00 0.000 4 0.000 0.031 2165 1912 3519 0 0 0 0 0 0
7524 -0.60 -170.3 823.9 -9.1 619 7528 0.00 1.08 0.00 0.000 6 0.000 0.043 2165 2590 3519 0 0 0 0 0 0
7859 -0.60 -170.3 854.4 -9.5 635 7862 0.00 1.02 0.00 0.000 4 0.000 0.032 2165 1915 3518 0 0 0 0 0 0
7942 -0.60 -170.3 863.0 -10.4 638 7949 0.00 1.08 0.00 0.000 6 0.000 0.042 2162 2593 3517 0 0 0 0 0 0
8260 -0.60 -170.3 894.8 -10.1 654 8263 0.00 1.00 0.00 0.000 4 0.000 0.031 2162 1916 3516 0 0 0 0 0 0
8351 -0.60 -170.3 904.0 -9.8 658 8355 0.00 1.08 0.00 0.000 6 0.000 0.042 2158 2595 3516 0 0 0 0 0 0
8686 -0.60 -170.3 934.8 -8.9 674 8689 0.00 1.00 0.00 0.000 4 0.000 0.031 2158 1918 3514 0 0 0 0 0 0
8833 -0.60 -170.3 947.9 -8.6 680 8837 0.00 1.08 0.00 0.000 6 0.000 0.042 2153 2594 3513 0 0 0 0 0 0
9156 -0.60 -170.3 977.4 -9.5 696 9160 0.00 1.02 0.00 0.000 4 0.000 0.032 2154 1906 3512 0 0 0 0 0 0
9252 -0.60 -170.3 987.4 -9.9 700 9255 0.00 1.10 0.00 0.000 6 0.000 0.042 2152 2594 3512 0 0 0 0 0 0
9288 end dive: TARGET_DEPTH_EXCEEDED
state 9288 begin apogee
9294 -0.19 0.0 991.1 10.5 702 9431 0.47 0.00 127.93 1.069 6 0.116 0.000 2307 2168 2868 0 0 0 0 0 0
9432 end apogee: CONTROL_FINISHED_OK
state 9432 begin climb
9435 0.60 170.3 1000.0 0.0 708 9582 0.70 1.17 137.50 1.054 4 0.053 0.040 2577 2871 2174 0 0 0 0 0 0
9610 0.64 198.1 997.4 9.2 716 9638 0.00 1.10 23.90 0.984 6 0.000 0.029 2581 2165 2061 0 0 0 0 0 0
9948 0.64 198.1 960.8 11.0 733 9952 0.00 1.08 0.00 0.000 4 0.000 0.037 2587 1467 2059 0 0 0 0 0 0
10206 0.64 198.1 929.8 12.6 744 10210 0.00 1.10 0.00 0.000 6 0.000 0.034 2587 2176 2059 0 0 0 0 0 0
10529 0.64 198.1 887.2 13.7 760 10533 0.00 1.08 0.00 0.000 4 0.000 0.034 2591 1466 2058 0 0 0 0 0 0
10710 0.64 198.1 861.9 14.2 768 10714 0.00 1.08 0.00 0.000 6 0.000 0.036 2591 2158 2058 0 0 0 0 0 0
11044 0.64 198.1 817.2 12.8 784 11048 0.00 1.05 0.00 0.000 4 0.000 0.034 2596 1464 2057 0 0 0 0 0 0
11067 0.64 198.1 814.0 12.6 785 11072 0.00 1.10 0.00 0.000 6 0.000 0.036 2596 2170 2057 0 0 0 0 0 0
11400 0.64 198.1 773.4 11.7 801 11404 0.00 1.08 0.00 0.000 4 0.000 0.035 2600 1465 2056 0 0 0 0 0 0
11524 0.64 198.1 759.7 10.8 806 11527 0.00 1.10 0.00 0.000 6 0.000 0.036 2600 2168 2056 0 0 0 0 0 0
11845 0.64 198.1 723.8 11.1 822 11846 0.00 0.00 0.00 0.000 6 0.000 0.000 2600 2168 2056 0 0 0 0 0 0
12156 0.64 198.1 690.4 10.6 837 12160 0.00 1.08 0.00 0.000 4 0.000 0.034 2605 1461 2055 0 0 0 0 0 0
12189 0.64 198.1 686.6 10.5 838 12192 0.00 1.10 0.00 0.000 6 0.000 0.037 2605 2159 2055 0 0 0 0 0 0
12510 0.64 198.1 653.0 10.5 854 12514 0.00 1.05 0.00 0.000 4 0.000 0.036 2609 1472 2055 0 0 0 0 0 0
12640 0.64 198.1 638.3 11.7 859 12648 0.00 1.08 0.00 0.000 6 0.000 0.036 2609 2158 2055 0 0 0 0 0 0
12956 0.64 198.1 603.0 11.3 875 12960 0.00 1.05 0.00 0.000 4 0.000 0.036 2614 1471 2055 0 0 0 0 0 0
13006 0.64 198.1 596.9 11.8 877 13010 0.10 1.08 0.00 0.000 6 0.151 0.037 2583 2159 2055 0 0 0 0 0 0
13335 0.64 203.1 563.1 10.1 893 13341 0.00 0.00 4.40 0.575 6 0.000 0.000 2584 2159 2041 0 0 0 0 0 0
13643 0.68 231.3 533.3 9.2 908 13670 0.00 1.12 23.17 0.754 4 0.000 0.036 2586 1462 1925 0 0 0 0 0 0
13826 0.68 232.6 514.4 10.3 916 13830 0.00 1.10 0.00 0.000 6 0.000 0.037 2586 2162 1925 0 0 0 0 0 0
14158 0.68 232.6 479.5 11.3 940 14163 0.00 0.00 0.00 0.000 6 0.000 0.000 2586 2162 1924 0 0 0 0 0 0
14485 0.68 232.6 440.1 12.4 971 14488 0.00 1.10 0.00 0.000 4 0.000 0.041 2586 2872 1924 0 0 0 0 0 0
14610 0.68 232.6 423.8 12.4 982 14614 0.00 1.08 0.00 0.000 6 0.000 0.031 2591 2166 1924 0 0 0 0 0 0
14941 0.68 232.6 387.0 10.8 1013 14945 0.00 1.05 0.00 0.000 4 0.000 0.038 2596 1469 1925 0 0 0 0 0 0
15106 0.68 232.6 369.5 10.5 1027 15114 0.00 1.08 0.00 0.000 6 0.000 0.035 2596 2161 1924 0 0 0 0 0 0
15432 0.74 281.9 339.7 8.3 1058 15476 0.00 0.00 39.15 0.646 6 0.000 0.000 2596 2161 1719 0 0 0 0 0 0
15794 0.74 281.9 300.9 12.2 1092 15798 0.00 1.08 0.00 0.000 4 0.000 0.040 2596 2859 1721 0 0 0 0 0 0
15912 0.74 281.9 286.9 11.2 1102 15919 0.00 1.08 0.00 0.000 6 0.000 0.031 2600 2159 1724 0 0 0 0 0 0
16237 0.76 294.2 256.6 9.8 1133 16254 0.00 1.10 12.27 0.576 4 0.000 0.037 2606 1461 1668 0 0 0 0 0 0
16411 0.76 294.2 238.4 10.4 1148 16415 0.00 1.10 0.00 0.000 6 0.000 0.034 2607 2167 1668 0 0 0 0 0 0
16744 0.84 362.1 213.0 7.5 1179 16800 0.12 1.12 51.15 0.559 4 0.090 0.039 2662 2866 1392 0 0 0 0 0 0
16848 0.84 362.1 202.0 12.2 1188 16851 0.00 1.08 0.00 0.000 6 0.000 0.030 2666 2166 1391 0 0 0 0 0 0
17192 0.86 382.4 161.2 9.5 1247 17216 0.00 1.08 17.08 0.521 4 0.000 0.037 2672 1467 1308 0 0 0 0 0 0
17371 0.88 396.7 143.8 9.7 1278 17390 0.00 1.08 12.15 0.493 6 0.000 0.033 2672 2166 1250 0 0 0 0 0 0
17729 0.91 421.1 108.5 9.3 1341 17754 0.00 1.10 19.45 0.493 4 0.000 0.037 2672 2867 1151 0 0 0 0 0 0
17831 0.99 488.5 100.9 7.6 1358 17885 0.00 1.08 50.67 0.461 6 0.000 0.028 2676 2158 876 0 0 0 0 0 0
18225 0.99 488.5 68.7 10.5 1427 18231 0.00 0.00 0.00 0.000 6 0.000 0.000 2676 2158 886 0 0 0 0 0 0
18569 1.06 541.5 39.8 8.1 1488 18617 0.12 1.08 43.38 0.436 4 0.078 0.034 2753 1466 660 0 0 0 0 0 0
18720 1.06 541.5 22.9 11.9 1514 18728 0.10 1.08 0.00 0.000 6 0.125 0.030 2720 2179 660 0 0 0 0 0 0
18907 end climb: SURFACE_DEPTH_REACHED
state 18907 begin surface coast
18942 end surface coast: CONTROL_FINISHED_OK
state 18942 begin surface