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Continue forward coastal runway and keep 200 m clear of shallow water - #8
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Coastal renewal now starts at the checked runway endpoint and retains remaining forward bends, preventing a new coast-entry search from sending the vehicle back toward an already passed bay.
Use a 320 m preferred distance, 80 m closer than 400 m. Treat water shallower than 2 m as a shoreline boundary and reserve a 200 m exclusion footprint. A vessel already inside the margin follows a bounded hull-safe outward exit with increasing separation. Existing plans with the smaller buffer require rechecking.
Validation: all 94 component tests pass, including shelf exclusion, outward departure, completed-result handling, and endpoint continuation. The live coordinator retains the same Gazebo world and visit history. WWW-POSIM also rechecks the actual resident pilot corridor before approving thrust.