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Advance rounded offshore course at a reached checked onward goal - #12
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The Phuket voyage reached the checked harbour-entry goal while still tracking an offshore graph vertex at 97 E, 7 N. Its incoming-plane test could never complete from the accepted coastal route, so the controller repeatedly replanned to the already reached entry.
Complete an ordinary rounded shape when measured position reaches its matching, land-checked and depth-approved onward goal. Mandatory harbour bends, canal points, passage gates and final port arrivals retain their existing rules. Add the recorded Phuket geometry as a regression, including stale guidance and unapproved-corridor rejection.
Validation: all 101 routing tests pass locally. Applied after verified voyage backup with a controller-only reload; the same native world advanced from the stuck index 138 to harbour waypoint 140. Sustained movement is being verified separately.