Program: 46665
Project: 46665
Buggy source:
@SuppressWarnings("String_Node_Str") @Override public void go(){
  int startColor;
  do {
    startColor=light.getColorID();
  }
 while (startColor != Color.RED && startColor != Color.BLUE);
  if (startColor == Color.RED) {
    LCD.drawString("String_Node_Str",0,1);
  }
 else {
    LCD.drawString("String_Node_Str",0,1);
  }
  int dir=(startColor == Color.BLUE) ? 1 : -1;
  int distanceDownBoard=0;
  LCD.drawString("String_Node_Str",0,4);
  travel(100,true,MIN_ACCELERATION);
  while (light.getColorID() == startColor) {
  }
  travel(5,false,MAX_ACCELERATION);
  LCD.drawString("String_Node_Str",0,4);
  pilot.setAcceleration(MIN_ACCELERATION);
  pilot.arc(dir * 20.0f,dir * 90.0f);
  LCD.drawString("String_Node_Str",0,4);
  pilot.reset();
  travel(106,true);
  waitForPawn();
  distanceDownBoard+=pilot.getMovement().getDistanceTraveled();
  int travelDistance=35;
  if (distanceDownBoard < 15) {
    lejos.nxt.Sound.beep();
    travelDistance=15;
    distanceDownBoard=distanceDownBoard + 20;
  }
  rotate(180);
  travel(travelDistance,false);
  travel(-35,false);
  rotate(-180);
  LCD.drawString("String_Node_Str",0,4);
  pilot.reset();
  travel(140 - distanceDownBoard,false);
  LCD.drawString("String_Node_Str",0,4);
  rotate(dir * 90);
  setSpeed(SLOW);
  travel(20,true);
  while (light.getColorID() == Color.RED) {
  }
  stop();
  setSpeed(FAST);
  rotate(dir * -90);
  travel(15,false);
  travel(-48,false);
  rotate(dir * 90);
  LCD.drawString("String_Node_Str",0,4);
  if (light.getColorID() == Color.RED) {
    travel(-20,true);
    while (light.getColorID() == Color.RED) {
    }
    stop();
    travel(-5,false);
  }
 else {
    travel(20,true);
    while (light.getColorID() != Color.RED) {
    }
    travel(-10,false);
  }
  LCD.drawString("String_Node_Str",0,4);
  pilot.setAcceleration(MAX_ACCELERATION);
  pilot.rotate(dir * 335,true);
  while (light.getColorID() == Color.BLUE) {
  }
  float angle1=Math.abs(pilot.getAngleIncrement());
  lejos.util.Delay.msDelay(500);
  while (light.getColorID() == Color.RED) {
  }
  lejos.util.Delay.msDelay(500);
  while (light.getColorID() == Color.BLUE) {
  }
  float angle2=Math.abs(pilot.getAngleIncrement());
  LCD.drawString(angle1 + "String_Node_Str" + angle2,0,4);
  pilot.stop();
  float SENSOR_ANGLE=36;
  if (startColor == Color.BLUE)   SENSOR_ANGLE=-65;
  pilot.rotate(-dir * (angle2 - angle1) / 2 + SENSOR_ANGLE);
  pilot.setAcceleration(MIN_ACCELERATION);
  LCD.drawString("String_Node_Str",0,4);
  travel(125,false);
  rotate(-90 * dir);
  travel(60,true);
  int n=0;
  do {
    if (light.getColorID() == Color.BLACK)     ++n;
 else     n=0;
    lejos.util.Delay.msDelay(100);
  }
 while (n < 2 && pilot.isMoving());
  stop();
  footDown();
  if (!competition) {
    lejos.util.Delay.msDelay(4000);
    footUp();
    setSpeed(FAST);
    rotate(180);
  }
 else {
    lejos.util.Delay.msDelay(90000);
    NXT.shutDown();
  }
}

Fixed version (ground truth):
@SuppressWarnings("String_Node_Str") @Override public void go(){
  int startColor;
  do {
    startColor=light.getColorID();
  }
 while (startColor != Color.RED && startColor != Color.BLUE);
  marioStart();
  if (startColor == Color.RED) {
    LCD.drawString("String_Node_Str",0,1);
  }
 else {
    LCD.drawString("String_Node_Str",0,1);
  }
  int dir=(startColor == Color.BLUE) ? 1 : -1;
  int distanceDownBoard=0;
  LCD.drawString("String_Node_Str",0,4);
  travel(100,true,MIN_ACCELERATION);
  while (light.getColorID() == startColor) {
  }
  travel(5,false,MAX_ACCELERATION);
  LCD.drawString("String_Node_Str",0,4);
  pilot.setAcceleration(MIN_ACCELERATION);
  pilot.arc(dir * 20.0f,dir * 90.0f);
  LCD.drawString("String_Node_Str",0,4);
  pilot.reset();
  travel(106,true);
  waitForPawn();
  distanceDownBoard+=pilot.getMovement().getDistanceTraveled();
  int travelDistance=35;
  if (distanceDownBoard < 15) {
    lejos.nxt.Sound.beep();
    travelDistance=15;
    distanceDownBoard=distanceDownBoard + 20;
  }
  rotate(180);
  travel(travelDistance,false);
  travel(-35,false);
  rotate(-180);
  LCD.drawString("String_Node_Str",0,4);
  pilot.reset();
  travel(140 - distanceDownBoard,false);
  LCD.drawString("String_Node_Str",0,4);
  rotate(dir * 90);
  setSpeed(SLOW);
  travel(20,true);
  while (light.getColorID() == Color.RED) {
  }
  stop();
  setSpeed(FAST);
  rotate(dir * -90);
  travel(15,false);
  travel(-48,false);
  rotate(dir * 90);
  LCD.drawString("String_Node_Str",0,4);
  if (light.getColorID() == Color.RED) {
    travel(-20,true);
    while (light.getColorID() == Color.RED) {
    }
    stop();
    travel(-5,false);
  }
 else {
    travel(20,true);
    while (light.getColorID() != Color.RED) {
    }
    travel(-10,false);
  }
  LCD.drawString("String_Node_Str",0,4);
  pilot.setAcceleration(MAX_ACCELERATION);
  pilot.rotate(dir * 335,true);
  while (light.getColorID() == Color.BLUE) {
  }
  float angle1=Math.abs(pilot.getAngleIncrement());
  lejos.util.Delay.msDelay(500);
  while (light.getColorID() == Color.RED) {
  }
  lejos.util.Delay.msDelay(500);
  while (light.getColorID() == Color.BLUE) {
  }
  float angle2=Math.abs(pilot.getAngleIncrement());
  LCD.drawString(angle1 + "String_Node_Str" + angle2,0,4);
  pilot.stop();
  float SENSOR_ANGLE=36;
  if (startColor == Color.BLUE)   SENSOR_ANGLE=-65;
  pilot.rotate(-dir * (angle2 - angle1) / 2 + SENSOR_ANGLE);
  pilot.setAcceleration(MIN_ACCELERATION);
  LCD.drawString("String_Node_Str",0,4);
  travel(125,false);
  rotate(-90 * dir);
  travel(60,true);
  int n=0;
  do {
    if (light.getColorID() == Color.BLACK)     ++n;
 else     n=0;
    lejos.util.Delay.msDelay(100);
  }
 while (n < 2 && pilot.isMoving());
  stop();
  Sound.playSample(new File("String_Node_Str"));
  footDown();
  if (!competition) {
    lejos.util.Delay.msDelay(4000);
    footUp();
    setSpeed(FAST);
    rotate(180);
  }
 else {
    lejos.util.Delay.msDelay(90000);
    NXT.shutDown();
  }
}