ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 709 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  221 HD_A  0.0042300001 ROLL_DEG  40 ALTIM_TOP_PING_RANGE  0
MISSION  7 HD_B  0.0085000005 C_ROLL_DIVE  2800 ALTIM_BOTTOM_TURN_MARGIN  10
DIVE  709 HD_C  1.6100001e-05 C_ROLL_CLIMB  2550 ALTIM_TOP_TURN_MARGIN  7
N_DIVES  0 HEADING  -1 HEAD_ERRBAND  10 ALTIM_TOP_MIN_OBSTACLE  1.8
STOP_T  0 ESCAPE_HEADING  0 ROLL_CNV  0.028270001 ALTIM_PING_DEPTH  0
D_SURF  2 ESCAPE_HEADING_DELTA  10 ROLL_TIMEOUT  30 ALTIM_PING_DELTA  6
D_FLARE  3 FIX_MISSING_TIMEOUT  1 R_PORT_OVSHOOT  46 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  23 ALTIM_PULSE  1
D_ABORT  1020 TGT_DEFAULT_LON  -12218 ROLL_AD_RATE  50 ALTIM_SENSITIVITY  4
D_NO_BLEED  500 TGT_AUTO_DEFAULT  0 ROLL_MAXERRORS  0 XPDR_VALID  3
D_BOOST  110 SM_CC  399.91037 ROLL_ADJ_GAIN  0 XPDR_INHIBIT  90
T_BOOST  0 N_FILEKB  8 ROLL_ADJ_DBAND  0 INT_PRESSURE_SLOPE  0.0097660003
D_FINISH  280 FILEMGR  2 VBD_MIN  1900 INT_PRESSURE_YINT  0.80000001
D_PITCH  3 CALL_NDIVES  1 VBD_MAX  3960 DEEPGLIDER  0
D_SAFE  500 COMM_SEQ  0 C_VBD  3492 MOTHERBOARD  4
D_CALL  2 PROTOCOL  9 VBD_DBAND  2 DEVICE1  -1
SURFACE_URGENCY  25 N_NOCOMM  0 VBD_CNV  -0.25119999 DEVICE2  -1
SURFACE_URGENCY_TRY  25 NOCOMM_ACTION  163 VBD_LP_IGNORE  0 DEVICE3  -1
SURFACE_URGENCY_FORCE  50 N_NOSURFACE  0 VBD_TIMEOUT  720 DEVICE4  -1
T_DIVE  350 UPLOAD_DIVES_MAX  4 PITCH_VBD_SHIFT  0.0012300001 DEVICE5  -1
T_MISSION  390 CALL_TRIES  3 VBD_PUMP_AD_RATE_SURFACE  1 DEVICE6  -1
T_ABORT  1440 CALL_WAIT  45 VBD_PUMP_AD_RATE_APOGEE  1 LOGGERS  1
T_TURN  225 CAPUPLOAD  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE1  53
T_TURN_SAMPINT  -5 CAPMAXSIZE  10000 UNCOM_BLEED  200 LOGGERDEVICE2  -1
T_NO_W  120 HEAPDBG  0 VBD_MAXERRORS  5 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS  3 W_ADJ_DBAND  2 LOGGERDEVICE4  -1
T_EPIRB  0 N_GPS  100440 DBDW  0 COMPASS_DEVICE  97
EXEC_P  0 T_RSLEEP  120 LOITER_W_DBAND  1 COMPASS2_DEVICE  149
EXEC_DT  0 STROBE  0 LOITER_DBDW  200 PHONE_DEVICE  49
EXEC_T  0 RAFOS_PEAK_OFFSET  0 LOITER_D_NO_PUMP  500 GPS_DEVICE  64
EXEC_N  0 RAFOS_CORR_THRESH  60 LOITER_N_DIVE  0 RAFOS_DEVICE  32
USE_BATHY  0 RAFOS_HIT_WINDOW  3600 PITCH_W_GAIN  2 XPDR_DEVICE  24
USE_ICE  1 RAFOS_MMODEM  0 PITCH_W_DBAND  0.5 SIM_W  0
ICE_FREEZE_MARGIN  20 PITCH_MIN  200 CF8_MAXERRORS  20 SEABIRD_T_G  0.0044198656
D_OFFGRID  990 PITCH_MAX  3910 AH0_24V  350 SEABIRD_T_H  0.00064431952
T_WATCHDOG  10 C_PITCH  2775 AH0_10V  0 SEABIRD_T_I  2.6320724e-05
RELAUNCH  1 PITCH_DBAND  0.1 MINV_24V  0 SEABIRD_T_J  3.2746798e-06
APOGEE_PITCH  -5 PITCH_CNV  0.0031300001 MINV_10V  0 SEABIRD_C_G  -9.9022408
MAX_BUOY  110 P_OVSHOOT  0.039999999 MAXI_24V  2 SEABIRD_C_H  1.1403944
COURSE_BIAS  0 P_OVSHOOT_WITHG  0 MAXI_10V  2 SEABIRD_C_I  -0.0013212307
GLIDE_SLOPE  45 PITCH_GAIN  22 FG_AHR_10V  0 SEABIRD_C_J  0.00017705678
SPEED_FACTOR  1 PITCH_TIMEOUT  40 FG_AHR_24V  0 SC_RECORDABOVE  2000.0
RHO  1.0275 PITCH_AD_RATE  20 PHONE_SUPPLY  -2 SC_PROFILE  3.0
MASS  53510 PITCH_MAXERRORS  1 PRESSURE_YINT  -160.68855 SC_XMITPROFILE  3.0
MASS_COMP  0 PITCH_ADJ_GAIN  0 PRESSURE_SLOPE  0.000108275 SC_NDIVE  1.0
NAV_MODE  0 PITCH_ADJ_DBAND  0 AD7714Ch0Gain  1
FERRY_MAX  45 ROLL_MIN  230 COMPASS_USE  4
KALMAN_USE  2 ROLL_MAX  3910 ALTIM_PING_FIT  883

Pre-dive calculations and measurements:
GPS1  201218,121600,-7426.4473,-11232.9082,0,4100.0,0,53.4,0.0,0.0,0,0.0 SPEED_LIMITS  0.094,0.239
_CALLS  1 TGT_NAME  out0
_XMS_NAKs  0 TGT_LATLONG  -7412.000,-11230.000
_XMS_TOUTs  0 TGT_RADIUS  1000.000
_SM_DEPTHo  366.54 MHEAD_RNG_PITCHd_Wd  309.7,26797,-19.3,-9.429,-21.50,1737
_SM_ANGLEo  3.8 D_GRID  990
GPS2  201218,121600,-7426.4473,-11232.9082,0,4100.0,0,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:
FINISH1  316.8,1.027398,5 _24V_AH  10.90,223.561
FINISH2  315.8 _10V_AH  11.31,0.000
RAFOS_CLK  573 FG_AHR_24Vo  0.000
RAFOS  0,1545318066,15.032354,15.018333,115,66,59,55,54,51,583,178,124,213,156,229 FG_AHR_10Vo  0.000
RAFOS_FIX  -7425.029785,-11233.756836,201218,151512,3,125,0.25 MEM  279900
IRIDIUM_FIX  -7410.85,-11223.24,141218,223050 DATA_FILE_SIZE  36639,1054
TT8_MAMPS  0.03745,0.364014 CAP_FILE_SIZE  134478,0
HUMID  51.18 CFSIZE  1024409600,935985152
INTERNAL_PRESSURE  7.92918 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  13.20 SOUNDSPEED  1451.8
XPDR_PINGS  1 GPS  201218,151512,-7425.030,-11233.757,0,4125.0,0,53.4,0.0,0.0,0,0.0
ALTIM_TOP_PING  322.4,12.0

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor429415.89 nil000.00
Roll_motor84111102.99 nil000.00
VBD_pump_during_apogee28130979503.32 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon501510549.64
Iridium_during_xfer000.00 nil000.00
Transponder_ping48420219.74 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8000.00
LPSleep108552283.60
TT8_Active3641044.85
TT8_Sampling223030765.70
TT8_CF831251181.33
TT8_Kalman000.00
Analog_circuits114510130.82
GPS_charging000.00
Compass15026114.54
RAFOS720112.21
Transponder35430120.38

Altimeter Analysis:
m=0.0,R=0.0,N=0 m=0.6,R=0.8,N=2
depth range fit R obstacle m R fit R obstacle m R
386.0 25.20 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
392.1 31.20 9000.00 0.0 0.00 0.00 31.20 0.0 0.98 1.00
383.5 80.20 9000.00 0.0 -4.48 0.43 80.20 0.0 -5.70 1.00
357.0 51.20 9000.00 0.0 -0.17 0.02 51.20 305.8 1.09 1.00
336.1 27.20 27.40 308.7 1.12 1.00 27.20 308.9 1.15 1.00
329.3 19.60 19.50 309.8 1.14 1.00 19.60 309.7 1.12 1.00
322.4 12.00 12.00 310.4 1.12 1.00 12.00 310.4 1.10 1.00

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
9 end surface: CONTROL_FINISHED_OK
state 9 begin dive
13 -1.01 -107.1 2789 2814 3519 3514 0.0 0.0 0 16 0.00 0.00 -1.77 0.051 16390 0.000 0.000 2789 2813 3935 3928 3943 0 0 0 0 0 0 14.83 12.71 14.75
19 -1.01 -107.1 2790 2813 3936 3952 0.0 0.0 0 26 1.10 2.00 0.00 0.000 4356 0.144 0.089 2450 3913 3945 3938 3953 0 0 0 0 0 0 14.19 14.19 14.33
102 -1.01 -107.1 2450 3914 3947 3960 372.3 -8.1 16 107 0.00 1.90 0.00 0.000 1030 0.000 0.048 2450 2793 3952 3946 3959 0 0 0 0 0 0 14.57 14.50 14.59
412 -1.01 -107.1 2450 2795 3951 3963 398.9 -8.6 48 413 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2793 3955 3950 3961 0 0 0 0 0 0 14.99 14.99 14.99
713 -1.01 -107.1 2450 2794 3952 3964 423.0 -8.3 78 721 0.00 2.42 0.00 0.000 516 0.000 0.047 2450 1386 3957 3952 3963 0 0 0 0 0 0 15.00 14.29 15.00
751 -1.01 -107.1 2450 1387 3953 3964 426.4 -8.4 85 759 0.00 2.55 0.00 0.000 1030 0.000 0.066 2450 2803 3958 3953 3963 0 0 0 0 0 0 14.42 14.27 14.47
1057 -1.01 -107.1 2450 2804 3953 3964 451.4 -8.0 116 1057 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2803 3958 3953 3963 0 0 0 0 0 0 14.99 14.99 14.99
1358 -1.01 -107.1 2450 2804 3953 3964 475.0 -7.9 146 1358 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2802 3958 3953 3963 0 0 0 0 0 0 14.76 14.76 14.76
1657 -1.01 -107.1 2450 2803 3954 3963 499.2 -8.1 176 1658 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2803 3958 3953 3963 0 0 0 0 0 0 14.98 14.99 14.99
1957 -1.01 -107.1 2450 2803 3954 3963 522.8 -7.7 206 1957 0.00 0.00 0.00 0.000 6 0.000 0.000 2450 2803 3957 3952 3963 0 0 0 0 0 0 14.99 14.99 14.99
2257 -1.01 -107.1 2450 2803 3954 3963 545.6 -7.5 236 2262 0.00 2.50 0.00 0.000 516 0.000 0.048 2450 1388 3958 3953 3963 0 0 0 0 0 0 14.98 14.26 14.99
2288 -1.01 -107.1 2450 1389 3954 3964 548.0 -7.5 242 2293 0.00 2.58 0.00 0.000 1030 0.000 0.066 2449 2813 3958 3954 3963 0 0 0 0 0 0 14.35 14.21 14.40
2599 -1.01 -107.1 2448 2814 3954 3964 571.8 -8.0 274 2599 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2813 3958 3953 3963 0 0 0 0 0 0 14.99 14.98 14.99
2899 -1.01 -107.1 2449 2814 3954 3964 595.5 -7.9 304 2900 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2813 3958 3953 3963 0 0 0 0 0 0 14.98 14.98 14.98
3199 -1.01 -107.1 2449 2814 3954 3964 619.3 -7.9 334 3199 0.00 0.00 0.00 0.000 6 0.000 0.000 2449 2813 3958 3953 3963 0 0 0 0 0 0 14.99 14.98 14.98
3499 -1.01 -107.1 2449 2814 3954 3965 641.9 -7.5 364 3504 0.00 2.50 0.00 0.000 516 0.000 0.047 2449 1393 3958 3954 3963 0 0 0 0 0 0 14.99 14.24 14.99
3541 -1.01 -107.1 2449 1394 3955 3963 645.1 -7.7 372 3546 0.00 2.58 0.00 0.000 1030 0.000 0.066 2449 2813 3958 3954 3963 0 0 0 0 0 0 14.33 14.19 14.38
3852 -1.01 -107.1 2449 2813 3954 3964 668.0 -7.3 404 3852 0.00 0.00 0.00 0.000 38 0.000 0.000 2449 2813 3959 3955 3964 0 0 0 0 0 0 14.98 14.99 14.99
4152 -1.01 -107.1 2450 2813 3955 3964 689.6 -7.0 434 4157 0.00 2.50 0.00 0.000 548 0.000 0.048 2449 1391 3959 3954 3964 0 0 0 0 0 0 14.95 14.22 14.95
4188 -1.01 -107.1 2449 1392 3956 3965 692.3 -7.4 441 4195 0.00 2.58 0.00 0.000 1062 0.000 0.066 2448 2811 3959 3954 3964 0 0 0 0 0 0 14.33 14.18 14.37
4513 -1.01 -107.1 2449 2812 3956 3965 715.9 -7.4 460 4514 0.00 0.00 0.00 0.000 38 0.000 0.000 2448 2811 3960 3955 3965 0 0 0 0 0 0 14.95 14.95 14.95
4876 -1.01 -107.1 2448 2812 3955 3966 742.0 -7.1 472 4876 0.00 0.00 0.00 0.000 38 0.000 0.000 2448 2811 3959 3954 3965 0 0 0 0 0 0 14.93 14.93 14.93
5233 -1.01 -107.1 2449 2812 3956 3966 768.1 -7.2 484 5238 0.00 2.50 0.00 0.000 548 0.000 0.047 2448 1396 3960 3955 3966 0 0 0 0 0 0 15.00 14.18 15.00
5284 -1.01 -107.1 2449 1396 3956 3965 771.8 -7.3 494 5289 0.00 2.58 0.00 0.000 1062 0.000 0.066 2445 2812 3961 3956 3966 0 0 0 0 0 0 14.28 14.13 14.33
5657 -1.01 -107.1 2445 2813 3956 3967 797.5 -6.9 508 5658 0.00 0.00 0.00 0.000 38 0.000 0.000 2444 2812 3961 3956 3966 0 0 0 0 0 0 14.97 14.97 14.97
6015 -1.01 -107.1 2445 2812 3957 3966 822.6 -7.0 520 6016 0.00 0.00 0.00 0.000 38 0.000 0.000 2444 2812 3960 3955 3965 0 0 0 0 0 0 15.00 15.00 15.00
6375 -1.01 -107.1 2444 2813 3957 3968 847.2 -6.8 532 6376 0.00 0.00 0.00 0.000 38 0.000 0.000 2445 2812 3961 3956 3967 0 0 0 0 0 0 15.00 15.00 15.00
6735 -1.01 -107.1 2445 2812 3958 3968 871.4 -6.7 544 6740 0.00 2.53 0.00 0.000 548 0.000 0.047 2445 1383 3962 3957 3967 0 0 0 0 0 0 15.00 14.13 15.00
6776 -1.01 -107.1 2445 1383 3958 3968 874.9 -6.9 552 6781 0.00 2.60 0.00 0.000 1062 0.000 0.066 2444 2809 3962 3957 3967 0 0 0 0 0 0 14.25 14.10 14.30
7161 -1.01 -107.1 2443 2809 3958 3969 899.9 -6.7 568 7161 0.00 0.00 0.00 0.000 38 0.000 0.000 2444 2809 3963 3957 3969 0 0 0 0 0 0 14.69 14.69 14.68
7518 -1.01 -107.1 2444 2809 3959 3970 924.3 -6.9 580 7523 0.00 2.53 0.00 0.000 548 0.000 0.047 2444 1392 3964 3958 3970 0 0 0 0 0 0 14.71 14.14 14.71
7554 -1.01 -107.1 2444 1392 3960 3970 927.6 -7.0 587 7559 0.00 2.58 0.00 0.000 1062 0.000 0.066 2443 2806 3964 3959 3970 0 0 0 0 0 0 14.25 14.09 14.30
7942 -1.01 -107.1 2443 2805 3960 3972 952.8 -6.6 604 7943 0.00 0.00 0.00 0.000 38 0.000 0.000 2443 2805 3965 3959 3971 0 0 0 0 0 0 14.97 14.97 14.97
8300 -1.01 -107.1 2443 2806 3961 3972 977.0 -6.7 616 8308 0.00 2.47 0.00 0.000 548 0.000 0.047 2443 1390 3965 3960 3971 0 0 0 0 0 0 15.00 14.10 15.00
8354 -1.01 -107.1 2444 1390 3961 3971 981.4 -6.6 626 8359 0.00 2.60 0.00 0.000 1062 0.000 0.067 2441 2808 3965 3960 3971 0 0 0 0 0 0 14.24 14.09 14.29
8512 end dive: TARGET_DEPTH_EXCEEDED
state 8512 begin apogee
8519 -0.23 0.0 2443 2542 3961 3973 990.8 -6.3 633 8666 0.95 0.00 140.35 3.097 10246 0.206 0.000 2696 2541 3491 3498 3484 0 0 0 0 0 0 13.74 13.09 11.74
8667 end apogee: CONTROL_FINISHED_OK
state 8667 begin climb
8670 1.01 107.1 2697 2542 3498 3485 992.2 0.0 638 8822 1.38 0.00 141.12 3.097 10758 0.112 0.000 3099 2541 3063 3080 3047 0 0 0 0 0 0 13.12 12.09 10.90
9179 1.01 107.1 3099 2542 3071 3038 925.7 14.7 675 9180 0.00 0.00 0.00 0.000 6 0.000 0.000 3100 2541 3053 3070 3037 0 0 0 0 0 0 14.46 14.47 14.46
9539 1.01 107.1 3099 2542 3070 3035 873.6 14.4 687 9543 0.00 2.50 0.00 0.000 260 0.000 0.088 3099 3914 3052 3070 3035 0 0 0 0 0 0 14.83 14.44 14.83
9579 1.01 107.1 3100 3915 3070 3036 866.3 18.9 695 9584 0.00 2.33 0.00 0.000 1030 0.000 0.050 3114 2541 3051 3069 3034 0 0 0 0 0 0 14.66 14.59 14.69
9960 1.01 107.1 3110 2541 3069 3032 810.2 15.0 711 9961 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2541 3050 3068 3032 0 0 0 0 0 0 14.92 14.90 14.90
10323 1.01 107.1 3111 2541 3069 3032 758.0 14.4 723 10323 0.00 0.00 0.00 0.000 6 0.000 0.000 3110 2541 3050 3068 3032 0 0 0 0 0 0 14.88 14.88 14.88
10683 1.01 107.1 3110 2543 3069 3033 706.1 14.4 735 10688 0.00 2.53 0.00 0.000 260 0.000 0.089 3110 3917 3049 3067 3032 0 0 0 0 0 0 14.88 14.21 14.88
10718 1.01 107.1 3111 3918 3069 3032 699.9 16.5 742 10723 0.00 2.35 0.00 0.000 1030 0.000 0.049 3121 2535 3050 3068 3032 0 0 0 0 0 0 14.62 14.56 14.65
11086 1.01 107.1 3121 2537 3065 3033 646.8 14.3 781 11091 0.00 2.42 0.00 0.000 516 0.000 0.061 3132 1152 3049 3068 3031 0 0 0 0 0 0 14.81 14.38 14.81
11117 1.01 107.1 3131 1153 3068 3032 642.2 14.3 787 11122 0.15 2.50 0.00 0.000 5126 0.263 0.066 3097 2565 3049 3068 3031 0 0 0 0 0 0 14.12 14.41 14.45
11429 1.01 107.1 3098 2565 3069 3031 600.9 13.1 819 11434 0.00 2.45 0.00 0.000 260 0.000 0.090 3097 3911 3046 3062 3031 0 0 0 0 0 0 14.81 14.33 14.81
11465 1.01 107.1 3097 3911 3069 3032 595.7 15.1 826 11472 0.00 2.35 0.00 0.000 1030 0.000 0.048 3108 2540 3049 3068 3031 0 0 0 0 0 0 14.59 14.52 14.62
11771 1.01 107.1 3108 2541 3069 3032 554.9 13.2 857 11772 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2540 3049 3068 3031 0 0 0 0 0 0 14.77 14.78 14.78
12071 1.01 107.1 3108 2540 3070 3031 515.7 12.9 887 12072 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2541 3050 3069 3031 0 0 0 0 0 0 14.77 14.77 14.77
12371 1.01 107.1 3108 2541 3069 3032 476.6 12.9 917 12377 0.00 2.50 0.00 0.000 260 0.000 0.090 3108 3906 3049 3068 3031 0 0 0 0 0 0 14.78 14.30 14.78
12403 1.01 107.1 3108 3907 3069 3032 471.9 15.0 923 12408 0.00 2.33 0.00 0.000 1030 0.000 0.048 3119 2541 3049 3068 3031 0 0 0 0 0 0 14.51 14.44 14.54
12714 1.01 107.1 3118 2543 3069 3032 430.4 13.4 955 12719 0.00 2.47 0.00 0.000 516 0.000 0.060 3129 1148 3049 3068 3030 0 0 0 0 0 0 14.78 14.24 14.79
12740 1.01 107.1 3129 1148 3067 3032 427.0 12.4 960 12746 0.00 2.50 0.00 0.000 1030 0.000 0.065 3129 2554 3049 3068 3030 0 0 0 0 0 0 14.50 14.37 14.56
13045 1.01 107.1 3130 2554 3069 3031 385.7 13.4 991 13050 0.00 2.50 0.00 0.000 260 0.000 0.090 3129 3920 3049 3068 3030 0 0 0 0 0 0 14.88 14.28 14.88
13076 1.01 107.1 3129 3921 3069 3031 381.2 14.9 997 13082 0.17 2.38 0.00 0.000 5126 0.295 0.049 3101 2535 3049 3068 3030 0 0 0 0 0 0 13.98 14.49 14.36
13388 1.01 107.1 3102 2536 3069 3031 344.1 11.6 1029 13389 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2536 3049 3068 3030 0 0 0 0 0 0 14.90 14.90 14.90
13625 end climb: SURFACE_OBSTACLE_DETECTED
state 13625 begin subsurface finish
13633 0.01 5.2 3102 2536 3069 3031 316.8 11.3 1053 13642 1.20 2.55 -1.98 0.057 20740 0.234 0.112 2779 3916 3496 3499 3494 0 0 0 0 0 0 13.96 12.79 14.17
13642 end subsurface finish: CONTROL_FINISHED_OK
state 13642 begin surface