DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 663 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  141 HD_C  9.9999997e-06 ROLL_MIN  256 ALTIM_TOP_TURN_MARGIN  5
MISSION  15 HEADING  -1 ROLL_MAX  3943 ALTIM_TOP_MIN_OBSTACLE  2
DIVE  663 ESCAPE_HEADING  120 ROLL_DEG  40 ALTIM_PING_DEPTH  300
N_DIVES  0 ESCAPE_HEADING_DELTA  10 C_ROLL_DIVE  2490 ALTIM_PING_DELTA  50
D_SURF  3 FIX_MISSING_TIMEOUT  5 C_ROLL_CLIMB  2275 ALTIM_FREQUENCY  13
D_FLARE  5 TGT_DEFAULT_LAT  6000 HEAD_ERRBAND  10 ALTIM_PULSE  3
D_TGT  990 TGT_DEFAULT_LON  -5500 ROLL_CNV  0.028270001 ALTIM_SENSITIVITY  4
D_ABORT  1050 TGT_AUTO_DEFAULT  0 ROLL_TIMEOUT  15 XPDR_VALID  4
D_NO_BLEED  50 SM_CC  559.0387 R_PORT_OVSHOOT  19 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 R_STBD_OVSHOOT  19 INT_PRESSURE_SLOPE  0.0097660003
T_BOOST  0 FILEMGR  2 ROLL_AD_RATE  325 INT_PRESSURE_YINT  0
D_FINISH  9 CALL_NDIVES  1 ROLL_MAXERRORS  0 DEEPGLIDER  0
D_PITCH  1.75 COMM_SEQ  0 ROLL_ADJ_GAIN  0 DEEPGLIDERMB  0
D_SAFE  500 PROTOCOL  1 ROLL_ADJ_DBAND  0 MOTHERBOARD  4
D_CALL  3 N_NOCOMM  1 VBD_MIN  751 DEVICE1  2
SURFACE_URGENCY  10 N_NOSURFACE  0 VBD_MAX  4040 DEVICE2  20
SURFACE_URGENCY_TRY  5 UPLOAD_DIVES_MAX  5 C_VBD  3030 DEVICE3  -1
SURFACE_URGENCY_FORCE  10 CALL_TRIES  3 VBD_DBAND  2 DEVICE4  -1
T_DIVE  330 CALL_WAIT  60 VBD_CNV  -0.24529999 DEVICE5  -1
T_MISSION  400 CAPUPLOAD  0 VBD_TIMEOUT  720 DEVICE6  -1
T_ABORT  1440 CAPMAXSIZE  100000 PITCH_VBD_SHIFT  0.0012300001 LOGGERS  0
T_TURN  225 HEAPDBG  0 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERDEVICE1  -1
T_TURN_SAMPINT  5 T_GPS  3 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE2  -1
T_NO_W  120 N_GPS  20 VBD_BLEED_AD_RATE  8 LOGGERDEVICE3  -1
T_LOITER  0 T_GPS_ALMANAC  0 UNCOM_BLEED  50 LOGGERDEVICE4  -1
USE_BATHY  -2 T_GPS_CHARGE  -49370.453 VBD_MAXERRORS  1 COMPASS_DEVICE  33
USE_ICE  2 T_RSLEEP  2 CF8_MAXERRORS  0 COMPASS2_DEVICE  133
ICE_FREEZE_MARGIN  0.1 STROBE  0 AH0_24V  150 PHONE_DEVICE  48
D_OFFGRID  250 RAFOS_PEAK_OFFSET  1.5 AH0_10V  110 GPS_DEVICE  32
T_WATCHDOG  10 RAFOS_CORR_THRESH  60 MINV_24V  19 RAFOS_DEVICE  32
RELAUNCH  1 RAFOS_HIT_WINDOW  3600 MINV_10V  8 XPDR_DEVICE  24
APOGEE_PITCH  -5 PITCH_MIN  110 FG_AHR_10V  0 SIM_W  0
MAX_BUOY  150 PITCH_MAX  3900 FG_AHR_24V  0 SIM_PITCH  0
COURSE_BIAS  0 C_PITCH  2864 PHONE_SUPPLY  2 SEABIRD_T_G  0.0042907749
GLIDE_SLOPE  30 PITCH_DBAND  0.1 PRESSURE_YINT  -33.184971 SEABIRD_T_H  0.0006300722
SPEED_FACTOR  1 PITCH_CNV  0.0031256729 PRESSURE_SLOPE  0.0001160265 SEABIRD_T_I  2.4342404e-05
RHO  1.0275 P_OVSHOOT  0.039999999 AD7714Ch0Gain  128 SEABIRD_T_J  2.663412e-06
MASS  51684 PITCH_GAIN  40 TCM_PITCH_OFFSET  0 SEABIRD_C_G  -9.8752003
NAV_MODE  0 PITCH_TIMEOUT  20 TCM_ROLL_OFFSET  0 SEABIRD_C_H  1.1299734
FERRY_MAX  45 PITCH_AD_RATE  175 COMPASS_USE  0 SEABIRD_C_I  -0.00041852854
KALMAN_USE  2 PITCH_MAXERRORS  2 ALTIM_BOTTOM_PING_RANGE  0 SEABIRD_C_J  0.00012689357
HD_A  0.003 PITCH_ADJ_GAIN  0.02 ALTIM_TOP_PING_RANGE  20
HD_B  0.0099999998 PITCH_ADJ_DBAND  1 ALTIM_BOTTOM_TURN_MARGIN  15

Pre-dive calculations and measurements:
GPS1  210511,082725,6706.968,-5906.202,0,7113.7,0,-37.6 TGT_NAME  TARGET_W2
_CALLS  3 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  4.87 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -2.9 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  210511,082725,6706.968,-5906.202,0,7113.7,0,-37.6 MHEAD_RNG_PITCHd_Wd  271.5,72231,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1262

Post-dive calculations and measurements:
FINISH1  11.8,1.026067,70 _24V_AH  20.6,87.913
FINISH2  10.4 _10V_AH  9.8,45.513
RAFOS_CLK  971 FG_AHR_24Vo  0.000
RAFOS  0,1305979271,12.033333,12.019722,61,60,60,58,57,53,215,157,123,206,187,167 FG_AHR_10Vo  0.000
RAFOS_FIX  6705.832520,-5907.592285,210511,121238,6,103,0.16 MEM  150560
IRIDIUM_FIX  6636.54,-5659.96,160511,171709 DATA_FILE_SIZE  50075,1314
TT8_MAMPS  0.026215 CAP_FILE_SIZE  186438,0
HUMID  48.22 CFSIZE  260165632,210276352
INTERNAL_PRESSURE  8.69174 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.30 SOUNDSPEED  1457.1
XPDR_PINGS  13 GPS  210511,123138,6705.833,-5907.592,0,6102.7,0,-37.6
ALTIM_TOP_PING  19.8,12.8

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor622831.10 SBE_CT93624462.92
Roll_motor196100405.35 SBE_O2100919395.23
VBD_pump_during_apogee440156914242.56 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 nil000.00
Iridium_during_xfer000.00 nil000.00
Transponder_ping742060.56 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8331219646.68
LPSleep114222258.59
TT8_Active60119117.49
TT8_Sampling231639906.07
TT8_CF833445150.47
TT8_Kalman000.00
Analog_circuits189312222.63
GPS_charging000.00
Compass228415335.80
RAFOS2520137.04
Transponder27308.04

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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.62 -146.0 0.0 0.0 0 81 0.00 0.00 -61.67 0.000 2 0.000 0.000 2896 2264 2497 0 0 0 0 0 0
84 -0.62 -146.0 5.1 -0.9 11 143 0.62 2.88 -47.95 0.000 4 0.083 0.100 2664 3897 3629 0 0 0 0 0 0
236 -0.50 -146.0 26.7 -19.5 37 243 0.15 2.30 0.00 0.000 6 0.229 0.063 2696 2490 3630 0 0 0 0 0 0
583 -0.43 -146.0 83.2 -13.1 98 589 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2490 3630 0 0 0 0 0 0
917 -0.39 -146.0 125.9 -12.4 140 922 0.15 2.42 0.00 0.000 4 0.227 0.088 2732 3903 3629 0 0 0 0 0 0
947 -0.42 -146.0 129.2 -11.6 142 951 0.00 2.33 0.00 0.000 6 0.000 0.062 2733 2477 3629 0 0 0 0 0 0
1273 -0.50 -146.0 156.5 -8.2 172 1277 0.00 2.30 0.00 0.000 4 0.000 0.079 2733 1079 3629 0 0 0 0 0 0
1301 -0.58 -146.0 159.2 -9.2 174 1309 0.17 2.35 0.00 0.000 6 0.109 0.076 2671 2489 3628 0 0 0 0 0 0
1627 -0.51 -146.0 202.5 -13.3 205 1631 0.00 2.42 0.00 0.000 4 0.000 0.093 2671 3902 3628 0 0 0 0 0 0
1679 -0.51 -146.0 208.8 -11.6 209 1683 0.00 2.33 0.00 0.000 6 0.000 0.063 2671 2482 3627 0 0 0 0 0 0
2006 -0.46 -146.0 251.3 -12.9 239 2008 0.15 0.00 0.00 0.000 6 0.216 0.000 2706 2482 3628 0 0 0 0 0 0
2324 -0.51 -146.0 281.3 -8.5 269 2328 0.00 2.30 0.00 0.000 4 0.000 0.076 2706 1077 3628 0 0 0 0 0 0
2365 -0.57 -146.0 284.9 -8.7 272 2369 0.00 2.38 0.00 0.000 6 0.000 0.075 2706 2493 3627 0 0 0 0 0 0
2691 -0.63 -146.0 311.5 -8.4 302 2693 0.15 0.00 0.00 0.000 6 0.117 0.000 2654 2493 3628 0 0 0 0 0 0
3009 -0.56 -146.0 348.8 -12.4 332 3010 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2494 3628 0 0 0 0 0 0
3331 -0.49 -146.0 388.9 -12.4 362 3336 0.20 2.42 0.00 0.000 4 0.197 0.086 2704 3906 3628 0 0 0 0 0 0
3376 -0.59 -146.0 393.9 -8.7 365 3383 0.00 2.30 0.00 0.000 6 0.000 0.059 2704 2487 3628 0 0 0 0 0 0
3702 -0.65 -146.0 419.5 -7.9 396 3707 0.15 2.35 0.00 0.000 4 0.122 0.073 2653 1074 3629 0 0 0 0 0 0
3732 -0.63 -146.0 422.5 -11.2 398 3737 0.00 2.35 0.00 0.000 6 0.000 0.073 2653 2492 3629 0 0 0 0 0 0
4058 -0.56 -146.0 461.5 -11.8 428 4063 0.12 2.40 0.00 0.000 4 0.212 0.087 2680 3900 3629 0 0 0 0 0 0
4081 -0.53 -146.0 464.1 -10.9 429 4088 0.00 2.30 0.00 0.000 6 0.000 0.059 2681 2483 3629 0 0 0 0 0 0
4406 -0.53 -146.0 494.5 -9.2 460 4410 0.00 2.30 0.00 0.000 4 0.000 0.073 2681 1078 3629 0 0 0 0 0 0
4458 -0.57 -146.0 499.4 -9.4 464 4466 0.00 2.35 0.00 0.000 6 0.000 0.071 2681 2491 3629 0 0 0 0 0 0
4785 -0.57 -146.0 528.8 -9.3 495 4789 0.00 2.40 0.00 0.000 4 0.000 0.087 2681 3904 3629 0 0 0 0 0 0
4817 -0.59 -146.0 531.6 -9.1 497 4821 0.00 2.30 0.00 0.000 6 0.000 0.058 2681 2481 3630 0 0 0 0 0 0
5142 -0.59 -146.0 561.0 -8.8 527 5146 0.00 2.28 0.00 0.000 4 0.000 0.073 2681 1079 3630 0 0 0 0 0 0
5165 -0.59 -146.0 563.2 -9.3 528 5172 0.00 2.38 0.00 0.000 6 0.000 0.073 2681 2499 3630 0 0 0 0 0 0
5491 -0.59 -146.0 590.9 -8.1 559 5495 0.00 2.38 0.00 0.000 4 0.000 0.087 2681 3903 3630 0 0 0 0 0 0
5515 -0.61 -146.0 592.9 -8.2 561 5519 0.00 2.30 0.00 0.000 6 0.000 0.059 2681 2482 3630 0 0 0 0 0 0
5853 -0.63 -146.0 619.2 -7.8 577 5857 0.00 2.30 0.00 0.000 4 0.000 0.074 2681 1069 3630 0 0 0 0 0 0
5892 -0.67 -146.0 622.5 -8.1 578 5896 0.00 2.35 0.00 0.000 6 0.000 0.073 2681 2491 3631 0 0 0 0 0 0
6217 -0.69 -146.0 647.3 -7.7 589 6222 0.12 2.42 0.00 0.000 4 0.128 0.088 2637 3908 3631 0 0 0 0 0 0
6239 -0.66 -146.0 649.5 -9.1 589 6247 0.00 2.33 0.00 0.000 6 0.000 0.060 2637 2479 3631 0 0 0 0 0 0
6560 -0.58 -146.0 686.0 -11.6 600 6565 0.15 2.33 0.00 0.000 4 0.213 0.073 2673 1069 3631 0 0 0 0 0 0
6590 -0.55 -146.0 689.2 -10.8 601 6595 0.00 2.38 0.00 0.000 6 0.000 0.073 2673 2491 3631 0 0 0 0 0 0
6926 -0.55 -146.0 719.3 -8.9 612 6930 0.00 2.40 0.00 0.000 4 0.000 0.088 2673 3910 3631 0 0 0 0 0 0
6949 -0.55 -146.0 721.4 -8.9 612 6956 0.00 2.30 0.00 0.000 6 0.000 0.060 2673 2483 3630 0 0 0 0 0 0
7263 -0.55 -146.0 750.1 -9.2 623 7267 0.00 2.30 0.00 0.000 4 0.000 0.074 2673 1077 3631 0 0 0 0 0 0
7298 -0.55 -146.0 753.5 -9.9 624 7302 0.00 2.38 0.00 0.000 6 0.000 0.073 2673 2496 3631 0 0 0 0 0 0
7635 -0.55 -146.0 783.7 -8.9 635 7639 0.00 2.40 0.00 0.000 4 0.000 0.089 2673 3900 3630 0 0 0 0 0 0
7670 -0.58 -146.0 787.1 -9.5 636 7674 0.00 2.30 0.00 0.000 6 0.000 0.060 2673 2484 3631 0 0 0 0 0 0
8013 -0.60 -146.0 817.5 -8.8 647 8017 0.00 2.30 0.00 0.000 4 0.000 0.074 2673 1079 3631 0 0 0 0 0 0
8053 -0.65 -146.0 821.1 -8.4 648 8057 0.00 2.38 0.00 0.000 6 0.000 0.073 2673 2496 3631 0 0 0 0 0 0
8390 -0.67 -146.0 850.5 -8.8 659 8394 0.00 2.40 0.00 0.000 4 0.000 0.088 2673 3906 3630 0 0 0 0 0 0
8413 -0.70 -146.0 852.8 -9.2 659 8418 0.12 2.30 0.00 0.000 6 0.122 0.060 2631 2482 3630 0 0 0 0 0 0
8726 -0.61 -146.0 890.6 -12.3 669 8728 0.12 0.00 0.00 0.000 6 0.216 0.000 2660 2482 3630 0 0 0 0 0 0
9032 -0.61 -146.0 922.3 -10.4 679 9033 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2482 3630 0 0 0 0 0 0
9339 -0.61 -146.0 954.0 -10.4 689 9343 0.00 2.42 0.00 0.000 4 0.000 0.086 2660 3900 3630 0 0 0 0 0 0
9360 -0.61 -146.0 956.5 -10.3 689 9364 0.00 2.28 0.00 0.000 6 0.000 0.060 2660 2488 3630 0 0 0 0 0 0
9679 -0.61 -146.0 989.9 -10.5 700 9680 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2487 3630 0 0 0 0 0 0
9707 end dive: TARGET_DEPTH_EXCEEDED
state 9707 begin apogee
9714 -0.12 0.0 993.2 10.6 701 9853 0.55 0.00 134.15 1.569 6 0.189 0.000 2813 2267 3029 0 0 0 0 0 0
9854 end apogee: CONTROL_FINISHED_OK
state 9854 begin climb
9857 0.62 146.0 998.7 0.0 705 10013 0.82 2.80 144.55 1.512 4 0.132 0.080 3065 871 2433 0 0 0 0 0 0
10073 0.56 146.0 984.1 10.9 712 10078 0.00 2.58 0.00 0.000 6 0.000 0.067 3064 2276 2429 0 0 0 0 0 0
10399 0.48 146.0 947.1 11.3 723 10404 0.15 2.42 0.00 0.000 4 0.183 0.083 3024 3699 2426 0 0 0 0 0 0
10454 0.43 146.0 940.9 10.2 724 10461 0.00 2.38 0.00 0.000 6 0.000 0.067 3032 2278 2425 0 0 0 0 0 0
10769 0.42 156.7 911.7 9.5 735 10781 0.12 0.00 9.27 1.280 6 0.188 0.000 3002 2277 2391 0 0 0 0 0 0
11074 0.53 211.8 888.3 7.5 745 11135 0.00 2.47 52.72 1.450 4 0.000 0.083 3008 860 2165 0 0 0 0 0 0
11148 0.69 266.5 882.7 7.5 747 11210 0.22 2.42 53.60 1.429 6 0.081 0.067 3099 2283 1943 0 0 0 0 0 0
11540 0.57 266.5 813.0 18.6 760 11545 0.17 2.38 0.00 0.000 4 0.187 0.082 3054 3694 1933 0 0 0 0 0 0
11563 0.49 266.5 808.8 17.7 760 11570 0.15 2.38 0.00 0.000 6 0.187 0.070 3026 2269 1931 0 0 0 0 0 0
11876 0.55 266.5 775.3 10.4 771 11880 0.00 2.35 0.00 0.000 4 0.000 0.083 3034 862 1929 0 0 0 0 0 0
11928 0.66 269.6 770.0 9.9 772 11933 0.12 2.35 0.00 0.000 6 0.111 0.069 3089 2282 1927 0 0 0 0 0 0
12247 0.58 269.6 717.8 17.1 783 12251 0.15 2.35 0.00 0.000 4 0.183 0.082 3049 3693 1927 0 0 0 0 0 0
12285 0.58 269.6 711.6 14.2 784 12289 0.00 2.35 0.00 0.000 6 0.000 0.068 3057 2265 1926 0 0 0 0 0 0
12609 0.58 269.6 668.9 13.2 795 12614 0.00 2.33 0.00 0.000 4 0.000 0.082 3069 856 1926 0 0 0 0 0 0
12660 0.61 269.6 662.2 12.1 796 12664 0.00 2.35 0.00 0.000 6 0.000 0.070 3069 2276 1925 0 0 0 0 0 0
12974 0.59 269.6 618.3 14.1 806 12978 0.00 2.35 0.00 0.000 4 0.000 0.083 3069 3687 1925 0 0 0 0 0 0
13019 0.56 269.6 611.2 15.5 807 13024 0.12 2.30 0.00 0.000 6 0.186 0.067 3048 2273 1925 0 0 0 0 0 0
13341 0.56 269.6 572.3 12.0 831 13345 0.00 2.33 0.00 0.000 4 0.000 0.082 3056 864 1925 0 0 0 0 0 0
13398 0.62 269.6 565.9 11.1 835 13404 0.00 2.33 0.00 0.000 6 0.000 0.069 3056 2284 1924 0 0 0 0 0 0
13723 0.62 269.6 526.1 12.2 866 13727 0.00 2.35 0.00 0.000 4 0.000 0.082 3056 3694 1924 0 0 0 0 0 0
13752 0.62 269.6 522.2 13.2 868 13756 0.00 2.35 0.00 0.000 6 0.000 0.067 3066 2263 1923 0 0 0 0 0 0
14079 0.62 269.6 479.4 12.7 898 14083 0.00 2.33 0.00 0.000 4 0.000 0.080 3077 864 1923 0 0 0 0 0 0
14135 0.65 269.6 472.1 11.8 902 14142 0.00 2.33 0.00 0.000 6 0.000 0.067 3077 2277 1923 0 0 0 0 0 0
14462 0.62 269.6 429.0 13.2 933 14466 0.00 2.33 0.00 0.000 4 0.000 0.082 3077 3687 1922 0 0 0 0 0 0
14494 0.59 269.6 424.7 14.7 935 14499 0.12 2.30 0.00 0.000 6 0.201 0.067 3058 2273 1922 0 0 0 0 0 0
14820 0.59 269.6 385.4 12.4 965 14824 0.00 2.33 0.00 0.000 4 0.000 0.080 3067 862 1923 0 0 0 0 0 0
14884 0.64 269.6 377.8 11.6 970 14888 0.00 2.30 0.00 0.000 6 0.000 0.067 3067 2275 1922 0 0 0 0 0 0
15209 0.64 269.6 335.9 12.6 1000 15213 0.00 2.35 0.00 0.000 4 0.000 0.082 3067 3687 1922 0 0 0 0 0 0
15250 0.64 269.6 330.5 13.0 1003 15254 0.00 2.30 0.00 0.000 6 0.000 0.066 3078 2273 1922 0 0 0 0 0 0
15577 0.62 269.6 285.7 13.8 1033 15581 0.00 2.33 0.00 0.000 4 0.000 0.080 3088 861 1922 0 0 0 0 0 0
15618 0.62 269.6 280.0 12.6 1036 15622 0.00 2.30 0.00 0.000 6 0.000 0.067 3088 2276 1921 0 0 0 0 0 0
15944 0.59 269.6 233.3 14.2 1066 15948 0.12 2.38 0.00 0.000 4 0.186 0.080 3056 3694 1921 0 0 0 0 0 0
16000 0.62 269.6 226.0 12.2 1070 16007 0.00 2.33 0.00 0.000 6 0.000 0.066 3064 2264 1921 0 0 0 0 0 0
16326 0.67 269.6 189.3 10.8 1101 16330 0.00 2.30 0.00 0.000 4 0.000 0.080 3072 865 1921 0 0 0 0 0 0
16390 0.74 269.6 182.7 10.2 1106 16394 0.00 2.33 0.00 0.000 6 0.000 0.066 3072 2281 1921 0 0 0 0 0 0
16715 0.79 269.6 149.0 10.0 1136 16720 0.12 2.35 0.00 0.000 4 0.107 0.082 3126 3684 1921 0 0 0 0 0 0
16738 0.77 269.6 146.1 10.9 1137 16745 0.00 2.33 0.00 0.000 6 0.000 0.066 3137 2268 1922 0 0 0 0 0 0
17064 0.71 269.6 99.7 12.7 1168 17071 0.17 2.33 0.00 0.000 4 0.185 0.080 3099 863 1922 0 0 0 0 0 0
17108 0.78 291.5 94.8 9.0 1175 17138 0.00 2.33 20.95 0.991 6 0.000 0.068 3099 2274 1840 0 0 0 0 0 0
17479 0.87 318.6 57.2 8.8 1240 17510 0.12 2.45 25.40 0.975 4 0.108 0.084 3151 3687 1730 0 0 0 0 0 0
17570 0.81 318.6 45.7 14.1 1255 17578 0.15 2.35 0.00 0.000 6 0.211 0.069 3126 2275 1727 0 0 0 0 0 0
17870 end climb: SURFACE_OBSTACLE_DETECTED
state 17870 begin subsurface finish
17878 0.09 70.2 11.8 -11.2 1308 17915 0.77 2.42 -30.02 0.000 4 0.169 0.090 2897 859 2747 0 0 0 0 0 0
17915 end subsurface finish: CONTROL_FINISHED_OK
state 17916 begin surface