DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 92 * Log results * Raw log file
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Parameter values: Sort by alphabetical glider order
ID  108 HEADING  -1 ROLL_MIN  294 ALTIM_BOTTOM_TURN_MARGIN  15
MISSION  14 ESCAPE_HEADING  100 ROLL_MAX  3598 ALTIM_TOP_TURN_MARGIN  5
DIVE  92 ESCAPE_HEADING_DELTA  5 ROLL_DEG  40 ALTIM_TOP_MIN_OBSTACLE  2.5
D_SURF  3 FIX_MISSING_TIMEOUT  5 C_ROLL_DIVE  2250 ALTIM_PING_DEPTH  300
D_FLARE  3 TGT_DEFAULT_LAT  -2030 C_ROLL_CLIMB  2200 ALTIM_PING_DELTA  50
D_TGT  990 TGT_DEFAULT_LON  5900 HEAD_ERRBAND  10 ALTIM_FREQUENCY  13
D_ABORT  1090 TGT_AUTO_DEFAULT  0 ROLL_CNV  0.028270001 ALTIM_PULSE  4
D_NO_BLEED  50 SM_CC  300 ROLL_TIMEOUT  15 ALTIM_SENSITIVITY  3
D_BOOST  0 N_FILEKB  8 R_PORT_OVSHOOT  28 XPDR_VALID  4
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  22 XPDR_INHIBIT  90
D_PITCH  1.75 CALL_NDIVES  1 ROLL_AD_RATE  300 INT_PRESSURE_SLOPE  0.0097660003
D_SAFE  500 COMM_SEQ  0 ROLL_MAXERRORS  0 INT_PRESSURE_YINT  0
D_CALL  3 KERMIT  0 ROLL_ADJ_GAIN  0 DEEPGLIDER  0
SURFACE_URGENCY  10 N_NOCOMM  1 ROLL_ADJ_DBAND  0 DEEPGLIDERMB  0
SURFACE_URGENCY_TRY  5 N_NOSURFACE  0 VBD_MIN  588 MOTHERBOARD  4
SURFACE_URGENCY_FORCE  10 UPLOAD_DIVES_MAX  5 VBD_MAX  3951 DEVICE1  2
T_DIVE  330 CALL_TRIES  3 C_VBD  3058 DEVICE2  20
T_MISSION  440 CALL_WAIT  60 VBD_DBAND  2 DEVICE3  -1
T_ABORT  1440 CAPUPLOAD  0 VBD_CNV  -0.24529999 DEVICE4  -1
T_TURN  225 CAPMAXSIZE  100000 VBD_TIMEOUT  540 DEVICE5  -1
T_TURN_SAMPINT  5 HEAPDBG  0 PITCH_VBD_SHIFT  0.0012300001 DEVICE6  -1
T_NO_W  120 T_GPS  3 VBD_PUMP_AD_RATE_SURFACE  5 LOGGERS  0
T_LOITER  0 N_GPS  20 VBD_PUMP_AD_RATE_APOGEE  4 LOGGERDEVICE1  -1
USE_BATHY  -3 T_GPS_ALMANAC  0 VBD_BLEED_AD_RATE  8 LOGGERDEVICE2  -1
USE_ICE  2 T_GPS_CHARGE  -180253.64 UNCOM_BLEED  20 COMPASS_DEVICE  33
ICE_FREEZE_MARGIN  0.1 T_RSLEEP  60 VBD_MAXERRORS  1 COMPASS2_DEVICE  -1
D_OFFGRID  900 STROBE  0 CF8_MAXERRORS  0 PHONE_DEVICE  48
T_WATCHDOG  10 RAFOS_PEAK_OFFSET  1.5 AH0_24V  150 GPS_DEVICE  32
RELAUNCH  1 RAFOS_CORR_THRESH  60 AH0_10V  100 RAFOS_DEVICE  64
APOGEE_PITCH  -5 RAFOS_HIT_WINDOW  3600 MINV_24V  19 XPDR_DEVICE  24
MAX_BUOY  150 PITCH_MIN  350 MINV_10V  8 SIM_W  0
COURSE_BIAS  0 PITCH_MAX  3700 FG_AHR_10V  0 SIM_PITCH  0
GLIDE_SLOPE  30 C_PITCH  3112 FG_AHR_24V  0 SEABIRD_T_G  0.0043387706
SPEED_FACTOR  1 PITCH_DBAND  0.1 PHONE_SUPPLY  2 SEABIRD_T_H  0.00063929392
RHO  1.027 PITCH_CNV  0.0046000001 PRESSURE_YINT  -21.817678 SEABIRD_T_I  2.2459495e-05
MASS  51740 P_OVSHOOT  0.039999999 PRESSURE_SLOPE  0.0001161151 SEABIRD_T_J  2.0328812e-06
NAV_MODE  0 PITCH_GAIN  30 AD7714Ch0Gain  128 SEABIRD_C_G  -10.121161
FERRY_MAX  45 PITCH_TIMEOUT  20 TCM_PITCH_OFFSET  0 SEABIRD_C_H  1.1529624
KALMAN_USE  2 PITCH_AD_RATE  150 TCM_ROLL_OFFSET  0 SEABIRD_C_I  -0.002153415
HD_A  0.0038000001 PITCH_MAXERRORS  1 COMPASS_USE  0 SEABIRD_C_J  0.0002365096
HD_B  0.0099999998 PITCH_ADJ_GAIN  0 ALTIM_BOTTOM_PING_RANGE  0
HD_C  2.7999999e-06 PITCH_ADJ_DBAND  0 ALTIM_TOP_PING_RANGE  20

Pre-dive calculations and measurements:
GPS1  083342,6700.916,-5823.579,0,5120.0,0,-37.9 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  1 TGT_RADIUS  10000.000
_XMS_TOUTs  1 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  1.87 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  2.5 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  083342,6700.916,-5823.579,0,5120.0,0,-37.9 MHEAD_RNG_PITCHd_Wd  288.6,94880,-18.1,-10.000
SPEED_LIMITS  0.173,0.263 D_GRID  1099

Post-dive calculations and measurements:
FREEZE  7.42,-1.175,-1.721,2,3,0 ALTIM_TOP_PING  19.9,17.4
FINISH1  7.4,1.025222,87 _24V_AH  22.8,15.249
FINISH2  6.4 _10V_AH  10.2,8.444
RAFOS_CLK  950 FG_AHR_24Vo  0.000
RAFOS  2,1277295422,12.300000,12.283889,44,43,43,43,41,38,1288,584,1422,1704,849,1440 FG_AHR_10Vo  0.000
RAFOS_FIX  6659.088867,-5833.910645,230610,161617,6,110,0.29 MEM  135832
IRIDIUM_FIX  6636.54,-5755.00,160999,111150 DATA_FILE_SIZE  66134,1679
TT8_MAMPS  0.027612 CAP_FILE_SIZE  230516,0
HUMID  39.80 CFSIZE  260165632,241610752
INTERNAL_PRESSURE  10.2445 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  15.50 SOUNDSPEED  1458.3
XPDR_PINGS  1 GPS  230610,163117,6659.089,-5833.911,0,6110.2,0,-37.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor418520.00 SBE_CT121424664.76
Roll_motor2563742185.76 SBE_O2121319525.86
VBD_pump_during_apogee410145013571.54 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init01030.00 nil000.00
Iridium_during_connect01600.00 nil000.00
Iridium_during_xfer02230.00
Transponder_ping342035.91
GUMSTIX_24V000.00
GPS0500.00
TT8298619606.86
LPSleep152032358.22
TT8_Active60419122.78
TT8_Sampling3048391241.13
TT8_CF843945205.87
TT8_Kalman000.00
Analog_circuits224912275.32
GPS_charging000.00
Compass30158246.10
RAFOS39603121.18
Transponder25307.82

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
12 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.78 -146.1 0.0 0.0 0 113 0.00 0.00 -94.25 0.000 2 0.000 0.000 3390 792 3259 0 0 0 0 0 0
119 -0.78 -146.1 3.2 -5.2 19 140 1.40 0.12 -15.45 0.000 4 0.139 0.374 2945 858 3656 0 0 0 0 0 0
170 -0.78 -146.1 8.5 -12.0 28 175 0.00 2.33 0.00 0.000 6 0.000 0.074 2934 2257 3659 0 0 0 0 0 0
513 -0.78 -146.1 50.0 -10.6 89 519 0.00 2.22 0.00 0.000 4 0.000 0.085 2924 3605 3662 0 0 0 0 0 0
586 -0.78 -146.1 58.6 -11.4 102 592 0.00 2.20 0.00 0.000 6 0.000 0.061 2924 2242 3661 0 0 0 0 0 0
930 -0.78 -146.1 97.5 -10.5 163 935 0.00 2.28 0.00 0.000 4 0.000 0.073 2924 839 3660 0 0 0 0 0 0
988 -0.78 -146.1 104.0 -11.6 170 993 0.10 2.38 0.00 0.000 6 0.168 0.076 2941 2261 3660 0 0 0 0 0 0
1313 -0.78 -146.1 135.2 -9.0 200 1317 0.00 2.17 0.00 0.000 4 0.000 0.086 2933 3602 3661 0 0 0 0 0 0
1410 -0.78 -146.1 144.4 -9.2 208 1414 0.00 2.17 0.00 0.000 6 0.000 0.062 2933 2251 3660 0 0 0 0 0 0
1735 -0.78 -146.1 168.8 -6.8 238 1739 0.00 2.28 0.00 0.000 4 0.000 0.073 2933 838 3660 0 0 0 0 0 0
1842 -0.78 -146.1 176.8 -8.2 247 1846 0.00 2.33 0.00 0.000 6 0.000 0.075 2924 2249 3660 0 0 0 0 0 0
2173 -0.78 -146.1 203.4 -8.3 278 2177 0.00 2.20 0.00 0.000 4 0.000 0.086 2913 3599 3660 0 0 0 0 0 0
2236 -0.78 -146.1 209.4 -9.5 283 2240 0.10 2.17 0.00 0.000 6 0.166 0.061 2940 2243 3659 0 0 0 0 0 0
2561 -0.78 -146.1 235.2 -7.8 313 2562 0.00 0.00 0.00 0.000 6 0.000 0.000 2940 2242 3659 0 0 0 0 0 0
2882 -0.78 -146.1 257.7 -6.3 343 2886 0.00 2.25 0.00 0.000 4 0.000 0.072 2939 835 3659 0 0 0 0 0 0
2956 -0.78 -146.1 262.6 -6.2 349 2960 0.00 2.33 0.00 0.000 6 0.000 0.074 2932 2259 3659 0 0 0 0 0 0
3281 -0.78 -146.1 284.7 -7.2 379 3285 0.00 2.15 0.00 0.000 4 0.000 0.083 2922 3596 3659 0 0 0 0 0 0
3360 -0.78 -146.1 290.9 -8.0 386 3364 0.00 2.15 0.00 0.000 6 0.000 0.058 2922 2239 3659 0 0 0 0 0 0
3685 -0.78 -146.1 320.1 -9.4 416 3689 0.00 2.20 0.00 0.000 4 0.000 0.071 2922 844 3659 0 0 0 0 0 0
3729 -0.78 -146.1 324.7 -10.1 419 3735 0.12 2.33 0.00 0.000 6 0.153 0.073 2948 2262 3659 0 0 0 0 0 0
4054 -0.78 -146.1 352.2 -8.9 450 4058 0.00 2.15 0.00 0.000 4 0.000 0.084 2940 3606 3660 0 0 0 0 0 0
4132 -0.78 -146.1 359.5 -9.7 456 4137 0.00 2.15 0.00 0.000 6 0.000 0.059 2940 2247 3660 0 0 0 0 0 0
4457 -0.78 -146.1 387.0 -7.7 487 4461 0.00 2.22 0.00 0.000 4 0.000 0.071 2940 836 3660 0 0 0 0 0 0
4502 -0.78 -146.1 390.8 -8.7 490 4508 0.00 2.33 0.00 0.000 6 0.000 0.071 2930 2258 3660 0 0 0 0 0 0
4827 -0.78 -146.1 414.9 -6.9 521 4831 0.00 2.17 0.00 0.000 4 0.000 0.083 2920 3607 3661 0 0 0 0 0 0
4894 -0.78 -146.1 420.3 -8.0 526 4901 0.10 2.15 0.00 0.000 6 0.159 0.058 2947 2245 3661 0 0 0 0 0 0
5220 -0.78 -146.1 439.9 -6.3 557 5224 0.00 2.22 0.00 0.000 4 0.000 0.070 2947 841 3661 0 0 0 0 0 0
5282 -0.78 -146.1 444.3 -6.5 562 5287 0.00 2.33 0.00 0.000 6 0.000 0.071 2940 2266 3661 0 0 0 0 0 0
5608 -0.78 -146.1 465.7 -6.7 592 5611 0.00 2.15 0.00 0.000 4 0.000 0.082 2931 3604 3661 0 0 0 0 0 0
5687 -0.78 -146.1 471.4 -6.9 599 5691 0.00 2.12 0.00 0.000 6 0.000 0.058 2930 2240 3661 0 0 0 0 0 0
6012 -0.78 -146.1 494.1 -6.9 629 6016 0.00 2.20 0.00 0.000 4 0.000 0.070 2930 836 3662 0 0 0 0 0 0
6080 -0.78 -146.1 499.1 -7.8 634 6085 0.00 2.30 0.00 0.000 6 0.000 0.071 2921 2248 3661 0 0 0 0 0 0
6405 -0.78 -146.1 523.2 -7.4 665 6410 0.10 2.17 0.00 0.000 4 0.163 0.082 2940 3604 3662 0 0 0 0 0 0
6466 -0.78 -146.1 527.5 -6.7 670 6472 0.00 2.15 0.00 0.000 6 0.000 0.057 2940 2236 3662 0 0 0 0 0 0
6791 -0.78 -146.1 548.6 -6.4 701 6795 0.00 2.20 0.00 0.000 4 0.000 0.070 2940 842 3663 0 0 0 0 0 0
6854 -0.78 -146.1 553.0 -7.1 706 6858 0.00 2.30 0.00 0.000 6 0.000 0.071 2930 2253 3662 0 0 0 0 0 0
7184 -0.78 -146.1 576.0 -6.7 737 7188 0.00 2.12 0.00 0.000 4 0.000 0.081 2920 3595 3662 0 0 0 0 0 0
7253 -0.78 -146.1 581.0 -7.1 743 7257 0.10 2.10 0.00 0.000 6 0.159 0.058 2947 2246 3662 0 0 0 0 0 0
7578 -0.78 -146.1 599.6 -5.3 773 7582 0.00 2.20 0.00 0.000 4 0.000 0.070 2947 844 3662 0 0 0 0 0 0
7639 -0.78 -146.1 603.1 -5.8 775 7645 0.00 2.28 0.00 0.000 6 0.000 0.071 2941 2256 3662 0 0 0 0 0 0
7952 -0.78 -146.1 620.0 -5.4 786 7956 0.00 2.15 0.00 0.000 4 0.000 0.082 2931 3602 3662 0 0 0 0 0 0
8021 -0.78 -146.1 624.3 -6.8 788 8024 0.00 2.12 0.00 0.000 6 0.000 0.058 2931 2248 3662 0 0 0 0 0 0
8363 -0.78 -146.1 644.5 -5.9 799 8367 0.00 2.22 0.00 0.000 4 0.000 0.069 2931 840 3662 0 0 0 0 0 0
8413 -0.78 -146.1 647.6 -5.9 800 8417 0.00 2.30 0.00 0.000 6 0.000 0.071 2922 2250 3662 0 0 0 0 0 0
8726 -0.78 -146.1 666.3 -6.0 810 8730 0.00 2.15 0.00 0.000 4 0.000 0.081 2912 3598 3662 0 0 0 0 0 0
8805 -0.78 -146.1 671.6 -6.9 812 8809 0.12 2.12 0.00 0.000 6 0.152 0.057 2947 2243 3662 0 0 0 0 0 0
9129 -0.78 -146.1 687.5 -4.8 823 9133 0.00 2.20 0.00 0.000 4 0.000 0.069 2947 845 3662 0 0 0 0 0 0
9167 -0.78 -146.1 689.5 -5.2 824 9172 0.00 2.28 0.00 0.000 6 0.000 0.071 2941 2259 3662 0 0 0 0 0 0
9492 -0.78 -146.1 705.5 -4.8 835 9495 0.00 2.12 0.00 0.000 4 0.000 0.081 2931 3599 3662 0 0 0 0 0 0
9548 -0.78 -146.1 708.5 -5.2 836 9552 0.00 2.12 0.00 0.000 6 0.000 0.057 2931 2242 3662 0 0 0 0 0 0
9866 -0.78 -146.1 724.5 -4.9 847 9870 0.00 2.20 0.00 0.000 4 0.000 0.069 2931 844 3662 0 0 0 0 0 0
9900 -0.78 -146.1 726.3 -4.9 848 9904 0.00 2.30 0.00 0.000 6 0.000 0.071 2922 2260 3662 0 0 0 0 0 0
10230 -0.78 -146.1 745.2 -6.2 859 10234 0.00 2.12 0.00 0.000 4 0.000 0.081 2912 3602 3662 0 0 0 0 0 0
10363 -0.78 -146.1 754.3 -6.2 863 10368 0.12 2.12 0.00 0.000 6 0.150 0.057 2947 2239 3661 0 0 0 0 0 0
10704 -0.78 -146.1 771.7 -5.3 874 10708 0.00 2.20 0.00 0.000 4 0.000 0.069 2948 843 3662 0 0 0 0 0 0
10766 -0.78 -146.1 775.3 -6.1 876 10771 0.00 2.28 0.00 0.000 6 0.000 0.071 2942 2250 3662 0 0 0 0 0 0
11108 -0.78 -146.1 795.8 -6.3 887 11111 0.00 2.15 0.00 0.000 4 0.000 0.081 2931 3597 3662 0 0 0 0 0 0
11191 -0.78 -146.1 801.9 -7.0 889 11195 0.00 2.12 0.00 0.000 6 0.000 0.057 2931 2240 3661 0 0 0 0 0 0
11516 -0.78 -146.1 823.0 -6.4 900 11520 0.00 2.20 0.00 0.000 4 0.000 0.069 2931 834 3662 0 0 0 0 0 0
11577 -0.78 -146.1 827.4 -6.9 901 11582 0.00 2.30 0.00 0.000 6 0.000 0.071 2922 2250 3661 0 0 0 0 0 0
11890 -0.78 -146.1 849.6 -7.1 912 11893 0.00 2.17 0.00 0.000 4 0.000 0.081 2912 3600 3662 0 0 0 0 0 0
11969 -0.78 -146.1 855.9 -7.5 914 11973 0.12 2.12 0.00 0.000 6 0.150 0.057 2947 2244 3661 0 0 0 0 0 0
12292 -0.78 -146.1 874.5 -5.4 925 12296 0.00 2.20 0.00 0.000 4 0.000 0.068 2948 844 3661 0 0 0 0 0 0
12349 -0.78 -146.1 877.8 -5.8 926 12354 0.00 2.30 0.00 0.000 6 0.000 0.071 2942 2262 3661 0 0 0 0 0 0
12662 -0.78 -146.1 894.7 -5.5 937 12665 0.00 2.12 0.00 0.000 4 0.000 0.081 2931 3594 3661 0 0 0 0 0 0
12723 -0.78 -146.1 898.5 -5.9 938 12729 0.00 2.12 0.00 0.000 6 0.000 0.057 2931 2237 3661 0 0 0 0 0 0
13036 -0.78 -146.1 915.8 -5.4 949 13040 0.00 2.20 0.00 0.000 4 0.000 0.069 2931 840 3661 0 0 0 0 0 0
13087 -0.78 -146.1 918.7 -5.6 950 13091 0.00 2.30 0.00 0.000 6 0.000 0.071 2922 2255 3661 0 0 0 0 0 0
13213 end dive: HALF_MISSION_TIME_EXCEEDED
state 13213 begin apogee
13220 -0.17 0.0 925.9 5.6 954 13351 0.47 0.00 127.25 1.450 6 0.121 0.000 3079 2195 3058 0 0 0 0 0 0
13351 end apogee: CONTROL_FINISHED_OK
state 13352 begin climb
13354 0.78 146.1 927.2 0.0 958 13491 0.57 2.55 127.93 1.378 4 0.068 0.067 3296 807 2462 0 0 0 0 0 0
13548 0.78 146.1 909.5 12.5 964 13552 0.00 2.50 0.00 0.000 6 0.000 0.067 3296 2203 2460 0 0 0 0 0 0
13878 0.78 146.1 870.4 11.9 975 13882 0.00 2.35 0.00 0.000 4 0.000 0.077 3296 3597 2456 0 0 0 0 0 0
13900 0.78 146.1 867.3 12.9 975 13906 0.10 2.30 0.00 0.000 6 0.181 0.055 3282 2208 2456 0 0 0 0 0 0
14212 0.78 146.1 833.6 10.4 986 14216 0.00 2.33 0.00 0.000 4 0.000 0.067 3291 787 2455 0 0 0 0 0 0
14250 0.78 146.1 829.7 10.1 987 14254 0.00 2.38 0.00 0.000 6 0.000 0.066 3291 2203 2456 0 0 0 0 0 0
14574 0.78 146.1 796.2 10.2 998 14578 0.00 2.28 0.00 0.000 4 0.000 0.077 3291 3594 2455 0 0 0 0 0 0
14595 0.78 146.1 793.6 12.2 998 14601 0.00 2.25 0.00 0.000 6 0.000 0.055 3301 2196 2455 0 0 0 0 0 0
14908 0.78 146.1 758.8 11.2 1009 14912 0.00 2.25 0.00 0.000 4 0.000 0.066 3311 783 2455 0 0 0 0 0 0
14952 0.78 146.1 753.9 10.7 1010 14957 0.12 2.35 0.00 0.000 6 0.168 0.066 3279 2205 2455 0 0 0 0 0 0
15270 0.79 152.4 723.8 9.7 1021 15280 0.00 2.28 5.75 1.025 4 0.000 0.077 3279 3601 2436 0 0 0 0 0 0
15320 0.79 152.4 717.9 12.0 1022 15324 0.00 2.25 0.00 0.000 6 0.000 0.056 3287 2196 2436 0 0 0 0 0 0
15632 0.79 152.4 682.5 11.2 1032 15636 0.00 2.22 0.00 0.000 4 0.000 0.067 3296 794 2435 0 0 0 0 0 0
15661 0.79 152.4 679.4 11.1 1033 15665 0.00 2.33 0.00 0.000 6 0.000 0.067 3297 2207 2436 0 0 0 0 0 0
15995 0.79 152.4 640.4 11.7 1044 15999 0.00 2.25 0.00 0.000 4 0.000 0.077 3296 3603 2435 0 0 0 0 0 0
16034 0.79 152.4 635.2 13.2 1045 16039 0.10 2.22 0.00 0.000 6 0.186 0.054 3282 2196 2435 0 0 0 0 0 0
16358 0.80 157.5 602.0 9.8 1056 16368 0.00 2.25 5.78 0.979 4 0.000 0.066 3290 782 2416 0 0 0 0 0 0
16391 0.81 167.0 598.5 9.6 1057 16407 0.00 2.35 9.75 1.121 6 0.000 0.067 3290 2212 2377 0 0 0 0 0 0
16726 0.81 167.0 563.7 10.3 1089 16730 0.00 2.22 0.00 0.000 4 0.000 0.079 3290 3592 2376 0 0 0 0 0 0
16765 0.81 167.0 559.1 12.8 1092 16769 0.00 2.22 0.00 0.000 6 0.000 0.057 3300 2200 2375 0 0 0 0 0 0
17090 0.81 167.0 523.8 10.9 1122 17094 0.00 2.28 0.00 0.000 4 0.000 0.067 3310 789 2375 0 0 0 0 0 0
17101 0.81 167.0 522.7 10.4 1122 17107 0.10 2.30 0.00 0.000 6 0.170 0.066 3285 2199 2375 0 0 0 0 0 0
17426 0.83 185.3 493.0 9.2 1153 17448 0.00 2.28 16.30 1.139 4 0.000 0.077 3285 3593 2302 0 0 0 0 0 0
17464 0.83 185.3 489.2 10.4 1156 17470 0.00 2.25 0.00 0.000 6 0.000 0.056 3292 2196 2300 0 0 0 0 0 0
17789 0.83 185.3 455.7 10.3 1187 17794 0.00 2.25 0.00 0.000 4 0.000 0.067 3302 794 2298 0 0 0 0 0 0
17807 0.83 185.3 453.9 10.8 1188 17811 0.00 2.33 0.00 0.000 6 0.000 0.067 3302 2203 2299 0 0 0 0 0 0
18132 0.83 185.3 417.7 11.0 1218 18136 0.00 2.22 0.00 0.000 4 0.000 0.078 3303 3593 2298 0 0 0 0 0 0
18171 0.83 185.3 412.8 12.9 1221 18175 0.00 2.22 0.00 0.000 6 0.000 0.057 3312 2196 2298 0 0 0 0 0 0
18496 0.83 185.3 373.2 12.2 1251 18500 0.00 2.22 0.00 0.000 4 0.000 0.067 3323 783 2298 0 0 0 0 0 0
18530 0.83 185.3 369.0 11.8 1253 18536 0.12 2.33 0.00 0.000 6 0.167 0.066 3290 2206 2298 0 0 0 0 0 0
18854 0.83 185.3 335.1 10.2 1284 18858 0.00 2.22 0.00 0.000 4 0.000 0.077 3290 3594 2298 0 0 0 0 0 0
18889 0.83 185.3 331.2 14.2 1287 18893 0.00 2.22 0.00 0.000 6 0.000 0.056 3296 2187 2298 0 0 0 0 0 0
19213 0.83 185.3 295.5 11.0 1317 19217 0.00 2.22 0.00 0.000 4 0.000 0.065 3307 782 2298 0 0 0 0 0 0
19236 0.83 185.3 292.9 10.8 1318 19241 0.00 2.33 0.00 0.000 6 0.000 0.066 3307 2207 2298 0 0 0 0 0 0
19560 0.83 185.3 255.8 11.0 1349 19564 0.00 2.22 0.00 0.000 4 0.000 0.079 3307 3601 2298 0 0 0 0 0 0
19588 0.83 185.3 252.4 10.6 1351 19594 0.10 2.22 0.00 0.000 6 0.181 0.056 3292 2186 2298 0 0 0 0 0 0
19913 0.86 208.7 222.4 8.9 1382 19938 0.00 2.28 19.67 0.976 4 0.000 0.067 3297 785 2207 0 0 0 0 0 0
19961 0.88 228.0 218.0 9.1 1386 19986 0.00 2.35 17.33 0.940 6 0.000 0.067 3297 2207 2127 0 0 0 0 0 0
20312 0.88 228.0 183.4 10.0 1419 20316 0.00 2.25 0.00 0.000 4 0.000 0.079 3297 3601 2122 0 0 0 0 0 0
20362 0.88 228.0 177.7 12.9 1423 20366 0.00 2.25 0.00 0.000 6 0.000 0.056 3306 2189 2122 0 0 0 0 0 0
20693 0.91 248.8 145.6 9.1 1454 20717 0.00 2.30 17.95 0.915 4 0.000 0.067 3317 799 2043 0 0 0 0 0 0
20752 0.93 265.7 140.3 9.2 1459 20772 0.00 2.35 15.73 0.886 6 0.000 0.067 3317 2207 1974 0 0 0 0 0 0
21092 0.94 272.4 107.5 9.7 1491 21103 0.00 2.30 6.40 0.760 4 0.000 0.077 3317 3601 1947 0 0 0 0 0 0
21116 0.95 278.7 105.0 9.7 1493 21130 0.00 2.28 7.30 0.779 6 0.000 0.055 3326 2189 1921 0 0 0 0 0 0
21469 0.95 278.7 70.8 10.1 1551 21474 0.00 2.28 0.00 0.000 4 0.000 0.069 3337 783 1917 0 0 0 0 0 0
21514 0.95 278.7 65.9 11.3 1559 21520 0.00 2.38 0.00 0.000 6 0.000 0.069 3337 2211 1917 0 0 0 0 0 0
21858 0.99 317.4 32.6 8.2 1620 21899 0.00 2.42 33.28 0.900 4 0.000 0.069 3346 797 1762 0 0 0 0 0 0
21959 0.99 317.4 23.6 10.9 1638 21964 0.00 2.40 0.00 0.000 6 0.000 0.071 3346 2209 1759 0 0 0 0 0 0
22149 end climb: SURFACE_OBSTACLE_DETECTED
state 22149 begin subsurface finish
22156 0.11 87.4 7.4 -8.1 1672 22193 0.62 2.33 -29.98 0.000 4 0.106 0.097 3122 3605 2704 0 0 0 0 0 0
22194 end subsurface finish: CONTROL_FINISHED_OK
state 22194 begin surface