DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 103 * 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  103 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  30 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  -2 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  042658,6657.931,-5931.125,0,7100.7,0,-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  1.90 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  042658,6657.931,-5931.125,0,7100.7,0,-37.9 MHEAD_RNG_PITCHd_Wd  275.2,47721,-18.1,-10.000
SPEED_LIMITS  0.173,0.263 D_GRID  992

Post-dive calculations and measurements:
FREEZE  8.09,-0.541,-1.678,2,14,0 ALTIM_TOP_PING  19.6,16.4
FINISH1  8.1,1.024572,119 _24V_AH  22.6,17.130
FINISH2  6.5 _10V_AH  10.2,9.577
RAFOS_CLK  971 FG_AHR_24Vo  0.000
RAFOS  0,1277553668,12.033333,12.018888,107,100,47,43,42,41,712,711,1235,332,159,1137 FG_AHR_10Vo  0.000
RAFOS_FIX  6654.791016,-5936.992188,260610,121244,6,90,0.25 MEM  135908
IRIDIUM_FIX  6636.54,-5755.00,160999,111150 DATA_FILE_SIZE  69316,1738
TT8_MAMPS  0.027612 CAP_FILE_SIZE  226283,0
HUMID  39.44 CFSIZE  260165632,240488448
INTERNAL_PRESSURE  10.225 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  15.30 SOUNDSPEED  1455.8
XPDR_PINGS  0 GPS  260610,122744,6654.791,-5936.992,0,6090.0,0,-37.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor418520.24 SBE_CT125224679.50
Roll_motor23187457.66 SBE_O2125719540.10
VBD_pump_during_apogee517145317008.85 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_ping342033.22
GUMSTIX_24V000.00
GPS0500.00
TT8299819609.19
LPSleep155022365.26
TT8_Active69319140.97
TT8_Sampling2984391215.06
TT8_CF843145202.02
TT8_Kalman000.00
Analog_circuits231612283.48
GPS_charging000.00
Compass29558241.14
RAFOS2880388.13
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
13 end surface: CONTROL_FINISHED_OK
state 13 begin dive
16 -0.78 -146.1 0.0 0.0 0 104 0.00 0.00 -84.65 0.000 2 0.000 0.000 3370 2201 3093 0 0 0 0 0 0
107 -0.78 -146.1 3.0 -4.7 17 138 1.27 0.00 -22.83 0.000 6 0.106 0.000 2937 2201 3656 0 0 0 0 0 0
477 -0.78 -146.1 48.0 -10.6 83 483 0.00 2.33 0.00 0.000 4 0.000 0.082 2928 3602 3662 0 0 0 0 0 0
507 -0.78 -146.1 51.6 -12.2 88 512 0.00 2.17 0.00 0.000 6 0.000 0.059 2927 2250 3661 0 0 0 0 0 0
850 -0.78 -146.1 88.6 -9.9 149 856 0.00 2.30 0.00 0.000 4 0.000 0.071 2927 835 3662 0 0 0 0 0 0
908 -0.78 -146.1 94.8 -10.7 159 914 0.10 2.35 0.00 0.000 6 0.165 0.075 2944 2246 3662 0 0 0 0 0 0
1237 -0.78 -146.1 123.4 -8.7 195 1238 0.00 0.00 0.00 0.000 6 0.000 0.000 2944 2246 3662 0 0 0 0 0 0
1558 -0.78 -146.1 151.2 -8.2 225 1562 0.00 2.22 0.00 0.000 4 0.000 0.087 2936 3602 3662 0 0 0 0 0 0
1620 -0.78 -146.1 157.1 -9.5 230 1624 0.00 2.17 0.00 0.000 6 0.000 0.061 2936 2245 3661 0 0 0 0 0 0
1945 -0.78 -146.1 184.6 -8.2 260 1946 0.00 0.00 0.00 0.000 6 0.000 0.000 2936 2244 3661 0 0 0 0 0 0
2266 -0.78 -146.1 209.5 -7.3 290 2270 0.00 2.25 0.00 0.000 4 0.000 0.072 2936 841 3660 0 0 0 0 0 0
2340 -0.78 -146.1 215.7 -8.1 296 2344 0.00 2.35 0.00 0.000 6 0.000 0.075 2926 2257 3660 0 0 0 0 0 0
2666 -0.78 -146.1 241.5 -8.0 326 2670 0.00 2.17 0.00 0.000 4 0.000 0.087 2916 3602 3660 0 0 0 0 0 0
2722 -0.78 -146.1 246.5 -9.2 331 2727 0.10 2.17 0.00 0.000 6 0.166 0.060 2943 2239 3659 0 0 0 0 0 0
3048 -0.78 -146.1 270.5 -7.1 361 3052 0.00 2.25 0.00 0.000 4 0.000 0.071 2943 830 3660 0 0 0 0 0 0
3099 -0.78 -146.1 274.1 -7.1 365 3103 0.00 2.35 0.00 0.000 6 0.000 0.074 2936 2250 3659 0 0 0 0 0 0
3424 -0.78 -146.1 298.9 -7.7 395 3428 0.00 2.20 0.00 0.000 4 0.000 0.084 2925 3606 3659 0 0 0 0 0 0
3491 -0.78 -146.1 304.6 -7.9 400 3497 0.00 2.15 0.00 0.000 6 0.000 0.058 2925 2244 3659 0 0 0 0 0 0
3817 -0.78 -146.1 330.6 -7.9 431 3821 0.00 2.22 0.00 0.000 4 0.000 0.069 2925 842 3659 0 0 0 0 0 0
3879 -0.78 -146.1 335.8 -8.3 436 3884 0.10 2.33 0.00 0.000 6 0.160 0.072 2944 2255 3659 0 0 0 0 0 0
4205 -0.78 -146.1 357.6 -6.3 466 4208 0.00 2.17 0.00 0.000 4 0.000 0.084 2936 3599 3660 0 0 0 0 0 0
4239 -0.78 -146.1 360.0 -7.0 469 4243 0.00 2.15 0.00 0.000 6 0.000 0.057 2937 2240 3660 0 0 0 0 0 0
4570 -0.78 -146.1 383.6 -7.1 500 4574 0.00 2.22 0.00 0.000 4 0.000 0.068 2936 838 3661 0 0 0 0 0 0
4615 -0.78 -146.1 387.0 -7.6 503 4621 0.00 2.33 0.00 0.000 6 0.000 0.072 2927 2256 3661 0 0 0 0 0 0
4941 -0.78 -146.1 410.9 -7.3 534 4944 0.00 2.17 0.00 0.000 4 0.000 0.084 2916 3603 3661 0 0 0 0 0 0
5003 -0.78 -146.1 415.9 -8.4 539 5009 0.10 2.12 0.00 0.000 6 0.161 0.055 2944 2250 3661 0 0 0 0 0 0
5328 -0.78 -146.1 437.3 -6.6 570 5332 0.00 2.22 0.00 0.000 4 0.000 0.067 2944 843 3662 0 0 0 0 0 0
5375 -0.78 -146.1 440.5 -7.2 574 5379 0.00 2.33 0.00 0.000 6 0.000 0.071 2937 2263 3662 0 0 0 0 0 0
5700 -0.78 -146.1 462.4 -6.6 604 5704 0.00 2.12 0.00 0.000 4 0.000 0.081 2926 3596 3662 0 0 0 0 0 0
5728 -0.78 -146.1 464.5 -6.9 606 5734 0.00 2.12 0.00 0.000 6 0.000 0.055 2926 2244 3661 0 0 0 0 0 0
6053 -0.78 -146.1 488.7 -7.5 637 6057 0.00 2.20 0.00 0.000 4 0.000 0.067 2926 836 3662 0 0 0 0 0 0
6094 -0.78 -146.1 491.8 -8.0 640 6099 0.10 2.33 0.00 0.000 6 0.157 0.070 2945 2259 3662 0 0 0 0 0 0
6419 -0.78 -146.1 511.2 -5.6 670 6423 0.00 2.15 0.00 0.000 4 0.000 0.081 2937 3598 3663 0 0 0 0 0 0
6459 -0.78 -146.1 513.8 -6.6 673 6464 0.00 2.12 0.00 0.000 6 0.000 0.055 2937 2242 3663 0 0 0 0 0 0
6784 -0.78 -146.1 533.7 -6.5 704 6788 0.00 2.22 0.00 0.000 4 0.000 0.067 2937 830 3663 0 0 0 0 0 0
6829 -0.78 -146.1 536.7 -6.7 707 6834 0.00 2.33 0.00 0.000 6 0.000 0.071 2928 2256 3663 0 0 0 0 0 0
7154 -0.78 -146.1 557.1 -6.1 738 7155 0.00 0.00 0.00 0.000 6 0.000 0.000 2928 2256 3663 0 0 0 0 0 0
7476 -0.78 -146.1 576.6 -6.2 768 7480 0.00 2.15 0.00 0.000 4 0.000 0.081 2917 3595 3664 0 0 0 0 0 0
7516 -0.78 -146.1 579.7 -7.0 771 7522 0.10 2.12 0.00 0.000 6 0.158 0.055 2946 2240 3664 0 0 0 0 0 0
7841 -0.78 -146.1 598.5 -5.8 802 7845 0.00 2.20 0.00 0.000 4 0.000 0.067 2946 830 3664 0 0 0 0 0 0
7897 -0.78 -146.1 602.3 -7.0 804 7902 0.00 2.33 0.00 0.000 6 0.000 0.071 2938 2258 3664 0 0 0 0 0 0
8209 -0.78 -146.1 622.7 -6.6 815 8213 0.00 2.15 0.00 0.000 4 0.000 0.081 2928 3598 3663 0 0 0 0 0 0
8260 -0.78 -146.1 626.5 -7.7 816 8264 0.00 2.12 0.00 0.000 6 0.000 0.055 2928 2242 3664 0 0 0 0 0 0
8574 -0.78 -146.1 648.3 -7.0 826 8578 0.00 2.20 0.00 0.000 4 0.000 0.067 2928 843 3664 0 0 0 0 0 0
8631 -0.78 -146.1 652.6 -7.5 827 8637 0.10 2.30 0.00 0.000 6 0.157 0.070 2948 2250 3664 0 0 0 0 0 0
8943 -0.78 -146.1 671.7 -6.1 838 8947 0.00 2.17 0.00 0.000 4 0.000 0.081 2940 3596 3663 0 0 0 0 0 0
8988 -0.78 -146.1 674.8 -7.0 839 8992 0.00 2.12 0.00 0.000 6 0.000 0.054 2940 2238 3664 0 0 0 0 0 0
9306 -0.78 -146.1 695.4 -6.6 850 9310 0.00 2.20 0.00 0.000 4 0.000 0.067 2940 836 3664 0 0 0 0 0 0
9341 -0.78 -146.1 698.0 -7.3 851 9345 0.00 2.33 0.00 0.000 6 0.000 0.071 2931 2261 3664 0 0 0 0 0 0
9676 -0.78 -146.1 720.8 -6.7 862 9680 0.00 2.15 0.00 0.000 4 0.000 0.081 2920 3603 3664 0 0 0 0 0 0
9738 -0.78 -146.1 725.5 -7.7 864 9743 0.10 2.12 0.00 0.000 6 0.155 0.054 2948 2244 3664 0 0 0 0 0 0
10075 -0.78 -146.1 745.5 -6.0 875 10079 0.00 2.20 0.00 0.000 4 0.000 0.066 2948 844 3664 0 0 0 0 0 0
10114 -0.78 -146.1 748.1 -6.0 876 10118 0.00 2.30 0.00 0.000 6 0.000 0.070 2941 2256 3664 0 0 0 0 0 0
10439 -0.78 -146.1 768.2 -6.2 887 10442 0.00 2.12 0.00 0.000 4 0.000 0.081 2931 3598 3664 0 0 0 0 0 0
10489 -0.78 -146.1 771.5 -6.9 888 10493 0.00 2.12 0.00 0.000 6 0.000 0.054 2931 2239 3663 0 0 0 0 0 0
10808 -0.78 -146.1 791.9 -6.2 899 10812 0.00 2.20 0.00 0.000 4 0.000 0.067 2931 841 3664 0 0 0 0 0 0
10846 -0.78 -146.1 794.5 -7.0 900 10850 0.00 2.30 0.00 0.000 6 0.000 0.069 2922 2250 3664 0 0 0 0 0 0
11172 -0.78 -146.1 815.6 -6.7 911 11176 0.00 2.17 0.00 0.000 4 0.000 0.080 2911 3596 3664 0 0 0 0 0 0
11212 -0.78 -146.1 818.8 -7.9 912 11216 0.12 2.12 0.00 0.000 6 0.148 0.054 2948 2238 3663 0 0 0 0 0 0
11541 -0.78 -146.1 838.6 -6.0 923 11542 0.00 0.00 0.00 0.000 6 0.000 0.000 2947 2238 3663 0 0 0 0 0 0
11847 -0.78 -146.1 857.5 -6.1 933 11848 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2238 3664 0 0 0 0 0 0
12153 -0.78 -146.1 874.1 -5.4 943 12155 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2238 3664 0 0 0 0 0 0
12460 -0.78 -146.1 890.6 -5.2 953 12461 0.00 0.00 0.00 0.000 6 0.000 0.000 2948 2238 3664 0 0 0 0 0 0
12767 -0.78 -146.1 907.6 -5.4 963 12771 0.00 2.17 0.00 0.000 4 0.000 0.066 2948 839 3663 0 0 0 0 0 0
12796 -0.78 -146.1 909.5 -6.2 964 12801 0.00 2.30 0.00 0.000 6 0.000 0.070 2940 2266 3663 0 0 0 0 0 0
13138 -0.78 -146.1 929.3 -5.4 975 13139 0.00 0.00 0.00 0.000 6 0.000 0.000 2941 2265 3663 0 0 0 0 0 0
13226 end dive: HALF_MISSION_TIME_EXCEEDED
state 13226 begin apogee
13233 -0.17 0.0 934.2 5.3 978 13364 0.43 0.00 128.18 1.453 6 0.126 0.000 3080 2184 3058 0 0 0 0 0 0
13365 end apogee: CONTROL_FINISHED_OK
state 13365 begin climb
13368 0.78 146.1 937.6 0.0 982 13505 0.57 2.50 129.48 1.383 4 0.069 0.063 3296 806 2461 0 0 0 0 0 0
13578 0.78 146.1 920.8 10.6 988 13584 0.00 2.50 0.00 0.000 6 0.000 0.066 3296 2200 2458 0 0 0 0 0 0
13891 0.78 146.1 885.7 10.8 999 13895 0.00 2.38 0.00 0.000 4 0.000 0.075 3296 3597 2455 0 0 0 0 0 0
13929 0.78 146.1 881.0 12.7 1000 13934 0.10 2.28 0.00 0.000 6 0.186 0.050 3283 2206 2455 0 0 0 0 0 0
14254 0.78 146.1 847.9 10.2 1011 14258 0.00 2.30 0.00 0.000 4 0.000 0.061 3292 785 2455 0 0 0 0 0 0
14283 0.80 158.0 845.0 9.5 1012 14298 0.00 2.38 10.52 1.224 6 0.000 0.064 3292 2212 2413 0 0 0 0 0 0
14617 0.80 158.0 809.0 10.7 1023 14621 0.00 2.28 0.00 0.000 4 0.000 0.077 3291 3599 2411 0 0 0 0 0 0
14672 0.80 158.0 802.0 12.7 1024 14678 0.00 2.25 0.00 0.000 6 0.000 0.051 3301 2192 2410 0 0 0 0 0 0
14985 0.80 158.0 766.4 11.2 1035 14989 0.00 2.25 0.00 0.000 4 0.000 0.062 3312 783 2410 0 0 0 0 0 0
15024 0.80 158.8 762.1 10.0 1036 15029 0.12 2.35 0.00 0.000 6 0.167 0.064 3280 2204 2411 0 0 0 0 0 0
15348 0.81 167.0 730.4 9.6 1047 15362 0.00 2.30 8.85 1.158 4 0.000 0.078 3279 3587 2377 0 0 0 0 0 0
15407 0.81 167.0 723.5 12.1 1048 15413 0.00 2.22 0.00 0.000 6 0.000 0.051 3287 2187 2376 0 0 0 0 0 0
15720 0.81 167.0 690.9 10.3 1059 15724 0.00 2.20 0.00 0.000 4 0.000 0.062 3296 789 2375 0 0 0 0 0 0
15742 0.81 167.0 688.6 10.0 1059 15747 0.00 2.33 0.00 0.000 6 0.000 0.065 3297 2200 2376 0 0 0 0 0 0
16054 0.81 167.0 654.9 10.8 1070 16058 0.00 2.25 0.00 0.000 4 0.000 0.077 3297 3593 2376 0 0 0 0 0 0
16092 0.81 167.0 650.0 12.6 1071 16096 0.00 2.20 0.00 0.000 6 0.000 0.051 3306 2196 2375 0 0 0 0 0 0
16417 0.81 167.0 612.4 11.6 1082 16421 0.00 2.22 0.00 0.000 4 0.000 0.062 3317 788 2376 0 0 0 0 0 0
16438 0.81 167.0 609.6 11.0 1082 16444 0.12 2.33 0.00 0.000 6 0.166 0.065 3284 2211 2376 0 0 0 0 0 0
16760 0.82 174.7 577.5 9.6 1107 16774 0.00 2.28 8.00 1.067 4 0.000 0.078 3284 3590 2345 0 0 0 0 0 0
16808 0.82 174.7 572.0 12.9 1111 16813 0.00 2.20 0.00 0.000 6 0.000 0.052 3291 2199 2345 0 0 0 0 0 0
17133 0.82 174.7 537.5 10.1 1142 17137 0.00 2.22 0.00 0.000 4 0.000 0.063 3301 795 2344 0 0 0 0 0 0
17172 0.82 174.7 533.2 10.5 1145 17176 0.00 2.30 0.00 0.000 6 0.000 0.066 3301 2199 2345 0 0 0 0 0 0
17497 0.82 174.7 498.3 10.6 1175 17501 0.00 2.25 0.00 0.000 4 0.000 0.078 3301 3596 2344 0 0 0 0 0 0
17536 0.82 174.7 493.6 12.2 1178 17540 0.00 2.20 0.00 0.000 6 0.000 0.052 3311 2196 2343 0 0 0 0 0 0
17862 0.82 174.7 457.2 11.1 1208 17866 0.00 2.22 0.00 0.000 4 0.000 0.063 3321 787 2343 0 0 0 0 0 0
17884 0.82 174.7 454.6 10.5 1209 17890 0.12 2.33 0.00 0.000 6 0.167 0.066 3288 2211 2343 0 0 0 0 0 0
18209 0.82 174.7 421.9 10.0 1240 18213 0.00 2.22 0.00 0.000 4 0.000 0.079 3288 3596 2344 0 0 0 0 0 0
18253 0.82 174.7 416.7 13.0 1243 18259 0.00 2.20 0.00 0.000 6 0.000 0.053 3295 2195 2343 0 0 0 0 0 0
18578 0.82 174.7 381.4 11.2 1274 18582 0.00 2.20 0.00 0.000 4 0.000 0.063 3306 786 2343 0 0 0 0 0 0
18611 0.82 174.7 377.8 12.1 1276 18617 0.00 2.30 0.00 0.000 6 0.000 0.065 3306 2202 2344 0 0 0 0 0 0
18936 0.82 174.7 341.7 11.2 1307 18940 0.00 2.22 0.00 0.000 4 0.000 0.078 3306 3593 2343 0 0 0 0 0 0
18953 0.82 174.7 339.8 11.8 1308 18958 0.12 2.17 0.00 0.000 6 0.173 0.052 3283 2187 2343 0 0 0 0 0 0
19283 0.83 184.5 308.8 9.6 1339 19297 0.00 2.25 9.23 0.960 4 0.000 0.064 3291 797 2305 0 0 0 0 0 0
19321 0.85 199.4 305.3 9.3 1342 19340 0.00 2.30 13.90 1.000 6 0.000 0.067 3291 2200 2244 0 0 0 0 0 0
19666 0.86 206.4 271.3 9.7 1375 19678 0.00 2.33 6.88 0.864 4 0.000 0.078 3291 3592 2216 0 0 0 0 0 0
19695 0.86 206.4 268.3 10.5 1377 19701 0.00 2.22 0.00 0.000 6 0.000 0.051 3300 2192 2215 0 0 0 0 0 0
20020 0.86 209.7 235.3 9.8 1408 20031 0.00 2.28 4.18 0.687 4 0.000 0.063 3311 792 2203 0 0 0 0 0 0
20071 0.87 216.4 230.1 9.7 1412 20087 0.00 2.33 7.70 0.868 6 0.000 0.067 3311 2200 2174 0 0 0 0 0 0
20406 0.88 227.6 196.0 9.5 1444 20421 0.00 2.30 10.48 0.909 4 0.000 0.077 3311 3602 2129 0 0 0 0 0 0
20461 0.88 227.6 190.1 11.9 1448 20467 0.00 2.25 0.00 0.000 6 0.000 0.053 3321 2195 2127 0 0 0 0 0 0
20786 0.89 231.3 156.4 9.8 1479 20797 0.00 2.28 4.50 0.697 4 0.000 0.064 3331 785 2114 0 0 0 0 0 0
20855 0.89 232.9 149.2 9.9 1485 20860 0.10 2.35 0.00 0.000 6 0.170 0.067 3306 2207 2115 0 0 0 0 0 0
21180 0.92 259.1 120.0 8.8 1515 21211 0.00 2.33 24.80 0.942 4 0.000 0.081 3306 3605 1999 0 0 0 0 0 0
21229 0.95 280.4 115.5 9.0 1519 21255 0.00 2.28 19.58 0.900 6 0.000 0.054 3313 2199 1914 0 0 0 0 0 0
21585 0.96 292.5 81.8 9.4 1569 21601 0.00 2.30 10.62 0.846 4 0.000 0.065 3323 795 1864 0 0 0 0 0 0
21658 0.99 313.3 74.7 9.1 1582 21685 0.00 2.38 18.88 0.884 6 0.000 0.069 3323 2204 1780 0 0 0 0 0 0
22022 1.04 354.5 40.4 8.1 1647 22063 0.00 0.00 35.62 0.895 6 0.000 0.000 3323 2204 1611 0 0 0 0 0 0
22401 1.17 458.3 13.2 5.3 1715 22471 0.15 0.00 66.43 0.880 2 0.085 0.000 3394 2204 1289 0 0 0 0 0 0
22474 end climb: SURFACE_OBSTACLE_DETECTED
state 22474 begin subsurface finish
22481 0.15 119.4 8.1 -8.6 1728 22532 0.77 2.47 -41.12 0.000 4 0.105 0.081 3141 793 2576 0 0 0 0 0 0
22533 end subsurface finish: CONTROL_FINISHED_OK
state 22533 begin surface