DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 160 * 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  160 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  25 XPDR_INHIBIT  90
D_BOOST  3 N_FILEKB  4 R_STBD_OVSHOOT  27 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  9 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  -28319.699 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  150311,163117,6703.092,-5857.704,0,6124.8,0,-38.2 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  9.29 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -1.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  150311,163117,6703.092,-5857.704,0,6124.8,0,-38.2 MHEAD_RNG_PITCHd_Wd  279.5,73638,-17.5,-10.000
SPEED_LIMITS  0.173,0.260 D_GRID  1199

Post-dive calculations and measurements:
FREEZE  8.01,-1.778,-1.795,3,35,1 ALTIM_TOP_PING  20.0,16.9
FINISH1  8.0,1.026288,59 _24V_AH  22.5,23.505
FINISH2  6.8 _10V_AH  10.2,12.992
RAFOS_CLK  981 FG_AHR_24Vo  0.000
RAFOS  0,1300219268,20.033333,20.018888,67,58,56,54,51,50,171,193,208,220,151,125 FG_AHR_10Vo  0.000
RAFOS_FIX  6702.531738,-5901.228027,150311,202038,6,120,0.19 MEM  150560
IRIDIUM_FIX  6652.93,-5737.74,100311,101013 DATA_FILE_SIZE  49980,1316
TT8_MAMPS  0.026215 CAP_FILE_SIZE  180862,0
HUMID  46.49 CFSIZE  260165632,241254400
INTERNAL_PRESSURE  8.68197 ERRORS  0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  16.20 SOUNDSPEED  1456.3
XPDR_PINGS  0 GPS  150311,203138,6702.532,-5901.228,0,6120.3,0,-38.2

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor523328.61 SBE_CT94224508.75
Roll_motor17582326.57 SBE_O2101519433.94
VBD_pump_during_apogee411155014350.15 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_ping342035.44 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8332719676.19
LPSleep117082275.87
TT8_Active51019103.68
TT8_Sampling230139937.23
TT8_CF821445100.60
TT8_Kalman000.00
Analog_circuits177112216.81
GPS_charging000.00
Compass226915347.24
RAFOS5040177.11
Transponder27308.37

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 25 0.00 0.00 -7.07 0.000 2 0.000 0.000 2890 2275 3078 0 0 0 0 0 0
27 -0.62 -146.0 10.7 -0.0 1 48 0.62 2.70 -14.60 0.000 4 0.103 0.083 2665 3901 3629 0 0 0 0 0 0
106 -0.52 -146.0 20.8 -15.7 14 113 0.12 2.17 0.00 0.000 6 0.233 0.045 2692 2485 3631 0 0 0 0 0 0
451 -0.46 -146.0 74.2 -16.0 75 457 0.00 2.22 0.00 0.000 4 0.000 0.065 2692 1080 3630 0 0 0 0 0 0
504 -0.46 -146.0 82.5 -14.1 84 512 0.00 2.22 0.00 0.000 6 0.000 0.058 2692 2491 3630 0 0 0 0 0 0
843 -0.41 -146.0 133.0 -13.9 125 845 0.15 0.00 0.00 0.000 6 0.230 0.000 2728 2492 3629 0 0 0 0 0 0
1162 -0.46 -146.0 164.7 -9.2 155 1166 0.00 2.28 0.00 0.000 4 0.000 0.076 2728 3899 3629 0 0 0 0 0 0
1195 -0.54 -146.0 167.7 -8.6 157 1202 0.12 2.20 0.00 0.000 6 0.126 0.047 2686 2483 3629 0 0 0 0 0 0
1520 -0.51 -146.0 206.2 -12.5 188 1524 0.00 2.20 0.00 0.000 4 0.000 0.065 2687 1077 3628 0 0 0 0 0 0
1549 -0.48 -146.0 209.9 -13.2 190 1553 0.00 2.22 0.00 0.000 6 0.000 0.060 2686 2490 3628 0 0 0 0 0 0
1873 -0.48 -146.0 248.2 -11.0 220 1877 0.00 2.30 0.00 0.000 4 0.000 0.076 2686 3903 3627 0 0 0 0 0 0
1941 -0.48 -146.0 255.5 -10.7 226 1945 0.00 2.17 0.00 0.000 6 0.000 0.047 2686 2487 3627 0 0 0 0 0 0
2266 -0.48 -146.0 290.1 -11.0 256 2270 0.00 2.22 0.00 0.000 4 0.000 0.063 2686 1074 3627 0 0 0 0 0 0
2309 -0.48 -146.0 294.9 -10.4 259 2316 0.00 2.28 0.00 0.000 6 0.000 0.058 2686 2490 3628 0 0 0 0 0 0
2635 -0.48 -146.0 328.3 -10.0 290 2639 0.00 2.28 0.00 0.000 4 0.000 0.075 2686 3901 3627 0 0 0 0 0 0
2713 -0.51 -146.0 336.7 -9.9 296 2719 0.00 2.20 0.00 0.000 6 0.000 0.045 2686 2481 3627 0 0 0 0 0 0
3038 -0.51 -146.0 368.7 -9.9 327 3039 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2481 3628 0 0 0 0 0 0
3360 -0.51 -146.0 400.8 -10.3 357 3364 0.00 2.17 0.00 0.000 4 0.000 0.060 2686 1078 3628 0 0 0 0 0 0
3403 -0.53 -146.0 406.0 -10.4 360 3410 0.00 2.25 0.00 0.000 6 0.000 0.057 2686 2497 3628 0 0 0 0 0 0
3729 -0.53 -146.0 438.5 -9.8 391 3733 0.00 2.25 0.00 0.000 4 0.000 0.073 2686 3897 3628 0 0 0 0 0 0
3778 -0.57 -146.0 443.8 -10.0 395 3785 0.00 2.15 0.00 0.000 6 0.000 0.044 2686 2488 3628 0 0 0 0 0 0
4104 -0.57 -146.0 476.1 -9.8 426 4108 0.00 2.17 0.00 0.000 4 0.000 0.060 2686 1082 3628 0 0 0 0 0 0
4142 -0.59 -146.0 480.1 -10.2 429 4149 0.00 2.20 0.00 0.000 6 0.000 0.057 2686 2489 3628 0 0 0 0 0 0
4467 -0.59 -146.0 510.9 -9.4 460 4471 0.00 2.28 0.00 0.000 4 0.000 0.073 2686 3900 3629 0 0 0 0 0 0
4507 -0.63 -146.0 514.8 -9.7 463 4511 0.00 2.17 0.00 0.000 6 0.000 0.044 2686 2488 3629 0 0 0 0 0 0
4834 -0.63 -146.0 545.6 -9.4 493 4838 0.00 2.17 0.00 0.000 4 0.000 0.059 2686 1080 3629 0 0 0 0 0 0
4862 -0.63 -146.0 548.8 -10.3 495 4866 0.00 2.22 0.00 0.000 6 0.000 0.057 2686 2497 3629 0 0 0 0 0 0
5193 -0.63 -146.0 580.4 -9.6 526 5197 0.00 2.25 0.00 0.000 4 0.000 0.074 2686 3904 3629 0 0 0 0 0 0
5245 -0.68 -146.0 585.4 -9.1 530 5250 0.12 2.17 0.00 0.000 6 0.130 0.044 2641 2481 3629 0 0 0 0 0 0
5589 -0.60 -146.0 628.1 -12.7 549 5593 0.00 2.15 0.00 0.000 4 0.000 0.059 2642 1087 3629 0 0 0 0 0 0
5627 -0.53 -146.0 633.5 -12.9 550 5632 0.17 2.20 0.00 0.000 6 0.212 0.058 2685 2488 3629 0 0 0 0 0 0
5952 -0.55 -146.0 663.5 -9.0 561 5957 0.00 2.25 0.00 0.000 4 0.000 0.074 2685 3899 3629 0 0 0 0 0 0
5997 -0.60 -146.0 667.8 -8.9 562 6001 0.00 2.15 0.00 0.000 6 0.000 0.044 2685 2489 3629 0 0 0 0 0 0
6315 -0.63 -146.0 695.6 -8.7 573 6316 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2489 3629 0 0 0 0 0 0
6622 -0.66 -146.0 721.3 -8.3 583 6626 0.00 2.17 0.00 0.000 4 0.000 0.060 2685 1081 3629 0 0 0 0 0 0
6655 -0.69 -146.0 724.3 -8.6 584 6660 0.15 2.22 0.00 0.000 6 0.122 0.058 2635 2500 3630 0 0 0 0 0 0
6985 -0.60 -146.0 763.4 -12.2 595 6989 0.12 2.28 0.00 0.000 4 0.230 0.075 2662 3902 3630 0 0 0 0 0 0
7039 -0.60 -146.0 769.4 -10.6 596 7043 0.00 2.17 0.00 0.000 6 0.000 0.044 2662 2478 3630 0 0 0 0 0 0
7358 -0.60 -146.0 800.0 -9.6 607 7359 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2478 3630 0 0 0 0 0 0
7664 -0.60 -146.0 829.0 -9.4 617 7668 0.00 2.30 0.00 0.000 4 0.000 0.072 2662 3897 3630 0 0 0 0 0 0
7686 -0.58 -146.0 831.4 -10.2 617 7693 0.00 2.15 0.00 0.000 6 0.000 0.044 2662 2489 3629 0 0 0 0 0 0
7999 -0.58 -146.0 861.2 -9.5 628 8003 0.00 2.17 0.00 0.000 4 0.000 0.058 2662 1079 3630 0 0 0 0 0 0
8027 -0.58 -146.0 864.1 -10.1 629 8031 0.00 2.22 0.00 0.000 6 0.000 0.058 2662 2497 3630 0 0 0 0 0 0
8362 -0.58 -146.0 896.0 -9.7 640 8366 0.00 2.25 0.00 0.000 4 0.000 0.076 2662 3902 3630 0 0 0 0 0 0
8411 -0.58 -146.0 901.1 -9.6 641 8415 0.00 2.15 0.00 0.000 6 0.000 0.045 2662 2489 3630 0 0 0 0 0 0
8730 -0.58 -146.0 931.1 -9.5 652 8734 0.00 2.20 0.00 0.000 4 0.000 0.059 2662 1073 3630 0 0 0 0 0 0
8757 -0.58 -146.0 933.9 -10.5 652 8764 0.00 2.22 0.00 0.000 6 0.000 0.058 2662 2489 3630 0 0 0 0 0 0
9070 -0.58 -146.0 963.7 -9.5 663 9074 0.00 2.28 0.00 0.000 4 0.000 0.075 2662 3899 3630 0 0 0 0 0 0
9113 -0.58 -146.0 968.1 -9.3 664 9117 0.00 2.15 0.00 0.000 6 0.000 0.046 2662 2489 3630 0 0 0 0 0 0
9344 end dive: TARGET_DEPTH_EXCEEDED
state 9344 begin apogee
9349 -0.12 0.0 990.3 9.6 672 9483 0.52 0.00 126.03 1.551 6 0.190 0.000 2817 2263 3030 0 0 0 0 0 0
9483 end apogee: CONTROL_FINISHED_OK
state 9483 begin climb
9486 0.62 146.0 994.4 0.0 676 9625 0.77 2.53 131.52 1.509 4 0.132 0.067 3065 881 2433 0 0 0 0 0 0
9670 0.52 146.0 979.2 12.6 681 9675 0.12 2.42 0.00 0.000 6 0.196 0.053 3039 2281 2429 0 0 0 0 0 0
9994 0.46 146.0 942.4 11.3 692 9998 0.00 2.35 0.00 0.000 4 0.000 0.069 3038 3687 2424 0 0 0 0 0 0
10043 0.35 146.0 935.9 12.5 693 10048 0.25 2.30 0.00 0.000 6 0.192 0.053 2985 2286 2424 0 0 0 0 0 0
10356 0.43 182.5 909.2 8.3 703 10394 0.00 2.45 31.92 1.429 4 0.000 0.068 2992 874 2286 0 0 0 0 0 0
10400 0.50 216.0 905.4 8.5 704 10441 0.10 2.35 32.45 1.411 6 0.119 0.053 3036 2281 2149 0 0 0 0 0 0
10753 0.50 216.0 863.3 11.8 716 10757 0.00 2.35 0.00 0.000 4 0.000 0.069 3036 3691 2140 0 0 0 0 0 0
10808 0.46 216.0 855.6 14.7 717 10816 0.12 2.33 0.00 0.000 6 0.192 0.051 3017 2267 2139 0 0 0 0 0 0
11122 0.46 216.0 822.3 10.6 728 11126 0.00 2.28 0.00 0.000 4 0.000 0.066 3026 858 2138 0 0 0 0 0 0
11143 0.49 216.0 819.7 10.7 728 11147 0.00 2.28 0.00 0.000 6 0.000 0.053 3025 2279 2137 0 0 0 0 0 0
11461 0.49 216.0 783.8 11.1 739 11465 0.00 2.28 0.00 0.000 4 0.000 0.066 3026 3692 2137 0 0 0 0 0 0
11506 0.46 216.0 778.3 12.5 740 11510 0.00 2.25 0.00 0.000 6 0.000 0.050 3035 2273 2136 0 0 0 0 0 0
11835 0.46 216.0 737.4 12.7 751 11836 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2273 2136 0 0 0 0 0 0
12141 0.46 216.0 698.2 12.6 761 12142 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2273 2135 0 0 0 0 0 0
12448 0.46 216.0 660.2 12.5 771 12449 0.00 0.00 0.00 0.000 6 0.000 0.000 3035 2273 2135 0 0 0 0 0 0
12754 0.46 216.0 621.8 12.6 781 12755 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2273 2135 0 0 0 0 0 0
13065 0.44 216.0 582.7 12.4 799 13066 0.00 0.00 0.00 0.000 6 0.000 0.000 3036 2273 2134 0 0 0 0 0 0
13385 0.42 216.0 542.5 13.0 829 13387 0.12 0.00 0.00 0.000 6 0.192 0.000 3005 2273 2135 0 0 0 0 0 0
13702 0.48 217.6 509.9 9.9 859 13703 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2273 2134 0 0 0 0 0 0
14022 0.53 217.6 476.3 10.6 889 14026 0.00 2.25 0.00 0.000 4 0.000 0.067 3014 860 2134 0 0 0 0 0 0
14050 0.60 217.6 473.2 10.0 891 14055 0.12 2.22 0.00 0.000 6 0.114 0.051 3069 2278 2133 0 0 0 0 0 0
14376 0.53 217.6 426.1 14.5 921 14381 0.12 2.22 0.00 0.000 4 0.181 0.065 3036 3688 2133 0 0 0 0 0 0
14416 0.50 217.6 420.5 14.4 924 14420 0.00 2.20 0.00 0.000 6 0.000 0.050 3044 2276 2133 0 0 0 0 0 0
14740 0.50 217.6 379.9 12.4 954 14744 0.00 2.25 0.00 0.000 4 0.000 0.066 3055 860 2133 0 0 0 0 0 0
14773 0.50 217.6 375.6 12.1 956 14781 0.08 2.25 0.00 0.000 6 0.165 0.050 3031 2281 2133 0 0 0 0 0 0
15098 0.50 217.6 339.5 11.2 987 15102 0.00 2.22 0.00 0.000 4 0.000 0.066 3031 3684 2133 0 0 0 0 0 0
15132 0.50 217.6 335.5 11.8 990 15136 0.00 2.20 0.00 0.000 6 0.000 0.050 3040 2270 2133 0 0 0 0 0 0
15462 0.50 217.6 296.2 11.9 1021 15466 0.00 2.20 0.00 0.000 4 0.000 0.066 3048 867 2133 0 0 0 0 0 0
15524 0.50 217.6 289.0 11.0 1026 15528 0.00 2.20 0.00 0.000 6 0.000 0.049 3048 2278 2133 0 0 0 0 0 0
15848 0.50 217.6 251.5 11.1 1056 15852 0.00 2.20 0.00 0.000 4 0.000 0.063 3048 3689 2133 0 0 0 0 0 0
15882 0.47 217.6 247.2 13.0 1059 15887 0.15 2.20 0.00 0.000 6 0.188 0.049 3019 2265 2133 0 0 0 0 0 0
16213 0.56 239.2 215.2 9.0 1090 16240 0.00 2.30 19.12 1.021 4 0.000 0.065 3028 868 2054 0 0 0 0 0 0
16269 0.66 248.2 210.1 9.6 1095 16285 0.15 2.22 9.25 0.948 6 0.107 0.050 3087 2275 2019 0 0 0 0 0 0
16611 0.61 248.2 164.0 13.7 1127 16615 0.00 2.30 0.00 0.000 4 0.000 0.064 3087 3693 2015 0 0 0 0 0 0
16673 0.54 248.2 155.0 14.4 1132 16678 0.20 2.25 0.00 0.000 6 0.188 0.050 3045 2275 2014 0 0 0 0 0 0
17000 0.62 276.2 123.2 8.7 1162 17033 0.00 2.30 26.55 0.995 4 0.000 0.063 3046 860 1902 0 0 0 0 0 0
17081 0.78 313.6 116.5 8.3 1169 17126 0.20 2.28 34.45 0.984 6 0.093 0.049 3123 2283 1750 0 0 0 0 0 0
17457 0.78 313.6 62.7 12.4 1226 17464 0.00 2.28 0.00 0.000 4 0.000 0.064 3123 3686 1742 0 0 0 0 0 0
17533 0.73 313.6 51.5 14.9 1239 17540 0.12 2.28 0.00 0.000 6 0.210 0.050 3105 2269 1740 0 0 0 0 0 0
17875 0.73 313.6 12.8 13.0 1300 17882 0.00 2.25 0.00 0.000 4 0.000 0.065 3111 863 1739 0 0 0 0 0 0
17920 end climb: SURFACE_OBSTACLE_DETECTED
state 17921 begin subsurface finish
17929 0.07 59.4 8.0 -8.0 1308 17976 0.68 0.00 -40.72 0.000 6 0.150 0.000 2896 2277 2788 0 0 0 0 0 0
17977 end subsurface finish: CONTROL_FINISHED_OK
state 17977 begin surface