ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 707 * Log results * Raw log file
prev dive * next dive * dive

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  707 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  44 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  201218,061528,-7429.2012,-11229.0625,0,4090.3,0,53.4,0.0,0.0,0,0.0 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  394.69 MHEAD_RNG_PITCHd_Wd  305.7,31860,-19.3,-9.429,-21.50,1737
_SM_ANGLEo  4.0 D_GRID  990
GPS2  201218,061528,-7429.2012,-11229.0625,0,4090.3,0,53.4,0.0,0.0,0,0.0

Post-dive calculations and measurements:
FINISH1  356.5,1.027433,3 _24V_AH  10.93,222.955
FINISH2  355.3 _10V_AH  11.39,0.000
RAFOS_CLK  549 FG_AHR_24Vo  0.000
RAFOS  0,1545296463,9.032354,9.017500,155,58,56,54,53,50,616,199,210,188,122,144 FG_AHR_10Vo  0.000
RAFOS_FIX  -7427.823730,-11231.414062,201218,090940,3,110,0.26 MEM  279900
IRIDIUM_FIX  -7410.85,-11223.24,141218,223050 DATA_FILE_SIZE  33352,988
TT8_MAMPS  0.038948,0.276381 CAP_FILE_SIZE  128440,0
HUMID  50.86 CFSIZE  1024409600,936230912
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  1452.6
XPDR_PINGS  1 GPS  201218,091440,-7427.824,-11231.414,0,4110.0,0,53.4,0.0,0.0,0,0.0
ALTIM_TOP_PING  367.5,17.4

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor429215.45 nil000.00
Roll_motor829183.08 nil000.00
VBD_pump_during_apogee27630969366.35 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon46099499.18
Iridium_during_xfer000.00 nil000.00
Transponder_ping45420207.72 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8000.00
LPSleep103322271.86
TT8_Active3581044.45
TT8_Sampling210130726.34
TT8_CF829451172.38
TT8_Kalman000.00
Analog_circuits109110125.59
GPS_charging000.00
Compass14086108.16
RAFOS720112.30
Transponder32830112.12

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
400.8 11.80 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
407.3 18.40 9000.00 0.0 0.00 0.00 18.40 0.0 1.02 1.00
414.0 25.60 25.50 0.0 1.04 1.00 25.60 0.0 1.07 1.00
420.8 32.40 32.40 0.0 1.03 1.00 32.40 0.0 1.00 1.00
417.4 72.90 9000.00 0.0 0.94 0.02 72.90 0.0 -11.91 1.00
411.0 65.60 9000.00 0.0 -2.82 0.42 65.60 345.4 1.14 1.00
398.4 48.60 9000.00 0.0 1.29 1.00 48.60 349.8 1.35 1.00
392.0 42.10 9000.00 0.0 1.25 1.00 42.10 349.9 1.02 1.00
385.8 35.90 35.90 349.9 1.01 1.00 35.90 349.9 1.00 1.00
379.8 29.90 29.90 349.9 1.00 1.00 29.90 349.9 1.00 1.00
373.7 23.50 23.60 350.1 1.02 1.00 23.50 350.2 1.05 1.00
367.5 17.50 17.40 350.1 1.01 1.00 17.50 350.0 0.97 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
10 end surface: CONTROL_FINISHED_OK
state 10 begin dive
14 -1.01 -107.1 2790 2801 3530 3524 0.0 0.0 0 16 0.00 0.00 -1.67 0.054 16390 0.000 0.000 2789 2801 3936 3929 3943 0 0 0 0 0 0 14.83 12.71 14.76
20 -1.01 -107.1 2790 2802 3936 3953 0.0 0.0 0 26 1.10 2.00 0.00 0.000 4356 0.145 0.088 2451 3910 3945 3938 3953 0 0 0 0 0 0 14.20 14.21 14.33
102 -1.01 -107.1 2451 3910 3948 3959 400.4 -8.0 16 110 0.00 1.90 0.00 0.000 1030 0.000 0.050 2451 2789 3953 3947 3959 0 0 0 0 0 0 14.57 14.50 14.60
416 -1.01 -107.1 2451 2790 3952 3963 426.6 -8.3 48 422 0.00 2.42 0.00 0.000 516 0.000 0.048 2451 1377 3956 3951 3962 0 0 0 0 0 0 15.00 14.32 15.00
463 -1.01 -107.1 2452 1377 3953 3962 430.5 -8.2 57 470 0.00 2.58 0.00 0.000 1030 0.000 0.065 2450 2811 3956 3951 3962 0 0 0 0 0 0 14.45 14.31 14.50
768 -1.01 -107.1 2451 2812 3952 3963 455.2 -8.0 88 773 0.00 2.00 0.00 0.000 260 0.000 0.089 2449 3910 3957 3952 3962 0 0 0 0 0 0 15.00 14.20 15.00
809 -1.01 -107.1 2449 3911 3952 3963 458.6 -8.6 96 815 0.00 1.90 0.00 0.000 1030 0.000 0.049 2449 2796 3957 3952 3962 0 0 0 0 0 0 14.52 14.45 14.55
1121 -1.01 -107.1 2449 2796 3953 3962 482.7 -8.0 128 1126 0.00 2.47 0.00 0.000 516 0.000 0.048 2449 1389 3957 3952 3963 0 0 0 0 0 0 14.99 14.31 14.99
1152 -1.01 -107.1 2449 1389 3954 3963 485.3 -8.0 134 1157 0.00 2.55 0.00 0.000 1030 0.000 0.066 2448 2804 3957 3953 3962 0 0 0 0 0 0 14.41 14.26 14.47
1463 -1.01 -107.1 2448 2804 3954 3963 510.5 -8.2 166 1464 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 2804 3957 3953 3962 0 0 0 0 0 0 15.00 14.99 15.00
1763 -1.01 -107.1 2446 2805 3952 3963 535.1 -8.1 196 1764 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 2804 3957 3952 3962 0 0 0 0 0 0 15.00 15.00 15.00
2063 -1.01 -107.1 2448 2805 3953 3963 558.6 -7.8 226 2064 0.00 0.00 0.00 0.000 6 0.000 0.000 2448 2804 3957 3953 3962 0 0 0 0 0 0 15.00 15.00 15.00
2363 -1.01 -107.1 2448 2805 3953 3963 581.5 -7.6 256 2368 0.00 2.47 0.00 0.000 516 0.000 0.047 2448 1396 3957 3953 3962 0 0 0 0 0 0 15.00 14.26 15.00
2394 -1.01 -107.1 2448 1396 3953 3963 583.9 -8.0 262 2399 0.00 2.55 0.00 0.000 1030 0.000 0.065 2444 2805 3957 3953 3962 0 0 0 0 0 0 14.36 14.21 14.40
2705 -1.01 -107.1 2444 2806 3953 3963 608.4 -7.9 294 2706 0.00 0.00 0.00 0.000 6 0.000 0.000 2444 2805 3957 3953 3962 0 0 0 0 0 0 14.98 14.99 14.98
3005 -1.01 -107.1 2444 2805 3954 3962 630.8 -7.3 324 3006 0.00 0.00 0.00 0.000 38 0.000 0.000 2444 2805 3956 3952 3961 0 0 0 0 0 0 14.98 14.97 14.97
3305 -1.01 -107.1 2444 2806 3953 3963 653.5 -7.7 354 3310 0.00 2.50 0.00 0.000 516 0.000 0.047 2444 1392 3957 3953 3961 0 0 0 0 0 0 14.99 14.26 14.99
3346 -1.01 -107.1 2444 1393 3953 3962 656.7 -7.8 362 3351 0.00 2.58 0.00 0.000 1030 0.000 0.065 2443 2815 3956 3952 3961 0 0 0 0 0 0 14.35 14.21 14.40
3657 -1.01 -107.1 2442 2815 3952 3960 679.8 -7.4 394 3658 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2815 3956 3953 3960 0 0 0 0 0 0 14.99 14.99 14.99
3977 -1.01 -107.1 2443 2816 3953 3961 702.8 -7.0 424 3978 0.00 0.00 0.00 0.000 38 0.000 0.000 2443 2815 3957 3953 3961 0 0 0 0 0 0 15.00 15.00 15.00
4337 -1.01 -107.1 2443 2816 3953 3961 727.7 -6.8 436 4338 0.00 0.00 0.00 0.000 38 0.000 0.000 2443 2815 3956 3953 3960 0 0 0 0 0 0 15.00 15.00 15.00
4698 -1.01 -107.1 2444 2815 3954 3960 751.9 -6.6 448 4703 0.00 2.53 0.00 0.000 548 0.000 0.047 2443 1386 3956 3952 3960 0 0 0 0 0 0 14.73 14.19 14.73
4745 -1.01 -107.1 2443 1387 3953 3961 755.2 -6.9 457 4750 0.00 2.60 0.00 0.000 1062 0.000 0.066 2442 2815 3956 3953 3960 0 0 0 0 0 0 14.28 14.14 14.33
5124 -1.01 -107.1 2442 2817 3953 3961 780.8 -6.9 472 5125 0.00 0.00 0.00 0.000 38 0.000 0.000 2442 2816 3956 3952 3960 0 0 0 0 0 0 14.98 14.98 14.98
5481 -1.01 -107.1 2442 2817 3953 3961 805.6 -6.9 484 5482 0.00 0.00 0.00 0.000 38 0.000 0.000 2442 2815 3956 3953 3960 0 0 0 0 0 0 15.01 15.00 15.00
5841 -1.01 -107.1 2443 2816 3954 3960 830.1 -6.7 496 5842 0.00 0.00 0.00 0.000 38 0.000 0.000 2442 2815 3956 3953 3960 0 0 0 0 0 0 15.00 15.00 15.00
6202 -1.01 -107.1 2443 2815 3953 3960 854.6 -6.8 508 6207 0.00 2.53 0.00 0.000 548 0.000 0.047 2442 1387 3956 3953 3960 0 0 0 0 0 0 15.00 14.15 15.00
6243 -1.01 -107.1 2443 1387 3954 3960 858.0 -6.9 516 6248 0.00 2.60 0.00 0.000 1062 0.000 0.066 2441 2806 3956 3952 3960 0 0 0 0 0 0 14.26 14.12 14.31
6626 -1.01 -107.1 2442 2807 3953 3961 882.9 -6.6 532 6633 0.00 2.08 0.00 0.000 292 0.000 0.088 2440 3920 3956 3953 3960 0 0 0 0 0 0 14.97 13.98 14.97
6664 -1.01 -107.1 2441 3920 3954 3960 886.2 -7.1 539 6669 0.00 1.95 0.00 0.000 1062 0.000 0.048 2440 2798 3956 3952 3960 0 0 0 0 0 0 14.37 14.29 14.40
7053 -1.01 -107.1 2441 2798 3954 3960 911.4 -6.6 556 7058 0.00 2.50 0.00 0.000 548 0.000 0.047 2440 1384 3956 3953 3960 0 0 0 0 0 0 14.97 14.16 14.97
7089 -1.01 -107.1 2440 1385 3953 3961 914.8 -6.9 563 7094 0.00 2.60 0.00 0.000 1062 0.000 0.066 2440 2811 3956 3952 3960 0 0 0 0 0 0 14.28 14.12 14.32
7477 -1.01 -107.1 2439 2812 3953 3961 939.8 -6.6 580 7478 0.00 0.00 0.00 0.000 38 0.000 0.000 2440 2811 3956 3953 3960 0 0 0 0 0 0 14.97 14.98 14.98
7835 -1.01 -107.1 2440 2812 3954 3960 963.0 -6.5 592 7836 0.00 0.00 0.00 0.000 38 0.000 0.000 2439 2811 3956 3953 3960 0 0 0 0 0 0 15.00 15.00 15.00
8195 -1.01 -107.1 2440 2811 3954 3960 986.2 -6.2 604 8200 0.00 2.53 0.00 0.000 548 0.000 0.047 2439 1387 3956 3953 3960 0 0 0 0 0 0 15.00 14.14 15.00
8241 -1.01 -107.1 2440 1387 3954 3960 989.9 -6.3 613 8247 0.00 2.60 0.00 0.000 1062 0.000 0.066 2439 2813 3956 3953 3960 0 0 0 0 0 0 14.25 14.10 14.30
8250 end dive: TARGET_DEPTH_EXCEEDED
state 8250 begin apogee
8258 -0.23 0.0 2439 2536 3953 3961 990.6 -5.9 615 8396 0.98 0.00 136.02 3.097 10246 0.207 0.000 2699 2535 3493 3500 3487 0 0 0 0 0 0 13.78 13.13 11.78
8397 end apogee: CONTROL_FINISHED_OK
state 8397 begin climb
8400 1.01 107.1 2700 2536 3501 3488 991.4 0.0 619 8548 1.35 0.00 140.70 3.097 10758 0.113 0.000 3097 2535 3065 3082 3049 0 0 0 0 0 0 13.16 12.24 10.93
8884 1.01 107.1 3098 2539 3073 3037 926.5 14.7 651 8885 0.00 0.00 0.00 0.000 6 0.000 0.000 3097 2535 3054 3071 3037 0 0 0 0 0 0 14.45 14.45 14.45
9246 1.01 107.1 3096 2536 3070 3036 874.4 14.4 663 9251 0.00 2.53 0.00 0.000 260 0.000 0.090 3097 3916 3052 3069 3036 0 0 0 0 0 0 14.85 14.43 14.85
9292 1.01 107.1 3098 3916 3071 3036 866.3 16.4 672 9300 0.00 2.35 0.00 0.000 1030 0.000 0.050 3108 2536 3051 3068 3035 0 0 0 0 0 0 14.65 14.58 14.67
9671 1.01 107.1 3108 2536 3069 3035 810.2 14.9 687 9672 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2535 3051 3069 3034 0 0 0 0 0 0 14.89 14.89 14.89
10034 1.01 107.1 3108 2535 3069 3033 758.0 14.4 699 10039 0.00 2.53 0.00 0.000 260 0.000 0.090 3108 3916 3050 3068 3033 0 0 0 0 0 0 14.87 14.38 14.87
10086 1.01 107.1 3108 3917 3069 3035 749.6 16.6 709 10091 0.00 2.38 0.00 0.000 1030 0.000 0.050 3119 2537 3051 3069 3033 0 0 0 0 0 0 14.63 14.56 14.66
10457 1.01 107.1 3120 2537 3070 3032 694.4 14.5 725 10458 0.00 0.00 0.00 0.000 6 0.000 0.000 3119 2537 3050 3068 3032 0 0 0 0 0 0 14.90 14.90 14.90
10758 1.01 107.1 3119 2538 3068 3033 651.1 14.4 755 10758 0.00 0.00 0.00 0.000 6 0.000 0.000 3119 2537 3050 3068 3032 0 0 0 0 0 0 14.90 14.90 14.90
11057 1.01 107.1 3119 2538 3068 3033 608.4 14.1 785 11058 0.00 0.00 0.00 0.000 6 0.000 0.000 3119 2537 3050 3068 3032 0 0 0 0 0 0 14.90 14.90 14.90
11357 1.01 107.1 3119 2537 3070 3032 566.8 13.6 815 11362 0.00 2.53 0.00 0.000 260 0.000 0.090 3119 3913 3050 3068 3032 0 0 0 0 0 0 14.90 14.31 14.90
11398 1.01 107.1 3120 3914 3069 3032 560.7 15.5 823 11403 0.00 2.35 0.00 0.000 1030 0.000 0.050 3129 2537 3051 3072 3031 0 0 0 0 0 0 14.52 14.44 14.54
11709 1.01 107.1 3129 2541 3069 3033 516.9 14.3 855 11715 0.12 2.42 0.00 0.000 4612 0.293 0.058 3108 1160 3050 3068 3032 0 0 0 0 0 0 14.07 14.28 14.26
11741 1.01 107.1 3109 1161 3070 3032 512.7 12.2 861 11747 0.00 2.50 0.00 0.000 1030 0.000 0.066 3108 2564 3049 3068 3031 0 0 0 0 0 0 14.52 14.38 14.56
12054 1.01 107.1 3109 2564 3069 3032 471.9 13.1 893 12059 0.00 2.50 0.00 0.000 260 0.000 0.092 3108 3914 3049 3068 3031 0 0 0 0 0 0 14.92 14.12 14.91
12090 1.01 107.1 3108 3915 3069 3033 466.5 15.1 900 12096 0.00 2.35 0.00 0.000 1030 0.000 0.050 3119 2546 3049 3067 3032 0 0 0 0 0 0 14.58 14.50 14.61
12395 1.01 107.1 3119 2550 3069 3033 426.2 12.6 931 12396 0.00 0.00 0.00 0.000 6 0.000 0.000 3119 2549 3049 3068 3031 0 0 0 0 0 0 14.90 14.90 14.90
12695 1.01 107.1 3120 2549 3069 3032 388.2 12.4 961 12696 0.00 0.00 0.00 0.000 6 0.000 0.000 3119 2549 3050 3068 3032 0 0 0 0 0 0 14.90 14.90 14.90
12952 end climb: SURFACE_OBSTACLE_DETECTED
state 12952 begin subsurface finish
12959 0.00 3.4 3119 2549 3069 3032 356.5 12.2 987 12967 1.27 2.47 -1.88 0.060 20996 0.239 0.078 2788 1150 3499 3501 3497 0 0 0 0 0 0 13.92 12.98 14.14
12967 end subsurface finish: CONTROL_FINISHED_OK
state 12967 begin surface