DavisStrait Jun10 * SG108 * Dive index * Mission links * Dive 88 * 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  88 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  29 XPDR_VALID  4
D_FINISH  9 FILEMGR  2 R_STBD_OVSHOOT  20 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  -180239.86 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  113437,6702.504,-5758.930,39,0.9,39,-37.9 TGT_NAME  TARGET_W
_CALLS  1 TGT_LATLONG  6644.000,-6026.000
_XMS_NAKs  0 TGT_RADIUS  10000.000
_XMS_TOUTs  0 KALMAN_CONTROL  0.000,0.000
_SM_DEPTHo  2.72 KALMAN_X  0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo  -76.8 KALMAN_Y  0.0,0.0,0.0,0.0,0.0
GPS2  114114,6702.548,-5759.028,9,1.8,9,-37.9 MHEAD_RNG_PITCHd_Wd  290.2,112873,-18.1,-10.000
SPEED_LIMITS  0.173,0.263 D_GRID  941

Post-dive calculations and measurements:
FINISH1  10.5,1.025073,95 ALTIM_BOTTOM_PING  900.0,48.9
FINISH2  9.6 _24V_AH  22.8,14.593
RAFOS_CLK  881 _10V_AH  10.2,8.030
RAFOS  0,1277208064,12.033333,12.017777,44,43,41,41,41,40,1877,219,696,840,1230,742 FG_AHR_24Vo  0.000
RAFOS_FIX  6701.256348,-5806.888184,220610,161600,5,107,0.35 FG_AHR_10Vo  0.000
IRIDIUM_FIX  6631.12,-5753.26,160999,060657 MEM  135828
TT8_MAMPS  0.032981 DATA_FILE_SIZE  66201,1670
HUMID  39.28 CAP_FILE_SIZE  215820,0
INTERNAL_PRESSURE  10.2641 CFSIZE  260165632,242032640
TCM_TEMP  15.90 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS  0 SOUNDSPEED  1458.0
ALTIM_TOP_PING  19.6,13.9 GPS  220610,163200,6701.256,-5806.888,0,5106.6,0,-37.9

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor1324174.78 SBE_CT120024657.01
Roll_motor204161754.67 SBE_O2121719527.22
VBD_pump_during_apogee418145413869.36 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init2710364.91 nil000.00
Iridium_during_connect34160125.18 nil000.00
Iridium_during_xfer177223903.98
Transponder_ping342035.91
GUMSTIX_24V000.00
GPS11505.71
TT8291419592.19
LPSleep147112346.64
TT8_Active59819121.68
TT8_Sampling2892391177.67
TT8_CF871245333.66
TT8_Kalman000.00
Analog_circuits212512260.22
GPS_charging000.00
Compass28528232.75
RAFOS50403154.22
Transponder30309.40

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 47 0.00 0.00 -29.45 0.000 2 0.000 0.000 335 2250 2294 0 0 0 0 0 0
51 -0.78 -146.1 3.1 -1.8 6 138 10.23 2.42 -66.43 0.000 4 0.242 0.086 2934 836 3657 0 0 0 0 0 0
393 -0.78 -146.1 36.7 -10.9 68 399 0.00 2.40 0.00 0.000 6 0.000 0.074 2927 2262 3662 0 0 0 0 0 0
737 -0.78 -146.1 73.1 -11.5 129 742 0.00 2.33 0.00 0.000 4 0.000 0.071 2927 839 3662 0 0 0 0 0 0
771 -0.78 -146.1 77.2 -11.9 135 777 0.10 2.38 0.00 0.000 6 0.166 0.075 2943 2256 3662 0 0 0 0 0 0
1116 -0.78 -146.1 109.8 -9.0 187 1120 0.00 2.20 0.00 0.000 4 0.000 0.087 2935 3595 3661 0 0 0 0 0 0
1166 -0.78 -146.1 114.9 -9.8 191 1172 0.00 2.17 0.00 0.000 6 0.000 0.062 2935 2245 3661 0 0 0 0 0 0
1491 -0.78 -146.1 144.3 -8.8 222 1495 0.00 2.28 0.00 0.000 4 0.000 0.074 2934 839 3661 0 0 0 0 0 0
1565 -0.78 -146.1 151.4 -9.0 228 1569 0.00 2.35 0.00 0.000 6 0.000 0.075 2925 2248 3661 0 0 0 0 0 0
1890 -0.78 -146.1 180.8 -8.1 258 1891 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2247 3660 0 0 0 0 0 0
2209 -0.78 -146.1 206.5 -8.5 288 2210 0.00 0.00 0.00 0.000 6 0.000 0.000 2926 2247 3660 0 0 0 0 0 0
2527 -0.78 -146.1 234.7 -8.9 318 2531 0.00 2.30 0.00 0.000 4 0.000 0.071 2926 836 3659 0 0 0 0 0 0
2583 -0.78 -146.1 239.9 -9.4 322 2590 0.10 2.35 0.00 0.000 6 0.165 0.075 2943 2256 3660 0 0 0 0 0 0
2908 -0.78 -146.1 262.7 -6.1 353 2910 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2256 3660 0 0 0 0 0 0
3227 -0.78 -146.1 280.4 -5.6 383 3229 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2256 3660 0 0 0 0 0 0
3547 -0.78 -146.1 300.2 -6.7 413 3548 0.00 0.00 0.00 0.000 6 0.000 0.000 2943 2256 3660 0 0 0 0 0 0
3867 -0.78 -146.1 323.3 -7.9 443 3871 0.00 2.17 0.00 0.000 4 0.000 0.086 2935 3595 3661 0 0 0 0 0 0
3947 -0.78 -146.1 330.3 -9.1 450 3951 0.00 2.15 0.00 0.000 6 0.000 0.060 2935 2242 3661 0 0 0 0 0 0
4273 -0.78 -146.1 358.9 -8.3 480 4274 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 2241 3661 0 0 0 0 0 0
4591 -0.78 -146.1 383.9 -7.4 510 4595 0.00 2.20 0.00 0.000 4 0.000 0.071 2935 843 3662 0 0 0 0 0 0
4643 -0.78 -146.1 387.9 -7.9 514 4647 0.00 2.30 0.00 0.000 6 0.000 0.073 2925 2249 3662 0 0 0 0 0 0
4973 -0.78 -146.1 414.0 -8.3 545 4977 0.00 2.15 0.00 0.000 4 0.000 0.084 2915 3597 3662 0 0 0 0 0 0
5042 -0.78 -146.1 420.1 -8.7 551 5047 0.10 2.12 0.00 0.000 6 0.166 0.060 2942 2241 3662 0 0 0 0 0 0
5367 -0.78 -146.1 441.6 -6.3 581 5371 0.00 2.22 0.00 0.000 4 0.000 0.071 2942 840 3662 0 0 0 0 0 0
5419 -0.78 -146.1 445.1 -7.2 585 5424 0.00 2.33 0.00 0.000 6 0.000 0.073 2935 2261 3662 0 0 0 0 0 0
5744 -0.78 -146.1 468.0 -7.2 615 5748 0.00 2.12 0.00 0.000 4 0.000 0.083 2925 3594 3662 0 0 0 0 0 0
5818 -0.78 -146.1 474.0 -8.5 621 5823 0.00 2.12 0.00 0.000 6 0.000 0.059 2925 2247 3662 0 0 0 0 0 0
6143 -0.78 -146.1 499.1 -7.7 652 6147 0.00 2.22 0.00 0.000 4 0.000 0.071 2925 843 3662 0 0 0 0 0 0
6218 -0.78 -146.1 505.0 -8.1 658 6223 0.10 2.30 0.00 0.000 6 0.162 0.073 2943 2247 3662 0 0 0 0 0 0
6544 -0.78 -146.1 526.1 -6.1 688 6548 0.00 2.17 0.00 0.000 4 0.000 0.083 2934 3608 3662 0 0 0 0 0 0
6605 -0.78 -146.1 530.3 -6.7 693 6611 0.00 2.12 0.00 0.000 6 0.000 0.058 2934 2250 3662 0 0 0 0 0 0
6931 -0.78 -146.1 550.8 -5.9 724 6935 0.00 2.25 0.00 0.000 4 0.000 0.070 2934 841 3662 0 0 0 0 0 0
7005 -0.78 -146.1 555.9 -7.0 730 7009 0.00 2.30 0.00 0.000 6 0.000 0.072 2925 2251 3663 0 0 0 0 0 0
7330 -0.78 -146.1 578.3 -6.7 760 7334 0.00 2.15 0.00 0.000 4 0.000 0.082 2915 3605 3662 0 0 0 0 0 0
7381 -0.78 -146.1 582.1 -7.9 764 7386 0.10 2.15 0.00 0.000 6 0.165 0.058 2942 2240 3662 0 0 0 0 0 0
7725 -0.78 -146.1 604.2 -6.3 792 7729 0.00 2.22 0.00 0.000 4 0.000 0.070 2941 832 3662 0 0 0 0 0 0
7788 -0.78 -146.1 608.3 -6.6 794 7793 0.00 2.33 0.00 0.000 6 0.000 0.072 2935 2259 3662 0 0 0 0 0 0
8124 -0.78 -146.1 631.0 -6.9 805 8127 0.00 2.15 0.00 0.000 4 0.000 0.083 2925 3597 3662 0 0 0 0 0 0
8174 -0.78 -146.1 634.9 -7.7 806 8178 0.00 2.10 0.00 0.000 6 0.000 0.058 2925 2247 3662 0 0 0 0 0 0
8499 -0.78 -146.1 659.5 -7.8 817 8503 0.00 2.22 0.00 0.000 4 0.000 0.071 2925 841 3662 0 0 0 0 0 0
8583 -0.78 -146.1 666.8 -9.1 819 8588 0.10 2.30 0.00 0.000 6 0.161 0.072 2943 2251 3662 0 0 0 0 0 0
8896 -0.78 -146.1 688.5 -6.9 829 8899 0.00 2.15 0.00 0.000 4 0.000 0.081 2935 3595 3663 0 0 0 0 0 0
8952 -0.78 -146.1 692.7 -7.5 830 8956 0.00 2.10 0.00 0.000 6 0.000 0.057 2935 2250 3662 0 0 0 0 0 0
9271 -0.78 -146.1 715.1 -7.1 841 9275 0.00 2.22 0.00 0.000 4 0.000 0.069 2935 840 3662 0 0 0 0 0 0
9338 -0.78 -146.1 720.2 -7.8 843 9342 0.00 2.30 0.00 0.000 6 0.000 0.072 2925 2257 3663 0 0 0 0 0 0
9667 -0.78 -146.1 744.3 -7.4 854 9671 0.00 2.15 0.00 0.000 4 0.000 0.082 2915 3598 3663 0 0 0 0 0 0
9741 -0.78 -146.1 750.6 -8.7 856 9745 0.10 2.12 0.00 0.000 6 0.162 0.058 2943 2245 3663 0 0 0 0 0 0
10070 -0.78 -146.1 773.0 -6.6 867 10074 0.00 2.22 0.00 0.000 4 0.000 0.070 2943 837 3663 0 0 0 0 0 0
10127 -0.78 -146.1 777.1 -7.4 868 10132 0.00 2.30 0.00 0.000 6 0.000 0.071 2936 2249 3663 0 0 0 0 0 0
10439 -0.78 -146.1 799.9 -7.3 879 10447 0.00 2.15 0.00 0.000 4 0.000 0.083 2926 3605 3662 0 0 0 0 0 0
10498 -0.78 -146.1 804.7 -8.3 880 10501 0.00 2.12 0.00 0.000 6 0.000 0.056 2926 2248 3662 0 0 0 0 0 0
10816 -0.78 -146.1 829.6 -7.7 891 10820 0.00 2.22 0.00 0.000 4 0.000 0.070 2926 838 3662 0 0 0 0 0 0
10900 -0.78 -146.1 836.9 -8.4 893 10905 0.10 2.30 0.00 0.000 6 0.160 0.071 2944 2250 3662 0 0 0 0 0 0
11214 -0.78 -146.1 857.5 -6.4 903 11217 0.00 2.17 0.00 0.000 4 0.000 0.081 2936 3596 3662 0 0 0 0 0 0
11287 -0.78 -146.1 862.7 -7.0 905 11291 0.00 2.12 0.00 0.000 6 0.000 0.057 2936 2240 3662 0 0 0 0 0 0
11622 -0.78 -146.1 885.7 -7.0 916 11626 0.00 2.20 0.00 0.000 4 0.000 0.069 2936 846 3663 0 0 0 0 0 0
11692 -0.78 -146.1 891.1 -7.8 918 11696 0.00 2.30 0.00 0.000 6 0.000 0.071 2927 2259 3662 0 0 0 0 0 0
12021 -0.78 -146.1 915.7 -7.2 929 12025 0.00 2.12 0.00 0.000 4 0.000 0.081 2917 3600 3662 0 0 0 0 0 0
12106 -0.78 -146.1 922.1 -7.4 931 12110 0.10 2.10 0.00 0.000 6 0.160 0.057 2944 2245 3662 0 0 0 0 0 0
12298 end dive: BOTTOM_OBSTACLE_DETECTED
state 12298 begin apogee
12305 -0.17 0.0 934.6 6.2 938 12436 0.40 0.00 127.82 1.454 6 0.123 0.000 3078 2202 3058 0 0 0 0 0 0
12437 end apogee: CONTROL_FINISHED_OK
state 12437 begin climb
12440 0.78 146.1 937.7 0.0 942 12573 0.60 0.00 129.45 1.383 6 0.070 0.000 3290 2202 2462 0 0 0 0 0 0
12868 0.79 154.9 900.3 9.6 956 12882 0.00 2.45 8.48 1.144 4 0.000 0.068 3301 794 2426 0 0 0 0 0 0
12888 0.79 154.9 898.1 10.7 956 12893 0.00 2.45 0.00 0.000 6 0.000 0.067 3301 2199 2426 0 0 0 0 0 0
13201 0.79 154.9 865.2 10.5 966 13205 0.00 2.33 0.00 0.000 4 0.000 0.077 3301 3595 2425 0 0 0 0 0 0
13218 0.79 154.9 863.3 10.8 966 13222 0.12 2.28 0.00 0.000 6 0.176 0.055 3280 2196 2424 0 0 0 0 0 0
13536 0.79 154.9 831.4 10.2 977 13540 0.00 2.30 0.00 0.000 4 0.000 0.067 3288 787 2424 0 0 0 0 0 0
13568 0.80 158.4 827.9 9.8 978 13578 0.00 2.35 4.22 0.878 6 0.000 0.067 3288 2205 2412 0 0 0 0 0 0
13903 0.80 158.4 792.6 10.7 989 13907 0.00 2.28 0.00 0.000 4 0.000 0.077 3288 3595 2411 0 0 0 0 0 0
13937 0.80 158.4 788.5 11.9 990 13941 0.00 2.25 0.00 0.000 6 0.000 0.055 3297 2196 2411 0 0 0 0 0 0
14266 0.80 158.4 749.3 11.9 1001 14270 0.00 2.25 0.00 0.000 4 0.000 0.066 3308 782 2411 0 0 0 0 0 0
14294 0.80 158.4 746.0 10.6 1002 14299 0.10 2.35 0.00 0.000 6 0.179 0.066 3284 2207 2412 0 0 0 0 0 0
14629 0.80 158.4 710.7 10.5 1013 14633 0.00 2.25 0.00 0.000 4 0.000 0.078 3284 3594 2411 0 0 0 0 0 0
14668 0.80 158.4 705.9 12.5 1014 14672 0.00 2.22 0.00 0.000 6 0.000 0.056 3292 2195 2411 0 0 0 0 0 0
14992 0.80 158.4 670.2 11.0 1025 14996 0.00 2.22 0.00 0.000 4 0.000 0.067 3302 787 2411 0 0 0 0 0 0
15015 0.80 158.4 667.7 11.2 1025 15021 0.00 2.30 0.00 0.000 6 0.000 0.067 3302 2200 2411 0 0 0 0 0 0
15327 0.80 158.4 632.4 11.2 1036 15331 0.00 2.28 0.00 0.000 4 0.000 0.077 3302 3599 2411 0 0 0 0 0 0
15371 0.80 158.4 626.7 13.4 1037 15376 0.12 2.22 0.00 0.000 6 0.176 0.054 3280 2191 2410 0 0 0 0 0 0
15690 0.81 168.7 595.4 9.5 1050 15709 0.00 2.33 10.18 1.134 4 0.000 0.067 3288 783 2370 0 0 0 0 0 0
15715 0.81 168.7 592.8 10.2 1052 15720 0.00 2.35 0.00 0.000 6 0.000 0.067 3288 2206 2370 0 0 0 0 0 0
16040 0.81 168.7 559.2 10.6 1083 16044 0.00 2.25 0.00 0.000 4 0.000 0.080 3288 3607 2369 0 0 0 0 0 0
16055 0.81 168.7 557.4 10.4 1084 16061 0.00 2.25 0.00 0.000 6 0.000 0.057 3297 2195 2368 0 0 0 0 0 0
16380 0.81 168.7 522.2 10.6 1115 16384 0.00 2.25 0.00 0.000 4 0.000 0.068 3308 785 2368 0 0 0 0 0 0
16407 0.81 168.7 519.2 11.0 1117 16412 0.00 2.33 0.00 0.000 6 0.000 0.067 3308 2204 2369 0 0 0 0 0 0
16732 0.81 168.7 484.2 10.8 1148 16733 0.00 0.00 0.00 0.000 6 0.000 0.000 3308 2204 2368 0 0 0 0 0 0
17050 0.81 168.7 450.6 10.8 1178 17055 0.00 2.25 0.00 0.000 4 0.000 0.081 3308 3598 2368 0 0 0 0 0 0
17084 0.81 168.7 446.4 13.0 1180 17090 0.12 2.22 0.00 0.000 6 0.176 0.058 3285 2195 2368 0 0 0 0 0 0
17409 0.81 168.8 414.0 10.0 1211 17413 0.00 2.22 0.00 0.000 4 0.000 0.068 3293 795 2368 0 0 0 0 0 0
17448 0.81 168.8 409.9 11.2 1214 17452 0.00 2.30 0.00 0.000 6 0.000 0.069 3294 2202 2368 0 0 0 0 0 0
17773 0.81 171.1 375.9 9.9 1244 17777 0.00 2.22 0.00 0.000 4 0.000 0.081 3293 3595 2369 0 0 0 0 0 0
17784 0.81 171.1 374.6 10.4 1245 17788 0.00 2.20 0.00 0.000 6 0.000 0.056 3303 2199 2368 0 0 0 0 0 0
18109 0.81 171.1 340.0 10.6 1275 18113 0.00 2.22 0.00 0.000 4 0.000 0.067 3314 784 2368 0 0 0 0 0 0
18159 0.82 178.1 334.6 9.7 1279 18176 0.10 2.33 9.12 0.980 6 0.175 0.069 3289 2208 2332 0 0 0 0 0 0
18494 0.82 178.1 299.7 10.5 1311 18498 0.00 2.22 0.00 0.000 4 0.000 0.081 3289 3596 2331 0 0 0 0 0 0
18533 0.82 178.1 294.9 13.5 1314 18537 0.00 2.22 0.00 0.000 6 0.000 0.058 3296 2196 2330 0 0 0 0 0 0
18858 0.82 178.1 258.1 10.8 1344 18859 0.00 0.00 0.00 0.000 6 0.000 0.000 3296 2196 2330 0 0 0 0 0 0
19180 0.83 185.0 227.6 9.7 1374 19193 0.00 2.30 6.93 0.862 4 0.000 0.069 3306 794 2303 0 0 0 0 0 0
19201 0.83 187.5 225.4 9.9 1376 19212 0.00 2.33 4.00 0.667 6 0.000 0.069 3307 2208 2292 0 0 0 0 0 0
19531 0.84 192.2 192.2 9.8 1407 19542 0.00 2.28 5.53 0.785 4 0.000 0.081 3306 3599 2273 0 0 0 0 0 0
19559 0.84 192.2 189.0 10.4 1409 19565 0.00 2.25 0.00 0.000 6 0.000 0.058 3316 2189 2273 0 0 0 0 0 0
19884 0.84 192.2 154.2 10.5 1440 19885 0.00 0.00 0.00 0.000 6 0.000 0.000 3316 2189 2273 0 0 0 0 0 0
20204 0.84 192.2 119.0 11.3 1470 20208 0.00 2.22 0.00 0.000 4 0.000 0.069 3326 793 2273 0 0 0 0 0 0
20249 0.84 192.2 113.6 10.3 1473 20255 0.12 2.33 0.00 0.000 6 0.163 0.070 3293 2208 2272 0 0 0 0 0 0
20583 0.90 238.9 86.2 7.9 1519 20628 0.00 0.00 39.10 0.927 6 0.000 0.000 3293 2208 2081 0 0 0 0 0 0
20967 0.97 298.1 55.7 7.3 1588 21023 0.12 0.00 49.45 0.888 6 0.094 0.000 3349 2208 1841 0 0 0 0 0 0
21362 1.04 357.2 12.5 7.3 1659 21389 0.00 0.00 24.02 0.845 2 0.000 0.000 3349 2208 1723 0 0 0 0 0 0
21389 end climb: SURFACE_OBSTACLE_DETECTED
state 21389 begin subsurface finish
21397 0.12 94.7 10.5 -7.6 1664 21429 0.62 2.35 -24.30 0.000 4 0.100 0.100 3126 3590 2677 0 0 0 0 0 0
21430 end subsurface finish: CONTROL_FINISHED_OK
state 21430 begin surface