ORBIS Jan18 * SG221 * Dive index * Mission links * Dive 920 * Log results * Raw log file
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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  920 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  28 ALTIM_FREQUENCY  13
D_TGT  990 TGT_DEFAULT_LAT  4736 R_STBD_OVSHOOT  15 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  5 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  65 T_RSLEEP  120 LOITER_W_DBAND  1 COMPASS2_DEVICE  149
EXEC_DT  0 STROBE  0 LOITER_DBDW  200 PHONE_DEVICE  49
EXEC_T  9.3000002 RAFOS_PEAK_OFFSET  0 LOITER_D_NO_PUMP  500 GPS_DEVICE  64
EXEC_N  12 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  240119,151512,-7437.9800,-11258.6533,0,4127.0,0,53.5,0.0,0.0,0,0.0 SPEED_LIMITS  0.094,0.239
_CALLS  3 TGT_NAME  insideW
_XMS_NAKs  0 TGT_LATLONG  -7438.000,-11314.000
_XMS_TOUTs  0 TGT_RADIUS  1000.000
_SM_DEPTHo  316.18 MHEAD_RNG_PITCHd_Wd  216.3,7532,-19.3,-9.429,-21.50,1737
_SM_ANGLEo  2.3 D_GRID  990
GPS2  240119,151512,-7437.9800,-11258.6533,0,4127.0,0,53.5,0.0,0.0,0,0.0

Post-dive calculations and measurements:
FINISH1  340.4,1.027417,4 _24V_AH  9.82,296.840
FINISH2  338.9 _10V_AH  10.12,0.000
RAFOS_CLK  528 FG_AHR_24Vo  0.000
RAFOS  0,1548352869,18.032354,18.019167,115,63,60,57,56,53,683,190,201,149,129,167 FG_AHR_10Vo  0.000
RAFOS_FIX  -7437.363770,-11307.447266,240119,181824,3,108,0.42 MEM  278824
IRIDIUM_FIX  -7400.56,-10726.83,160119,151717 DATA_FILE_SIZE  36658,1071
TT8_MAMPS  0.045689,0.282373 CAP_FILE_SIZE  132654,0
HUMID  51.37 CFSIZE  1024409600,909623296
INTERNAL_PRESSURE  7.92918 ERRORS  0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP  13.50 SOUNDSPEED  1455.9
XPDR_PINGS  0 GPS  240119,181424,-7437.364,-11307.447,0,4108.3,0,53.5,0.0,0.0,0,0.0
ALTIM_TOP_PING  353.6,20.1

Energy measurements:
devicesecsmAJsensorsecsmAJ
Pitch_motor625716.22 nil000.00
Roll_motor13899135.23 nil000.00
VBD_pump_during_apogee381310711626.20 nil000.00
VBD_pump_during_surface000.00 nil000.00
VBD_valve000.00 nil000.00
Iridium_during_init000.00 nil000.00
Iridium_during_connect000.00 SciCon128165691.81
Iridium_during_xfer000.00 nil000.00
Transponder_ping48420197.97 nil000.00
GUMSTIX_24V000.00
GPS000.00
TT8000.00
LPSleep97972229.04
TT8_Active4681051.50
TT8_Sampling225230691.69
TT8_CF839151203.19
TT8_Kalman000.00
Analog_circuits127810130.72
GPS_charging000.00
Compass15326104.53
RAFOS720110.93
Transponder36730111.49

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
401.6 67.40 9000.00 0.0 0.00 0.00 9000.00 0.0 0.00 0.00
394.8 60.20 9000.00 0.0 0.00 0.00 60.20 334.6 1.06 1.00
381.2 46.30 46.30 334.9 1.03 1.00 46.30 334.9 1.02 1.00
374.3 39.30 39.30 335.0 1.02 1.00 39.30 335.0 1.01 1.00
367.4 32.20 32.20 335.2 1.02 1.00 32.20 335.2 1.03 1.00
360.6 25.40 25.30 335.3 1.02 1.00 25.40 335.2 1.00 1.00
353.6 20.40 20.10 333.5 0.85 0.99 20.40 333.2 0.71 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
7 end surface: CONTROL_FINISHED_OK
state 7 begin dive
11 -1.01 -107.1 2783 2806 3521 3511 0.0 0.0 0 14 0.00 0.00 -1.92 0.037 16390 0.000 0.000 2782 2806 3938 3932 3945 0 0 0 0 0 0 11.36 10.57 11.33
18 -1.01 -107.1 2783 2807 3940 3955 0.0 0.0 0 25 1.40 3.25 0.00 0.000 4612 0.124 0.044 2452 1382 3948 3941 3956 0 0 0 0 0 0 11.12 11.18 11.19
120 -1.01 -107.1 2453 1383 3952 3962 327.0 -11.0 19 126 0.00 3.38 0.00 0.000 1030 0.000 0.060 2452 2801 3956 3951 3961 0 0 0 0 0 0 11.24 11.17 11.26
423 -1.01 -107.1 2452 2801 3955 3965 358.8 -10.7 50 428 0.00 2.67 0.00 0.000 260 0.000 0.082 2447 3913 3959 3954 3965 0 0 0 0 0 0 11.36 11.15 11.37
505 -1.01 -107.1 2447 3914 3955 3965 367.5 -10.8 66 511 0.00 2.53 0.00 0.000 1030 0.000 0.044 2447 2793 3959 3954 3965 0 0 0 0 0 0 11.24 11.20 11.24
818 -1.01 -107.1 2447 2794 3956 3967 396.8 -8.9 98 818 0.00 0.00 0.00 0.000 6 0.000 0.000 2447 2794 3960 3954 3966 0 0 0 0 0 0 11.36 11.37 11.37
1119 -1.01 -107.1 2447 2794 3955 3967 426.3 -10.6 128 1124 0.00 3.25 0.00 0.000 516 0.000 0.047 2446 1383 3960 3955 3966 0 0 0 0 0 0 11.36 11.18 11.34
1180 -1.01 -107.1 2448 1387 3957 3966 433.1 -10.8 140 1186 0.00 3.40 0.00 0.000 1030 0.000 0.060 2444 2805 3961 3956 3966 0 0 0 0 0 0 11.24 11.17 11.26
1492 -1.01 -107.1 2444 2806 3957 3966 466.8 -10.5 172 1498 0.00 3.30 0.00 0.000 516 0.000 0.047 2443 1386 3961 3956 3966 0 0 0 0 0 0 11.37 11.17 11.38
1519 -1.01 -107.1 2444 1387 3957 3966 469.7 -11.1 177 1526 0.00 3.38 0.00 0.000 1030 0.000 0.060 2440 2805 3961 3956 3966 0 0 0 0 0 0 11.24 11.17 11.26
1824 -1.01 -107.1 2441 2805 3957 3967 500.8 -10.5 208 1829 0.00 3.30 0.00 0.000 516 0.000 0.045 2440 1380 3961 3956 3966 0 0 0 0 0 0 11.37 11.18 11.38
1916 -1.01 -107.1 2441 1380 3957 3966 510.3 -10.2 226 1921 0.00 3.40 0.00 0.000 1030 0.000 0.060 2439 2807 3961 3956 3966 0 0 0 0 0 0 11.23 11.16 11.24
2228 -1.01 -107.1 2439 2808 3957 3967 539.4 -8.9 258 2229 0.00 0.00 0.00 0.000 6 0.000 0.000 2439 2807 3961 3956 3966 0 0 0 0 0 0 11.39 11.38 11.38
2528 -1.01 -107.1 2439 2808 3957 3968 570.9 -11.4 288 2534 0.00 3.30 0.00 0.000 516 0.000 0.046 2439 1388 3961 3956 3967 0 0 0 0 0 0 11.38 11.18 11.38
2570 -1.01 -107.1 2439 1389 3957 3968 575.8 -11.6 296 2576 0.00 3.40 0.00 0.000 1030 0.000 0.060 2438 2809 3961 3956 3966 0 0 0 0 0 0 11.25 11.17 11.26
2882 -1.01 -107.1 2439 2810 3957 3967 607.7 -9.1 328 2888 0.00 3.33 0.00 0.000 516 0.000 0.045 2438 1380 3961 3956 3966 0 0 0 0 0 0 11.37 11.19 11.37
2919 -1.01 -107.1 2439 1382 3957 3967 611.0 -8.8 335 2925 0.00 3.40 0.00 0.000 1030 0.000 0.061 2438 2806 3961 3956 3966 0 0 0 0 0 0 11.24 11.17 11.26
3224 -1.01 -107.1 2438 2807 3957 3966 637.5 -8.4 366 3230 0.00 2.65 0.00 0.000 260 0.000 0.083 2435 3913 3961 3956 3966 0 0 0 0 0 0 11.37 11.14 11.38
3272 -1.01 -107.1 2434 3914 3957 3967 641.7 -9.0 375 3278 0.00 2.55 0.00 0.000 1030 0.000 0.044 2435 2789 3961 3956 3966 0 0 0 0 0 0 11.24 11.20 11.26
3577 -1.01 -107.1 2435 2789 3949 3966 667.9 -8.7 406 3582 0.00 3.22 0.00 0.000 516 0.000 0.046 2435 1387 3961 3957 3966 0 0 0 0 0 0 11.37 11.18 11.38
3619 -1.01 -107.1 2435 1386 3967 3966 671.7 -9.0 414 3624 0.00 3.38 0.00 0.000 1030 0.000 0.060 2432 2802 3962 3956 3969 0 0 0 0 0 0 11.25 11.17 11.26
3930 -1.01 -107.1 2434 2803 3956 3967 700.9 -9.9 446 3936 0.00 2.67 0.00 0.000 260 0.000 0.083 2428 3914 3961 3956 3966 0 0 0 0 0 0 11.37 11.15 11.37
3953 -1.01 -107.1 2429 3915 3955 3968 703.2 -10.6 450 3957 0.00 2.55 0.00 0.000 1030 0.000 0.044 2428 2790 3961 3956 3967 0 0 0 0 0 0 11.26 11.21 11.27
4328 -1.01 -107.1 2428 2791 3957 3967 742.1 -11.3 464 4333 0.00 3.22 0.00 0.000 516 0.000 0.046 2428 1388 3961 3956 3966 0 0 0 0 0 0 11.36 11.18 11.36
4395 -1.01 -107.1 2429 1388 3957 3966 749.8 -10.4 477 4401 0.00 3.38 0.00 0.000 1030 0.000 0.061 2426 2803 3961 3956 3966 0 0 0 0 0 0 11.25 11.17 11.26
4787 -1.01 -107.1 2426 2803 3957 3967 787.5 -9.5 494 4787 0.00 0.00 0.00 0.000 6 0.000 0.000 2425 2803 3961 3956 3966 0 0 0 0 0 0 11.36 11.36 11.36
5144 -1.01 -107.1 2427 2803 3959 3966 818.1 -8.1 506 5149 0.00 3.30 0.00 0.000 516 0.000 0.046 2427 1381 3961 3956 3966 0 0 0 0 0 0 11.36 11.19 11.36
5191 -1.01 -107.1 2426 1380 3957 3966 822.1 -8.2 515 5196 0.00 3.40 0.00 0.000 1030 0.000 0.061 2425 2805 3961 3956 3966 0 0 0 0 0 0 11.29 11.17 11.26
5571 -1.01 -107.1 2425 2807 3956 3967 854.8 -8.8 530 5571 0.00 0.00 0.00 0.000 6 0.000 0.000 2425 2805 3961 3956 3966 0 0 0 0 0 0 11.37 11.37 11.37
5927 -1.01 -107.1 2426 2806 3957 3966 885.1 -8.3 542 5932 0.00 3.30 0.00 0.000 516 0.000 0.046 2425 1383 3961 3956 3966 0 0 0 0 0 0 11.38 11.19 11.38
6014 -1.01 -107.1 2425 1384 3957 3967 891.8 -8.1 559 6021 0.00 3.42 0.00 0.000 1030 0.000 0.062 2424 2810 3961 3956 3966 0 0 0 0 0 0 11.25 11.17 11.26
6379 -1.01 -107.1 2425 2810 3957 3966 921.2 -8.1 572 6384 0.00 3.30 0.00 0.000 516 0.000 0.045 2424 1385 3961 3956 3966 0 0 0 0 0 0 11.38 11.19 11.38
6411 -1.01 -107.1 2425 1386 3957 3966 923.8 -4.9 578 6416 0.00 3.40 0.00 0.000 1062 0.000 0.063 2424 2810 3961 3956 3966 0 0 0 0 0 0 11.25 11.18 11.26
6806 -1.01 -107.1 2424 2816 3957 3967 956.4 -8.3 596 6807 0.00 0.00 0.00 0.000 6 0.000 0.000 2423 2810 3961 3956 3966 0 0 0 0 0 0 11.37 11.38 11.38
7163 -1.01 -107.1 2424 2811 3956 3967 985.7 -8.2 608 7168 0.00 3.30 0.00 0.000 516 0.000 0.045 2424 1385 3961 3956 3966 0 0 0 0 0 0 11.38 11.19 11.38
7216 end dive: TARGET_DEPTH_EXCEEDED
state 7216 begin apogee
7227 -0.23 0.0 2424 2562 3957 3966 990.4 -8.2 619 7433 1.40 0.00 203.23 3.107 10246 0.221 0.000 2697 2561 3492 3502 3483 0 0 0 0 0 0 11.08 10.92 9.83
7434 end apogee: CONTROL_FINISHED_OK
state 7434 begin climb
7438 1.01 107.1 2698 2562 3502 3483 993.3 0.0 626 7629 1.67 3.42 177.77 3.103 10756 0.118 0.058 3103 1139 3064 3086 3043 0 0 0 0 0 0 11.00 10.93 9.82
7651 1.01 107.1 3103 1140 3083 3042 974.9 11.5 666 7656 0.00 3.40 0.00 0.000 1030 0.000 0.060 3103 2557 3061 3082 3040 0 0 0 0 0 0 11.14 11.07 11.16
8023 1.01 107.1 3104 2557 3078 3037 927.4 12.5 680 8028 0.00 3.33 0.00 0.000 260 0.000 0.086 3104 3912 3056 3077 3036 0 0 0 0 0 0 11.32 11.09 11.32
8054 1.01 107.1 3104 3913 3078 3036 922.7 13.0 686 8060 0.00 3.15 0.00 0.000 1030 0.000 0.046 3114 2539 3056 3077 3036 0 0 0 0 0 0 11.21 11.17 11.22
8448 1.01 107.1 3114 2541 3077 3036 871.1 13.0 704 8448 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2540 3058 3076 3041 0 0 0 0 0 0 11.33 11.33 11.33
8809 1.01 107.1 3115 2540 3077 3034 825.8 12.2 716 8810 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2540 3055 3076 3034 0 0 0 0 0 0 11.33 11.33 11.33
9169 1.01 107.1 3114 2541 3076 3035 779.9 13.0 728 9170 0.00 0.00 0.00 0.000 6 0.000 0.000 3114 2540 3055 3077 3034 0 0 0 0 0 0 11.34 11.33 11.33
9529 1.01 107.1 3114 2541 3076 3034 732.9 12.6 740 9535 0.00 3.38 0.00 0.000 260 0.000 0.086 3114 3914 3055 3076 3034 0 0 0 0 0 0 11.34 11.13 11.34
9566 1.01 107.1 3114 3914 3076 3034 727.6 14.3 747 9571 0.00 3.12 0.00 0.000 1030 0.000 0.045 3130 2547 3055 3076 3035 0 0 0 0 0 0 11.24 11.19 11.25
9933 1.01 107.1 3125 2549 3077 3036 680.2 13.0 772 9934 0.00 0.00 0.00 0.000 6 0.000 0.000 3125 2548 3053 3072 3035 0 0 0 0 0 0 11.36 11.36 11.36
10233 1.01 107.1 3125 2548 3077 3035 641.2 13.3 802 10238 0.00 3.35 0.00 0.000 260 0.000 0.086 3125 3910 3055 3076 3035 0 0 0 0 0 0 11.36 11.13 11.36
10260 1.01 107.1 3125 3911 3077 3036 637.3 15.0 807 10266 0.20 3.12 0.00 0.000 5126 0.257 0.044 3102 2543 3056 3076 3036 0 0 0 0 0 0 11.06 11.20 11.21
10565 1.01 107.1 3103 2544 3077 3037 601.2 12.0 838 10571 0.00 3.30 0.00 0.000 260 0.000 0.085 3102 3916 3055 3076 3035 0 0 0 0 0 0 11.36 11.12 11.36
10628 1.01 107.1 3103 3916 3077 3036 592.7 14.0 850 10633 0.00 3.15 0.00 0.000 1030 0.000 0.045 3113 2546 3056 3076 3036 0 0 0 0 0 0 11.24 11.20 11.26
10940 1.01 107.1 3113 2548 3076 3038 553.5 12.3 882 10940 0.00 0.00 0.00 0.000 6 0.000 0.000 3113 2547 3056 3076 3036 0 0 0 0 0 0 11.36 11.36 11.36
11240 1.01 107.1 3114 2547 3076 3035 518.2 11.6 912 11245 0.00 3.38 0.00 0.000 260 0.000 0.086 3113 3914 3056 3076 3036 0 0 0 0 0 0 11.36 11.12 11.36
11287 1.01 107.1 3114 3915 3077 3037 512.0 13.4 921 11294 0.00 3.12 0.00 0.000 1030 0.000 0.046 3124 2550 3056 3076 3036 0 0 0 0 0 0 11.24 11.20 11.26
11592 1.01 107.1 3122 2550 3077 3036 474.9 11.9 952 11593 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2550 3056 3076 3037 0 0 0 0 0 0 11.36 11.37 11.36
11892 1.01 107.1 3121 2551 3077 3038 439.6 11.6 982 11893 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2550 3056 3076 3036 0 0 0 0 0 0 11.36 11.37 11.36
12192 1.01 107.1 3125 2550 3077 3037 405.0 11.9 1012 12193 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2550 3056 3076 3037 0 0 0 0 0 0 11.36 11.37 11.37
12492 1.01 107.1 3123 2551 3077 3038 370.8 11.4 1042 12493 0.00 0.00 0.00 0.000 6 0.000 0.000 3124 2550 3056 3076 3037 0 0 0 0 0 0 11.37 11.35 11.37
12759 end climb: SURFACE_OBSTACLE_DETECTED
state 12759 begin subsurface finish
12768 0.01 4.2 3124 2550 3078 3038 340.4 10.8 1069 12780 1.75 3.40 -1.90 0.050 20740 0.232 0.099 2781 3913 3503 3508 3499 0 0 0 0 0 0 11.05 10.57 11.17
12780 end subsurface finish: CONTROL_FINISHED_OK
state 12780 begin surface