Glider dive log

PortSusan 29Apr08 * SG102 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 10 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DEPTH 70

D_TGT 150 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 1955 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 650 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 36 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 39 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 62.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3890 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3278 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -89285.914 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043153311

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00063080539

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -8.8701944 SEABIRD_T_I 2.4434674e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.6712662e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.14561

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1327434

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011798358

HD_A 0.0034169999 PITCH_TIMEOUT 19 COMPASS_USE 0 SEABIRD_C_J 0.00018524687

HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 650

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 150 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.8701944 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 62.5

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -89285.914

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 102 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3761 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 150 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1955 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3278 MASS 52000 R_PORT_OVSHOOT 36 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 39 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.14561 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1327434 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011798358 VBD_MAX 3890

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00018524687 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043153311 VBD_MIN 603

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063080539 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4434674e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 10 PHONE_DEVICE 48 SEABIRD_T_J 2.6712662e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 060422,4806.335,-12222.441,9,4.3,28,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.104,0.214

_SM_DEPTHo 0.16 KALMAN_X 2427.7,645.9,89.2,-2050.5,4.8

_SM_ANGLEo -63.8 KALMAN_Y -3856.5,-1018.2,-198.1,1846.7,-115.8

GPS2 061005,4806.251,-12222.374,13,3.8,32,18.3 MHEAD_RNG_PITCHd_Wd 315.9,1587,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.5,1.015478 ALTIM_TOP_PING 19.1,19.3

SM_CCo 3577,17.02,0.680,2,0,627,650.04 ALTIM_BOTTOM_PING 71.3,51.8

SM_GC 0.05,0.00,0.00,17.02,0.000,0.000,0.680,29,1938,627,-10.45,-0.48,650.04 _24V_AH 23.5,1.785

IRIDIUM_FIX 4748.51,-12220.12,250797,050525 _10V_AH 10.0,0.598

TT8_MAMPS 0.026845 DATA_FILE_SIZE 12808,258

HUMID 1629 CAP_FILE_SIZE 39489,8

INTERNAL_PRESSURE 8.41829 CFSIZE 260165632,258961408

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,1,0,1,60,0

XPDR_PINGS 0 GPS 300408,071156,4806.404,-12222.513,7,1.5,13,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 141 81.09 SBE_CT 178 24 100.90

Roll_motor 25 49 30.05 SBE_O2 182 19 81.49

VBD_pump_during_apogee 227 849 4549.43 WL_BB2F 444 105 1097.41

VBD_pump_during_surface 445 717 7517.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 57.41 nil 0 0 0.00

Iridium_during_connect 29 160 110.10 nil 0 0 0.00

Iridium_during_xfer 155 223 812.55

Transponder_ping 0 420 7.40

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 17.62

TT8 451 19 89.49

LPSleep 1530 2 33.52

TT8_Active 1055 19 208.97

TT8_Sampling 587 39 233.86

TT8_CF8 340 45 155.73

TT8_Kalman 33 81 27.26

Analog_circuits 1362 12 163.54

GPS_charging 0 0 0.00

Compass 563 8 45.11

RAFOS 0 0 0.00

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

41 end surface: CONTROL_FINISHED_OK

state 41 begin dive

44 -1.23 -146.6 0.0 0.0 0 160 0.00 0.00 -112.70 0.000 2 0.000 0.000 33 1932 3489

163 -1.23 -146.6 3.0 -3.0 21 192 10.73 0.00 -11.55 0.000 6 0.141 0.000 2029 1932 3878

261 -1.23 -146.6 8.2 -5.0 38 267 0.00 2.58 0.00 0.000 4 0.000 0.048 2029 3351 3878

522 -1.23 -146.6 24.3 -6.9 79 526 0.00 2.47 0.00 0.000 6 0.000 0.039 2029 1963 3878

720 -1.23 -146.6 38.3 -7.3 97 724 0.00 2.53 0.00 0.000 4 0.000 0.049 2029 3348 3878

793 -1.23 -146.6 43.8 -7.1 103 798 0.00 2.50 0.00 0.000 6 0.000 0.041 2029 1951 3878

990 -1.23 -146.6 58.2 -7.3 116 991 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 1951 3878

1298 -1.23 -146.6 79.7 -6.7 131 1302 0.00 2.55 0.00 0.000 4 0.000 0.048 2029 3353 3878

1405 -1.23 -146.6 87.3 -6.5 136 1409 0.00 2.50 0.00 0.000 6 0.000 0.041 2029 1955 3878

1726 -1.23 -146.6 108.9 -6.9 157 1727 0.00 0.00 0.00 0.000 6 0.000 0.000 2029 1955 3878

1787 end dive: BOTTOM_OBSTACLE_DETECTED

state 1787 begin apogee

1794 -0.36 0.0 113.2 6.6 163 1912 0.88 0.00 114.30 0.850 6 0.081 0.000 2217 2110 3278

1913 end apogee: CONTROL_FINISHED_OK

state 1913 begin climb

1916 1.23 146.6 114.7 0.0 175 2038 1.58 0.00 113.50 0.818 6 0.055 0.000 2565 2112 2680

2360 1.23 146.6 59.9 13.6 204 2364 0.00 2.50 0.00 0.000 4 0.000 0.049 2565 3490 2679

2388 1.23 146.6 55.5 14.8 205 2392 0.00 2.50 0.00 0.000 6 0.000 0.040 2565 2101 2679

2714 1.23 146.6 11.6 13.5 238 2720 0.00 2.55 0.00 0.000 4 0.000 0.050 2565 3496 2679

2751 1.23 146.6 7.2 12.2 244 2757 0.00 2.47 0.00 0.000 6 0.000 0.039 2565 2101 2679

2784 end climb: SURFACE_DEPTH_REACHED

state 2784 begin surface coast

2830 end surface coast: CONTROL_FINISHED_OK

state 2830 begin surface

ID	102	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	10	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DEPTH	70
D_TGT	150	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	1955	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	650	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	36	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	39	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	62.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3890	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3278	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-89285.914	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043153311
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00063080539
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-8.8701944	SEABIRD_T_I	2.4434674e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.6712662e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.14561
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1327434
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011798358
HD_A	0.0034169999	PITCH_TIMEOUT	19	COMPASS_USE	0	SEABIRD_C_J	0.00018524687
HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	060422,4806.335,-12222.441,9,4.3,28,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.104,0.214
_SM_DEPTHo	0.16	KALMAN_X	2427.7,645.9,89.2,-2050.5,4.8
_SM_ANGLEo	-63.8	KALMAN_Y	-3856.5,-1018.2,-198.1,1846.7,-115.8
GPS2	061005,4806.251,-12222.374,13,3.8,32,18.3	MHEAD_RNG_PITCHd_Wd	315.9,1587,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	150

FINISH	1.5,1.015478	ALTIM_TOP_PING	19.1,19.3
SM_CCo	3577,17.02,0.680,2,0,627,650.04	ALTIM_BOTTOM_PING	71.3,51.8
SM_GC	0.05,0.00,0.00,17.02,0.000,0.000,0.680,29,1938,627,-10.45,-0.48,650.04	_24V_AH	23.5,1.785
IRIDIUM_FIX	4748.51,-12220.12,250797,050525	_10V_AH	10.0,0.598
TT8_MAMPS	0.026845	DATA_FILE_SIZE	12808,258
HUMID	1629	CAP_FILE_SIZE	39489,8
INTERNAL_PRESSURE	8.41829	CFSIZE	260165632,258961408
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,1,0,1,60,0
XPDR_PINGS	0	GPS	300408,071156,4806.404,-12222.513,7,1.5,13,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	141	81.09	SBE_CT	178	24	100.90
Roll_motor	25	49	30.05	SBE_O2	182	19	81.49
VBD_pump_during_apogee	227	849	4549.43	WL_BB2F	444	105	1097.41
VBD_pump_during_surface	445	717	7517.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	57.41	nil	0	0	0.00
Iridium_during_connect	29	160	110.10	nil	0	0	0.00
Iridium_during_xfer	155	223	812.55
Transponder_ping	0	420	7.40
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	17.62
TT8	451	19	89.49
LPSleep	1530	2	33.52
TT8_Active	1055	19	208.97
TT8_Sampling	587	39	233.86
TT8_CF8	340	45	155.73
TT8_Kalman	33	81	27.26
Analog_circuits	1362	12	163.54
GPS_charging	0	0	0.00
Compass	563	8	45.11
RAFOS	0	0	0.00

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
41	end surface: CONTROL_FINISHED_OK
state	41	begin dive
44	-1.23	-146.6	0.0	0.0	0	160	0.00	0.00	-112.70	0.000	2	0.000	0.000	33	1932	3489
163	-1.23	-146.6	3.0	-3.0	21	192	10.73	0.00	-11.55	0.000	6	0.141	0.000	2029	1932	3878
261	-1.23	-146.6	8.2	-5.0	38	267	0.00	2.58	0.00	0.000	4	0.000	0.048	2029	3351	3878
522	-1.23	-146.6	24.3	-6.9	79	526	0.00	2.47	0.00	0.000	6	0.000	0.039	2029	1963	3878
720	-1.23	-146.6	38.3	-7.3	97	724	0.00	2.53	0.00	0.000	4	0.000	0.049	2029	3348	3878
793	-1.23	-146.6	43.8	-7.1	103	798	0.00	2.50	0.00	0.000	6	0.000	0.041	2029	1951	3878
990	-1.23	-146.6	58.2	-7.3	116	991	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	1951	3878
1298	-1.23	-146.6	79.7	-6.7	131	1302	0.00	2.55	0.00	0.000	4	0.000	0.048	2029	3353	3878
1405	-1.23	-146.6	87.3	-6.5	136	1409	0.00	2.50	0.00	0.000	6	0.000	0.041	2029	1955	3878
1726	-1.23	-146.6	108.9	-6.9	157	1727	0.00	0.00	0.00	0.000	6	0.000	0.000	2029	1955	3878
1787	end dive: BOTTOM_OBSTACLE_DETECTED
state	1787	begin apogee
1794	-0.36	0.0	113.2	6.6	163	1912	0.88	0.00	114.30	0.850	6	0.081	0.000	2217	2110	3278
1913	end apogee: CONTROL_FINISHED_OK
state	1913	begin climb
1916	1.23	146.6	114.7	0.0	175	2038	1.58	0.00	113.50	0.818	6	0.055	0.000	2565	2112	2680
2360	1.23	146.6	59.9	13.6	204	2364	0.00	2.50	0.00	0.000	4	0.000	0.049	2565	3490	2679
2388	1.23	146.6	55.5	14.8	205	2392	0.00	2.50	0.00	0.000	6	0.000	0.040	2565	2101	2679
2714	1.23	146.6	11.6	13.5	238	2720	0.00	2.55	0.00	0.000	4	0.000	0.050	2565	3496	2679
2751	1.23	146.6	7.2	12.2	244	2757	0.00	2.47	0.00	0.000	6	0.000	0.039	2565	2101	2679
2784	end climb: SURFACE_DEPTH_REACHED
state	2784	begin surface coast
2830	end surface coast: CONTROL_FINISHED_OK
state	2830	begin surface