Glider dive log

PortSusan 03Dec08 * SG103 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 10 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 15 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 60

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2350 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 660 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 13 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 62.5 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3309 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 200 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -142487.17 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2247 PRESSURE_YINT -13.411201 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 660

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -13.411201 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 62.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -142487.17

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2247 KALMAN_USE 2 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2350 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2200 MASS 52000 R_PORT_OVSHOOT 13 VBD_BLEED_AD_RATE 8

C_VBD 3309 MAX_BUOY 150 R_STBD_OVSHOOT 18 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 10 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 15 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 100535,4806.508,-12222.770,11,2.3,30,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.85 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 100951,4806.475,-12222.735,16,1.9,16,18.3 MHEAD_RNG_PITCHd_Wd 312.7,3228,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.8,1.016772 ALTIM_BOTTOM_PING 90.8,30.5

SM_CCo 3070,204.93,0.588,0,0,618,660.10 _24V_AH 23.7,9.303

SM_GC 1.59,0.00,0.00,204.93,0.000,0.000,0.588,52,2204,618,-10.10,0.11,660.10 _10V_AH 10.1,4.224

IRIDIUM_FIX 4748.51,-12226.29,280298,090911 DATA_FILE_SIZE 15955,293

TT8_MAMPS 0.029146 CAP_FILE_SIZE 35572,0

HUMID 1690 CFSIZE 260165632,257654784

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 18.30 GPS 041208,110553,4806.690,-12223.007,11,2.7,30,18.3

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 162 100.00 SBE_CT 199 24 113.53

Roll_motor 21 89 45.25 SBE_O2 214 19 96.69

VBD_pump_during_apogee 415 690 6805.40 WL_BB2F 502 105 1249.30

VBD_pump_during_surface 204 588 2857.16 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 72.96 nil 0 0 0.00

Iridium_during_connect 25 160 98.06 nil 0 0 0.00

Iridium_during_xfer 100 223 531.58

Transponder_ping 2 420 19.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.45

TT8 432 19 86.56

LPSleep 1623 2 35.92

TT8_Active 612 19 122.53

TT8_Sampling 604 39 242.89

TT8_CF8 269 45 124.49

TT8_Kalman 0 0 0.00

Analog_circuits 954 12 115.66

GPS_charging 0 0 0.00

Compass 597 8 48.28

RAFOS 0 0 0.00

Transponder 10 30 3.06

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.42 -146.6 0.0 0.0 0 82 0.00 0.00 -64.18 0.000 2 0.000 0.000 54 2208 3082

85 -1.42 -146.6 4.3 -6.6 11 123 10.80 2.70 -17.95 0.000 4 0.163 0.081 1931 783 3908

299 -1.42 -146.6 19.0 -6.8 48 305 0.00 2.58 0.00 0.000 6 0.000 0.054 1931 2199 3908

372 -1.42 -146.6 23.3 -5.7 56 373 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2199 3908

563 -1.42 -146.6 35.1 -6.3 74 564 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2199 3907

754 -1.42 -146.6 47.7 -6.4 92 755 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2200 3908

942 -1.42 -146.6 60.6 -6.9 103 946 0.00 2.72 0.00 0.000 4 0.000 0.090 1931 3617 3907

975 -1.42 -146.6 63.0 -7.4 104 981 0.00 2.55 0.00 0.000 6 0.000 0.054 1931 2199 3908

1291 -1.42 -146.6 84.2 -6.6 120 1292 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2199 3907

1602 -1.42 -146.6 104.0 -6.0 137 1603 0.00 0.00 0.00 0.000 6 0.000 0.000 1931 2199 3908

1717 end dive: BOTTOM_OBSTACLE_DETECTED

state 1717 begin apogee

1724 -0.42 0.0 111.4 6.4 148 1843 1.08 0.00 114.85 0.690 6 0.090 0.000 2150 2351 3309

1844 end apogee: CONTROL_FINISHED_OK

state 1844 begin climb

1847 1.42 146.6 113.2 0.0 160 1966 1.88 0.00 114.15 0.672 6 0.051 0.000 2558 2351 2710

2287 1.42 146.6 59.0 13.5 189 2291 0.00 2.60 0.00 0.000 4 0.000 0.063 2558 3760 2710

2353 1.42 146.6 49.3 13.7 192 2358 0.00 2.45 0.00 0.000 6 0.000 0.031 2558 2327 2710

2684 1.42 146.6 7.9 11.1 231 2690 0.00 2.67 0.00 0.000 4 0.000 0.067 2558 3763 2711

2788 1.75 413.7 5.6 -1.8 249 2985 0.32 2.45 186.98 0.606 2 0.037 0.038 2639 2351 1710

2985 end climb: SURFACE_DEPTH_REACHED

state 2985 begin surface coast

3047 end surface coast: CONTROL_FINISHED_OK

state 3047 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	10	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	15	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	60
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2350	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	660	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	13	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	62.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3309	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	200	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-142487.17	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2247	PRESSURE_YINT	-13.411201	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	100535,4806.508,-12222.770,11,2.3,30,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.85	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	100951,4806.475,-12222.735,16,1.9,16,18.3	MHEAD_RNG_PITCHd_Wd	312.7,3228,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	150

FINISH	2.8,1.016772	ALTIM_BOTTOM_PING	90.8,30.5
SM_CCo	3070,204.93,0.588,0,0,618,660.10	_24V_AH	23.7,9.303
SM_GC	1.59,0.00,0.00,204.93,0.000,0.000,0.588,52,2204,618,-10.10,0.11,660.10	_10V_AH	10.1,4.224
IRIDIUM_FIX	4748.51,-12226.29,280298,090911	DATA_FILE_SIZE	15955,293
TT8_MAMPS	0.029146	CAP_FILE_SIZE	35572,0
HUMID	1690	CFSIZE	260165632,257654784
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	18.30	GPS	041208,110553,4806.690,-12223.007,11,2.7,30,18.3
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	162	100.00	SBE_CT	199	24	113.53
Roll_motor	21	89	45.25	SBE_O2	214	19	96.69
VBD_pump_during_apogee	415	690	6805.40	WL_BB2F	502	105	1249.30
VBD_pump_during_surface	204	588	2857.16	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	72.96	nil	0	0	0.00
Iridium_during_connect	25	160	98.06	nil	0	0	0.00
Iridium_during_xfer	100	223	531.58
Transponder_ping	2	420	19.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.45
TT8	432	19	86.56
LPSleep	1623	2	35.92
TT8_Active	612	19	122.53
TT8_Sampling	604	39	242.89
TT8_CF8	269	45	124.49
TT8_Kalman	0	0	0.00
Analog_circuits	954	12	115.66
GPS_charging	0	0	0.00
Compass	597	8	48.28
RAFOS	0	0	0.00
Transponder	10	30	3.06

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.42	-146.6	0.0	0.0	0	82	0.00	0.00	-64.18	0.000	2	0.000	0.000	54	2208	3082
85	-1.42	-146.6	4.3	-6.6	11	123	10.80	2.70	-17.95	0.000	4	0.163	0.081	1931	783	3908
299	-1.42	-146.6	19.0	-6.8	48	305	0.00	2.58	0.00	0.000	6	0.000	0.054	1931	2199	3908
372	-1.42	-146.6	23.3	-5.7	56	373	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2199	3908
563	-1.42	-146.6	35.1	-6.3	74	564	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2199	3907
754	-1.42	-146.6	47.7	-6.4	92	755	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2200	3908
942	-1.42	-146.6	60.6	-6.9	103	946	0.00	2.72	0.00	0.000	4	0.000	0.090	1931	3617	3907
975	-1.42	-146.6	63.0	-7.4	104	981	0.00	2.55	0.00	0.000	6	0.000	0.054	1931	2199	3908
1291	-1.42	-146.6	84.2	-6.6	120	1292	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2199	3907
1602	-1.42	-146.6	104.0	-6.0	137	1603	0.00	0.00	0.00	0.000	6	0.000	0.000	1931	2199	3908
1717	end dive: BOTTOM_OBSTACLE_DETECTED
state	1717	begin apogee
1724	-0.42	0.0	111.4	6.4	148	1843	1.08	0.00	114.85	0.690	6	0.090	0.000	2150	2351	3309
1844	end apogee: CONTROL_FINISHED_OK
state	1844	begin climb
1847	1.42	146.6	113.2	0.0	160	1966	1.88	0.00	114.15	0.672	6	0.051	0.000	2558	2351	2710
2287	1.42	146.6	59.0	13.5	189	2291	0.00	2.60	0.00	0.000	4	0.000	0.063	2558	3760	2710
2353	1.42	146.6	49.3	13.7	192	2358	0.00	2.45	0.00	0.000	6	0.000	0.031	2558	2327	2710
2684	1.42	146.6	7.9	11.1	231	2690	0.00	2.67	0.00	0.000	4	0.000	0.067	2558	3763	2711
2788	1.75	413.7	5.6	-1.8	249	2985	0.32	2.45	186.98	0.606	2	0.037	0.038	2639	2351	1710
2985	end climb: SURFACE_DEPTH_REACHED
state	2985	begin surface coast
3047	end surface coast: CONTROL_FINISHED_OK
state	3047	begin surface