Glider dive log

PortSusan 25Aug09 * SG177 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 177 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 161 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 15 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3723 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2300 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_NO_BLEED 500 SM_CC 350 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 17 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 13 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 75 UPLOAD_DIVES_MAX -1 VBD_MIN 465 DEVICE2 101

T_MISSION 80 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 3688 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 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 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -3344.2764 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 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 20 RAFOS_DEVICE -1

MAX_BUOY 65 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 159 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3950 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2386 PRESSURE_YINT -43.008797 SEABIRD_T_G 0.0043573868

RHO 1.023 PITCH_DBAND 0.050000001 PRESSURE_SLOPE 0.0001167561 SEABIRD_T_H 0.00062801503

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.4905019e-05

NAV_MODE 1 P_OVSHOOT 0.029999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7586682e-06

FERRY_MAX 45 PITCH_GAIN 43 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.06375

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1391832

HD_A 0.003 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00095358328

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016952561

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.050000001 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 43 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3950 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 4 PITCH_MIN 159 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001167561 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -43.008797 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.029999999 TGT_DEFAULT_LON -12218

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 75

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -3344.2764

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 80

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

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 4

COMPASS_DEVICE 33 ID 177 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3723 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2386 KALMAN_USE 1 ROLL_MIN 161 USE_BATHY 0

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2200 MASS 52000 R_PORT_OVSHOOT 17 VBD_BLEED_AD_RATE 8

C_VBD 3688 MAX_BUOY 65 R_STBD_OVSHOOT 13 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -10.06375 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1391832 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00095358328 VBD_MAXERRORS 1

DEVICE2 101 N_FILEKB 4 SEABIRD_C_J 0.00016952561 VBD_MIN 465

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043573868 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062801503 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4905019e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7586682e-06 XPDR_DEVICE 24

DIVE 15 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 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 063619,4806.548,-12222.634,10,1.5,10,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.090,-0.128

_SM_DEPTHo 0.97 KALMAN_X -996.8,96.4,-64.8,1277.2,-73.9

_SM_ANGLEo -76.9 KALMAN_Y 1981.4,-217.2,412.5,-4306.7,165.1

GPS2 064232,4806.538,-12222.648,11,1.7,11,18.3 MHEAD_RNG_PITCHd_Wd 126.7,1279,-19.0,-6.667

SPEED_LIMITS 0.115,0.156 D_GRID 150

Post-dive calculations and measurements:

FINISH 4.2,1.020565 ALTIM_BOTTOM_PING 80.1,6.5

SM_CCo 1875,335.80,0.578,4,0,464,790.60 _24V_AH 24.5,1.505

SM_GC 0.81,6.60,0.00,0.00,0.041,0.000,0.000,144,2180,460,-6.94,-0.54,791.58 _10V_AH 10.7,0.864

IRIDIUM_FIX 4748.51,-12224.57,201198,050545 DATA_FILE_SIZE 28691,413

TT8_MAMPS 0.051389 CAP_FILE_SIZE 43270,0

HUMID 2213 CFSIZE 260165632,258383872

INTERNAL_PRESSURE 8.68197 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,0

TCM_TEMP 17.90 GPS 260809,072226,4806.352,-12222.539,6,1.7,6,18.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 269 110.30 SBE_CT 278 24 163.72

Roll_motor 18 92 42.22 AA4330 494 33 400.10

VBD_pump_during_apogee 142 627 2185.82 WL_BBFL2VMT 434 105 1116.79

VBD_pump_during_surface 335 577 4751.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 61.56 nil 0 0 0.00

Iridium_during_connect 27 160 107.35 nil 0 0 0.00

Iridium_during_xfer 242 223 1327.01

Transponder_ping 0 420 7.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.92

TT8 0 19 0.00

LPSleep 955 2 22.40

TT8_Active 570 19 120.81

TT8_Sampling 810 39 345.05

TT8_CF8 362 45 177.86

TT8_Kalman 33 81 29.15

Analog_circuits 906 12 116.35

GPS_charging 0 0 0.00

Compass 656 8 56.17

RAFOS 0 0 0.00

Transponder 5 30 1.84

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.52 -63.5 0.0 0.0 0 70 0.00 0.00 -56.88 0.000 2 0.000 0.000 143 2192 3663

72 -0.52 -63.5 3.2 -4.4 10 96 9.00 2.33 -8.15 0.000 4 0.270 0.087 2204 3620 3950

342 -0.52 -63.5 25.8 -8.4 71 349 0.00 2.28 0.00 0.000 6 0.000 0.063 2204 2198 3951

413 -0.52 -63.5 30.9 -7.1 87 419 0.00 2.30 0.00 0.000 4 0.000 0.074 2194 3612 3952

666 -0.52 -63.5 52.6 -8.6 145 672 0.08 2.25 0.00 0.000 6 0.161 0.063 2228 2201 3952

802 -0.52 -63.5 61.2 -6.0 176 808 0.00 2.28 0.00 0.000 4 0.000 0.076 2219 3628 3952

889 -0.52 -63.5 67.4 -7.1 196 895 0.00 2.25 0.00 0.000 6 0.000 0.063 2219 2209 3953

1026 -0.52 -63.5 76.5 -6.8 227 1031 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2209 3953

1083 end dive: BOTTOM_OBSTACLE_DETECTED

state 1083 begin apogee

1087 -0.12 0.0 80.1 6.2 240 1164 0.40 0.00 71.18 0.627 6 0.148 0.000 2344 2310 3689

1164 end apogee: CONTROL_FINISHED_OK

state 1165 begin climb

1166 0.52 63.5 81.2 0.0 254 1243 0.60 0.00 71.03 0.626 6 0.086 0.000 2554 2310 3428

1372 0.52 63.5 57.6 13.8 298 1377 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2310 3428

1507 0.52 63.5 39.8 13.3 329 1512 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2310 3428

1577 0.52 63.5 30.8 12.8 345 1582 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2310 3428

1646 0.52 63.5 22.2 12.1 361 1652 0.00 2.35 0.00 0.000 4 0.000 0.081 2565 859 3428

1704 0.52 63.5 15.6 11.4 374 1710 0.00 2.35 0.00 0.000 6 0.000 0.084 2565 2298 3427

1775 0.52 63.5 7.8 11.2 390 1780 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2297 3427

1821 end climb: SURFACE_DEPTH_REACHED

state 1821 begin surface coast

1874 end surface coast: CONTROL_FINISHED_OK

state 1874 begin surface

ID	177	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	161	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	15	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3723	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2300	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_NO_BLEED	500	SM_CC	350	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	17	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	13	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	75	UPLOAD_DIVES_MAX	-1	VBD_MIN	465	DEVICE2	101
T_MISSION	80	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	3688	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	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	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-3344.2764	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	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	20	RAFOS_DEVICE	-1
MAX_BUOY	65	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	159	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3950	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2386	PRESSURE_YINT	-43.008797	SEABIRD_T_G	0.0043573868
RHO	1.023	PITCH_DBAND	0.050000001	PRESSURE_SLOPE	0.0001167561	SEABIRD_T_H	0.00062801503
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.4905019e-05
NAV_MODE	1	P_OVSHOOT	0.029999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7586682e-06
FERRY_MAX	45	PITCH_GAIN	43	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.06375
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1391832
HD_A	0.003	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00095358328
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016952561
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	063619,4806.548,-12222.634,10,1.5,10,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.090,-0.128
_SM_DEPTHo	0.97	KALMAN_X	-996.8,96.4,-64.8,1277.2,-73.9
_SM_ANGLEo	-76.9	KALMAN_Y	1981.4,-217.2,412.5,-4306.7,165.1
GPS2	064232,4806.538,-12222.648,11,1.7,11,18.3	MHEAD_RNG_PITCHd_Wd	126.7,1279,-19.0,-6.667
SPEED_LIMITS	0.115,0.156	D_GRID	150

FINISH	4.2,1.020565	ALTIM_BOTTOM_PING	80.1,6.5
SM_CCo	1875,335.80,0.578,4,0,464,790.60	_24V_AH	24.5,1.505
SM_GC	0.81,6.60,0.00,0.00,0.041,0.000,0.000,144,2180,460,-6.94,-0.54,791.58	_10V_AH	10.7,0.864
IRIDIUM_FIX	4748.51,-12224.57,201198,050545	DATA_FILE_SIZE	28691,413
TT8_MAMPS	0.051389	CAP_FILE_SIZE	43270,0
HUMID	2213	CFSIZE	260165632,258383872
INTERNAL_PRESSURE	8.68197	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
TCM_TEMP	17.90	GPS	260809,072226,4806.352,-12222.539,6,1.7,6,18.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	269	110.30	SBE_CT	278	24	163.72
Roll_motor	18	92	42.22	AA4330	494	33	400.10
VBD_pump_during_apogee	142	627	2185.82	WL_BBFL2VMT	434	105	1116.79
VBD_pump_during_surface	335	577	4751.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	61.56	nil	0	0	0.00
Iridium_during_connect	27	160	107.35	nil	0	0	0.00
Iridium_during_xfer	242	223	1327.01
Transponder_ping	0	420	7.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.92
TT8	0	19	0.00
LPSleep	955	2	22.40
TT8_Active	570	19	120.81
TT8_Sampling	810	39	345.05
TT8_CF8	362	45	177.86
TT8_Kalman	33	81	29.15
Analog_circuits	906	12	116.35
GPS_charging	0	0	0.00
Compass	656	8	56.17
RAFOS	0	0	0.00
Transponder	5	30	1.84

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.52	-63.5	0.0	0.0	0	70	0.00	0.00	-56.88	0.000	2	0.000	0.000	143	2192	3663
72	-0.52	-63.5	3.2	-4.4	10	96	9.00	2.33	-8.15	0.000	4	0.270	0.087	2204	3620	3950
342	-0.52	-63.5	25.8	-8.4	71	349	0.00	2.28	0.00	0.000	6	0.000	0.063	2204	2198	3951
413	-0.52	-63.5	30.9	-7.1	87	419	0.00	2.30	0.00	0.000	4	0.000	0.074	2194	3612	3952
666	-0.52	-63.5	52.6	-8.6	145	672	0.08	2.25	0.00	0.000	6	0.161	0.063	2228	2201	3952
802	-0.52	-63.5	61.2	-6.0	176	808	0.00	2.28	0.00	0.000	4	0.000	0.076	2219	3628	3952
889	-0.52	-63.5	67.4	-7.1	196	895	0.00	2.25	0.00	0.000	6	0.000	0.063	2219	2209	3953
1026	-0.52	-63.5	76.5	-6.8	227	1031	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2209	3953
1083	end dive: BOTTOM_OBSTACLE_DETECTED
state	1083	begin apogee
1087	-0.12	0.0	80.1	6.2	240	1164	0.40	0.00	71.18	0.627	6	0.148	0.000	2344	2310	3689
1164	end apogee: CONTROL_FINISHED_OK
state	1165	begin climb
1166	0.52	63.5	81.2	0.0	254	1243	0.60	0.00	71.03	0.626	6	0.086	0.000	2554	2310	3428
1372	0.52	63.5	57.6	13.8	298	1377	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2310	3428
1507	0.52	63.5	39.8	13.3	329	1512	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2310	3428
1577	0.52	63.5	30.8	12.8	345	1582	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2310	3428
1646	0.52	63.5	22.2	12.1	361	1652	0.00	2.35	0.00	0.000	4	0.000	0.081	2565	859	3428
1704	0.52	63.5	15.6	11.4	374	1710	0.00	2.35	0.00	0.000	6	0.000	0.084	2565	2298	3427
1775	0.52	63.5	7.8	11.2	390	1780	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2297	3427
1821	end climb: SURFACE_DEPTH_REACHED
state	1821	begin surface coast
1874	end surface coast: CONTROL_FINISHED_OK
state	1874	begin surface