Glider dive log

PortSusan 09Oct08 * SG101 * Dive index * Mission links * Dive 19 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 101 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 60 ROLL_MIN 177 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 19 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3698 ALTIM_PING_DEPTH 60

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 4 TGT_DEFAULT_LAT 48.150002 C_ROLL_DIVE 2417 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -125.67 C_ROLL_CLIMB 2417 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 500 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 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 80 UPLOAD_DIVES_MAX -1 VBD_MIN 657 DEVICE2 20

T_MISSION 90 CALL_TRIES 5 VBD_MAX 3935 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3323 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 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 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -730088.56 VBD_BLEED_AD_RATE 10 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 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 29 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3302 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 0.94999993 C_PITCH 2493 PRESSURE_YINT -14.306441 SEABIRD_T_G 0.0042858003

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00062598009

MASS 50300 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.1740922e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -1.3 SEABIRD_T_J 2.0518198e-06

FERRY_MAX 45 PITCH_GAIN 11 TCM_ROLL_OFFSET -0.2 SEABIRD_C_G -9.9824123

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1171527

HD_A 0.0034169999 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00017022179

HD_B 0.0095870001 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010324208

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 500

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 11 SPEED_FACTOR 0.94999993

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3302 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 29 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -1.3

ALTIM_PULSE 3 ESCAPE_HEADING 60 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET -0.2

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.306441 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -125.67

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 80

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -730088.56

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_MISSION 90

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 101 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3698 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2493 KALMAN_USE 2 ROLL_MIN 177 USE_BATHY 0

C_ROLL_CLIMB 2417 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2417 MASS 50300 R_PORT_OVSHOOT 34 VBD_BLEED_AD_RATE 10

C_VBD 3323 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -9.9824123 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1171527 VBD_MAX 3935

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00017022179 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00010324208 VBD_MIN 657

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0042858003 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062598009 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1740922e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.0518198e-06 XPDR_DEVICE 24

DIVE 19 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 102329,4805.975,-12222.028,12,2.8,31,18.3 TGT_NAME SIX

_CALLS 2 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.47 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 103057,4805.881,-12221.964,12,1.6,12,18.3 MHEAD_RNG_PITCHd_Wd 330.2,224,-27.0,-6.250

SPEED_LIMITS 0.108,0.213 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.4,1.019208 ALTIM_BOTTOM_PING 90.9,34.1

SM_CCo 2147,253.23,0.699,1,0,1284,500.17 _24V_AH 23.3,2.393

SM_GC 1.40,0.00,0.00,253.23,0.000,0.000,0.699,25,2425,1284,-11.35,0.23,500.17 _10V_AH 10.1,0.821

IRIDIUM_FIX 4742.09,-12428.69,040198,101058 DATA_FILE_SIZE 9623,202

TT8_MAMPS 0.029146 CAP_FILE_SIZE 34089,0

HUMID 1833 CFSIZE 260165632,258367488

INTERNAL_PRESSURE 7.85186 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 18.50 GPS 101008,111234,4805.978,-12221.908,7,2.1,26,18.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 123 87.40 SBE_CT 137 24 76.78

Roll_motor 19 58 25.91 SBE_O2 154 19 68.21

VBD_pump_during_apogee 159 811 3010.09 WL_BB2F 347 105 849.63

VBD_pump_during_surface 253 698 4122.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 48 103 115.79 nil 0 0 0.00

Iridium_during_connect 77 160 290.27 nil 0 0 0.00

Iridium_during_xfer 153 223 800.01

Transponder_ping 1 420 17.13

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.21

TT8 357 19 71.56

LPSleep 1161 2 25.68

TT8_Active 510 19 102.16

TT8_Sampling 437 39 175.76

TT8_CF8 404 45 187.29

TT8_Kalman 0 0 0.00

Analog_circuits 753 12 91.36

GPS_charging 0 0 0.00

Compass 435 8 35.19

RAFOS 0 0 0.00

Transponder 12 30 3.91

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

16 -2.49 -30.9 0.0 0.0 0 110 0.00 0.00 -89.95 0.000 6 0.000 0.000 29 2425 3450

114 -2.53 -63.6 2.8 -1.8 16 134 9.93 2.60 -5.07 0.000 4 0.122 0.058 1937 1010 3583

160 -1.76 -83.7 4.7 -3.5 23 173 0.88 2.50 -2.65 0.000 6 0.107 0.041 2106 2423 3664

243 -1.94 -97.4 8.5 -4.4 37 250 0.17 0.00 -1.38 0.000 6 0.051 0.000 2058 2423 3720

320 -2.02 -97.4 12.9 -7.0 50 326 0.00 0.00 0.00 0.000 6 0.000 0.000 2058 2423 3719

395 -2.10 -97.4 18.9 -8.1 63 402 0.10 0.00 0.00 0.000 6 0.062 0.000 2028 2423 3719

473 -2.10 -97.4 25.5 -8.5 71 474 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2423 3719

664 -2.17 -97.4 43.1 -10.0 89 666 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 2423 3719

853 -2.24 -97.4 60.7 -9.5 102 858 0.10 2.28 0.00 0.000 4 0.063 0.058 2000 3690 3720

898 -2.19 -97.4 65.4 -10.4 104 902 0.00 2.17 0.00 0.000 6 0.000 0.037 2000 2418 3719

1226 -2.19 -97.4 96.7 -9.4 120 1230 0.00 2.30 0.00 0.000 4 0.000 0.056 2000 3689 3719

1282 -2.15 -97.4 103.0 -11.3 123 1289 0.12 2.20 0.00 0.000 6 0.106 0.037 2022 2411 3719

1413 end dive: BOTTOM_OBSTACLE_DETECTED

state 1413 begin apogee

1421 -0.45 0.0 115.4 8.7 136 1508 1.75 0.00 79.95 0.811 6 0.081 0.000 2390 2410 3322

1509 end apogee: CONTROL_FINISHED_OK

state 1509 begin climb

1512 2.57 97.4 117.3 0.0 145 1600 2.95 0.00 79.25 0.780 6 0.047 0.000 3063 2410 2926

1916 2.29 97.4 35.5 22.1 174 1921 0.35 2.47 0.00 0.000 4 0.123 0.046 2996 1014 2926

2094 end climb: SURFACE_DEPTH_REACHED

state 2094 begin surface coast

2118 end surface coast: CONTROL_FINISHED_OK

state 2118 begin surface

ID	101	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	60	ROLL_MIN	177	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	19	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3698	ALTIM_PING_DEPTH	60
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	4	TGT_DEFAULT_LAT	48.150002	C_ROLL_DIVE	2417	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-125.67	C_ROLL_CLIMB	2417	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	500	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	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	80	UPLOAD_DIVES_MAX	-1	VBD_MIN	657	DEVICE2	20
T_MISSION	90	CALL_TRIES	5	VBD_MAX	3935	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3323	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	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	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-730088.56	VBD_BLEED_AD_RATE	10	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	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	29	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3302	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	0.94999993	C_PITCH	2493	PRESSURE_YINT	-14.306441	SEABIRD_T_G	0.0042858003
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00062598009
MASS	50300	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.1740922e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-1.3	SEABIRD_T_J	2.0518198e-06
FERRY_MAX	45	PITCH_GAIN	11	TCM_ROLL_OFFSET	-0.2	SEABIRD_C_G	-9.9824123
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1171527
HD_A	0.0034169999	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00017022179
HD_B	0.0095870001	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010324208
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	102329,4805.975,-12222.028,12,2.8,31,18.3	TGT_NAME	SIX
_CALLS	2	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.47	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	103057,4805.881,-12221.964,12,1.6,12,18.3	MHEAD_RNG_PITCHd_Wd	330.2,224,-27.0,-6.250
SPEED_LIMITS	0.108,0.213	D_GRID	150

FINISH	1.4,1.019208	ALTIM_BOTTOM_PING	90.9,34.1
SM_CCo	2147,253.23,0.699,1,0,1284,500.17	_24V_AH	23.3,2.393
SM_GC	1.40,0.00,0.00,253.23,0.000,0.000,0.699,25,2425,1284,-11.35,0.23,500.17	_10V_AH	10.1,0.821
IRIDIUM_FIX	4742.09,-12428.69,040198,101058	DATA_FILE_SIZE	9623,202
TT8_MAMPS	0.029146	CAP_FILE_SIZE	34089,0
HUMID	1833	CFSIZE	260165632,258367488
INTERNAL_PRESSURE	7.85186	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	18.50	GPS	101008,111234,4805.978,-12221.908,7,2.1,26,18.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	123	87.40	SBE_CT	137	24	76.78
Roll_motor	19	58	25.91	SBE_O2	154	19	68.21
VBD_pump_during_apogee	159	811	3010.09	WL_BB2F	347	105	849.63
VBD_pump_during_surface	253	698	4122.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	48	103	115.79	nil	0	0	0.00
Iridium_during_connect	77	160	290.27	nil	0	0	0.00
Iridium_during_xfer	153	223	800.01
Transponder_ping	1	420	17.13
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.21
TT8	357	19	71.56
LPSleep	1161	2	25.68
TT8_Active	510	19	102.16
TT8_Sampling	437	39	175.76
TT8_CF8	404	45	187.29
TT8_Kalman	0	0	0.00
Analog_circuits	753	12	91.36
GPS_charging	0	0	0.00
Compass	435	8	35.19
RAFOS	0	0	0.00
Transponder	12	30	3.91

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
16	-2.49	-30.9	0.0	0.0	0	110	0.00	0.00	-89.95	0.000	6	0.000	0.000	29	2425	3450
114	-2.53	-63.6	2.8	-1.8	16	134	9.93	2.60	-5.07	0.000	4	0.122	0.058	1937	1010	3583
160	-1.76	-83.7	4.7	-3.5	23	173	0.88	2.50	-2.65	0.000	6	0.107	0.041	2106	2423	3664
243	-1.94	-97.4	8.5	-4.4	37	250	0.17	0.00	-1.38	0.000	6	0.051	0.000	2058	2423	3720
320	-2.02	-97.4	12.9	-7.0	50	326	0.00	0.00	0.00	0.000	6	0.000	0.000	2058	2423	3719
395	-2.10	-97.4	18.9	-8.1	63	402	0.10	0.00	0.00	0.000	6	0.062	0.000	2028	2423	3719
473	-2.10	-97.4	25.5	-8.5	71	474	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2423	3719
664	-2.17	-97.4	43.1	-10.0	89	666	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	2423	3719
853	-2.24	-97.4	60.7	-9.5	102	858	0.10	2.28	0.00	0.000	4	0.063	0.058	2000	3690	3720
898	-2.19	-97.4	65.4	-10.4	104	902	0.00	2.17	0.00	0.000	6	0.000	0.037	2000	2418	3719
1226	-2.19	-97.4	96.7	-9.4	120	1230	0.00	2.30	0.00	0.000	4	0.000	0.056	2000	3689	3719
1282	-2.15	-97.4	103.0	-11.3	123	1289	0.12	2.20	0.00	0.000	6	0.106	0.037	2022	2411	3719
1413	end dive: BOTTOM_OBSTACLE_DETECTED
state	1413	begin apogee
1421	-0.45	0.0	115.4	8.7	136	1508	1.75	0.00	79.95	0.811	6	0.081	0.000	2390	2410	3322
1509	end apogee: CONTROL_FINISHED_OK
state	1509	begin climb
1512	2.57	97.4	117.3	0.0	145	1600	2.95	0.00	79.25	0.780	6	0.047	0.000	3063	2410	2926
1916	2.29	97.4	35.5	22.1	174	1921	0.35	2.47	0.00	0.000	4	0.123	0.046	2996	1014	2926
2094	end climb: SURFACE_DEPTH_REACHED
state	2094	begin surface coast
2118	end surface coast: CONTROL_FINISHED_OK
state	2118	begin surface