Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 245 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 245 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 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 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 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 990 T_GPS_CHARGE -105006.7 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

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 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 990 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

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 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

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 -105006.7

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 27 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 245 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 072234,6405.799,-1311.740,8,2.4,28,-12.6 TGT_NAME P3

_CALLS 1 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.165,0.181

_SM_DEPTHo 1.15 KALMAN_X -59990.2,-7348.8,1187.9,-173423.0,-88756.7

_SM_ANGLEo -54.0 KALMAN_Y -43958.4,3791.4,1745.6,314724.5,-118099.9

GPS2 072637,6405.818,-1311.898,10,1.9,15,-12.6 MHEAD_RNG_PITCHd_Wd 55.0,30696,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027356 ALTIM_BOTTOM_PING 120.6,33.4

SM_CCo 3611,58.78,0.788,0,0,1608,300.00 _24V_AH 24.0,40.937

SM_GC 0.93,0.00,0.00,58.78,0.000,0.000,0.788,420,2161,1608,-10.69,0.88,300.00 _10V_AH 10.1,18.188

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 6530,172

TT8_MAMPS 0.029146 CAP_FILE_SIZE 32701,0

HUMID 1816 CFSIZE 254472192,238964736

TCM_TEMP 16.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 15 GPS 061009,082931,6406.605,-1311.578,7,1.9,13,-12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 167 101.89 SBE_CT 116 24 66.96

Roll_motor 26 66 42.08 SBE_O2 126 19 57.52

VBD_pump_during_apogee 278 892 5961.50 WL_BB2F 279 105 703.68

VBD_pump_during_surface 58 787 1111.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.32 nil 0 0 0.00

Iridium_during_connect 27 160 105.21 nil 0 0 0.00

Iridium_during_xfer 81 223 435.27

Transponder_ping 4 420 42.84

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.87

TT8 354 19 70.87

LPSleep 2429 2 53.74

TT8_Active 409 19 81.97

TT8_Sampling 477 39 191.81

TT8_CF8 257 45 119.12

TT8_Kalman 33 81 27.57

Analog_circuits 666 12 80.73

GPS_charging 0 0 0.00

Compass 469 8 37.93

RAFOS 0 0 0.00

Transponder 6 30 2.03

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 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -61.53 0.000 2 0.000 0.000 420 2147 2802

83 -1.22 -146.6 2.9 -3.8 3 117 11.55 0.00 -20.45 0.000 6 0.168 0.000 2477 2137 3429

436 -1.15 -146.6 45.2 -12.7 20 437 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2137 3430

746 -1.10 -146.6 84.8 -12.3 35 747 0.15 0.00 0.00 0.000 6 0.110 0.000 2508 2137 3429

1054 -1.10 -146.6 118.2 -10.8 50 1058 0.00 2.55 0.00 0.000 4 0.000 0.067 2508 3538 3429

1148 -1.10 -146.6 128.3 -11.0 54 1152 0.00 2.55 0.00 0.000 6 0.000 0.054 2508 2120 3429

1317 end dive: BOTTOM_OBSTACLE_DETECTED

state 1317 begin apogee

1325 -0.33 0.0 145.2 9.9 62 1454 0.77 0.00 121.32 0.893 6 0.076 0.000 2674 1832 2831

1455 end apogee: CONTROL_FINISHED_OK

state 1456 begin climb

1459 1.22 146.6 150.6 0.0 69 1584 1.48 0.00 120.18 0.855 6 0.040 0.000 3019 1831 2233

1901 1.20 172.9 132.2 7.0 93 1931 0.00 2.67 23.10 0.811 4 0.000 0.058 3019 3254 2124

2111 1.20 172.9 115.7 8.1 102 2116 0.00 2.47 0.00 0.000 6 0.000 0.051 3019 1877 2124

2429 1.19 188.1 91.7 7.5 117 2452 0.00 2.58 13.62 0.785 4 0.000 0.059 3019 3255 2064

2521 1.19 188.1 84.1 8.5 121 2525 0.00 2.45 0.00 0.000 6 0.000 0.051 3019 1893 2064

2849 1.19 189.1 58.2 8.0 137 2853 0.00 2.50 0.00 0.000 4 0.000 0.060 3019 3261 2064

2921 1.19 189.1 51.8 8.7 140 2925 0.00 2.42 0.00 0.000 6 0.000 0.051 3019 1908 2063

3239 1.19 189.1 24.9 9.8 155 3243 0.00 2.65 0.00 0.000 4 0.000 0.064 3019 433 2064

3272 1.13 189.1 21.4 9.9 156 3279 0.15 2.60 0.00 0.000 6 0.092 0.048 2991 1906 2064

3545 end climb: SURFACE_DEPTH_REACHED

state 3545 begin surface coast

3587 end surface coast: CONTROL_FINISHED_OK

state 3587 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	245	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	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	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	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	990	T_GPS_CHARGE	-105006.7	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
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	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	072234,6405.799,-1311.740,8,2.4,28,-12.6	TGT_NAME	P3
_CALLS	1	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.165,0.181
_SM_DEPTHo	1.15	KALMAN_X	-59990.2,-7348.8,1187.9,-173423.0,-88756.7
_SM_ANGLEo	-54.0	KALMAN_Y	-43958.4,3791.4,1745.6,314724.5,-118099.9
GPS2	072637,6405.818,-1311.898,10,1.9,15,-12.6	MHEAD_RNG_PITCHd_Wd	55.0,30696,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.027356	ALTIM_BOTTOM_PING	120.6,33.4
SM_CCo	3611,58.78,0.788,0,0,1608,300.00	_24V_AH	24.0,40.937
SM_GC	0.93,0.00,0.00,58.78,0.000,0.000,0.788,420,2161,1608,-10.69,0.88,300.00	_10V_AH	10.1,18.188
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	6530,172
TT8_MAMPS	0.029146	CAP_FILE_SIZE	32701,0
HUMID	1816	CFSIZE	254472192,238964736
TCM_TEMP	16.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	15	GPS	061009,082931,6406.605,-1311.578,7,1.9,13,-12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	167	101.89	SBE_CT	116	24	66.96
Roll_motor	26	66	42.08	SBE_O2	126	19	57.52
VBD_pump_during_apogee	278	892	5961.50	WL_BB2F	279	105	703.68
VBD_pump_during_surface	58	787	1111.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.32	nil	0	0	0.00
Iridium_during_connect	27	160	105.21	nil	0	0	0.00
Iridium_during_xfer	81	223	435.27
Transponder_ping	4	420	42.84
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.87
TT8	354	19	70.87
LPSleep	2429	2	53.74
TT8_Active	409	19	81.97
TT8_Sampling	477	39	191.81
TT8_CF8	257	45	119.12
TT8_Kalman	33	81	27.57
Analog_circuits	666	12	80.73
GPS_charging	0	0	0.00
Compass	469	8	37.93
RAFOS	0	0	0.00
Transponder	6	30	2.03

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	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-61.53	0.000	2	0.000	0.000	420	2147	2802
83	-1.22	-146.6	2.9	-3.8	3	117	11.55	0.00	-20.45	0.000	6	0.168	0.000	2477	2137	3429
436	-1.15	-146.6	45.2	-12.7	20	437	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2137	3430
746	-1.10	-146.6	84.8	-12.3	35	747	0.15	0.00	0.00	0.000	6	0.110	0.000	2508	2137	3429
1054	-1.10	-146.6	118.2	-10.8	50	1058	0.00	2.55	0.00	0.000	4	0.000	0.067	2508	3538	3429
1148	-1.10	-146.6	128.3	-11.0	54	1152	0.00	2.55	0.00	0.000	6	0.000	0.054	2508	2120	3429
1317	end dive: BOTTOM_OBSTACLE_DETECTED
state	1317	begin apogee
1325	-0.33	0.0	145.2	9.9	62	1454	0.77	0.00	121.32	0.893	6	0.076	0.000	2674	1832	2831
1455	end apogee: CONTROL_FINISHED_OK
state	1456	begin climb
1459	1.22	146.6	150.6	0.0	69	1584	1.48	0.00	120.18	0.855	6	0.040	0.000	3019	1831	2233
1901	1.20	172.9	132.2	7.0	93	1931	0.00	2.67	23.10	0.811	4	0.000	0.058	3019	3254	2124
2111	1.20	172.9	115.7	8.1	102	2116	0.00	2.47	0.00	0.000	6	0.000	0.051	3019	1877	2124
2429	1.19	188.1	91.7	7.5	117	2452	0.00	2.58	13.62	0.785	4	0.000	0.059	3019	3255	2064
2521	1.19	188.1	84.1	8.5	121	2525	0.00	2.45	0.00	0.000	6	0.000	0.051	3019	1893	2064
2849	1.19	189.1	58.2	8.0	137	2853	0.00	2.50	0.00	0.000	4	0.000	0.060	3019	3261	2064
2921	1.19	189.1	51.8	8.7	140	2925	0.00	2.42	0.00	0.000	6	0.000	0.051	3019	1908	2063
3239	1.19	189.1	24.9	9.8	155	3243	0.00	2.65	0.00	0.000	4	0.000	0.064	3019	433	2064
3272	1.13	189.1	21.4	9.9	156	3279	0.15	2.60	0.00	0.000	6	0.092	0.048	2991	1906	2064
3545	end climb: SURFACE_DEPTH_REACHED
state	3545	begin surface coast
3587	end surface coast: CONTROL_FINISHED_OK
state	3587	begin surface