Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 265 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 265 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2200 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 566.1524 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 16 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 16 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 550 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 580 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2817 DEVICE6 -1

T_NO_W 300 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 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2082138.8 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

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 78 AH0_24V 100 SEABIRD_T_G 0.004349953

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063985185

RHO 1.023 C_PITCH 2410 PRESSURE_YINT -20.08235 SEABIRD_T_I 2.4539602e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5325169e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.7201281

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0883496

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00044553875

HD_A 0.0038945 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00013483063

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 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 566.1524

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.08235 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 550

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2082138.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 580

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 300

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

COURSE_BIAS 0 ID 16 ROLL_MAX 3771 T_TURN_SAMPINT 5

C_PITCH 2410 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2200 INT_PRESSURE_YINT 20 ROLL_MIN 293 UNCOM_BLEED 20

C_ROLL_DIVE 2400 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2817 MASS 52000 R_PORT_OVSHOOT 16 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 16 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -9.7201281 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0883496 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00044553875 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00013483063 VBD_MAX 3836

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004349953 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063985185 VBD_MIN 509

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4539602e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 265 PHONE_DEVICE 16 SEABIRD_T_J 2.5325169e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 21

Pre-dive calculations and measurements:

GPS1 010905,6240.941,-626.360,9,4.4,28,-8.2 TGT_NAME N_ADCP

_CALLS 2 TGT_LATLONG 6247.440,-604.422

_XMS_NAKs 0 TGT_RADIUS 1.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.131,-0.178

_SM_DEPTHo 1.03 KALMAN_X 45038.2,-1028.2,693.2,95351.1,45044.4

_SM_ANGLEo -56.4 KALMAN_Y 65723.1,-1081.5,492.2,50988.5,46990.6

GPS2 011651,6240.883,-626.492,12,1.6,12,-8.2 MHEAD_RNG_PITCHd_Wd 65.2,22287,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.027414 ALTIM_BOTTOM_PING 150.5,6.8

SM_CCo 4366,179.38,0.663,1,0,509,566.15 _24V_AH 23.8,46.421

SM_GC 1.10,0.00,0.00,179.38,0.000,0.000,0.663,71,2402,509,-10.75,0.06,566.15 _10V_AH 10.2,23.488

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9678,210

TT8_MAMPS 0.023777 CFSIZE 260165632,243548160

HUMID 2040 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,5,1,0

TCM_TEMP 16.90 GPS 060108,023421,6240.929,-627.340,12,1.5,13,-8.2

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 178 109.63 SBE_CT 151 24 86.50

Roll_motor 32 85 66.40 SBE_O2 142 19 64.48

VBD_pump_during_apogee 295 778 5470.05 WL_BB2F 340 105 850.87

VBD_pump_during_surface 179 663 2832.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 160.12 nil 0 0 0.00

Iridium_during_connect 76 160 292.63 nil 0 0 0.00

Iridium_during_xfer 165 223 879.15

Transponder_ping 1 420 12.49

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.51

TT8 418 19 84.49

LPSleep 3089 2 69.01

TT8_Active 589 19 119.08

TT8_Sampling 524 39 213.08

TT8_CF8 410 45 191.85

TT8_Kalman 33 81 27.84

Analog_circuits 865 12 105.95

GPS_charging 0 0 0.00

Compass 522 8 42.63

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.85 -146.6 0.0 0.0 0 125 0.00 0.00 -101.60 0.000 2 0.000 0.000 70 2400 3018

128 -0.85 -146.6 3.3 -2.5 5 157 12.27 2.62 -9.65 0.000 4 0.179 0.086 2220 3770 3415

304 -0.85 -146.6 22.6 -10.6 13 308 0.00 2.53 0.00 0.000 6 0.000 0.054 2220 2400 3415

630 -0.85 -146.6 50.7 -8.5 29 634 0.00 2.67 0.00 0.000 4 0.000 0.071 2221 980 3415

662 -0.85 -146.6 53.8 -8.6 30 669 0.00 2.65 0.00 0.000 6 0.000 0.059 2221 2400 3416

980 -0.85 -146.6 79.9 -7.7 46 981 0.00 0.00 0.00 0.000 6 0.000 0.000 2221 2400 3416

1287 -0.85 -146.6 104.3 -8.0 61 1292 0.00 2.65 0.00 0.000 4 0.000 0.068 2221 982 3416

1359 -0.85 -146.6 110.4 -8.7 64 1363 0.00 2.62 0.00 0.000 6 0.000 0.060 2221 2407 3416

1681 -0.85 -146.6 135.0 -7.9 80 1685 0.00 2.67 0.00 0.000 4 0.000 0.071 2221 983 3415

1724 -0.85 -146.6 138.5 -7.0 82 1728 0.00 2.60 0.00 0.000 6 0.000 0.058 2221 2400 3416

1902 end dive: BOTTOM_OBSTACLE_DETECTED

state 1902 begin apogee

1908 -0.31 0.0 150.5 6.9 91 2026 0.60 0.00 114.60 0.779 6 0.104 0.000 2341 2197 2817

2027 end apogee: CONTROL_FINISHED_OK

state 2027 begin climb

2029 0.85 146.6 154.3 0.0 97 2147 1.25 0.00 112.88 0.758 6 0.099 0.000 2590 2197 2218

2452 0.85 152.2 131.6 5.8 118 2463 0.00 2.75 6.07 0.589 4 0.000 0.077 2590 3619 2196

2507 0.85 152.2 126.1 10.0 120 2515 0.00 2.65 0.00 0.000 6 0.000 0.060 2590 2200 2196

2823 0.94 232.1 112.9 3.8 136 2888 0.12 0.00 61.67 0.733 6 0.061 0.000 2626 2200 1870

3194 0.94 232.1 85.8 7.4 154 3198 0.00 2.67 0.00 0.000 4 0.000 0.071 2626 782 1868

3226 0.94 232.1 82.5 9.5 155 3233 0.00 2.62 0.00 0.000 6 0.000 0.051 2626 2202 1868

3542 0.94 232.1 57.3 6.8 171 3543 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2202 1868

3853 0.94 232.1 36.4 7.1 186 3854 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2202 1868

4161 0.94 232.1 13.4 8.5 201 4162 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2202 1868

4325 end climb: SURFACE_DEPTH_REACHED

state 4325 begin surface coast

4345 end surface coast: CONTROL_FINISHED_OK

state 4345 begin surface

ID	16	HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	265	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2200	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	566.1524	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	16	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	16	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	550	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	580	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2817	DEVICE6	-1
T_NO_W	300	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	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2082138.8	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
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	78	AH0_24V	100	SEABIRD_T_G	0.004349953
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063985185
RHO	1.023	C_PITCH	2410	PRESSURE_YINT	-20.08235	SEABIRD_T_I	2.4539602e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5325169e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.7201281
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0883496
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00044553875
HD_A	0.0038945	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00013483063

GPS1	010905,6240.941,-626.360,9,4.4,28,-8.2	TGT_NAME	N_ADCP
_CALLS	2	TGT_LATLONG	6247.440,-604.422
_XMS_NAKs	0	TGT_RADIUS	1.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.131,-0.178
_SM_DEPTHo	1.03	KALMAN_X	45038.2,-1028.2,693.2,95351.1,45044.4
_SM_ANGLEo	-56.4	KALMAN_Y	65723.1,-1081.5,492.2,50988.5,46990.6
GPS2	011651,6240.883,-626.492,12,1.6,12,-8.2	MHEAD_RNG_PITCHd_Wd	65.2,22287,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.5,1.027414	ALTIM_BOTTOM_PING	150.5,6.8
SM_CCo	4366,179.38,0.663,1,0,509,566.15	_24V_AH	23.8,46.421
SM_GC	1.10,0.00,0.00,179.38,0.000,0.000,0.663,71,2402,509,-10.75,0.06,566.15	_10V_AH	10.2,23.488
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9678,210
TT8_MAMPS	0.023777	CFSIZE	260165632,243548160
HUMID	2040	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
TCM_TEMP	16.90	GPS	060108,023421,6240.929,-627.340,12,1.5,13,-8.2
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	178	109.63	SBE_CT	151	24	86.50
Roll_motor	32	85	66.40	SBE_O2	142	19	64.48
VBD_pump_during_apogee	295	778	5470.05	WL_BB2F	340	105	850.87
VBD_pump_during_surface	179	663	2832.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	160.12	nil	0	0	0.00
Iridium_during_connect	76	160	292.63	nil	0	0	0.00
Iridium_during_xfer	165	223	879.15
Transponder_ping	1	420	12.49
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.51
TT8	418	19	84.49
LPSleep	3089	2	69.01
TT8_Active	589	19	119.08
TT8_Sampling	524	39	213.08
TT8_CF8	410	45	191.85
TT8_Kalman	33	81	27.84
Analog_circuits	865	12	105.95
GPS_charging	0	0	0.00
Compass	522	8	42.63
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.85	-146.6	0.0	0.0	0	125	0.00	0.00	-101.60	0.000	2	0.000	0.000	70	2400	3018
128	-0.85	-146.6	3.3	-2.5	5	157	12.27	2.62	-9.65	0.000	4	0.179	0.086	2220	3770	3415
304	-0.85	-146.6	22.6	-10.6	13	308	0.00	2.53	0.00	0.000	6	0.000	0.054	2220	2400	3415
630	-0.85	-146.6	50.7	-8.5	29	634	0.00	2.67	0.00	0.000	4	0.000	0.071	2221	980	3415
662	-0.85	-146.6	53.8	-8.6	30	669	0.00	2.65	0.00	0.000	6	0.000	0.059	2221	2400	3416
980	-0.85	-146.6	79.9	-7.7	46	981	0.00	0.00	0.00	0.000	6	0.000	0.000	2221	2400	3416
1287	-0.85	-146.6	104.3	-8.0	61	1292	0.00	2.65	0.00	0.000	4	0.000	0.068	2221	982	3416
1359	-0.85	-146.6	110.4	-8.7	64	1363	0.00	2.62	0.00	0.000	6	0.000	0.060	2221	2407	3416
1681	-0.85	-146.6	135.0	-7.9	80	1685	0.00	2.67	0.00	0.000	4	0.000	0.071	2221	983	3415
1724	-0.85	-146.6	138.5	-7.0	82	1728	0.00	2.60	0.00	0.000	6	0.000	0.058	2221	2400	3416
1902	end dive: BOTTOM_OBSTACLE_DETECTED
state	1902	begin apogee
1908	-0.31	0.0	150.5	6.9	91	2026	0.60	0.00	114.60	0.779	6	0.104	0.000	2341	2197	2817
2027	end apogee: CONTROL_FINISHED_OK
state	2027	begin climb
2029	0.85	146.6	154.3	0.0	97	2147	1.25	0.00	112.88	0.758	6	0.099	0.000	2590	2197	2218
2452	0.85	152.2	131.6	5.8	118	2463	0.00	2.75	6.07	0.589	4	0.000	0.077	2590	3619	2196
2507	0.85	152.2	126.1	10.0	120	2515	0.00	2.65	0.00	0.000	6	0.000	0.060	2590	2200	2196
2823	0.94	232.1	112.9	3.8	136	2888	0.12	0.00	61.67	0.733	6	0.061	0.000	2626	2200	1870
3194	0.94	232.1	85.8	7.4	154	3198	0.00	2.67	0.00	0.000	4	0.000	0.071	2626	782	1868
3226	0.94	232.1	82.5	9.5	155	3233	0.00	2.62	0.00	0.000	6	0.000	0.051	2626	2202	1868
3542	0.94	232.1	57.3	6.8	171	3543	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2202	1868
3853	0.94	232.1	36.4	7.1	186	3854	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2202	1868
4161	0.94	232.1	13.4	8.5	201	4162	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2202	1868
4325	end climb: SURFACE_DEPTH_REACHED
state	4325	begin surface coast
4345	end surface coast: CONTROL_FINISHED_OK
state	4345	begin surface