Glider dive log

SOSCEx 27Nov14 * SG542 * Dive index * Mission links * Dive 40 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 542 HEADING -1 ROLL_MAX 3901 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 8 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 20

DIVE 40 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2118 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2118 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 20 ALTIM_PULSE 3

D_TGT 100 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 500 SM_CC 573.99261 R_PORT_OVSHOOT 62 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 56 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2500 DEVICE3 147

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 33 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 38 CAPUPLOAD 1 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -20534.902 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -7 PITCH_MIN 73 FG_AHR_10V 0 SIM_W 0.1

MAX_BUOY 150 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH -20

COURSE_BIAS 0 C_PITCH 1802 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -54.142944 SEABIRD_T_H 0.00061853422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011816985 SEABIRD_T_I 2.1182957e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0754619e-06

MASS 53026 PITCH_GAIN 39 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7625904

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1369455

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0017508121

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021125977

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 9.9999997e-06 ROLL_MIN 335 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 573.99261

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 100 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 20 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 39 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3888 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 73 TGT_DEFAULT_LON -200

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 5

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 33

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -54.142944 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -20534.902

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 38

CF8_MAXERRORS 20 HEAD_ERRBAND 20 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 542 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 2.49 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1802 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2118 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2118 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2500 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 62 VBD_MAX 3961

DEVICE2 101 MASS 53026 R_STBD_OVSHOOT 56 VBD_MAXERRORS 1

DEVICE3 147 MAX_BUOY 150 SEABIRD_C_G -9.7625904 VBD_MIN 480

DEVICE4 134 MINV_10V 8 SEABIRD_C_H 1.1369455 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0017508121 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 8 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 40 MOTHERBOARD 4 SEABIRD_T_G 0.0042910837 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00061853422 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.1182957e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.0754619e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH -20

D_FLARE 3 N_NOSURFACE 0 SIM_W 0.1

Pre-dive calculations and measurements:

GPS1 021214,093924,-3354.174,1825.614,25,1.1,26,-24.4 TGT_NAME TARGET

_CALLS 1 TGT_LATLONG -3353.559,1815.145

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.260,0.016

_SM_DEPTHo 0.02 KALMAN_X 382.3,217.7,194.8,-796.3,502.8

_SM_ANGLEo -77.3 KALMAN_Y -23.5,-10.8,-9.1,46.3,-30.4

GPS2 021214,094435,-3354.177,1825.613,19,1.1,20,-24.4 MHEAD_RNG_PITCHd_Wd 297.9,16134,-17.7,-10.101

SPEED_LIMITS 0.175,0.261 D_GRID 100

Post-dive calculations and measurements:

FINISH -0.0,0.998097 _24V_AH 24.9,7.717

SM_CCo 764,0.00,0.000,0,0,473,497.21 _10V_AH 10.5,4.412

SM_GC 0.10,0.00,0.00,0.00,0.000,0.000,0.000,70,2100,473,-5.41,-0.51,497.21 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3340.91,1824.45,021214,090959 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 323580

HUMID 46.85 DATA_FILE_SIZE 3678,52

INTERNAL_PRESSURE 9.70707 CAP_FILE_SIZE 17720,0

TCM_TEMP 25.60 CFSIZE 259252224,226549760

XPDR_PINGS 8 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

ALTIM_BOTTOM_PING 20.4,5.3 GPS 021214,095907,-3354.219,1825.587,19,1.2,20,-24.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 250 79.50 SBE_CT 33 23 19.91

Roll_motor 4 46 5.00 AA4330 181 17 81.27

VBD_pump_during_apogee 156 458 1786.24 WL_BB2FLVMT 172 40 173.91

VBD_pump_during_surface 321 441 3530.58 QSP2150 190 17 85.39

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 33 91 76.22 nil 0 0 0.00

Iridium_during_connect 18 160 71.80 nil 0 0 0.00

Iridium_during_xfer 174 223 967.61 nil 0 0 0.00

Transponder_ping 2 420 26.14 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 31 7.18

TT8 123 14 18.82

LPSleep 0 2 0.01

TT8_Active 490 14 74.51

TT8_Sampling 458 42 203.09

TT8_CF8 26 49 13.89

TT8_Kalman 32 68 23.21

Analog_circuits 666 15 108.48

GPS_charging 0 0 0.00

Compass 199 16 34.46

RAFOS 0 0 0.00

Transponder 5 30 1.72

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.63 -146.1 0.0 0.0 0 43 0.00 0.00 -25.85 0.000 2 0.000 0.000 65 2084 1085 0 0 0 0 0 0

44 -0.63 -146.1 3.3 -10.6 3 151 5.80 2.15 -92.53 0.000 4 0.223 0.047 1578 3545 3096 0 0 0 0 0 0

216 end dive: BOTTOM_OBSTACLE_DETECTED

state 216 begin apogee

222 -0.18 0.0 20.4 10.4 26 335 0.57 0.00 102.72 0.458 6 0.231 0.000 1737 2101 2496 0 0 0 0 0 0

336 end apogee: CONTROL_FINISHED_OK

state 336 begin climb

338 0.63 146.1 8.4 0.0 40 395 1.10 0.00 53.83 0.447 2 0.251 0.000 1994 2100 2173 0 0 0 0 0 0

396 end climb: SURFACE_DEPTH_REACHED

state 396 begin surface coast

428 end surface coast: CONTROL_FINISHED_OK

state 428 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	8	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	20
DIVE	40	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2118	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2118	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	20	ALTIM_PULSE	3
D_TGT	100	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	500	SM_CC	573.99261	R_PORT_OVSHOOT	62	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	56	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2500	DEVICE3	147
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	33	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	38	CAPUPLOAD	1	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-20534.902	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-7	PITCH_MIN	73	FG_AHR_10V	0	SIM_W	0.1
MAX_BUOY	150	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	-20
COURSE_BIAS	0	C_PITCH	1802	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-54.142944	SEABIRD_T_H	0.00061853422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011816985	SEABIRD_T_I	2.1182957e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0754619e-06
MASS	53026	PITCH_GAIN	39	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7625904
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1369455
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0017508121
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021125977
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	9.9999997e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	021214,093924,-3354.174,1825.614,25,1.1,26,-24.4	TGT_NAME	TARGET
_CALLS	1	TGT_LATLONG	-3353.559,1815.145
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.260,0.016
_SM_DEPTHo	0.02	KALMAN_X	382.3,217.7,194.8,-796.3,502.8
_SM_ANGLEo	-77.3	KALMAN_Y	-23.5,-10.8,-9.1,46.3,-30.4
GPS2	021214,094435,-3354.177,1825.613,19,1.1,20,-24.4	MHEAD_RNG_PITCHd_Wd	297.9,16134,-17.7,-10.101
SPEED_LIMITS	0.175,0.261	D_GRID	100

FINISH	-0.0,0.998097	_24V_AH	24.9,7.717
SM_CCo	764,0.00,0.000,0,0,473,497.21	_10V_AH	10.5,4.412
SM_GC	0.10,0.00,0.00,0.00,0.000,0.000,0.000,70,2100,473,-5.41,-0.51,497.21	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3340.91,1824.45,021214,090959	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	323580
HUMID	46.85	DATA_FILE_SIZE	3678,52
INTERNAL_PRESSURE	9.70707	CAP_FILE_SIZE	17720,0
TCM_TEMP	25.60	CFSIZE	259252224,226549760
XPDR_PINGS	8	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
ALTIM_BOTTOM_PING	20.4,5.3	GPS	021214,095907,-3354.219,1825.587,19,1.2,20,-24.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	250	79.50	SBE_CT	33	23	19.91
Roll_motor	4	46	5.00	AA4330	181	17	81.27
VBD_pump_during_apogee	156	458	1786.24	WL_BB2FLVMT	172	40	173.91
VBD_pump_during_surface	321	441	3530.58	QSP2150	190	17	85.39
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	33	91	76.22	nil	0	0	0.00
Iridium_during_connect	18	160	71.80	nil	0	0	0.00
Iridium_during_xfer	174	223	967.61	nil	0	0	0.00
Transponder_ping	2	420	26.14	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	31	7.18
TT8	123	14	18.82
LPSleep	0	2	0.01
TT8_Active	490	14	74.51
TT8_Sampling	458	42	203.09
TT8_CF8	26	49	13.89
TT8_Kalman	32	68	23.21
Analog_circuits	666	15	108.48
GPS_charging	0	0	0.00
Compass	199	16	34.46
RAFOS	0	0	0.00
Transponder	5	30	1.72

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.63	-146.1	0.0	0.0	0	43	0.00	0.00	-25.85	0.000	2	0.000	0.000	65	2084	1085	0	0	0	0	0	0
44	-0.63	-146.1	3.3	-10.6	3	151	5.80	2.15	-92.53	0.000	4	0.223	0.047	1578	3545	3096	0	0	0	0	0	0
216	end dive: BOTTOM_OBSTACLE_DETECTED
state	216	begin apogee
222	-0.18	0.0	20.4	10.4	26	335	0.57	0.00	102.72	0.458	6	0.231	0.000	1737	2101	2496	0	0	0	0	0	0
336	end apogee: CONTROL_FINISHED_OK
state	336	begin climb
338	0.63	146.1	8.4	0.0	40	395	1.10	0.00	53.83	0.447	2	0.251	0.000	1994	2100	2173	0	0	0	0	0	0
396	end climb: SURFACE_DEPTH_REACHED
state	396	begin surface coast
428	end surface coast: CONTROL_FINISHED_OK
state	428	begin surface