Glider dive log

PortSusan 03Mar09 * SG164 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 164 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 204 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 12 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3882 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 370 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 21 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT 0.94

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 50 UPLOAD_DIVES_MAX -1 VBD_MIN 490 DEVICE2 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3962 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3288 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -32341.713 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 40 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 165 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 126 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3926 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2768 PRESSURE_YINT -7.9007363 SEABIRD_T_G 0.0043488215

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158597 SEABIRD_T_H 0.00063635618

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5028745e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7326657e-06

FERRY_MAX 45 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.160287

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1436546

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00018147723

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010835609

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 370

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 27 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3926 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 3 PITCH_MIN 126 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158597 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -7.9007363 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 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 50

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 -32341.713

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

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 5

COMPASS_DEVICE 33 ID 164 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3882 UNCOM_BLEED 40

COURSE_BIAS 0 INT_PRESSURE_YINT 0.94 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2768 KALMAN_USE 1 ROLL_MIN 204 USE_BATHY 0

C_ROLL_CLIMB 2100 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 52000 R_PORT_OVSHOOT 21 VBD_BLEED_AD_RATE 8

C_VBD 3288 MAX_BUOY 165 R_STBD_OVSHOOT 23 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.160287 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1436546 VBD_MAX 3962

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00018147723 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00010835609 VBD_MIN 490

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043488215 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063635618 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5028745e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7326657e-06 XPDR_DEVICE 24

DIVE 12 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 041432,4806.713,-12222.544,8,1.9,8,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.141,-0.232

_SM_DEPTHo 1.00 KALMAN_X -2003.6,-270.9,51.4,3130.9,-346.6

_SM_ANGLEo -69.9 KALMAN_Y 3935.8,765.6,-169.4,-6891.2,544.7

GPS2 041908,4806.697,-12222.526,12,1.9,12,18.3 MHEAD_RNG_PITCHd_Wd 130.4,1446,-16.6,-10.000

SPEED_LIMITS 0.173,0.271 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.6,1.019561 ALTIM_BOTTOM_PING 85.3,38.9

SM_CCo 1933,162.73,0.746,1,0,1779,370.16 _24V_AH 24.0,1.781

SM_GC 1.20,0.00,0.00,162.73,0.000,0.000,0.746,123,2100,1779,-8.27,0.03,370.16 _10V_AH 10.6,0.598

IRIDIUM_FIX 4748.51,-12221.84,290598,030309 DATA_FILE_SIZE 19127,352

TT8_MAMPS 0.049855 CAP_FILE_SIZE 37689,0

HUMID 1393 CFSIZE 260165632,258498560

INTERNAL_PRESSURE 9.08484 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.70 GPS 040309,045536,4806.693,-12222.422,13,1.5,29,18.3

XPDR_PINGS 8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 269 128.90 SBE_CT 235 24 135.55

Roll_motor 32 86 67.14 Optode 241 33 191.12

VBD_pump_during_apogee 249 845 5070.90 WL_BB2F 406 105 1024.82

VBD_pump_during_surface 162 746 2914.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 63.95 nil 0 0 0.00

Iridium_during_connect 25 160 97.90 nil 0 0 0.00

Iridium_during_xfer 153 223 821.15

Transponder_ping 3 420 30.24

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.90

TT8 0 19 0.00

LPSleep 877 2 20.37

TT8_Active 472 19 99.14

TT8_Sampling 757 39 319.69

TT8_CF8 270 45 131.46

TT8_Kalman 33 81 28.87

Analog_circuits 805 12 102.50

GPS_charging 0 0 0.00

Compass 626 8 53.16

RAFOS 0 0 0.00

Transponder 10 30 3.24

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 -0.81 -161.3 0.0 0.0 0 91 0.00 0.00 -77.07 0.000 2 0.000 0.000 122 2098 3493

93 -0.81 -161.3 3.0 -4.9 13 118 10.18 2.38 -10.25 0.000 4 0.269 0.087 2497 3512 3948

122 -0.81 -161.3 11.1 -24.9 18 129 0.00 2.30 0.00 0.000 6 0.000 0.060 2497 2103 3949

191 -0.81 -161.3 19.3 -10.9 31 198 0.00 2.33 0.00 0.000 4 0.000 0.074 2497 698 3950

437 -0.81 -161.3 49.2 -12.3 77 444 0.00 2.28 0.00 0.000 6 0.000 0.064 2497 2099 3950

570 -0.81 -161.3 64.3 -11.4 102 577 0.00 2.30 0.00 0.000 4 0.000 0.071 2497 688 3950

816 -0.81 -161.3 93.4 -11.7 148 823 0.00 2.28 0.00 0.000 6 0.000 0.068 2497 2101 3950

950 -0.81 -161.3 107.6 -10.6 173 956 0.00 2.28 0.00 0.000 4 0.000 0.070 2497 694 3950

1012 end dive: BOTTOM_OBSTACLE_DETECTED

state 1013 begin apogee

1018 -0.19 0.0 114.7 11.5 185 1146 0.65 0.00 124.25 0.845 6 0.149 0.000 2702 2099 3287

1146 end apogee: CONTROL_FINISHED_OK

state 1146 begin climb

1148 0.81 161.3 117.5 0.0 208 1282 0.98 2.38 125.72 0.806 4 0.096 0.062 3024 3509 2629

1334 0.81 161.3 91.1 19.0 242 1341 0.00 2.35 0.00 0.000 6 0.000 0.057 3024 2096 2629

1468 0.81 161.3 66.8 17.7 267 1474 0.00 2.33 0.00 0.000 4 0.000 0.071 3024 692 2628

1574 0.81 161.3 48.4 16.5 287 1580 0.00 2.28 0.00 0.000 6 0.000 0.055 3024 2104 2628

1707 0.81 161.3 25.8 16.4 312 1714 0.00 2.33 0.00 0.000 4 0.000 0.071 3024 689 2628

1755 0.81 161.3 17.7 15.4 321 1762 0.00 2.25 0.00 0.000 6 0.000 0.055 3024 2098 2628

1825 0.81 161.3 7.4 13.3 334 1826 0.00 0.00 0.00 0.000 6 0.000 0.000 3024 2098 2628

1871 end climb: SURFACE_DEPTH_REACHED

state 1871 begin surface coast

1920 end surface coast: CONTROL_FINISHED_OK

state 1920 begin surface

ID	164	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	204	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	12	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3882	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	370	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	21	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	0.94
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	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	490	DEVICE2	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3962	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3288	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-32341.713	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	40	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	165	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	126	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3926	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2768	PRESSURE_YINT	-7.9007363	SEABIRD_T_G	0.0043488215
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158597	SEABIRD_T_H	0.00063635618
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5028745e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7326657e-06
FERRY_MAX	45	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.160287
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1436546
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00018147723
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010835609
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	041432,4806.713,-12222.544,8,1.9,8,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.141,-0.232
_SM_DEPTHo	1.00	KALMAN_X	-2003.6,-270.9,51.4,3130.9,-346.6
_SM_ANGLEo	-69.9	KALMAN_Y	3935.8,765.6,-169.4,-6891.2,544.7
GPS2	041908,4806.697,-12222.526,12,1.9,12,18.3	MHEAD_RNG_PITCHd_Wd	130.4,1446,-16.6,-10.000
SPEED_LIMITS	0.173,0.271	D_GRID	150

FINISH	1.6,1.019561	ALTIM_BOTTOM_PING	85.3,38.9
SM_CCo	1933,162.73,0.746,1,0,1779,370.16	_24V_AH	24.0,1.781
SM_GC	1.20,0.00,0.00,162.73,0.000,0.000,0.746,123,2100,1779,-8.27,0.03,370.16	_10V_AH	10.6,0.598
IRIDIUM_FIX	4748.51,-12221.84,290598,030309	DATA_FILE_SIZE	19127,352
TT8_MAMPS	0.049855	CAP_FILE_SIZE	37689,0
HUMID	1393	CFSIZE	260165632,258498560
INTERNAL_PRESSURE	9.08484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.70	GPS	040309,045536,4806.693,-12222.422,13,1.5,29,18.3
XPDR_PINGS	8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	269	128.90	SBE_CT	235	24	135.55
Roll_motor	32	86	67.14	Optode	241	33	191.12
VBD_pump_during_apogee	249	845	5070.90	WL_BB2F	406	105	1024.82
VBD_pump_during_surface	162	746	2914.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	63.95	nil	0	0	0.00
Iridium_during_connect	25	160	97.90	nil	0	0	0.00
Iridium_during_xfer	153	223	821.15
Transponder_ping	3	420	30.24
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.90
TT8	0	19	0.00
LPSleep	877	2	20.37
TT8_Active	472	19	99.14
TT8_Sampling	757	39	319.69
TT8_CF8	270	45	131.46
TT8_Kalman	33	81	28.87
Analog_circuits	805	12	102.50
GPS_charging	0	0	0.00
Compass	626	8	53.16
RAFOS	0	0	0.00
Transponder	10	30	3.24

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	-0.81	-161.3	0.0	0.0	0	91	0.00	0.00	-77.07	0.000	2	0.000	0.000	122	2098	3493
93	-0.81	-161.3	3.0	-4.9	13	118	10.18	2.38	-10.25	0.000	4	0.269	0.087	2497	3512	3948
122	-0.81	-161.3	11.1	-24.9	18	129	0.00	2.30	0.00	0.000	6	0.000	0.060	2497	2103	3949
191	-0.81	-161.3	19.3	-10.9	31	198	0.00	2.33	0.00	0.000	4	0.000	0.074	2497	698	3950
437	-0.81	-161.3	49.2	-12.3	77	444	0.00	2.28	0.00	0.000	6	0.000	0.064	2497	2099	3950
570	-0.81	-161.3	64.3	-11.4	102	577	0.00	2.30	0.00	0.000	4	0.000	0.071	2497	688	3950
816	-0.81	-161.3	93.4	-11.7	148	823	0.00	2.28	0.00	0.000	6	0.000	0.068	2497	2101	3950
950	-0.81	-161.3	107.6	-10.6	173	956	0.00	2.28	0.00	0.000	4	0.000	0.070	2497	694	3950
1012	end dive: BOTTOM_OBSTACLE_DETECTED
state	1013	begin apogee
1018	-0.19	0.0	114.7	11.5	185	1146	0.65	0.00	124.25	0.845	6	0.149	0.000	2702	2099	3287
1146	end apogee: CONTROL_FINISHED_OK
state	1146	begin climb
1148	0.81	161.3	117.5	0.0	208	1282	0.98	2.38	125.72	0.806	4	0.096	0.062	3024	3509	2629
1334	0.81	161.3	91.1	19.0	242	1341	0.00	2.35	0.00	0.000	6	0.000	0.057	3024	2096	2629
1468	0.81	161.3	66.8	17.7	267	1474	0.00	2.33	0.00	0.000	4	0.000	0.071	3024	692	2628
1574	0.81	161.3	48.4	16.5	287	1580	0.00	2.28	0.00	0.000	6	0.000	0.055	3024	2104	2628
1707	0.81	161.3	25.8	16.4	312	1714	0.00	2.33	0.00	0.000	4	0.000	0.071	3024	689	2628
1755	0.81	161.3	17.7	15.4	321	1762	0.00	2.25	0.00	0.000	6	0.000	0.055	3024	2098	2628
1825	0.81	161.3	7.4	13.3	334	1826	0.00	0.00	0.00	0.000	6	0.000	0.000	3024	2098	2628
1871	end climb: SURFACE_DEPTH_REACHED
state	1871	begin surface coast
1920	end surface coast: CONTROL_FINISHED_OK
state	1920	begin surface