Glider dive log

PortSusan 29Oct07 * SG119 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 22 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 175 ALTIM_PING_DEPTH 60

D_TGT 150 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3878 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 21.299999 C_ROLL_DIVE 2220 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -157.8 C_ROLL_CLIMB 2180 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 500 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 33 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 80 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 95 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 425 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3879 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3267 DEVICE6 -1

T_NO_W 120 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 360 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -14337.527 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

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 1379 AH0_24V 91.800003 SEABIRD_T_G 0.004348367

SPEED_FACTOR 1 PITCH_MAX 3813 AH0_10V 61.200001 SEABIRD_T_H 0.00063394889

RHO 1.023 C_PITCH 3170 PRESSURE_YINT -3.8181691 SEABIRD_T_I 2.4089732e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 2.5198262e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.04077

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1285373

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022196125

HD_A 0.0038945 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00025642588

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3813 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 1379 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -3.8181691 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 21.299999

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -157.8

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 80

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 -14337.527

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 95

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

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 119 ROLL_MAX 3878 T_TURN_SAMPINT 5

C_PITCH 3170 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2180 INT_PRESSURE_YINT 0 ROLL_MIN 175 UNCOM_BLEED 50

C_ROLL_DIVE 2220 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3267 MASS 51528 R_PORT_OVSHOOT 33 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.04077 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1285373 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0022196125 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00025642588 VBD_MAX 3879

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004348367 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063394889 VBD_MIN 425

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4089732e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 22 PHONE_DEVICE 48 SEABIRD_T_J 2.5198262e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 163528,4808.005,-12223.165,32,1.9,32,18.3 TGT_NAME KAYAKPT

_CALLS 1 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.187,-0.101

_SM_DEPTHo 0.72 KALMAN_X 1162.5,1079.6,-223.6,-2003.2,-682.9

_SM_ANGLEo -74.4 KALMAN_Y 31.7,-485.8,115.3,-12.1,455.0

GPS2 163937,4808.015,-12223.174,25,2.0,25,18.3 MHEAD_RNG_PITCHd_Wd 100.0,217,-12.5,-6.250

SPEED_LIMITS 0.108,0.225 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.7,1.020022 XPDR_PINGS 0

SM_CCo 2580,156.95,0.680,0,0,1227,500.17 ALTIM_BOTTOM_PING 80.9,38.6

SM_GC 0.88,0.00,0.00,156.95,0.000,0.000,0.680,1375,2210,1227,-8.26,-0.28,500.17 _24V_AH 24.2,2.762

IRIDIUM_FIX 4751.72,-12225.30,301007,191936 _10V_AH 10.7,1.135

TT8_MAMPS 0.027612 DATA_FILE_SIZE 9709,230

HUMID 1857 CFSIZE 260165632,258166784

INTERNAL_PRESSURE 9.66834 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

TCM_TEMP 18.20 GPS 301007,172707,4807.889,-12222.773,13,1.2,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 176 104.59 SBE_CT 159 24 92.38

Roll_motor 33 120 96.24 SBE_O2 168 19 77.58

VBD_pump_during_apogee 227 786 4332.09 WL_BB2F 387 105 985.78

VBD_pump_during_surface 156 680 2584.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 96.54 nil 0 0 0.00

Iridium_during_connect 35 160 138.90 nil 0 0 0.00

Iridium_during_xfer 95 223 517.42

Transponder_ping 1 420 10.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 27 50 14.55

TT8 390 19 82.67

LPSleep 1432 2 33.58

TT8_Active 449 19 95.14

TT8_Sampling 519 39 221.11

TT8_CF8 211 45 103.83

TT8_Kalman 33 81 29.15

Analog_circuits 738 12 94.81

GPS_charging 0 0 0.00

Compass 501 8 42.94

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -0.73 -128.5 0.0 0.0 0 97 0.00 0.00 -77.15 0.000 2 0.000 0.000 1375 2204 2976

98 -0.75 -146.6 3.4 -4.2 14 139 11.73 2.40 -23.50 0.000 4 0.176 0.070 2997 822 3866

272 -0.75 -146.6 21.8 -10.0 43 281 0.00 2.33 0.00 0.000 6 0.000 0.048 2997 2212 3866

470 -0.75 -146.6 39.5 -8.9 62 474 0.00 2.40 0.00 0.000 4 0.000 0.069 2997 3622 3866

502 -0.75 -146.6 42.7 -9.5 64 510 0.00 2.33 0.00 0.000 6 0.000 0.042 2997 2220 3866

697 -0.75 -146.6 59.7 -8.6 78 698 0.00 0.00 0.00 0.000 6 0.000 0.000 2997 2220 3866

1006 -0.75 -146.6 86.2 -8.6 93 1010 0.00 2.40 0.00 0.000 4 0.000 0.069 2997 3624 3866

1054 -0.75 -146.6 90.7 -8.9 95 1059 0.00 2.30 0.00 0.000 6 0.000 0.042 2997 2225 3866

1285 end dive: BOTTOM_OBSTACLE_DETECTED

state 1285 begin apogee

1289 -0.23 0.0 110.4 8.7 112 1408 0.70 0.00 112.72 0.786 6 0.085 0.000 3116 2167 3266

1409 end apogee: CONTROL_FINISHED_OK

state 1409 begin climb

1410 0.75 146.6 113.6 0.0 124 1536 1.25 2.50 114.97 0.750 4 0.064 0.056 3328 789 2669

1547 0.75 146.6 107.7 10.1 137 1552 0.00 2.40 0.00 0.000 6 0.000 0.045 3328 2180 2669

1864 0.75 146.6 70.6 11.5 155 1868 0.00 2.38 0.00 0.000 4 0.000 0.055 3328 779 2669

1902 0.75 146.6 66.1 11.9 157 1906 0.00 2.33 0.00 0.000 6 0.000 0.044 3328 2188 2669

2229 0.75 146.6 30.4 10.6 181 2233 0.00 2.35 0.00 0.000 4 0.000 0.054 3328 786 2669

2267 0.75 146.6 26.2 11.2 184 2271 0.00 2.28 0.00 0.000 6 0.000 0.045 3328 2186 2669

2471 0.75 146.6 5.8 9.7 214 2478 0.00 2.35 0.00 0.000 4 0.000 0.066 3328 3579 2669

2500 end climb: SURFACE_DEPTH_REACHED

state 2500 begin surface coast

2561 end surface coast: CONTROL_FINISHED_OK

state 2561 begin surface

ID	119	HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	22	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	175	ALTIM_PING_DEPTH	60
D_TGT	150	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3878	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	21.299999	C_ROLL_DIVE	2220	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-157.8	C_ROLL_CLIMB	2180	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	500	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	33	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	80	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	95	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	425	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3879	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3267	DEVICE6	-1
T_NO_W	120	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	360	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-14337.527	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
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	1379	AH0_24V	91.800003	SEABIRD_T_G	0.004348367
SPEED_FACTOR	1	PITCH_MAX	3813	AH0_10V	61.200001	SEABIRD_T_H	0.00063394889
RHO	1.023	C_PITCH	3170	PRESSURE_YINT	-3.8181691	SEABIRD_T_I	2.4089732e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	2.5198262e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.04077
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1285373
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022196125
HD_A	0.0038945	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00025642588

GPS1	163528,4808.005,-12223.165,32,1.9,32,18.3	TGT_NAME	KAYAKPT
_CALLS	1	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.187,-0.101
_SM_DEPTHo	0.72	KALMAN_X	1162.5,1079.6,-223.6,-2003.2,-682.9
_SM_ANGLEo	-74.4	KALMAN_Y	31.7,-485.8,115.3,-12.1,455.0
GPS2	163937,4808.015,-12223.174,25,2.0,25,18.3	MHEAD_RNG_PITCHd_Wd	100.0,217,-12.5,-6.250
SPEED_LIMITS	0.108,0.225	D_GRID	150

FINISH	3.7,1.020022	XPDR_PINGS	0
SM_CCo	2580,156.95,0.680,0,0,1227,500.17	ALTIM_BOTTOM_PING	80.9,38.6
SM_GC	0.88,0.00,0.00,156.95,0.000,0.000,0.680,1375,2210,1227,-8.26,-0.28,500.17	_24V_AH	24.2,2.762
IRIDIUM_FIX	4751.72,-12225.30,301007,191936	_10V_AH	10.7,1.135
TT8_MAMPS	0.027612	DATA_FILE_SIZE	9709,230
HUMID	1857	CFSIZE	260165632,258166784
INTERNAL_PRESSURE	9.66834	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
TCM_TEMP	18.20	GPS	301007,172707,4807.889,-12222.773,13,1.2,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	176	104.59	SBE_CT	159	24	92.38
Roll_motor	33	120	96.24	SBE_O2	168	19	77.58
VBD_pump_during_apogee	227	786	4332.09	WL_BB2F	387	105	985.78
VBD_pump_during_surface	156	680	2584.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	96.54	nil	0	0	0.00
Iridium_during_connect	35	160	138.90	nil	0	0	0.00
Iridium_during_xfer	95	223	517.42
Transponder_ping	1	420	10.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	27	50	14.55
TT8	390	19	82.67
LPSleep	1432	2	33.58
TT8_Active	449	19	95.14
TT8_Sampling	519	39	221.11
TT8_CF8	211	45	103.83
TT8_Kalman	33	81	29.15
Analog_circuits	738	12	94.81
GPS_charging	0	0	0.00
Compass	501	8	42.94
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-0.73	-128.5	0.0	0.0	0	97	0.00	0.00	-77.15	0.000	2	0.000	0.000	1375	2204	2976
98	-0.75	-146.6	3.4	-4.2	14	139	11.73	2.40	-23.50	0.000	4	0.176	0.070	2997	822	3866
272	-0.75	-146.6	21.8	-10.0	43	281	0.00	2.33	0.00	0.000	6	0.000	0.048	2997	2212	3866
470	-0.75	-146.6	39.5	-8.9	62	474	0.00	2.40	0.00	0.000	4	0.000	0.069	2997	3622	3866
502	-0.75	-146.6	42.7	-9.5	64	510	0.00	2.33	0.00	0.000	6	0.000	0.042	2997	2220	3866
697	-0.75	-146.6	59.7	-8.6	78	698	0.00	0.00	0.00	0.000	6	0.000	0.000	2997	2220	3866
1006	-0.75	-146.6	86.2	-8.6	93	1010	0.00	2.40	0.00	0.000	4	0.000	0.069	2997	3624	3866
1054	-0.75	-146.6	90.7	-8.9	95	1059	0.00	2.30	0.00	0.000	6	0.000	0.042	2997	2225	3866
1285	end dive: BOTTOM_OBSTACLE_DETECTED
state	1285	begin apogee
1289	-0.23	0.0	110.4	8.7	112	1408	0.70	0.00	112.72	0.786	6	0.085	0.000	3116	2167	3266
1409	end apogee: CONTROL_FINISHED_OK
state	1409	begin climb
1410	0.75	146.6	113.6	0.0	124	1536	1.25	2.50	114.97	0.750	4	0.064	0.056	3328	789	2669
1547	0.75	146.6	107.7	10.1	137	1552	0.00	2.40	0.00	0.000	6	0.000	0.045	3328	2180	2669
1864	0.75	146.6	70.6	11.5	155	1868	0.00	2.38	0.00	0.000	4	0.000	0.055	3328	779	2669
1902	0.75	146.6	66.1	11.9	157	1906	0.00	2.33	0.00	0.000	6	0.000	0.044	3328	2188	2669
2229	0.75	146.6	30.4	10.6	181	2233	0.00	2.35	0.00	0.000	4	0.000	0.054	3328	786	2669
2267	0.75	146.6	26.2	11.2	184	2271	0.00	2.28	0.00	0.000	6	0.000	0.045	3328	2186	2669
2471	0.75	146.6	5.8	9.7	214	2478	0.00	2.35	0.00	0.000	4	0.000	0.066	3328	3579	2669
2500	end climb: SURFACE_DEPTH_REACHED
state	2500	begin surface coast
2561	end surface coast: CONTROL_FINISHED_OK
state	2561	begin surface