Glider dive log

PortSusan 09Oct08 * SG101 * Dive index * Mission links * Dive 26 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 101 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 60 ROLL_MIN 177 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 26 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3698 ALTIM_PING_DEPTH 60

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 4 TGT_DEFAULT_LAT 48.150002 C_ROLL_DIVE 2417 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -125.67 C_ROLL_CLIMB 2417 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 500 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 657 DEVICE2 20

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3935 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3323 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 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 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -730248.38 VBD_BLEED_AD_RATE 10 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 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 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 29 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3302 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 0.94999993 C_PITCH 2493 PRESSURE_YINT -14.306441 SEABIRD_T_G 0.0042858003

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00062598009

MASS 50300 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.1740922e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -1.3 SEABIRD_T_J 2.0518198e-06

FERRY_MAX 45 PITCH_GAIN 11 TCM_ROLL_OFFSET -0.2 SEABIRD_C_G -9.9824123

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1171527

HD_A 0.0034169999 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00017022179

HD_B 0.0095870001 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010324208

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 500

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 11 SPEED_FACTOR 0.94999993

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3302 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 29 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -1.3

ALTIM_PULSE 3 ESCAPE_HEADING 60 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET -0.2

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.306441 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -125.67

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 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -730248.38

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_MISSION 60

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 101 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3698 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2493 KALMAN_USE 2 ROLL_MIN 177 USE_BATHY 0

C_ROLL_CLIMB 2417 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2417 MASS 50300 R_PORT_OVSHOOT 36 VBD_BLEED_AD_RATE 10

C_VBD 3323 MAX_BUOY 150 R_STBD_OVSHOOT 22 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -9.9824123 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1171527 VBD_MAX 3935

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00017022179 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00010324208 VBD_MIN 657

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0042858003 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062598009 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1740922e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.0518198e-06 XPDR_DEVICE 24

DIVE 26 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 165820,4806.756,-12221.998,6,1.1,11,18.3 TGT_NAME KAYAKPT

_CALLS 1 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.39 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 170226,4806.720,-12221.936,9,1.9,14,18.3 MHEAD_RNG_PITCHd_Wd 312.7,2711,-17.9,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.6,1.005347 ALTIM_BOTTOM_PING 81.1,39.0

SM_CCo 2287,213.02,0.700,1,0,1284,500.17 _24V_AH 23.3,3.122

SM_GC 1.42,0.00,0.00,213.02,0.000,0.000,0.700,28,2417,1284,-11.34,0.00,500.17 _10V_AH 10.1,1.075

IRIDIUM_FIX 4751.72,-12223.57,040198,161624 DATA_FILE_SIZE 9660,199

TT8_MAMPS 0.029146 CAP_FILE_SIZE 33002,0

HUMID 1848 CFSIZE 260165632,258179072

INTERNAL_PRESSURE 7.85186 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 18.60 GPS 101008,174613,4806.934,-12222.070,39,1.2,56,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 142 91.24 SBE_CT 133 24 74.64

Roll_motor 23 57 31.80 SBE_O2 147 19 65.16

VBD_pump_during_apogee 235 803 4402.71 WL_BB2F 342 105 837.24

VBD_pump_during_surface 213 700 3475.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 60.85 nil 0 0 0.00

Iridium_during_connect 27 160 101.44 nil 0 0 0.00

Iridium_during_xfer 91 223 473.72

Transponder_ping 1 420 9.79

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.97

TT8 347 19 69.41

LPSleep 1142 2 25.26

TT8_Active 524 19 104.99

TT8_Sampling 496 39 199.43

TT8_CF8 260 45 120.48

TT8_Kalman 0 0 0.00

Analog_circuits 817 12 99.06

GPS_charging 0 0 0.00

Compass 487 8 39.41

RAFOS 0 0 0.00

Transponder 8 30 2.60

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 -1.81 -146.6 0.0 0.0 0 137 0.00 0.00 -115.22 0.000 6 0.000 0.000 27 2414 3921

141 -1.81 -146.6 4.5 -8.7 21 154 10.80 0.00 0.00 0.000 6 0.123 0.000 2096 2414 3921

224 -1.69 -146.6 16.6 -10.7 35 231 0.12 2.35 0.00 0.000 4 0.092 0.058 2120 3699 3921

369 -1.61 -146.6 30.3 -9.2 50 376 0.05 2.25 0.00 0.000 6 0.095 0.036 2141 2415 3921

568 -1.61 -146.6 46.6 -8.2 69 569 0.00 0.00 0.00 0.000 6 0.000 0.000 2141 2415 3921

755 -1.61 -146.6 61.8 -8.1 80 759 0.00 2.33 0.00 0.000 4 0.000 0.056 2141 3696 3921

805 -1.61 -146.6 66.5 -9.1 82 809 0.00 2.20 0.00 0.000 6 0.000 0.036 2141 2408 3921

1128 -1.65 -146.6 93.1 -8.4 98 1132 0.00 2.33 0.00 0.000 4 0.000 0.055 2140 3693 3921

1208 -1.65 -146.6 100.4 -8.8 101 1214 0.00 2.20 0.00 0.000 6 0.000 0.036 2141 2408 3921

1328 end dive: BOTTOM_OBSTACLE_DETECTED

state 1329 begin apogee

1336 -0.45 0.0 110.1 7.8 113 1463 1.15 0.00 117.97 0.803 6 0.068 0.000 2390 2408 3323

1463 end apogee: CONTROL_FINISHED_OK

state 1464 begin climb

1467 1.81 146.6 112.4 0.0 126 1598 2.22 2.58 117.32 0.769 4 0.052 0.047 2888 1014 2724

1667 1.50 146.6 84.6 20.0 141 1672 0.38 2.50 0.00 0.000 6 0.143 0.041 2822 2421 2725

1987 1.34 146.6 33.2 15.1 161 1992 0.17 2.53 0.00 0.000 4 0.133 0.045 2789 1011 2724

2096 1.26 146.6 18.9 12.3 170 2103 0.12 2.47 0.00 0.000 6 0.138 0.041 2768 2417 2725

2172 1.26 146.6 10.1 11.5 183 2178 0.00 0.00 0.00 0.000 6 0.000 0.000 2769 2417 2724

2232 end climb: SURFACE_DEPTH_REACHED

state 2233 begin surface coast

2262 end surface coast: CONTROL_FINISHED_OK

state 2262 begin surface

ID	101	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	60	ROLL_MIN	177	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	26	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3698	ALTIM_PING_DEPTH	60
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	4	TGT_DEFAULT_LAT	48.150002	C_ROLL_DIVE	2417	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-125.67	C_ROLL_CLIMB	2417	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	500	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	657	DEVICE2	20
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3935	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3323	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	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	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-730248.38	VBD_BLEED_AD_RATE	10	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	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	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	29	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3302	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	0.94999993	C_PITCH	2493	PRESSURE_YINT	-14.306441	SEABIRD_T_G	0.0042858003
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00062598009
MASS	50300	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.1740922e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-1.3	SEABIRD_T_J	2.0518198e-06
FERRY_MAX	45	PITCH_GAIN	11	TCM_ROLL_OFFSET	-0.2	SEABIRD_C_G	-9.9824123
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1171527
HD_A	0.0034169999	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00017022179
HD_B	0.0095870001	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010324208
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	165820,4806.756,-12221.998,6,1.1,11,18.3	TGT_NAME	KAYAKPT
_CALLS	1	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.39	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	170226,4806.720,-12221.936,9,1.9,14,18.3	MHEAD_RNG_PITCHd_Wd	312.7,2711,-17.9,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	150

FINISH	0.6,1.005347	ALTIM_BOTTOM_PING	81.1,39.0
SM_CCo	2287,213.02,0.700,1,0,1284,500.17	_24V_AH	23.3,3.122
SM_GC	1.42,0.00,0.00,213.02,0.000,0.000,0.700,28,2417,1284,-11.34,0.00,500.17	_10V_AH	10.1,1.075
IRIDIUM_FIX	4751.72,-12223.57,040198,161624	DATA_FILE_SIZE	9660,199
TT8_MAMPS	0.029146	CAP_FILE_SIZE	33002,0
HUMID	1848	CFSIZE	260165632,258179072
INTERNAL_PRESSURE	7.85186	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	18.60	GPS	101008,174613,4806.934,-12222.070,39,1.2,56,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	142	91.24	SBE_CT	133	24	74.64
Roll_motor	23	57	31.80	SBE_O2	147	19	65.16
VBD_pump_during_apogee	235	803	4402.71	WL_BB2F	342	105	837.24
VBD_pump_during_surface	213	700	3475.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	60.85	nil	0	0	0.00
Iridium_during_connect	27	160	101.44	nil	0	0	0.00
Iridium_during_xfer	91	223	473.72
Transponder_ping	1	420	9.79
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.97
TT8	347	19	69.41
LPSleep	1142	2	25.26
TT8_Active	524	19	104.99
TT8_Sampling	496	39	199.43
TT8_CF8	260	45	120.48
TT8_Kalman	0	0	0.00
Analog_circuits	817	12	99.06
GPS_charging	0	0	0.00
Compass	487	8	39.41
RAFOS	0	0	0.00
Transponder	8	30	2.60

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	-1.81	-146.6	0.0	0.0	0	137	0.00	0.00	-115.22	0.000	6	0.000	0.000	27	2414	3921
141	-1.81	-146.6	4.5	-8.7	21	154	10.80	0.00	0.00	0.000	6	0.123	0.000	2096	2414	3921
224	-1.69	-146.6	16.6	-10.7	35	231	0.12	2.35	0.00	0.000	4	0.092	0.058	2120	3699	3921
369	-1.61	-146.6	30.3	-9.2	50	376	0.05	2.25	0.00	0.000	6	0.095	0.036	2141	2415	3921
568	-1.61	-146.6	46.6	-8.2	69	569	0.00	0.00	0.00	0.000	6	0.000	0.000	2141	2415	3921
755	-1.61	-146.6	61.8	-8.1	80	759	0.00	2.33	0.00	0.000	4	0.000	0.056	2141	3696	3921
805	-1.61	-146.6	66.5	-9.1	82	809	0.00	2.20	0.00	0.000	6	0.000	0.036	2141	2408	3921
1128	-1.65	-146.6	93.1	-8.4	98	1132	0.00	2.33	0.00	0.000	4	0.000	0.055	2140	3693	3921
1208	-1.65	-146.6	100.4	-8.8	101	1214	0.00	2.20	0.00	0.000	6	0.000	0.036	2141	2408	3921
1328	end dive: BOTTOM_OBSTACLE_DETECTED
state	1329	begin apogee
1336	-0.45	0.0	110.1	7.8	113	1463	1.15	0.00	117.97	0.803	6	0.068	0.000	2390	2408	3323
1463	end apogee: CONTROL_FINISHED_OK
state	1464	begin climb
1467	1.81	146.6	112.4	0.0	126	1598	2.22	2.58	117.32	0.769	4	0.052	0.047	2888	1014	2724
1667	1.50	146.6	84.6	20.0	141	1672	0.38	2.50	0.00	0.000	6	0.143	0.041	2822	2421	2725
1987	1.34	146.6	33.2	15.1	161	1992	0.17	2.53	0.00	0.000	4	0.133	0.045	2789	1011	2724
2096	1.26	146.6	18.9	12.3	170	2103	0.12	2.47	0.00	0.000	6	0.138	0.041	2768	2417	2725
2172	1.26	146.6	10.1	11.5	183	2178	0.00	0.00	0.00	0.000	6	0.000	0.000	2769	2417	2724
2232	end climb: SURFACE_DEPTH_REACHED
state	2233	begin surface coast
2262	end surface coast: CONTROL_FINISHED_OK
state	2262	begin surface