Glider dive log

Faroes Nov07 * SG016 * Dive index * Mission links * Dive 270 * 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 270 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 14 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 -2082234.1 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 -2082234.1

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 14 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 270 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 080923,6242.737,-627.974,9,3.4,28,-8.3 TGT_NAME N_ADCP

_CALLS 2 TGT_LATLONG 6247.440,-604.422

_XMS_NAKs 0 TGT_RADIUS 1.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.001,-0.221

_SM_DEPTHo 0.98 KALMAN_X 39566.3,-549.8,3167.5,96653.7,20083.0

_SM_ANGLEo -54.5 KALMAN_Y 76959.9,-1291.5,2744.9,41229.9,103958.2

GPS2 081735,6242.777,-627.846,15,4.3,34,-8.3 MHEAD_RNG_PITCHd_Wd 74.8,21634,-11.0,-6.000

SPEED_LIMITS 0.104,0.221 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.027424 ALTIM_BOTTOM_PING 150.9,36.8

SM_CCo 5043,176.07,0.670,1,0,508,566.15 _24V_AH 23.8,46.966

SM_GC 0.96,0.00,0.00,176.07,0.000,0.000,0.670,70,2399,508,-10.77,-0.03,566.15 _10V_AH 10.2,23.671

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9726,242

TT8_MAMPS 0.023777 CFSIZE 260165632,243429376

HUMID 2060 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,1,0

TCM_TEMP 16.90 GPS 060108,094637,6243.101,-625.451,30,2.0,33,-8.2

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 174 107.07 SBE_CT 176 24 100.95

Roll_motor 36 71 62.47 SBE_O2 164 19 74.53

VBD_pump_during_apogee 307 802 5868.64 WL_BB2F 340 105 850.75

VBD_pump_during_surface 176 669 2805.98 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 65 103 160.08 nil 0 0 0.00

Iridium_during_connect 70 160 267.39 nil 0 0 0.00

Iridium_during_xfer 179 223 950.12

Transponder_ping 0 420 7.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 17.88

TT8 471 19 95.24

LPSleep 3612 2 80.70

TT8_Active 627 19 126.80

TT8_Sampling 600 39 243.60

TT8_CF8 417 45 195.15

TT8_Kalman 33 81 27.83

Analog_circuits 920 12 112.72

GPS_charging 0 0 0.00

Compass 574 8 46.91

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

23 -0.85 -146.6 0.0 0.0 0 144 0.00 0.00 -114.93 0.000 6 0.000 0.000 71 2405 3416

147 -0.85 -146.6 6.4 -6.0 6 169 12.20 2.62 0.00 0.000 4 0.175 0.070 2222 3773 3419

421 -0.85 -146.6 41.6 -7.7 18 426 0.00 2.53 0.00 0.000 6 0.000 0.054 2222 2398 3420

742 -0.85 -146.6 64.8 -7.4 34 744 0.00 0.00 0.00 0.000 6 0.000 0.000 2222 2398 3420

1054 -0.85 -146.6 92.2 -9.0 49 1058 0.00 2.65 0.00 0.000 4 0.000 0.071 2222 983 3420

1097 -0.85 -146.6 96.3 -8.6 51 1101 0.00 2.60 0.00 0.000 6 0.000 0.058 2222 2402 3420

1424 -0.85 -146.6 121.1 -7.4 67 1428 0.00 2.67 0.00 0.000 4 0.000 0.069 2222 977 3420

1456 -0.85 -146.6 123.7 -7.4 68 1463 0.00 2.62 0.00 0.000 6 0.000 0.057 2222 2413 3420

1774 -0.85 -146.6 149.2 -8.5 84 1775 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2413 3420

2081 -0.85 -146.6 174.4 -8.4 99 2085 0.00 2.67 0.00 0.000 4 0.000 0.070 2222 982 3420

2122 end dive: BOTTOM_OBSTACLE_DETECTED

state 2122 begin apogee

2130 -0.31 0.0 177.9 8.1 101 2249 0.55 0.00 115.38 0.802 6 0.103 0.000 2336 2206 2817

2250 end apogee: CONTROL_FINISHED_OK

state 2250 begin climb

2252 0.85 146.6 182.9 0.0 107 2371 1.25 0.00 114.12 0.776 6 0.091 0.000 2589 2206 2219

2675 0.89 183.0 164.5 5.0 128 2707 0.00 0.00 29.15 0.739 6 0.000 0.000 2589 2206 2071

3006 0.89 183.0 144.6 7.1 144 3010 0.00 2.67 0.00 0.000 4 0.000 0.067 2589 784 2071

3049 0.89 183.0 141.8 6.5 146 3053 0.00 2.58 0.00 0.000 6 0.000 0.049 2589 2204 2070

3376 0.93 225.5 123.5 4.8 162 3417 0.12 0.00 33.95 0.729 6 0.067 0.000 2621 2204 1896

3727 0.93 225.5 97.5 7.2 179 3732 0.00 2.67 0.00 0.000 4 0.000 0.067 2621 777 1894

3760 0.93 225.5 94.6 8.6 180 3766 0.00 2.62 0.00 0.000 6 0.000 0.049 2621 2202 1894

4076 0.93 225.5 69.5 8.0 196 4077 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2202 1894

4387 0.93 225.5 47.0 7.8 211 4388 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2201 1894

4694 0.93 225.5 24.1 6.9 226 4699 0.00 2.65 0.00 0.000 4 0.000 0.067 2621 785 1894

4722 0.95 243.6 22.5 5.5 227 4741 0.00 2.58 14.75 0.652 6 0.000 0.049 2621 2201 1824

5000 end climb: SURFACE_DEPTH_REACHED

state 5000 begin surface coast

5022 end surface coast: CONTROL_FINISHED_OK

state 5022 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	270	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	14	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	-2082234.1	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	080923,6242.737,-627.974,9,3.4,28,-8.3	TGT_NAME	N_ADCP
_CALLS	2	TGT_LATLONG	6247.440,-604.422
_XMS_NAKs	0	TGT_RADIUS	1.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.001,-0.221
_SM_DEPTHo	0.98	KALMAN_X	39566.3,-549.8,3167.5,96653.7,20083.0
_SM_ANGLEo	-54.5	KALMAN_Y	76959.9,-1291.5,2744.9,41229.9,103958.2
GPS2	081735,6242.777,-627.846,15,4.3,34,-8.3	MHEAD_RNG_PITCHd_Wd	74.8,21634,-11.0,-6.000
SPEED_LIMITS	0.104,0.221	D_GRID	990

FINISH	0.4,1.027424	ALTIM_BOTTOM_PING	150.9,36.8
SM_CCo	5043,176.07,0.670,1,0,508,566.15	_24V_AH	23.8,46.966
SM_GC	0.96,0.00,0.00,176.07,0.000,0.000,0.670,70,2399,508,-10.77,-0.03,566.15	_10V_AH	10.2,23.671
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9726,242
TT8_MAMPS	0.023777	CFSIZE	260165632,243429376
HUMID	2060	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
TCM_TEMP	16.90	GPS	060108,094637,6243.101,-625.451,30,2.0,33,-8.2
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	174	107.07	SBE_CT	176	24	100.95
Roll_motor	36	71	62.47	SBE_O2	164	19	74.53
VBD_pump_during_apogee	307	802	5868.64	WL_BB2F	340	105	850.75
VBD_pump_during_surface	176	669	2805.98	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	65	103	160.08	nil	0	0	0.00
Iridium_during_connect	70	160	267.39	nil	0	0	0.00
Iridium_during_xfer	179	223	950.12
Transponder_ping	0	420	7.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	17.88
TT8	471	19	95.24
LPSleep	3612	2	80.70
TT8_Active	627	19	126.80
TT8_Sampling	600	39	243.60
TT8_CF8	417	45	195.15
TT8_Kalman	33	81	27.83
Analog_circuits	920	12	112.72
GPS_charging	0	0	0.00
Compass	574	8	46.91
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
23	-0.85	-146.6	0.0	0.0	0	144	0.00	0.00	-114.93	0.000	6	0.000	0.000	71	2405	3416
147	-0.85	-146.6	6.4	-6.0	6	169	12.20	2.62	0.00	0.000	4	0.175	0.070	2222	3773	3419
421	-0.85	-146.6	41.6	-7.7	18	426	0.00	2.53	0.00	0.000	6	0.000	0.054	2222	2398	3420
742	-0.85	-146.6	64.8	-7.4	34	744	0.00	0.00	0.00	0.000	6	0.000	0.000	2222	2398	3420
1054	-0.85	-146.6	92.2	-9.0	49	1058	0.00	2.65	0.00	0.000	4	0.000	0.071	2222	983	3420
1097	-0.85	-146.6	96.3	-8.6	51	1101	0.00	2.60	0.00	0.000	6	0.000	0.058	2222	2402	3420
1424	-0.85	-146.6	121.1	-7.4	67	1428	0.00	2.67	0.00	0.000	4	0.000	0.069	2222	977	3420
1456	-0.85	-146.6	123.7	-7.4	68	1463	0.00	2.62	0.00	0.000	6	0.000	0.057	2222	2413	3420
1774	-0.85	-146.6	149.2	-8.5	84	1775	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2413	3420
2081	-0.85	-146.6	174.4	-8.4	99	2085	0.00	2.67	0.00	0.000	4	0.000	0.070	2222	982	3420
2122	end dive: BOTTOM_OBSTACLE_DETECTED
state	2122	begin apogee
2130	-0.31	0.0	177.9	8.1	101	2249	0.55	0.00	115.38	0.802	6	0.103	0.000	2336	2206	2817
2250	end apogee: CONTROL_FINISHED_OK
state	2250	begin climb
2252	0.85	146.6	182.9	0.0	107	2371	1.25	0.00	114.12	0.776	6	0.091	0.000	2589	2206	2219
2675	0.89	183.0	164.5	5.0	128	2707	0.00	0.00	29.15	0.739	6	0.000	0.000	2589	2206	2071
3006	0.89	183.0	144.6	7.1	144	3010	0.00	2.67	0.00	0.000	4	0.000	0.067	2589	784	2071
3049	0.89	183.0	141.8	6.5	146	3053	0.00	2.58	0.00	0.000	6	0.000	0.049	2589	2204	2070
3376	0.93	225.5	123.5	4.8	162	3417	0.12	0.00	33.95	0.729	6	0.067	0.000	2621	2204	1896
3727	0.93	225.5	97.5	7.2	179	3732	0.00	2.67	0.00	0.000	4	0.000	0.067	2621	777	1894
3760	0.93	225.5	94.6	8.6	180	3766	0.00	2.62	0.00	0.000	6	0.000	0.049	2621	2202	1894
4076	0.93	225.5	69.5	8.0	196	4077	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2202	1894
4387	0.93	225.5	47.0	7.8	211	4388	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2201	1894
4694	0.93	225.5	24.1	6.9	226	4699	0.00	2.65	0.00	0.000	4	0.000	0.067	2621	785	1894
4722	0.95	243.6	22.5	5.5	227	4741	0.00	2.58	14.75	0.652	6	0.000	0.049	2621	2201	1824
5000	end climb: SURFACE_DEPTH_REACHED
state	5000	begin surface coast
5022	end surface coast: CONTROL_FINISHED_OK
state	5022	begin surface