Glider dive log

PN07 DabobBay Sep07 * SG023 * Dive index * Mission links * Dive 126 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 23 HD_B 0.0123087 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 2 HD_C 3.5261501e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 126 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 208 ALTIM_PING_DEPTH 50

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2050 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_PITCH 0 SM_CC 350 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 40 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 580 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

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 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -28983.48 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 370 AH0_24V 91.800003 SEABIRD_T_G 0.0043036696

SPEED_FACTOR 1 PITCH_MAX 3518 AH0_10V 61.200001 SEABIRD_T_H 0.00062677584

RHO 1.023 C_PITCH 2610 PRESSURE_YINT -24.5345 SEABIRD_T_I 2.2664151e-05

MASS 51702 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.2667414e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.310682

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1615626

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0017275931

HD_A 0.0030006149 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00021877716

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3518 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 2 PITCH_MIN 370 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 90 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -24.5345 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 16 RAFOS_HIT_WINDOW 3600 T_DIVE 40

CALL_TRIES 5 HD_A 0.0030006149 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0123087 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 3.5261501e-06 RHO 1.023 T_GPS_CHARGE -28983.48

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 23 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2610 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2050 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51702 R_PORT_OVSHOOT 17 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 26 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.310682 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1615626 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0017275931 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00021877716 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043036696 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062677584 VBD_MIN 580

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2664151e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 126 PHONE_DEVICE 48 SEABIRD_T_J 2.2667414e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 192821,4739.513,-12252.586,10,1.8,10,18.3 TGT_NAME T4

_CALLS 2 TGT_LATLONG 4740.500,-12249.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.147,0.105

_SM_DEPTHo 1.10 KALMAN_X 6432.7,49.4,-27.9,-5985.1,-47.2

_SM_ANGLEo -67.9 KALMAN_Y 6472.0,104.2,-81.6,-6977.2,-128.1

GPS2 193650,4739.521,-12252.572,11,2.0,29,18.3 MHEAD_RNG_PITCHd_Wd 36.1,4810,-17.8,-7.500

SPEED_LIMITS 0.130,0.181 D_GRID 124

Post-dive calculations and measurements:

FINISH 1.6,1.021261 ALTIM_TOP_PING 9.8,7.9

SM_CCo 2531,120.25,0.645,0,0,2056,350.04 ALTIM_BOTTOM_PING 90.1,29.7

SM_GC 1.05,0.00,0.00,120.25,0.000,0.000,0.645,366,2151,2056,-10.32,0.03,350.04 _24V_AH 24.0,11.672

IRIDIUM_FIX 4722.92,-12256.21,240907,232343 _10V_AH 10.2,4.857

TT8_MAMPS 0.026845 DATA_FILE_SIZE 6438,238

HUMID 2138 CFSIZE 260034560,254554112

TCM_TEMP 19.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 2 GPS 240907,202337,4739.599,-12252.376,39,1.4,50,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 144 87.33 SBE_CT 159 24 92.09

Roll_motor 41 60 60.28 nil 0 0 0.00

VBD_pump_during_apogee 150 734 2646.11 nil 0 0 0.00

VBD_pump_during_surface 120 645 1861.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 188.25 nil 0 0 0.00

Iridium_during_connect 89 160 343.48 ARS 0 0 0.00

Iridium_during_xfer 176 223 944.60

Transponder_ping 2 420 20.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 93 29.31

TT8 457 19 92.32

LPSleep 1465 2 32.74

TT8_Active 384 19 77.71

TT8_Sampling 443 39 179.89

TT8_CF8 440 45 205.56

TT8_Kalman 33 81 27.83

Analog_circuits 648 12 79.39

GPS_charging 0 0 0.00

Compass 414 8 33.86

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -1.22 -97.8 0.0 0.0 0 89 0.00 0.00 -67.38 0.000 2 0.000 0.000 367 2160 3444

92 -1.22 -97.8 2.2 -4.0 11 129 10.95 2.95 -16.55 0.000 4 0.145 0.058 2342 728 3883

342 -1.22 -97.8 17.4 -6.3 49 348 0.00 2.80 0.00 0.000 6 0.000 0.031 2342 2157 3886

412 -1.22 -97.8 21.4 -5.6 58 416 0.00 2.45 0.00 0.000 4 0.000 0.050 2342 3565 3886

457 -1.22 -97.8 24.4 -6.5 61 464 0.00 2.42 0.00 0.000 6 0.000 0.033 2342 2147 3886

653 -1.22 -97.8 36.1 -6.7 77 657 0.00 2.45 0.00 0.000 4 0.000 0.049 2342 3561 3887

791 -1.22 -97.8 45.5 -6.6 87 798 0.00 2.42 0.00 0.000 6 0.000 0.035 2342 2145 3887

987 -1.22 -97.8 57.4 -6.0 103 991 0.00 2.45 0.00 0.000 4 0.000 0.051 2342 3562 3887

1031 -1.22 -97.8 60.4 -6.8 106 1039 0.00 2.42 0.00 0.000 6 0.000 0.035 2342 2147 3887

1228 -1.22 -97.8 72.2 -6.3 122 1229 0.00 0.00 0.00 0.000 6 0.000 0.000 2342 2147 3888

1417 -1.22 -97.8 84.1 -6.3 137 1421 0.00 2.47 0.00 0.000 4 0.000 0.052 2342 3569 3887

1483 -1.22 -97.8 88.4 -6.6 142 1487 0.00 2.40 0.00 0.000 6 0.000 0.037 2342 2149 3887

1510 end dive: TARGET_DEPTH_EXCEEDED

state 1510 begin apogee

1515 -0.31 0.0 90.1 6.4 144 1595 0.95 0.00 76.05 0.735 6 0.092 0.000 2536 2031 3484

1595 end apogee: CONTROL_FINISHED_OK

state 1596 begin climb

1597 1.22 97.8 91.4 0.0 151 1678 1.60 0.00 74.00 0.717 6 0.065 0.000 2871 2031 3084

1866 1.22 97.8 65.6 11.2 173 1871 0.00 2.88 0.00 0.000 4 0.000 0.061 2871 656 3083

1898 1.22 97.8 61.8 12.3 175 1903 0.00 2.78 0.00 0.000 6 0.000 0.030 2871 2048 3084

2100 1.22 97.8 40.7 10.1 191 2105 0.00 2.90 0.00 0.000 4 0.000 0.058 2871 655 3083

2139 1.22 97.8 36.7 10.5 194 2144 0.00 2.75 0.00 0.000 6 0.000 0.031 2871 2053 3083

2336 1.22 97.8 16.9 10.4 211 2341 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2052 3083

2407 1.22 97.8 10.3 9.2 222 2413 0.00 0.00 0.00 0.000 6 0.000 0.000 2871 2051 3083

2479 1.22 97.8 3.5 8.7 233 2485 0.00 2.45 0.00 0.000 4 0.000 0.048 2872 3459 3083

2504 end climb: SURFACE_DEPTH_REACHED

state 2504 begin surface coast

2510 end surface coast: CONTROL_FINISHED_OK

state 2510 begin surface

ID	23	HD_B	0.0123087	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	2	HD_C	3.5261501e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	126	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	208	ALTIM_PING_DEPTH	50
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2050	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_PITCH	0	SM_CC	350	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	40	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	580	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
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	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-28983.48	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	370	AH0_24V	91.800003	SEABIRD_T_G	0.0043036696
SPEED_FACTOR	1	PITCH_MAX	3518	AH0_10V	61.200001	SEABIRD_T_H	0.00062677584
RHO	1.023	C_PITCH	2610	PRESSURE_YINT	-24.5345	SEABIRD_T_I	2.2664151e-05
MASS	51702	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.2667414e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.310682
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1615626
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0017275931
HD_A	0.0030006149	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00021877716

GPS1	192821,4739.513,-12252.586,10,1.8,10,18.3	TGT_NAME	T4
_CALLS	2	TGT_LATLONG	4740.500,-12249.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.147,0.105
_SM_DEPTHo	1.10	KALMAN_X	6432.7,49.4,-27.9,-5985.1,-47.2
_SM_ANGLEo	-67.9	KALMAN_Y	6472.0,104.2,-81.6,-6977.2,-128.1
GPS2	193650,4739.521,-12252.572,11,2.0,29,18.3	MHEAD_RNG_PITCHd_Wd	36.1,4810,-17.8,-7.500
SPEED_LIMITS	0.130,0.181	D_GRID	124

FINISH	1.6,1.021261	ALTIM_TOP_PING	9.8,7.9
SM_CCo	2531,120.25,0.645,0,0,2056,350.04	ALTIM_BOTTOM_PING	90.1,29.7
SM_GC	1.05,0.00,0.00,120.25,0.000,0.000,0.645,366,2151,2056,-10.32,0.03,350.04	_24V_AH	24.0,11.672
IRIDIUM_FIX	4722.92,-12256.21,240907,232343	_10V_AH	10.2,4.857
TT8_MAMPS	0.026845	DATA_FILE_SIZE	6438,238
HUMID	2138	CFSIZE	260034560,254554112
TCM_TEMP	19.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	2	GPS	240907,202337,4739.599,-12252.376,39,1.4,50,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	144	87.33	SBE_CT	159	24	92.09
Roll_motor	41	60	60.28	nil	0	0	0.00
VBD_pump_during_apogee	150	734	2646.11	nil	0	0	0.00
VBD_pump_during_surface	120	645	1861.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	188.25	nil	0	0	0.00
Iridium_during_connect	89	160	343.48	ARS	0	0	0.00
Iridium_during_xfer	176	223	944.60
Transponder_ping	2	420	20.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	93	29.31
TT8	457	19	92.32
LPSleep	1465	2	32.74
TT8_Active	384	19	77.71
TT8_Sampling	443	39	179.89
TT8_CF8	440	45	205.56
TT8_Kalman	33	81	27.83
Analog_circuits	648	12	79.39
GPS_charging	0	0	0.00
Compass	414	8	33.86
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-1.22	-97.8	0.0	0.0	0	89	0.00	0.00	-67.38	0.000	2	0.000	0.000	367	2160	3444
92	-1.22	-97.8	2.2	-4.0	11	129	10.95	2.95	-16.55	0.000	4	0.145	0.058	2342	728	3883
342	-1.22	-97.8	17.4	-6.3	49	348	0.00	2.80	0.00	0.000	6	0.000	0.031	2342	2157	3886
412	-1.22	-97.8	21.4	-5.6	58	416	0.00	2.45	0.00	0.000	4	0.000	0.050	2342	3565	3886
457	-1.22	-97.8	24.4	-6.5	61	464	0.00	2.42	0.00	0.000	6	0.000	0.033	2342	2147	3886
653	-1.22	-97.8	36.1	-6.7	77	657	0.00	2.45	0.00	0.000	4	0.000	0.049	2342	3561	3887
791	-1.22	-97.8	45.5	-6.6	87	798	0.00	2.42	0.00	0.000	6	0.000	0.035	2342	2145	3887
987	-1.22	-97.8	57.4	-6.0	103	991	0.00	2.45	0.00	0.000	4	0.000	0.051	2342	3562	3887
1031	-1.22	-97.8	60.4	-6.8	106	1039	0.00	2.42	0.00	0.000	6	0.000	0.035	2342	2147	3887
1228	-1.22	-97.8	72.2	-6.3	122	1229	0.00	0.00	0.00	0.000	6	0.000	0.000	2342	2147	3888
1417	-1.22	-97.8	84.1	-6.3	137	1421	0.00	2.47	0.00	0.000	4	0.000	0.052	2342	3569	3887
1483	-1.22	-97.8	88.4	-6.6	142	1487	0.00	2.40	0.00	0.000	6	0.000	0.037	2342	2149	3887
1510	end dive: TARGET_DEPTH_EXCEEDED
state	1510	begin apogee
1515	-0.31	0.0	90.1	6.4	144	1595	0.95	0.00	76.05	0.735	6	0.092	0.000	2536	2031	3484
1595	end apogee: CONTROL_FINISHED_OK
state	1596	begin climb
1597	1.22	97.8	91.4	0.0	151	1678	1.60	0.00	74.00	0.717	6	0.065	0.000	2871	2031	3084
1866	1.22	97.8	65.6	11.2	173	1871	0.00	2.88	0.00	0.000	4	0.000	0.061	2871	656	3083
1898	1.22	97.8	61.8	12.3	175	1903	0.00	2.78	0.00	0.000	6	0.000	0.030	2871	2048	3084
2100	1.22	97.8	40.7	10.1	191	2105	0.00	2.90	0.00	0.000	4	0.000	0.058	2871	655	3083
2139	1.22	97.8	36.7	10.5	194	2144	0.00	2.75	0.00	0.000	6	0.000	0.031	2871	2053	3083
2336	1.22	97.8	16.9	10.4	211	2341	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2052	3083
2407	1.22	97.8	10.3	9.2	222	2413	0.00	0.00	0.00	0.000	6	0.000	0.000	2871	2051	3083
2479	1.22	97.8	3.5	8.7	233	2485	0.00	2.45	0.00	0.000	4	0.000	0.048	2872	3459	3083
2504	end climb: SURFACE_DEPTH_REACHED
state	2504	begin surface coast
2510	end surface coast: CONTROL_FINISHED_OK
state	2510	begin surface