Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 134 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 134 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 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 19

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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -45945.609 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 20 XPDR_DEVICE 24

MAX_BUOY 125 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 460 AH0_24V 91.800003 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -7.4494777 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 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 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.4494777 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 35

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -45945.609

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 31 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 40 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 134 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 24

Pre-dive calculations and measurements:

GPS1 202333,4739.500,-12252.665,11,1.4,11,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.224,-0.076

_SM_DEPTHo 1.00 KALMAN_X 2763.7,-38.3,117.6,-3342.5,70.8

_SM_ANGLEo -61.0 KALMAN_Y 3550.6,114.2,200.7,-4249.4,72.2

GPS2 202923,4739.556,-12252.603,15,2.7,34,18.3 MHEAD_RNG_PITCHd_Wd 233.0,766,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 123

Post-dive calculations and measurements:

FINISH 0.3,1.011393 XPDR_PINGS 0

SM_CCo 2863,119.93,0.581,0,0,1587,400.08 ALTIM_BOTTOM_PING 50.0,51.1

SM_GC 0.94,0.00,0.00,119.93,0.000,0.000,0.581,461,1809,1587,-12.14,0.25,400.08 _24V_AH 23.9,16.846

IRIDIUM_FIX 4722.92,-12305.98,290907,232326 _10V_AH 10.1,38.236

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6456,264

HUMID 2026 CFSIZE 260034560,252968960

INTERNAL_PRESSURE 8.40853 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 290907,212057,4739.522,-12252.996,10,1.9,10,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 209 157.64 SBE_CT 176 24 101.52

Roll_motor 35 75 64.79 nil 0 0 0.00

VBD_pump_during_apogee 194 680 3158.48 nil 0 0 0.00

VBD_pump_during_surface 119 581 1666.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 96.34 nil 0 0 0.00

Iridium_during_connect 35 160 135.69 ARS 0 0 0.00

Iridium_during_xfer 140 223 747.22

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3451 6 527.86

GPS 35 50 17.99

TT8 497 19 99.58

LPSleep 1600 2 35.41

TT8_Active 424 19 84.90

TT8_Sampling 510 39 205.41

TT8_CF8 328 45 151.82

TT8_Kalman 33 81 27.54

Analog_circuits 714 12 86.63

GPS_charging 0 0 0.00

Compass 461 8 37.33

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.63 -122.2 0.0 0.0 0 92 0.00 0.00 -67.22 0.000 2 0.000 0.000 462 1819 3073

95 -1.63 -122.2 2.1 -4.2 11 138 14.60 0.00 -23.05 0.000 6 0.209 0.000 2742 1818 3719

203 -1.63 -122.2 6.9 -5.9 28 210 0.00 2.67 0.00 0.000 4 0.000 0.071 2741 406 3721

322 -1.63 -122.2 13.6 -5.7 46 328 0.00 2.42 0.00 0.000 6 0.000 0.035 2742 1801 3721

394 -1.63 -122.2 17.9 -5.9 57 400 0.00 2.50 0.00 0.000 4 0.000 0.050 2741 3192 3721

466 -1.63 -122.2 22.2 -5.9 65 472 0.00 2.45 0.00 0.000 6 0.000 0.037 2742 1802 3721

661 -1.63 -122.2 33.3 -5.7 81 665 0.00 2.50 0.00 0.000 4 0.000 0.048 2742 3191 3721

699 -1.63 -122.2 35.6 -6.0 83 706 0.00 2.47 0.00 0.000 6 0.000 0.036 2742 1801 3721

895 -1.63 -122.2 47.0 -6.0 99 899 0.00 2.50 0.00 0.000 4 0.000 0.048 2742 3191 3721

954 -1.63 -122.2 50.5 -5.7 103 961 0.00 2.47 0.00 0.000 6 0.000 0.037 2742 1804 3721

1151 -1.63 -122.2 60.8 -5.3 119 1152 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1804 3721

1341 -1.63 -122.2 71.4 -5.8 134 1342 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1804 3721

1530 -1.63 -122.2 82.6 -5.7 149 1535 0.00 2.65 0.00 0.000 4 0.000 0.074 2742 394 3721

1643 -1.63 -122.2 89.9 -6.7 157 1647 0.00 2.42 0.00 0.000 6 0.000 0.034 2742 1800 3721

1825 end dive: TARGET_DEPTH_EXCEEDED

state 1825 begin apogee

1830 -0.38 0.0 100.5 5.5 171 1935 1.35 0.00 98.72 0.680 6 0.102 0.000 3011 1730 3218

1935 end apogee: CONTROL_FINISHED_OK

state 1936 begin climb

1937 1.63 122.2 101.4 0.0 180 2043 1.98 2.78 95.53 0.650 4 0.052 0.076 3458 336 2719

2082 1.63 122.2 88.9 11.5 191 2086 0.00 2.47 0.00 0.000 6 0.000 0.035 3458 1734 2718

2284 1.63 122.2 65.2 12.0 207 2288 0.00 2.67 0.00 0.000 4 0.000 0.074 3457 342 2717

2381 1.63 122.2 52.3 13.9 214 2389 0.00 2.47 0.00 0.000 6 0.000 0.034 3458 1735 2716

2578 1.63 122.2 28.1 12.1 230 2579 0.00 0.00 0.00 0.000 6 0.000 0.000 3457 1735 2716

2773 1.63 122.2 5.6 10.2 254 2778 0.00 0.00 0.00 0.000 6 0.000 0.000 3458 1736 2716

2784 end climb: SURFACE_DEPTH_REACHED

state 2784 begin surface coast

2837 end surface coast: CONTROL_FINISHED_OK

state 2837 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	134	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	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	19
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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-45945.609	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	20	XPDR_DEVICE	24
MAX_BUOY	125	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	460	AH0_24V	91.800003	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-7.4494777	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	202333,4739.500,-12252.665,11,1.4,11,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.224,-0.076
_SM_DEPTHo	1.00	KALMAN_X	2763.7,-38.3,117.6,-3342.5,70.8
_SM_ANGLEo	-61.0	KALMAN_Y	3550.6,114.2,200.7,-4249.4,72.2
GPS2	202923,4739.556,-12252.603,15,2.7,34,18.3	MHEAD_RNG_PITCHd_Wd	233.0,766,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	123

FINISH	0.3,1.011393	XPDR_PINGS	0
SM_CCo	2863,119.93,0.581,0,0,1587,400.08	ALTIM_BOTTOM_PING	50.0,51.1
SM_GC	0.94,0.00,0.00,119.93,0.000,0.000,0.581,461,1809,1587,-12.14,0.25,400.08	_24V_AH	23.9,16.846
IRIDIUM_FIX	4722.92,-12305.98,290907,232326	_10V_AH	10.1,38.236
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6456,264
HUMID	2026	CFSIZE	260034560,252968960
INTERNAL_PRESSURE	8.40853	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	290907,212057,4739.522,-12252.996,10,1.9,10,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	209	157.64	SBE_CT	176	24	101.52
Roll_motor	35	75	64.79	nil	0	0	0.00
VBD_pump_during_apogee	194	680	3158.48	nil	0	0	0.00
VBD_pump_during_surface	119	581	1666.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	96.34	nil	0	0	0.00
Iridium_during_connect	35	160	135.69	ARS	0	0	0.00
Iridium_during_xfer	140	223	747.22
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3451	6	527.86
GPS	35	50	17.99
TT8	497	19	99.58
LPSleep	1600	2	35.41
TT8_Active	424	19	84.90
TT8_Sampling	510	39	205.41
TT8_CF8	328	45	151.82
TT8_Kalman	33	81	27.54
Analog_circuits	714	12	86.63
GPS_charging	0	0	0.00
Compass	461	8	37.33
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.63	-122.2	0.0	0.0	0	92	0.00	0.00	-67.22	0.000	2	0.000	0.000	462	1819	3073
95	-1.63	-122.2	2.1	-4.2	11	138	14.60	0.00	-23.05	0.000	6	0.209	0.000	2742	1818	3719
203	-1.63	-122.2	6.9	-5.9	28	210	0.00	2.67	0.00	0.000	4	0.000	0.071	2741	406	3721
322	-1.63	-122.2	13.6	-5.7	46	328	0.00	2.42	0.00	0.000	6	0.000	0.035	2742	1801	3721
394	-1.63	-122.2	17.9	-5.9	57	400	0.00	2.50	0.00	0.000	4	0.000	0.050	2741	3192	3721
466	-1.63	-122.2	22.2	-5.9	65	472	0.00	2.45	0.00	0.000	6	0.000	0.037	2742	1802	3721
661	-1.63	-122.2	33.3	-5.7	81	665	0.00	2.50	0.00	0.000	4	0.000	0.048	2742	3191	3721
699	-1.63	-122.2	35.6	-6.0	83	706	0.00	2.47	0.00	0.000	6	0.000	0.036	2742	1801	3721
895	-1.63	-122.2	47.0	-6.0	99	899	0.00	2.50	0.00	0.000	4	0.000	0.048	2742	3191	3721
954	-1.63	-122.2	50.5	-5.7	103	961	0.00	2.47	0.00	0.000	6	0.000	0.037	2742	1804	3721
1151	-1.63	-122.2	60.8	-5.3	119	1152	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1804	3721
1341	-1.63	-122.2	71.4	-5.8	134	1342	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1804	3721
1530	-1.63	-122.2	82.6	-5.7	149	1535	0.00	2.65	0.00	0.000	4	0.000	0.074	2742	394	3721
1643	-1.63	-122.2	89.9	-6.7	157	1647	0.00	2.42	0.00	0.000	6	0.000	0.034	2742	1800	3721
1825	end dive: TARGET_DEPTH_EXCEEDED
state	1825	begin apogee
1830	-0.38	0.0	100.5	5.5	171	1935	1.35	0.00	98.72	0.680	6	0.102	0.000	3011	1730	3218
1935	end apogee: CONTROL_FINISHED_OK
state	1936	begin climb
1937	1.63	122.2	101.4	0.0	180	2043	1.98	2.78	95.53	0.650	4	0.052	0.076	3458	336	2719
2082	1.63	122.2	88.9	11.5	191	2086	0.00	2.47	0.00	0.000	6	0.000	0.035	3458	1734	2718
2284	1.63	122.2	65.2	12.0	207	2288	0.00	2.67	0.00	0.000	4	0.000	0.074	3457	342	2717
2381	1.63	122.2	52.3	13.9	214	2389	0.00	2.47	0.00	0.000	6	0.000	0.034	3458	1735	2716
2578	1.63	122.2	28.1	12.1	230	2579	0.00	0.00	0.00	0.000	6	0.000	0.000	3457	1735	2716
2773	1.63	122.2	5.6	10.2	254	2778	0.00	0.00	0.00	0.000	6	0.000	0.000	3458	1736	2716
2784	end climb: SURFACE_DEPTH_REACHED
state	2784	begin surface coast
2837	end surface coast: CONTROL_FINISHED_OK
state	2837	begin surface