Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 135 * 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 135 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 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -45978.246 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 -45978.246

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 29 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 34 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 135 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 212057,4739.522,-12252.996,10,1.9,10,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.173,-0.134

_SM_DEPTHo 0.95 KALMAN_X 2775.5,-10.9,132.4,-3815.3,35.2

_SM_ANGLEo -58.3 KALMAN_Y 3702.7,144.5,222.9,-4382.8,47.4

GPS2 212653,4739.595,-12252.939,12,9.0,31,18.3 MHEAD_RNG_PITCHd_Wd 213.9,405,-20.9,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 119

Post-dive calculations and measurements:

FINISH 0.4,1.021690 XPDR_PINGS 0

SM_CCo 2679,119.15,0.593,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.6,51.7

SM_GC 0.98,0.00,0.00,119.15,0.000,0.000,0.593,461,1806,1586,-12.14,0.17,400.08 _24V_AH 23.8,16.920

IRIDIUM_FIX 4722.92,-12253.53,300907,000024 _10V_AH 10.1,38.304

TT8_MAMPS 0.072098 DATA_FILE_SIZE 6440,247

HUMID 2032 CFSIZE 260034560,252936192

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

TCM_TEMP 19.60 GPS 290907,221538,4739.418,-12253.277,26,1.9,26,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 208 156.65 SBE_CT 165 24 94.48

Roll_motor 40 82 79.84 nil 0 0 0.00

VBD_pump_during_apogee 192 682 3130.31 nil 0 0 0.00

VBD_pump_during_surface 119 592 1681.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 99.69 nil 0 0 0.00

Iridium_during_connect 38 160 146.43 ARS 0 0 0.00

Iridium_during_xfer 141 223 752.12

Transponder_ping 0 420 5.00

Mmodem_TX 0 1000 0.00

Mmodem_RX 3265 6 497.32

GPS 32 50 16.16

TT8 474 19 94.82

LPSleep 1448 2 32.03

TT8_Active 428 19 85.68

TT8_Sampling 497 39 199.95

TT8_CF8 334 45 154.96

TT8_Kalman 33 81 27.53

Analog_circuits 714 12 86.58

GPS_charging 0 0 0.00

Compass 451 8 36.47

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 -1.73 -103.9 0.0 0.0 0 92 0.00 0.00 -67.32 0.000 2 0.000 0.000 461 1809 3057

95 -1.75 -122.2 2.0 -3.8 11 139 14.40 2.72 -23.98 0.000 4 0.209 0.082 2714 403 3719

232 -1.75 -122.2 7.7 -5.5 32 238 0.00 2.45 0.00 0.000 6 0.000 0.035 2714 1805 3721

304 -1.75 -122.2 11.4 -5.6 43 310 0.00 2.50 0.00 0.000 4 0.000 0.051 2714 3194 3720

342 -1.75 -122.2 13.8 -6.3 49 349 0.00 2.47 0.00 0.000 6 0.000 0.037 2713 1795 3720

415 -1.75 -122.2 17.8 -5.7 60 420 0.00 0.00 0.00 0.000 6 0.000 0.000 2714 1795 3721

493 -1.75 -122.2 22.5 -6.1 69 497 0.00 2.53 0.00 0.000 4 0.000 0.048 2714 3195 3720

605 -1.75 -122.2 29.8 -6.6 77 609 0.00 2.47 0.00 0.000 6 0.000 0.037 2714 1791 3721

800 -1.75 -122.2 42.0 -6.5 92 801 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 1791 3721

989 -1.75 -122.2 53.8 -6.2 107 993 0.00 2.53 0.00 0.000 4 0.000 0.049 2714 3191 3721

1040 -1.75 -122.2 57.2 -7.1 110 1048 0.00 2.47 0.00 0.000 6 0.000 0.036 2714 1804 3721

1237 -1.75 -122.2 69.8 -6.6 126 1241 0.00 2.65 0.00 0.000 4 0.000 0.074 2714 391 3721

1296 -1.75 -122.2 73.7 -6.2 130 1300 0.00 2.45 0.00 0.000 6 0.000 0.035 2714 1801 3721

1491 -1.75 -122.2 85.2 -6.1 145 1495 0.00 2.65 0.00 0.000 4 0.000 0.072 2714 398 3721

1623 -1.75 -122.2 94.1 -7.2 154 1629 0.00 2.42 0.00 0.000 6 0.000 0.034 2714 1801 3721

1715 end dive: TARGET_DEPTH_EXCEEDED

state 1715 begin apogee

1720 -0.38 0.0 100.3 6.4 162 1826 1.50 0.00 98.00 0.683 6 0.106 0.000 3011 1720 3217

1827 end apogee: CONTROL_FINISHED_OK

state 1827 begin climb

1829 1.75 122.2 101.3 0.0 171 1934 2.10 2.67 94.68 0.660 4 0.051 0.076 3486 341 2718

1952 1.75 122.2 90.2 12.5 180 1960 0.00 2.47 0.00 0.000 6 0.000 0.035 3486 1728 2717

2148 1.75 122.2 64.4 13.7 196 2152 0.00 2.67 0.00 0.000 4 0.000 0.075 3486 339 2716

2272 1.75 122.2 46.7 14.2 205 2280 0.00 2.47 0.00 0.000 6 0.000 0.033 3486 1734 2716

2469 1.75 122.2 22.5 12.1 221 2470 0.00 0.00 0.00 0.000 6 0.000 0.000 3486 1734 2716

2613 end climb: SURFACE_DEPTH_REACHED

state 2613 begin surface coast

2652 end surface coast: CONTROL_FINISHED_OK

state 2652 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	135	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	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-45978.246	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	212057,4739.522,-12252.996,10,1.9,10,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.173,-0.134
_SM_DEPTHo	0.95	KALMAN_X	2775.5,-10.9,132.4,-3815.3,35.2
_SM_ANGLEo	-58.3	KALMAN_Y	3702.7,144.5,222.9,-4382.8,47.4
GPS2	212653,4739.595,-12252.939,12,9.0,31,18.3	MHEAD_RNG_PITCHd_Wd	213.9,405,-20.9,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	119

FINISH	0.4,1.021690	XPDR_PINGS	0
SM_CCo	2679,119.15,0.593,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.6,51.7
SM_GC	0.98,0.00,0.00,119.15,0.000,0.000,0.593,461,1806,1586,-12.14,0.17,400.08	_24V_AH	23.8,16.920
IRIDIUM_FIX	4722.92,-12253.53,300907,000024	_10V_AH	10.1,38.304
TT8_MAMPS	0.072098	DATA_FILE_SIZE	6440,247
HUMID	2032	CFSIZE	260034560,252936192
INTERNAL_PRESSURE	8.40853	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	290907,221538,4739.418,-12253.277,26,1.9,26,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	208	156.65	SBE_CT	165	24	94.48
Roll_motor	40	82	79.84	nil	0	0	0.00
VBD_pump_during_apogee	192	682	3130.31	nil	0	0	0.00
VBD_pump_during_surface	119	592	1681.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	99.69	nil	0	0	0.00
Iridium_during_connect	38	160	146.43	ARS	0	0	0.00
Iridium_during_xfer	141	223	752.12
Transponder_ping	0	420	5.00
Mmodem_TX	0	1000	0.00
Mmodem_RX	3265	6	497.32
GPS	32	50	16.16
TT8	474	19	94.82
LPSleep	1448	2	32.03
TT8_Active	428	19	85.68
TT8_Sampling	497	39	199.95
TT8_CF8	334	45	154.96
TT8_Kalman	33	81	27.53
Analog_circuits	714	12	86.58
GPS_charging	0	0	0.00
Compass	451	8	36.47
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	-1.73	-103.9	0.0	0.0	0	92	0.00	0.00	-67.32	0.000	2	0.000	0.000	461	1809	3057
95	-1.75	-122.2	2.0	-3.8	11	139	14.40	2.72	-23.98	0.000	4	0.209	0.082	2714	403	3719
232	-1.75	-122.2	7.7	-5.5	32	238	0.00	2.45	0.00	0.000	6	0.000	0.035	2714	1805	3721
304	-1.75	-122.2	11.4	-5.6	43	310	0.00	2.50	0.00	0.000	4	0.000	0.051	2714	3194	3720
342	-1.75	-122.2	13.8	-6.3	49	349	0.00	2.47	0.00	0.000	6	0.000	0.037	2713	1795	3720
415	-1.75	-122.2	17.8	-5.7	60	420	0.00	0.00	0.00	0.000	6	0.000	0.000	2714	1795	3721
493	-1.75	-122.2	22.5	-6.1	69	497	0.00	2.53	0.00	0.000	4	0.000	0.048	2714	3195	3720
605	-1.75	-122.2	29.8	-6.6	77	609	0.00	2.47	0.00	0.000	6	0.000	0.037	2714	1791	3721
800	-1.75	-122.2	42.0	-6.5	92	801	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	1791	3721
989	-1.75	-122.2	53.8	-6.2	107	993	0.00	2.53	0.00	0.000	4	0.000	0.049	2714	3191	3721
1040	-1.75	-122.2	57.2	-7.1	110	1048	0.00	2.47	0.00	0.000	6	0.000	0.036	2714	1804	3721
1237	-1.75	-122.2	69.8	-6.6	126	1241	0.00	2.65	0.00	0.000	4	0.000	0.074	2714	391	3721
1296	-1.75	-122.2	73.7	-6.2	130	1300	0.00	2.45	0.00	0.000	6	0.000	0.035	2714	1801	3721
1491	-1.75	-122.2	85.2	-6.1	145	1495	0.00	2.65	0.00	0.000	4	0.000	0.072	2714	398	3721
1623	-1.75	-122.2	94.1	-7.2	154	1629	0.00	2.42	0.00	0.000	6	0.000	0.034	2714	1801	3721
1715	end dive: TARGET_DEPTH_EXCEEDED
state	1715	begin apogee
1720	-0.38	0.0	100.3	6.4	162	1826	1.50	0.00	98.00	0.683	6	0.106	0.000	3011	1720	3217
1827	end apogee: CONTROL_FINISHED_OK
state	1827	begin climb
1829	1.75	122.2	101.3	0.0	171	1934	2.10	2.67	94.68	0.660	4	0.051	0.076	3486	341	2718
1952	1.75	122.2	90.2	12.5	180	1960	0.00	2.47	0.00	0.000	6	0.000	0.035	3486	1728	2717
2148	1.75	122.2	64.4	13.7	196	2152	0.00	2.67	0.00	0.000	4	0.000	0.075	3486	339	2716
2272	1.75	122.2	46.7	14.2	205	2280	0.00	2.47	0.00	0.000	6	0.000	0.033	3486	1734	2716
2469	1.75	122.2	22.5	12.1	221	2470	0.00	0.00	0.00	0.000	6	0.000	0.000	3486	1734	2716
2613	end climb: SURFACE_DEPTH_REACHED
state	2613	begin surface coast
2652	end surface coast: CONTROL_FINISHED_OK
state	2652	begin surface