Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 136 * 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 8 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 136 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 90 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 350 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 90 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 -51048.977 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 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 25 PITCH_MIN 460 AH0_24V 71.400002 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 -8.3042984 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 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 350

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 90 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 -8.3042984 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 25 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 -51048.977

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

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 20 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 24 USE_ICE 0

DEEPGLIDERMB 0 MISSION 8 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 136 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 133535,4744.397,-12250.577,12,2.9,31,18.3 TGT_NAME WP1

_CALLS 1 TGT_LATLONG 4743.050,-12250.817

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.018,-0.247

_SM_DEPTHo 0.36 KALMAN_X 5726.6,50.4,-36.8,-2787.5,-11.5

_SM_ANGLEo -58.9 KALMAN_Y 8445.3,1011.9,14.6,-237.6,74.8

GPS2 134138,4744.475,-12250.581,10,1.6,15,18.3 MHEAD_RNG_PITCHd_Wd 165.9,2655,-15.9,-8.571

SPEED_LIMITS 0.184,0.248 D_GRID 149

Post-dive calculations and measurements:

FINISH -0.4,1.022260 XPDR_PINGS 0

SM_CCo 2713,83.82,0.581,0,0,1791,350.04 ALTIM_BOTTOM_PING 50.4,52.2

SM_GC 0.10,0.00,0.00,83.82,0.000,0.000,0.581,461,1829,1791,-12.14,0.82,350.04 _24V_AH 23.9,12.005

IRIDIUM_FIX 4726.11,-12250.84,071007,161644 _10V_AH 10.1,10.349

TT8_MAMPS 0.072098 DATA_FILE_SIZE 6441,247

HUMID 2114 CFSIZE 260034560,252739584

INTERNAL_PRESSURE 8.46712 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 071007,143008,4744.318,-12250.599,8,1.4,13,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 209 153.76 SBE_CT 165 24 94.73

Roll_motor 35 82 70.42 nil 0 0 0.00

VBD_pump_during_apogee 233 674 3764.45 nil 0 0 0.00

VBD_pump_during_surface 83 581 1164.76 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 99.15 nil 0 0 0.00

Iridium_during_connect 37 160 141.99 ARS 0 0 0.00

Iridium_during_xfer 162 223 868.34

Transponder_ping 0 420 5.02

Mmodem_TX 4 1000 99.19

Mmodem_RX 3286 6 502.76

GPS 15 50 8.02

TT8 456 19 91.38

LPSleep 1487 2 32.89

TT8_Active 419 19 83.95

TT8_Sampling 449 39 180.63

TT8_CF8 374 45 173.17

TT8_Kalman 33 81 27.54

Analog_circuits 694 12 84.21

GPS_charging 0 0 0.00

Compass 419 8 33.88

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.40 -146.6 0.0 0.0 0 111 0.00 0.00 -84.93 0.000 2 0.000 0.000 462 1794 3661

114 -1.40 -146.6 2.5 -6.9 14 140 14.90 2.65 -3.62 0.000 4 0.209 0.082 2787 397 3818

187 -1.40 -146.6 10.6 -7.6 25 194 0.00 2.47 0.00 0.000 6 0.000 0.032 2786 1818 3819

259 -1.40 -146.6 15.9 -7.0 36 265 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 1817 3819

331 -1.40 -146.6 21.0 -6.6 46 335 0.00 2.70 0.00 0.000 4 0.000 0.071 2786 389 3819

356 -1.40 -146.6 22.6 -6.1 47 363 0.00 2.47 0.00 0.000 6 0.000 0.032 2786 1801 3819

552 -1.40 -146.6 34.3 -5.7 63 557 0.00 2.50 0.00 0.000 4 0.000 0.048 2786 3196 3819

643 -1.40 -146.6 40.2 -6.0 69 651 0.00 2.50 0.00 0.000 6 0.000 0.035 2786 1795 3819

840 -1.40 -146.6 51.2 -6.0 85 841 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1794 3819

1032 -1.40 -146.6 61.7 -5.2 100 1033 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1794 3819

1220 -1.40 -146.6 71.3 -4.7 115 1224 0.00 2.50 0.00 0.000 4 0.000 0.046 2787 3189 3819

1271 -1.40 -146.6 74.0 -5.0 118 1278 0.00 2.45 0.00 0.000 6 0.000 0.034 2786 1804 3819

1468 -1.40 -146.6 84.2 -5.7 134 1469 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1804 3819

1566 end dive: TARGET_DEPTH_EXCEEDED

state 1567 begin apogee

1572 -0.38 0.0 90.1 5.8 142 1692 1.12 0.00 115.47 0.665 6 0.092 0.000 3016 1728 3218

1693 end apogee: CONTROL_FINISHED_OK

state 1693 begin climb

1697 1.40 146.6 91.9 0.0 152 1820 1.75 2.70 112.80 0.634 4 0.054 0.077 3404 341 2618

1852 1.40 146.6 80.1 10.9 164 1859 0.00 2.47 0.00 0.000 6 0.000 0.033 3403 1731 2617

2048 1.40 146.6 59.8 10.3 180 2049 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 1733 2618

2241 1.40 146.6 40.8 10.2 195 2242 0.00 0.00 0.00 0.000 6 0.000 0.000 3404 1733 2617

2428 1.40 146.6 21.5 9.3 210 2432 0.00 2.53 0.00 0.000 4 0.000 0.050 3404 3131 2617

2521 1.40 146.6 12.6 10.3 222 2527 0.00 2.47 0.00 0.000 6 0.000 0.038 3404 1743 2617

2593 1.41 154.4 6.0 8.3 233 2606 0.00 2.72 5.35 0.674 4 0.000 0.080 3403 331 2588

2610 end climb: SURFACE_DEPTH_REACHED

state 2610 begin surface coast

2684 end surface coast: CONTROL_FINISHED_OK

state 2684 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	136	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	90	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	350	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	90	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	-51048.977	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	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	25	PITCH_MIN	460	AH0_24V	71.400002	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	-8.3042984	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	133535,4744.397,-12250.577,12,2.9,31,18.3	TGT_NAME	WP1
_CALLS	1	TGT_LATLONG	4743.050,-12250.817
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.018,-0.247
_SM_DEPTHo	0.36	KALMAN_X	5726.6,50.4,-36.8,-2787.5,-11.5
_SM_ANGLEo	-58.9	KALMAN_Y	8445.3,1011.9,14.6,-237.6,74.8
GPS2	134138,4744.475,-12250.581,10,1.6,15,18.3	MHEAD_RNG_PITCHd_Wd	165.9,2655,-15.9,-8.571
SPEED_LIMITS	0.184,0.248	D_GRID	149

FINISH	-0.4,1.022260	XPDR_PINGS	0
SM_CCo	2713,83.82,0.581,0,0,1791,350.04	ALTIM_BOTTOM_PING	50.4,52.2
SM_GC	0.10,0.00,0.00,83.82,0.000,0.000,0.581,461,1829,1791,-12.14,0.82,350.04	_24V_AH	23.9,12.005
IRIDIUM_FIX	4726.11,-12250.84,071007,161644	_10V_AH	10.1,10.349
TT8_MAMPS	0.072098	DATA_FILE_SIZE	6441,247
HUMID	2114	CFSIZE	260034560,252739584
INTERNAL_PRESSURE	8.46712	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	071007,143008,4744.318,-12250.599,8,1.4,13,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	209	153.76	SBE_CT	165	24	94.73
Roll_motor	35	82	70.42	nil	0	0	0.00
VBD_pump_during_apogee	233	674	3764.45	nil	0	0	0.00
VBD_pump_during_surface	83	581	1164.76	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	99.15	nil	0	0	0.00
Iridium_during_connect	37	160	141.99	ARS	0	0	0.00
Iridium_during_xfer	162	223	868.34
Transponder_ping	0	420	5.02
Mmodem_TX	4	1000	99.19
Mmodem_RX	3286	6	502.76
GPS	15	50	8.02
TT8	456	19	91.38
LPSleep	1487	2	32.89
TT8_Active	419	19	83.95
TT8_Sampling	449	39	180.63
TT8_CF8	374	45	173.17
TT8_Kalman	33	81	27.54
Analog_circuits	694	12	84.21
GPS_charging	0	0	0.00
Compass	419	8	33.88
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.40	-146.6	0.0	0.0	0	111	0.00	0.00	-84.93	0.000	2	0.000	0.000	462	1794	3661
114	-1.40	-146.6	2.5	-6.9	14	140	14.90	2.65	-3.62	0.000	4	0.209	0.082	2787	397	3818
187	-1.40	-146.6	10.6	-7.6	25	194	0.00	2.47	0.00	0.000	6	0.000	0.032	2786	1818	3819
259	-1.40	-146.6	15.9	-7.0	36	265	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	1817	3819
331	-1.40	-146.6	21.0	-6.6	46	335	0.00	2.70	0.00	0.000	4	0.000	0.071	2786	389	3819
356	-1.40	-146.6	22.6	-6.1	47	363	0.00	2.47	0.00	0.000	6	0.000	0.032	2786	1801	3819
552	-1.40	-146.6	34.3	-5.7	63	557	0.00	2.50	0.00	0.000	4	0.000	0.048	2786	3196	3819
643	-1.40	-146.6	40.2	-6.0	69	651	0.00	2.50	0.00	0.000	6	0.000	0.035	2786	1795	3819
840	-1.40	-146.6	51.2	-6.0	85	841	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1794	3819
1032	-1.40	-146.6	61.7	-5.2	100	1033	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1794	3819
1220	-1.40	-146.6	71.3	-4.7	115	1224	0.00	2.50	0.00	0.000	4	0.000	0.046	2787	3189	3819
1271	-1.40	-146.6	74.0	-5.0	118	1278	0.00	2.45	0.00	0.000	6	0.000	0.034	2786	1804	3819
1468	-1.40	-146.6	84.2	-5.7	134	1469	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1804	3819
1566	end dive: TARGET_DEPTH_EXCEEDED
state	1567	begin apogee
1572	-0.38	0.0	90.1	5.8	142	1692	1.12	0.00	115.47	0.665	6	0.092	0.000	3016	1728	3218
1693	end apogee: CONTROL_FINISHED_OK
state	1693	begin climb
1697	1.40	146.6	91.9	0.0	152	1820	1.75	2.70	112.80	0.634	4	0.054	0.077	3404	341	2618
1852	1.40	146.6	80.1	10.9	164	1859	0.00	2.47	0.00	0.000	6	0.000	0.033	3403	1731	2617
2048	1.40	146.6	59.8	10.3	180	2049	0.00	0.00	0.00	0.000	6	0.000	0.000	3404	1733	2618
2241	1.40	146.6	40.8	10.2	195	2242	0.00	0.00	0.00	0.000	6	0.000	0.000	3404	1733	2617
2428	1.40	146.6	21.5	9.3	210	2432	0.00	2.53	0.00	0.000	4	0.000	0.050	3404	3131	2617
2521	1.40	146.6	12.6	10.3	222	2527	0.00	2.47	0.00	0.000	6	0.000	0.038	3404	1743	2617
2593	1.41	154.4	6.0	8.3	233	2606	0.00	2.72	5.35	0.674	4	0.000	0.080	3403	331	2588
2610	end climb: SURFACE_DEPTH_REACHED
state	2610	begin surface coast
2684	end surface coast: CONTROL_FINISHED_OK
state	2684	begin surface