Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 141 * 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 141 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 30 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 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 -51138.578 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 30 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 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 -51138.578

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 30 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 40 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 141 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 183056,4744.125,-12250.665,12,1.9,17,18.3 TGT_NAME WP1

_CALLS 1 TGT_LATLONG 4743.050,-12250.817

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.016,-0.247

_SM_DEPTHo 0.32 KALMAN_X 5814.8,-92.0,53.6,-2924.8,-8.0

_SM_ANGLEo -58.6 KALMAN_Y 10332.3,659.0,238.8,-2567.2,69.2

GPS2 183757,4744.164,-12250.661,16,1.8,16,18.3 MHEAD_RNG_PITCHd_Wd 165.5,2072,-15.9,-8.571

SPEED_LIMITS 0.148,0.247 D_GRID 158

Post-dive calculations and measurements:

FINISH -0.4,1.022236 XPDR_PINGS 0

SM_CCo 2602,86.82,0.578,0,0,1790,350.04 ALTIM_BOTTOM_PING 50.3,52.2

SM_GC 0.31,0.00,0.00,86.82,0.000,0.000,0.578,460,1820,1790,-12.14,0.57,350.04 _24V_AH 23.9,12.449

IRIDIUM_FIX 4726.11,-12250.84,071007,212137 _10V_AH 10.1,10.722

TT8_MAMPS 0.069797 DATA_FILE_SIZE 6423,234

HUMID 2108 CFSIZE 260034560,252559360

INTERNAL_PRESSURE 8.47689 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 071007,192459,4743.962,-12250.670,11,3.1,30,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 207 153.38 SBE_CT 156 24 89.64

Roll_motor 45 79 86.71 nil 0 0 0.00

VBD_pump_during_apogee 227 662 3602.41 nil 0 0 0.00

VBD_pump_during_surface 86 578 1200.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 98.93 nil 0 0 0.00

Iridium_during_connect 37 160 144.40 ARS 0 0 0.00

Iridium_during_xfer 208 223 1113.73

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3228 6 493.75

GPS 16 50 8.17

TT8 443 19 88.75

LPSleep 1396 2 30.90

TT8_Active 421 19 84.38

TT8_Sampling 452 39 181.92

TT8_CF8 423 45 196.04

TT8_Kalman 33 81 27.54

Analog_circuits 698 12 84.67

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.40 -146.6 0.0 0.0 0 114 0.00 0.00 -85.07 0.000 2 0.000 0.000 461 1802 3695

116 -1.40 -146.6 2.5 -6.0 14 142 14.88 2.55 -2.78 0.000 4 0.208 0.061 2787 3198 3818

168 -1.40 -146.6 10.1 -9.2 22 174 0.00 2.47 0.00 0.000 6 0.000 0.035 2787 1798 3820

240 -1.40 -146.6 15.6 -7.3 33 246 0.00 2.65 0.00 0.000 4 0.000 0.071 2787 394 3821

292 -1.40 -146.6 20.0 -8.2 41 296 0.00 2.45 0.00 0.000 6 0.000 0.031 2787 1808 3821

487 -1.40 -146.6 32.8 -6.3 56 491 0.00 2.47 0.00 0.000 4 0.000 0.048 2787 3197 3821

559 -1.40 -146.6 37.0 -6.0 61 566 0.00 2.50 0.00 0.000 6 0.000 0.035 2787 1794 3821

755 -1.40 -146.6 48.1 -5.6 77 759 0.00 2.53 0.00 0.000 4 0.000 0.046 2787 3193 3821

796 -1.40 -146.6 50.3 -5.8 79 802 0.00 2.45 0.00 0.000 6 0.000 0.035 2787 1798 3821

991 -1.40 -146.6 61.6 -5.6 95 992 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 1798 3821

1182 -1.40 -146.6 72.4 -5.6 110 1186 0.00 2.50 0.00 0.000 4 0.000 0.047 2787 3191 3821

1273 -1.40 -146.6 78.0 -6.2 116 1280 0.00 2.47 0.00 0.000 6 0.000 0.035 2787 1798 3821

1470 -1.40 -146.6 89.2 -5.9 132 1471 0.00 0.00 0.00 0.000 6 0.000 0.000 2787 1798 3821

1492 end dive: TARGET_DEPTH_EXCEEDED

state 1492 begin apogee

1498 -0.38 0.0 90.7 5.8 134 1617 1.12 0.00 115.05 0.663 6 0.095 0.000 3015 1722 3218

1618 end apogee: CONTROL_FINISHED_OK

state 1618 begin climb

1622 1.40 146.6 92.1 0.0 144 1745 1.77 2.70 112.40 0.630 4 0.056 0.077 3406 334 2619

1785 1.40 146.6 79.2 10.9 157 1789 0.00 2.45 0.00 0.000 6 0.000 0.032 3406 1728 2620

1987 1.40 146.6 57.6 10.4 173 1991 0.00 2.55 0.00 0.000 4 0.000 0.049 3406 3139 2620

2038 1.40 146.6 51.9 10.5 176 2045 0.00 2.50 0.00 0.000 6 0.000 0.036 3406 1749 2620

2234 1.40 146.6 31.4 10.3 192 2239 0.00 2.72 0.00 0.000 4 0.000 0.079 3406 327 2620

2299 1.40 146.6 24.5 10.4 196 2306 0.00 2.50 0.00 0.000 6 0.000 0.031 3406 1742 2620

2502 1.40 146.6 6.7 9.1 223 2508 0.00 2.70 0.00 0.000 4 0.000 0.074 3406 326 2619

2519 end climb: SURFACE_DEPTH_REACHED

state 2519 begin surface coast

2575 end surface coast: CONTROL_FINISHED_OK

state 2575 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	141	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	30	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	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	-51138.578	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	30	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	183056,4744.125,-12250.665,12,1.9,17,18.3	TGT_NAME	WP1
_CALLS	1	TGT_LATLONG	4743.050,-12250.817
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.016,-0.247
_SM_DEPTHo	0.32	KALMAN_X	5814.8,-92.0,53.6,-2924.8,-8.0
_SM_ANGLEo	-58.6	KALMAN_Y	10332.3,659.0,238.8,-2567.2,69.2
GPS2	183757,4744.164,-12250.661,16,1.8,16,18.3	MHEAD_RNG_PITCHd_Wd	165.5,2072,-15.9,-8.571
SPEED_LIMITS	0.148,0.247	D_GRID	158

FINISH	-0.4,1.022236	XPDR_PINGS	0
SM_CCo	2602,86.82,0.578,0,0,1790,350.04	ALTIM_BOTTOM_PING	50.3,52.2
SM_GC	0.31,0.00,0.00,86.82,0.000,0.000,0.578,460,1820,1790,-12.14,0.57,350.04	_24V_AH	23.9,12.449
IRIDIUM_FIX	4726.11,-12250.84,071007,212137	_10V_AH	10.1,10.722
TT8_MAMPS	0.069797	DATA_FILE_SIZE	6423,234
HUMID	2108	CFSIZE	260034560,252559360
INTERNAL_PRESSURE	8.47689	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	071007,192459,4743.962,-12250.670,11,3.1,30,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	207	153.38	SBE_CT	156	24	89.64
Roll_motor	45	79	86.71	nil	0	0	0.00
VBD_pump_during_apogee	227	662	3602.41	nil	0	0	0.00
VBD_pump_during_surface	86	578	1200.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	98.93	nil	0	0	0.00
Iridium_during_connect	37	160	144.40	ARS	0	0	0.00
Iridium_during_xfer	208	223	1113.73
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3228	6	493.75
GPS	16	50	8.17
TT8	443	19	88.75
LPSleep	1396	2	30.90
TT8_Active	421	19	84.38
TT8_Sampling	452	39	181.92
TT8_CF8	423	45	196.04
TT8_Kalman	33	81	27.54
Analog_circuits	698	12	84.67
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.40	-146.6	0.0	0.0	0	114	0.00	0.00	-85.07	0.000	2	0.000	0.000	461	1802	3695
116	-1.40	-146.6	2.5	-6.0	14	142	14.88	2.55	-2.78	0.000	4	0.208	0.061	2787	3198	3818
168	-1.40	-146.6	10.1	-9.2	22	174	0.00	2.47	0.00	0.000	6	0.000	0.035	2787	1798	3820
240	-1.40	-146.6	15.6	-7.3	33	246	0.00	2.65	0.00	0.000	4	0.000	0.071	2787	394	3821
292	-1.40	-146.6	20.0	-8.2	41	296	0.00	2.45	0.00	0.000	6	0.000	0.031	2787	1808	3821
487	-1.40	-146.6	32.8	-6.3	56	491	0.00	2.47	0.00	0.000	4	0.000	0.048	2787	3197	3821
559	-1.40	-146.6	37.0	-6.0	61	566	0.00	2.50	0.00	0.000	6	0.000	0.035	2787	1794	3821
755	-1.40	-146.6	48.1	-5.6	77	759	0.00	2.53	0.00	0.000	4	0.000	0.046	2787	3193	3821
796	-1.40	-146.6	50.3	-5.8	79	802	0.00	2.45	0.00	0.000	6	0.000	0.035	2787	1798	3821
991	-1.40	-146.6	61.6	-5.6	95	992	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	1798	3821
1182	-1.40	-146.6	72.4	-5.6	110	1186	0.00	2.50	0.00	0.000	4	0.000	0.047	2787	3191	3821
1273	-1.40	-146.6	78.0	-6.2	116	1280	0.00	2.47	0.00	0.000	6	0.000	0.035	2787	1798	3821
1470	-1.40	-146.6	89.2	-5.9	132	1471	0.00	0.00	0.00	0.000	6	0.000	0.000	2787	1798	3821
1492	end dive: TARGET_DEPTH_EXCEEDED
state	1492	begin apogee
1498	-0.38	0.0	90.7	5.8	134	1617	1.12	0.00	115.05	0.663	6	0.095	0.000	3015	1722	3218
1618	end apogee: CONTROL_FINISHED_OK
state	1618	begin climb
1622	1.40	146.6	92.1	0.0	144	1745	1.77	2.70	112.40	0.630	4	0.056	0.077	3406	334	2619
1785	1.40	146.6	79.2	10.9	157	1789	0.00	2.45	0.00	0.000	6	0.000	0.032	3406	1728	2620
1987	1.40	146.6	57.6	10.4	173	1991	0.00	2.55	0.00	0.000	4	0.000	0.049	3406	3139	2620
2038	1.40	146.6	51.9	10.5	176	2045	0.00	2.50	0.00	0.000	6	0.000	0.036	3406	1749	2620
2234	1.40	146.6	31.4	10.3	192	2239	0.00	2.72	0.00	0.000	4	0.000	0.079	3406	327	2620
2299	1.40	146.6	24.5	10.4	196	2306	0.00	2.50	0.00	0.000	6	0.000	0.031	3406	1742	2620
2502	1.40	146.6	6.7	9.1	223	2508	0.00	2.70	0.00	0.000	4	0.000	0.074	3406	326	2619
2519	end climb: SURFACE_DEPTH_REACHED
state	2519	begin surface coast
2575	end surface coast: CONTROL_FINISHED_OK
state	2575	begin surface