Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 142 * 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 142 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 41 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 -51176.09 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 -51176.09

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 41 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 142 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 192459,4743.962,-12250.670,11,3.1,30,18.3 TGT_NAME WP1

_CALLS 2 TGT_LATLONG 4743.050,-12250.817

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.039,-0.244

_SM_DEPTHo 0.32 KALMAN_X 5872.5,-97.2,48.4,-2947.6,18.8

_SM_ANGLEo -58.4 KALMAN_Y 10554.8,607.5,287.7,-3054.5,-1.9

GPS2 193638,4744.020,-12250.642,36,1.0,36,18.3 MHEAD_RNG_PITCHd_Wd 170.7,1809,-15.9,-8.571

SPEED_LIMITS 0.148,0.247 D_GRID 170

Post-dive calculations and measurements:

FINISH -0.3,1.022278 XPDR_PINGS 0

SM_CCo 2683,86.72,0.578,0,0,1791,350.04 ALTIM_BOTTOM_PING 50.3,52.4

SM_GC 0.14,0.00,0.00,86.72,0.000,0.000,0.578,461,1810,1791,-12.14,0.28,350.04 _24V_AH 23.9,12.538

IRIDIUM_FIX 4729.30,-12249.89,071007,232304 _10V_AH 10.1,10.799

TT8_MAMPS 0.072098 DATA_FILE_SIZE 6422,244

HUMID 2129 CFSIZE 260034560,252518400

INTERNAL_PRESSURE 8.47689 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 071007,202439,4743.811,-12250.690,11,1.7,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 207 153.38 SBE_CT 163 24 93.54

Roll_motor 45 84 91.70 nil 0 0 0.00

VBD_pump_during_apogee 227 663 3610.54 nil 0 0 0.00

VBD_pump_during_surface 86 578 1198.70 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 194.56 nil 0 0 0.00

Iridium_during_connect 72 160 276.07 ARS 0 0 0.00

Iridium_during_xfer 328 223 1751.57

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3601 6 550.81

GPS 36 50 18.62

TT8 461 19 92.34

LPSleep 1499 2 33.16

TT8_Active 429 19 85.97

TT8_Sampling 479 39 192.86

TT8_CF8 625 45 289.47

TT8_Kalman 33 81 27.54

Analog_circuits 702 12 85.20

GPS_charging 0 0 0.00

Compass 427 8 34.54

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.40 -146.6 0.0 0.0 0 107 0.00 0.00 -79.15 0.000 2 0.000 0.000 460 1819 3532

109 -1.40 -146.6 2.2 -6.3 13 140 14.88 2.53 -7.20 0.000 4 0.208 0.060 2789 3191 3818

181 -1.40 -146.6 9.3 -7.4 24 188 0.00 2.47 0.00 0.000 6 0.000 0.035 2789 1790 3820

253 -1.40 -146.6 14.4 -6.9 35 260 0.00 2.62 0.00 0.000 4 0.000 0.071 2789 395 3820

352 -1.40 -146.6 21.7 -8.0 48 358 0.00 2.42 0.00 0.000 6 0.000 0.031 2789 1799 3820

547 -1.40 -146.6 33.1 -4.8 64 552 0.00 2.50 0.00 0.000 4 0.000 0.048 2789 3195 3820

680 -1.40 -146.6 40.3 -5.7 73 686 0.00 2.47 0.00 0.000 6 0.000 0.035 2789 1790 3820

875 -1.40 -146.6 51.0 -5.4 89 879 0.00 2.53 0.00 0.000 4 0.000 0.048 2789 3193 3820

934 -1.40 -146.6 54.3 -6.0 93 938 0.00 2.45 0.00 0.000 6 0.000 0.035 2789 1798 3820

1129 -1.40 -146.6 64.8 -5.5 108 1134 0.00 2.50 0.00 0.000 4 0.000 0.046 2789 3189 3820

1167 -1.40 -146.6 66.9 -5.4 110 1174 0.00 2.47 0.00 0.000 6 0.000 0.034 2789 1795 3820

1364 -1.40 -146.6 77.8 -5.4 126 1368 0.00 2.50 0.00 0.000 4 0.000 0.046 2789 3189 3820

1443 -1.40 -146.6 82.5 -6.3 132 1447 0.00 2.45 0.00 0.000 6 0.000 0.035 2789 1792 3820

1573 end dive: TARGET_DEPTH_EXCEEDED

state 1573 begin apogee

1579 -0.38 0.0 90.1 5.7 142 1699 1.10 0.00 115.07 0.663 6 0.094 0.000 3012 1730 3218

1699 end apogee: CONTROL_FINISHED_OK

state 1700 begin climb

1703 1.40 146.6 91.7 0.0 152 1820 1.77 0.00 112.62 0.634 6 0.055 0.000 3410 1730 2620

2007 1.40 146.6 63.7 10.8 177 2011 0.00 2.55 0.00 0.000 4 0.000 0.048 3410 3126 2619

2039 1.40 146.6 60.1 11.3 179 2043 0.00 2.47 0.00 0.000 6 0.000 0.036 3410 1735 2619

2241 1.40 146.6 38.4 10.5 195 2245 0.00 2.70 0.00 0.000 4 0.000 0.081 3410 332 2618

2305 1.40 146.6 31.0 11.2 199 2313 0.00 2.47 0.00 0.000 6 0.000 0.032 3410 1733 2618

2505 1.41 147.7 13.0 8.5 221 2512 0.00 2.70 0.00 0.000 4 0.000 0.074 3410 325 2618

2577 1.41 147.7 6.3 9.5 232 2584 0.00 2.47 0.00 0.000 6 0.000 0.032 3410 1744 2618

2594 end climb: SURFACE_DEPTH_REACHED

state 2594 begin surface coast

2657 end surface coast: CONTROL_FINISHED_OK

state 2657 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	142	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	41	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	-51176.09	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	192459,4743.962,-12250.670,11,3.1,30,18.3	TGT_NAME	WP1
_CALLS	2	TGT_LATLONG	4743.050,-12250.817
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.039,-0.244
_SM_DEPTHo	0.32	KALMAN_X	5872.5,-97.2,48.4,-2947.6,18.8
_SM_ANGLEo	-58.4	KALMAN_Y	10554.8,607.5,287.7,-3054.5,-1.9
GPS2	193638,4744.020,-12250.642,36,1.0,36,18.3	MHEAD_RNG_PITCHd_Wd	170.7,1809,-15.9,-8.571
SPEED_LIMITS	0.148,0.247	D_GRID	170

FINISH	-0.3,1.022278	XPDR_PINGS	0
SM_CCo	2683,86.72,0.578,0,0,1791,350.04	ALTIM_BOTTOM_PING	50.3,52.4
SM_GC	0.14,0.00,0.00,86.72,0.000,0.000,0.578,461,1810,1791,-12.14,0.28,350.04	_24V_AH	23.9,12.538
IRIDIUM_FIX	4729.30,-12249.89,071007,232304	_10V_AH	10.1,10.799
TT8_MAMPS	0.072098	DATA_FILE_SIZE	6422,244
HUMID	2129	CFSIZE	260034560,252518400
INTERNAL_PRESSURE	8.47689	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	071007,202439,4743.811,-12250.690,11,1.7,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	207	153.38	SBE_CT	163	24	93.54
Roll_motor	45	84	91.70	nil	0	0	0.00
VBD_pump_during_apogee	227	663	3610.54	nil	0	0	0.00
VBD_pump_during_surface	86	578	1198.70	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	194.56	nil	0	0	0.00
Iridium_during_connect	72	160	276.07	ARS	0	0	0.00
Iridium_during_xfer	328	223	1751.57
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3601	6	550.81
GPS	36	50	18.62
TT8	461	19	92.34
LPSleep	1499	2	33.16
TT8_Active	429	19	85.97
TT8_Sampling	479	39	192.86
TT8_CF8	625	45	289.47
TT8_Kalman	33	81	27.54
Analog_circuits	702	12	85.20
GPS_charging	0	0	0.00
Compass	427	8	34.54
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.40	-146.6	0.0	0.0	0	107	0.00	0.00	-79.15	0.000	2	0.000	0.000	460	1819	3532
109	-1.40	-146.6	2.2	-6.3	13	140	14.88	2.53	-7.20	0.000	4	0.208	0.060	2789	3191	3818
181	-1.40	-146.6	9.3	-7.4	24	188	0.00	2.47	0.00	0.000	6	0.000	0.035	2789	1790	3820
253	-1.40	-146.6	14.4	-6.9	35	260	0.00	2.62	0.00	0.000	4	0.000	0.071	2789	395	3820
352	-1.40	-146.6	21.7	-8.0	48	358	0.00	2.42	0.00	0.000	6	0.000	0.031	2789	1799	3820
547	-1.40	-146.6	33.1	-4.8	64	552	0.00	2.50	0.00	0.000	4	0.000	0.048	2789	3195	3820
680	-1.40	-146.6	40.3	-5.7	73	686	0.00	2.47	0.00	0.000	6	0.000	0.035	2789	1790	3820
875	-1.40	-146.6	51.0	-5.4	89	879	0.00	2.53	0.00	0.000	4	0.000	0.048	2789	3193	3820
934	-1.40	-146.6	54.3	-6.0	93	938	0.00	2.45	0.00	0.000	6	0.000	0.035	2789	1798	3820
1129	-1.40	-146.6	64.8	-5.5	108	1134	0.00	2.50	0.00	0.000	4	0.000	0.046	2789	3189	3820
1167	-1.40	-146.6	66.9	-5.4	110	1174	0.00	2.47	0.00	0.000	6	0.000	0.034	2789	1795	3820
1364	-1.40	-146.6	77.8	-5.4	126	1368	0.00	2.50	0.00	0.000	4	0.000	0.046	2789	3189	3820
1443	-1.40	-146.6	82.5	-6.3	132	1447	0.00	2.45	0.00	0.000	6	0.000	0.035	2789	1792	3820
1573	end dive: TARGET_DEPTH_EXCEEDED
state	1573	begin apogee
1579	-0.38	0.0	90.1	5.7	142	1699	1.10	0.00	115.07	0.663	6	0.094	0.000	3012	1730	3218
1699	end apogee: CONTROL_FINISHED_OK
state	1700	begin climb
1703	1.40	146.6	91.7	0.0	152	1820	1.77	0.00	112.62	0.634	6	0.055	0.000	3410	1730	2620
2007	1.40	146.6	63.7	10.8	177	2011	0.00	2.55	0.00	0.000	4	0.000	0.048	3410	3126	2619
2039	1.40	146.6	60.1	11.3	179	2043	0.00	2.47	0.00	0.000	6	0.000	0.036	3410	1735	2619
2241	1.40	146.6	38.4	10.5	195	2245	0.00	2.70	0.00	0.000	4	0.000	0.081	3410	332	2618
2305	1.40	146.6	31.0	11.2	199	2313	0.00	2.47	0.00	0.000	6	0.000	0.032	3410	1733	2618
2505	1.41	147.7	13.0	8.5	221	2512	0.00	2.70	0.00	0.000	4	0.000	0.074	3410	325	2618
2577	1.41	147.7	6.3	9.5	232	2584	0.00	2.47	0.00	0.000	6	0.000	0.032	3410	1744	2618
2594	end climb: SURFACE_DEPTH_REACHED
state	2594	begin surface coast
2657	end surface coast: CONTROL_FINISHED_OK
state	2657	begin surface