Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 163 * 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 163 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 46 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 -46555.402 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 -46555.402

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 46 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 163 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 224808,4739.487,-12252.830,31,1.3,31,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.223,-0.052

_SM_DEPTHo 0.84 KALMAN_X 6070.8,311.6,165.7,-7303.6,-23.0

_SM_ANGLEo -57.4 KALMAN_Y 9291.9,335.9,162.0,-10236.5,8.5

GPS2 225327,4739.522,-12252.811,15,1.4,15,18.3 MHEAD_RNG_PITCHd_Wd 238.6,499,-19.9,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 121

Post-dive calculations and measurements:

FINISH 0.2,1.021982 XPDR_PINGS 0

SM_CCo 2732,119.07,0.579,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.5,51.7

SM_GC 0.78,0.00,0.00,119.07,0.000,0.000,0.579,459,1825,1586,-12.15,0.71,400.08 _24V_AH 23.9,19.060

IRIDIUM_FIX 4719.74,-12251.79,011007,010137 _10V_AH 10.1,40.210

TT8_MAMPS 0.070564 DATA_FILE_SIZE 6442,249

HUMID 2004 CFSIZE 260034560,252080128

INTERNAL_PRESSURE 8.39876 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 300907,234307,4739.458,-12253.267,11,1.2,27,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 214 162.32 SBE_CT 166 24 95.66

Roll_motor 40 84 82.32 nil 0 0 0.00

VBD_pump_during_apogee 195 680 3172.71 nil 0 0 0.00

VBD_pump_during_surface 119 579 1648.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 97.44 nil 0 0 0.00

Iridium_during_connect 32 160 124.00 ARS 0 0 0.00

Iridium_during_xfer 129 223 688.60

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3303 6 505.23

GPS 15 50 7.62

TT8 468 19 93.60

LPSleep 1529 2 33.82

TT8_Active 442 19 88.52

TT8_Sampling 439 39 176.64

TT8_CF8 320 45 148.38

TT8_Kalman 33 81 27.54

Analog_circuits 704 12 85.41

GPS_charging 0 0 0.00

Compass 412 8 33.31

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 -1.67 -114.1 0.0 0.0 0 111 0.00 0.00 -84.95 0.000 2 0.000 0.000 462 1812 3381

114 -1.68 -122.2 2.1 -5.1 14 146 14.75 2.75 -10.80 0.000 4 0.215 0.084 2727 401 3719

252 -1.68 -122.2 11.2 -5.8 35 258 0.00 2.42 0.00 0.000 6 0.000 0.035 2727 1793 3721

324 -1.68 -122.2 15.6 -6.3 46 330 0.00 2.53 0.00 0.000 4 0.000 0.051 2727 3195 3721

389 -1.68 -122.2 20.0 -6.9 56 396 0.00 2.45 0.00 0.000 6 0.000 0.037 2727 1805 3722

458 -1.68 -122.2 24.4 -6.6 62 463 0.00 2.65 0.00 0.000 4 0.000 0.074 2727 394 3721

536 -1.68 -122.2 29.9 -6.7 67 543 0.00 2.47 0.00 0.000 6 0.000 0.034 2728 1798 3721

732 -1.68 -122.2 41.9 -5.7 83 736 0.00 2.50 0.00 0.000 4 0.000 0.049 2727 3192 3722

772 -1.68 -122.2 44.0 -5.9 86 776 0.00 2.45 0.00 0.000 6 0.000 0.037 2727 1800 3721

967 -1.68 -122.2 54.7 -5.7 101 968 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1799 3722

1158 -1.68 -122.2 65.4 -5.6 116 1159 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1799 3721

1347 -1.68 -122.2 76.5 -6.4 131 1348 0.00 0.00 0.00 0.000 6 0.000 0.000 2727 1799 3721

1538 -1.68 -122.2 88.7 -6.3 146 1542 0.00 2.50 0.00 0.000 4 0.000 0.048 2727 3191 3721

1583 -1.68 -122.2 91.6 -5.7 149 1587 0.00 2.45 0.00 0.000 6 0.000 0.037 2728 1797 3722

1752 end dive: TARGET_DEPTH_EXCEEDED

state 1753 begin apogee

1758 -0.38 0.0 100.6 4.9 162 1863 1.45 0.00 98.72 0.680 6 0.107 0.000 3013 1723 3217

1863 end apogee: CONTROL_FINISHED_OK

state 1864 begin climb

1866 1.68 122.2 100.8 0.0 171 1971 2.08 0.00 96.40 0.653 6 0.054 0.000 3466 1723 2717

2159 1.68 122.2 68.1 12.8 195 2164 0.00 2.65 0.00 0.000 4 0.000 0.080 3466 340 2716

2210 1.68 122.2 60.8 14.4 198 2218 0.00 2.47 0.00 0.000 6 0.000 0.035 3466 1728 2715

2407 1.68 122.2 35.1 12.9 214 2411 0.00 2.55 0.00 0.000 4 0.000 0.052 3466 3138 2715

2438 1.68 122.2 31.0 12.8 216 2446 0.00 2.50 0.00 0.000 6 0.000 0.036 3466 1743 2715

2639 1.68 122.2 7.8 12.3 239 2645 0.00 2.72 0.00 0.000 4 0.000 0.084 3466 335 2715

2663 end climb: SURFACE_DEPTH_REACHED

state 2663 begin surface coast

2703 end surface coast: CONTROL_FINISHED_OK

state 2705 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	163	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	46	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	-46555.402	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	224808,4739.487,-12252.830,31,1.3,31,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.223,-0.052
_SM_DEPTHo	0.84	KALMAN_X	6070.8,311.6,165.7,-7303.6,-23.0
_SM_ANGLEo	-57.4	KALMAN_Y	9291.9,335.9,162.0,-10236.5,8.5
GPS2	225327,4739.522,-12252.811,15,1.4,15,18.3	MHEAD_RNG_PITCHd_Wd	238.6,499,-19.9,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	121

FINISH	0.2,1.021982	XPDR_PINGS	0
SM_CCo	2732,119.07,0.579,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.5,51.7
SM_GC	0.78,0.00,0.00,119.07,0.000,0.000,0.579,459,1825,1586,-12.15,0.71,400.08	_24V_AH	23.9,19.060
IRIDIUM_FIX	4719.74,-12251.79,011007,010137	_10V_AH	10.1,40.210
TT8_MAMPS	0.070564	DATA_FILE_SIZE	6442,249
HUMID	2004	CFSIZE	260034560,252080128
INTERNAL_PRESSURE	8.39876	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	300907,234307,4739.458,-12253.267,11,1.2,27,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	214	162.32	SBE_CT	166	24	95.66
Roll_motor	40	84	82.32	nil	0	0	0.00
VBD_pump_during_apogee	195	680	3172.71	nil	0	0	0.00
VBD_pump_during_surface	119	579	1648.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	97.44	nil	0	0	0.00
Iridium_during_connect	32	160	124.00	ARS	0	0	0.00
Iridium_during_xfer	129	223	688.60
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3303	6	505.23
GPS	15	50	7.62
TT8	468	19	93.60
LPSleep	1529	2	33.82
TT8_Active	442	19	88.52
TT8_Sampling	439	39	176.64
TT8_CF8	320	45	148.38
TT8_Kalman	33	81	27.54
Analog_circuits	704	12	85.41
GPS_charging	0	0	0.00
Compass	412	8	33.31
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	-1.67	-114.1	0.0	0.0	0	111	0.00	0.00	-84.95	0.000	2	0.000	0.000	462	1812	3381
114	-1.68	-122.2	2.1	-5.1	14	146	14.75	2.75	-10.80	0.000	4	0.215	0.084	2727	401	3719
252	-1.68	-122.2	11.2	-5.8	35	258	0.00	2.42	0.00	0.000	6	0.000	0.035	2727	1793	3721
324	-1.68	-122.2	15.6	-6.3	46	330	0.00	2.53	0.00	0.000	4	0.000	0.051	2727	3195	3721
389	-1.68	-122.2	20.0	-6.9	56	396	0.00	2.45	0.00	0.000	6	0.000	0.037	2727	1805	3722
458	-1.68	-122.2	24.4	-6.6	62	463	0.00	2.65	0.00	0.000	4	0.000	0.074	2727	394	3721
536	-1.68	-122.2	29.9	-6.7	67	543	0.00	2.47	0.00	0.000	6	0.000	0.034	2728	1798	3721
732	-1.68	-122.2	41.9	-5.7	83	736	0.00	2.50	0.00	0.000	4	0.000	0.049	2727	3192	3722
772	-1.68	-122.2	44.0	-5.9	86	776	0.00	2.45	0.00	0.000	6	0.000	0.037	2727	1800	3721
967	-1.68	-122.2	54.7	-5.7	101	968	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1799	3722
1158	-1.68	-122.2	65.4	-5.6	116	1159	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1799	3721
1347	-1.68	-122.2	76.5	-6.4	131	1348	0.00	0.00	0.00	0.000	6	0.000	0.000	2727	1799	3721
1538	-1.68	-122.2	88.7	-6.3	146	1542	0.00	2.50	0.00	0.000	4	0.000	0.048	2727	3191	3721
1583	-1.68	-122.2	91.6	-5.7	149	1587	0.00	2.45	0.00	0.000	6	0.000	0.037	2728	1797	3722
1752	end dive: TARGET_DEPTH_EXCEEDED
state	1753	begin apogee
1758	-0.38	0.0	100.6	4.9	162	1863	1.45	0.00	98.72	0.680	6	0.107	0.000	3013	1723	3217
1863	end apogee: CONTROL_FINISHED_OK
state	1864	begin climb
1866	1.68	122.2	100.8	0.0	171	1971	2.08	0.00	96.40	0.653	6	0.054	0.000	3466	1723	2717
2159	1.68	122.2	68.1	12.8	195	2164	0.00	2.65	0.00	0.000	4	0.000	0.080	3466	340	2716
2210	1.68	122.2	60.8	14.4	198	2218	0.00	2.47	0.00	0.000	6	0.000	0.035	3466	1728	2715
2407	1.68	122.2	35.1	12.9	214	2411	0.00	2.55	0.00	0.000	4	0.000	0.052	3466	3138	2715
2438	1.68	122.2	31.0	12.8	216	2446	0.00	2.50	0.00	0.000	6	0.000	0.036	3466	1743	2715
2639	1.68	122.2	7.8	12.3	239	2645	0.00	2.72	0.00	0.000	4	0.000	0.084	3466	335	2715
2663	end climb: SURFACE_DEPTH_REACHED
state	2663	begin surface coast
2703	end surface coast: CONTROL_FINISHED_OK
state	2705	begin surface