Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 169 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_B 0.013382 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.8987e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 169 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 35 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 63 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 204 DEVICE4 -1

T_TURN 270 CALL_WAIT 60 VBD_MAX 3580 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2800 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 360 SMARTDEVICE2 -1

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 -62566.766 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 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 1 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 25 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 4070 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_I 2.5554549e-05

MASS 51503 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0043390002 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 95 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 63

CALL_TRIES 5 HD_A 0.0043390002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.013382 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 5.8987e-05 RHO 1.023 T_GPS_CHARGE -62566.766

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COURSE_BIAS 0 ID 128 ROLL_MAX 4014 T_TURN_SAMPINT 5

C_PITCH 2820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2150 INT_PRESSURE_YINT 0 ROLL_MIN 145 UNCOM_BLEED 50

C_ROLL_DIVE 2250 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51503 R_PORT_OVSHOOT 35 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 40 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3580

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 204

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 169 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 052307,4807.151,-12222.926,39,0.9,40,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.050,-0.149

_SM_DEPTHo 1.13 KALMAN_X 12818.7,-5.4,29.9,-11679.2,174.8

_SM_ANGLEo -69.4 KALMAN_Y 6723.1,136.5,-88.4,-9179.5,-43.5

GPS2 052727,4807.167,-12222.953,14,0.9,14,18.3 MHEAD_RNG_PITCHd_Wd 143.0,4684,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 105

Post-dive calculations and measurements:

FINISH 1.0,1.023871 XPDR_PINGS 1

SM_CCo 3624,74.72,0.720,0,0,1577,300.00 ALTIM_BOTTOM_PING 70.1,52.1

SM_GC 1.69,0.00,0.00,74.72,0.000,0.000,0.720,17,2260,1577,-8.76,0.28,300.00 _24V_AH 24.4,21.924

IRIDIUM_FIX 4748.51,-12224.57,120907,080848 _10V_AH 10.8,9.564

TT8_MAMPS 0.026845 DATA_FILE_SIZE 19072,392

HUMID 1843 CFSIZE 260165632,252981248

INTERNAL_PRESSURE 9.19957 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.20 GPS 120907,063051,4806.816,-12222.560,8,1.5,8,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 213 106.27 SBE_CT 282 24 165.56

Roll_motor 27 55 37.59 SBE_O2 314 19 145.79

VBD_pump_during_apogee 223 771 4206.44 WL_BB2F 661 105 1694.96

VBD_pump_during_surface 74 720 1313.16 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 96.81 nil 0 0 0.00

Iridium_during_connect 41 160 161.02 nil 0 0 0.00

Iridium_during_xfer 98 223 536.78

Transponder_ping 0 420 5.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.36

TT8 642 19 137.45

LPSleep 1955 2 46.25

TT8_Active 355 19 75.98

TT8_Sampling 745 39 320.24

TT8_CF8 285 45 141.08

TT8_Kalman 33 81 29.46

Analog_circuits 716 12 92.92

GPS_charging 0 0 0.00

Compass 764 8 66.01

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -0.66 -146.6 0.0 0.0 0 83 0.00 0.00 -60.17 0.000 2 0.000 0.000 8 2264 3057

86 -0.66 -146.6 3.0 -2.7 11 111 10.55 2.38 -7.47 0.000 4 0.213 0.054 2603 834 3399

358 -0.66 -146.6 23.1 -5.8 55 362 0.00 2.30 0.00 0.000 6 0.000 0.037 2604 2243 3401

554 -0.66 -146.6 33.6 -5.2 73 555 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2243 3402

745 -0.66 -146.6 43.5 -5.1 91 747 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2243 3402

937 -0.66 -146.6 52.7 -4.9 109 938 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2243 3402

1255 -0.66 -146.6 68.6 -4.8 139 1257 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2243 3402

1574 -0.66 -146.6 84.6 -5.2 169 1575 0.00 0.00 0.00 0.000 6 0.000 0.000 2603 2244 3402

1784 end dive: TARGET_DEPTH_EXCEEDED

state 1784 begin apogee

1789 -0.23 0.0 95.5 5.2 189 1907 0.45 0.00 111.75 0.772 6 0.103 0.000 2747 2129 2799

1908 end apogee: CONTROL_FINISHED_OK

state 1908 begin climb

1910 0.66 146.6 97.6 0.0 201 2028 0.85 0.00 111.68 0.711 6 0.077 0.000 3026 2130 2202

2345 0.66 146.6 73.6 6.3 243 2349 0.00 2.40 0.00 0.000 4 0.000 0.049 3027 3554 2199

2383 0.66 146.6 71.0 7.4 246 2390 0.00 2.28 0.00 0.000 6 0.000 0.031 3034 2170 2199

2711 0.66 146.6 50.5 6.0 277 2712 0.00 0.00 0.00 0.000 6 0.000 0.000 3034 2169 2199

3026 0.66 146.6 31.6 6.0 307 3030 0.00 2.30 0.00 0.000 4 0.000 0.046 3038 745 2199

3060 0.66 146.6 29.8 5.2 310 3064 0.00 2.28 0.00 0.000 6 0.000 0.036 3038 2156 2199

3259 0.66 146.6 17.9 6.0 331 3265 0.00 2.30 0.00 0.000 4 0.000 0.051 3038 3554 2199

3310 0.66 146.6 14.8 6.0 340 3316 0.00 2.25 0.00 0.000 6 0.000 0.032 3040 2142 2199

3384 0.66 146.6 10.6 5.7 353 3390 0.00 2.28 0.00 0.000 4 0.000 0.046 3041 737 2199

3413 0.66 146.6 9.0 5.6 358 3420 0.00 2.28 0.00 0.000 6 0.000 0.036 3041 2157 2199

3487 0.66 146.6 4.9 5.4 371 3493 0.00 2.30 0.00 0.000 4 0.000 0.051 3041 3558 2199

3505 0.66 146.6 3.9 5.2 374 3511 0.00 2.25 0.00 0.000 6 0.000 0.032 3041 2148 2199

3555 end climb: SURFACE_DEPTH_REACHED

state 3555 begin surface coast

3607 end surface coast: CONTROL_FINISHED_OK

state 3607 begin surface

ID	128	HD_B	0.013382	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.8987e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	169	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	35	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	63	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	204	DEVICE4	-1
T_TURN	270	CALL_WAIT	60	VBD_MAX	3580	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2800	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	360	SMARTDEVICE2	-1
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	-62566.766	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	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	1	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	25	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	4070	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_I	2.5554549e-05
MASS	51503	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0043390002	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	052307,4807.151,-12222.926,39,0.9,40,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.050,-0.149
_SM_DEPTHo	1.13	KALMAN_X	12818.7,-5.4,29.9,-11679.2,174.8
_SM_ANGLEo	-69.4	KALMAN_Y	6723.1,136.5,-88.4,-9179.5,-43.5
GPS2	052727,4807.167,-12222.953,14,0.9,14,18.3	MHEAD_RNG_PITCHd_Wd	143.0,4684,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	105

FINISH	1.0,1.023871	XPDR_PINGS	1
SM_CCo	3624,74.72,0.720,0,0,1577,300.00	ALTIM_BOTTOM_PING	70.1,52.1
SM_GC	1.69,0.00,0.00,74.72,0.000,0.000,0.720,17,2260,1577,-8.76,0.28,300.00	_24V_AH	24.4,21.924
IRIDIUM_FIX	4748.51,-12224.57,120907,080848	_10V_AH	10.8,9.564
TT8_MAMPS	0.026845	DATA_FILE_SIZE	19072,392
HUMID	1843	CFSIZE	260165632,252981248
INTERNAL_PRESSURE	9.19957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.20	GPS	120907,063051,4806.816,-12222.560,8,1.5,8,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	213	106.27	SBE_CT	282	24	165.56
Roll_motor	27	55	37.59	SBE_O2	314	19	145.79
VBD_pump_during_apogee	223	771	4206.44	WL_BB2F	661	105	1694.96
VBD_pump_during_surface	74	720	1313.16	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	96.81	nil	0	0	0.00
Iridium_during_connect	41	160	161.02	nil	0	0	0.00
Iridium_during_xfer	98	223	536.78
Transponder_ping	0	420	5.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.36
TT8	642	19	137.45
LPSleep	1955	2	46.25
TT8_Active	355	19	75.98
TT8_Sampling	745	39	320.24
TT8_CF8	285	45	141.08
TT8_Kalman	33	81	29.46
Analog_circuits	716	12	92.92
GPS_charging	0	0	0.00
Compass	764	8	66.01
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-0.66	-146.6	0.0	0.0	0	83	0.00	0.00	-60.17	0.000	2	0.000	0.000	8	2264	3057
86	-0.66	-146.6	3.0	-2.7	11	111	10.55	2.38	-7.47	0.000	4	0.213	0.054	2603	834	3399
358	-0.66	-146.6	23.1	-5.8	55	362	0.00	2.30	0.00	0.000	6	0.000	0.037	2604	2243	3401
554	-0.66	-146.6	33.6	-5.2	73	555	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2243	3402
745	-0.66	-146.6	43.5	-5.1	91	747	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2243	3402
937	-0.66	-146.6	52.7	-4.9	109	938	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2243	3402
1255	-0.66	-146.6	68.6	-4.8	139	1257	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2243	3402
1574	-0.66	-146.6	84.6	-5.2	169	1575	0.00	0.00	0.00	0.000	6	0.000	0.000	2603	2244	3402
1784	end dive: TARGET_DEPTH_EXCEEDED
state	1784	begin apogee
1789	-0.23	0.0	95.5	5.2	189	1907	0.45	0.00	111.75	0.772	6	0.103	0.000	2747	2129	2799
1908	end apogee: CONTROL_FINISHED_OK
state	1908	begin climb
1910	0.66	146.6	97.6	0.0	201	2028	0.85	0.00	111.68	0.711	6	0.077	0.000	3026	2130	2202
2345	0.66	146.6	73.6	6.3	243	2349	0.00	2.40	0.00	0.000	4	0.000	0.049	3027	3554	2199
2383	0.66	146.6	71.0	7.4	246	2390	0.00	2.28	0.00	0.000	6	0.000	0.031	3034	2170	2199
2711	0.66	146.6	50.5	6.0	277	2712	0.00	0.00	0.00	0.000	6	0.000	0.000	3034	2169	2199
3026	0.66	146.6	31.6	6.0	307	3030	0.00	2.30	0.00	0.000	4	0.000	0.046	3038	745	2199
3060	0.66	146.6	29.8	5.2	310	3064	0.00	2.28	0.00	0.000	6	0.000	0.036	3038	2156	2199
3259	0.66	146.6	17.9	6.0	331	3265	0.00	2.30	0.00	0.000	4	0.000	0.051	3038	3554	2199
3310	0.66	146.6	14.8	6.0	340	3316	0.00	2.25	0.00	0.000	6	0.000	0.032	3040	2142	2199
3384	0.66	146.6	10.6	5.7	353	3390	0.00	2.28	0.00	0.000	4	0.000	0.046	3041	737	2199
3413	0.66	146.6	9.0	5.6	358	3420	0.00	2.28	0.00	0.000	6	0.000	0.036	3041	2157	2199
3487	0.66	146.6	4.9	5.4	371	3493	0.00	2.30	0.00	0.000	4	0.000	0.051	3041	3558	2199
3505	0.66	146.6	3.9	5.2	374	3511	0.00	2.25	0.00	0.000	6	0.000	0.032	3041	2148	2199
3555	end climb: SURFACE_DEPTH_REACHED
state	3555	begin surface coast
3607	end surface coast: CONTROL_FINISHED_OK
state	3607	begin surface