Glider dive log

PortSusan 05Mar08 * SG140 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 4 HEADING -1 PITCH_ADJ_GAIN 0.059999999 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 17 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DEPTH 0

D_TGT 150 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 250 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2048 ALTIM_FREQUENCY 13

D_NO_BLEED 80 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2048 ALTIM_PULSE 3

D_FINISH 0 SM_CC 600 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 9 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 10 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 720 CALL_TRIES 5 VBD_MIN 520 DEVICE4 53

T_TURN 225 CALL_WAIT 60 VBD_MAX 3978 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3600 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 720 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -12656.293 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 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 20 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 592 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3894 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.023 C_PITCH 2990 PRESSURE_YINT -1.6534929 SEABIRD_T_I 2.3931538e-05

MASS 51359 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.0994887e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 1 PITCH_GAIN 14.2 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 14.2 SM_CC 600

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3894 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 592 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 15 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 9.0994887e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -1.6534929 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -12656.293

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 20 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 225

COMPASS_USE 0 ID 140 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2990 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2048 KALMAN_USE 1 ROLL_MIN 157 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2048 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -4

C_VBD 3600 MASS 51359 R_PORT_OVSHOOT 9 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 10 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0037964056 VBD_MAX 3978

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 20

DEVICE4 53 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 520

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 17 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 250 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 134603,4806.065,-12222.357,10,1.9,10,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 400.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.114,0.234

_SM_DEPTHo 0.99 KALMAN_X 685.3,74.8,-71.6,238.8,-65.8

_SM_ANGLEo -72.1 KALMAN_Y -2062.7,-244.5,-27.9,-1164.9,49.8

GPS2 135002,4806.075,-12222.375,12,1.8,17,18.3 MHEAD_RNG_PITCHd_Wd 315.8,4092,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 103

Post-dive calculations and measurements:

FINISH 2.2,1.019804 XPDR_PINGS 19

SM_CCo 2480,396.70,0.771,0,0,520,755.52 _24V_AH 23.7,7.750

SM_GC 0.83,11.73,0.00,0.00,0.046,0.000,0.000,593,2048,514,-10.98,0.00,757.00 _10V_AH 10.7,0.971

IRIDIUM_FIX 4745.30,-12123.79,310597,131350 DATA_FILE_SIZE 25397,432

TT8_MAMPS 0.02301 CAP_FILE_SIZE 46312,0

HUMID 1540 CFSIZE 260165632,256843776

INTERNAL_PRESSURE 8.2718 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.00 GPS 060308,144156,4806.246,-12222.639,40,1.6,40,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 185 125.81 SBE_CT 291 24 165.98

Roll_motor 33 139 112.15 SBE_O2 323 19 145.75

VBD_pump_during_apogee 273 893 5784.57 WL_BB2F 537 105 1337.23

VBD_pump_during_surface 396 770 7247.23 Optode 0 33 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 75.26 nil 0 0 0.00

Iridium_during_connect 12 160 45.91 nil 0 0 0.00

Iridium_during_xfer 105 223 558.44

Transponder_ping 4 420 47.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.37

TT8 627 19 132.85

LPSleep 848 2 19.89

TT8_Active 723 19 153.31

TT8_Sampling 785 39 334.62

TT8_CF8 253 45 124.07

TT8_Kalman 33 81 29.17

Analog_circuits 1150 12 147.69

GPS_charging 0 0 0.00

Compass 783 8 67.06

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -1.41 -146.6 0.0 0.0 0 115 0.00 0.00 -91.55 0.000 2 0.000 0.000 593 2041 3443

118 -1.41 -146.6 3.5 -7.1 17 154 12.38 2.95 -14.25 0.000 4 0.186 0.140 2673 639 3980

407 -1.04 -146.6 36.7 -12.7 68 414 0.45 2.78 0.00 0.000 6 0.110 0.107 2759 2048 3981

483 -1.15 -146.6 43.4 -8.3 81 489 0.00 2.92 0.00 0.000 4 0.000 0.131 2759 636 3980

625 -1.15 -146.6 55.8 -8.8 106 631 0.00 2.78 0.00 0.000 6 0.000 0.106 2758 2048 3980

768 -1.29 -146.6 67.6 -8.3 131 773 0.20 0.00 0.00 0.000 6 0.055 0.000 2706 2049 3980

909 -1.23 -146.6 82.2 -10.5 156 915 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2049 3980

1051 -1.17 -146.6 97.0 -10.6 181 1056 0.15 0.00 0.00 0.000 6 0.105 0.000 2737 2049 3980

1117 end dive: TARGET_DEPTH_EXCEEDED

state 1117 begin apogee

1122 -0.35 0.0 103.2 8.8 193 1202 0.82 0.00 73.40 0.894 6 0.102 0.000 2905 2048 3599

1202 end apogee: CONTROL_FINISHED_OK

state 1203 begin climb

1205 1.41 146.6 106.1 0.0 208 1328 1.80 3.03 113.55 0.861 4 0.070 0.134 3293 637 3001

1363 1.04 186.0 102.9 8.2 237 1402 0.40 2.83 31.58 0.838 6 0.116 0.104 3219 2055 2840

1537 1.08 218.7 88.3 8.5 268 1570 0.00 2.83 26.58 0.818 4 0.000 0.108 3218 3463 2708

1644 1.08 218.7 78.1 10.1 287 1650 0.00 2.78 0.00 0.000 6 0.000 0.100 3219 2041 2708

1786 1.18 233.0 64.6 9.3 312 1804 0.12 0.00 12.50 0.774 6 0.067 0.000 3250 2041 2650

1941 1.18 233.0 47.8 11.5 339 1947 0.00 2.78 0.00 0.000 4 0.000 0.104 3250 3467 2650

2015 1.08 233.0 39.1 11.6 352 2022 0.12 2.75 0.00 0.000 6 0.116 0.098 3228 2039 2650

2091 1.18 245.6 31.6 9.4 365 2108 0.00 0.00 11.32 0.758 6 0.000 0.000 3228 2039 2598

2177 1.28 248.8 23.1 9.9 380 2184 0.17 0.00 4.22 0.575 6 0.060 0.000 3271 2039 2585

2253 1.21 248.8 14.1 12.0 393 2259 0.00 2.78 0.00 0.000 4 0.000 0.104 3271 3467 2585

2322 1.06 248.8 5.7 11.7 405 2329 0.25 2.72 0.00 0.000 6 0.105 0.098 3223 2048 2585

2378 end climb: SURFACE_DEPTH_REACHED

state 2378 begin surface coast

2477 end surface coast: CONTROL_FINISHED_OK

state 2477 begin surface

ID	140	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	-1	PITCH_ADJ_GAIN	0.059999999	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	17	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DEPTH	0
D_TGT	150	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	250	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2048	ALTIM_FREQUENCY	13
D_NO_BLEED	80	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2048	ALTIM_PULSE	3
D_FINISH	0	SM_CC	600	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	9	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	10	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	720	CALL_TRIES	5	VBD_MIN	520	DEVICE4	53
T_TURN	225	CALL_WAIT	60	VBD_MAX	3978	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3600	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	720	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-12656.293	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	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	20	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	592	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3894	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.023	C_PITCH	2990	PRESSURE_YINT	-1.6534929	SEABIRD_T_I	2.3931538e-05
MASS	51359	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.0994887e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	1	PITCH_GAIN	14.2	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	134603,4806.065,-12222.357,10,1.9,10,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	400.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.114,0.234
_SM_DEPTHo	0.99	KALMAN_X	685.3,74.8,-71.6,238.8,-65.8
_SM_ANGLEo	-72.1	KALMAN_Y	-2062.7,-244.5,-27.9,-1164.9,49.8
GPS2	135002,4806.075,-12222.375,12,1.8,17,18.3	MHEAD_RNG_PITCHd_Wd	315.8,4092,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	103

FINISH	2.2,1.019804	XPDR_PINGS	19
SM_CCo	2480,396.70,0.771,0,0,520,755.52	_24V_AH	23.7,7.750
SM_GC	0.83,11.73,0.00,0.00,0.046,0.000,0.000,593,2048,514,-10.98,0.00,757.00	_10V_AH	10.7,0.971
IRIDIUM_FIX	4745.30,-12123.79,310597,131350	DATA_FILE_SIZE	25397,432
TT8_MAMPS	0.02301	CAP_FILE_SIZE	46312,0
HUMID	1540	CFSIZE	260165632,256843776
INTERNAL_PRESSURE	8.2718	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.00	GPS	060308,144156,4806.246,-12222.639,40,1.6,40,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	185	125.81	SBE_CT	291	24	165.98
Roll_motor	33	139	112.15	SBE_O2	323	19	145.75
VBD_pump_during_apogee	273	893	5784.57	WL_BB2F	537	105	1337.23
VBD_pump_during_surface	396	770	7247.23	Optode	0	33	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	75.26	nil	0	0	0.00
Iridium_during_connect	12	160	45.91	nil	0	0	0.00
Iridium_during_xfer	105	223	558.44
Transponder_ping	4	420	47.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.37
TT8	627	19	132.85
LPSleep	848	2	19.89
TT8_Active	723	19	153.31
TT8_Sampling	785	39	334.62
TT8_CF8	253	45	124.07
TT8_Kalman	33	81	29.17
Analog_circuits	1150	12	147.69
GPS_charging	0	0	0.00
Compass	783	8	67.06
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-1.41	-146.6	0.0	0.0	0	115	0.00	0.00	-91.55	0.000	2	0.000	0.000	593	2041	3443
118	-1.41	-146.6	3.5	-7.1	17	154	12.38	2.95	-14.25	0.000	4	0.186	0.140	2673	639	3980
407	-1.04	-146.6	36.7	-12.7	68	414	0.45	2.78	0.00	0.000	6	0.110	0.107	2759	2048	3981
483	-1.15	-146.6	43.4	-8.3	81	489	0.00	2.92	0.00	0.000	4	0.000	0.131	2759	636	3980
625	-1.15	-146.6	55.8	-8.8	106	631	0.00	2.78	0.00	0.000	6	0.000	0.106	2758	2048	3980
768	-1.29	-146.6	67.6	-8.3	131	773	0.20	0.00	0.00	0.000	6	0.055	0.000	2706	2049	3980
909	-1.23	-146.6	82.2	-10.5	156	915	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2049	3980
1051	-1.17	-146.6	97.0	-10.6	181	1056	0.15	0.00	0.00	0.000	6	0.105	0.000	2737	2049	3980
1117	end dive: TARGET_DEPTH_EXCEEDED
state	1117	begin apogee
1122	-0.35	0.0	103.2	8.8	193	1202	0.82	0.00	73.40	0.894	6	0.102	0.000	2905	2048	3599
1202	end apogee: CONTROL_FINISHED_OK
state	1203	begin climb
1205	1.41	146.6	106.1	0.0	208	1328	1.80	3.03	113.55	0.861	4	0.070	0.134	3293	637	3001
1363	1.04	186.0	102.9	8.2	237	1402	0.40	2.83	31.58	0.838	6	0.116	0.104	3219	2055	2840
1537	1.08	218.7	88.3	8.5	268	1570	0.00	2.83	26.58	0.818	4	0.000	0.108	3218	3463	2708
1644	1.08	218.7	78.1	10.1	287	1650	0.00	2.78	0.00	0.000	6	0.000	0.100	3219	2041	2708
1786	1.18	233.0	64.6	9.3	312	1804	0.12	0.00	12.50	0.774	6	0.067	0.000	3250	2041	2650
1941	1.18	233.0	47.8	11.5	339	1947	0.00	2.78	0.00	0.000	4	0.000	0.104	3250	3467	2650
2015	1.08	233.0	39.1	11.6	352	2022	0.12	2.75	0.00	0.000	6	0.116	0.098	3228	2039	2650
2091	1.18	245.6	31.6	9.4	365	2108	0.00	0.00	11.32	0.758	6	0.000	0.000	3228	2039	2598
2177	1.28	248.8	23.1	9.9	380	2184	0.17	0.00	4.22	0.575	6	0.060	0.000	3271	2039	2585
2253	1.21	248.8	14.1	12.0	393	2259	0.00	2.78	0.00	0.000	4	0.000	0.104	3271	3467	2585
2322	1.06	248.8	5.7	11.7	405	2329	0.25	2.72	0.00	0.000	6	0.105	0.098	3223	2048	2585
2378	end climb: SURFACE_DEPTH_REACHED
state	2378	begin surface coast
2477	end surface coast: CONTROL_FINISHED_OK
state	2477	begin surface