Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 171 * 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 171 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 41 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -62618.246 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 -62618.246

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 41 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 171 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 073623,4806.485,-12222.437,10,2.8,30,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.054,-0.147

_SM_DEPTHo 1.11 KALMAN_X 12952.6,54.1,171.9,-11362.2,109.0

_SM_ANGLEo -68.7 KALMAN_Y 6857.2,47.6,-240.5,-10323.2,67.1

GPS2 074059,4806.490,-12222.429,13,2.8,32,18.3 MHEAD_RNG_PITCHd_Wd 141.6,3277,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.4,1.023728 XPDR_PINGS 1

SM_CCo 3483,64.88,0.704,0,0,1576,300.00 ALTIM_BOTTOM_PING 70.5,41.5

SM_GC 1.53,0.00,0.00,64.88,0.000,0.000,0.704,5,2266,1576,-8.80,0.45,300.00 _24V_AH 24.4,22.066

IRIDIUM_FIX 4748.51,-12224.57,120907,101023 _10V_AH 10.8,9.656

TT8_MAMPS 0.026078 DATA_FILE_SIZE 19125,372

HUMID 1856 CFSIZE 260165632,252923904

INTERNAL_PRESSURE 9.18981 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.70 GPS 120907,084225,4806.226,-12222.136,23,1.2,41,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 213 107.17 SBE_CT 267 24 156.61

Roll_motor 32 65 52.47 SBE_O2 295 19 136.81

VBD_pump_during_apogee 233 802 4568.96 WL_BB2F 627 105 1608.31

VBD_pump_during_surface 64 704 1114.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 99.38 nil 0 0 0.00

Iridium_during_connect 41 160 163.94 nil 0 0 0.00

Iridium_during_xfer 93 223 506.29

Transponder_ping 0 420 5.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 19.02

TT8 614 19 131.49

LPSleep 1846 2 43.68

TT8_Active 357 19 76.42

TT8_Sampling 752 39 323.66

TT8_CF8 277 45 137.08

TT8_Kalman 33 81 29.46

Analog_circuits 719 12 93.30

GPS_charging 0 0 0.00

Compass 748 8 64.69

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

20 -0.66 -146.6 0.0 0.0 0 89 0.00 0.00 -66.07 0.000 2 0.000 0.000 14 2237 3219

91 -0.66 -146.6 3.4 -3.4 12 111 10.52 2.35 -3.75 0.000 4 0.214 0.054 2601 847 3401

415 -0.66 -146.6 27.6 -5.6 57 421 0.00 2.30 0.00 0.000 6 0.000 0.038 2601 2258 3404

611 -0.66 -146.6 38.2 -5.2 76 615 0.00 2.30 0.00 0.000 4 0.000 0.041 2601 844 3405

655 -0.66 -146.6 40.8 -5.3 79 662 0.00 2.30 0.00 0.000 6 0.000 0.038 2601 2248 3405

853 -0.66 -146.6 51.2 -5.3 98 854 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2248 3405

1171 -0.66 -146.6 67.8 -5.1 128 1172 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2248 3405

1490 -0.66 -146.6 84.2 -5.2 158 1494 0.00 2.33 0.00 0.000 4 0.000 0.052 2598 3661 3405

1540 -0.66 -146.6 86.9 -5.4 162 1544 0.00 2.25 0.00 0.000 6 0.000 0.029 2598 2231 3405

1692 end dive: TARGET_DEPTH_EXCEEDED

state 1692 begin apogee

1697 -0.23 0.0 95.1 5.2 176 1815 0.47 0.00 112.45 0.786 6 0.105 0.000 2748 2141 2800

1816 end apogee: CONTROL_FINISHED_OK

state 1816 begin climb

1818 0.66 146.6 97.2 0.0 188 1936 0.88 0.00 111.90 0.712 6 0.079 0.000 3029 2141 2202

2254 0.66 146.6 73.3 6.5 230 2258 0.00 2.40 0.00 0.000 4 0.000 0.050 3029 3559 2199

2287 0.66 146.6 71.0 7.0 233 2291 0.00 2.28 0.00 0.000 6 0.000 0.031 3038 2161 2199

2612 0.66 146.6 49.8 6.2 263 2614 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2161 2199

2803 0.66 146.6 37.7 6.2 281 2804 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2161 2198

2994 0.66 146.6 26.6 6.0 299 2995 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2161 2198

3189 0.66 146.6 15.1 5.9 324 3195 0.00 2.30 0.00 0.000 4 0.000 0.046 3040 746 2198

3224 0.66 146.6 13.2 5.7 330 3230 0.00 2.28 0.00 0.000 6 0.000 0.038 3040 2155 2198

3298 0.66 146.6 9.0 5.5 343 3304 0.00 2.33 0.00 0.000 4 0.000 0.052 3040 3565 2198

3338 0.66 146.6 6.6 5.9 350 3344 0.00 2.28 0.00 0.000 6 0.000 0.033 3040 2142 2198

3413 0.68 158.5 3.0 4.7 363 3431 0.00 2.33 9.05 0.802 4 0.000 0.045 3040 747 2153

3446 end climb: SURFACE_DEPTH_REACHED

state 3446 begin surface coast

3464 end surface coast: CONTROL_FINISHED_OK

state 3464 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	171	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	41	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-62618.246	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	073623,4806.485,-12222.437,10,2.8,30,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.054,-0.147
_SM_DEPTHo	1.11	KALMAN_X	12952.6,54.1,171.9,-11362.2,109.0
_SM_ANGLEo	-68.7	KALMAN_Y	6857.2,47.6,-240.5,-10323.2,67.1
GPS2	074059,4806.490,-12222.429,13,2.8,32,18.3	MHEAD_RNG_PITCHd_Wd	141.6,3277,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	108

FINISH	1.4,1.023728	XPDR_PINGS	1
SM_CCo	3483,64.88,0.704,0,0,1576,300.00	ALTIM_BOTTOM_PING	70.5,41.5
SM_GC	1.53,0.00,0.00,64.88,0.000,0.000,0.704,5,2266,1576,-8.80,0.45,300.00	_24V_AH	24.4,22.066
IRIDIUM_FIX	4748.51,-12224.57,120907,101023	_10V_AH	10.8,9.656
TT8_MAMPS	0.026078	DATA_FILE_SIZE	19125,372
HUMID	1856	CFSIZE	260165632,252923904
INTERNAL_PRESSURE	9.18981	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.70	GPS	120907,084225,4806.226,-12222.136,23,1.2,41,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	213	107.17	SBE_CT	267	24	156.61
Roll_motor	32	65	52.47	SBE_O2	295	19	136.81
VBD_pump_during_apogee	233	802	4568.96	WL_BB2F	627	105	1608.31
VBD_pump_during_surface	64	704	1114.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	99.38	nil	0	0	0.00
Iridium_during_connect	41	160	163.94	nil	0	0	0.00
Iridium_during_xfer	93	223	506.29
Transponder_ping	0	420	5.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	19.02
TT8	614	19	131.49
LPSleep	1846	2	43.68
TT8_Active	357	19	76.42
TT8_Sampling	752	39	323.66
TT8_CF8	277	45	137.08
TT8_Kalman	33	81	29.46
Analog_circuits	719	12	93.30
GPS_charging	0	0	0.00
Compass	748	8	64.69
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
20	-0.66	-146.6	0.0	0.0	0	89	0.00	0.00	-66.07	0.000	2	0.000	0.000	14	2237	3219
91	-0.66	-146.6	3.4	-3.4	12	111	10.52	2.35	-3.75	0.000	4	0.214	0.054	2601	847	3401
415	-0.66	-146.6	27.6	-5.6	57	421	0.00	2.30	0.00	0.000	6	0.000	0.038	2601	2258	3404
611	-0.66	-146.6	38.2	-5.2	76	615	0.00	2.30	0.00	0.000	4	0.000	0.041	2601	844	3405
655	-0.66	-146.6	40.8	-5.3	79	662	0.00	2.30	0.00	0.000	6	0.000	0.038	2601	2248	3405
853	-0.66	-146.6	51.2	-5.3	98	854	0.00	0.00	0.00	0.000	6	0.000	0.000	2601	2248	3405
1171	-0.66	-146.6	67.8	-5.1	128	1172	0.00	0.00	0.00	0.000	6	0.000	0.000	2601	2248	3405
1490	-0.66	-146.6	84.2	-5.2	158	1494	0.00	2.33	0.00	0.000	4	0.000	0.052	2598	3661	3405
1540	-0.66	-146.6	86.9	-5.4	162	1544	0.00	2.25	0.00	0.000	6	0.000	0.029	2598	2231	3405
1692	end dive: TARGET_DEPTH_EXCEEDED
state	1692	begin apogee
1697	-0.23	0.0	95.1	5.2	176	1815	0.47	0.00	112.45	0.786	6	0.105	0.000	2748	2141	2800
1816	end apogee: CONTROL_FINISHED_OK
state	1816	begin climb
1818	0.66	146.6	97.2	0.0	188	1936	0.88	0.00	111.90	0.712	6	0.079	0.000	3029	2141	2202
2254	0.66	146.6	73.3	6.5	230	2258	0.00	2.40	0.00	0.000	4	0.000	0.050	3029	3559	2199
2287	0.66	146.6	71.0	7.0	233	2291	0.00	2.28	0.00	0.000	6	0.000	0.031	3038	2161	2199
2612	0.66	146.6	49.8	6.2	263	2614	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2161	2199
2803	0.66	146.6	37.7	6.2	281	2804	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2161	2198
2994	0.66	146.6	26.6	6.0	299	2995	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2161	2198
3189	0.66	146.6	15.1	5.9	324	3195	0.00	2.30	0.00	0.000	4	0.000	0.046	3040	746	2198
3224	0.66	146.6	13.2	5.7	330	3230	0.00	2.28	0.00	0.000	6	0.000	0.038	3040	2155	2198
3298	0.66	146.6	9.0	5.5	343	3304	0.00	2.33	0.00	0.000	4	0.000	0.052	3040	3565	2198
3338	0.66	146.6	6.6	5.9	350	3344	0.00	2.28	0.00	0.000	6	0.000	0.033	3040	2142	2198
3413	0.68	158.5	3.0	4.7	363	3431	0.00	2.33	9.05	0.802	4	0.000	0.045	3040	747	2153
3446	end climb: SURFACE_DEPTH_REACHED
state	3446	begin surface coast
3464	end surface coast: CONTROL_FINISHED_OK
state	3464	begin surface