Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 29 * 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 29 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 1990 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1930 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -43634.695 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 3080 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 -43634.695

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 3080 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1930 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1990 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 22 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 25 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 29 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 211309,4739.552,-12253.192,9,1.7,9,18.3 TGT_NAME H2

_CALLS 2 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.234,0.034

_SM_DEPTHo 1.21 KALMAN_X 1542.8,137.5,17.7,-2950.9,-100.9

_SM_ANGLEo -64.7 KALMAN_Y 1804.4,35.3,-23.1,-2270.8,-108.1

GPS2 212151,4739.517,-12253.206,14,1.4,14,18.3 MHEAD_RNG_PITCHd_Wd 63.3,1008,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 116

Post-dive calculations and measurements:

FINISH 1.1,1.019705 XPDR_PINGS 0

SM_CCo 2792,114.28,0.586,0,0,1587,400.08 ALTIM_BOTTOM_PING 50.3,51.0

SM_GC 1.11,0.00,0.00,114.28,0.000,0.000,0.586,461,1995,1587,-12.05,0.14,400.08 _24V_AH 23.2,8.340

IRIDIUM_FIX 4722.92,-12251.79,260907,010143 _10V_AH 10.1,31.118

TT8_MAMPS 0.070564 DATA_FILE_SIZE 6456,263

HUMID 2034 CFSIZE 260034560,256212992

INTERNAL_PRESSURE 8.43782 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 250907,221208,4739.467,-12252.849,11,1.4,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 203 149.48 SBE_CT 175 24 97.95

Roll_motor 41 78 76.00 nil 0 0 0.00

VBD_pump_during_apogee 201 677 3168.42 nil 0 0 0.00

VBD_pump_during_surface 114 585 1553.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 179.93 nil 0 0 0.00

Iridium_during_connect 68 160 252.53 ARS 0 0 0.00

Iridium_during_xfer 221 223 1146.21

Transponder_ping 0 420 4.87

Mmodem_TX 91 1000 2118.39

Mmodem_RX 3455 6 513.10

GPS 14 50 7.52

TT8 490 19 98.15

LPSleep 1605 2 35.50

TT8_Active 442 19 88.46

TT8_Sampling 480 39 193.16

TT8_CF8 442 45 204.57

TT8_Kalman 33 81 27.53

Analog_circuits 731 12 88.66

GPS_charging 0 0 0.00

Compass 454 8 36.71

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 20 begin dive

22 -1.63 -122.2 0.0 0.0 0 79 0.00 0.00 -55.40 0.000 2 0.000 0.000 461 1996 2856

81 -1.63 -122.2 2.2 -3.7 9 137 14.45 2.72 -34.97 0.000 4 0.203 0.078 2722 588 3718

236 -1.63 -122.2 10.2 -6.4 33 243 0.00 2.58 0.00 0.000 6 0.000 0.035 2722 1993 3720

308 -1.63 -122.2 14.6 -5.7 44 313 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1993 3720

379 -1.63 -122.2 18.9 -6.1 55 385 0.00 2.67 0.00 0.000 4 0.000 0.065 2722 578 3721

462 -1.63 -122.2 24.3 -6.6 63 470 0.00 2.53 0.00 0.000 6 0.000 0.035 2722 1989 3721

659 -1.63 -122.2 36.4 -6.3 79 660 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1990 3722

849 -1.63 -122.2 49.0 -6.4 94 853 0.00 2.58 0.00 0.000 4 0.000 0.058 2722 3396 3722

906 -1.63 -122.2 53.0 -7.2 98 914 0.00 2.55 0.00 0.000 6 0.000 0.041 2722 1984 3722

1102 -1.63 -122.2 66.1 -6.9 114 1107 0.00 2.67 0.00 0.000 4 0.000 0.071 2722 572 3722

1147 -1.63 -122.2 69.3 -7.6 117 1155 0.00 2.55 0.00 0.000 6 0.000 0.037 2722 1989 3722

1344 -1.63 -122.2 82.7 -7.1 133 1348 0.00 2.65 0.00 0.000 4 0.000 0.068 2722 590 3722

1401 -1.63 -122.2 87.1 -7.5 137 1409 0.00 2.50 0.00 0.000 6 0.000 0.036 2722 1986 3722

1598 end dive: TARGET_DEPTH_EXCEEDED

state 1598 begin apogee

1602 -0.38 0.0 100.1 6.8 153 1708 1.38 0.00 98.25 0.677 6 0.099 0.000 2993 1919 3217

1708 end apogee: CONTROL_FINISHED_OK

state 1709 begin climb

1710 1.63 122.2 101.9 0.0 162 1813 1.95 2.65 94.75 0.653 4 0.051 0.058 3436 3330 2718

1831 1.63 122.2 93.9 9.6 171 1840 0.00 2.58 0.00 0.000 6 0.000 0.041 3435 1930 2718

2028 1.63 122.2 73.3 10.9 187 2032 0.00 2.70 0.00 0.000 4 0.000 0.077 3435 526 2717

2138 1.63 122.2 60.6 11.9 195 2147 0.00 2.55 0.00 0.000 6 0.000 0.037 3435 1932 2718

2336 1.63 122.2 39.4 11.2 211 2337 0.00 0.00 0.00 0.000 6 0.000 0.000 3435 1932 2718

2525 1.63 122.2 19.5 10.3 226 2531 0.00 2.67 0.00 0.000 4 0.000 0.072 3435 530 2717

2656 1.64 134.2 6.8 8.9 246 2670 0.00 2.50 8.65 0.666 6 0.000 0.037 3435 1926 2671

2687 end climb: SURFACE_DEPTH_REACHED

state 2687 begin surface coast

2768 end surface coast: CONTROL_FINISHED_OK

state 2768 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	29	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	1990	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1930	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-43634.695	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	3080	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	211309,4739.552,-12253.192,9,1.7,9,18.3	TGT_NAME	H2
_CALLS	2	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.234,0.034
_SM_DEPTHo	1.21	KALMAN_X	1542.8,137.5,17.7,-2950.9,-100.9
_SM_ANGLEo	-64.7	KALMAN_Y	1804.4,35.3,-23.1,-2270.8,-108.1
GPS2	212151,4739.517,-12253.206,14,1.4,14,18.3	MHEAD_RNG_PITCHd_Wd	63.3,1008,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	116

FINISH	1.1,1.019705	XPDR_PINGS	0
SM_CCo	2792,114.28,0.586,0,0,1587,400.08	ALTIM_BOTTOM_PING	50.3,51.0
SM_GC	1.11,0.00,0.00,114.28,0.000,0.000,0.586,461,1995,1587,-12.05,0.14,400.08	_24V_AH	23.2,8.340
IRIDIUM_FIX	4722.92,-12251.79,260907,010143	_10V_AH	10.1,31.118
TT8_MAMPS	0.070564	DATA_FILE_SIZE	6456,263
HUMID	2034	CFSIZE	260034560,256212992
INTERNAL_PRESSURE	8.43782	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	250907,221208,4739.467,-12252.849,11,1.4,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	203	149.48	SBE_CT	175	24	97.95
Roll_motor	41	78	76.00	nil	0	0	0.00
VBD_pump_during_apogee	201	677	3168.42	nil	0	0	0.00
VBD_pump_during_surface	114	585	1553.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	179.93	nil	0	0	0.00
Iridium_during_connect	68	160	252.53	ARS	0	0	0.00
Iridium_during_xfer	221	223	1146.21
Transponder_ping	0	420	4.87
Mmodem_TX	91	1000	2118.39
Mmodem_RX	3455	6	513.10
GPS	14	50	7.52
TT8	490	19	98.15
LPSleep	1605	2	35.50
TT8_Active	442	19	88.46
TT8_Sampling	480	39	193.16
TT8_CF8	442	45	204.57
TT8_Kalman	33	81	27.53
Analog_circuits	731	12	88.66
GPS_charging	0	0	0.00
Compass	454	8	36.71
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	20	begin dive
22	-1.63	-122.2	0.0	0.0	0	79	0.00	0.00	-55.40	0.000	2	0.000	0.000	461	1996	2856
81	-1.63	-122.2	2.2	-3.7	9	137	14.45	2.72	-34.97	0.000	4	0.203	0.078	2722	588	3718
236	-1.63	-122.2	10.2	-6.4	33	243	0.00	2.58	0.00	0.000	6	0.000	0.035	2722	1993	3720
308	-1.63	-122.2	14.6	-5.7	44	313	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1993	3720
379	-1.63	-122.2	18.9	-6.1	55	385	0.00	2.67	0.00	0.000	4	0.000	0.065	2722	578	3721
462	-1.63	-122.2	24.3	-6.6	63	470	0.00	2.53	0.00	0.000	6	0.000	0.035	2722	1989	3721
659	-1.63	-122.2	36.4	-6.3	79	660	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1990	3722
849	-1.63	-122.2	49.0	-6.4	94	853	0.00	2.58	0.00	0.000	4	0.000	0.058	2722	3396	3722
906	-1.63	-122.2	53.0	-7.2	98	914	0.00	2.55	0.00	0.000	6	0.000	0.041	2722	1984	3722
1102	-1.63	-122.2	66.1	-6.9	114	1107	0.00	2.67	0.00	0.000	4	0.000	0.071	2722	572	3722
1147	-1.63	-122.2	69.3	-7.6	117	1155	0.00	2.55	0.00	0.000	6	0.000	0.037	2722	1989	3722
1344	-1.63	-122.2	82.7	-7.1	133	1348	0.00	2.65	0.00	0.000	4	0.000	0.068	2722	590	3722
1401	-1.63	-122.2	87.1	-7.5	137	1409	0.00	2.50	0.00	0.000	6	0.000	0.036	2722	1986	3722
1598	end dive: TARGET_DEPTH_EXCEEDED
state	1598	begin apogee
1602	-0.38	0.0	100.1	6.8	153	1708	1.38	0.00	98.25	0.677	6	0.099	0.000	2993	1919	3217
1708	end apogee: CONTROL_FINISHED_OK
state	1709	begin climb
1710	1.63	122.2	101.9	0.0	162	1813	1.95	2.65	94.75	0.653	4	0.051	0.058	3436	3330	2718
1831	1.63	122.2	93.9	9.6	171	1840	0.00	2.58	0.00	0.000	6	0.000	0.041	3435	1930	2718
2028	1.63	122.2	73.3	10.9	187	2032	0.00	2.70	0.00	0.000	4	0.000	0.077	3435	526	2717
2138	1.63	122.2	60.6	11.9	195	2147	0.00	2.55	0.00	0.000	6	0.000	0.037	3435	1932	2718
2336	1.63	122.2	39.4	11.2	211	2337	0.00	0.00	0.00	0.000	6	0.000	0.000	3435	1932	2718
2525	1.63	122.2	19.5	10.3	226	2531	0.00	2.67	0.00	0.000	4	0.000	0.072	3435	530	2717
2656	1.64	134.2	6.8	8.9	246	2670	0.00	2.50	8.65	0.666	6	0.000	0.037	3435	1926	2671
2687	end climb: SURFACE_DEPTH_REACHED
state	2687	begin surface coast
2768	end surface coast: CONTROL_FINISHED_OK
state	2768	begin surface