Glider dive log

PortSusan 15Jul09 * SG170 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 170 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 165 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 4 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3698 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 480 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 INT_PRESSURE_YINT -0.60000002

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 460 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3418 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -9378.4785 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 120 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 139 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3933 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2950 PRESSURE_YINT -62.362949 SEABIRD_T_G 0.0043652086

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063100836

MASS 51437 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5667814e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.9083003e-06

FERRY_MAX 45 PITCH_GAIN 31 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8859177

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1208299

HD_A 0.003 PITCH_AD_RATE 155 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010195741

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016822568

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 155 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 480

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 31 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3933 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 139 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -62.362949 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -9378.4785

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 170 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3698 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -0.60000002 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2950 KALMAN_USE 1 ROLL_MIN 165 USE_BATHY -4

C_ROLL_CLIMB 2100 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 51437 R_PORT_OVSHOOT 32 VBD_BLEED_AD_RATE 8

C_VBD 3418 MAX_BUOY 120 R_STBD_OVSHOOT 29 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.8859177 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1208299 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010195741 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016822568 VBD_MIN 460

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043652086 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063100836 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5667814e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.9083003e-06 XPDR_DEVICE 24

DIVE 4 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 220638,4807.749,-12223.105,9,1.5,9,18.3 TGT_NAME KAYAKPT

_CALLS 1 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 11 TGT_RADIUS 100.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.085,0.219

_SM_DEPTHo 1.28 KALMAN_X -159.3,-110.4,-90.5,616.4,-36.2

_SM_ANGLEo -76.8 KALMAN_Y -77.0,28.7,34.1,974.1,-18.8

GPS2 221208,4807.734,-12223.127,10,1.7,10,18.3 MHEAD_RNG_PITCHd_Wd 2.8,517,-19.7,-10.000

SPEED_LIMITS 0.173,0.235 D_GRID 105

Post-dive calculations and measurements:

FINISH 4.6,1.020649 XPDR_PINGS 0

SM_CCo 1951,458.08,0.623,0,0,460,725.60 _24V_AH 24.7,0.904

SM_GC 1.25,8.52,0.00,0.00,0.060,0.000,0.000,134,2115,455,-8.75,0.42,726.58 _10V_AH 10.8,0.301

IRIDIUM_FIX 4807.83,-12231.26,091098,212159 DATA_FILE_SIZE 12698,402

TT8_MAMPS 0.026078 CAP_FILE_SIZE 42372,0

HUMID 1974 CFSIZE 260165632,256307200

INTERNAL_PRESSURE 9.11717 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,0,0

TCM_TEMP 19.10 GPS 150709,225602,4807.895,-12223.075,14,1.4,32,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 249 124.99 SBE_CT 268 24 159.27

Roll_motor 22 98 56.09 SBE_O2 202 19 95.03

VBD_pump_during_apogee 170 687 2894.43 nil 0 0 0.00

VBD_pump_during_surface 458 622 7046.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 59.64 nil 0 0 0.00

Iridium_during_connect 28 160 113.66 nil 0 0 0.00

Iridium_during_xfer 198 223 1091.95

Transponder_ping 0 420 7.78

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.99

TT8 601 19 128.52

LPSleep 633 2 14.98

TT8_Active 713 19 152.56

TT8_Sampling 601 39 258.66

TT8_CF8 314 45 155.35

TT8_Kalman 32 81 28.57

Analog_circuits 1067 12 138.40

GPS_charging 0 0 0.00

Compass 599 8 51.77

RAFOS 0 0 0.00

Transponder 5 30 1.83

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.78 -117.3 0.0 0.0 0 90 0.00 0.00 -72.70 0.000 2 0.000 0.000 137 2116 3238

92 -0.78 -117.3 3.1 -4.2 14 126 10.30 2.38 -17.58 0.000 4 0.249 0.099 2696 3506 3898

293 -0.78 -117.3 22.3 -9.6 56 299 0.00 2.22 0.00 0.000 6 0.000 0.057 2696 2104 3899

369 -0.78 -117.3 30.1 -10.5 72 374 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2104 3899

444 -0.78 -117.3 37.7 -10.2 88 450 0.00 2.35 0.00 0.000 4 0.000 0.085 2696 3497 3899

497 -0.78 -117.3 43.6 -10.8 99 503 0.00 2.22 0.00 0.000 6 0.000 0.055 2696 2095 3899

642 -0.78 -117.3 59.4 -10.8 130 647 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2094 3899

787 -0.78 -117.3 74.3 -6.9 161 792 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 2094 3899

932 -0.78 -117.3 86.2 -9.9 192 938 0.00 2.38 0.00 0.000 4 0.000 0.087 2696 3509 3899

985 -0.78 -117.3 92.0 -10.6 203 991 0.00 2.22 0.00 0.000 6 0.000 0.056 2696 2102 3899

1115 end dive: TARGET_DEPTH_EXCEEDED

state 1115 begin apogee

1120 -0.16 0.0 105.3 9.7 231 1210 0.62 0.00 84.18 0.688 6 0.155 0.000 2894 2101 3419

1211 end apogee: CONTROL_FINISHED_OK

state 1211 begin climb

1213 0.78 117.3 106.7 0.0 248 1309 0.85 2.38 86.15 0.680 4 0.086 0.058 3203 700 2939

1343 0.78 117.3 91.0 18.3 273 1349 0.00 2.28 0.00 0.000 6 0.000 0.051 3203 2107 2939

1489 0.78 117.3 65.9 17.7 304 1494 0.00 0.00 0.00 0.000 6 0.000 0.000 3203 2107 2938

1634 0.78 117.3 40.0 17.5 335 1640 0.00 2.28 0.00 0.000 4 0.000 0.058 3214 683 2938

1723 0.78 117.3 24.6 16.0 354 1729 0.00 2.25 0.00 0.000 6 0.000 0.054 3214 2114 2938

1799 0.78 117.3 12.0 16.6 370 1805 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2114 2938

1873 end climb: SURFACE_DEPTH_REACHED

state 1873 begin surface coast

1949 end surface coast: CONTROL_FINISHED_OK

state 1949 begin surface

ID	170	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	165	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	4	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3698	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	480	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	INT_PRESSURE_YINT	-0.60000002
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	460	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3418	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-9378.4785	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	120	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	139	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3933	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2950	PRESSURE_YINT	-62.362949	SEABIRD_T_G	0.0043652086
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063100836
MASS	51437	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5667814e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.9083003e-06
FERRY_MAX	45	PITCH_GAIN	31	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8859177
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1208299
HD_A	0.003	PITCH_AD_RATE	155	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010195741
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016822568
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	220638,4807.749,-12223.105,9,1.5,9,18.3	TGT_NAME	KAYAKPT
_CALLS	1	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	11	TGT_RADIUS	100.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.085,0.219
_SM_DEPTHo	1.28	KALMAN_X	-159.3,-110.4,-90.5,616.4,-36.2
_SM_ANGLEo	-76.8	KALMAN_Y	-77.0,28.7,34.1,974.1,-18.8
GPS2	221208,4807.734,-12223.127,10,1.7,10,18.3	MHEAD_RNG_PITCHd_Wd	2.8,517,-19.7,-10.000
SPEED_LIMITS	0.173,0.235	D_GRID	105

FINISH	4.6,1.020649	XPDR_PINGS	0
SM_CCo	1951,458.08,0.623,0,0,460,725.60	_24V_AH	24.7,0.904
SM_GC	1.25,8.52,0.00,0.00,0.060,0.000,0.000,134,2115,455,-8.75,0.42,726.58	_10V_AH	10.8,0.301
IRIDIUM_FIX	4807.83,-12231.26,091098,212159	DATA_FILE_SIZE	12698,402
TT8_MAMPS	0.026078	CAP_FILE_SIZE	42372,0
HUMID	1974	CFSIZE	260165632,256307200
INTERNAL_PRESSURE	9.11717	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
TCM_TEMP	19.10	GPS	150709,225602,4807.895,-12223.075,14,1.4,32,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	249	124.99	SBE_CT	268	24	159.27
Roll_motor	22	98	56.09	SBE_O2	202	19	95.03
VBD_pump_during_apogee	170	687	2894.43	nil	0	0	0.00
VBD_pump_during_surface	458	622	7046.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	59.64	nil	0	0	0.00
Iridium_during_connect	28	160	113.66	nil	0	0	0.00
Iridium_during_xfer	198	223	1091.95
Transponder_ping	0	420	7.78
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.99
TT8	601	19	128.52
LPSleep	633	2	14.98
TT8_Active	713	19	152.56
TT8_Sampling	601	39	258.66
TT8_CF8	314	45	155.35
TT8_Kalman	32	81	28.57
Analog_circuits	1067	12	138.40
GPS_charging	0	0	0.00
Compass	599	8	51.77
RAFOS	0	0	0.00
Transponder	5	30	1.83

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.78	-117.3	0.0	0.0	0	90	0.00	0.00	-72.70	0.000	2	0.000	0.000	137	2116	3238
92	-0.78	-117.3	3.1	-4.2	14	126	10.30	2.38	-17.58	0.000	4	0.249	0.099	2696	3506	3898
293	-0.78	-117.3	22.3	-9.6	56	299	0.00	2.22	0.00	0.000	6	0.000	0.057	2696	2104	3899
369	-0.78	-117.3	30.1	-10.5	72	374	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2104	3899
444	-0.78	-117.3	37.7	-10.2	88	450	0.00	2.35	0.00	0.000	4	0.000	0.085	2696	3497	3899
497	-0.78	-117.3	43.6	-10.8	99	503	0.00	2.22	0.00	0.000	6	0.000	0.055	2696	2095	3899
642	-0.78	-117.3	59.4	-10.8	130	647	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2094	3899
787	-0.78	-117.3	74.3	-6.9	161	792	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	2094	3899
932	-0.78	-117.3	86.2	-9.9	192	938	0.00	2.38	0.00	0.000	4	0.000	0.087	2696	3509	3899
985	-0.78	-117.3	92.0	-10.6	203	991	0.00	2.22	0.00	0.000	6	0.000	0.056	2696	2102	3899
1115	end dive: TARGET_DEPTH_EXCEEDED
state	1115	begin apogee
1120	-0.16	0.0	105.3	9.7	231	1210	0.62	0.00	84.18	0.688	6	0.155	0.000	2894	2101	3419
1211	end apogee: CONTROL_FINISHED_OK
state	1211	begin climb
1213	0.78	117.3	106.7	0.0	248	1309	0.85	2.38	86.15	0.680	4	0.086	0.058	3203	700	2939
1343	0.78	117.3	91.0	18.3	273	1349	0.00	2.28	0.00	0.000	6	0.000	0.051	3203	2107	2939
1489	0.78	117.3	65.9	17.7	304	1494	0.00	0.00	0.00	0.000	6	0.000	0.000	3203	2107	2938
1634	0.78	117.3	40.0	17.5	335	1640	0.00	2.28	0.00	0.000	4	0.000	0.058	3214	683	2938
1723	0.78	117.3	24.6	16.0	354	1729	0.00	2.25	0.00	0.000	6	0.000	0.054	3214	2114	2938
1799	0.78	117.3	12.0	16.6	370	1805	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2114	2938
1873	end climb: SURFACE_DEPTH_REACHED
state	1873	begin surface coast
1949	end surface coast: CONTROL_FINISHED_OK
state	1949	begin surface