Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 435 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_B 0.010078 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 435 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 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 311 ALTIM_PING_DEPTH 70

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2415 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 17 INT_PRESSURE_YINT 1.4

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 40 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 60 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 540 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3800 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3229 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY 0 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17503.455 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 110 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 428 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3730 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 3000 PRESSURE_YINT -6.9690108 SEABIRD_T_I 2.5554549e-05

MASS 51630 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 2 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 10 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3730 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 428 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 95 PITCH_TIMEOUT 20 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 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -6.9690108 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 16 RAFOS_HIT_WINDOW 3600 T_DIVE 45

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 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -17503.455

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 60

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 118 ROLL_MAX 3943 T_TURN_SAMPINT 6

C_PITCH 3000 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2415 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 UNCOM_BLEED 20

C_ROLL_DIVE 2500 KALMAN_USE 2 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 40 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 110 R_STBD_OVSHOOT 27 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3800

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 540

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 435 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 135051,4742.958,-12250.308,12,1.7,12,18.3 TGT_NAME FIVE_A

_CALLS 2 TGT_LATLONG 4745.086,-12249.815

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140151,4742.969,-12250.287,14,1.9,14,18.3 MHEAD_RNG_PITCHd_Wd 350.2,3965,-15.7,-7.037

SPEED_LIMITS 0.122,0.202 D_GRID 95

Post-dive calculations and measurements:

FINISH 0.2,1.014488 XPDR_PINGS 7

SM_CCo 2604,134.12,0.520,0,0,1598,400.08 ALTIM_BOTTOM_PING 70.6,999.0

SM_GC 0.90,0.00,0.00,134.12,0.000,0.000,0.520,425,2517,1598,-11.85,0.48,400.08 _24V_AH 24.1,34.350

IRIDIUM_FIX 4726.11,-12250.84,061007,171737 _10V_AH 10.1,26.720

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6459,236

HUMID 1776 CFSIZE 260034560,244486144

INTERNAL_PRESSURE 9.33976 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.90 GPS 061007,144850,4743.167,-12250.286,14,1.6,14,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 161 112.72 SBE_CT 163 24 94.47

Roll_motor 44 69 75.27 nil 0 0 0.00

VBD_pump_during_apogee 171 602 2493.26 nil 0 0 0.00

VBD_pump_during_surface 134 520 1680.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 71 103 178.25 nil 0 0 0.00

Iridium_during_connect 134 160 520.34 ARS 0 19 0.00

Iridium_during_xfer 222 223 1197.21

Transponder_ping 2 420 27.84

Mmodem_TX 0 1000 0.00

Mmodem_RX 3473 6 535.68

GPS 14 93 13.48

TT8 453 19 90.64

LPSleep 1419 2 31.40

TT8_Active 404 19 80.97

TT8_Sampling 439 39 176.74

TT8_CF8 691 45 319.79

TT8_Kalman 0 0 0.00

Analog_circuits 687 12 83.38

GPS_charging 0 0 0.00

Compass 443 8 35.84

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

32 -1.70 -107.5 0.0 0.0 0 101 0.00 0.00 -66.32 0.000 2 0.000 0.000 429 2490 3201

105 -1.70 -107.5 2.3 -3.7 11 137 12.32 2.53 -13.60 0.000 4 0.162 0.067 2621 1110 3668

387 -1.70 -107.5 25.7 -7.6 48 393 0.00 2.42 0.00 0.000 6 0.000 0.034 2621 2509 3672

584 -1.70 -107.5 39.5 -7.1 64 588 0.00 2.50 0.00 0.000 4 0.000 0.047 2621 1103 3672

631 -1.70 -107.5 42.9 -7.8 67 635 0.00 2.42 0.00 0.000 6 0.000 0.034 2621 2503 3671

827 -1.70 -107.5 56.7 -7.1 82 828 0.00 0.00 0.00 0.000 6 0.000 0.000 2621 2503 3672

1020 -1.70 -107.5 70.0 -6.8 97 1025 0.00 2.58 0.00 0.000 4 0.000 0.070 2621 3904 3671

1079 -1.70 -107.5 74.6 -7.6 101 1086 0.00 2.38 0.00 0.000 6 0.000 0.034 2621 2487 3671

1275 -1.70 -107.5 88.2 -7.0 117 1279 0.00 2.60 0.00 0.000 4 0.000 0.067 2621 3895 3671

1322 -1.70 -107.5 91.6 -7.8 120 1327 0.00 2.40 0.00 0.000 6 0.000 0.035 2621 2506 3671

1370 end dive: TARGET_DEPTH_EXCEEDED

state 1370 begin apogee

1378 -0.50 0.0 95.2 6.9 124 1469 1.27 0.00 82.68 0.602 6 0.090 0.000 2886 2409 3228

1470 end apogee: CONTROL_FINISHED_OK

state 1470 begin climb

1474 1.70 107.5 97.3 0.0 132 1563 2.22 2.55 80.55 0.584 4 0.062 0.052 3367 1036 2790

1616 1.70 107.5 87.1 10.2 143 1623 0.00 2.42 0.00 0.000 6 0.000 0.034 3367 2412 2789

1813 1.70 107.5 67.7 10.0 159 1817 0.00 2.50 0.00 0.000 4 0.000 0.052 3367 1026 2789

1865 1.70 107.5 62.2 10.2 162 1872 0.00 2.42 0.00 0.000 6 0.000 0.035 3367 2418 2788

2062 1.70 107.5 43.2 9.9 178 2066 0.00 2.50 0.00 0.000 4 0.000 0.051 3367 1026 2788

2128 1.70 107.5 36.8 9.9 182 2134 0.00 2.42 0.00 0.000 6 0.000 0.034 3367 2423 2788

2324 1.70 107.5 18.6 9.1 199 2330 0.00 2.55 0.00 0.000 4 0.000 0.069 3367 3812 2788

2357 1.70 107.5 15.6 9.1 204 2364 0.00 2.38 0.00 0.000 6 0.000 0.031 3367 2418 2788

2433 1.70 107.5 9.5 7.3 215 2439 0.00 2.47 0.00 0.000 4 0.000 0.052 3367 1025 2788

2473 1.72 119.9 6.7 6.5 221 2491 0.00 2.42 8.60 0.579 6 0.000 0.035 3367 2420 2741

2547 end climb: SURFACE_DEPTH_REACHED

state 2547 begin surface coast

2571 end surface coast: CONTROL_FINISHED_OK

state 2572 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	435	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	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	311	ALTIM_PING_DEPTH	70
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2415	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	17	INT_PRESSURE_YINT	1.4
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	40	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	60	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	540	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3800	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3229	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	0	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17503.455	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	110	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	428	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3730	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	3000	PRESSURE_YINT	-6.9690108	SEABIRD_T_I	2.5554549e-05
MASS	51630	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	2	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	135051,4742.958,-12250.308,12,1.7,12,18.3	TGT_NAME	FIVE_A
_CALLS	2	TGT_LATLONG	4745.086,-12249.815
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140151,4742.969,-12250.287,14,1.9,14,18.3	MHEAD_RNG_PITCHd_Wd	350.2,3965,-15.7,-7.037
SPEED_LIMITS	0.122,0.202	D_GRID	95

FINISH	0.2,1.014488	XPDR_PINGS	7
SM_CCo	2604,134.12,0.520,0,0,1598,400.08	ALTIM_BOTTOM_PING	70.6,999.0
SM_GC	0.90,0.00,0.00,134.12,0.000,0.000,0.520,425,2517,1598,-11.85,0.48,400.08	_24V_AH	24.1,34.350
IRIDIUM_FIX	4726.11,-12250.84,061007,171737	_10V_AH	10.1,26.720
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6459,236
HUMID	1776	CFSIZE	260034560,244486144
INTERNAL_PRESSURE	9.33976	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	061007,144850,4743.167,-12250.286,14,1.6,14,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	161	112.72	SBE_CT	163	24	94.47
Roll_motor	44	69	75.27	nil	0	0	0.00
VBD_pump_during_apogee	171	602	2493.26	nil	0	0	0.00
VBD_pump_during_surface	134	520	1680.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	71	103	178.25	nil	0	0	0.00
Iridium_during_connect	134	160	520.34	ARS	0	19	0.00
Iridium_during_xfer	222	223	1197.21
Transponder_ping	2	420	27.84
Mmodem_TX	0	1000	0.00
Mmodem_RX	3473	6	535.68
GPS	14	93	13.48
TT8	453	19	90.64
LPSleep	1419	2	31.40
TT8_Active	404	19	80.97
TT8_Sampling	439	39	176.74
TT8_CF8	691	45	319.79
TT8_Kalman	0	0	0.00
Analog_circuits	687	12	83.38
GPS_charging	0	0	0.00
Compass	443	8	35.84
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
32	-1.70	-107.5	0.0	0.0	0	101	0.00	0.00	-66.32	0.000	2	0.000	0.000	429	2490	3201
105	-1.70	-107.5	2.3	-3.7	11	137	12.32	2.53	-13.60	0.000	4	0.162	0.067	2621	1110	3668
387	-1.70	-107.5	25.7	-7.6	48	393	0.00	2.42	0.00	0.000	6	0.000	0.034	2621	2509	3672
584	-1.70	-107.5	39.5	-7.1	64	588	0.00	2.50	0.00	0.000	4	0.000	0.047	2621	1103	3672
631	-1.70	-107.5	42.9	-7.8	67	635	0.00	2.42	0.00	0.000	6	0.000	0.034	2621	2503	3671
827	-1.70	-107.5	56.7	-7.1	82	828	0.00	0.00	0.00	0.000	6	0.000	0.000	2621	2503	3672
1020	-1.70	-107.5	70.0	-6.8	97	1025	0.00	2.58	0.00	0.000	4	0.000	0.070	2621	3904	3671
1079	-1.70	-107.5	74.6	-7.6	101	1086	0.00	2.38	0.00	0.000	6	0.000	0.034	2621	2487	3671
1275	-1.70	-107.5	88.2	-7.0	117	1279	0.00	2.60	0.00	0.000	4	0.000	0.067	2621	3895	3671
1322	-1.70	-107.5	91.6	-7.8	120	1327	0.00	2.40	0.00	0.000	6	0.000	0.035	2621	2506	3671
1370	end dive: TARGET_DEPTH_EXCEEDED
state	1370	begin apogee
1378	-0.50	0.0	95.2	6.9	124	1469	1.27	0.00	82.68	0.602	6	0.090	0.000	2886	2409	3228
1470	end apogee: CONTROL_FINISHED_OK
state	1470	begin climb
1474	1.70	107.5	97.3	0.0	132	1563	2.22	2.55	80.55	0.584	4	0.062	0.052	3367	1036	2790
1616	1.70	107.5	87.1	10.2	143	1623	0.00	2.42	0.00	0.000	6	0.000	0.034	3367	2412	2789
1813	1.70	107.5	67.7	10.0	159	1817	0.00	2.50	0.00	0.000	4	0.000	0.052	3367	1026	2789
1865	1.70	107.5	62.2	10.2	162	1872	0.00	2.42	0.00	0.000	6	0.000	0.035	3367	2418	2788
2062	1.70	107.5	43.2	9.9	178	2066	0.00	2.50	0.00	0.000	4	0.000	0.051	3367	1026	2788
2128	1.70	107.5	36.8	9.9	182	2134	0.00	2.42	0.00	0.000	6	0.000	0.034	3367	2423	2788
2324	1.70	107.5	18.6	9.1	199	2330	0.00	2.55	0.00	0.000	4	0.000	0.069	3367	3812	2788
2357	1.70	107.5	15.6	9.1	204	2364	0.00	2.38	0.00	0.000	6	0.000	0.031	3367	2418	2788
2433	1.70	107.5	9.5	7.3	215	2439	0.00	2.47	0.00	0.000	4	0.000	0.052	3367	1025	2788
2473	1.72	119.9	6.7	6.5	221	2491	0.00	2.42	8.60	0.579	6	0.000	0.035	3367	2420	2741
2547	end climb: SURFACE_DEPTH_REACHED
state	2547	begin surface coast
2571	end surface coast: CONTROL_FINISHED_OK
state	2572	begin surface