Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 50 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 50 HEADING -1 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 150 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 200 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2060 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1870 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 500 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 2 R_PORT_OVSHOOT 12 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 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 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3335 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 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -18951.441 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 135 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2269 PRESSURE_YINT -3.7066903 SEABIRD_T_I 2.5554549e-05

MASS 51440 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 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 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 150 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 45 PRESSURE_YINT -3.7066903 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 50

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.023 T_GPS_CHARGE -18951.441

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2269 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1870 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 2060 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3335 MASS 51440 R_PORT_OVSHOOT 12 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 135 R_STBD_OVSHOOT 32 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 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 2 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3897

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 486

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

DIVE 50 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 200 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 145035,4807.433,-12223.522,13,6.0,32,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.076,0.191

_SM_DEPTHo 1.90 KALMAN_X 841.1,7.9,-96.7,-1942.0,-50.0

_SM_ANGLEo -50.3 KALMAN_Y -574.4,-114.0,75.4,2028.4,-19.3

GPS2 145633,4807.456,-12223.550,15,1.1,15,18.3 MHEAD_RNG_PITCHd_Wd 319.8,1152,-22.4,-10.000

SPEED_LIMITS 0.173,0.206 D_GRID 103

Post-dive calculations and measurements:

FINISH 1.0,1.008663 XPDR_PINGS 1

SM_CCo 2531,82.85,0.590,0,0,1295,500.17 ALTIM_TOP_PING 19.8,19.1

SM_GC 1.91,0.00,0.00,82.85,0.000,0.000,0.590,676,2084,1295,-7.32,0.68,500.17 _24V_AH 20.8,18.666

RAFOS_CLK 109 _10V_AH 9.9,6.926

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 9610,282

IRIDIUM_FIX 4748.51,-12221.84,120707,181824 CFSIZE 260165632,255496192

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,3,0,0,0

HUMID 1978 SOUNDSPEED 1486.1

INTERNAL_PRESSURE 10.4203 CURRENT 0.026,266.4,1

TCM_TEMP 11.60 GPS 120707,154203,4807.624,-12223.764,12,1.2,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 271 145.71 SBE_CT 199 24 99.47

Roll_motor 53 103 114.69 SBE_O2 194 19 76.68

VBD_pump_during_apogee 393 674 5517.08 nil 0 0 0.00

VBD_pump_during_surface 82 589 1016.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 88.37 nil 0 0 0.00

Iridium_during_connect 33 160 112.74 nil 0 0 0.00

Iridium_during_xfer 149 223 695.39

Transponder_ping 0 420 4.37

GPS 17 50 8.64

TT8 583 19 115.08

LPSleep 1099 2 25.14

TT8_Active 586 19 115.58

TT8_Sampling 337 39 133.43

TT8_CF8 383 45 174.43

TT8_Kalman 33 81 27.03

Analog_circuits 887 12 105.48

GPS_charging 0 0 0.00

Compass 324 20 64.17

RAFOS 0 1 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

21 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.15 -132.0 0.0 0.0 0 76 0.00 0.00 -48.60 0.000 2 0.000 0.000 676 2095 2709

80 -1.15 -132.0 3.2 -5.3 8 137 12.68 3.03 -38.58 0.000 4 0.272 0.067 2010 644 3873

390 -1.15 -132.0 38.4 -13.0 49 396 0.00 2.70 0.00 0.000 6 0.000 0.038 2010 2049 3877

460 -1.07 -132.0 47.3 -12.8 56 465 0.15 2.85 0.00 0.000 4 0.153 0.060 2031 643 3877

561 -1.00 -132.0 59.7 -11.9 64 568 0.00 2.75 0.00 0.000 6 0.000 0.041 2031 2061 3877

695 -0.98 -132.0 75.3 -11.5 77 700 0.15 3.03 0.00 0.000 4 0.149 0.087 2055 3466 3877

747 -0.96 -132.0 81.0 -10.6 81 752 0.00 2.75 0.00 0.000 6 0.000 0.038 2055 2042 3877

882 -1.01 -132.0 94.4 -9.8 93 886 0.00 2.97 0.00 0.000 4 0.000 0.072 2055 3467 3877

949 -1.05 -132.0 101.3 -10.1 98 955 0.00 2.72 0.00 0.000 6 0.000 0.041 2055 2060 3877

973 end dive: TARGET_DEPTH_EXCEEDED

state 973 begin apogee

981 -0.21 0.0 103.9 9.9 101 1098 0.98 0.00 112.40 0.674 6 0.133 0.000 2216 1867 3334

1098 end apogee: CONTROL_FINISHED_OK

state 1098 begin climb

1102 1.15 132.0 107.3 0.0 113 1224 1.60 3.25 111.93 0.661 4 0.076 0.104 2516 472 2796

1259 1.15 132.0 94.9 14.3 127 1264 0.00 2.88 0.00 0.000 6 0.000 0.048 2517 1875 2796

1393 0.97 132.0 76.9 12.9 139 1399 0.20 3.15 0.00 0.000 4 0.141 0.093 2487 3282 2795

1483 0.82 132.0 65.9 11.9 146 1490 0.25 2.85 0.00 0.000 6 0.141 0.049 2450 1875 2794

1618 0.71 152.0 53.5 8.9 159 1643 0.15 2.97 16.02 0.670 4 0.143 0.066 2426 3284 2715

1737 0.72 178.5 43.1 8.6 169 1764 0.00 2.88 21.62 0.661 6 0.000 0.048 2425 1862 2607

1893 0.79 209.2 29.7 8.4 183 1926 0.00 3.03 25.20 0.653 4 0.000 0.065 2425 3285 2481

2015 0.90 224.9 18.8 9.2 194 2035 0.20 2.88 12.80 0.660 6 0.052 0.048 2467 1865 2417

2104 1.00 224.9 9.3 10.6 209 2111 0.00 2.97 0.00 0.000 4 0.000 0.066 2467 3280 2416

2364 1.01 431.2 4.0 -0.8 255 2465 0.12 2.80 93.45 0.623 2 0.057 0.044 2496 1869 1868

2466 end climb: SURFACE_DEPTH_REACHED

state 2466 begin surface coast

2509 end surface coast: CONTROL_FINISHED_OK

state 2509 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	50	HEADING	-1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	150	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	200	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2060	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1870	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	500	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	2	R_PORT_OVSHOOT	12	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	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	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3335	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	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-18951.441	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	135	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2269	PRESSURE_YINT	-3.7066903	SEABIRD_T_I	2.5554549e-05
MASS	51440	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	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	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017379176

GPS1	145035,4807.433,-12223.522,13,6.0,32,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.076,0.191
_SM_DEPTHo	1.90	KALMAN_X	841.1,7.9,-96.7,-1942.0,-50.0
_SM_ANGLEo	-50.3	KALMAN_Y	-574.4,-114.0,75.4,2028.4,-19.3
GPS2	145633,4807.456,-12223.550,15,1.1,15,18.3	MHEAD_RNG_PITCHd_Wd	319.8,1152,-22.4,-10.000
SPEED_LIMITS	0.173,0.206	D_GRID	103

FINISH	1.0,1.008663	XPDR_PINGS	1
SM_CCo	2531,82.85,0.590,0,0,1295,500.17	ALTIM_TOP_PING	19.8,19.1
SM_GC	1.91,0.00,0.00,82.85,0.000,0.000,0.590,676,2084,1295,-7.32,0.68,500.17	_24V_AH	20.8,18.666
RAFOS_CLK	109	_10V_AH	9.9,6.926
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	9610,282
IRIDIUM_FIX	4748.51,-12221.84,120707,181824	CFSIZE	260165632,255496192
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
HUMID	1978	SOUNDSPEED	1486.1
INTERNAL_PRESSURE	10.4203	CURRENT	0.026,266.4,1
TCM_TEMP	11.60	GPS	120707,154203,4807.624,-12223.764,12,1.2,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	271	145.71	SBE_CT	199	24	99.47
Roll_motor	53	103	114.69	SBE_O2	194	19	76.68
VBD_pump_during_apogee	393	674	5517.08	nil	0	0	0.00
VBD_pump_during_surface	82	589	1016.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	88.37	nil	0	0	0.00
Iridium_during_connect	33	160	112.74	nil	0	0	0.00
Iridium_during_xfer	149	223	695.39
Transponder_ping	0	420	4.37
GPS	17	50	8.64
TT8	583	19	115.08
LPSleep	1099	2	25.14
TT8_Active	586	19	115.58
TT8_Sampling	337	39	133.43
TT8_CF8	383	45	174.43
TT8_Kalman	33	81	27.03
Analog_circuits	887	12	105.48
GPS_charging	0	0	0.00
Compass	324	20	64.17
RAFOS	0	1	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
21	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.15	-132.0	0.0	0.0	0	76	0.00	0.00	-48.60	0.000	2	0.000	0.000	676	2095	2709
80	-1.15	-132.0	3.2	-5.3	8	137	12.68	3.03	-38.58	0.000	4	0.272	0.067	2010	644	3873
390	-1.15	-132.0	38.4	-13.0	49	396	0.00	2.70	0.00	0.000	6	0.000	0.038	2010	2049	3877
460	-1.07	-132.0	47.3	-12.8	56	465	0.15	2.85	0.00	0.000	4	0.153	0.060	2031	643	3877
561	-1.00	-132.0	59.7	-11.9	64	568	0.00	2.75	0.00	0.000	6	0.000	0.041	2031	2061	3877
695	-0.98	-132.0	75.3	-11.5	77	700	0.15	3.03	0.00	0.000	4	0.149	0.087	2055	3466	3877
747	-0.96	-132.0	81.0	-10.6	81	752	0.00	2.75	0.00	0.000	6	0.000	0.038	2055	2042	3877
882	-1.01	-132.0	94.4	-9.8	93	886	0.00	2.97	0.00	0.000	4	0.000	0.072	2055	3467	3877
949	-1.05	-132.0	101.3	-10.1	98	955	0.00	2.72	0.00	0.000	6	0.000	0.041	2055	2060	3877
973	end dive: TARGET_DEPTH_EXCEEDED
state	973	begin apogee
981	-0.21	0.0	103.9	9.9	101	1098	0.98	0.00	112.40	0.674	6	0.133	0.000	2216	1867	3334
1098	end apogee: CONTROL_FINISHED_OK
state	1098	begin climb
1102	1.15	132.0	107.3	0.0	113	1224	1.60	3.25	111.93	0.661	4	0.076	0.104	2516	472	2796
1259	1.15	132.0	94.9	14.3	127	1264	0.00	2.88	0.00	0.000	6	0.000	0.048	2517	1875	2796
1393	0.97	132.0	76.9	12.9	139	1399	0.20	3.15	0.00	0.000	4	0.141	0.093	2487	3282	2795
1483	0.82	132.0	65.9	11.9	146	1490	0.25	2.85	0.00	0.000	6	0.141	0.049	2450	1875	2794
1618	0.71	152.0	53.5	8.9	159	1643	0.15	2.97	16.02	0.670	4	0.143	0.066	2426	3284	2715
1737	0.72	178.5	43.1	8.6	169	1764	0.00	2.88	21.62	0.661	6	0.000	0.048	2425	1862	2607
1893	0.79	209.2	29.7	8.4	183	1926	0.00	3.03	25.20	0.653	4	0.000	0.065	2425	3285	2481
2015	0.90	224.9	18.8	9.2	194	2035	0.20	2.88	12.80	0.660	6	0.052	0.048	2467	1865	2417
2104	1.00	224.9	9.3	10.6	209	2111	0.00	2.97	0.00	0.000	4	0.000	0.066	2467	3280	2416
2364	1.01	431.2	4.0	-0.8	255	2465	0.12	2.80	93.45	0.623	2	0.057	0.044	2496	1869	1868
2466	end climb: SURFACE_DEPTH_REACHED
state	2466	begin surface coast
2509	end surface coast: CONTROL_FINISHED_OK
state	2509	begin surface