Glider dive log

PN07 DabobBay Oct07 * SG106 * Dive index * Mission links * Dive 59 * 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 59 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 32 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -44331.852 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 -44331.852

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 32 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 35 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 59 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 233033,4739.451,-12252.953,11,1.5,11,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.234,0.029

_SM_DEPTHo 1.16 KALMAN_X 2120.3,-33.4,-79.5,-2968.5,-57.9

_SM_ANGLEo -64.3 KALMAN_Y 1652.7,-20.9,-111.2,-2109.3,-36.4

GPS2 233509,4739.443,-12252.974,13,1.9,13,18.3 MHEAD_RNG_PITCHd_Wd 64.6,715,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 117

Post-dive calculations and measurements:

FINISH 0.6,1.020240 XPDR_PINGS 0

SM_CCo 2846,122.05,0.591,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.3,51.2

SM_GC 1.10,0.00,0.00,122.05,0.000,0.000,0.591,462,1993,1586,-12.04,0.11,400.08 _24V_AH 23.8,10.857

IRIDIUM_FIX 4722.92,-12253.53,270907,020243 _10V_AH 10.1,33.082

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6458,265

HUMID 2035 CFSIZE 260034560,255287296

INTERNAL_PRESSURE 8.42806 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 270907,002647,4739.468,-12252.647,10,3.1,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 212 159.66 SBE_CT 177 24 101.60

Roll_motor 46 76 84.38 nil 0 0 0.00

VBD_pump_during_apogee 197 700 3286.21 nil 0 0 0.00

VBD_pump_during_surface 122 590 1715.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.29 nil 0 0 0.00

Iridium_during_connect 32 160 124.24 ARS 0 0 0.00

Iridium_during_xfer 112 223 596.85

Transponder_ping 0 420 5.00

Mmodem_TX 20 1000 494.09

Mmodem_RX 3329 6 507.11

GPS 13 50 6.65

TT8 502 19 100.46

LPSleep 1590 2 35.19

TT8_Active 433 19 86.68

TT8_Sampling 483 39 194.43

TT8_CF8 264 45 122.45

TT8_Kalman 33 81 27.53

Analog_circuits 725 12 87.95

GPS_charging 0 0 0.00

Compass 459 8 37.16

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

22 -1.63 -122.2 0.0 0.0 0 86 0.00 0.00 -61.70 0.000 2 0.000 0.000 463 2001 2992

89 -1.63 -122.2 2.2 -4.2 10 137 14.65 0.00 -28.15 0.000 6 0.212 0.000 2720 2001 3718

203 -1.63 -122.2 8.3 -7.6 28 209 0.00 2.65 0.00 0.000 4 0.000 0.067 2720 594 3719

400 -1.63 -122.2 21.2 -5.9 57 404 0.00 2.45 0.00 0.000 6 0.000 0.035 2721 1993 3720

602 -1.63 -122.2 32.4 -4.9 73 606 0.00 2.62 0.00 0.000 4 0.000 0.066 2720 594 3721

694 -1.63 -122.2 38.0 -6.4 80 698 0.00 2.45 0.00 0.000 6 0.000 0.035 2720 1989 3721

896 -1.63 -122.2 51.1 -6.7 96 900 0.00 2.55 0.00 0.000 4 0.000 0.056 2721 3397 3721

935 -1.63 -122.2 53.8 -6.7 99 939 0.00 2.50 0.00 0.000 6 0.000 0.040 2720 1989 3721

1137 -1.63 -122.2 65.6 -5.9 115 1141 0.00 2.62 0.00 0.000 4 0.000 0.071 2720 590 3721

1190 -1.63 -122.2 69.0 -6.5 119 1194 0.00 2.47 0.00 0.000 6 0.000 0.036 2720 1993 3721

1391 -1.63 -122.2 82.0 -6.4 135 1393 0.00 0.00 0.00 0.000 6 0.000 0.000 2720 1992 3721

1582 -1.63 -122.2 93.6 -6.2 150 1586 0.00 2.53 0.00 0.000 4 0.000 0.056 2720 3388 3721

1613 -1.63 -122.2 95.6 -6.7 152 1617 0.00 0.82 0.00 0.000 6 0.000 0.044 2720 2916 3722

1687 end dive: TARGET_DEPTH_EXCEEDED

state 1687 begin apogee

1693 -0.38 0.0 100.8 6.7 158 1799 1.38 0.00 97.93 0.680 6 0.104 0.000 2991 1928 3216

1799 end apogee: CONTROL_FINISHED_OK

state 1800 begin climb

1801 1.63 122.2 101.6 0.0 167 1904 1.98 2.62 94.68 0.657 4 0.056 0.057 3435 3330 2718

1917 1.64 128.5 92.9 9.2 176 1931 0.00 2.53 4.57 0.700 6 0.000 0.041 3435 1923 2693

2119 1.64 128.5 69.6 11.4 192 2123 0.00 2.67 0.00 0.000 4 0.000 0.077 3435 526 2691

2150 1.64 128.5 65.7 12.0 194 2159 0.00 2.50 0.00 0.000 6 0.000 0.035 3435 1926 2691

2346 1.64 128.5 45.2 10.3 210 2351 0.00 2.67 0.00 0.000 4 0.000 0.071 3435 526 2691

2391 1.64 128.5 40.5 10.9 213 2399 0.00 2.50 0.00 0.000 6 0.000 0.035 3435 1926 2691

2590 1.64 128.5 17.7 11.6 230 2596 0.00 2.65 0.00 0.000 4 0.000 0.072 3435 531 2691

2739 end climb: SURFACE_DEPTH_REACHED

state 2739 begin surface coast

2819 end surface coast: CONTROL_FINISHED_OK

state 2819 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	59	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	32	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-44331.852	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	233033,4739.451,-12252.953,11,1.5,11,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.234,0.029
_SM_DEPTHo	1.16	KALMAN_X	2120.3,-33.4,-79.5,-2968.5,-57.9
_SM_ANGLEo	-64.3	KALMAN_Y	1652.7,-20.9,-111.2,-2109.3,-36.4
GPS2	233509,4739.443,-12252.974,13,1.9,13,18.3	MHEAD_RNG_PITCHd_Wd	64.6,715,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	117

FINISH	0.6,1.020240	XPDR_PINGS	0
SM_CCo	2846,122.05,0.591,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.3,51.2
SM_GC	1.10,0.00,0.00,122.05,0.000,0.000,0.591,462,1993,1586,-12.04,0.11,400.08	_24V_AH	23.8,10.857
IRIDIUM_FIX	4722.92,-12253.53,270907,020243	_10V_AH	10.1,33.082
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6458,265
HUMID	2035	CFSIZE	260034560,255287296
INTERNAL_PRESSURE	8.42806	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	270907,002647,4739.468,-12252.647,10,3.1,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	212	159.66	SBE_CT	177	24	101.60
Roll_motor	46	76	84.38	nil	0	0	0.00
VBD_pump_during_apogee	197	700	3286.21	nil	0	0	0.00
VBD_pump_during_surface	122	590	1715.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.29	nil	0	0	0.00
Iridium_during_connect	32	160	124.24	ARS	0	0	0.00
Iridium_during_xfer	112	223	596.85
Transponder_ping	0	420	5.00
Mmodem_TX	20	1000	494.09
Mmodem_RX	3329	6	507.11
GPS	13	50	6.65
TT8	502	19	100.46
LPSleep	1590	2	35.19
TT8_Active	433	19	86.68
TT8_Sampling	483	39	194.43
TT8_CF8	264	45	122.45
TT8_Kalman	33	81	27.53
Analog_circuits	725	12	87.95
GPS_charging	0	0	0.00
Compass	459	8	37.16
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
22	-1.63	-122.2	0.0	0.0	0	86	0.00	0.00	-61.70	0.000	2	0.000	0.000	463	2001	2992
89	-1.63	-122.2	2.2	-4.2	10	137	14.65	0.00	-28.15	0.000	6	0.212	0.000	2720	2001	3718
203	-1.63	-122.2	8.3	-7.6	28	209	0.00	2.65	0.00	0.000	4	0.000	0.067	2720	594	3719
400	-1.63	-122.2	21.2	-5.9	57	404	0.00	2.45	0.00	0.000	6	0.000	0.035	2721	1993	3720
602	-1.63	-122.2	32.4	-4.9	73	606	0.00	2.62	0.00	0.000	4	0.000	0.066	2720	594	3721
694	-1.63	-122.2	38.0	-6.4	80	698	0.00	2.45	0.00	0.000	6	0.000	0.035	2720	1989	3721
896	-1.63	-122.2	51.1	-6.7	96	900	0.00	2.55	0.00	0.000	4	0.000	0.056	2721	3397	3721
935	-1.63	-122.2	53.8	-6.7	99	939	0.00	2.50	0.00	0.000	6	0.000	0.040	2720	1989	3721
1137	-1.63	-122.2	65.6	-5.9	115	1141	0.00	2.62	0.00	0.000	4	0.000	0.071	2720	590	3721
1190	-1.63	-122.2	69.0	-6.5	119	1194	0.00	2.47	0.00	0.000	6	0.000	0.036	2720	1993	3721
1391	-1.63	-122.2	82.0	-6.4	135	1393	0.00	0.00	0.00	0.000	6	0.000	0.000	2720	1992	3721
1582	-1.63	-122.2	93.6	-6.2	150	1586	0.00	2.53	0.00	0.000	4	0.000	0.056	2720	3388	3721
1613	-1.63	-122.2	95.6	-6.7	152	1617	0.00	0.82	0.00	0.000	6	0.000	0.044	2720	2916	3722
1687	end dive: TARGET_DEPTH_EXCEEDED
state	1687	begin apogee
1693	-0.38	0.0	100.8	6.7	158	1799	1.38	0.00	97.93	0.680	6	0.104	0.000	2991	1928	3216
1799	end apogee: CONTROL_FINISHED_OK
state	1800	begin climb
1801	1.63	122.2	101.6	0.0	167	1904	1.98	2.62	94.68	0.657	4	0.056	0.057	3435	3330	2718
1917	1.64	128.5	92.9	9.2	176	1931	0.00	2.53	4.57	0.700	6	0.000	0.041	3435	1923	2693
2119	1.64	128.5	69.6	11.4	192	2123	0.00	2.67	0.00	0.000	4	0.000	0.077	3435	526	2691
2150	1.64	128.5	65.7	12.0	194	2159	0.00	2.50	0.00	0.000	6	0.000	0.035	3435	1926	2691
2346	1.64	128.5	45.2	10.3	210	2351	0.00	2.67	0.00	0.000	4	0.000	0.071	3435	526	2691
2391	1.64	128.5	40.5	10.9	213	2399	0.00	2.50	0.00	0.000	6	0.000	0.035	3435	1926	2691
2590	1.64	128.5	17.7	11.6	230	2596	0.00	2.65	0.00	0.000	4	0.000	0.072	3435	531	2691
2739	end climb: SURFACE_DEPTH_REACHED
state	2739	begin surface coast
2819	end surface coast: CONTROL_FINISHED_OK
state	2819	begin surface