Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 678 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 678 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_TGT 120 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2350 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2200 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 8 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 53 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE3 35

T_DIVE 67 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 80 CALL_TRIES 5 VBD_MIN 204 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3580 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 C_VBD 2400 SMARTS 0

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS 15 VBD_TIMEOUT 360 COMPASS_DEVICE 33

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 100 T_GPS_CHARGE -75097.688 VBD_PUMP_AD_RATE_APOGEE 3 RAFOS_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MIN 25 AH0_24V 150 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2740 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162386 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25

HD_A 0.0038360001 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 400

AH0_24V 150 D_OFFGRID 100 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 120 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 0.0001162386 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_DIVE 67

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0038360001 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.010078 RHO 1.023 T_GPS_CHARGE -75097.688

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 80

CAPMAXSIZE 100000 HEADING -1 ROLL_ADJ_GAIN 0 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_RSLEEP 3

CF8_MAXERRORS 1 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 270

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 128 ROLL_MAX 4014 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_PITCH 2740 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 53 USE_ICE 0

C_VBD 2400 MAX_BUOY 150 R_STBD_OVSHOOT 38 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_DBAND 2

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 8 SEABIRD_C_J 0.00017379176 VBD_MAXERRORS 1

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MIN 204

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_TIMEOUT 360

DIVE 678 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 1090 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 163550,4805.164,-12221.242,11,1.4,11,18.3 TGT_NAME FIVE

_CALLS 2 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.170,-0.134

_SM_DEPTHo 2.40 KALMAN_X -36732.5,-489.9,-139.5,40030.3,-448.4

_SM_ANGLEo -66.2 KALMAN_Y -12996.7,424.0,229.1,8010.3,277.9

GPS2 164417,4805.322,-12221.397,13,2.5,32,18.3 MHEAD_RNG_PITCHd_Wd 110.0,773,-11.0,-5.970

SPEED_LIMITS 0.060,0.217 D_GRID 110

Post-dive calculations and measurements:

FINISH 1.7,1.008151 XPDR_PINGS 0

SM_CCo 3332,120.05,0.657,0,0,768,400.08 ALTIM_BOTTOM_PING 80.7,51.5

SM_GC 2.53,0.00,0.00,120.05,0.000,0.000,0.657,7,2356,768,-8.54,0.17,400.08 _24V_AH 24.3,60.665

IRIDIUM_FIX 4748.51,-12224.57,021007,202003 _10V_AH 10.7,30.721

TT8_MAMPS 0.026845 DATA_FILE_SIZE 15926,349

HUMID 1859 CFSIZE 260165632,238989312

INTERNAL_PRESSURE 9.13121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 021007,174339,4805.158,-12221.198,12,1.8,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 197 95.44 SBE_CT 249 24 145.57

Roll_motor 31 62 48.16 SBE_O2 275 19 127.10

VBD_pump_during_apogee 241 791 4649.95 WL_BB2F 589 105 1502.89

VBD_pump_during_surface 120 657 1917.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 62 103 155.55 nil 0 0 0.00

Iridium_during_connect 54 160 212.61 nil 0 0 0.00

Iridium_during_xfer 187 223 1014.77

Transponder_ping 0 420 5.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 18.64

TT8 572 19 121.19

LPSleep 1768 2 41.44

TT8_Active 412 19 87.45

TT8_Sampling 707 39 301.35

TT8_CF8 512 45 251.19

TT8_Kalman 33 81 29.19

Analog_circuits 768 12 98.71

GPS_charging 0 0 0.00

Compass 699 8 59.88

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 -0.79 -146.6 0.0 0.0 0 94 0.00 0.00 -59.00 0.000 2 0.000 0.000 19 2353 2262

98 -0.79 -146.6 3.1 -1.4 11 139 9.80 2.40 -22.08 0.000 4 0.197 0.062 2473 3749 3001

147 -0.79 -146.6 7.2 -7.2 19 154 0.00 2.22 0.00 0.000 6 0.000 0.026 2473 2321 3002

223 -0.79 -146.6 14.4 -9.8 32 230 0.00 2.17 0.00 0.000 4 0.000 0.032 2473 978 3003

268 -0.79 -146.6 18.9 -10.5 39 274 0.00 2.22 0.00 0.000 6 0.000 0.034 2470 2349 3003

346 -0.79 -146.6 25.5 -7.7 47 347 0.00 0.00 0.00 0.000 6 0.000 0.000 2470 2349 3003

536 -0.79 -146.6 40.5 -9.1 65 540 0.00 2.20 0.00 0.000 4 0.000 0.032 2471 962 3003

587 -0.79 -146.6 45.2 -8.3 69 594 0.00 2.25 0.00 0.000 6 0.000 0.034 2468 2359 3004

786 -0.79 -146.6 62.7 -8.6 88 790 0.00 2.30 0.00 0.000 4 0.000 0.049 2463 3759 3004

827 -0.79 -146.6 66.5 -9.8 91 831 0.00 2.17 0.00 0.000 6 0.000 0.026 2463 2344 3004

1158 -0.79 -146.6 95.9 -9.2 122 1160 0.00 0.00 0.00 0.000 6 0.000 0.000 2463 2342 3004

1314 end dive: TARGET_DEPTH_EXCEEDED

state 1314 begin apogee

1323 -0.28 0.0 110.3 8.7 137 1441 0.57 0.00 112.40 0.739 6 0.110 0.000 2644 2207 2400

1441 end apogee: CONTROL_FINISHED_OK

state 1441 begin climb

1445 0.79 146.6 115.0 0.0 149 1561 1.05 0.00 111.30 0.690 6 0.083 0.000 2984 2207 1802

1879 0.79 146.6 89.8 7.0 190 1880 0.00 0.00 0.00 0.000 6 0.000 0.000 2984 2207 1799

2197 0.79 146.6 67.9 6.6 220 2201 0.00 2.33 0.00 0.000 4 0.000 0.045 2984 3614 1799

2249 0.79 146.6 64.2 6.9 224 2255 0.00 2.20 0.00 0.000 6 0.000 0.027 2994 2209 1799

2578 0.82 168.3 47.1 5.4 255 2598 0.00 0.00 18.05 0.792 6 0.000 0.000 2994 2207 1713

2787 0.82 168.3 33.9 6.6 275 2788 0.00 0.00 0.00 0.000 6 0.000 0.000 2994 2208 1712

2977 0.82 168.3 20.3 7.8 293 2981 0.00 2.33 0.00 0.000 4 0.000 0.045 2994 3617 1712

3076 0.82 168.3 12.2 7.8 309 3082 0.00 2.22 0.00 0.000 6 0.000 0.027 3002 2195 1711

3152 0.82 168.3 7.5 6.1 322 3158 0.00 2.20 0.00 0.000 4 0.000 0.035 3008 809 1711

3258 end climb: SURFACE_DEPTH_REACHED

state 3258 begin surface coast

3307 end surface coast: CONTROL_FINISHED_OK

state 3307 begin surface

ID	128	HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	678	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_TGT	120	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2350	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2200	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	8	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	53	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE3	35
T_DIVE	67	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	80	CALL_TRIES	5	VBD_MIN	204	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3580	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	C_VBD	2400	SMARTS	0
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS	15	VBD_TIMEOUT	360	COMPASS_DEVICE	33
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	100	T_GPS_CHARGE	-75097.688	VBD_PUMP_AD_RATE_APOGEE	3	RAFOS_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MIN	25	AH0_24V	150	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2740	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162386	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25
HD_A	0.0038360001	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	163550,4805.164,-12221.242,11,1.4,11,18.3	TGT_NAME	FIVE
_CALLS	2	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.170,-0.134
_SM_DEPTHo	2.40	KALMAN_X	-36732.5,-489.9,-139.5,40030.3,-448.4
_SM_ANGLEo	-66.2	KALMAN_Y	-12996.7,424.0,229.1,8010.3,277.9
GPS2	164417,4805.322,-12221.397,13,2.5,32,18.3	MHEAD_RNG_PITCHd_Wd	110.0,773,-11.0,-5.970
SPEED_LIMITS	0.060,0.217	D_GRID	110

FINISH	1.7,1.008151	XPDR_PINGS	0
SM_CCo	3332,120.05,0.657,0,0,768,400.08	ALTIM_BOTTOM_PING	80.7,51.5
SM_GC	2.53,0.00,0.00,120.05,0.000,0.000,0.657,7,2356,768,-8.54,0.17,400.08	_24V_AH	24.3,60.665
IRIDIUM_FIX	4748.51,-12224.57,021007,202003	_10V_AH	10.7,30.721
TT8_MAMPS	0.026845	DATA_FILE_SIZE	15926,349
HUMID	1859	CFSIZE	260165632,238989312
INTERNAL_PRESSURE	9.13121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	021007,174339,4805.158,-12221.198,12,1.8,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	197	95.44	SBE_CT	249	24	145.57
Roll_motor	31	62	48.16	SBE_O2	275	19	127.10
VBD_pump_during_apogee	241	791	4649.95	WL_BB2F	589	105	1502.89
VBD_pump_during_surface	120	657	1917.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	62	103	155.55	nil	0	0	0.00
Iridium_during_connect	54	160	212.61	nil	0	0	0.00
Iridium_during_xfer	187	223	1014.77
Transponder_ping	0	420	5.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	18.64
TT8	572	19	121.19
LPSleep	1768	2	41.44
TT8_Active	412	19	87.45
TT8_Sampling	707	39	301.35
TT8_CF8	512	45	251.19
TT8_Kalman	33	81	29.19
Analog_circuits	768	12	98.71
GPS_charging	0	0	0.00
Compass	699	8	59.88
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	-0.79	-146.6	0.0	0.0	0	94	0.00	0.00	-59.00	0.000	2	0.000	0.000	19	2353	2262
98	-0.79	-146.6	3.1	-1.4	11	139	9.80	2.40	-22.08	0.000	4	0.197	0.062	2473	3749	3001
147	-0.79	-146.6	7.2	-7.2	19	154	0.00	2.22	0.00	0.000	6	0.000	0.026	2473	2321	3002
223	-0.79	-146.6	14.4	-9.8	32	230	0.00	2.17	0.00	0.000	4	0.000	0.032	2473	978	3003
268	-0.79	-146.6	18.9	-10.5	39	274	0.00	2.22	0.00	0.000	6	0.000	0.034	2470	2349	3003
346	-0.79	-146.6	25.5	-7.7	47	347	0.00	0.00	0.00	0.000	6	0.000	0.000	2470	2349	3003
536	-0.79	-146.6	40.5	-9.1	65	540	0.00	2.20	0.00	0.000	4	0.000	0.032	2471	962	3003
587	-0.79	-146.6	45.2	-8.3	69	594	0.00	2.25	0.00	0.000	6	0.000	0.034	2468	2359	3004
786	-0.79	-146.6	62.7	-8.6	88	790	0.00	2.30	0.00	0.000	4	0.000	0.049	2463	3759	3004
827	-0.79	-146.6	66.5	-9.8	91	831	0.00	2.17	0.00	0.000	6	0.000	0.026	2463	2344	3004
1158	-0.79	-146.6	95.9	-9.2	122	1160	0.00	0.00	0.00	0.000	6	0.000	0.000	2463	2342	3004
1314	end dive: TARGET_DEPTH_EXCEEDED
state	1314	begin apogee
1323	-0.28	0.0	110.3	8.7	137	1441	0.57	0.00	112.40	0.739	6	0.110	0.000	2644	2207	2400
1441	end apogee: CONTROL_FINISHED_OK
state	1441	begin climb
1445	0.79	146.6	115.0	0.0	149	1561	1.05	0.00	111.30	0.690	6	0.083	0.000	2984	2207	1802
1879	0.79	146.6	89.8	7.0	190	1880	0.00	0.00	0.00	0.000	6	0.000	0.000	2984	2207	1799
2197	0.79	146.6	67.9	6.6	220	2201	0.00	2.33	0.00	0.000	4	0.000	0.045	2984	3614	1799
2249	0.79	146.6	64.2	6.9	224	2255	0.00	2.20	0.00	0.000	6	0.000	0.027	2994	2209	1799
2578	0.82	168.3	47.1	5.4	255	2598	0.00	0.00	18.05	0.792	6	0.000	0.000	2994	2207	1713
2787	0.82	168.3	33.9	6.6	275	2788	0.00	0.00	0.00	0.000	6	0.000	0.000	2994	2208	1712
2977	0.82	168.3	20.3	7.8	293	2981	0.00	2.33	0.00	0.000	4	0.000	0.045	2994	3617	1712
3076	0.82	168.3	12.2	7.8	309	3082	0.00	2.22	0.00	0.000	6	0.000	0.027	3002	2195	1711
3152	0.82	168.3	7.5	6.1	322	3158	0.00	2.20	0.00	0.000	4	0.000	0.035	3008	809	1711
3258	end climb: SURFACE_DEPTH_REACHED
state	3258	begin surface coast
3307	end surface coast: CONTROL_FINISHED_OK
state	3307	begin surface