Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 78 * 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 78 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 31 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -44714.777 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 -44714.777

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 31 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 28 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 78 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 164145,4739.452,-12253.131,12,1.4,12,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.233,-0.038

_SM_DEPTHo 1.09 KALMAN_X 2238.3,-1.9,-3.5,-3415.5,71.0

_SM_ANGLEo -64.1 KALMAN_Y 2121.0,-4.0,-2.8,-2699.3,102.4

GPS2 164757,4739.446,-12253.150,16,1.4,16,18.3 MHEAD_RNG_PITCHd_Wd 81.0,935,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 117

Post-dive calculations and measurements:

FINISH 0.6,1.020103 XPDR_PINGS 0

SM_CCo 2833,121.40,0.584,0,0,1587,400.08 ALTIM_BOTTOM_PING 50.6,51.4

SM_GC 1.08,0.00,0.00,121.40,0.000,0.000,0.584,462,1998,1587,-12.04,0.20,400.08 _24V_AH 23.9,12.437

IRIDIUM_FIX 4722.92,-12249.11,270907,191905 _10V_AH 10.1,34.369

TT8_MAMPS 0.069797 DATA_FILE_SIZE 6469,260

HUMID 2033 CFSIZE 260034560,254701568

INTERNAL_PRESSURE 8.41829 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 270907,173923,4739.404,-12252.689,12,4.8,31,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 219 170.39 SBE_CT 174 24 100.03

Roll_motor 41 95 93.48 nil 0 0 0.00

VBD_pump_during_apogee 193 675 3119.35 nil 0 0 0.00

VBD_pump_during_surface 121 584 1695.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 101.79 nil 0 0 0.00

Iridium_during_connect 35 160 137.46 ARS 0 0 0.00

Iridium_during_xfer 185 223 986.89

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3442 6 526.49

GPS 16 50 8.21

TT8 492 19 98.40

LPSleep 1601 2 35.42

TT8_Active 440 19 88.14

TT8_Sampling 466 39 187.60

TT8_CF8 355 45 164.65

TT8_Kalman 33 81 27.54

Analog_circuits 710 12 86.09

GPS_charging 0 0 0.00

Compass 434 8 35.14

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

23 -1.63 -122.2 0.0 0.0 0 87 0.00 0.00 -61.78 0.000 2 0.000 0.000 462 2002 2978

90 -1.63 -122.2 2.3 -4.2 10 138 15.32 0.00 -25.95 0.000 6 0.219 0.000 2721 2002 3719

203 -1.63 -122.2 9.2 -8.2 28 210 0.00 2.75 0.00 0.000 4 0.000 0.066 2722 589 3720

368 -1.63 -122.2 19.4 -5.6 53 374 0.00 2.53 0.00 0.000 6 0.000 0.034 2722 2001 3721

437 -1.63 -122.2 23.0 -5.3 60 442 0.00 2.67 0.00 0.000 4 0.000 0.064 2722 592 3721

515 -1.63 -122.2 27.9 -6.4 65 523 0.00 2.47 0.00 0.000 6 0.000 0.034 2722 1981 3721

711 -1.63 -122.2 39.3 -5.7 81 713 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1981 3722

906 -1.63 -122.2 50.6 -5.9 96 910 0.00 2.55 0.00 0.000 4 0.000 0.055 2722 3388 3722

930 -1.63 -122.2 52.5 -6.4 97 938 0.00 2.47 0.00 0.000 6 0.000 0.038 2722 1998 3722

1127 -1.63 -122.2 64.9 -6.2 113 1131 0.00 2.62 0.00 0.000 4 0.000 0.069 2721 592 3722

1167 -1.63 -122.2 67.3 -6.4 116 1172 0.00 2.45 0.00 0.000 6 0.000 0.035 2722 1991 3722

1362 -1.63 -122.2 78.7 -5.9 131 1363 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1991 3722

1552 -1.63 -122.2 90.0 -5.8 146 1556 0.00 2.53 0.00 0.000 4 0.000 0.056 2722 3390 3722

1597 -1.63 -122.2 92.8 -6.9 149 1601 0.00 2.47 0.00 0.000 6 0.000 0.039 2722 1982 3722

1709 end dive: TARGET_DEPTH_EXCEEDED

state 1709 begin apogee

1714 -0.38 0.0 100.3 6.7 158 1820 1.38 0.00 98.18 0.676 6 0.107 0.000 2992 1925 3217

1821 end apogee: CONTROL_FINISHED_OK

state 1821 begin climb

1823 1.63 122.2 102.4 0.0 167 1923 2.05 0.00 94.97 0.654 6 0.056 0.000 3439 1924 2718

2106 1.63 122.2 75.7 11.2 190 2110 0.00 2.65 0.00 0.000 4 0.000 0.075 3439 537 2717

2150 1.63 122.2 70.1 12.2 193 2158 0.00 2.47 0.00 0.000 6 0.000 0.035 3439 1926 2717

2346 1.63 122.2 47.8 11.2 209 2351 0.00 2.65 0.00 0.000 4 0.000 0.071 3439 535 2717

2412 1.63 122.2 40.0 12.0 214 2416 0.00 2.47 0.00 0.000 6 0.000 0.036 3439 1924 2716

2608 1.63 122.2 17.9 10.6 230 2615 0.00 2.65 0.00 0.000 4 0.000 0.072 3439 533 2717

2733 end climb: SURFACE_DEPTH_REACHED

state 2733 begin surface coast

2806 end surface coast: CONTROL_FINISHED_OK

state 2806 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	78	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	31	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-44714.777	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	164145,4739.452,-12253.131,12,1.4,12,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.233,-0.038
_SM_DEPTHo	1.09	KALMAN_X	2238.3,-1.9,-3.5,-3415.5,71.0
_SM_ANGLEo	-64.1	KALMAN_Y	2121.0,-4.0,-2.8,-2699.3,102.4
GPS2	164757,4739.446,-12253.150,16,1.4,16,18.3	MHEAD_RNG_PITCHd_Wd	81.0,935,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	117

FINISH	0.6,1.020103	XPDR_PINGS	0
SM_CCo	2833,121.40,0.584,0,0,1587,400.08	ALTIM_BOTTOM_PING	50.6,51.4
SM_GC	1.08,0.00,0.00,121.40,0.000,0.000,0.584,462,1998,1587,-12.04,0.20,400.08	_24V_AH	23.9,12.437
IRIDIUM_FIX	4722.92,-12249.11,270907,191905	_10V_AH	10.1,34.369
TT8_MAMPS	0.069797	DATA_FILE_SIZE	6469,260
HUMID	2033	CFSIZE	260034560,254701568
INTERNAL_PRESSURE	8.41829	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	270907,173923,4739.404,-12252.689,12,4.8,31,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	219	170.39	SBE_CT	174	24	100.03
Roll_motor	41	95	93.48	nil	0	0	0.00
VBD_pump_during_apogee	193	675	3119.35	nil	0	0	0.00
VBD_pump_during_surface	121	584	1695.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	101.79	nil	0	0	0.00
Iridium_during_connect	35	160	137.46	ARS	0	0	0.00
Iridium_during_xfer	185	223	986.89
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3442	6	526.49
GPS	16	50	8.21
TT8	492	19	98.40
LPSleep	1601	2	35.42
TT8_Active	440	19	88.14
TT8_Sampling	466	39	187.60
TT8_CF8	355	45	164.65
TT8_Kalman	33	81	27.54
Analog_circuits	710	12	86.09
GPS_charging	0	0	0.00
Compass	434	8	35.14
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
23	-1.63	-122.2	0.0	0.0	0	87	0.00	0.00	-61.78	0.000	2	0.000	0.000	462	2002	2978
90	-1.63	-122.2	2.3	-4.2	10	138	15.32	0.00	-25.95	0.000	6	0.219	0.000	2721	2002	3719
203	-1.63	-122.2	9.2	-8.2	28	210	0.00	2.75	0.00	0.000	4	0.000	0.066	2722	589	3720
368	-1.63	-122.2	19.4	-5.6	53	374	0.00	2.53	0.00	0.000	6	0.000	0.034	2722	2001	3721
437	-1.63	-122.2	23.0	-5.3	60	442	0.00	2.67	0.00	0.000	4	0.000	0.064	2722	592	3721
515	-1.63	-122.2	27.9	-6.4	65	523	0.00	2.47	0.00	0.000	6	0.000	0.034	2722	1981	3721
711	-1.63	-122.2	39.3	-5.7	81	713	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1981	3722
906	-1.63	-122.2	50.6	-5.9	96	910	0.00	2.55	0.00	0.000	4	0.000	0.055	2722	3388	3722
930	-1.63	-122.2	52.5	-6.4	97	938	0.00	2.47	0.00	0.000	6	0.000	0.038	2722	1998	3722
1127	-1.63	-122.2	64.9	-6.2	113	1131	0.00	2.62	0.00	0.000	4	0.000	0.069	2721	592	3722
1167	-1.63	-122.2	67.3	-6.4	116	1172	0.00	2.45	0.00	0.000	6	0.000	0.035	2722	1991	3722
1362	-1.63	-122.2	78.7	-5.9	131	1363	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1991	3722
1552	-1.63	-122.2	90.0	-5.8	146	1556	0.00	2.53	0.00	0.000	4	0.000	0.056	2722	3390	3722
1597	-1.63	-122.2	92.8	-6.9	149	1601	0.00	2.47	0.00	0.000	6	0.000	0.039	2722	1982	3722
1709	end dive: TARGET_DEPTH_EXCEEDED
state	1709	begin apogee
1714	-0.38	0.0	100.3	6.7	158	1820	1.38	0.00	98.18	0.676	6	0.107	0.000	2992	1925	3217
1821	end apogee: CONTROL_FINISHED_OK
state	1821	begin climb
1823	1.63	122.2	102.4	0.0	167	1923	2.05	0.00	94.97	0.654	6	0.056	0.000	3439	1924	2718
2106	1.63	122.2	75.7	11.2	190	2110	0.00	2.65	0.00	0.000	4	0.000	0.075	3439	537	2717
2150	1.63	122.2	70.1	12.2	193	2158	0.00	2.47	0.00	0.000	6	0.000	0.035	3439	1926	2717
2346	1.63	122.2	47.8	11.2	209	2351	0.00	2.65	0.00	0.000	4	0.000	0.071	3439	535	2717
2412	1.63	122.2	40.0	12.0	214	2416	0.00	2.47	0.00	0.000	6	0.000	0.036	3439	1924	2716
2608	1.63	122.2	17.9	10.6	230	2615	0.00	2.65	0.00	0.000	4	0.000	0.072	3439	533	2717
2733	end climb: SURFACE_DEPTH_REACHED
state	2733	begin surface coast
2806	end surface coast: CONTROL_FINISHED_OK
state	2806	begin surface