Glider dive log

PortSusan 05Mar08 * SG140 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 4 HEADING -1 PITCH_ADJ_GAIN 0.059999999 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 10 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DEPTH 0

D_TGT 150 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_ABORT 250 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2048 ALTIM_FREQUENCY 13

D_NO_BLEED 80 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2048 ALTIM_PULSE 3

D_FINISH 0 SM_CC 600 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 9 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 10 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 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 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 720 CALL_TRIES 5 VBD_MIN 520 DEVICE4 53

T_TURN 225 CALL_WAIT 60 VBD_MAX 3978 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3600 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 720 SMARTDEVICE2 -1

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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -12529.022 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 20 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 592 AH0_24V 91.800003 SEABIRD_T_G 0.0043273787

SPEED_FACTOR 1 PITCH_MAX 3894 AH0_10V 100 SEABIRD_T_H 0.0006414231

RHO 1.023 C_PITCH 2990 PRESSURE_YINT -1.6534929 SEABIRD_T_I 2.3931538e-05

MASS 51359 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.0994887e-05 SEABIRD_T_J 2.340664e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.258962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1819305

KALMAN_USE 1 PITCH_GAIN 14.2 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0037964056

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00031207138

HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 14.2 SM_CC 600

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3894 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 592 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 15 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 9.0994887e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -1.6534929 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 720

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -12529.022

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 140 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2990 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2048 KALMAN_USE 1 ROLL_MIN 157 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2048 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -4

C_VBD 3600 MASS 51359 R_PORT_OVSHOOT 9 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 10 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -10.258962 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1819305 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0037964056 VBD_MAX 3978

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00031207138 VBD_MAXERRORS 20

DEVICE4 53 N_GPS 20 SEABIRD_T_G 0.0043273787 VBD_MIN 520

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006414231 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3931538e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 10 PHONE_DEVICE 48 SEABIRD_T_J 2.340664e-06 VBD_TIMEOUT 720

D_ABORT 250 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 063835,4805.043,-12220.883,13,99.0,32,18.3 TGT_NAME FIVE

_CALLS 4 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 5 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.167,0.090

_SM_DEPTHo 0.88 KALMAN_X 623.6,161.4,114.1,2040.9,49.3

_SM_ANGLEo -60.2 KALMAN_Y -1073.9,-334.9,-108.6,-4167.9,-1.3

GPS2 064956,4804.894,-12220.742,10,1.1,16,18.3 MHEAD_RNG_PITCHd_Wd 279.9,374,-24.8,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 108

Post-dive calculations and measurements:

SM_CCo 2583,319.98,0.789,1,0,520,755.52 _24V_AH 23.7,6.674

SM_GC 0.87,12.73,0.00,0.00,0.050,0.000,0.000,589,2047,514,-10.99,0.00,757.00 _10V_AH 10.7,0.609

IRIDIUM_FIX 4745.30,-12309.26,310597,060658 DATA_FILE_SIZE 25367,450

TT8_MAMPS 0.02301 CAP_FILE_SIZE 51033,0

HUMID 1541 CFSIZE 260165632,257093632

INTERNAL_PRESSURE 8.29133 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 17.90 GPS 060308,074157,4804.845,-12220.972,14,1.8,14,18.3

XPDR_PINGS 28

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 176 124.49 SBE_CT 306 24 174.40

Roll_motor 45 138 148.39 SBE_O2 333 19 149.97

VBD_pump_during_apogee 351 901 7502.89 WL_BB2F 573 105 1427.86

VBD_pump_during_surface 319 789 5985.15 Optode 0 33 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 102 103 250.95 nil 0 0 0.00

Iridium_during_connect 112 160 427.50 nil 0 0 0.00

Iridium_during_xfer 192 223 1018.02

Transponder_ping 7 420 69.68

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 9.07

TT8 625 19 132.42

LPSleep 1010 2 23.69

TT8_Active 732 19 155.18

TT8_Sampling 819 39 348.99

TT8_CF8 527 45 258.28

TT8_Kalman 33 81 29.16

Analog_circuits 1207 12 155.10

GPS_charging 0 0 0.00

Compass 823 8 70.48

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 -1.84 -75.5 0.0 0.0 0 133 0.00 0.00 -108.22 0.000 2 0.000 0.000 592 2050 3179

136 -1.87 -100.0 3.6 -7.8 20 177 11.45 2.80 -22.90 0.000 4 0.176 0.117 2573 3467 3979

425 -1.68 -100.0 46.5 -18.1 71 432 0.25 2.78 0.00 0.000 6 0.133 0.103 2618 2045 3979

499 -1.68 -100.0 58.9 -16.6 84 505 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2044 3979

640 -1.68 -100.0 80.8 -15.0 109 645 0.00 0.00 0.00 0.000 6 0.000 0.000 2618 2045 3979

782 -1.68 -100.0 102.4 -15.2 134 788 0.00 2.95 0.00 0.000 4 0.000 0.139 2618 638 3979

812 -1.60 -100.0 107.1 -15.4 139 818 0.12 2.83 0.00 0.000 6 0.133 0.110 2639 2053 3979

822 end dive: TARGET_DEPTH_EXCEEDED

state 823 begin apogee

828 -0.35 0.0 109.0 15.4 141 908 1.35 0.00 73.28 0.901 6 0.114 0.000 2907 2054 3600

908 end apogee: CONTROL_FINISHED_OK

state 909 begin climb

911 1.87 100.0 112.5 0.0 156 1002 2.22 2.90 77.93 0.874 4 0.068 0.107 3400 3467 3192

1256 1.36 128.1 97.9 7.5 218 1289 0.60 2.78 23.52 0.870 6 0.125 0.101 3289 2045 3077

1425 1.46 153.5 85.4 7.7 248 1453 0.00 2.83 21.65 0.863 4 0.000 0.104 3289 3461 2973

1515 1.47 155.4 77.3 9.8 264 1522 0.00 2.78 0.00 0.000 6 0.000 0.100 3289 2041 2973

1658 1.61 168.5 64.1 8.8 289 1681 0.20 2.85 12.93 0.818 4 0.063 0.104 3339 3455 2913

1779 1.43 168.5 50.2 12.0 310 1786 0.20 2.75 0.00 0.000 6 0.121 0.100 3305 2041 2913

1923 1.51 168.5 34.7 10.5 335 1929 0.00 0.00 0.00 0.000 6 0.000 0.000 3305 2041 2913

1997 1.62 168.5 26.6 10.9 348 2004 0.15 2.78 0.00 0.000 4 0.067 0.104 3345 3462 2912

2022 1.52 168.5 23.6 12.2 352 2029 0.12 2.75 0.00 0.000 6 0.132 0.100 3324 2048 2913

2097 1.52 168.5 14.6 11.8 365 2103 0.00 0.00 0.00 0.000 6 0.000 0.000 3324 2048 2913

2171 1.52 168.5 6.6 10.5 378 2177 0.00 2.92 0.00 0.000 4 0.000 0.131 3324 635 2913

2207 1.75 242.6 4.9 3.4 384 2274 0.20 2.75 57.28 0.842 6 0.054 0.100 3377 2049 2611

2346 2.01 351.8 3.5 0.3 408 2441 0.17 2.85 84.70 0.821 4 0.058 0.104 3425 3456 2163

2580 end climb: NO_VERTICAL_VELOCITY

state 2580 begin surface

ID	140	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	4	HEADING	-1	PITCH_ADJ_GAIN	0.059999999	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	10	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DEPTH	0
D_TGT	150	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_ABORT	250	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2048	ALTIM_FREQUENCY	13
D_NO_BLEED	80	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2048	ALTIM_PULSE	3
D_FINISH	0	SM_CC	600	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	9	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	10	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	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	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	720	CALL_TRIES	5	VBD_MIN	520	DEVICE4	53
T_TURN	225	CALL_WAIT	60	VBD_MAX	3978	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3600	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	720	SMARTDEVICE2	-1
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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-12529.022	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	20	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	592	AH0_24V	91.800003	SEABIRD_T_G	0.0043273787
SPEED_FACTOR	1	PITCH_MAX	3894	AH0_10V	100	SEABIRD_T_H	0.0006414231
RHO	1.023	C_PITCH	2990	PRESSURE_YINT	-1.6534929	SEABIRD_T_I	2.3931538e-05
MASS	51359	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.0994887e-05	SEABIRD_T_J	2.340664e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.258962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1819305
KALMAN_USE	1	PITCH_GAIN	14.2	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0037964056
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00031207138
HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	063835,4805.043,-12220.883,13,99.0,32,18.3	TGT_NAME	FIVE
_CALLS	4	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	5	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.167,0.090
_SM_DEPTHo	0.88	KALMAN_X	623.6,161.4,114.1,2040.9,49.3
_SM_ANGLEo	-60.2	KALMAN_Y	-1073.9,-334.9,-108.6,-4167.9,-1.3
GPS2	064956,4804.894,-12220.742,10,1.1,16,18.3	MHEAD_RNG_PITCHd_Wd	279.9,374,-24.8,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	108

SM_CCo	2583,319.98,0.789,1,0,520,755.52	_24V_AH	23.7,6.674
SM_GC	0.87,12.73,0.00,0.00,0.050,0.000,0.000,589,2047,514,-10.99,0.00,757.00	_10V_AH	10.7,0.609
IRIDIUM_FIX	4745.30,-12309.26,310597,060658	DATA_FILE_SIZE	25367,450
TT8_MAMPS	0.02301	CAP_FILE_SIZE	51033,0
HUMID	1541	CFSIZE	260165632,257093632
INTERNAL_PRESSURE	8.29133	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	17.90	GPS	060308,074157,4804.845,-12220.972,14,1.8,14,18.3
XPDR_PINGS	28

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	176	124.49	SBE_CT	306	24	174.40
Roll_motor	45	138	148.39	SBE_O2	333	19	149.97
VBD_pump_during_apogee	351	901	7502.89	WL_BB2F	573	105	1427.86
VBD_pump_during_surface	319	789	5985.15	Optode	0	33	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	102	103	250.95	nil	0	0	0.00
Iridium_during_connect	112	160	427.50	nil	0	0	0.00
Iridium_during_xfer	192	223	1018.02
Transponder_ping	7	420	69.68
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	9.07
TT8	625	19	132.42
LPSleep	1010	2	23.69
TT8_Active	732	19	155.18
TT8_Sampling	819	39	348.99
TT8_CF8	527	45	258.28
TT8_Kalman	33	81	29.16
Analog_circuits	1207	12	155.10
GPS_charging	0	0	0.00
Compass	823	8	70.48
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	-1.84	-75.5	0.0	0.0	0	133	0.00	0.00	-108.22	0.000	2	0.000	0.000	592	2050	3179
136	-1.87	-100.0	3.6	-7.8	20	177	11.45	2.80	-22.90	0.000	4	0.176	0.117	2573	3467	3979
425	-1.68	-100.0	46.5	-18.1	71	432	0.25	2.78	0.00	0.000	6	0.133	0.103	2618	2045	3979
499	-1.68	-100.0	58.9	-16.6	84	505	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2044	3979
640	-1.68	-100.0	80.8	-15.0	109	645	0.00	0.00	0.00	0.000	6	0.000	0.000	2618	2045	3979
782	-1.68	-100.0	102.4	-15.2	134	788	0.00	2.95	0.00	0.000	4	0.000	0.139	2618	638	3979
812	-1.60	-100.0	107.1	-15.4	139	818	0.12	2.83	0.00	0.000	6	0.133	0.110	2639	2053	3979
822	end dive: TARGET_DEPTH_EXCEEDED
state	823	begin apogee
828	-0.35	0.0	109.0	15.4	141	908	1.35	0.00	73.28	0.901	6	0.114	0.000	2907	2054	3600
908	end apogee: CONTROL_FINISHED_OK
state	909	begin climb
911	1.87	100.0	112.5	0.0	156	1002	2.22	2.90	77.93	0.874	4	0.068	0.107	3400	3467	3192
1256	1.36	128.1	97.9	7.5	218	1289	0.60	2.78	23.52	0.870	6	0.125	0.101	3289	2045	3077
1425	1.46	153.5	85.4	7.7	248	1453	0.00	2.83	21.65	0.863	4	0.000	0.104	3289	3461	2973
1515	1.47	155.4	77.3	9.8	264	1522	0.00	2.78	0.00	0.000	6	0.000	0.100	3289	2041	2973
1658	1.61	168.5	64.1	8.8	289	1681	0.20	2.85	12.93	0.818	4	0.063	0.104	3339	3455	2913
1779	1.43	168.5	50.2	12.0	310	1786	0.20	2.75	0.00	0.000	6	0.121	0.100	3305	2041	2913
1923	1.51	168.5	34.7	10.5	335	1929	0.00	0.00	0.00	0.000	6	0.000	0.000	3305	2041	2913
1997	1.62	168.5	26.6	10.9	348	2004	0.15	2.78	0.00	0.000	4	0.067	0.104	3345	3462	2912
2022	1.52	168.5	23.6	12.2	352	2029	0.12	2.75	0.00	0.000	6	0.132	0.100	3324	2048	2913
2097	1.52	168.5	14.6	11.8	365	2103	0.00	0.00	0.00	0.000	6	0.000	0.000	3324	2048	2913
2171	1.52	168.5	6.6	10.5	378	2177	0.00	2.92	0.00	0.000	4	0.000	0.131	3324	635	2913
2207	1.75	242.6	4.9	3.4	384	2274	0.20	2.75	57.28	0.842	6	0.054	0.100	3377	2049	2611
2346	2.01	351.8	3.5	0.3	408	2441	0.17	2.85	84.70	0.821	4	0.058	0.104	3425	3456	2163
2580	end climb: NO_VERTICAL_VELOCITY
state	2580	begin surface