Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 168 * 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 8 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 168 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 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 350 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 43 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 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 90 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 -51731.129 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 130 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 20 PITCH_MIN 460 AH0_24V 71.400002 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 3100 PRESSURE_YINT -8.3042984 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 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 350

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 90 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 -8.3042984 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 20 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 45

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 -51731.129

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

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 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 21 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 130 R_STBD_OVSHOOT 43 USE_ICE 0

DEEPGLIDERMB 0 MISSION 8 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 168 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 144008,4742.952,-12250.748,35,1.2,35,18.3 TGT_NAME WP1

_CALLS 1 TGT_LATLONG 4743.050,-12250.817

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.036,0.180

_SM_DEPTHo 0.47 KALMAN_X 4724.2,-205.0,55.3,-1852.2,-7.9

_SM_ANGLEo -62.9 KALMAN_Y 8501.4,-360.1,122.9,-1867.4,-71.0

GPS2 144539,4742.939,-12250.767,14,1.4,14,18.3 MHEAD_RNG_PITCHd_Wd 330.2,215,-16.5,-6.667

SPEED_LIMITS 0.183,0.213 D_GRID 163

Post-dive calculations and measurements:

FINISH 0.9,1.022212 XPDR_PINGS 0

SM_CCo 2721,95.20,0.575,0,0,1790,350.04 ALTIM_BOTTOM_PING 50.1,51.8

SM_GC 0.33,0.00,0.00,95.20,0.000,0.000,0.575,461,1802,1790,-12.14,0.06,350.04 _24V_AH 23.9,14.523

IRIDIUM_FIX 4726.11,-12250.84,081007,171728 _10V_AH 10.1,12.297

TT8_MAMPS 0.074399 DATA_FILE_SIZE 6456,250

HUMID 2124 CFSIZE 260034560,251789312

INTERNAL_PRESSURE 8.47689 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 081007,153432,4743.182,-12250.865,10,1.5,15,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 210 157.53 SBE_CT 167 24 96.11

Roll_motor 30 79 56.88 nil 0 0 0.00

VBD_pump_during_apogee 198 662 3137.56 nil 0 0 0.00

VBD_pump_during_surface 95 575 1308.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.15 nil 0 0 0.00

Iridium_during_connect 44 160 168.39 ARS 0 0 0.00

Iridium_during_xfer 130 223 695.41

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3284 6 502.32

GPS 14 50 7.20

TT8 470 19 94.02

LPSleep 1529 2 33.83

TT8_Active 406 19 81.20

TT8_Sampling 431 39 173.37

TT8_CF8 339 45 157.14

TT8_Kalman 33 81 27.55

Analog_circuits 660 12 80.07

GPS_charging 0 0 0.00

Compass 404 8 32.67

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

24 -1.38 -90.2 0.0 0.0 0 106 0.00 0.00 -79.05 0.000 2 0.000 0.000 461 1808 3573

108 -1.41 -118.9 2.2 -5.2 13 134 14.98 2.50 -3.12 0.000 4 0.211 0.060 2786 3187 3704

253 -1.42 -121.5 15.3 -6.5 35 259 0.00 2.45 0.00 0.000 6 0.000 0.035 2786 1797 3706

325 -1.42 -127.1 19.1 -5.2 46 331 0.00 0.00 -0.45 0.000 6 0.000 0.000 2786 1797 3739

401 -1.42 -127.1 22.9 -5.2 54 406 0.00 2.53 0.00 0.000 4 0.000 0.046 2786 3198 3740

466 -1.42 -127.1 26.4 -5.4 58 473 0.00 2.50 0.00 0.000 6 0.000 0.034 2786 1798 3740

662 -1.42 -127.1 36.7 -5.4 74 663 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1798 3740

854 -1.42 -127.1 47.8 -5.8 89 859 0.00 2.50 0.00 0.000 4 0.000 0.046 2786 3188 3740

905 -1.42 -127.1 50.9 -5.6 92 912 0.00 2.47 0.00 0.000 6 0.000 0.034 2786 1798 3740

1102 -1.42 -127.1 62.4 -5.8 108 1103 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1798 3740

1294 -1.42 -127.1 73.1 -5.4 123 1295 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1798 3740

1482 -1.42 -127.1 83.5 -5.2 138 1483 0.00 0.00 0.00 0.000 6 0.000 0.000 2786 1798 3740

1604 end dive: TARGET_DEPTH_EXCEEDED

state 1604 begin apogee

1610 -0.38 0.0 90.1 5.3 148 1715 1.12 0.00 100.20 0.663 6 0.097 0.000 3013 1722 3218

1716 end apogee: CONTROL_FINISHED_OK

state 1716 begin climb

1719 1.42 127.1 91.1 0.0 157 1824 1.83 0.00 97.90 0.631 6 0.057 0.000 3411 1722 2698

2012 1.42 127.1 65.4 10.0 181 2017 0.00 2.65 0.00 0.000 4 0.000 0.079 3411 341 2697

2058 1.42 127.1 60.6 10.9 184 2062 0.00 2.42 0.00 0.000 6 0.000 0.031 3411 1734 2697

2260 1.42 127.1 40.4 10.1 200 2261 0.00 0.00 0.00 0.000 6 0.000 0.000 3410 1735 2696

2450 1.42 127.1 20.9 10.3 215 2455 0.00 2.65 0.00 0.000 4 0.000 0.074 3411 341 2696

2489 1.42 127.1 17.0 9.9 219 2496 0.00 2.42 0.00 0.000 6 0.000 0.031 3411 1737 2696

2561 1.42 127.1 10.6 8.3 230 2567 0.00 0.00 0.00 0.000 6 0.000 0.000 3411 1737 2696

2633 1.42 127.1 5.3 7.2 241 2640 0.00 2.50 0.00 0.000 4 0.000 0.048 3411 3132 2696

2644 end climb: SURFACE_DEPTH_REACHED

state 2644 begin surface coast

2691 end surface coast: CONTROL_FINISHED_OK

state 2691 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	168	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	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	350	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	43	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	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	90	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	-51731.129	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	130	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	20	PITCH_MIN	460	AH0_24V	71.400002	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	3100	PRESSURE_YINT	-8.3042984	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	144008,4742.952,-12250.748,35,1.2,35,18.3	TGT_NAME	WP1
_CALLS	1	TGT_LATLONG	4743.050,-12250.817
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.036,0.180
_SM_DEPTHo	0.47	KALMAN_X	4724.2,-205.0,55.3,-1852.2,-7.9
_SM_ANGLEo	-62.9	KALMAN_Y	8501.4,-360.1,122.9,-1867.4,-71.0
GPS2	144539,4742.939,-12250.767,14,1.4,14,18.3	MHEAD_RNG_PITCHd_Wd	330.2,215,-16.5,-6.667
SPEED_LIMITS	0.183,0.213	D_GRID	163

FINISH	0.9,1.022212	XPDR_PINGS	0
SM_CCo	2721,95.20,0.575,0,0,1790,350.04	ALTIM_BOTTOM_PING	50.1,51.8
SM_GC	0.33,0.00,0.00,95.20,0.000,0.000,0.575,461,1802,1790,-12.14,0.06,350.04	_24V_AH	23.9,14.523
IRIDIUM_FIX	4726.11,-12250.84,081007,171728	_10V_AH	10.1,12.297
TT8_MAMPS	0.074399	DATA_FILE_SIZE	6456,250
HUMID	2124	CFSIZE	260034560,251789312
INTERNAL_PRESSURE	8.47689	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	081007,153432,4743.182,-12250.865,10,1.5,15,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	210	157.53	SBE_CT	167	24	96.11
Roll_motor	30	79	56.88	nil	0	0	0.00
VBD_pump_during_apogee	198	662	3137.56	nil	0	0	0.00
VBD_pump_during_surface	95	575	1308.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.15	nil	0	0	0.00
Iridium_during_connect	44	160	168.39	ARS	0	0	0.00
Iridium_during_xfer	130	223	695.41
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3284	6	502.32
GPS	14	50	7.20
TT8	470	19	94.02
LPSleep	1529	2	33.83
TT8_Active	406	19	81.20
TT8_Sampling	431	39	173.37
TT8_CF8	339	45	157.14
TT8_Kalman	33	81	27.55
Analog_circuits	660	12	80.07
GPS_charging	0	0	0.00
Compass	404	8	32.67
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
24	-1.38	-90.2	0.0	0.0	0	106	0.00	0.00	-79.05	0.000	2	0.000	0.000	461	1808	3573
108	-1.41	-118.9	2.2	-5.2	13	134	14.98	2.50	-3.12	0.000	4	0.211	0.060	2786	3187	3704
253	-1.42	-121.5	15.3	-6.5	35	259	0.00	2.45	0.00	0.000	6	0.000	0.035	2786	1797	3706
325	-1.42	-127.1	19.1	-5.2	46	331	0.00	0.00	-0.45	0.000	6	0.000	0.000	2786	1797	3739
401	-1.42	-127.1	22.9	-5.2	54	406	0.00	2.53	0.00	0.000	4	0.000	0.046	2786	3198	3740
466	-1.42	-127.1	26.4	-5.4	58	473	0.00	2.50	0.00	0.000	6	0.000	0.034	2786	1798	3740
662	-1.42	-127.1	36.7	-5.4	74	663	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1798	3740
854	-1.42	-127.1	47.8	-5.8	89	859	0.00	2.50	0.00	0.000	4	0.000	0.046	2786	3188	3740
905	-1.42	-127.1	50.9	-5.6	92	912	0.00	2.47	0.00	0.000	6	0.000	0.034	2786	1798	3740
1102	-1.42	-127.1	62.4	-5.8	108	1103	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1798	3740
1294	-1.42	-127.1	73.1	-5.4	123	1295	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1798	3740
1482	-1.42	-127.1	83.5	-5.2	138	1483	0.00	0.00	0.00	0.000	6	0.000	0.000	2786	1798	3740
1604	end dive: TARGET_DEPTH_EXCEEDED
state	1604	begin apogee
1610	-0.38	0.0	90.1	5.3	148	1715	1.12	0.00	100.20	0.663	6	0.097	0.000	3013	1722	3218
1716	end apogee: CONTROL_FINISHED_OK
state	1716	begin climb
1719	1.42	127.1	91.1	0.0	157	1824	1.83	0.00	97.90	0.631	6	0.057	0.000	3411	1722	2698
2012	1.42	127.1	65.4	10.0	181	2017	0.00	2.65	0.00	0.000	4	0.000	0.079	3411	341	2697
2058	1.42	127.1	60.6	10.9	184	2062	0.00	2.42	0.00	0.000	6	0.000	0.031	3411	1734	2697
2260	1.42	127.1	40.4	10.1	200	2261	0.00	0.00	0.00	0.000	6	0.000	0.000	3410	1735	2696
2450	1.42	127.1	20.9	10.3	215	2455	0.00	2.65	0.00	0.000	4	0.000	0.074	3411	341	2696
2489	1.42	127.1	17.0	9.9	219	2496	0.00	2.42	0.00	0.000	6	0.000	0.031	3411	1737	2696
2561	1.42	127.1	10.6	8.3	230	2567	0.00	0.00	0.00	0.000	6	0.000	0.000	3411	1737	2696
2633	1.42	127.1	5.3	7.2	241	2640	0.00	2.50	0.00	0.000	4	0.000	0.048	3411	3132	2696
2644	end climb: SURFACE_DEPTH_REACHED
state	2644	begin surface coast
2691	end surface coast: CONTROL_FINISHED_OK
state	2691	begin surface