Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 179 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_B 0.013382 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.8987e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 179 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 44 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 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 63 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 204 DEVICE4 -1

T_TURN 270 CALL_WAIT 60 VBD_MAX 3580 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2800 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 360 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -62793.465 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 25 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 4070 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_I 2.5554549e-05

MASS 51503 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0043390002 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 95 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 63

CALL_TRIES 5 HD_A 0.0043390002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.013382 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 5.8987e-05 RHO 1.023 T_GPS_CHARGE -62793.465

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 1 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 270

COURSE_BIAS 0 ID 128 ROLL_MAX 4014 T_TURN_SAMPINT 5

C_PITCH 2820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2150 INT_PRESSURE_YINT 0 ROLL_MIN 145 UNCOM_BLEED 50

C_ROLL_DIVE 2250 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51503 R_PORT_OVSHOOT 44 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 42 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3580

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 204

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 179 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 162950,4804.941,-12220.914,11,1.8,12,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.075,0.138

_SM_DEPTHo 1.14 KALMAN_X 13910.8,145.1,-27.3,-10329.6,40.4

_SM_ANGLEo -68.8 KALMAN_Y 6591.1,-243.9,3.5,-12881.4,-162.2

GPS2 163414,4804.938,-12220.902,14,1.8,14,18.3 MHEAD_RNG_PITCHd_Wd 313.2,6842,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.6,1.023861 XPDR_PINGS 3

SM_CCo 3618,33.08,0.647,0,0,1577,300.00 ALTIM_BOTTOM_PING 70.4,53.2

SM_GC 1.63,0.00,0.00,33.08,0.000,0.000,0.647,14,2268,1577,-8.77,0.51,300.00 _24V_AH 24.5,22.645

IRIDIUM_FIX 4748.51,-12217.40,120907,191937 _10V_AH 10.8,10.044

TT8_MAMPS 0.026078 DATA_FILE_SIZE 19091,395

HUMID 1831 CFSIZE 260165632,252690432

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 GPS 120907,173707,4805.216,-12220.989,22,1.5,23,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 210 108.78 SBE_CT 279 24 164.60

Roll_motor 27 63 43.24 SBE_O2 305 19 142.26

VBD_pump_during_apogee 290 813 5792.44 WL_BB2F 666 105 1715.43

VBD_pump_during_surface 33 646 523.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 100.70 nil 0 0 0.00

Iridium_during_connect 49 160 195.55 nil 0 0 0.00

Iridium_during_xfer 91 223 501.51

Transponder_ping 1 420 10.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.59

TT8 635 19 135.94

LPSleep 1880 2 44.48

TT8_Active 350 19 75.00

TT8_Sampling 785 39 337.77

TT8_CF8 288 45 142.94

TT8_Kalman 33 81 29.46

Analog_circuits 750 12 97.21

GPS_charging 0 0 0.00

Compass 800 8 69.13

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.66 -146.6 0.0 0.0 0 89 0.00 0.00 -66.25 0.000 2 0.000 0.000 15 2260 3262

91 -0.66 -146.6 3.6 -3.5 12 111 10.45 2.33 -2.80 0.000 4 0.211 0.052 2604 850 3399

413 -0.66 -146.6 26.5 -5.7 58 420 0.00 2.28 0.00 0.000 6 0.000 0.035 2604 2240 3402

610 -0.66 -146.6 37.2 -5.3 77 614 0.00 2.25 0.00 0.000 4 0.000 0.040 2604 850 3403

672 -0.66 -146.6 40.6 -5.5 82 676 0.00 2.25 0.00 0.000 6 0.000 0.035 2604 2256 3403

874 -0.66 -146.6 50.9 -5.1 101 875 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2256 3403

1192 -0.66 -146.6 67.1 -5.3 131 1194 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2256 3403

1512 -0.66 -146.6 83.5 -5.0 161 1514 0.00 0.00 0.00 0.000 6 0.000 0.000 2604 2257 3403

1743 end dive: TARGET_DEPTH_EXCEEDED

state 1743 begin apogee

1748 -0.23 0.0 95.5 5.1 183 1866 0.45 0.00 111.55 0.771 6 0.101 0.000 2749 2118 2800

1866 end apogee: CONTROL_FINISHED_OK

state 1867 begin climb

1869 0.66 146.6 97.4 0.0 195 1988 0.82 0.00 111.20 0.699 6 0.074 0.000 3024 2118 2201

2305 0.66 146.6 73.1 6.2 237 2309 0.00 2.40 0.00 0.000 4 0.000 0.044 3024 3561 2199

2328 0.66 146.6 71.6 6.8 239 2332 0.00 2.22 0.00 0.000 6 0.000 0.029 3032 2173 2199

2658 0.66 146.6 49.7 6.8 270 2659 0.00 0.00 0.00 0.000 6 0.000 0.000 3033 2172 2198

2848 0.66 146.6 37.8 6.3 288 2852 0.00 2.30 0.00 0.000 4 0.000 0.043 3038 750 2198

2880 0.66 146.6 35.5 6.6 290 2888 0.00 2.28 0.00 0.000 6 0.000 0.031 3038 2157 2198

3078 0.66 146.6 23.5 5.8 309 3079 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2157 2198

3277 0.66 146.6 12.3 5.6 339 3283 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2157 2198

3350 0.66 148.4 8.5 5.0 352 3357 0.00 2.28 0.00 0.000 4 0.000 0.046 3038 3560 2198

3397 0.68 159.2 6.4 4.7 360 3415 0.00 2.22 10.48 0.813 6 0.000 0.030 3038 2144 2149

3484 0.76 226.6 3.7 2.9 375 3540 0.00 2.33 49.28 0.707 4 0.000 0.041 3038 749 1875

3581 0.89 329.9 2.1 1.8 392 3595 0.20 2.30 8.30 0.676 2 0.058 0.031 3118 2164 1834

3595 end climb: SURFACE_DEPTH_REACHED

state 3595 begin surface coast

3600 end surface coast: CONTROL_FINISHED_OK

state 3601 begin surface

ID	128	HD_B	0.013382	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.8987e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	179	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	44	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	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	63	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	204	DEVICE4	-1
T_TURN	270	CALL_WAIT	60	VBD_MAX	3580	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2800	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	360	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-62793.465	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	25	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	4070	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_I	2.5554549e-05
MASS	51503	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0043390002	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	162950,4804.941,-12220.914,11,1.8,12,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.075,0.138
_SM_DEPTHo	1.14	KALMAN_X	13910.8,145.1,-27.3,-10329.6,40.4
_SM_ANGLEo	-68.8	KALMAN_Y	6591.1,-243.9,3.5,-12881.4,-162.2
GPS2	163414,4804.938,-12220.902,14,1.8,14,18.3	MHEAD_RNG_PITCHd_Wd	313.2,6842,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	108

FINISH	1.6,1.023861	XPDR_PINGS	3
SM_CCo	3618,33.08,0.647,0,0,1577,300.00	ALTIM_BOTTOM_PING	70.4,53.2
SM_GC	1.63,0.00,0.00,33.08,0.000,0.000,0.647,14,2268,1577,-8.77,0.51,300.00	_24V_AH	24.5,22.645
IRIDIUM_FIX	4748.51,-12217.40,120907,191937	_10V_AH	10.8,10.044
TT8_MAMPS	0.026078	DATA_FILE_SIZE	19091,395
HUMID	1831	CFSIZE	260165632,252690432
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	GPS	120907,173707,4805.216,-12220.989,22,1.5,23,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	210	108.78	SBE_CT	279	24	164.60
Roll_motor	27	63	43.24	SBE_O2	305	19	142.26
VBD_pump_during_apogee	290	813	5792.44	WL_BB2F	666	105	1715.43
VBD_pump_during_surface	33	646	523.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	100.70	nil	0	0	0.00
Iridium_during_connect	49	160	195.55	nil	0	0	0.00
Iridium_during_xfer	91	223	501.51
Transponder_ping	1	420	10.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.59
TT8	635	19	135.94
LPSleep	1880	2	44.48
TT8_Active	350	19	75.00
TT8_Sampling	785	39	337.77
TT8_CF8	288	45	142.94
TT8_Kalman	33	81	29.46
Analog_circuits	750	12	97.21
GPS_charging	0	0	0.00
Compass	800	8	69.13
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.66	-146.6	0.0	0.0	0	89	0.00	0.00	-66.25	0.000	2	0.000	0.000	15	2260	3262
91	-0.66	-146.6	3.6	-3.5	12	111	10.45	2.33	-2.80	0.000	4	0.211	0.052	2604	850	3399
413	-0.66	-146.6	26.5	-5.7	58	420	0.00	2.28	0.00	0.000	6	0.000	0.035	2604	2240	3402
610	-0.66	-146.6	37.2	-5.3	77	614	0.00	2.25	0.00	0.000	4	0.000	0.040	2604	850	3403
672	-0.66	-146.6	40.6	-5.5	82	676	0.00	2.25	0.00	0.000	6	0.000	0.035	2604	2256	3403
874	-0.66	-146.6	50.9	-5.1	101	875	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2256	3403
1192	-0.66	-146.6	67.1	-5.3	131	1194	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2256	3403
1512	-0.66	-146.6	83.5	-5.0	161	1514	0.00	0.00	0.00	0.000	6	0.000	0.000	2604	2257	3403
1743	end dive: TARGET_DEPTH_EXCEEDED
state	1743	begin apogee
1748	-0.23	0.0	95.5	5.1	183	1866	0.45	0.00	111.55	0.771	6	0.101	0.000	2749	2118	2800
1866	end apogee: CONTROL_FINISHED_OK
state	1867	begin climb
1869	0.66	146.6	97.4	0.0	195	1988	0.82	0.00	111.20	0.699	6	0.074	0.000	3024	2118	2201
2305	0.66	146.6	73.1	6.2	237	2309	0.00	2.40	0.00	0.000	4	0.000	0.044	3024	3561	2199
2328	0.66	146.6	71.6	6.8	239	2332	0.00	2.22	0.00	0.000	6	0.000	0.029	3032	2173	2199
2658	0.66	146.6	49.7	6.8	270	2659	0.00	0.00	0.00	0.000	6	0.000	0.000	3033	2172	2198
2848	0.66	146.6	37.8	6.3	288	2852	0.00	2.30	0.00	0.000	4	0.000	0.043	3038	750	2198
2880	0.66	146.6	35.5	6.6	290	2888	0.00	2.28	0.00	0.000	6	0.000	0.031	3038	2157	2198
3078	0.66	146.6	23.5	5.8	309	3079	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2157	2198
3277	0.66	146.6	12.3	5.6	339	3283	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2157	2198
3350	0.66	148.4	8.5	5.0	352	3357	0.00	2.28	0.00	0.000	4	0.000	0.046	3038	3560	2198
3397	0.68	159.2	6.4	4.7	360	3415	0.00	2.22	10.48	0.813	6	0.000	0.030	3038	2144	2149
3484	0.76	226.6	3.7	2.9	375	3540	0.00	2.33	49.28	0.707	4	0.000	0.041	3038	749	1875
3581	0.89	329.9	2.1	1.8	392	3595	0.20	2.30	8.30	0.676	2	0.058	0.031	3118	2164	1834
3595	end climb: SURFACE_DEPTH_REACHED
state	3595	begin surface coast
3600	end surface coast: CONTROL_FINISHED_OK
state	3601	begin surface