Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 202 * 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 202 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 43 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 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 -63320.504 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 23 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 23 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 -63320.504

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 43 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 39 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 202 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 192759,4805.840,-12221.683,6,4.6,26,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,0.086

_SM_DEPTHo 1.09 KALMAN_X 15570.6,96.9,54.4,-12995.6,85.4

_SM_ANGLEo -69.3 KALMAN_Y 8843.4,-263.3,-194.3,-13215.1,249.2

GPS2 193215,4805.860,-12221.690,8,1.8,8,18.3 MHEAD_RNG_PITCHd_Wd 284.7,4885,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 110

Post-dive calculations and measurements:

FINISH 1.7,1.023844 XPDR_PINGS 0

SM_CCo 3660,44.88,0.667,0,0,1577,300.00 ALTIM_BOTTOM_PING 70.3,42.0

SM_GC 1.15,0.00,0.00,44.88,0.000,0.000,0.667,9,2264,1577,-8.79,0.40,300.00 _24V_AH 24.5,24.381

IRIDIUM_FIX 4751.72,-12219.12,130907,222256 _10V_AH 10.7,11.192

TT8_MAMPS 0.026078 DATA_FILE_SIZE 19085,394

HUMID 1847 CFSIZE 260165632,252026880

INTERNAL_PRESSURE 9.19957 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 130907,203607,4806.210,-12222.052,29,1.1,30,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 215 109.30 SBE_CT 282 24 166.09

Roll_motor 27 62 42.35 SBE_O2 314 19 146.34

VBD_pump_during_apogee 280 863 5940.45 WL_BB2F 664 105 1710.31

VBD_pump_during_surface 44 667 733.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 97.44 nil 0 0 0.00

Iridium_during_connect 42 160 168.46 nil 0 0 0.00

Iridium_during_xfer 92 223 504.73

Transponder_ping 0 420 2.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.47

TT8 638 19 135.23

LPSleep 1951 2 45.72

TT8_Active 355 19 75.41

TT8_Sampling 751 39 319.93

TT8_CF8 288 45 141.19

TT8_Kalman 33 81 29.19

Analog_circuits 734 12 94.27

GPS_charging 0 0 0.00

Compass 773 8 66.25

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -0.64 -146.6 0.0 0.0 0 89 0.00 0.00 -65.28 0.000 2 0.000 0.000 4 2265 3223

91 -0.64 -146.6 3.8 -3.8 12 111 10.68 2.40 -3.47 0.000 4 0.216 0.062 2601 3649 3401

319 -0.64 -146.6 22.4 -5.5 49 324 0.00 2.25 0.00 0.000 6 0.000 0.028 2601 2227 3403

516 -0.64 -146.6 33.0 -5.1 67 517 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2225 3404

708 -0.64 -146.6 43.0 -5.0 85 709 0.00 0.00 0.00 0.000 6 0.000 0.000 2601 2225 3404

899 -0.64 -146.6 52.9 -5.2 103 903 0.00 2.35 0.00 0.000 4 0.000 0.049 2594 3648 3404

936 -0.64 -146.6 54.9 -5.2 106 944 0.00 2.22 0.00 0.000 6 0.000 0.028 2594 2240 3404

1263 -0.64 -146.6 72.1 -5.4 137 1267 0.00 2.33 0.00 0.000 4 0.000 0.048 2594 3651 3404

1302 -0.64 -146.6 74.4 -6.0 140 1306 0.00 2.17 0.00 0.000 6 0.000 0.028 2594 2249 3404

1629 -0.64 -146.6 91.2 -5.2 170 1630 0.00 0.00 0.00 0.000 6 0.000 0.000 2594 2247 3404

1709 end dive: TARGET_DEPTH_EXCEEDED

state 1709 begin apogee

1714 -0.22 0.0 95.5 5.4 178 1832 0.50 0.00 112.18 0.783 6 0.105 0.000 2752 2156 2799

1833 end apogee: CONTROL_FINISHED_OK

state 1833 begin climb

1835 0.64 146.6 97.3 0.0 190 1953 0.80 0.00 111.32 0.690 6 0.077 0.000 3017 2156 2202

2270 0.64 146.6 74.0 5.8 232 2272 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2156 2200

2589 0.64 146.6 56.4 5.5 262 2590 0.00 0.00 0.00 0.000 6 0.000 0.000 3018 2155 2200

2907 0.64 146.6 38.6 5.6 292 2911 0.00 2.30 0.00 0.000 4 0.000 0.045 3018 3559 2199

2952 0.64 146.6 35.7 6.8 296 2956 0.00 2.22 0.00 0.000 6 0.000 0.030 3023 2157 2199

3149 0.64 146.6 23.5 5.8 314 3150 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2156 2199

3348 0.67 169.8 14.5 4.3 343 3372 0.00 2.35 18.58 0.864 4 0.000 0.042 3027 756 2106

3406 0.67 169.8 11.2 5.6 353 3412 0.00 2.25 0.00 0.000 6 0.000 0.033 3027 2149 2106

3481 0.67 173.9 7.6 4.9 366 3488 0.00 0.00 4.97 0.661 6 0.000 0.000 3027 2149 2089

3556 0.73 218.6 4.6 3.6 379 3596 0.00 2.35 33.70 0.729 4 0.000 0.040 3027 744 1908

3628 end climb: SURFACE_DEPTH_REACHED

state 3629 begin surface coast

3641 end surface coast: CONTROL_FINISHED_OK

state 3641 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	202	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	43	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	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	-63320.504	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	23	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	192759,4805.840,-12221.683,6,4.6,26,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,0.086
_SM_DEPTHo	1.09	KALMAN_X	15570.6,96.9,54.4,-12995.6,85.4
_SM_ANGLEo	-69.3	KALMAN_Y	8843.4,-263.3,-194.3,-13215.1,249.2
GPS2	193215,4805.860,-12221.690,8,1.8,8,18.3	MHEAD_RNG_PITCHd_Wd	284.7,4885,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	110

FINISH	1.7,1.023844	XPDR_PINGS	0
SM_CCo	3660,44.88,0.667,0,0,1577,300.00	ALTIM_BOTTOM_PING	70.3,42.0
SM_GC	1.15,0.00,0.00,44.88,0.000,0.000,0.667,9,2264,1577,-8.79,0.40,300.00	_24V_AH	24.5,24.381
IRIDIUM_FIX	4751.72,-12219.12,130907,222256	_10V_AH	10.7,11.192
TT8_MAMPS	0.026078	DATA_FILE_SIZE	19085,394
HUMID	1847	CFSIZE	260165632,252026880
INTERNAL_PRESSURE	9.19957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	130907,203607,4806.210,-12222.052,29,1.1,30,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	215	109.30	SBE_CT	282	24	166.09
Roll_motor	27	62	42.35	SBE_O2	314	19	146.34
VBD_pump_during_apogee	280	863	5940.45	WL_BB2F	664	105	1710.31
VBD_pump_during_surface	44	667	733.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	97.44	nil	0	0	0.00
Iridium_during_connect	42	160	168.46	nil	0	0	0.00
Iridium_during_xfer	92	223	504.73
Transponder_ping	0	420	2.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.47
TT8	638	19	135.23
LPSleep	1951	2	45.72
TT8_Active	355	19	75.41
TT8_Sampling	751	39	319.93
TT8_CF8	288	45	141.19
TT8_Kalman	33	81	29.19
Analog_circuits	734	12	94.27
GPS_charging	0	0	0.00
Compass	773	8	66.25
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-0.64	-146.6	0.0	0.0	0	89	0.00	0.00	-65.28	0.000	2	0.000	0.000	4	2265	3223
91	-0.64	-146.6	3.8	-3.8	12	111	10.68	2.40	-3.47	0.000	4	0.216	0.062	2601	3649	3401
319	-0.64	-146.6	22.4	-5.5	49	324	0.00	2.25	0.00	0.000	6	0.000	0.028	2601	2227	3403
516	-0.64	-146.6	33.0	-5.1	67	517	0.00	0.00	0.00	0.000	6	0.000	0.000	2601	2225	3404
708	-0.64	-146.6	43.0	-5.0	85	709	0.00	0.00	0.00	0.000	6	0.000	0.000	2601	2225	3404
899	-0.64	-146.6	52.9	-5.2	103	903	0.00	2.35	0.00	0.000	4	0.000	0.049	2594	3648	3404
936	-0.64	-146.6	54.9	-5.2	106	944	0.00	2.22	0.00	0.000	6	0.000	0.028	2594	2240	3404
1263	-0.64	-146.6	72.1	-5.4	137	1267	0.00	2.33	0.00	0.000	4	0.000	0.048	2594	3651	3404
1302	-0.64	-146.6	74.4	-6.0	140	1306	0.00	2.17	0.00	0.000	6	0.000	0.028	2594	2249	3404
1629	-0.64	-146.6	91.2	-5.2	170	1630	0.00	0.00	0.00	0.000	6	0.000	0.000	2594	2247	3404
1709	end dive: TARGET_DEPTH_EXCEEDED
state	1709	begin apogee
1714	-0.22	0.0	95.5	5.4	178	1832	0.50	0.00	112.18	0.783	6	0.105	0.000	2752	2156	2799
1833	end apogee: CONTROL_FINISHED_OK
state	1833	begin climb
1835	0.64	146.6	97.3	0.0	190	1953	0.80	0.00	111.32	0.690	6	0.077	0.000	3017	2156	2202
2270	0.64	146.6	74.0	5.8	232	2272	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	2156	2200
2589	0.64	146.6	56.4	5.5	262	2590	0.00	0.00	0.00	0.000	6	0.000	0.000	3018	2155	2200
2907	0.64	146.6	38.6	5.6	292	2911	0.00	2.30	0.00	0.000	4	0.000	0.045	3018	3559	2199
2952	0.64	146.6	35.7	6.8	296	2956	0.00	2.22	0.00	0.000	6	0.000	0.030	3023	2157	2199
3149	0.64	146.6	23.5	5.8	314	3150	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2156	2199
3348	0.67	169.8	14.5	4.3	343	3372	0.00	2.35	18.58	0.864	4	0.000	0.042	3027	756	2106
3406	0.67	169.8	11.2	5.6	353	3412	0.00	2.25	0.00	0.000	6	0.000	0.033	3027	2149	2106
3481	0.67	173.9	7.6	4.9	366	3488	0.00	0.00	4.97	0.661	6	0.000	0.000	3027	2149	2089
3556	0.73	218.6	4.6	3.6	379	3596	0.00	2.35	33.70	0.729	4	0.000	0.040	3027	744	1908
3628	end climb: SURFACE_DEPTH_REACHED
state	3629	begin surface coast
3641	end surface coast: CONTROL_FINISHED_OK
state	3641	begin surface