Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 223 * 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 223 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 45 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 -64613.414 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 18 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 18 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 -64613.414

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 45 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 223 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 204704,4806.814,-12222.552,11,2.7,31,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.140,0.072

_SM_DEPTHo 1.12 KALMAN_X 17657.2,115.6,36.8,-16131.0,97.6

_SM_ANGLEo -69.2 KALMAN_Y 10325.9,-51.9,-136.3,-13181.4,247.7

GPS2 205121,4806.824,-12222.539,11,1.3,11,18.3 MHEAD_RNG_PITCHd_Wd 278.9,2830,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 107

Post-dive calculations and measurements:

FINISH 0.4,1.010949 XPDR_PINGS 0

SM_CCo 3188,66.90,0.686,0,0,1576,300.00 ALTIM_BOTTOM_PING 70.3,43.1

SM_GC 1.31,0.00,0.00,66.90,0.000,0.000,0.686,18,2268,1576,-8.76,0.51,300.00 _24V_AH 24.5,26.012

IRIDIUM_FIX 4748.51,-12219.12,140907,232338 _10V_AH 10.7,12.275

TT8_MAMPS 0.026078 DATA_FILE_SIZE 15975,345

HUMID 1850 CFSIZE 260165632,251428864

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

TCM_TEMP 15.30 GPS 140907,214726,4807.110,-12222.964,5,1.2,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 213 107.75 SBE_CT 245 24 144.48

Roll_motor 23 60 34.33 SBE_O2 274 19 127.74

VBD_pump_during_apogee 234 825 4735.95 WL_BB2F 582 105 1498.06

VBD_pump_during_surface 66 685 1123.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 97.57 nil 0 0 0.00

Iridium_during_connect 34 160 133.91 nil 0 0 0.00

Iridium_during_xfer 102 223 561.89

Transponder_ping 0 420 2.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.88

TT8 569 19 120.64

LPSleep 1671 2 39.17

TT8_Active 336 19 71.38

TT8_Sampling 673 39 286.96

TT8_CF8 285 45 139.94

TT8_Kalman 33 81 29.19

Analog_circuits 688 12 88.47

GPS_charging 0 0 0.00

Compass 688 8 58.96

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

21 -0.77 -146.6 0.0 0.0 0 89 0.00 0.00 -65.57 0.000 2 0.000 0.000 8 2271 3194

91 -0.77 -146.6 3.3 -2.9 12 111 10.40 2.40 -4.12 0.000 4 0.213 0.050 2566 842 3401

185 -0.77 -146.6 15.9 -8.2 28 191 0.00 2.28 0.00 0.000 6 0.000 0.035 2566 2239 3403

259 -0.77 -146.6 21.0 -7.0 40 260 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2240 3403

450 -0.77 -146.6 33.4 -6.5 58 454 0.00 2.25 0.00 0.000 4 0.000 0.038 2567 840 3404

472 -0.77 -146.6 34.8 -6.4 60 476 0.00 2.28 0.00 0.000 6 0.000 0.034 2567 2256 3404

675 -0.77 -146.6 47.6 -6.3 79 676 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2256 3404

866 -0.77 -146.6 58.7 -5.9 97 867 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2256 3404

1184 -0.77 -146.6 78.3 -6.3 127 1188 0.00 2.25 0.00 0.000 4 0.000 0.038 2566 845 3404

1217 -0.77 -146.6 80.4 -6.6 129 1224 0.00 2.28 0.00 0.000 6 0.000 0.035 2567 2256 3404

1476 end dive: TARGET_DEPTH_EXCEEDED

state 1476 begin apogee

1482 -0.28 0.0 95.6 5.9 154 1600 0.52 0.00 111.90 0.760 6 0.107 0.000 2732 2119 2799

1600 end apogee: CONTROL_FINISHED_OK

state 1601 begin climb

1603 0.77 146.6 98.0 0.0 166 1718 1.00 0.00 110.78 0.696 6 0.079 0.000 3061 2119 2202

2036 0.77 146.6 69.8 7.2 207 2037 0.00 0.00 0.00 0.000 6 0.000 0.000 3060 2119 2200

2355 0.77 146.6 47.6 6.7 237 2359 0.00 2.35 0.00 0.000 4 0.000 0.045 3060 3553 2199

2388 0.77 146.6 45.2 7.5 240 2393 0.00 2.25 0.00 0.000 6 0.000 0.030 3067 2143 2199

2586 0.77 146.6 31.7 6.9 258 2587 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2143 2199

2776 0.77 146.6 19.6 6.5 276 2782 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2143 2199

2850 0.77 146.6 14.8 6.4 289 2856 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2142 2199

2923 0.77 146.6 10.2 6.2 302 2929 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2142 2198

2997 0.77 146.6 5.9 6.0 315 3003 0.00 2.22 0.00 0.000 4 0.000 0.041 3074 750 2198

3055 0.79 162.1 3.3 4.5 325 3073 0.00 2.25 11.55 0.825 6 0.000 0.033 3074 2152 2139

3094 end climb: SURFACE_DEPTH_REACHED

state 3094 begin surface coast

3170 end surface coast: CONTROL_FINISHED_OK

state 3170 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	223	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	45	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	-64613.414	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	18	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	204704,4806.814,-12222.552,11,2.7,31,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.140,0.072
_SM_DEPTHo	1.12	KALMAN_X	17657.2,115.6,36.8,-16131.0,97.6
_SM_ANGLEo	-69.2	KALMAN_Y	10325.9,-51.9,-136.3,-13181.4,247.7
GPS2	205121,4806.824,-12222.539,11,1.3,11,18.3	MHEAD_RNG_PITCHd_Wd	278.9,2830,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	107

FINISH	0.4,1.010949	XPDR_PINGS	0
SM_CCo	3188,66.90,0.686,0,0,1576,300.00	ALTIM_BOTTOM_PING	70.3,43.1
SM_GC	1.31,0.00,0.00,66.90,0.000,0.000,0.686,18,2268,1576,-8.76,0.51,300.00	_24V_AH	24.5,26.012
IRIDIUM_FIX	4748.51,-12219.12,140907,232338	_10V_AH	10.7,12.275
TT8_MAMPS	0.026078	DATA_FILE_SIZE	15975,345
HUMID	1850	CFSIZE	260165632,251428864
INTERNAL_PRESSURE	9.19957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.30	GPS	140907,214726,4807.110,-12222.964,5,1.2,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	213	107.75	SBE_CT	245	24	144.48
Roll_motor	23	60	34.33	SBE_O2	274	19	127.74
VBD_pump_during_apogee	234	825	4735.95	WL_BB2F	582	105	1498.06
VBD_pump_during_surface	66	685	1123.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	97.57	nil	0	0	0.00
Iridium_during_connect	34	160	133.91	nil	0	0	0.00
Iridium_during_xfer	102	223	561.89
Transponder_ping	0	420	2.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.88
TT8	569	19	120.64
LPSleep	1671	2	39.17
TT8_Active	336	19	71.38
TT8_Sampling	673	39	286.96
TT8_CF8	285	45	139.94
TT8_Kalman	33	81	29.19
Analog_circuits	688	12	88.47
GPS_charging	0	0	0.00
Compass	688	8	58.96
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
21	-0.77	-146.6	0.0	0.0	0	89	0.00	0.00	-65.57	0.000	2	0.000	0.000	8	2271	3194
91	-0.77	-146.6	3.3	-2.9	12	111	10.40	2.40	-4.12	0.000	4	0.213	0.050	2566	842	3401
185	-0.77	-146.6	15.9	-8.2	28	191	0.00	2.28	0.00	0.000	6	0.000	0.035	2566	2239	3403
259	-0.77	-146.6	21.0	-7.0	40	260	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2240	3403
450	-0.77	-146.6	33.4	-6.5	58	454	0.00	2.25	0.00	0.000	4	0.000	0.038	2567	840	3404
472	-0.77	-146.6	34.8	-6.4	60	476	0.00	2.28	0.00	0.000	6	0.000	0.034	2567	2256	3404
675	-0.77	-146.6	47.6	-6.3	79	676	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2256	3404
866	-0.77	-146.6	58.7	-5.9	97	867	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2256	3404
1184	-0.77	-146.6	78.3	-6.3	127	1188	0.00	2.25	0.00	0.000	4	0.000	0.038	2566	845	3404
1217	-0.77	-146.6	80.4	-6.6	129	1224	0.00	2.28	0.00	0.000	6	0.000	0.035	2567	2256	3404
1476	end dive: TARGET_DEPTH_EXCEEDED
state	1476	begin apogee
1482	-0.28	0.0	95.6	5.9	154	1600	0.52	0.00	111.90	0.760	6	0.107	0.000	2732	2119	2799
1600	end apogee: CONTROL_FINISHED_OK
state	1601	begin climb
1603	0.77	146.6	98.0	0.0	166	1718	1.00	0.00	110.78	0.696	6	0.079	0.000	3061	2119	2202
2036	0.77	146.6	69.8	7.2	207	2037	0.00	0.00	0.00	0.000	6	0.000	0.000	3060	2119	2200
2355	0.77	146.6	47.6	6.7	237	2359	0.00	2.35	0.00	0.000	4	0.000	0.045	3060	3553	2199
2388	0.77	146.6	45.2	7.5	240	2393	0.00	2.25	0.00	0.000	6	0.000	0.030	3067	2143	2199
2586	0.77	146.6	31.7	6.9	258	2587	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2143	2199
2776	0.77	146.6	19.6	6.5	276	2782	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2143	2199
2850	0.77	146.6	14.8	6.4	289	2856	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2142	2199
2923	0.77	146.6	10.2	6.2	302	2929	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2142	2198
2997	0.77	146.6	5.9	6.0	315	3003	0.00	2.22	0.00	0.000	4	0.000	0.041	3074	750	2198
3055	0.79	162.1	3.3	4.5	325	3073	0.00	2.25	11.55	0.825	6	0.000	0.033	3074	2152	2139
3094	end climb: SURFACE_DEPTH_REACHED
state	3094	begin surface coast
3170	end surface coast: CONTROL_FINISHED_OK
state	3170	begin surface