Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 265 * 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 265 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 34 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 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 -65553.57 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 -65553.57

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 34 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 38 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 265 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 151825,4807.693,-12223.849,41,1.1,42,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.072,-0.140

_SM_DEPTHo 1.14 KALMAN_X 19700.0,-3.6,-126.3,-19506.1,98.3

_SM_ANGLEo -69.2 KALMAN_Y 10615.8,-46.3,182.0,-12189.4,6.1

GPS2 152303,4807.689,-12223.845,14,1.3,14,18.3 MHEAD_RNG_PITCHd_Wd 134.6,6099,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 103

Post-dive calculations and measurements:

FINISH 0.9,1.024221 XPDR_PINGS 1

SM_CCo 3099,73.15,0.718,0,0,1576,300.00 ALTIM_BOTTOM_PING 70.4,39.7

SM_GC 1.39,0.00,0.00,73.15,0.000,0.000,0.718,10,2261,1576,-8.78,0.31,300.00 _24V_AH 24.5,29.119

IRIDIUM_FIX 4748.51,-12224.57,160907,181850 _10V_AH 10.7,14.114

TT8_MAMPS 0.026845 DATA_FILE_SIZE 15994,332

HUMID 1863 CFSIZE 260165632,250249216

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 160907,161745,4807.399,-12223.553,9,1.6,10,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 210 106.32 SBE_CT 238 24 140.33

Roll_motor 23 61 35.06 SBE_O2 262 19 122.08

VBD_pump_during_apogee 223 759 4149.53 WL_BB2F 560 105 1440.88

VBD_pump_during_surface 73 717 1286.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 99.42 nil 0 0 0.00

Iridium_during_connect 39 160 155.35 nil 0 0 0.00

Iridium_during_xfer 110 223 604.81

Transponder_ping 0 420 5.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.46

TT8 557 19 118.13

LPSleep 1602 2 37.56

TT8_Active 351 19 74.44

TT8_Sampling 657 39 280.14

TT8_CF8 307 45 150.75

TT8_Kalman 33 81 29.19

Analog_circuits 685 12 88.05

GPS_charging 0 0 0.00

Compass 671 8 57.49

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 -0.77 -146.6 0.0 0.0 0 90 0.00 0.00 -65.95 0.000 2 0.000 0.000 8 2259 3210

93 -0.77 -146.6 3.4 -3.1 12 111 10.32 0.00 -3.85 0.000 6 0.211 0.000 2566 2259 3401

180 -0.77 -146.6 14.0 -7.2 27 185 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2259 3403

253 -0.77 -146.6 19.0 -6.8 40 259 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2259 3403

324 -0.77 -146.6 23.6 -6.5 48 325 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2259 3404

515 -0.77 -146.6 36.0 -6.7 66 519 0.00 2.33 0.00 0.000 4 0.000 0.055 2562 3649 3404

547 -0.77 -146.6 38.2 -6.8 68 554 0.00 2.28 0.00 0.000 6 0.000 0.029 2562 2236 3404

745 -0.77 -146.6 50.3 -6.2 87 746 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2235 3404

1066 -0.77 -146.6 70.4 -6.4 117 1067 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2235 3404

1382 -0.77 -146.6 91.1 -6.4 147 1386 0.00 2.38 0.00 0.000 4 0.000 0.054 2562 3656 3404

1404 -0.77 -146.6 92.4 -6.1 149 1408 0.00 2.22 0.00 0.000 6 0.000 0.029 2562 2239 3404

1445 end dive: TARGET_DEPTH_EXCEEDED

state 1445 begin apogee

1450 -0.28 0.0 95.1 6.2 153 1568 0.52 0.00 111.78 0.759 6 0.111 0.000 2725 2137 2799

1569 end apogee: CONTROL_FINISHED_OK

state 1569 begin climb

1571 0.77 146.6 97.8 0.0 165 1689 1.02 0.00 111.28 0.696 6 0.083 0.000 3060 2137 2201

2006 0.77 146.6 72.8 6.9 207 2010 0.00 2.28 0.00 0.000 4 0.000 0.045 3067 759 2199

2130 0.77 146.6 63.9 7.4 218 2135 0.00 2.28 0.00 0.000 6 0.000 0.038 3066 2151 2199

2456 0.77 146.6 40.9 6.7 248 2460 0.00 2.35 0.00 0.000 4 0.000 0.053 3067 3565 2198

2497 0.77 146.6 37.8 8.1 251 2501 0.00 2.28 0.00 0.000 6 0.000 0.033 3076 2154 2198

2694 0.77 146.6 24.0 6.9 269 2695 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2154 2198

2892 0.77 146.6 10.8 6.5 299 2898 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2154 2198

2966 0.77 146.6 6.2 6.2 312 2973 0.00 2.35 0.00 0.000 4 0.000 0.053 3076 3561 2198

3013 0.77 146.6 3.2 6.6 320 3019 0.00 2.28 0.00 0.000 6 0.000 0.033 3080 2138 2197

3040 end climb: SURFACE_DEPTH_REACHED

state 3040 begin surface coast

3081 end surface coast: CONTROL_FINISHED_OK

state 3082 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	265	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	34	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	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	-65553.57	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	151825,4807.693,-12223.849,41,1.1,42,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.072,-0.140
_SM_DEPTHo	1.14	KALMAN_X	19700.0,-3.6,-126.3,-19506.1,98.3
_SM_ANGLEo	-69.2	KALMAN_Y	10615.8,-46.3,182.0,-12189.4,6.1
GPS2	152303,4807.689,-12223.845,14,1.3,14,18.3	MHEAD_RNG_PITCHd_Wd	134.6,6099,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	103

FINISH	0.9,1.024221	XPDR_PINGS	1
SM_CCo	3099,73.15,0.718,0,0,1576,300.00	ALTIM_BOTTOM_PING	70.4,39.7
SM_GC	1.39,0.00,0.00,73.15,0.000,0.000,0.718,10,2261,1576,-8.78,0.31,300.00	_24V_AH	24.5,29.119
IRIDIUM_FIX	4748.51,-12224.57,160907,181850	_10V_AH	10.7,14.114
TT8_MAMPS	0.026845	DATA_FILE_SIZE	15994,332
HUMID	1863	CFSIZE	260165632,250249216
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	160907,161745,4807.399,-12223.553,9,1.6,10,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	210	106.32	SBE_CT	238	24	140.33
Roll_motor	23	61	35.06	SBE_O2	262	19	122.08
VBD_pump_during_apogee	223	759	4149.53	WL_BB2F	560	105	1440.88
VBD_pump_during_surface	73	717	1286.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	99.42	nil	0	0	0.00
Iridium_during_connect	39	160	155.35	nil	0	0	0.00
Iridium_during_xfer	110	223	604.81
Transponder_ping	0	420	5.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.46
TT8	557	19	118.13
LPSleep	1602	2	37.56
TT8_Active	351	19	74.44
TT8_Sampling	657	39	280.14
TT8_CF8	307	45	150.75
TT8_Kalman	33	81	29.19
Analog_circuits	685	12	88.05
GPS_charging	0	0	0.00
Compass	671	8	57.49
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	-0.77	-146.6	0.0	0.0	0	90	0.00	0.00	-65.95	0.000	2	0.000	0.000	8	2259	3210
93	-0.77	-146.6	3.4	-3.1	12	111	10.32	0.00	-3.85	0.000	6	0.211	0.000	2566	2259	3401
180	-0.77	-146.6	14.0	-7.2	27	185	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2259	3403
253	-0.77	-146.6	19.0	-6.8	40	259	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2259	3403
324	-0.77	-146.6	23.6	-6.5	48	325	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2259	3404
515	-0.77	-146.6	36.0	-6.7	66	519	0.00	2.33	0.00	0.000	4	0.000	0.055	2562	3649	3404
547	-0.77	-146.6	38.2	-6.8	68	554	0.00	2.28	0.00	0.000	6	0.000	0.029	2562	2236	3404
745	-0.77	-146.6	50.3	-6.2	87	746	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2235	3404
1066	-0.77	-146.6	70.4	-6.4	117	1067	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2235	3404
1382	-0.77	-146.6	91.1	-6.4	147	1386	0.00	2.38	0.00	0.000	4	0.000	0.054	2562	3656	3404
1404	-0.77	-146.6	92.4	-6.1	149	1408	0.00	2.22	0.00	0.000	6	0.000	0.029	2562	2239	3404
1445	end dive: TARGET_DEPTH_EXCEEDED
state	1445	begin apogee
1450	-0.28	0.0	95.1	6.2	153	1568	0.52	0.00	111.78	0.759	6	0.111	0.000	2725	2137	2799
1569	end apogee: CONTROL_FINISHED_OK
state	1569	begin climb
1571	0.77	146.6	97.8	0.0	165	1689	1.02	0.00	111.28	0.696	6	0.083	0.000	3060	2137	2201
2006	0.77	146.6	72.8	6.9	207	2010	0.00	2.28	0.00	0.000	4	0.000	0.045	3067	759	2199
2130	0.77	146.6	63.9	7.4	218	2135	0.00	2.28	0.00	0.000	6	0.000	0.038	3066	2151	2199
2456	0.77	146.6	40.9	6.7	248	2460	0.00	2.35	0.00	0.000	4	0.000	0.053	3067	3565	2198
2497	0.77	146.6	37.8	8.1	251	2501	0.00	2.28	0.00	0.000	6	0.000	0.033	3076	2154	2198
2694	0.77	146.6	24.0	6.9	269	2695	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2154	2198
2892	0.77	146.6	10.8	6.5	299	2898	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2154	2198
2966	0.77	146.6	6.2	6.2	312	2973	0.00	2.35	0.00	0.000	4	0.000	0.053	3076	3561	2198
3013	0.77	146.6	3.2	6.6	320	3019	0.00	2.28	0.00	0.000	6	0.000	0.033	3080	2138	2197
3040	end climb: SURFACE_DEPTH_REACHED
state	3040	begin surface coast
3081	end surface coast: CONTROL_FINISHED_OK
state	3082	begin surface