Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 283 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_B 0.010078 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 283 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 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 311 ALTIM_PING_DEPTH 70

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2415 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 659.61169 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 17 INT_PRESSURE_YINT 1.4

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 36 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 540 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3800 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3229 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY 0 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17191.629 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 428 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3730 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 3000 PRESSURE_YINT -6.9690108 SEABIRD_T_I 2.5554549e-05

MASS 51630 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 2 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 10 SM_CC 659.61169

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3730 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 428 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -6.9690108 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 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 16 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 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -17191.629

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 118 ROLL_MAX 3943 T_TURN_SAMPINT 6

C_PITCH 3000 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2415 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 UNCOM_BLEED 20

C_ROLL_DIVE 2500 KALMAN_USE 2 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 36 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 29 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3800

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 540

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 283 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 055120,4739.804,-12251.905,9,1.3,14,18.3 TGT_NAME H2

_CALLS 5 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.67 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -54.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060703,4739.980,-12251.678,16,1.2,16,18.3 MHEAD_RNG_PITCHd_Wd 205.2,1311,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.2,1.026614 XPDR_PINGS 6

SM_CCo 2651,252.23,0.511,0,0,541,659.61 ALTIM_BOTTOM_PING 80.2,49.5

SM_GC 0.61,0.00,0.00,252.23,0.000,0.000,0.511,424,2517,541,-11.85,0.48,659.61 _24V_AH 24.1,22.268

IRIDIUM_FIX 4722.92,-12254.47,011007,101022 _10V_AH 10.1,16.629

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6462,249

HUMID 1765 CFSIZE 260034560,248885248

INTERNAL_PRESSURE 9.2421 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.90 GPS 011007,065656,4739.947,-12251.680,28,1.7,28,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 155 106.76 SBE_CT 172 24 99.63

Roll_motor 35 69 59.21 nil 0 0 0.00

VBD_pump_during_apogee 185 599 2676.90 nil 0 0 0.00

VBD_pump_during_surface 252 510 3105.09 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 195 103 484.35 nil 0 0 0.00

Iridium_during_connect 372 160 1438.07 ARS 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 2 420 25.30

Mmodem_TX 12 1000 300.05

Mmodem_RX 3907 6 602.70

GPS 16 93 15.68

TT8 459 19 91.94

LPSleep 1606 2 35.54

TT8_Active 578 19 115.73

TT8_Sampling 445 39 178.99

TT8_CF8 766 45 354.52

TT8_Kalman 0 0 0.00

Analog_circuits 865 12 104.84

GPS_charging 0 0 0.00

Compass 458 8 37.01

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

28 -1.54 -122.2 0.0 0.0 0 141 0.00 0.00 -108.43 0.000 2 0.000 0.000 429 2502 3120

144 -1.54 -122.2 2.1 -3.8 18 182 12.35 0.00 -20.38 0.000 6 0.156 0.000 2658 2501 3728

249 -1.54 -122.2 7.0 -5.3 34 255 0.00 2.53 0.00 0.000 4 0.000 0.049 2658 1096 3729

276 -1.54 -122.2 8.8 -6.3 38 282 0.00 2.42 0.00 0.000 6 0.000 0.034 2658 2499 3729

348 -1.54 -122.2 13.5 -6.7 49 354 0.00 2.58 0.00 0.000 4 0.000 0.070 2658 3900 3729

572 -1.54 -122.2 31.0 -8.2 73 577 0.00 2.40 0.00 0.000 6 0.000 0.032 2658 2489 3730

768 -1.54 -122.2 44.6 -6.6 88 773 0.00 2.62 0.00 0.000 4 0.000 0.067 2658 3902 3730

886 -1.54 -122.2 52.8 -7.2 96 894 0.00 2.42 0.00 0.000 6 0.000 0.034 2658 2487 3730

1083 -1.54 -122.2 65.3 -6.1 112 1088 0.00 2.60 0.00 0.000 4 0.000 0.067 2658 3898 3730

1161 -1.54 -122.2 70.4 -6.5 117 1168 0.00 2.40 0.00 0.000 6 0.000 0.033 2658 2481 3730

1358 -1.54 -122.2 82.7 -6.5 133 1362 0.00 2.62 0.00 0.000 4 0.000 0.067 2658 3901 3730

1443 -1.54 -122.2 88.7 -6.9 139 1448 0.00 2.38 0.00 0.000 6 0.000 0.034 2658 2502 3730

1459 end dive: TARGET_DEPTH_EXCEEDED

state 1460 begin apogee

1466 -0.50 0.0 90.0 7.0 140 1563 1.12 0.00 93.28 0.599 6 0.087 0.000 2889 2417 3229

1564 end apogee: CONTROL_FINISHED_OK

state 1564 begin climb

1567 1.54 122.2 91.9 0.0 148 1665 2.05 0.00 92.15 0.578 6 0.063 0.000 3333 2417 2731

1848 1.54 122.2 69.9 9.4 171 1849 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 2417 2729

2039 1.54 122.2 51.7 9.9 186 2043 0.00 2.53 0.00 0.000 4 0.000 0.053 3333 1023 2729

2064 1.54 122.2 49.1 9.5 187 2071 0.00 2.45 0.00 0.000 6 0.000 0.034 3334 2413 2729

2260 1.54 122.2 31.1 9.3 203 2261 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 2413 2729

2452 1.54 122.2 14.4 8.0 223 2457 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 2413 2729

2524 1.54 122.2 8.8 7.6 234 2530 0.00 2.58 0.00 0.000 4 0.000 0.067 3333 3815 2729

2590 1.54 122.2 3.0 9.3 244 2596 0.00 2.40 0.00 0.000 6 0.000 0.031 3333 2418 2729

2600 end climb: SURFACE_DEPTH_REACHED

state 2600 begin surface coast

2622 end surface coast: CONTROL_FINISHED_OK

state 2622 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	283	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	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	311	ALTIM_PING_DEPTH	70
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2415	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	659.61169	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	17	INT_PRESSURE_YINT	1.4
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	36	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	540	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3800	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3229	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	0	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17191.629	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	428	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3730	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	3000	PRESSURE_YINT	-6.9690108	SEABIRD_T_I	2.5554549e-05
MASS	51630	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	2	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	055120,4739.804,-12251.905,9,1.3,14,18.3	TGT_NAME	H2
_CALLS	5	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.67	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-54.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060703,4739.980,-12251.678,16,1.2,16,18.3	MHEAD_RNG_PITCHd_Wd	205.2,1311,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.2,1.026614	XPDR_PINGS	6
SM_CCo	2651,252.23,0.511,0,0,541,659.61	ALTIM_BOTTOM_PING	80.2,49.5
SM_GC	0.61,0.00,0.00,252.23,0.000,0.000,0.511,424,2517,541,-11.85,0.48,659.61	_24V_AH	24.1,22.268
IRIDIUM_FIX	4722.92,-12254.47,011007,101022	_10V_AH	10.1,16.629
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6462,249
HUMID	1765	CFSIZE	260034560,248885248
INTERNAL_PRESSURE	9.2421	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	011007,065656,4739.947,-12251.680,28,1.7,28,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	155	106.76	SBE_CT	172	24	99.63
Roll_motor	35	69	59.21	nil	0	0	0.00
VBD_pump_during_apogee	185	599	2676.90	nil	0	0	0.00
VBD_pump_during_surface	252	510	3105.09	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	195	103	484.35	nil	0	0	0.00
Iridium_during_connect	372	160	1438.07	ARS	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	2	420	25.30
Mmodem_TX	12	1000	300.05
Mmodem_RX	3907	6	602.70
GPS	16	93	15.68
TT8	459	19	91.94
LPSleep	1606	2	35.54
TT8_Active	578	19	115.73
TT8_Sampling	445	39	178.99
TT8_CF8	766	45	354.52
TT8_Kalman	0	0	0.00
Analog_circuits	865	12	104.84
GPS_charging	0	0	0.00
Compass	458	8	37.01
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
28	-1.54	-122.2	0.0	0.0	0	141	0.00	0.00	-108.43	0.000	2	0.000	0.000	429	2502	3120
144	-1.54	-122.2	2.1	-3.8	18	182	12.35	0.00	-20.38	0.000	6	0.156	0.000	2658	2501	3728
249	-1.54	-122.2	7.0	-5.3	34	255	0.00	2.53	0.00	0.000	4	0.000	0.049	2658	1096	3729
276	-1.54	-122.2	8.8	-6.3	38	282	0.00	2.42	0.00	0.000	6	0.000	0.034	2658	2499	3729
348	-1.54	-122.2	13.5	-6.7	49	354	0.00	2.58	0.00	0.000	4	0.000	0.070	2658	3900	3729
572	-1.54	-122.2	31.0	-8.2	73	577	0.00	2.40	0.00	0.000	6	0.000	0.032	2658	2489	3730
768	-1.54	-122.2	44.6	-6.6	88	773	0.00	2.62	0.00	0.000	4	0.000	0.067	2658	3902	3730
886	-1.54	-122.2	52.8	-7.2	96	894	0.00	2.42	0.00	0.000	6	0.000	0.034	2658	2487	3730
1083	-1.54	-122.2	65.3	-6.1	112	1088	0.00	2.60	0.00	0.000	4	0.000	0.067	2658	3898	3730
1161	-1.54	-122.2	70.4	-6.5	117	1168	0.00	2.40	0.00	0.000	6	0.000	0.033	2658	2481	3730
1358	-1.54	-122.2	82.7	-6.5	133	1362	0.00	2.62	0.00	0.000	4	0.000	0.067	2658	3901	3730
1443	-1.54	-122.2	88.7	-6.9	139	1448	0.00	2.38	0.00	0.000	6	0.000	0.034	2658	2502	3730
1459	end dive: TARGET_DEPTH_EXCEEDED
state	1460	begin apogee
1466	-0.50	0.0	90.0	7.0	140	1563	1.12	0.00	93.28	0.599	6	0.087	0.000	2889	2417	3229
1564	end apogee: CONTROL_FINISHED_OK
state	1564	begin climb
1567	1.54	122.2	91.9	0.0	148	1665	2.05	0.00	92.15	0.578	6	0.063	0.000	3333	2417	2731
1848	1.54	122.2	69.9	9.4	171	1849	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	2417	2729
2039	1.54	122.2	51.7	9.9	186	2043	0.00	2.53	0.00	0.000	4	0.000	0.053	3333	1023	2729
2064	1.54	122.2	49.1	9.5	187	2071	0.00	2.45	0.00	0.000	6	0.000	0.034	3334	2413	2729
2260	1.54	122.2	31.1	9.3	203	2261	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	2413	2729
2452	1.54	122.2	14.4	8.0	223	2457	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	2413	2729
2524	1.54	122.2	8.8	7.6	234	2530	0.00	2.58	0.00	0.000	4	0.000	0.067	3333	3815	2729
2590	1.54	122.2	3.0	9.3	244	2596	0.00	2.40	0.00	0.000	6	0.000	0.031	3333	2418	2729
2600	end climb: SURFACE_DEPTH_REACHED
state	2600	begin surface coast
2622	end surface coast: CONTROL_FINISHED_OK
state	2622	begin surface