Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 291 * 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 291 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 33 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -66170.172 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 -66170.172

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 33 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 291 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 162121,4804.919,-12221.176,8,1.5,9,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.113,0.109

_SM_DEPTHo 1.09 KALMAN_X 21010.8,-161.2,-321.9,-17185.7,219.9

_SM_ANGLEo -64.7 KALMAN_Y 11580.9,27.0,433.1,-18670.1,-63.8

GPS2 162632,4804.885,-12221.194,13,1.5,13,18.3 MHEAD_RNG_PITCHd_Wd 295.5,6731,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 110

Post-dive calculations and measurements:

FINISH 1.6,1.023591 XPDR_PINGS 0

SM_CCo 3089,73.22,0.697,0,0,1576,300.00 ALTIM_BOTTOM_PING 70.3,50.2

SM_GC 1.45,0.00,0.00,73.22,0.000,0.000,0.697,23,2271,1576,-8.74,0.59,300.00 _24V_AH 24.6,30.940

IRIDIUM_FIX 4748.51,-12217.40,170907,191909 _10V_AH 10.7,15.192

TT8_MAMPS 0.026845 DATA_FILE_SIZE 15950,336

HUMID 1859 CFSIZE 260165632,249544704

INTERNAL_PRESSURE 9.2191 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 GPS 170907,172123,4805.170,-12221.462,10,3.0,30,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 207 104.31 SBE_CT 236 24 139.56

Roll_motor 32 64 51.71 SBE_O2 258 19 120.67

VBD_pump_during_apogee 221 745 4057.24 WL_BB2F 567 105 1464.72

VBD_pump_during_surface 73 697 1255.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 104.36 nil 0 0 0.00

Iridium_during_connect 46 160 181.98 nil 0 0 0.00

Iridium_during_xfer 132 223 725.43

Transponder_ping 0 420 2.58

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.99

TT8 551 19 116.79

LPSleep 1551 2 36.36

TT8_Active 367 19 77.94

TT8_Sampling 680 39 289.75

TT8_CF8 346 45 169.74

TT8_Kalman 33 81 29.17

Analog_circuits 736 12 94.60

GPS_charging 0 0 0.00

Compass 692 8 59.25

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

24 -0.77 -146.6 0.0 0.0 0 140 0.00 0.00 -113.10 0.000 2 0.000 0.000 13 2242 3152

143 -0.77 -146.6 3.2 -3.1 21 168 10.23 2.42 -5.40 0.000 4 0.207 0.064 2559 3646 3401

320 -0.77 -146.6 18.5 -6.0 52 326 0.00 2.25 0.00 0.000 6 0.000 0.028 2559 2232 3403

397 -0.77 -146.6 23.2 -6.0 61 398 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2232 3403

588 -0.77 -146.6 35.2 -6.1 79 589 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2232 3404

779 -0.77 -146.6 47.2 -6.5 97 783 0.00 2.22 0.00 0.000 4 0.000 0.042 2560 844 3404

801 -0.77 -146.6 48.7 -6.4 98 807 0.00 2.28 0.00 0.000 6 0.000 0.038 2559 2254 3405

998 -0.77 -146.6 61.2 -6.3 117 1000 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2255 3405

1317 -0.77 -146.6 81.0 -6.4 147 1318 0.00 0.00 0.00 0.000 6 0.000 0.000 2559 2254 3405

1538 end dive: TARGET_DEPTH_EXCEEDED

state 1538 begin apogee

1544 -0.28 0.0 95.2 6.3 168 1661 0.50 0.00 111.30 0.746 6 0.106 0.000 2724 2143 2799

1662 end apogee: CONTROL_FINISHED_OK

state 1662 begin climb

1664 0.77 146.6 97.8 0.0 180 1781 1.02 2.45 109.93 0.686 4 0.077 0.047 3066 758 2201

1816 0.77 146.6 90.4 7.2 194 1820 0.00 2.35 0.00 0.000 6 0.000 0.037 3067 2148 2201

2142 0.77 146.6 65.3 7.5 224 2146 0.00 2.35 0.00 0.000 4 0.000 0.051 3067 3557 2199

2204 0.77 146.6 59.9 8.9 229 2208 0.00 2.25 0.00 0.000 6 0.000 0.032 3076 2170 2199

2531 0.77 146.6 34.7 7.3 259 2535 0.00 2.33 0.00 0.000 4 0.000 0.048 3085 746 2198

2564 0.77 146.6 32.0 7.5 261 2571 0.00 2.28 0.00 0.000 6 0.000 0.036 3084 2155 2199

2764 0.77 146.6 17.2 7.5 283 2770 0.00 2.33 0.00 0.000 4 0.000 0.051 3084 3567 2198

2804 0.77 146.6 13.9 8.0 290 2811 0.00 2.28 0.00 0.000 6 0.000 0.033 3094 2147 2198

2880 0.77 146.6 8.2 7.7 303 2885 0.00 0.00 0.00 0.000 6 0.000 0.000 3094 2147 2198

2954 0.77 146.6 3.9 5.5 316 2960 0.00 2.28 0.00 0.000 4 0.000 0.048 3096 746 2198

2968 0.77 148.6 3.4 5.0 318 2975 0.00 2.28 0.00 0.000 6 0.000 0.037 3096 2158 2198

3007 end climb: SURFACE_DEPTH_REACHED

state 3007 begin surface coast

3070 end surface coast: CONTROL_FINISHED_OK

state 3070 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	291	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	33	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-66170.172	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	162121,4804.919,-12221.176,8,1.5,9,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.113,0.109
_SM_DEPTHo	1.09	KALMAN_X	21010.8,-161.2,-321.9,-17185.7,219.9
_SM_ANGLEo	-64.7	KALMAN_Y	11580.9,27.0,433.1,-18670.1,-63.8
GPS2	162632,4804.885,-12221.194,13,1.5,13,18.3	MHEAD_RNG_PITCHd_Wd	295.5,6731,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	110

FINISH	1.6,1.023591	XPDR_PINGS	0
SM_CCo	3089,73.22,0.697,0,0,1576,300.00	ALTIM_BOTTOM_PING	70.3,50.2
SM_GC	1.45,0.00,0.00,73.22,0.000,0.000,0.697,23,2271,1576,-8.74,0.59,300.00	_24V_AH	24.6,30.940
IRIDIUM_FIX	4748.51,-12217.40,170907,191909	_10V_AH	10.7,15.192
TT8_MAMPS	0.026845	DATA_FILE_SIZE	15950,336
HUMID	1859	CFSIZE	260165632,249544704
INTERNAL_PRESSURE	9.2191	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	170907,172123,4805.170,-12221.462,10,3.0,30,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	207	104.31	SBE_CT	236	24	139.56
Roll_motor	32	64	51.71	SBE_O2	258	19	120.67
VBD_pump_during_apogee	221	745	4057.24	WL_BB2F	567	105	1464.72
VBD_pump_during_surface	73	697	1255.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	104.36	nil	0	0	0.00
Iridium_during_connect	46	160	181.98	nil	0	0	0.00
Iridium_during_xfer	132	223	725.43
Transponder_ping	0	420	2.58
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.99
TT8	551	19	116.79
LPSleep	1551	2	36.36
TT8_Active	367	19	77.94
TT8_Sampling	680	39	289.75
TT8_CF8	346	45	169.74
TT8_Kalman	33	81	29.17
Analog_circuits	736	12	94.60
GPS_charging	0	0	0.00
Compass	692	8	59.25
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
24	-0.77	-146.6	0.0	0.0	0	140	0.00	0.00	-113.10	0.000	2	0.000	0.000	13	2242	3152
143	-0.77	-146.6	3.2	-3.1	21	168	10.23	2.42	-5.40	0.000	4	0.207	0.064	2559	3646	3401
320	-0.77	-146.6	18.5	-6.0	52	326	0.00	2.25	0.00	0.000	6	0.000	0.028	2559	2232	3403
397	-0.77	-146.6	23.2	-6.0	61	398	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2232	3403
588	-0.77	-146.6	35.2	-6.1	79	589	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2232	3404
779	-0.77	-146.6	47.2	-6.5	97	783	0.00	2.22	0.00	0.000	4	0.000	0.042	2560	844	3404
801	-0.77	-146.6	48.7	-6.4	98	807	0.00	2.28	0.00	0.000	6	0.000	0.038	2559	2254	3405
998	-0.77	-146.6	61.2	-6.3	117	1000	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2255	3405
1317	-0.77	-146.6	81.0	-6.4	147	1318	0.00	0.00	0.00	0.000	6	0.000	0.000	2559	2254	3405
1538	end dive: TARGET_DEPTH_EXCEEDED
state	1538	begin apogee
1544	-0.28	0.0	95.2	6.3	168	1661	0.50	0.00	111.30	0.746	6	0.106	0.000	2724	2143	2799
1662	end apogee: CONTROL_FINISHED_OK
state	1662	begin climb
1664	0.77	146.6	97.8	0.0	180	1781	1.02	2.45	109.93	0.686	4	0.077	0.047	3066	758	2201
1816	0.77	146.6	90.4	7.2	194	1820	0.00	2.35	0.00	0.000	6	0.000	0.037	3067	2148	2201
2142	0.77	146.6	65.3	7.5	224	2146	0.00	2.35	0.00	0.000	4	0.000	0.051	3067	3557	2199
2204	0.77	146.6	59.9	8.9	229	2208	0.00	2.25	0.00	0.000	6	0.000	0.032	3076	2170	2199
2531	0.77	146.6	34.7	7.3	259	2535	0.00	2.33	0.00	0.000	4	0.000	0.048	3085	746	2198
2564	0.77	146.6	32.0	7.5	261	2571	0.00	2.28	0.00	0.000	6	0.000	0.036	3084	2155	2199
2764	0.77	146.6	17.2	7.5	283	2770	0.00	2.33	0.00	0.000	4	0.000	0.051	3084	3567	2198
2804	0.77	146.6	13.9	8.0	290	2811	0.00	2.28	0.00	0.000	6	0.000	0.033	3094	2147	2198
2880	0.77	146.6	8.2	7.7	303	2885	0.00	0.00	0.00	0.000	6	0.000	0.000	3094	2147	2198
2954	0.77	146.6	3.9	5.5	316	2960	0.00	2.28	0.00	0.000	4	0.000	0.048	3096	746	2198
2968	0.77	148.6	3.4	5.0	318	2975	0.00	2.28	0.00	0.000	6	0.000	0.037	3096	2158	2198
3007	end climb: SURFACE_DEPTH_REACHED
state	3007	begin surface coast
3070	end surface coast: CONTROL_FINISHED_OK
state	3070	begin surface