Glider dive log

PortSusan 14Aug08 * SG156 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 156 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 169 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 3 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3842 ALTIM_PING_DEPTH 70

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2131 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2131 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 80 SM_CC 600 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 43 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 470 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3516 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -7122.8765 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 110 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 46 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4003 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2030 PRESSURE_YINT -17.876059 SEABIRD_T_G 0.0043895515

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001145783 SEABIRD_T_H 0.00064076902

MASS 51255 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.6836891e-05

NAV_MODE 1 P_OVSHOOT 0.029999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.0528029e-06

FERRY_MAX 45 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.163977

KALMAN_USE 1 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1456759

HD_A 0.003 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.001231113

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018464784

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SM_CC 600

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 30 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4003 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 46 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 70 D_TGT 150 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001145783 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -17.876059 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.029999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -7122.8765

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 156 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3842 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2030 KALMAN_USE 1 ROLL_MIN 169 USE_BATHY -4

C_ROLL_CLIMB 2131 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2131 MASS 51255 R_PORT_OVSHOOT 43 VBD_BLEED_AD_RATE 8

C_VBD 3516 MAX_BUOY 110 R_STBD_OVSHOOT 35 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -10.163977 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1456759 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.001231113 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018464784 VBD_MIN 470

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043895515 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064076902 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6836891e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.0528029e-06 XPDR_DEVICE 24

DIVE 3 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 201803,4807.107,-12222.730,14,1.2,14,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.097,-0.204

_SM_DEPTHo 0.51 KALMAN_X 85.9,52.4,51.6,-55.7,76.3

_SM_ANGLEo -64.6 KALMAN_Y -229.3,-155.9,-153.9,341.5,-217.4

GPS2 202132,4807.101,-12222.713,11,1.7,16,18.3 MHEAD_RNG_PITCHd_Wd 136.4,2221,-20.6,-10.000

SPEED_LIMITS 0.173,0.226 D_GRID 107

Post-dive calculations and measurements:

FINISH 3.2,1.019223 ALTIM_BOTTOM_PING 70.3,51.2

SM_CCo 1983,360.08,0.543,0,0,1070,600.00 _24V_AH 25.0,0.811

SM_GC 0.68,0.00,0.00,360.08,0.000,0.000,0.543,34,2122,1070,-6.24,-0.25,600.00 _10V_AH 10.8,0.694

IRIDIUM_FIX 4748.51,-12226.29,091197,202003 DATA_FILE_SIZE 22246,420

TT8_MAMPS 0.028379 CAP_FILE_SIZE 51248,0

HUMID 2037 CFSIZE 260165632,258740224

INTERNAL_PRESSURE 9.01402 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.50 GPS 150808,210235,4807.005,-12222.776,13,2.1,32,18.3

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 252 92.58 SBE_CT 281 24 169.01

Roll_motor 26 47 31.06 SBE_O2 217 19 103.36

VBD_pump_during_apogee 157 619 2446.41 WL_BB2F 522 105 1370.90

VBD_pump_during_surface 360 543 4888.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 1 420 15.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 9.08

TT8 632 19 135.35

LPSleep 363 2 8.60

TT8_Active 603 19 129.00

TT8_Sampling 768 39 330.25

TT8_CF8 49 45 24.69

TT8_Kalman 31 81 27.75

Analog_circuits 983 12 127.44

GPS_charging 0 0 0.00

Compass 765 8 66.18

RAFOS 0 0 0.00

Transponder 5 30 1.80

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.82 -107.5 0.0 0.0 0 132 0.00 0.00 -112.15 0.000 6 0.000 0.000 33 2129 3955

134 -0.82 -107.5 4.0 -5.6 20 147 6.70 2.17 0.00 0.000 4 0.252 0.038 1746 3557 3956

386 -0.82 -107.5 23.7 -8.2 79 392 0.00 2.15 0.00 0.000 6 0.000 0.031 1749 2114 3956

456 -0.82 -107.5 29.5 -8.6 95 462 0.00 2.20 0.00 0.000 4 0.000 0.046 1740 3541 3957

711 -0.82 -107.5 56.9 -11.8 153 717 0.00 2.10 0.00 0.000 6 0.000 0.031 1740 2134 3957

855 -0.82 -107.5 73.1 -11.5 184 862 0.00 2.20 0.00 0.000 4 0.000 0.047 1730 3538 3957

1082 -0.82 -107.5 102.2 -12.8 234 1089 0.15 2.10 0.00 0.000 6 0.171 0.032 1769 2127 3957

1129 end dive: TARGET_DEPTH_EXCEEDED

state 1129 begin apogee

1133 -0.17 0.0 107.3 9.9 244 1218 0.62 0.00 79.18 0.620 6 0.153 0.000 1969 2124 3516

1219 end apogee: CONTROL_FINISHED_OK

state 1219 begin climb

1220 0.82 107.5 109.3 0.0 259 1305 0.93 0.00 78.72 0.597 6 0.094 0.000 2293 2124 3076

1441 0.82 107.5 79.4 16.1 304 1448 0.00 2.25 0.00 0.000 4 0.000 0.047 2293 3545 3075

1467 0.82 107.5 74.9 17.5 309 1474 0.00 2.17 0.00 0.000 6 0.000 0.032 2303 2131 3074

1610 0.82 107.5 51.1 16.0 340 1617 0.00 2.22 0.00 0.000 4 0.000 0.048 2303 3549 3074

1631 0.82 107.5 47.2 16.6 344 1638 0.00 2.15 0.00 0.000 6 0.000 0.033 2314 2130 3073

1768 0.82 107.5 25.6 15.3 375 1773 0.00 0.00 0.00 0.000 6 0.000 0.000 2314 2130 3073

1838 0.82 107.5 15.4 14.0 391 1844 0.00 0.00 0.00 0.000 6 0.000 0.000 2314 2130 3072

1909 0.82 107.5 6.3 11.8 407 1915 0.00 2.20 0.00 0.000 4 0.000 0.048 2314 3546 3073

1929 end climb: SURFACE_DEPTH_REACHED

state 1929 begin surface coast

1967 end surface coast: CONTROL_FINISHED_OK

state 1967 begin surface

ID	156	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	169	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	3	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3842	ALTIM_PING_DEPTH	70
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2131	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2131	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	80	SM_CC	600	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	43	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	470	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3516	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-7122.8765	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	110	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	46	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4003	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2030	PRESSURE_YINT	-17.876059	SEABIRD_T_G	0.0043895515
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001145783	SEABIRD_T_H	0.00064076902
MASS	51255	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.6836891e-05
NAV_MODE	1	P_OVSHOOT	0.029999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.0528029e-06
FERRY_MAX	45	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.163977
KALMAN_USE	1	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1456759
HD_A	0.003	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.001231113
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018464784
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	201803,4807.107,-12222.730,14,1.2,14,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.097,-0.204
_SM_DEPTHo	0.51	KALMAN_X	85.9,52.4,51.6,-55.7,76.3
_SM_ANGLEo	-64.6	KALMAN_Y	-229.3,-155.9,-153.9,341.5,-217.4
GPS2	202132,4807.101,-12222.713,11,1.7,16,18.3	MHEAD_RNG_PITCHd_Wd	136.4,2221,-20.6,-10.000
SPEED_LIMITS	0.173,0.226	D_GRID	107

FINISH	3.2,1.019223	ALTIM_BOTTOM_PING	70.3,51.2
SM_CCo	1983,360.08,0.543,0,0,1070,600.00	_24V_AH	25.0,0.811
SM_GC	0.68,0.00,0.00,360.08,0.000,0.000,0.543,34,2122,1070,-6.24,-0.25,600.00	_10V_AH	10.8,0.694
IRIDIUM_FIX	4748.51,-12226.29,091197,202003	DATA_FILE_SIZE	22246,420
TT8_MAMPS	0.028379	CAP_FILE_SIZE	51248,0
HUMID	2037	CFSIZE	260165632,258740224
INTERNAL_PRESSURE	9.01402	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.50	GPS	150808,210235,4807.005,-12222.776,13,2.1,32,18.3
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	252	92.58	SBE_CT	281	24	169.01
Roll_motor	26	47	31.06	SBE_O2	217	19	103.36
VBD_pump_during_apogee	157	619	2446.41	WL_BB2F	522	105	1370.90
VBD_pump_during_surface	360	543	4888.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	1	420	15.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	9.08
TT8	632	19	135.35
LPSleep	363	2	8.60
TT8_Active	603	19	129.00
TT8_Sampling	768	39	330.25
TT8_CF8	49	45	24.69
TT8_Kalman	31	81	27.75
Analog_circuits	983	12	127.44
GPS_charging	0	0	0.00
Compass	765	8	66.18
RAFOS	0	0	0.00
Transponder	5	30	1.80

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.82	-107.5	0.0	0.0	0	132	0.00	0.00	-112.15	0.000	6	0.000	0.000	33	2129	3955
134	-0.82	-107.5	4.0	-5.6	20	147	6.70	2.17	0.00	0.000	4	0.252	0.038	1746	3557	3956
386	-0.82	-107.5	23.7	-8.2	79	392	0.00	2.15	0.00	0.000	6	0.000	0.031	1749	2114	3956
456	-0.82	-107.5	29.5	-8.6	95	462	0.00	2.20	0.00	0.000	4	0.000	0.046	1740	3541	3957
711	-0.82	-107.5	56.9	-11.8	153	717	0.00	2.10	0.00	0.000	6	0.000	0.031	1740	2134	3957
855	-0.82	-107.5	73.1	-11.5	184	862	0.00	2.20	0.00	0.000	4	0.000	0.047	1730	3538	3957
1082	-0.82	-107.5	102.2	-12.8	234	1089	0.15	2.10	0.00	0.000	6	0.171	0.032	1769	2127	3957
1129	end dive: TARGET_DEPTH_EXCEEDED
state	1129	begin apogee
1133	-0.17	0.0	107.3	9.9	244	1218	0.62	0.00	79.18	0.620	6	0.153	0.000	1969	2124	3516
1219	end apogee: CONTROL_FINISHED_OK
state	1219	begin climb
1220	0.82	107.5	109.3	0.0	259	1305	0.93	0.00	78.72	0.597	6	0.094	0.000	2293	2124	3076
1441	0.82	107.5	79.4	16.1	304	1448	0.00	2.25	0.00	0.000	4	0.000	0.047	2293	3545	3075
1467	0.82	107.5	74.9	17.5	309	1474	0.00	2.17	0.00	0.000	6	0.000	0.032	2303	2131	3074
1610	0.82	107.5	51.1	16.0	340	1617	0.00	2.22	0.00	0.000	4	0.000	0.048	2303	3549	3074
1631	0.82	107.5	47.2	16.6	344	1638	0.00	2.15	0.00	0.000	6	0.000	0.033	2314	2130	3073
1768	0.82	107.5	25.6	15.3	375	1773	0.00	0.00	0.00	0.000	6	0.000	0.000	2314	2130	3073
1838	0.82	107.5	15.4	14.0	391	1844	0.00	0.00	0.00	0.000	6	0.000	0.000	2314	2130	3072
1909	0.82	107.5	6.3	11.8	407	1915	0.00	2.20	0.00	0.000	4	0.000	0.048	2314	3546	3073
1929	end climb: SURFACE_DEPTH_REACHED
state	1929	begin surface coast
1967	end surface coast: CONTROL_FINISHED_OK
state	1967	begin surface