Glider dive log

PN07 DabobBay Sep07 * SG023 * Dive index * Mission links * Dive 321 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 23 HD_B 0.0123087 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 3.5261501e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 321 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 208 ALTIM_PING_DEPTH 50

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2035 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1890 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_PITCH 0 SM_CC 350 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 17 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 120 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 580 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 0

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 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 -28317.34 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 120 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 20 PITCH_MIN 370 AH0_24V 91.800003 SEABIRD_T_G 0.0043036696

SPEED_FACTOR 1 PITCH_MAX 3518 AH0_10V 61.200001 SEABIRD_T_H 0.00062677584

RHO 1.023 C_PITCH 2610 PRESSURE_YINT -24.5345 SEABIRD_T_I 2.2664151e-05

MASS 51702 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.2667414e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.310682

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1615626

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0017275931

HD_A 0.0030006149 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00021877716

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3518 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 5 PITCH_MIN 370 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 95 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -24.5345 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 20 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 16 RAFOS_HIT_WINDOW 3600 T_DIVE 35

CALL_TRIES 5 HD_A 0.0030006149 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0123087 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 3.5261501e-06 RHO 1.023 T_GPS_CHARGE -28317.34

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 120

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 23 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2610 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1890 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2035 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51702 R_PORT_OVSHOOT 17 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 37 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.310682 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1615626 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0017275931 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00021877716 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043036696 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062677584 VBD_MIN 580

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2664151e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 321 PHONE_DEVICE 48 SEABIRD_T_J 2.2667414e-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 19

Pre-dive calculations and measurements:

GPS1 151109,4739.458,-12252.506,9,1.5,9,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.256,0.038

_SM_DEPTHo 0.80 KALMAN_X 19260.1,352.6,10.2,-19019.4,-59.9

_SM_ANGLEo -63.0 KALMAN_Y 11868.4,370.7,-64.7,-12697.0,-119.1

GPS2 151533,4739.500,-12252.463,9,1.6,9,18.3 MHEAD_RNG_PITCHd_Wd 260.1,924,-14.5,-9.048

SPEED_LIMITS 0.249,0.259 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.2,1.012233 ALTIM_BOTTOM_PING 90.3,27.1

SM_CCo 2600,76.60,0.656,1,0,2057,350.04 _24V_AH 24.0,25.950

SM_GC 0.78,0.00,0.00,76.60,0.000,0.000,0.656,367,2037,2057,-10.32,0.06,350.04 _10V_AH 10.2,9.457

IRIDIUM_FIX 4719.74,-12251.79,021007,181851 DATA_FILE_SIZE 6477,239

TT8_MAMPS 0.026845 CFSIZE 260034560,249151488

HUMID 2136 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.80 GPS 021007,160253,4739.556,-12252.898,10,2.8,29,18.3

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 148 88.74 SBE_CT 159 24 92.05

Roll_motor 40 59 58.15 nil 0 0 0.00

VBD_pump_during_apogee 235 745 4204.76 nil 0 0 0.00

VBD_pump_during_surface 76 655 1205.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 102.10 nil 0 0 0.00

Iridium_during_connect 43 160 167.80 ARS 0 23 0.00

Iridium_during_xfer 93 223 499.87

Transponder_ping 2 420 27.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 93 10.40

TT8 468 19 94.53

LPSleep 1386 2 30.97

TT8_Active 412 19 83.41

TT8_Sampling 414 39 168.30

TT8_CF8 310 45 145.06

TT8_Kalman 33 81 27.81

Analog_circuits 683 12 83.65

GPS_charging 0 0 0.00

Compass 406 8 33.19

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

22 -1.03 -117.3 0.0 0.0 0 97 0.00 0.00 -72.55 0.000 2 0.000 0.000 365 2044 3507

101 -1.03 -117.3 2.0 -4.0 12 137 11.27 3.05 -15.02 0.000 4 0.149 0.060 2381 604 3963

191 -1.03 -117.3 7.9 -5.8 26 197 0.00 2.80 0.00 0.000 6 0.000 0.031 2381 2015 3965

264 -1.03 -117.3 13.5 -8.5 37 270 0.00 2.92 0.00 0.000 4 0.000 0.050 2381 605 3965

297 -1.03 -117.3 16.2 -8.7 42 303 0.00 2.88 0.00 0.000 6 0.000 0.031 2381 2053 3965

375 -1.03 -117.3 21.9 -6.6 52 376 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2055 3965

567 -1.03 -117.3 35.5 -7.3 67 568 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2054 3965

755 -1.03 -117.3 49.9 -7.9 82 756 0.00 0.00 0.00 0.000 6 0.000 0.000 2381 2053 3965

945 -1.03 -117.3 65.5 -8.3 97 946 0.00 0.00 0.00 0.000 6 0.000 0.000 2382 2053 3965

1134 -1.03 -117.3 80.5 -6.9 112 1139 0.00 2.97 0.00 0.000 4 0.000 0.050 2382 610 3965

1181 -1.03 -117.3 83.9 -7.1 115 1185 0.00 2.83 0.00 0.000 6 0.000 0.030 2382 2035 3965

1348 end dive: TARGET_DEPTH_EXCEEDED

state 1348 begin apogee

1354 -0.31 0.0 95.1 6.1 128 1449 0.77 0.00 91.18 0.746 6 0.084 0.000 2539 1871 3484

1450 end apogee: CONTROL_FINISHED_OK

state 1450 begin climb

1453 1.03 117.3 96.6 0.0 136 1550 1.35 2.65 88.97 0.725 4 0.062 0.042 2829 3300 3005

1569 1.03 117.3 88.5 9.2 145 1576 0.00 2.58 0.00 0.000 6 0.000 0.038 2829 1904 3004

1766 1.07 151.7 72.2 7.9 161 1797 0.00 3.03 25.50 0.719 4 0.000 0.059 2829 468 2865

1878 1.07 151.7 62.3 9.3 169 1882 0.00 2.75 0.00 0.000 6 0.000 0.029 2829 1894 2864

2073 1.08 160.0 44.9 8.8 184 2086 0.00 2.95 5.65 0.743 4 0.000 0.058 2829 467 2831

2112 1.08 160.0 41.1 10.0 187 2117 0.00 2.75 0.00 0.000 6 0.000 0.029 2829 1892 2831

2308 1.10 177.3 24.0 8.5 202 2326 0.00 2.95 12.82 0.707 4 0.000 0.058 2829 470 2760

2359 1.10 177.3 19.2 9.7 206 2365 0.00 2.75 0.00 0.000 6 0.000 0.028 2829 1896 2760

2431 1.10 177.3 12.3 9.5 217 2437 0.00 0.00 0.00 0.000 6 0.000 0.000 2829 1898 2760

2504 1.12 200.7 5.9 8.3 228 2517 0.12 0.00 10.88 0.703 2 0.052 0.000 2862 1898 2701

2518 end climb: SURFACE_DEPTH_REACHED

state 2518 begin surface coast

2578 end surface coast: CONTROL_FINISHED_OK

state 2578 begin surface

ID	23	HD_B	0.0123087	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	3.5261501e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	321	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	208	ALTIM_PING_DEPTH	50
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2035	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1890	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_PITCH	0	SM_CC	350	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	17	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	120	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	580	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	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	-28317.34	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	120	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	20	PITCH_MIN	370	AH0_24V	91.800003	SEABIRD_T_G	0.0043036696
SPEED_FACTOR	1	PITCH_MAX	3518	AH0_10V	61.200001	SEABIRD_T_H	0.00062677584
RHO	1.023	C_PITCH	2610	PRESSURE_YINT	-24.5345	SEABIRD_T_I	2.2664151e-05
MASS	51702	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.2667414e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.310682
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1615626
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0017275931
HD_A	0.0030006149	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00021877716

GPS1	151109,4739.458,-12252.506,9,1.5,9,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.256,0.038
_SM_DEPTHo	0.80	KALMAN_X	19260.1,352.6,10.2,-19019.4,-59.9
_SM_ANGLEo	-63.0	KALMAN_Y	11868.4,370.7,-64.7,-12697.0,-119.1
GPS2	151533,4739.500,-12252.463,9,1.6,9,18.3	MHEAD_RNG_PITCHd_Wd	260.1,924,-14.5,-9.048
SPEED_LIMITS	0.249,0.259	D_GRID	124

FINISH	0.2,1.012233	ALTIM_BOTTOM_PING	90.3,27.1
SM_CCo	2600,76.60,0.656,1,0,2057,350.04	_24V_AH	24.0,25.950
SM_GC	0.78,0.00,0.00,76.60,0.000,0.000,0.656,367,2037,2057,-10.32,0.06,350.04	_10V_AH	10.2,9.457
IRIDIUM_FIX	4719.74,-12251.79,021007,181851	DATA_FILE_SIZE	6477,239
TT8_MAMPS	0.026845	CFSIZE	260034560,249151488
HUMID	2136	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.80	GPS	021007,160253,4739.556,-12252.898,10,2.8,29,18.3
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	148	88.74	SBE_CT	159	24	92.05
Roll_motor	40	59	58.15	nil	0	0	0.00
VBD_pump_during_apogee	235	745	4204.76	nil	0	0	0.00
VBD_pump_during_surface	76	655	1205.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	102.10	nil	0	0	0.00
Iridium_during_connect	43	160	167.80	ARS	0	23	0.00
Iridium_during_xfer	93	223	499.87
Transponder_ping	2	420	27.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	93	10.40
TT8	468	19	94.53
LPSleep	1386	2	30.97
TT8_Active	412	19	83.41
TT8_Sampling	414	39	168.30
TT8_CF8	310	45	145.06
TT8_Kalman	33	81	27.81
Analog_circuits	683	12	83.65
GPS_charging	0	0	0.00
Compass	406	8	33.19
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
22	-1.03	-117.3	0.0	0.0	0	97	0.00	0.00	-72.55	0.000	2	0.000	0.000	365	2044	3507
101	-1.03	-117.3	2.0	-4.0	12	137	11.27	3.05	-15.02	0.000	4	0.149	0.060	2381	604	3963
191	-1.03	-117.3	7.9	-5.8	26	197	0.00	2.80	0.00	0.000	6	0.000	0.031	2381	2015	3965
264	-1.03	-117.3	13.5	-8.5	37	270	0.00	2.92	0.00	0.000	4	0.000	0.050	2381	605	3965
297	-1.03	-117.3	16.2	-8.7	42	303	0.00	2.88	0.00	0.000	6	0.000	0.031	2381	2053	3965
375	-1.03	-117.3	21.9	-6.6	52	376	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2055	3965
567	-1.03	-117.3	35.5	-7.3	67	568	0.00	0.00	0.00	0.000	6	0.000	0.000	2382	2054	3965
755	-1.03	-117.3	49.9	-7.9	82	756	0.00	0.00	0.00	0.000	6	0.000	0.000	2381	2053	3965
945	-1.03	-117.3	65.5	-8.3	97	946	0.00	0.00	0.00	0.000	6	0.000	0.000	2382	2053	3965
1134	-1.03	-117.3	80.5	-6.9	112	1139	0.00	2.97	0.00	0.000	4	0.000	0.050	2382	610	3965
1181	-1.03	-117.3	83.9	-7.1	115	1185	0.00	2.83	0.00	0.000	6	0.000	0.030	2382	2035	3965
1348	end dive: TARGET_DEPTH_EXCEEDED
state	1348	begin apogee
1354	-0.31	0.0	95.1	6.1	128	1449	0.77	0.00	91.18	0.746	6	0.084	0.000	2539	1871	3484
1450	end apogee: CONTROL_FINISHED_OK
state	1450	begin climb
1453	1.03	117.3	96.6	0.0	136	1550	1.35	2.65	88.97	0.725	4	0.062	0.042	2829	3300	3005
1569	1.03	117.3	88.5	9.2	145	1576	0.00	2.58	0.00	0.000	6	0.000	0.038	2829	1904	3004
1766	1.07	151.7	72.2	7.9	161	1797	0.00	3.03	25.50	0.719	4	0.000	0.059	2829	468	2865
1878	1.07	151.7	62.3	9.3	169	1882	0.00	2.75	0.00	0.000	6	0.000	0.029	2829	1894	2864
2073	1.08	160.0	44.9	8.8	184	2086	0.00	2.95	5.65	0.743	4	0.000	0.058	2829	467	2831
2112	1.08	160.0	41.1	10.0	187	2117	0.00	2.75	0.00	0.000	6	0.000	0.029	2829	1892	2831
2308	1.10	177.3	24.0	8.5	202	2326	0.00	2.95	12.82	0.707	4	0.000	0.058	2829	470	2760
2359	1.10	177.3	19.2	9.7	206	2365	0.00	2.75	0.00	0.000	6	0.000	0.028	2829	1896	2760
2431	1.10	177.3	12.3	9.5	217	2437	0.00	0.00	0.00	0.000	6	0.000	0.000	2829	1898	2760
2504	1.12	200.7	5.9	8.3	228	2517	0.12	0.00	10.88	0.703	2	0.052	0.000	2862	1898	2701
2518	end climb: SURFACE_DEPTH_REACHED
state	2518	begin surface coast
2578	end surface coast: CONTROL_FINISHED_OK
state	2578	begin surface