Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 57 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 57 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 156 ALTIM_PING_DEPTH 50

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 28 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 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -48991.906 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 130 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 20 PITCH_MIN 460 AH0_24V 71.400002 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -8.3042984 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 95 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -8.3042984 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 32 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 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -48991.906

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 28 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 130 R_STBD_OVSHOOT 38 USE_ICE 0

DEEPGLIDERMB 0 MISSION 8 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 57 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 091708,4743.598,-12250.776,28,1.8,28,18.3 TGT_NAME 6_EC

_CALLS 1 TGT_LATLONG 4743.563,-12250.725

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.069,0.181

_SM_DEPTHo 0.19 KALMAN_X 4482.7,112.4,-28.1,-1656.1,5.4

_SM_ANGLEo -56.2 KALMAN_Y 5638.6,7.3,33.6,1513.2,-15.1

GPS2 092327,4743.367,-12250.615,36,1.9,36,18.3 MHEAD_RNG_PITCHd_Wd 320.9,388,-16.6,-7.037

SPEED_LIMITS 0.193,0.217 D_GRID 166

Post-dive calculations and measurements:

FINISH -0.5,1.009512 XPDR_PINGS 0

SM_CCo 2930,116.78,0.584,0,0,1587,400.08 ALTIM_BOTTOM_PING 50.1,51.7

SM_GC 0.20,0.00,0.00,116.78,0.000,0.000,0.584,463,1800,1587,-12.13,0.00,400.08 _24V_AH 23.9,5.186

IRIDIUM_FIX 4726.11,-12248.15,041007,121210 _10V_AH 10.1,4.531

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6450,269

HUMID 2116 CFSIZE 260034560,255234048

INTERNAL_PRESSURE 8.46712 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 041007,101623,4743.576,-12250.837,10,2.7,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 203 150.23 SBE_CT 180 24 103.31

Roll_motor 40 81 79.38 nil 0 0 0.00

VBD_pump_during_apogee 196 673 3169.08 nil 0 0 0.00

VBD_pump_during_surface 116 583 1629.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 94.22 nil 0 0 0.00

Iridium_during_connect 36 160 139.54 ARS 0 0 0.00

Iridium_during_xfer 165 223 883.45

Transponder_ping 0 420 5.02

Mmodem_TX 20 1000 478.72

Mmodem_RX 3627 6 554.93

GPS 36 50 18.34

TT8 494 19 98.83

LPSleep 1629 2 36.05

TT8_Active 444 19 88.90

TT8_Sampling 510 39 205.40

TT8_CF8 372 45 172.17

TT8_Kalman 33 81 27.54

Analog_circuits 742 12 90.00

GPS_charging 0 0 0.00

Compass 461 8 37.31

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -1.39 -97.8 0.0 0.0 0 154 0.00 0.00 -126.12 0.000 2 0.000 0.000 461 1808 3550

157 -1.43 -127.1 2.1 -5.2 21 183 14.68 2.67 -4.57 0.000 4 0.203 0.081 2784 401 3738

434 -1.43 -127.1 25.0 -6.0 57 438 0.00 2.45 0.00 0.000 6 0.000 0.034 2784 1811 3742

629 -1.43 -127.1 35.6 -5.4 72 633 0.00 2.47 0.00 0.000 4 0.000 0.050 2784 3194 3744

669 -1.43 -127.1 37.9 -6.0 75 673 0.00 2.45 0.00 0.000 6 0.000 0.036 2784 1803 3743

864 -1.43 -127.1 48.6 -5.3 90 868 0.00 2.65 0.00 0.000 4 0.000 0.074 2784 403 3743

909 -1.43 -127.1 51.2 -5.9 93 914 0.00 2.45 0.00 0.000 6 0.000 0.035 2784 1810 3743

1105 -1.43 -127.1 61.6 -5.3 108 1106 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 1809 3743

1297 -1.43 -127.1 72.0 -5.5 123 1298 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 1809 3743

1485 -1.43 -127.1 82.6 -5.7 138 1486 0.00 0.00 0.00 0.000 6 0.000 0.000 2784 1809 3743

1674 -1.43 -127.1 93.4 -5.8 153 1678 0.00 2.47 0.00 0.000 4 0.000 0.049 2784 3192 3743

1704 end dive: TARGET_DEPTH_EXCEEDED

state 1704 begin apogee

1712 -0.38 0.0 95.3 6.1 155 1816 1.10 0.00 98.07 0.673 6 0.089 0.000 3011 1731 3218

1817 end apogee: CONTROL_FINISHED_OK

state 1817 begin climb

1819 1.43 127.1 96.9 0.0 164 1930 1.80 2.75 98.82 0.647 4 0.050 0.077 3413 337 2699

1982 1.43 127.1 84.9 10.4 177 1987 0.00 2.45 0.00 0.000 6 0.000 0.035 3413 1733 2700

2184 1.43 127.1 64.8 9.9 193 2185 0.00 0.00 0.00 0.000 6 0.000 0.000 3413 1734 2701

2375 1.43 127.1 46.3 10.1 208 2380 0.00 2.67 0.00 0.000 4 0.000 0.075 3413 337 2701

2413 1.43 127.1 42.0 10.6 210 2420 0.00 2.47 0.00 0.000 6 0.000 0.033 3413 1740 2701

2609 1.43 127.1 22.2 9.7 226 2614 0.00 2.70 0.00 0.000 4 0.000 0.075 3413 329 2701

2649 1.43 127.1 18.1 10.5 230 2655 0.00 2.45 0.00 0.000 6 0.000 0.034 3413 1738 2701

2721 1.43 127.1 11.8 7.9 241 2727 0.00 2.50 0.00 0.000 4 0.000 0.050 3413 3127 2701

2799 1.43 127.1 5.9 7.6 253 2806 0.00 2.47 0.00 0.000 6 0.000 0.038 3413 1736 2701

2816 end climb: SURFACE_DEPTH_REACHED

state 2816 begin surface coast

2904 end surface coast: CONTROL_FINISHED_OK

state 2904 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	57	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	156	ALTIM_PING_DEPTH	50
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	28	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	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-48991.906	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	130	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	20	PITCH_MIN	460	AH0_24V	71.400002	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-8.3042984	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	091708,4743.598,-12250.776,28,1.8,28,18.3	TGT_NAME	6_EC
_CALLS	1	TGT_LATLONG	4743.563,-12250.725
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.069,0.181
_SM_DEPTHo	0.19	KALMAN_X	4482.7,112.4,-28.1,-1656.1,5.4
_SM_ANGLEo	-56.2	KALMAN_Y	5638.6,7.3,33.6,1513.2,-15.1
GPS2	092327,4743.367,-12250.615,36,1.9,36,18.3	MHEAD_RNG_PITCHd_Wd	320.9,388,-16.6,-7.037
SPEED_LIMITS	0.193,0.217	D_GRID	166

FINISH	-0.5,1.009512	XPDR_PINGS	0
SM_CCo	2930,116.78,0.584,0,0,1587,400.08	ALTIM_BOTTOM_PING	50.1,51.7
SM_GC	0.20,0.00,0.00,116.78,0.000,0.000,0.584,463,1800,1587,-12.13,0.00,400.08	_24V_AH	23.9,5.186
IRIDIUM_FIX	4726.11,-12248.15,041007,121210	_10V_AH	10.1,4.531
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6450,269
HUMID	2116	CFSIZE	260034560,255234048
INTERNAL_PRESSURE	8.46712	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	041007,101623,4743.576,-12250.837,10,2.7,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	203	150.23	SBE_CT	180	24	103.31
Roll_motor	40	81	79.38	nil	0	0	0.00
VBD_pump_during_apogee	196	673	3169.08	nil	0	0	0.00
VBD_pump_during_surface	116	583	1629.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	94.22	nil	0	0	0.00
Iridium_during_connect	36	160	139.54	ARS	0	0	0.00
Iridium_during_xfer	165	223	883.45
Transponder_ping	0	420	5.02
Mmodem_TX	20	1000	478.72
Mmodem_RX	3627	6	554.93
GPS	36	50	18.34
TT8	494	19	98.83
LPSleep	1629	2	36.05
TT8_Active	444	19	88.90
TT8_Sampling	510	39	205.40
TT8_CF8	372	45	172.17
TT8_Kalman	33	81	27.54
Analog_circuits	742	12	90.00
GPS_charging	0	0	0.00
Compass	461	8	37.31
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-1.39	-97.8	0.0	0.0	0	154	0.00	0.00	-126.12	0.000	2	0.000	0.000	461	1808	3550
157	-1.43	-127.1	2.1	-5.2	21	183	14.68	2.67	-4.57	0.000	4	0.203	0.081	2784	401	3738
434	-1.43	-127.1	25.0	-6.0	57	438	0.00	2.45	0.00	0.000	6	0.000	0.034	2784	1811	3742
629	-1.43	-127.1	35.6	-5.4	72	633	0.00	2.47	0.00	0.000	4	0.000	0.050	2784	3194	3744
669	-1.43	-127.1	37.9	-6.0	75	673	0.00	2.45	0.00	0.000	6	0.000	0.036	2784	1803	3743
864	-1.43	-127.1	48.6	-5.3	90	868	0.00	2.65	0.00	0.000	4	0.000	0.074	2784	403	3743
909	-1.43	-127.1	51.2	-5.9	93	914	0.00	2.45	0.00	0.000	6	0.000	0.035	2784	1810	3743
1105	-1.43	-127.1	61.6	-5.3	108	1106	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	1809	3743
1297	-1.43	-127.1	72.0	-5.5	123	1298	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	1809	3743
1485	-1.43	-127.1	82.6	-5.7	138	1486	0.00	0.00	0.00	0.000	6	0.000	0.000	2784	1809	3743
1674	-1.43	-127.1	93.4	-5.8	153	1678	0.00	2.47	0.00	0.000	4	0.000	0.049	2784	3192	3743
1704	end dive: TARGET_DEPTH_EXCEEDED
state	1704	begin apogee
1712	-0.38	0.0	95.3	6.1	155	1816	1.10	0.00	98.07	0.673	6	0.089	0.000	3011	1731	3218
1817	end apogee: CONTROL_FINISHED_OK
state	1817	begin climb
1819	1.43	127.1	96.9	0.0	164	1930	1.80	2.75	98.82	0.647	4	0.050	0.077	3413	337	2699
1982	1.43	127.1	84.9	10.4	177	1987	0.00	2.45	0.00	0.000	6	0.000	0.035	3413	1733	2700
2184	1.43	127.1	64.8	9.9	193	2185	0.00	0.00	0.00	0.000	6	0.000	0.000	3413	1734	2701
2375	1.43	127.1	46.3	10.1	208	2380	0.00	2.67	0.00	0.000	4	0.000	0.075	3413	337	2701
2413	1.43	127.1	42.0	10.6	210	2420	0.00	2.47	0.00	0.000	6	0.000	0.033	3413	1740	2701
2609	1.43	127.1	22.2	9.7	226	2614	0.00	2.70	0.00	0.000	4	0.000	0.075	3413	329	2701
2649	1.43	127.1	18.1	10.5	230	2655	0.00	2.45	0.00	0.000	6	0.000	0.034	3413	1738	2701
2721	1.43	127.1	11.8	7.9	241	2727	0.00	2.50	0.00	0.000	4	0.000	0.050	3413	3127	2701
2799	1.43	127.1	5.9	7.6	253	2806	0.00	2.47	0.00	0.000	6	0.000	0.038	3413	1736	2701
2816	end climb: SURFACE_DEPTH_REACHED
state	2816	begin surface coast
2904	end surface coast: CONTROL_FINISHED_OK
state	2904	begin surface