Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 649 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 649 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_TGT 120 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2350 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2200 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 8 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 51 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE3 35

T_DIVE 67 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 80 CALL_TRIES 5 VBD_MIN 204 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3580 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 C_VBD 2400 SMARTS 0

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS 15 VBD_TIMEOUT 360 COMPASS_DEVICE 33

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 100 T_GPS_CHARGE -74431.406 VBD_PUMP_AD_RATE_APOGEE 3 RAFOS_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MIN 25 AH0_24V 150 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2740 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162386 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25

HD_A 0.0038360001 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 400

AH0_24V 150 D_OFFGRID 100 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 120 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 0.0001162386 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_DIVE 67

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0038360001 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.010078 RHO 1.023 T_GPS_CHARGE -74431.406

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 80

CAPMAXSIZE 100000 HEADING -1 ROLL_ADJ_GAIN 0 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_RSLEEP 3

CF8_MAXERRORS 1 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 270

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 128 ROLL_MAX 4014 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_PITCH 2740 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 51 USE_ICE 0

C_VBD 2400 MAX_BUOY 150 R_STBD_OVSHOOT 35 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_DBAND 2

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 8 SEABIRD_C_J 0.00017379176 VBD_MAXERRORS 1

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MIN 204

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_TIMEOUT 360

DIVE 649 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 1090 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 102125,4805.429,-12221.528,23,1.5,41,18.3 TGT_NAME FIVE

_CALLS 2 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.140,-0.166

_SM_DEPTHo 2.36 KALMAN_X -32890.6,252.6,89.9,35063.4,-256.4

_SM_ANGLEo -64.7 KALMAN_Y -12097.9,-293.8,-60.0,8377.7,267.8

GPS2 102920,4805.458,-12221.519,8,1.4,14,18.3 MHEAD_RNG_PITCHd_Wd 121.6,1065,-11.0,-5.970

SPEED_LIMITS 0.060,0.217 D_GRID 110

Post-dive calculations and measurements:

FINISH 1.6,1.025960 XPDR_PINGS 1

SM_CCo 3162,93.10,0.656,0,0,768,400.08 ALTIM_BOTTOM_PING 85.2,40.0

SM_GC 2.40,0.00,0.00,93.10,0.000,0.000,0.656,18,2332,768,-8.51,-0.51,400.08 _24V_AH 24.4,58.138

IRIDIUM_FIX 4748.51,-12217.40,011007,141422 _10V_AH 10.7,29.425

TT8_MAMPS 0.026078 DATA_FILE_SIZE 15939,327

HUMID 1890 CFSIZE 260165632,239816704

INTERNAL_PRESSURE 9.14098 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 011007,112537,4805.396,-12221.471,24,1.7,24,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 207 102.58 SBE_CT 235 24 138.10

Roll_motor 40 62 62.65 SBE_O2 258 19 119.72

VBD_pump_during_apogee 277 798 5413.10 WL_BB2F 551 105 1413.74

VBD_pump_during_surface 93 655 1489.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 60 103 152.56 nil 0 0 0.00

Iridium_during_connect 27 160 107.82 nil 0 0 0.00

Iridium_during_xfer 205 223 1116.78

Transponder_ping 0 420 7.69

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.56

TT8 535 19 113.55

LPSleep 1627 2 38.13

TT8_Active 421 19 89.31

TT8_Sampling 661 39 281.71

TT8_CF8 498 45 244.09

TT8_Kalman 33 81 29.17

Analog_circuits 785 12 100.83

GPS_charging 0 0 0.00

Compass 674 8 57.77

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

32 -0.79 -146.6 0.0 0.0 0 110 0.00 0.00 -75.38 0.000 2 0.000 0.000 10 2356 2615

114 -0.79 -146.6 3.3 -1.5 14 139 10.05 2.42 -9.70 0.000 4 0.207 0.063 2469 3751 3000

176 -0.79 -146.6 12.8 -14.0 24 182 0.00 2.22 0.00 0.000 6 0.000 0.026 2469 2328 3002

251 -0.79 -146.6 21.4 -10.8 36 255 0.00 2.15 0.00 0.000 4 0.000 0.032 2469 972 3003

290 -0.79 -146.6 25.8 -10.3 39 296 0.00 2.25 0.00 0.000 6 0.000 0.034 2462 2358 3003

489 -0.79 -146.6 45.0 -9.3 58 493 0.00 2.33 0.00 0.000 4 0.000 0.050 2452 3757 3003

592 -0.79 -146.6 55.8 -10.8 67 597 0.12 2.20 0.00 0.000 6 0.127 0.026 2483 2340 3003

919 -0.79 -146.6 83.2 -8.2 97 922 0.00 2.17 0.00 0.000 4 0.000 0.032 2484 972 3003

951 -0.79 -146.6 86.2 -8.8 99 958 0.00 2.22 0.00 0.000 6 0.000 0.034 2484 2355 3003

1253 end dive: TARGET_DEPTH_EXCEEDED

state 1253 begin apogee

1262 -0.28 0.0 110.8 8.3 128 1379 0.50 0.00 112.12 0.747 6 0.105 0.000 2644 2198 2399

1380 end apogee: CONTROL_FINISHED_OK

state 1380 begin climb

1384 0.79 146.6 115.2 0.0 140 1502 1.05 0.00 111.45 0.693 6 0.080 0.000 2987 2197 1801

1821 0.79 146.6 88.3 7.1 182 1825 0.00 2.38 0.00 0.000 4 0.000 0.045 2987 3614 1799

1857 0.79 146.6 85.7 7.2 185 1861 0.00 2.25 0.00 0.000 6 0.000 0.026 2996 2200 1799

2186 0.79 146.6 61.7 7.0 215 2190 0.00 2.33 0.00 0.000 4 0.000 0.045 2996 3606 1799

2215 0.79 146.6 59.3 7.9 217 2220 0.00 2.22 0.00 0.000 6 0.000 0.026 3004 2193 1799

2546 0.79 146.6 36.0 6.8 247 2552 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2193 1799

2745 0.79 149.7 24.0 5.9 266 2757 0.00 2.38 4.15 0.575 4 0.000 0.045 3004 3602 1788

2816 0.79 149.7 19.7 6.2 272 2822 0.00 2.20 0.00 0.000 6 0.000 0.027 3010 2197 1788

2892 0.83 181.8 16.0 5.1 285 2927 0.00 2.28 26.00 0.798 4 0.000 0.036 3015 810 1657

2963 0.87 213.0 12.1 5.1 297 2993 0.00 2.25 24.12 0.671 6 0.000 0.031 3015 2206 1531

3063 0.87 213.0 5.4 7.3 314 3070 0.00 2.35 0.00 0.000 4 0.000 0.046 3015 3598 1529

3108 end climb: SURFACE_DEPTH_REACHED

state 3108 begin surface coast

3137 end surface coast: CONTROL_FINISHED_OK

state 3137 begin surface

ID	128	HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	649	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_TGT	120	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2350	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2200	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	8	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	51	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE3	35
T_DIVE	67	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	80	CALL_TRIES	5	VBD_MIN	204	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3580	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	C_VBD	2400	SMARTS	0
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS	15	VBD_TIMEOUT	360	COMPASS_DEVICE	33
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	100	T_GPS_CHARGE	-74431.406	VBD_PUMP_AD_RATE_APOGEE	3	RAFOS_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MIN	25	AH0_24V	150	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2740	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162386	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25
HD_A	0.0038360001	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	102125,4805.429,-12221.528,23,1.5,41,18.3	TGT_NAME	FIVE
_CALLS	2	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.140,-0.166
_SM_DEPTHo	2.36	KALMAN_X	-32890.6,252.6,89.9,35063.4,-256.4
_SM_ANGLEo	-64.7	KALMAN_Y	-12097.9,-293.8,-60.0,8377.7,267.8
GPS2	102920,4805.458,-12221.519,8,1.4,14,18.3	MHEAD_RNG_PITCHd_Wd	121.6,1065,-11.0,-5.970
SPEED_LIMITS	0.060,0.217	D_GRID	110

FINISH	1.6,1.025960	XPDR_PINGS	1
SM_CCo	3162,93.10,0.656,0,0,768,400.08	ALTIM_BOTTOM_PING	85.2,40.0
SM_GC	2.40,0.00,0.00,93.10,0.000,0.000,0.656,18,2332,768,-8.51,-0.51,400.08	_24V_AH	24.4,58.138
IRIDIUM_FIX	4748.51,-12217.40,011007,141422	_10V_AH	10.7,29.425
TT8_MAMPS	0.026078	DATA_FILE_SIZE	15939,327
HUMID	1890	CFSIZE	260165632,239816704
INTERNAL_PRESSURE	9.14098	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	011007,112537,4805.396,-12221.471,24,1.7,24,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	207	102.58	SBE_CT	235	24	138.10
Roll_motor	40	62	62.65	SBE_O2	258	19	119.72
VBD_pump_during_apogee	277	798	5413.10	WL_BB2F	551	105	1413.74
VBD_pump_during_surface	93	655	1489.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	60	103	152.56	nil	0	0	0.00
Iridium_during_connect	27	160	107.82	nil	0	0	0.00
Iridium_during_xfer	205	223	1116.78
Transponder_ping	0	420	7.69
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.56
TT8	535	19	113.55
LPSleep	1627	2	38.13
TT8_Active	421	19	89.31
TT8_Sampling	661	39	281.71
TT8_CF8	498	45	244.09
TT8_Kalman	33	81	29.17
Analog_circuits	785	12	100.83
GPS_charging	0	0	0.00
Compass	674	8	57.77
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
32	-0.79	-146.6	0.0	0.0	0	110	0.00	0.00	-75.38	0.000	2	0.000	0.000	10	2356	2615
114	-0.79	-146.6	3.3	-1.5	14	139	10.05	2.42	-9.70	0.000	4	0.207	0.063	2469	3751	3000
176	-0.79	-146.6	12.8	-14.0	24	182	0.00	2.22	0.00	0.000	6	0.000	0.026	2469	2328	3002
251	-0.79	-146.6	21.4	-10.8	36	255	0.00	2.15	0.00	0.000	4	0.000	0.032	2469	972	3003
290	-0.79	-146.6	25.8	-10.3	39	296	0.00	2.25	0.00	0.000	6	0.000	0.034	2462	2358	3003
489	-0.79	-146.6	45.0	-9.3	58	493	0.00	2.33	0.00	0.000	4	0.000	0.050	2452	3757	3003
592	-0.79	-146.6	55.8	-10.8	67	597	0.12	2.20	0.00	0.000	6	0.127	0.026	2483	2340	3003
919	-0.79	-146.6	83.2	-8.2	97	922	0.00	2.17	0.00	0.000	4	0.000	0.032	2484	972	3003
951	-0.79	-146.6	86.2	-8.8	99	958	0.00	2.22	0.00	0.000	6	0.000	0.034	2484	2355	3003
1253	end dive: TARGET_DEPTH_EXCEEDED
state	1253	begin apogee
1262	-0.28	0.0	110.8	8.3	128	1379	0.50	0.00	112.12	0.747	6	0.105	0.000	2644	2198	2399
1380	end apogee: CONTROL_FINISHED_OK
state	1380	begin climb
1384	0.79	146.6	115.2	0.0	140	1502	1.05	0.00	111.45	0.693	6	0.080	0.000	2987	2197	1801
1821	0.79	146.6	88.3	7.1	182	1825	0.00	2.38	0.00	0.000	4	0.000	0.045	2987	3614	1799
1857	0.79	146.6	85.7	7.2	185	1861	0.00	2.25	0.00	0.000	6	0.000	0.026	2996	2200	1799
2186	0.79	146.6	61.7	7.0	215	2190	0.00	2.33	0.00	0.000	4	0.000	0.045	2996	3606	1799
2215	0.79	146.6	59.3	7.9	217	2220	0.00	2.22	0.00	0.000	6	0.000	0.026	3004	2193	1799
2546	0.79	146.6	36.0	6.8	247	2552	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2193	1799
2745	0.79	149.7	24.0	5.9	266	2757	0.00	2.38	4.15	0.575	4	0.000	0.045	3004	3602	1788
2816	0.79	149.7	19.7	6.2	272	2822	0.00	2.20	0.00	0.000	6	0.000	0.027	3010	2197	1788
2892	0.83	181.8	16.0	5.1	285	2927	0.00	2.28	26.00	0.798	4	0.000	0.036	3015	810	1657
2963	0.87	213.0	12.1	5.1	297	2993	0.00	2.25	24.12	0.671	6	0.000	0.031	3015	2206	1531
3063	0.87	213.0	5.4	7.3	314	3070	0.00	2.35	0.00	0.000	4	0.000	0.046	3015	3598	1529
3108	end climb: SURFACE_DEPTH_REACHED
state	3108	begin surface coast
3137	end surface coast: CONTROL_FINISHED_OK
state	3137	begin surface