Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 143 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 143 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 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2080 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 500 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -19925.441 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 5 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 120 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 -7.1405377 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 30 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 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -19925.441

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2080 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 23 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 41 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 143 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 000407,4739.484,-12253.199,34,2.0,34,18.3 TGT_NAME H2

_CALLS 3 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.192,0.082

_SM_DEPTHo 1.10 KALMAN_X 21196.5,-75.1,-168.9,-21654.1,-40.3

_SM_ANGLEo -59.9 KALMAN_Y 8039.3,-88.6,-206.9,-8353.1,-213.9

GPS2 001438,4739.460,-12253.260,15,1.8,15,18.3 MHEAD_RNG_PITCHd_Wd 48.6,1071,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 119

Post-dive calculations and measurements:

FINISH 2.9,1.021024 XPDR_PINGS 2

SM_CCo 2927,158.12,0.580,0,0,1163,500.17 ALTIM_BOTTOM_PING 95.1,999.0

SM_GC 1.20,0.00,0.00,158.12,0.000,0.000,0.580,412,2217,1163,-11.44,0.48,500.17 _24V_AH 23.7,29.607

IRIDIUM_FIX 4722.92,-12253.53,280907,040432 _10V_AH 10.1,19.942

TT8_MAMPS 0.072865 DATA_FILE_SIZE 6453,270

HUMID 2205 CFSIZE 260231168,252874752

INTERNAL_PRESSURE 7.97882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.10 GPS 280907,010802,4739.505,-12252.905,10,1.5,15,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 198 144.07 SBE_CT 189 24 108.04

Roll_motor 35 64 54.24 nil 0 0 0.00

VBD_pump_during_apogee 196 828 3851.33 nil 0 0 0.00

VBD_pump_during_surface 158 579 2173.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 96 103 235.16 nil 0 0 0.00

Iridium_during_connect 78 160 296.03 ARS 0 0 0.00

Iridium_during_xfer 214 223 1135.22

Transponder_ping 0 420 7.47

Mmodem_TX 0 1000 0.00

Mmodem_RX 4045 6 613.55

GPS 15 50 8.05

TT8 490 19 97.99

LPSleep 1737 2 38.43

TT8_Active 495 19 99.03

TT8_Sampling 498 39 200.43

TT8_CF8 526 45 243.36

TT8_Kalman 33 81 27.55

Analog_circuits 795 12 96.42

GPS_charging 0 0 0.00

Compass 471 8 38.11

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.68 -97.8 0.0 0.0 0 118 0.00 0.00 -91.10 0.000 2 0.000 0.000 409 2198 2614

122 -1.68 -97.8 2.4 -4.6 15 176 13.38 0.00 -34.60 0.000 6 0.199 0.000 2525 2199 3602

242 -1.68 -97.8 11.6 -10.2 34 248 0.00 2.60 0.00 0.000 4 0.000 0.062 2526 797 3604

281 -1.68 -97.8 15.4 -10.0 40 287 0.00 2.45 0.00 0.000 6 0.000 0.035 2526 2199 3604

352 -1.68 -97.8 21.6 -8.8 50 353 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2199 3604

544 -1.68 -97.8 39.6 -9.9 65 545 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2199 3605

732 -1.68 -97.8 58.3 -9.6 80 736 0.00 2.53 0.00 0.000 4 0.000 0.058 2526 3601 3604

783 -1.68 -97.8 63.7 -9.8 83 790 0.00 2.45 0.00 0.000 6 0.000 0.035 2526 2195 3605

979 -1.68 -97.8 83.4 -10.0 99 980 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2194 3605

1170 -1.68 -97.8 102.7 -9.9 114 1171 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2194 3605

1345 end dive: TARGET_DEPTH_EXCEEDED

state 1345 begin apogee

1350 -0.38 0.0 119.7 9.4 128 1430 1.48 0.00 73.60 0.676 6 0.107 0.000 2812 2068 3202

1431 end apogee: CONTROL_FINISHED_OK

state 1431 begin climb

1434 1.68 97.8 122.4 0.0 135 1520 2.10 2.65 76.78 0.657 4 0.063 0.064 3271 683 2803

1591 1.69 99.3 113.8 8.8 147 1599 0.00 2.50 0.85 0.828 6 0.000 0.035 3271 2080 2797

1787 1.72 123.1 98.1 7.4 163 1812 0.00 2.58 18.15 0.669 4 0.000 0.058 3271 3474 2700

1984 1.72 123.1 78.6 10.3 178 1988 0.00 2.42 0.00 0.000 6 0.000 0.036 3271 2078 2702

2179 1.72 125.5 60.3 8.7 193 2186 0.00 2.53 1.52 0.793 4 0.000 0.054 3271 3476 2690

2243 1.72 125.5 54.0 9.8 197 2251 0.00 2.45 0.00 0.000 6 0.000 0.035 3271 2084 2692

2440 1.72 125.5 36.2 9.5 213 2444 0.00 2.53 0.00 0.000 4 0.000 0.055 3271 3476 2692

2498 1.72 125.5 30.6 9.2 217 2505 0.00 2.45 0.00 0.000 6 0.000 0.035 3271 2081 2692

2698 1.74 145.9 13.0 7.6 239 2723 0.00 2.60 15.60 0.653 4 0.000 0.054 3271 3470 2607

2770 1.76 158.6 7.3 8.1 250 2789 0.00 2.42 9.68 0.669 6 0.000 0.035 3271 2079 2555

2806 end climb: SURFACE_DEPTH_REACHED

state 2806 begin surface coast

2900 end surface coast: CONTROL_FINISHED_OK

state 2900 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	143	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	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2080	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	500	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-19925.441	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	000407,4739.484,-12253.199,34,2.0,34,18.3	TGT_NAME	H2
_CALLS	3	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.192,0.082
_SM_DEPTHo	1.10	KALMAN_X	21196.5,-75.1,-168.9,-21654.1,-40.3
_SM_ANGLEo	-59.9	KALMAN_Y	8039.3,-88.6,-206.9,-8353.1,-213.9
GPS2	001438,4739.460,-12253.260,15,1.8,15,18.3	MHEAD_RNG_PITCHd_Wd	48.6,1071,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	119

FINISH	2.9,1.021024	XPDR_PINGS	2
SM_CCo	2927,158.12,0.580,0,0,1163,500.17	ALTIM_BOTTOM_PING	95.1,999.0
SM_GC	1.20,0.00,0.00,158.12,0.000,0.000,0.580,412,2217,1163,-11.44,0.48,500.17	_24V_AH	23.7,29.607
IRIDIUM_FIX	4722.92,-12253.53,280907,040432	_10V_AH	10.1,19.942
TT8_MAMPS	0.072865	DATA_FILE_SIZE	6453,270
HUMID	2205	CFSIZE	260231168,252874752
INTERNAL_PRESSURE	7.97882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.10	GPS	280907,010802,4739.505,-12252.905,10,1.5,15,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	198	144.07	SBE_CT	189	24	108.04
Roll_motor	35	64	54.24	nil	0	0	0.00
VBD_pump_during_apogee	196	828	3851.33	nil	0	0	0.00
VBD_pump_during_surface	158	579	2173.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	96	103	235.16	nil	0	0	0.00
Iridium_during_connect	78	160	296.03	ARS	0	0	0.00
Iridium_during_xfer	214	223	1135.22
Transponder_ping	0	420	7.47
Mmodem_TX	0	1000	0.00
Mmodem_RX	4045	6	613.55
GPS	15	50	8.05
TT8	490	19	97.99
LPSleep	1737	2	38.43
TT8_Active	495	19	99.03
TT8_Sampling	498	39	200.43
TT8_CF8	526	45	243.36
TT8_Kalman	33	81	27.55
Analog_circuits	795	12	96.42
GPS_charging	0	0	0.00
Compass	471	8	38.11
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.68	-97.8	0.0	0.0	0	118	0.00	0.00	-91.10	0.000	2	0.000	0.000	409	2198	2614
122	-1.68	-97.8	2.4	-4.6	15	176	13.38	0.00	-34.60	0.000	6	0.199	0.000	2525	2199	3602
242	-1.68	-97.8	11.6	-10.2	34	248	0.00	2.60	0.00	0.000	4	0.000	0.062	2526	797	3604
281	-1.68	-97.8	15.4	-10.0	40	287	0.00	2.45	0.00	0.000	6	0.000	0.035	2526	2199	3604
352	-1.68	-97.8	21.6	-8.8	50	353	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2199	3604
544	-1.68	-97.8	39.6	-9.9	65	545	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2199	3605
732	-1.68	-97.8	58.3	-9.6	80	736	0.00	2.53	0.00	0.000	4	0.000	0.058	2526	3601	3604
783	-1.68	-97.8	63.7	-9.8	83	790	0.00	2.45	0.00	0.000	6	0.000	0.035	2526	2195	3605
979	-1.68	-97.8	83.4	-10.0	99	980	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2194	3605
1170	-1.68	-97.8	102.7	-9.9	114	1171	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2194	3605
1345	end dive: TARGET_DEPTH_EXCEEDED
state	1345	begin apogee
1350	-0.38	0.0	119.7	9.4	128	1430	1.48	0.00	73.60	0.676	6	0.107	0.000	2812	2068	3202
1431	end apogee: CONTROL_FINISHED_OK
state	1431	begin climb
1434	1.68	97.8	122.4	0.0	135	1520	2.10	2.65	76.78	0.657	4	0.063	0.064	3271	683	2803
1591	1.69	99.3	113.8	8.8	147	1599	0.00	2.50	0.85	0.828	6	0.000	0.035	3271	2080	2797
1787	1.72	123.1	98.1	7.4	163	1812	0.00	2.58	18.15	0.669	4	0.000	0.058	3271	3474	2700
1984	1.72	123.1	78.6	10.3	178	1988	0.00	2.42	0.00	0.000	6	0.000	0.036	3271	2078	2702
2179	1.72	125.5	60.3	8.7	193	2186	0.00	2.53	1.52	0.793	4	0.000	0.054	3271	3476	2690
2243	1.72	125.5	54.0	9.8	197	2251	0.00	2.45	0.00	0.000	6	0.000	0.035	3271	2084	2692
2440	1.72	125.5	36.2	9.5	213	2444	0.00	2.53	0.00	0.000	4	0.000	0.055	3271	3476	2692
2498	1.72	125.5	30.6	9.2	217	2505	0.00	2.45	0.00	0.000	6	0.000	0.035	3271	2081	2692
2698	1.74	145.9	13.0	7.6	239	2723	0.00	2.60	15.60	0.653	4	0.000	0.054	3271	3470	2607
2770	1.76	158.6	7.3	8.1	250	2789	0.00	2.42	9.68	0.669	6	0.000	0.035	3271	2079	2555
2806	end climb: SURFACE_DEPTH_REACHED
state	2806	begin surface coast
2900	end surface coast: CONTROL_FINISHED_OK
state	2900	begin surface