Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 162 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_B 0.010078 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 162 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 311 ALTIM_PING_DEPTH 70

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2415 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 17 INT_PRESSURE_YINT 1.4

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 50 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 540 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3800 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3229 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY 0 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17211.068 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

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 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 428 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3730 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 3000 PRESSURE_YINT -6.9690108 SEABIRD_T_I 2.5554549e-05

MASS 51630 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 2 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 10 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3730 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 428 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -6.9690108 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 16 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 -17211.068

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 118 ROLL_MAX 3943 T_TURN_SAMPINT 6

C_PITCH 3000 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2415 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 UNCOM_BLEED 20

C_ROLL_DIVE 2500 KALMAN_USE 2 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 50 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 31 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3800

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 540

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 162 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-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 24

Pre-dive calculations and measurements:

GPS1 193107,4740.365,-12249.647,13,1.0,29,18.3 TGT_NAME H3

_CALLS 4 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 194656,4740.330,-12249.666,11,0.9,17,18.3 MHEAD_RNG_PITCHd_Wd 231.8,4692,-15.4,-7.407

SPEED_LIMITS 0.128,0.217 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.1,1.025513 XPDR_PINGS 141

SM_CCo 2615,119.38,0.517,0,0,1598,400.08 ALTIM_BOTTOM_PING 100.4,27.9

SM_GC 0.87,0.00,0.00,119.38,0.000,0.000,0.517,426,2504,1598,-11.84,0.11,400.08 _24V_AH 23.5,12.801

IRIDIUM_FIX 4726.11,-12250.84,260907,232346 _10V_AH 10.1,8.456

TT8_MAMPS 0.067496 DATA_FILE_SIZE 6440,240

HUMID 1768 CFSIZE 260034560,252547072

INTERNAL_PRESSURE 9.33976 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.90 GPS 260907,203344,4740.204,-12250.404,9,1.8,9,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 153 104.36 SBE_CT 165 24 93.46

Roll_motor 44 79 83.31 nil 0 0 0.00

VBD_pump_during_apogee 214 596 3007.25 nil 0 0 0.00

VBD_pump_during_surface 119 516 1450.23 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 156 103 378.69 nil 0 0 0.00

Iridium_during_connect 195 160 735.21 ARS 0 0 0.00

Iridium_during_xfer 274 223 1438.12

Transponder_ping 36 420 362.72

Mmodem_TX 123 1000 2906.95

Mmodem_RX 3671 6 552.16

GPS 17 93 16.86

TT8 455 19 91.08

LPSleep 1561 2 34.53

TT8_Active 427 19 85.55

TT8_Sampling 434 39 174.49

TT8_CF8 819 45 379.05

TT8_Kalman 0 0 0.00

Analog_circuits 707 12 85.80

GPS_charging 0 0 0.00

Compass 434 8 35.12

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.69 -122.2 0.0 0.0 0 76 0.00 0.00 -48.65 0.000 2 0.000 0.000 426 2505 2817

80 -1.69 -122.2 2.0 -3.2 8 136 12.32 2.58 -36.92 0.000 4 0.153 0.079 2626 3891 3728

182 -1.69 -122.2 6.4 -8.8 24 188 0.00 2.40 0.00 0.000 6 0.000 0.031 2626 2499 3729

254 -1.69 -122.2 12.5 -7.9 35 260 0.00 2.45 0.00 0.000 4 0.000 0.047 2626 1120 3730

399 -1.69 -122.2 23.4 -8.2 54 403 0.00 2.40 0.00 0.000 6 0.000 0.032 2626 2505 3731

595 -1.69 -122.2 40.7 -8.9 69 596 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2505 3732

786 -1.69 -122.2 56.9 -8.1 84 790 0.00 2.58 0.00 0.000 4 0.000 0.068 2626 3900 3733

844 -1.69 -122.2 62.1 -8.2 88 848 0.00 2.40 0.00 0.000 6 0.000 0.032 2626 2491 3733

1040 -1.69 -122.2 75.9 -7.1 103 1044 0.00 2.60 0.00 0.000 4 0.000 0.065 2626 3893 3733

1139 -1.69 -122.2 82.6 -7.3 110 1143 0.00 2.38 0.00 0.000 6 0.000 0.033 2626 2504 3733

1334 -1.69 -122.2 99.4 -8.2 125 1339 0.00 2.47 0.00 0.000 4 0.000 0.048 2626 1110 3732

1349 end dive: TARGET_DEPTH_EXCEEDED

state 1349 begin apogee

1357 -0.50 0.0 100.4 7.5 125 1460 1.27 0.00 94.72 0.597 6 0.097 0.000 2884 2426 3228

1461 end apogee: CONTROL_FINISHED_OK

state 1461 begin climb

1464 1.69 122.2 105.9 0.0 134 1566 2.22 2.60 92.90 0.580 4 0.065 0.051 3362 1030 2729

1593 1.69 122.2 97.7 11.1 144 1600 0.00 2.45 0.00 0.000 6 0.000 0.033 3362 2415 2728

1792 1.69 122.2 79.4 11.2 160 1796 0.00 2.58 0.00 0.000 4 0.000 0.067 3362 3813 2729

1824 1.69 122.2 75.0 12.6 162 1829 0.00 2.42 0.00 0.000 6 0.000 0.031 3362 2428 2728

2026 1.69 122.2 52.0 10.6 178 2027 0.00 0.00 0.00 0.000 6 0.000 0.000 3363 2427 2728

2217 1.69 122.2 31.8 10.5 193 2218 0.00 0.00 0.00 0.000 6 0.000 0.000 3362 2425 2728

2408 1.69 122.2 13.6 7.6 213 2414 0.00 2.53 0.00 0.000 4 0.000 0.052 3362 1019 2728

2434 1.69 122.2 11.7 7.5 217 2440 0.00 2.45 0.00 0.000 6 0.000 0.034 3362 2424 2727

2509 1.73 159.2 7.6 5.9 228 2541 0.00 2.62 26.83 0.551 4 0.000 0.051 3362 1020 2580

2580 end climb: SURFACE_DEPTH_REACHED

state 2580 begin surface coast

2586 end surface coast: CONTROL_FINISHED_OK

state 2586 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	162	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	311	ALTIM_PING_DEPTH	70
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2415	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	17	INT_PRESSURE_YINT	1.4
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	50	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	540	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3800	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3229	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	0	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17211.068	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
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	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	428	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3730	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	3000	PRESSURE_YINT	-6.9690108	SEABIRD_T_I	2.5554549e-05
MASS	51630	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	2	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	193107,4740.365,-12249.647,13,1.0,29,18.3	TGT_NAME	H3
_CALLS	4	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	194656,4740.330,-12249.666,11,0.9,17,18.3	MHEAD_RNG_PITCHd_Wd	231.8,4692,-15.4,-7.407
SPEED_LIMITS	0.128,0.217	D_GRID	100

FINISH	1.1,1.025513	XPDR_PINGS	141
SM_CCo	2615,119.38,0.517,0,0,1598,400.08	ALTIM_BOTTOM_PING	100.4,27.9
SM_GC	0.87,0.00,0.00,119.38,0.000,0.000,0.517,426,2504,1598,-11.84,0.11,400.08	_24V_AH	23.5,12.801
IRIDIUM_FIX	4726.11,-12250.84,260907,232346	_10V_AH	10.1,8.456
TT8_MAMPS	0.067496	DATA_FILE_SIZE	6440,240
HUMID	1768	CFSIZE	260034560,252547072
INTERNAL_PRESSURE	9.33976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	260907,203344,4740.204,-12250.404,9,1.8,9,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	153	104.36	SBE_CT	165	24	93.46
Roll_motor	44	79	83.31	nil	0	0	0.00
VBD_pump_during_apogee	214	596	3007.25	nil	0	0	0.00
VBD_pump_during_surface	119	516	1450.23	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	156	103	378.69	nil	0	0	0.00
Iridium_during_connect	195	160	735.21	ARS	0	0	0.00
Iridium_during_xfer	274	223	1438.12
Transponder_ping	36	420	362.72
Mmodem_TX	123	1000	2906.95
Mmodem_RX	3671	6	552.16
GPS	17	93	16.86
TT8	455	19	91.08
LPSleep	1561	2	34.53
TT8_Active	427	19	85.55
TT8_Sampling	434	39	174.49
TT8_CF8	819	45	379.05
TT8_Kalman	0	0	0.00
Analog_circuits	707	12	85.80
GPS_charging	0	0	0.00
Compass	434	8	35.12
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.69	-122.2	0.0	0.0	0	76	0.00	0.00	-48.65	0.000	2	0.000	0.000	426	2505	2817
80	-1.69	-122.2	2.0	-3.2	8	136	12.32	2.58	-36.92	0.000	4	0.153	0.079	2626	3891	3728
182	-1.69	-122.2	6.4	-8.8	24	188	0.00	2.40	0.00	0.000	6	0.000	0.031	2626	2499	3729
254	-1.69	-122.2	12.5	-7.9	35	260	0.00	2.45	0.00	0.000	4	0.000	0.047	2626	1120	3730
399	-1.69	-122.2	23.4	-8.2	54	403	0.00	2.40	0.00	0.000	6	0.000	0.032	2626	2505	3731
595	-1.69	-122.2	40.7	-8.9	69	596	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2505	3732
786	-1.69	-122.2	56.9	-8.1	84	790	0.00	2.58	0.00	0.000	4	0.000	0.068	2626	3900	3733
844	-1.69	-122.2	62.1	-8.2	88	848	0.00	2.40	0.00	0.000	6	0.000	0.032	2626	2491	3733
1040	-1.69	-122.2	75.9	-7.1	103	1044	0.00	2.60	0.00	0.000	4	0.000	0.065	2626	3893	3733
1139	-1.69	-122.2	82.6	-7.3	110	1143	0.00	2.38	0.00	0.000	6	0.000	0.033	2626	2504	3733
1334	-1.69	-122.2	99.4	-8.2	125	1339	0.00	2.47	0.00	0.000	4	0.000	0.048	2626	1110	3732
1349	end dive: TARGET_DEPTH_EXCEEDED
state	1349	begin apogee
1357	-0.50	0.0	100.4	7.5	125	1460	1.27	0.00	94.72	0.597	6	0.097	0.000	2884	2426	3228
1461	end apogee: CONTROL_FINISHED_OK
state	1461	begin climb
1464	1.69	122.2	105.9	0.0	134	1566	2.22	2.60	92.90	0.580	4	0.065	0.051	3362	1030	2729
1593	1.69	122.2	97.7	11.1	144	1600	0.00	2.45	0.00	0.000	6	0.000	0.033	3362	2415	2728
1792	1.69	122.2	79.4	11.2	160	1796	0.00	2.58	0.00	0.000	4	0.000	0.067	3362	3813	2729
1824	1.69	122.2	75.0	12.6	162	1829	0.00	2.42	0.00	0.000	6	0.000	0.031	3362	2428	2728
2026	1.69	122.2	52.0	10.6	178	2027	0.00	0.00	0.00	0.000	6	0.000	0.000	3363	2427	2728
2217	1.69	122.2	31.8	10.5	193	2218	0.00	0.00	0.00	0.000	6	0.000	0.000	3362	2425	2728
2408	1.69	122.2	13.6	7.6	213	2414	0.00	2.53	0.00	0.000	4	0.000	0.052	3362	1019	2728
2434	1.69	122.2	11.7	7.5	217	2440	0.00	2.45	0.00	0.000	6	0.000	0.034	3362	2424	2727
2509	1.73	159.2	7.6	5.9	228	2541	0.00	2.62	26.83	0.551	4	0.000	0.051	3362	1020	2580
2580	end climb: SURFACE_DEPTH_REACHED
state	2580	begin surface coast
2586	end surface coast: CONTROL_FINISHED_OK
state	2586	begin surface