Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 220 * 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 220 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 0

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 -21779.227 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 0

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 -21779.227

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 26 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 25 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 220 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 032126,4739.450,-12252.316,7,1.2,12,18.3 TGT_NAME H2

_CALLS 3 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.176,-0.112

_SM_DEPTHo 0.98 KALMAN_X 30022.9,218.7,-177.7,-29356.8,153.1

_SM_ANGLEo -59.0 KALMAN_Y 15134.2,127.3,-83.7,-15629.6,165.0

GPS2 033115,4739.547,-12252.124,15,1.7,15,18.3 MHEAD_RNG_PITCHd_Wd 219.2,377,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.3,1.022602 XPDR_PINGS 0

SM_CCo 2986,159.75,0.578,0,0,1162,500.17 ALTIM_BOTTOM_PING 95.2,999.0

SM_GC 1.07,0.00,0.00,159.75,0.000,0.000,0.578,406,2208,1162,-11.47,0.23,500.17 _24V_AH 23.6,35.659

IRIDIUM_FIX 4719.74,-11939.93,011007,070740 _10V_AH 10.2,22.020

TT8_MAMPS 0.028379 DATA_FILE_SIZE 6446,275

HUMID 2164 CFSIZE 260231168,250880000

INTERNAL_PRESSURE 7.92999 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.00 GPS 011007,042608,4739.479,-12252.270,44,1.4,44,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 194 136.47 SBE_CT 195 24 110.46

Roll_motor 30 70 51.08 nil 0 0 0.00

VBD_pump_during_apogee 195 809 3745.56 nil 0 0 0.00

VBD_pump_during_surface 159 577 2177.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 101 103 247.40 nil 0 0 0.00

Iridium_during_connect 145 160 548.42 ARS 0 18 0.00

Iridium_during_xfer 138 223 727.09

Transponder_ping 0 420 2.48

Mmodem_TX 0 1000 0.00

Mmodem_RX 0 6 0.00

GPS 15 50 7.69

TT8 496 19 100.35

LPSleep 1827 2 40.82

TT8_Active 486 19 98.22

TT8_Sampling 456 39 185.34

TT8_CF8 501 45 234.24

TT8_Kalman 33 81 27.85

Analog_circuits 766 12 93.76

GPS_charging 0 0 0.00

Compass 449 8 36.72

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -1.68 -97.8 0.0 0.0 0 96 0.00 0.00 -73.43 0.000 2 0.000 0.000 412 2201 2676

100 -1.68 -97.8 2.2 -4.0 12 161 13.20 2.62 -37.85 0.000 4 0.194 0.071 2525 3610 3602

180 -1.68 -97.8 5.3 -7.0 25 187 0.00 2.45 0.00 0.000 6 0.000 0.035 2525 2194 3602

252 -1.68 -97.8 11.8 -9.8 36 259 0.00 2.60 0.00 0.000 4 0.000 0.064 2525 800 3604

337 -1.68 -97.8 20.1 -9.8 49 344 0.00 2.47 0.00 0.000 6 0.000 0.036 2525 2214 3604

533 -1.68 -97.8 39.4 -10.0 65 534 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2214 3604

723 -1.68 -97.8 58.8 -10.3 80 724 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2214 3604

914 -1.68 -97.8 77.4 -9.7 95 915 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2214 3604

1102 -1.68 -97.8 94.5 -8.9 110 1107 0.00 2.50 0.00 0.000 4 0.000 0.060 2525 3596 3604

1141 -1.68 -97.8 98.4 -9.4 113 1145 0.00 2.40 0.00 0.000 6 0.000 0.036 2525 2204 3604

1336 -1.68 -97.8 116.5 -9.2 128 1337 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2204 3604

1372 end dive: TARGET_DEPTH_EXCEEDED

state 1372 begin apogee

1378 -0.38 0.0 120.2 9.9 131 1460 1.48 0.00 78.30 0.690 6 0.108 0.000 2810 2064 3202

1461 end apogee: CONTROL_FINISHED_OK

state 1461 begin climb

1464 1.68 97.8 123.1 0.0 138 1546 2.15 0.00 77.25 0.667 6 0.064 0.000 3267 2064 2803

1733 1.69 100.6 105.7 8.7 160 1736 0.00 0.00 1.77 0.810 6 0.000 0.000 3267 2065 2791

1921 1.69 100.6 88.7 9.1 175 1925 0.00 2.58 0.00 0.000 4 0.000 0.055 3267 3480 2791

2065 1.69 100.6 75.3 9.0 185 2073 0.00 2.45 0.00 0.000 6 0.000 0.035 3267 2088 2791

2262 1.69 100.6 58.0 9.1 201 2266 0.00 2.53 0.00 0.000 4 0.000 0.055 3267 3482 2791

2352 1.69 100.6 49.2 9.3 207 2360 0.00 2.47 0.00 0.000 6 0.000 0.035 3267 2075 2790

2549 1.70 111.6 32.4 8.2 223 2561 0.00 0.00 8.10 0.703 6 0.000 0.000 3267 2075 2747

2753 1.71 121.3 15.3 8.3 243 2765 0.00 0.00 7.43 0.698 6 0.000 0.000 3267 2075 2706

2832 1.75 151.4 9.2 7.1 255 2863 0.00 2.67 23.10 0.639 4 0.000 0.067 3268 680 2584

2887 end climb: SURFACE_DEPTH_REACHED

state 2887 begin surface coast

2961 end surface coast: CONTROL_FINISHED_OK

state 2961 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	220	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	0
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	-21779.227	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	032126,4739.450,-12252.316,7,1.2,12,18.3	TGT_NAME	H2
_CALLS	3	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.176,-0.112
_SM_DEPTHo	0.98	KALMAN_X	30022.9,218.7,-177.7,-29356.8,153.1
_SM_ANGLEo	-59.0	KALMAN_Y	15134.2,127.3,-83.7,-15629.6,165.0
GPS2	033115,4739.547,-12252.124,15,1.7,15,18.3	MHEAD_RNG_PITCHd_Wd	219.2,377,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	124

FINISH	0.3,1.022602	XPDR_PINGS	0
SM_CCo	2986,159.75,0.578,0,0,1162,500.17	ALTIM_BOTTOM_PING	95.2,999.0
SM_GC	1.07,0.00,0.00,159.75,0.000,0.000,0.578,406,2208,1162,-11.47,0.23,500.17	_24V_AH	23.6,35.659
IRIDIUM_FIX	4719.74,-11939.93,011007,070740	_10V_AH	10.2,22.020
TT8_MAMPS	0.028379	DATA_FILE_SIZE	6446,275
HUMID	2164	CFSIZE	260231168,250880000
INTERNAL_PRESSURE	7.92999	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.00	GPS	011007,042608,4739.479,-12252.270,44,1.4,44,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	194	136.47	SBE_CT	195	24	110.46
Roll_motor	30	70	51.08	nil	0	0	0.00
VBD_pump_during_apogee	195	809	3745.56	nil	0	0	0.00
VBD_pump_during_surface	159	577	2177.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	101	103	247.40	nil	0	0	0.00
Iridium_during_connect	145	160	548.42	ARS	0	18	0.00
Iridium_during_xfer	138	223	727.09
Transponder_ping	0	420	2.48
Mmodem_TX	0	1000	0.00
Mmodem_RX	0	6	0.00
GPS	15	50	7.69
TT8	496	19	100.35
LPSleep	1827	2	40.82
TT8_Active	486	19	98.22
TT8_Sampling	456	39	185.34
TT8_CF8	501	45	234.24
TT8_Kalman	33	81	27.85
Analog_circuits	766	12	93.76
GPS_charging	0	0	0.00
Compass	449	8	36.72
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-1.68	-97.8	0.0	0.0	0	96	0.00	0.00	-73.43	0.000	2	0.000	0.000	412	2201	2676
100	-1.68	-97.8	2.2	-4.0	12	161	13.20	2.62	-37.85	0.000	4	0.194	0.071	2525	3610	3602
180	-1.68	-97.8	5.3	-7.0	25	187	0.00	2.45	0.00	0.000	6	0.000	0.035	2525	2194	3602
252	-1.68	-97.8	11.8	-9.8	36	259	0.00	2.60	0.00	0.000	4	0.000	0.064	2525	800	3604
337	-1.68	-97.8	20.1	-9.8	49	344	0.00	2.47	0.00	0.000	6	0.000	0.036	2525	2214	3604
533	-1.68	-97.8	39.4	-10.0	65	534	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2214	3604
723	-1.68	-97.8	58.8	-10.3	80	724	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2214	3604
914	-1.68	-97.8	77.4	-9.7	95	915	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2214	3604
1102	-1.68	-97.8	94.5	-8.9	110	1107	0.00	2.50	0.00	0.000	4	0.000	0.060	2525	3596	3604
1141	-1.68	-97.8	98.4	-9.4	113	1145	0.00	2.40	0.00	0.000	6	0.000	0.036	2525	2204	3604
1336	-1.68	-97.8	116.5	-9.2	128	1337	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2204	3604
1372	end dive: TARGET_DEPTH_EXCEEDED
state	1372	begin apogee
1378	-0.38	0.0	120.2	9.9	131	1460	1.48	0.00	78.30	0.690	6	0.108	0.000	2810	2064	3202
1461	end apogee: CONTROL_FINISHED_OK
state	1461	begin climb
1464	1.68	97.8	123.1	0.0	138	1546	2.15	0.00	77.25	0.667	6	0.064	0.000	3267	2064	2803
1733	1.69	100.6	105.7	8.7	160	1736	0.00	0.00	1.77	0.810	6	0.000	0.000	3267	2065	2791
1921	1.69	100.6	88.7	9.1	175	1925	0.00	2.58	0.00	0.000	4	0.000	0.055	3267	3480	2791
2065	1.69	100.6	75.3	9.0	185	2073	0.00	2.45	0.00	0.000	6	0.000	0.035	3267	2088	2791
2262	1.69	100.6	58.0	9.1	201	2266	0.00	2.53	0.00	0.000	4	0.000	0.055	3267	3482	2791
2352	1.69	100.6	49.2	9.3	207	2360	0.00	2.47	0.00	0.000	6	0.000	0.035	3267	2075	2790
2549	1.70	111.6	32.4	8.2	223	2561	0.00	0.00	8.10	0.703	6	0.000	0.000	3267	2075	2747
2753	1.71	121.3	15.3	8.3	243	2765	0.00	0.00	7.43	0.698	6	0.000	0.000	3267	2075	2706
2832	1.75	151.4	9.2	7.1	255	2863	0.00	2.67	23.10	0.639	4	0.000	0.067	3268	680	2584
2887	end climb: SURFACE_DEPTH_REACHED
state	2887	begin surface coast
2961	end surface coast: CONTROL_FINISHED_OK
state	2961	begin surface