Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 23 * 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 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 23 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 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1990 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1930 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 29 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 390 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 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 -43492.93 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 125 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 30 PITCH_MIN 460 AH0_24V 91.800003 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 3080 PRESSURE_YINT -7.4494777 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 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 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 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.4494777 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 35

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 -43492.93

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 390 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 3080 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1930 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1990 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 29 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 27 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 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 23 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 161423,4739.077,-12251.833,15,3.1,34,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.230,0.053

_SM_DEPTHo 1.21 KALMAN_X 1718.5,155.5,75.5,-1422.8,155.0

_SM_ANGLEo -65.1 KALMAN_Y 2241.1,88.3,102.8,-3667.7,180.9

GPS2 161947,4739.096,-12251.778,10,2.8,29,18.3 MHEAD_RNG_PITCHd_Wd 264.6,1038,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 125

Post-dive calculations and measurements:

FINISH 0.8,1.020397 XPDR_PINGS 0

SM_CCo 2818,114.35,0.591,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.5,51.3

SM_GC 1.18,0.00,0.00,114.35,0.000,0.000,0.591,463,1980,1586,-12.04,-0.25,400.08 _24V_AH 23.1,7.753

IRIDIUM_FIX 4722.92,-12249.11,250907,191958 _10V_AH 10.1,30.739

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6430,262

HUMID 2018 CFSIZE 260034560,256413696

INTERNAL_PRESSURE 8.41829 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 19.70 GPS 250907,171033,4739.209,-12252.052,15,2.0,15,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 199 143.84 SBE_CT 175 24 97.26

Roll_motor 41 79 76.29 nil 0 0 0.00

VBD_pump_during_apogee 205 680 3222.48 nil 0 0 0.00

VBD_pump_during_surface 114 591 1562.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 91.81 nil 0 0 0.00

Iridium_during_connect 30 160 113.90 ARS 0 0 0.00

Iridium_during_xfer 146 223 756.57

Transponder_ping 0 420 4.85

Mmodem_TX 87 1000 2013.86

Mmodem_RX 3306 6 488.88

GPS 30 50 15.36

TT8 490 19 98.06

LPSleep 1584 2 35.05

TT8_Active 439 19 87.86

TT8_Sampling 487 39 196.00

TT8_CF8 284 45 131.60

TT8_Kalman 33 81 27.54

Analog_circuits 725 12 87.90

GPS_charging 0 0 0.00

Compass 447 8 36.18

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 -1.63 -122.2 0.0 0.0 0 72 0.00 0.00 -49.45 0.000 2 0.000 0.000 460 1995 2719

74 -1.63 -122.2 2.0 -3.2 8 141 14.20 2.70 -42.65 0.000 4 0.199 0.080 2722 591 3719

246 -1.63 -122.2 9.6 -6.8 35 253 0.00 2.47 0.00 0.000 6 0.000 0.038 2722 1991 3720

318 -1.63 -122.2 14.3 -6.2 46 325 0.00 2.58 0.00 0.000 4 0.000 0.057 2722 3399 3720

396 -1.63 -122.2 19.0 -5.6 58 403 0.00 2.50 0.00 0.000 6 0.000 0.041 2722 1987 3720

466 -1.63 -122.2 23.5 -6.6 65 470 0.00 2.65 0.00 0.000 4 0.000 0.070 2722 584 3721

511 -1.63 -122.2 26.7 -6.8 68 518 0.00 2.50 0.00 0.000 6 0.000 0.037 2722 1987 3721

707 -1.63 -122.2 39.0 -6.0 84 708 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1987 3722

901 -1.63 -122.2 50.5 -5.9 99 905 0.00 2.65 0.00 0.000 4 0.000 0.068 2723 591 3722

940 -1.63 -122.2 53.3 -6.3 101 946 0.00 2.47 0.00 0.000 6 0.000 0.038 2722 1995 3722

1135 -1.63 -122.2 65.7 -6.4 117 1136 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1995 3722

1325 -1.63 -122.2 77.7 -6.4 132 1326 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1995 3722

1514 -1.63 -122.2 89.6 -6.1 147 1515 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1995 3722

1689 end dive: TARGET_DEPTH_EXCEEDED

state 1689 begin apogee

1693 -0.38 0.0 100.4 6.0 161 1800 1.35 0.00 98.43 0.680 6 0.096 0.000 2990 1928 3217

1800 end apogee: CONTROL_FINISHED_OK

state 1801 begin climb

1802 1.63 122.2 101.3 0.0 170 1907 1.98 2.70 95.45 0.657 4 0.050 0.059 3440 3332 2718

1945 1.63 122.2 88.9 11.4 181 1950 0.00 2.55 0.00 0.000 6 0.000 0.044 3440 1931 2717

2147 1.63 122.2 66.9 10.0 197 2152 0.00 2.72 0.00 0.000 4 0.000 0.078 3440 521 2717

2213 1.63 122.2 59.6 11.2 202 2217 0.00 2.50 0.00 0.000 6 0.000 0.038 3440 1922 2718

2416 1.63 122.2 37.9 10.9 218 2421 0.00 2.67 0.00 0.000 4 0.000 0.074 3440 530 2716

2506 1.63 122.2 27.4 10.8 224 2515 0.00 2.53 0.00 0.000 6 0.000 0.036 3440 1937 2717

2708 1.65 137.1 7.9 8.7 249 2728 0.00 2.62 11.18 0.665 4 0.000 0.058 3440 3333 2657

2738 end climb: SURFACE_DEPTH_REACHED

state 2738 begin surface coast

2792 end surface coast: CONTROL_FINISHED_OK

state 2792 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	23	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	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1990	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1930	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	29	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	390	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	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	-43492.93	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	125	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	30	PITCH_MIN	460	AH0_24V	91.800003	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	3080	PRESSURE_YINT	-7.4494777	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	161423,4739.077,-12251.833,15,3.1,34,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.230,0.053
_SM_DEPTHo	1.21	KALMAN_X	1718.5,155.5,75.5,-1422.8,155.0
_SM_ANGLEo	-65.1	KALMAN_Y	2241.1,88.3,102.8,-3667.7,180.9
GPS2	161947,4739.096,-12251.778,10,2.8,29,18.3	MHEAD_RNG_PITCHd_Wd	264.6,1038,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	125

FINISH	0.8,1.020397	XPDR_PINGS	0
SM_CCo	2818,114.35,0.591,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.5,51.3
SM_GC	1.18,0.00,0.00,114.35,0.000,0.000,0.591,463,1980,1586,-12.04,-0.25,400.08	_24V_AH	23.1,7.753
IRIDIUM_FIX	4722.92,-12249.11,250907,191958	_10V_AH	10.1,30.739
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6430,262
HUMID	2018	CFSIZE	260034560,256413696
INTERNAL_PRESSURE	8.41829	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	19.70	GPS	250907,171033,4739.209,-12252.052,15,2.0,15,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	199	143.84	SBE_CT	175	24	97.26
Roll_motor	41	79	76.29	nil	0	0	0.00
VBD_pump_during_apogee	205	680	3222.48	nil	0	0	0.00
VBD_pump_during_surface	114	591	1562.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	91.81	nil	0	0	0.00
Iridium_during_connect	30	160	113.90	ARS	0	0	0.00
Iridium_during_xfer	146	223	756.57
Transponder_ping	0	420	4.85
Mmodem_TX	87	1000	2013.86
Mmodem_RX	3306	6	488.88
GPS	30	50	15.36
TT8	490	19	98.06
LPSleep	1584	2	35.05
TT8_Active	439	19	87.86
TT8_Sampling	487	39	196.00
TT8_CF8	284	45	131.60
TT8_Kalman	33	81	27.54
Analog_circuits	725	12	87.90
GPS_charging	0	0	0.00
Compass	447	8	36.18
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	-1.63	-122.2	0.0	0.0	0	72	0.00	0.00	-49.45	0.000	2	0.000	0.000	460	1995	2719
74	-1.63	-122.2	2.0	-3.2	8	141	14.20	2.70	-42.65	0.000	4	0.199	0.080	2722	591	3719
246	-1.63	-122.2	9.6	-6.8	35	253	0.00	2.47	0.00	0.000	6	0.000	0.038	2722	1991	3720
318	-1.63	-122.2	14.3	-6.2	46	325	0.00	2.58	0.00	0.000	4	0.000	0.057	2722	3399	3720
396	-1.63	-122.2	19.0	-5.6	58	403	0.00	2.50	0.00	0.000	6	0.000	0.041	2722	1987	3720
466	-1.63	-122.2	23.5	-6.6	65	470	0.00	2.65	0.00	0.000	4	0.000	0.070	2722	584	3721
511	-1.63	-122.2	26.7	-6.8	68	518	0.00	2.50	0.00	0.000	6	0.000	0.037	2722	1987	3721
707	-1.63	-122.2	39.0	-6.0	84	708	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1987	3722
901	-1.63	-122.2	50.5	-5.9	99	905	0.00	2.65	0.00	0.000	4	0.000	0.068	2723	591	3722
940	-1.63	-122.2	53.3	-6.3	101	946	0.00	2.47	0.00	0.000	6	0.000	0.038	2722	1995	3722
1135	-1.63	-122.2	65.7	-6.4	117	1136	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1995	3722
1325	-1.63	-122.2	77.7	-6.4	132	1326	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1995	3722
1514	-1.63	-122.2	89.6	-6.1	147	1515	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1995	3722
1689	end dive: TARGET_DEPTH_EXCEEDED
state	1689	begin apogee
1693	-0.38	0.0	100.4	6.0	161	1800	1.35	0.00	98.43	0.680	6	0.096	0.000	2990	1928	3217
1800	end apogee: CONTROL_FINISHED_OK
state	1801	begin climb
1802	1.63	122.2	101.3	0.0	170	1907	1.98	2.70	95.45	0.657	4	0.050	0.059	3440	3332	2718
1945	1.63	122.2	88.9	11.4	181	1950	0.00	2.55	0.00	0.000	6	0.000	0.044	3440	1931	2717
2147	1.63	122.2	66.9	10.0	197	2152	0.00	2.72	0.00	0.000	4	0.000	0.078	3440	521	2717
2213	1.63	122.2	59.6	11.2	202	2217	0.00	2.50	0.00	0.000	6	0.000	0.038	3440	1922	2718
2416	1.63	122.2	37.9	10.9	218	2421	0.00	2.67	0.00	0.000	4	0.000	0.074	3440	530	2716
2506	1.63	122.2	27.4	10.8	224	2515	0.00	2.53	0.00	0.000	6	0.000	0.036	3440	1937	2717
2708	1.65	137.1	7.9	8.7	249	2728	0.00	2.62	11.18	0.665	4	0.000	0.058	3440	3333	2657
2738	end climb: SURFACE_DEPTH_REACHED
state	2738	begin surface coast
2792	end surface coast: CONTROL_FINISHED_OK
state	2792	begin surface