Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 232 * 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 232 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 90 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 36 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -17159.678 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 90 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 -17159.678

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 36 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 32 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 232 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 083526,4739.416,-12252.948,13,1.7,30,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.88 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 084139,4739.425,-12252.979,14,1.3,14,18.3 MHEAD_RNG_PITCHd_Wd 65.6,725,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 1.6,1.025961 XPDR_PINGS 9

SM_CCo 2810,119.47,0.522,0,0,1598,400.08 ALTIM_BOTTOM_PING 90.5,45.3

SM_GC 0.85,0.00,0.00,119.47,0.000,0.000,0.522,427,2505,1598,-11.84,0.14,400.08 _24V_AH 24.1,18.257

IRIDIUM_FIX 4719.74,-12251.79,290907,111119 _10V_AH 10.1,13.128

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6441,270

HUMID 1799 CFSIZE 260034560,250454016

INTERNAL_PRESSURE 9.35929 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 290907,093145,4739.343,-12252.702,13,2.0,13,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 159 111.02 SBE_CT 186 24 107.75

Roll_motor 40 69 66.75 nil 0 0 0.00

VBD_pump_during_apogee 196 594 2808.18 nil 0 0 0.00

VBD_pump_during_surface 119 522 1503.96 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 102.39 nil 0 0 0.00

Iridium_during_connect 35 160 137.62 ARS 0 0 0.00

Iridium_during_xfer 159 223 857.42

Transponder_ping 3 420 35.43

Mmodem_TX 4 1000 100.02

Mmodem_RX 3369 6 519.77

GPS 14 93 13.44

TT8 501 19 100.35

LPSleep 1500 2 33.19

TT8_Active 403 19 80.79

TT8_Sampling 479 39 192.68

TT8_CF8 429 45 198.60

TT8_Kalman 0 0 0.00

Analog_circuits 701 12 85.03

GPS_charging 0 0 0.00

Compass 483 8 39.06

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.54 -122.2 0.0 0.0 0 78 0.00 0.00 -49.10 0.000 2 0.000 0.000 424 2515 2834

81 -1.54 -122.2 2.2 -3.2 8 131 12.52 2.58 -29.02 0.000 4 0.160 0.059 2659 1106 3730

217 -1.54 -122.2 9.9 -5.7 29 224 0.00 2.42 0.00 0.000 6 0.000 0.034 2659 2503 3733

290 -1.54 -122.2 14.4 -6.0 40 296 0.00 2.58 0.00 0.000 4 0.000 0.069 2659 3898 3734

349 -1.54 -122.2 18.0 -6.2 49 355 0.00 2.40 0.00 0.000 6 0.000 0.032 2659 2479 3734

429 -1.54 -122.2 22.3 -5.7 58 430 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2479 3734

617 -1.54 -122.2 33.7 -6.2 73 622 0.00 2.62 0.00 0.000 4 0.000 0.067 2659 3898 3734

744 -1.54 -122.2 42.8 -7.0 82 749 0.00 2.40 0.00 0.000 6 0.000 0.033 2659 2507 3734

946 -1.54 -122.2 57.0 -7.0 98 951 0.00 2.58 0.00 0.000 4 0.000 0.067 2659 3895 3735

997 -1.54 -122.2 60.7 -7.1 101 1005 0.00 2.40 0.00 0.000 6 0.000 0.034 2659 2496 3735

1194 -1.54 -122.2 74.5 -7.1 117 1198 0.00 2.58 0.00 0.000 4 0.000 0.067 2660 3895 3735

1285 -1.54 -122.2 81.1 -7.2 123 1292 0.00 2.38 0.00 0.000 6 0.000 0.034 2659 2505 3735

1433 end dive: TARGET_DEPTH_EXCEEDED

state 1433 begin apogee

1440 -0.50 0.0 90.5 6.6 135 1536 1.10 0.00 92.82 0.594 6 0.091 0.000 2886 2410 3229

1537 end apogee: CONTROL_FINISHED_OK

state 1537 begin climb

1540 1.54 122.2 92.6 0.0 143 1639 2.08 2.58 90.97 0.578 4 0.063 0.051 3334 1028 2730

1693 1.54 122.2 82.2 9.5 155 1697 0.00 2.42 0.00 0.000 6 0.000 0.033 3334 2424 2730

1889 1.54 122.2 64.4 9.0 170 1890 0.00 0.00 0.00 0.000 6 0.000 0.000 3334 2424 2730

2080 1.54 122.2 47.7 8.9 185 2081 0.00 0.00 0.00 0.000 6 0.000 0.000 3334 2424 2730

2269 1.54 122.2 29.9 9.4 200 2270 0.00 0.00 0.00 0.000 6 0.000 0.000 3334 2424 2730

2460 1.54 122.2 13.3 8.6 221 2466 0.00 2.55 0.00 0.000 4 0.000 0.067 3334 3812 2730

2499 1.54 122.2 9.6 9.3 227 2505 0.00 2.38 0.00 0.000 6 0.000 0.031 3334 2422 2730

2572 1.56 139.4 4.4 6.0 238 2590 0.00 2.53 12.23 0.571 4 0.000 0.051 3334 1019 2659

2656 end climb: SURFACE_DEPTH_REACHED

state 2656 begin surface coast

2781 end surface coast: CONTROL_FINISHED_OK

state 2781 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	232	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	90	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	36	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-17159.678	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	083526,4739.416,-12252.948,13,1.7,30,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.88	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	084139,4739.425,-12252.979,14,1.3,14,18.3	MHEAD_RNG_PITCHd_Wd	65.6,725,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	1.6,1.025961	XPDR_PINGS	9
SM_CCo	2810,119.47,0.522,0,0,1598,400.08	ALTIM_BOTTOM_PING	90.5,45.3
SM_GC	0.85,0.00,0.00,119.47,0.000,0.000,0.522,427,2505,1598,-11.84,0.14,400.08	_24V_AH	24.1,18.257
IRIDIUM_FIX	4719.74,-12251.79,290907,111119	_10V_AH	10.1,13.128
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6441,270
HUMID	1799	CFSIZE	260034560,250454016
INTERNAL_PRESSURE	9.35929	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	290907,093145,4739.343,-12252.702,13,2.0,13,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	159	111.02	SBE_CT	186	24	107.75
Roll_motor	40	69	66.75	nil	0	0	0.00
VBD_pump_during_apogee	196	594	2808.18	nil	0	0	0.00
VBD_pump_during_surface	119	522	1503.96	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	102.39	nil	0	0	0.00
Iridium_during_connect	35	160	137.62	ARS	0	0	0.00
Iridium_during_xfer	159	223	857.42
Transponder_ping	3	420	35.43
Mmodem_TX	4	1000	100.02
Mmodem_RX	3369	6	519.77
GPS	14	93	13.44
TT8	501	19	100.35
LPSleep	1500	2	33.19
TT8_Active	403	19	80.79
TT8_Sampling	479	39	192.68
TT8_CF8	429	45	198.60
TT8_Kalman	0	0	0.00
Analog_circuits	701	12	85.03
GPS_charging	0	0	0.00
Compass	483	8	39.06
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.54	-122.2	0.0	0.0	0	78	0.00	0.00	-49.10	0.000	2	0.000	0.000	424	2515	2834
81	-1.54	-122.2	2.2	-3.2	8	131	12.52	2.58	-29.02	0.000	4	0.160	0.059	2659	1106	3730
217	-1.54	-122.2	9.9	-5.7	29	224	0.00	2.42	0.00	0.000	6	0.000	0.034	2659	2503	3733
290	-1.54	-122.2	14.4	-6.0	40	296	0.00	2.58	0.00	0.000	4	0.000	0.069	2659	3898	3734
349	-1.54	-122.2	18.0	-6.2	49	355	0.00	2.40	0.00	0.000	6	0.000	0.032	2659	2479	3734
429	-1.54	-122.2	22.3	-5.7	58	430	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2479	3734
617	-1.54	-122.2	33.7	-6.2	73	622	0.00	2.62	0.00	0.000	4	0.000	0.067	2659	3898	3734
744	-1.54	-122.2	42.8	-7.0	82	749	0.00	2.40	0.00	0.000	6	0.000	0.033	2659	2507	3734
946	-1.54	-122.2	57.0	-7.0	98	951	0.00	2.58	0.00	0.000	4	0.000	0.067	2659	3895	3735
997	-1.54	-122.2	60.7	-7.1	101	1005	0.00	2.40	0.00	0.000	6	0.000	0.034	2659	2496	3735
1194	-1.54	-122.2	74.5	-7.1	117	1198	0.00	2.58	0.00	0.000	4	0.000	0.067	2660	3895	3735
1285	-1.54	-122.2	81.1	-7.2	123	1292	0.00	2.38	0.00	0.000	6	0.000	0.034	2659	2505	3735
1433	end dive: TARGET_DEPTH_EXCEEDED
state	1433	begin apogee
1440	-0.50	0.0	90.5	6.6	135	1536	1.10	0.00	92.82	0.594	6	0.091	0.000	2886	2410	3229
1537	end apogee: CONTROL_FINISHED_OK
state	1537	begin climb
1540	1.54	122.2	92.6	0.0	143	1639	2.08	2.58	90.97	0.578	4	0.063	0.051	3334	1028	2730
1693	1.54	122.2	82.2	9.5	155	1697	0.00	2.42	0.00	0.000	6	0.000	0.033	3334	2424	2730
1889	1.54	122.2	64.4	9.0	170	1890	0.00	0.00	0.00	0.000	6	0.000	0.000	3334	2424	2730
2080	1.54	122.2	47.7	8.9	185	2081	0.00	0.00	0.00	0.000	6	0.000	0.000	3334	2424	2730
2269	1.54	122.2	29.9	9.4	200	2270	0.00	0.00	0.00	0.000	6	0.000	0.000	3334	2424	2730
2460	1.54	122.2	13.3	8.6	221	2466	0.00	2.55	0.00	0.000	4	0.000	0.067	3334	3812	2730
2499	1.54	122.2	9.6	9.3	227	2505	0.00	2.38	0.00	0.000	6	0.000	0.031	3334	2422	2730
2572	1.56	139.4	4.4	6.0	238	2590	0.00	2.53	12.23	0.571	4	0.000	0.051	3334	1019	2659
2656	end climb: SURFACE_DEPTH_REACHED
state	2656	begin surface coast
2781	end surface coast: CONTROL_FINISHED_OK
state	2781	begin surface