Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 276 * 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 276 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 47 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 -17179.436 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 -17179.436

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 47 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 25 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 276 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 230901,4739.677,-12252.380,41,1.0,41,18.3 TGT_NAME H2

_CALLS 2 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.53 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -49.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231951,4739.763,-12252.344,18,1.4,18,18.3 MHEAD_RNG_PITCHd_Wd 169.2,553,-14.3,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.1,1.027525 XPDR_PINGS 5

SM_CCo 2634,125.85,0.523,0,0,1597,400.08 ALTIM_BOTTOM_PING 90.3,50.1

SM_GC 0.64,0.00,0.00,125.85,0.000,0.000,0.523,425,2509,1597,-11.85,0.25,400.08 _24V_AH 24.1,21.622

IRIDIUM_FIX 4722.92,-12253.53,011007,030315 _10V_AH 10.1,16.102

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6435,246

HUMID 1773 CFSIZE 260034560,249122816

INTERNAL_PRESSURE 9.32999 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.90 GPS 011007,000703,4739.521,-12252.497,11,1.7,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 156 107.66 SBE_CT 170 24 98.48

Roll_motor 39 81 78.18 nil 0 0 0.00

VBD_pump_during_apogee 185 598 2668.42 nil 0 0 0.00

VBD_pump_during_surface 125 523 1586.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 80 103 200.98 nil 0 0 0.00

Iridium_during_connect 73 160 282.17 ARS 0 0 0.00

Iridium_during_xfer 281 223 1513.44

Transponder_ping 2 420 25.30

Mmodem_TX 20 1000 500.32

Mmodem_RX 3615 6 557.61

GPS 18 93 17.16

TT8 455 19 91.04

LPSleep 1415 2 31.30

TT8_Active 441 19 88.23

TT8_Sampling 461 39 185.68

TT8_CF8 647 45 299.45

TT8_Kalman 0 0 0.00

Analog_circuits 741 12 89.91

GPS_charging 0 0 0.00

Compass 460 8 37.17

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

27 -1.57 -116.3 0.0 0.0 0 145 0.00 0.00 -112.78 0.000 2 0.000 0.000 424 2501 3140

148 -1.58 -122.2 2.0 -3.5 19 186 12.38 2.60 -18.23 0.000 4 0.156 0.081 2650 3898 3728

233 -1.58 -122.2 7.3 -6.0 32 239 0.00 2.40 0.00 0.000 6 0.000 0.034 2650 2492 3730

306 -1.58 -122.2 12.0 -6.4 43 312 0.00 2.45 0.00 0.000 4 0.000 0.048 2650 1116 3731

385 -1.58 -122.2 17.8 -7.8 55 391 0.00 2.40 0.00 0.000 6 0.000 0.034 2650 2503 3731

462 -1.58 -122.2 23.0 -6.8 64 466 0.00 2.58 0.00 0.000 4 0.000 0.071 2650 3897 3732

561 -1.58 -122.2 30.4 -7.2 71 565 0.00 2.38 0.00 0.000 6 0.000 0.034 2650 2502 3731

758 -1.58 -122.2 43.8 -7.0 86 760 0.00 0.00 0.00 0.000 6 0.000 0.000 2650 2497 3731

947 -1.58 -122.2 57.6 -7.4 101 951 0.00 2.60 0.00 0.000 4 0.000 0.068 2650 3894 3732

1026 -1.58 -122.2 63.7 -7.3 106 1033 0.00 2.38 0.00 0.000 6 0.000 0.034 2650 2492 3732

1224 -1.58 -122.2 77.1 -7.0 122 1228 0.00 2.60 0.00 0.000 4 0.000 0.068 2650 3894 3731

1289 -1.58 -122.2 82.2 -7.2 126 1296 0.00 2.40 0.00 0.000 6 0.000 0.034 2650 2507 3732

1410 end dive: TARGET_DEPTH_EXCEEDED

state 1411 begin apogee

1418 -0.50 0.0 90.3 6.8 136 1515 1.15 0.00 92.82 0.598 6 0.092 0.000 2887 2412 3229

1515 end apogee: CONTROL_FINISHED_OK

state 1516 begin climb

1518 1.58 122.2 93.2 0.0 144 1620 2.10 2.55 92.25 0.582 4 0.061 0.051 3341 1035 2730

1647 1.58 122.2 85.9 9.1 154 1654 0.00 2.45 0.00 0.000 6 0.000 0.033 3341 2415 2730

1846 1.58 122.2 67.8 9.3 170 1847 0.00 0.00 0.00 0.000 6 0.000 0.000 3341 2415 2730

2035 1.58 122.2 50.5 9.6 185 2039 0.00 2.50 0.00 0.000 4 0.000 0.051 3341 1033 2730

2060 1.58 122.2 47.9 9.5 186 2066 0.00 2.40 0.00 0.000 6 0.000 0.034 3341 2416 2730

2256 1.58 122.2 30.6 8.4 202 2260 0.00 2.50 0.00 0.000 4 0.000 0.051 3341 1030 2730

2360 1.58 122.2 20.5 9.9 209 2367 0.00 2.45 0.00 0.000 6 0.000 0.033 3341 2414 2730

2567 1.58 122.2 3.2 9.6 240 2573 0.00 0.00 0.00 0.000 6 0.000 0.000 3341 2414 2730

2584 end climb: SURFACE_DEPTH_REACHED

state 2584 begin surface coast

2605 end surface coast: CONTROL_FINISHED_OK

state 2605 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	276	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	47	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	-17179.436	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	230901,4739.677,-12252.380,41,1.0,41,18.3	TGT_NAME	H2
_CALLS	2	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.53	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-49.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231951,4739.763,-12252.344,18,1.4,18,18.3	MHEAD_RNG_PITCHd_Wd	169.2,553,-14.3,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.1,1.027525	XPDR_PINGS	5
SM_CCo	2634,125.85,0.523,0,0,1597,400.08	ALTIM_BOTTOM_PING	90.3,50.1
SM_GC	0.64,0.00,0.00,125.85,0.000,0.000,0.523,425,2509,1597,-11.85,0.25,400.08	_24V_AH	24.1,21.622
IRIDIUM_FIX	4722.92,-12253.53,011007,030315	_10V_AH	10.1,16.102
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6435,246
HUMID	1773	CFSIZE	260034560,249122816
INTERNAL_PRESSURE	9.32999	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	011007,000703,4739.521,-12252.497,11,1.7,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	156	107.66	SBE_CT	170	24	98.48
Roll_motor	39	81	78.18	nil	0	0	0.00
VBD_pump_during_apogee	185	598	2668.42	nil	0	0	0.00
VBD_pump_during_surface	125	523	1586.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	80	103	200.98	nil	0	0	0.00
Iridium_during_connect	73	160	282.17	ARS	0	0	0.00
Iridium_during_xfer	281	223	1513.44
Transponder_ping	2	420	25.30
Mmodem_TX	20	1000	500.32
Mmodem_RX	3615	6	557.61
GPS	18	93	17.16
TT8	455	19	91.04
LPSleep	1415	2	31.30
TT8_Active	441	19	88.23
TT8_Sampling	461	39	185.68
TT8_CF8	647	45	299.45
TT8_Kalman	0	0	0.00
Analog_circuits	741	12	89.91
GPS_charging	0	0	0.00
Compass	460	8	37.17
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
27	-1.57	-116.3	0.0	0.0	0	145	0.00	0.00	-112.78	0.000	2	0.000	0.000	424	2501	3140
148	-1.58	-122.2	2.0	-3.5	19	186	12.38	2.60	-18.23	0.000	4	0.156	0.081	2650	3898	3728
233	-1.58	-122.2	7.3	-6.0	32	239	0.00	2.40	0.00	0.000	6	0.000	0.034	2650	2492	3730
306	-1.58	-122.2	12.0	-6.4	43	312	0.00	2.45	0.00	0.000	4	0.000	0.048	2650	1116	3731
385	-1.58	-122.2	17.8	-7.8	55	391	0.00	2.40	0.00	0.000	6	0.000	0.034	2650	2503	3731
462	-1.58	-122.2	23.0	-6.8	64	466	0.00	2.58	0.00	0.000	4	0.000	0.071	2650	3897	3732
561	-1.58	-122.2	30.4	-7.2	71	565	0.00	2.38	0.00	0.000	6	0.000	0.034	2650	2502	3731
758	-1.58	-122.2	43.8	-7.0	86	760	0.00	0.00	0.00	0.000	6	0.000	0.000	2650	2497	3731
947	-1.58	-122.2	57.6	-7.4	101	951	0.00	2.60	0.00	0.000	4	0.000	0.068	2650	3894	3732
1026	-1.58	-122.2	63.7	-7.3	106	1033	0.00	2.38	0.00	0.000	6	0.000	0.034	2650	2492	3732
1224	-1.58	-122.2	77.1	-7.0	122	1228	0.00	2.60	0.00	0.000	4	0.000	0.068	2650	3894	3731
1289	-1.58	-122.2	82.2	-7.2	126	1296	0.00	2.40	0.00	0.000	6	0.000	0.034	2650	2507	3732
1410	end dive: TARGET_DEPTH_EXCEEDED
state	1411	begin apogee
1418	-0.50	0.0	90.3	6.8	136	1515	1.15	0.00	92.82	0.598	6	0.092	0.000	2887	2412	3229
1515	end apogee: CONTROL_FINISHED_OK
state	1516	begin climb
1518	1.58	122.2	93.2	0.0	144	1620	2.10	2.55	92.25	0.582	4	0.061	0.051	3341	1035	2730
1647	1.58	122.2	85.9	9.1	154	1654	0.00	2.45	0.00	0.000	6	0.000	0.033	3341	2415	2730
1846	1.58	122.2	67.8	9.3	170	1847	0.00	0.00	0.00	0.000	6	0.000	0.000	3341	2415	2730
2035	1.58	122.2	50.5	9.6	185	2039	0.00	2.50	0.00	0.000	4	0.000	0.051	3341	1033	2730
2060	1.58	122.2	47.9	9.5	186	2066	0.00	2.40	0.00	0.000	6	0.000	0.034	3341	2416	2730
2256	1.58	122.2	30.6	8.4	202	2260	0.00	2.50	0.00	0.000	4	0.000	0.051	3341	1030	2730
2360	1.58	122.2	20.5	9.9	209	2367	0.00	2.45	0.00	0.000	6	0.000	0.033	3341	2414	2730
2567	1.58	122.2	3.2	9.6	240	2573	0.00	0.00	0.00	0.000	6	0.000	0.000	3341	2414	2730
2584	end climb: SURFACE_DEPTH_REACHED
state	2584	begin surface coast
2605	end surface coast: CONTROL_FINISHED_OK
state	2605	begin surface