Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 3 * 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 3 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 2008 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2008 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 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 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 -43089.871 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 3040 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 500

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 -43089.871

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 400 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 3040 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2008 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 2008 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 22 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 22 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 3 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 231250,4739.389,-12252.298,10,1.6,10,18.3 TGT_NAME H1

_CALLS 1 TGT_LATLONG 4739.000,-12252.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.137,-0.192

_SM_DEPTHo 1.15 KALMAN_X -149.9,-94.6,-87.6,183.0,-65.6

_SM_ANGLEo -60.6 KALMAN_Y 4.1,-4.0,-4.7,-672.6,-2.1

GPS2 231745,4739.397,-12252.326,16,1.6,16,18.3 MHEAD_RNG_PITCHd_Wd 126.2,841,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 125

Post-dive calculations and measurements:

FINISH 2.4,1.019836 XPDR_PINGS 0

SM_CCo 2624,154.38,0.592,0,0,1179,500.17 ALTIM_BOTTOM_PING 50.6,51.4

SM_GC 1.21,0.00,0.00,154.38,0.000,0.000,0.592,462,2008,1179,-11.85,0.00,500.17 _24V_AH 23.5,6.082

IRIDIUM_FIX 4722.92,-12254.47,250907,030306 _10V_AH 10.1,29.459

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6440,245

HUMID 1985 CFSIZE 260034560,257007616

INTERNAL_PRESSURE 8.38899 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,9,0,0

TCM_TEMP 19.50 GPS 250907,000608,4739.237,-12252.066,28,1.2,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 197 143.95 SBE_CT 163 24 92.27

Roll_motor 46 79 87.12 nil 0 0 0.00

VBD_pump_during_apogee 213 689 3461.18 nil 0 0 0.00

VBD_pump_during_surface 154 592 2148.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 ARS 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 4.93

Mmodem_TX 0 1000 0.00

Mmodem_RX 2778 6 417.81

GPS 16 50 8.23

TT8 460 19 92.03

LPSleep 1414 2 31.29

TT8_Active 491 19 98.23

TT8_Sampling 445 39 179.25

TT8_CF8 51 45 24.01

TT8_Kalman 31 81 25.96

Analog_circuits 772 12 93.67

GPS_charging 0 0 0.00

Compass 434 8 35.08

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

22 -1.63 -122.2 0.0 0.0 0 105 0.00 0.00 -80.53 0.000 2 0.000 0.000 463 2001 3037

107 -1.63 -122.2 2.3 -4.2 13 156 13.90 2.67 -25.05 0.000 4 0.197 0.080 2681 606 3718

188 -1.63 -122.2 5.6 -6.6 26 195 0.00 2.53 0.00 0.000 6 0.000 0.038 2681 2013 3719

260 -1.63 -122.2 10.9 -6.9 37 267 0.00 2.55 0.00 0.000 4 0.000 0.058 2681 3409 3720

332 -1.63 -122.2 16.2 -7.5 48 339 0.00 2.50 0.00 0.000 6 0.000 0.043 2681 2004 3717

403 -1.63 -122.2 21.2 -6.6 58 407 0.00 2.62 0.00 0.000 4 0.000 0.069 2681 609 3718

455 -1.63 -122.2 25.3 -8.1 62 460 0.00 2.47 0.00 0.000 6 0.000 0.038 2681 2000 3719

657 -1.63 -122.2 41.3 -8.4 78 658 0.00 0.00 0.00 0.000 6 0.000 0.000 2681 2000 3721

846 -1.63 -122.2 56.6 -8.0 93 851 0.00 2.67 0.00 0.000 4 0.000 0.071 2681 609 3718

899 -1.63 -122.2 61.3 -8.9 97 904 0.00 2.47 0.00 0.000 6 0.000 0.041 2681 2013 3715

1094 -1.63 -122.2 77.9 -8.2 112 1098 0.00 2.67 0.00 0.000 4 0.000 0.071 2681 609 3740

1147 -1.63 -122.2 82.6 -8.9 116 1151 0.00 2.47 0.00 0.000 6 0.000 0.041 2681 2006 3741

1349 -1.63 -122.2 98.6 -7.3 132 1353 0.00 2.65 0.00 0.000 4 0.000 0.072 2681 602 3739

1372 end dive: TARGET_DEPTH_EXCEEDED

state 1372 begin apogee

1378 -0.38 0.0 100.6 7.9 133 1482 1.35 0.00 100.18 0.690 6 0.103 0.000 2951 2010 3218

1483 end apogee: CONTROL_FINISHED_OK

state 1483 begin climb

1484 1.63 122.2 102.4 0.0 142 1584 2.03 0.00 94.22 0.664 6 0.061 0.000 3397 2010 2718

1769 1.63 122.2 78.6 9.7 165 1774 0.00 2.70 0.00 0.000 4 0.000 0.074 3397 609 2717

1880 1.63 122.2 67.3 10.0 173 1888 0.00 2.50 0.00 0.000 6 0.000 0.041 3397 1997 2717

2076 1.63 122.2 48.4 9.7 189 2081 0.00 2.67 0.00 0.000 4 0.000 0.073 3397 607 2716

2182 1.63 122.2 38.0 10.2 197 2186 0.00 2.53 0.00 0.000 6 0.000 0.041 3397 2007 2716

2385 1.66 147.8 20.1 8.2 213 2411 0.00 2.72 19.20 0.660 4 0.000 0.071 3397 606 2614

2535 1.66 147.8 6.0 10.4 235 2542 0.00 2.53 0.00 0.000 6 0.000 0.041 3397 2007 2613

2546 end climb: SURFACE_DEPTH_REACHED

state 2546 begin surface coast

2601 end surface coast: CONTROL_FINISHED_OK

state 2601 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	3	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	2008	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2008	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	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	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	-43089.871	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	3040	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	231250,4739.389,-12252.298,10,1.6,10,18.3	TGT_NAME	H1
_CALLS	1	TGT_LATLONG	4739.000,-12252.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.137,-0.192
_SM_DEPTHo	1.15	KALMAN_X	-149.9,-94.6,-87.6,183.0,-65.6
_SM_ANGLEo	-60.6	KALMAN_Y	4.1,-4.0,-4.7,-672.6,-2.1
GPS2	231745,4739.397,-12252.326,16,1.6,16,18.3	MHEAD_RNG_PITCHd_Wd	126.2,841,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	125

FINISH	2.4,1.019836	XPDR_PINGS	0
SM_CCo	2624,154.38,0.592,0,0,1179,500.17	ALTIM_BOTTOM_PING	50.6,51.4
SM_GC	1.21,0.00,0.00,154.38,0.000,0.000,0.592,462,2008,1179,-11.85,0.00,500.17	_24V_AH	23.5,6.082
IRIDIUM_FIX	4722.92,-12254.47,250907,030306	_10V_AH	10.1,29.459
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6440,245
HUMID	1985	CFSIZE	260034560,257007616
INTERNAL_PRESSURE	8.38899	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
TCM_TEMP	19.50	GPS	250907,000608,4739.237,-12252.066,28,1.2,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	197	143.95	SBE_CT	163	24	92.27
Roll_motor	46	79	87.12	nil	0	0	0.00
VBD_pump_during_apogee	213	689	3461.18	nil	0	0	0.00
VBD_pump_during_surface	154	592	2148.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	ARS	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	4.93
Mmodem_TX	0	1000	0.00
Mmodem_RX	2778	6	417.81
GPS	16	50	8.23
TT8	460	19	92.03
LPSleep	1414	2	31.29
TT8_Active	491	19	98.23
TT8_Sampling	445	39	179.25
TT8_CF8	51	45	24.01
TT8_Kalman	31	81	25.96
Analog_circuits	772	12	93.67
GPS_charging	0	0	0.00
Compass	434	8	35.08
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
22	-1.63	-122.2	0.0	0.0	0	105	0.00	0.00	-80.53	0.000	2	0.000	0.000	463	2001	3037
107	-1.63	-122.2	2.3	-4.2	13	156	13.90	2.67	-25.05	0.000	4	0.197	0.080	2681	606	3718
188	-1.63	-122.2	5.6	-6.6	26	195	0.00	2.53	0.00	0.000	6	0.000	0.038	2681	2013	3719
260	-1.63	-122.2	10.9	-6.9	37	267	0.00	2.55	0.00	0.000	4	0.000	0.058	2681	3409	3720
332	-1.63	-122.2	16.2	-7.5	48	339	0.00	2.50	0.00	0.000	6	0.000	0.043	2681	2004	3717
403	-1.63	-122.2	21.2	-6.6	58	407	0.00	2.62	0.00	0.000	4	0.000	0.069	2681	609	3718
455	-1.63	-122.2	25.3	-8.1	62	460	0.00	2.47	0.00	0.000	6	0.000	0.038	2681	2000	3719
657	-1.63	-122.2	41.3	-8.4	78	658	0.00	0.00	0.00	0.000	6	0.000	0.000	2681	2000	3721
846	-1.63	-122.2	56.6	-8.0	93	851	0.00	2.67	0.00	0.000	4	0.000	0.071	2681	609	3718
899	-1.63	-122.2	61.3	-8.9	97	904	0.00	2.47	0.00	0.000	6	0.000	0.041	2681	2013	3715
1094	-1.63	-122.2	77.9	-8.2	112	1098	0.00	2.67	0.00	0.000	4	0.000	0.071	2681	609	3740
1147	-1.63	-122.2	82.6	-8.9	116	1151	0.00	2.47	0.00	0.000	6	0.000	0.041	2681	2006	3741
1349	-1.63	-122.2	98.6	-7.3	132	1353	0.00	2.65	0.00	0.000	4	0.000	0.072	2681	602	3739
1372	end dive: TARGET_DEPTH_EXCEEDED
state	1372	begin apogee
1378	-0.38	0.0	100.6	7.9	133	1482	1.35	0.00	100.18	0.690	6	0.103	0.000	2951	2010	3218
1483	end apogee: CONTROL_FINISHED_OK
state	1483	begin climb
1484	1.63	122.2	102.4	0.0	142	1584	2.03	0.00	94.22	0.664	6	0.061	0.000	3397	2010	2718
1769	1.63	122.2	78.6	9.7	165	1774	0.00	2.70	0.00	0.000	4	0.000	0.074	3397	609	2717
1880	1.63	122.2	67.3	10.0	173	1888	0.00	2.50	0.00	0.000	6	0.000	0.041	3397	1997	2717
2076	1.63	122.2	48.4	9.7	189	2081	0.00	2.67	0.00	0.000	4	0.000	0.073	3397	607	2716
2182	1.63	122.2	38.0	10.2	197	2186	0.00	2.53	0.00	0.000	6	0.000	0.041	3397	2007	2716
2385	1.66	147.8	20.1	8.2	213	2411	0.00	2.72	19.20	0.660	4	0.000	0.071	3397	606	2614
2535	1.66	147.8	6.0	10.4	235	2542	0.00	2.53	0.00	0.000	6	0.000	0.041	3397	2007	2613
2546	end climb: SURFACE_DEPTH_REACHED
state	2546	begin surface coast
2601	end surface coast: CONTROL_FINISHED_OK
state	2601	begin surface