Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 32 * 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 10

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 32 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 100 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 48 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 43 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 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 -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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -16028.981 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 1 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 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 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 10 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 43

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 -16028.981

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

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 1 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 48 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 33 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 32 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 221738,4738.568,-12253.173,33,1.0,33,18.3 TGT_NAME H6

_CALLS 1 TGT_LATLONG 4738.532,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.216,-0.045

_SM_DEPTHo 0.89 KALMAN_X 3901.9,43.4,-232.2,-4008.5,154.6

_SM_ANGLEo -61.2 KALMAN_Y 3236.9,-142.4,-133.1,-3863.2,37.9

GPS2 222221,4738.585,-12253.099,13,1.2,13,18.3 MHEAD_RNG_PITCHd_Wd 83.5,875,-16.0,-7.752

SPEED_LIMITS 0.134,0.221 D_GRID 137

Post-dive calculations and measurements:

FINISH 0.1,1.013176 ALTIM_TOP_PING 9.9,9.5

SM_CCo 2736,84.47,0.525,0,0,1598,400.08 ALTIM_BOTTOM_PING 75.3,999.0

SM_GC 0.81,0.00,0.00,84.47,0.000,0.000,0.525,425,2510,1598,-11.85,0.28,400.08 _24V_AH 24.0,3.510

IRIDIUM_FIX 4722.92,-12251.79,240907,010106 _10V_AH 10.0,2.889

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6447,259

HUMID 1804 CFSIZE 260034560,255815680

INTERNAL_PRESSURE 9.37882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.00 GPS 230907,231137,4738.506,-12252.651,14,1.7,25,18.3

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 154 109.88 SBE_CT 178 24 102.82

Roll_motor 35 82 69.38 nil 0 0 0.00

VBD_pump_during_apogee 253 606 3689.69 nil 0 0 0.00

VBD_pump_during_surface 84 525 1065.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.99 nil 0 0 0.00

Iridium_during_connect 37 160 145.69 ARS 0 0 0.00

Iridium_during_xfer 97 223 519.81

Transponder_ping 2 420 27.72

Mmodem_TX 16 1000 398.40

Mmodem_RX 3324 6 510.63

GPS 13 93 12.19

TT8 479 19 94.88

LPSleep 1401 2 30.69

TT8_Active 414 19 82.16

TT8_Sampling 476 39 189.65

TT8_CF8 361 45 165.60

TT8_Kalman 33 81 27.28

Analog_circuits 724 12 86.93

GPS_charging 0 0 0.00

Compass 491 8 39.34

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 -1.75 -122.2 0.0 0.0 0 83 0.00 0.00 -54.88 0.000 2 0.000 0.000 423 2516 2998

87 -1.75 -122.2 2.4 -5.1 9 130 12.23 2.62 -21.73 0.000 4 0.155 0.082 2609 3891 3729

137 -1.75 -122.2 5.1 -4.5 17 143 0.00 2.40 0.00 0.000 6 0.000 0.032 2609 2493 3730

209 -1.75 -122.2 9.9 -6.7 28 215 0.00 2.62 0.00 0.000 4 0.000 0.068 2609 3899 3731

465 -1.75 -122.2 32.1 -9.2 56 473 0.00 2.42 0.00 0.000 6 0.000 0.031 2609 2495 3733

663 -1.75 -122.2 47.7 -7.7 72 667 0.00 2.60 0.00 0.000 4 0.000 0.067 2609 3892 3734

846 -1.75 -122.2 62.7 -8.1 85 854 0.00 2.40 0.00 0.000 6 0.000 0.033 2609 2503 3734

1043 -1.75 -122.2 77.2 -7.2 101 1047 0.00 2.58 0.00 0.000 4 0.000 0.066 2609 3890 3734

1076 -1.75 -122.2 79.6 -7.4 103 1080 0.00 2.38 0.00 0.000 6 0.000 0.033 2609 2501 3734

1274 -1.75 -122.2 93.5 -7.2 118 1278 0.00 2.60 0.00 0.000 4 0.000 0.067 2609 3897 3734

1319 -1.75 -122.2 97.5 -8.1 121 1324 0.00 2.40 0.00 0.000 6 0.000 0.034 2609 2492 3734

1364 end dive: TARGET_DEPTH_EXCEEDED

state 1364 begin apogee

1370 -0.50 0.0 100.8 7.7 124 1473 1.35 0.00 94.80 0.607 6 0.093 0.000 2885 2406 3229

1474 end apogee: CONTROL_FINISHED_OK

state 1474 begin climb

1477 1.75 122.2 103.3 0.0 133 1582 2.30 2.55 92.88 0.586 4 0.064 0.051 3378 1034 2730

1641 1.75 122.2 90.1 11.3 146 1650 0.00 2.45 0.00 0.000 6 0.000 0.032 3377 2413 2730

1838 1.75 122.2 68.9 11.1 162 1842 0.00 2.53 0.00 0.000 4 0.000 0.051 3378 1024 2730

1897 1.75 122.2 62.2 12.2 166 1901 0.00 2.42 0.00 0.000 6 0.000 0.033 3378 2417 2729

2093 1.75 122.2 41.2 10.2 181 2094 0.00 0.00 0.00 0.000 6 0.000 0.000 3378 2417 2729

2283 1.75 122.2 22.1 10.6 196 2285 0.00 0.00 0.00 0.000 6 0.000 0.000 3378 2417 2729

2479 1.77 139.2 3.6 7.0 224 2498 0.00 0.00 12.30 0.576 6 0.000 0.000 3378 2417 2660

2566 1.99 315.0 3.0 0.3 237 2623 0.20 0.00 53.42 0.544 2 0.048 0.000 3433 2417 2293

2623 end climb: SURFACE_DEPTH_REACHED

state 2624 begin surface coast

2708 end surface coast: CONTROL_FINISHED_OK

state 2708 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	10
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	32	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	100	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	48	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	43	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	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	-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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-16028.981	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	1	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	221738,4738.568,-12253.173,33,1.0,33,18.3	TGT_NAME	H6
_CALLS	1	TGT_LATLONG	4738.532,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.216,-0.045
_SM_DEPTHo	0.89	KALMAN_X	3901.9,43.4,-232.2,-4008.5,154.6
_SM_ANGLEo	-61.2	KALMAN_Y	3236.9,-142.4,-133.1,-3863.2,37.9
GPS2	222221,4738.585,-12253.099,13,1.2,13,18.3	MHEAD_RNG_PITCHd_Wd	83.5,875,-16.0,-7.752
SPEED_LIMITS	0.134,0.221	D_GRID	137

FINISH	0.1,1.013176	ALTIM_TOP_PING	9.9,9.5
SM_CCo	2736,84.47,0.525,0,0,1598,400.08	ALTIM_BOTTOM_PING	75.3,999.0
SM_GC	0.81,0.00,0.00,84.47,0.000,0.000,0.525,425,2510,1598,-11.85,0.28,400.08	_24V_AH	24.0,3.510
IRIDIUM_FIX	4722.92,-12251.79,240907,010106	_10V_AH	10.0,2.889
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6447,259
HUMID	1804	CFSIZE	260034560,255815680
INTERNAL_PRESSURE	9.37882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.00	GPS	230907,231137,4738.506,-12252.651,14,1.7,25,18.3
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	154	109.88	SBE_CT	178	24	102.82
Roll_motor	35	82	69.38	nil	0	0	0.00
VBD_pump_during_apogee	253	606	3689.69	nil	0	0	0.00
VBD_pump_during_surface	84	525	1065.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.99	nil	0	0	0.00
Iridium_during_connect	37	160	145.69	ARS	0	0	0.00
Iridium_during_xfer	97	223	519.81
Transponder_ping	2	420	27.72
Mmodem_TX	16	1000	398.40
Mmodem_RX	3324	6	510.63
GPS	13	93	12.19
TT8	479	19	94.88
LPSleep	1401	2	30.69
TT8_Active	414	19	82.16
TT8_Sampling	476	39	189.65
TT8_CF8	361	45	165.60
TT8_Kalman	33	81	27.28
Analog_circuits	724	12	86.93
GPS_charging	0	0	0.00
Compass	491	8	39.34
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	-1.75	-122.2	0.0	0.0	0	83	0.00	0.00	-54.88	0.000	2	0.000	0.000	423	2516	2998
87	-1.75	-122.2	2.4	-5.1	9	130	12.23	2.62	-21.73	0.000	4	0.155	0.082	2609	3891	3729
137	-1.75	-122.2	5.1	-4.5	17	143	0.00	2.40	0.00	0.000	6	0.000	0.032	2609	2493	3730
209	-1.75	-122.2	9.9	-6.7	28	215	0.00	2.62	0.00	0.000	4	0.000	0.068	2609	3899	3731
465	-1.75	-122.2	32.1	-9.2	56	473	0.00	2.42	0.00	0.000	6	0.000	0.031	2609	2495	3733
663	-1.75	-122.2	47.7	-7.7	72	667	0.00	2.60	0.00	0.000	4	0.000	0.067	2609	3892	3734
846	-1.75	-122.2	62.7	-8.1	85	854	0.00	2.40	0.00	0.000	6	0.000	0.033	2609	2503	3734
1043	-1.75	-122.2	77.2	-7.2	101	1047	0.00	2.58	0.00	0.000	4	0.000	0.066	2609	3890	3734
1076	-1.75	-122.2	79.6	-7.4	103	1080	0.00	2.38	0.00	0.000	6	0.000	0.033	2609	2501	3734
1274	-1.75	-122.2	93.5	-7.2	118	1278	0.00	2.60	0.00	0.000	4	0.000	0.067	2609	3897	3734
1319	-1.75	-122.2	97.5	-8.1	121	1324	0.00	2.40	0.00	0.000	6	0.000	0.034	2609	2492	3734
1364	end dive: TARGET_DEPTH_EXCEEDED
state	1364	begin apogee
1370	-0.50	0.0	100.8	7.7	124	1473	1.35	0.00	94.80	0.607	6	0.093	0.000	2885	2406	3229
1474	end apogee: CONTROL_FINISHED_OK
state	1474	begin climb
1477	1.75	122.2	103.3	0.0	133	1582	2.30	2.55	92.88	0.586	4	0.064	0.051	3378	1034	2730
1641	1.75	122.2	90.1	11.3	146	1650	0.00	2.45	0.00	0.000	6	0.000	0.032	3377	2413	2730
1838	1.75	122.2	68.9	11.1	162	1842	0.00	2.53	0.00	0.000	4	0.000	0.051	3378	1024	2730
1897	1.75	122.2	62.2	12.2	166	1901	0.00	2.42	0.00	0.000	6	0.000	0.033	3378	2417	2729
2093	1.75	122.2	41.2	10.2	181	2094	0.00	0.00	0.00	0.000	6	0.000	0.000	3378	2417	2729
2283	1.75	122.2	22.1	10.6	196	2285	0.00	0.00	0.00	0.000	6	0.000	0.000	3378	2417	2729
2479	1.77	139.2	3.6	7.0	224	2498	0.00	0.00	12.30	0.576	6	0.000	0.000	3378	2417	2660
2566	1.99	315.0	3.0	0.3	237	2623	0.20	0.00	53.42	0.544	2	0.048	0.000	3433	2417	2293
2623	end climb: SURFACE_DEPTH_REACHED
state	2624	begin surface coast
2708	end surface coast: CONTROL_FINISHED_OK
state	2708	begin surface