Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 323 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 5.8987e-05 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 323 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 50 ALTIM_FREQUENCY 13

D_TGT 95 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2250 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 4 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 37 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE3 35

T_DIVE 63 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 75 CALL_TRIES 5 VBD_MIN 204 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3580 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 C_VBD 2800 SMARTS 0

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS 15 VBD_TIMEOUT 360 COMPASS_DEVICE 33

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 100 T_GPS_CHARGE -67129.984 VBD_PUMP_AD_RATE_APOGEE 3 RAFOS_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MIN 25 AH0_24V 150 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25

HD_A 0.0043390002 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.013382 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 300

AH0_24V 150 D_OFFGRID 100 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 95 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_DIVE 63

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0043390002 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.013382 RHO 1.023 T_GPS_CHARGE -67129.984

CALL_WAIT 60 HD_C 5.8987e-05 ROLL_ADJ_DBAND 0 T_MISSION 75

CAPMAXSIZE 100000 HEADING -1 ROLL_ADJ_GAIN 0 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_RSLEEP 3

CF8_MAXERRORS 1 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 270

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 50 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 128 ROLL_MAX 4014 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_PITCH 2820 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2250 MASS 51503 R_PORT_OVSHOOT 37 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 34 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_DBAND 2

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAXERRORS 1

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MIN 204

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_TIMEOUT 360

DIVE 323 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 1090 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 004947,4807.921,-12224.080,12,2.2,31,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 8 TGT_RADIUS 200.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.109,-0.113

_SM_DEPTHo 1.08 KALMAN_X -105.7,-64.8,-41.4,-430.0,-68.8

_SM_ANGLEo -67.2 KALMAN_Y -37.4,-20.6,33.8,569.5,-67.7

GPS2 005408,4807.953,-12224.073,9,2.0,14,18.3 MHEAD_RNG_PITCHd_Wd 117.7,6661,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 103

Post-dive calculations and measurements:

FINISH 0.4,1.024832 XPDR_PINGS 0

SM_CCo 2959,73.12,0.702,0,0,1576,300.00 ALTIM_BOTTOM_PING 70.4,50.1

SM_GC 1.12,0.00,0.00,73.12,0.000,0.000,0.702,15,2274,1576,-8.77,0.65,300.00 _24V_AH 24.6,33.250

IRIDIUM_FIX 4748.51,-12226.29,190907,040414 _10V_AH 10.7,16.569

TT8_MAMPS 0.026845 DATA_FILE_SIZE 16013,316

HUMID 1889 CFSIZE 260165632,248205312

INTERNAL_PRESSURE 9.20934 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.60 GPS 190907,014701,4807.669,-12223.820,30,1.1,41,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 207 103.93 SBE_CT 227 24 134.46

Roll_motor 35 62 53.72 SBE_O2 246 19 115.20

VBD_pump_during_apogee 221 760 4147.30 WL_BB2F 533 105 1377.18

VBD_pump_during_surface 73 701 1262.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 61.51 nil 0 0 0.00

Iridium_during_connect 22 160 88.78 nil 0 0 0.00

Iridium_during_xfer 120 223 659.43

Transponder_ping 0 420 2.58

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.75

TT8 530 19 112.41

LPSleep 1507 2 35.34

TT8_Active 359 19 76.24

TT8_Sampling 625 39 266.17

TT8_CF8 296 45 145.44

TT8_Kalman 32 81 28.30

Analog_circuits 683 12 87.73

GPS_charging 0 0 0.00

Compass 636 8 54.45

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

23 -0.77 -146.6 0.0 0.0 0 101 0.00 0.00 -74.20 0.000 6 0.000 0.000 14 2250 3399

105 -0.77 -146.6 3.5 -3.5 14 123 10.23 3.00 0.00 0.000 4 0.207 0.050 2555 3999 3402

208 -0.77 -146.6 15.4 -7.2 32 215 0.00 2.85 0.00 0.000 6 0.000 0.029 2555 2239 3403

283 -0.77 -146.6 20.3 -6.5 45 285 0.00 0.00 0.00 0.000 6 0.000 0.000 2555 2239 3404

474 -0.77 -146.6 32.7 -6.7 63 479 0.00 2.88 0.00 0.000 4 0.000 0.045 2555 493 3404

514 -0.77 -146.6 35.4 -6.7 66 519 0.00 2.88 0.00 0.000 6 0.000 0.038 2554 2252 3404

711 -0.77 -146.6 48.0 -6.6 84 713 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2252 3404

902 -0.77 -146.6 60.7 -6.7 102 904 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2252 3404

1221 -0.77 -146.6 81.4 -6.4 132 1226 0.00 2.92 0.00 0.000 4 0.000 0.056 2544 4003 3405

1249 -0.77 -146.6 83.3 -7.1 134 1254 0.00 2.80 0.00 0.000 6 0.000 0.029 2544 2244 3405

1433 end dive: TARGET_DEPTH_EXCEEDED

state 1433 begin apogee

1440 -0.28 0.0 95.1 6.2 151 1557 0.55 0.00 111.12 0.760 6 0.110 0.000 2722 2139 2799

1557 end apogee: CONTROL_FINISHED_OK

state 1558 begin climb

1560 0.77 146.6 97.6 0.0 163 1678 1.02 0.00 110.68 0.705 6 0.079 0.000 3058 2138 2201

1996 0.77 146.6 69.1 7.0 205 2001 0.00 3.03 0.00 0.000 4 0.000 0.054 3058 3909 2198

2039 0.77 146.6 65.5 8.4 208 2046 0.00 2.85 0.00 0.000 6 0.000 0.033 3069 2173 2198

2368 0.77 146.6 40.3 7.8 239 2374 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 2173 2198

2566 0.77 146.6 25.5 7.1 258 2570 0.00 2.95 0.00 0.000 4 0.000 0.050 3071 391 2198

2594 0.77 146.6 23.5 7.1 260 2598 0.00 2.88 0.00 0.000 6 0.000 0.037 3071 2155 2198

2801 0.77 146.6 9.2 6.7 292 2807 0.00 0.00 0.00 0.000 6 0.000 0.000 3071 2155 2198

2876 0.77 146.6 4.2 6.7 305 2882 0.00 2.95 0.00 0.000 4 0.000 0.050 3081 378 2197

2900 0.77 146.6 2.4 6.7 309 2907 0.00 2.88 0.00 0.000 6 0.000 0.037 3081 2149 2198

2911 end climb: SURFACE_DEPTH_REACHED

state 2911 begin surface coast

2940 end surface coast: CONTROL_FINISHED_OK

state 2940 begin surface

ID	128	HD_C	5.8987e-05	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	323	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	50	ALTIM_FREQUENCY	13
D_TGT	95	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2250	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	4	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	37	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE3	35
T_DIVE	63	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	75	CALL_TRIES	5	VBD_MIN	204	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3580	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	C_VBD	2800	SMARTS	0
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS	15	VBD_TIMEOUT	360	COMPASS_DEVICE	33
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	100	T_GPS_CHARGE	-67129.984	VBD_PUMP_AD_RATE_APOGEE	3	RAFOS_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MIN	25	AH0_24V	150	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25
HD_A	0.0043390002	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.013382	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	004947,4807.921,-12224.080,12,2.2,31,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	8	TGT_RADIUS	200.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.109,-0.113
_SM_DEPTHo	1.08	KALMAN_X	-105.7,-64.8,-41.4,-430.0,-68.8
_SM_ANGLEo	-67.2	KALMAN_Y	-37.4,-20.6,33.8,569.5,-67.7
GPS2	005408,4807.953,-12224.073,9,2.0,14,18.3	MHEAD_RNG_PITCHd_Wd	117.7,6661,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	103

FINISH	0.4,1.024832	XPDR_PINGS	0
SM_CCo	2959,73.12,0.702,0,0,1576,300.00	ALTIM_BOTTOM_PING	70.4,50.1
SM_GC	1.12,0.00,0.00,73.12,0.000,0.000,0.702,15,2274,1576,-8.77,0.65,300.00	_24V_AH	24.6,33.250
IRIDIUM_FIX	4748.51,-12226.29,190907,040414	_10V_AH	10.7,16.569
TT8_MAMPS	0.026845	DATA_FILE_SIZE	16013,316
HUMID	1889	CFSIZE	260165632,248205312
INTERNAL_PRESSURE	9.20934	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.60	GPS	190907,014701,4807.669,-12223.820,30,1.1,41,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	207	103.93	SBE_CT	227	24	134.46
Roll_motor	35	62	53.72	SBE_O2	246	19	115.20
VBD_pump_during_apogee	221	760	4147.30	WL_BB2F	533	105	1377.18
VBD_pump_during_surface	73	701	1262.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	61.51	nil	0	0	0.00
Iridium_during_connect	22	160	88.78	nil	0	0	0.00
Iridium_during_xfer	120	223	659.43
Transponder_ping	0	420	2.58
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.75
TT8	530	19	112.41
LPSleep	1507	2	35.34
TT8_Active	359	19	76.24
TT8_Sampling	625	39	266.17
TT8_CF8	296	45	145.44
TT8_Kalman	32	81	28.30
Analog_circuits	683	12	87.73
GPS_charging	0	0	0.00
Compass	636	8	54.45
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
23	-0.77	-146.6	0.0	0.0	0	101	0.00	0.00	-74.20	0.000	6	0.000	0.000	14	2250	3399
105	-0.77	-146.6	3.5	-3.5	14	123	10.23	3.00	0.00	0.000	4	0.207	0.050	2555	3999	3402
208	-0.77	-146.6	15.4	-7.2	32	215	0.00	2.85	0.00	0.000	6	0.000	0.029	2555	2239	3403
283	-0.77	-146.6	20.3	-6.5	45	285	0.00	0.00	0.00	0.000	6	0.000	0.000	2555	2239	3404
474	-0.77	-146.6	32.7	-6.7	63	479	0.00	2.88	0.00	0.000	4	0.000	0.045	2555	493	3404
514	-0.77	-146.6	35.4	-6.7	66	519	0.00	2.88	0.00	0.000	6	0.000	0.038	2554	2252	3404
711	-0.77	-146.6	48.0	-6.6	84	713	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2252	3404
902	-0.77	-146.6	60.7	-6.7	102	904	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2252	3404
1221	-0.77	-146.6	81.4	-6.4	132	1226	0.00	2.92	0.00	0.000	4	0.000	0.056	2544	4003	3405
1249	-0.77	-146.6	83.3	-7.1	134	1254	0.00	2.80	0.00	0.000	6	0.000	0.029	2544	2244	3405
1433	end dive: TARGET_DEPTH_EXCEEDED
state	1433	begin apogee
1440	-0.28	0.0	95.1	6.2	151	1557	0.55	0.00	111.12	0.760	6	0.110	0.000	2722	2139	2799
1557	end apogee: CONTROL_FINISHED_OK
state	1558	begin climb
1560	0.77	146.6	97.6	0.0	163	1678	1.02	0.00	110.68	0.705	6	0.079	0.000	3058	2138	2201
1996	0.77	146.6	69.1	7.0	205	2001	0.00	3.03	0.00	0.000	4	0.000	0.054	3058	3909	2198
2039	0.77	146.6	65.5	8.4	208	2046	0.00	2.85	0.00	0.000	6	0.000	0.033	3069	2173	2198
2368	0.77	146.6	40.3	7.8	239	2374	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	2173	2198
2566	0.77	146.6	25.5	7.1	258	2570	0.00	2.95	0.00	0.000	4	0.000	0.050	3071	391	2198
2594	0.77	146.6	23.5	7.1	260	2598	0.00	2.88	0.00	0.000	6	0.000	0.037	3071	2155	2198
2801	0.77	146.6	9.2	6.7	292	2807	0.00	0.00	0.00	0.000	6	0.000	0.000	3071	2155	2198
2876	0.77	146.6	4.2	6.7	305	2882	0.00	2.95	0.00	0.000	4	0.000	0.050	3081	378	2197
2900	0.77	146.6	2.4	6.7	309	2907	0.00	2.88	0.00	0.000	6	0.000	0.037	3081	2149	2198
2911	end climb: SURFACE_DEPTH_REACHED
state	2911	begin surface coast
2940	end surface coast: CONTROL_FINISHED_OK
state	2940	begin surface