Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 351 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 351 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 243 ALTIM_PING_DEPTH 0

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 40 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY -1 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -25169.59 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

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 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 25 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 5 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 95 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 -7.1405377 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 25 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 40

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 -25169.59

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2150 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 28 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 36 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 351 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 210535,4745.167,-12249.817,9,2.7,28,18.3 TGT_NAME FIVE_A

_CALLS 3 TGT_LATLONG 4745.086,-12249.815

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.060,-0.192

_SM_DEPTHo 0.36 KALMAN_X 38108.6,151.1,89.9,-34615.7,98.0

_SM_ANGLEo -53.8 KALMAN_Y 22655.5,296.9,178.0,-12717.1,264.7

GPS2 212021,4745.417,-12249.701,13,1.0,13,18.3 MHEAD_RNG_PITCHd_Wd 179.0,629,-18.4,-7.917

SPEED_LIMITS 0.170,0.201 D_GRID 173

Post-dive calculations and measurements:

FINISH 0.8,1.022759 XPDR_PINGS 1

SM_CCo 2572,141.20,0.584,0,0,1367,450.13 ALTIM_BOTTOM_PING 70.1,999.0

SM_GC 0.40,0.00,0.00,141.20,0.000,0.000,0.584,411,2182,1367,-11.45,-0.51,450.13 _24V_AH 23.5,48.404

IRIDIUM_FIX 4729.30,-12249.89,071007,010138 _10V_AH 10.1,32.135

TT8_MAMPS 0.071331 DATA_FILE_SIZE 6449,235

HUMID 2162 CFSIZE 260231168,246579200

INTERNAL_PRESSURE 7.94952 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 20.00 GPS 061007,220737,4745.284,-12249.697,9,1.4,25,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 198 138.42 SBE_CT 166 24 93.98

Roll_motor 29 108 76.12 nil 0 0 0.00

VBD_pump_during_apogee 184 804 3489.42 nil 0 0 0.00

VBD_pump_during_surface 141 584 1939.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 96 103 233.94 nil 0 0 0.00

Iridium_during_connect 91 160 344.47 ARS 0 23 0.00

Iridium_during_xfer 411 223 2157.51

Transponder_ping 0 420 4.93

Mmodem_TX 0 1000 0.00

Mmodem_RX 3728 6 560.69

GPS 15 50 7.84

TT8 439 19 87.94

LPSleep 1524 2 33.71

TT8_Active 444 19 88.81

TT8_Sampling 414 39 166.55

TT8_CF8 797 45 368.77

TT8_Kalman 33 81 27.55

Analog_circuits 696 12 84.41

GPS_charging 0 0 0.00

Compass 387 8 31.30

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

27 -1.54 -97.8 0.0 0.0 0 120 0.00 0.00 -90.15 0.000 2 0.000 0.000 411 2204 3258

126 -1.54 -97.8 2.1 -3.6 15 157 13.55 2.58 -8.60 0.000 4 0.199 0.071 2557 3588 3603

199 -1.54 -97.8 10.4 -6.6 26 205 0.00 2.40 0.00 0.000 6 0.000 0.035 2557 2198 3604

272 -1.54 -97.8 16.4 -8.9 37 277 0.00 0.00 0.00 0.000 6 0.000 0.000 2560 2198 3605

349 -1.54 -97.8 23.4 -8.9 46 350 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2198 3605

540 -1.54 -97.8 40.5 -9.1 61 541 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 2198 3605

731 -1.54 -97.8 57.9 -9.2 76 732 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2198 3605

918 -1.54 -97.8 74.8 -9.2 91 920 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2198 3605

1107 -1.54 -97.8 91.8 -9.1 106 1109 0.00 0.00 0.00 0.000 6 0.000 0.000 2557 2198 3606

1140 end dive: TARGET_DEPTH_EXCEEDED

state 1140 begin apogee

1148 -0.38 0.0 95.2 8.9 109 1229 1.27 0.00 77.68 0.676 6 0.105 0.000 2809 2139 3202

1230 end apogee: CONTROL_FINISHED_OK

state 1230 begin climb

1233 1.54 97.8 97.7 0.0 116 1315 1.98 0.00 76.38 0.654 6 0.065 0.000 3233 2139 2803

1502 1.56 118.6 83.8 6.8 138 1527 0.00 2.62 15.62 0.682 4 0.000 0.055 3232 3533 2717

1585 1.57 122.0 77.4 7.7 144 1593 0.00 2.40 2.33 0.770 6 0.000 0.036 3233 2162 2704

1782 1.58 129.6 62.2 7.5 160 1795 0.00 2.53 5.90 0.716 4 0.000 0.056 3233 3542 2673

1848 1.58 129.6 56.5 8.7 165 1852 0.00 2.45 0.00 0.000 6 0.000 0.037 3233 2144 2672

2043 1.58 129.6 40.8 7.9 180 2048 0.00 2.55 0.00 0.000 4 0.000 0.055 3233 3550 2672

2076 1.58 129.6 38.0 8.4 182 2081 0.00 2.42 0.00 0.000 6 0.000 0.036 3233 2148 2671

2272 1.58 132.1 22.1 7.8 197 2279 0.00 2.60 1.55 0.805 4 0.000 0.055 3233 3542 2663

2319 1.58 132.1 18.1 8.8 201 2325 0.00 2.42 0.00 0.000 6 0.000 0.036 3233 2150 2663

2392 1.59 139.0 12.2 7.5 212 2403 0.00 0.00 5.10 0.722 6 0.000 0.000 3233 2149 2635

2469 1.59 139.0 5.3 8.7 224 2475 0.00 2.55 0.00 0.000 4 0.000 0.057 3233 3547 2635

2479 end climb: SURFACE_DEPTH_REACHED

state 2479 begin surface coast

2542 end surface coast: CONTROL_FINISHED_OK

state 2543 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	351	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	243	ALTIM_PING_DEPTH	0
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	40	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-1	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-25169.59	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
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	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	25	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	210535,4745.167,-12249.817,9,2.7,28,18.3	TGT_NAME	FIVE_A
_CALLS	3	TGT_LATLONG	4745.086,-12249.815
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.060,-0.192
_SM_DEPTHo	0.36	KALMAN_X	38108.6,151.1,89.9,-34615.7,98.0
_SM_ANGLEo	-53.8	KALMAN_Y	22655.5,296.9,178.0,-12717.1,264.7
GPS2	212021,4745.417,-12249.701,13,1.0,13,18.3	MHEAD_RNG_PITCHd_Wd	179.0,629,-18.4,-7.917
SPEED_LIMITS	0.170,0.201	D_GRID	173

FINISH	0.8,1.022759	XPDR_PINGS	1
SM_CCo	2572,141.20,0.584,0,0,1367,450.13	ALTIM_BOTTOM_PING	70.1,999.0
SM_GC	0.40,0.00,0.00,141.20,0.000,0.000,0.584,411,2182,1367,-11.45,-0.51,450.13	_24V_AH	23.5,48.404
IRIDIUM_FIX	4729.30,-12249.89,071007,010138	_10V_AH	10.1,32.135
TT8_MAMPS	0.071331	DATA_FILE_SIZE	6449,235
HUMID	2162	CFSIZE	260231168,246579200
INTERNAL_PRESSURE	7.94952	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	20.00	GPS	061007,220737,4745.284,-12249.697,9,1.4,25,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	198	138.42	SBE_CT	166	24	93.98
Roll_motor	29	108	76.12	nil	0	0	0.00
VBD_pump_during_apogee	184	804	3489.42	nil	0	0	0.00
VBD_pump_during_surface	141	584	1939.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	96	103	233.94	nil	0	0	0.00
Iridium_during_connect	91	160	344.47	ARS	0	23	0.00
Iridium_during_xfer	411	223	2157.51
Transponder_ping	0	420	4.93
Mmodem_TX	0	1000	0.00
Mmodem_RX	3728	6	560.69
GPS	15	50	7.84
TT8	439	19	87.94
LPSleep	1524	2	33.71
TT8_Active	444	19	88.81
TT8_Sampling	414	39	166.55
TT8_CF8	797	45	368.77
TT8_Kalman	33	81	27.55
Analog_circuits	696	12	84.41
GPS_charging	0	0	0.00
Compass	387	8	31.30
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
27	-1.54	-97.8	0.0	0.0	0	120	0.00	0.00	-90.15	0.000	2	0.000	0.000	411	2204	3258
126	-1.54	-97.8	2.1	-3.6	15	157	13.55	2.58	-8.60	0.000	4	0.199	0.071	2557	3588	3603
199	-1.54	-97.8	10.4	-6.6	26	205	0.00	2.40	0.00	0.000	6	0.000	0.035	2557	2198	3604
272	-1.54	-97.8	16.4	-8.9	37	277	0.00	0.00	0.00	0.000	6	0.000	0.000	2560	2198	3605
349	-1.54	-97.8	23.4	-8.9	46	350	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2198	3605
540	-1.54	-97.8	40.5	-9.1	61	541	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	2198	3605
731	-1.54	-97.8	57.9	-9.2	76	732	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2198	3605
918	-1.54	-97.8	74.8	-9.2	91	920	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2198	3605
1107	-1.54	-97.8	91.8	-9.1	106	1109	0.00	0.00	0.00	0.000	6	0.000	0.000	2557	2198	3606
1140	end dive: TARGET_DEPTH_EXCEEDED
state	1140	begin apogee
1148	-0.38	0.0	95.2	8.9	109	1229	1.27	0.00	77.68	0.676	6	0.105	0.000	2809	2139	3202
1230	end apogee: CONTROL_FINISHED_OK
state	1230	begin climb
1233	1.54	97.8	97.7	0.0	116	1315	1.98	0.00	76.38	0.654	6	0.065	0.000	3233	2139	2803
1502	1.56	118.6	83.8	6.8	138	1527	0.00	2.62	15.62	0.682	4	0.000	0.055	3232	3533	2717
1585	1.57	122.0	77.4	7.7	144	1593	0.00	2.40	2.33	0.770	6	0.000	0.036	3233	2162	2704
1782	1.58	129.6	62.2	7.5	160	1795	0.00	2.53	5.90	0.716	4	0.000	0.056	3233	3542	2673
1848	1.58	129.6	56.5	8.7	165	1852	0.00	2.45	0.00	0.000	6	0.000	0.037	3233	2144	2672
2043	1.58	129.6	40.8	7.9	180	2048	0.00	2.55	0.00	0.000	4	0.000	0.055	3233	3550	2672
2076	1.58	129.6	38.0	8.4	182	2081	0.00	2.42	0.00	0.000	6	0.000	0.036	3233	2148	2671
2272	1.58	132.1	22.1	7.8	197	2279	0.00	2.60	1.55	0.805	4	0.000	0.055	3233	3542	2663
2319	1.58	132.1	18.1	8.8	201	2325	0.00	2.42	0.00	0.000	6	0.000	0.036	3233	2150	2663
2392	1.59	139.0	12.2	7.5	212	2403	0.00	0.00	5.10	0.722	6	0.000	0.000	3233	2149	2635
2469	1.59	139.0	5.3	8.7	224	2475	0.00	2.55	0.00	0.000	4	0.000	0.057	3233	3547	2635
2479	end climb: SURFACE_DEPTH_REACHED
state	2479	begin surface coast
2542	end surface coast: CONTROL_FINISHED_OK
state	2543	begin surface