Glider dive log

PortSusan 21Jul08 * SG113 * Dive index * Mission links * Dive 36 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 113 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 280 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 36 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2112 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2112 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 520 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 44 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2620 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -21057.473 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 171 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2605 PRESSURE_YINT -26.366219 SEABIRD_T_G 0.004371644

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51398 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.0034169999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0095870001 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.059999999 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 520

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 18 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 171 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00135 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160825 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -26.366219 TGT_DEFAULT_LAT 21

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -21057.473

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2605 KALMAN_USE 2 ROLL_MIN 280 USE_BATHY -4

C_ROLL_CLIMB 2112 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2112 MASS 51398 R_PORT_OVSHOOT 44 VBD_BLEED_AD_RATE 8

C_VBD 2620 MAX_BUOY 150 R_STBD_OVSHOOT 33 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 36 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 005905,4806.137,-12222.215,6,2.1,25,18.3 TGT_NAME SIX

_CALLS 2 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.10 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 010544,4806.247,-12222.348,8,1.1,13,18.3 MHEAD_RNG_PITCHd_Wd 118.5,628,-17.9,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 107

Post-dive calculations and measurements:

FINISH 1.3,1.016858 XPDR_PINGS 1

SM_CCo 2317,89.80,0.706,0,0,500,520.04 _24V_AH 23.9,5.122

SM_GC 1.11,0.00,0.00,89.80,0.000,0.000,0.706,164,2093,500,-11.22,-0.57,520.04 _10V_AH 10.8,1.376

RAFOS_CLK 87 DATA_FILE_SIZE 12732,400

RAFOS_FIX 6727.419434,65947.898438,220708,161646,3,67,0.01 CAP_FILE_SIZE 38403,0

IRIDIUM_FIX 4748.51,-12220.12,171097,000023 CFSIZE 260165632,256229376

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1883 SOUNDSPEED 1482.6

INTERNAL_PRESSURE 8.7308 GPS 230708,014703,4806.178,-12222.192,10,1.3,10,18.3

TCM_TEMP 19.30

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 250 120.12 SBE_CT 279 24 160.21

Roll_motor 18 67 29.12 SBE_O2 276 19 125.37

VBD_pump_during_apogee 396 773 7317.73 nil 0 0 0.00

VBD_pump_during_surface 89 705 1514.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 133.60 nil 0 0 0.00

Iridium_during_connect 125 160 479.22 nil 0 0 0.00

Iridium_during_xfer 78 223 417.28

Transponder_ping 0 420 2.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 8.10

TT8 577 19 124.31

LPSleep 826 2 20.63

TT8_Active 507 19 109.13

TT8_Sampling 606 39 261.63

TT8_CF8 305 45 151.39

TT8_Kalman 0 0 0.00

Analog_circuits 887 12 114.97

GPS_charging 0 0 0.00

Compass 596 8 51.51

RAFOS 0 1 0.00

Transponder 0 30 0.17

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.19 -146.6 0.0 0.0 0 81 0.00 0.00 -63.78 0.000 2 0.000 0.000 167 2093 2163

83 -1.19 -146.6 3.2 -6.3 11 131 8.75 2.33 -30.60 0.000 4 0.250 0.067 2344 3516 3220

261 -1.05 -146.6 29.4 -16.9 42 267 0.12 2.15 0.00 0.000 6 0.180 0.033 2375 2098 3222

402 -1.05 -146.6 50.6 -15.3 67 407 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2097 3224

609 -1.05 -146.6 80.3 -14.1 104 614 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2097 3225

809 end dive: TARGET_DEPTH_EXCEEDED

state 809 begin apogee

813 -0.28 0.0 107.7 13.2 140 929 0.50 0.00 111.78 0.773 6 0.145 0.000 2538 2096 2619

930 end apogee: CONTROL_FINISHED_OK

state 930 begin climb

931 1.19 146.6 112.7 0.0 160 1048 1.00 0.00 111.05 0.736 6 0.103 0.000 2863 2095 2021

1250 0.83 146.6 87.2 10.1 216 1257 0.25 2.30 0.00 0.000 4 0.156 0.051 2790 3530 2021

1415 0.80 212.1 74.6 6.9 245 1474 0.00 2.17 49.45 0.752 6 0.000 0.035 2789 2110 1754

1676 1.04 274.8 56.9 7.1 291 1730 0.15 2.40 47.15 0.746 4 0.076 0.051 2845 3521 1498

1848 0.89 274.8 37.5 11.9 321 1855 0.17 2.15 0.00 0.000 6 0.150 0.037 2798 2144 1497

1991 1.20 340.1 26.4 6.9 346 2049 0.20 2.35 48.70 0.739 4 0.069 0.051 2881 3526 1233

2106 1.03 340.1 12.3 13.0 366 2113 0.20 2.10 0.00 0.000 6 0.143 0.037 2826 2193 1232

2249 1.71 471.7 3.8 3.8 391 2280 0.43 0.00 27.90 0.719 2 0.058 0.000 2990 2193 1085

2280 end climb: SURFACE_DEPTH_REACHED

state 2280 begin surface coast

2302 end surface coast: CONTROL_FINISHED_OK

state 2302 begin surface

ID	113	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	280	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	36	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2112	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2112	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	520	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	44	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2620	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-21057.473	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	171	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4022	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2605	PRESSURE_YINT	-26.366219	SEABIRD_T_G	0.004371644
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160825	SEABIRD_T_H	0.00064727472
MASS	51398	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6231954e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8174416e-06
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9426794
KALMAN_USE	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.0034169999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0095870001	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012778315
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.059999999	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	005905,4806.137,-12222.215,6,2.1,25,18.3	TGT_NAME	SIX
_CALLS	2	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.10	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	010544,4806.247,-12222.348,8,1.1,13,18.3	MHEAD_RNG_PITCHd_Wd	118.5,628,-17.9,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	107

FINISH	1.3,1.016858	XPDR_PINGS	1
SM_CCo	2317,89.80,0.706,0,0,500,520.04	_24V_AH	23.9,5.122
SM_GC	1.11,0.00,0.00,89.80,0.000,0.000,0.706,164,2093,500,-11.22,-0.57,520.04	_10V_AH	10.8,1.376
RAFOS_CLK	87	DATA_FILE_SIZE	12732,400
RAFOS_FIX	6727.419434,65947.898438,220708,161646,3,67,0.01	CAP_FILE_SIZE	38403,0
IRIDIUM_FIX	4748.51,-12220.12,171097,000023	CFSIZE	260165632,256229376
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1883	SOUNDSPEED	1482.6
INTERNAL_PRESSURE	8.7308	GPS	230708,014703,4806.178,-12222.192,10,1.3,10,18.3
TCM_TEMP	19.30

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	250	120.12	SBE_CT	279	24	160.21
Roll_motor	18	67	29.12	SBE_O2	276	19	125.37
VBD_pump_during_apogee	396	773	7317.73	nil	0	0	0.00
VBD_pump_during_surface	89	705	1514.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	133.60	nil	0	0	0.00
Iridium_during_connect	125	160	479.22	nil	0	0	0.00
Iridium_during_xfer	78	223	417.28
Transponder_ping	0	420	2.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	8.10
TT8	577	19	124.31
LPSleep	826	2	20.63
TT8_Active	507	19	109.13
TT8_Sampling	606	39	261.63
TT8_CF8	305	45	151.39
TT8_Kalman	0	0	0.00
Analog_circuits	887	12	114.97
GPS_charging	0	0	0.00
Compass	596	8	51.51
RAFOS	0	1	0.00
Transponder	0	30	0.17

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.19	-146.6	0.0	0.0	0	81	0.00	0.00	-63.78	0.000	2	0.000	0.000	167	2093	2163
83	-1.19	-146.6	3.2	-6.3	11	131	8.75	2.33	-30.60	0.000	4	0.250	0.067	2344	3516	3220
261	-1.05	-146.6	29.4	-16.9	42	267	0.12	2.15	0.00	0.000	6	0.180	0.033	2375	2098	3222
402	-1.05	-146.6	50.6	-15.3	67	407	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2097	3224
609	-1.05	-146.6	80.3	-14.1	104	614	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2097	3225
809	end dive: TARGET_DEPTH_EXCEEDED
state	809	begin apogee
813	-0.28	0.0	107.7	13.2	140	929	0.50	0.00	111.78	0.773	6	0.145	0.000	2538	2096	2619
930	end apogee: CONTROL_FINISHED_OK
state	930	begin climb
931	1.19	146.6	112.7	0.0	160	1048	1.00	0.00	111.05	0.736	6	0.103	0.000	2863	2095	2021
1250	0.83	146.6	87.2	10.1	216	1257	0.25	2.30	0.00	0.000	4	0.156	0.051	2790	3530	2021
1415	0.80	212.1	74.6	6.9	245	1474	0.00	2.17	49.45	0.752	6	0.000	0.035	2789	2110	1754
1676	1.04	274.8	56.9	7.1	291	1730	0.15	2.40	47.15	0.746	4	0.076	0.051	2845	3521	1498
1848	0.89	274.8	37.5	11.9	321	1855	0.17	2.15	0.00	0.000	6	0.150	0.037	2798	2144	1497
1991	1.20	340.1	26.4	6.9	346	2049	0.20	2.35	48.70	0.739	4	0.069	0.051	2881	3526	1233
2106	1.03	340.1	12.3	13.0	366	2113	0.20	2.10	0.00	0.000	6	0.143	0.037	2826	2193	1232
2249	1.71	471.7	3.8	3.8	391	2280	0.43	0.00	27.90	0.719	2	0.058	0.000	2990	2193	1085
2280	end climb: SURFACE_DEPTH_REACHED
state	2280	begin surface coast
2302	end surface coast: CONTROL_FINISHED_OK
state	2302	begin surface