Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 368 * 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 368 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 40 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 41 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 65 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 80 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 -68097.281 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 65

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 -68097.281

CALL_WAIT 60 HD_C 5.8987e-05 ROLL_ADJ_DBAND 0 T_MISSION 80

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 40 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 41 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 368 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 203031,4807.918,-12223.946,32,1.7,37,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.049,-0.032

_SM_DEPTHo 0.97 KALMAN_X -4048.2,-336.5,-26.3,3893.0,21.8

_SM_ANGLEo -61.5 KALMAN_Y -5284.3,599.8,45.1,5159.0,-188.5

GPS2 203426,4807.939,-12223.974,8,1.2,13,18.3 MHEAD_RNG_PITCHd_Wd 105.2,6571,-36.7,-4.872

SPEED_LIMITS 0.049,0.059 D_GRID 103

Post-dive calculations and measurements:

SM_CCo 3002,302.25,0.651,0,0,203,636.80 ALTIM_BOTTOM_PING 70.3,39.2

SM_GC 1.09,10.18,0.00,0.00,0.042,0.000,0.000,5,2239,194,-8.71,-0.31,639.25 _24V_AH 25.1,36.364

IRIDIUM_FIX 4748.51,-12226.29,200907,232339 _10V_AH 10.8,18.439

TT8_MAMPS 0.026078 DATA_FILE_SIZE 16020,346

HUMID 1884 CFSIZE 260165632,247005184

INTERNAL_PRESSURE 9.11168 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 200907,213344,4807.909,-12223.905,9,1.6,26,18.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 207 120.65 SBE_CT 244 24 146.99

Roll_motor 36 61 56.06 SBE_O2 269 19 128.75

VBD_pump_during_apogee 63 855 1370.20 WL_BB2F 583 105 1538.82

VBD_pump_during_surface 302 651 4940.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 57.74 nil 0 0 0.00

Iridium_during_connect 20 160 82.13 nil 0 0 0.00

Iridium_during_xfer 91 223 512.40

Transponder_ping 0 420 5.27

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.36

TT8 614 19 131.30

LPSleep 1620 2 38.32

TT8_Active 482 19 103.14

TT8_Sampling 691 39 297.43

TT8_CF8 282 45 139.75

TT8_Kalman 33 81 29.44

Analog_circuits 823 12 106.68

GPS_charging 0 0 0.00

Compass 706 8 61.04

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 -2.06 -16.1 0.0 0.0 0 136 0.00 0.00 -107.53 0.000 6 0.000 0.000 21 2249 2867

140 -2.08 -35.1 1.7 -1.0 20 159 8.50 2.40 -2.60 0.000 4 0.208 0.061 2136 3664 2944

210 -2.08 -35.1 7.7 -8.6 32 217 0.00 2.30 0.00 0.000 6 0.000 0.029 2136 2240 2945

286 -2.08 -35.1 12.1 -5.0 45 292 0.00 2.25 0.00 0.000 4 0.000 0.039 2136 844 2945

361 -2.08 -36.8 15.5 -4.5 58 368 0.00 2.30 0.00 0.000 6 0.000 0.035 2126 2262 2946

437 -2.09 -39.6 18.7 -4.3 71 443 0.00 0.00 -0.22 0.000 6 0.000 0.000 2127 2263 2963

509 -2.09 -39.9 22.2 -4.8 80 513 0.00 2.30 0.00 0.000 4 0.000 0.048 2116 3664 2964

538 -2.09 -39.9 24.0 -6.3 82 543 0.12 2.25 0.00 0.000 6 0.184 0.028 2142 2230 2964

736 -2.09 -39.9 34.6 -5.1 100 737 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2229 2964

927 -2.09 -39.9 44.8 -5.3 118 928 0.00 0.00 0.00 0.000 6 0.000 0.000 2142 2229 2964

1118 -2.09 -39.9 55.1 -5.8 136 1122 0.00 2.17 0.00 0.000 4 0.000 0.040 2142 862 2964

1207 -2.09 -39.9 60.1 -5.6 143 1214 0.00 2.25 0.00 0.000 6 0.000 0.036 2134 2247 2964

1534 -2.09 -40.1 76.8 -4.8 174 1538 0.00 2.22 0.00 0.000 4 0.000 0.039 2134 862 2964

1545 -2.09 -40.4 77.6 -4.8 174 1552 0.00 2.25 0.00 0.000 6 0.000 0.036 2125 2249 2964

1872 -2.09 -40.4 95.0 -5.3 205 1876 0.00 2.17 0.00 0.000 3 0.000 0.049 2115 3590 2964

1877 end dive: TARGET_DEPTH_EXCEEDED

state 1877 begin apogee

1885 -0.28 0.0 95.3 5.1 205 1922 2.12 0.00 32.40 0.856 6 0.164 0.000 2726 2154 2800

1923 end apogee: CONTROL_FINISHED_OK

state 1923 begin climb

1926 2.09 40.4 96.2 0.0 209 1969 2.20 2.40 31.38 0.710 4 0.075 0.044 3500 750 2634

2026 2.09 40.4 86.5 13.1 218 2031 0.00 2.30 0.00 0.000 6 0.000 0.035 3500 2155 2634

2359 2.09 40.4 42.7 12.3 249 2360 0.00 0.00 0.00 0.000 6 0.000 0.000 3500 2155 2633

2548 2.09 40.4 20.6 10.9 267 2549 0.00 0.00 0.00 0.000 6 0.000 0.000 3500 2155 2633

2752 2.09 40.4 2.5 5.5 302 2758 0.00 2.30 0.00 0.000 4 0.000 0.048 3500 3558 2633

2998 end climb: NO_VERTICAL_VELOCITY

state 2998 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	368	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	40	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	41	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	65	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	80	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	-68097.281	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	203031,4807.918,-12223.946,32,1.7,37,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.049,-0.032
_SM_DEPTHo	0.97	KALMAN_X	-4048.2,-336.5,-26.3,3893.0,21.8
_SM_ANGLEo	-61.5	KALMAN_Y	-5284.3,599.8,45.1,5159.0,-188.5
GPS2	203426,4807.939,-12223.974,8,1.2,13,18.3	MHEAD_RNG_PITCHd_Wd	105.2,6571,-36.7,-4.872
SPEED_LIMITS	0.049,0.059	D_GRID	103

SM_CCo	3002,302.25,0.651,0,0,203,636.80	ALTIM_BOTTOM_PING	70.3,39.2
SM_GC	1.09,10.18,0.00,0.00,0.042,0.000,0.000,5,2239,194,-8.71,-0.31,639.25	_24V_AH	25.1,36.364
IRIDIUM_FIX	4748.51,-12226.29,200907,232339	_10V_AH	10.8,18.439
TT8_MAMPS	0.026078	DATA_FILE_SIZE	16020,346
HUMID	1884	CFSIZE	260165632,247005184
INTERNAL_PRESSURE	9.11168	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	200907,213344,4807.909,-12223.905,9,1.6,26,18.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	207	120.65	SBE_CT	244	24	146.99
Roll_motor	36	61	56.06	SBE_O2	269	19	128.75
VBD_pump_during_apogee	63	855	1370.20	WL_BB2F	583	105	1538.82
VBD_pump_during_surface	302	651	4940.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	57.74	nil	0	0	0.00
Iridium_during_connect	20	160	82.13	nil	0	0	0.00
Iridium_during_xfer	91	223	512.40
Transponder_ping	0	420	5.27
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.36
TT8	614	19	131.30
LPSleep	1620	2	38.32
TT8_Active	482	19	103.14
TT8_Sampling	691	39	297.43
TT8_CF8	282	45	139.75
TT8_Kalman	33	81	29.44
Analog_circuits	823	12	106.68
GPS_charging	0	0	0.00
Compass	706	8	61.04
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	-2.06	-16.1	0.0	0.0	0	136	0.00	0.00	-107.53	0.000	6	0.000	0.000	21	2249	2867
140	-2.08	-35.1	1.7	-1.0	20	159	8.50	2.40	-2.60	0.000	4	0.208	0.061	2136	3664	2944
210	-2.08	-35.1	7.7	-8.6	32	217	0.00	2.30	0.00	0.000	6	0.000	0.029	2136	2240	2945
286	-2.08	-35.1	12.1	-5.0	45	292	0.00	2.25	0.00	0.000	4	0.000	0.039	2136	844	2945
361	-2.08	-36.8	15.5	-4.5	58	368	0.00	2.30	0.00	0.000	6	0.000	0.035	2126	2262	2946
437	-2.09	-39.6	18.7	-4.3	71	443	0.00	0.00	-0.22	0.000	6	0.000	0.000	2127	2263	2963
509	-2.09	-39.9	22.2	-4.8	80	513	0.00	2.30	0.00	0.000	4	0.000	0.048	2116	3664	2964
538	-2.09	-39.9	24.0	-6.3	82	543	0.12	2.25	0.00	0.000	6	0.184	0.028	2142	2230	2964
736	-2.09	-39.9	34.6	-5.1	100	737	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2229	2964
927	-2.09	-39.9	44.8	-5.3	118	928	0.00	0.00	0.00	0.000	6	0.000	0.000	2142	2229	2964
1118	-2.09	-39.9	55.1	-5.8	136	1122	0.00	2.17	0.00	0.000	4	0.000	0.040	2142	862	2964
1207	-2.09	-39.9	60.1	-5.6	143	1214	0.00	2.25	0.00	0.000	6	0.000	0.036	2134	2247	2964
1534	-2.09	-40.1	76.8	-4.8	174	1538	0.00	2.22	0.00	0.000	4	0.000	0.039	2134	862	2964
1545	-2.09	-40.4	77.6	-4.8	174	1552	0.00	2.25	0.00	0.000	6	0.000	0.036	2125	2249	2964
1872	-2.09	-40.4	95.0	-5.3	205	1876	0.00	2.17	0.00	0.000	3	0.000	0.049	2115	3590	2964
1877	end dive: TARGET_DEPTH_EXCEEDED
state	1877	begin apogee
1885	-0.28	0.0	95.3	5.1	205	1922	2.12	0.00	32.40	0.856	6	0.164	0.000	2726	2154	2800
1923	end apogee: CONTROL_FINISHED_OK
state	1923	begin climb
1926	2.09	40.4	96.2	0.0	209	1969	2.20	2.40	31.38	0.710	4	0.075	0.044	3500	750	2634
2026	2.09	40.4	86.5	13.1	218	2031	0.00	2.30	0.00	0.000	6	0.000	0.035	3500	2155	2634
2359	2.09	40.4	42.7	12.3	249	2360	0.00	0.00	0.00	0.000	6	0.000	0.000	3500	2155	2633
2548	2.09	40.4	20.6	10.9	267	2549	0.00	0.00	0.00	0.000	6	0.000	0.000	3500	2155	2633
2752	2.09	40.4	2.5	5.5	302	2758	0.00	2.30	0.00	0.000	4	0.000	0.048	3500	3558	2633
2998	end climb: NO_VERTICAL_VELOCITY
state	2998	begin surface