Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 40 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING 270 ROLL_MIN 236 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3800 ALTIM_TOP_TURN_MARGIN 0

DIVE 40 ESCAPE_HEADING_DELTA 10 ROLL_DEG 35 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2100 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2000 ALTIM_PING_DELTA 10

D_TGT 200 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 200 SM_CC 350 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 24 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 35 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0.69999999

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 2 VBD_MIN 470 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 54 CALL_TRIES 5 C_VBD 3150 DEVICE2 20

T_MISSION 75 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 83

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 300 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -1 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -24431.986 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH -7 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 200 PITCH_MIN 155 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3970 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2850 FG_AHR_24V 0 SEABIRD_T_G 0.0043543768

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006249955

RHO 1.023 PITCH_CNV 0.003125763 PRESSURE_YINT -61.597298 SEABIRD_T_I 2.3401506e-05

MASS 52000 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_J 2.4672308e-06

NAV_MODE 0 PITCH_GAIN 24 AD7714Ch0Gain 128 SEABIRD_C_G -9.9855604

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1126566

KALMAN_USE 2 PITCH_AD_RATE 165 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0021479612

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002479906

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 200 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_TGT 200 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 24 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3970 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 155 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001138132 T_DIVE 54

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -61.597298 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -24431.986

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 75

CF8_MAXERRORS 20 HEADING 270 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH -7 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 187 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2850 INT_PRESSURE_YINT 0.69999999 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2000 KALMAN_USE 2 ROLL_DEG 35 USE_BATHY -1

C_ROLL_DIVE 2100 KERMIT 0 ROLL_MAX 3800 USE_ICE 0

C_VBD 3150 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 236 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52000 R_PORT_OVSHOOT 24 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 200 R_STBD_OVSHOOT 35 VBD_MAXERRORS 1

DEVICE3 83 MINV_10V 8 SEABIRD_C_G -9.9855604 VBD_MIN 470

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1126566 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 2 SEABIRD_C_I -0.0021479612 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002479906 VBD_TIMEOUT 720

DIVE 40 NAV_MODE 0 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 4 SEABIRD_T_H 0.0006249955 XPDR_INHIBIT 90

D_BOOST 4 N_GPS 20 SEABIRD_T_I 2.3401506e-05 XPDR_VALID 1

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4672308e-06

D_FINISH 5 N_NOSURFACE 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 174525,4749.944,-12500.944,14,1.4,14,18.7 TGT_NAME HEADING

_CALLS 2 TGT_LATLONG 4749.883,-12517.024

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.04 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 175238,4749.883,-12500.938,13,1.3,13,18.7 MHEAD_RNG_PITCHd_Wd 251.3,20000,-18.1,-12.346

SPEED_LIMITS 0.214,0.317 D_GRID 107

Post-dive calculations and measurements:

FINISH1 4.6,1.023656,-33 _10V_AH 10.4,3.224

FINISH2 5.0 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4732.49,-12507.66,111099,171721 FG_AHR_10Vo 0.000

TT8_MAMPS 0.05369 MEM 298620

HUMID 37.55 DATA_FILE_SIZE 19216,345

INTERNAL_PRESSURE 9.16712 CAP_FILE_SIZE 39264,0

TCM_TEMP 16.30 CFSIZE 260165632,255778816

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

_24V_AH 24.1,5.876 GPS 170710,175238,4749.883,-12500.938,13,1.3,13,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 250 80.54 SBE_CT 231 24 133.93

Roll_motor 16 85 33.38 SBE_O2 246 19 113.08

VBD_pump_during_apogee 461 627 6973.57 WL_BBFL2VMT 667 105 1687.89

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 144.07 nil 0 0 0.00

Iridium_during_connect 110 160 424.58 nil 0 0 0.00

Iridium_during_xfer 144 223 776.60

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 6.94

TT8 0 19 0.00

LPSleep 795 2 18.12

TT8_Active 422 19 87.10

TT8_Sampling 913 39 378.08

TT8_CF8 363 45 173.19

TT8_Kalman 0 0 0.00

Analog_circuits 834 12 104.13

GPS_charging 0 0 0.00

Compass 803 8 66.82

RAFOS 0 0 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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

9 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11 -0.99 -195.5 0.0 0.0 0 86 0.00 0.00 -72.82 0.000 2 0.000 0.000 131 2123 3295 0 0 0 0 0 0

87 -0.99 -195.5 3.9 -9.4 14 114 9.88 1.92 -11.77 0.000 4 0.251 0.080 2515 3323 3947 0 0 0 0 0 0

134 -0.54 -195.5 22.2 -30.7 23 141 0.50 1.95 0.00 0.000 6 0.154 0.050 2665 2098 3950 0 0 0 0 0 0

461 -0.54 -195.5 71.3 -14.2 84 467 0.00 1.92 0.00 0.000 4 0.000 0.057 2665 872 3951 0 0 0 0 0 0

493 -0.67 -195.5 75.4 -12.4 90 499 0.00 1.92 0.00 0.000 6 0.000 0.056 2664 2086 3951 0 0 0 0 0 0

788 end dive: TARGET_DEPTH_EXCEEDED

state 789 begin apogee

791 -0.21 0.0 107.9 10.4 139 946 0.38 0.00 151.75 0.627 6 0.121 0.000 2785 1979 3150 0 0 0 0 0 0

946 end apogee: CONTROL_FINISHED_OK

state 946 begin climb

947 0.99 195.5 114.5 0.0 154 1109 1.12 2.17 155.25 0.605 4 0.085 0.058 3163 3245 2352 0 0 0 0 0 0

1349 0.56 195.5 64.2 18.5 211 1356 0.45 2.00 0.00 0.000 6 0.163 0.051 3038 2003 2346 0 0 0 0 0 0

1676 0.75 317.1 36.7 7.2 272 1780 0.15 2.08 95.10 0.580 4 0.086 0.060 3104 3234 1855 0 0 0 0 0 0

1939 0.85 400.1 9.6 8.8 322 2003 0.00 2.00 59.10 0.558 2 0.000 0.052 3111 1999 1553 0 0 0 0 0 0

2003 end climb: FINISH_DEPTH_REACHED

state 2003 begin subsurface finish

2006 -0.04 -32.6 4.6 -9.0 334 2063 0.85 0.00 -51.25 0.000 6 0.116 0.000 2842 1997 3283 0 0 0 0 0 0

2063 end subsurface finish: CONTROL_FINISHED_OK

state 2063 begin surface

ID	187	HEADING	270	ROLL_MIN	236	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3800	ALTIM_TOP_TURN_MARGIN	0
DIVE	40	ESCAPE_HEADING_DELTA	10	ROLL_DEG	35	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2100	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2000	ALTIM_PING_DELTA	10
D_TGT	200	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	200	SM_CC	350	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	24	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	35	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0.69999999
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	2	VBD_MIN	470	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	54	CALL_TRIES	5	C_VBD	3150	DEVICE2	20
T_MISSION	75	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	83
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	300	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-1	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-24431.986	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	-7	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	200	PITCH_MIN	155	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3970	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2850	FG_AHR_24V	0	SEABIRD_T_G	0.0043543768
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006249955
RHO	1.023	PITCH_CNV	0.003125763	PRESSURE_YINT	-61.597298	SEABIRD_T_I	2.3401506e-05
MASS	52000	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_J	2.4672308e-06
NAV_MODE	0	PITCH_GAIN	24	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9855604
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1126566
KALMAN_USE	2	PITCH_AD_RATE	165	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0021479612
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002479906
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	174525,4749.944,-12500.944,14,1.4,14,18.7	TGT_NAME	HEADING
_CALLS	2	TGT_LATLONG	4749.883,-12517.024
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.04	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	175238,4749.883,-12500.938,13,1.3,13,18.7	MHEAD_RNG_PITCHd_Wd	251.3,20000,-18.1,-12.346
SPEED_LIMITS	0.214,0.317	D_GRID	107

FINISH1	4.6,1.023656,-33	_10V_AH	10.4,3.224
FINISH2	5.0	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4732.49,-12507.66,111099,171721	FG_AHR_10Vo	0.000
TT8_MAMPS	0.05369	MEM	298620
HUMID	37.55	DATA_FILE_SIZE	19216,345
INTERNAL_PRESSURE	9.16712	CAP_FILE_SIZE	39264,0
TCM_TEMP	16.30	CFSIZE	260165632,255778816
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	24.1,5.876	GPS	170710,175238,4749.883,-12500.938,13,1.3,13,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	250	80.54	SBE_CT	231	24	133.93
Roll_motor	16	85	33.38	SBE_O2	246	19	113.08
VBD_pump_during_apogee	461	627	6973.57	WL_BBFL2VMT	667	105	1687.89
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	144.07	nil	0	0	0.00
Iridium_during_connect	110	160	424.58	nil	0	0	0.00
Iridium_during_xfer	144	223	776.60
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	6.94
TT8	0	19	0.00
LPSleep	795	2	18.12
TT8_Active	422	19	87.10
TT8_Sampling	913	39	378.08
TT8_CF8	363	45	173.19
TT8_Kalman	0	0	0.00
Analog_circuits	834	12	104.13
GPS_charging	0	0	0.00
Compass	803	8	66.82
RAFOS	0	0	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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
9	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11	-0.99	-195.5	0.0	0.0	0	86	0.00	0.00	-72.82	0.000	2	0.000	0.000	131	2123	3295	0	0	0	0	0	0
87	-0.99	-195.5	3.9	-9.4	14	114	9.88	1.92	-11.77	0.000	4	0.251	0.080	2515	3323	3947	0	0	0	0	0	0
134	-0.54	-195.5	22.2	-30.7	23	141	0.50	1.95	0.00	0.000	6	0.154	0.050	2665	2098	3950	0	0	0	0	0	0
461	-0.54	-195.5	71.3	-14.2	84	467	0.00	1.92	0.00	0.000	4	0.000	0.057	2665	872	3951	0	0	0	0	0	0
493	-0.67	-195.5	75.4	-12.4	90	499	0.00	1.92	0.00	0.000	6	0.000	0.056	2664	2086	3951	0	0	0	0	0	0
788	end dive: TARGET_DEPTH_EXCEEDED
state	789	begin apogee
791	-0.21	0.0	107.9	10.4	139	946	0.38	0.00	151.75	0.627	6	0.121	0.000	2785	1979	3150	0	0	0	0	0	0
946	end apogee: CONTROL_FINISHED_OK
state	946	begin climb
947	0.99	195.5	114.5	0.0	154	1109	1.12	2.17	155.25	0.605	4	0.085	0.058	3163	3245	2352	0	0	0	0	0	0
1349	0.56	195.5	64.2	18.5	211	1356	0.45	2.00	0.00	0.000	6	0.163	0.051	3038	2003	2346	0	0	0	0	0	0
1676	0.75	317.1	36.7	7.2	272	1780	0.15	2.08	95.10	0.580	4	0.086	0.060	3104	3234	1855	0	0	0	0	0	0
1939	0.85	400.1	9.6	8.8	322	2003	0.00	2.00	59.10	0.558	2	0.000	0.052	3111	1999	1553	0	0	0	0	0	0
2003	end climb: FINISH_DEPTH_REACHED
state	2003	begin subsurface finish
2006	-0.04	-32.6	4.6	-9.0	334	2063	0.85	0.00	-51.25	0.000	6	0.116	0.000	2842	1997	3283	0	0	0	0	0	0
2063	end subsurface finish: CONTROL_FINISHED_OK
state	2063	begin surface