Glider dive log

PN07 DabobBay Sep07 * SG023 * Dive index * Mission links * Dive 406 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 23 HD_B 0.0123087 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 3.5261501e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 406 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 208 ALTIM_PING_DEPTH 50

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1890 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 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 580 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -28229.236 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 110 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 20 PITCH_MIN 370 AH0_24V 91.800003 SEABIRD_T_G 0.0043036696

SPEED_FACTOR 1 PITCH_MAX 3518 AH0_10V 61.200001 SEABIRD_T_H 0.00062677584

RHO 1.023 C_PITCH 2610 PRESSURE_YINT -24.5345 SEABIRD_T_I 2.2664151e-05

MASS 51702 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.2667414e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.310682

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1615626

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0017275931

HD_A 0.0030006149 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00021877716

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3518 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 5 PITCH_MIN 370 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 95 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -24.5345 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 20 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 16 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0030006149 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0123087 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 3.5261501e-06 RHO 1.023 T_GPS_CHARGE -28229.236

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 23 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2610 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1890 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51702 R_PORT_OVSHOOT 25 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 110 R_STBD_OVSHOOT 27 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.310682 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1615626 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0017275931 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00021877716 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043036696 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062677584 VBD_MIN 580

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2664151e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 406 PHONE_DEVICE 48 SEABIRD_T_J 2.2667414e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 062433,4746.304,-12249.978,11,1.0,11,18.3 TGT_NAME GP1

_CALLS 1 TGT_LATLONG 4746.257,-12250.251

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.184,-0.059

_SM_DEPTHo 0.93 KALMAN_X 21993.9,17.9,-19.2,-18303.0,14.4

_SM_ANGLEo -70.1 KALMAN_Y 13430.6,-43.9,-80.7,-1235.1,30.6

GPS2 062903,4746.300,-12249.989,12,1.1,12,18.3 MHEAD_RNG_PITCHd_Wd 233.8,336,-14.7,-7.037

SPEED_LIMITS 0.193,0.203 D_GRID 158

Post-dive calculations and measurements:

FINISH 0.3,1.012027 ALTIM_BOTTOM_PING 80.1,999.0

SM_CCo 2875,156.43,0.652,0,0,1649,450.13 _24V_AH 24.0,33.429

SM_GC 0.87,0.00,0.00,156.43,0.000,0.000,0.652,364,2127,1649,-10.33,0.76,450.13 _10V_AH 10.2,11.632

IRIDIUM_FIX 4729.30,-12245.46,061007,090918 DATA_FILE_SIZE 6465,270

TT8_MAMPS 0.026845 CFSIZE 260034560,246956032

HUMID 2144 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.90 GPS 061007,072145,4746.231,-12250.414,8,2.0,8,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 151 89.66 SBE_CT 181 24 104.63

Roll_motor 20 61 30.70 nil 0 0 0.00

VBD_pump_during_apogee 174 748 3131.06 nil 0 0 0.00

VBD_pump_during_surface 156 651 2447.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 97.63 nil 0 0 0.00

Iridium_during_connect 35 160 137.98 ARS 0 23 0.00

Iridium_during_xfer 95 223 511.95

Transponder_ping 1 420 10.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 93 13.50

TT8 505 19 102.18

LPSleep 1642 2 36.69

TT8_Active 439 19 88.79

TT8_Sampling 435 39 176.73

TT8_CF8 317 45 148.13

TT8_Kalman 33 81 27.85

Analog_circuits 700 12 85.69

GPS_charging 0 0 0.00

Compass 429 8 35.05

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.03 -107.5 0.0 0.0 0 111 0.00 0.00 -84.85 0.000 2 0.000 0.000 366 2082 3410

115 -1.03 -107.5 2.2 -3.5 14 152 11.35 2.55 -16.90 0.000 4 0.151 0.061 2378 3509 3924

404 -1.03 -107.5 25.1 -8.0 53 408 0.00 2.42 0.00 0.000 6 0.000 0.035 2378 2088 3924

600 -1.03 -107.5 38.6 -6.9 68 601 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 2089 3924

791 -1.03 -107.5 51.4 -6.8 83 792 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 2088 3924

980 -1.03 -107.5 63.9 -6.3 98 984 0.00 2.50 0.00 0.000 4 0.000 0.051 2378 3515 3924

1026 -1.03 -107.5 67.3 -7.4 101 1030 0.00 2.40 0.00 0.000 6 0.000 0.035 2379 2102 3924

1229 -1.03 -107.5 80.8 -6.4 117 1230 0.00 0.00 0.00 0.000 6 0.000 0.000 2378 2101 3924

1421 -1.03 -107.5 93.3 -6.5 132 1426 0.00 2.95 0.00 0.000 4 0.000 0.054 2378 686 3924

1443 end dive: TARGET_DEPTH_EXCEEDED

state 1443 begin apogee

1452 -0.31 0.0 95.2 6.5 133 1543 0.77 0.00 82.75 0.749 6 0.087 0.000 2537 1898 3484

1543 end apogee: CONTROL_FINISHED_OK

state 1544 begin climb

1547 1.03 107.5 97.0 0.0 141 1632 1.40 0.00 81.45 0.732 6 0.064 0.000 2832 1898 3045

1816 1.03 107.5 77.5 8.4 163 1817 0.00 0.00 0.00 0.000 6 0.000 0.000 2833 1898 3045

2007 1.03 107.5 61.1 8.6 178 2008 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 1898 3045

2197 1.03 107.5 45.3 8.2 193 2198 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 1898 3044

2385 1.03 107.5 29.8 8.2 208 2387 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 1898 3044

2575 1.03 107.5 14.6 7.7 228 2580 0.00 0.00 0.00 0.000 6 0.000 0.000 2832 1898 3044

2647 1.03 107.5 9.2 7.0 239 2653 0.00 2.55 0.00 0.000 4 0.000 0.047 2832 3304 3044

2661 1.05 121.1 8.5 6.5 241 2679 0.00 2.55 10.07 0.716 6 0.000 0.038 2832 1884 2989

2723 end climb: SURFACE_DEPTH_REACHED

state 2723 begin surface coast

2852 end surface coast: CONTROL_FINISHED_OK

state 2852 begin surface

ID	23	HD_B	0.0123087	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	3.5261501e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	406	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	208	ALTIM_PING_DEPTH	50
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1890	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	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	580	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-28229.236	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	110	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	20	PITCH_MIN	370	AH0_24V	91.800003	SEABIRD_T_G	0.0043036696
SPEED_FACTOR	1	PITCH_MAX	3518	AH0_10V	61.200001	SEABIRD_T_H	0.00062677584
RHO	1.023	C_PITCH	2610	PRESSURE_YINT	-24.5345	SEABIRD_T_I	2.2664151e-05
MASS	51702	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.2667414e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.310682
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1615626
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0017275931
HD_A	0.0030006149	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00021877716

GPS1	062433,4746.304,-12249.978,11,1.0,11,18.3	TGT_NAME	GP1
_CALLS	1	TGT_LATLONG	4746.257,-12250.251
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.184,-0.059
_SM_DEPTHo	0.93	KALMAN_X	21993.9,17.9,-19.2,-18303.0,14.4
_SM_ANGLEo	-70.1	KALMAN_Y	13430.6,-43.9,-80.7,-1235.1,30.6
GPS2	062903,4746.300,-12249.989,12,1.1,12,18.3	MHEAD_RNG_PITCHd_Wd	233.8,336,-14.7,-7.037
SPEED_LIMITS	0.193,0.203	D_GRID	158

FINISH	0.3,1.012027	ALTIM_BOTTOM_PING	80.1,999.0
SM_CCo	2875,156.43,0.652,0,0,1649,450.13	_24V_AH	24.0,33.429
SM_GC	0.87,0.00,0.00,156.43,0.000,0.000,0.652,364,2127,1649,-10.33,0.76,450.13	_10V_AH	10.2,11.632
IRIDIUM_FIX	4729.30,-12245.46,061007,090918	DATA_FILE_SIZE	6465,270
TT8_MAMPS	0.026845	CFSIZE	260034560,246956032
HUMID	2144	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	061007,072145,4746.231,-12250.414,8,2.0,8,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	151	89.66	SBE_CT	181	24	104.63
Roll_motor	20	61	30.70	nil	0	0	0.00
VBD_pump_during_apogee	174	748	3131.06	nil	0	0	0.00
VBD_pump_during_surface	156	651	2447.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	97.63	nil	0	0	0.00
Iridium_during_connect	35	160	137.98	ARS	0	23	0.00
Iridium_during_xfer	95	223	511.95
Transponder_ping	1	420	10.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	93	13.50
TT8	505	19	102.18
LPSleep	1642	2	36.69
TT8_Active	439	19	88.79
TT8_Sampling	435	39	176.73
TT8_CF8	317	45	148.13
TT8_Kalman	33	81	27.85
Analog_circuits	700	12	85.69
GPS_charging	0	0	0.00
Compass	429	8	35.05
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.03	-107.5	0.0	0.0	0	111	0.00	0.00	-84.85	0.000	2	0.000	0.000	366	2082	3410
115	-1.03	-107.5	2.2	-3.5	14	152	11.35	2.55	-16.90	0.000	4	0.151	0.061	2378	3509	3924
404	-1.03	-107.5	25.1	-8.0	53	408	0.00	2.42	0.00	0.000	6	0.000	0.035	2378	2088	3924
600	-1.03	-107.5	38.6	-6.9	68	601	0.00	0.00	0.00	0.000	6	0.000	0.000	2378	2089	3924
791	-1.03	-107.5	51.4	-6.8	83	792	0.00	0.00	0.00	0.000	6	0.000	0.000	2378	2088	3924
980	-1.03	-107.5	63.9	-6.3	98	984	0.00	2.50	0.00	0.000	4	0.000	0.051	2378	3515	3924
1026	-1.03	-107.5	67.3	-7.4	101	1030	0.00	2.40	0.00	0.000	6	0.000	0.035	2379	2102	3924
1229	-1.03	-107.5	80.8	-6.4	117	1230	0.00	0.00	0.00	0.000	6	0.000	0.000	2378	2101	3924
1421	-1.03	-107.5	93.3	-6.5	132	1426	0.00	2.95	0.00	0.000	4	0.000	0.054	2378	686	3924
1443	end dive: TARGET_DEPTH_EXCEEDED
state	1443	begin apogee
1452	-0.31	0.0	95.2	6.5	133	1543	0.77	0.00	82.75	0.749	6	0.087	0.000	2537	1898	3484
1543	end apogee: CONTROL_FINISHED_OK
state	1544	begin climb
1547	1.03	107.5	97.0	0.0	141	1632	1.40	0.00	81.45	0.732	6	0.064	0.000	2832	1898	3045
1816	1.03	107.5	77.5	8.4	163	1817	0.00	0.00	0.00	0.000	6	0.000	0.000	2833	1898	3045
2007	1.03	107.5	61.1	8.6	178	2008	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	1898	3045
2197	1.03	107.5	45.3	8.2	193	2198	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	1898	3044
2385	1.03	107.5	29.8	8.2	208	2387	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	1898	3044
2575	1.03	107.5	14.6	7.7	228	2580	0.00	0.00	0.00	0.000	6	0.000	0.000	2832	1898	3044
2647	1.03	107.5	9.2	7.0	239	2653	0.00	2.55	0.00	0.000	4	0.000	0.047	2832	3304	3044
2661	1.05	121.1	8.5	6.5	241	2679	0.00	2.55	10.07	0.716	6	0.000	0.038	2832	1884	2989
2723	end climb: SURFACE_DEPTH_REACHED
state	2723	begin surface coast
2852	end surface coast: CONTROL_FINISHED_OK
state	2852	begin surface