Glider dive log

DavisStrait Oct07 * SG112 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_C 2.7999999e-06 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 5 ESCAPE_HEADING 0 ROLL_MIN 168 ALTIM_PING_DEPTH 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3823 ALTIM_PING_DELTA 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_TGT 200 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2200 ALTIM_PULSE 3

D_ABORT 300 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2400 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 350 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 15 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 6 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_AD_RATE 250 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 0 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE3 -1

T_DIVE 67 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE4 -1

T_MISSION 80 CALL_TRIES 5 VBD_MIN 289 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3753 DEVICE6 -1

T_TURN 225 CAPUPLOAD 0 C_VBD 2923 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 -2 T_GPS 15 VBD_TIMEOUT 540 COMPASS_DEVICE 49

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.1 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 999 T_GPS_CHARGE -28429.578 VBD_PUMP_AD_RATE_APOGEE 4 RAFOS_DEVICE 16

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 150 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SEABIRD_T_G 0.0043712994

COURSE_BIAS 0 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_H 0.00064806995

GLIDE_SLOPE 30 PITCH_MAX 3252 AH0_10V 100 SEABIRD_T_I 2.9318924e-05

SPEED_FACTOR 1 C_PITCH 2615 PRESSURE_YINT -4.1247921 SEABIRD_T_J 3.4945006e-06

RHO 1.02765 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_C_G -10.125542

MASS 51723 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_H 1.1422628

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.00066794927

FERRY_MAX 45 PITCH_GAIN 19 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00014236888

KALMAN_USE 2 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0

HD_A 0.0038000001 PITCH_AD_RATE 65 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 64 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 19 SM_CC 350

AH0_24V 150 D_OFFGRID 999 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 0 D_TGT 200 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -4.1247921 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 RAFOS_HIT_WINDOW 5400 T_DIVE 67

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_NDIVES 1 HD_A 0.0038000001 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.0099999998 RHO 1.02765 T_GPS_CHARGE -28429.578

CALL_WAIT 60 HD_C 2.7999999e-06 ROLL_ADJ_DBAND 0.029999999 T_MISSION 80

CAPMAXSIZE 100000 HEADING -1 ROLL_ADJ_GAIN 3 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 250 T_RSLEEP 3

CF8_MAXERRORS 0 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 225

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 ROLL_DEG 40 T_TURN_SAMPINT 5

COMPASS_DEVICE 49 ID 112 ROLL_MAX 3823 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 0 UNCOM_BLEED 20

C_PITCH 2615 INT_PRESSURE_YINT 0 ROLL_MIN 168 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2400 KALMAN_USE 2 ROLL_TIMEOUT 15 USE_BATHY -2

C_ROLL_DIVE 2200 MASS 51723 R_PORT_OVSHOOT 15 USE_ICE 0

C_VBD 2923 MAX_BUOY 150 R_STBD_OVSHOOT 6 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.125542 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1422628 VBD_DBAND 2

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.00066794927 VBD_MAX 3753

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00014236888 VBD_MAXERRORS 1

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043712994 VBD_MIN 289

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064806995 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.9318924e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.4945006e-06 VBD_TIMEOUT 540

DIVE 5 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 300 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 65 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 230902,6650.316,-5859.198,11,1.6,11,-37.9 TGT_NAME TARGET_ADD3_EB

_CALLS 1 TGT_LATLONG 6655.000,-5823.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.68 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -48.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 231320,6650.288,-5859.143,17,1.7,34,-37.9 MHEAD_RNG_PITCHd_Wd 109.5,27656,-18.0,-9.950

SPEED_LIMITS 0.172,0.262 D_GRID 971

Post-dive calculations and measurements:

FINISH 1.8,1.017512 TCM_TEMP -0.60

SM_CCo 3722,32.08,0.814,0,0,1496,350.04 XPDR_PINGS 0

SM_GC 2.92,0.00,0.00,32.08,0.000,0.000,0.814,679,2203,1496,-8.90,0.14,350.04 _24V_AH 20.2,3.871

RAFOS_CLK 274 _10V_AH 10.6,0.999

RAFOS 0,1192233846,0.083333,0.068333,50,47,43,0,0,0,1156,937,32,0,0,0 DATA_FILE_SIZE 12717,383

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,251641856

IRIDIUM_FIX 6625.71,-5904.05,131007,030350 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.025311 SOUNDSPEED 1443.7

HUMID 2068 CURRENT 0.081, 89.3,1

INTERNAL_PRESSURE 10.3129 GPS 131007,001755,6650.422,-5857.898,23,1.5,41,-37.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 292 186.28 SBE_CT 286 24 139.11

Roll_motor 47 108 103.82 SBE_O2 257 19 98.80

VBD_pump_during_apogee 393 976 7766.96 nil 0 0 0.00

VBD_pump_during_surface 32 813 527.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 18.97

TT8 803 19 169.71

LPSleep 1972 2 48.31

TT8_Active 580 19 122.59

TT8_Sampling 462 39 195.92

TT8_CF8 52 45 25.36

TT8_Kalman 0 0 0.00

Analog_circuits 950 12 120.96

GPS_charging 0 0 0.00

Compass 429 20 90.99

RAFOS 720 1 11.45

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

22 -1.13 -146.0 0.0 0.0 0 68 0.00 0.00 -43.95 0.000 2 0.000 0.000 677 2212 2070

70 -1.13 -146.0 3.2 -1.2 7 165 16.85 3.08 -67.12 0.000 4 0.293 0.084 2363 789 3520

287 -1.13 -146.0 31.3 -19.1 43 294 0.00 2.90 0.00 0.000 6 0.000 0.058 2363 2202 3521

631 -1.13 -146.0 85.4 -15.4 104 638 0.00 2.95 0.00 0.000 4 0.000 0.073 2363 794 3521

815 -1.13 -146.0 113.7 -15.2 125 820 0.00 2.80 0.00 0.000 6 0.000 0.061 2363 2135 3521

1142 -1.13 -146.0 164.1 -15.4 141 1147 0.00 2.80 0.00 0.000 4 0.000 0.074 2363 793 3521

1231 -1.13 -146.0 178.2 -15.7 145 1235 0.00 2.70 0.00 0.000 6 0.000 0.062 2363 2113 3521

1385 end dive: TARGET_DEPTH_EXCEEDED

state 1385 begin apogee

1389 -0.26 0.0 203.2 16.0 153 1528 1.15 0.00 130.90 0.976 6 0.134 0.000 2553 2404 2923

1529 end apogee: CONTROL_FINISHED_OK

state 1529 begin climb

1530 1.13 146.0 212.9 0.0 160 1674 1.70 3.28 132.23 0.926 4 0.082 0.071 2860 994 2326

1925 1.26 251.9 209.2 5.1 177 2028 0.15 3.05 94.35 0.923 6 0.074 0.071 2887 2406 1896

2334 1.26 251.9 161.0 14.1 197 2339 0.00 3.05 0.00 0.000 4 0.000 0.072 2887 990 1893

2455 1.26 251.9 142.1 14.9 202 2464 0.00 3.00 0.00 0.000 6 0.000 0.071 2887 2387 1893

2771 1.26 251.9 99.1 13.1 218 2778 0.00 2.95 0.00 0.000 4 0.000 0.070 2887 990 1893

2828 1.26 251.9 91.3 14.2 228 2835 0.00 2.95 0.00 0.000 6 0.000 0.072 2887 2380 1892

3172 1.26 251.9 48.0 11.4 289 3178 0.00 2.90 0.00 0.000 4 0.000 0.069 2887 991 1892

3273 1.26 251.9 36.5 11.5 307 3280 0.00 2.85 0.00 0.000 6 0.000 0.071 2887 2352 1892

3617 1.31 294.1 7.0 8.0 368 3664 0.00 2.97 36.33 0.881 4 0.000 0.068 2887 993 1720

3668 end climb: SURFACE_DEPTH_REACHED

state 3668 begin surface coast

3702 end surface coast: CONTROL_FINISHED_OK

state 3702 begin surface

ID	112	HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	5	ESCAPE_HEADING	0	ROLL_MIN	168	ALTIM_PING_DEPTH	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3823	ALTIM_PING_DELTA	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_TGT	200	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2200	ALTIM_PULSE	3
D_ABORT	300	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2400	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	350	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	15	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	6	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_AD_RATE	250	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	0	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE3	-1
T_DIVE	67	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE4	-1
T_MISSION	80	CALL_TRIES	5	VBD_MIN	289	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3753	DEVICE6	-1
T_TURN	225	CAPUPLOAD	0	C_VBD	2923	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	-2	T_GPS	15	VBD_TIMEOUT	540	COMPASS_DEVICE	49
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.1	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	999	T_GPS_CHARGE	-28429.578	VBD_PUMP_AD_RATE_APOGEE	4	RAFOS_DEVICE	16
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	150	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SEABIRD_T_G	0.0043712994
COURSE_BIAS	0	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_H	0.00064806995
GLIDE_SLOPE	30	PITCH_MAX	3252	AH0_10V	100	SEABIRD_T_I	2.9318924e-05
SPEED_FACTOR	1	C_PITCH	2615	PRESSURE_YINT	-4.1247921	SEABIRD_T_J	3.4945006e-06
RHO	1.02765	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_C_G	-10.125542
MASS	51723	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_H	1.1422628
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.00066794927
FERRY_MAX	45	PITCH_GAIN	19	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00014236888
KALMAN_USE	2	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0
HD_A	0.0038000001	PITCH_AD_RATE	65	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	230902,6650.316,-5859.198,11,1.6,11,-37.9	TGT_NAME	TARGET_ADD3_EB
_CALLS	1	TGT_LATLONG	6655.000,-5823.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.68	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-48.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	231320,6650.288,-5859.143,17,1.7,34,-37.9	MHEAD_RNG_PITCHd_Wd	109.5,27656,-18.0,-9.950
SPEED_LIMITS	0.172,0.262	D_GRID	971

FINISH	1.8,1.017512	TCM_TEMP	-0.60
SM_CCo	3722,32.08,0.814,0,0,1496,350.04	XPDR_PINGS	0
SM_GC	2.92,0.00,0.00,32.08,0.000,0.000,0.814,679,2203,1496,-8.90,0.14,350.04	_24V_AH	20.2,3.871
RAFOS_CLK	274	_10V_AH	10.6,0.999
RAFOS	0,1192233846,0.083333,0.068333,50,47,43,0,0,0,1156,937,32,0,0,0	DATA_FILE_SIZE	12717,383
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,251641856
IRIDIUM_FIX	6625.71,-5904.05,131007,030350	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.025311	SOUNDSPEED	1443.7
HUMID	2068	CURRENT	0.081, 89.3,1
INTERNAL_PRESSURE	10.3129	GPS	131007,001755,6650.422,-5857.898,23,1.5,41,-37.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	292	186.28	SBE_CT	286	24	139.11
Roll_motor	47	108	103.82	SBE_O2	257	19	98.80
VBD_pump_during_apogee	393	976	7766.96	nil	0	0	0.00
VBD_pump_during_surface	32	813	527.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	18.97
TT8	803	19	169.71
LPSleep	1972	2	48.31
TT8_Active	580	19	122.59
TT8_Sampling	462	39	195.92
TT8_CF8	52	45	25.36
TT8_Kalman	0	0	0.00
Analog_circuits	950	12	120.96
GPS_charging	0	0	0.00
Compass	429	20	90.99
RAFOS	720	1	11.45

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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
22	-1.13	-146.0	0.0	0.0	0	68	0.00	0.00	-43.95	0.000	2	0.000	0.000	677	2212	2070
70	-1.13	-146.0	3.2	-1.2	7	165	16.85	3.08	-67.12	0.000	4	0.293	0.084	2363	789	3520
287	-1.13	-146.0	31.3	-19.1	43	294	0.00	2.90	0.00	0.000	6	0.000	0.058	2363	2202	3521
631	-1.13	-146.0	85.4	-15.4	104	638	0.00	2.95	0.00	0.000	4	0.000	0.073	2363	794	3521
815	-1.13	-146.0	113.7	-15.2	125	820	0.00	2.80	0.00	0.000	6	0.000	0.061	2363	2135	3521
1142	-1.13	-146.0	164.1	-15.4	141	1147	0.00	2.80	0.00	0.000	4	0.000	0.074	2363	793	3521
1231	-1.13	-146.0	178.2	-15.7	145	1235	0.00	2.70	0.00	0.000	6	0.000	0.062	2363	2113	3521
1385	end dive: TARGET_DEPTH_EXCEEDED
state	1385	begin apogee
1389	-0.26	0.0	203.2	16.0	153	1528	1.15	0.00	130.90	0.976	6	0.134	0.000	2553	2404	2923
1529	end apogee: CONTROL_FINISHED_OK
state	1529	begin climb
1530	1.13	146.0	212.9	0.0	160	1674	1.70	3.28	132.23	0.926	4	0.082	0.071	2860	994	2326
1925	1.26	251.9	209.2	5.1	177	2028	0.15	3.05	94.35	0.923	6	0.074	0.071	2887	2406	1896
2334	1.26	251.9	161.0	14.1	197	2339	0.00	3.05	0.00	0.000	4	0.000	0.072	2887	990	1893
2455	1.26	251.9	142.1	14.9	202	2464	0.00	3.00	0.00	0.000	6	0.000	0.071	2887	2387	1893
2771	1.26	251.9	99.1	13.1	218	2778	0.00	2.95	0.00	0.000	4	0.000	0.070	2887	990	1893
2828	1.26	251.9	91.3	14.2	228	2835	0.00	2.95	0.00	0.000	6	0.000	0.072	2887	2380	1892
3172	1.26	251.9	48.0	11.4	289	3178	0.00	2.90	0.00	0.000	4	0.000	0.069	2887	991	1892
3273	1.26	251.9	36.5	11.5	307	3280	0.00	2.85	0.00	0.000	6	0.000	0.071	2887	2352	1892
3617	1.31	294.1	7.0	8.0	368	3664	0.00	2.97	36.33	0.881	4	0.000	0.068	2887	993	1720
3668	end climb: SURFACE_DEPTH_REACHED
state	3668	begin surface coast
3702	end surface coast: CONTROL_FINISHED_OK
state	3702	begin surface