Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 721 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 718 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 120 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2350 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2200 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 475 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 8 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 56 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 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 67 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 2400 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 -75978.539 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 2740 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162386 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 0.0038360001 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 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 475

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 120 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 0.0001162386 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 67

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0038360001 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.010078 RHO 1.023 T_GPS_CHARGE -75978.539

CALL_WAIT 60 HD_C 9.8541004e-06 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 2740 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 56 USE_ICE 0

C_VBD 2400 MAX_BUOY 150 R_STBD_OVSHOOT 41 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 8 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 718 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 134509,4805.146,-12221.153,10,1.5,10,18.3 TGT_NAME FIVE

_CALLS 2 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.137,-0.159

_SM_DEPTHo 2.37 KALMAN_X -44203.2,97.7,98.8,46929.7,-262.5

_SM_ANGLEo -67.1 KALMAN_Y -11162.6,-259.1,-114.4,6994.7,192.7

GPS2 135237,4805.208,-12221.188,8,1.7,24,18.3 MHEAD_RNG_PITCHd_Wd 121.0,450,-11.5,-5.970

SPEED_LIMITS 0.060,0.217 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.5,1.019068 ALTIM_BOTTOM_PING 83.9,42.4

SM_CCo 3373,0.00,0.000,0,0,414,487.17 _24V_AH 24.3,64.848

SM_GC 2.71,9.12,0.00,0.00,0.043,0.000,0.000,21,2350,414,-8.44,0.00,487.17 _10V_AH 10.7,32.802

IRIDIUM_FIX 4748.51,-12221.84,041007,171715 DATA_FILE_SIZE 22221,430

TT8_MAMPS 0.026078 CFSIZE 260165632,237821952

HUMID 1848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.11168 GPS 041007,145033,4804.992,-12221.043,10,1.7,10,18.3

TCM_TEMP 17.20 RESTART_TIME Thu Oct 4 15:30:54 2007

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 202 103.33 SBE_CT 308 24 179.88

Roll_motor 27 60 40.75 SBE_O2 322 19 149.02

VBD_pump_during_apogee 479 747 8707.64 WL_BB2F 726 105 1852.83

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 52 103 130.43 nil 0 0 0.00

Iridium_during_connect 27 160 107.65 nil 0 0 0.00

Iridium_during_xfer 148 223 804.63

Transponder_ping 1 420 10.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 15.69

TT8 616 19 130.51

LPSleep 1444 2 33.84

TT8_Active 455 19 96.44

TT8_Sampling 836 39 356.21

TT8_CF8 476 45 233.65

TT8_Kalman 33 81 29.19

Analog_circuits 920 12 118.20

GPS_charging 0 0 0.00

Compass 841 8 72.00

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

25 end surface: CONTROL_FINISHED_OK

state 26 begin dive

30 -0.81 -135.8 0.0 0.0 0 81 0.00 0.00 -48.28 0.000 2 0.000 0.000 14 2340 1522

85 -0.82 -146.6 3.0 -1.5 9 149 9.93 2.42 -44.38 0.000 4 0.202 0.061 2461 3740 2999

174 -0.82 -146.6 9.5 -8.8 24 180 0.00 2.20 0.00 0.000 6 0.000 0.026 2461 2322 3001

250 -0.82 -146.6 19.0 -12.4 37 257 0.00 2.17 0.00 0.000 4 0.000 0.032 2461 979 3001

321 -0.82 -146.6 26.5 -10.1 49 328 0.00 2.25 0.00 0.000 6 0.000 0.033 2456 2348 3001

534 -0.82 -146.6 46.1 -8.7 86 540 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2348 3001

741 -0.82 -146.6 64.5 -8.8 109 742 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2348 3001

1063 -0.82 -146.6 93.3 -8.9 139 1068 0.00 0.00 0.00 0.000 6 0.000 0.000 2456 2348 3001

1226 end dive: TARGET_DEPTH_EXCEEDED

state 1226 begin apogee

1236 -0.28 0.0 109.1 9.2 155 1353 0.60 0.00 112.78 0.748 6 0.106 0.000 2647 2203 2399

1354 end apogee: CONTROL_FINISHED_OK

state 1354 begin climb

1358 0.82 146.6 113.5 0.0 167 1477 1.08 0.00 111.97 0.703 6 0.077 0.000 3000 2203 1801

1796 0.82 146.6 84.7 7.5 209 1800 0.00 2.35 0.00 0.000 4 0.000 0.044 3000 3617 1798

1827 0.82 146.6 82.4 8.5 211 1833 0.00 2.22 0.00 0.000 6 0.000 0.026 3008 2207 1798

2157 0.82 146.6 58.5 7.1 242 2161 0.00 2.33 0.00 0.000 4 0.000 0.044 3008 3613 1798

2187 0.82 146.6 55.9 8.2 244 2193 0.00 2.22 0.00 0.000 6 0.000 0.027 3012 2195 1798

2529 0.82 146.6 31.2 7.2 298 2536 0.00 2.33 0.00 0.000 4 0.000 0.044 3013 3606 1798

2583 0.82 146.6 26.9 7.9 307 2589 0.00 2.20 0.00 0.000 6 0.000 0.026 3022 2199 1798

2796 0.88 191.1 13.6 4.6 344 2836 0.00 2.33 34.62 0.729 4 0.000 0.035 3025 799 1618

2917 1.01 301.3 9.4 2.7 365 3007 0.12 2.28 83.05 0.673 6 0.061 0.030 3090 2218 1170

3079 1.28 517.2 5.2 -0.5 393 3220 0.15 0.00 136.75 0.646 2 0.056 0.000 3167 2218 425

3220 end climb: SURFACE_DEPTH_REACHED

state 3221 begin surface coast

3289 end surface coast: CONTROL_FINISHED_OK

state 3289 begin surface

ID	128	HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	718	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	120	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2350	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2200	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	475	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	8	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	56	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	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	67	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	2400	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	-75978.539	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	2740	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162386	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	0.0038360001	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	134509,4805.146,-12221.153,10,1.5,10,18.3	TGT_NAME	FIVE
_CALLS	2	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.137,-0.159
_SM_DEPTHo	2.37	KALMAN_X	-44203.2,97.7,98.8,46929.7,-262.5
_SM_ANGLEo	-67.1	KALMAN_Y	-11162.6,-259.1,-114.4,6994.7,192.7
GPS2	135237,4805.208,-12221.188,8,1.7,24,18.3	MHEAD_RNG_PITCHd_Wd	121.0,450,-11.5,-5.970
SPEED_LIMITS	0.060,0.217	D_GRID	108

FINISH	1.5,1.019068	ALTIM_BOTTOM_PING	83.9,42.4
SM_CCo	3373,0.00,0.000,0,0,414,487.17	_24V_AH	24.3,64.848
SM_GC	2.71,9.12,0.00,0.00,0.043,0.000,0.000,21,2350,414,-8.44,0.00,487.17	_10V_AH	10.7,32.802
IRIDIUM_FIX	4748.51,-12221.84,041007,171715	DATA_FILE_SIZE	22221,430
TT8_MAMPS	0.026078	CFSIZE	260165632,237821952
HUMID	1848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.11168	GPS	041007,145033,4804.992,-12221.043,10,1.7,10,18.3
TCM_TEMP	17.20	RESTART_TIME	Thu Oct 4 15:30:54 2007
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	202	103.33	SBE_CT	308	24	179.88
Roll_motor	27	60	40.75	SBE_O2	322	19	149.02
VBD_pump_during_apogee	479	747	8707.64	WL_BB2F	726	105	1852.83
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	52	103	130.43	nil	0	0	0.00
Iridium_during_connect	27	160	107.65	nil	0	0	0.00
Iridium_during_xfer	148	223	804.63
Transponder_ping	1	420	10.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	15.69
TT8	616	19	130.51
LPSleep	1444	2	33.84
TT8_Active	455	19	96.44
TT8_Sampling	836	39	356.21
TT8_CF8	476	45	233.65
TT8_Kalman	33	81	29.19
Analog_circuits	920	12	118.20
GPS_charging	0	0	0.00
Compass	841	8	72.00
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
25	end surface: CONTROL_FINISHED_OK
state	26	begin dive
30	-0.81	-135.8	0.0	0.0	0	81	0.00	0.00	-48.28	0.000	2	0.000	0.000	14	2340	1522
85	-0.82	-146.6	3.0	-1.5	9	149	9.93	2.42	-44.38	0.000	4	0.202	0.061	2461	3740	2999
174	-0.82	-146.6	9.5	-8.8	24	180	0.00	2.20	0.00	0.000	6	0.000	0.026	2461	2322	3001
250	-0.82	-146.6	19.0	-12.4	37	257	0.00	2.17	0.00	0.000	4	0.000	0.032	2461	979	3001
321	-0.82	-146.6	26.5	-10.1	49	328	0.00	2.25	0.00	0.000	6	0.000	0.033	2456	2348	3001
534	-0.82	-146.6	46.1	-8.7	86	540	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2348	3001
741	-0.82	-146.6	64.5	-8.8	109	742	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2348	3001
1063	-0.82	-146.6	93.3	-8.9	139	1068	0.00	0.00	0.00	0.000	6	0.000	0.000	2456	2348	3001
1226	end dive: TARGET_DEPTH_EXCEEDED
state	1226	begin apogee
1236	-0.28	0.0	109.1	9.2	155	1353	0.60	0.00	112.78	0.748	6	0.106	0.000	2647	2203	2399
1354	end apogee: CONTROL_FINISHED_OK
state	1354	begin climb
1358	0.82	146.6	113.5	0.0	167	1477	1.08	0.00	111.97	0.703	6	0.077	0.000	3000	2203	1801
1796	0.82	146.6	84.7	7.5	209	1800	0.00	2.35	0.00	0.000	4	0.000	0.044	3000	3617	1798
1827	0.82	146.6	82.4	8.5	211	1833	0.00	2.22	0.00	0.000	6	0.000	0.026	3008	2207	1798
2157	0.82	146.6	58.5	7.1	242	2161	0.00	2.33	0.00	0.000	4	0.000	0.044	3008	3613	1798
2187	0.82	146.6	55.9	8.2	244	2193	0.00	2.22	0.00	0.000	6	0.000	0.027	3012	2195	1798
2529	0.82	146.6	31.2	7.2	298	2536	0.00	2.33	0.00	0.000	4	0.000	0.044	3013	3606	1798
2583	0.82	146.6	26.9	7.9	307	2589	0.00	2.20	0.00	0.000	6	0.000	0.026	3022	2199	1798
2796	0.88	191.1	13.6	4.6	344	2836	0.00	2.33	34.62	0.729	4	0.000	0.035	3025	799	1618
2917	1.01	301.3	9.4	2.7	365	3007	0.12	2.28	83.05	0.673	6	0.061	0.030	3090	2218	1170
3079	1.28	517.2	5.2	-0.5	393	3220	0.15	0.00	136.75	0.646	2	0.056	0.000	3167	2218	425
3220	end climb: SURFACE_DEPTH_REACHED
state	3221	begin surface coast
3289	end surface coast: CONTROL_FINISHED_OK
state	3289	begin surface