Glider dive log

PN07 DabobBay 29Sep07 * SG107 * Dive index * Mission links * Dive 76 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 107 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 10 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 76 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 152 ALTIM_PING_DEPTH 0

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3928 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2450 ALTIM_PULSE 1

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

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 26 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 300 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 40 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 679 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 4028 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3415 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -16515.91 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 363 AH0_24V 91.800003 SEABIRD_T_G 0.004345139

SPEED_FACTOR 1 PITCH_MAX 3698 AH0_10V 61.200001 SEABIRD_T_H 0.00064258272

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -10.644979 SEABIRD_T_I 2.3711646e-05

MASS 51588 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001156423 SEABIRD_T_J 2.2769887e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.006271

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1385506

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022333476

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00024018179

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3698 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 363 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001156423 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -10.644979 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 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 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 40

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -16515.91

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 107 ROLL_MAX 3928 T_TURN_SAMPINT 6

C_PITCH 2730 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2450 INT_PRESSURE_YINT 0 ROLL_MIN 152 UNCOM_BLEED 20

C_ROLL_DIVE 2050 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3415 MASS 51588 R_PORT_OVSHOOT 25 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 26 USE_ICE 0

DEEPGLIDERMB 0 MISSION 10 SEABIRD_C_G -10.006271 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1385506 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0022333476 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00024018179 VBD_MAX 4028

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004345139 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064258272 VBD_MIN 679

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3711646e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 76 PHONE_DEVICE 48 SEABIRD_T_J 2.2769887e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 214927,4739.324,-12252.489,14,1.5,14,18.3 TGT_NAME S1

_CALLS 1 TGT_LATLONG 4738.867,-12253.333

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.154,-0.135

_SM_DEPTHo 0.64 KALMAN_X 17367.2,278.0,366.6,-17069.3,128.4

_SM_ANGLEo -53.6 KALMAN_Y 12194.4,230.9,265.1,-13146.2,127.6

GPS2 215545,4739.399,-12252.364,14,1.3,14,18.3 MHEAD_RNG_PITCHd_Wd 210.5,1560,-19.3,-8.333

SPEED_LIMITS 0.144,0.204 D_GRID 124

Post-dive calculations and measurements:

FINISH -0.0,1.014696 ALTIM_TOP_PING 9.8,9.6

SM_CCo 2744,148.93,0.505,0,0,1580,450.13 ALTIM_BOTTOM_PING 75.3,999.0

SM_GC 0.63,0.00,0.00,148.93,0.000,0.000,0.505,364,2056,1580,-10.88,0.17,450.13 _24V_AH 23.8,8.079

IRIDIUM_FIX 4722.92,-12249.11,031007,000050 _10V_AH 10.1,5.590

TT8_MAMPS 0.071331 DATA_FILE_SIZE 6447,250

HUMID 2023 CFSIZE 260034560,254332928

INTERNAL_PRESSURE 7.69561 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 021007,224607,4739.351,-12252.515,14,1.3,29,18.3

XPDR_PINGS 166

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 166 107.35 SBE_CT 167 24 95.42

Roll_motor 32 73 56.08 nil 0 0 0.00

VBD_pump_during_apogee 195 578 2689.48 nil 0 0 0.00

VBD_pump_during_surface 148 504 1788.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.00 nil 0 0 0.00

Iridium_during_connect 35 160 133.86 ARS 0 0 0.00

Iridium_during_xfer 192 223 1022.24

Transponder_ping 42 420 419.83

Mmodem_TX 264 1000 6288.44

Mmodem_RX 3122 6 475.66

GPS 14 50 7.25

TT8 466 19 93.37

LPSleep 1552 2 34.34

TT8_Active 454 19 90.82

TT8_Sampling 452 39 181.70

TT8_CF8 373 45 172.91

TT8_Kalman 33 81 27.54

Analog_circuits 727 12 88.19

GPS_charging 0 0 0.00

Compass 425 8 34.39

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 -1.60 -97.8 0.0 0.0 0 124 0.00 0.00 -97.38 0.000 2 0.000 0.000 362 2045 3642

127 -1.60 -97.8 2.2 -2.4 16 152 11.55 2.60 -4.93 0.000 4 0.166 0.067 2377 3451 3814

304 -1.60 -97.8 19.1 -6.9 43 310 0.00 2.47 0.00 0.000 6 0.000 0.037 2377 2050 3815

373 -1.60 -97.8 23.5 -6.3 50 374 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2049 3815

563 -1.60 -97.8 36.9 -7.4 65 565 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2049 3815

754 -1.60 -97.8 51.0 -7.4 80 756 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2048 3815

942 -1.60 -97.8 64.9 -7.0 95 946 0.00 2.55 0.00 0.000 4 0.000 0.055 2377 3453 3815

993 -1.60 -97.8 68.9 -7.3 98 1000 0.00 2.50 0.00 0.000 6 0.000 0.038 2377 2050 3815

1189 -1.60 -97.8 84.8 -8.4 114 1193 0.00 2.62 0.00 0.000 4 0.000 0.074 2377 640 3815

1254 -1.60 -97.8 90.2 -8.7 119 1259 0.00 2.45 0.00 0.000 6 0.000 0.037 2377 2050 3815

1392 end dive: TARGET_DEPTH_EXCEEDED

state 1392 begin apogee

1397 -0.38 0.0 100.4 7.1 130 1479 1.33 0.00 75.62 0.576 6 0.098 0.000 2642 2457 3414

1480 end apogee: CONTROL_FINISHED_OK

state 1480 begin climb

1482 1.60 97.8 102.7 0.0 137 1567 2.03 2.70 73.60 0.570 4 0.074 0.066 3073 3850 3015

1585 1.63 121.2 97.1 7.0 145 1609 0.00 2.47 16.95 0.578 6 0.000 0.033 3074 2444 2921

1806 1.65 141.4 80.5 7.2 163 1831 0.00 2.65 15.25 0.571 4 0.000 0.064 3074 1050 2837

1870 1.68 160.3 75.9 7.3 168 1890 0.00 2.47 13.98 0.568 6 0.000 0.041 3073 2452 2760

2077 1.68 160.3 58.8 8.4 184 2081 0.00 2.60 0.00 0.000 4 0.000 0.067 3074 3848 2759

2108 1.68 160.3 56.0 8.6 186 2116 0.00 2.45 0.00 0.000 6 0.000 0.033 3074 2453 2759

2305 1.68 160.3 38.5 8.9 202 2306 0.00 0.00 0.00 0.000 6 0.000 0.000 3074 2450 2759

2495 1.68 160.3 20.6 9.8 217 2497 0.10 0.00 0.00 0.000 6 0.071 0.000 3100 2450 2759

2691 end climb: SURFACE_DEPTH_REACHED

state 2692 begin surface coast

2720 end surface coast: CONTROL_FINISHED_OK

state 2720 begin surface

ID	107	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	10	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	76	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	152	ALTIM_PING_DEPTH	0
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3928	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2450	ALTIM_PULSE	1
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
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	26	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	300	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	40	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	679	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	4028	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3415	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-16515.91	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	363	AH0_24V	91.800003	SEABIRD_T_G	0.004345139
SPEED_FACTOR	1	PITCH_MAX	3698	AH0_10V	61.200001	SEABIRD_T_H	0.00064258272
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-10.644979	SEABIRD_T_I	2.3711646e-05
MASS	51588	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001156423	SEABIRD_T_J	2.2769887e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.006271
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1385506
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022333476
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00024018179

GPS1	214927,4739.324,-12252.489,14,1.5,14,18.3	TGT_NAME	S1
_CALLS	1	TGT_LATLONG	4738.867,-12253.333
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.154,-0.135
_SM_DEPTHo	0.64	KALMAN_X	17367.2,278.0,366.6,-17069.3,128.4
_SM_ANGLEo	-53.6	KALMAN_Y	12194.4,230.9,265.1,-13146.2,127.6
GPS2	215545,4739.399,-12252.364,14,1.3,14,18.3	MHEAD_RNG_PITCHd_Wd	210.5,1560,-19.3,-8.333
SPEED_LIMITS	0.144,0.204	D_GRID	124

FINISH	-0.0,1.014696	ALTIM_TOP_PING	9.8,9.6
SM_CCo	2744,148.93,0.505,0,0,1580,450.13	ALTIM_BOTTOM_PING	75.3,999.0
SM_GC	0.63,0.00,0.00,148.93,0.000,0.000,0.505,364,2056,1580,-10.88,0.17,450.13	_24V_AH	23.8,8.079
IRIDIUM_FIX	4722.92,-12249.11,031007,000050	_10V_AH	10.1,5.590
TT8_MAMPS	0.071331	DATA_FILE_SIZE	6447,250
HUMID	2023	CFSIZE	260034560,254332928
INTERNAL_PRESSURE	7.69561	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	021007,224607,4739.351,-12252.515,14,1.3,29,18.3
XPDR_PINGS	166

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	166	107.35	SBE_CT	167	24	95.42
Roll_motor	32	73	56.08	nil	0	0	0.00
VBD_pump_during_apogee	195	578	2689.48	nil	0	0	0.00
VBD_pump_during_surface	148	504	1788.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.00	nil	0	0	0.00
Iridium_during_connect	35	160	133.86	ARS	0	0	0.00
Iridium_during_xfer	192	223	1022.24
Transponder_ping	42	420	419.83
Mmodem_TX	264	1000	6288.44
Mmodem_RX	3122	6	475.66
GPS	14	50	7.25
TT8	466	19	93.37
LPSleep	1552	2	34.34
TT8_Active	454	19	90.82
TT8_Sampling	452	39	181.70
TT8_CF8	373	45	172.91
TT8_Kalman	33	81	27.54
Analog_circuits	727	12	88.19
GPS_charging	0	0	0.00
Compass	425	8	34.39
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	-1.60	-97.8	0.0	0.0	0	124	0.00	0.00	-97.38	0.000	2	0.000	0.000	362	2045	3642
127	-1.60	-97.8	2.2	-2.4	16	152	11.55	2.60	-4.93	0.000	4	0.166	0.067	2377	3451	3814
304	-1.60	-97.8	19.1	-6.9	43	310	0.00	2.47	0.00	0.000	6	0.000	0.037	2377	2050	3815
373	-1.60	-97.8	23.5	-6.3	50	374	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2049	3815
563	-1.60	-97.8	36.9	-7.4	65	565	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2049	3815
754	-1.60	-97.8	51.0	-7.4	80	756	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2048	3815
942	-1.60	-97.8	64.9	-7.0	95	946	0.00	2.55	0.00	0.000	4	0.000	0.055	2377	3453	3815
993	-1.60	-97.8	68.9	-7.3	98	1000	0.00	2.50	0.00	0.000	6	0.000	0.038	2377	2050	3815
1189	-1.60	-97.8	84.8	-8.4	114	1193	0.00	2.62	0.00	0.000	4	0.000	0.074	2377	640	3815
1254	-1.60	-97.8	90.2	-8.7	119	1259	0.00	2.45	0.00	0.000	6	0.000	0.037	2377	2050	3815
1392	end dive: TARGET_DEPTH_EXCEEDED
state	1392	begin apogee
1397	-0.38	0.0	100.4	7.1	130	1479	1.33	0.00	75.62	0.576	6	0.098	0.000	2642	2457	3414
1480	end apogee: CONTROL_FINISHED_OK
state	1480	begin climb
1482	1.60	97.8	102.7	0.0	137	1567	2.03	2.70	73.60	0.570	4	0.074	0.066	3073	3850	3015
1585	1.63	121.2	97.1	7.0	145	1609	0.00	2.47	16.95	0.578	6	0.000	0.033	3074	2444	2921
1806	1.65	141.4	80.5	7.2	163	1831	0.00	2.65	15.25	0.571	4	0.000	0.064	3074	1050	2837
1870	1.68	160.3	75.9	7.3	168	1890	0.00	2.47	13.98	0.568	6	0.000	0.041	3073	2452	2760
2077	1.68	160.3	58.8	8.4	184	2081	0.00	2.60	0.00	0.000	4	0.000	0.067	3074	3848	2759
2108	1.68	160.3	56.0	8.6	186	2116	0.00	2.45	0.00	0.000	6	0.000	0.033	3074	2453	2759
2305	1.68	160.3	38.5	8.9	202	2306	0.00	0.00	0.00	0.000	6	0.000	0.000	3074	2450	2759
2495	1.68	160.3	20.6	9.8	217	2497	0.10	0.00	0.00	0.000	6	0.071	0.000	3100	2450	2759
2691	end climb: SURFACE_DEPTH_REACHED
state	2692	begin surface coast
2720	end surface coast: CONTROL_FINISHED_OK
state	2720	begin surface