Glider dive log

PN07 DabobBay 29Sep07 * SG107 * Dive index * Mission links * Dive 79 * 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 79 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 -16564.037 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 -16564.037

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 23 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 24 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 79 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 004735,4739.323,-12252.597,10,2.6,29,18.3 TGT_NAME 11_XS

_CALLS 1 TGT_LATLONG 4740.927,-12251.586

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.082,0.187

_SM_DEPTHo 0.63 KALMAN_X 18140.6,395.7,201.6,-18008.5,20.8

_SM_ANGLEo -52.8 KALMAN_Y 13034.8,358.1,246.0,-14105.2,73.2

GPS2 005420,4739.394,-12252.534,10,1.3,16,18.3 MHEAD_RNG_PITCHd_Wd 5.4,3076,-19.3,-8.333

SPEED_LIMITS 0.144,0.204 D_GRID 124

Post-dive calculations and measurements:

FINISH -0.0,1.011058 ALTIM_TOP_PING 9.8,999.0

SM_CCo 2857,142.88,0.504,0,0,1580,450.13 ALTIM_BOTTOM_PING 75.1,999.0

SM_GC 0.59,0.00,0.00,142.88,0.000,0.000,0.504,360,2047,1580,-10.91,0.00,450.13 _24V_AH 23.3,8.475

IRIDIUM_FIX 4719.74,-12251.79,031007,030349 _10V_AH 10.1,5.815

TT8_MAMPS 0.072098 DATA_FILE_SIZE 6448,265

HUMID 2012 CFSIZE 260034560,254218240

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 031007,014635,4739.634,-12252.315,15,3.0,34,18.3

XPDR_PINGS 164

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 159 100.18 SBE_CT 177 24 99.15

Roll_motor 37 74 64.66 nil 0 0 0.00

VBD_pump_during_apogee 199 582 2712.15 nil 0 0 0.00

VBD_pump_during_surface 142 503 1677.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 91.97 nil 0 0 0.00

Iridium_during_connect 35 160 130.73 ARS 0 0 0.00

Iridium_during_xfer 218 223 1137.80

Transponder_ping 41 420 406.12

Mmodem_TX 0 1000 0.00

Mmodem_RX 3562 6 531.17

GPS 16 50 8.58

TT8 496 19 99.23

LPSleep 1583 2 35.03

TT8_Active 449 19 89.94

TT8_Sampling 506 39 203.44

TT8_CF8 397 45 184.02

TT8_Kalman 33 81 27.54

Analog_circuits 740 12 89.70

GPS_charging 0 0 0.00

Compass 478 8 38.64

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

20 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.60 -97.8 0.0 0.0 0 110 0.00 0.00 -84.30 0.000 2 0.000 0.000 360 2048 3332

113 -1.60 -97.8 2.0 -4.9 14 150 11.38 2.58 -18.52 0.000 4 0.160 0.066 2376 3457 3814

401 -1.60 -97.8 21.8 -7.3 57 406 0.00 2.58 0.00 0.000 6 0.000 0.038 2375 2044 3815

597 -1.60 -97.8 35.4 -6.7 72 601 0.00 2.60 0.00 0.000 4 0.000 0.055 2376 3463 3815

854 -1.60 -97.8 54.5 -7.6 91 858 0.00 2.50 0.00 0.000 6 0.000 0.039 2375 2053 3814

1056 -1.60 -97.8 69.2 -7.2 107 1060 0.00 2.58 0.00 0.000 4 0.000 0.057 2375 3454 3815

1128 -1.60 -97.8 74.9 -8.6 112 1133 0.00 2.58 0.00 0.000 6 0.000 0.039 2375 2044 3815

1330 -1.60 -97.8 91.1 -7.8 128 1335 0.00 2.65 0.00 0.000 4 0.000 0.074 2376 636 3815

1447 end dive: TARGET_DEPTH_EXCEEDED

state 1447 begin apogee

1454 -0.38 0.0 100.5 7.4 136 1534 1.33 0.00 76.10 0.578 6 0.098 0.000 2642 2458 3415

1535 end apogee: CONTROL_FINISHED_OK

state 1535 begin climb

1537 1.60 97.8 101.5 0.0 143 1616 2.03 0.00 74.18 0.570 6 0.073 0.000 3078 2457 3016

1799 1.60 98.6 82.0 8.3 164 1804 0.00 2.62 0.00 0.000 4 0.000 0.061 3079 1038 3015

1858 1.61 107.1 77.2 7.8 168 1871 0.00 2.50 6.78 0.581 6 0.000 0.039 3079 2453 2977

2059 1.62 109.3 61.1 8.2 184 2060 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2455 2977

2249 1.62 109.3 44.4 9.2 199 2250 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2455 2977

2439 1.64 131.3 29.0 7.1 214 2464 0.00 2.62 17.85 0.540 4 0.000 0.067 3078 3853 2878

2503 1.64 131.3 23.7 8.4 219 2507 0.00 2.45 0.00 0.000 6 0.000 0.034 3079 2436 2878

2706 1.68 161.9 7.6 6.6 246 2737 0.00 2.60 22.45 0.526 4 0.000 0.061 3079 1048 2753

2792 1.74 213.7 2.5 5.4 259 2800 0.15 2.45 2.60 0.582 2 0.067 0.038 3114 2459 2738

2801 end climb: SURFACE_DEPTH_REACHED

state 2801 begin surface coast

2832 end surface coast: CONTROL_FINISHED_OK

state 2832 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	79	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	-16564.037	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	004735,4739.323,-12252.597,10,2.6,29,18.3	TGT_NAME	11_XS
_CALLS	1	TGT_LATLONG	4740.927,-12251.586
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.082,0.187
_SM_DEPTHo	0.63	KALMAN_X	18140.6,395.7,201.6,-18008.5,20.8
_SM_ANGLEo	-52.8	KALMAN_Y	13034.8,358.1,246.0,-14105.2,73.2
GPS2	005420,4739.394,-12252.534,10,1.3,16,18.3	MHEAD_RNG_PITCHd_Wd	5.4,3076,-19.3,-8.333
SPEED_LIMITS	0.144,0.204	D_GRID	124

FINISH	-0.0,1.011058	ALTIM_TOP_PING	9.8,999.0
SM_CCo	2857,142.88,0.504,0,0,1580,450.13	ALTIM_BOTTOM_PING	75.1,999.0
SM_GC	0.59,0.00,0.00,142.88,0.000,0.000,0.504,360,2047,1580,-10.91,0.00,450.13	_24V_AH	23.3,8.475
IRIDIUM_FIX	4719.74,-12251.79,031007,030349	_10V_AH	10.1,5.815
TT8_MAMPS	0.072098	DATA_FILE_SIZE	6448,265
HUMID	2012	CFSIZE	260034560,254218240
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	031007,014635,4739.634,-12252.315,15,3.0,34,18.3
XPDR_PINGS	164

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	159	100.18	SBE_CT	177	24	99.15
Roll_motor	37	74	64.66	nil	0	0	0.00
VBD_pump_during_apogee	199	582	2712.15	nil	0	0	0.00
VBD_pump_during_surface	142	503	1677.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	91.97	nil	0	0	0.00
Iridium_during_connect	35	160	130.73	ARS	0	0	0.00
Iridium_during_xfer	218	223	1137.80
Transponder_ping	41	420	406.12
Mmodem_TX	0	1000	0.00
Mmodem_RX	3562	6	531.17
GPS	16	50	8.58
TT8	496	19	99.23
LPSleep	1583	2	35.03
TT8_Active	449	19	89.94
TT8_Sampling	506	39	203.44
TT8_CF8	397	45	184.02
TT8_Kalman	33	81	27.54
Analog_circuits	740	12	89.70
GPS_charging	0	0	0.00
Compass	478	8	38.64
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
20	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.60	-97.8	0.0	0.0	0	110	0.00	0.00	-84.30	0.000	2	0.000	0.000	360	2048	3332
113	-1.60	-97.8	2.0	-4.9	14	150	11.38	2.58	-18.52	0.000	4	0.160	0.066	2376	3457	3814
401	-1.60	-97.8	21.8	-7.3	57	406	0.00	2.58	0.00	0.000	6	0.000	0.038	2375	2044	3815
597	-1.60	-97.8	35.4	-6.7	72	601	0.00	2.60	0.00	0.000	4	0.000	0.055	2376	3463	3815
854	-1.60	-97.8	54.5	-7.6	91	858	0.00	2.50	0.00	0.000	6	0.000	0.039	2375	2053	3814
1056	-1.60	-97.8	69.2	-7.2	107	1060	0.00	2.58	0.00	0.000	4	0.000	0.057	2375	3454	3815
1128	-1.60	-97.8	74.9	-8.6	112	1133	0.00	2.58	0.00	0.000	6	0.000	0.039	2375	2044	3815
1330	-1.60	-97.8	91.1	-7.8	128	1335	0.00	2.65	0.00	0.000	4	0.000	0.074	2376	636	3815
1447	end dive: TARGET_DEPTH_EXCEEDED
state	1447	begin apogee
1454	-0.38	0.0	100.5	7.4	136	1534	1.33	0.00	76.10	0.578	6	0.098	0.000	2642	2458	3415
1535	end apogee: CONTROL_FINISHED_OK
state	1535	begin climb
1537	1.60	97.8	101.5	0.0	143	1616	2.03	0.00	74.18	0.570	6	0.073	0.000	3078	2457	3016
1799	1.60	98.6	82.0	8.3	164	1804	0.00	2.62	0.00	0.000	4	0.000	0.061	3079	1038	3015
1858	1.61	107.1	77.2	7.8	168	1871	0.00	2.50	6.78	0.581	6	0.000	0.039	3079	2453	2977
2059	1.62	109.3	61.1	8.2	184	2060	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2455	2977
2249	1.62	109.3	44.4	9.2	199	2250	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2455	2977
2439	1.64	131.3	29.0	7.1	214	2464	0.00	2.62	17.85	0.540	4	0.000	0.067	3078	3853	2878
2503	1.64	131.3	23.7	8.4	219	2507	0.00	2.45	0.00	0.000	6	0.000	0.034	3079	2436	2878
2706	1.68	161.9	7.6	6.6	246	2737	0.00	2.60	22.45	0.526	4	0.000	0.061	3079	1048	2753
2792	1.74	213.7	2.5	5.4	259	2800	0.15	2.45	2.60	0.582	2	0.067	0.038	3114	2459	2738
2801	end climb: SURFACE_DEPTH_REACHED
state	2801	begin surface coast
2832	end surface coast: CONTROL_FINISHED_OK
state	2832	begin surface