Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 98 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_B 0.010078 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 10

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 98 HEADING 330 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 311 ALTIM_PING_DEPTH 70

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2415 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 17 INT_PRESSURE_YINT 1.4

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 44 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 35 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 540 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3800 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3229 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY 0 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17106.947 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

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 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 428 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3730 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 3000 PRESSURE_YINT -6.9690108 SEABIRD_T_I 2.5554549e-05

MASS 51630 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 2 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 10 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3730 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 428 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -6.9690108 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 16 RAFOS_HIT_WINDOW 3600 T_DIVE 35

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 -17106.947

CAPUPLOAD 0 HEADING 330 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 118 ROLL_MAX 3943 T_TURN_SAMPINT 6

C_PITCH 3000 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2415 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 UNCOM_BLEED 20

C_ROLL_DIVE 2500 KALMAN_USE 2 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 44 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 29 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3800

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 540

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 98 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 160021,4739.112,-12252.596,11,1.1,11,18.3 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 4748.520,-12256.124

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.18 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 160627,4739.168,-12252.497,12,1.8,12,18.3 MHEAD_RNG_PITCHd_Wd 311.7,20000,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 100

Post-dive calculations and measurements:

FINISH 1.1,1.026024 ALTIM_TOP_PING 9.7,9.1

SM_CCo 2196,133.48,0.519,0,0,1597,400.08 ALTIM_BOTTOM_PING 100.2,38.0

SM_GC 1.05,0.00,0.00,133.48,0.000,0.000,0.519,426,2479,1597,-11.84,-0.59,400.08 _24V_AH 24.0,5.272

IRIDIUM_FIX 4722.92,-12244.69,240907,191944 _10V_AH 10.1,4.443

TT8_MAMPS 0.067496 DATA_FILE_SIZE 6431,201

HUMID 1761 CFSIZE 260034560,254418944

INTERNAL_PRESSURE 9.34952 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.00 GPS 240907,164633,4739.424,-12252.605,13,1.5,14,18.3

XPDR_PINGS 9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 155 111.08 SBE_CT 138 24 79.92

Roll_motor 34 70 59.10 nil 0 0 0.00

VBD_pump_during_apogee 186 601 2697.32 nil 0 0 0.00

VBD_pump_during_surface 133 519 1663.39 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 ARS 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 4 420 42.84

Mmodem_TX 0 0 0.00

Mmodem_RX 2310 6 354.82

GPS 12 93 12.06

TT8 395 19 79.10

LPSleep 1118 2 24.73

TT8_Active 408 19 81.79

TT8_Sampling 365 39 146.86

TT8_CF8 112 45 52.19

TT8_Kalman 0 0 0.00

Analog_circuits 652 12 79.13

GPS_charging 0 0 0.00

Compass 379 8 30.67

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

30 end surface: CONTROL_FINISHED_OK

state 30 begin dive

33 -2.07 -122.2 0.0 0.0 0 84 0.00 0.00 -48.88 0.000 2 0.000 0.000 425 2474 2792

88 -2.07 -122.2 2.2 -3.9 8 138 11.77 2.50 -33.30 0.000 4 0.156 0.059 2542 1104 3729

298 -2.07 -122.2 15.3 -9.2 40 304 0.00 2.40 0.00 0.000 6 0.000 0.032 2543 2497 3732

370 -2.07 -122.2 21.0 -7.5 50 374 0.00 2.58 0.00 0.000 4 0.000 0.070 2543 3898 3733

468 -2.07 -122.2 29.6 -8.6 57 473 0.00 2.40 0.00 0.000 6 0.000 0.033 2543 2486 3733

666 -2.07 -122.2 47.1 -9.4 72 668 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2481 3734

855 -2.07 -122.2 64.8 -9.4 87 859 0.00 2.62 0.00 0.000 4 0.000 0.068 2544 3896 3734

893 -2.07 -122.2 68.8 -9.7 89 900 0.00 2.40 0.00 0.000 6 0.000 0.035 2543 2499 3734

1089 -2.07 -122.2 88.0 -9.6 105 1094 0.00 2.60 0.00 0.000 4 0.000 0.070 2542 3901 3734

1167 -2.07 -122.2 96.1 -10.1 110 1174 0.00 2.40 0.00 0.000 6 0.000 0.035 2543 2502 3734

1213 end dive: TARGET_DEPTH_EXCEEDED

state 1213 begin apogee

1219 -0.50 0.0 100.2 9.4 114 1322 1.67 0.00 94.80 0.601 6 0.099 0.000 2890 2421 3228

1323 end apogee: CONTROL_FINISHED_OK

state 1323 begin climb

1326 2.07 122.2 102.8 0.0 123 1427 2.60 2.58 92.10 0.580 4 0.062 0.052 3452 1036 2729

1467 2.07 122.2 90.2 13.3 134 1474 0.00 2.45 0.00 0.000 6 0.000 0.035 3452 2413 2729

1664 2.07 122.2 64.3 13.1 150 1665 0.00 0.00 0.00 0.000 6 0.000 0.000 3452 2413 2728

1854 2.07 122.2 39.0 13.3 165 1858 0.00 2.50 0.00 0.000 4 0.000 0.051 3452 1030 2728

1926 2.07 122.2 29.4 12.7 170 1931 0.00 2.45 0.00 0.000 6 0.000 0.035 3452 2415 2728

2128 2.07 122.2 5.4 10.7 195 2134 0.00 2.60 0.00 0.000 4 0.000 0.071 3452 3822 2728

2158 end climb: SURFACE_DEPTH_REACHED

state 2158 begin surface coast

2166 end surface coast: CONTROL_FINISHED_OK

state 2166 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	10
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	98	HEADING	330	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	311	ALTIM_PING_DEPTH	70
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2415	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	17	INT_PRESSURE_YINT	1.4
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	44	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	35	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	540	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3800	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3229	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	0	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17106.947	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
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	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	428	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3730	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	3000	PRESSURE_YINT	-6.9690108	SEABIRD_T_I	2.5554549e-05
MASS	51630	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	2	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	160021,4739.112,-12252.596,11,1.1,11,18.3	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	4748.520,-12256.124
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.18	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	160627,4739.168,-12252.497,12,1.8,12,18.3	MHEAD_RNG_PITCHd_Wd	311.7,20000,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	100

FINISH	1.1,1.026024	ALTIM_TOP_PING	9.7,9.1
SM_CCo	2196,133.48,0.519,0,0,1597,400.08	ALTIM_BOTTOM_PING	100.2,38.0
SM_GC	1.05,0.00,0.00,133.48,0.000,0.000,0.519,426,2479,1597,-11.84,-0.59,400.08	_24V_AH	24.0,5.272
IRIDIUM_FIX	4722.92,-12244.69,240907,191944	_10V_AH	10.1,4.443
TT8_MAMPS	0.067496	DATA_FILE_SIZE	6431,201
HUMID	1761	CFSIZE	260034560,254418944
INTERNAL_PRESSURE	9.34952	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.00	GPS	240907,164633,4739.424,-12252.605,13,1.5,14,18.3
XPDR_PINGS	9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	155	111.08	SBE_CT	138	24	79.92
Roll_motor	34	70	59.10	nil	0	0	0.00
VBD_pump_during_apogee	186	601	2697.32	nil	0	0	0.00
VBD_pump_during_surface	133	519	1663.39	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	ARS	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	4	420	42.84
Mmodem_TX	0	0	0.00
Mmodem_RX	2310	6	354.82
GPS	12	93	12.06
TT8	395	19	79.10
LPSleep	1118	2	24.73
TT8_Active	408	19	81.79
TT8_Sampling	365	39	146.86
TT8_CF8	112	45	52.19
TT8_Kalman	0	0	0.00
Analog_circuits	652	12	79.13
GPS_charging	0	0	0.00
Compass	379	8	30.67
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
30	end surface: CONTROL_FINISHED_OK
state	30	begin dive
33	-2.07	-122.2	0.0	0.0	0	84	0.00	0.00	-48.88	0.000	2	0.000	0.000	425	2474	2792
88	-2.07	-122.2	2.2	-3.9	8	138	11.77	2.50	-33.30	0.000	4	0.156	0.059	2542	1104	3729
298	-2.07	-122.2	15.3	-9.2	40	304	0.00	2.40	0.00	0.000	6	0.000	0.032	2543	2497	3732
370	-2.07	-122.2	21.0	-7.5	50	374	0.00	2.58	0.00	0.000	4	0.000	0.070	2543	3898	3733
468	-2.07	-122.2	29.6	-8.6	57	473	0.00	2.40	0.00	0.000	6	0.000	0.033	2543	2486	3733
666	-2.07	-122.2	47.1	-9.4	72	668	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2481	3734
855	-2.07	-122.2	64.8	-9.4	87	859	0.00	2.62	0.00	0.000	4	0.000	0.068	2544	3896	3734
893	-2.07	-122.2	68.8	-9.7	89	900	0.00	2.40	0.00	0.000	6	0.000	0.035	2543	2499	3734
1089	-2.07	-122.2	88.0	-9.6	105	1094	0.00	2.60	0.00	0.000	4	0.000	0.070	2542	3901	3734
1167	-2.07	-122.2	96.1	-10.1	110	1174	0.00	2.40	0.00	0.000	6	0.000	0.035	2543	2502	3734
1213	end dive: TARGET_DEPTH_EXCEEDED
state	1213	begin apogee
1219	-0.50	0.0	100.2	9.4	114	1322	1.67	0.00	94.80	0.601	6	0.099	0.000	2890	2421	3228
1323	end apogee: CONTROL_FINISHED_OK
state	1323	begin climb
1326	2.07	122.2	102.8	0.0	123	1427	2.60	2.58	92.10	0.580	4	0.062	0.052	3452	1036	2729
1467	2.07	122.2	90.2	13.3	134	1474	0.00	2.45	0.00	0.000	6	0.000	0.035	3452	2413	2729
1664	2.07	122.2	64.3	13.1	150	1665	0.00	0.00	0.00	0.000	6	0.000	0.000	3452	2413	2728
1854	2.07	122.2	39.0	13.3	165	1858	0.00	2.50	0.00	0.000	4	0.000	0.051	3452	1030	2728
1926	2.07	122.2	29.4	12.7	170	1931	0.00	2.45	0.00	0.000	6	0.000	0.035	3452	2415	2728
2128	2.07	122.2	5.4	10.7	195	2134	0.00	2.60	0.00	0.000	4	0.000	0.071	3452	3822	2728
2158	end climb: SURFACE_DEPTH_REACHED
state	2158	begin surface coast
2166	end surface coast: CONTROL_FINISHED_OK
state	2166	begin surface