Glider dive log

PortSusan 16Sep09 * SG502 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 502 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 10 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 2248 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2086 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 380 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 420 DEVICE2 101

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 3425 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 5 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -2198.3945 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 450 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3012 PRESSURE_YINT -71.419655 SEABIRD_T_G 0.0043373196

RHO 1.0233001 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011650941 SEABIRD_T_H 0.00062598457

MASS 51342 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5066851e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8555498e-06

FERRY_MAX 45 PITCH_GAIN 32 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7998753

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1362277

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00070417771

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00014171835

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 380

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 32 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3944 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 3 PITCH_MIN 450 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011650941 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -71.419655 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -2198.3945

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0233001 T_MISSION 60

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 502 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3012 KALMAN_USE 1 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2086 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2248 MASS 51342 R_PORT_OVSHOOT 31 VBD_BLEED_AD_RATE 8

C_VBD 3425 MAX_BUOY 150 R_STBD_OVSHOOT 37 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.7998753 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1362277 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00070417771 VBD_MAXERRORS 1

DEVICE2 101 N_FILEKB 4 SEABIRD_C_J 0.00014171835 VBD_MIN 420

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043373196 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062598457 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5066851e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8555498e-06 XPDR_DEVICE 24

DIVE 10 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 053006,4805.771,-12222.055,14,1.4,30,18.3 TGT_NAME FIVENEW

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.215,-0.147

_SM_DEPTHo 1.25 KALMAN_X -1544.1,-249.9,-124.1,1798.6,-142.6

_SM_ANGLEo -78.6 KALMAN_Y 1157.9,228.0,-124.9,-2594.3,-26.5

GPS2 053544,4805.764,-12222.071,10,1.7,10,18.3 MHEAD_RNG_PITCHd_Wd 106.1,1939,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 108

Post-dive calculations and measurements:

FINISH 0.3,1.014730 ALTIM_BOTTOM_PING 100.1,6.7

SM_CCo 1847,46.17,0.568,0,0,1874,380.21 _24V_AH 24.3,5.135

SM_GC 1.53,0.00,0.00,46.17,0.000,0.000,0.568,424,2238,1874,-8.09,-0.28,380.21 _10V_AH 10.7,1.951

IRIDIUM_FIX 4748.51,-12220.12,121298,050552 DATA_FILE_SIZE 25514,377

TT8_MAMPS 0.027612 CAP_FILE_SIZE 39350,0

HUMID 2142 CFSIZE 260165632,258506752

INTERNAL_PRESSURE 9.55115 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.90 GPS 170909,060856,4805.602,-12221.892,10,1.6,10,18.3

XPDR_PINGS 53

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 252 115.43 SBE_CT 250 24 145.85

Roll_motor 22 65 36.23 AA4330 432 33 347.18

VBD_pump_during_apogee 315 670 5142.25 WL_BBFL2VMT 377 105 963.79

VBD_pump_during_surface 46 567 636.85 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 74.76 nil 0 0 0.00

Iridium_during_connect 27 160 108.23 nil 0 0 0.00

Iridium_during_xfer 207 223 1121.83

Transponder_ping 14 420 150.54

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.63

TT8 550 19 116.69

LPSleep 380 2 8.91

TT8_Active 377 19 79.98

TT8_Sampling 616 39 262.63

TT8_CF8 325 45 159.71

TT8_Kalman 33 81 29.17

Analog_circuits 743 12 95.51

GPS_charging 0 0 0.00

Compass 604 8 51.77

RAFOS 0 0 0.00

Transponder 12 30 3.94

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -0.73 -146.6 0.0 0.0 0 66 0.00 0.00 -50.17 0.000 2 0.000 0.000 429 2267 3188

68 -0.73 -146.6 3.5 -6.8 9 104 9.62 2.33 -16.90 0.000 4 0.252 0.066 2768 837 3966

357 -0.73 -146.6 47.7 -15.3 72 363 0.00 2.20 0.00 0.000 6 0.000 0.044 2759 2251 3966

501 -0.73 -146.6 71.3 -17.2 103 507 0.00 2.22 0.00 0.000 4 0.000 0.053 2759 840 3967

558 -0.73 -146.6 80.8 -16.5 115 564 0.00 2.20 0.00 0.000 6 0.000 0.044 2749 2253 3967

704 -0.73 -146.6 106.5 -17.9 146 710 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2254 3967

713 end dive: TARGET_DEPTH_EXCEEDED

state 713 begin apogee

717 -0.16 0.0 108.2 17.7 148 823 0.62 0.00 100.20 0.670 6 0.140 0.000 2949 2073 3425

824 end apogee: CONTROL_FINISHED_OK

state 824 begin climb

825 0.73 146.6 113.3 0.0 167 942 0.82 0.00 111.90 0.644 6 0.076 0.000 3243 2073 2826

1079 0.73 146.6 85.4 15.1 218 1086 0.00 2.28 0.00 0.000 4 0.000 0.049 3244 3496 2823

1132 0.73 146.6 77.2 15.3 229 1138 0.00 2.22 0.00 0.000 6 0.000 0.048 3249 2101 2821

1277 0.73 146.6 55.7 15.0 260 1283 0.00 0.00 0.00 0.000 6 0.000 0.000 3248 2100 2821

1419 0.73 146.6 34.5 14.2 291 1425 0.00 0.00 0.00 0.000 6 0.000 0.000 3248 2100 2821

1490 0.73 146.6 24.5 14.0 307 1496 0.00 0.00 0.00 0.000 6 0.000 0.000 3248 2100 2821

1562 0.73 146.6 14.6 13.5 323 1568 0.00 2.25 0.00 0.000 4 0.000 0.057 3255 677 2821

1573 0.73 146.6 13.0 13.0 325 1580 0.00 2.20 0.00 0.000 6 0.000 0.042 3255 2102 2820

1645 0.89 283.0 5.5 3.7 341 1756 0.12 2.35 103.57 0.595 4 0.064 0.051 3319 3493 2269

1768 end climb: SURFACE_DEPTH_REACHED

state 1769 begin surface coast

1831 end surface coast: CONTROL_FINISHED_OK

state 1831 begin surface

ID	502	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	10	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	2248	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2086	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	380	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	420	DEVICE2	101
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	3425	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	5	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-2198.3945	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	450	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3012	PRESSURE_YINT	-71.419655	SEABIRD_T_G	0.0043373196
RHO	1.0233001	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011650941	SEABIRD_T_H	0.00062598457
MASS	51342	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5066851e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8555498e-06
FERRY_MAX	45	PITCH_GAIN	32	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7998753
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1362277
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00070417771
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00014171835
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	053006,4805.771,-12222.055,14,1.4,30,18.3	TGT_NAME	FIVENEW
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.215,-0.147
_SM_DEPTHo	1.25	KALMAN_X	-1544.1,-249.9,-124.1,1798.6,-142.6
_SM_ANGLEo	-78.6	KALMAN_Y	1157.9,228.0,-124.9,-2594.3,-26.5
GPS2	053544,4805.764,-12222.071,10,1.7,10,18.3	MHEAD_RNG_PITCHd_Wd	106.1,1939,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	108

FINISH	0.3,1.014730	ALTIM_BOTTOM_PING	100.1,6.7
SM_CCo	1847,46.17,0.568,0,0,1874,380.21	_24V_AH	24.3,5.135
SM_GC	1.53,0.00,0.00,46.17,0.000,0.000,0.568,424,2238,1874,-8.09,-0.28,380.21	_10V_AH	10.7,1.951
IRIDIUM_FIX	4748.51,-12220.12,121298,050552	DATA_FILE_SIZE	25514,377
TT8_MAMPS	0.027612	CAP_FILE_SIZE	39350,0
HUMID	2142	CFSIZE	260165632,258506752
INTERNAL_PRESSURE	9.55115	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.90	GPS	170909,060856,4805.602,-12221.892,10,1.6,10,18.3
XPDR_PINGS	53

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	252	115.43	SBE_CT	250	24	145.85
Roll_motor	22	65	36.23	AA4330	432	33	347.18
VBD_pump_during_apogee	315	670	5142.25	WL_BBFL2VMT	377	105	963.79
VBD_pump_during_surface	46	567	636.85	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	74.76	nil	0	0	0.00
Iridium_during_connect	27	160	108.23	nil	0	0	0.00
Iridium_during_xfer	207	223	1121.83
Transponder_ping	14	420	150.54
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.63
TT8	550	19	116.69
LPSleep	380	2	8.91
TT8_Active	377	19	79.98
TT8_Sampling	616	39	262.63
TT8_CF8	325	45	159.71
TT8_Kalman	33	81	29.17
Analog_circuits	743	12	95.51
GPS_charging	0	0	0.00
Compass	604	8	51.77
RAFOS	0	0	0.00
Transponder	12	30	3.94

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-0.73	-146.6	0.0	0.0	0	66	0.00	0.00	-50.17	0.000	2	0.000	0.000	429	2267	3188
68	-0.73	-146.6	3.5	-6.8	9	104	9.62	2.33	-16.90	0.000	4	0.252	0.066	2768	837	3966
357	-0.73	-146.6	47.7	-15.3	72	363	0.00	2.20	0.00	0.000	6	0.000	0.044	2759	2251	3966
501	-0.73	-146.6	71.3	-17.2	103	507	0.00	2.22	0.00	0.000	4	0.000	0.053	2759	840	3967
558	-0.73	-146.6	80.8	-16.5	115	564	0.00	2.20	0.00	0.000	6	0.000	0.044	2749	2253	3967
704	-0.73	-146.6	106.5	-17.9	146	710	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2254	3967
713	end dive: TARGET_DEPTH_EXCEEDED
state	713	begin apogee
717	-0.16	0.0	108.2	17.7	148	823	0.62	0.00	100.20	0.670	6	0.140	0.000	2949	2073	3425
824	end apogee: CONTROL_FINISHED_OK
state	824	begin climb
825	0.73	146.6	113.3	0.0	167	942	0.82	0.00	111.90	0.644	6	0.076	0.000	3243	2073	2826
1079	0.73	146.6	85.4	15.1	218	1086	0.00	2.28	0.00	0.000	4	0.000	0.049	3244	3496	2823
1132	0.73	146.6	77.2	15.3	229	1138	0.00	2.22	0.00	0.000	6	0.000	0.048	3249	2101	2821
1277	0.73	146.6	55.7	15.0	260	1283	0.00	0.00	0.00	0.000	6	0.000	0.000	3248	2100	2821
1419	0.73	146.6	34.5	14.2	291	1425	0.00	0.00	0.00	0.000	6	0.000	0.000	3248	2100	2821
1490	0.73	146.6	24.5	14.0	307	1496	0.00	0.00	0.00	0.000	6	0.000	0.000	3248	2100	2821
1562	0.73	146.6	14.6	13.5	323	1568	0.00	2.25	0.00	0.000	4	0.000	0.057	3255	677	2821
1573	0.73	146.6	13.0	13.0	325	1580	0.00	2.20	0.00	0.000	6	0.000	0.042	3255	2102	2820
1645	0.89	283.0	5.5	3.7	341	1756	0.12	2.35	103.57	0.595	4	0.064	0.051	3319	3493	2269
1768	end climb: SURFACE_DEPTH_REACHED
state	1769	begin surface coast
1831	end surface coast: CONTROL_FINISHED_OK
state	1831	begin surface