Glider dive log

PN07 DabobBay Oct07 * SG106 * Dive index * Mission links * Dive 132 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 132 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -45896.223 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 460 AH0_24V 91.800003 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -7.4494777 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 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 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.4494777 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 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 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -45896.223

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 20 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 33 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 132 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 183251,4739.497,-12252.776,12,2.0,12,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.159,-0.135

_SM_DEPTHo 1.03 KALMAN_X 2613.2,-90.8,42.0,-3225.0,78.4

_SM_ANGLEo -61.7 KALMAN_Y 3307.8,68.4,82.2,-3852.5,130.9

GPS2 183823,4739.550,-12252.731,15,2.1,34,18.3 MHEAD_RNG_PITCHd_Wd 112.0,440,-21.9,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 123

Post-dive calculations and measurements:

FINISH 1.5,1.021157 XPDR_PINGS 0

SM_CCo 2502,121.03,0.580,0,0,1587,400.08 ALTIM_BOTTOM_PING 50.3,51.4

SM_GC 0.92,0.00,0.00,121.03,0.000,0.000,0.580,461,1806,1587,-12.14,0.20,400.08 _24V_AH 23.9,16.695

IRIDIUM_FIX 4719.74,-12251.79,290907,212152 _10V_AH 10.1,38.091

TT8_MAMPS 0.069797 DATA_FILE_SIZE 6437,231

HUMID 2047 CFSIZE 260034560,253038592

INTERNAL_PRESSURE 8.41829 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 290907,192423,4739.462,-12252.364,16,2.6,35,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 213 165.58 SBE_CT 154 24 88.74

Roll_motor 25 78 47.45 nil 0 0 0.00

VBD_pump_during_apogee 194 678 3143.74 nil 0 0 0.00

VBD_pump_during_surface 121 579 1677.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 95.91 nil 0 0 0.00

Iridium_during_connect 31 160 119.98 ARS 0 0 0.00

Iridium_during_xfer 128 223 682.59

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3066 6 468.98

GPS 35 50 18.04

TT8 432 19 86.56

LPSleep 1400 2 30.98

TT8_Active 421 19 84.22

TT8_Sampling 427 39 171.82

TT8_CF8 302 45 139.98

TT8_Kalman 33 81 27.53

Analog_circuits 659 12 79.93

GPS_charging 0 0 0.00

Compass 380 8 30.71

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 20 begin dive

23 -1.80 -94.1 0.0 0.0 0 92 0.00 0.00 -67.30 0.000 2 0.000 0.000 462 1812 3073

95 -1.84 -122.2 2.2 -4.8 11 139 14.50 2.53 -22.45 0.000 4 0.214 0.060 2694 3204 3718

370 -1.84 -122.2 18.5 -7.2 53 376 0.00 2.50 0.00 0.000 6 0.000 0.038 2694 1791 3721

446 -1.84 -122.2 24.1 -7.4 61 447 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 1791 3721

637 -1.84 -122.2 36.5 -6.4 76 638 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 1791 3721

828 -1.84 -122.2 49.3 -7.4 91 832 0.00 2.55 0.00 0.000 4 0.000 0.049 2694 3205 3721

891 -1.84 -122.2 54.5 -7.7 95 899 0.00 2.53 0.00 0.000 6 0.000 0.038 2694 1797 3721

1088 -1.84 -122.2 69.1 -7.1 111 1092 0.00 2.53 0.00 0.000 4 0.000 0.048 2694 3200 3722

1147 -1.84 -122.2 73.3 -6.9 115 1151 0.00 2.47 0.00 0.000 6 0.000 0.038 2694 1797 3722

1342 -1.84 -122.2 86.6 -6.5 130 1344 0.00 0.00 0.00 0.000 6 0.000 0.000 2694 1797 3722

1533 -1.84 -122.2 98.7 -6.5 145 1537 0.00 2.62 0.00 0.000 4 0.000 0.074 2694 400 3722

1555 end dive: TARGET_DEPTH_EXCEEDED

state 1555 begin apogee

1563 -0.38 0.0 100.5 6.6 146 1666 1.58 0.00 98.28 0.678 6 0.106 0.000 3010 1751 3218

1667 end apogee: CONTROL_FINISHED_OK

state 1667 begin climb

1669 1.84 122.2 101.3 0.0 155 1774 2.25 0.00 95.72 0.648 6 0.051 0.000 3504 1751 2719

1962 1.84 122.2 66.2 13.5 179 1963 0.00 0.00 0.00 0.000 6 0.000 0.000 3504 1751 2717

2153 1.84 122.2 41.0 13.8 194 2157 0.00 2.72 0.00 0.000 4 0.000 0.078 3505 334 2716

2184 1.84 122.2 36.2 14.8 196 2189 0.00 2.45 0.00 0.000 6 0.000 0.035 3504 1731 2716

2384 1.84 122.2 10.4 12.4 217 2389 0.00 0.00 0.00 0.000 6 0.000 0.000 3504 1732 2716

2426 end climb: SURFACE_DEPTH_REACHED

state 2427 begin surface coast

2477 end surface coast: CONTROL_FINISHED_OK

state 2477 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	132	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-45896.223	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	460	AH0_24V	91.800003	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-7.4494777	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	183251,4739.497,-12252.776,12,2.0,12,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.159,-0.135
_SM_DEPTHo	1.03	KALMAN_X	2613.2,-90.8,42.0,-3225.0,78.4
_SM_ANGLEo	-61.7	KALMAN_Y	3307.8,68.4,82.2,-3852.5,130.9
GPS2	183823,4739.550,-12252.731,15,2.1,34,18.3	MHEAD_RNG_PITCHd_Wd	112.0,440,-21.9,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	123

FINISH	1.5,1.021157	XPDR_PINGS	0
SM_CCo	2502,121.03,0.580,0,0,1587,400.08	ALTIM_BOTTOM_PING	50.3,51.4
SM_GC	0.92,0.00,0.00,121.03,0.000,0.000,0.580,461,1806,1587,-12.14,0.20,400.08	_24V_AH	23.9,16.695
IRIDIUM_FIX	4719.74,-12251.79,290907,212152	_10V_AH	10.1,38.091
TT8_MAMPS	0.069797	DATA_FILE_SIZE	6437,231
HUMID	2047	CFSIZE	260034560,253038592
INTERNAL_PRESSURE	8.41829	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	290907,192423,4739.462,-12252.364,16,2.6,35,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	213	165.58	SBE_CT	154	24	88.74
Roll_motor	25	78	47.45	nil	0	0	0.00
VBD_pump_during_apogee	194	678	3143.74	nil	0	0	0.00
VBD_pump_during_surface	121	579	1677.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	95.91	nil	0	0	0.00
Iridium_during_connect	31	160	119.98	ARS	0	0	0.00
Iridium_during_xfer	128	223	682.59
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3066	6	468.98
GPS	35	50	18.04
TT8	432	19	86.56
LPSleep	1400	2	30.98
TT8_Active	421	19	84.22
TT8_Sampling	427	39	171.82
TT8_CF8	302	45	139.98
TT8_Kalman	33	81	27.53
Analog_circuits	659	12	79.93
GPS_charging	0	0	0.00
Compass	380	8	30.71
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	20	begin dive
23	-1.80	-94.1	0.0	0.0	0	92	0.00	0.00	-67.30	0.000	2	0.000	0.000	462	1812	3073
95	-1.84	-122.2	2.2	-4.8	11	139	14.50	2.53	-22.45	0.000	4	0.214	0.060	2694	3204	3718
370	-1.84	-122.2	18.5	-7.2	53	376	0.00	2.50	0.00	0.000	6	0.000	0.038	2694	1791	3721
446	-1.84	-122.2	24.1	-7.4	61	447	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	1791	3721
637	-1.84	-122.2	36.5	-6.4	76	638	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	1791	3721
828	-1.84	-122.2	49.3	-7.4	91	832	0.00	2.55	0.00	0.000	4	0.000	0.049	2694	3205	3721
891	-1.84	-122.2	54.5	-7.7	95	899	0.00	2.53	0.00	0.000	6	0.000	0.038	2694	1797	3721
1088	-1.84	-122.2	69.1	-7.1	111	1092	0.00	2.53	0.00	0.000	4	0.000	0.048	2694	3200	3722
1147	-1.84	-122.2	73.3	-6.9	115	1151	0.00	2.47	0.00	0.000	6	0.000	0.038	2694	1797	3722
1342	-1.84	-122.2	86.6	-6.5	130	1344	0.00	0.00	0.00	0.000	6	0.000	0.000	2694	1797	3722
1533	-1.84	-122.2	98.7	-6.5	145	1537	0.00	2.62	0.00	0.000	4	0.000	0.074	2694	400	3722
1555	end dive: TARGET_DEPTH_EXCEEDED
state	1555	begin apogee
1563	-0.38	0.0	100.5	6.6	146	1666	1.58	0.00	98.28	0.678	6	0.106	0.000	3010	1751	3218
1667	end apogee: CONTROL_FINISHED_OK
state	1667	begin climb
1669	1.84	122.2	101.3	0.0	155	1774	2.25	0.00	95.72	0.648	6	0.051	0.000	3504	1751	2719
1962	1.84	122.2	66.2	13.5	179	1963	0.00	0.00	0.00	0.000	6	0.000	0.000	3504	1751	2717
2153	1.84	122.2	41.0	13.8	194	2157	0.00	2.72	0.00	0.000	4	0.000	0.078	3505	334	2716
2184	1.84	122.2	36.2	14.8	196	2189	0.00	2.45	0.00	0.000	6	0.000	0.035	3504	1731	2716
2384	1.84	122.2	10.4	12.4	217	2389	0.00	0.00	0.00	0.000	6	0.000	0.000	3504	1732	2716
2426	end climb: SURFACE_DEPTH_REACHED
state	2427	begin surface coast
2477	end surface coast: CONTROL_FINISHED_OK
state	2477	begin surface