Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 141 * 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 0

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 141 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 311 ALTIM_PING_DEPTH 70

D_TGT 120 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 49 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 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 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 -17294.686 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 120 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 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 16 RAFOS_HIT_WINDOW 3600 T_DIVE 45

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 -17294.686

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

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 49 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 141 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 012937,4739.544,-12252.659,13,1.3,29,18.3 TGT_NAME H3

_CALLS 2 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 014038,4739.543,-12252.624,11,1.8,11,18.3 MHEAD_RNG_PITCHd_Wd 240.6,735,-18.1,-8.889

SPEED_LIMITS 0.154,0.231 D_GRID 120

Post-dive calculations and measurements:

FINISH 0.1,1.025261 XPDR_PINGS 4

SM_CCo 2731,115.32,0.517,0,0,1598,400.08 ALTIM_BOTTOM_PING 90.6,41.7

SM_GC 1.00,0.00,0.00,115.32,0.000,0.000,0.517,429,2474,1598,-11.83,-0.74,400.08 _24V_AH 23.5,10.361

IRIDIUM_FIX 4722.92,-12249.11,260907,050552 _10V_AH 10.1,7.072

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6424,248

HUMID 1802 CFSIZE 260034560,253190144

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

TCM_TEMP 19.90 GPS 260907,022937,4739.534,-12252.977,21,1.0,32,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 156 109.85 SBE_CT 171 24 96.58

Roll_motor 40 69 65.29 nil 0 0 0.00

VBD_pump_during_apogee 210 609 3010.98 nil 0 0 0.00

VBD_pump_during_surface 115 516 1401.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 73 103 178.95 nil 0 0 0.00

Iridium_during_connect 81 160 305.07 ARS 0 0 0.00

Iridium_during_xfer 308 223 1616.00

Transponder_ping 2 420 19.74

Mmodem_TX 393 1000 9254.30

Mmodem_RX 3223 6 484.77

GPS 11 93 10.35

TT8 466 19 93.32

LPSleep 1526 2 33.76

TT8_Active 426 19 85.27

TT8_Sampling 439 39 176.71

TT8_CF8 659 45 304.95

TT8_Kalman 0 0 0.00

Analog_circuits 709 12 86.03

GPS_charging 0 0 0.00

Compass 449 8 36.31

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.96 -122.2 0.0 0.0 0 84 0.00 0.00 -54.67 0.000 2 0.000 0.000 426 2487 2956

88 -1.96 -122.2 2.1 -4.5 9 138 12.20 2.47 -29.98 0.000 4 0.156 0.061 2569 1117 3729

152 -1.96 -122.2 4.0 -7.8 19 159 0.00 2.45 0.00 0.000 6 0.000 0.034 2570 2507 3730

225 -1.96 -122.2 9.6 -8.2 30 232 0.00 2.60 0.00 0.000 4 0.000 0.069 2569 3904 3731

372 -1.96 -122.2 22.2 -9.2 51 376 0.00 2.45 0.00 0.000 6 0.000 0.031 2569 2493 3732

568 -1.96 -122.2 39.2 -8.6 66 569 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2487 3734

759 -1.96 -122.2 55.1 -8.5 81 763 0.00 2.65 0.00 0.000 4 0.000 0.064 2569 3893 3734

851 -1.96 -122.2 63.7 -9.2 88 855 0.00 2.42 0.00 0.000 6 0.000 0.032 2569 2490 3734

1047 -1.96 -122.2 80.8 -8.7 103 1048 0.00 0.00 0.00 0.000 6 0.000 0.000 2569 2484 3734

1235 -1.96 -122.2 97.3 -8.9 118 1237 0.00 0.00 0.00 0.000 6 0.000 0.000 2570 2484 3734

1427 -1.96 -122.2 113.9 -8.1 133 1431 0.00 2.65 0.00 0.000 4 0.000 0.065 2569 3899 3734

1478 -1.96 -122.2 118.8 -9.2 136 1485 0.00 2.42 0.00 0.000 6 0.000 0.032 2570 2496 3734

1496 end dive: TARGET_DEPTH_EXCEEDED

state 1496 begin apogee

1502 -0.50 0.0 120.3 8.8 138 1607 1.58 0.00 95.62 0.610 6 0.097 0.000 2885 2418 3229

1608 end apogee: CONTROL_FINISHED_OK

state 1608 begin climb

1611 1.96 122.2 122.7 0.0 147 1715 2.50 2.58 93.20 0.591 4 0.058 0.051 3423 1029 2729

1795 1.96 122.2 105.0 13.7 162 1799 0.00 2.42 0.00 0.000 6 0.000 0.032 3423 2418 2728

1990 1.96 122.2 81.2 13.0 177 1995 0.00 2.55 0.00 0.000 4 0.000 0.050 3423 1036 2728

2069 1.96 122.2 70.8 13.0 183 2073 0.00 2.40 0.00 0.000 6 0.000 0.032 3423 2413 2727

2267 1.96 122.2 46.7 12.4 198 2268 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 2413 2727

2455 1.96 122.2 23.5 11.7 213 2460 0.00 2.58 0.00 0.000 4 0.000 0.050 3423 1030 2727

2561 1.96 122.2 10.8 12.7 226 2567 0.00 2.42 0.00 0.000 6 0.000 0.032 3423 2419 2728

2633 2.00 155.0 4.1 7.3 237 2664 0.00 2.75 21.30 0.551 4 0.000 0.066 3423 3815 2595

2669 end climb: SURFACE_DEPTH_REACHED

state 2669 begin surface coast

2702 end surface coast: CONTROL_FINISHED_OK

state 2702 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	141	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	311	ALTIM_PING_DEPTH	70
D_TGT	120	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	49	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	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	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	-17294.686	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	012937,4739.544,-12252.659,13,1.3,29,18.3	TGT_NAME	H3
_CALLS	2	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	014038,4739.543,-12252.624,11,1.8,11,18.3	MHEAD_RNG_PITCHd_Wd	240.6,735,-18.1,-8.889
SPEED_LIMITS	0.154,0.231	D_GRID	120

FINISH	0.1,1.025261	XPDR_PINGS	4
SM_CCo	2731,115.32,0.517,0,0,1598,400.08	ALTIM_BOTTOM_PING	90.6,41.7
SM_GC	1.00,0.00,0.00,115.32,0.000,0.000,0.517,429,2474,1598,-11.83,-0.74,400.08	_24V_AH	23.5,10.361
IRIDIUM_FIX	4722.92,-12249.11,260907,050552	_10V_AH	10.1,7.072
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6424,248
HUMID	1802	CFSIZE	260034560,253190144
INTERNAL_PRESSURE	9.34952	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	260907,022937,4739.534,-12252.977,21,1.0,32,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	156	109.85	SBE_CT	171	24	96.58
Roll_motor	40	69	65.29	nil	0	0	0.00
VBD_pump_during_apogee	210	609	3010.98	nil	0	0	0.00
VBD_pump_during_surface	115	516	1401.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	73	103	178.95	nil	0	0	0.00
Iridium_during_connect	81	160	305.07	ARS	0	0	0.00
Iridium_during_xfer	308	223	1616.00
Transponder_ping	2	420	19.74
Mmodem_TX	393	1000	9254.30
Mmodem_RX	3223	6	484.77
GPS	11	93	10.35
TT8	466	19	93.32
LPSleep	1526	2	33.76
TT8_Active	426	19	85.27
TT8_Sampling	439	39	176.71
TT8_CF8	659	45	304.95
TT8_Kalman	0	0	0.00
Analog_circuits	709	12	86.03
GPS_charging	0	0	0.00
Compass	449	8	36.31
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.96	-122.2	0.0	0.0	0	84	0.00	0.00	-54.67	0.000	2	0.000	0.000	426	2487	2956
88	-1.96	-122.2	2.1	-4.5	9	138	12.20	2.47	-29.98	0.000	4	0.156	0.061	2569	1117	3729
152	-1.96	-122.2	4.0	-7.8	19	159	0.00	2.45	0.00	0.000	6	0.000	0.034	2570	2507	3730
225	-1.96	-122.2	9.6	-8.2	30	232	0.00	2.60	0.00	0.000	4	0.000	0.069	2569	3904	3731
372	-1.96	-122.2	22.2	-9.2	51	376	0.00	2.45	0.00	0.000	6	0.000	0.031	2569	2493	3732
568	-1.96	-122.2	39.2	-8.6	66	569	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2487	3734
759	-1.96	-122.2	55.1	-8.5	81	763	0.00	2.65	0.00	0.000	4	0.000	0.064	2569	3893	3734
851	-1.96	-122.2	63.7	-9.2	88	855	0.00	2.42	0.00	0.000	6	0.000	0.032	2569	2490	3734
1047	-1.96	-122.2	80.8	-8.7	103	1048	0.00	0.00	0.00	0.000	6	0.000	0.000	2569	2484	3734
1235	-1.96	-122.2	97.3	-8.9	118	1237	0.00	0.00	0.00	0.000	6	0.000	0.000	2570	2484	3734
1427	-1.96	-122.2	113.9	-8.1	133	1431	0.00	2.65	0.00	0.000	4	0.000	0.065	2569	3899	3734
1478	-1.96	-122.2	118.8	-9.2	136	1485	0.00	2.42	0.00	0.000	6	0.000	0.032	2570	2496	3734
1496	end dive: TARGET_DEPTH_EXCEEDED
state	1496	begin apogee
1502	-0.50	0.0	120.3	8.8	138	1607	1.58	0.00	95.62	0.610	6	0.097	0.000	2885	2418	3229
1608	end apogee: CONTROL_FINISHED_OK
state	1608	begin climb
1611	1.96	122.2	122.7	0.0	147	1715	2.50	2.58	93.20	0.591	4	0.058	0.051	3423	1029	2729
1795	1.96	122.2	105.0	13.7	162	1799	0.00	2.42	0.00	0.000	6	0.000	0.032	3423	2418	2728
1990	1.96	122.2	81.2	13.0	177	1995	0.00	2.55	0.00	0.000	4	0.000	0.050	3423	1036	2728
2069	1.96	122.2	70.8	13.0	183	2073	0.00	2.40	0.00	0.000	6	0.000	0.032	3423	2413	2727
2267	1.96	122.2	46.7	12.4	198	2268	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	2413	2727
2455	1.96	122.2	23.5	11.7	213	2460	0.00	2.58	0.00	0.000	4	0.000	0.050	3423	1030	2727
2561	1.96	122.2	10.8	12.7	226	2567	0.00	2.42	0.00	0.000	6	0.000	0.032	3423	2419	2728
2633	2.00	155.0	4.1	7.3	237	2664	0.00	2.75	21.30	0.551	4	0.000	0.066	3423	3815	2595
2669	end climb: SURFACE_DEPTH_REACHED
state	2669	begin surface coast
2702	end surface coast: CONTROL_FINISHED_OK
state	2702	begin surface