Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 167 * 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 167 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 90 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 36 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 -17180.773 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 90 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 -17180.773

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 36 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 167 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 001103,4739.661,-12252.287,12,1.4,12,18.3 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 1.01 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 001915,4739.634,-12252.323,14,1.4,14,18.3 MHEAD_RNG_PITCHd_Wd 235.9,1139,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 1.3,1.025944 XPDR_PINGS 10

SM_CCo 2691,129.80,0.517,0,0,1598,400.08 ALTIM_BOTTOM_PING 90.8,49.2

SM_GC 0.85,0.00,0.00,129.80,0.000,0.000,0.517,430,2480,1598,-11.82,-0.57,400.08 _24V_AH 24.0,13.340

IRIDIUM_FIX 4722.92,-12251.79,270907,040416 _10V_AH 10.1,8.802

TT8_MAMPS 0.067496 DATA_FILE_SIZE 6476,248

HUMID 1795 CFSIZE 260034560,252395520

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 270907,010750,4739.578,-12252.619,15,1.8,32,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 157 109.44 SBE_CT 171 24 98.59

Roll_motor 44 69 74.88 nil 0 0 0.00

VBD_pump_during_apogee 192 608 2814.04 nil 0 0 0.00

VBD_pump_during_surface 129 516 1610.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 81 103 201.32 nil 0 0 0.00

Iridium_during_connect 59 160 228.90 ARS 0 0 0.00

Iridium_during_xfer 155 223 834.81

Transponder_ping 3 420 37.80

Mmodem_TX 128 1000 3089.52

Mmodem_RX 3271 6 502.47

GPS 14 93 13.81

TT8 468 19 93.64

LPSleep 1501 2 33.22

TT8_Active 417 19 83.44

TT8_Sampling 455 39 183.18

TT8_CF8 482 45 223.08

TT8_Kalman 0 0 0.00

Analog_circuits 709 12 85.95

GPS_charging 0 0 0.00

Compass 461 8 37.26

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

26 -1.54 -122.2 0.0 0.0 0 81 0.00 0.00 -53.05 0.000 2 0.000 0.000 429 2504 2943

85 -1.54 -122.2 2.3 -3.7 9 129 12.62 2.53 -23.65 0.000 4 0.157 0.060 2654 1106 3730

136 -1.54 -122.2 5.4 -5.2 17 142 0.00 2.42 0.00 0.000 6 0.000 0.031 2654 2503 3731

208 -1.54 -122.2 10.7 -6.8 28 214 0.00 2.55 0.00 0.000 4 0.000 0.046 2654 1106 3732

466 -1.54 -122.2 28.2 -6.4 58 472 0.00 2.42 0.00 0.000 6 0.000 0.031 2654 2503 3734

662 -1.54 -122.2 40.8 -6.6 74 666 0.00 2.50 0.00 0.000 4 0.000 0.046 2654 1104 3735

747 -1.54 -122.2 46.7 -6.7 80 752 0.00 2.45 0.00 0.000 6 0.000 0.032 2654 2505 3735

944 -1.54 -122.2 59.2 -6.4 95 948 0.00 2.58 0.00 0.000 4 0.000 0.070 2654 3892 3735

1008 -1.54 -122.2 63.7 -6.6 99 1015 0.00 2.40 0.00 0.000 6 0.000 0.033 2654 2478 3735

1205 -1.54 -122.2 75.9 -6.3 115 1209 0.00 2.62 0.00 0.000 4 0.000 0.066 2654 3892 3734

1264 -1.54 -122.2 79.9 -7.0 119 1273 0.00 2.38 0.00 0.000 6 0.000 0.034 2654 2494 3735

1433 end dive: TARGET_DEPTH_EXCEEDED

state 1433 begin apogee

1439 -0.50 0.0 90.8 6.8 132 1542 1.12 0.00 95.90 0.588 6 0.090 0.000 2886 2413 3229

1543 end apogee: CONTROL_FINISHED_OK

state 1543 begin climb

1546 1.54 122.2 93.8 0.0 141 1647 2.05 2.53 93.10 0.571 4 0.063 0.051 3329 1033 2729

1668 1.54 122.2 86.5 8.6 151 1672 0.00 2.42 0.00 0.000 6 0.000 0.032 3329 2419 2728

1863 1.54 122.2 69.0 8.9 166 1868 0.00 2.53 0.00 0.000 4 0.000 0.051 3329 1039 2727

1895 1.54 122.2 65.9 10.0 168 1902 0.00 2.42 0.00 0.000 6 0.000 0.032 3329 2408 2727

2092 1.54 122.2 48.2 8.9 184 2093 0.00 0.00 0.00 0.000 6 0.000 0.000 3329 2408 2727

2282 1.54 122.2 30.9 9.2 199 2284 0.00 0.00 0.00 0.000 6 0.000 0.000 3329 2408 2727

2473 1.54 122.2 13.9 7.9 219 2479 0.00 2.50 0.00 0.000 4 0.000 0.051 3330 1024 2727

2512 1.54 122.2 9.9 10.1 225 2519 0.00 2.42 0.00 0.000 6 0.000 0.033 3329 2413 2727

2585 1.54 128.0 3.8 6.5 236 2598 0.00 2.62 3.78 0.608 4 0.000 0.067 3329 3811 2707

2648 end climb: SURFACE_DEPTH_REACHED

state 2648 begin surface coast

2662 end surface coast: CONTROL_FINISHED_OK

state 2662 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	167	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	90	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	36	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	-17180.773	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	001103,4739.661,-12252.287,12,1.4,12,18.3	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	1.01	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	001915,4739.634,-12252.323,14,1.4,14,18.3	MHEAD_RNG_PITCHd_Wd	235.9,1139,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	1.3,1.025944	XPDR_PINGS	10
SM_CCo	2691,129.80,0.517,0,0,1598,400.08	ALTIM_BOTTOM_PING	90.8,49.2
SM_GC	0.85,0.00,0.00,129.80,0.000,0.000,0.517,430,2480,1598,-11.82,-0.57,400.08	_24V_AH	24.0,13.340
IRIDIUM_FIX	4722.92,-12251.79,270907,040416	_10V_AH	10.1,8.802
TT8_MAMPS	0.067496	DATA_FILE_SIZE	6476,248
HUMID	1795	CFSIZE	260034560,252395520
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	270907,010750,4739.578,-12252.619,15,1.8,32,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	157	109.44	SBE_CT	171	24	98.59
Roll_motor	44	69	74.88	nil	0	0	0.00
VBD_pump_during_apogee	192	608	2814.04	nil	0	0	0.00
VBD_pump_during_surface	129	516	1610.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	81	103	201.32	nil	0	0	0.00
Iridium_during_connect	59	160	228.90	ARS	0	0	0.00
Iridium_during_xfer	155	223	834.81
Transponder_ping	3	420	37.80
Mmodem_TX	128	1000	3089.52
Mmodem_RX	3271	6	502.47
GPS	14	93	13.81
TT8	468	19	93.64
LPSleep	1501	2	33.22
TT8_Active	417	19	83.44
TT8_Sampling	455	39	183.18
TT8_CF8	482	45	223.08
TT8_Kalman	0	0	0.00
Analog_circuits	709	12	85.95
GPS_charging	0	0	0.00
Compass	461	8	37.26
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
26	-1.54	-122.2	0.0	0.0	0	81	0.00	0.00	-53.05	0.000	2	0.000	0.000	429	2504	2943
85	-1.54	-122.2	2.3	-3.7	9	129	12.62	2.53	-23.65	0.000	4	0.157	0.060	2654	1106	3730
136	-1.54	-122.2	5.4	-5.2	17	142	0.00	2.42	0.00	0.000	6	0.000	0.031	2654	2503	3731
208	-1.54	-122.2	10.7	-6.8	28	214	0.00	2.55	0.00	0.000	4	0.000	0.046	2654	1106	3732
466	-1.54	-122.2	28.2	-6.4	58	472	0.00	2.42	0.00	0.000	6	0.000	0.031	2654	2503	3734
662	-1.54	-122.2	40.8	-6.6	74	666	0.00	2.50	0.00	0.000	4	0.000	0.046	2654	1104	3735
747	-1.54	-122.2	46.7	-6.7	80	752	0.00	2.45	0.00	0.000	6	0.000	0.032	2654	2505	3735
944	-1.54	-122.2	59.2	-6.4	95	948	0.00	2.58	0.00	0.000	4	0.000	0.070	2654	3892	3735
1008	-1.54	-122.2	63.7	-6.6	99	1015	0.00	2.40	0.00	0.000	6	0.000	0.033	2654	2478	3735
1205	-1.54	-122.2	75.9	-6.3	115	1209	0.00	2.62	0.00	0.000	4	0.000	0.066	2654	3892	3734
1264	-1.54	-122.2	79.9	-7.0	119	1273	0.00	2.38	0.00	0.000	6	0.000	0.034	2654	2494	3735
1433	end dive: TARGET_DEPTH_EXCEEDED
state	1433	begin apogee
1439	-0.50	0.0	90.8	6.8	132	1542	1.12	0.00	95.90	0.588	6	0.090	0.000	2886	2413	3229
1543	end apogee: CONTROL_FINISHED_OK
state	1543	begin climb
1546	1.54	122.2	93.8	0.0	141	1647	2.05	2.53	93.10	0.571	4	0.063	0.051	3329	1033	2729
1668	1.54	122.2	86.5	8.6	151	1672	0.00	2.42	0.00	0.000	6	0.000	0.032	3329	2419	2728
1863	1.54	122.2	69.0	8.9	166	1868	0.00	2.53	0.00	0.000	4	0.000	0.051	3329	1039	2727
1895	1.54	122.2	65.9	10.0	168	1902	0.00	2.42	0.00	0.000	6	0.000	0.032	3329	2408	2727
2092	1.54	122.2	48.2	8.9	184	2093	0.00	0.00	0.00	0.000	6	0.000	0.000	3329	2408	2727
2282	1.54	122.2	30.9	9.2	199	2284	0.00	0.00	0.00	0.000	6	0.000	0.000	3329	2408	2727
2473	1.54	122.2	13.9	7.9	219	2479	0.00	2.50	0.00	0.000	4	0.000	0.051	3330	1024	2727
2512	1.54	122.2	9.9	10.1	225	2519	0.00	2.42	0.00	0.000	6	0.000	0.033	3329	2413	2727
2585	1.54	128.0	3.8	6.5	236	2598	0.00	2.62	3.78	0.608	4	0.000	0.067	3329	3811	2707
2648	end climb: SURFACE_DEPTH_REACHED
state	2648	begin surface coast
2662	end surface coast: CONTROL_FINISHED_OK
state	2662	begin surface