Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 174 * 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 174 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 48 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -17167.445 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 -17167.445

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 48 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 27 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 174 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 061603,4739.517,-12252.736,10,1.5,10,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.95 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 062145,4739.530,-12252.751,12,1.5,12,18.3 MHEAD_RNG_PITCHd_Wd 239.9,575,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.1,1.025228 XPDR_PINGS 7

SM_CCo 2937,105.72,0.522,0,0,1597,400.08 ALTIM_BOTTOM_PING 90.8,41.0

SM_GC 0.84,0.00,0.00,105.72,0.000,0.000,0.522,424,2511,1597,-11.85,0.31,400.08 _24V_AH 24.1,13.944

IRIDIUM_FIX 4726.11,-12253.53,270907,090928 _10V_AH 10.1,9.270

TT8_MAMPS 0.072098 DATA_FILE_SIZE 6447,287

HUMID 1834 CFSIZE 260034560,252178432

INTERNAL_PRESSURE 9.36906 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.10 GPS 270907,071402,4739.480,-12253.166,31,2.0,31,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 154 107.82 SBE_CT 197 24 114.42

Roll_motor 34 69 58.66 nil 0 0 0.00

VBD_pump_during_apogee 215 592 3082.00 nil 0 0 0.00

VBD_pump_during_surface 105 521 1328.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 94.35 nil 0 0 0.00

Iridium_during_connect 36 160 142.12 ARS 0 0 0.00

Iridium_during_xfer 137 223 737.54

Transponder_ping 3 420 32.90

Mmodem_TX 47 1000 1135.59

Mmodem_RX 3439 6 530.57

GPS 12 93 11.56

TT8 529 19 105.91

LPSleep 1543 2 34.15

TT8_Active 420 19 84.04

TT8_Sampling 499 39 200.92

TT8_CF8 404 45 187.06

TT8_Kalman 0 0 0.00

Analog_circuits 720 12 87.38

GPS_charging 0 0 0.00

Compass 507 8 41.02

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.54 -122.2 0.0 0.0 0 76 0.00 0.00 -48.72 0.000 2 0.000 0.000 426 2480 2836

80 -1.54 -122.2 2.3 -3.2 8 130 12.38 2.45 -30.52 0.000 4 0.155 0.058 2656 1109 3728

231 -1.54 -122.2 11.3 -7.3 31 237 0.00 2.42 0.00 0.000 6 0.000 0.032 2656 2506 3730

303 -1.54 -122.2 15.8 -5.8 42 310 0.00 2.58 0.00 0.000 4 0.000 0.069 2656 3904 3731

506 -1.54 -122.2 29.7 -6.9 62 514 0.00 2.40 0.00 0.000 6 0.000 0.031 2656 2495 3732

706 -1.54 -122.2 41.7 -6.6 78 707 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2495 3732

894 -1.54 -122.2 54.4 -6.6 93 899 0.00 2.60 0.00 0.000 4 0.000 0.067 2656 3901 3732

972 -1.54 -122.2 60.1 -7.3 98 980 0.00 2.40 0.00 0.000 6 0.000 0.032 2656 2504 3733

1169 -1.54 -122.2 73.6 -6.9 114 1170 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2503 3733

1359 -1.54 -122.2 86.6 -6.6 129 1363 0.00 2.60 0.00 0.000 4 0.000 0.066 2656 3905 3733

1398 -1.54 -122.2 89.4 -6.5 131 1404 0.00 2.38 0.00 0.000 6 0.000 0.032 2656 2498 3733

1419 end dive: TARGET_DEPTH_EXCEEDED

state 1419 begin apogee

1426 -0.50 0.0 90.8 7.1 133 1529 1.12 0.00 94.38 0.592 6 0.093 0.000 2886 2418 3229

1530 end apogee: CONTROL_FINISHED_OK

state 1530 begin climb

1532 1.54 122.2 93.6 0.0 142 1630 2.05 0.00 92.68 0.572 6 0.062 0.000 3330 2418 2730

1814 1.54 122.2 73.1 9.1 165 1818 0.00 2.50 0.00 0.000 4 0.000 0.052 3330 1032 2728

1873 1.54 122.2 67.4 9.6 169 1877 0.00 2.40 0.00 0.000 6 0.000 0.033 3330 2415 2728

2068 1.54 122.2 49.5 9.2 184 2069 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 2415 2728

2260 1.54 122.2 32.6 9.0 199 2264 0.00 2.50 0.00 0.000 4 0.000 0.051 3330 1030 2728

2338 1.54 122.2 25.0 9.0 204 2345 0.00 2.42 0.00 0.000 6 0.000 0.032 3330 2414 2728

2541 1.54 122.2 8.0 7.5 231 2547 0.00 2.58 0.00 0.000 4 0.000 0.067 3330 3811 2728

2593 1.54 123.1 4.3 6.6 239 2600 0.00 2.38 0.00 0.000 6 0.000 0.031 3330 2416 2728

2666 1.71 266.2 2.3 1.4 250 2697 0.15 0.00 28.92 0.546 2 0.051 0.000 3378 2415 2517

2698 end climb: SURFACE_DEPTH_REACHED

state 2698 begin surface coast

2908 end surface coast: NO_VERTICAL_VELOCITY

state 2908 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	174	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	48	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-17167.445	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	061603,4739.517,-12252.736,10,1.5,10,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.95	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	062145,4739.530,-12252.751,12,1.5,12,18.3	MHEAD_RNG_PITCHd_Wd	239.9,575,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.1,1.025228	XPDR_PINGS	7
SM_CCo	2937,105.72,0.522,0,0,1597,400.08	ALTIM_BOTTOM_PING	90.8,41.0
SM_GC	0.84,0.00,0.00,105.72,0.000,0.000,0.522,424,2511,1597,-11.85,0.31,400.08	_24V_AH	24.1,13.944
IRIDIUM_FIX	4726.11,-12253.53,270907,090928	_10V_AH	10.1,9.270
TT8_MAMPS	0.072098	DATA_FILE_SIZE	6447,287
HUMID	1834	CFSIZE	260034560,252178432
INTERNAL_PRESSURE	9.36906	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.10	GPS	270907,071402,4739.480,-12253.166,31,2.0,31,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	154	107.82	SBE_CT	197	24	114.42
Roll_motor	34	69	58.66	nil	0	0	0.00
VBD_pump_during_apogee	215	592	3082.00	nil	0	0	0.00
VBD_pump_during_surface	105	521	1328.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	94.35	nil	0	0	0.00
Iridium_during_connect	36	160	142.12	ARS	0	0	0.00
Iridium_during_xfer	137	223	737.54
Transponder_ping	3	420	32.90
Mmodem_TX	47	1000	1135.59
Mmodem_RX	3439	6	530.57
GPS	12	93	11.56
TT8	529	19	105.91
LPSleep	1543	2	34.15
TT8_Active	420	19	84.04
TT8_Sampling	499	39	200.92
TT8_CF8	404	45	187.06
TT8_Kalman	0	0	0.00
Analog_circuits	720	12	87.38
GPS_charging	0	0	0.00
Compass	507	8	41.02
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.54	-122.2	0.0	0.0	0	76	0.00	0.00	-48.72	0.000	2	0.000	0.000	426	2480	2836
80	-1.54	-122.2	2.3	-3.2	8	130	12.38	2.45	-30.52	0.000	4	0.155	0.058	2656	1109	3728
231	-1.54	-122.2	11.3	-7.3	31	237	0.00	2.42	0.00	0.000	6	0.000	0.032	2656	2506	3730
303	-1.54	-122.2	15.8	-5.8	42	310	0.00	2.58	0.00	0.000	4	0.000	0.069	2656	3904	3731
506	-1.54	-122.2	29.7	-6.9	62	514	0.00	2.40	0.00	0.000	6	0.000	0.031	2656	2495	3732
706	-1.54	-122.2	41.7	-6.6	78	707	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2495	3732
894	-1.54	-122.2	54.4	-6.6	93	899	0.00	2.60	0.00	0.000	4	0.000	0.067	2656	3901	3732
972	-1.54	-122.2	60.1	-7.3	98	980	0.00	2.40	0.00	0.000	6	0.000	0.032	2656	2504	3733
1169	-1.54	-122.2	73.6	-6.9	114	1170	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2503	3733
1359	-1.54	-122.2	86.6	-6.6	129	1363	0.00	2.60	0.00	0.000	4	0.000	0.066	2656	3905	3733
1398	-1.54	-122.2	89.4	-6.5	131	1404	0.00	2.38	0.00	0.000	6	0.000	0.032	2656	2498	3733
1419	end dive: TARGET_DEPTH_EXCEEDED
state	1419	begin apogee
1426	-0.50	0.0	90.8	7.1	133	1529	1.12	0.00	94.38	0.592	6	0.093	0.000	2886	2418	3229
1530	end apogee: CONTROL_FINISHED_OK
state	1530	begin climb
1532	1.54	122.2	93.6	0.0	142	1630	2.05	0.00	92.68	0.572	6	0.062	0.000	3330	2418	2730
1814	1.54	122.2	73.1	9.1	165	1818	0.00	2.50	0.00	0.000	4	0.000	0.052	3330	1032	2728
1873	1.54	122.2	67.4	9.6	169	1877	0.00	2.40	0.00	0.000	6	0.000	0.033	3330	2415	2728
2068	1.54	122.2	49.5	9.2	184	2069	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	2415	2728
2260	1.54	122.2	32.6	9.0	199	2264	0.00	2.50	0.00	0.000	4	0.000	0.051	3330	1030	2728
2338	1.54	122.2	25.0	9.0	204	2345	0.00	2.42	0.00	0.000	6	0.000	0.032	3330	2414	2728
2541	1.54	122.2	8.0	7.5	231	2547	0.00	2.58	0.00	0.000	4	0.000	0.067	3330	3811	2728
2593	1.54	123.1	4.3	6.6	239	2600	0.00	2.38	0.00	0.000	6	0.000	0.031	3330	2416	2728
2666	1.71	266.2	2.3	1.4	250	2697	0.15	0.00	28.92	0.546	2	0.051	0.000	3378	2415	2517
2698	end climb: SURFACE_DEPTH_REACHED
state	2698	begin surface coast
2908	end surface coast: NO_VERTICAL_VELOCITY
state	2908	begin surface