Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 238 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 238 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 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2080 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 500 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -22220.482 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

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 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 5 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1405377 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 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 -22220.482

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2080 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 26 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 42 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 238 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 222607,4739.510,-12252.384,7,1.1,24,18.3 TGT_NAME H3

_CALLS 3 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.201,-0.054

_SM_DEPTHo 1.04 KALMAN_X 32433.6,-27.2,189.7,-32219.6,-35.3

_SM_ANGLEo -59.2 KALMAN_Y 17099.2,-45.4,185.9,-17670.4,51.7

GPS2 223707,4739.559,-12252.397,17,1.3,33,18.3 MHEAD_RNG_PITCHd_Wd 236.6,1018,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.5,1.022609 XPDR_PINGS 0

SM_CCo 2897,148.70,0.584,0,0,1162,500.17 ALTIM_BOTTOM_PING 95.8,999.0

SM_GC 1.05,0.00,0.00,148.70,0.000,0.000,0.584,409,2184,1162,-11.46,-0.45,500.17 _24V_AH 23.6,37.329

IRIDIUM_FIX 4722.92,-12253.53,021007,020233 _10V_AH 10.1,22.935

TT8_MAMPS 0.072098 DATA_FILE_SIZE 6452,261

HUMID 2158 CFSIZE 260231168,250380288

INTERNAL_PRESSURE 7.93976 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 20.10 GPS 011007,232945,4739.421,-12252.807,11,1.5,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 198 139.94 SBE_CT 185 24 104.86

Roll_motor 38 74 68.04 nil 0 0 0.00

VBD_pump_during_apogee 210 723 3601.22 nil 0 0 0.00

VBD_pump_during_surface 148 584 2051.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 101 103 246.04 nil 0 0 0.00

Iridium_during_connect 116 160 439.08 ARS 0 18 0.00

Iridium_during_xfer 171 223 903.72

Transponder_ping 0 420 2.48

Mmodem_TX 0 1000 0.00

Mmodem_RX 3846 6 580.90

GPS 33 50 16.86

TT8 486 19 97.35

LPSleep 1720 2 38.05

TT8_Active 483 19 96.68

TT8_Sampling 505 39 203.17

TT8_CF8 537 45 248.65

TT8_Kalman 33 81 27.55

Analog_circuits 769 12 93.30

GPS_charging 0 0 0.00

Compass 458 8 37.07

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.68 -97.8 0.0 0.0 0 101 0.00 0.00 -72.85 0.000 2 0.000 0.000 406 2215 2697

105 -1.68 -97.8 2.2 -4.2 12 160 13.38 2.70 -32.67 0.000 4 0.199 0.074 2523 801 3603

225 -1.68 -97.8 11.8 -12.0 31 232 0.00 2.42 0.00 0.000 6 0.000 0.036 2523 2189 3604

298 -1.68 -97.8 19.7 -11.1 42 304 0.00 2.55 0.00 0.000 4 0.000 0.059 2523 3595 3605

369 -1.68 -97.8 28.3 -12.1 48 376 0.00 2.45 0.00 0.000 6 0.000 0.036 2523 2199 3605

565 -1.68 -97.8 49.6 -10.7 64 569 0.00 2.53 0.00 0.000 4 0.000 0.058 2523 3595 3605

591 -1.68 -97.8 52.6 -11.9 66 595 0.00 2.42 0.00 0.000 6 0.000 0.036 2523 2197 3605

786 -1.68 -97.8 73.0 -9.8 81 787 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2197 3605

979 -1.68 -97.8 93.2 -10.7 96 980 0.00 0.00 0.00 0.000 6 0.000 0.000 2523 2196 3605

1165 -1.68 -97.8 112.9 -10.1 111 1169 0.00 2.55 0.00 0.000 4 0.000 0.058 2523 3598 3605

1197 -1.68 -97.8 116.4 -11.0 113 1202 0.00 2.42 0.00 0.000 6 0.000 0.036 2523 2194 3605

1239 end dive: TARGET_DEPTH_EXCEEDED

state 1239 begin apogee

1245 -0.38 0.0 121.0 10.5 116 1327 1.50 0.00 77.78 0.697 6 0.106 0.000 2815 2071 3202

1328 end apogee: CONTROL_FINISHED_OK

state 1328 begin climb

1330 1.68 97.8 123.9 0.0 123 1412 2.12 0.00 76.90 0.670 6 0.061 0.000 3267 2071 2803

1600 1.72 123.1 109.6 7.3 145 1623 0.00 0.00 19.30 0.690 6 0.000 0.000 3267 2071 2700

1813 1.73 133.4 92.5 8.3 162 1826 0.00 2.65 7.65 0.723 4 0.000 0.055 3269 3482 2658

1976 1.73 133.4 77.3 9.3 174 1984 0.00 2.45 0.00 0.000 6 0.000 0.037 3267 2095 2657

2173 1.73 133.4 59.6 9.3 190 2177 0.00 2.65 0.00 0.000 4 0.000 0.067 3267 680 2657

2237 1.73 133.4 53.3 9.6 194 2245 0.00 2.50 0.00 0.000 6 0.000 0.036 3267 2079 2657

2434 1.73 133.4 35.4 9.4 210 2438 0.00 2.55 0.00 0.000 4 0.000 0.058 3267 3482 2657

2572 1.75 151.8 23.4 7.8 220 2591 0.00 2.45 13.95 0.682 6 0.000 0.037 3267 2073 2583

2790 1.78 172.4 6.3 7.6 249 2810 0.00 1.77 15.40 0.666 3 0.000 0.046 3267 3046 2500

2810 end climb: SURFACE_DEPTH_REACHED

state 2810 begin surface coast

2870 end surface coast: CONTROL_FINISHED_OK

state 2870 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	238	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	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2080	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	500	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-22220.482	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
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	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	222607,4739.510,-12252.384,7,1.1,24,18.3	TGT_NAME	H3
_CALLS	3	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.201,-0.054
_SM_DEPTHo	1.04	KALMAN_X	32433.6,-27.2,189.7,-32219.6,-35.3
_SM_ANGLEo	-59.2	KALMAN_Y	17099.2,-45.4,185.9,-17670.4,51.7
GPS2	223707,4739.559,-12252.397,17,1.3,33,18.3	MHEAD_RNG_PITCHd_Wd	236.6,1018,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	124

FINISH	0.5,1.022609	XPDR_PINGS	0
SM_CCo	2897,148.70,0.584,0,0,1162,500.17	ALTIM_BOTTOM_PING	95.8,999.0
SM_GC	1.05,0.00,0.00,148.70,0.000,0.000,0.584,409,2184,1162,-11.46,-0.45,500.17	_24V_AH	23.6,37.329
IRIDIUM_FIX	4722.92,-12253.53,021007,020233	_10V_AH	10.1,22.935
TT8_MAMPS	0.072098	DATA_FILE_SIZE	6452,261
HUMID	2158	CFSIZE	260231168,250380288
INTERNAL_PRESSURE	7.93976	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	20.10	GPS	011007,232945,4739.421,-12252.807,11,1.5,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	198	139.94	SBE_CT	185	24	104.86
Roll_motor	38	74	68.04	nil	0	0	0.00
VBD_pump_during_apogee	210	723	3601.22	nil	0	0	0.00
VBD_pump_during_surface	148	584	2051.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	101	103	246.04	nil	0	0	0.00
Iridium_during_connect	116	160	439.08	ARS	0	18	0.00
Iridium_during_xfer	171	223	903.72
Transponder_ping	0	420	2.48
Mmodem_TX	0	1000	0.00
Mmodem_RX	3846	6	580.90
GPS	33	50	16.86
TT8	486	19	97.35
LPSleep	1720	2	38.05
TT8_Active	483	19	96.68
TT8_Sampling	505	39	203.17
TT8_CF8	537	45	248.65
TT8_Kalman	33	81	27.55
Analog_circuits	769	12	93.30
GPS_charging	0	0	0.00
Compass	458	8	37.07
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.68	-97.8	0.0	0.0	0	101	0.00	0.00	-72.85	0.000	2	0.000	0.000	406	2215	2697
105	-1.68	-97.8	2.2	-4.2	12	160	13.38	2.70	-32.67	0.000	4	0.199	0.074	2523	801	3603
225	-1.68	-97.8	11.8	-12.0	31	232	0.00	2.42	0.00	0.000	6	0.000	0.036	2523	2189	3604
298	-1.68	-97.8	19.7	-11.1	42	304	0.00	2.55	0.00	0.000	4	0.000	0.059	2523	3595	3605
369	-1.68	-97.8	28.3	-12.1	48	376	0.00	2.45	0.00	0.000	6	0.000	0.036	2523	2199	3605
565	-1.68	-97.8	49.6	-10.7	64	569	0.00	2.53	0.00	0.000	4	0.000	0.058	2523	3595	3605
591	-1.68	-97.8	52.6	-11.9	66	595	0.00	2.42	0.00	0.000	6	0.000	0.036	2523	2197	3605
786	-1.68	-97.8	73.0	-9.8	81	787	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2197	3605
979	-1.68	-97.8	93.2	-10.7	96	980	0.00	0.00	0.00	0.000	6	0.000	0.000	2523	2196	3605
1165	-1.68	-97.8	112.9	-10.1	111	1169	0.00	2.55	0.00	0.000	4	0.000	0.058	2523	3598	3605
1197	-1.68	-97.8	116.4	-11.0	113	1202	0.00	2.42	0.00	0.000	6	0.000	0.036	2523	2194	3605
1239	end dive: TARGET_DEPTH_EXCEEDED
state	1239	begin apogee
1245	-0.38	0.0	121.0	10.5	116	1327	1.50	0.00	77.78	0.697	6	0.106	0.000	2815	2071	3202
1328	end apogee: CONTROL_FINISHED_OK
state	1328	begin climb
1330	1.68	97.8	123.9	0.0	123	1412	2.12	0.00	76.90	0.670	6	0.061	0.000	3267	2071	2803
1600	1.72	123.1	109.6	7.3	145	1623	0.00	0.00	19.30	0.690	6	0.000	0.000	3267	2071	2700
1813	1.73	133.4	92.5	8.3	162	1826	0.00	2.65	7.65	0.723	4	0.000	0.055	3269	3482	2658
1976	1.73	133.4	77.3	9.3	174	1984	0.00	2.45	0.00	0.000	6	0.000	0.037	3267	2095	2657
2173	1.73	133.4	59.6	9.3	190	2177	0.00	2.65	0.00	0.000	4	0.000	0.067	3267	680	2657
2237	1.73	133.4	53.3	9.6	194	2245	0.00	2.50	0.00	0.000	6	0.000	0.036	3267	2079	2657
2434	1.73	133.4	35.4	9.4	210	2438	0.00	2.55	0.00	0.000	4	0.000	0.058	3267	3482	2657
2572	1.75	151.8	23.4	7.8	220	2591	0.00	2.45	13.95	0.682	6	0.000	0.037	3267	2073	2583
2790	1.78	172.4	6.3	7.6	249	2810	0.00	1.77	15.40	0.666	3	0.000	0.046	3267	3046	2500
2810	end climb: SURFACE_DEPTH_REACHED
state	2810	begin surface coast
2870	end surface coast: CONTROL_FINISHED_OK
state	2870	begin surface