Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 260 * 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 260 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 49 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 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 -17177.01 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 -17177.01

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 33 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 260 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 072039,4739.887,-12251.852,11,1.4,11,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.76 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -57.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 072651,4739.982,-12251.716,13,1.4,13,18.3 MHEAD_RNG_PITCHd_Wd 203.6,1282,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.8,1.027245 XPDR_PINGS 2

SM_CCo 2652,136.82,0.523,1,0,1598,400.08 ALTIM_BOTTOM_PING 65.8,999.0

SM_GC 0.76,0.00,0.00,136.82,0.000,0.000,0.523,425,2499,1598,-11.85,-0.03,400.08 _24V_AH 24.1,20.180

IRIDIUM_FIX 4722.92,-12253.53,300907,101032 _10V_AH 10.1,14.879

TT8_MAMPS 0.071331 DATA_FILE_SIZE 6451,244

HUMID 1787 CFSIZE 260034560,249634816

INTERNAL_PRESSURE 9.33976 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.90 GPS 300907,081507,4739.954,-12251.832,38,1.5,38,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 156 107.75 SBE_CT 168 24 97.66

Roll_motor 44 70 76.40 nil 0 0 0.00

VBD_pump_during_apogee 188 595 2700.28 nil 0 0 0.00

VBD_pump_during_surface 136 523 1724.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.75 nil 0 0 0.00

Iridium_during_connect 35 160 137.86 ARS 0 0 0.00

Iridium_during_xfer 161 223 870.06

Transponder_ping 1 420 17.71

Mmodem_TX 33 1000 800.12

Mmodem_RX 3189 6 491.99

GPS 13 93 12.92

TT8 471 19 94.37

LPSleep 1395 2 30.87

TT8_Active 428 19 85.73

TT8_Sampling 452 39 182.03

TT8_CF8 430 45 198.95

TT8_Kalman 0 0 0.00

Analog_circuits 715 12 86.77

GPS_charging 0 0 0.00

Compass 450 8 36.40

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 95 0.00 0.00 -67.03 0.000 2 0.000 0.000 423 2507 3199

98 -1.54 -122.2 2.3 -4.2 11 135 12.55 2.53 -16.48 0.000 4 0.156 0.059 2658 1111 3730

164 -1.54 -122.2 6.1 -6.1 21 170 0.00 2.40 0.00 0.000 6 0.000 0.033 2658 2495 3731

236 -1.54 -122.2 10.3 -5.4 32 242 0.00 2.60 0.00 0.000 4 0.000 0.070 2659 3902 3732

263 -1.54 -122.2 12.1 -6.3 36 269 0.00 2.40 0.00 0.000 6 0.000 0.033 2658 2491 3732

335 -1.54 -122.2 15.9 -5.4 47 342 0.00 2.47 0.00 0.000 4 0.000 0.048 2659 1109 3732

429 -1.54 -122.2 21.1 -5.5 60 434 0.00 2.42 0.00 0.000 6 0.000 0.034 2658 2505 3734

626 -1.54 -122.2 33.2 -5.9 75 630 0.00 2.58 0.00 0.000 4 0.000 0.071 2658 3898 3733

780 -1.54 -122.2 43.4 -7.1 86 784 0.00 2.40 0.00 0.000 6 0.000 0.035 2659 2487 3733

975 -1.54 -122.2 56.2 -6.5 101 979 0.00 2.62 0.00 0.000 4 0.000 0.069 2659 3901 3733

1039 -1.54 -122.2 60.9 -7.5 105 1047 0.00 2.40 0.00 0.000 6 0.000 0.035 2658 2505 3733

1236 -1.54 -122.2 74.0 -6.7 121 1240 0.00 2.60 0.00 0.000 4 0.000 0.070 2658 3904 3733

1309 -1.54 -122.2 79.2 -7.1 126 1313 0.00 2.42 0.00 0.000 6 0.000 0.035 2659 2492 3733

1482 end dive: TARGET_DEPTH_EXCEEDED

state 1482 begin apogee

1488 -0.50 0.0 90.2 6.5 139 1591 1.10 0.00 95.30 0.595 6 0.094 0.000 2885 2408 3228

1592 end apogee: CONTROL_FINISHED_OK

state 1592 begin climb

1595 1.54 122.2 92.6 0.0 148 1696 2.08 2.53 92.95 0.578 4 0.064 0.052 3333 1031 2730

1723 1.54 122.2 84.3 9.7 158 1730 0.00 2.45 0.00 0.000 6 0.000 0.034 3333 2415 2729

1922 1.54 122.2 65.9 10.0 174 1926 0.00 2.50 0.00 0.000 4 0.000 0.051 3333 1030 2729

1962 1.54 122.2 61.6 10.2 176 1968 0.00 2.40 0.00 0.000 6 0.000 0.034 3333 2417 2729

2157 1.54 122.2 43.3 8.8 192 2159 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 2417 2729

2351 1.54 122.2 25.9 9.1 207 2352 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 2417 2729

2541 1.54 122.2 8.0 9.6 231 2547 0.00 2.50 0.00 0.000 4 0.000 0.052 3333 1030 2729

2606 end climb: SURFACE_DEPTH_REACHED

state 2607 begin surface coast

2624 end surface coast: CONTROL_FINISHED_OK

state 2624 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	260	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	49	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	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	-17177.01	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	072039,4739.887,-12251.852,11,1.4,11,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.76	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-57.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	072651,4739.982,-12251.716,13,1.4,13,18.3	MHEAD_RNG_PITCHd_Wd	203.6,1282,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.8,1.027245	XPDR_PINGS	2
SM_CCo	2652,136.82,0.523,1,0,1598,400.08	ALTIM_BOTTOM_PING	65.8,999.0
SM_GC	0.76,0.00,0.00,136.82,0.000,0.000,0.523,425,2499,1598,-11.85,-0.03,400.08	_24V_AH	24.1,20.180
IRIDIUM_FIX	4722.92,-12253.53,300907,101032	_10V_AH	10.1,14.879
TT8_MAMPS	0.071331	DATA_FILE_SIZE	6451,244
HUMID	1787	CFSIZE	260034560,249634816
INTERNAL_PRESSURE	9.33976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.90	GPS	300907,081507,4739.954,-12251.832,38,1.5,38,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	156	107.75	SBE_CT	168	24	97.66
Roll_motor	44	70	76.40	nil	0	0	0.00
VBD_pump_during_apogee	188	595	2700.28	nil	0	0	0.00
VBD_pump_during_surface	136	523	1724.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.75	nil	0	0	0.00
Iridium_during_connect	35	160	137.86	ARS	0	0	0.00
Iridium_during_xfer	161	223	870.06
Transponder_ping	1	420	17.71
Mmodem_TX	33	1000	800.12
Mmodem_RX	3189	6	491.99
GPS	13	93	12.92
TT8	471	19	94.37
LPSleep	1395	2	30.87
TT8_Active	428	19	85.73
TT8_Sampling	452	39	182.03
TT8_CF8	430	45	198.95
TT8_Kalman	0	0	0.00
Analog_circuits	715	12	86.77
GPS_charging	0	0	0.00
Compass	450	8	36.40
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	95	0.00	0.00	-67.03	0.000	2	0.000	0.000	423	2507	3199
98	-1.54	-122.2	2.3	-4.2	11	135	12.55	2.53	-16.48	0.000	4	0.156	0.059	2658	1111	3730
164	-1.54	-122.2	6.1	-6.1	21	170	0.00	2.40	0.00	0.000	6	0.000	0.033	2658	2495	3731
236	-1.54	-122.2	10.3	-5.4	32	242	0.00	2.60	0.00	0.000	4	0.000	0.070	2659	3902	3732
263	-1.54	-122.2	12.1	-6.3	36	269	0.00	2.40	0.00	0.000	6	0.000	0.033	2658	2491	3732
335	-1.54	-122.2	15.9	-5.4	47	342	0.00	2.47	0.00	0.000	4	0.000	0.048	2659	1109	3732
429	-1.54	-122.2	21.1	-5.5	60	434	0.00	2.42	0.00	0.000	6	0.000	0.034	2658	2505	3734
626	-1.54	-122.2	33.2	-5.9	75	630	0.00	2.58	0.00	0.000	4	0.000	0.071	2658	3898	3733
780	-1.54	-122.2	43.4	-7.1	86	784	0.00	2.40	0.00	0.000	6	0.000	0.035	2659	2487	3733
975	-1.54	-122.2	56.2	-6.5	101	979	0.00	2.62	0.00	0.000	4	0.000	0.069	2659	3901	3733
1039	-1.54	-122.2	60.9	-7.5	105	1047	0.00	2.40	0.00	0.000	6	0.000	0.035	2658	2505	3733
1236	-1.54	-122.2	74.0	-6.7	121	1240	0.00	2.60	0.00	0.000	4	0.000	0.070	2658	3904	3733
1309	-1.54	-122.2	79.2	-7.1	126	1313	0.00	2.42	0.00	0.000	6	0.000	0.035	2659	2492	3733
1482	end dive: TARGET_DEPTH_EXCEEDED
state	1482	begin apogee
1488	-0.50	0.0	90.2	6.5	139	1591	1.10	0.00	95.30	0.595	6	0.094	0.000	2885	2408	3228
1592	end apogee: CONTROL_FINISHED_OK
state	1592	begin climb
1595	1.54	122.2	92.6	0.0	148	1696	2.08	2.53	92.95	0.578	4	0.064	0.052	3333	1031	2730
1723	1.54	122.2	84.3	9.7	158	1730	0.00	2.45	0.00	0.000	6	0.000	0.034	3333	2415	2729
1922	1.54	122.2	65.9	10.0	174	1926	0.00	2.50	0.00	0.000	4	0.000	0.051	3333	1030	2729
1962	1.54	122.2	61.6	10.2	176	1968	0.00	2.40	0.00	0.000	6	0.000	0.034	3333	2417	2729
2157	1.54	122.2	43.3	8.8	192	2159	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	2417	2729
2351	1.54	122.2	25.9	9.1	207	2352	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	2417	2729
2541	1.54	122.2	8.0	9.6	231	2547	0.00	2.50	0.00	0.000	4	0.000	0.052	3333	1030	2729
2606	end climb: SURFACE_DEPTH_REACHED
state	2607	begin surface coast
2624	end surface coast: CONTROL_FINISHED_OK
state	2624	begin surface