Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 27 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 27 HEADING -1 PITCH_ADJ_GAIN 0.059999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 150 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 200 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2060 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1870 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 500 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 2 R_PORT_OVSHOOT 12 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3335 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -18459.207 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 135 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2269 PRESSURE_YINT -3.7066903 SEABIRD_T_I 2.5554549e-05

MASS 51440 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 150 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 45 PRESSURE_YINT -3.7066903 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 50

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.023 T_GPS_CHARGE -18459.207

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2269 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1870 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 2060 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3335 MASS 51440 R_PORT_OVSHOOT 12 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 135 R_STBD_OVSHOOT 32 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3897

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 486

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 27 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 200 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 192809,4806.056,-12221.981,9,1.6,9,18.3 TGT_NAME FIVE_sb

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.113,-0.172

_SM_DEPTHo 1.91 KALMAN_X 950.9,204.7,131.3,-605.2,-72.4

_SM_ANGLEo -50.3 KALMAN_Y -2245.3,-113.1,-27.7,1276.4,98.9

GPS2 193350,4806.095,-12222.037,9,1.2,14,18.3 MHEAD_RNG_PITCHd_Wd 125.6,2400,-22.4,-10.000

SPEED_LIMITS 0.173,0.206 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.0,1.006691 XPDR_PINGS 1

SM_CCo 2134,109.60,0.587,0,0,1296,500.17 ALTIM_TOP_PING 18.1,16.8

SM_GC 2.00,0.00,0.00,109.60,0.000,0.000,0.587,681,2051,1296,-7.30,-0.25,500.17 _24V_AH 20.8,16.279

RAFOS_CLK 96 _10V_AH 10.0,6.360

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 6466,211

IRIDIUM_FIX 4748.51,-12224.57,110707,222229 CFSIZE 260165632,256081920

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1929 SOUNDSPEED 1484.3

INTERNAL_PRESSURE 10.3715 CURRENT 0.133,322.1,1

TCM_TEMP 9.40 GPS 110707,201309,4806.062,-12221.946,10,1.7,10,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 36 261 197.61 SBE_CT 149 24 74.86

Roll_motor 46 83 81.08 SBE_O2 149 19 59.21

VBD_pump_during_apogee 389 673 5459.33 nil 0 0 0.00

VBD_pump_during_surface 109 586 1337.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 84.71 nil 0 0 0.00

Iridium_during_connect 29 160 97.73 nil 0 0 0.00

Iridium_during_xfer 142 223 662.37

Transponder_ping 0 420 4.37

GPS 15 50 7.79

TT8 446 19 88.95

LPSleep 919 2 21.23

TT8_Active 617 19 122.93

TT8_Sampling 257 39 102.97

TT8_CF8 364 45 167.29

TT8_Kalman 33 81 27.30

Analog_circuits 861 12 103.33

GPS_charging 0 0 0.00

Compass 249 20 49.96

RAFOS 360 1 5.40

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 23 begin dive

26 -1.15 -132.0 0.0 0.0 0 72 0.00 0.00 -44.25 0.000 2 0.000 0.000 683 2085 2601

76 -1.15 -132.0 3.0 -3.9 7 134 12.05 2.83 -37.65 0.000 4 0.262 0.068 2011 3458 3875

142 -1.15 -132.0 7.2 -10.1 17 149 0.00 2.78 0.00 0.000 6 0.000 0.038 2011 2044 3876

218 -0.48 -132.0 17.5 -12.9 30 225 0.93 2.95 0.00 0.000 4 0.153 0.074 2155 656 3877

300 -0.19 -132.0 23.0 -5.8 40 305 0.40 2.70 0.00 0.000 6 0.097 0.040 2224 2045 3877

370 -0.84 -132.0 25.8 -3.9 46 376 0.70 3.05 0.00 0.000 4 0.067 0.084 2089 3464 3877

483 -2.17 -132.0 34.3 -8.2 55 491 1.42 2.75 0.00 0.000 6 0.035 0.037 1791 2049 3877

554 -2.44 -132.0 49.3 -25.3 62 556 0.28 0.00 0.00 0.000 6 0.074 0.000 1741 2048 3878

681 -1.29 -132.0 85.7 -28.6 74 692 1.70 3.00 0.00 0.000 4 0.199 0.067 1982 3467 3877

720 -0.02 -132.0 94.2 -16.5 77 728 1.80 2.78 0.00 0.000 6 0.156 0.041 2261 2049 3878

855 0.29 -132.0 100.6 -6.6 90 857 0.35 0.00 0.00 0.000 6 0.053 0.000 2333 2050 3878

978 end dive: TARGET_DEPTH_EXCEEDED

state 978 begin apogee

986 -0.21 0.0 108.3 5.7 102 1103 0.57 0.00 112.95 0.673 6 0.097 0.000 2230 1869 3335

1103 end apogee: CONTROL_FINISHED_OK

state 1103 begin climb

1106 1.15 132.0 113.7 0.0 114 1229 1.48 3.17 112.53 0.660 4 0.064 0.070 2516 3277 2796

1277 1.15 132.0 102.9 13.9 130 1283 0.00 2.92 0.00 0.000 6 0.000 0.051 2516 1872 2796

1411 0.65 132.0 84.7 13.0 143 1417 0.65 3.00 0.00 0.000 4 0.141 0.067 2414 3282 2795

1475 0.20 166.8 78.9 8.2 148 1511 0.60 2.88 28.70 0.657 6 0.127 0.047 2318 1862 2654

1648 0.37 265.9 70.8 4.8 164 1741 0.15 3.08 82.12 0.640 4 0.046 0.060 2357 3275 2249

1859 1.43 330.6 56.3 6.6 183 1922 1.12 2.85 53.45 0.639 6 0.044 0.044 2580 1870 1986

2051 2.37 330.6 18.1 22.1 201 2058 1.00 3.00 0.00 0.000 4 0.045 0.066 2782 3273 1985

2101 end climb: SURFACE_DEPTH_REACHED

state 2102 begin surface coast

2108 end surface coast: CONTROL_FINISHED_OK

state 2108 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	27	HEADING	-1	PITCH_ADJ_GAIN	0.059999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	150	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	200	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2060	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1870	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	500	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	2	R_PORT_OVSHOOT	12	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3335	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-18459.207	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	135	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2269	PRESSURE_YINT	-3.7066903	SEABIRD_T_I	2.5554549e-05
MASS	51440	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017379176

GPS1	192809,4806.056,-12221.981,9,1.6,9,18.3	TGT_NAME	FIVE_sb
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.113,-0.172
_SM_DEPTHo	1.91	KALMAN_X	950.9,204.7,131.3,-605.2,-72.4
_SM_ANGLEo	-50.3	KALMAN_Y	-2245.3,-113.1,-27.7,1276.4,98.9
GPS2	193350,4806.095,-12222.037,9,1.2,14,18.3	MHEAD_RNG_PITCHd_Wd	125.6,2400,-22.4,-10.000
SPEED_LIMITS	0.173,0.206	D_GRID	108

FINISH	1.0,1.006691	XPDR_PINGS	1
SM_CCo	2134,109.60,0.587,0,0,1296,500.17	ALTIM_TOP_PING	18.1,16.8
SM_GC	2.00,0.00,0.00,109.60,0.000,0.000,0.587,681,2051,1296,-7.30,-0.25,500.17	_24V_AH	20.8,16.279
RAFOS_CLK	96	_10V_AH	10.0,6.360
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	6466,211
IRIDIUM_FIX	4748.51,-12224.57,110707,222229	CFSIZE	260165632,256081920
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1929	SOUNDSPEED	1484.3
INTERNAL_PRESSURE	10.3715	CURRENT	0.133,322.1,1
TCM_TEMP	9.40	GPS	110707,201309,4806.062,-12221.946,10,1.7,10,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	36	261	197.61	SBE_CT	149	24	74.86
Roll_motor	46	83	81.08	SBE_O2	149	19	59.21
VBD_pump_during_apogee	389	673	5459.33	nil	0	0	0.00
VBD_pump_during_surface	109	586	1337.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	84.71	nil	0	0	0.00
Iridium_during_connect	29	160	97.73	nil	0	0	0.00
Iridium_during_xfer	142	223	662.37
Transponder_ping	0	420	4.37
GPS	15	50	7.79
TT8	446	19	88.95
LPSleep	919	2	21.23
TT8_Active	617	19	122.93
TT8_Sampling	257	39	102.97
TT8_CF8	364	45	167.29
TT8_Kalman	33	81	27.30
Analog_circuits	861	12	103.33
GPS_charging	0	0	0.00
Compass	249	20	49.96
RAFOS	360	1	5.40

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	23	begin dive
26	-1.15	-132.0	0.0	0.0	0	72	0.00	0.00	-44.25	0.000	2	0.000	0.000	683	2085	2601
76	-1.15	-132.0	3.0	-3.9	7	134	12.05	2.83	-37.65	0.000	4	0.262	0.068	2011	3458	3875
142	-1.15	-132.0	7.2	-10.1	17	149	0.00	2.78	0.00	0.000	6	0.000	0.038	2011	2044	3876
218	-0.48	-132.0	17.5	-12.9	30	225	0.93	2.95	0.00	0.000	4	0.153	0.074	2155	656	3877
300	-0.19	-132.0	23.0	-5.8	40	305	0.40	2.70	0.00	0.000	6	0.097	0.040	2224	2045	3877
370	-0.84	-132.0	25.8	-3.9	46	376	0.70	3.05	0.00	0.000	4	0.067	0.084	2089	3464	3877
483	-2.17	-132.0	34.3	-8.2	55	491	1.42	2.75	0.00	0.000	6	0.035	0.037	1791	2049	3877
554	-2.44	-132.0	49.3	-25.3	62	556	0.28	0.00	0.00	0.000	6	0.074	0.000	1741	2048	3878
681	-1.29	-132.0	85.7	-28.6	74	692	1.70	3.00	0.00	0.000	4	0.199	0.067	1982	3467	3877
720	-0.02	-132.0	94.2	-16.5	77	728	1.80	2.78	0.00	0.000	6	0.156	0.041	2261	2049	3878
855	0.29	-132.0	100.6	-6.6	90	857	0.35	0.00	0.00	0.000	6	0.053	0.000	2333	2050	3878
978	end dive: TARGET_DEPTH_EXCEEDED
state	978	begin apogee
986	-0.21	0.0	108.3	5.7	102	1103	0.57	0.00	112.95	0.673	6	0.097	0.000	2230	1869	3335
1103	end apogee: CONTROL_FINISHED_OK
state	1103	begin climb
1106	1.15	132.0	113.7	0.0	114	1229	1.48	3.17	112.53	0.660	4	0.064	0.070	2516	3277	2796
1277	1.15	132.0	102.9	13.9	130	1283	0.00	2.92	0.00	0.000	6	0.000	0.051	2516	1872	2796
1411	0.65	132.0	84.7	13.0	143	1417	0.65	3.00	0.00	0.000	4	0.141	0.067	2414	3282	2795
1475	0.20	166.8	78.9	8.2	148	1511	0.60	2.88	28.70	0.657	6	0.127	0.047	2318	1862	2654
1648	0.37	265.9	70.8	4.8	164	1741	0.15	3.08	82.12	0.640	4	0.046	0.060	2357	3275	2249
1859	1.43	330.6	56.3	6.6	183	1922	1.12	2.85	53.45	0.639	6	0.044	0.044	2580	1870	1986
2051	2.37	330.6	18.1	22.1	201	2058	1.00	3.00	0.00	0.000	4	0.045	0.066	2782	3273	1985
2101	end climb: SURFACE_DEPTH_REACHED
state	2102	begin surface coast
2108	end surface coast: CONTROL_FINISHED_OK
state	2108	begin surface