Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 327 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 5.8987e-05 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 327 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 50 ALTIM_FREQUENCY 13

D_TGT 95 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2250 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 4 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 29 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE3 35

T_DIVE 63 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 75 CALL_TRIES 5 VBD_MIN 204 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3580 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 C_VBD 2800 SMARTS 0

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS 15 VBD_TIMEOUT 360 COMPASS_DEVICE 33

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 100 T_GPS_CHARGE -67224.812 VBD_PUMP_AD_RATE_APOGEE 3 RAFOS_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MIN 25 AH0_24V 150 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25

HD_A 0.0043390002 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.013382 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 300

AH0_24V 150 D_OFFGRID 100 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 95 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_DIVE 63

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0043390002 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.013382 RHO 1.023 T_GPS_CHARGE -67224.812

CALL_WAIT 60 HD_C 5.8987e-05 ROLL_ADJ_DBAND 0 T_MISSION 75

CAPMAXSIZE 100000 HEADING -1 ROLL_ADJ_GAIN 0 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_RSLEEP 3

CF8_MAXERRORS 1 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 270

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 50 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 128 ROLL_MAX 4014 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_PITCH 2820 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2250 MASS 51503 R_PORT_OVSHOOT 29 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 30 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_DBAND 2

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAXERRORS 1

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MIN 204

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_TIMEOUT 360

DIVE 327 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 1090 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 043957,4806.862,-12222.939,24,2.1,43,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 9 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.133,-0.083

_SM_DEPTHo 1.13 KALMAN_X -547.4,-130.5,4.0,1387.9,-143.8

_SM_ANGLEo -67.0 KALMAN_Y -491.2,-70.8,-19.9,-938.8,-186.8

GPS2 044435,4806.838,-12222.975,12,2.1,31,18.3 MHEAD_RNG_PITCHd_Wd 103.7,4191,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 103

Post-dive calculations and measurements:

FINISH 0.8,1.023991 XPDR_PINGS 2

SM_CCo 3016,73.50,0.703,0,0,1577,300.00 ALTIM_BOTTOM_PING 70.3,50.5

SM_GC 1.80,0.00,0.00,73.50,0.000,0.000,0.703,8,2270,1577,-8.79,0.57,300.00 _24V_AH 24.5,33.526

IRIDIUM_FIX 4748.51,-12221.84,190907,070733 _10V_AH 10.7,16.735

TT8_MAMPS 0.026845 DATA_FILE_SIZE 15911,325

HUMID 1903 CFSIZE 260165632,248102912

INTERNAL_PRESSURE 9.19957 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.70 GPS 190907,053832,4806.544,-12222.599,32,1.3,49,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 204 102.60 SBE_CT 230 24 135.56

Roll_motor 23 61 35.59 SBE_O2 257 19 119.97

VBD_pump_during_apogee 221 760 4132.77 WL_BB2F 548 105 1410.52

VBD_pump_during_surface 73 702 1265.16 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 77.27 nil 0 0 0.00

Iridium_during_connect 15 160 60.50 nil 0 0 0.00

Iridium_during_xfer 118 223 649.66

Transponder_ping 0 420 7.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 18.08

TT8 538 19 114.07

LPSleep 1563 2 36.64

TT8_Active 349 19 74.05

TT8_Sampling 647 39 275.57

TT8_CF8 292 45 143.32

TT8_Kalman 33 81 29.18

Analog_circuits 670 12 86.09

GPS_charging 0 0 0.00

Compass 644 8 55.18

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

24 -0.77 -146.6 0.0 0.0 0 98 0.00 0.00 -71.45 0.000 2 0.000 0.000 7 2266 3306

101 -0.77 -146.6 3.1 -2.7 13 120 10.18 3.00 -2.00 0.000 4 0.205 0.056 2564 480 3398

278 -0.77 -146.6 18.9 -6.9 44 285 0.00 2.92 0.00 0.000 6 0.000 0.038 2563 2255 3400

350 -0.77 -146.6 23.6 -6.5 52 354 0.00 2.97 0.00 0.000 4 0.000 0.058 2558 4004 3401

378 -0.77 -146.6 25.4 -6.9 54 383 0.00 2.85 0.00 0.000 6 0.000 0.029 2558 2238 3400

575 -0.77 -146.6 38.3 -6.6 72 576 0.00 0.00 0.00 0.000 6 0.000 0.000 2558 2237 3401

766 -0.77 -146.6 50.7 -6.5 90 771 0.00 3.00 0.00 0.000 4 0.000 0.057 2550 4015 3402

794 -0.77 -146.6 52.7 -7.3 92 799 0.00 2.83 0.00 0.000 6 0.000 0.029 2550 2245 3401

1122 -0.77 -146.6 73.7 -6.4 122 1123 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2244 3401

1437 -0.77 -146.6 93.8 -6.3 152 1438 0.00 0.00 0.00 0.000 6 0.000 0.000 2550 2244 3401

1456 end dive: TARGET_DEPTH_EXCEEDED

state 1456 begin apogee

1463 -0.28 0.0 95.0 5.9 154 1580 0.55 0.00 110.97 0.760 6 0.112 0.000 2725 2139 2799

1581 end apogee: CONTROL_FINISHED_OK

state 1581 begin climb

1584 0.77 146.6 97.5 0.0 166 1701 1.02 0.00 110.95 0.707 6 0.078 0.000 3064 2139 2201

2019 0.77 146.6 67.8 7.6 208 2020 0.00 0.00 0.00 0.000 6 0.000 0.000 3064 2139 2199

2338 0.77 146.6 44.2 7.0 238 2343 0.00 3.00 0.00 0.000 4 0.000 0.054 3064 3907 2198

2366 0.77 146.6 41.8 8.5 240 2371 0.00 2.83 0.00 0.000 6 0.000 0.032 3067 2171 2199

2564 0.77 146.6 27.8 6.9 258 2565 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2170 2198

2759 0.77 146.6 14.4 6.9 283 2765 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2170 2198

2833 0.77 146.6 9.4 6.8 296 2839 0.00 0.00 0.00 0.000 6 0.000 0.000 3068 2170 2198

2907 0.77 146.6 4.6 6.4 309 2913 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 2170 2198

2956 end climb: SURFACE_DEPTH_REACHED

state 2956 begin surface coast

2997 end surface coast: CONTROL_FINISHED_OK

state 2997 begin surface

ID	128	HD_C	5.8987e-05	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	327	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	50	ALTIM_FREQUENCY	13
D_TGT	95	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2250	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	4	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	29	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE3	35
T_DIVE	63	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	75	CALL_TRIES	5	VBD_MIN	204	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3580	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	C_VBD	2800	SMARTS	0
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS	15	VBD_TIMEOUT	360	COMPASS_DEVICE	33
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	100	T_GPS_CHARGE	-67224.812	VBD_PUMP_AD_RATE_APOGEE	3	RAFOS_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MIN	25	AH0_24V	150	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25
HD_A	0.0043390002	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.013382	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	043957,4806.862,-12222.939,24,2.1,43,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	9	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.133,-0.083
_SM_DEPTHo	1.13	KALMAN_X	-547.4,-130.5,4.0,1387.9,-143.8
_SM_ANGLEo	-67.0	KALMAN_Y	-491.2,-70.8,-19.9,-938.8,-186.8
GPS2	044435,4806.838,-12222.975,12,2.1,31,18.3	MHEAD_RNG_PITCHd_Wd	103.7,4191,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	103

FINISH	0.8,1.023991	XPDR_PINGS	2
SM_CCo	3016,73.50,0.703,0,0,1577,300.00	ALTIM_BOTTOM_PING	70.3,50.5
SM_GC	1.80,0.00,0.00,73.50,0.000,0.000,0.703,8,2270,1577,-8.79,0.57,300.00	_24V_AH	24.5,33.526
IRIDIUM_FIX	4748.51,-12221.84,190907,070733	_10V_AH	10.7,16.735
TT8_MAMPS	0.026845	DATA_FILE_SIZE	15911,325
HUMID	1903	CFSIZE	260165632,248102912
INTERNAL_PRESSURE	9.19957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.70	GPS	190907,053832,4806.544,-12222.599,32,1.3,49,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	204	102.60	SBE_CT	230	24	135.56
Roll_motor	23	61	35.59	SBE_O2	257	19	119.97
VBD_pump_during_apogee	221	760	4132.77	WL_BB2F	548	105	1410.52
VBD_pump_during_surface	73	702	1265.16	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	77.27	nil	0	0	0.00
Iridium_during_connect	15	160	60.50	nil	0	0	0.00
Iridium_during_xfer	118	223	649.66
Transponder_ping	0	420	7.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	18.08
TT8	538	19	114.07
LPSleep	1563	2	36.64
TT8_Active	349	19	74.05
TT8_Sampling	647	39	275.57
TT8_CF8	292	45	143.32
TT8_Kalman	33	81	29.18
Analog_circuits	670	12	86.09
GPS_charging	0	0	0.00
Compass	644	8	55.18
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
24	-0.77	-146.6	0.0	0.0	0	98	0.00	0.00	-71.45	0.000	2	0.000	0.000	7	2266	3306
101	-0.77	-146.6	3.1	-2.7	13	120	10.18	3.00	-2.00	0.000	4	0.205	0.056	2564	480	3398
278	-0.77	-146.6	18.9	-6.9	44	285	0.00	2.92	0.00	0.000	6	0.000	0.038	2563	2255	3400
350	-0.77	-146.6	23.6	-6.5	52	354	0.00	2.97	0.00	0.000	4	0.000	0.058	2558	4004	3401
378	-0.77	-146.6	25.4	-6.9	54	383	0.00	2.85	0.00	0.000	6	0.000	0.029	2558	2238	3400
575	-0.77	-146.6	38.3	-6.6	72	576	0.00	0.00	0.00	0.000	6	0.000	0.000	2558	2237	3401
766	-0.77	-146.6	50.7	-6.5	90	771	0.00	3.00	0.00	0.000	4	0.000	0.057	2550	4015	3402
794	-0.77	-146.6	52.7	-7.3	92	799	0.00	2.83	0.00	0.000	6	0.000	0.029	2550	2245	3401
1122	-0.77	-146.6	73.7	-6.4	122	1123	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2244	3401
1437	-0.77	-146.6	93.8	-6.3	152	1438	0.00	0.00	0.00	0.000	6	0.000	0.000	2550	2244	3401
1456	end dive: TARGET_DEPTH_EXCEEDED
state	1456	begin apogee
1463	-0.28	0.0	95.0	5.9	154	1580	0.55	0.00	110.97	0.760	6	0.112	0.000	2725	2139	2799
1581	end apogee: CONTROL_FINISHED_OK
state	1581	begin climb
1584	0.77	146.6	97.5	0.0	166	1701	1.02	0.00	110.95	0.707	6	0.078	0.000	3064	2139	2201
2019	0.77	146.6	67.8	7.6	208	2020	0.00	0.00	0.00	0.000	6	0.000	0.000	3064	2139	2199
2338	0.77	146.6	44.2	7.0	238	2343	0.00	3.00	0.00	0.000	4	0.000	0.054	3064	3907	2198
2366	0.77	146.6	41.8	8.5	240	2371	0.00	2.83	0.00	0.000	6	0.000	0.032	3067	2171	2199
2564	0.77	146.6	27.8	6.9	258	2565	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2170	2198
2759	0.77	146.6	14.4	6.9	283	2765	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2170	2198
2833	0.77	146.6	9.4	6.8	296	2839	0.00	0.00	0.00	0.000	6	0.000	0.000	3068	2170	2198
2907	0.77	146.6	4.6	6.4	309	2913	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	2170	2198
2956	end climb: SURFACE_DEPTH_REACHED
state	2956	begin surface coast
2997	end surface coast: CONTROL_FINISHED_OK
state	2997	begin surface