Glider dive log

PN07 DabobBay Sep07 * SG106 * Dive index * Mission links * Dive 33 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 33 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 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1990 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1930 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 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 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -43717.172 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 460 AH0_24V 91.800003 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3080 PRESSURE_YINT -7.4494777 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 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 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 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 -7.4494777 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 35

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 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -43717.172

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3080 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1930 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1990 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 24 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 32 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 33 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 004757,4739.541,-12253.159,13,1.8,13,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.230,-0.054

_SM_DEPTHo 1.28 KALMAN_X 1638.8,40.5,-109.1,-2784.2,4.4

_SM_ANGLEo -64.6 KALMAN_Y 1785.5,-58.4,-171.3,-1974.8,48.4

GPS2 005251,4739.538,-12253.175,16,1.8,16,18.3 MHEAD_RNG_PITCHd_Wd 84.9,973,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 116

Post-dive calculations and measurements:

FINISH 0.7,1.020077 XPDR_PINGS 0

SM_CCo 2741,120.32,0.589,0,0,1587,400.08 ALTIM_BOTTOM_PING 50.4,51.2

SM_GC 1.14,0.00,0.00,120.32,0.000,0.000,0.589,459,1993,1587,-12.06,0.08,400.08 _24V_AH 23.8,8.704

IRIDIUM_FIX 4719.74,-12342.29,260907,040411 _10V_AH 10.1,31.379

TT8_MAMPS 0.071331 DATA_FILE_SIZE 6443,255

HUMID 2035 CFSIZE 260034560,256081920

INTERNAL_PRESSURE 8.41829 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 260907,014247,4739.513,-12252.729,14,2.4,33,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 209 157.23 SBE_CT 170 24 97.57

Roll_motor 41 80 79.45 nil 0 0 0.00

VBD_pump_during_apogee 192 679 3110.99 nil 0 0 0.00

VBD_pump_during_surface 120 589 1686.90 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.15 nil 0 0 0.00

Iridium_during_connect 32 160 124.51 ARS 0 0 0.00

Iridium_during_xfer 132 223 705.09

Transponder_ping 0 420 5.00

Mmodem_TX 0 1000 0.00

Mmodem_RX 3267 6 497.63

GPS 16 50 8.24

TT8 476 19 95.20

LPSleep 1549 2 34.27

TT8_Active 433 19 86.77

TT8_Sampling 454 39 182.77

TT8_CF8 275 45 127.26

TT8_Kalman 33 81 27.54

Analog_circuits 708 12 85.82

GPS_charging 0 0 0.00

Compass 428 8 34.59

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -1.63 -122.2 0.0 0.0 0 73 0.00 0.00 -49.80 0.000 2 0.000 0.000 460 2002 2732

75 -1.63 -122.2 2.1 -3.5 8 137 14.57 2.55 -38.67 0.000 4 0.209 0.068 2723 3388 3717

155 -1.63 -122.2 4.6 -7.8 21 162 0.00 2.50 0.00 0.000 6 0.000 0.039 2723 1992 3718

227 -1.63 -122.2 9.3 -6.8 32 234 0.00 2.65 0.00 0.000 4 0.000 0.070 2723 585 3719

404 -1.63 -122.2 20.4 -6.4 58 412 0.00 2.50 0.00 0.000 6 0.000 0.035 2723 1986 3720

601 -1.63 -122.2 32.4 -6.3 74 602 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1986 3720

790 -1.63 -122.2 44.9 -6.3 89 795 0.00 2.65 0.00 0.000 4 0.000 0.068 2723 581 3721

841 -1.63 -122.2 48.4 -6.9 92 849 0.00 2.53 0.00 0.000 6 0.000 0.036 2723 1994 3721

1037 -1.63 -122.2 61.1 -6.7 108 1038 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1994 3721

1227 -1.63 -122.2 74.0 -7.0 123 1228 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1994 3721

1417 -1.63 -122.2 86.9 -6.7 138 1421 0.00 2.55 0.00 0.000 4 0.000 0.058 2723 3399 3721

1454 -1.63 -122.2 89.6 -7.3 140 1462 0.00 2.53 0.00 0.000 6 0.000 0.040 2723 1986 3721

1624 end dive: TARGET_DEPTH_EXCEEDED

state 1624 begin apogee

1628 -0.38 0.0 100.2 6.3 154 1734 1.35 0.00 97.60 0.680 6 0.099 0.000 2993 1923 3218

1735 end apogee: CONTROL_FINISHED_OK

state 1735 begin climb

1737 1.63 122.2 101.5 0.0 163 1841 1.98 2.70 94.75 0.653 4 0.053 0.074 3438 537 2718

1879 1.63 122.2 89.5 12.1 174 1884 0.00 2.53 0.00 0.000 6 0.000 0.037 3438 1931 2718

2081 1.63 122.2 65.6 11.4 190 2083 0.00 0.00 0.00 0.000 6 0.000 0.000 3438 1932 2717

2271 1.63 122.2 44.8 10.7 205 2275 0.00 2.67 0.00 0.000 4 0.000 0.072 3438 533 2716

2329 1.63 122.2 37.7 11.7 209 2334 0.00 2.50 0.00 0.000 6 0.000 0.037 3438 1926 2716

2526 1.63 122.2 17.3 11.1 226 2533 0.00 2.67 0.00 0.000 4 0.000 0.072 3438 528 2716

2571 1.63 122.2 12.3 10.9 233 2578 0.00 2.53 0.00 0.000 6 0.000 0.038 3438 1932 2716

2643 1.63 123.7 5.2 9.4 244 2650 0.00 2.67 0.00 0.000 4 0.000 0.072 3438 531 2716

2654 end climb: SURFACE_DEPTH_REACHED

state 2654 begin surface coast

2715 end surface coast: CONTROL_FINISHED_OK

state 2716 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	33	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	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1990	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1930	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	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	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-43717.172	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	460	AH0_24V	91.800003	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3080	PRESSURE_YINT	-7.4494777	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	004757,4739.541,-12253.159,13,1.8,13,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.230,-0.054
_SM_DEPTHo	1.28	KALMAN_X	1638.8,40.5,-109.1,-2784.2,4.4
_SM_ANGLEo	-64.6	KALMAN_Y	1785.5,-58.4,-171.3,-1974.8,48.4
GPS2	005251,4739.538,-12253.175,16,1.8,16,18.3	MHEAD_RNG_PITCHd_Wd	84.9,973,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	116

FINISH	0.7,1.020077	XPDR_PINGS	0
SM_CCo	2741,120.32,0.589,0,0,1587,400.08	ALTIM_BOTTOM_PING	50.4,51.2
SM_GC	1.14,0.00,0.00,120.32,0.000,0.000,0.589,459,1993,1587,-12.06,0.08,400.08	_24V_AH	23.8,8.704
IRIDIUM_FIX	4719.74,-12342.29,260907,040411	_10V_AH	10.1,31.379
TT8_MAMPS	0.071331	DATA_FILE_SIZE	6443,255
HUMID	2035	CFSIZE	260034560,256081920
INTERNAL_PRESSURE	8.41829	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	260907,014247,4739.513,-12252.729,14,2.4,33,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	209	157.23	SBE_CT	170	24	97.57
Roll_motor	41	80	79.45	nil	0	0	0.00
VBD_pump_during_apogee	192	679	3110.99	nil	0	0	0.00
VBD_pump_during_surface	120	589	1686.90	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.15	nil	0	0	0.00
Iridium_during_connect	32	160	124.51	ARS	0	0	0.00
Iridium_during_xfer	132	223	705.09
Transponder_ping	0	420	5.00
Mmodem_TX	0	1000	0.00
Mmodem_RX	3267	6	497.63
GPS	16	50	8.24
TT8	476	19	95.20
LPSleep	1549	2	34.27
TT8_Active	433	19	86.77
TT8_Sampling	454	39	182.77
TT8_CF8	275	45	127.26
TT8_Kalman	33	81	27.54
Analog_circuits	708	12	85.82
GPS_charging	0	0	0.00
Compass	428	8	34.59
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-1.63	-122.2	0.0	0.0	0	73	0.00	0.00	-49.80	0.000	2	0.000	0.000	460	2002	2732
75	-1.63	-122.2	2.1	-3.5	8	137	14.57	2.55	-38.67	0.000	4	0.209	0.068	2723	3388	3717
155	-1.63	-122.2	4.6	-7.8	21	162	0.00	2.50	0.00	0.000	6	0.000	0.039	2723	1992	3718
227	-1.63	-122.2	9.3	-6.8	32	234	0.00	2.65	0.00	0.000	4	0.000	0.070	2723	585	3719
404	-1.63	-122.2	20.4	-6.4	58	412	0.00	2.50	0.00	0.000	6	0.000	0.035	2723	1986	3720
601	-1.63	-122.2	32.4	-6.3	74	602	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1986	3720
790	-1.63	-122.2	44.9	-6.3	89	795	0.00	2.65	0.00	0.000	4	0.000	0.068	2723	581	3721
841	-1.63	-122.2	48.4	-6.9	92	849	0.00	2.53	0.00	0.000	6	0.000	0.036	2723	1994	3721
1037	-1.63	-122.2	61.1	-6.7	108	1038	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1994	3721
1227	-1.63	-122.2	74.0	-7.0	123	1228	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1994	3721
1417	-1.63	-122.2	86.9	-6.7	138	1421	0.00	2.55	0.00	0.000	4	0.000	0.058	2723	3399	3721
1454	-1.63	-122.2	89.6	-7.3	140	1462	0.00	2.53	0.00	0.000	6	0.000	0.040	2723	1986	3721
1624	end dive: TARGET_DEPTH_EXCEEDED
state	1624	begin apogee
1628	-0.38	0.0	100.2	6.3	154	1734	1.35	0.00	97.60	0.680	6	0.099	0.000	2993	1923	3218
1735	end apogee: CONTROL_FINISHED_OK
state	1735	begin climb
1737	1.63	122.2	101.5	0.0	163	1841	1.98	2.70	94.75	0.653	4	0.053	0.074	3438	537	2718
1879	1.63	122.2	89.5	12.1	174	1884	0.00	2.53	0.00	0.000	6	0.000	0.037	3438	1931	2718
2081	1.63	122.2	65.6	11.4	190	2083	0.00	0.00	0.00	0.000	6	0.000	0.000	3438	1932	2717
2271	1.63	122.2	44.8	10.7	205	2275	0.00	2.67	0.00	0.000	4	0.000	0.072	3438	533	2716
2329	1.63	122.2	37.7	11.7	209	2334	0.00	2.50	0.00	0.000	6	0.000	0.037	3438	1926	2716
2526	1.63	122.2	17.3	11.1	226	2533	0.00	2.67	0.00	0.000	4	0.000	0.072	3438	528	2716
2571	1.63	122.2	12.3	10.9	233	2578	0.00	2.53	0.00	0.000	6	0.000	0.038	3438	1932	2716
2643	1.63	123.7	5.2	9.4	244	2650	0.00	2.67	0.00	0.000	4	0.000	0.072	3438	531	2716
2654	end climb: SURFACE_DEPTH_REACHED
state	2654	begin surface coast
2715	end surface coast: CONTROL_FINISHED_OK
state	2716	begin surface