Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 344 * 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 344 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 43 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 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 -67622.57 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 -67622.57

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 43 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 45 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 344 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 210308,4807.312,-12223.104,9,1.5,9,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.044,0.151

_SM_DEPTHo 1.15 KALMAN_X -2230.2,3.9,42.8,2720.9,-254.9

_SM_ANGLEo -65.4 KALMAN_Y -2388.9,148.9,-146.8,1697.4,-58.5

GPS2 210651,4807.287,-12223.117,13,1.2,13,18.3 MHEAD_RNG_PITCHd_Wd 325.4,1713,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 105

Post-dive calculations and measurements:

FINISH 0.4,1.024945 XPDR_PINGS 0

SM_CCo 3074,71.95,0.696,0,0,1577,300.00 ALTIM_BOTTOM_PING 70.6,44.1

SM_GC 1.23,0.00,0.00,71.95,0.000,0.000,0.696,13,2261,1577,-8.77,0.31,300.00 _24V_AH 24.5,34.686

IRIDIUM_FIX 4748.51,-12229.01,200907,000034 _10V_AH 10.7,17.434

TT8_MAMPS 0.026078 DATA_FILE_SIZE 15958,330

HUMID 1919 CFSIZE 260165632,247656448

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

TCM_TEMP 16.80 GPS 190907,220103,4807.571,-12223.390,7,1.5,7,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 211 106.45 SBE_CT 234 24 137.88

Roll_motor 23 72 41.46 SBE_O2 260 19 121.32

VBD_pump_during_apogee 221 755 4106.36 WL_BB2F 556 105 1432.34

VBD_pump_during_surface 71 696 1227.66 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 63.21 nil 0 0 0.00

Iridium_during_connect 13 160 53.80 nil 0 0 0.00

Iridium_during_xfer 88 223 485.45

Transponder_ping 0 420 2.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.29

TT8 544 19 115.29

LPSleep 1607 2 37.67

TT8_Active 350 19 74.36

TT8_Sampling 633 39 269.73

TT8_CF8 256 45 125.58

TT8_Kalman 33 81 29.16

Analog_circuits 672 12 86.35

GPS_charging 0 0 0.00

Compass 648 8 55.54

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 -0.77 -146.6 0.0 0.0 0 99 0.00 0.00 -70.97 0.000 2 0.000 0.000 10 2263 3308

102 -0.77 -146.6 3.1 -2.7 13 121 10.38 2.92 -1.88 0.000 4 0.212 0.050 2568 496 3398

162 -0.77 -146.6 11.9 -12.8 23 168 0.00 2.85 0.00 0.000 6 0.000 0.032 2566 2239 3400

237 -0.77 -146.6 16.7 -6.2 36 243 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2240 3401

315 -0.77 -146.6 21.6 -6.2 48 317 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2240 3401

507 -0.77 -146.6 33.7 -6.5 66 508 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2240 3401

698 -0.77 -146.6 45.5 -6.2 84 699 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2240 3402

889 -0.77 -146.6 57.3 -5.8 102 890 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2240 3402

1207 -0.77 -146.6 76.2 -5.9 132 1212 0.00 2.92 0.00 0.000 4 0.000 0.051 2557 4004 3402

1236 -0.77 -146.6 77.9 -6.5 134 1240 0.00 2.80 0.00 0.000 6 0.000 0.028 2557 2227 3402

1526 end dive: TARGET_DEPTH_EXCEEDED

state 1526 begin apogee

1534 -0.28 0.0 95.4 5.8 161 1651 0.52 0.00 110.90 0.755 6 0.110 0.000 2725 2148 2799

1652 end apogee: CONTROL_FINISHED_OK

state 1652 begin climb

1655 0.77 146.6 97.8 0.0 173 1772 1.02 0.00 110.95 0.706 6 0.078 0.000 3061 2148 2201

2090 0.77 146.6 67.9 7.7 215 2091 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2148 2199

2409 0.77 146.6 44.7 7.6 245 2413 0.00 2.92 0.00 0.000 4 0.000 0.047 3061 3903 2198

2452 0.77 146.6 40.9 8.2 248 2459 0.00 2.80 0.00 0.000 6 0.000 0.030 3072 2160 2198

2650 0.77 146.6 26.4 7.0 267 2651 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2158 2198

2847 0.77 146.6 12.3 7.2 294 2853 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2158 2198

2921 0.77 146.6 7.2 6.9 307 2927 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2158 2198

2995 0.77 146.6 2.8 5.6 320 3001 0.00 2.88 0.00 0.000 4 0.000 0.042 3081 389 2197

3011 end climb: SURFACE_DEPTH_REACHED

state 3011 begin surface coast

3052 end surface coast: CONTROL_FINISHED_OK

state 3052 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	344	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	43	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	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	-67622.57	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	210308,4807.312,-12223.104,9,1.5,9,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.044,0.151
_SM_DEPTHo	1.15	KALMAN_X	-2230.2,3.9,42.8,2720.9,-254.9
_SM_ANGLEo	-65.4	KALMAN_Y	-2388.9,148.9,-146.8,1697.4,-58.5
GPS2	210651,4807.287,-12223.117,13,1.2,13,18.3	MHEAD_RNG_PITCHd_Wd	325.4,1713,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	105

FINISH	0.4,1.024945	XPDR_PINGS	0
SM_CCo	3074,71.95,0.696,0,0,1577,300.00	ALTIM_BOTTOM_PING	70.6,44.1
SM_GC	1.23,0.00,0.00,71.95,0.000,0.000,0.696,13,2261,1577,-8.77,0.31,300.00	_24V_AH	24.5,34.686
IRIDIUM_FIX	4748.51,-12229.01,200907,000034	_10V_AH	10.7,17.434
TT8_MAMPS	0.026078	DATA_FILE_SIZE	15958,330
HUMID	1919	CFSIZE	260165632,247656448
INTERNAL_PRESSURE	9.19957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	190907,220103,4807.571,-12223.390,7,1.5,7,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	211	106.45	SBE_CT	234	24	137.88
Roll_motor	23	72	41.46	SBE_O2	260	19	121.32
VBD_pump_during_apogee	221	755	4106.36	WL_BB2F	556	105	1432.34
VBD_pump_during_surface	71	696	1227.66	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	63.21	nil	0	0	0.00
Iridium_during_connect	13	160	53.80	nil	0	0	0.00
Iridium_during_xfer	88	223	485.45
Transponder_ping	0	420	2.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.29
TT8	544	19	115.29
LPSleep	1607	2	37.67
TT8_Active	350	19	74.36
TT8_Sampling	633	39	269.73
TT8_CF8	256	45	125.58
TT8_Kalman	33	81	29.16
Analog_circuits	672	12	86.35
GPS_charging	0	0	0.00
Compass	648	8	55.54
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	-0.77	-146.6	0.0	0.0	0	99	0.00	0.00	-70.97	0.000	2	0.000	0.000	10	2263	3308
102	-0.77	-146.6	3.1	-2.7	13	121	10.38	2.92	-1.88	0.000	4	0.212	0.050	2568	496	3398
162	-0.77	-146.6	11.9	-12.8	23	168	0.00	2.85	0.00	0.000	6	0.000	0.032	2566	2239	3400
237	-0.77	-146.6	16.7	-6.2	36	243	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2240	3401
315	-0.77	-146.6	21.6	-6.2	48	317	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2240	3401
507	-0.77	-146.6	33.7	-6.5	66	508	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2240	3401
698	-0.77	-146.6	45.5	-6.2	84	699	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2240	3402
889	-0.77	-146.6	57.3	-5.8	102	890	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2240	3402
1207	-0.77	-146.6	76.2	-5.9	132	1212	0.00	2.92	0.00	0.000	4	0.000	0.051	2557	4004	3402
1236	-0.77	-146.6	77.9	-6.5	134	1240	0.00	2.80	0.00	0.000	6	0.000	0.028	2557	2227	3402
1526	end dive: TARGET_DEPTH_EXCEEDED
state	1526	begin apogee
1534	-0.28	0.0	95.4	5.8	161	1651	0.52	0.00	110.90	0.755	6	0.110	0.000	2725	2148	2799
1652	end apogee: CONTROL_FINISHED_OK
state	1652	begin climb
1655	0.77	146.6	97.8	0.0	173	1772	1.02	0.00	110.95	0.706	6	0.078	0.000	3061	2148	2201
2090	0.77	146.6	67.9	7.7	215	2091	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	2148	2199
2409	0.77	146.6	44.7	7.6	245	2413	0.00	2.92	0.00	0.000	4	0.000	0.047	3061	3903	2198
2452	0.77	146.6	40.9	8.2	248	2459	0.00	2.80	0.00	0.000	6	0.000	0.030	3072	2160	2198
2650	0.77	146.6	26.4	7.0	267	2651	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2158	2198
2847	0.77	146.6	12.3	7.2	294	2853	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2158	2198
2921	0.77	146.6	7.2	6.9	307	2927	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2158	2198
2995	0.77	146.6	2.8	5.6	320	3001	0.00	2.88	0.00	0.000	4	0.000	0.042	3081	389	2197
3011	end climb: SURFACE_DEPTH_REACHED
state	3011	begin surface coast
3052	end surface coast: CONTROL_FINISHED_OK
state	3052	begin surface