Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 345 * 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 345 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 42 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -67636.727 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 -67636.727

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 42 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 345 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 220103,4807.571,-12223.390,7,1.5,7,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.063,0.144

_SM_DEPTHo 1.17 KALMAN_X -2291.5,-93.5,43.5,2549.1,-216.2

_SM_ANGLEo -67.4 KALMAN_Y -2514.4,208.2,-157.4,2267.9,-50.9

GPS2 220445,4807.553,-12223.384,12,1.4,12,18.3 MHEAD_RNG_PITCHd_Wd 318.1,1125,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 107

Post-dive calculations and measurements:

FINISH 0.4,1.002939 XPDR_PINGS 2

SM_CCo 3079,70.15,0.700,0,0,1576,300.00 ALTIM_BOTTOM_PING 70.7,42.0

SM_GC 1.19,0.00,0.00,70.15,0.000,0.000,0.700,5,2275,1576,-8.80,0.71,300.00 _24V_AH 24.5,34.753

IRIDIUM_FIX 4751.72,-12219.12,200907,010140 _10V_AH 10.7,17.475

TT8_MAMPS 0.026078 DATA_FILE_SIZE 15976,329

HUMID 1908 CFSIZE 260165632,247631872

INTERNAL_PRESSURE 9.20934 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 190907,225903,4807.804,-12223.706,10,1.3,10,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 210 106.07 SBE_CT 234 24 137.79

Roll_motor 17 62 26.60 SBE_O2 261 19 121.67

VBD_pump_during_apogee 221 758 4121.18 WL_BB2F 555 105 1428.04

VBD_pump_during_surface 70 699 1202.22 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 70.33 nil 0 0 0.00

Iridium_during_connect 14 160 55.24 nil 0 0 0.00

Iridium_during_xfer 87 223 479.60

Transponder_ping 0 420 7.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.24

TT8 546 19 115.73

LPSleep 1605 2 37.62

TT8_Active 339 19 71.98

TT8_Sampling 643 39 274.08

TT8_CF8 260 45 127.47

TT8_Kalman 33 81 29.16

Analog_circuits 672 12 86.39

GPS_charging 0 0 0.00

Compass 658 8 56.36

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 -71.07 0.000 2 0.000 0.000 13 2261 3318

102 -0.77 -146.6 3.2 -3.0 13 121 10.35 0.00 -1.65 0.000 6 0.211 0.000 2566 2261 3399

189 -0.77 -146.6 13.6 -6.6 28 195 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2261 3401

263 -0.77 -146.6 18.0 -5.9 41 269 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2261 3402

341 -0.77 -146.6 22.7 -6.1 51 345 0.00 2.92 0.00 0.000 4 0.000 0.052 2562 4001 3402

369 -0.77 -146.6 24.5 -6.6 53 374 0.00 2.83 0.00 0.000 6 0.000 0.028 2562 2228 3402

567 -0.77 -146.6 36.7 -6.0 71 568 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2226 3402

758 -0.77 -146.6 48.3 -6.0 89 759 0.00 0.00 0.00 0.000 6 0.000 0.000 2562 2226 3402

949 -0.77 -146.6 60.1 -6.2 107 950 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2226 3402

1268 -0.77 -146.6 80.0 -6.2 137 1272 0.00 2.97 0.00 0.000 4 0.000 0.051 2550 4009 3402

1300 -0.77 -146.6 82.3 -6.8 139 1306 0.00 2.78 0.00 0.000 6 0.000 0.028 2550 2246 3402

1506 end dive: TARGET_DEPTH_EXCEEDED

state 1506 begin apogee

1512 -0.28 0.0 95.3 6.3 159 1629 0.55 0.00 111.05 0.759 6 0.113 0.000 2724 2150 2799

1630 end apogee: CONTROL_FINISHED_OK

state 1630 begin climb

1633 0.77 146.6 97.8 0.0 171 1748 1.02 0.00 110.70 0.707 6 0.079 0.000 3061 2150 2202

2065 0.77 146.6 69.4 7.2 212 2066 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2150 2199

2383 0.77 146.6 46.7 7.3 242 2384 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2150 2198

2574 0.77 146.6 33.0 6.8 260 2579 0.00 2.92 0.00 0.000 4 0.000 0.047 3061 3915 2198

2614 0.77 146.6 29.9 8.0 263 2618 0.00 2.80 0.00 0.000 6 0.000 0.029 3073 2161 2198

2816 0.77 146.6 15.4 6.9 286 2822 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2158 2198

2891 0.77 146.6 10.1 6.9 299 2896 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2158 2198

2965 0.77 146.6 5.0 7.0 312 2970 0.00 0.00 0.00 0.000 6 0.000 0.000 3073 2158 2198

3019 end climb: SURFACE_DEPTH_REACHED

state 3020 begin surface coast

3060 end surface coast: CONTROL_FINISHED_OK

state 3060 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	345	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	42	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-67636.727	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	220103,4807.571,-12223.390,7,1.5,7,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.063,0.144
_SM_DEPTHo	1.17	KALMAN_X	-2291.5,-93.5,43.5,2549.1,-216.2
_SM_ANGLEo	-67.4	KALMAN_Y	-2514.4,208.2,-157.4,2267.9,-50.9
GPS2	220445,4807.553,-12223.384,12,1.4,12,18.3	MHEAD_RNG_PITCHd_Wd	318.1,1125,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	107

FINISH	0.4,1.002939	XPDR_PINGS	2
SM_CCo	3079,70.15,0.700,0,0,1576,300.00	ALTIM_BOTTOM_PING	70.7,42.0
SM_GC	1.19,0.00,0.00,70.15,0.000,0.000,0.700,5,2275,1576,-8.80,0.71,300.00	_24V_AH	24.5,34.753
IRIDIUM_FIX	4751.72,-12219.12,200907,010140	_10V_AH	10.7,17.475
TT8_MAMPS	0.026078	DATA_FILE_SIZE	15976,329
HUMID	1908	CFSIZE	260165632,247631872
INTERNAL_PRESSURE	9.20934	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	190907,225903,4807.804,-12223.706,10,1.3,10,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	210	106.07	SBE_CT	234	24	137.79
Roll_motor	17	62	26.60	SBE_O2	261	19	121.67
VBD_pump_during_apogee	221	758	4121.18	WL_BB2F	555	105	1428.04
VBD_pump_during_surface	70	699	1202.22	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	70.33	nil	0	0	0.00
Iridium_during_connect	14	160	55.24	nil	0	0	0.00
Iridium_during_xfer	87	223	479.60
Transponder_ping	0	420	7.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.24
TT8	546	19	115.73
LPSleep	1605	2	37.62
TT8_Active	339	19	71.98
TT8_Sampling	643	39	274.08
TT8_CF8	260	45	127.47
TT8_Kalman	33	81	29.16
Analog_circuits	672	12	86.39
GPS_charging	0	0	0.00
Compass	658	8	56.36
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	-71.07	0.000	2	0.000	0.000	13	2261	3318
102	-0.77	-146.6	3.2	-3.0	13	121	10.35	0.00	-1.65	0.000	6	0.211	0.000	2566	2261	3399
189	-0.77	-146.6	13.6	-6.6	28	195	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2261	3401
263	-0.77	-146.6	18.0	-5.9	41	269	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2261	3402
341	-0.77	-146.6	22.7	-6.1	51	345	0.00	2.92	0.00	0.000	4	0.000	0.052	2562	4001	3402
369	-0.77	-146.6	24.5	-6.6	53	374	0.00	2.83	0.00	0.000	6	0.000	0.028	2562	2228	3402
567	-0.77	-146.6	36.7	-6.0	71	568	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2226	3402
758	-0.77	-146.6	48.3	-6.0	89	759	0.00	0.00	0.00	0.000	6	0.000	0.000	2562	2226	3402
949	-0.77	-146.6	60.1	-6.2	107	950	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2226	3402
1268	-0.77	-146.6	80.0	-6.2	137	1272	0.00	2.97	0.00	0.000	4	0.000	0.051	2550	4009	3402
1300	-0.77	-146.6	82.3	-6.8	139	1306	0.00	2.78	0.00	0.000	6	0.000	0.028	2550	2246	3402
1506	end dive: TARGET_DEPTH_EXCEEDED
state	1506	begin apogee
1512	-0.28	0.0	95.3	6.3	159	1629	0.55	0.00	111.05	0.759	6	0.113	0.000	2724	2150	2799
1630	end apogee: CONTROL_FINISHED_OK
state	1630	begin climb
1633	0.77	146.6	97.8	0.0	171	1748	1.02	0.00	110.70	0.707	6	0.079	0.000	3061	2150	2202
2065	0.77	146.6	69.4	7.2	212	2066	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	2150	2199
2383	0.77	146.6	46.7	7.3	242	2384	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2150	2198
2574	0.77	146.6	33.0	6.8	260	2579	0.00	2.92	0.00	0.000	4	0.000	0.047	3061	3915	2198
2614	0.77	146.6	29.9	8.0	263	2618	0.00	2.80	0.00	0.000	6	0.000	0.029	3073	2161	2198
2816	0.77	146.6	15.4	6.9	286	2822	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2158	2198
2891	0.77	146.6	10.1	6.9	299	2896	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2158	2198
2965	0.77	146.6	5.0	7.0	312	2970	0.00	0.00	0.00	0.000	6	0.000	0.000	3073	2158	2198
3019	end climb: SURFACE_DEPTH_REACHED
state	3020	begin surface coast
3060	end surface coast: CONTROL_FINISHED_OK
state	3060	begin surface