Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 452 * 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 452 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 40 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 350 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 41 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 52 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 60 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 -69903.984 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 350

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 60

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 -69903.984

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 40 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 41 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 52 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 452 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 035021,4806.333,-12222.151,7,1.7,7,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.094,-0.132

_SM_DEPTHo 1.13 KALMAN_X -12714.6,-423.7,119.6,14741.4,-31.6

_SM_ANGLEo -67.4 KALMAN_Y -11624.3,476.6,-238.1,8974.9,-63.5

GPS2 035421,4806.357,-12222.159,14,1.6,14,18.3 MHEAD_RNG_PITCHd_Wd 126.2,2894,-11.3,-5.278

SPEED_LIMITS 0.053,0.162 D_GRID 108

Post-dive calculations and measurements:

FINISH 0.5,1.002459 XPDR_PINGS 0

SM_CCo 2917,93.00,0.683,0,0,1372,350.04 ALTIM_BOTTOM_PING 80.4,36.3

SM_GC 1.29,0.00,0.00,93.00,0.000,0.000,0.683,18,2266,1372,-8.76,0.42,350.04 _24V_AH 24.5,42.469

IRIDIUM_FIX 4748.51,-12224.57,240907,060630 _10V_AH 10.7,21.843

TT8_MAMPS 0.026078 DATA_FILE_SIZE 15993,312

HUMID 1915 CFSIZE 260165632,244830208

INTERNAL_PRESSURE 9.18004 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 240907,044638,4806.042,-12221.944,27,1.3,27,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 209 105.81 SBE_CT 222 24 130.60

Roll_motor 18 88 40.20 SBE_O2 248 19 115.76

VBD_pump_during_apogee 222 750 4089.17 WL_BB2F 526 105 1354.27

VBD_pump_during_surface 93 682 1555.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 66.06 nil 0 0 0.00

Iridium_during_connect 15 160 60.87 nil 0 0 0.00

Iridium_during_xfer 93 223 511.67

Transponder_ping 0 420 7.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.68

TT8 516 19 109.36

LPSleep 1495 2 35.05

TT8_Active 374 19 79.29

TT8_Sampling 600 39 255.61

TT8_CF8 286 45 140.26

TT8_Kalman 33 81 29.17

Analog_circuits 687 12 88.31

GPS_charging 0 0 0.00

Compass 611 8 52.38

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

28 -0.81 -146.6 0.0 0.0 0 111 0.00 0.00 -81.12 0.000 2 0.000 0.000 5 2272 3363

115 -0.81 -146.6 3.3 -2.9 15 134 10.35 2.40 -0.73 0.000 4 0.209 0.051 2553 839 3400

170 -0.81 -146.6 12.0 -15.2 24 176 0.00 2.28 0.00 0.000 6 0.000 0.032 2549 2240 3401

245 -0.81 -146.6 17.1 -6.9 37 252 0.00 2.35 0.00 0.000 4 0.000 0.048 2542 3654 3402

277 -0.81 -146.6 19.3 -6.8 42 284 0.00 2.25 0.00 0.000 6 0.000 0.028 2542 2229 3402

354 -0.81 -146.6 24.8 -6.7 50 355 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2227 3402

545 -0.81 -146.6 37.8 -7.0 68 547 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2227 3402

737 -0.81 -146.6 50.7 -6.6 86 738 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2227 3402

1056 -0.81 -146.6 71.4 -6.5 116 1057 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2227 3402

1376 -0.81 -146.6 91.8 -6.2 146 1382 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2227 3402

1433 end dive: TARGET_DEPTH_EXCEEDED

state 1433 begin apogee

1441 -0.28 0.0 95.6 5.9 152 1558 0.57 0.00 111.30 0.751 6 0.110 0.000 2725 2158 2799

1558 end apogee: CONTROL_FINISHED_OK

state 1558 begin climb

1561 0.81 146.6 98.1 0.0 164 1678 1.05 0.00 110.97 0.706 6 0.077 0.000 3072 2158 2202

1997 0.81 146.6 67.6 8.0 206 1998 0.00 0.00 0.00 0.000 6 0.000 0.000 3072 2158 2199

2316 0.81 146.6 43.1 7.3 236 2320 0.00 2.30 0.00 0.000 4 0.000 0.044 3072 3554 2199

2339 0.81 146.6 41.3 7.8 238 2343 0.00 2.22 0.00 0.000 6 0.000 0.029 3080 2150 2199

2542 0.81 146.6 25.8 7.2 257 2546 0.00 2.33 0.00 0.000 4 0.000 0.043 3080 3559 2199

2571 0.81 146.6 23.5 8.2 259 2575 0.00 2.25 0.00 0.000 6 0.000 0.028 3089 2140 2199

2777 0.81 146.6 8.2 7.3 291 2783 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2140 2199

2852 0.81 146.6 2.9 7.2 304 2858 0.00 0.00 0.00 0.000 6 0.000 0.000 3088 2139 2199

2869 end climb: SURFACE_DEPTH_REACHED

state 2869 begin surface coast

2897 end surface coast: CONTROL_FINISHED_OK

state 2897 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	452	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	40	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	350	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	41	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	52	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	60	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	-69903.984	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	035021,4806.333,-12222.151,7,1.7,7,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.094,-0.132
_SM_DEPTHo	1.13	KALMAN_X	-12714.6,-423.7,119.6,14741.4,-31.6
_SM_ANGLEo	-67.4	KALMAN_Y	-11624.3,476.6,-238.1,8974.9,-63.5
GPS2	035421,4806.357,-12222.159,14,1.6,14,18.3	MHEAD_RNG_PITCHd_Wd	126.2,2894,-11.3,-5.278
SPEED_LIMITS	0.053,0.162	D_GRID	108

FINISH	0.5,1.002459	XPDR_PINGS	0
SM_CCo	2917,93.00,0.683,0,0,1372,350.04	ALTIM_BOTTOM_PING	80.4,36.3
SM_GC	1.29,0.00,0.00,93.00,0.000,0.000,0.683,18,2266,1372,-8.76,0.42,350.04	_24V_AH	24.5,42.469
IRIDIUM_FIX	4748.51,-12224.57,240907,060630	_10V_AH	10.7,21.843
TT8_MAMPS	0.026078	DATA_FILE_SIZE	15993,312
HUMID	1915	CFSIZE	260165632,244830208
INTERNAL_PRESSURE	9.18004	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	240907,044638,4806.042,-12221.944,27,1.3,27,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	209	105.81	SBE_CT	222	24	130.60
Roll_motor	18	88	40.20	SBE_O2	248	19	115.76
VBD_pump_during_apogee	222	750	4089.17	WL_BB2F	526	105	1354.27
VBD_pump_during_surface	93	682	1555.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	66.06	nil	0	0	0.00
Iridium_during_connect	15	160	60.87	nil	0	0	0.00
Iridium_during_xfer	93	223	511.67
Transponder_ping	0	420	7.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.68
TT8	516	19	109.36
LPSleep	1495	2	35.05
TT8_Active	374	19	79.29
TT8_Sampling	600	39	255.61
TT8_CF8	286	45	140.26
TT8_Kalman	33	81	29.17
Analog_circuits	687	12	88.31
GPS_charging	0	0	0.00
Compass	611	8	52.38
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
28	-0.81	-146.6	0.0	0.0	0	111	0.00	0.00	-81.12	0.000	2	0.000	0.000	5	2272	3363
115	-0.81	-146.6	3.3	-2.9	15	134	10.35	2.40	-0.73	0.000	4	0.209	0.051	2553	839	3400
170	-0.81	-146.6	12.0	-15.2	24	176	0.00	2.28	0.00	0.000	6	0.000	0.032	2549	2240	3401
245	-0.81	-146.6	17.1	-6.9	37	252	0.00	2.35	0.00	0.000	4	0.000	0.048	2542	3654	3402
277	-0.81	-146.6	19.3	-6.8	42	284	0.00	2.25	0.00	0.000	6	0.000	0.028	2542	2229	3402
354	-0.81	-146.6	24.8	-6.7	50	355	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2227	3402
545	-0.81	-146.6	37.8	-7.0	68	547	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2227	3402
737	-0.81	-146.6	50.7	-6.6	86	738	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2227	3402
1056	-0.81	-146.6	71.4	-6.5	116	1057	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2227	3402
1376	-0.81	-146.6	91.8	-6.2	146	1382	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2227	3402
1433	end dive: TARGET_DEPTH_EXCEEDED
state	1433	begin apogee
1441	-0.28	0.0	95.6	5.9	152	1558	0.57	0.00	111.30	0.751	6	0.110	0.000	2725	2158	2799
1558	end apogee: CONTROL_FINISHED_OK
state	1558	begin climb
1561	0.81	146.6	98.1	0.0	164	1678	1.05	0.00	110.97	0.706	6	0.077	0.000	3072	2158	2202
1997	0.81	146.6	67.6	8.0	206	1998	0.00	0.00	0.00	0.000	6	0.000	0.000	3072	2158	2199
2316	0.81	146.6	43.1	7.3	236	2320	0.00	2.30	0.00	0.000	4	0.000	0.044	3072	3554	2199
2339	0.81	146.6	41.3	7.8	238	2343	0.00	2.22	0.00	0.000	6	0.000	0.029	3080	2150	2199
2542	0.81	146.6	25.8	7.2	257	2546	0.00	2.33	0.00	0.000	4	0.000	0.043	3080	3559	2199
2571	0.81	146.6	23.5	8.2	259	2575	0.00	2.25	0.00	0.000	6	0.000	0.028	3089	2140	2199
2777	0.81	146.6	8.2	7.3	291	2783	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2140	2199
2852	0.81	146.6	2.9	7.2	304	2858	0.00	0.00	0.00	0.000	6	0.000	0.000	3088	2139	2199
2869	end climb: SURFACE_DEPTH_REACHED
state	2869	begin surface coast
2897	end surface coast: CONTROL_FINISHED_OK
state	2897	begin surface