Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 458 * 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 458 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 46 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 49 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 -70044.844 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 -70044.844

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 46 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 49 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 458 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 091753,4805.084,-12220.956,8,2.4,27,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.043,-0.052

_SM_DEPTHo 1.17 KALMAN_X -13868.9,136.9,-165.4,17066.1,-167.7

_SM_ANGLEo -68.0 KALMAN_Y -11407.9,-260.6,202.4,6738.9,-9.5

GPS2 092207,4805.108,-12220.989,27,1.7,27,18.3 MHEAD_RNG_PITCHd_Wd 122.2,200,-35.0,-5.278

SPEED_LIMITS 0.053,0.162 D_GRID 108

Post-dive calculations and measurements:

FINISH 0.8,1.024633 XPDR_PINGS 1

SM_CCo 2398,151.23,0.660,0,0,1372,350.04 ALTIM_BOTTOM_PING 70.3,43.3

SM_GC 1.16,0.00,0.00,151.23,0.000,0.000,0.660,23,2258,1372,-8.75,0.20,350.04 _24V_AH 24.9,42.860

IRIDIUM_FIX 4748.51,-12210.23,240907,121213 _10V_AH 10.7,22.072

TT8_MAMPS 0.026078 DATA_FILE_SIZE 12854,261

HUMID 1885 CFSIZE 260165632,244678656

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 240907,100644,4805.024,-12220.945,11,1.7,28,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 207 120.28 SBE_CT 185 24 110.95

Roll_motor 27 89 61.62 SBE_O2 204 19 96.63

VBD_pump_during_apogee 75 790 1483.18 WL_BB2F 440 105 1151.21

VBD_pump_during_surface 151 659 2483.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 78.61 nil 0 0 0.00

Iridium_during_connect 14 160 56.13 nil 0 0 0.00

Iridium_during_xfer 91 223 509.33

Transponder_ping 0 420 5.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 15.68

TT8 470 19 99.71

LPSleep 1214 2 28.45

TT8_Active 317 19 67.33

TT8_Sampling 535 39 228.10

TT8_CF8 287 45 141.01

TT8_Kalman 33 81 29.17

Analog_circuits 585 12 75.15

GPS_charging 0 0 0.00

Compass 533 8 45.63

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

27 -1.97 -20.0 0.0 0.0 0 94 0.00 0.00 -62.17 0.000 6 0.000 0.000 12 2265 2883

97 -1.99 -41.5 2.1 -1.4 12 116 8.73 2.38 -2.50 0.000 4 0.207 0.050 2173 843 2971

140 -1.99 -41.5 6.2 -8.4 19 147 0.00 2.28 0.00 0.000 6 0.000 0.031 2165 2251 2971

216 -2.00 -42.6 10.2 -5.1 32 222 0.00 0.00 0.00 0.000 6 0.000 0.000 2165 2251 2971

291 -2.00 -46.9 13.5 -4.5 45 298 0.00 2.28 -0.30 0.000 4 0.000 0.048 2165 846 2992

335 -2.00 -48.7 15.7 -5.0 52 342 0.00 2.25 0.00 0.000 6 0.000 0.031 2155 2253 2992

411 -2.00 -48.7 20.4 -6.3 65 412 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2252 2992

602 -2.00 -48.7 32.9 -6.5 83 603 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2252 2993

793 -2.00 -48.7 46.0 -7.1 101 794 0.00 0.00 0.00 0.000 6 0.000 0.000 2155 2252 2993

984 -2.00 -48.7 59.2 -7.0 119 988 0.00 2.28 0.00 0.000 4 0.000 0.036 2155 835 2993

1058 -2.00 -48.7 64.3 -6.8 125 1063 0.12 2.25 0.00 0.000 6 0.190 0.032 2171 2255 2993

1389 -2.00 -48.7 87.2 -7.1 156 1393 0.00 2.28 0.00 0.000 4 0.000 0.045 2163 3654 2993

1408 -2.00 -48.7 88.4 -7.0 157 1412 0.00 2.22 0.00 0.000 6 0.000 0.028 2162 2227 2993

1518 end dive: TARGET_DEPTH_EXCEEDED

state 1518 begin apogee

1525 -0.28 0.0 95.5 6.0 167 1572 1.95 0.00 37.38 0.791 6 0.160 0.000 2718 2156 2799

1572 end apogee: CONTROL_FINISHED_OK

state 1572 begin climb

1575 2.00 48.7 96.4 0.0 172 1622 2.17 0.00 37.95 0.714 6 0.074 0.000 3464 2156 2600

1941 2.00 48.7 51.9 13.1 207 1945 0.00 2.33 0.00 0.000 4 0.000 0.042 3464 3555 2598

1998 2.00 48.7 43.9 14.1 212 2002 0.00 2.25 0.00 0.000 6 0.000 0.029 3475 2153 2598

2196 2.00 48.7 18.9 11.8 230 2202 0.00 0.00 0.00 0.000 6 0.000 0.000 3475 2151 2598

2271 2.00 48.7 10.5 11.2 243 2276 0.00 0.00 0.00 0.000 6 0.000 0.000 3474 2151 2598

2345 2.00 48.7 2.3 10.8 256 2352 0.00 2.28 0.00 0.000 4 0.000 0.040 3485 741 2598

2356 end climb: SURFACE_DEPTH_REACHED

state 2356 begin surface coast

2374 end surface coast: CONTROL_FINISHED_OK

state 2374 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	458	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	46	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	49	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	-70044.844	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	091753,4805.084,-12220.956,8,2.4,27,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.043,-0.052
_SM_DEPTHo	1.17	KALMAN_X	-13868.9,136.9,-165.4,17066.1,-167.7
_SM_ANGLEo	-68.0	KALMAN_Y	-11407.9,-260.6,202.4,6738.9,-9.5
GPS2	092207,4805.108,-12220.989,27,1.7,27,18.3	MHEAD_RNG_PITCHd_Wd	122.2,200,-35.0,-5.278
SPEED_LIMITS	0.053,0.162	D_GRID	108

FINISH	0.8,1.024633	XPDR_PINGS	1
SM_CCo	2398,151.23,0.660,0,0,1372,350.04	ALTIM_BOTTOM_PING	70.3,43.3
SM_GC	1.16,0.00,0.00,151.23,0.000,0.000,0.660,23,2258,1372,-8.75,0.20,350.04	_24V_AH	24.9,42.860
IRIDIUM_FIX	4748.51,-12210.23,240907,121213	_10V_AH	10.7,22.072
TT8_MAMPS	0.026078	DATA_FILE_SIZE	12854,261
HUMID	1885	CFSIZE	260165632,244678656
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	240907,100644,4805.024,-12220.945,11,1.7,28,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	207	120.28	SBE_CT	185	24	110.95
Roll_motor	27	89	61.62	SBE_O2	204	19	96.63
VBD_pump_during_apogee	75	790	1483.18	WL_BB2F	440	105	1151.21
VBD_pump_during_surface	151	659	2483.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	78.61	nil	0	0	0.00
Iridium_during_connect	14	160	56.13	nil	0	0	0.00
Iridium_during_xfer	91	223	509.33
Transponder_ping	0	420	5.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	15.68
TT8	470	19	99.71
LPSleep	1214	2	28.45
TT8_Active	317	19	67.33
TT8_Sampling	535	39	228.10
TT8_CF8	287	45	141.01
TT8_Kalman	33	81	29.17
Analog_circuits	585	12	75.15
GPS_charging	0	0	0.00
Compass	533	8	45.63
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
27	-1.97	-20.0	0.0	0.0	0	94	0.00	0.00	-62.17	0.000	6	0.000	0.000	12	2265	2883
97	-1.99	-41.5	2.1	-1.4	12	116	8.73	2.38	-2.50	0.000	4	0.207	0.050	2173	843	2971
140	-1.99	-41.5	6.2	-8.4	19	147	0.00	2.28	0.00	0.000	6	0.000	0.031	2165	2251	2971
216	-2.00	-42.6	10.2	-5.1	32	222	0.00	0.00	0.00	0.000	6	0.000	0.000	2165	2251	2971
291	-2.00	-46.9	13.5	-4.5	45	298	0.00	2.28	-0.30	0.000	4	0.000	0.048	2165	846	2992
335	-2.00	-48.7	15.7	-5.0	52	342	0.00	2.25	0.00	0.000	6	0.000	0.031	2155	2253	2992
411	-2.00	-48.7	20.4	-6.3	65	412	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2252	2992
602	-2.00	-48.7	32.9	-6.5	83	603	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2252	2993
793	-2.00	-48.7	46.0	-7.1	101	794	0.00	0.00	0.00	0.000	6	0.000	0.000	2155	2252	2993
984	-2.00	-48.7	59.2	-7.0	119	988	0.00	2.28	0.00	0.000	4	0.000	0.036	2155	835	2993
1058	-2.00	-48.7	64.3	-6.8	125	1063	0.12	2.25	0.00	0.000	6	0.190	0.032	2171	2255	2993
1389	-2.00	-48.7	87.2	-7.1	156	1393	0.00	2.28	0.00	0.000	4	0.000	0.045	2163	3654	2993
1408	-2.00	-48.7	88.4	-7.0	157	1412	0.00	2.22	0.00	0.000	6	0.000	0.028	2162	2227	2993
1518	end dive: TARGET_DEPTH_EXCEEDED
state	1518	begin apogee
1525	-0.28	0.0	95.5	6.0	167	1572	1.95	0.00	37.38	0.791	6	0.160	0.000	2718	2156	2799
1572	end apogee: CONTROL_FINISHED_OK
state	1572	begin climb
1575	2.00	48.7	96.4	0.0	172	1622	2.17	0.00	37.95	0.714	6	0.074	0.000	3464	2156	2600
1941	2.00	48.7	51.9	13.1	207	1945	0.00	2.33	0.00	0.000	4	0.000	0.042	3464	3555	2598
1998	2.00	48.7	43.9	14.1	212	2002	0.00	2.25	0.00	0.000	6	0.000	0.029	3475	2153	2598
2196	2.00	48.7	18.9	11.8	230	2202	0.00	0.00	0.00	0.000	6	0.000	0.000	3475	2151	2598
2271	2.00	48.7	10.5	11.2	243	2276	0.00	0.00	0.00	0.000	6	0.000	0.000	3474	2151	2598
2345	2.00	48.7	2.3	10.8	256	2352	0.00	2.28	0.00	0.000	4	0.000	0.040	3485	741	2598
2356	end climb: SURFACE_DEPTH_REACHED
state	2356	begin surface coast
2374	end surface coast: CONTROL_FINISHED_OK
state	2374	begin surface