Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 498 * 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 498 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 44 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 51 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 -70848.055 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 -70848.055

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 44 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 51 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 498 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 224237,4806.949,-12222.800,34,1.1,38,18.3 TGT_NAME FIVE

_CALLS 2 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.138,-0.084

_SM_DEPTHo 1.21 KALMAN_X -18754.9,-96.5,-70.1,19809.7,-218.0

_SM_ANGLEo -67.6 KALMAN_Y -13180.5,203.1,234.5,11480.6,-148.7

GPS2 224956,4806.979,-12222.834,11,1.0,16,18.3 MHEAD_RNG_PITCHd_Wd 103.1,4310,-11.3,-5.278

SPEED_LIMITS 0.053,0.162 D_GRID 105

Post-dive calculations and measurements:

FINISH 0.4,1.010104 XPDR_PINGS 0

SM_CCo 2856,99.70,0.678,0,0,1372,350.04 ALTIM_BOTTOM_PING 70.3,48.3

SM_GC 1.23,0.00,0.00,99.70,0.000,0.000,0.678,11,2235,1372,-8.78,-0.42,350.04 _24V_AH 24.5,45.778

IRIDIUM_FIX 4748.51,-12226.29,260907,020228 _10V_AH 10.7,23.695

TT8_MAMPS 0.026078 DATA_FILE_SIZE 15981,301

HUMID 1894 CFSIZE 260165632,243642368

INTERNAL_PRESSURE 9.18981 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 250907,234123,4806.776,-12222.502,11,2.3,30,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 210 106.58 SBE_CT 215 24 126.87

Roll_motor 22 69 38.18 SBE_O2 242 19 112.75

VBD_pump_during_apogee 223 750 4103.83 WL_BB2F 507 105 1306.46

VBD_pump_during_surface 99 678 1656.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 59 103 151.00 nil 0 0 0.00

Iridium_during_connect 28 160 111.39 nil 0 0 0.00

Iridium_during_xfer 174 223 952.96

Transponder_ping 0 420 2.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.71

TT8 498 19 105.72

LPSleep 1537 2 36.03

TT8_Active 372 19 78.92

TT8_Sampling 583 39 248.64

TT8_CF8 423 45 207.46

TT8_Kalman 33 81 29.17

Analog_circuits 678 12 87.16

GPS_charging 0 0 0.00

Compass 597 8 51.11

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

25 end surface: CONTROL_FINISHED_OK

state 25 begin dive

29 -0.81 -146.6 0.0 0.0 0 112 0.00 0.00 -81.03 0.000 6 0.000 0.000 17 2268 3398

116 -0.81 -146.6 3.9 -3.8 15 135 10.32 2.33 0.00 0.000 4 0.210 0.044 2542 3642 3403

243 -0.81 -146.6 19.7 -7.2 37 250 0.00 2.25 0.00 0.000 6 0.000 0.026 2542 2230 3404

314 -0.81 -146.6 24.7 -6.9 44 316 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2228 3404

505 -0.81 -146.6 37.9 -7.0 62 506 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2228 3405

696 -0.81 -146.6 51.3 -7.2 80 698 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 2228 3405

1015 -0.81 -146.6 72.5 -6.6 110 1019 0.00 2.35 0.00 0.000 4 0.000 0.045 2534 3645 3405

1045 -0.81 -146.6 74.5 -7.3 112 1049 0.00 2.17 0.00 0.000 6 0.000 0.027 2534 2244 3405

1346 end dive: TARGET_DEPTH_EXCEEDED

state 1348 begin apogee

1356 -0.28 0.0 95.3 6.9 140 1473 0.60 0.00 112.12 0.750 6 0.111 0.000 2723 2158 2800

1474 end apogee: CONTROL_FINISHED_OK

state 1474 begin climb

1477 0.81 146.6 98.6 0.0 152 1593 1.08 0.00 111.18 0.697 6 0.077 0.000 3078 2157 2201

1909 0.81 146.6 69.0 7.8 193 1910 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 2158 2199

2228 0.81 146.6 44.3 7.6 223 2232 0.00 2.28 0.00 0.000 4 0.000 0.043 3078 3542 2199

2274 0.81 146.6 40.4 8.5 227 2278 0.00 2.20 0.00 0.000 6 0.000 0.028 3087 2161 2199

2472 0.81 146.6 25.8 7.0 245 2474 0.00 0.00 0.00 0.000 6 0.000 0.000 3087 2159 2199

2670 0.81 146.6 11.6 7.6 273 2677 0.00 2.30 0.00 0.000 4 0.000 0.039 3095 750 2199

2701 0.81 146.6 9.2 8.0 278 2707 0.00 2.22 0.00 0.000 6 0.000 0.031 3096 2146 2199

2776 0.81 146.6 3.5 7.4 291 2782 0.00 2.30 0.00 0.000 4 0.000 0.044 3095 3553 2199

2798 end climb: SURFACE_DEPTH_REACHED

state 2798 begin surface coast

2833 end surface coast: CONTROL_FINISHED_OK

state 2833 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	498	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	44	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	51	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	-70848.055	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	224237,4806.949,-12222.800,34,1.1,38,18.3	TGT_NAME	FIVE
_CALLS	2	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.138,-0.084
_SM_DEPTHo	1.21	KALMAN_X	-18754.9,-96.5,-70.1,19809.7,-218.0
_SM_ANGLEo	-67.6	KALMAN_Y	-13180.5,203.1,234.5,11480.6,-148.7
GPS2	224956,4806.979,-12222.834,11,1.0,16,18.3	MHEAD_RNG_PITCHd_Wd	103.1,4310,-11.3,-5.278
SPEED_LIMITS	0.053,0.162	D_GRID	105

FINISH	0.4,1.010104	XPDR_PINGS	0
SM_CCo	2856,99.70,0.678,0,0,1372,350.04	ALTIM_BOTTOM_PING	70.3,48.3
SM_GC	1.23,0.00,0.00,99.70,0.000,0.000,0.678,11,2235,1372,-8.78,-0.42,350.04	_24V_AH	24.5,45.778
IRIDIUM_FIX	4748.51,-12226.29,260907,020228	_10V_AH	10.7,23.695
TT8_MAMPS	0.026078	DATA_FILE_SIZE	15981,301
HUMID	1894	CFSIZE	260165632,243642368
INTERNAL_PRESSURE	9.18981	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	250907,234123,4806.776,-12222.502,11,2.3,30,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	210	106.58	SBE_CT	215	24	126.87
Roll_motor	22	69	38.18	SBE_O2	242	19	112.75
VBD_pump_during_apogee	223	750	4103.83	WL_BB2F	507	105	1306.46
VBD_pump_during_surface	99	678	1656.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	59	103	151.00	nil	0	0	0.00
Iridium_during_connect	28	160	111.39	nil	0	0	0.00
Iridium_during_xfer	174	223	952.96
Transponder_ping	0	420	2.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.71
TT8	498	19	105.72
LPSleep	1537	2	36.03
TT8_Active	372	19	78.92
TT8_Sampling	583	39	248.64
TT8_CF8	423	45	207.46
TT8_Kalman	33	81	29.17
Analog_circuits	678	12	87.16
GPS_charging	0	0	0.00
Compass	597	8	51.11
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
25	end surface: CONTROL_FINISHED_OK
state	25	begin dive
29	-0.81	-146.6	0.0	0.0	0	112	0.00	0.00	-81.03	0.000	6	0.000	0.000	17	2268	3398
116	-0.81	-146.6	3.9	-3.8	15	135	10.32	2.33	0.00	0.000	4	0.210	0.044	2542	3642	3403
243	-0.81	-146.6	19.7	-7.2	37	250	0.00	2.25	0.00	0.000	6	0.000	0.026	2542	2230	3404
314	-0.81	-146.6	24.7	-6.9	44	316	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2228	3404
505	-0.81	-146.6	37.9	-7.0	62	506	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2228	3405
696	-0.81	-146.6	51.3	-7.2	80	698	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	2228	3405
1015	-0.81	-146.6	72.5	-6.6	110	1019	0.00	2.35	0.00	0.000	4	0.000	0.045	2534	3645	3405
1045	-0.81	-146.6	74.5	-7.3	112	1049	0.00	2.17	0.00	0.000	6	0.000	0.027	2534	2244	3405
1346	end dive: TARGET_DEPTH_EXCEEDED
state	1348	begin apogee
1356	-0.28	0.0	95.3	6.9	140	1473	0.60	0.00	112.12	0.750	6	0.111	0.000	2723	2158	2800
1474	end apogee: CONTROL_FINISHED_OK
state	1474	begin climb
1477	0.81	146.6	98.6	0.0	152	1593	1.08	0.00	111.18	0.697	6	0.077	0.000	3078	2157	2201
1909	0.81	146.6	69.0	7.8	193	1910	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	2158	2199
2228	0.81	146.6	44.3	7.6	223	2232	0.00	2.28	0.00	0.000	4	0.000	0.043	3078	3542	2199
2274	0.81	146.6	40.4	8.5	227	2278	0.00	2.20	0.00	0.000	6	0.000	0.028	3087	2161	2199
2472	0.81	146.6	25.8	7.0	245	2474	0.00	0.00	0.00	0.000	6	0.000	0.000	3087	2159	2199
2670	0.81	146.6	11.6	7.6	273	2677	0.00	2.30	0.00	0.000	4	0.000	0.039	3095	750	2199
2701	0.81	146.6	9.2	8.0	278	2707	0.00	2.22	0.00	0.000	6	0.000	0.031	3096	2146	2199
2776	0.81	146.6	3.5	7.4	291	2782	0.00	2.30	0.00	0.000	4	0.000	0.044	3095	3553	2199
2798	end climb: SURFACE_DEPTH_REACHED
state	2798	begin surface coast
2833	end surface coast: CONTROL_FINISHED_OK
state	2833	begin surface