Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 501 * 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 501 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 54 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 50 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 -70929.562 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 -70929.562

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 54 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 50 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 501 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 013429,4806.177,-12222.001,9,2.1,28,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.111,-0.118

_SM_DEPTHo 1.16 KALMAN_X -18924.3,-221.7,-26.4,21081.6,-46.9

_SM_ANGLEo -67.8 KALMAN_Y -13310.7,214.1,68.9,10303.2,-197.4

GPS2 013853,4806.188,-12222.009,13,2.3,32,18.3 MHEAD_RNG_PITCHd_Wd 118.5,2530,-11.3,-5.278

SPEED_LIMITS 0.053,0.162 D_GRID 108

Post-dive calculations and measurements:

FINISH 0.4,1.001101 XPDR_PINGS 1

SM_CCo 2858,100.68,0.675,0,0,1372,350.04 ALTIM_BOTTOM_PING 80.0,32.2

SM_GC 1.17,0.00,0.00,100.68,0.000,0.000,0.675,14,2268,1372,-8.77,0.51,350.04 _24V_AH 24.5,45.996

IRIDIUM_FIX 4748.51,-12220.12,260907,040415 _10V_AH 10.7,23.816

TT8_MAMPS 0.026078 DATA_FILE_SIZE 16000,301

HUMID 1896 CFSIZE 260165632,243564544

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

TCM_TEMP 16.90 GPS 260907,023031,4805.857,-12221.734,42,1.8,42,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 204 103.23 SBE_CT 215 24 126.61

Roll_motor 27 65 43.85 SBE_O2 237 19 110.54

VBD_pump_during_apogee 222 750 4097.85 WL_BB2F 507 105 1306.73

VBD_pump_during_surface 100 674 1664.81 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 78.00 nil 0 0 0.00

Iridium_during_connect 12 160 49.24 nil 0 0 0.00

Iridium_during_xfer 93 223 513.46

Transponder_ping 1 420 10.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 18.44

TT8 505 19 107.04

LPSleep 1435 2 33.65

TT8_Active 376 19 79.73

TT8_Sampling 621 39 264.50

TT8_CF8 303 45 148.75

TT8_Kalman 33 81 29.17

Analog_circuits 699 12 89.80

GPS_charging 0 0 0.00

Compass 610 8 52.23

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

29 -0.81 -146.6 0.0 0.0 0 112 0.00 0.00 -80.53 0.000 6 0.000 0.000 17 2226 3398

116 -0.81 -146.6 3.9 -3.7 15 135 10.18 2.25 0.00 0.000 4 0.205 0.035 2551 850 3403

181 -0.81 -146.6 14.9 -12.6 26 188 0.00 2.25 0.00 0.000 6 0.000 0.031 2544 2240 3404

257 -0.81 -146.6 20.0 -6.7 39 258 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2240 3404

448 -0.81 -146.6 32.1 -6.8 57 449 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2240 3405

639 -0.81 -146.6 44.9 -6.9 75 640 0.00 0.00 0.00 0.000 6 0.000 0.000 2544 2241 3405

830 -0.81 -146.6 58.3 -7.1 93 834 0.00 2.22 0.00 0.000 4 0.000 0.036 2545 856 3405

860 -0.81 -146.6 60.4 -7.8 95 864 0.00 2.22 0.00 0.000 6 0.000 0.031 2543 2251 3405

1184 -0.81 -146.6 82.8 -6.6 125 1186 0.00 0.00 0.00 0.000 6 0.000 0.000 2543 2251 3405

1372 end dive: TARGET_DEPTH_EXCEEDED

state 1373 begin apogee

1381 -0.28 0.0 95.4 6.5 143 1498 0.57 0.00 112.00 0.750 6 0.107 0.000 2727 2128 2800

1498 end apogee: CONTROL_FINISHED_OK

state 1499 begin climb

1502 0.81 146.6 98.1 0.0 155 1620 1.05 2.33 110.97 0.693 4 0.074 0.039 3083 769 2201

1639 0.81 146.6 91.2 7.9 167 1646 0.00 2.30 0.00 0.000 6 0.000 0.031 3083 2146 2201

1969 0.81 146.6 64.8 8.1 198 1973 0.00 2.35 0.00 0.000 4 0.000 0.044 3083 3559 2199

2002 0.81 146.6 61.5 8.7 200 2008 0.00 2.22 0.00 0.000 6 0.000 0.028 3091 2166 2199

2332 0.81 146.6 36.5 7.5 231 2336 0.00 2.30 0.00 0.000 4 0.000 0.043 3091 3555 2199

2361 0.81 146.6 33.7 9.1 233 2365 0.00 2.25 0.00 0.000 6 0.000 0.028 3101 2139 2199

2560 0.81 146.6 18.2 7.8 253 2566 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2138 2199

2635 0.81 146.6 12.6 7.5 266 2641 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2138 2199

2710 0.81 146.6 6.8 7.9 279 2716 0.00 2.22 0.00 0.000 4 0.000 0.039 3110 754 2199

2723 0.81 146.6 5.7 7.7 281 2730 0.00 2.25 0.00 0.000 6 0.000 0.031 3110 2160 2199

2790 end climb: SURFACE_DEPTH_REACHED

state 2790 begin surface coast

2836 end surface coast: CONTROL_FINISHED_OK

state 2836 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	501	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	54	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	50	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	-70929.562	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	013429,4806.177,-12222.001,9,2.1,28,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.111,-0.118
_SM_DEPTHo	1.16	KALMAN_X	-18924.3,-221.7,-26.4,21081.6,-46.9
_SM_ANGLEo	-67.8	KALMAN_Y	-13310.7,214.1,68.9,10303.2,-197.4
GPS2	013853,4806.188,-12222.009,13,2.3,32,18.3	MHEAD_RNG_PITCHd_Wd	118.5,2530,-11.3,-5.278
SPEED_LIMITS	0.053,0.162	D_GRID	108

FINISH	0.4,1.001101	XPDR_PINGS	1
SM_CCo	2858,100.68,0.675,0,0,1372,350.04	ALTIM_BOTTOM_PING	80.0,32.2
SM_GC	1.17,0.00,0.00,100.68,0.000,0.000,0.675,14,2268,1372,-8.77,0.51,350.04	_24V_AH	24.5,45.996
IRIDIUM_FIX	4748.51,-12220.12,260907,040415	_10V_AH	10.7,23.816
TT8_MAMPS	0.026078	DATA_FILE_SIZE	16000,301
HUMID	1896	CFSIZE	260165632,243564544
INTERNAL_PRESSURE	9.18004	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	260907,023031,4805.857,-12221.734,42,1.8,42,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	204	103.23	SBE_CT	215	24	126.61
Roll_motor	27	65	43.85	SBE_O2	237	19	110.54
VBD_pump_during_apogee	222	750	4097.85	WL_BB2F	507	105	1306.73
VBD_pump_during_surface	100	674	1664.81	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	78.00	nil	0	0	0.00
Iridium_during_connect	12	160	49.24	nil	0	0	0.00
Iridium_during_xfer	93	223	513.46
Transponder_ping	1	420	10.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	18.44
TT8	505	19	107.04
LPSleep	1435	2	33.65
TT8_Active	376	19	79.73
TT8_Sampling	621	39	264.50
TT8_CF8	303	45	148.75
TT8_Kalman	33	81	29.17
Analog_circuits	699	12	89.80
GPS_charging	0	0	0.00
Compass	610	8	52.23
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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
29	-0.81	-146.6	0.0	0.0	0	112	0.00	0.00	-80.53	0.000	6	0.000	0.000	17	2226	3398
116	-0.81	-146.6	3.9	-3.7	15	135	10.18	2.25	0.00	0.000	4	0.205	0.035	2551	850	3403
181	-0.81	-146.6	14.9	-12.6	26	188	0.00	2.25	0.00	0.000	6	0.000	0.031	2544	2240	3404
257	-0.81	-146.6	20.0	-6.7	39	258	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2240	3404
448	-0.81	-146.6	32.1	-6.8	57	449	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2240	3405
639	-0.81	-146.6	44.9	-6.9	75	640	0.00	0.00	0.00	0.000	6	0.000	0.000	2544	2241	3405
830	-0.81	-146.6	58.3	-7.1	93	834	0.00	2.22	0.00	0.000	4	0.000	0.036	2545	856	3405
860	-0.81	-146.6	60.4	-7.8	95	864	0.00	2.22	0.00	0.000	6	0.000	0.031	2543	2251	3405
1184	-0.81	-146.6	82.8	-6.6	125	1186	0.00	0.00	0.00	0.000	6	0.000	0.000	2543	2251	3405
1372	end dive: TARGET_DEPTH_EXCEEDED
state	1373	begin apogee
1381	-0.28	0.0	95.4	6.5	143	1498	0.57	0.00	112.00	0.750	6	0.107	0.000	2727	2128	2800
1498	end apogee: CONTROL_FINISHED_OK
state	1499	begin climb
1502	0.81	146.6	98.1	0.0	155	1620	1.05	2.33	110.97	0.693	4	0.074	0.039	3083	769	2201
1639	0.81	146.6	91.2	7.9	167	1646	0.00	2.30	0.00	0.000	6	0.000	0.031	3083	2146	2201
1969	0.81	146.6	64.8	8.1	198	1973	0.00	2.35	0.00	0.000	4	0.000	0.044	3083	3559	2199
2002	0.81	146.6	61.5	8.7	200	2008	0.00	2.22	0.00	0.000	6	0.000	0.028	3091	2166	2199
2332	0.81	146.6	36.5	7.5	231	2336	0.00	2.30	0.00	0.000	4	0.000	0.043	3091	3555	2199
2361	0.81	146.6	33.7	9.1	233	2365	0.00	2.25	0.00	0.000	6	0.000	0.028	3101	2139	2199
2560	0.81	146.6	18.2	7.8	253	2566	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	2138	2199
2635	0.81	146.6	12.6	7.5	266	2641	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	2138	2199
2710	0.81	146.6	6.8	7.9	279	2716	0.00	2.22	0.00	0.000	4	0.000	0.039	3110	754	2199
2723	0.81	146.6	5.7	7.7	281	2730	0.00	2.25	0.00	0.000	6	0.000	0.031	3110	2160	2199
2790	end climb: SURFACE_DEPTH_REACHED
state	2790	begin surface coast
2836	end surface coast: CONTROL_FINISHED_OK
state	2836	begin surface