Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 517 * 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 517 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 49 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -71220.859 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 -71220.859

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 49 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 35 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 517 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 162925,4807.353,-12223.298,36,1.5,36,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.139,-0.084

_SM_DEPTHo 1.17 KALMAN_X -21439.9,46.1,83.8,21573.2,-174.8

_SM_ANGLEo -67.8 KALMAN_Y -14070.9,163.2,-208.4,13568.6,-187.3

GPS2 163333,4807.363,-12223.339,13,1.5,13,18.3 MHEAD_RNG_PITCHd_Wd 103.0,5247,-11.3,-5.278

SPEED_LIMITS 0.053,0.162 D_GRID 105

Post-dive calculations and measurements:

FINISH 0.3,1.010457 XPDR_PINGS 1

SM_CCo 2996,82.10,0.655,0,0,1372,350.04 ALTIM_BOTTOM_PING 70.5,47.9

SM_GC 1.31,0.00,0.00,82.10,0.000,0.000,0.655,9,2240,1372,-8.79,-0.31,350.04 _24V_AH 24.5,47.128

IRIDIUM_FIX 4748.51,-12306.56,260907,191909 _10V_AH 10.7,24.460

TT8_MAMPS 0.026845 DATA_FILE_SIZE 15984,323

HUMID 1900 CFSIZE 260165632,243154944

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

TCM_TEMP 16.90 GPS 260907,172704,4807.116,-12222.973,12,2.6,31,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 208 106.19 SBE_CT 229 24 134.72

Roll_motor 22 60 33.92 SBE_O2 257 19 120.00

VBD_pump_during_apogee 244 809 4842.26 WL_BB2F 544 105 1401.54

VBD_pump_during_surface 82 655 1317.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 56.42 nil 0 0 0.00

Iridium_during_connect 18 160 74.18 nil 0 0 0.00

Iridium_during_xfer 97 223 530.75

Transponder_ping 0 420 5.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.16

TT8 529 19 112.25

LPSleep 1519 2 35.62

TT8_Active 374 19 79.45

TT8_Sampling 620 39 264.10

TT8_CF8 302 45 148.29

TT8_Kalman 33 81 29.17

Analog_circuits 700 12 89.95

GPS_charging 0 0 0.00

Compass 635 8 54.39

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 0 107 0.00 0.00 -75.45 0.000 2 0.000 0.000 15 2258 3254

111 -0.81 -146.6 3.3 -2.9 14 131 10.32 2.33 -2.85 0.000 4 0.209 0.054 2546 3662 3400

160 -0.81 -146.6 12.7 -18.3 22 167 0.00 2.25 0.00 0.000 6 0.000 0.027 2546 2234 3401

236 -0.81 -146.6 17.8 -6.7 35 242 0.00 0.00 0.00 0.000 6 0.000 0.000 2546 2232 3402

309 -0.81 -146.6 22.1 -6.0 45 313 0.00 2.35 0.00 0.000 4 0.000 0.044 2536 3653 3402

349 -0.81 -146.6 24.9 -7.3 48 355 0.00 2.20 0.00 0.000 6 0.000 0.026 2536 2245 3402

547 -0.81 -146.6 38.3 -6.7 67 548 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2244 3403

738 -0.81 -146.6 50.4 -6.2 85 739 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2244 3403

1057 -0.81 -146.6 71.2 -6.5 115 1058 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2244 3403

1375 -0.81 -146.6 92.0 -6.3 145 1376 0.00 0.00 0.00 0.000 6 0.000 0.000 2536 2244 3403

1425 end dive: TARGET_DEPTH_EXCEEDED

state 1425 begin apogee

1433 -0.28 0.0 95.4 6.6 150 1550 0.60 0.00 111.75 0.750 6 0.111 0.000 2726 2149 2799

1550 end apogee: CONTROL_FINISHED_OK

state 1551 begin climb

1554 0.81 146.6 98.0 0.0 162 1671 1.08 0.00 111.20 0.690 6 0.077 0.000 3079 2148 2201

1990 0.81 146.6 66.9 8.3 204 1991 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2149 2199

2308 0.81 146.6 42.2 7.2 234 2310 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 2149 2199

2500 0.81 146.6 28.5 7.1 252 2504 0.00 2.33 0.00 0.000 4 0.000 0.042 3079 3566 2199

2558 0.81 146.6 24.0 8.0 257 2562 0.00 2.25 0.00 0.000 6 0.000 0.028 3087 2149 2198

2768 0.81 146.6 9.4 6.6 288 2775 0.00 2.33 0.00 0.000 4 0.000 0.043 3087 3560 2199

2793 0.81 146.6 7.2 7.1 292 2799 0.00 2.22 0.00 0.000 6 0.000 0.028 3093 2151 2199

2869 0.84 174.9 3.5 4.4 305 2898 0.00 2.38 21.30 0.809 4 0.000 0.042 3093 3558 2085

2908 end climb: SURFACE_DEPTH_REACHED

state 2908 begin surface coast

2972 end surface coast: CONTROL_FINISHED_OK

state 2972 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	517	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	49	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-71220.859	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	162925,4807.353,-12223.298,36,1.5,36,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.139,-0.084
_SM_DEPTHo	1.17	KALMAN_X	-21439.9,46.1,83.8,21573.2,-174.8
_SM_ANGLEo	-67.8	KALMAN_Y	-14070.9,163.2,-208.4,13568.6,-187.3
GPS2	163333,4807.363,-12223.339,13,1.5,13,18.3	MHEAD_RNG_PITCHd_Wd	103.0,5247,-11.3,-5.278
SPEED_LIMITS	0.053,0.162	D_GRID	105

FINISH	0.3,1.010457	XPDR_PINGS	1
SM_CCo	2996,82.10,0.655,0,0,1372,350.04	ALTIM_BOTTOM_PING	70.5,47.9
SM_GC	1.31,0.00,0.00,82.10,0.000,0.000,0.655,9,2240,1372,-8.79,-0.31,350.04	_24V_AH	24.5,47.128
IRIDIUM_FIX	4748.51,-12306.56,260907,191909	_10V_AH	10.7,24.460
TT8_MAMPS	0.026845	DATA_FILE_SIZE	15984,323
HUMID	1900	CFSIZE	260165632,243154944
INTERNAL_PRESSURE	9.18981	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	260907,172704,4807.116,-12222.973,12,2.6,31,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	208	106.19	SBE_CT	229	24	134.72
Roll_motor	22	60	33.92	SBE_O2	257	19	120.00
VBD_pump_during_apogee	244	809	4842.26	WL_BB2F	544	105	1401.54
VBD_pump_during_surface	82	655	1317.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	56.42	nil	0	0	0.00
Iridium_during_connect	18	160	74.18	nil	0	0	0.00
Iridium_during_xfer	97	223	530.75
Transponder_ping	0	420	5.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.16
TT8	529	19	112.25
LPSleep	1519	2	35.62
TT8_Active	374	19	79.45
TT8_Sampling	620	39	264.10
TT8_CF8	302	45	148.29
TT8_Kalman	33	81	29.17
Analog_circuits	700	12	89.95
GPS_charging	0	0	0.00
Compass	635	8	54.39
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	107	0.00	0.00	-75.45	0.000	2	0.000	0.000	15	2258	3254
111	-0.81	-146.6	3.3	-2.9	14	131	10.32	2.33	-2.85	0.000	4	0.209	0.054	2546	3662	3400
160	-0.81	-146.6	12.7	-18.3	22	167	0.00	2.25	0.00	0.000	6	0.000	0.027	2546	2234	3401
236	-0.81	-146.6	17.8	-6.7	35	242	0.00	0.00	0.00	0.000	6	0.000	0.000	2546	2232	3402
309	-0.81	-146.6	22.1	-6.0	45	313	0.00	2.35	0.00	0.000	4	0.000	0.044	2536	3653	3402
349	-0.81	-146.6	24.9	-7.3	48	355	0.00	2.20	0.00	0.000	6	0.000	0.026	2536	2245	3402
547	-0.81	-146.6	38.3	-6.7	67	548	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2244	3403
738	-0.81	-146.6	50.4	-6.2	85	739	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2244	3403
1057	-0.81	-146.6	71.2	-6.5	115	1058	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2244	3403
1375	-0.81	-146.6	92.0	-6.3	145	1376	0.00	0.00	0.00	0.000	6	0.000	0.000	2536	2244	3403
1425	end dive: TARGET_DEPTH_EXCEEDED
state	1425	begin apogee
1433	-0.28	0.0	95.4	6.6	150	1550	0.60	0.00	111.75	0.750	6	0.111	0.000	2726	2149	2799
1550	end apogee: CONTROL_FINISHED_OK
state	1551	begin climb
1554	0.81	146.6	98.0	0.0	162	1671	1.08	0.00	111.20	0.690	6	0.077	0.000	3079	2148	2201
1990	0.81	146.6	66.9	8.3	204	1991	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2149	2199
2308	0.81	146.6	42.2	7.2	234	2310	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	2149	2199
2500	0.81	146.6	28.5	7.1	252	2504	0.00	2.33	0.00	0.000	4	0.000	0.042	3079	3566	2199
2558	0.81	146.6	24.0	8.0	257	2562	0.00	2.25	0.00	0.000	6	0.000	0.028	3087	2149	2198
2768	0.81	146.6	9.4	6.6	288	2775	0.00	2.33	0.00	0.000	4	0.000	0.043	3087	3560	2199
2793	0.81	146.6	7.2	7.1	292	2799	0.00	2.22	0.00	0.000	6	0.000	0.028	3093	2151	2199
2869	0.84	174.9	3.5	4.4	305	2898	0.00	2.38	21.30	0.809	4	0.000	0.042	3093	3558	2085
2908	end climb: SURFACE_DEPTH_REACHED
state	2908	begin surface coast
2972	end surface coast: CONTROL_FINISHED_OK
state	2972	begin surface