Glider dive log

SoCal07 Nov07 * SG106 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 9 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 6 HEADING -1 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 1 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 32.75 C_ROLL_DIVE 2125 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -117.48 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 20 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 1 DEVICE2 -1

T_MISSION 60 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -54731.664 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 8 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 175 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 15 PITCH_MIN 460 AH0_24V 71.400002 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.027 C_PITCH 3100 PRESSURE_YINT -9.2469263 SEABIRD_T_I 2.5114456e-05

MASS 51736 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 20 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -9.2469263 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 32.75

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -117.48

APOGEE_PITCH -5 GLIDE_SLOPE 15 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 35

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 9.8541004e-06 RHO 1.027 T_GPS_CHARGE -54731.664

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 60

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 1 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 8

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 50

C_ROLL_DIVE 2125 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51736 R_PORT_OVSHOOT 20 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 175 R_STBD_OVSHOOT 34 USE_ICE 0

DEEPGLIDERMB 0 MISSION 9 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 6 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1050 PITCH_ADJ_DBAND 1 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 001939,3246.242,-11747.515,10,1.6,11,13.1 TGT_NAME H2

_CALLS 1 TGT_LATLONG 3246.000,-11749.190

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.365,0.017

_SM_DEPTHo 0.37 KALMAN_X 1338.6,594.9,170.6,-2027.5,84.8

_SM_ANGLEo -57.0 KALMAN_Y 1144.5,600.6,208.5,-1431.2,-144.3

GPS2 002515,3246.226,-11747.475,13,1.4,14,13.1 MHEAD_RNG_PITCHd_Wd 259.6,2704,-11.0,-9.524

SPEED_LIMITS 0.355,0.365 D_GRID 100

Post-dive calculations and measurements:

FREEZE -0.10,17.978,-0.913 XPDR_PINGS 0

FINISH -0.1,1.011456 ALTIM_BOTTOM_PING 50.6,51.1

SM_CCo 3278,0.00,0.000,0,0,1539,411.86 _24V_AH 23.9,24.526

SM_GC 0.71,13.20,0.00,0.00,0.044,0.000,0.000,461,2118,1539,-12.10,-0.23,411.86 _10V_AH 10.1,18.776

IRIDIUM_FIX 3233.95,-11748.38,151107,040433 DATA_FILE_SIZE 9594,284

TT8_MAMPS 0.071331 CFSIZE 260034560,256827392

HUMID 1877 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.53548 GPS 151107,012145,3246.319,-11747.681,12,1.9,12,13.1

TCM_TEMP 20.40

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 204 151.65 SBE_CT 187 24 107.31

Roll_motor 41 77 76.00 nil 0 0 0.00

VBD_pump_during_apogee 457 678 7414.54 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 ARS 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3382 6 517.31

GPS 14 50 7.33

TT8 539 19 107.99

LPSleep 1665 2 36.85

TT8_Active 529 19 105.81

TT8_Sampling 523 39 210.30

TT8_CF8 102 45 47.30

TT8_Kalman 33 81 27.53

Analog_circuits 872 12 105.74

GPS_charging 0 0 0.00

Compass 508 8 41.07

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

28 -1.06 -170.4 0.0 0.0 0 140 0.00 0.00 -106.68 0.000 2 0.000 0.000 460 2343 3218

143 -1.06 -170.4 2.2 -6.3 18 180 15.18 2.12 -15.20 0.000 4 0.204 0.070 2864 3518 3916

366 -1.06 -170.4 20.3 -6.2 52 370 0.00 2.42 0.00 0.000 6 0.000 0.030 2864 2098 3990

562 -1.06 -170.4 32.0 -6.2 67 563 0.00 0.00 0.00 0.000 6 0.000 0.000 2864 2098 3991

755 -1.08 -170.4 42.8 -5.0 82 759 0.00 2.58 0.00 0.000 4 0.000 0.052 2864 3525 3989

846 -1.11 -170.4 48.1 -6.0 88 853 0.00 2.38 0.00 0.000 6 0.000 0.031 2864 2126 3989

1043 -1.14 -170.4 58.9 -5.1 104 1047 0.00 2.53 0.00 0.000 4 0.000 0.057 2864 730 3989

1063 -1.17 -170.4 60.0 -4.9 105 1068 0.00 2.40 0.00 0.000 6 0.000 0.031 2864 2133 3988

1260 -1.20 -170.4 70.5 -5.5 120 1264 0.12 2.50 0.00 0.000 4 0.048 0.056 2827 3522 3989

1334 -1.20 -170.4 75.4 -6.9 125 1338 0.00 2.38 0.00 0.000 6 0.000 0.034 2827 2138 3988

1530 -1.20 -170.4 88.0 -6.5 140 1534 0.00 2.50 0.00 0.000 4 0.000 0.056 2827 3517 3987

1563 -1.20 -170.4 90.4 -7.0 142 1567 0.00 2.38 0.00 0.000 6 0.000 0.034 2827 2132 3986

1720 end dive: TARGET_DEPTH_EXCEEDED

state 1720 begin apogee

1726 -0.38 0.0 100.5 6.8 154 1877 0.85 0.00 144.48 0.678 6 0.080 0.000 3010 1741 3218

1880 end apogee: CONTROL_FINISHED_OK

state 1880 begin climb

1883 1.06 170.4 106.9 0.0 167 2019 1.45 0.00 129.70 0.653 6 0.058 0.000 3331 1741 2523

2209 1.29 319.9 90.4 6.6 193 2333 0.17 2.58 114.95 0.642 4 0.050 0.049 3378 3132 1913

2467 1.29 319.9 66.9 9.6 213 2471 0.00 2.47 0.00 0.000 6 0.000 0.039 3379 1753 1910

2663 1.40 394.0 50.6 8.1 228 2723 0.12 0.00 57.47 0.637 6 0.059 0.000 3412 1753 1611

2912 1.40 394.0 25.8 9.8 248 2917 0.00 2.72 0.00 0.000 4 0.000 0.077 3412 327 1607

2932 1.42 409.6 24.0 9.2 249 2948 0.00 2.50 10.95 0.661 6 0.000 0.035 3412 1750 1548

3147 1.44 409.6 4.0 9.8 278 3154 0.00 2.70 0.00 0.000 4 0.000 0.071 3412 329 1545

3165 end climb: SURFACE_DEPTH_REACHED

state 3165 begin surface coast

3186 end surface coast: CONTROL_FINISHED_OK

state 3186 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	9	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	6	HEADING	-1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	1	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	32.75	C_ROLL_DIVE	2125	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-117.48	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	20	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	1	DEVICE2	-1
T_MISSION	60	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-54731.664	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	8	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	175	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	15	PITCH_MIN	460	AH0_24V	71.400002	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.027	C_PITCH	3100	PRESSURE_YINT	-9.2469263	SEABIRD_T_I	2.5114456e-05
MASS	51736	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	001939,3246.242,-11747.515,10,1.6,11,13.1	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	3246.000,-11749.190
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.365,0.017
_SM_DEPTHo	0.37	KALMAN_X	1338.6,594.9,170.6,-2027.5,84.8
_SM_ANGLEo	-57.0	KALMAN_Y	1144.5,600.6,208.5,-1431.2,-144.3
GPS2	002515,3246.226,-11747.475,13,1.4,14,13.1	MHEAD_RNG_PITCHd_Wd	259.6,2704,-11.0,-9.524
SPEED_LIMITS	0.355,0.365	D_GRID	100

FREEZE	-0.10,17.978,-0.913	XPDR_PINGS	0
FINISH	-0.1,1.011456	ALTIM_BOTTOM_PING	50.6,51.1
SM_CCo	3278,0.00,0.000,0,0,1539,411.86	_24V_AH	23.9,24.526
SM_GC	0.71,13.20,0.00,0.00,0.044,0.000,0.000,461,2118,1539,-12.10,-0.23,411.86	_10V_AH	10.1,18.776
IRIDIUM_FIX	3233.95,-11748.38,151107,040433	DATA_FILE_SIZE	9594,284
TT8_MAMPS	0.071331	CFSIZE	260034560,256827392
HUMID	1877	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.53548	GPS	151107,012145,3246.319,-11747.681,12,1.9,12,13.1
TCM_TEMP	20.40

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	204	151.65	SBE_CT	187	24	107.31
Roll_motor	41	77	76.00	nil	0	0	0.00
VBD_pump_during_apogee	457	678	7414.54	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	ARS	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3382	6	517.31
GPS	14	50	7.33
TT8	539	19	107.99
LPSleep	1665	2	36.85
TT8_Active	529	19	105.81
TT8_Sampling	523	39	210.30
TT8_CF8	102	45	47.30
TT8_Kalman	33	81	27.53
Analog_circuits	872	12	105.74
GPS_charging	0	0	0.00
Compass	508	8	41.07
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
28	-1.06	-170.4	0.0	0.0	0	140	0.00	0.00	-106.68	0.000	2	0.000	0.000	460	2343	3218
143	-1.06	-170.4	2.2	-6.3	18	180	15.18	2.12	-15.20	0.000	4	0.204	0.070	2864	3518	3916
366	-1.06	-170.4	20.3	-6.2	52	370	0.00	2.42	0.00	0.000	6	0.000	0.030	2864	2098	3990
562	-1.06	-170.4	32.0	-6.2	67	563	0.00	0.00	0.00	0.000	6	0.000	0.000	2864	2098	3991
755	-1.08	-170.4	42.8	-5.0	82	759	0.00	2.58	0.00	0.000	4	0.000	0.052	2864	3525	3989
846	-1.11	-170.4	48.1	-6.0	88	853	0.00	2.38	0.00	0.000	6	0.000	0.031	2864	2126	3989
1043	-1.14	-170.4	58.9	-5.1	104	1047	0.00	2.53	0.00	0.000	4	0.000	0.057	2864	730	3989
1063	-1.17	-170.4	60.0	-4.9	105	1068	0.00	2.40	0.00	0.000	6	0.000	0.031	2864	2133	3988
1260	-1.20	-170.4	70.5	-5.5	120	1264	0.12	2.50	0.00	0.000	4	0.048	0.056	2827	3522	3989
1334	-1.20	-170.4	75.4	-6.9	125	1338	0.00	2.38	0.00	0.000	6	0.000	0.034	2827	2138	3988
1530	-1.20	-170.4	88.0	-6.5	140	1534	0.00	2.50	0.00	0.000	4	0.000	0.056	2827	3517	3987
1563	-1.20	-170.4	90.4	-7.0	142	1567	0.00	2.38	0.00	0.000	6	0.000	0.034	2827	2132	3986
1720	end dive: TARGET_DEPTH_EXCEEDED
state	1720	begin apogee
1726	-0.38	0.0	100.5	6.8	154	1877	0.85	0.00	144.48	0.678	6	0.080	0.000	3010	1741	3218
1880	end apogee: CONTROL_FINISHED_OK
state	1880	begin climb
1883	1.06	170.4	106.9	0.0	167	2019	1.45	0.00	129.70	0.653	6	0.058	0.000	3331	1741	2523
2209	1.29	319.9	90.4	6.6	193	2333	0.17	2.58	114.95	0.642	4	0.050	0.049	3378	3132	1913
2467	1.29	319.9	66.9	9.6	213	2471	0.00	2.47	0.00	0.000	6	0.000	0.039	3379	1753	1910
2663	1.40	394.0	50.6	8.1	228	2723	0.12	0.00	57.47	0.637	6	0.059	0.000	3412	1753	1611
2912	1.40	394.0	25.8	9.8	248	2917	0.00	2.72	0.00	0.000	4	0.000	0.077	3412	327	1607
2932	1.42	409.6	24.0	9.2	249	2948	0.00	2.50	10.95	0.661	6	0.000	0.035	3412	1750	1548
3147	1.44	409.6	4.0	9.8	278	3154	0.00	2.70	0.00	0.000	4	0.000	0.071	3412	329	1545
3165	end climb: SURFACE_DEPTH_REACHED
state	3165	begin surface coast
3186	end surface coast: CONTROL_FINISHED_OK
state	3186	begin surface