Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 627 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 627 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 120 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2350 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2200 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 67 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 80 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 2400 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 -73830.258 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 2740 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162386 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 0.0038360001 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.010078 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 120 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 0.0001162386 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 67

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0038360001 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.010078 RHO 1.023 T_GPS_CHARGE -73830.258

CALL_WAIT 60 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_MISSION 80

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 2740 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2350 MASS 51503 R_PORT_OVSHOOT 49 USE_ICE 0

C_VBD 2400 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 627 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 104039,4804.948,-12220.900,10,2.0,10,18.3 TGT_NAME FIVE

_CALLS 3 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.128,-0.153

_SM_DEPTHo 2.38 KALMAN_X -28307.7,-171.9,-102.6,31699.8,-423.3

_SM_ANGLEo -64.2 KALMAN_Y -15803.7,-88.4,-74.3,11263.1,333.6

GPS2 105223,4805.121,-12221.031,12,4.6,31,18.3 MHEAD_RNG_PITCHd_Wd 122.0,228,-12.5,-5.970

SPEED_LIMITS 0.060,0.217 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.6,1.012132 XPDR_PINGS 0

SM_CCo 3570,109.25,0.670,0,0,972,350.04 ALTIM_BOTTOM_PING 80.3,47.6

SM_GC 2.41,0.00,0.00,109.25,0.000,0.000,0.670,9,2349,972,-8.54,-0.03,350.04 _24V_AH 24.4,56.119

IRIDIUM_FIX 4748.51,-12217.40,300907,141424 _10V_AH 10.7,28.435

TT8_MAMPS 0.026845 DATA_FILE_SIZE 19120,387

HUMID 1896 CFSIZE 260165632,240443392

INTERNAL_PRESSURE 9.16051 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 300907,115556,4804.966,-12220.918,37,1.6,38,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 202 99.68 SBE_CT 276 24 161.78

Roll_motor 27 47 31.79 SBE_O2 302 19 140.01

VBD_pump_during_apogee 236 824 4761.52 WL_BB2F 653 105 1674.16

VBD_pump_during_surface 109 670 1786.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 200.21 nil 0 0 0.00

Iridium_during_connect 56 160 222.10 nil 0 0 0.00

Iridium_during_xfer 280 223 1524.19

Transponder_ping 0 420 5.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 17.87

TT8 627 19 132.88

LPSleep 1933 2 45.31

TT8_Active 402 19 85.27

TT8_Sampling 790 39 336.65

TT8_CF8 643 45 315.27

TT8_Kalman 33 81 29.17

Analog_circuits 780 12 100.18

GPS_charging 0 0 0.00

Compass 787 8 67.45

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

28 end surface: CONTROL_FINISHED_OK

state 28 begin dive

32 -0.84 -120.2 0.0 0.0 0 98 0.00 0.00 -64.15 0.000 2 0.000 0.000 17 2348 2542

103 -0.87 -146.6 3.3 -1.8 12 133 9.80 2.30 -11.98 0.000 4 0.202 0.045 2450 951 3001

163 -0.87 -146.6 11.5 -12.4 22 169 0.00 2.30 0.00 0.000 6 0.000 0.032 2445 2363 3002

239 -0.87 -146.6 17.8 -7.9 35 245 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2363 3003

312 -0.87 -146.6 23.9 -8.4 44 313 0.00 0.00 0.00 0.000 6 0.000 0.000 2445 2363 3003

504 -0.87 -146.6 38.3 -4.2 62 508 0.00 2.28 0.00 0.000 4 0.000 0.032 2445 943 3004

730 -0.87 -146.6 49.5 -5.1 81 737 0.00 2.30 0.00 0.000 6 0.000 0.035 2443 2352 3004

929 -0.87 -146.6 60.2 -5.1 100 931 0.00 0.00 0.00 0.000 6 0.000 0.000 2443 2352 3004

1248 -0.87 -146.6 79.3 -7.3 130 1252 0.00 2.25 0.00 0.000 4 0.000 0.031 2443 937 3004

1318 -0.87 -146.6 85.0 -8.6 135 1324 0.00 2.28 0.00 0.000 6 0.000 0.035 2443 2353 3004

1576 end dive: TARGET_DEPTH_EXCEEDED

state 1576 begin apogee

1586 -0.28 0.0 109.0 9.6 160 1703 0.62 0.00 112.28 0.752 6 0.110 0.000 2640 2177 2400

1704 end apogee: CONTROL_FINISHED_OK

state 1704 begin climb

1707 0.87 146.6 113.6 0.0 172 1825 1.15 0.00 111.45 0.698 6 0.081 0.000 3013 2177 1802

2144 0.87 146.6 83.5 7.6 214 2148 0.00 2.40 0.00 0.000 4 0.000 0.046 3013 3607 1799

2179 0.87 146.6 80.4 8.8 217 2183 0.00 2.22 0.00 0.000 6 0.000 0.027 3023 2208 1799

2508 0.87 146.6 54.9 7.3 247 2514 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2208 1799

2834 0.87 146.6 30.8 7.4 278 2835 0.00 0.00 0.00 0.000 6 0.000 0.000 3023 2207 1799

3025 0.89 161.5 19.9 5.5 296 3044 0.00 2.25 12.95 0.825 4 0.000 0.036 3029 802 1741

3125 0.89 161.5 13.3 6.3 313 3131 0.00 2.25 0.00 0.000 6 0.000 0.031 3028 2200 1741

3201 0.89 161.5 8.0 6.7 326 3208 0.00 2.35 0.00 0.000 4 0.000 0.048 3029 3603 1740

3505 end climb: SURFACE_DEPTH_REACHED

state 3505 begin surface coast

3545 end surface coast: CONTROL_FINISHED_OK

state 3545 begin surface

ID	128	HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	627	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	120	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2350	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2200	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	67	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	80	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	2400	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	-73830.258	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	2740	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162386	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	0.0038360001	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	104039,4804.948,-12220.900,10,2.0,10,18.3	TGT_NAME	FIVE
_CALLS	3	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.128,-0.153
_SM_DEPTHo	2.38	KALMAN_X	-28307.7,-171.9,-102.6,31699.8,-423.3
_SM_ANGLEo	-64.2	KALMAN_Y	-15803.7,-88.4,-74.3,11263.1,333.6
GPS2	105223,4805.121,-12221.031,12,4.6,31,18.3	MHEAD_RNG_PITCHd_Wd	122.0,228,-12.5,-5.970
SPEED_LIMITS	0.060,0.217	D_GRID	108

FINISH	1.6,1.012132	XPDR_PINGS	0
SM_CCo	3570,109.25,0.670,0,0,972,350.04	ALTIM_BOTTOM_PING	80.3,47.6
SM_GC	2.41,0.00,0.00,109.25,0.000,0.000,0.670,9,2349,972,-8.54,-0.03,350.04	_24V_AH	24.4,56.119
IRIDIUM_FIX	4748.51,-12217.40,300907,141424	_10V_AH	10.7,28.435
TT8_MAMPS	0.026845	DATA_FILE_SIZE	19120,387
HUMID	1896	CFSIZE	260165632,240443392
INTERNAL_PRESSURE	9.16051	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	300907,115556,4804.966,-12220.918,37,1.6,38,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	202	99.68	SBE_CT	276	24	161.78
Roll_motor	27	47	31.79	SBE_O2	302	19	140.01
VBD_pump_during_apogee	236	824	4761.52	WL_BB2F	653	105	1674.16
VBD_pump_during_surface	109	670	1786.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	200.21	nil	0	0	0.00
Iridium_during_connect	56	160	222.10	nil	0	0	0.00
Iridium_during_xfer	280	223	1524.19
Transponder_ping	0	420	5.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	17.87
TT8	627	19	132.88
LPSleep	1933	2	45.31
TT8_Active	402	19	85.27
TT8_Sampling	790	39	336.65
TT8_CF8	643	45	315.27
TT8_Kalman	33	81	29.17
Analog_circuits	780	12	100.18
GPS_charging	0	0	0.00
Compass	787	8	67.45
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
28	end surface: CONTROL_FINISHED_OK
state	28	begin dive
32	-0.84	-120.2	0.0	0.0	0	98	0.00	0.00	-64.15	0.000	2	0.000	0.000	17	2348	2542
103	-0.87	-146.6	3.3	-1.8	12	133	9.80	2.30	-11.98	0.000	4	0.202	0.045	2450	951	3001
163	-0.87	-146.6	11.5	-12.4	22	169	0.00	2.30	0.00	0.000	6	0.000	0.032	2445	2363	3002
239	-0.87	-146.6	17.8	-7.9	35	245	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2363	3003
312	-0.87	-146.6	23.9	-8.4	44	313	0.00	0.00	0.00	0.000	6	0.000	0.000	2445	2363	3003
504	-0.87	-146.6	38.3	-4.2	62	508	0.00	2.28	0.00	0.000	4	0.000	0.032	2445	943	3004
730	-0.87	-146.6	49.5	-5.1	81	737	0.00	2.30	0.00	0.000	6	0.000	0.035	2443	2352	3004
929	-0.87	-146.6	60.2	-5.1	100	931	0.00	0.00	0.00	0.000	6	0.000	0.000	2443	2352	3004
1248	-0.87	-146.6	79.3	-7.3	130	1252	0.00	2.25	0.00	0.000	4	0.000	0.031	2443	937	3004
1318	-0.87	-146.6	85.0	-8.6	135	1324	0.00	2.28	0.00	0.000	6	0.000	0.035	2443	2353	3004
1576	end dive: TARGET_DEPTH_EXCEEDED
state	1576	begin apogee
1586	-0.28	0.0	109.0	9.6	160	1703	0.62	0.00	112.28	0.752	6	0.110	0.000	2640	2177	2400
1704	end apogee: CONTROL_FINISHED_OK
state	1704	begin climb
1707	0.87	146.6	113.6	0.0	172	1825	1.15	0.00	111.45	0.698	6	0.081	0.000	3013	2177	1802
2144	0.87	146.6	83.5	7.6	214	2148	0.00	2.40	0.00	0.000	4	0.000	0.046	3013	3607	1799
2179	0.87	146.6	80.4	8.8	217	2183	0.00	2.22	0.00	0.000	6	0.000	0.027	3023	2208	1799
2508	0.87	146.6	54.9	7.3	247	2514	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2208	1799
2834	0.87	146.6	30.8	7.4	278	2835	0.00	0.00	0.00	0.000	6	0.000	0.000	3023	2207	1799
3025	0.89	161.5	19.9	5.5	296	3044	0.00	2.25	12.95	0.825	4	0.000	0.036	3029	802	1741
3125	0.89	161.5	13.3	6.3	313	3131	0.00	2.25	0.00	0.000	6	0.000	0.031	3028	2200	1741
3201	0.89	161.5	8.0	6.7	326	3208	0.00	2.35	0.00	0.000	4	0.000	0.048	3029	3603	1740
3505	end climb: SURFACE_DEPTH_REACHED
state	3505	begin surface coast
3545	end surface coast: CONTROL_FINISHED_OK
state	3545	begin surface