Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 691 * 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 691 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 538.67877 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 8 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 63 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 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 -75397.039 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 538.67877

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 -75397.039

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 63 USE_ICE 0

C_VBD 2400 MAX_BUOY 150 R_STBD_OVSHOOT 42 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 8 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 691 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 065107,4806.439,-12222.653,39,0.8,45,18.3 TGT_NAME EIGHT

_CALLS 5 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 25 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.111,0.186

_SM_DEPTHo 2.33 KALMAN_X -38549.1,457.1,-23.6,39506.3,169.7

_SM_ANGLEo -64.9 KALMAN_Y -14077.5,-648.2,-150.2,12398.2,-299.7

GPS2 071239,4806.319,-12222.424,12,1.4,12,18.3 MHEAD_RNG_PITCHd_Wd 310.8,3673,-11.0,-5.970

SPEED_LIMITS 0.060,0.217 D_GRID 105

Post-dive calculations and measurements:

FINISH 2.0,1.017792 XPDR_PINGS 0

SM_CCo 3304,103.05,0.641,0,0,204,538.68 ALTIM_BOTTOM_PING 80.4,50.3

SM_GC 2.38,0.00,0.00,103.05,0.000,0.000,0.641,19,2360,204,-8.51,0.28,538.68 _24V_AH 24.3,61.974

IRIDIUM_FIX 4748.51,-12224.57,031007,111138 _10V_AH 10.7,31.339

TT8_MAMPS 0.026845 DATA_FILE_SIZE 19149,366

HUMID 1833 CFSIZE 260165632,238587904

INTERNAL_PRESSURE 9.09215 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 031007,081120,4806.431,-12222.656,11,1.9,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 203 102.36 SBE_CT 261 24 152.73

Roll_motor 9 45 10.50 SBE_O2 283 19 130.99

VBD_pump_during_apogee 345 795 6672.41 WL_BB2F 618 105 1577.02

VBD_pump_during_surface 103 641 1605.67 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 139 103 350.00 nil 0 0 0.00

Iridium_during_connect 96 160 374.90 nil 0 0 0.00

Iridium_during_xfer 664 223 3600.43

Transponder_ping 0 420 2.55

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 9.25

TT8 553 19 117.33

LPSleep 1861 2 43.63

TT8_Active 459 19 97.25

TT8_Sampling 708 39 301.53

TT8_CF8 1133 45 555.40

TT8_Kalman 33 81 29.19

Analog_circuits 848 12 108.94

GPS_charging 0 0 0.00

Compass 725 8 62.12

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

24 end surface: CONTROL_FINISHED_OK

state 25 begin dive

29 -0.79 -146.6 0.0 0.0 0 96 0.00 0.00 -64.22 0.000 2 0.000 0.000 23 2351 2190

100 -0.79 -146.6 3.2 -1.2 12 146 9.90 0.00 -29.05 0.000 6 0.203 0.000 2477 2350 2999

217 -0.79 -146.6 11.5 -9.6 32 223 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2351 3000

292 -0.79 -146.6 18.8 -9.5 45 298 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2351 3001

370 -0.79 -146.6 25.7 -8.5 53 371 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2351 3001

561 -0.79 -146.6 42.2 -8.7 71 562 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2351 3001

752 -0.79 -146.6 59.3 -9.0 89 753 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2351 3001

1070 -0.79 -146.6 86.7 -8.5 119 1071 0.00 0.00 0.00 0.000 6 0.000 0.000 2477 2351 3002

1288 end dive: TARGET_DEPTH_EXCEEDED

state 1288 begin apogee

1298 -0.28 0.0 105.2 8.4 140 1415 0.52 0.00 112.22 0.745 6 0.106 0.000 2645 2187 2400

1416 end apogee: CONTROL_FINISHED_OK

state 1416 begin climb

1420 0.79 146.6 109.6 0.0 152 1536 1.05 0.00 111.30 0.693 6 0.081 0.000 2987 2185 1802

1854 0.79 146.6 82.6 7.2 193 1858 0.00 2.35 0.00 0.000 4 0.000 0.044 2987 3601 1799

1934 0.79 146.6 76.2 8.3 200 1938 0.00 2.17 0.00 0.000 6 0.000 0.026 2996 2209 1799

2269 0.79 146.6 52.6 6.9 231 2275 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2207 1799

2595 0.79 146.6 30.7 6.3 262 2596 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2207 1799

2787 0.79 146.6 18.7 6.3 281 2793 0.00 0.00 0.00 0.000 6 0.000 0.000 2996 2207 1799

2863 0.81 165.8 14.6 5.4 294 2886 0.00 0.00 16.42 0.795 6 0.000 0.000 2996 2207 1722

2956 0.84 187.2 9.6 5.4 310 2980 0.00 2.35 17.58 0.709 4 0.000 0.044 2996 3609 1635

3045 0.90 232.3 5.2 4.7 325 3085 0.00 2.22 33.47 0.680 6 0.000 0.026 2998 2201 1453

3155 1.11 404.2 2.3 1.2 344 3213 0.25 0.00 54.22 0.654 2 0.056 0.000 3103 2199 986

3213 end climb: SURFACE_DEPTH_REACHED

state 3214 begin surface coast

3280 end surface coast: NO_VERTICAL_VELOCITY

state 3280 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	691	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	538.67877	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	8	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	63	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	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	-75397.039	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	065107,4806.439,-12222.653,39,0.8,45,18.3	TGT_NAME	EIGHT
_CALLS	5	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	25	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.111,0.186
_SM_DEPTHo	2.33	KALMAN_X	-38549.1,457.1,-23.6,39506.3,169.7
_SM_ANGLEo	-64.9	KALMAN_Y	-14077.5,-648.2,-150.2,12398.2,-299.7
GPS2	071239,4806.319,-12222.424,12,1.4,12,18.3	MHEAD_RNG_PITCHd_Wd	310.8,3673,-11.0,-5.970
SPEED_LIMITS	0.060,0.217	D_GRID	105

FINISH	2.0,1.017792	XPDR_PINGS	0
SM_CCo	3304,103.05,0.641,0,0,204,538.68	ALTIM_BOTTOM_PING	80.4,50.3
SM_GC	2.38,0.00,0.00,103.05,0.000,0.000,0.641,19,2360,204,-8.51,0.28,538.68	_24V_AH	24.3,61.974
IRIDIUM_FIX	4748.51,-12224.57,031007,111138	_10V_AH	10.7,31.339
TT8_MAMPS	0.026845	DATA_FILE_SIZE	19149,366
HUMID	1833	CFSIZE	260165632,238587904
INTERNAL_PRESSURE	9.09215	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	031007,081120,4806.431,-12222.656,11,1.9,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	203	102.36	SBE_CT	261	24	152.73
Roll_motor	9	45	10.50	SBE_O2	283	19	130.99
VBD_pump_during_apogee	345	795	6672.41	WL_BB2F	618	105	1577.02
VBD_pump_during_surface	103	641	1605.67	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	139	103	350.00	nil	0	0	0.00
Iridium_during_connect	96	160	374.90	nil	0	0	0.00
Iridium_during_xfer	664	223	3600.43
Transponder_ping	0	420	2.55
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	9.25
TT8	553	19	117.33
LPSleep	1861	2	43.63
TT8_Active	459	19	97.25
TT8_Sampling	708	39	301.53
TT8_CF8	1133	45	555.40
TT8_Kalman	33	81	29.19
Analog_circuits	848	12	108.94
GPS_charging	0	0	0.00
Compass	725	8	62.12
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
24	end surface: CONTROL_FINISHED_OK
state	25	begin dive
29	-0.79	-146.6	0.0	0.0	0	96	0.00	0.00	-64.22	0.000	2	0.000	0.000	23	2351	2190
100	-0.79	-146.6	3.2	-1.2	12	146	9.90	0.00	-29.05	0.000	6	0.203	0.000	2477	2350	2999
217	-0.79	-146.6	11.5	-9.6	32	223	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2351	3000
292	-0.79	-146.6	18.8	-9.5	45	298	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2351	3001
370	-0.79	-146.6	25.7	-8.5	53	371	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2351	3001
561	-0.79	-146.6	42.2	-8.7	71	562	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2351	3001
752	-0.79	-146.6	59.3	-9.0	89	753	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2351	3001
1070	-0.79	-146.6	86.7	-8.5	119	1071	0.00	0.00	0.00	0.000	6	0.000	0.000	2477	2351	3002
1288	end dive: TARGET_DEPTH_EXCEEDED
state	1288	begin apogee
1298	-0.28	0.0	105.2	8.4	140	1415	0.52	0.00	112.22	0.745	6	0.106	0.000	2645	2187	2400
1416	end apogee: CONTROL_FINISHED_OK
state	1416	begin climb
1420	0.79	146.6	109.6	0.0	152	1536	1.05	0.00	111.30	0.693	6	0.081	0.000	2987	2185	1802
1854	0.79	146.6	82.6	7.2	193	1858	0.00	2.35	0.00	0.000	4	0.000	0.044	2987	3601	1799
1934	0.79	146.6	76.2	8.3	200	1938	0.00	2.17	0.00	0.000	6	0.000	0.026	2996	2209	1799
2269	0.79	146.6	52.6	6.9	231	2275	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2207	1799
2595	0.79	146.6	30.7	6.3	262	2596	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2207	1799
2787	0.79	146.6	18.7	6.3	281	2793	0.00	0.00	0.00	0.000	6	0.000	0.000	2996	2207	1799
2863	0.81	165.8	14.6	5.4	294	2886	0.00	0.00	16.42	0.795	6	0.000	0.000	2996	2207	1722
2956	0.84	187.2	9.6	5.4	310	2980	0.00	2.35	17.58	0.709	4	0.000	0.044	2996	3609	1635
3045	0.90	232.3	5.2	4.7	325	3085	0.00	2.22	33.47	0.680	6	0.000	0.026	2998	2201	1453
3155	1.11	404.2	2.3	1.2	344	3213	0.25	0.00	54.22	0.654	2	0.056	0.000	3103	2199	986
3213	end climb: SURFACE_DEPTH_REACHED
state	3214	begin surface coast
3280	end surface coast: NO_VERTICAL_VELOCITY
state	3280	begin surface