Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 712 * 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 712 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 475 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 60 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 -75829.117 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 475

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 -75829.117

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 60 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 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 712 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 070953,4806.058,-12222.250,12,2.8,31,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.138,-0.167

_SM_DEPTHo 2.42 KALMAN_X -41585.7,-212.3,-275.9,43591.8,-191.1

_SM_ANGLEo -64.4 KALMAN_Y -13711.5,380.0,238.4,10274.4,206.7

GPS2 071441,4806.137,-12222.326,11,2.3,30,18.3 MHEAD_RNG_PITCHd_Wd 122.0,2670,-11.0,-5.970

SPEED_LIMITS 0.060,0.217 D_GRID 105

Post-dive calculations and measurements:

FINISH 1.6,1.022077 XPDR_PINGS 3

SM_CCo 3216,65.43,0.643,0,0,462,475.15 ALTIM_BOTTOM_PING 80.4,44.2

SM_GC 2.35,0.00,0.00,65.43,0.000,0.000,0.643,19,2346,462,-8.51,-0.11,475.15 _24V_AH 24.3,64.234

IRIDIUM_FIX 4748.51,-12221.84,041007,101034 _10V_AH 10.7,32.478

TT8_MAMPS 0.026078 DATA_FILE_SIZE 19151,415

HUMID 1864 CFSIZE 260165632,238002176

INTERNAL_PRESSURE 9.11168 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 041007,081134,4805.887,-12222.114,13,2.7,32,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 197 99.03 SBE_CT 297 24 173.60

Roll_motor 32 59 46.32 SBE_O2 314 19 145.42

VBD_pump_during_apogee 367 759 6780.08 WL_BB2F 700 105 1787.11

VBD_pump_during_surface 65 642 1021.86 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 69.90 nil 0 0 0.00

Iridium_during_connect 16 160 62.71 nil 0 0 0.00

Iridium_during_xfer 106 223 575.15

Transponder_ping 1 420 10.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.64

TT8 628 19 133.25

LPSleep 1316 2 30.84

TT8_Active 456 19 96.78

TT8_Sampling 814 39 346.77

TT8_CF8 365 45 179.21

TT8_Kalman 33 81 29.20

Analog_circuits 882 12 113.28

GPS_charging 0 0 0.00

Compass 816 8 69.88

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

29 end surface: CONTROL_FINISHED_OK

state 29 begin dive

33 -0.79 -146.6 0.0 0.0 0 73 0.00 0.00 -37.12 0.000 2 0.000 0.000 14 2332 1500

78 -0.79 -146.6 3.0 -1.9 7 146 9.80 2.47 -53.40 0.000 4 0.197 0.059 2471 3759 3000

172 -0.79 -146.6 6.6 -5.0 23 178 0.00 2.22 0.00 0.000 6 0.000 0.026 2471 2336 3002

248 -0.79 -146.6 13.4 -9.6 36 255 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2336 3002

324 -0.79 -146.6 21.2 -9.8 49 330 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2336 3002

535 -0.79 -146.6 39.7 -9.3 86 541 0.00 2.17 0.00 0.000 4 0.000 0.032 2471 965 3002

606 -0.79 -146.6 46.3 -9.3 98 612 0.00 2.25 0.00 0.000 6 0.000 0.034 2471 2359 3002

813 -0.79 -146.6 64.1 -8.6 121 814 0.00 0.00 0.00 0.000 6 0.000 0.000 2471 2359 3002

1131 -0.79 -146.6 92.6 -9.0 151 1135 0.00 2.30 0.00 0.000 4 0.000 0.050 2468 3755 3002

1190 -0.79 -146.6 97.9 -9.4 156 1194 0.00 2.17 0.00 0.000 6 0.000 0.026 2468 2344 3003

1268 end dive: TARGET_DEPTH_EXCEEDED

state 1268 begin apogee

1278 -0.28 0.0 105.0 8.4 163 1395 0.55 0.00 112.78 0.744 6 0.109 0.000 2642 2191 2399

1396 end apogee: CONTROL_FINISHED_OK

state 1396 begin climb

1400 0.79 146.6 109.6 0.0 175 1517 1.08 0.00 111.88 0.700 6 0.082 0.000 2991 2190 1802

1837 0.79 146.6 82.3 7.5 217 1838 0.00 0.00 0.00 0.000 6 0.000 0.000 2992 2190 1800

2155 0.79 146.6 60.0 7.2 247 2159 0.00 2.35 0.00 0.000 4 0.000 0.045 2992 3605 1800

2242 0.79 146.6 53.1 7.9 254 2248 0.00 2.20 0.00 0.000 6 0.000 0.027 3000 2202 1799

2586 0.79 146.6 29.7 6.5 311 2593 0.00 2.35 0.00 0.000 4 0.000 0.045 3000 3605 1799

2634 0.79 146.6 26.5 6.7 319 2641 0.00 2.20 0.00 0.000 6 0.000 0.027 3008 2199 1799

2847 0.79 146.6 13.0 6.1 356 2854 0.00 2.22 0.00 0.000 4 0.000 0.036 3014 801 1799

2896 0.83 175.2 10.5 5.2 364 2925 0.00 2.25 23.20 0.759 6 0.000 0.031 3014 2219 1684

2995 0.90 236.6 5.6 4.3 381 3047 0.00 2.40 45.92 0.687 4 0.000 0.044 3014 3607 1435

3100 1.14 430.7 3.4 0.6 399 3180 0.20 2.28 73.68 0.659 2 0.041 0.026 3130 2196 919

3181 end climb: SURFACE_DEPTH_REACHED

state 3181 begin surface coast

3192 end surface coast: CONTROL_FINISHED_OK

state 3192 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	712	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	475	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	60	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	-75829.117	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	070953,4806.058,-12222.250,12,2.8,31,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.138,-0.167
_SM_DEPTHo	2.42	KALMAN_X	-41585.7,-212.3,-275.9,43591.8,-191.1
_SM_ANGLEo	-64.4	KALMAN_Y	-13711.5,380.0,238.4,10274.4,206.7
GPS2	071441,4806.137,-12222.326,11,2.3,30,18.3	MHEAD_RNG_PITCHd_Wd	122.0,2670,-11.0,-5.970
SPEED_LIMITS	0.060,0.217	D_GRID	105

FINISH	1.6,1.022077	XPDR_PINGS	3
SM_CCo	3216,65.43,0.643,0,0,462,475.15	ALTIM_BOTTOM_PING	80.4,44.2
SM_GC	2.35,0.00,0.00,65.43,0.000,0.000,0.643,19,2346,462,-8.51,-0.11,475.15	_24V_AH	24.3,64.234
IRIDIUM_FIX	4748.51,-12221.84,041007,101034	_10V_AH	10.7,32.478
TT8_MAMPS	0.026078	DATA_FILE_SIZE	19151,415
HUMID	1864	CFSIZE	260165632,238002176
INTERNAL_PRESSURE	9.11168	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	041007,081134,4805.887,-12222.114,13,2.7,32,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	197	99.03	SBE_CT	297	24	173.60
Roll_motor	32	59	46.32	SBE_O2	314	19	145.42
VBD_pump_during_apogee	367	759	6780.08	WL_BB2F	700	105	1787.11
VBD_pump_during_surface	65	642	1021.86	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	69.90	nil	0	0	0.00
Iridium_during_connect	16	160	62.71	nil	0	0	0.00
Iridium_during_xfer	106	223	575.15
Transponder_ping	1	420	10.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.64
TT8	628	19	133.25
LPSleep	1316	2	30.84
TT8_Active	456	19	96.78
TT8_Sampling	814	39	346.77
TT8_CF8	365	45	179.21
TT8_Kalman	33	81	29.20
Analog_circuits	882	12	113.28
GPS_charging	0	0	0.00
Compass	816	8	69.88
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
29	end surface: CONTROL_FINISHED_OK
state	29	begin dive
33	-0.79	-146.6	0.0	0.0	0	73	0.00	0.00	-37.12	0.000	2	0.000	0.000	14	2332	1500
78	-0.79	-146.6	3.0	-1.9	7	146	9.80	2.47	-53.40	0.000	4	0.197	0.059	2471	3759	3000
172	-0.79	-146.6	6.6	-5.0	23	178	0.00	2.22	0.00	0.000	6	0.000	0.026	2471	2336	3002
248	-0.79	-146.6	13.4	-9.6	36	255	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2336	3002
324	-0.79	-146.6	21.2	-9.8	49	330	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2336	3002
535	-0.79	-146.6	39.7	-9.3	86	541	0.00	2.17	0.00	0.000	4	0.000	0.032	2471	965	3002
606	-0.79	-146.6	46.3	-9.3	98	612	0.00	2.25	0.00	0.000	6	0.000	0.034	2471	2359	3002
813	-0.79	-146.6	64.1	-8.6	121	814	0.00	0.00	0.00	0.000	6	0.000	0.000	2471	2359	3002
1131	-0.79	-146.6	92.6	-9.0	151	1135	0.00	2.30	0.00	0.000	4	0.000	0.050	2468	3755	3002
1190	-0.79	-146.6	97.9	-9.4	156	1194	0.00	2.17	0.00	0.000	6	0.000	0.026	2468	2344	3003
1268	end dive: TARGET_DEPTH_EXCEEDED
state	1268	begin apogee
1278	-0.28	0.0	105.0	8.4	163	1395	0.55	0.00	112.78	0.744	6	0.109	0.000	2642	2191	2399
1396	end apogee: CONTROL_FINISHED_OK
state	1396	begin climb
1400	0.79	146.6	109.6	0.0	175	1517	1.08	0.00	111.88	0.700	6	0.082	0.000	2991	2190	1802
1837	0.79	146.6	82.3	7.5	217	1838	0.00	0.00	0.00	0.000	6	0.000	0.000	2992	2190	1800
2155	0.79	146.6	60.0	7.2	247	2159	0.00	2.35	0.00	0.000	4	0.000	0.045	2992	3605	1800
2242	0.79	146.6	53.1	7.9	254	2248	0.00	2.20	0.00	0.000	6	0.000	0.027	3000	2202	1799
2586	0.79	146.6	29.7	6.5	311	2593	0.00	2.35	0.00	0.000	4	0.000	0.045	3000	3605	1799
2634	0.79	146.6	26.5	6.7	319	2641	0.00	2.20	0.00	0.000	6	0.000	0.027	3008	2199	1799
2847	0.79	146.6	13.0	6.1	356	2854	0.00	2.22	0.00	0.000	4	0.000	0.036	3014	801	1799
2896	0.83	175.2	10.5	5.2	364	2925	0.00	2.25	23.20	0.759	6	0.000	0.031	3014	2219	1684
2995	0.90	236.6	5.6	4.3	381	3047	0.00	2.40	45.92	0.687	4	0.000	0.044	3014	3607	1435
3100	1.14	430.7	3.4	0.6	399	3180	0.20	2.28	73.68	0.659	2	0.041	0.026	3130	2196	919
3181	end climb: SURFACE_DEPTH_REACHED
state	3181	begin surface coast
3192	end surface coast: CONTROL_FINISHED_OK
state	3192	begin surface