Glider dive log

PN07 DabobBay 29Sep07 * SG107 * Dive index * Mission links * Dive 83 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 107 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 10 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 83 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 152 ALTIM_PING_DEPTH 0

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3928 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2450 ALTIM_PULSE 1

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_PITCH 0 SM_CC 450 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 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 300 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 40 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 679 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 4028 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3415 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -16639.1 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 363 AH0_24V 91.800003 SEABIRD_T_G 0.004345139

SPEED_FACTOR 1 PITCH_MAX 3698 AH0_10V 61.200001 SEABIRD_T_H 0.00064258272

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -10.644979 SEABIRD_T_I 2.3711646e-05

MASS 51588 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001156423 SEABIRD_T_J 2.2769887e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.006271

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1385506

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022333476

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00024018179

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3698 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 363 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001156423 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -10.644979 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 40

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 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -16639.1

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 107 ROLL_MAX 3928 T_TURN_SAMPINT 6

C_PITCH 2730 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2450 INT_PRESSURE_YINT 0 ROLL_MIN 152 UNCOM_BLEED 20

C_ROLL_DIVE 2050 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3415 MASS 51588 R_PORT_OVSHOOT 26 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 26 USE_ICE 0

DEEPGLIDERMB 0 MISSION 10 SEABIRD_C_G -10.006271 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1385506 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0022333476 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00024018179 VBD_MAX 4028

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004345139 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064258272 VBD_MIN 679

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3711646e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 83 PHONE_DEVICE 48 SEABIRD_T_J 2.2769887e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 045030,4740.671,-12251.797,8,2.1,27,18.3 TGT_NAME 11_XS

_CALLS 1 TGT_LATLONG 4740.927,-12251.586

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.119,0.166

_SM_DEPTHo 0.58 KALMAN_X 18657.2,391.0,-121.0,-17267.5,-34.0

_SM_ANGLEo -52.3 KALMAN_Y 13776.0,408.6,-29.4,-12207.8,22.7

GPS2 045635,4740.696,-12251.792,13,2.4,32,18.3 MHEAD_RNG_PITCHd_Wd 17.3,498,-19.3,-8.333

SPEED_LIMITS 0.144,0.204 D_GRID 99

Post-dive calculations and measurements:

FINISH 0.0,1.022038 ALTIM_TOP_PING 9.8,10.0

SM_CCo 2848,125.12,0.505,0,0,1580,450.13 ALTIM_BOTTOM_PING 74.5,999.0

SM_GC 0.57,0.00,0.00,125.12,0.000,0.000,0.505,360,2058,1580,-10.90,0.23,450.13 _24V_AH 23.9,8.828

IRIDIUM_FIX 4722.92,-12249.11,031007,070730 _10V_AH 10.1,6.118

TT8_MAMPS 0.072865 DATA_FILE_SIZE 6451,259

HUMID 2009 CFSIZE 260034560,254083072

INTERNAL_PRESSURE 7.69561 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 031007,054817,4740.934,-12251.598,10,3.1,29,18.3

XPDR_PINGS 182

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 103.95 SBE_CT 172 24 98.81

Roll_motor 41 80 80.50 nil 0 0 0.00

VBD_pump_during_apogee 222 607 3235.79 nil 0 0 0.00

VBD_pump_during_surface 125 505 1511.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 101.38 nil 0 0 0.00

Iridium_during_connect 34 160 131.66 ARS 0 0 0.00

Iridium_during_xfer 162 223 863.46

Transponder_ping 46 420 461.75

Mmodem_TX 26 1000 645.06

Mmodem_RX 3444 6 526.80

GPS 33 50 16.72

TT8 481 19 96.26

LPSleep 1532 2 33.91

TT8_Active 467 19 93.56

TT8_Sampling 535 39 215.41

TT8_CF8 347 45 160.52

TT8_Kalman 33 81 27.54

Analog_circuits 771 12 93.47

GPS_charging 0 0 0.00

Compass 491 8 39.68

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.60 -97.8 0.0 0.0 0 118 0.00 0.00 -91.28 0.000 2 0.000 0.000 363 2048 3482

121 -1.60 -97.8 2.2 -4.7 15 152 11.30 2.62 -10.82 0.000 4 0.162 0.081 2377 649 3815

345 -1.60 -97.8 24.6 -6.7 45 349 0.00 2.42 0.00 0.000 6 0.000 0.036 2376 2056 3816

539 -1.60 -97.8 38.0 -6.9 60 543 0.00 2.50 0.00 0.000 4 0.000 0.055 2376 3451 3816

663 -1.60 -97.8 47.2 -7.5 69 671 0.00 2.47 0.00 0.000 6 0.000 0.038 2376 2052 3816

860 -1.60 -97.8 60.2 -6.0 85 864 0.00 2.55 0.00 0.000 4 0.000 0.056 2376 3461 3816

932 -1.60 -97.8 65.2 -7.0 90 936 0.00 2.47 0.00 0.000 6 0.000 0.039 2376 2045 3816

1134 -1.60 -97.8 78.9 -6.9 106 1138 0.00 2.60 0.00 0.000 4 0.000 0.073 2376 642 3816

1318 -1.60 -97.8 92.8 -7.1 119 1325 0.00 2.47 0.00 0.000 6 0.000 0.038 2376 2048 3816

1411 end dive: TARGET_DEPTH_EXCEEDED

state 1411 begin apogee

1416 -0.38 0.0 99.4 6.8 127 1498 1.33 0.00 75.57 0.582 6 0.102 0.000 2643 2461 3415

1499 end apogee: CONTROL_FINISHED_OK

state 1499 begin climb

1501 1.60 97.8 101.8 0.0 134 1584 2.05 2.62 73.82 0.577 4 0.073 0.067 3076 3855 3016

1623 1.61 106.2 95.7 7.9 144 1636 0.00 2.45 5.88 0.597 6 0.000 0.035 3076 2444 2982

1824 1.62 112.1 79.3 8.0 160 1837 0.00 2.62 4.12 0.596 4 0.000 0.064 3076 1045 2957

1947 1.62 112.1 68.9 9.3 169 1955 0.00 2.50 0.00 0.000 6 0.000 0.041 3077 2455 2957

2144 1.63 118.8 52.4 7.9 185 2157 0.00 2.62 4.82 0.581 4 0.000 0.067 3077 3848 2930

2289 1.63 121.7 39.7 8.2 196 2296 0.00 2.42 1.95 0.607 6 0.000 0.034 3076 2441 2918

2484 1.63 122.6 23.6 8.3 211 2489 0.00 2.60 0.00 0.000 4 0.000 0.064 3077 3853 2918

2663 1.69 166.4 9.8 5.8 234 2706 0.00 2.42 33.28 0.526 6 0.000 0.033 3076 2441 2736

2771 1.74 207.5 3.9 6.0 251 2797 0.15 0.00 23.42 0.523 2 0.063 0.000 3115 2440 2604

2798 end climb: SURFACE_DEPTH_REACHED

state 2798 begin surface coast

2823 end surface coast: CONTROL_FINISHED_OK

state 2823 begin surface

ID	107	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	10	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	83	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	152	ALTIM_PING_DEPTH	0
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3928	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2450	ALTIM_PULSE	1
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_PITCH	0	SM_CC	450	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	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	300	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	40	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	679	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	4028	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3415	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-16639.1	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	363	AH0_24V	91.800003	SEABIRD_T_G	0.004345139
SPEED_FACTOR	1	PITCH_MAX	3698	AH0_10V	61.200001	SEABIRD_T_H	0.00064258272
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-10.644979	SEABIRD_T_I	2.3711646e-05
MASS	51588	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001156423	SEABIRD_T_J	2.2769887e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.006271
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1385506
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022333476
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00024018179

GPS1	045030,4740.671,-12251.797,8,2.1,27,18.3	TGT_NAME	11_XS
_CALLS	1	TGT_LATLONG	4740.927,-12251.586
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.119,0.166
_SM_DEPTHo	0.58	KALMAN_X	18657.2,391.0,-121.0,-17267.5,-34.0
_SM_ANGLEo	-52.3	KALMAN_Y	13776.0,408.6,-29.4,-12207.8,22.7
GPS2	045635,4740.696,-12251.792,13,2.4,32,18.3	MHEAD_RNG_PITCHd_Wd	17.3,498,-19.3,-8.333
SPEED_LIMITS	0.144,0.204	D_GRID	99

FINISH	0.0,1.022038	ALTIM_TOP_PING	9.8,10.0
SM_CCo	2848,125.12,0.505,0,0,1580,450.13	ALTIM_BOTTOM_PING	74.5,999.0
SM_GC	0.57,0.00,0.00,125.12,0.000,0.000,0.505,360,2058,1580,-10.90,0.23,450.13	_24V_AH	23.9,8.828
IRIDIUM_FIX	4722.92,-12249.11,031007,070730	_10V_AH	10.1,6.118
TT8_MAMPS	0.072865	DATA_FILE_SIZE	6451,259
HUMID	2009	CFSIZE	260034560,254083072
INTERNAL_PRESSURE	7.69561	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	031007,054817,4740.934,-12251.598,10,3.1,29,18.3
XPDR_PINGS	182

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	103.95	SBE_CT	172	24	98.81
Roll_motor	41	80	80.50	nil	0	0	0.00
VBD_pump_during_apogee	222	607	3235.79	nil	0	0	0.00
VBD_pump_during_surface	125	505	1511.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	101.38	nil	0	0	0.00
Iridium_during_connect	34	160	131.66	ARS	0	0	0.00
Iridium_during_xfer	162	223	863.46
Transponder_ping	46	420	461.75
Mmodem_TX	26	1000	645.06
Mmodem_RX	3444	6	526.80
GPS	33	50	16.72
TT8	481	19	96.26
LPSleep	1532	2	33.91
TT8_Active	467	19	93.56
TT8_Sampling	535	39	215.41
TT8_CF8	347	45	160.52
TT8_Kalman	33	81	27.54
Analog_circuits	771	12	93.47
GPS_charging	0	0	0.00
Compass	491	8	39.68
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.60	-97.8	0.0	0.0	0	118	0.00	0.00	-91.28	0.000	2	0.000	0.000	363	2048	3482
121	-1.60	-97.8	2.2	-4.7	15	152	11.30	2.62	-10.82	0.000	4	0.162	0.081	2377	649	3815
345	-1.60	-97.8	24.6	-6.7	45	349	0.00	2.42	0.00	0.000	6	0.000	0.036	2376	2056	3816
539	-1.60	-97.8	38.0	-6.9	60	543	0.00	2.50	0.00	0.000	4	0.000	0.055	2376	3451	3816
663	-1.60	-97.8	47.2	-7.5	69	671	0.00	2.47	0.00	0.000	6	0.000	0.038	2376	2052	3816
860	-1.60	-97.8	60.2	-6.0	85	864	0.00	2.55	0.00	0.000	4	0.000	0.056	2376	3461	3816
932	-1.60	-97.8	65.2	-7.0	90	936	0.00	2.47	0.00	0.000	6	0.000	0.039	2376	2045	3816
1134	-1.60	-97.8	78.9	-6.9	106	1138	0.00	2.60	0.00	0.000	4	0.000	0.073	2376	642	3816
1318	-1.60	-97.8	92.8	-7.1	119	1325	0.00	2.47	0.00	0.000	6	0.000	0.038	2376	2048	3816
1411	end dive: TARGET_DEPTH_EXCEEDED
state	1411	begin apogee
1416	-0.38	0.0	99.4	6.8	127	1498	1.33	0.00	75.57	0.582	6	0.102	0.000	2643	2461	3415
1499	end apogee: CONTROL_FINISHED_OK
state	1499	begin climb
1501	1.60	97.8	101.8	0.0	134	1584	2.05	2.62	73.82	0.577	4	0.073	0.067	3076	3855	3016
1623	1.61	106.2	95.7	7.9	144	1636	0.00	2.45	5.88	0.597	6	0.000	0.035	3076	2444	2982
1824	1.62	112.1	79.3	8.0	160	1837	0.00	2.62	4.12	0.596	4	0.000	0.064	3076	1045	2957
1947	1.62	112.1	68.9	9.3	169	1955	0.00	2.50	0.00	0.000	6	0.000	0.041	3077	2455	2957
2144	1.63	118.8	52.4	7.9	185	2157	0.00	2.62	4.82	0.581	4	0.000	0.067	3077	3848	2930
2289	1.63	121.7	39.7	8.2	196	2296	0.00	2.42	1.95	0.607	6	0.000	0.034	3076	2441	2918
2484	1.63	122.6	23.6	8.3	211	2489	0.00	2.60	0.00	0.000	4	0.000	0.064	3077	3853	2918
2663	1.69	166.4	9.8	5.8	234	2706	0.00	2.42	33.28	0.526	6	0.000	0.033	3076	2441	2736
2771	1.74	207.5	3.9	6.0	251	2797	0.15	0.00	23.42	0.523	2	0.063	0.000	3115	2440	2604
2798	end climb: SURFACE_DEPTH_REACHED
state	2798	begin surface coast
2823	end surface coast: CONTROL_FINISHED_OK
state	2823	begin surface