Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 87 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 87 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 1 C_VBD 3202 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 -18533.074 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 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

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 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 5 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 120 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 -7.1405377 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 45

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 -18533.074

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2000 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 24 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 42 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 87 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-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 155727,4738.909,-12252.291,14,1.7,14,18.3 TGT_NAME H2

_CALLS 2 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.146,0.149

_SM_DEPTHo 1.37 KALMAN_X 22410.4,67.4,27.2,-21899.3,248.3

_SM_ANGLEo -64.6 KALMAN_Y 12843.4,87.2,-51.8,-14463.8,204.0

GPS2 160629,4738.934,-12252.209,15,2.4,34,18.3 MHEAD_RNG_PITCHd_Wd 297.2,1016,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 128

Post-dive calculations and measurements:

FINISH 3.3,1.020800 XPDR_PINGS 1

SM_CCo 2929,151.73,0.588,0,0,1367,450.13 ALTIM_BOTTOM_PING 95.4,999.0

SM_GC 1.32,0.00,0.00,151.73,0.000,0.000,0.588,411,2089,1367,-11.45,-0.31,450.13 _24V_AH 23.3,24.278

IRIDIUM_FIX 4722.92,-12256.21,250907,181846 _10V_AH 10.1,15.725

TT8_MAMPS 0.075166 DATA_FILE_SIZE 6459,265

HUMID 2228 CFSIZE 260231168,254693376

INTERNAL_PRESSURE 7.97882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.10 GPS 250907,170005,4739.178,-12252.379,15,3.0,34,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 198 141.87 SBE_CT 187 24 104.69

Roll_motor 30 75 53.74 nil 0 0 0.00

VBD_pump_during_apogee 183 719 3078.96 nil 0 0 0.00

VBD_pump_during_surface 151 587 2077.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 64 103 154.70 nil 0 0 0.00

Iridium_during_connect 29 160 108.59 ARS 0 0 0.00

Iridium_during_xfer 236 223 1229.43

Transponder_ping 0 420 4.89

Mmodem_TX 124 1000 2901.08

Mmodem_RX 3592 6 535.71

GPS 35 50 18.04

TT8 490 19 98.07

LPSleep 1744 2 38.58

TT8_Active 456 19 91.32

TT8_Sampling 491 39 197.60

TT8_CF8 467 45 216.17

TT8_Kalman 33 81 27.54

Analog_circuits 726 12 88.04

GPS_charging 0 0 0.00

Compass 446 8 36.09

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -1.68 -97.8 0.0 0.0 0 75 0.00 0.00 -48.03 0.000 2 0.000 0.000 410 2110 2423

78 -1.68 -97.8 2.2 -3.5 8 151 13.35 2.72 -49.17 0.000 4 0.199 0.076 2527 694 3604

231 -1.68 -97.8 11.8 -10.6 32 238 0.00 2.45 0.00 0.000 6 0.000 0.036 2527 2091 3606

303 -1.68 -97.8 18.7 -9.4 43 309 0.00 2.55 0.00 0.000 4 0.000 0.055 2527 3502 3605

387 -1.68 -97.8 27.3 -10.4 51 395 0.00 2.45 0.00 0.000 6 0.000 0.035 2527 2103 3606

583 -1.68 -97.8 46.4 -10.3 67 585 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2104 3607

774 -1.68 -97.8 65.0 -10.1 82 778 0.00 2.55 0.00 0.000 4 0.000 0.054 2527 3502 3607

864 -1.68 -97.8 75.0 -11.2 88 872 0.00 2.47 0.00 0.000 6 0.000 0.035 2527 2105 3607

1063 -1.68 -97.8 95.4 -10.1 104 1065 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2105 3606

1251 -1.68 -97.8 114.3 -10.1 119 1253 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2105 3607

1312 end dive: TARGET_DEPTH_EXCEEDED

state 1312 begin apogee

1317 -0.38 0.0 120.3 9.7 124 1399 1.48 0.00 78.12 0.681 6 0.107 0.000 2812 1999 3202

1400 end apogee: CONTROL_FINISHED_OK

state 1400 begin climb

1402 1.68 97.8 123.0 0.0 131 1483 2.20 0.00 76.30 0.660 6 0.062 0.000 3266 1999 2803

1672 1.71 117.9 107.4 7.7 153 1689 0.00 0.00 15.30 0.687 6 0.000 0.000 3266 1999 2721

1872 1.72 126.4 91.0 8.4 169 1884 0.00 0.00 6.30 0.719 6 0.000 0.000 3266 1999 2686

2074 1.72 128.3 73.8 8.8 185 2078 0.00 2.55 0.00 0.000 4 0.000 0.053 3266 3396 2685

2200 1.72 128.3 62.1 9.4 194 2204 0.00 2.55 0.00 0.000 6 0.000 0.036 3266 2001 2685

2395 1.72 128.3 44.4 9.2 209 2398 0.00 2.55 0.00 0.000 4 0.000 0.053 3266 3399 2685

2487 1.72 128.3 36.0 9.3 216 2491 0.00 2.47 0.00 0.000 6 0.000 0.036 3267 1992 2684

2683 1.73 136.5 18.8 8.4 232 2696 0.00 2.60 7.65 0.689 4 0.000 0.053 3266 3400 2644

2866 end climb: SURFACE_DEPTH_REACHED

state 2867 begin surface coast

2900 end surface coast: CONTROL_FINISHED_OK

state 2900 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	87	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	1	C_VBD	3202	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	-18533.074	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	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	155727,4738.909,-12252.291,14,1.7,14,18.3	TGT_NAME	H2
_CALLS	2	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.146,0.149
_SM_DEPTHo	1.37	KALMAN_X	22410.4,67.4,27.2,-21899.3,248.3
_SM_ANGLEo	-64.6	KALMAN_Y	12843.4,87.2,-51.8,-14463.8,204.0
GPS2	160629,4738.934,-12252.209,15,2.4,34,18.3	MHEAD_RNG_PITCHd_Wd	297.2,1016,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	128

FINISH	3.3,1.020800	XPDR_PINGS	1
SM_CCo	2929,151.73,0.588,0,0,1367,450.13	ALTIM_BOTTOM_PING	95.4,999.0
SM_GC	1.32,0.00,0.00,151.73,0.000,0.000,0.588,411,2089,1367,-11.45,-0.31,450.13	_24V_AH	23.3,24.278
IRIDIUM_FIX	4722.92,-12256.21,250907,181846	_10V_AH	10.1,15.725
TT8_MAMPS	0.075166	DATA_FILE_SIZE	6459,265
HUMID	2228	CFSIZE	260231168,254693376
INTERNAL_PRESSURE	7.97882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.10	GPS	250907,170005,4739.178,-12252.379,15,3.0,34,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	198	141.87	SBE_CT	187	24	104.69
Roll_motor	30	75	53.74	nil	0	0	0.00
VBD_pump_during_apogee	183	719	3078.96	nil	0	0	0.00
VBD_pump_during_surface	151	587	2077.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	64	103	154.70	nil	0	0	0.00
Iridium_during_connect	29	160	108.59	ARS	0	0	0.00
Iridium_during_xfer	236	223	1229.43
Transponder_ping	0	420	4.89
Mmodem_TX	124	1000	2901.08
Mmodem_RX	3592	6	535.71
GPS	35	50	18.04
TT8	490	19	98.07
LPSleep	1744	2	38.58
TT8_Active	456	19	91.32
TT8_Sampling	491	39	197.60
TT8_CF8	467	45	216.17
TT8_Kalman	33	81	27.54
Analog_circuits	726	12	88.04
GPS_charging	0	0	0.00
Compass	446	8	36.09
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-1.68	-97.8	0.0	0.0	0	75	0.00	0.00	-48.03	0.000	2	0.000	0.000	410	2110	2423
78	-1.68	-97.8	2.2	-3.5	8	151	13.35	2.72	-49.17	0.000	4	0.199	0.076	2527	694	3604
231	-1.68	-97.8	11.8	-10.6	32	238	0.00	2.45	0.00	0.000	6	0.000	0.036	2527	2091	3606
303	-1.68	-97.8	18.7	-9.4	43	309	0.00	2.55	0.00	0.000	4	0.000	0.055	2527	3502	3605
387	-1.68	-97.8	27.3	-10.4	51	395	0.00	2.45	0.00	0.000	6	0.000	0.035	2527	2103	3606
583	-1.68	-97.8	46.4	-10.3	67	585	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2104	3607
774	-1.68	-97.8	65.0	-10.1	82	778	0.00	2.55	0.00	0.000	4	0.000	0.054	2527	3502	3607
864	-1.68	-97.8	75.0	-11.2	88	872	0.00	2.47	0.00	0.000	6	0.000	0.035	2527	2105	3607
1063	-1.68	-97.8	95.4	-10.1	104	1065	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2105	3606
1251	-1.68	-97.8	114.3	-10.1	119	1253	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2105	3607
1312	end dive: TARGET_DEPTH_EXCEEDED
state	1312	begin apogee
1317	-0.38	0.0	120.3	9.7	124	1399	1.48	0.00	78.12	0.681	6	0.107	0.000	2812	1999	3202
1400	end apogee: CONTROL_FINISHED_OK
state	1400	begin climb
1402	1.68	97.8	123.0	0.0	131	1483	2.20	0.00	76.30	0.660	6	0.062	0.000	3266	1999	2803
1672	1.71	117.9	107.4	7.7	153	1689	0.00	0.00	15.30	0.687	6	0.000	0.000	3266	1999	2721
1872	1.72	126.4	91.0	8.4	169	1884	0.00	0.00	6.30	0.719	6	0.000	0.000	3266	1999	2686
2074	1.72	128.3	73.8	8.8	185	2078	0.00	2.55	0.00	0.000	4	0.000	0.053	3266	3396	2685
2200	1.72	128.3	62.1	9.4	194	2204	0.00	2.55	0.00	0.000	6	0.000	0.036	3266	2001	2685
2395	1.72	128.3	44.4	9.2	209	2398	0.00	2.55	0.00	0.000	4	0.000	0.053	3266	3399	2685
2487	1.72	128.3	36.0	9.3	216	2491	0.00	2.47	0.00	0.000	6	0.000	0.036	3267	1992	2684
2683	1.73	136.5	18.8	8.4	232	2696	0.00	2.60	7.65	0.689	4	0.000	0.053	3266	3400	2644
2866	end climb: SURFACE_DEPTH_REACHED
state	2867	begin surface coast
2900	end surface coast: CONTROL_FINISHED_OK
state	2900	begin surface