Glider dive log

PN07 DabobBay Oct07 * SG106 * Dive index * Mission links * Dive 102 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 102 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 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 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 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 35 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 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -45230.691 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 460 AH0_24V 91.800003 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -7.4494777 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 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 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 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 -7.4494777 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 35

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 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -45230.691

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 25 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 31 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 102 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 144623,4739.482,-12252.712,16,2.2,35,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.236,-0.004

_SM_DEPTHo 0.95 KALMAN_X 2530.7,41.9,-88.0,-3083.4,45.0

_SM_ANGLEo -60.7 KALMAN_Y 1346.4,-50.3,-132.1,-1696.8,-1.9

GPS2 145151,4739.476,-12252.682,17,1.9,17,18.3 MHEAD_RNG_PITCHd_Wd 250.8,649,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 123

Post-dive calculations and measurements:

FINISH 3.4,1.021943 XPDR_PINGS 0

SM_CCo 2855,122.18,0.581,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.2,51.2

SM_GC 0.92,0.00,0.00,122.18,0.000,0.000,0.581,465,1814,1586,-12.12,0.40,400.08 _24V_AH 23.9,14.372

IRIDIUM_FIX 4722.92,-12249.11,280907,171733 _10V_AH 10.1,36.022

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6426,261

HUMID 2028 CFSIZE 260034560,253964288

INTERNAL_PRESSURE 8.41829 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.50 GPS 280907,154338,4739.568,-12252.996,12,1.1,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 219 171.44 SBE_CT 174 24 100.29

Roll_motor 46 82 91.01 nil 0 0 0.00

VBD_pump_during_apogee 193 678 3140.50 nil 0 0 0.00

VBD_pump_during_surface 122 581 1697.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 101.45 nil 0 0 0.00

Iridium_during_connect 37 160 143.34 ARS 0 0 0.00

Iridium_during_xfer 138 223 736.34

Transponder_ping 0 420 5.02

Mmodem_TX 20 1000 478.72

Mmodem_RX 3413 6 522.20

GPS 18 50 9.09

TT8 495 19 99.15

LPSleep 1590 2 35.18

TT8_Active 452 19 90.58

TT8_Sampling 478 39 192.38

TT8_CF8 317 45 146.80

TT8_Kalman 33 81 27.53

Analog_circuits 734 12 88.98

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.63 -122.2 0.0 0.0 0 92 0.00 0.00 -67.45 0.000 2 0.000 0.000 462 1810 3076

95 -1.63 -122.2 2.1 -4.3 11 144 15.02 2.60 -24.17 0.000 4 0.219 0.063 2740 3207 3719

203 -1.63 -122.2 7.5 -6.8 28 210 0.00 2.50 0.00 0.000 6 0.000 0.038 2739 1797 3720

275 -1.63 -122.2 12.0 -5.6 39 281 0.00 2.55 0.00 0.000 4 0.000 0.048 2740 3207 3721

354 -1.63 -122.2 16.3 -5.9 51 360 0.00 2.50 0.00 0.000 6 0.000 0.038 2740 1793 3721

426 -1.63 -122.2 20.1 -5.3 62 430 0.00 2.62 0.00 0.000 4 0.000 0.073 2740 394 3721

470 -1.63 -122.2 22.5 -5.2 65 478 0.00 2.50 0.00 0.000 6 0.000 0.035 2740 1811 3721

666 -1.63 -122.2 32.9 -5.8 81 668 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 1811 3722

857 -1.63 -122.2 43.4 -5.4 96 858 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 1811 3722

1045 -1.63 -122.2 53.8 -5.6 111 1046 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 1812 3722

1235 -1.63 -122.2 65.0 -5.8 126 1237 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 1812 3722

1426 -1.63 -122.2 76.1 -5.9 141 1430 0.00 2.47 0.00 0.000 4 0.000 0.051 2740 3192 3722

1517 -1.63 -122.2 81.7 -6.3 147 1524 0.00 2.50 0.00 0.000 6 0.000 0.039 2740 1797 3722

1713 -1.63 -122.2 92.9 -6.0 163 1717 0.00 2.65 0.00 0.000 4 0.000 0.074 2740 391 3722

1804 -1.63 -122.2 98.8 -6.3 169 1811 0.00 2.47 0.00 0.000 6 0.000 0.035 2740 1799 3722

1834 end dive: TARGET_DEPTH_EXCEEDED

state 1835 begin apogee

1839 -0.38 0.0 100.6 5.7 172 1946 1.38 0.00 98.28 0.678 6 0.107 0.000 3011 1729 3217

1946 end apogee: CONTROL_FINISHED_OK

state 1947 begin climb

1948 1.63 122.2 101.4 0.0 181 2052 2.03 2.60 95.53 0.650 4 0.055 0.053 3460 3129 2718

2083 1.63 122.2 89.2 12.3 191 2091 0.00 2.53 0.00 0.000 6 0.000 0.041 3460 1749 2717

2280 1.63 122.2 65.8 11.9 207 2284 0.00 2.75 0.00 0.000 4 0.000 0.082 3460 326 2717

2345 1.63 122.2 57.3 12.9 212 2350 0.00 2.47 0.00 0.000 6 0.000 0.035 3460 1734 2716

2547 1.63 122.2 33.7 11.6 228 2552 0.00 2.72 0.00 0.000 4 0.000 0.076 3460 328 2716

2600 1.63 122.2 27.4 12.1 232 2604 0.00 2.47 0.00 0.000 6 0.000 0.036 3460 1736 2716

2801 1.63 122.2 6.1 10.6 257 2808 0.00 2.70 0.00 0.000 4 0.000 0.077 3460 330 2716

2812 end climb: SURFACE_DEPTH_REACHED

state 2812 begin surface coast

2826 end surface coast: CONTROL_FINISHED_OK

state 2827 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	102	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	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	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	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	35	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	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-45230.691	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	460	AH0_24V	91.800003	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-7.4494777	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	144623,4739.482,-12252.712,16,2.2,35,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.236,-0.004
_SM_DEPTHo	0.95	KALMAN_X	2530.7,41.9,-88.0,-3083.4,45.0
_SM_ANGLEo	-60.7	KALMAN_Y	1346.4,-50.3,-132.1,-1696.8,-1.9
GPS2	145151,4739.476,-12252.682,17,1.9,17,18.3	MHEAD_RNG_PITCHd_Wd	250.8,649,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	123

FINISH	3.4,1.021943	XPDR_PINGS	0
SM_CCo	2855,122.18,0.581,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.2,51.2
SM_GC	0.92,0.00,0.00,122.18,0.000,0.000,0.581,465,1814,1586,-12.12,0.40,400.08	_24V_AH	23.9,14.372
IRIDIUM_FIX	4722.92,-12249.11,280907,171733	_10V_AH	10.1,36.022
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6426,261
HUMID	2028	CFSIZE	260034560,253964288
INTERNAL_PRESSURE	8.41829	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.50	GPS	280907,154338,4739.568,-12252.996,12,1.1,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	219	171.44	SBE_CT	174	24	100.29
Roll_motor	46	82	91.01	nil	0	0	0.00
VBD_pump_during_apogee	193	678	3140.50	nil	0	0	0.00
VBD_pump_during_surface	122	581	1697.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	101.45	nil	0	0	0.00
Iridium_during_connect	37	160	143.34	ARS	0	0	0.00
Iridium_during_xfer	138	223	736.34
Transponder_ping	0	420	5.02
Mmodem_TX	20	1000	478.72
Mmodem_RX	3413	6	522.20
GPS	18	50	9.09
TT8	495	19	99.15
LPSleep	1590	2	35.18
TT8_Active	452	19	90.58
TT8_Sampling	478	39	192.38
TT8_CF8	317	45	146.80
TT8_Kalman	33	81	27.53
Analog_circuits	734	12	88.98
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.63	-122.2	0.0	0.0	0	92	0.00	0.00	-67.45	0.000	2	0.000	0.000	462	1810	3076
95	-1.63	-122.2	2.1	-4.3	11	144	15.02	2.60	-24.17	0.000	4	0.219	0.063	2740	3207	3719
203	-1.63	-122.2	7.5	-6.8	28	210	0.00	2.50	0.00	0.000	6	0.000	0.038	2739	1797	3720
275	-1.63	-122.2	12.0	-5.6	39	281	0.00	2.55	0.00	0.000	4	0.000	0.048	2740	3207	3721
354	-1.63	-122.2	16.3	-5.9	51	360	0.00	2.50	0.00	0.000	6	0.000	0.038	2740	1793	3721
426	-1.63	-122.2	20.1	-5.3	62	430	0.00	2.62	0.00	0.000	4	0.000	0.073	2740	394	3721
470	-1.63	-122.2	22.5	-5.2	65	478	0.00	2.50	0.00	0.000	6	0.000	0.035	2740	1811	3721
666	-1.63	-122.2	32.9	-5.8	81	668	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	1811	3722
857	-1.63	-122.2	43.4	-5.4	96	858	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	1811	3722
1045	-1.63	-122.2	53.8	-5.6	111	1046	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	1812	3722
1235	-1.63	-122.2	65.0	-5.8	126	1237	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	1812	3722
1426	-1.63	-122.2	76.1	-5.9	141	1430	0.00	2.47	0.00	0.000	4	0.000	0.051	2740	3192	3722
1517	-1.63	-122.2	81.7	-6.3	147	1524	0.00	2.50	0.00	0.000	6	0.000	0.039	2740	1797	3722
1713	-1.63	-122.2	92.9	-6.0	163	1717	0.00	2.65	0.00	0.000	4	0.000	0.074	2740	391	3722
1804	-1.63	-122.2	98.8	-6.3	169	1811	0.00	2.47	0.00	0.000	6	0.000	0.035	2740	1799	3722
1834	end dive: TARGET_DEPTH_EXCEEDED
state	1835	begin apogee
1839	-0.38	0.0	100.6	5.7	172	1946	1.38	0.00	98.28	0.678	6	0.107	0.000	3011	1729	3217
1946	end apogee: CONTROL_FINISHED_OK
state	1947	begin climb
1948	1.63	122.2	101.4	0.0	181	2052	2.03	2.60	95.53	0.650	4	0.055	0.053	3460	3129	2718
2083	1.63	122.2	89.2	12.3	191	2091	0.00	2.53	0.00	0.000	6	0.000	0.041	3460	1749	2717
2280	1.63	122.2	65.8	11.9	207	2284	0.00	2.75	0.00	0.000	4	0.000	0.082	3460	326	2717
2345	1.63	122.2	57.3	12.9	212	2350	0.00	2.47	0.00	0.000	6	0.000	0.035	3460	1734	2716
2547	1.63	122.2	33.7	11.6	228	2552	0.00	2.72	0.00	0.000	4	0.000	0.076	3460	328	2716
2600	1.63	122.2	27.4	12.1	232	2604	0.00	2.47	0.00	0.000	6	0.000	0.036	3460	1736	2716
2801	1.63	122.2	6.1	10.6	257	2808	0.00	2.70	0.00	0.000	4	0.000	0.077	3460	330	2716
2812	end climb: SURFACE_DEPTH_REACHED
state	2812	begin surface coast
2826	end surface coast: CONTROL_FINISHED_OK
state	2827	begin surface