Glider dive log

PN07 DabobBay Oct07 * SG106 * Dive index * Mission links * Dive 103 * 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 103 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 17 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 -45262.266 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 -45262.266

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 17 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 103 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 154338,4739.568,-12252.996,12,1.1,29,18.3 TGT_NAME H3

_CALLS 3 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.203,-0.121

_SM_DEPTHo 0.97 KALMAN_X 2679.6,57.9,-53.6,-3548.0,71.5

_SM_ANGLEo -60.9 KALMAN_Y 1478.5,-43.6,-101.5,-1670.3,58.6

GPS2 155459,4739.583,-12252.893,11,3.0,30,18.3 MHEAD_RNG_PITCHd_Wd 220.9,442,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 120

Post-dive calculations and measurements:

FINISH 1.5,1.020978 XPDR_PINGS 0

SM_CCo 2825,120.10,0.581,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.1,51.2

SM_GC 0.99,0.00,0.00,120.10,0.000,0.000,0.581,464,1819,1586,-12.13,0.54,400.08 _24V_AH 23.4,14.460

IRIDIUM_FIX 4719.74,-12254.47,280907,191926 _10V_AH 10.1,36.100

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6451,258

HUMID 2041 CFSIZE 260034560,253931520

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

TCM_TEMP 19.60 GPS 280907,164607,4739.512,-12253.144,13,2.0,23,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 217 163.17 SBE_CT 172 24 96.97

Roll_motor 46 77 83.84 nil 0 0 0.00

VBD_pump_during_apogee 193 677 3062.21 nil 0 0 0.00

VBD_pump_during_surface 120 581 1633.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 117 103 284.10 nil 0 0 0.00

Iridium_during_connect 193 160 724.08 ARS 0 0 0.00

Iridium_during_xfer 121 223 636.40

Transponder_ping 0 420 4.91

Mmodem_TX 19 1000 448.34

Mmodem_RX 3736 6 559.63

GPS 30 50 15.63

TT8 487 19 97.49

LPSleep 1697 2 37.55

TT8_Active 439 19 87.98

TT8_Sampling 489 39 196.86

TT8_CF8 540 45 249.83

TT8_Kalman 33 81 27.54

Analog_circuits 725 12 87.95

GPS_charging 0 0 0.00

Compass 443 8 35.82

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 -1.63 -122.2 0.0 0.0 0 93 0.00 0.00 -67.50 0.000 2 0.000 0.000 465 1814 3069

96 -1.63 -122.2 2.2 -4.3 11 139 14.95 2.50 -21.88 0.000 4 0.217 0.060 2742 3208 3718

212 -1.63 -122.2 7.8 -6.3 29 218 0.00 2.50 0.00 0.000 6 0.000 0.038 2743 1794 3720

284 -1.63 -122.2 13.0 -7.1 40 289 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 1794 3720

355 -1.63 -122.2 17.0 -5.6 51 361 0.00 2.62 0.00 0.000 4 0.000 0.072 2743 395 3721

400 -1.63 -122.2 19.8 -6.6 58 407 0.00 2.45 0.00 0.000 6 0.000 0.034 2743 1810 3721

470 -1.63 -122.2 23.7 -5.7 64 471 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 1810 3722

660 -1.63 -122.2 34.3 -5.4 79 664 0.00 2.67 0.00 0.000 4 0.000 0.070 2743 394 3722

745 -1.63 -122.2 39.6 -6.0 85 749 0.00 2.42 0.00 0.000 6 0.000 0.034 2743 1799 3722

940 -1.63 -122.2 50.9 -5.9 100 941 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 1802 3722

1132 -1.63 -122.2 62.7 -6.3 115 1133 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 1802 3722

1320 -1.63 -122.2 74.0 -6.0 130 1324 0.00 2.50 0.00 0.000 4 0.000 0.050 2743 3195 3722

1357 -1.63 -122.2 76.5 -6.2 132 1364 0.00 2.50 0.00 0.000 6 0.000 0.038 2743 1800 3722

1553 -1.63 -122.2 87.5 -5.5 148 1558 0.00 2.65 0.00 0.000 4 0.000 0.074 2743 391 3722

1631 -1.63 -122.2 91.8 -5.9 153 1639 0.00 2.47 0.00 0.000 6 0.000 0.035 2743 1801 3722

1801 end dive: TARGET_DEPTH_EXCEEDED

state 1801 begin apogee

1806 -0.38 0.0 100.6 5.1 167 1912 1.35 0.00 98.18 0.677 6 0.100 0.000 3012 1720 3218

1912 end apogee: CONTROL_FINISHED_OK

state 1912 begin climb

1914 1.63 122.2 100.9 0.0 176 2019 1.98 2.70 95.05 0.647 4 0.054 0.077 3460 334 2718

2036 1.63 122.2 90.1 11.9 185 2044 0.00 2.50 0.00 0.000 6 0.000 0.035 3460 1727 2716

2233 1.63 122.2 65.3 12.5 201 2237 0.00 2.67 0.00 0.000 4 0.000 0.077 3460 340 2716

2277 1.63 122.2 59.6 12.6 204 2286 0.00 2.47 0.00 0.000 6 0.000 0.035 3460 1730 2716

2474 1.63 122.2 36.2 11.9 220 2478 0.00 2.67 0.00 0.000 4 0.000 0.077 3460 339 2717

2505 1.63 122.2 32.0 13.1 222 2513 0.00 2.47 0.00 0.000 6 0.000 0.035 3460 1734 2716

2707 1.63 122.2 9.7 10.9 244 2713 0.00 2.67 0.00 0.000 4 0.000 0.077 3460 341 2716

2750 end climb: SURFACE_DEPTH_REACHED

state 2750 begin surface coast

2798 end surface coast: CONTROL_FINISHED_OK

state 2798 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	103	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	17	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	-45262.266	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	154338,4739.568,-12252.996,12,1.1,29,18.3	TGT_NAME	H3
_CALLS	3	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.203,-0.121
_SM_DEPTHo	0.97	KALMAN_X	2679.6,57.9,-53.6,-3548.0,71.5
_SM_ANGLEo	-60.9	KALMAN_Y	1478.5,-43.6,-101.5,-1670.3,58.6
GPS2	155459,4739.583,-12252.893,11,3.0,30,18.3	MHEAD_RNG_PITCHd_Wd	220.9,442,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	120

FINISH	1.5,1.020978	XPDR_PINGS	0
SM_CCo	2825,120.10,0.581,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.1,51.2
SM_GC	0.99,0.00,0.00,120.10,0.000,0.000,0.581,464,1819,1586,-12.13,0.54,400.08	_24V_AH	23.4,14.460
IRIDIUM_FIX	4719.74,-12254.47,280907,191926	_10V_AH	10.1,36.100
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6451,258
HUMID	2041	CFSIZE	260034560,253931520
INTERNAL_PRESSURE	8.41829	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	280907,164607,4739.512,-12253.144,13,2.0,23,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	217	163.17	SBE_CT	172	24	96.97
Roll_motor	46	77	83.84	nil	0	0	0.00
VBD_pump_during_apogee	193	677	3062.21	nil	0	0	0.00
VBD_pump_during_surface	120	581	1633.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	117	103	284.10	nil	0	0	0.00
Iridium_during_connect	193	160	724.08	ARS	0	0	0.00
Iridium_during_xfer	121	223	636.40
Transponder_ping	0	420	4.91
Mmodem_TX	19	1000	448.34
Mmodem_RX	3736	6	559.63
GPS	30	50	15.63
TT8	487	19	97.49
LPSleep	1697	2	37.55
TT8_Active	439	19	87.98
TT8_Sampling	489	39	196.86
TT8_CF8	540	45	249.83
TT8_Kalman	33	81	27.54
Analog_circuits	725	12	87.95
GPS_charging	0	0	0.00
Compass	443	8	35.82
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	-1.63	-122.2	0.0	0.0	0	93	0.00	0.00	-67.50	0.000	2	0.000	0.000	465	1814	3069
96	-1.63	-122.2	2.2	-4.3	11	139	14.95	2.50	-21.88	0.000	4	0.217	0.060	2742	3208	3718
212	-1.63	-122.2	7.8	-6.3	29	218	0.00	2.50	0.00	0.000	6	0.000	0.038	2743	1794	3720
284	-1.63	-122.2	13.0	-7.1	40	289	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	1794	3720
355	-1.63	-122.2	17.0	-5.6	51	361	0.00	2.62	0.00	0.000	4	0.000	0.072	2743	395	3721
400	-1.63	-122.2	19.8	-6.6	58	407	0.00	2.45	0.00	0.000	6	0.000	0.034	2743	1810	3721
470	-1.63	-122.2	23.7	-5.7	64	471	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	1810	3722
660	-1.63	-122.2	34.3	-5.4	79	664	0.00	2.67	0.00	0.000	4	0.000	0.070	2743	394	3722
745	-1.63	-122.2	39.6	-6.0	85	749	0.00	2.42	0.00	0.000	6	0.000	0.034	2743	1799	3722
940	-1.63	-122.2	50.9	-5.9	100	941	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	1802	3722
1132	-1.63	-122.2	62.7	-6.3	115	1133	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	1802	3722
1320	-1.63	-122.2	74.0	-6.0	130	1324	0.00	2.50	0.00	0.000	4	0.000	0.050	2743	3195	3722
1357	-1.63	-122.2	76.5	-6.2	132	1364	0.00	2.50	0.00	0.000	6	0.000	0.038	2743	1800	3722
1553	-1.63	-122.2	87.5	-5.5	148	1558	0.00	2.65	0.00	0.000	4	0.000	0.074	2743	391	3722
1631	-1.63	-122.2	91.8	-5.9	153	1639	0.00	2.47	0.00	0.000	6	0.000	0.035	2743	1801	3722
1801	end dive: TARGET_DEPTH_EXCEEDED
state	1801	begin apogee
1806	-0.38	0.0	100.6	5.1	167	1912	1.35	0.00	98.18	0.677	6	0.100	0.000	3012	1720	3218
1912	end apogee: CONTROL_FINISHED_OK
state	1912	begin climb
1914	1.63	122.2	100.9	0.0	176	2019	1.98	2.70	95.05	0.647	4	0.054	0.077	3460	334	2718
2036	1.63	122.2	90.1	11.9	185	2044	0.00	2.50	0.00	0.000	6	0.000	0.035	3460	1727	2716
2233	1.63	122.2	65.3	12.5	201	2237	0.00	2.67	0.00	0.000	4	0.000	0.077	3460	340	2716
2277	1.63	122.2	59.6	12.6	204	2286	0.00	2.47	0.00	0.000	6	0.000	0.035	3460	1730	2716
2474	1.63	122.2	36.2	11.9	220	2478	0.00	2.67	0.00	0.000	4	0.000	0.077	3460	339	2717
2505	1.63	122.2	32.0	13.1	222	2513	0.00	2.47	0.00	0.000	6	0.000	0.035	3460	1734	2716
2707	1.63	122.2	9.7	10.9	244	2713	0.00	2.67	0.00	0.000	4	0.000	0.077	3460	341	2716
2750	end climb: SURFACE_DEPTH_REACHED
state	2750	begin surface coast
2798	end surface coast: CONTROL_FINISHED_OK
state	2798	begin surface