Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 103 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_B 0.014024 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.5727e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 103 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 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2079 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 350 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 33 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 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 65 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 204 DEVICE4 -1

T_TURN 270 CALL_WAIT 60 VBD_MAX 3580 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2800 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 360 SMARTDEVICE2 -1

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 -61224.168 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 25 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 4070 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_I 2.5554549e-05

MASS 51503 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0041149999 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 90 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.0041149999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.014024 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 5.5727e-05 RHO 1.023 T_GPS_CHARGE -61224.168

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 65

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COURSE_BIAS 0 ID 128 ROLL_MAX 4014 T_TURN_SAMPINT 5

C_PITCH 2820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2079 INT_PRESSURE_YINT 0 ROLL_MIN 145 UNCOM_BLEED 50

C_ROLL_DIVE 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51503 R_PORT_OVSHOOT 33 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 31 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3580

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 204

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 103 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 100501,4805.566,-12221.494,38,1.2,39,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.098,0.138

_SM_DEPTHo 1.09 KALMAN_X 8182.5,68.2,77.4,-5344.6,-29.7

_SM_ANGLEo -67.2 KALMAN_Y 2812.8,-160.0,21.3,-8117.3,61.1

GPS2 100939,4805.527,-12221.481,11,1.4,11,18.3 MHEAD_RNG_PITCHd_Wd 306.4,5538,-13.2,-6.000

SPEED_LIMITS 0.060,0.170 D_GRID 110

Post-dive calculations and measurements:

FINISH 0.5,1.013497 XPDR_PINGS 0

SM_CCo 2773,93.18,0.736,0,0,1372,350.04 ALTIM_BOTTOM_PING 90.7,21.1

SM_GC 1.14,0.00,0.00,93.18,0.000,0.000,0.736,6,2169,1372,-8.80,0.54,350.04 _24V_AH 24.4,16.775

IRIDIUM_FIX 4748.51,-12224.57,090907,131345 _10V_AH 10.8,6.681

TT8_MAMPS 0.026078 DATA_FILE_SIZE 15969,296

HUMID 1829 CFSIZE 260165632,254803968

INTERNAL_PRESSURE 9.18004 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.10 GPS 090907,105914,4805.798,-12221.660,7,1.7,13,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 218 110.94 SBE_CT 209 24 122.62

Roll_motor 42 142 147.59 SBE_O2 230 19 106.82

VBD_pump_during_apogee 224 783 4291.99 WL_BB2F 499 105 1279.68

VBD_pump_during_surface 93 735 1672.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 102.16 nil 0 0 0.00

Iridium_during_connect 59 160 231.05 nil 0 0 0.00

Iridium_during_xfer 106 223 580.15

Transponder_ping 1 420 12.81

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.81

TT8 509 19 108.95

LPSleep 1374 2 32.51

TT8_Active 371 19 79.40

TT8_Sampling 621 39 267.29

TT8_CF8 294 45 145.51

TT8_Kalman 33 81 29.45

Analog_circuits 719 12 93.22

GPS_charging 0 0 0.00

Compass 630 8 54.44

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

17 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.78 -146.6 0.0 0.0 0 104 0.00 0.00 -82.25 0.000 6 0.000 0.000 11 2162 3398

106 -0.78 -146.6 3.3 -3.6 15 119 10.52 0.00 0.00 0.000 6 0.219 0.000 2562 2162 3401

187 -0.78 -146.6 14.1 -8.0 29 193 0.00 2.38 0.00 0.000 4 0.000 0.054 2557 3561 3403

215 -0.78 -146.6 16.3 -7.5 34 222 0.00 2.30 0.00 0.000 6 0.000 0.030 2557 2136 3403

288 -0.78 -146.6 21.7 -7.5 45 292 0.00 2.28 0.00 0.000 4 0.000 0.047 2558 750 3404

321 -0.78 -146.6 24.3 -7.7 48 325 0.00 2.30 0.00 0.000 6 0.000 0.038 2556 2152 3404

517 -0.78 -146.6 37.9 -7.0 66 521 0.00 2.35 0.00 0.000 4 0.000 0.054 2556 3558 3404

548 -0.78 -146.6 40.2 -6.8 68 556 0.00 2.30 0.00 0.000 6 0.000 0.030 2556 2140 3404

746 -0.78 -146.6 53.6 -7.0 87 747 0.00 0.00 0.00 0.000 6 0.000 0.000 2556 2140 3403

1065 -0.78 -146.6 75.2 -6.6 117 1069 0.00 2.38 0.00 0.000 4 0.000 0.052 2555 3562 3404

1143 -0.78 -146.6 80.6 -6.7 123 1150 0.00 2.28 0.00 0.000 6 0.000 0.030 2556 2143 3403

1299 end dive: TARGET_DEPTH_EXCEEDED

state 1299 begin apogee

1304 -0.23 0.0 90.7 6.5 138 1421 0.57 0.00 112.70 0.784 6 0.114 0.000 2740 2096 2800

1422 end apogee: CONTROL_FINISHED_OK

state 1422 begin climb

1424 0.78 146.6 93.2 0.0 150 1543 1.00 2.53 111.70 0.700 4 0.082 0.045 3070 646 2201

1560 0.78 146.6 87.3 6.7 163 1565 0.00 2.45 0.00 0.000 6 0.000 0.036 3070 2078 2201

1887 0.78 146.6 62.8 7.6 193 1891 0.00 2.38 0.00 0.000 4 0.000 0.051 3069 3490 2199

1971 0.78 146.6 55.7 7.9 200 1975 0.00 2.35 0.00 0.000 6 0.000 0.034 3078 2049 2199

2296 0.78 146.6 32.2 7.2 230 2297 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2049 2199

2487 0.78 146.6 18.6 7.0 249 2493 0.00 2.42 0.00 0.000 4 0.000 0.051 3078 3500 2199

2527 0.78 146.6 15.6 7.4 256 2533 0.00 2.30 0.00 0.000 6 0.000 0.034 3084 2079 2199

2601 0.78 146.6 10.5 6.8 269 2607 0.00 2.33 0.00 0.000 4 0.000 0.049 3089 660 2199

2615 0.78 146.6 9.6 6.7 271 2621 0.00 2.33 0.00 0.000 6 0.000 0.038 3088 2093 2199

2688 0.78 146.6 4.6 6.6 284 2695 0.00 2.30 0.00 0.000 4 0.000 0.052 3088 3487 2198

2712 0.78 146.6 3.0 6.9 288 2718 0.00 2.30 0.00 0.000 6 0.000 0.035 3095 2079 2198

2728 end climb: SURFACE_DEPTH_REACHED

state 2728 begin surface coast

2757 end surface coast: CONTROL_FINISHED_OK

state 2757 begin surface

ID	128	HD_B	0.014024	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.5727e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	103	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	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2079	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	350	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	33	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	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	65	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	204	DEVICE4	-1
T_TURN	270	CALL_WAIT	60	VBD_MAX	3580	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2800	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	360	SMARTDEVICE2	-1
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	-61224.168	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	25	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	4070	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_I	2.5554549e-05
MASS	51503	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0041149999	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	100501,4805.566,-12221.494,38,1.2,39,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.098,0.138
_SM_DEPTHo	1.09	KALMAN_X	8182.5,68.2,77.4,-5344.6,-29.7
_SM_ANGLEo	-67.2	KALMAN_Y	2812.8,-160.0,21.3,-8117.3,61.1
GPS2	100939,4805.527,-12221.481,11,1.4,11,18.3	MHEAD_RNG_PITCHd_Wd	306.4,5538,-13.2,-6.000
SPEED_LIMITS	0.060,0.170	D_GRID	110

FINISH	0.5,1.013497	XPDR_PINGS	0
SM_CCo	2773,93.18,0.736,0,0,1372,350.04	ALTIM_BOTTOM_PING	90.7,21.1
SM_GC	1.14,0.00,0.00,93.18,0.000,0.000,0.736,6,2169,1372,-8.80,0.54,350.04	_24V_AH	24.4,16.775
IRIDIUM_FIX	4748.51,-12224.57,090907,131345	_10V_AH	10.8,6.681
TT8_MAMPS	0.026078	DATA_FILE_SIZE	15969,296
HUMID	1829	CFSIZE	260165632,254803968
INTERNAL_PRESSURE	9.18004	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.10	GPS	090907,105914,4805.798,-12221.660,7,1.7,13,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	218	110.94	SBE_CT	209	24	122.62
Roll_motor	42	142	147.59	SBE_O2	230	19	106.82
VBD_pump_during_apogee	224	783	4291.99	WL_BB2F	499	105	1279.68
VBD_pump_during_surface	93	735	1672.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	102.16	nil	0	0	0.00
Iridium_during_connect	59	160	231.05	nil	0	0	0.00
Iridium_during_xfer	106	223	580.15
Transponder_ping	1	420	12.81
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.81
TT8	509	19	108.95
LPSleep	1374	2	32.51
TT8_Active	371	19	79.40
TT8_Sampling	621	39	267.29
TT8_CF8	294	45	145.51
TT8_Kalman	33	81	29.45
Analog_circuits	719	12	93.22
GPS_charging	0	0	0.00
Compass	630	8	54.44
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
17	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.78	-146.6	0.0	0.0	0	104	0.00	0.00	-82.25	0.000	6	0.000	0.000	11	2162	3398
106	-0.78	-146.6	3.3	-3.6	15	119	10.52	0.00	0.00	0.000	6	0.219	0.000	2562	2162	3401
187	-0.78	-146.6	14.1	-8.0	29	193	0.00	2.38	0.00	0.000	4	0.000	0.054	2557	3561	3403
215	-0.78	-146.6	16.3	-7.5	34	222	0.00	2.30	0.00	0.000	6	0.000	0.030	2557	2136	3403
288	-0.78	-146.6	21.7	-7.5	45	292	0.00	2.28	0.00	0.000	4	0.000	0.047	2558	750	3404
321	-0.78	-146.6	24.3	-7.7	48	325	0.00	2.30	0.00	0.000	6	0.000	0.038	2556	2152	3404
517	-0.78	-146.6	37.9	-7.0	66	521	0.00	2.35	0.00	0.000	4	0.000	0.054	2556	3558	3404
548	-0.78	-146.6	40.2	-6.8	68	556	0.00	2.30	0.00	0.000	6	0.000	0.030	2556	2140	3404
746	-0.78	-146.6	53.6	-7.0	87	747	0.00	0.00	0.00	0.000	6	0.000	0.000	2556	2140	3403
1065	-0.78	-146.6	75.2	-6.6	117	1069	0.00	2.38	0.00	0.000	4	0.000	0.052	2555	3562	3404
1143	-0.78	-146.6	80.6	-6.7	123	1150	0.00	2.28	0.00	0.000	6	0.000	0.030	2556	2143	3403
1299	end dive: TARGET_DEPTH_EXCEEDED
state	1299	begin apogee
1304	-0.23	0.0	90.7	6.5	138	1421	0.57	0.00	112.70	0.784	6	0.114	0.000	2740	2096	2800
1422	end apogee: CONTROL_FINISHED_OK
state	1422	begin climb
1424	0.78	146.6	93.2	0.0	150	1543	1.00	2.53	111.70	0.700	4	0.082	0.045	3070	646	2201
1560	0.78	146.6	87.3	6.7	163	1565	0.00	2.45	0.00	0.000	6	0.000	0.036	3070	2078	2201
1887	0.78	146.6	62.8	7.6	193	1891	0.00	2.38	0.00	0.000	4	0.000	0.051	3069	3490	2199
1971	0.78	146.6	55.7	7.9	200	1975	0.00	2.35	0.00	0.000	6	0.000	0.034	3078	2049	2199
2296	0.78	146.6	32.2	7.2	230	2297	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2049	2199
2487	0.78	146.6	18.6	7.0	249	2493	0.00	2.42	0.00	0.000	4	0.000	0.051	3078	3500	2199
2527	0.78	146.6	15.6	7.4	256	2533	0.00	2.30	0.00	0.000	6	0.000	0.034	3084	2079	2199
2601	0.78	146.6	10.5	6.8	269	2607	0.00	2.33	0.00	0.000	4	0.000	0.049	3089	660	2199
2615	0.78	146.6	9.6	6.7	271	2621	0.00	2.33	0.00	0.000	6	0.000	0.038	3088	2093	2199
2688	0.78	146.6	4.6	6.6	284	2695	0.00	2.30	0.00	0.000	4	0.000	0.052	3088	3487	2198
2712	0.78	146.6	3.0	6.9	288	2718	0.00	2.30	0.00	0.000	6	0.000	0.035	3095	2079	2198
2728	end climb: SURFACE_DEPTH_REACHED
state	2728	begin surface coast
2757	end surface coast: CONTROL_FINISHED_OK
state	2757	begin surface