Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 108 * 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 108 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -45354.203 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 -45354.203

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 28 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 35 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 108 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 202507,4739.483,-12253.080,17,1.6,27,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.231,-0.047

_SM_DEPTHo 0.98 KALMAN_X 2915.3,104.5,140.5,-4269.7,-19.0

_SM_ANGLEo -62.9 KALMAN_Y 1800.1,42.0,161.1,-2460.5,49.6

GPS2 203033,4739.516,-12253.095,14,1.5,14,18.3 MHEAD_RNG_PITCHd_Wd 83.2,869,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 117

Post-dive calculations and measurements:

FINISH 3.1,1.021704 XPDR_PINGS 0

SM_CCo 2776,114.05,0.581,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.0,51.0

SM_GC 0.94,0.00,0.00,114.05,0.000,0.000,0.581,462,1807,1586,-12.13,0.23,400.08 _24V_AH 23.8,14.862

IRIDIUM_FIX 4722.92,-12157.61,280907,232309 _10V_AH 10.1,36.442

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6444,256

HUMID 2038 CFSIZE 260034560,253775872

INTERNAL_PRESSURE 8.40853 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 280907,212033,4739.414,-12252.788,9,1.6,9,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 215 167.09 SBE_CT 171 24 97.79

Roll_motor 46 84 92.57 nil 0 0 0.00

VBD_pump_during_apogee 204 678 3306.99 nil 0 0 0.00

VBD_pump_during_surface 114 580 1576.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 100.38 nil 0 0 0.00

Iridium_during_connect 36 160 138.90 ARS 0 0 0.00

Iridium_during_xfer 139 223 739.14

Transponder_ping 0 420 5.00

Mmodem_TX 19 1000 456.01

Mmodem_RX 3327 6 506.90

GPS 14 50 7.37

TT8 481 19 96.21

LPSleep 1526 2 33.76

TT8_Active 459 19 91.82

TT8_Sampling 461 39 185.42

TT8_CF8 318 45 147.19

TT8_Kalman 33 81 27.53

Analog_circuits 737 12 89.37

GPS_charging 0 0 0.00

Compass 433 8 35.05

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 98 0.00 0.00 -73.43 0.000 2 0.000 0.000 462 1811 3194

101 -1.63 -122.2 2.2 -4.1 12 144 14.88 2.55 -18.62 0.000 4 0.216 0.062 2739 3194 3719

210 -1.63 -122.2 7.2 -6.0 29 216 0.00 2.47 0.00 0.000 6 0.000 0.039 2741 1797 3720

282 -1.63 -122.2 11.3 -5.7 40 288 0.00 2.53 0.00 0.000 4 0.000 0.049 2740 3195 3721

340 -1.63 -122.2 15.2 -6.7 49 347 0.00 2.47 0.00 0.000 6 0.000 0.038 2740 1797 3721

412 -1.63 -122.2 19.5 -6.0 60 419 0.00 2.65 0.00 0.000 4 0.000 0.074 2740 397 3721

443 -1.63 -122.2 21.6 -6.7 63 451 0.00 2.47 0.00 0.000 6 0.000 0.034 2740 1802 3721

640 -1.63 -122.2 33.0 -5.9 79 644 0.00 2.67 0.00 0.000 4 0.000 0.071 2740 395 3721

679 -1.63 -122.2 35.6 -6.7 82 683 0.00 2.45 0.00 0.000 6 0.000 0.035 2740 1800 3722

881 -1.63 -122.2 48.8 -6.7 98 885 0.00 2.50 0.00 0.000 4 0.000 0.050 2740 3198 3722

933 -1.63 -122.2 52.2 -6.7 101 941 0.00 2.50 0.00 0.000 6 0.000 0.038 2740 1797 3722

1129 -1.63 -122.2 64.0 -6.2 117 1131 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 1798 3722

1320 -1.63 -122.2 74.8 -5.7 132 1321 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 1797 3722

1509 -1.63 -122.2 86.0 -5.7 147 1513 0.00 2.53 0.00 0.000 4 0.000 0.049 2740 3199 3722

1674 -1.63 -122.2 95.8 -6.1 159 1678 0.00 2.47 0.00 0.000 6 0.000 0.038 2740 1797 3722

1753 end dive: TARGET_DEPTH_EXCEEDED

state 1753 begin apogee

1758 -0.38 0.0 100.4 5.4 165 1864 1.38 0.00 98.40 0.679 6 0.105 0.000 3012 1724 3218

1865 end apogee: CONTROL_FINISHED_OK

state 1865 begin climb

1867 1.63 122.2 101.2 0.0 174 1973 2.03 0.00 95.62 0.652 6 0.054 0.000 3455 1723 2718

2161 1.63 122.2 71.1 11.7 198 2165 0.00 2.58 0.00 0.000 4 0.000 0.052 3455 3127 2716

2192 1.63 122.2 67.1 12.9 200 2200 0.00 2.53 0.00 0.000 6 0.000 0.040 3455 1741 2716

2389 1.63 122.2 43.7 11.9 216 2393 0.00 2.72 0.00 0.000 4 0.000 0.084 3455 333 2716

2428 1.63 122.2 38.7 12.4 219 2432 0.00 2.45 0.00 0.000 6 0.000 0.036 3455 1727 2715

2625 1.63 122.2 15.3 12.4 237 2630 0.00 0.00 0.00 0.000 6 0.000 0.000 3455 1730 2715

2696 1.65 136.9 8.1 8.8 248 2715 0.00 2.78 10.68 0.657 4 0.000 0.078 3455 328 2660

2732 end climb: SURFACE_DEPTH_REACHED

state 2733 begin surface coast

2747 end surface coast: CONTROL_FINISHED_OK

state 2748 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	108	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-45354.203	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	202507,4739.483,-12253.080,17,1.6,27,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.231,-0.047
_SM_DEPTHo	0.98	KALMAN_X	2915.3,104.5,140.5,-4269.7,-19.0
_SM_ANGLEo	-62.9	KALMAN_Y	1800.1,42.0,161.1,-2460.5,49.6
GPS2	203033,4739.516,-12253.095,14,1.5,14,18.3	MHEAD_RNG_PITCHd_Wd	83.2,869,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	117

FINISH	3.1,1.021704	XPDR_PINGS	0
SM_CCo	2776,114.05,0.581,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.0,51.0
SM_GC	0.94,0.00,0.00,114.05,0.000,0.000,0.581,462,1807,1586,-12.13,0.23,400.08	_24V_AH	23.8,14.862
IRIDIUM_FIX	4722.92,-12157.61,280907,232309	_10V_AH	10.1,36.442
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6444,256
HUMID	2038	CFSIZE	260034560,253775872
INTERNAL_PRESSURE	8.40853	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	280907,212033,4739.414,-12252.788,9,1.6,9,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	215	167.09	SBE_CT	171	24	97.79
Roll_motor	46	84	92.57	nil	0	0	0.00
VBD_pump_during_apogee	204	678	3306.99	nil	0	0	0.00
VBD_pump_during_surface	114	580	1576.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	100.38	nil	0	0	0.00
Iridium_during_connect	36	160	138.90	ARS	0	0	0.00
Iridium_during_xfer	139	223	739.14
Transponder_ping	0	420	5.00
Mmodem_TX	19	1000	456.01
Mmodem_RX	3327	6	506.90
GPS	14	50	7.37
TT8	481	19	96.21
LPSleep	1526	2	33.76
TT8_Active	459	19	91.82
TT8_Sampling	461	39	185.42
TT8_CF8	318	45	147.19
TT8_Kalman	33	81	27.53
Analog_circuits	737	12	89.37
GPS_charging	0	0	0.00
Compass	433	8	35.05
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	98	0.00	0.00	-73.43	0.000	2	0.000	0.000	462	1811	3194
101	-1.63	-122.2	2.2	-4.1	12	144	14.88	2.55	-18.62	0.000	4	0.216	0.062	2739	3194	3719
210	-1.63	-122.2	7.2	-6.0	29	216	0.00	2.47	0.00	0.000	6	0.000	0.039	2741	1797	3720
282	-1.63	-122.2	11.3	-5.7	40	288	0.00	2.53	0.00	0.000	4	0.000	0.049	2740	3195	3721
340	-1.63	-122.2	15.2	-6.7	49	347	0.00	2.47	0.00	0.000	6	0.000	0.038	2740	1797	3721
412	-1.63	-122.2	19.5	-6.0	60	419	0.00	2.65	0.00	0.000	4	0.000	0.074	2740	397	3721
443	-1.63	-122.2	21.6	-6.7	63	451	0.00	2.47	0.00	0.000	6	0.000	0.034	2740	1802	3721
640	-1.63	-122.2	33.0	-5.9	79	644	0.00	2.67	0.00	0.000	4	0.000	0.071	2740	395	3721
679	-1.63	-122.2	35.6	-6.7	82	683	0.00	2.45	0.00	0.000	6	0.000	0.035	2740	1800	3722
881	-1.63	-122.2	48.8	-6.7	98	885	0.00	2.50	0.00	0.000	4	0.000	0.050	2740	3198	3722
933	-1.63	-122.2	52.2	-6.7	101	941	0.00	2.50	0.00	0.000	6	0.000	0.038	2740	1797	3722
1129	-1.63	-122.2	64.0	-6.2	117	1131	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	1798	3722
1320	-1.63	-122.2	74.8	-5.7	132	1321	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	1797	3722
1509	-1.63	-122.2	86.0	-5.7	147	1513	0.00	2.53	0.00	0.000	4	0.000	0.049	2740	3199	3722
1674	-1.63	-122.2	95.8	-6.1	159	1678	0.00	2.47	0.00	0.000	6	0.000	0.038	2740	1797	3722
1753	end dive: TARGET_DEPTH_EXCEEDED
state	1753	begin apogee
1758	-0.38	0.0	100.4	5.4	165	1864	1.38	0.00	98.40	0.679	6	0.105	0.000	3012	1724	3218
1865	end apogee: CONTROL_FINISHED_OK
state	1865	begin climb
1867	1.63	122.2	101.2	0.0	174	1973	2.03	0.00	95.62	0.652	6	0.054	0.000	3455	1723	2718
2161	1.63	122.2	71.1	11.7	198	2165	0.00	2.58	0.00	0.000	4	0.000	0.052	3455	3127	2716
2192	1.63	122.2	67.1	12.9	200	2200	0.00	2.53	0.00	0.000	6	0.000	0.040	3455	1741	2716
2389	1.63	122.2	43.7	11.9	216	2393	0.00	2.72	0.00	0.000	4	0.000	0.084	3455	333	2716
2428	1.63	122.2	38.7	12.4	219	2432	0.00	2.45	0.00	0.000	6	0.000	0.036	3455	1727	2715
2625	1.63	122.2	15.3	12.4	237	2630	0.00	0.00	0.00	0.000	6	0.000	0.000	3455	1730	2715
2696	1.65	136.9	8.1	8.8	248	2715	0.00	2.78	10.68	0.657	4	0.000	0.078	3455	328	2660
2732	end climb: SURFACE_DEPTH_REACHED
state	2733	begin surface coast
2747	end surface coast: CONTROL_FINISHED_OK
state	2748	begin surface