Glider dive log

PortSusan 16Sep09 * SG503 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 11 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 425 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 40 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 445 DEVICE2 101

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3956 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2800 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 600 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -4 T_GPS 12 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -7407.6401 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 203 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3889 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3343 PRESSURE_YINT -51.755669 SEABIRD_T_G 0.0043281103

RHO 1.0233001 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_H 0.00062152545

MASS 51681 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.1491383e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.0368557e-06

FERRY_MAX 45 PITCH_GAIN 37 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.162479

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1594115

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 4.3937558e-05

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00011023274

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 37 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3889 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 203 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011732637 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -51.755669 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 12

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -7407.6401

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0233001 T_MISSION 60

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 600

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 503 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3343 KALMAN_USE 1 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2200 MASS 51681 R_PORT_OVSHOOT 30 VBD_BLEED_AD_RATE 8

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 40 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -10.162479 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1594115 VBD_MAX 3956

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 4.3937558e-05 VBD_MAXERRORS 1

DEVICE2 101 N_FILEKB 4 SEABIRD_C_J 0.00011023274 VBD_MIN 445

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043281103 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062152545 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1491383e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.0368557e-06 XPDR_DEVICE 24

DIVE 11 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 041438,4806.360,-12222.353,9,2.0,9,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.185,-0.182

_SM_DEPTHo 0.71 KALMAN_X -873.8,-311.9,-89.3,1139.7,-138.9

_SM_ANGLEo -82.1 KALMAN_Y 619.6,193.0,-67.9,-1456.0,7.0

GPS2 041958,4806.363,-12222.365,15,2.1,34,18.3 MHEAD_RNG_PITCHd_Wd 116.3,811,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 107

Post-dive calculations and measurements:

FINISH 3.3,1.019868 ALTIM_BOTTOM_PING 80.5,43.9

SM_CCo 1703,131.62,0.523,0,0,1066,425.10 _24V_AH 24.6,4.133

SM_GC 1.18,0.00,0.00,131.62,0.000,0.000,0.523,199,2210,1066,-9.83,0.28,425.10 _10V_AH 10.6,3.925

IRIDIUM_FIX 4748.51,-12224.57,121298,030319 DATA_FILE_SIZE 25553,367

TT8_MAMPS 0.050622 CAP_FILE_SIZE 40108,0

HUMID 2130 CFSIZE 260165632,256270336

INTERNAL_PRESSURE 9.37536 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.90 GPS 170909,045138,4806.160,-12222.193,9,2.0,9,18.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 238 128.51 SBE_CT 244 24 144.37

Roll_motor 22 100 55.18 AA4330 407 33 331.07

VBD_pump_during_apogee 216 596 3182.14 WL_BBFL2VMT 357 105 924.51

VBD_pump_during_surface 131 523 1693.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 63.41 nil 0 0 0.00

Iridium_during_connect 35 160 139.78 nil 0 0 0.00

Iridium_during_xfer 172 223 948.83

Transponder_ping 0 420 7.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 19.47

TT8 0 19 0.00

LPSleep 706 2 16.40

TT8_Active 414 19 86.91

TT8_Sampling 745 39 314.48

TT8_CF8 288 45 140.30

TT8_Kalman 33 81 28.89

Analog_circuits 741 12 94.37

GPS_charging 0 0 0.00

Compass 579 8 49.17

RAFOS 0 0 0.00

Transponder 5 30 1.75

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.65 -146.6 0.0 0.0 0 81 0.00 0.00 -67.57 0.000 2 0.000 0.000 196 2220 2946

83 -0.65 -146.6 3.4 -6.6 12 107 11.55 2.30 -9.23 0.000 4 0.239 0.051 3126 775 3399

216 -0.65 -146.6 24.2 -13.2 41 221 0.00 2.20 0.00 0.000 6 0.000 0.038 3117 2191 3401

286 -0.65 -146.6 34.3 -14.7 57 292 0.00 2.22 0.00 0.000 4 0.000 0.046 3106 3610 3400

300 -0.65 -146.6 36.4 -15.0 60 306 0.00 2.20 0.00 0.000 6 0.000 0.032 3106 2206 3401

370 -0.65 -146.6 47.7 -15.8 76 375 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2205 3401

504 -0.65 -146.6 68.6 -15.9 107 509 0.00 0.00 0.00 0.000 6 0.000 0.000 3106 2205 3401

639 -0.65 -146.6 89.2 -15.2 138 645 0.00 2.22 0.00 0.000 4 0.000 0.047 3095 3604 3401

701 -0.65 -146.6 99.1 -15.4 152 707 0.10 2.20 0.00 0.000 6 0.132 0.035 3129 2192 3400

757 end dive: TARGET_DEPTH_EXCEEDED

state 757 begin apogee

760 -0.14 0.0 107.3 13.4 165 870 0.47 0.00 106.18 0.597 6 0.120 0.000 3291 2190 2799

871 end apogee: CONTROL_FINISHED_OK

state 871 begin climb

872 0.65 146.6 110.8 0.0 185 987 0.73 0.00 110.60 0.570 6 0.079 0.000 3551 2190 2202

1117 0.65 146.6 80.9 15.5 236 1123 0.00 2.22 0.00 0.000 4 0.000 0.044 3551 3557 2199

1161 0.65 146.6 73.4 16.7 246 1167 0.00 2.25 0.00 0.000 6 0.000 0.037 3561 2153 2198

1297 0.65 146.6 51.8 15.8 277 1302 0.00 0.00 0.00 0.000 6 0.000 0.000 3562 2152 2198

1432 0.65 146.6 30.7 15.1 308 1437 0.00 0.00 0.00 0.000 6 0.000 0.000 3561 2152 2198

1501 0.65 146.6 20.1 14.9 324 1507 0.00 0.00 0.00 0.000 6 0.000 0.000 3561 2152 2197

1571 0.65 146.6 10.2 14.1 340 1577 0.00 2.22 0.00 0.000 4 0.000 0.044 3573 735 2197

1598 0.65 146.6 6.6 13.6 346 1604 0.00 2.22 0.00 0.000 6 0.000 0.038 3573 2155 2196

1628 end climb: SURFACE_DEPTH_REACHED

state 1628 begin surface coast

1689 end surface coast: CONTROL_FINISHED_OK

state 1689 begin surface

ID	503	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	11	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	425	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	40	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	445	DEVICE2	101
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3956	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2800	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	600	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-4	T_GPS	12	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-7407.6401	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	203	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3889	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3343	PRESSURE_YINT	-51.755669	SEABIRD_T_G	0.0043281103
RHO	1.0233001	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_H	0.00062152545
MASS	51681	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.1491383e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.0368557e-06
FERRY_MAX	45	PITCH_GAIN	37	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.162479
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1594115
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	4.3937558e-05
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00011023274
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	041438,4806.360,-12222.353,9,2.0,9,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.185,-0.182
_SM_DEPTHo	0.71	KALMAN_X	-873.8,-311.9,-89.3,1139.7,-138.9
_SM_ANGLEo	-82.1	KALMAN_Y	619.6,193.0,-67.9,-1456.0,7.0
GPS2	041958,4806.363,-12222.365,15,2.1,34,18.3	MHEAD_RNG_PITCHd_Wd	116.3,811,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	107

FINISH	3.3,1.019868	ALTIM_BOTTOM_PING	80.5,43.9
SM_CCo	1703,131.62,0.523,0,0,1066,425.10	_24V_AH	24.6,4.133
SM_GC	1.18,0.00,0.00,131.62,0.000,0.000,0.523,199,2210,1066,-9.83,0.28,425.10	_10V_AH	10.6,3.925
IRIDIUM_FIX	4748.51,-12224.57,121298,030319	DATA_FILE_SIZE	25553,367
TT8_MAMPS	0.050622	CAP_FILE_SIZE	40108,0
HUMID	2130	CFSIZE	260165632,256270336
INTERNAL_PRESSURE	9.37536	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.90	GPS	170909,045138,4806.160,-12222.193,9,2.0,9,18.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	238	128.51	SBE_CT	244	24	144.37
Roll_motor	22	100	55.18	AA4330	407	33	331.07
VBD_pump_during_apogee	216	596	3182.14	WL_BBFL2VMT	357	105	924.51
VBD_pump_during_surface	131	523	1693.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	63.41	nil	0	0	0.00
Iridium_during_connect	35	160	139.78	nil	0	0	0.00
Iridium_during_xfer	172	223	948.83
Transponder_ping	0	420	7.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	19.47
TT8	0	19	0.00
LPSleep	706	2	16.40
TT8_Active	414	19	86.91
TT8_Sampling	745	39	314.48
TT8_CF8	288	45	140.30
TT8_Kalman	33	81	28.89
Analog_circuits	741	12	94.37
GPS_charging	0	0	0.00
Compass	579	8	49.17
RAFOS	0	0	0.00
Transponder	5	30	1.75

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.65	-146.6	0.0	0.0	0	81	0.00	0.00	-67.57	0.000	2	0.000	0.000	196	2220	2946
83	-0.65	-146.6	3.4	-6.6	12	107	11.55	2.30	-9.23	0.000	4	0.239	0.051	3126	775	3399
216	-0.65	-146.6	24.2	-13.2	41	221	0.00	2.20	0.00	0.000	6	0.000	0.038	3117	2191	3401
286	-0.65	-146.6	34.3	-14.7	57	292	0.00	2.22	0.00	0.000	4	0.000	0.046	3106	3610	3400
300	-0.65	-146.6	36.4	-15.0	60	306	0.00	2.20	0.00	0.000	6	0.000	0.032	3106	2206	3401
370	-0.65	-146.6	47.7	-15.8	76	375	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2205	3401
504	-0.65	-146.6	68.6	-15.9	107	509	0.00	0.00	0.00	0.000	6	0.000	0.000	3106	2205	3401
639	-0.65	-146.6	89.2	-15.2	138	645	0.00	2.22	0.00	0.000	4	0.000	0.047	3095	3604	3401
701	-0.65	-146.6	99.1	-15.4	152	707	0.10	2.20	0.00	0.000	6	0.132	0.035	3129	2192	3400
757	end dive: TARGET_DEPTH_EXCEEDED
state	757	begin apogee
760	-0.14	0.0	107.3	13.4	165	870	0.47	0.00	106.18	0.597	6	0.120	0.000	3291	2190	2799
871	end apogee: CONTROL_FINISHED_OK
state	871	begin climb
872	0.65	146.6	110.8	0.0	185	987	0.73	0.00	110.60	0.570	6	0.079	0.000	3551	2190	2202
1117	0.65	146.6	80.9	15.5	236	1123	0.00	2.22	0.00	0.000	4	0.000	0.044	3551	3557	2199
1161	0.65	146.6	73.4	16.7	246	1167	0.00	2.25	0.00	0.000	6	0.000	0.037	3561	2153	2198
1297	0.65	146.6	51.8	15.8	277	1302	0.00	0.00	0.00	0.000	6	0.000	0.000	3562	2152	2198
1432	0.65	146.6	30.7	15.1	308	1437	0.00	0.00	0.00	0.000	6	0.000	0.000	3561	2152	2198
1501	0.65	146.6	20.1	14.9	324	1507	0.00	0.00	0.00	0.000	6	0.000	0.000	3561	2152	2197
1571	0.65	146.6	10.2	14.1	340	1577	0.00	2.22	0.00	0.000	4	0.000	0.044	3573	735	2197
1598	0.65	146.6	6.6	13.6	346	1604	0.00	2.22	0.00	0.000	6	0.000	0.038	3573	2155	2196
1628	end climb: SURFACE_DEPTH_REACHED
state	1628	begin surface coast
1689	end surface coast: CONTROL_FINISHED_OK
state	1689	begin surface