Glider dive log

PN07 DabobBay Oct07 * SG106 * Dive index * Mission links * Dive 139 * 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 139 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -46060.23 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 -46060.23

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 23 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 37 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 139 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 011653,4739.607,-12252.793,12,4.7,31,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.197,-0.131

_SM_DEPTHo 0.88 KALMAN_X 2921.4,72.4,21.8,-3660.3,-4.6

_SM_ANGLEo -56.3 KALMAN_Y 4252.4,228.6,88.5,-4749.1,19.5

GPS2 012229,4739.668,-12252.718,16,3.4,35,18.3 MHEAD_RNG_PITCHd_Wd 218.1,710,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 121

Post-dive calculations and measurements:

FINISH 0.3,1.022054 XPDR_PINGS 0

SM_CCo 2794,119.40,0.582,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.5,51.5

SM_GC 0.81,0.00,0.00,119.40,0.000,0.000,0.582,460,1805,1586,-12.15,0.17,400.08 _24V_AH 23.9,17.233

IRIDIUM_FIX 4722.92,-12249.11,300907,040444 _10V_AH 10.1,38.599

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6460,257

HUMID 2026 CFSIZE 260034560,252809216

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 300907,021317,4739.609,-12253.020,14,2.1,33,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 210 157.09 SBE_CT 171 24 98.65

Roll_motor 45 85 93.45 nil 0 0 0.00

VBD_pump_during_apogee 193 681 3155.01 nil 0 0 0.00

VBD_pump_during_surface 119 582 1661.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 80.68 nil 0 0 0.00

Iridium_during_connect 43 160 165.69 ARS 0 0 0.00

Iridium_during_xfer 119 223 638.97

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3383 6 517.46

GPS 36 50 18.46

TT8 484 19 96.83

LPSleep 1544 2 34.15

TT8_Active 442 19 88.49

TT8_Sampling 493 39 198.55

TT8_CF8 314 45 145.34

TT8_Kalman 33 81 27.53

Analog_circuits 726 12 88.11

GPS_charging 0 0 0.00

Compass 441 8 35.67

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 0 105 0.00 0.00 -79.22 0.000 2 0.000 0.000 462 1805 3307

107 -1.63 -122.2 2.3 -5.1 13 144 14.65 2.72 -13.70 0.000 4 0.210 0.085 2741 400 3719

178 -1.63 -122.2 6.0 -6.5 24 184 0.00 2.45 0.00 0.000 6 0.000 0.035 2741 1809 3721

250 -1.63 -122.2 9.2 -5.3 35 256 0.00 2.47 0.00 0.000 4 0.000 0.049 2741 3189 3721

395 -1.63 -122.2 17.5 -6.2 57 401 0.00 2.47 0.00 0.000 6 0.000 0.038 2742 1794 3721

465 -1.63 -122.2 21.7 -5.8 66 470 0.00 2.65 0.00 0.000 4 0.000 0.074 2742 396 3721

490 -1.63 -122.2 23.1 -5.8 67 497 0.00 2.47 0.00 0.000 6 0.000 0.035 2741 1802 3721

686 -1.63 -122.2 34.2 -5.6 83 691 0.00 2.67 0.00 0.000 4 0.000 0.072 2741 394 3721

760 -1.63 -122.2 38.7 -6.7 88 765 0.00 2.45 0.00 0.000 6 0.000 0.035 2742 1804 3721

958 -1.63 -122.2 50.5 -5.7 103 962 0.00 2.50 0.00 0.000 4 0.000 0.050 2741 3202 3722

1035 -1.63 -122.2 55.5 -6.3 108 1043 0.00 2.50 0.00 0.000 6 0.000 0.037 2741 1801 3721

1232 -1.63 -122.2 67.2 -6.2 124 1236 0.00 2.50 0.00 0.000 4 0.000 0.048 2741 3199 3721

1276 -1.63 -122.2 70.0 -5.9 127 1284 0.00 2.50 0.00 0.000 6 0.000 0.036 2742 1797 3721

1473 -1.63 -122.2 81.6 -6.1 143 1477 0.00 2.62 0.00 0.000 4 0.000 0.074 2742 398 3721

1511 -1.63 -122.2 84.2 -6.6 145 1518 0.00 2.45 0.00 0.000 6 0.000 0.035 2742 1799 3721

1707 -1.63 -122.2 96.5 -5.9 161 1708 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 1799 3721

1768 end dive: TARGET_DEPTH_EXCEEDED

state 1768 begin apogee

1773 -0.38 0.0 100.0 5.5 166 1879 1.35 0.00 98.32 0.682 6 0.100 0.000 3012 1728 3217

1880 end apogee: CONTROL_FINISHED_OK

state 1880 begin climb

1882 1.63 122.2 100.6 0.0 175 1983 1.98 0.00 95.28 0.653 6 0.053 0.000 3458 1728 2719

2168 1.63 122.2 70.9 11.5 198 2173 0.00 2.67 0.00 0.000 4 0.000 0.079 3459 337 2717

2232 1.63 122.2 62.7 12.9 202 2240 0.00 2.47 0.00 0.000 6 0.000 0.035 3459 1733 2717

2429 1.63 122.2 39.6 11.8 218 2430 0.00 0.00 0.00 0.000 6 0.000 0.000 3458 1733 2717

2620 1.63 122.2 17.3 11.8 234 2626 0.00 2.67 0.00 0.000 4 0.000 0.077 3459 340 2717

2665 1.63 122.2 11.2 13.6 241 2671 0.00 2.45 0.00 0.000 6 0.000 0.035 3459 1740 2716

2722 end climb: SURFACE_DEPTH_REACHED

state 2722 begin surface coast

2769 end surface coast: CONTROL_FINISHED_OK

state 2769 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	139	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-46060.23	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	011653,4739.607,-12252.793,12,4.7,31,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.197,-0.131
_SM_DEPTHo	0.88	KALMAN_X	2921.4,72.4,21.8,-3660.3,-4.6
_SM_ANGLEo	-56.3	KALMAN_Y	4252.4,228.6,88.5,-4749.1,19.5
GPS2	012229,4739.668,-12252.718,16,3.4,35,18.3	MHEAD_RNG_PITCHd_Wd	218.1,710,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	121

FINISH	0.3,1.022054	XPDR_PINGS	0
SM_CCo	2794,119.40,0.582,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.5,51.5
SM_GC	0.81,0.00,0.00,119.40,0.000,0.000,0.582,460,1805,1586,-12.15,0.17,400.08	_24V_AH	23.9,17.233
IRIDIUM_FIX	4722.92,-12249.11,300907,040444	_10V_AH	10.1,38.599
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6460,257
HUMID	2026	CFSIZE	260034560,252809216
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	300907,021317,4739.609,-12253.020,14,2.1,33,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	210	157.09	SBE_CT	171	24	98.65
Roll_motor	45	85	93.45	nil	0	0	0.00
VBD_pump_during_apogee	193	681	3155.01	nil	0	0	0.00
VBD_pump_during_surface	119	582	1661.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	80.68	nil	0	0	0.00
Iridium_during_connect	43	160	165.69	ARS	0	0	0.00
Iridium_during_xfer	119	223	638.97
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3383	6	517.46
GPS	36	50	18.46
TT8	484	19	96.83
LPSleep	1544	2	34.15
TT8_Active	442	19	88.49
TT8_Sampling	493	39	198.55
TT8_CF8	314	45	145.34
TT8_Kalman	33	81	27.53
Analog_circuits	726	12	88.11
GPS_charging	0	0	0.00
Compass	441	8	35.67
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	105	0.00	0.00	-79.22	0.000	2	0.000	0.000	462	1805	3307
107	-1.63	-122.2	2.3	-5.1	13	144	14.65	2.72	-13.70	0.000	4	0.210	0.085	2741	400	3719
178	-1.63	-122.2	6.0	-6.5	24	184	0.00	2.45	0.00	0.000	6	0.000	0.035	2741	1809	3721
250	-1.63	-122.2	9.2	-5.3	35	256	0.00	2.47	0.00	0.000	4	0.000	0.049	2741	3189	3721
395	-1.63	-122.2	17.5	-6.2	57	401	0.00	2.47	0.00	0.000	6	0.000	0.038	2742	1794	3721
465	-1.63	-122.2	21.7	-5.8	66	470	0.00	2.65	0.00	0.000	4	0.000	0.074	2742	396	3721
490	-1.63	-122.2	23.1	-5.8	67	497	0.00	2.47	0.00	0.000	6	0.000	0.035	2741	1802	3721
686	-1.63	-122.2	34.2	-5.6	83	691	0.00	2.67	0.00	0.000	4	0.000	0.072	2741	394	3721
760	-1.63	-122.2	38.7	-6.7	88	765	0.00	2.45	0.00	0.000	6	0.000	0.035	2742	1804	3721
958	-1.63	-122.2	50.5	-5.7	103	962	0.00	2.50	0.00	0.000	4	0.000	0.050	2741	3202	3722
1035	-1.63	-122.2	55.5	-6.3	108	1043	0.00	2.50	0.00	0.000	6	0.000	0.037	2741	1801	3721
1232	-1.63	-122.2	67.2	-6.2	124	1236	0.00	2.50	0.00	0.000	4	0.000	0.048	2741	3199	3721
1276	-1.63	-122.2	70.0	-5.9	127	1284	0.00	2.50	0.00	0.000	6	0.000	0.036	2742	1797	3721
1473	-1.63	-122.2	81.6	-6.1	143	1477	0.00	2.62	0.00	0.000	4	0.000	0.074	2742	398	3721
1511	-1.63	-122.2	84.2	-6.6	145	1518	0.00	2.45	0.00	0.000	6	0.000	0.035	2742	1799	3721
1707	-1.63	-122.2	96.5	-5.9	161	1708	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	1799	3721
1768	end dive: TARGET_DEPTH_EXCEEDED
state	1768	begin apogee
1773	-0.38	0.0	100.0	5.5	166	1879	1.35	0.00	98.32	0.682	6	0.100	0.000	3012	1728	3217
1880	end apogee: CONTROL_FINISHED_OK
state	1880	begin climb
1882	1.63	122.2	100.6	0.0	175	1983	1.98	0.00	95.28	0.653	6	0.053	0.000	3458	1728	2719
2168	1.63	122.2	70.9	11.5	198	2173	0.00	2.67	0.00	0.000	4	0.000	0.079	3459	337	2717
2232	1.63	122.2	62.7	12.9	202	2240	0.00	2.47	0.00	0.000	6	0.000	0.035	3459	1733	2717
2429	1.63	122.2	39.6	11.8	218	2430	0.00	0.00	0.00	0.000	6	0.000	0.000	3458	1733	2717
2620	1.63	122.2	17.3	11.8	234	2626	0.00	2.67	0.00	0.000	4	0.000	0.077	3459	340	2717
2665	1.63	122.2	11.2	13.6	241	2671	0.00	2.45	0.00	0.000	6	0.000	0.035	3459	1740	2716
2722	end climb: SURFACE_DEPTH_REACHED
state	2722	begin surface coast
2769	end surface coast: CONTROL_FINISHED_OK
state	2769	begin surface