Glider dive log

PortSusan 30Jul08.01 * SG104 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 104 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 176 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 14 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3929 ALTIM_PING_DEPTH 50

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 4 TGT_DEFAULT_LAT 48.130001 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -122.366 C_ROLL_CLIMB 1840 ALTIM_PULSE 4

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 657 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 INT_PRESSURE_YINT -1.784981

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 12 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 62.5 UPLOAD_DIVES_MAX -1 VBD_MIN 574 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3908 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3296 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -4 T_GPS 5 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -210434 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 45 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3331 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2420 PRESSURE_YINT -18.697796 SEABIRD_T_G 0.0043491693

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063843821

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3643479e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3372697e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7263737

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1821688

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00092709012

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016946776

HD_C 2.5700001e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 657

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3331 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 45 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 50 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -18.697796 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.366

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 62.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -210434

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

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 5

COMPASS_DEVICE 33 ID 104 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3929 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.784981 ROLL_MAXERRORS 12 UPLOAD_DIVES_MAX -1

C_PITCH 2420 KALMAN_USE 1 ROLL_MIN 176 USE_BATHY -4

C_ROLL_CLIMB 1840 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 17 VBD_BLEED_AD_RATE 8

C_VBD 3296 MAX_BUOY 150 R_STBD_OVSHOOT 31 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -9.7263737 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1821688 VBD_MAX 3908

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00092709012 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016946776 VBD_MIN 574

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043491693 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063843821 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3643479e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3372697e-06 XPDR_DEVICE 24

DIVE 14 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 071107,4806.045,-12221.980,11,2.0,27,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.144,0.198

_SM_DEPTHo 0.31 KALMAN_X -1340.4,-225.0,36.9,3271.1,1.6

_SM_ANGLEo -65.1 KALMAN_Y 2322.6,413.3,0.2,-5361.9,24.9

GPS2 071408,4806.020,-12221.952,13,1.9,13,18.3 MHEAD_RNG_PITCHd_Wd 305.8,4456,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 108

Post-dive calculations and measurements:

FINISH 3.0,1.020653 XPDR_PINGS 176

SM_CCo 3089,17.75,0.530,0,0,574,667.71 _24V_AH 23.5,1.671

SM_GC 0.34,11.85,0.00,0.00,0.035,0.000,0.000,41,2014,573,-10.88,0.40,667.71 _10V_AH 10.1,0.567

IRIDIUM_FIX 4748.51,-12224.57,251097,060636 DATA_FILE_SIZE 9709,237

TT8_MAMPS 0.025311 CAP_FILE_SIZE 37568,8

HUMID 2075 CFSIZE 260165632,258052096

INTERNAL_PRESSURE 8.07868 ERRORS 0,0,0,0,0,0,0,0,0,0,1,0,6,10,0

TCM_TEMP 17.60 GPS 310708,080939,4806.211,-12222.041,8,2.0,8,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 155 96.23 SBE_CT 159 24 89.91

Roll_motor 35 69 58.97 SBE_O2 169 19 75.83

VBD_pump_during_apogee 231 686 3728.49 WL_BB2F 459 105 1134.90

VBD_pump_during_surface 327 573 4415.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 64.05 nil 0 0 0.00

Iridium_during_connect 23 160 89.12 nil 0 0 0.00

Iridium_during_xfer 68 223 358.41

Transponder_ping 45 420 449.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.72

TT8 425 19 85.06

LPSleep 1559 2 34.50

TT8_Active 680 19 136.15

TT8_Sampling 600 39 241.49

TT8_CF8 171 45 79.34

TT8_Kalman 33 81 27.54

Analog_circuits 1000 12 121.24

GPS_charging 0 0 0.00

Compass 597 8 48.24

RAFOS 0 0 0.00

Transponder 10 30 3.06

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.17 -146.6 0.0 0.0 0 126 0.00 0.00 -109.78 0.000 2 0.000 0.000 42 2013 3801

128 -1.17 -146.6 4.8 -8.2 18 149 12.07 2.62 -1.88 0.000 4 0.156 0.070 2160 581 3894

184 -1.17 -146.6 12.3 -7.3 27 191 0.00 2.47 0.00 0.000 6 0.000 0.037 2160 2002 3894

258 -1.17 -146.6 17.4 -7.1 40 265 0.00 2.55 0.00 0.000 4 0.000 0.054 2160 3402 3894

331 -1.17 -146.6 23.1 -7.6 50 339 0.00 2.50 0.00 0.000 6 0.000 0.038 2160 1993 3894

531 -1.17 -146.6 36.6 -6.2 69 532 0.00 0.00 0.00 0.000 6 0.000 0.000 2159 1991 3895

721 -1.17 -146.6 49.7 -5.9 87 725 0.00 2.55 0.00 0.000 4 0.000 0.062 2160 592 3894

758 -1.17 -146.6 52.1 -6.1 89 766 0.00 2.45 0.00 0.000 6 0.000 0.038 2160 1991 3894

1075 -1.17 -146.6 72.8 -6.6 105 1076 0.00 0.00 0.00 0.000 6 0.000 0.000 2160 1992 3895

1385 -1.17 -146.6 91.8 -6.1 120 1389 0.00 2.58 0.00 0.000 4 0.000 0.063 2160 587 3894

1424 -1.17 -146.6 94.2 -5.8 122 1428 0.00 2.45 0.00 0.000 6 0.000 0.040 2160 1998 3894

1680 end dive: TARGET_DEPTH_EXCEEDED

state 1680 begin apogee

1683 -0.33 0.0 108.2 5.2 141 1804 0.90 0.00 116.20 0.686 6 0.077 0.000 2345 1839 3295

1804 end apogee: CONTROL_FINISHED_OK

state 1804 begin climb

1806 1.17 146.6 109.3 0.0 153 1930 1.48 2.65 114.93 0.657 4 0.045 0.067 2676 434 2698

2007 1.17 146.6 86.1 15.0 167 2012 0.00 2.47 0.00 0.000 6 0.000 0.038 2676 1839 2697

2325 1.17 146.6 44.5 12.6 184 2330 0.00 2.60 0.00 0.000 4 0.000 0.067 2676 436 2697

2402 1.17 146.6 34.3 13.0 190 2410 0.00 2.45 0.00 0.000 6 0.000 0.037 2676 1836 2697

2604 1.17 146.6 10.3 12.7 216 2611 0.00 2.55 0.00 0.000 4 0.000 0.058 2676 3248 2696

2617 1.17 146.6 8.6 13.0 218 2623 0.00 2.50 0.00 0.000 6 0.000 0.045 2676 1838 2696

2680 end climb: SURFACE_DEPTH_REACHED

state 2680 begin surface coast

2724 end surface coast: CONTROL_FINISHED_OK

state 2725 begin surface

ID	104	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	176	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	14	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3929	ALTIM_PING_DEPTH	50
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	4	TGT_DEFAULT_LAT	48.130001	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-122.366	C_ROLL_CLIMB	1840	ALTIM_PULSE	4
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	657	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	INT_PRESSURE_YINT	-1.784981
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	12	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	62.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	574	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3908	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3296	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-4	T_GPS	5	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-210434	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	45	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3331	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2420	PRESSURE_YINT	-18.697796	SEABIRD_T_G	0.0043491693
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063843821
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3643479e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3372697e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7263737
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1821688
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00092709012
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016946776
HD_C	2.5700001e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	071107,4806.045,-12221.980,11,2.0,27,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.144,0.198
_SM_DEPTHo	0.31	KALMAN_X	-1340.4,-225.0,36.9,3271.1,1.6
_SM_ANGLEo	-65.1	KALMAN_Y	2322.6,413.3,0.2,-5361.9,24.9
GPS2	071408,4806.020,-12221.952,13,1.9,13,18.3	MHEAD_RNG_PITCHd_Wd	305.8,4456,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	108

FINISH	3.0,1.020653	XPDR_PINGS	176
SM_CCo	3089,17.75,0.530,0,0,574,667.71	_24V_AH	23.5,1.671
SM_GC	0.34,11.85,0.00,0.00,0.035,0.000,0.000,41,2014,573,-10.88,0.40,667.71	_10V_AH	10.1,0.567
IRIDIUM_FIX	4748.51,-12224.57,251097,060636	DATA_FILE_SIZE	9709,237
TT8_MAMPS	0.025311	CAP_FILE_SIZE	37568,8
HUMID	2075	CFSIZE	260165632,258052096
INTERNAL_PRESSURE	8.07868	ERRORS	0,0,0,0,0,0,0,0,0,0,1,0,6,10,0
TCM_TEMP	17.60	GPS	310708,080939,4806.211,-12222.041,8,2.0,8,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	155	96.23	SBE_CT	159	24	89.91
Roll_motor	35	69	58.97	SBE_O2	169	19	75.83
VBD_pump_during_apogee	231	686	3728.49	WL_BB2F	459	105	1134.90
VBD_pump_during_surface	327	573	4415.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	64.05	nil	0	0	0.00
Iridium_during_connect	23	160	89.12	nil	0	0	0.00
Iridium_during_xfer	68	223	358.41
Transponder_ping	45	420	449.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.72
TT8	425	19	85.06
LPSleep	1559	2	34.50
TT8_Active	680	19	136.15
TT8_Sampling	600	39	241.49
TT8_CF8	171	45	79.34
TT8_Kalman	33	81	27.54
Analog_circuits	1000	12	121.24
GPS_charging	0	0	0.00
Compass	597	8	48.24
RAFOS	0	0	0.00
Transponder	10	30	3.06

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.17	-146.6	0.0	0.0	0	126	0.00	0.00	-109.78	0.000	2	0.000	0.000	42	2013	3801
128	-1.17	-146.6	4.8	-8.2	18	149	12.07	2.62	-1.88	0.000	4	0.156	0.070	2160	581	3894
184	-1.17	-146.6	12.3	-7.3	27	191	0.00	2.47	0.00	0.000	6	0.000	0.037	2160	2002	3894
258	-1.17	-146.6	17.4	-7.1	40	265	0.00	2.55	0.00	0.000	4	0.000	0.054	2160	3402	3894
331	-1.17	-146.6	23.1	-7.6	50	339	0.00	2.50	0.00	0.000	6	0.000	0.038	2160	1993	3894
531	-1.17	-146.6	36.6	-6.2	69	532	0.00	0.00	0.00	0.000	6	0.000	0.000	2159	1991	3895
721	-1.17	-146.6	49.7	-5.9	87	725	0.00	2.55	0.00	0.000	4	0.000	0.062	2160	592	3894
758	-1.17	-146.6	52.1	-6.1	89	766	0.00	2.45	0.00	0.000	6	0.000	0.038	2160	1991	3894
1075	-1.17	-146.6	72.8	-6.6	105	1076	0.00	0.00	0.00	0.000	6	0.000	0.000	2160	1992	3895
1385	-1.17	-146.6	91.8	-6.1	120	1389	0.00	2.58	0.00	0.000	4	0.000	0.063	2160	587	3894
1424	-1.17	-146.6	94.2	-5.8	122	1428	0.00	2.45	0.00	0.000	6	0.000	0.040	2160	1998	3894
1680	end dive: TARGET_DEPTH_EXCEEDED
state	1680	begin apogee
1683	-0.33	0.0	108.2	5.2	141	1804	0.90	0.00	116.20	0.686	6	0.077	0.000	2345	1839	3295
1804	end apogee: CONTROL_FINISHED_OK
state	1804	begin climb
1806	1.17	146.6	109.3	0.0	153	1930	1.48	2.65	114.93	0.657	4	0.045	0.067	2676	434	2698
2007	1.17	146.6	86.1	15.0	167	2012	0.00	2.47	0.00	0.000	6	0.000	0.038	2676	1839	2697
2325	1.17	146.6	44.5	12.6	184	2330	0.00	2.60	0.00	0.000	4	0.000	0.067	2676	436	2697
2402	1.17	146.6	34.3	13.0	190	2410	0.00	2.45	0.00	0.000	6	0.000	0.037	2676	1836	2697
2604	1.17	146.6	10.3	12.7	216	2611	0.00	2.55	0.00	0.000	4	0.000	0.058	2676	3248	2696
2617	1.17	146.6	8.6	13.0	218	2623	0.00	2.50	0.00	0.000	6	0.000	0.045	2676	1838	2696
2680	end climb: SURFACE_DEPTH_REACHED
state	2680	begin surface coast
2724	end surface coast: CONTROL_FINISHED_OK
state	2725	begin surface