Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 147 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_B 0.010078 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 147 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 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 311 ALTIM_PING_DEPTH 70

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2415 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 17 INT_PRESSURE_YINT 1.4

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 49 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 540 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3800 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3229 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY 0 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17258.119 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 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 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 428 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3730 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 3000 PRESSURE_YINT -6.9690108 SEABIRD_T_I 2.5554549e-05

MASS 51630 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 2 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 10 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3730 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 428 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 120 PITCH_TIMEOUT 20 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 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -6.9690108 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 16 RAFOS_HIT_WINDOW 3600 T_DIVE 45

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 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -17258.119

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 118 ROLL_MAX 3943 T_TURN_SAMPINT 6

C_PITCH 3000 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2415 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 UNCOM_BLEED 20

C_ROLL_DIVE 2500 KALMAN_USE 2 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 49 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 28 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3800

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 540

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 147 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 063415,4739.417,-12252.469,13,1.3,13,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 063956,4739.420,-12252.473,15,1.3,15,18.3 MHEAD_RNG_PITCHd_Wd 257.1,914,-18.1,-8.889

SPEED_LIMITS 0.154,0.231 D_GRID 120

Post-dive calculations and measurements:

FINISH 0.2,1.024781 XPDR_PINGS 5

SM_CCo 2806,122.18,0.518,0,0,1597,400.08 ALTIM_BOTTOM_PING 90.3,48.2

SM_GC 0.91,0.00,0.00,122.18,0.000,0.000,0.518,426,2510,1597,-11.84,0.28,400.08 _24V_AH 23.5,11.213

IRIDIUM_FIX 4722.92,-12253.53,260907,090944 _10V_AH 10.1,7.457

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6459,257

HUMID 1793 CFSIZE 260034560,252993536

INTERNAL_PRESSURE 9.38859 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.00 GPS 260907,072957,4739.409,-12252.951,11,1.2,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 158 111.37 SBE_CT 177 24 100.06

Roll_motor 45 80 85.50 nil 0 0 0.00

VBD_pump_during_apogee 204 610 2926.89 nil 0 0 0.00

VBD_pump_during_surface 122 518 1488.65 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 93.36 nil 0 0 0.00

Iridium_during_connect 32 160 121.21 ARS 0 0 0.00

Iridium_during_xfer 139 223 732.11

Transponder_ping 2 420 22.21

Mmodem_TX 134 1000 3163.57

Mmodem_RX 3252 6 489.16

GPS 15 93 14.85

TT8 491 19 98.21

LPSleep 1481 2 32.77

TT8_Active 415 19 83.10

TT8_Sampling 492 39 197.97

TT8_CF8 402 45 186.00

TT8_Kalman 0 0 0.00

Analog_circuits 734 12 89.01

GPS_charging 0 0 0.00

Compass 494 8 39.97

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.96 -122.2 0.0 0.0 0 76 0.00 0.00 -48.83 0.000 2 0.000 0.000 428 2505 2834

80 -1.96 -122.2 2.0 -4.1 8 130 11.98 2.60 -31.70 0.000 4 0.159 0.081 2566 3902 3730

209 -1.96 -122.2 12.2 -10.9 28 215 0.00 2.40 0.00 0.000 6 0.000 0.031 2566 2493 3731

281 -1.96 -122.2 18.6 -8.1 39 288 0.00 2.60 0.00 0.000 4 0.000 0.064 2566 3895 3731

427 -1.96 -122.2 31.7 -8.6 52 431 0.00 2.40 0.00 0.000 6 0.000 0.031 2565 2488 3732

623 -1.96 -122.2 49.0 -8.8 67 624 0.00 0.00 0.00 0.000 6 0.000 0.000 2566 2483 3733

814 -1.96 -122.2 65.0 -8.3 82 819 0.00 2.67 0.00 0.000 4 0.000 0.065 2566 3899 3733

898 -1.96 -122.2 73.0 -9.0 88 907 0.00 2.40 0.00 0.000 6 0.000 0.031 2566 2501 3733

1095 -1.96 -122.2 89.9 -8.7 104 1106 0.00 2.60 0.00 0.000 4 0.000 0.065 2566 3904 3732

1193 -1.96 -122.2 98.5 -8.4 111 1198 0.00 2.42 0.00 0.000 6 0.000 0.032 2566 2502 3733

1396 -1.96 -122.2 113.9 -7.3 127 1400 0.00 2.45 0.00 0.000 4 0.000 0.048 2566 1115 3732

1428 -1.96 -122.2 116.5 -8.3 129 1432 0.00 2.42 0.00 0.000 6 0.000 0.032 2566 2507 3732

1470 end dive: TARGET_DEPTH_EXCEEDED

state 1470 begin apogee

1476 -0.50 0.0 120.3 8.6 132 1575 1.60 0.00 94.75 0.611 6 0.091 0.000 2890 2417 3229

1576 end apogee: CONTROL_FINISHED_OK

state 1576 begin climb

1579 1.96 122.2 122.9 0.0 140 1680 2.47 2.58 92.43 0.589 4 0.061 0.050 3423 1012 2729

1701 1.96 122.2 112.9 12.3 150 1706 0.00 2.45 0.00 0.000 6 0.000 0.033 3423 2417 2729

1897 1.96 122.2 88.3 12.9 165 1902 0.00 2.60 0.00 0.000 4 0.000 0.050 3423 1040 2728

2034 1.96 122.2 70.5 12.6 175 2041 0.00 2.42 0.00 0.000 6 0.000 0.031 3424 2417 2727

2231 1.96 122.2 46.1 12.5 191 2235 0.00 2.50 0.00 0.000 4 0.000 0.050 3423 1030 2727

2290 1.96 122.2 38.8 12.8 195 2294 0.00 2.42 0.00 0.000 6 0.000 0.032 3424 2424 2727

2487 1.96 122.2 15.3 10.8 213 2494 0.00 2.53 0.00 0.000 4 0.000 0.051 3424 1024 2727

2506 1.96 122.2 13.2 10.7 216 2513 0.00 2.42 0.00 0.000 6 0.000 0.032 3423 2417 2728

2579 1.96 122.2 5.7 10.1 227 2584 0.00 0.00 0.00 0.000 6 0.000 0.000 3423 2417 2727

2652 2.12 252.4 2.4 2.5 238 2671 0.15 0.00 16.83 0.552 2 0.055 0.000 3466 2417 2609

2672 end climb: SURFACE_DEPTH_REACHED

state 2672 begin surface coast

2777 end surface coast: CONTROL_FINISHED_OK

state 2777 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	147	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	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	311	ALTIM_PING_DEPTH	70
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2415	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	17	INT_PRESSURE_YINT	1.4
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	49	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	540	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3800	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3229	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	0	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17258.119	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	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	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	428	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3730	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	3000	PRESSURE_YINT	-6.9690108	SEABIRD_T_I	2.5554549e-05
MASS	51630	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	2	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	063415,4739.417,-12252.469,13,1.3,13,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	063956,4739.420,-12252.473,15,1.3,15,18.3	MHEAD_RNG_PITCHd_Wd	257.1,914,-18.1,-8.889
SPEED_LIMITS	0.154,0.231	D_GRID	120

FINISH	0.2,1.024781	XPDR_PINGS	5
SM_CCo	2806,122.18,0.518,0,0,1597,400.08	ALTIM_BOTTOM_PING	90.3,48.2
SM_GC	0.91,0.00,0.00,122.18,0.000,0.000,0.518,426,2510,1597,-11.84,0.28,400.08	_24V_AH	23.5,11.213
IRIDIUM_FIX	4722.92,-12253.53,260907,090944	_10V_AH	10.1,7.457
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6459,257
HUMID	1793	CFSIZE	260034560,252993536
INTERNAL_PRESSURE	9.38859	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.00	GPS	260907,072957,4739.409,-12252.951,11,1.2,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	158	111.37	SBE_CT	177	24	100.06
Roll_motor	45	80	85.50	nil	0	0	0.00
VBD_pump_during_apogee	204	610	2926.89	nil	0	0	0.00
VBD_pump_during_surface	122	518	1488.65	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	93.36	nil	0	0	0.00
Iridium_during_connect	32	160	121.21	ARS	0	0	0.00
Iridium_during_xfer	139	223	732.11
Transponder_ping	2	420	22.21
Mmodem_TX	134	1000	3163.57
Mmodem_RX	3252	6	489.16
GPS	15	93	14.85
TT8	491	19	98.21
LPSleep	1481	2	32.77
TT8_Active	415	19	83.10
TT8_Sampling	492	39	197.97
TT8_CF8	402	45	186.00
TT8_Kalman	0	0	0.00
Analog_circuits	734	12	89.01
GPS_charging	0	0	0.00
Compass	494	8	39.97
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.96	-122.2	0.0	0.0	0	76	0.00	0.00	-48.83	0.000	2	0.000	0.000	428	2505	2834
80	-1.96	-122.2	2.0	-4.1	8	130	11.98	2.60	-31.70	0.000	4	0.159	0.081	2566	3902	3730
209	-1.96	-122.2	12.2	-10.9	28	215	0.00	2.40	0.00	0.000	6	0.000	0.031	2566	2493	3731
281	-1.96	-122.2	18.6	-8.1	39	288	0.00	2.60	0.00	0.000	4	0.000	0.064	2566	3895	3731
427	-1.96	-122.2	31.7	-8.6	52	431	0.00	2.40	0.00	0.000	6	0.000	0.031	2565	2488	3732
623	-1.96	-122.2	49.0	-8.8	67	624	0.00	0.00	0.00	0.000	6	0.000	0.000	2566	2483	3733
814	-1.96	-122.2	65.0	-8.3	82	819	0.00	2.67	0.00	0.000	4	0.000	0.065	2566	3899	3733
898	-1.96	-122.2	73.0	-9.0	88	907	0.00	2.40	0.00	0.000	6	0.000	0.031	2566	2501	3733
1095	-1.96	-122.2	89.9	-8.7	104	1106	0.00	2.60	0.00	0.000	4	0.000	0.065	2566	3904	3732
1193	-1.96	-122.2	98.5	-8.4	111	1198	0.00	2.42	0.00	0.000	6	0.000	0.032	2566	2502	3733
1396	-1.96	-122.2	113.9	-7.3	127	1400	0.00	2.45	0.00	0.000	4	0.000	0.048	2566	1115	3732
1428	-1.96	-122.2	116.5	-8.3	129	1432	0.00	2.42	0.00	0.000	6	0.000	0.032	2566	2507	3732
1470	end dive: TARGET_DEPTH_EXCEEDED
state	1470	begin apogee
1476	-0.50	0.0	120.3	8.6	132	1575	1.60	0.00	94.75	0.611	6	0.091	0.000	2890	2417	3229
1576	end apogee: CONTROL_FINISHED_OK
state	1576	begin climb
1579	1.96	122.2	122.9	0.0	140	1680	2.47	2.58	92.43	0.589	4	0.061	0.050	3423	1012	2729
1701	1.96	122.2	112.9	12.3	150	1706	0.00	2.45	0.00	0.000	6	0.000	0.033	3423	2417	2729
1897	1.96	122.2	88.3	12.9	165	1902	0.00	2.60	0.00	0.000	4	0.000	0.050	3423	1040	2728
2034	1.96	122.2	70.5	12.6	175	2041	0.00	2.42	0.00	0.000	6	0.000	0.031	3424	2417	2727
2231	1.96	122.2	46.1	12.5	191	2235	0.00	2.50	0.00	0.000	4	0.000	0.050	3423	1030	2727
2290	1.96	122.2	38.8	12.8	195	2294	0.00	2.42	0.00	0.000	6	0.000	0.032	3424	2424	2727
2487	1.96	122.2	15.3	10.8	213	2494	0.00	2.53	0.00	0.000	4	0.000	0.051	3424	1024	2727
2506	1.96	122.2	13.2	10.7	216	2513	0.00	2.42	0.00	0.000	6	0.000	0.032	3423	2417	2728
2579	1.96	122.2	5.7	10.1	227	2584	0.00	0.00	0.00	0.000	6	0.000	0.000	3423	2417	2727
2652	2.12	252.4	2.4	2.5	238	2671	0.15	0.00	16.83	0.552	2	0.055	0.000	3466	2417	2609
2672	end climb: SURFACE_DEPTH_REACHED
state	2672	begin surface coast
2777	end surface coast: CONTROL_FINISHED_OK
state	2777	begin surface