Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 178 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 178 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 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 39 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 85 INT_PRESSURE_YINT 2.7

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 275 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 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 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -8705.1367 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 250 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

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 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3938 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 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 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 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 275

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -8705.1367

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -4

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 39 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 250 R_STBD_OVSHOOT 85 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 178 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 215437,2414.442,12322.912,32,1.0,32,-3.5 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2403.100,12322.900

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.34 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 215916,2414.419,12323.008,12,2.1,31,-3.5 MHEAD_RNG_PITCHd_Wd 209.8,20963,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 217

Post-dive calculations and measurements:

FINISH 0.6,1.021456 ALTIM_BOTTOM_PING 200.3,122.1

SM_CCo 3985,0.00,0.000,0,0,590,557.57 _24V_AH 24.9,39.487

SM_GC 1.36,8.20,0.00,0.00,0.042,0.000,0.000,145,1492,590,-8.03,-0.23,557.57 _10V_AH 10.9,24.067

IRIDIUM_FIX 2401.56,12218.85,110998,202033 DATA_FILE_SIZE 34811,669

TT8_MAMPS 0.026845 CAP_FILE_SIZE 55367,0

HUMID 1530 CFSIZE 260165632,221663232

INTERNAL_PRESSURE 10.0538 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.60 CURRENT 0.101,130.5,1

XPDR_PINGS 0 GPS 170609,230644,2414.012,12322.875,11,1.4,11,-3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 233 128.30 SBE_CT 438 24 261.77

Roll_motor 29 54 39.46 Optode 629 33 517.04

VBD_pump_during_apogee 614 783 12002.88 WL_BB2F 1057 105 2764.95

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 59.59 nil 0 0 0.00

Iridium_during_connect 36 160 144.99 nil 0 0 0.00

Iridium_during_xfer 110 223 614.24

Transponder_ping 0 420 5.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.51

TT8 991 19 213.90

LPSleep 1141 2 27.26

TT8_Active 583 19 126.00

TT8_Sampling 1279 39 554.95

TT8_CF8 276 45 137.87

TT8_Kalman 0 0 0.00

Analog_circuits 1215 12 159.03

GPS_charging 0 0 0.00

Compass 1262 8 110.05

RAFOS 0 0 0.00

Transponder 7 30 2.30

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 -0.97 -243.4 0.0 0.0 0 104 0.00 0.00 -87.38 0.000 2 0.000 0.000 148 1534 2411

106 -0.97 -243.4 3.2 -5.9 14 159 8.82 1.98 -37.10 0.000 4 0.234 0.054 2417 198 3857

216 -0.25 -243.4 35.0 -36.1 32 224 0.73 1.88 0.00 0.000 6 0.140 0.030 2657 1477 3858

564 -0.55 -243.4 71.1 -8.2 93 571 0.22 2.08 0.00 0.000 4 0.048 0.037 2535 2908 3859

736 -0.42 -243.4 96.8 -14.6 123 743 0.22 2.03 0.00 0.000 6 0.132 0.030 2605 1493 3859

1081 -0.62 -243.4 132.5 -9.3 184 1089 0.17 2.08 0.00 0.000 4 0.054 0.036 2508 2911 3859

1226 -0.51 -243.4 155.3 -15.5 209 1233 0.17 2.00 0.00 0.000 6 0.127 0.031 2568 1541 3859

1572 -0.61 -243.4 198.0 -11.8 270 1578 0.00 2.03 0.00 0.000 4 0.000 0.039 2565 2924 3860

1645 -0.82 -243.4 205.7 -10.0 282 1652 0.25 2.00 0.00 0.000 6 0.044 0.030 2446 1547 3860

1713 end dive: TARGET_DEPTH_EXCEEDED

state 1713 begin apogee

1718 -0.20 0.0 218.2 20.5 294 1909 0.68 0.00 181.75 0.784 6 0.142 0.000 2659 1766 2862

1911 end apogee: CONTROL_FINISHED_OK

state 1911 begin climb

1913 0.97 243.4 231.9 0.0 325 2108 1.10 2.10 183.40 0.775 4 0.087 0.039 3045 3137 1868

2261 0.75 243.4 197.3 12.5 384 2269 0.22 2.05 0.00 0.000 6 0.146 0.032 2982 1737 1864

2608 1.04 427.5 171.4 5.9 445 2760 0.22 2.20 144.82 0.752 4 0.050 0.039 3097 3130 1119

2958 0.96 427.5 114.1 14.7 504 2967 0.17 2.10 0.00 0.000 6 0.133 0.031 3048 1718 1116

3305 1.17 472.8 79.6 10.5 565 3350 0.17 2.08 36.95 0.689 4 0.055 0.044 3155 342 936

3479 0.99 472.8 47.3 18.6 595 3486 0.25 1.95 0.00 0.000 6 0.133 0.027 3056 1699 933

3825 1.49 599.9 16.6 7.8 656 3896 0.40 0.00 68.03 0.646 2 0.036 0.000 3247 1701 593

3897 end climb: SURFACE_DEPTH_REACHED

state 3897 begin surface coast

3908 end surface coast: CONTROL_FINISHED_OK

state 3908 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	178	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	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	39	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	85	INT_PRESSURE_YINT	2.7
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	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	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-8705.1367	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	250	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	215437,2414.442,12322.912,32,1.0,32,-3.5	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2403.100,12322.900
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.34	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	215916,2414.419,12323.008,12,2.1,31,-3.5	MHEAD_RNG_PITCHd_Wd	209.8,20963,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	217

FINISH	0.6,1.021456	ALTIM_BOTTOM_PING	200.3,122.1
SM_CCo	3985,0.00,0.000,0,0,590,557.57	_24V_AH	24.9,39.487
SM_GC	1.36,8.20,0.00,0.00,0.042,0.000,0.000,145,1492,590,-8.03,-0.23,557.57	_10V_AH	10.9,24.067
IRIDIUM_FIX	2401.56,12218.85,110998,202033	DATA_FILE_SIZE	34811,669
TT8_MAMPS	0.026845	CAP_FILE_SIZE	55367,0
HUMID	1530	CFSIZE	260165632,221663232
INTERNAL_PRESSURE	10.0538	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.60	CURRENT	0.101,130.5,1
XPDR_PINGS	0	GPS	170609,230644,2414.012,12322.875,11,1.4,11,-3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	233	128.30	SBE_CT	438	24	261.77
Roll_motor	29	54	39.46	Optode	629	33	517.04
VBD_pump_during_apogee	614	783	12002.88	WL_BB2F	1057	105	2764.95
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	59.59	nil	0	0	0.00
Iridium_during_connect	36	160	144.99	nil	0	0	0.00
Iridium_during_xfer	110	223	614.24
Transponder_ping	0	420	5.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.51
TT8	991	19	213.90
LPSleep	1141	2	27.26
TT8_Active	583	19	126.00
TT8_Sampling	1279	39	554.95
TT8_CF8	276	45	137.87
TT8_Kalman	0	0	0.00
Analog_circuits	1215	12	159.03
GPS_charging	0	0	0.00
Compass	1262	8	110.05
RAFOS	0	0	0.00
Transponder	7	30	2.30

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	-0.97	-243.4	0.0	0.0	0	104	0.00	0.00	-87.38	0.000	2	0.000	0.000	148	1534	2411
106	-0.97	-243.4	3.2	-5.9	14	159	8.82	1.98	-37.10	0.000	4	0.234	0.054	2417	198	3857
216	-0.25	-243.4	35.0	-36.1	32	224	0.73	1.88	0.00	0.000	6	0.140	0.030	2657	1477	3858
564	-0.55	-243.4	71.1	-8.2	93	571	0.22	2.08	0.00	0.000	4	0.048	0.037	2535	2908	3859
736	-0.42	-243.4	96.8	-14.6	123	743	0.22	2.03	0.00	0.000	6	0.132	0.030	2605	1493	3859
1081	-0.62	-243.4	132.5	-9.3	184	1089	0.17	2.08	0.00	0.000	4	0.054	0.036	2508	2911	3859
1226	-0.51	-243.4	155.3	-15.5	209	1233	0.17	2.00	0.00	0.000	6	0.127	0.031	2568	1541	3859
1572	-0.61	-243.4	198.0	-11.8	270	1578	0.00	2.03	0.00	0.000	4	0.000	0.039	2565	2924	3860
1645	-0.82	-243.4	205.7	-10.0	282	1652	0.25	2.00	0.00	0.000	6	0.044	0.030	2446	1547	3860
1713	end dive: TARGET_DEPTH_EXCEEDED
state	1713	begin apogee
1718	-0.20	0.0	218.2	20.5	294	1909	0.68	0.00	181.75	0.784	6	0.142	0.000	2659	1766	2862
1911	end apogee: CONTROL_FINISHED_OK
state	1911	begin climb
1913	0.97	243.4	231.9	0.0	325	2108	1.10	2.10	183.40	0.775	4	0.087	0.039	3045	3137	1868
2261	0.75	243.4	197.3	12.5	384	2269	0.22	2.05	0.00	0.000	6	0.146	0.032	2982	1737	1864
2608	1.04	427.5	171.4	5.9	445	2760	0.22	2.20	144.82	0.752	4	0.050	0.039	3097	3130	1119
2958	0.96	427.5	114.1	14.7	504	2967	0.17	2.10	0.00	0.000	6	0.133	0.031	3048	1718	1116
3305	1.17	472.8	79.6	10.5	565	3350	0.17	2.08	36.95	0.689	4	0.055	0.044	3155	342	936
3479	0.99	472.8	47.3	18.6	595	3486	0.25	1.95	0.00	0.000	6	0.133	0.027	3056	1699	933
3825	1.49	599.9	16.6	7.8	656	3896	0.40	0.00	68.03	0.646	2	0.036	0.000	3247	1701	593
3897	end climb: SURFACE_DEPTH_REACHED
state	3897	begin surface coast
3908	end surface coast: CONTROL_FINISHED_OK
state	3908	begin surface