Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 206 * 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 206 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 43 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 83 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 -9245.5703 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 -9245.5703

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 43 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 250 R_STBD_OVSHOOT 83 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 206 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 082352,2414.727,12323.706,11,2.1,30,-3.5 TGT_NAME OFF_5

_CALLS 1 TGT_LATLONG 2514.000,12340.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.33 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -70.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 082855,2414.788,12323.776,9,1.6,14,-3.5 MHEAD_RNG_PITCHd_Wd 346.8,112978,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 223

Post-dive calculations and measurements:

FINISH 0.6,1.002223 ALTIM_BOTTOM_PING 200.5,97.9

SM_CCo 4028,0.00,0.000,0,0,501,579.40 _24V_AH 24.9,43.549

SM_GC 1.44,7.78,0.00,0.00,0.041,0.000,0.000,152,1470,501,-8.02,-0.85,579.40 _10V_AH 10.9,26.151

IRIDIUM_FIX 2403.92,12325.02,130998,070717 DATA_FILE_SIZE 34903,676

TT8_MAMPS 0.026845 CAP_FILE_SIZE 56326,0

HUMID 1557 CFSIZE 260165632,220585984

INTERNAL_PRESSURE 10.044 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.50 CURRENT 0.263, 38.3,1

XPDR_PINGS 0 GPS 190609,093728,2415.425,12324.411,14,4.2,33,-3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 229 122.49 SBE_CT 442 24 264.31

Roll_motor 33 70 58.25 Optode 624 33 513.50

VBD_pump_during_apogee 634 791 12505.15 WL_BB2F 1051 105 2748.34

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 25 103 65.53 nil 0 0 0.00

Iridium_during_connect 42 160 168.95 nil 0 0 0.00

Iridium_during_xfer 141 223 787.79

Transponder_ping 0 420 5.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 8.00

TT8 990 19 213.79

LPSleep 1153 2 27.54

TT8_Active 601 19 129.88

TT8_Sampling 1268 39 550.44

TT8_CF8 322 45 160.86

TT8_Kalman 0 0 0.00

Analog_circuits 1244 12 162.75

GPS_charging 0 0 0.00

Compass 1268 8 110.58

RAFOS 0 0 0.00

Transponder 5 30 1.86

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

15 -0.97 -243.4 0.0 0.0 0 106 0.00 0.00 -88.72 0.000 2 0.000 0.000 128 1533 2535

109 -0.97 -243.4 3.2 -4.0 14 156 8.90 2.05 -32.88 0.000 4 0.229 0.054 2421 193 3857

286 -0.19 -243.4 54.4 -32.9 44 294 0.77 1.85 0.00 0.000 6 0.151 0.028 2672 1475 3858

633 -0.55 -243.4 85.2 -7.8 105 640 0.28 2.05 0.00 0.000 4 0.042 0.035 2534 2898 3860

831 -0.48 -243.4 112.8 -12.9 140 839 0.17 2.00 0.00 0.000 6 0.134 0.030 2583 1526 3860

1179 -0.63 -243.4 152.6 -10.8 201 1186 0.15 2.00 0.00 0.000 4 0.058 0.037 2509 2898 3860

1396 -0.57 -243.4 181.7 -12.2 239 1403 0.12 1.95 0.00 0.000 6 0.127 0.031 2548 1559 3860

1744 -0.70 -243.4 221.6 -9.7 300 1751 0.00 1.98 0.00 0.000 4 0.000 0.038 2553 2890 3860

1755 end dive: TARGET_DEPTH_EXCEEDED

state 1755 begin apogee

1762 -0.20 0.0 223.3 10.7 302 1949 0.32 0.00 182.00 0.790 6 0.104 0.000 2666 1734 2863

1951 end apogee: CONTROL_FINISHED_OK

state 1951 begin climb

1953 0.97 243.4 235.5 0.0 333 2151 1.05 2.22 183.62 0.792 4 0.075 0.039 3057 3150 1868

2288 0.74 243.4 204.3 13.4 389 2295 0.28 2.05 0.00 0.000 6 0.143 0.032 2980 1754 1866

2632 1.13 426.0 180.8 6.0 450 2785 0.30 2.12 143.77 0.763 4 0.044 0.038 3122 3136 1125

2886 0.95 426.0 140.2 19.2 492 2895 0.30 2.10 0.00 0.000 6 0.140 0.032 3041 1711 1124

3233 1.33 567.4 110.5 7.3 553 3360 0.30 2.22 114.93 0.717 4 0.041 0.036 3184 3138 549

3451 1.12 567.4 70.2 20.8 589 3458 0.32 2.20 0.00 0.000 6 0.141 0.031 3101 1638 548

3797 1.40 578.8 28.5 11.6 650 3817 0.20 2.25 10.15 0.583 4 0.048 0.035 3208 3139 503

3915 1.26 578.8 6.0 20.4 670 3922 0.20 2.28 0.00 0.000 6 0.137 0.031 3144 1591 502

3933 end climb: SURFACE_DEPTH_REACHED

state 3933 begin surface coast

3952 end surface coast: CONTROL_FINISHED_OK

state 3952 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	206	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	43	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	83	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	-9245.5703	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	082352,2414.727,12323.706,11,2.1,30,-3.5	TGT_NAME	OFF_5
_CALLS	1	TGT_LATLONG	2514.000,12340.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.33	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-70.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	082855,2414.788,12323.776,9,1.6,14,-3.5	MHEAD_RNG_PITCHd_Wd	346.8,112978,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	223

FINISH	0.6,1.002223	ALTIM_BOTTOM_PING	200.5,97.9
SM_CCo	4028,0.00,0.000,0,0,501,579.40	_24V_AH	24.9,43.549
SM_GC	1.44,7.78,0.00,0.00,0.041,0.000,0.000,152,1470,501,-8.02,-0.85,579.40	_10V_AH	10.9,26.151
IRIDIUM_FIX	2403.92,12325.02,130998,070717	DATA_FILE_SIZE	34903,676
TT8_MAMPS	0.026845	CAP_FILE_SIZE	56326,0
HUMID	1557	CFSIZE	260165632,220585984
INTERNAL_PRESSURE	10.044	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.50	CURRENT	0.263, 38.3,1
XPDR_PINGS	0	GPS	190609,093728,2415.425,12324.411,14,4.2,33,-3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	229	122.49	SBE_CT	442	24	264.31
Roll_motor	33	70	58.25	Optode	624	33	513.50
VBD_pump_during_apogee	634	791	12505.15	WL_BB2F	1051	105	2748.34
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	25	103	65.53	nil	0	0	0.00
Iridium_during_connect	42	160	168.95	nil	0	0	0.00
Iridium_during_xfer	141	223	787.79
Transponder_ping	0	420	5.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	8.00
TT8	990	19	213.79
LPSleep	1153	2	27.54
TT8_Active	601	19	129.88
TT8_Sampling	1268	39	550.44
TT8_CF8	322	45	160.86
TT8_Kalman	0	0	0.00
Analog_circuits	1244	12	162.75
GPS_charging	0	0	0.00
Compass	1268	8	110.58
RAFOS	0	0	0.00
Transponder	5	30	1.86

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
15	-0.97	-243.4	0.0	0.0	0	106	0.00	0.00	-88.72	0.000	2	0.000	0.000	128	1533	2535
109	-0.97	-243.4	3.2	-4.0	14	156	8.90	2.05	-32.88	0.000	4	0.229	0.054	2421	193	3857
286	-0.19	-243.4	54.4	-32.9	44	294	0.77	1.85	0.00	0.000	6	0.151	0.028	2672	1475	3858
633	-0.55	-243.4	85.2	-7.8	105	640	0.28	2.05	0.00	0.000	4	0.042	0.035	2534	2898	3860
831	-0.48	-243.4	112.8	-12.9	140	839	0.17	2.00	0.00	0.000	6	0.134	0.030	2583	1526	3860
1179	-0.63	-243.4	152.6	-10.8	201	1186	0.15	2.00	0.00	0.000	4	0.058	0.037	2509	2898	3860
1396	-0.57	-243.4	181.7	-12.2	239	1403	0.12	1.95	0.00	0.000	6	0.127	0.031	2548	1559	3860
1744	-0.70	-243.4	221.6	-9.7	300	1751	0.00	1.98	0.00	0.000	4	0.000	0.038	2553	2890	3860
1755	end dive: TARGET_DEPTH_EXCEEDED
state	1755	begin apogee
1762	-0.20	0.0	223.3	10.7	302	1949	0.32	0.00	182.00	0.790	6	0.104	0.000	2666	1734	2863
1951	end apogee: CONTROL_FINISHED_OK
state	1951	begin climb
1953	0.97	243.4	235.5	0.0	333	2151	1.05	2.22	183.62	0.792	4	0.075	0.039	3057	3150	1868
2288	0.74	243.4	204.3	13.4	389	2295	0.28	2.05	0.00	0.000	6	0.143	0.032	2980	1754	1866
2632	1.13	426.0	180.8	6.0	450	2785	0.30	2.12	143.77	0.763	4	0.044	0.038	3122	3136	1125
2886	0.95	426.0	140.2	19.2	492	2895	0.30	2.10	0.00	0.000	6	0.140	0.032	3041	1711	1124
3233	1.33	567.4	110.5	7.3	553	3360	0.30	2.22	114.93	0.717	4	0.041	0.036	3184	3138	549
3451	1.12	567.4	70.2	20.8	589	3458	0.32	2.20	0.00	0.000	6	0.141	0.031	3101	1638	548
3797	1.40	578.8	28.5	11.6	650	3817	0.20	2.25	10.15	0.583	4	0.048	0.035	3208	3139	503
3915	1.26	578.8	6.0	20.4	670	3922	0.20	2.28	0.00	0.000	6	0.137	0.031	3144	1591	502
3933	end climb: SURFACE_DEPTH_REACHED
state	3933	begin surface coast
3952	end surface coast: CONTROL_FINISHED_OK
state	3952	begin surface