Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 216 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_B 0.013382 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.8987e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 216 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 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 47 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 46 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 63 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 204 DEVICE4 -1

T_TURN 270 CALL_WAIT 60 VBD_MAX 3580 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2800 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 360 SMARTDEVICE2 -1

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 -63626.688 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 25 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 4070 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_I 2.5554549e-05

MASS 51503 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 25 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0043390002 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 25 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 95 PITCH_TIMEOUT 15 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 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 63

CALL_TRIES 5 HD_A 0.0043390002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.013382 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 5.8987e-05 RHO 1.023 T_GPS_CHARGE -63626.688

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COURSE_BIAS 0 ID 128 ROLL_MAX 4014 T_TURN_SAMPINT 5

C_PITCH 2820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2150 INT_PRESSURE_YINT 0 ROLL_MIN 145 UNCOM_BLEED 50

C_ROLL_DIVE 2250 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51503 R_PORT_OVSHOOT 47 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 46 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3580

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 204

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 216 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 120337,4805.388,-12221.150,38,1.2,39,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.021,-0.156

_SM_DEPTHo 1.11 KALMAN_X 17069.6,135.9,45.4,-13766.3,154.7

_SM_ANGLEo -68.1 KALMAN_Y 9614.3,-148.2,114.3,-15326.8,60.8

GPS2 120757,4805.363,-12221.073,10,1.4,10,18.3 MHEAD_RNG_PITCHd_Wd 169.4,678,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 107

Post-dive calculations and measurements:

FINISH 0.4,1.022831 XPDR_PINGS 1

SM_CCo 3863,13.02,0.746,0,0,1577,300.00 ALTIM_BOTTOM_PING 70.1,45.3

SM_GC 2.17,0.00,0.00,13.02,0.000,0.000,0.746,18,2269,1577,-8.76,0.54,300.00 _24V_AH 24.5,25.465

IRIDIUM_FIX 4748.51,-12224.57,140907,141431 _10V_AH 10.7,11.899

TT8_MAMPS 0.026078 DATA_FILE_SIZE 22249,423

HUMID 1855 CFSIZE 260165632,251617280

INTERNAL_PRESSURE 9.2191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 140907,131453,4805.013,-12221.116,21,2.2,41,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 218 111.66 SBE_CT 304 24 179.31

Roll_motor 32 62 48.82 SBE_O2 327 19 152.60

VBD_pump_during_apogee 328 855 6892.86 WL_BB2F 713 105 1836.37

VBD_pump_during_surface 13 745 237.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 96.59 nil 0 0 0.00

Iridium_during_connect 36 160 141.92 nil 0 0 0.00

Iridium_during_xfer 100 223 547.51

Transponder_ping 0 420 5.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.65

TT8 676 19 143.37

LPSleep 1967 2 46.09

TT8_Active 383 19 81.27

TT8_Sampling 832 39 354.49

TT8_CF8 300 45 147.22

TT8_Kalman 33 81 29.19

Analog_circuits 814 12 104.56

GPS_charging 0 0 0.00

Compass 852 8 73.01

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -0.60 -146.6 0.0 0.0 0 101 0.00 0.00 -77.03 0.000 2 0.000 0.000 15 2263 3090

104 -0.60 -146.6 3.2 -2.8 14 128 10.73 2.35 -5.93 0.000 4 0.219 0.061 2608 3640 3401

409 -0.60 -146.6 27.2 -8.5 61 414 0.00 2.22 0.00 0.000 6 0.000 0.028 2609 2228 3404

607 -0.60 -146.6 35.7 -4.0 79 608 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2226 3404

798 -0.60 -146.6 46.2 -5.7 97 801 0.00 2.17 0.00 0.000 4 0.000 0.038 2608 855 3404

820 -0.60 -146.6 47.6 -6.3 99 824 0.00 2.22 0.00 0.000 6 0.000 0.034 2608 2247 3404

1022 -0.60 -146.6 57.9 -4.3 118 1026 0.00 2.22 0.00 0.000 4 0.000 0.038 2608 860 3404

1055 -0.60 -146.6 59.5 -4.8 120 1062 0.00 2.25 0.00 0.000 6 0.000 0.034 2608 2251 3404

1383 -0.60 -146.6 74.7 -4.9 151 1389 0.00 0.00 0.00 0.000 6 0.000 0.000 2608 2252 3404

1708 -0.60 -146.6 90.7 -5.0 182 1712 0.00 2.30 0.00 0.000 4 0.000 0.050 2604 3657 3404

1752 -0.60 -146.6 93.1 -5.1 185 1759 0.00 2.22 0.00 0.000 6 0.000 0.029 2604 2245 3404

1799 end dive: TARGET_DEPTH_EXCEEDED

state 1799 begin apogee

1804 -0.20 0.0 95.4 4.9 190 1922 0.47 0.00 112.12 0.772 6 0.104 0.000 2754 2153 2799

1923 end apogee: CONTROL_FINISHED_OK

state 1923 begin climb

1925 0.60 146.6 97.6 0.0 202 2043 0.77 0.00 111.32 0.691 6 0.076 0.000 3009 2152 2201

2360 0.60 146.6 74.4 5.6 244 2364 0.00 2.35 0.00 0.000 4 0.000 0.045 3009 3558 2199

2445 0.60 146.6 69.0 6.6 251 2451 0.00 2.25 0.00 0.000 6 0.000 0.029 3009 2154 2199

2771 0.60 146.6 49.5 6.0 282 2774 0.00 2.28 0.00 0.000 4 0.000 0.041 3010 744 2199

2810 0.60 146.6 47.2 5.5 285 2814 0.00 2.25 0.00 0.000 6 0.000 0.032 3010 2149 2199

3008 0.61 150.6 37.1 4.9 303 3018 0.00 0.00 4.55 0.623 6 0.000 0.000 3010 2149 2184

3209 0.63 165.4 26.8 4.6 322 3223 0.00 0.00 12.68 0.855 6 0.000 0.000 3010 2149 2125

3414 0.63 165.4 15.7 6.3 347 3419 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2149 2124

3487 0.63 165.4 11.7 5.4 360 3493 0.00 0.00 0.00 0.000 6 0.000 0.000 3010 2149 2124

3561 0.70 225.1 9.1 3.2 373 3613 0.10 2.38 45.17 0.720 4 0.073 0.045 3063 3558 1881

3688 0.77 281.8 5.5 3.3 395 3739 0.00 2.30 43.12 0.679 6 0.000 0.030 3067 2138 1650

3795 end climb: SURFACE_DEPTH_REACHED

state 3795 begin surface coast

3845 end surface coast: CONTROL_FINISHED_OK

state 3845 begin surface

ID	128	HD_B	0.013382	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.8987e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	216	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	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	47	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	46	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	63	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	204	DEVICE4	-1
T_TURN	270	CALL_WAIT	60	VBD_MAX	3580	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2800	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	360	SMARTDEVICE2	-1
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	-63626.688	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	25	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	4070	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_I	2.5554549e-05
MASS	51503	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	25	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0043390002	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	120337,4805.388,-12221.150,38,1.2,39,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.021,-0.156
_SM_DEPTHo	1.11	KALMAN_X	17069.6,135.9,45.4,-13766.3,154.7
_SM_ANGLEo	-68.1	KALMAN_Y	9614.3,-148.2,114.3,-15326.8,60.8
GPS2	120757,4805.363,-12221.073,10,1.4,10,18.3	MHEAD_RNG_PITCHd_Wd	169.4,678,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	107

FINISH	0.4,1.022831	XPDR_PINGS	1
SM_CCo	3863,13.02,0.746,0,0,1577,300.00	ALTIM_BOTTOM_PING	70.1,45.3
SM_GC	2.17,0.00,0.00,13.02,0.000,0.000,0.746,18,2269,1577,-8.76,0.54,300.00	_24V_AH	24.5,25.465
IRIDIUM_FIX	4748.51,-12224.57,140907,141431	_10V_AH	10.7,11.899
TT8_MAMPS	0.026078	DATA_FILE_SIZE	22249,423
HUMID	1855	CFSIZE	260165632,251617280
INTERNAL_PRESSURE	9.2191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	140907,131453,4805.013,-12221.116,21,2.2,41,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	218	111.66	SBE_CT	304	24	179.31
Roll_motor	32	62	48.82	SBE_O2	327	19	152.60
VBD_pump_during_apogee	328	855	6892.86	WL_BB2F	713	105	1836.37
VBD_pump_during_surface	13	745	237.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	96.59	nil	0	0	0.00
Iridium_during_connect	36	160	141.92	nil	0	0	0.00
Iridium_during_xfer	100	223	547.51
Transponder_ping	0	420	5.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.65
TT8	676	19	143.37
LPSleep	1967	2	46.09
TT8_Active	383	19	81.27
TT8_Sampling	832	39	354.49
TT8_CF8	300	45	147.22
TT8_Kalman	33	81	29.19
Analog_circuits	814	12	104.56
GPS_charging	0	0	0.00
Compass	852	8	73.01
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-0.60	-146.6	0.0	0.0	0	101	0.00	0.00	-77.03	0.000	2	0.000	0.000	15	2263	3090
104	-0.60	-146.6	3.2	-2.8	14	128	10.73	2.35	-5.93	0.000	4	0.219	0.061	2608	3640	3401
409	-0.60	-146.6	27.2	-8.5	61	414	0.00	2.22	0.00	0.000	6	0.000	0.028	2609	2228	3404
607	-0.60	-146.6	35.7	-4.0	79	608	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2226	3404
798	-0.60	-146.6	46.2	-5.7	97	801	0.00	2.17	0.00	0.000	4	0.000	0.038	2608	855	3404
820	-0.60	-146.6	47.6	-6.3	99	824	0.00	2.22	0.00	0.000	6	0.000	0.034	2608	2247	3404
1022	-0.60	-146.6	57.9	-4.3	118	1026	0.00	2.22	0.00	0.000	4	0.000	0.038	2608	860	3404
1055	-0.60	-146.6	59.5	-4.8	120	1062	0.00	2.25	0.00	0.000	6	0.000	0.034	2608	2251	3404
1383	-0.60	-146.6	74.7	-4.9	151	1389	0.00	0.00	0.00	0.000	6	0.000	0.000	2608	2252	3404
1708	-0.60	-146.6	90.7	-5.0	182	1712	0.00	2.30	0.00	0.000	4	0.000	0.050	2604	3657	3404
1752	-0.60	-146.6	93.1	-5.1	185	1759	0.00	2.22	0.00	0.000	6	0.000	0.029	2604	2245	3404
1799	end dive: TARGET_DEPTH_EXCEEDED
state	1799	begin apogee
1804	-0.20	0.0	95.4	4.9	190	1922	0.47	0.00	112.12	0.772	6	0.104	0.000	2754	2153	2799
1923	end apogee: CONTROL_FINISHED_OK
state	1923	begin climb
1925	0.60	146.6	97.6	0.0	202	2043	0.77	0.00	111.32	0.691	6	0.076	0.000	3009	2152	2201
2360	0.60	146.6	74.4	5.6	244	2364	0.00	2.35	0.00	0.000	4	0.000	0.045	3009	3558	2199
2445	0.60	146.6	69.0	6.6	251	2451	0.00	2.25	0.00	0.000	6	0.000	0.029	3009	2154	2199
2771	0.60	146.6	49.5	6.0	282	2774	0.00	2.28	0.00	0.000	4	0.000	0.041	3010	744	2199
2810	0.60	146.6	47.2	5.5	285	2814	0.00	2.25	0.00	0.000	6	0.000	0.032	3010	2149	2199
3008	0.61	150.6	37.1	4.9	303	3018	0.00	0.00	4.55	0.623	6	0.000	0.000	3010	2149	2184
3209	0.63	165.4	26.8	4.6	322	3223	0.00	0.00	12.68	0.855	6	0.000	0.000	3010	2149	2125
3414	0.63	165.4	15.7	6.3	347	3419	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	2149	2124
3487	0.63	165.4	11.7	5.4	360	3493	0.00	0.00	0.00	0.000	6	0.000	0.000	3010	2149	2124
3561	0.70	225.1	9.1	3.2	373	3613	0.10	2.38	45.17	0.720	4	0.073	0.045	3063	3558	1881
3688	0.77	281.8	5.5	3.3	395	3739	0.00	2.30	43.12	0.679	6	0.000	0.030	3067	2138	1650
3795	end climb: SURFACE_DEPTH_REACHED
state	3795	begin surface coast
3845	end surface coast: CONTROL_FINISHED_OK
state	3845	begin surface