Glider dive log

PN07 DabobBay Oct07 * SG106 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 22 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1990 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1930 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 390 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -43461.895 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 460 AH0_24V 91.800003 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3080 PRESSURE_YINT -7.4494777 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 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 13 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.4494777 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 35

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 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -43461.895

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 390 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3080 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1930 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1990 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 19 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 30 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 22 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 151408,4739.097,-12251.871,9,1.5,9,18.3 TGT_NAME H1

_CALLS 2 TGT_LATLONG 4739.000,-12252.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.154,-0.179

_SM_DEPTHo 1.18 KALMAN_X 1514.8,133.3,21.3,-1124.7,145.4

_SM_ANGLEo -64.3 KALMAN_Y 2094.8,72.8,13.5,-3301.3,198.7

GPS2 152321,4739.161,-12251.762,13,1.7,13,18.3 MHEAD_RNG_PITCHd_Wd 202.4,421,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.3,1.003979 XPDR_PINGS 0

SM_CCo 2809,119.43,0.588,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.3,51.1

SM_GC 1.23,0.00,0.00,119.43,0.000,0.000,0.588,460,1995,1586,-12.05,0.14,400.08 _24V_AH 23.8,7.653

IRIDIUM_FIX 4722.92,-12249.11,250907,191948 _10V_AH 10.1,30.669

TT8_MAMPS 0.069797 DATA_FILE_SIZE 6477,264

HUMID 2044 CFSIZE 260034560,256446464

INTERNAL_PRESSURE 8.41829 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,8,0,0

TCM_TEMP 19.80 GPS 250907,161423,4739.077,-12251.833,15,3.1,34,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 198 147.16 SBE_CT 176 24 100.95

Roll_motor 51 75 92.80 nil 0 0 0.00

VBD_pump_during_apogee 193 680 3134.74 nil 0 0 0.00

VBD_pump_during_surface 119 587 1669.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 80 103 198.12 nil 0 0 0.00

Iridium_during_connect 74 160 285.46 ARS 0 0 0.00

Iridium_during_xfer 184 223 977.86

Transponder_ping 0 420 5.00

Mmodem_TX 83 1000 1976.11

Mmodem_RX 3506 6 534.18

GPS 13 50 7.00

TT8 500 19 99.99

LPSleep 1604 2 35.48

TT8_Active 459 19 91.87

TT8_Sampling 474 39 190.54

TT8_CF8 474 45 219.36

TT8_Kalman 33 81 27.54

Analog_circuits 742 12 89.99

GPS_charging 0 0 0.00

Compass 449 8 36.34

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 -1.63 -122.2 0.0 0.0 0 79 0.00 0.00 -55.90 0.000 2 0.000 0.000 464 1998 2866

81 -1.63 -122.2 2.1 -4.0 9 137 14.15 2.55 -34.62 0.000 4 0.199 0.067 2723 3391 3716

143 -1.63 -122.2 3.1 -5.2 19 150 0.00 2.50 0.00 0.000 6 0.000 0.040 2723 1982 3717

215 -1.63 -122.2 7.1 -5.8 30 221 0.00 2.62 0.00 0.000 4 0.000 0.070 2723 592 3718

267 -1.63 -122.2 9.8 -4.9 38 273 0.00 2.47 0.00 0.000 6 0.000 0.037 2723 1991 3718

338 -1.63 -122.2 13.7 -5.8 49 345 0.00 2.55 0.00 0.000 4 0.000 0.056 2723 3391 3718

477 -1.63 -122.2 22.4 -6.7 67 483 0.00 2.50 0.00 0.000 6 0.000 0.041 2723 1991 3720

672 -1.63 -122.2 35.2 -6.8 83 676 0.00 2.75 0.00 0.000 4 0.000 0.070 2723 583 3720

756 -1.63 -122.2 41.3 -6.9 89 764 0.00 2.50 0.00 0.000 6 0.000 0.038 2723 1978 3721

952 -1.63 -122.2 54.3 -6.1 105 954 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1979 3721

1142 -1.63 -122.2 65.8 -6.1 120 1146 0.00 2.62 0.00 0.000 4 0.000 0.069 2722 591 3721

1181 -1.63 -122.2 68.1 -6.1 123 1185 0.00 2.50 0.00 0.000 6 0.000 0.038 2723 2004 3721

1383 -1.63 -122.2 80.2 -6.3 139 1384 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 2004 3721

1573 -1.63 -122.2 91.8 -6.1 154 1577 0.00 2.70 0.00 0.000 4 0.000 0.069 2723 590 3721

1631 -1.63 -122.2 95.6 -6.7 158 1635 0.00 2.47 0.00 0.000 6 0.000 0.038 2723 1993 3721

1705 end dive: TARGET_DEPTH_EXCEEDED

state 1705 begin apogee

1709 -0.38 0.0 100.2 6.0 164 1816 1.35 0.00 98.00 0.680 6 0.097 0.000 2992 1925 3218

1816 end apogee: CONTROL_FINISHED_OK

state 1816 begin climb

1818 1.63 122.2 101.1 0.0 173 1925 2.03 2.72 95.60 0.654 4 0.051 0.075 3437 537 2718

1968 1.63 122.2 88.4 11.6 185 1977 0.00 2.53 0.00 0.000 6 0.000 0.038 3437 1930 2717

2165 1.63 122.2 66.3 11.5 201 2169 0.00 2.67 0.00 0.000 4 0.000 0.072 3437 536 2717

2222 1.63 122.2 59.2 12.9 205 2231 0.00 2.53 0.00 0.000 6 0.000 0.038 3437 1937 2717

2419 1.63 122.2 37.4 10.9 221 2424 0.00 2.70 0.00 0.000 4 0.000 0.072 3437 540 2717

2477 1.63 122.2 30.5 11.8 225 2486 0.00 2.50 0.00 0.000 6 0.000 0.038 3437 1932 2717

2678 1.63 122.2 8.9 10.5 248 2685 0.00 2.70 0.00 0.000 4 0.000 0.073 3437 521 2716

2722 end climb: SURFACE_DEPTH_REACHED

state 2722 begin surface coast

2783 end surface coast: CONTROL_FINISHED_OK

state 2783 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	22	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1990	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1930	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	390	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-43461.895	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	460	AH0_24V	91.800003	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3080	PRESSURE_YINT	-7.4494777	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	151408,4739.097,-12251.871,9,1.5,9,18.3	TGT_NAME	H1
_CALLS	2	TGT_LATLONG	4739.000,-12252.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.154,-0.179
_SM_DEPTHo	1.18	KALMAN_X	1514.8,133.3,21.3,-1124.7,145.4
_SM_ANGLEo	-64.3	KALMAN_Y	2094.8,72.8,13.5,-3301.3,198.7
GPS2	152321,4739.161,-12251.762,13,1.7,13,18.3	MHEAD_RNG_PITCHd_Wd	202.4,421,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	124

FINISH	0.3,1.003979	XPDR_PINGS	0
SM_CCo	2809,119.43,0.588,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.3,51.1
SM_GC	1.23,0.00,0.00,119.43,0.000,0.000,0.588,460,1995,1586,-12.05,0.14,400.08	_24V_AH	23.8,7.653
IRIDIUM_FIX	4722.92,-12249.11,250907,191948	_10V_AH	10.1,30.669
TT8_MAMPS	0.069797	DATA_FILE_SIZE	6477,264
HUMID	2044	CFSIZE	260034560,256446464
INTERNAL_PRESSURE	8.41829	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
TCM_TEMP	19.80	GPS	250907,161423,4739.077,-12251.833,15,3.1,34,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	198	147.16	SBE_CT	176	24	100.95
Roll_motor	51	75	92.80	nil	0	0	0.00
VBD_pump_during_apogee	193	680	3134.74	nil	0	0	0.00
VBD_pump_during_surface	119	587	1669.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	80	103	198.12	nil	0	0	0.00
Iridium_during_connect	74	160	285.46	ARS	0	0	0.00
Iridium_during_xfer	184	223	977.86
Transponder_ping	0	420	5.00
Mmodem_TX	83	1000	1976.11
Mmodem_RX	3506	6	534.18
GPS	13	50	7.00
TT8	500	19	99.99
LPSleep	1604	2	35.48
TT8_Active	459	19	91.87
TT8_Sampling	474	39	190.54
TT8_CF8	474	45	219.36
TT8_Kalman	33	81	27.54
Analog_circuits	742	12	89.99
GPS_charging	0	0	0.00
Compass	449	8	36.34
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	-1.63	-122.2	0.0	0.0	0	79	0.00	0.00	-55.90	0.000	2	0.000	0.000	464	1998	2866
81	-1.63	-122.2	2.1	-4.0	9	137	14.15	2.55	-34.62	0.000	4	0.199	0.067	2723	3391	3716
143	-1.63	-122.2	3.1	-5.2	19	150	0.00	2.50	0.00	0.000	6	0.000	0.040	2723	1982	3717
215	-1.63	-122.2	7.1	-5.8	30	221	0.00	2.62	0.00	0.000	4	0.000	0.070	2723	592	3718
267	-1.63	-122.2	9.8	-4.9	38	273	0.00	2.47	0.00	0.000	6	0.000	0.037	2723	1991	3718
338	-1.63	-122.2	13.7	-5.8	49	345	0.00	2.55	0.00	0.000	4	0.000	0.056	2723	3391	3718
477	-1.63	-122.2	22.4	-6.7	67	483	0.00	2.50	0.00	0.000	6	0.000	0.041	2723	1991	3720
672	-1.63	-122.2	35.2	-6.8	83	676	0.00	2.75	0.00	0.000	4	0.000	0.070	2723	583	3720
756	-1.63	-122.2	41.3	-6.9	89	764	0.00	2.50	0.00	0.000	6	0.000	0.038	2723	1978	3721
952	-1.63	-122.2	54.3	-6.1	105	954	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1979	3721
1142	-1.63	-122.2	65.8	-6.1	120	1146	0.00	2.62	0.00	0.000	4	0.000	0.069	2722	591	3721
1181	-1.63	-122.2	68.1	-6.1	123	1185	0.00	2.50	0.00	0.000	6	0.000	0.038	2723	2004	3721
1383	-1.63	-122.2	80.2	-6.3	139	1384	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	2004	3721
1573	-1.63	-122.2	91.8	-6.1	154	1577	0.00	2.70	0.00	0.000	4	0.000	0.069	2723	590	3721
1631	-1.63	-122.2	95.6	-6.7	158	1635	0.00	2.47	0.00	0.000	6	0.000	0.038	2723	1993	3721
1705	end dive: TARGET_DEPTH_EXCEEDED
state	1705	begin apogee
1709	-0.38	0.0	100.2	6.0	164	1816	1.35	0.00	98.00	0.680	6	0.097	0.000	2992	1925	3218
1816	end apogee: CONTROL_FINISHED_OK
state	1816	begin climb
1818	1.63	122.2	101.1	0.0	173	1925	2.03	2.72	95.60	0.654	4	0.051	0.075	3437	537	2718
1968	1.63	122.2	88.4	11.6	185	1977	0.00	2.53	0.00	0.000	6	0.000	0.038	3437	1930	2717
2165	1.63	122.2	66.3	11.5	201	2169	0.00	2.67	0.00	0.000	4	0.000	0.072	3437	536	2717
2222	1.63	122.2	59.2	12.9	205	2231	0.00	2.53	0.00	0.000	6	0.000	0.038	3437	1937	2717
2419	1.63	122.2	37.4	10.9	221	2424	0.00	2.70	0.00	0.000	4	0.000	0.072	3437	540	2717
2477	1.63	122.2	30.5	11.8	225	2486	0.00	2.50	0.00	0.000	6	0.000	0.038	3437	1932	2717
2678	1.63	122.2	8.9	10.5	248	2685	0.00	2.70	0.00	0.000	4	0.000	0.073	3437	521	2716
2722	end climb: SURFACE_DEPTH_REACHED
state	2722	begin surface coast
2783	end surface coast: CONTROL_FINISHED_OK
state	2783	begin surface