Glider dive log

PortSusan 10Dec07 * SG144 * Dive index * Mission links * Dive 22 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 22 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 160 ALTIM_PING_DEPTH 0

D_TGT 150 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 500 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2190 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 720 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 54

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 480 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3950 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3503 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 5 VBD_TIMEOUT 720 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -981.64508 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 500 AH0_24V 91.800003 SEABIRD_T_G 0.0043142079

SPEED_FACTOR 1 PITCH_MAX 3812 AH0_10V 61.200001 SEABIRD_T_H 0.00062953553

RHO 1.023 C_PITCH 2754 PRESSURE_YINT -2.6104116 SEABIRD_T_I 2.3274781e-05

MASS 51458 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011159377 SEABIRD_T_J 2.4096155e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.012566

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1222577

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011971687

HD_A 0.003 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.000188736

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 500 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 720

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3812 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 500 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 150 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 0.00011159377 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -2.6104116 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 5

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -981.64508

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 144 ROLL_MAX 3940 T_TURN_SAMPINT 5

C_PITCH 2754 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2190 INT_PRESSURE_YINT 0 ROLL_MIN 160 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3503 MASS 51458 R_PORT_OVSHOOT 28 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 28 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.012566 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1222577 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011971687 VBD_DBAND 2

DEVICE3 54 N_FILEKB 4 SEABIRD_C_J 0.000188736 VBD_MAX 3950

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043142079 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062953553 VBD_MIN 480

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3274781e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 22 PHONE_DEVICE 48 SEABIRD_T_J 2.4096155e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 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 175017,4806.669,-12222.655,13,2.1,32,18.3 TGT_NAME KAYAKPT

_CALLS 2 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 2 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.36 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180056,4806.771,-12222.724,41,1.2,41,18.3 MHEAD_RNG_PITCHd_Wd 333.2,2301,-14.9,-10.000

SPEED_LIMITS 0.100,0.295 D_GRID 107

Post-dive calculations and measurements:

FINISH 3.5,1.017411 XPDR_PINGS 160

SM_CCo 2764,353.58,0.585,0,0,566,720.20 _24V_AH 23.7,3.382

SM_GC 1.35,0.00,0.00,353.58,0.000,0.000,0.585,498,2197,566,-10.37,-0.08,720.20 _10V_AH 10.1,1.343

IRIDIUM_FIX 4748.51,-12220.12,121207,212153 DATA_FILE_SIZE 28629,483

TT8_MAMPS 0.026078 CFSIZE 260165632,258215936

HUMID 1643 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.28157 GPS 121207,185403,4807.039,-12222.988,11,1.5,11,18.3

TCM_TEMP 17.90

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 162 93.55 SBE_CT 327 24 186.22

Roll_motor 43 71 73.92 SBE_O2 232 19 104.72

VBD_pump_during_apogee 299 688 4894.27 Optode 0 33 0.00

VBD_pump_during_surface 353 585 4903.99 WL_BB2F 539 105 1342.68

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 76 103 187.48 nil 0 0 0.00

Iridium_during_connect 167 160 633.39 nil 0 0 0.00

Iridium_during_xfer 219 223 1161.87

Transponder_ping 40 420 398.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 42 50 21.60

TT8 695 19 139.03

LPSleep 922 2 20.39

TT8_Active 722 19 144.39

TT8_Sampling 884 39 355.62

TT8_CF8 553 45 256.20

TT8_Kalman 0 0 0.00

Analog_circuits 1200 12 145.50

GPS_charging 0 0 0.00

Compass 862 8 69.65

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -1.17 -195.5 0.0 0.0 0 119 0.00 0.00 -98.20 0.000 2 0.000 0.000 498 2194 3003

121 -1.17 -195.5 3.1 -1.7 18 173 10.68 2.47 -34.05 0.000 4 0.163 0.071 2496 3608 3951

415 -1.17 -195.5 22.7 -8.5 70 421 0.00 2.38 0.00 0.000 6 0.000 0.043 2496 2199 3951

489 -1.17 -195.5 28.9 -8.0 83 495 0.00 2.45 0.00 0.000 4 0.000 0.061 2496 794 3951

546 -1.17 -195.5 33.8 -8.7 93 552 0.00 2.40 0.00 0.000 6 0.000 0.046 2496 2201 3951

687 -1.17 -195.5 45.7 -8.6 118 694 0.00 2.47 0.00 0.000 4 0.000 0.060 2496 791 3951

778 -1.17 -195.5 53.6 -8.2 134 784 0.00 2.40 0.00 0.000 6 0.000 0.046 2496 2202 3951

920 -1.17 -195.5 64.9 -8.1 159 926 0.00 2.47 0.00 0.000 4 0.000 0.060 2496 788 3951

1033 -1.17 -195.5 74.7 -8.6 179 1039 0.00 2.40 0.00 0.000 6 0.000 0.045 2496 2201 3951

1174 -1.17 -195.5 86.0 -7.4 204 1180 0.00 2.45 0.00 0.000 4 0.000 0.061 2496 794 3951

1242 -1.17 -195.5 91.7 -8.6 216 1248 0.00 2.38 0.00 0.000 6 0.000 0.045 2496 2201 3951

1383 -1.17 -195.5 103.1 -7.3 241 1389 0.00 2.47 0.00 0.000 4 0.000 0.060 2495 788 3951

1432 end dive: TARGET_DEPTH_EXCEEDED

state 1432 begin apogee

1439 -0.31 0.0 107.3 8.7 250 1531 0.85 0.00 86.68 0.689 6 0.098 0.000 2679 2190 3503

1531 end apogee: CONTROL_FINISHED_OK

state 1531 begin climb

1533 1.17 195.5 109.9 0.0 267 1694 1.45 2.47 151.07 0.663 4 0.071 0.055 3005 3600 2706

1744 1.17 195.5 95.6 10.3 306 1751 0.00 2.42 0.00 0.000 6 0.000 0.041 3005 2190 2705

1886 1.18 207.7 82.0 9.6 331 1903 0.00 2.47 11.23 0.602 4 0.000 0.056 3005 3595 2655

1920 1.18 207.7 78.5 10.3 337 1926 0.00 2.40 0.00 0.000 6 0.000 0.041 3005 2187 2655

2060 1.19 208.8 64.5 10.0 362 2067 0.00 2.42 0.00 0.000 4 0.000 0.058 3005 784 2655

2083 1.19 208.8 62.1 10.2 366 2090 0.00 2.38 0.00 0.000 6 0.000 0.041 3006 2194 2655

2225 1.20 223.3 48.5 9.5 391 2241 0.00 0.00 13.57 0.604 6 0.000 0.000 3006 2194 2592

2376 1.22 235.3 33.9 9.6 418 2393 0.00 0.00 11.10 0.586 6 0.000 0.000 3006 2195 2542

2528 1.24 253.3 19.5 9.4 445 2546 0.00 0.00 15.12 0.593 6 0.000 0.000 3005 2195 2469

2614 1.24 253.9 11.2 10.0 460 2620 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2195 2469

2687 1.31 309.7 4.9 8.1 473 2701 0.15 0.00 11.05 0.570 2 0.064 0.000 3049 2195 2415

2702 end climb: SURFACE_DEPTH_REACHED

state 2702 begin surface coast

2746 end surface coast: CONTROL_FINISHED_OK

state 2746 begin surface

ID	144	HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	22	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	160	ALTIM_PING_DEPTH	0
D_TGT	150	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	500	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2190	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	720	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	54
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	480	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3950	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3503	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	5	VBD_TIMEOUT	720	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-981.64508	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	500	AH0_24V	91.800003	SEABIRD_T_G	0.0043142079
SPEED_FACTOR	1	PITCH_MAX	3812	AH0_10V	61.200001	SEABIRD_T_H	0.00062953553
RHO	1.023	C_PITCH	2754	PRESSURE_YINT	-2.6104116	SEABIRD_T_I	2.3274781e-05
MASS	51458	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011159377	SEABIRD_T_J	2.4096155e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.012566
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1222577
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011971687
HD_A	0.003	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.000188736

GPS1	175017,4806.669,-12222.655,13,2.1,32,18.3	TGT_NAME	KAYAKPT
_CALLS	2	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	2	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.36	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180056,4806.771,-12222.724,41,1.2,41,18.3	MHEAD_RNG_PITCHd_Wd	333.2,2301,-14.9,-10.000
SPEED_LIMITS	0.100,0.295	D_GRID	107

FINISH	3.5,1.017411	XPDR_PINGS	160
SM_CCo	2764,353.58,0.585,0,0,566,720.20	_24V_AH	23.7,3.382
SM_GC	1.35,0.00,0.00,353.58,0.000,0.000,0.585,498,2197,566,-10.37,-0.08,720.20	_10V_AH	10.1,1.343
IRIDIUM_FIX	4748.51,-12220.12,121207,212153	DATA_FILE_SIZE	28629,483
TT8_MAMPS	0.026078	CFSIZE	260165632,258215936
HUMID	1643	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.28157	GPS	121207,185403,4807.039,-12222.988,11,1.5,11,18.3
TCM_TEMP	17.90

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	162	93.55	SBE_CT	327	24	186.22
Roll_motor	43	71	73.92	SBE_O2	232	19	104.72
VBD_pump_during_apogee	299	688	4894.27	Optode	0	33	0.00
VBD_pump_during_surface	353	585	4903.99	WL_BB2F	539	105	1342.68
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	76	103	187.48	nil	0	0	0.00
Iridium_during_connect	167	160	633.39	nil	0	0	0.00
Iridium_during_xfer	219	223	1161.87
Transponder_ping	40	420	398.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	42	50	21.60
TT8	695	19	139.03
LPSleep	922	2	20.39
TT8_Active	722	19	144.39
TT8_Sampling	884	39	355.62
TT8_CF8	553	45	256.20
TT8_Kalman	0	0	0.00
Analog_circuits	1200	12	145.50
GPS_charging	0	0	0.00
Compass	862	8	69.65
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-1.17	-195.5	0.0	0.0	0	119	0.00	0.00	-98.20	0.000	2	0.000	0.000	498	2194	3003
121	-1.17	-195.5	3.1	-1.7	18	173	10.68	2.47	-34.05	0.000	4	0.163	0.071	2496	3608	3951
415	-1.17	-195.5	22.7	-8.5	70	421	0.00	2.38	0.00	0.000	6	0.000	0.043	2496	2199	3951
489	-1.17	-195.5	28.9	-8.0	83	495	0.00	2.45	0.00	0.000	4	0.000	0.061	2496	794	3951
546	-1.17	-195.5	33.8	-8.7	93	552	0.00	2.40	0.00	0.000	6	0.000	0.046	2496	2201	3951
687	-1.17	-195.5	45.7	-8.6	118	694	0.00	2.47	0.00	0.000	4	0.000	0.060	2496	791	3951
778	-1.17	-195.5	53.6	-8.2	134	784	0.00	2.40	0.00	0.000	6	0.000	0.046	2496	2202	3951
920	-1.17	-195.5	64.9	-8.1	159	926	0.00	2.47	0.00	0.000	4	0.000	0.060	2496	788	3951
1033	-1.17	-195.5	74.7	-8.6	179	1039	0.00	2.40	0.00	0.000	6	0.000	0.045	2496	2201	3951
1174	-1.17	-195.5	86.0	-7.4	204	1180	0.00	2.45	0.00	0.000	4	0.000	0.061	2496	794	3951
1242	-1.17	-195.5	91.7	-8.6	216	1248	0.00	2.38	0.00	0.000	6	0.000	0.045	2496	2201	3951
1383	-1.17	-195.5	103.1	-7.3	241	1389	0.00	2.47	0.00	0.000	4	0.000	0.060	2495	788	3951
1432	end dive: TARGET_DEPTH_EXCEEDED
state	1432	begin apogee
1439	-0.31	0.0	107.3	8.7	250	1531	0.85	0.00	86.68	0.689	6	0.098	0.000	2679	2190	3503
1531	end apogee: CONTROL_FINISHED_OK
state	1531	begin climb
1533	1.17	195.5	109.9	0.0	267	1694	1.45	2.47	151.07	0.663	4	0.071	0.055	3005	3600	2706
1744	1.17	195.5	95.6	10.3	306	1751	0.00	2.42	0.00	0.000	6	0.000	0.041	3005	2190	2705
1886	1.18	207.7	82.0	9.6	331	1903	0.00	2.47	11.23	0.602	4	0.000	0.056	3005	3595	2655
1920	1.18	207.7	78.5	10.3	337	1926	0.00	2.40	0.00	0.000	6	0.000	0.041	3005	2187	2655
2060	1.19	208.8	64.5	10.0	362	2067	0.00	2.42	0.00	0.000	4	0.000	0.058	3005	784	2655
2083	1.19	208.8	62.1	10.2	366	2090	0.00	2.38	0.00	0.000	6	0.000	0.041	3006	2194	2655
2225	1.20	223.3	48.5	9.5	391	2241	0.00	0.00	13.57	0.604	6	0.000	0.000	3006	2194	2592
2376	1.22	235.3	33.9	9.6	418	2393	0.00	0.00	11.10	0.586	6	0.000	0.000	3006	2195	2542
2528	1.24	253.3	19.5	9.4	445	2546	0.00	0.00	15.12	0.593	6	0.000	0.000	3005	2195	2469
2614	1.24	253.9	11.2	10.0	460	2620	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2195	2469
2687	1.31	309.7	4.9	8.1	473	2701	0.15	0.00	11.05	0.570	2	0.064	0.000	3049	2195	2415
2702	end climb: SURFACE_DEPTH_REACHED
state	2702	begin surface coast
2746	end surface coast: CONTROL_FINISHED_OK
state	2746	begin surface