Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 223 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 223 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 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2080 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 602.45679 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -21830.414 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 100 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 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 602.45679

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 5 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 120 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 -7.1405377 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 45

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 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -21830.414

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

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 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2080 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 23 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 31 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 223 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 063203,4739.537,-12252.324,8,1.4,8,18.3 TGT_NAME H2

_CALLS 5 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.145,-0.149

_SM_DEPTHo 0.91 KALMAN_X 31024.6,300.6,-28.9,-30704.7,263.7

_SM_ANGLEo -56.1 KALMAN_Y 15977.9,228.9,24.6,-16507.9,219.0

GPS2 064527,4739.642,-12252.221,16,1.2,16,18.3 MHEAD_RNG_PITCHd_Wd 205.9,395,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.4,1.022714 XPDR_PINGS 0

SM_CCo 2995,221.23,0.575,0,0,746,602.46 ALTIM_BOTTOM_PING 96.1,999.0

SM_GC 1.00,0.00,0.00,221.23,0.000,0.000,0.575,405,2209,746,-11.47,0.23,602.46 _24V_AH 23.7,35.918

IRIDIUM_FIX 4722.92,-12256.21,011007,101047 _10V_AH 10.2,22.096

TT8_MAMPS 0.026845 DATA_FILE_SIZE 6472,274

HUMID 2146 CFSIZE 260231168,250785792

INTERNAL_PRESSURE 7.88116 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 20.00 GPS 011007,074120,4739.550,-12252.289,15,1.4,32,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 196 138.44 SBE_CT 194 24 110.64

Roll_motor 40 64 61.88 nil 0 0 0.00

VBD_pump_during_apogee 196 787 3677.27 nil 0 0 0.00

VBD_pump_during_surface 221 575 3016.05 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 174 103 425.04 nil 0 0 0.00

Iridium_during_connect 300 160 1140.16 ARS 0 18 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 2.49

Mmodem_TX 0 1000 0.00

Mmodem_RX 0 6 0.00

GPS 16 50 8.29

TT8 495 19 100.14

LPSleep 1913 2 42.75

TT8_Active 577 19 116.60

TT8_Sampling 466 39 189.57

TT8_CF8 600 45 280.31

TT8_Kalman 33 81 27.83

Analog_circuits 871 12 106.71

GPS_charging 0 0 0.00

Compass 457 8 37.32

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

21 -1.68 -97.8 0.0 0.0 0 127 0.00 0.00 -103.18 0.000 2 0.000 0.000 410 2193 2805

131 -1.68 -97.8 2.2 -4.4 17 180 13.25 0.00 -30.98 0.000 6 0.196 0.000 2522 2193 3602

246 -1.68 -97.8 8.5 -7.8 35 252 0.00 2.60 0.00 0.000 4 0.000 0.063 2522 798 3604

318 -1.68 -97.8 15.7 -11.3 46 324 0.00 2.45 0.00 0.000 6 0.000 0.035 2522 2201 3604

388 -1.68 -97.8 23.1 -10.0 55 389 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2201 3605

579 -1.68 -97.8 41.5 -9.6 70 583 0.00 2.53 0.00 0.000 4 0.000 0.059 2522 3597 3605

611 -1.68 -97.8 44.9 -10.2 72 616 0.00 2.42 0.00 0.000 6 0.000 0.035 2522 2195 3605

806 -1.68 -97.8 63.8 -9.6 87 811 0.00 2.58 0.00 0.000 4 0.000 0.064 2522 802 3605

831 -1.68 -97.8 66.4 -10.2 88 838 0.00 2.47 0.00 0.000 6 0.000 0.035 2522 2204 3605

1028 -1.68 -97.8 85.9 -10.2 104 1029 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2204 3605

1217 -1.68 -97.8 104.9 -9.7 119 1218 0.00 0.00 0.00 0.000 6 0.000 0.000 2522 2204 3605

1393 end dive: TARGET_DEPTH_EXCEEDED

state 1393 begin apogee

1399 -0.38 0.0 121.0 9.7 133 1479 1.48 0.00 75.82 0.690 6 0.108 0.000 2810 2066 3202

1480 end apogee: CONTROL_FINISHED_OK

state 1480 begin climb

1482 1.68 97.8 123.8 0.0 140 1565 2.15 0.00 77.60 0.670 6 0.063 0.000 3268 2066 2803

1752 1.69 104.2 106.6 8.5 162 1765 0.00 2.58 4.88 0.734 4 0.000 0.055 3267 3477 2777

1843 1.69 104.2 97.9 9.4 169 1848 0.00 2.42 0.00 0.000 6 0.000 0.036 3268 2084 2779

2039 1.70 108.4 80.8 8.6 184 2051 0.00 2.60 2.90 0.765 4 0.000 0.054 3268 3480 2760

2082 1.70 108.4 76.6 9.5 187 2090 0.00 2.45 0.00 0.000 6 0.000 0.035 3268 2088 2762

2279 1.70 113.0 59.0 8.6 203 2292 0.00 2.58 3.58 0.750 4 0.000 0.054 3268 3476 2741

2336 1.70 113.0 53.5 9.8 207 2344 0.00 2.45 0.00 0.000 6 0.000 0.035 3268 2088 2743

2533 1.72 124.0 36.6 8.2 223 2547 0.00 2.58 8.15 0.702 4 0.000 0.054 3268 3476 2696

2605 1.72 126.2 30.4 8.8 228 2613 0.00 2.45 1.55 0.788 6 0.000 0.035 3268 2087 2688

2804 1.76 155.7 15.6 7.1 248 2835 0.00 2.58 22.50 0.660 4 0.000 0.054 3268 3473 2568

2914 1.76 155.7 6.0 11.1 265 2920 0.00 2.42 0.00 0.000 6 0.000 0.036 3268 2082 2568

2925 end climb: SURFACE_DEPTH_REACHED

state 2925 begin surface coast

2971 end surface coast: CONTROL_FINISHED_OK

state 2972 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	223	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	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2080	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	602.45679	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-21830.414	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	100	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	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	063203,4739.537,-12252.324,8,1.4,8,18.3	TGT_NAME	H2
_CALLS	5	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.145,-0.149
_SM_DEPTHo	0.91	KALMAN_X	31024.6,300.6,-28.9,-30704.7,263.7
_SM_ANGLEo	-56.1	KALMAN_Y	15977.9,228.9,24.6,-16507.9,219.0
GPS2	064527,4739.642,-12252.221,16,1.2,16,18.3	MHEAD_RNG_PITCHd_Wd	205.9,395,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	124

FINISH	0.4,1.022714	XPDR_PINGS	0
SM_CCo	2995,221.23,0.575,0,0,746,602.46	ALTIM_BOTTOM_PING	96.1,999.0
SM_GC	1.00,0.00,0.00,221.23,0.000,0.000,0.575,405,2209,746,-11.47,0.23,602.46	_24V_AH	23.7,35.918
IRIDIUM_FIX	4722.92,-12256.21,011007,101047	_10V_AH	10.2,22.096
TT8_MAMPS	0.026845	DATA_FILE_SIZE	6472,274
HUMID	2146	CFSIZE	260231168,250785792
INTERNAL_PRESSURE	7.88116	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	20.00	GPS	011007,074120,4739.550,-12252.289,15,1.4,32,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	196	138.44	SBE_CT	194	24	110.64
Roll_motor	40	64	61.88	nil	0	0	0.00
VBD_pump_during_apogee	196	787	3677.27	nil	0	0	0.00
VBD_pump_during_surface	221	575	3016.05	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	174	103	425.04	nil	0	0	0.00
Iridium_during_connect	300	160	1140.16	ARS	0	18	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	2.49
Mmodem_TX	0	1000	0.00
Mmodem_RX	0	6	0.00
GPS	16	50	8.29
TT8	495	19	100.14
LPSleep	1913	2	42.75
TT8_Active	577	19	116.60
TT8_Sampling	466	39	189.57
TT8_CF8	600	45	280.31
TT8_Kalman	33	81	27.83
Analog_circuits	871	12	106.71
GPS_charging	0	0	0.00
Compass	457	8	37.32
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
21	-1.68	-97.8	0.0	0.0	0	127	0.00	0.00	-103.18	0.000	2	0.000	0.000	410	2193	2805
131	-1.68	-97.8	2.2	-4.4	17	180	13.25	0.00	-30.98	0.000	6	0.196	0.000	2522	2193	3602
246	-1.68	-97.8	8.5	-7.8	35	252	0.00	2.60	0.00	0.000	4	0.000	0.063	2522	798	3604
318	-1.68	-97.8	15.7	-11.3	46	324	0.00	2.45	0.00	0.000	6	0.000	0.035	2522	2201	3604
388	-1.68	-97.8	23.1	-10.0	55	389	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2201	3605
579	-1.68	-97.8	41.5	-9.6	70	583	0.00	2.53	0.00	0.000	4	0.000	0.059	2522	3597	3605
611	-1.68	-97.8	44.9	-10.2	72	616	0.00	2.42	0.00	0.000	6	0.000	0.035	2522	2195	3605
806	-1.68	-97.8	63.8	-9.6	87	811	0.00	2.58	0.00	0.000	4	0.000	0.064	2522	802	3605
831	-1.68	-97.8	66.4	-10.2	88	838	0.00	2.47	0.00	0.000	6	0.000	0.035	2522	2204	3605
1028	-1.68	-97.8	85.9	-10.2	104	1029	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2204	3605
1217	-1.68	-97.8	104.9	-9.7	119	1218	0.00	0.00	0.00	0.000	6	0.000	0.000	2522	2204	3605
1393	end dive: TARGET_DEPTH_EXCEEDED
state	1393	begin apogee
1399	-0.38	0.0	121.0	9.7	133	1479	1.48	0.00	75.82	0.690	6	0.108	0.000	2810	2066	3202
1480	end apogee: CONTROL_FINISHED_OK
state	1480	begin climb
1482	1.68	97.8	123.8	0.0	140	1565	2.15	0.00	77.60	0.670	6	0.063	0.000	3268	2066	2803
1752	1.69	104.2	106.6	8.5	162	1765	0.00	2.58	4.88	0.734	4	0.000	0.055	3267	3477	2777
1843	1.69	104.2	97.9	9.4	169	1848	0.00	2.42	0.00	0.000	6	0.000	0.036	3268	2084	2779
2039	1.70	108.4	80.8	8.6	184	2051	0.00	2.60	2.90	0.765	4	0.000	0.054	3268	3480	2760
2082	1.70	108.4	76.6	9.5	187	2090	0.00	2.45	0.00	0.000	6	0.000	0.035	3268	2088	2762
2279	1.70	113.0	59.0	8.6	203	2292	0.00	2.58	3.58	0.750	4	0.000	0.054	3268	3476	2741
2336	1.70	113.0	53.5	9.8	207	2344	0.00	2.45	0.00	0.000	6	0.000	0.035	3268	2088	2743
2533	1.72	124.0	36.6	8.2	223	2547	0.00	2.58	8.15	0.702	4	0.000	0.054	3268	3476	2696
2605	1.72	126.2	30.4	8.8	228	2613	0.00	2.45	1.55	0.788	6	0.000	0.035	3268	2087	2688
2804	1.76	155.7	15.6	7.1	248	2835	0.00	2.58	22.50	0.660	4	0.000	0.054	3268	3473	2568
2914	1.76	155.7	6.0	11.1	265	2920	0.00	2.42	0.00	0.000	6	0.000	0.036	3268	2082	2568
2925	end climb: SURFACE_DEPTH_REACHED
state	2925	begin surface coast
2971	end surface coast: CONTROL_FINISHED_OK
state	2972	begin surface