Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 225 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 80 HD_C 5.8987e-05 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 11 HEADING -1 ROLL_MIN 300 ALTIM_PING_DEPTH 80

DIVE 225 ESCAPE_HEADING 0 ROLL_MAX 3750 ALTIM_PING_DELTA 10

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2069 ALTIM_PULSE 3

D_TGT 95 TGT_DEFAULT_LAT 47.599998 C_ROLL_CLIMB 2069 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_DEFAULT_LON -122.3 HEAD_ERRBAND 10 XPDR_VALID 0

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_BOOST 0 SM_CC 300 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 N_FILEKB 4 R_PORT_OVSHOOT 1 INT_PRESSURE_YINT 0

D_PITCH 0 FILEMGR 0 R_STBD_OVSHOOT 1 DEEPGLIDER 0

D_SAFE 0 CALL_NDIVES 1 ROLL_AD_RATE 400 DEEPGLIDERMB 0

D_CALL 0 COMM_SEQ 0 ROLL_MAXERRORS 10 MOTHERBOARD 4

SURFACE_URGENCY 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MIN 188 DEVICE3 -1

T_DIVE 63 UPLOAD_DIVES_MAX -1 VBD_MAX 3616 DEVICE4 -1

T_MISSION 75 CALL_TRIES 5 C_VBD 2473 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_DBAND 2 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 VBD_CNV -0.24529999 SMARTS 1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_TIMEOUT 360 SMARTDEVICE1 3

T_NO_W 120 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE2 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 COMPASS_DEVICE 1

USE_BATHY -4 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS2_DEVICE -1

USE_ICE 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 PHONE_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 T_GPS_CHARGE -29956.01 UNCOM_BLEED 20 GPS_DEVICE 48

D_OFFGRID 100 T_RSLEEP 3 VBD_MAXERRORS 1 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 XPDR_DEVICE -1

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_24V 91.800003 SIM_W 0

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 AH0_10V 61.200001 SIM_PITCH 0

MAX_BUOY 150 PITCH_MIN 30 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MAX 4065 PRESSURE_YINT -0.16054545 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 C_PITCH 2692 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 PITCH_DBAND 0.1 AD7714Ch0Gain 1 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_CNV 0.0046000001 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.331019

MASS 52000 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763502

NAV_MODE 1 PITCH_GAIN 16 COMPASS_USE 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0 AR_RESETARS 0.0

HD_A 0.0043390002 PITCH_MAXERRORS 10 ALTIM_BOTTOM_TURN_MARGIN 0 AR_RECORDBELOW 0.0

HD_B 0.013382 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 AR_NOTIFYAPOGEE 0.0

AD7714Ch0Gain 1 D_ABORT 1090 PITCH_ADJ_DBAND 0 SMARTDEVICE1 3

AH0_10V 61.200001 D_BOOST 0 PITCH_ADJ_GAIN 0 SMARTDEVICE2 -1

AH0_24V 91.800003 D_CALL 0 PITCH_AD_RATE 175 SMARTS 1

ALTIM_BOTTOM_PING_RANGE 25 D_FINISH 0 PITCH_CNV 0.0046000001 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 D_FLARE 3 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_NO_BLEED 200 PITCH_GAIN 16 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_OFFGRID 100 PITCH_MAX 4065 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_PITCH 0 PITCH_MAXERRORS 10 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 D_SAFE 0 PITCH_MIN 30 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 D_SURF 2 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 D_TGT 95 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -0.16054545 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 FERRY_MAX 45 P_OVSHOOT 0.039999999 T_ABORT 1440

AR_NOTIFYAPOGEE 0.0 FILEMGR 0 RAFOS_CORR_THRESH 60 T_DIVE 63

AR_RECORDBELOW 0.0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_GPS 15

AR_RESETARS 0.0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -29956.01

CALL_TRIES 5 HD_A 0.0043390002 RELAUNCH 1 T_LOITER 0

CALL_WAIT 60 HD_B 0.013382 RHO 1.023 T_MISSION 75

CAPMAXSIZE 100000 HD_C 5.8987e-05 ROLL_ADJ_DBAND 0 T_NO_W 120

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_GAIN 0 T_RSLEEP 3

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_AD_RATE 400 T_TURN 270

COMM_SEQ 0 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_DEVICE 1 ID 80 ROLL_MAX 3750 UNCOM_BLEED 20

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 10 UPLOAD_DIVES_MAX -1

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MIN 300 USE_BATHY -4

C_PITCH 2692 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_CLIMB 2069 KERMIT 0 R_PORT_OVSHOOT 1 VBD_BLEED_AD_RATE 8

C_ROLL_DIVE 2069 MASS 52000 R_STBD_OVSHOOT 1 VBD_CNV -0.24529999

C_VBD 2473 MAX_BUOY 150 SEABIRD_C_G -10.331019 VBD_DBAND 2

DEEPGLIDER 0 MISSION 11 SEABIRD_C_H 1.1763502 VBD_MAX 3616

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_I -0.0012340198 VBD_MAXERRORS 1

DEVICE1 2 NAV_MODE 1 SEABIRD_C_J 0.00017379176 VBD_MIN 188

DEVICE2 -1 N_FILEKB 4 SEABIRD_T_G 0.0043805656 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE3 -1 N_GPS 20 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_I 2.5554549e-05 VBD_TIMEOUT 360

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_J 2.6681391e-06 XPDR_DEVICE -1

DEVICE6 -1 PHONE_DEVICE 32 SIM_PITCH 0 XPDR_INHIBIT 90

DIVE 225 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 170154,4808.099,-12223.961,30,1.1,30,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.013,-0.074

_SM_DEPTHo 0.00 KALMAN_X 18597.2,-77.3,151.2,-19095.6,-28.8

_SM_ANGLEo -50.0 KALMAN_Y 416.4,-215.3,-9.9,489.5,127.2

GPS2 170841,4808.086,-12223.935,36,1.1,36,18.0 MHEAD_RNG_PITCHd_Wd 172.2,178,-30.1,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

SM_CCo 3126,102.00,0.004,13,0,1250,300.25 _24V_AH 23.8,25.357

SM_GC 0.00,0.00,0.00,102.00,0.000,0.000,0.004,160,1937,1250,-11.67,-3.73,300.25 _10V_AH 9.7,40.376

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 6430,260

TT8_MAMPS 0.049855 CAP_FILE_SIZE 56298,7

HUMID 1645 CFSIZE 260165632,252108800

INTERNAL_PRESSURE 12.5298 ERRORS 0,0,0,0,0,0,0,0,1,0,0,80,203,13,0

TCM_TEMP 15.00 GPS 040808,180708,4808.023,-12224.073,19,1.1,20,18.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 3 3.13 SBE_CT 200 24 114.78

Roll_motor 47 3 4.30 nil 0 0 0.00

VBD_pump_during_apogee 240 4 26.31 nil 0 0 0.00

VBD_pump_during_surface 102 3 9.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 ARS 0 216 0.00

Iridium_during_xfer 76 223 406.44

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 50 17.83

TT8 504 18 88.04

LPSleep 1657 0 6.27

TT8_Active 536 18 93.68

TT8_Sampling 461 38 169.96

TT8_CF8 606 44 258.72

TT8_Kalman 33 80 25.88

Analog_circuits 898 12 104.53

GPS_charging 0 0 0.00

Compass 364 26 91.98

RAFOS 0 0 0.00

Transponder 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

125 end surface: CONTROL_FINISHED_OK

state 125 begin dive

129 -1.91 -24.7 0.0 0.0 0 175 0.00 0.00 -44.22 0.000 6 0.000 0.000 275 1917 2582

178 -1.95 -54.2 0.2 -0.9 4 201 10.02 3.03 -4.03 0.000 4 0.004 0.004 2303 3684 2703

505 -1.99 -90.9 11.3 0.1 33 517 0.30 2.95 -4.82 0.000 6 0.004 0.004 2226 1938 2847

548 -2.03 -117.4 11.9 -1.3 37 559 0.35 2.72 -3.75 0.000 4 0.004 0.004 2302 3580 2959

863 -2.03 -117.4 31.4 -7.5 65 873 0.47 3.03 0.00 0.000 6 0.003 0.004 2191 1922 2958

905 -2.03 -117.4 34.3 -7.2 69 914 0.52 3.03 0.00 0.000 4 0.004 0.004 2303 3665 2958

1218 -2.03 -117.4 54.6 -6.1 97 1228 0.50 2.95 0.00 0.000 6 0.004 0.004 2189 1889 2959

1260 -2.03 -117.4 57.2 -6.7 101 1269 0.55 3.03 0.00 0.000 4 0.004 0.004 2299 3645 2958

1573 -2.03 -117.4 74.6 -5.7 129 1582 0.30 3.15 0.00 0.000 6 0.003 0.004 2221 1913 2959

1616 -2.03 -117.4 77.0 -6.0 133 1622 0.28 3.03 0.00 0.000 4 0.004 0.004 2298 3647 2958

1925 -2.03 -119.7 93.8 -4.7 160 1931 0.30 2.92 0.00 0.000 6 0.003 0.004 2223 1987 2959

1949 end dive: TARGET_DEPTH_EXCEEDED

state 1949 begin apogee

1956 -0.31 0.0 95.1 4.7 162 2063 2.22 0.00 99.07 0.005 6 0.004 0.000 2668 2190 2472

2064 end apogee: CONTROL_FINISHED_OK

state 2064 begin climb

2067 2.03 119.7 88.5 0.0 173 2178 2.47 2.88 98.60 0.005 4 0.004 0.004 3193 523 1985

2482 2.03 119.7 32.5 11.8 211 2492 0.50 3.12 0.00 0.000 6 0.003 0.004 3079 2240 1985

2524 2.03 119.7 27.6 11.9 215 2530 0.52 3.00 0.00 0.000 4 0.004 0.004 3191 504 1985

2760 2.04 125.5 4.4 4.2 235 2776 0.47 3.03 5.75 0.004 6 0.003 0.004 3079 2228 1961

2808 2.11 181.6 5.5 -2.8 240 2851 0.50 2.40 36.80 0.005 4 0.004 0.004 3193 3579 1731

3029 end climb: NO_VERTICAL_VELOCITY

state 3029 begin surface

ID	80	HD_C	5.8987e-05	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	11	HEADING	-1	ROLL_MIN	300	ALTIM_PING_DEPTH	80
DIVE	225	ESCAPE_HEADING	0	ROLL_MAX	3750	ALTIM_PING_DELTA	10
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2069	ALTIM_PULSE	3
D_TGT	95	TGT_DEFAULT_LAT	47.599998	C_ROLL_CLIMB	2069	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_DEFAULT_LON	-122.3	HEAD_ERRBAND	10	XPDR_VALID	0
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_BOOST	0	SM_CC	300	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	N_FILEKB	4	R_PORT_OVSHOOT	1	INT_PRESSURE_YINT	0
D_PITCH	0	FILEMGR	0	R_STBD_OVSHOOT	1	DEEPGLIDER	0
D_SAFE	0	CALL_NDIVES	1	ROLL_AD_RATE	400	DEEPGLIDERMB	0
D_CALL	0	COMM_SEQ	0	ROLL_MAXERRORS	10	MOTHERBOARD	4
SURFACE_URGENCY	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MIN	188	DEVICE3	-1
T_DIVE	63	UPLOAD_DIVES_MAX	-1	VBD_MAX	3616	DEVICE4	-1
T_MISSION	75	CALL_TRIES	5	C_VBD	2473	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_DBAND	2	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	VBD_CNV	-0.24529999	SMARTS	1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_TIMEOUT	360	SMARTDEVICE1	3
T_NO_W	120	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE2	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	COMPASS_DEVICE	1
USE_BATHY	-4	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS2_DEVICE	-1
USE_ICE	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	PHONE_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	T_GPS_CHARGE	-29956.01	UNCOM_BLEED	20	GPS_DEVICE	48
D_OFFGRID	100	T_RSLEEP	3	VBD_MAXERRORS	1	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	XPDR_DEVICE	-1
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_24V	91.800003	SIM_W	0
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	AH0_10V	61.200001	SIM_PITCH	0
MAX_BUOY	150	PITCH_MIN	30	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MAX	4065	PRESSURE_YINT	-0.16054545	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	C_PITCH	2692	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	PITCH_DBAND	0.1	AD7714Ch0Gain	1	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_CNV	0.0046000001	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.331019
MASS	52000	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763502
NAV_MODE	1	PITCH_GAIN	16	COMPASS_USE	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0	AR_RESETARS	0.0
HD_A	0.0043390002	PITCH_MAXERRORS	10	ALTIM_BOTTOM_TURN_MARGIN	0	AR_RECORDBELOW	0.0
HD_B	0.013382	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	AR_NOTIFYAPOGEE	0.0

GPS1	170154,4808.099,-12223.961,30,1.1,30,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.013,-0.074
_SM_DEPTHo	0.00	KALMAN_X	18597.2,-77.3,151.2,-19095.6,-28.8
_SM_ANGLEo	-50.0	KALMAN_Y	416.4,-215.3,-9.9,489.5,127.2
GPS2	170841,4808.086,-12223.935,36,1.1,36,18.0	MHEAD_RNG_PITCHd_Wd	172.2,178,-30.1,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

SM_CCo	3126,102.00,0.004,13,0,1250,300.25	_24V_AH	23.8,25.357
SM_GC	0.00,0.00,0.00,102.00,0.000,0.000,0.004,160,1937,1250,-11.67,-3.73,300.25	_10V_AH	9.7,40.376
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	6430,260
TT8_MAMPS	0.049855	CAP_FILE_SIZE	56298,7
HUMID	1645	CFSIZE	260165632,252108800
INTERNAL_PRESSURE	12.5298	ERRORS	0,0,0,0,0,0,0,0,1,0,0,80,203,13,0
TCM_TEMP	15.00	GPS	040808,180708,4808.023,-12224.073,19,1.1,20,18.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	3	3.13	SBE_CT	200	24	114.78
Roll_motor	47	3	4.30	nil	0	0	0.00
VBD_pump_during_apogee	240	4	26.31	nil	0	0	0.00
VBD_pump_during_surface	102	3	9.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	ARS	0	216	0.00
Iridium_during_xfer	76	223	406.44
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	50	17.83
TT8	504	18	88.04
LPSleep	1657	0	6.27
TT8_Active	536	18	93.68
TT8_Sampling	461	38	169.96
TT8_CF8	606	44	258.72
TT8_Kalman	33	80	25.88
Analog_circuits	898	12	104.53
GPS_charging	0	0	0.00
Compass	364	26	91.98
RAFOS	0	0	0.00
Transponder	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
125	end surface: CONTROL_FINISHED_OK
state	125	begin dive
129	-1.91	-24.7	0.0	0.0	0	175	0.00	0.00	-44.22	0.000	6	0.000	0.000	275	1917	2582
178	-1.95	-54.2	0.2	-0.9	4	201	10.02	3.03	-4.03	0.000	4	0.004	0.004	2303	3684	2703
505	-1.99	-90.9	11.3	0.1	33	517	0.30	2.95	-4.82	0.000	6	0.004	0.004	2226	1938	2847
548	-2.03	-117.4	11.9	-1.3	37	559	0.35	2.72	-3.75	0.000	4	0.004	0.004	2302	3580	2959
863	-2.03	-117.4	31.4	-7.5	65	873	0.47	3.03	0.00	0.000	6	0.003	0.004	2191	1922	2958
905	-2.03	-117.4	34.3	-7.2	69	914	0.52	3.03	0.00	0.000	4	0.004	0.004	2303	3665	2958
1218	-2.03	-117.4	54.6	-6.1	97	1228	0.50	2.95	0.00	0.000	6	0.004	0.004	2189	1889	2959
1260	-2.03	-117.4	57.2	-6.7	101	1269	0.55	3.03	0.00	0.000	4	0.004	0.004	2299	3645	2958
1573	-2.03	-117.4	74.6	-5.7	129	1582	0.30	3.15	0.00	0.000	6	0.003	0.004	2221	1913	2959
1616	-2.03	-117.4	77.0	-6.0	133	1622	0.28	3.03	0.00	0.000	4	0.004	0.004	2298	3647	2958
1925	-2.03	-119.7	93.8	-4.7	160	1931	0.30	2.92	0.00	0.000	6	0.003	0.004	2223	1987	2959
1949	end dive: TARGET_DEPTH_EXCEEDED
state	1949	begin apogee
1956	-0.31	0.0	95.1	4.7	162	2063	2.22	0.00	99.07	0.005	6	0.004	0.000	2668	2190	2472
2064	end apogee: CONTROL_FINISHED_OK
state	2064	begin climb
2067	2.03	119.7	88.5	0.0	173	2178	2.47	2.88	98.60	0.005	4	0.004	0.004	3193	523	1985
2482	2.03	119.7	32.5	11.8	211	2492	0.50	3.12	0.00	0.000	6	0.003	0.004	3079	2240	1985
2524	2.03	119.7	27.6	11.9	215	2530	0.52	3.00	0.00	0.000	4	0.004	0.004	3191	504	1985
2760	2.04	125.5	4.4	4.2	235	2776	0.47	3.03	5.75	0.004	6	0.003	0.004	3079	2228	1961
2808	2.11	181.6	5.5	-2.8	240	2851	0.50	2.40	36.80	0.005	4	0.004	0.004	3193	3579	1731
3029	end climb: NO_VERTICAL_VELOCITY
state	3029	begin surface