Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 25 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_B 0.010078 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 10

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 25 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 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 311 ALTIM_PING_DEPTH 70

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2415 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 17 INT_PRESSURE_YINT 1.4

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 41 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 43 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 540 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3800 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3229 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -16031.157 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

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 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 428 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3730 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 3000 PRESSURE_YINT -6.9690108 SEABIRD_T_I 2.5554549e-05

MASS 51630 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 10 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3730 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 428 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -6.9690108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 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 16 RAFOS_HIT_WINDOW 3600 T_DIVE 43

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 -16031.157

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 118 ROLL_MAX 3943 T_TURN_SAMPINT 6

C_PITCH 3000 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2415 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 UNCOM_BLEED 20

C_ROLL_DIVE 2500 KALMAN_USE 1 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 41 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 36 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3800

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 540

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 25 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 164839,4739.409,-12252.447,12,1.5,12,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.220,-0.010

_SM_DEPTHo 0.86 KALMAN_X 3041.4,197.2,230.3,-2930.9,44.6

_SM_ANGLEo -61.6 KALMAN_Y 3118.6,143.9,104.6,-2697.9,61.2

GPS2 165333,4739.432,-12252.434,12,1.4,12,18.3 MHEAD_RNG_PITCHd_Wd 249.1,961,-16.0,-7.752

SPEED_LIMITS 0.134,0.221 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.0,1.013224 ALTIM_TOP_PING 9.6,9.2

SM_CCo 2566,122.47,0.531,0,0,1598,400.08 ALTIM_BOTTOM_PING 90.9,42.3

SM_GC 0.72,0.00,0.00,122.47,0.000,0.000,0.531,424,2512,1598,-11.85,0.34,400.08 _24V_AH 23.9,3.011

IRIDIUM_FIX 4722.92,-12251.79,230907,202050 _10V_AH 10.0,2.462

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6461,236

HUMID 1789 CFSIZE 260034560,256020480

INTERNAL_PRESSURE 9.33976 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.90 GPS 230907,174046,4739.390,-12252.877,13,4.0,32,18.3

XPDR_PINGS 10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 154 107.85 SBE_CT 162 24 93.47

Roll_motor 45 70 76.52 nil 0 0 0.00

VBD_pump_during_apogee 197 608 2873.17 nil 0 0 0.00

VBD_pump_during_surface 122 530 1553.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 93.75 nil 0 0 0.00

Iridium_during_connect 42 160 161.27 ARS 0 0 0.00

Iridium_during_xfer 100 223 537.45

Transponder_ping 4 420 40.15

Mmodem_TX 20 1000 495.92

Mmodem_RX 3129 6 478.65

GPS 12 93 11.48

TT8 453 19 89.84

LPSleep 1349 2 29.55

TT8_Active 417 19 82.61

TT8_Sampling 427 39 170.10

TT8_CF8 364 45 167.16

TT8_Kalman 33 81 27.28

Analog_circuits 704 12 84.56

GPS_charging 0 0 0.00

Compass 444 8 35.56

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.75 -122.2 0.0 0.0 0 89 0.00 0.00 -60.83 0.000 2 0.000 0.000 425 2512 3106

93 -1.75 -122.2 2.0 -3.8 10 136 12.20 2.58 -21.45 0.000 4 0.155 0.060 2609 1112 3730

182 -1.75 -122.2 7.4 -8.1 24 189 0.00 2.42 0.00 0.000 6 0.000 0.034 2609 2484 3732

254 -1.75 -122.2 13.2 -8.1 35 261 0.00 2.62 0.00 0.000 4 0.000 0.071 2610 3898 3732

404 -1.75 -122.2 25.7 -8.1 53 412 0.00 2.42 0.00 0.000 6 0.000 0.032 2609 2489 3733

602 -1.75 -122.2 40.3 -7.4 69 606 0.00 2.62 0.00 0.000 4 0.000 0.067 2609 3900 3734

661 -1.75 -122.2 45.3 -8.1 73 665 0.00 2.40 0.00 0.000 6 0.000 0.034 2609 2495 3734

856 -1.75 -122.2 60.3 -7.7 88 858 0.00 0.00 0.00 0.000 6 0.000 0.000 2609 2491 3736

1047 -1.75 -122.2 74.9 -7.8 103 1052 0.00 2.62 0.00 0.000 4 0.000 0.068 2610 3898 3735

1131 -1.75 -122.2 82.4 -8.4 109 1138 0.00 2.42 0.00 0.000 6 0.000 0.033 2609 2496 3735

1328 -1.75 -122.2 97.8 -7.7 125 1333 0.00 2.60 0.00 0.000 4 0.000 0.067 2609 3899 3734

1358 end dive: TARGET_DEPTH_EXCEEDED

state 1358 begin apogee

1367 -0.50 0.0 100.5 8.8 127 1470 1.35 0.00 95.53 0.609 6 0.097 0.000 2883 2410 3227

1470 end apogee: CONTROL_FINISHED_OK

state 1470 begin climb

1473 1.75 122.2 103.0 0.0 136 1574 2.33 2.55 92.75 0.589 4 0.064 0.052 3381 1024 2729

1595 1.75 122.2 94.6 10.2 146 1599 0.00 2.45 0.00 0.000 6 0.000 0.034 3379 2417 2729

1791 1.75 122.2 73.9 10.3 161 1792 0.00 0.00 0.00 0.000 6 0.000 0.000 3379 2417 2728

1982 1.75 122.2 53.7 11.0 176 1986 0.00 2.53 0.00 0.000 4 0.000 0.051 3379 1028 2728

2067 1.75 122.2 43.7 11.0 182 2071 0.00 2.42 0.00 0.000 6 0.000 0.034 3379 2418 2728

2263 1.75 122.2 22.8 10.3 197 2267 0.00 2.53 0.00 0.000 4 0.000 0.051 3379 1024 2728

2309 1.75 122.2 18.1 10.6 201 2315 0.00 2.42 0.00 0.000 6 0.000 0.033 3379 2418 2728

2381 1.75 122.2 11.5 9.0 212 2388 0.00 2.58 0.00 0.000 4 0.000 0.068 3379 3815 2728

2407 1.75 122.2 8.9 9.8 216 2414 0.00 2.40 0.00 0.000 6 0.000 0.032 3379 2415 2727

2480 1.77 135.3 3.2 7.2 227 2493 0.00 0.00 9.12 0.589 6 0.000 0.000 3379 2415 2677

2503 end climb: SURFACE_DEPTH_REACHED

state 2503 begin surface coast

2538 end surface coast: CONTROL_FINISHED_OK

state 2538 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	10
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	25	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	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	311	ALTIM_PING_DEPTH	70
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2415	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	17	INT_PRESSURE_YINT	1.4
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	41	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	43	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	540	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3800	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3229	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-16031.157	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
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	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	428	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3730	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	3000	PRESSURE_YINT	-6.9690108	SEABIRD_T_I	2.5554549e-05
MASS	51630	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	164839,4739.409,-12252.447,12,1.5,12,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.220,-0.010
_SM_DEPTHo	0.86	KALMAN_X	3041.4,197.2,230.3,-2930.9,44.6
_SM_ANGLEo	-61.6	KALMAN_Y	3118.6,143.9,104.6,-2697.9,61.2
GPS2	165333,4739.432,-12252.434,12,1.4,12,18.3	MHEAD_RNG_PITCHd_Wd	249.1,961,-16.0,-7.752
SPEED_LIMITS	0.134,0.221	D_GRID	124

FINISH	0.0,1.013224	ALTIM_TOP_PING	9.6,9.2
SM_CCo	2566,122.47,0.531,0,0,1598,400.08	ALTIM_BOTTOM_PING	90.9,42.3
SM_GC	0.72,0.00,0.00,122.47,0.000,0.000,0.531,424,2512,1598,-11.85,0.34,400.08	_24V_AH	23.9,3.011
IRIDIUM_FIX	4722.92,-12251.79,230907,202050	_10V_AH	10.0,2.462
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6461,236
HUMID	1789	CFSIZE	260034560,256020480
INTERNAL_PRESSURE	9.33976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	230907,174046,4739.390,-12252.877,13,4.0,32,18.3
XPDR_PINGS	10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	154	107.85	SBE_CT	162	24	93.47
Roll_motor	45	70	76.52	nil	0	0	0.00
VBD_pump_during_apogee	197	608	2873.17	nil	0	0	0.00
VBD_pump_during_surface	122	530	1553.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	93.75	nil	0	0	0.00
Iridium_during_connect	42	160	161.27	ARS	0	0	0.00
Iridium_during_xfer	100	223	537.45
Transponder_ping	4	420	40.15
Mmodem_TX	20	1000	495.92
Mmodem_RX	3129	6	478.65
GPS	12	93	11.48
TT8	453	19	89.84
LPSleep	1349	2	29.55
TT8_Active	417	19	82.61
TT8_Sampling	427	39	170.10
TT8_CF8	364	45	167.16
TT8_Kalman	33	81	27.28
Analog_circuits	704	12	84.56
GPS_charging	0	0	0.00
Compass	444	8	35.56
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.75	-122.2	0.0	0.0	0	89	0.00	0.00	-60.83	0.000	2	0.000	0.000	425	2512	3106
93	-1.75	-122.2	2.0	-3.8	10	136	12.20	2.58	-21.45	0.000	4	0.155	0.060	2609	1112	3730
182	-1.75	-122.2	7.4	-8.1	24	189	0.00	2.42	0.00	0.000	6	0.000	0.034	2609	2484	3732
254	-1.75	-122.2	13.2	-8.1	35	261	0.00	2.62	0.00	0.000	4	0.000	0.071	2610	3898	3732
404	-1.75	-122.2	25.7	-8.1	53	412	0.00	2.42	0.00	0.000	6	0.000	0.032	2609	2489	3733
602	-1.75	-122.2	40.3	-7.4	69	606	0.00	2.62	0.00	0.000	4	0.000	0.067	2609	3900	3734
661	-1.75	-122.2	45.3	-8.1	73	665	0.00	2.40	0.00	0.000	6	0.000	0.034	2609	2495	3734
856	-1.75	-122.2	60.3	-7.7	88	858	0.00	0.00	0.00	0.000	6	0.000	0.000	2609	2491	3736
1047	-1.75	-122.2	74.9	-7.8	103	1052	0.00	2.62	0.00	0.000	4	0.000	0.068	2610	3898	3735
1131	-1.75	-122.2	82.4	-8.4	109	1138	0.00	2.42	0.00	0.000	6	0.000	0.033	2609	2496	3735
1328	-1.75	-122.2	97.8	-7.7	125	1333	0.00	2.60	0.00	0.000	4	0.000	0.067	2609	3899	3734
1358	end dive: TARGET_DEPTH_EXCEEDED
state	1358	begin apogee
1367	-0.50	0.0	100.5	8.8	127	1470	1.35	0.00	95.53	0.609	6	0.097	0.000	2883	2410	3227
1470	end apogee: CONTROL_FINISHED_OK
state	1470	begin climb
1473	1.75	122.2	103.0	0.0	136	1574	2.33	2.55	92.75	0.589	4	0.064	0.052	3381	1024	2729
1595	1.75	122.2	94.6	10.2	146	1599	0.00	2.45	0.00	0.000	6	0.000	0.034	3379	2417	2729
1791	1.75	122.2	73.9	10.3	161	1792	0.00	0.00	0.00	0.000	6	0.000	0.000	3379	2417	2728
1982	1.75	122.2	53.7	11.0	176	1986	0.00	2.53	0.00	0.000	4	0.000	0.051	3379	1028	2728
2067	1.75	122.2	43.7	11.0	182	2071	0.00	2.42	0.00	0.000	6	0.000	0.034	3379	2418	2728
2263	1.75	122.2	22.8	10.3	197	2267	0.00	2.53	0.00	0.000	4	0.000	0.051	3379	1024	2728
2309	1.75	122.2	18.1	10.6	201	2315	0.00	2.42	0.00	0.000	6	0.000	0.033	3379	2418	2728
2381	1.75	122.2	11.5	9.0	212	2388	0.00	2.58	0.00	0.000	4	0.000	0.068	3379	3815	2728
2407	1.75	122.2	8.9	9.8	216	2414	0.00	2.40	0.00	0.000	6	0.000	0.032	3379	2415	2727
2480	1.77	135.3	3.2	7.2	227	2493	0.00	0.00	9.12	0.589	6	0.000	0.000	3379	2415	2677
2503	end climb: SURFACE_DEPTH_REACHED
state	2503	begin surface coast
2538	end surface coast: CONTROL_FINISHED_OK
state	2538	begin surface