Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 262 * 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 0

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 262 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 90 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 47 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 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 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 0 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 -17180.17 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 2 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 90 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 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 16 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 -17180.17

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

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 2 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 47 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 28 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 262 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 090847,4739.970,-12251.847,11,2.6,30,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.82 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 091537,4740.072,-12251.727,14,1.1,30,18.3 MHEAD_RNG_PITCHd_Wd 198.6,1402,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.5,1.026832 XPDR_PINGS 3

SM_CCo 2606,128.10,0.520,0,0,1597,400.08 ALTIM_BOTTOM_PING 90.1,51.2

SM_GC 0.81,0.00,0.00,128.10,0.000,0.000,0.520,425,2510,1597,-11.84,0.25,400.08 _24V_AH 24.1,20.338

IRIDIUM_FIX 4722.92,-12249.11,300907,121222 _10V_AH 10.1,15.017

TT8_MAMPS 0.067496 DATA_FILE_SIZE 6463,241

HUMID 1803 CFSIZE 260034560,249565184

INTERNAL_PRESSURE 9.32999 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.00 GPS 300907,100221,4739.940,-12251.985,9,1.4,9,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 156 107.38 SBE_CT 166 24 96.46

Roll_motor 50 70 85.41 nil 0 0 0.00

VBD_pump_during_apogee 186 592 2667.70 nil 0 0 0.00

VBD_pump_during_surface 128 520 1605.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 102.60 nil 0 0 0.00

Iridium_during_connect 41 160 159.04 ARS 0 0 0.00

Iridium_during_xfer 167 223 898.85

Transponder_ping 2 420 20.24

Mmodem_TX 33 1000 800.12

Mmodem_RX 3209 6 495.08

GPS 32 93 30.36

TT8 461 19 92.39

LPSleep 1357 2 30.02

TT8_Active 423 19 84.77

TT8_Sampling 465 39 187.12

TT8_CF8 446 45 206.45

TT8_Kalman 0 0 0.00

Analog_circuits 717 12 86.95

GPS_charging 0 0 0.00

Compass 450 8 36.42

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.54 -122.2 0.0 0.0 0 95 0.00 0.00 -67.20 0.000 2 0.000 0.000 429 2484 3215

98 -1.54 -122.2 2.2 -3.9 11 135 12.38 0.00 -17.08 0.000 6 0.156 0.000 2656 2484 3729

201 -1.54 -122.2 7.2 -4.8 27 207 0.00 2.65 0.00 0.000 4 0.000 0.071 2656 3900 3731

313 -1.54 -122.2 13.8 -5.7 44 319 0.00 2.40 0.00 0.000 6 0.000 0.033 2656 2491 3731

386 -1.54 -122.2 18.4 -6.4 55 392 0.00 2.42 0.00 0.000 4 0.000 0.049 2655 1120 3731

443 -1.54 -122.2 22.4 -6.9 62 451 0.00 2.42 0.00 0.000 6 0.000 0.033 2656 2498 3731

641 -1.54 -122.2 35.2 -6.6 78 645 0.00 2.60 0.00 0.000 4 0.000 0.071 2656 3905 3732

740 -1.54 -122.2 42.3 -7.4 85 744 0.00 2.40 0.00 0.000 6 0.000 0.034 2656 2501 3732

936 -1.54 -122.2 54.9 -6.3 100 940 0.00 2.60 0.00 0.000 4 0.000 0.068 2656 3900 3732

1009 -1.54 -122.2 59.7 -6.7 105 1013 0.00 2.40 0.00 0.000 6 0.000 0.034 2656 2490 3732

1205 -1.54 -122.2 71.7 -6.1 120 1209 0.00 2.65 0.00 0.000 4 0.000 0.068 2656 3901 3732

1289 -1.54 -122.2 77.5 -6.7 126 1296 0.00 2.40 0.00 0.000 6 0.000 0.034 2656 2499 3732

1486 -1.54 -122.2 88.4 -5.4 142 1490 0.00 2.60 0.00 0.000 4 0.000 0.069 2656 3905 3732

1513 end dive: TARGET_DEPTH_EXCEEDED

state 1513 begin apogee

1522 -0.50 0.0 90.1 6.5 143 1625 1.12 0.00 94.62 0.593 6 0.094 0.000 2887 2420 3229

1626 end apogee: CONTROL_FINISHED_OK

state 1626 begin climb

1629 1.54 122.2 91.2 0.0 152 1730 2.05 2.58 92.07 0.577 4 0.061 0.051 3333 1032 2730

1744 1.54 122.2 83.7 8.6 161 1751 0.00 2.45 0.00 0.000 6 0.000 0.033 3333 2413 2730

1941 1.54 122.2 63.3 10.5 177 1945 0.00 2.62 0.00 0.000 4 0.000 0.069 3333 3811 2729

1959 1.54 122.2 61.3 10.7 178 1966 0.00 2.42 0.00 0.000 6 0.000 0.031 3333 2420 2729

2156 1.54 122.2 42.2 9.2 194 2157 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 2419 2729

2346 1.54 122.2 23.5 9.7 209 2351 0.00 2.50 0.00 0.000 4 0.000 0.052 3333 1023 2730

2379 1.54 122.2 19.9 10.9 211 2385 0.00 2.42 0.00 0.000 6 0.000 0.034 3333 2423 2729

2453 1.54 122.2 13.1 9.1 222 2460 0.00 2.53 0.00 0.000 4 0.000 0.051 3333 1020 2729

2506 1.54 122.2 7.8 9.9 230 2512 0.00 2.42 0.00 0.000 6 0.000 0.033 3333 2416 2730

2562 end climb: SURFACE_DEPTH_REACHED

state 2562 begin surface coast

2579 end surface coast: CONTROL_FINISHED_OK

state 2579 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	262	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	90	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	47	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	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	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	0	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	-17180.17	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	2	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	090847,4739.970,-12251.847,11,2.6,30,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.82	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	091537,4740.072,-12251.727,14,1.1,30,18.3	MHEAD_RNG_PITCHd_Wd	198.6,1402,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.5,1.026832	XPDR_PINGS	3
SM_CCo	2606,128.10,0.520,0,0,1597,400.08	ALTIM_BOTTOM_PING	90.1,51.2
SM_GC	0.81,0.00,0.00,128.10,0.000,0.000,0.520,425,2510,1597,-11.84,0.25,400.08	_24V_AH	24.1,20.338
IRIDIUM_FIX	4722.92,-12249.11,300907,121222	_10V_AH	10.1,15.017
TT8_MAMPS	0.067496	DATA_FILE_SIZE	6463,241
HUMID	1803	CFSIZE	260034560,249565184
INTERNAL_PRESSURE	9.32999	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.00	GPS	300907,100221,4739.940,-12251.985,9,1.4,9,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	156	107.38	SBE_CT	166	24	96.46
Roll_motor	50	70	85.41	nil	0	0	0.00
VBD_pump_during_apogee	186	592	2667.70	nil	0	0	0.00
VBD_pump_during_surface	128	520	1605.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	102.60	nil	0	0	0.00
Iridium_during_connect	41	160	159.04	ARS	0	0	0.00
Iridium_during_xfer	167	223	898.85
Transponder_ping	2	420	20.24
Mmodem_TX	33	1000	800.12
Mmodem_RX	3209	6	495.08
GPS	32	93	30.36
TT8	461	19	92.39
LPSleep	1357	2	30.02
TT8_Active	423	19	84.77
TT8_Sampling	465	39	187.12
TT8_CF8	446	45	206.45
TT8_Kalman	0	0	0.00
Analog_circuits	717	12	86.95
GPS_charging	0	0	0.00
Compass	450	8	36.42
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.54	-122.2	0.0	0.0	0	95	0.00	0.00	-67.20	0.000	2	0.000	0.000	429	2484	3215
98	-1.54	-122.2	2.2	-3.9	11	135	12.38	0.00	-17.08	0.000	6	0.156	0.000	2656	2484	3729
201	-1.54	-122.2	7.2	-4.8	27	207	0.00	2.65	0.00	0.000	4	0.000	0.071	2656	3900	3731
313	-1.54	-122.2	13.8	-5.7	44	319	0.00	2.40	0.00	0.000	6	0.000	0.033	2656	2491	3731
386	-1.54	-122.2	18.4	-6.4	55	392	0.00	2.42	0.00	0.000	4	0.000	0.049	2655	1120	3731
443	-1.54	-122.2	22.4	-6.9	62	451	0.00	2.42	0.00	0.000	6	0.000	0.033	2656	2498	3731
641	-1.54	-122.2	35.2	-6.6	78	645	0.00	2.60	0.00	0.000	4	0.000	0.071	2656	3905	3732
740	-1.54	-122.2	42.3	-7.4	85	744	0.00	2.40	0.00	0.000	6	0.000	0.034	2656	2501	3732
936	-1.54	-122.2	54.9	-6.3	100	940	0.00	2.60	0.00	0.000	4	0.000	0.068	2656	3900	3732
1009	-1.54	-122.2	59.7	-6.7	105	1013	0.00	2.40	0.00	0.000	6	0.000	0.034	2656	2490	3732
1205	-1.54	-122.2	71.7	-6.1	120	1209	0.00	2.65	0.00	0.000	4	0.000	0.068	2656	3901	3732
1289	-1.54	-122.2	77.5	-6.7	126	1296	0.00	2.40	0.00	0.000	6	0.000	0.034	2656	2499	3732
1486	-1.54	-122.2	88.4	-5.4	142	1490	0.00	2.60	0.00	0.000	4	0.000	0.069	2656	3905	3732
1513	end dive: TARGET_DEPTH_EXCEEDED
state	1513	begin apogee
1522	-0.50	0.0	90.1	6.5	143	1625	1.12	0.00	94.62	0.593	6	0.094	0.000	2887	2420	3229
1626	end apogee: CONTROL_FINISHED_OK
state	1626	begin climb
1629	1.54	122.2	91.2	0.0	152	1730	2.05	2.58	92.07	0.577	4	0.061	0.051	3333	1032	2730
1744	1.54	122.2	83.7	8.6	161	1751	0.00	2.45	0.00	0.000	6	0.000	0.033	3333	2413	2730
1941	1.54	122.2	63.3	10.5	177	1945	0.00	2.62	0.00	0.000	4	0.000	0.069	3333	3811	2729
1959	1.54	122.2	61.3	10.7	178	1966	0.00	2.42	0.00	0.000	6	0.000	0.031	3333	2420	2729
2156	1.54	122.2	42.2	9.2	194	2157	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	2419	2729
2346	1.54	122.2	23.5	9.7	209	2351	0.00	2.50	0.00	0.000	4	0.000	0.052	3333	1023	2730
2379	1.54	122.2	19.9	10.9	211	2385	0.00	2.42	0.00	0.000	6	0.000	0.034	3333	2423	2729
2453	1.54	122.2	13.1	9.1	222	2460	0.00	2.53	0.00	0.000	4	0.000	0.051	3333	1020	2729
2506	1.54	122.2	7.8	9.9	230	2512	0.00	2.42	0.00	0.000	6	0.000	0.033	3333	2416	2730
2562	end climb: SURFACE_DEPTH_REACHED
state	2562	begin surface coast
2579	end surface coast: CONTROL_FINISHED_OK
state	2579	begin surface