Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 329 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 5.8987e-05 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 329 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 50 ALTIM_FREQUENCY 13

D_TGT 95 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2250 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 636.79877 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 4 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 30 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE3 35

T_DIVE 63 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 75 CALL_TRIES 5 VBD_MIN 204 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3580 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 C_VBD 2800 SMARTS 0

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS 15 VBD_TIMEOUT 360 COMPASS_DEVICE 33

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 100 T_GPS_CHARGE -67296.055 VBD_PUMP_AD_RATE_APOGEE 3 RAFOS_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MIN 25 AH0_24V 150 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25

HD_A 0.0043390002 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.013382 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 636.79877

AH0_24V 150 D_OFFGRID 100 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 95 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_DIVE 63

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0043390002 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.013382 RHO 1.023 T_GPS_CHARGE -67296.055

CALL_WAIT 60 HD_C 5.8987e-05 ROLL_ADJ_DBAND 0 T_MISSION 75

CAPMAXSIZE 100000 HEADING -1 ROLL_ADJ_GAIN 0 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_RSLEEP 3

CF8_MAXERRORS 1 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 270

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 50 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 128 ROLL_MAX 4014 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_PITCH 2820 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2250 MASS 51503 R_PORT_OVSHOOT 30 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 34 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_DBAND 2

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAXERRORS 1

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MIN 204

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_TIMEOUT 360

DIVE 329 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 1090 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 063757,4806.221,-12222.205,14,1.4,14,18.3 TGT_NAME FIVE

_CALLS 5 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 9 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.096,-0.125

_SM_DEPTHo 1.22 KALMAN_X -348.5,-290.5,-45.3,2372.6,49.7

_SM_ANGLEo -68.3 KALMAN_Y -951.2,-25.9,-68.8,-1602.5,-166.7

GPS2 065507,4806.229,-12222.186,14,1.0,31,18.3 MHEAD_RNG_PITCHd_Wd 124.2,2708,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 107

Post-dive calculations and measurements:

FINISH 0.9,1.024204 XPDR_PINGS 0

SM_CCo 2966,248.12,0.659,0,0,203,636.80 ALTIM_BOTTOM_PING 70.6,51.7

SM_GC 1.05,0.00,0.00,248.12,0.000,0.000,0.659,18,2260,203,-8.76,0.25,636.80 _24V_AH 24.5,33.720

IRIDIUM_FIX 4748.51,-12224.57,190907,101032 _10V_AH 10.7,16.827

TT8_MAMPS 0.026845 DATA_FILE_SIZE 15971,317

HUMID 1845 CFSIZE 260165632,248033280

INTERNAL_PRESSURE 9.09215 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.80 GPS 190907,075027,4805.843,-12221.901,8,1.3,8,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 207 104.26 SBE_CT 224 24 132.10

Roll_motor 47 61 70.96 SBE_O2 248 19 115.63

VBD_pump_during_apogee 221 760 4132.31 WL_BB2F 534 105 1375.82

VBD_pump_during_surface 248 658 4005.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 142 103 358.49 nil 0 0 0.00

Iridium_during_connect 77 160 303.23 nil 0 0 0.00

Iridium_during_xfer 429 223 2344.96

Transponder_ping 0 420 2.57

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.55

TT8 536 19 113.66

LPSleep 1725 2 40.42

TT8_Active 528 19 111.94

TT8_Sampling 659 39 280.77

TT8_CF8 817 45 400.71

TT8_Kalman 33 81 29.16

Analog_circuits 872 12 112.02

GPS_charging 0 0 0.00

Compass 654 8 55.99

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.77 -146.6 0.0 0.0 0 98 0.00 0.00 -71.20 0.000 2 0.000 0.000 22 2257 3364

101 -0.77 -146.6 3.3 -3.2 13 114 10.20 0.00 -0.73 0.000 6 0.207 0.000 2565 2257 3400

183 -0.77 -146.6 12.6 -5.5 27 188 0.00 0.00 0.00 0.000 6 0.000 0.000 2565 2257 3403

257 -0.77 -146.6 16.5 -5.2 40 263 0.00 2.97 0.00 0.000 4 0.000 0.058 2560 3996 3404

286 -0.77 -146.6 18.2 -5.3 45 293 0.00 2.85 0.00 0.000 6 0.000 0.028 2560 2225 3404

364 -0.77 -146.6 22.4 -5.5 55 369 0.00 3.03 0.00 0.000 4 0.000 0.054 2554 3997 3404

408 -0.77 -146.6 25.1 -6.6 58 414 0.00 2.80 0.00 0.000 6 0.000 0.028 2554 2249 3404

606 -0.77 -146.6 37.3 -6.5 77 607 0.00 0.00 0.00 0.000 6 0.000 0.000 2554 2248 3405

797 -0.77 -146.6 49.7 -6.6 95 801 0.00 2.88 0.00 0.000 4 0.000 0.045 2554 493 3405

829 -0.77 -146.6 52.0 -7.0 97 836 0.00 2.85 0.00 0.000 6 0.000 0.038 2554 2245 3406

1156 -0.77 -146.6 73.4 -6.6 128 1160 0.00 2.95 0.00 0.000 4 0.000 0.057 2550 4003 3405

1177 -0.77 -146.6 75.1 -7.3 129 1183 0.00 2.80 0.00 0.000 6 0.000 0.029 2550 2242 3406

1489 end dive: TARGET_DEPTH_EXCEEDED

state 1491 begin apogee

1497 -0.28 0.0 95.2 6.3 159 1614 0.55 0.00 111.53 0.760 6 0.112 0.000 2725 2138 2800

1615 end apogee: CONTROL_FINISHED_OK

state 1615 begin climb

1617 0.77 146.6 97.9 0.0 171 1739 1.02 3.20 110.38 0.703 4 0.078 0.054 3062 3903 2201

1752 0.77 146.6 91.3 7.7 184 1757 0.00 2.95 0.00 0.000 6 0.000 0.033 3072 2170 2200

2078 0.77 146.6 65.4 7.9 214 2083 0.00 3.00 0.00 0.000 4 0.000 0.050 3080 380 2199

2095 0.77 146.6 63.9 8.4 215 2100 0.00 2.92 0.00 0.000 6 0.000 0.036 3080 2155 2199

2422 0.77 146.6 38.2 7.7 245 2427 0.00 2.95 0.00 0.000 4 0.000 0.056 3080 3905 2199

2443 0.77 146.6 36.1 8.6 246 2449 0.00 2.88 0.00 0.000 6 0.000 0.034 3093 2139 2199

2641 0.77 146.6 21.1 7.6 265 2642 0.00 0.00 0.00 0.000 6 0.000 0.000 3093 2139 2199

2843 0.77 146.6 6.4 7.1 299 2850 0.00 2.97 0.00 0.000 4 0.000 0.056 3092 3911 2198

2896 0.77 146.6 2.8 6.7 308 2903 0.12 2.88 0.00 0.000 6 0.131 0.035 3071 2145 2198

2912 end climb: SURFACE_DEPTH_REACHED

state 2913 begin surface coast

2948 end surface coast: CONTROL_FINISHED_OK

state 2948 begin surface

ID	128	HD_C	5.8987e-05	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	329	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	50	ALTIM_FREQUENCY	13
D_TGT	95	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2250	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	636.79877	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	4	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	30	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE3	35
T_DIVE	63	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	75	CALL_TRIES	5	VBD_MIN	204	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3580	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	C_VBD	2800	SMARTS	0
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS	15	VBD_TIMEOUT	360	COMPASS_DEVICE	33
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	100	T_GPS_CHARGE	-67296.055	VBD_PUMP_AD_RATE_APOGEE	3	RAFOS_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MIN	25	AH0_24V	150	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25
HD_A	0.0043390002	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.013382	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	063757,4806.221,-12222.205,14,1.4,14,18.3	TGT_NAME	FIVE
_CALLS	5	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	9	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.096,-0.125
_SM_DEPTHo	1.22	KALMAN_X	-348.5,-290.5,-45.3,2372.6,49.7
_SM_ANGLEo	-68.3	KALMAN_Y	-951.2,-25.9,-68.8,-1602.5,-166.7
GPS2	065507,4806.229,-12222.186,14,1.0,31,18.3	MHEAD_RNG_PITCHd_Wd	124.2,2708,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	107

FINISH	0.9,1.024204	XPDR_PINGS	0
SM_CCo	2966,248.12,0.659,0,0,203,636.80	ALTIM_BOTTOM_PING	70.6,51.7
SM_GC	1.05,0.00,0.00,248.12,0.000,0.000,0.659,18,2260,203,-8.76,0.25,636.80	_24V_AH	24.5,33.720
IRIDIUM_FIX	4748.51,-12224.57,190907,101032	_10V_AH	10.7,16.827
TT8_MAMPS	0.026845	DATA_FILE_SIZE	15971,317
HUMID	1845	CFSIZE	260165632,248033280
INTERNAL_PRESSURE	9.09215	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.80	GPS	190907,075027,4805.843,-12221.901,8,1.3,8,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	207	104.26	SBE_CT	224	24	132.10
Roll_motor	47	61	70.96	SBE_O2	248	19	115.63
VBD_pump_during_apogee	221	760	4132.31	WL_BB2F	534	105	1375.82
VBD_pump_during_surface	248	658	4005.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	142	103	358.49	nil	0	0	0.00
Iridium_during_connect	77	160	303.23	nil	0	0	0.00
Iridium_during_xfer	429	223	2344.96
Transponder_ping	0	420	2.57
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.55
TT8	536	19	113.66
LPSleep	1725	2	40.42
TT8_Active	528	19	111.94
TT8_Sampling	659	39	280.77
TT8_CF8	817	45	400.71
TT8_Kalman	33	81	29.16
Analog_circuits	872	12	112.02
GPS_charging	0	0	0.00
Compass	654	8	55.99
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.77	-146.6	0.0	0.0	0	98	0.00	0.00	-71.20	0.000	2	0.000	0.000	22	2257	3364
101	-0.77	-146.6	3.3	-3.2	13	114	10.20	0.00	-0.73	0.000	6	0.207	0.000	2565	2257	3400
183	-0.77	-146.6	12.6	-5.5	27	188	0.00	0.00	0.00	0.000	6	0.000	0.000	2565	2257	3403
257	-0.77	-146.6	16.5	-5.2	40	263	0.00	2.97	0.00	0.000	4	0.000	0.058	2560	3996	3404
286	-0.77	-146.6	18.2	-5.3	45	293	0.00	2.85	0.00	0.000	6	0.000	0.028	2560	2225	3404
364	-0.77	-146.6	22.4	-5.5	55	369	0.00	3.03	0.00	0.000	4	0.000	0.054	2554	3997	3404
408	-0.77	-146.6	25.1	-6.6	58	414	0.00	2.80	0.00	0.000	6	0.000	0.028	2554	2249	3404
606	-0.77	-146.6	37.3	-6.5	77	607	0.00	0.00	0.00	0.000	6	0.000	0.000	2554	2248	3405
797	-0.77	-146.6	49.7	-6.6	95	801	0.00	2.88	0.00	0.000	4	0.000	0.045	2554	493	3405
829	-0.77	-146.6	52.0	-7.0	97	836	0.00	2.85	0.00	0.000	6	0.000	0.038	2554	2245	3406
1156	-0.77	-146.6	73.4	-6.6	128	1160	0.00	2.95	0.00	0.000	4	0.000	0.057	2550	4003	3405
1177	-0.77	-146.6	75.1	-7.3	129	1183	0.00	2.80	0.00	0.000	6	0.000	0.029	2550	2242	3406
1489	end dive: TARGET_DEPTH_EXCEEDED
state	1491	begin apogee
1497	-0.28	0.0	95.2	6.3	159	1614	0.55	0.00	111.53	0.760	6	0.112	0.000	2725	2138	2800
1615	end apogee: CONTROL_FINISHED_OK
state	1615	begin climb
1617	0.77	146.6	97.9	0.0	171	1739	1.02	3.20	110.38	0.703	4	0.078	0.054	3062	3903	2201
1752	0.77	146.6	91.3	7.7	184	1757	0.00	2.95	0.00	0.000	6	0.000	0.033	3072	2170	2200
2078	0.77	146.6	65.4	7.9	214	2083	0.00	3.00	0.00	0.000	4	0.000	0.050	3080	380	2199
2095	0.77	146.6	63.9	8.4	215	2100	0.00	2.92	0.00	0.000	6	0.000	0.036	3080	2155	2199
2422	0.77	146.6	38.2	7.7	245	2427	0.00	2.95	0.00	0.000	4	0.000	0.056	3080	3905	2199
2443	0.77	146.6	36.1	8.6	246	2449	0.00	2.88	0.00	0.000	6	0.000	0.034	3093	2139	2199
2641	0.77	146.6	21.1	7.6	265	2642	0.00	0.00	0.00	0.000	6	0.000	0.000	3093	2139	2199
2843	0.77	146.6	6.4	7.1	299	2850	0.00	2.97	0.00	0.000	4	0.000	0.056	3092	3911	2198
2896	0.77	146.6	2.8	6.7	308	2903	0.12	2.88	0.00	0.000	6	0.131	0.035	3071	2145	2198
2912	end climb: SURFACE_DEPTH_REACHED
state	2913	begin surface coast
2948	end surface coast: CONTROL_FINISHED_OK
state	2948	begin surface