Glider dive log

PN07 DabobBay 29Sep07 * SG107 * Dive index * Mission links * Dive 35 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 107 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 10 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 35 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 152 ALTIM_PING_DEPTH 0

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3928 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2450 ALTIM_PULSE 1

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 300 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 40 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 679 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 4028 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3415 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -15547.924 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 363 AH0_24V 91.800003 SEABIRD_T_G 0.004345139

SPEED_FACTOR 1 PITCH_MAX 3698 AH0_10V 61.200001 SEABIRD_T_H 0.00064258272

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -10.644979 SEABIRD_T_I 2.3711646e-05

MASS 51588 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001156423 SEABIRD_T_J 2.2769887e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.006271

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1385506

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022333476

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00024018179

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 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3698 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 363 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001156423 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -10.644979 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 40

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 -15547.924

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 107 ROLL_MAX 3928 T_TURN_SAMPINT 6

C_PITCH 2730 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2450 INT_PRESSURE_YINT 0 ROLL_MIN 152 UNCOM_BLEED 20

C_ROLL_DIVE 2050 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3415 MASS 51588 R_PORT_OVSHOOT 23 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 23 USE_ICE 0

DEEPGLIDERMB 0 MISSION 10 SEABIRD_C_G -10.006271 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1385506 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0022333476 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00024018179 VBD_MAX 4028

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004345139 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064258272 VBD_MIN 679

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3711646e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 35 PHONE_DEVICE 48 SEABIRD_T_J 2.2769887e-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 052921,4739.058,-12253.035,9,1.6,9,18.3 TGT_NAME S1

_CALLS 1 TGT_LATLONG 4738.867,-12253.333

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.161,-0.126

_SM_DEPTHo 0.62 KALMAN_X 8261.1,419.7,53.9,-8436.6,244.4

_SM_ANGLEo -53.7 KALMAN_Y 8113.8,168.2,51.7,-9320.5,187.9

GPS2 053450,4739.113,-12252.878,11,1.5,17,18.3 MHEAD_RNG_PITCHd_Wd 213.7,727,-19.3,-8.333

SPEED_LIMITS 0.144,0.204 D_GRID 133

Post-dive calculations and measurements:

FINISH -0.0,1.012668 ALTIM_TOP_PING 9.5,9.3

SM_CCo 2854,159.25,0.512,0,0,1580,450.13 ALTIM_BOTTOM_PING 75.5,999.0

SM_GC 0.69,0.00,0.00,159.25,0.000,0.000,0.512,361,2053,1580,-10.90,0.08,450.13 _24V_AH 23.8,3.876

IRIDIUM_FIX 4722.92,-12251.79,011007,080815 _10V_AH 10.0,2.577

TT8_MAMPS 0.071331 DATA_FILE_SIZE 6446,263

HUMID 2016 CFSIZE 260034560,255692800

INTERNAL_PRESSURE 7.67608 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 011007,062717,4739.089,-12252.896,13,3.6,32,18.3

XPDR_PINGS 182

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 164 105.48 SBE_CT 175 24 100.50

Roll_motor 46 74 83.05 nil 0 0 0.00

VBD_pump_during_apogee 177 625 2641.39 nil 0 0 0.00

VBD_pump_during_surface 159 511 1939.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 100.97 nil 0 0 0.00

Iridium_during_connect 37 160 141.30 ARS 0 0 0.00

Iridium_during_xfer 142 223 755.13

Transponder_ping 46 420 459.82

Mmodem_TX 20 1000 494.09

Mmodem_RX 3434 6 523.10

GPS 17 50 8.98

TT8 505 19 100.06

LPSleep 1579 2 34.60

TT8_Active 456 19 90.44

TT8_Sampling 503 39 200.50

TT8_CF8 326 45 149.52

TT8_Kalman 33 81 27.27

Analog_circuits 755 12 90.68

GPS_charging 0 0 0.00

Compass 474 8 38.00

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.60 -97.8 0.0 0.0 0 110 0.00 0.00 -85.18 0.000 2 0.000 0.000 365 2059 3437

113 -1.60 -97.8 2.1 -2.1 14 145 11.40 2.55 -13.80 0.000 4 0.165 0.066 2375 3461 3813

178 -1.60 -97.8 5.9 -6.8 24 184 0.00 2.47 0.00 0.000 6 0.000 0.038 2375 2045 3813

250 -1.60 -97.8 11.0 -6.6 35 256 0.00 2.60 0.00 0.000 4 0.000 0.071 2375 648 3813

479 -1.60 -97.8 28.3 -7.3 62 487 0.00 2.47 0.00 0.000 6 0.000 0.036 2375 2054 3814

676 -1.60 -97.8 42.0 -7.1 78 680 0.00 2.53 0.00 0.000 4 0.000 0.057 2375 3451 3814

748 -1.60 -97.8 47.4 -7.7 83 752 0.00 2.45 0.00 0.000 6 0.000 0.039 2375 2052 3814

950 -1.60 -97.8 63.4 -7.6 99 954 0.00 2.62 0.00 0.000 4 0.000 0.074 2375 644 3814

1022 -1.60 -97.8 69.2 -7.8 104 1026 0.00 2.47 0.00 0.000 6 0.000 0.038 2374 2057 3814

1224 -1.60 -97.8 83.9 -7.2 120 1229 0.00 2.53 0.00 0.000 4 0.000 0.058 2375 3453 3814

1270 -1.60 -97.8 87.2 -7.0 123 1274 0.00 2.47 0.00 0.000 6 0.000 0.040 2375 2044 3814

1446 end dive: TARGET_DEPTH_EXCEEDED

state 1446 begin apogee

1451 -0.38 0.0 100.8 8.1 137 1532 1.33 0.00 74.95 0.588 6 0.097 0.000 2642 2461 3416

1533 end apogee: CONTROL_FINISHED_OK

state 1533 begin climb

1535 1.60 97.8 103.1 0.0 144 1620 2.00 2.67 73.47 0.581 4 0.071 0.069 3080 3847 3015

1651 1.62 114.9 97.1 7.4 153 1672 0.00 2.47 12.57 0.585 6 0.000 0.034 3080 2443 2945

1860 1.63 124.1 80.4 7.8 170 1872 0.00 0.00 6.68 0.589 6 0.000 0.000 3080 2443 2908

2061 1.64 126.6 63.9 8.2 186 2068 0.00 2.62 1.88 0.626 4 0.000 0.066 3080 3851 2896

2174 1.64 126.6 53.8 9.3 194 2178 0.00 2.42 0.00 0.000 6 0.000 0.034 3080 2448 2896

2368 1.64 126.6 37.6 8.4 209 2373 0.00 2.58 0.00 0.000 4 0.000 0.064 3080 1049 2896

2421 1.64 126.6 33.1 8.5 213 2425 0.00 2.47 0.00 0.000 6 0.000 0.038 3080 2466 2896

2618 1.64 126.6 16.3 8.7 231 2625 0.00 2.58 0.00 0.000 4 0.000 0.067 3080 3851 2896

2723 1.64 130.6 7.3 8.1 247 2731 0.00 2.42 2.67 0.579 6 0.000 0.033 3080 2445 2882

2797 1.67 157.1 2.1 6.8 258 2804 0.00 0.00 5.10 0.552 2 0.000 0.000 3080 2443 2852

2805 end climb: SURFACE_DEPTH_REACHED

state 2805 begin surface coast

2830 end surface coast: CONTROL_FINISHED_OK

state 2830 begin surface

ID	107	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	10	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	35	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	152	ALTIM_PING_DEPTH	0
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3928	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2450	ALTIM_PULSE	1
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	300	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	40	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	679	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	4028	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3415	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-15547.924	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	363	AH0_24V	91.800003	SEABIRD_T_G	0.004345139
SPEED_FACTOR	1	PITCH_MAX	3698	AH0_10V	61.200001	SEABIRD_T_H	0.00064258272
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-10.644979	SEABIRD_T_I	2.3711646e-05
MASS	51588	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001156423	SEABIRD_T_J	2.2769887e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.006271
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1385506
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022333476
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00024018179

GPS1	052921,4739.058,-12253.035,9,1.6,9,18.3	TGT_NAME	S1
_CALLS	1	TGT_LATLONG	4738.867,-12253.333
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.161,-0.126
_SM_DEPTHo	0.62	KALMAN_X	8261.1,419.7,53.9,-8436.6,244.4
_SM_ANGLEo	-53.7	KALMAN_Y	8113.8,168.2,51.7,-9320.5,187.9
GPS2	053450,4739.113,-12252.878,11,1.5,17,18.3	MHEAD_RNG_PITCHd_Wd	213.7,727,-19.3,-8.333
SPEED_LIMITS	0.144,0.204	D_GRID	133

FINISH	-0.0,1.012668	ALTIM_TOP_PING	9.5,9.3
SM_CCo	2854,159.25,0.512,0,0,1580,450.13	ALTIM_BOTTOM_PING	75.5,999.0
SM_GC	0.69,0.00,0.00,159.25,0.000,0.000,0.512,361,2053,1580,-10.90,0.08,450.13	_24V_AH	23.8,3.876
IRIDIUM_FIX	4722.92,-12251.79,011007,080815	_10V_AH	10.0,2.577
TT8_MAMPS	0.071331	DATA_FILE_SIZE	6446,263
HUMID	2016	CFSIZE	260034560,255692800
INTERNAL_PRESSURE	7.67608	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	011007,062717,4739.089,-12252.896,13,3.6,32,18.3
XPDR_PINGS	182

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	164	105.48	SBE_CT	175	24	100.50
Roll_motor	46	74	83.05	nil	0	0	0.00
VBD_pump_during_apogee	177	625	2641.39	nil	0	0	0.00
VBD_pump_during_surface	159	511	1939.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	100.97	nil	0	0	0.00
Iridium_during_connect	37	160	141.30	ARS	0	0	0.00
Iridium_during_xfer	142	223	755.13
Transponder_ping	46	420	459.82
Mmodem_TX	20	1000	494.09
Mmodem_RX	3434	6	523.10
GPS	17	50	8.98
TT8	505	19	100.06
LPSleep	1579	2	34.60
TT8_Active	456	19	90.44
TT8_Sampling	503	39	200.50
TT8_CF8	326	45	149.52
TT8_Kalman	33	81	27.27
Analog_circuits	755	12	90.68
GPS_charging	0	0	0.00
Compass	474	8	38.00
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.60	-97.8	0.0	0.0	0	110	0.00	0.00	-85.18	0.000	2	0.000	0.000	365	2059	3437
113	-1.60	-97.8	2.1	-2.1	14	145	11.40	2.55	-13.80	0.000	4	0.165	0.066	2375	3461	3813
178	-1.60	-97.8	5.9	-6.8	24	184	0.00	2.47	0.00	0.000	6	0.000	0.038	2375	2045	3813
250	-1.60	-97.8	11.0	-6.6	35	256	0.00	2.60	0.00	0.000	4	0.000	0.071	2375	648	3813
479	-1.60	-97.8	28.3	-7.3	62	487	0.00	2.47	0.00	0.000	6	0.000	0.036	2375	2054	3814
676	-1.60	-97.8	42.0	-7.1	78	680	0.00	2.53	0.00	0.000	4	0.000	0.057	2375	3451	3814
748	-1.60	-97.8	47.4	-7.7	83	752	0.00	2.45	0.00	0.000	6	0.000	0.039	2375	2052	3814
950	-1.60	-97.8	63.4	-7.6	99	954	0.00	2.62	0.00	0.000	4	0.000	0.074	2375	644	3814
1022	-1.60	-97.8	69.2	-7.8	104	1026	0.00	2.47	0.00	0.000	6	0.000	0.038	2374	2057	3814
1224	-1.60	-97.8	83.9	-7.2	120	1229	0.00	2.53	0.00	0.000	4	0.000	0.058	2375	3453	3814
1270	-1.60	-97.8	87.2	-7.0	123	1274	0.00	2.47	0.00	0.000	6	0.000	0.040	2375	2044	3814
1446	end dive: TARGET_DEPTH_EXCEEDED
state	1446	begin apogee
1451	-0.38	0.0	100.8	8.1	137	1532	1.33	0.00	74.95	0.588	6	0.097	0.000	2642	2461	3416
1533	end apogee: CONTROL_FINISHED_OK
state	1533	begin climb
1535	1.60	97.8	103.1	0.0	144	1620	2.00	2.67	73.47	0.581	4	0.071	0.069	3080	3847	3015
1651	1.62	114.9	97.1	7.4	153	1672	0.00	2.47	12.57	0.585	6	0.000	0.034	3080	2443	2945
1860	1.63	124.1	80.4	7.8	170	1872	0.00	0.00	6.68	0.589	6	0.000	0.000	3080	2443	2908
2061	1.64	126.6	63.9	8.2	186	2068	0.00	2.62	1.88	0.626	4	0.000	0.066	3080	3851	2896
2174	1.64	126.6	53.8	9.3	194	2178	0.00	2.42	0.00	0.000	6	0.000	0.034	3080	2448	2896
2368	1.64	126.6	37.6	8.4	209	2373	0.00	2.58	0.00	0.000	4	0.000	0.064	3080	1049	2896
2421	1.64	126.6	33.1	8.5	213	2425	0.00	2.47	0.00	0.000	6	0.000	0.038	3080	2466	2896
2618	1.64	126.6	16.3	8.7	231	2625	0.00	2.58	0.00	0.000	4	0.000	0.067	3080	3851	2896
2723	1.64	130.6	7.3	8.1	247	2731	0.00	2.42	2.67	0.579	6	0.000	0.033	3080	2445	2882
2797	1.67	157.1	2.1	6.8	258	2804	0.00	0.00	5.10	0.552	2	0.000	0.000	3080	2443	2852
2805	end climb: SURFACE_DEPTH_REACHED
state	2805	begin surface coast
2830	end surface coast: CONTROL_FINISHED_OK
state	2830	begin surface