Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 363 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 363 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2483 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2396 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 425 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 92 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 53 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 253 UPLOAD_DIVES_MAX -1 VBD_MIN 389 DEVICE2 53

T_MISSION 304 CALL_TRIES 5 VBD_MAX 3987 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3532 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -5 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -12598.686 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 125 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 134 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2545 PRESSURE_YINT -14.600696 SEABIRD_T_G 0.0043387017

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_H 0.00063414662

MASS 51932 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_T_I 2.5692387e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8978091e-06

FERRY_MAX 45 PITCH_GAIN 22.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8799791

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1029794

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010948726

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016878155

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0031256729 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3944 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 134 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158971 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -14.600696 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 253

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -12598.686

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 304

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 167 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2545 KALMAN_USE 2 ROLL_MIN 187 USE_BATHY -5

C_ROLL_CLIMB 2396 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2483 MASS 51932 R_PORT_OVSHOOT 92 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 53 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.8799791 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1029794 VBD_MAX 3987

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010948726 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016878155 VBD_MIN 389

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043387017 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063414662 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5692387e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8978091e-06 XPDR_DEVICE 24

DIVE 363 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 074004,2437.841,12426.886,11,2.3,30,-3.7 TGT_NAME OFF_5

_CALLS 1 TGT_LATLONG 2416.000,12442.300

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.46 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 074502,2437.839,12426.920,12,1.4,12,-3.7 MHEAD_RNG_PITCHd_Wd 122.5,48063,-24.8,-13.043

SPEED_LIMITS 0.226,0.258 D_GRID 198

Post-dive calculations and measurements:

FINISH 1.6,1.008117 _24V_AH 24.4,64.083

SM_CCo 4089,0.00,0.000,0,0,1477,504.09 _10V_AH 10.9,35.521

SM_GC 2.43,7.75,0.00,0.00,0.053,0.000,0.000,140,2494,1477,-7.50,0.31,504.09 DATA_FILE_SIZE 34858,695

IRIDIUM_FIX 2429.95,12429.41,181098,060607 CAP_FILE_SIZE 56169,0

TT8_MAMPS 0.028379 CFSIZE 260165632,195842048

HUMID 1628 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.59021 CURRENT 0.108,175.8,1

TCM_TEMP 26.90 GPS 240709,085420,2437.365,12427.070,11,1.5,11,-3.7

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 227 111.72 SBE_CT 454 24 266.36

Roll_motor 31 55 42.21 Optode 646 33 520.77

VBD_pump_during_apogee 454 699 7757.36 WL_BB2F 0 105 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 57.77 nil 0 0 0.00

Iridium_during_connect 36 160 140.67 nil 0 0 0.00

Iridium_during_xfer 126 223 688.45

Transponder_ping 0 420 2.56

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.70

TT8 1068 19 230.57

LPSleep 1476 2 35.24

TT8_Active 476 19 102.75

TT8_Sampling 1033 39 448.32

TT8_CF8 338 45 168.89

TT8_Kalman 0 0 0.00

Analog_circuits 1049 12 137.22

GPS_charging 0 0 0.00

Compass 1020 8 89.03

RAFOS 0 0 0.00

Transponder 1 30 0.33

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.25 -121.7 0.0 0.0 0 57 0.00 0.00 -39.50 0.000 2 0.000 0.000 141 2500 2510

60 -1.25 -121.7 3.2 -2.9 7 121 7.88 1.92 -44.50 0.000 4 0.228 0.055 2127 3744 3989

236 -0.79 -121.7 35.0 -23.7 37 243 0.55 1.77 0.00 0.000 6 0.164 0.021 2286 2466 3990

581 -1.28 -121.7 74.2 -9.5 98 587 0.38 0.00 0.00 0.000 6 0.050 0.000 2124 2466 3991

925 -1.03 -121.7 127.4 -16.1 159 933 0.28 1.95 0.00 0.000 4 0.164 0.039 2197 3757 3991

1041 -1.03 -121.7 143.6 -13.1 179 1048 0.00 1.77 0.00 0.000 6 0.000 0.022 2197 2465 3991

1388 -1.10 -121.7 179.7 -10.1 240 1394 0.00 1.95 0.00 0.000 4 0.000 0.041 2192 3753 3992

1533 end dive: TARGET_DEPTH_EXCEEDED

state 1533 begin apogee

1541 -0.22 0.0 198.2 14.0 266 1634 0.85 0.00 84.22 0.692 6 0.146 0.000 2461 2377 3531

1634 end apogee: CONTROL_FINISHED_OK

state 1635 begin climb

1638 1.25 121.7 208.0 0.0 282 1738 1.30 2.22 88.72 0.686 4 0.069 0.040 2944 3757 3034

1925 1.07 375.8 232.5 -5.2 331 2117 0.25 1.90 182.93 0.700 6 0.191 0.020 2889 2391 1999

2456 1.25 375.8 177.0 13.8 423 2464 0.17 2.08 0.00 0.000 4 0.071 0.041 2963 3754 1994

2634 1.06 375.8 149.3 14.6 454 2642 0.30 1.95 0.00 0.000 6 0.173 0.021 2890 2361 1993

2980 1.36 440.7 115.5 8.4 515 3034 0.22 2.03 48.85 0.636 4 0.064 0.028 2998 1019 1734

3143 1.40 476.6 96.7 10.5 543 3178 0.00 1.98 27.55 0.610 6 0.000 0.028 2998 2353 1588

3516 1.43 498.1 55.6 11.5 609 3540 0.00 1.95 17.50 0.575 4 0.000 0.026 3005 1019 1500

3580 1.43 498.1 47.6 13.1 620 3586 0.00 1.92 0.00 0.000 6 0.000 0.027 3005 2337 1498

3925 1.52 498.1 9.9 13.3 681 3931 0.00 1.90 0.00 0.000 4 0.000 0.026 3011 1018 1496

3978 1.65 504.2 3.4 12.6 690 3988 0.17 1.88 4.72 0.421 2 0.073 0.026 3083 2316 1480

3989 end climb: SURFACE_DEPTH_REACHED

state 3989 begin surface coast

4010 end surface coast: CONTROL_FINISHED_OK

state 4011 begin surface

ID	167	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	363	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2483	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2396	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	425	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	92	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	53	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	253	UPLOAD_DIVES_MAX	-1	VBD_MIN	389	DEVICE2	53
T_MISSION	304	CALL_TRIES	5	VBD_MAX	3987	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3532	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-5	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-12598.686	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	125	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	134	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2545	PRESSURE_YINT	-14.600696	SEABIRD_T_G	0.0043387017
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_H	0.00063414662
MASS	51932	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_T_I	2.5692387e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8978091e-06
FERRY_MAX	45	PITCH_GAIN	22.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8799791
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1029794
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010948726
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016878155
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	074004,2437.841,12426.886,11,2.3,30,-3.7	TGT_NAME	OFF_5
_CALLS	1	TGT_LATLONG	2416.000,12442.300
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.46	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	074502,2437.839,12426.920,12,1.4,12,-3.7	MHEAD_RNG_PITCHd_Wd	122.5,48063,-24.8,-13.043
SPEED_LIMITS	0.226,0.258	D_GRID	198

FINISH	1.6,1.008117	_24V_AH	24.4,64.083
SM_CCo	4089,0.00,0.000,0,0,1477,504.09	_10V_AH	10.9,35.521
SM_GC	2.43,7.75,0.00,0.00,0.053,0.000,0.000,140,2494,1477,-7.50,0.31,504.09	DATA_FILE_SIZE	34858,695
IRIDIUM_FIX	2429.95,12429.41,181098,060607	CAP_FILE_SIZE	56169,0
TT8_MAMPS	0.028379	CFSIZE	260165632,195842048
HUMID	1628	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.59021	CURRENT	0.108,175.8,1
TCM_TEMP	26.90	GPS	240709,085420,2437.365,12427.070,11,1.5,11,-3.7
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	227	111.72	SBE_CT	454	24	266.36
Roll_motor	31	55	42.21	Optode	646	33	520.77
VBD_pump_during_apogee	454	699	7757.36	WL_BB2F	0	105	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	57.77	nil	0	0	0.00
Iridium_during_connect	36	160	140.67	nil	0	0	0.00
Iridium_during_xfer	126	223	688.45
Transponder_ping	0	420	2.56
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.70
TT8	1068	19	230.57
LPSleep	1476	2	35.24
TT8_Active	476	19	102.75
TT8_Sampling	1033	39	448.32
TT8_CF8	338	45	168.89
TT8_Kalman	0	0	0.00
Analog_circuits	1049	12	137.22
GPS_charging	0	0	0.00
Compass	1020	8	89.03
RAFOS	0	0	0.00
Transponder	1	30	0.33

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.25	-121.7	0.0	0.0	0	57	0.00	0.00	-39.50	0.000	2	0.000	0.000	141	2500	2510
60	-1.25	-121.7	3.2	-2.9	7	121	7.88	1.92	-44.50	0.000	4	0.228	0.055	2127	3744	3989
236	-0.79	-121.7	35.0	-23.7	37	243	0.55	1.77	0.00	0.000	6	0.164	0.021	2286	2466	3990
581	-1.28	-121.7	74.2	-9.5	98	587	0.38	0.00	0.00	0.000	6	0.050	0.000	2124	2466	3991
925	-1.03	-121.7	127.4	-16.1	159	933	0.28	1.95	0.00	0.000	4	0.164	0.039	2197	3757	3991
1041	-1.03	-121.7	143.6	-13.1	179	1048	0.00	1.77	0.00	0.000	6	0.000	0.022	2197	2465	3991
1388	-1.10	-121.7	179.7	-10.1	240	1394	0.00	1.95	0.00	0.000	4	0.000	0.041	2192	3753	3992
1533	end dive: TARGET_DEPTH_EXCEEDED
state	1533	begin apogee
1541	-0.22	0.0	198.2	14.0	266	1634	0.85	0.00	84.22	0.692	6	0.146	0.000	2461	2377	3531
1634	end apogee: CONTROL_FINISHED_OK
state	1635	begin climb
1638	1.25	121.7	208.0	0.0	282	1738	1.30	2.22	88.72	0.686	4	0.069	0.040	2944	3757	3034
1925	1.07	375.8	232.5	-5.2	331	2117	0.25	1.90	182.93	0.700	6	0.191	0.020	2889	2391	1999
2456	1.25	375.8	177.0	13.8	423	2464	0.17	2.08	0.00	0.000	4	0.071	0.041	2963	3754	1994
2634	1.06	375.8	149.3	14.6	454	2642	0.30	1.95	0.00	0.000	6	0.173	0.021	2890	2361	1993
2980	1.36	440.7	115.5	8.4	515	3034	0.22	2.03	48.85	0.636	4	0.064	0.028	2998	1019	1734
3143	1.40	476.6	96.7	10.5	543	3178	0.00	1.98	27.55	0.610	6	0.000	0.028	2998	2353	1588
3516	1.43	498.1	55.6	11.5	609	3540	0.00	1.95	17.50	0.575	4	0.000	0.026	3005	1019	1500
3580	1.43	498.1	47.6	13.1	620	3586	0.00	1.92	0.00	0.000	6	0.000	0.027	3005	2337	1498
3925	1.52	498.1	9.9	13.3	681	3931	0.00	1.90	0.00	0.000	4	0.000	0.026	3011	1018	1496
3978	1.65	504.2	3.4	12.6	690	3988	0.17	1.88	4.72	0.421	2	0.073	0.026	3083	2316	1480
3989	end climb: SURFACE_DEPTH_REACHED
state	3989	begin surface coast
4010	end surface coast: CONTROL_FINISHED_OK
state	4011	begin surface