Glider dive log

QPE May09 * SG167 * Dive index * Mission links * Dive 368 * 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 368 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 48 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 64 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 -12712.534 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 -12712.534

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 48 VBD_BLEED_AD_RATE 8

C_VBD 3532 MAX_BUOY 125 R_STBD_OVSHOOT 64 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 368 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 140136,2437.559,12426.712,33,1.2,33,-3.7 TGT_NAME OFF_5

_CALLS 1 TGT_LATLONG 2416.000,12442.300

_XMS_NAKs 2 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 2.45 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 140638,2437.596,12426.712,15,1.3,15,-3.7 MHEAD_RNG_PITCHd_Wd 134.7,47877,-24.8,-13.043

SPEED_LIMITS 0.226,0.258 D_GRID 198

Post-dive calculations and measurements:

FINISH 1.6,1.009440 _24V_AH 24.7,64.574

SM_CCo 3768,0.00,0.000,0,0,1642,463.62 _10V_AH 11.0,35.730

SM_GC 2.57,7.40,0.00,0.00,0.051,0.000,0.000,139,2517,1642,-7.49,0.96,463.62 DATA_FILE_SIZE 31689,637

IRIDIUM_FIX 2427.58,12424.78,181098,121209 CAP_FILE_SIZE 54925,0

TT8_MAMPS 0.028379 CFSIZE 260165632,195657728

HUMID 1626 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.63904 CURRENT 0.142,272.4,1

TCM_TEMP 27.10 GPS 240709,151052,2437.434,12426.499,8,6.0,27,-3.7

XPDR_PINGS 13

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 232 119.40 SBE_CT 416 24 246.71

Roll_motor 31 62 49.52 Optode 613 33 500.24

VBD_pump_during_apogee 422 680 7101.00 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 31 103 79.31 nil 0 0 0.00

Iridium_during_connect 37 160 146.41 nil 0 0 0.00

Iridium_during_xfer 120 223 665.62

Transponder_ping 3 420 33.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.69

TT8 987 19 214.97

LPSleep 1343 2 32.35

TT8_Active 449 19 97.97

TT8_Sampling 952 39 416.81

TT8_CF8 346 45 174.69

TT8_Kalman 0 0 0.00

Analog_circuits 982 12 129.67

GPS_charging 0 0 0.00

Compass 936 8 82.38

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 -39.78 0.000 2 0.000 0.000 143 2508 2531

60 -1.25 -121.7 3.2 -2.7 7 117 7.93 1.92 -42.90 0.000 4 0.232 0.055 2126 3747 3989

242 -0.80 -121.7 35.8 -22.0 38 248 0.52 1.85 0.00 0.000 6 0.163 0.033 2279 2416 3989

586 -1.17 -121.7 77.9 -8.1 99 594 0.28 2.00 0.00 0.000 4 0.054 0.042 2152 3733 3990

692 -0.90 -121.7 94.7 -17.5 117 698 0.35 1.80 0.00 0.000 6 0.159 0.021 2253 2434 3990

1037 -1.19 -121.7 134.3 -10.0 178 1044 0.22 1.98 0.00 0.000 4 0.057 0.042 2150 3734 3990

1100 -0.97 -121.7 143.6 -16.9 189 1107 0.30 1.65 0.00 0.000 6 0.156 0.022 2235 2553 3990

1447 -1.31 -121.7 187.1 -12.1 250 1455 0.28 2.05 0.00 0.000 4 0.055 0.022 2115 1087 3991

1513 -1.10 -121.7 196.8 -15.3 261 1520 0.28 2.10 0.00 0.000 6 0.157 0.038 2188 2516 3991

1524 end dive: TARGET_DEPTH_EXCEEDED

state 1524 begin apogee

1530 -0.22 0.0 198.9 14.4 263 1619 0.85 0.00 83.57 0.680 6 0.144 0.000 2462 2394 3532

1620 end apogee: CONTROL_FINISHED_OK

state 1620 begin climb

1623 1.25 121.7 205.8 0.0 278 1722 1.30 2.17 88.38 0.670 4 0.067 0.041 2944 3760 3034

1778 1.00 339.7 214.3 -2.6 303 1945 0.32 1.92 155.77 0.672 6 0.183 0.020 2868 2374 2146

2284 1.27 397.3 170.2 8.9 391 2333 0.20 2.20 43.12 0.641 4 0.067 0.042 2957 3759 1911

2458 1.14 397.3 147.2 14.0 421 2465 0.20 1.92 0.00 0.000 6 0.177 0.021 2912 2379 1907

2804 1.39 450.4 109.0 9.2 482 2853 0.20 2.00 40.50 0.615 4 0.065 0.026 3007 1024 1694

2983 1.39 450.4 86.3 14.2 513 2989 0.00 1.95 0.00 0.000 6 0.000 0.028 3007 2354 1690

3329 1.40 457.1 40.0 12.6 574 3342 0.00 2.15 5.90 0.464 4 0.000 0.043 3007 3757 1667

3418 1.33 462.2 28.4 12.7 589 3432 0.17 1.95 5.32 0.444 6 0.165 0.031 2971 2371 1646

3659 end climb: SURFACE_DEPTH_REACHED

state 3659 begin surface coast

3689 end surface coast: CONTROL_FINISHED_OK

state 3689 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	368	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	48	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	64	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	-12712.534	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	140136,2437.559,12426.712,33,1.2,33,-3.7	TGT_NAME	OFF_5
_CALLS	1	TGT_LATLONG	2416.000,12442.300
_XMS_NAKs	2	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	2.45	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	140638,2437.596,12426.712,15,1.3,15,-3.7	MHEAD_RNG_PITCHd_Wd	134.7,47877,-24.8,-13.043
SPEED_LIMITS	0.226,0.258	D_GRID	198

FINISH	1.6,1.009440	_24V_AH	24.7,64.574
SM_CCo	3768,0.00,0.000,0,0,1642,463.62	_10V_AH	11.0,35.730
SM_GC	2.57,7.40,0.00,0.00,0.051,0.000,0.000,139,2517,1642,-7.49,0.96,463.62	DATA_FILE_SIZE	31689,637
IRIDIUM_FIX	2427.58,12424.78,181098,121209	CAP_FILE_SIZE	54925,0
TT8_MAMPS	0.028379	CFSIZE	260165632,195657728
HUMID	1626	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.63904	CURRENT	0.142,272.4,1
TCM_TEMP	27.10	GPS	240709,151052,2437.434,12426.499,8,6.0,27,-3.7
XPDR_PINGS	13

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	232	119.40	SBE_CT	416	24	246.71
Roll_motor	31	62	49.52	Optode	613	33	500.24
VBD_pump_during_apogee	422	680	7101.00	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	31	103	79.31	nil	0	0	0.00
Iridium_during_connect	37	160	146.41	nil	0	0	0.00
Iridium_during_xfer	120	223	665.62
Transponder_ping	3	420	33.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.69
TT8	987	19	214.97
LPSleep	1343	2	32.35
TT8_Active	449	19	97.97
TT8_Sampling	952	39	416.81
TT8_CF8	346	45	174.69
TT8_Kalman	0	0	0.00
Analog_circuits	982	12	129.67
GPS_charging	0	0	0.00
Compass	936	8	82.38
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	-39.78	0.000	2	0.000	0.000	143	2508	2531
60	-1.25	-121.7	3.2	-2.7	7	117	7.93	1.92	-42.90	0.000	4	0.232	0.055	2126	3747	3989
242	-0.80	-121.7	35.8	-22.0	38	248	0.52	1.85	0.00	0.000	6	0.163	0.033	2279	2416	3989
586	-1.17	-121.7	77.9	-8.1	99	594	0.28	2.00	0.00	0.000	4	0.054	0.042	2152	3733	3990
692	-0.90	-121.7	94.7	-17.5	117	698	0.35	1.80	0.00	0.000	6	0.159	0.021	2253	2434	3990
1037	-1.19	-121.7	134.3	-10.0	178	1044	0.22	1.98	0.00	0.000	4	0.057	0.042	2150	3734	3990
1100	-0.97	-121.7	143.6	-16.9	189	1107	0.30	1.65	0.00	0.000	6	0.156	0.022	2235	2553	3990
1447	-1.31	-121.7	187.1	-12.1	250	1455	0.28	2.05	0.00	0.000	4	0.055	0.022	2115	1087	3991
1513	-1.10	-121.7	196.8	-15.3	261	1520	0.28	2.10	0.00	0.000	6	0.157	0.038	2188	2516	3991
1524	end dive: TARGET_DEPTH_EXCEEDED
state	1524	begin apogee
1530	-0.22	0.0	198.9	14.4	263	1619	0.85	0.00	83.57	0.680	6	0.144	0.000	2462	2394	3532
1620	end apogee: CONTROL_FINISHED_OK
state	1620	begin climb
1623	1.25	121.7	205.8	0.0	278	1722	1.30	2.17	88.38	0.670	4	0.067	0.041	2944	3760	3034
1778	1.00	339.7	214.3	-2.6	303	1945	0.32	1.92	155.77	0.672	6	0.183	0.020	2868	2374	2146
2284	1.27	397.3	170.2	8.9	391	2333	0.20	2.20	43.12	0.641	4	0.067	0.042	2957	3759	1911
2458	1.14	397.3	147.2	14.0	421	2465	0.20	1.92	0.00	0.000	6	0.177	0.021	2912	2379	1907
2804	1.39	450.4	109.0	9.2	482	2853	0.20	2.00	40.50	0.615	4	0.065	0.026	3007	1024	1694
2983	1.39	450.4	86.3	14.2	513	2989	0.00	1.95	0.00	0.000	6	0.000	0.028	3007	2354	1690
3329	1.40	457.1	40.0	12.6	574	3342	0.00	2.15	5.90	0.464	4	0.000	0.043	3007	3757	1667
3418	1.33	462.2	28.4	12.7	589	3432	0.17	1.95	5.32	0.444	6	0.165	0.031	2971	2371	1646
3659	end climb: SURFACE_DEPTH_REACHED
state	3659	begin surface coast
3689	end surface coast: CONTROL_FINISHED_OK
state	3689	begin surface