Glider dive log

PLUS INP Jul09 * SG116 * Dive index * Mission links * Dive 42 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 22 ESCAPE_HEADING 180 ROLL_MIN 155 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 42 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3900 ALTIM_PING_DEPTH 90

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2628 ALTIM_FREQUENCY 12

D_TGT 180 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2530 ALTIM_PULSE 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 50 SM_CC 400 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 54 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 60 UPLOAD_DIVES_MAX -1 VBD_MIN 770 DEVICE2 -1

T_MISSION 75 CALL_TRIES 5 VBD_MAX 3955 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2936 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 1

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 3

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 3 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 750 T_GPS_CHARGE -58305.738 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 150 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 250 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE -1

COURSE_BIAS 0 PITCH_MIN 132 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3449 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3095 PRESSURE_YINT -0.46644667 SEABIRD_T_G 0.0043738699

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_H 0.00063649943

MASS 51716 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5189185e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7386873e-06

FERRY_MAX 0 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8703537

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1242318

HD_A 0.003 PITCH_AD_RATE 140 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0015997718

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00020779716

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 140 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 750 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3449 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 132 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 90 D_TGT 180 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 2 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158926 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -0.46644667 TGT_DEFAULT_LAT 21.83

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -159.78

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 60

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -58305.738

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0275 T_MISSION 75

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 3

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 116 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3900 UNCOM_BLEED 150

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3095 KALMAN_USE 1 ROLL_MIN 155 USE_BATHY 0

C_ROLL_CLIMB 2530 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2628 MASS 51716 R_PORT_OVSHOOT 54 VBD_BLEED_AD_RATE 8

C_VBD 2936 MAX_BUOY 250 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 22 SEABIRD_C_G -9.8703537 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1242318 VBD_MAX 3955

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0015997718 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00020779716 VBD_MIN 770

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043738699 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063649943 VBD_PUMP_AD_RATE_SURFACE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5189185e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7386873e-06 XPDR_DEVICE -1

DIVE 42 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 184136,2151.794,-15943.267,14,2.0,24,9.8 TGT_LATLONG 2155.000,-15943.400

_CALLS 2 TGT_RADIUS 2000.000

_XMS_NAKs 0 KALMAN_CONTROL 0.247,0.210

_XMS_TOUTs 0 KALMAN_X -61558.2,392.6,-539.7,59029.7,-855.7

_SM_DEPTHo 1.05 KALMAN_Y 11529.6,-221.1,-3.6,-19187.9,165.0

_SM_ANGLEo -70.3 MHEAD_RNG_PITCHd_Wd 39.8,5930,-13.1,-10.000

GPS2 185350,2151.801,-15943.537,13,1.8,13,9.8 D_GRID 180

SPEED_LIMITS 0.100,0.324 MM_IGNORESAMPLERETURN 0.0

TGT_NAME TA

Post-dive calculations and measurements:

FINISH 0.2,1.023062 MM_CLLLayer 0.03

SM_CCo 3765,16.12,0.457,0,0,1304,400.08 MM_CfgFile 0.30

SM_GC 1.22,0.00,0.00,16.12,0.000,0.000,0.457,123,2629,1304,-13.67,0.03,400.08 _24V_AH 23.6,15.766

IRIDIUM_FIX 2143.45,-15943.76,261098,181820 _10V_AH 10.1,4.972

TT8_MAMPS 0.064428 DATA_FILE_SIZE 9594,364

HUMID 1800 CAP_FILE_SIZE 142913,0

INTERNAL_PRESSURE 11.5141 CFSIZE 260034560,252628992

TCM_TEMP 24.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 010809,195832,2152.327,-15943.997,12,1.9,12,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 177 140.58 SBE_CT 233 24 132.40

Roll_motor 28 72 47.77 nil 0 0 0.00

VBD_pump_during_apogee 746 561 9890.85 nil 0 0 0.00

VBD_pump_during_surface 16 457 173.96 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 53 103 129.73 nil 0 0 0.00

Iridium_during_connect 56 160 214.82 GUMSTIX 66 1000 1575.28

Iridium_during_xfer 460 223 2424.15

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 187 1000 4418.32

GPS 13 50 6.79

TT8 653 18 118.75

LPSleep 1643 0 6.47

TT8_Active 689 18 125.30

TT8_Sampling 712 38 273.61

TT8_CF8 829 44 368.59

TT8_Kalman 33 80 26.93

Analog_circuits 1183 12 143.44

GPS_charging 0 0 0.00

Compass 677 8 54.70

RAFOS 0 0 0.00

Transponder 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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.39 -243.2 0.0 0.0 0 94 0.00 0.00 -74.38 0.000 2 0.000 0.000 125 2638 3395

97 -1.39 -243.3 3.4 -6.9 11 127 16.00 2.28 -8.10 0.000 4 0.178 0.072 2789 3887 3929

211 -1.39 -243.3 34.1 -17.5 23 219 0.00 2.12 0.00 0.000 6 0.000 0.028 2789 2625 3930

409 -1.39 -243.3 62.7 -12.2 42 413 0.00 2.30 0.00 0.000 4 0.000 0.061 2789 3883 3932

437 -1.39 -243.3 66.3 -13.4 44 441 0.00 2.10 0.00 0.000 6 0.000 0.028 2789 2619 3932

767 -1.39 -243.3 107.8 -13.0 75 768 0.00 0.00 0.00 0.000 6 0.000 0.000 2789 2618 3933

1086 -1.39 -243.3 148.2 -10.9 105 1090 0.00 2.35 0.00 0.000 4 0.000 0.068 2789 3887 3932

1133 -1.39 -243.3 153.4 -11.9 109 1137 0.00 2.10 0.00 0.000 6 0.000 0.029 2789 2626 3932

1376 end dive: TARGET_DEPTH_EXCEEDED

state 1376 begin apogee

1381 -0.42 0.0 181.0 10.9 132 1690 1.00 0.00 297.12 0.561 6 0.070 0.000 3004 2533 2936

1691 end apogee: CONTROL_FINISHED_OK

state 1691 begin climb

1693 1.39 243.3 191.6 0.0 163 2004 1.75 2.45 297.70 0.551 4 0.047 0.040 3400 1125 1943

2185 1.39 243.3 156.1 10.1 205 2189 0.00 2.45 0.00 0.000 6 0.000 0.035 3400 2528 1940

2509 1.49 324.8 126.7 7.7 235 2617 0.00 2.53 99.93 0.534 4 0.000 0.062 3400 3884 1611

2752 1.53 360.0 106.5 9.0 256 2805 0.12 2.30 44.35 0.518 6 0.052 0.031 3438 2522 1468

3129 1.53 360.0 62.5 11.3 291 3131 0.00 0.00 0.00 0.000 6 0.000 0.000 3438 2522 1463

3448 1.54 365.9 30.0 9.8 321 3462 0.00 2.50 7.38 0.429 4 0.000 0.059 3437 3884 1444

3520 1.54 365.9 22.3 10.9 327 3524 0.00 2.28 0.00 0.000 6 0.000 0.029 3438 2525 1444

3701 end climb: SURFACE_DEPTH_REACHED

state 3701 begin surface coast

3741 end surface coast: CONTROL_FINISHED_OK

state 3741 begin surface

ID	116	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	22	ESCAPE_HEADING	180	ROLL_MIN	155	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	42	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3900	ALTIM_PING_DEPTH	90
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2628	ALTIM_FREQUENCY	12
D_TGT	180	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2530	ALTIM_PULSE	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	50	SM_CC	400	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	54	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	60	UPLOAD_DIVES_MAX	-1	VBD_MIN	770	DEVICE2	-1
T_MISSION	75	CALL_TRIES	5	VBD_MAX	3955	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2936	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	1
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	3
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	3	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	750	T_GPS_CHARGE	-58305.738	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	150	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	250	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	-1
COURSE_BIAS	0	PITCH_MIN	132	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3449	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3095	PRESSURE_YINT	-0.46644667	SEABIRD_T_G	0.0043738699
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_H	0.00063649943
MASS	51716	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5189185e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7386873e-06
FERRY_MAX	0	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8703537
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1242318
HD_A	0.003	PITCH_AD_RATE	140	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0015997718
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00020779716
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	184136,2151.794,-15943.267,14,2.0,24,9.8	TGT_LATLONG	2155.000,-15943.400
_CALLS	2	TGT_RADIUS	2000.000
_XMS_NAKs	0	KALMAN_CONTROL	0.247,0.210
_XMS_TOUTs	0	KALMAN_X	-61558.2,392.6,-539.7,59029.7,-855.7
_SM_DEPTHo	1.05	KALMAN_Y	11529.6,-221.1,-3.6,-19187.9,165.0
_SM_ANGLEo	-70.3	MHEAD_RNG_PITCHd_Wd	39.8,5930,-13.1,-10.000
GPS2	185350,2151.801,-15943.537,13,1.8,13,9.8	D_GRID	180
SPEED_LIMITS	0.100,0.324	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	TA

FINISH	0.2,1.023062	MM_CLLLayer	0.03
SM_CCo	3765,16.12,0.457,0,0,1304,400.08	MM_CfgFile	0.30
SM_GC	1.22,0.00,0.00,16.12,0.000,0.000,0.457,123,2629,1304,-13.67,0.03,400.08	_24V_AH	23.6,15.766
IRIDIUM_FIX	2143.45,-15943.76,261098,181820	_10V_AH	10.1,4.972
TT8_MAMPS	0.064428	DATA_FILE_SIZE	9594,364
HUMID	1800	CAP_FILE_SIZE	142913,0
INTERNAL_PRESSURE	11.5141	CFSIZE	260034560,252628992
TCM_TEMP	24.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	010809,195832,2152.327,-15943.997,12,1.9,12,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	177	140.58	SBE_CT	233	24	132.40
Roll_motor	28	72	47.77	nil	0	0	0.00
VBD_pump_during_apogee	746	561	9890.85	nil	0	0	0.00
VBD_pump_during_surface	16	457	173.96	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	53	103	129.73	nil	0	0	0.00
Iridium_during_connect	56	160	214.82	GUMSTIX	66	1000	1575.28
Iridium_during_xfer	460	223	2424.15
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	187	1000	4418.32
GPS	13	50	6.79
TT8	653	18	118.75
LPSleep	1643	0	6.47
TT8_Active	689	18	125.30
TT8_Sampling	712	38	273.61
TT8_CF8	829	44	368.59
TT8_Kalman	33	80	26.93
Analog_circuits	1183	12	143.44
GPS_charging	0	0	0.00
Compass	677	8	54.70
RAFOS	0	0	0.00
Transponder	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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.39	-243.2	0.0	0.0	0	94	0.00	0.00	-74.38	0.000	2	0.000	0.000	125	2638	3395
97	-1.39	-243.3	3.4	-6.9	11	127	16.00	2.28	-8.10	0.000	4	0.178	0.072	2789	3887	3929
211	-1.39	-243.3	34.1	-17.5	23	219	0.00	2.12	0.00	0.000	6	0.000	0.028	2789	2625	3930
409	-1.39	-243.3	62.7	-12.2	42	413	0.00	2.30	0.00	0.000	4	0.000	0.061	2789	3883	3932
437	-1.39	-243.3	66.3	-13.4	44	441	0.00	2.10	0.00	0.000	6	0.000	0.028	2789	2619	3932
767	-1.39	-243.3	107.8	-13.0	75	768	0.00	0.00	0.00	0.000	6	0.000	0.000	2789	2618	3933
1086	-1.39	-243.3	148.2	-10.9	105	1090	0.00	2.35	0.00	0.000	4	0.000	0.068	2789	3887	3932
1133	-1.39	-243.3	153.4	-11.9	109	1137	0.00	2.10	0.00	0.000	6	0.000	0.029	2789	2626	3932
1376	end dive: TARGET_DEPTH_EXCEEDED
state	1376	begin apogee
1381	-0.42	0.0	181.0	10.9	132	1690	1.00	0.00	297.12	0.561	6	0.070	0.000	3004	2533	2936
1691	end apogee: CONTROL_FINISHED_OK
state	1691	begin climb
1693	1.39	243.3	191.6	0.0	163	2004	1.75	2.45	297.70	0.551	4	0.047	0.040	3400	1125	1943
2185	1.39	243.3	156.1	10.1	205	2189	0.00	2.45	0.00	0.000	6	0.000	0.035	3400	2528	1940
2509	1.49	324.8	126.7	7.7	235	2617	0.00	2.53	99.93	0.534	4	0.000	0.062	3400	3884	1611
2752	1.53	360.0	106.5	9.0	256	2805	0.12	2.30	44.35	0.518	6	0.052	0.031	3438	2522	1468
3129	1.53	360.0	62.5	11.3	291	3131	0.00	0.00	0.00	0.000	6	0.000	0.000	3438	2522	1463
3448	1.54	365.9	30.0	9.8	321	3462	0.00	2.50	7.38	0.429	4	0.000	0.059	3437	3884	1444
3520	1.54	365.9	22.3	10.9	327	3524	0.00	2.28	0.00	0.000	6	0.000	0.029	3438	2525	1444
3701	end climb: SURFACE_DEPTH_REACHED
state	3701	begin surface coast
3741	end surface coast: CONTROL_FINISHED_OK
state	3741	begin surface