Glider dive log

PN07 DabobBay Sep07 * SG022 * Dive index * Mission links * Dive 43 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 22 HD_B 0.010364 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 2 HD_C 5.4717998e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 43 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 208 ALTIM_PING_DEPTH 50

D_TGT 70 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 0

D_PITCH 0 SM_CC 500 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 15 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 100 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 2 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 658 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 600 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 0

T_WATCHDOG 10 T_GPS_CHARGE -109131.63 VBD_PUMP_AD_RATE_APOGEE 1 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 16 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0044140997

SPEED_FACTOR 1 PITCH_MAX 3347 AH0_10V 61.200001 SEABIRD_T_H 0.00064927549

RHO 1.023 C_PITCH 2530 PRESSURE_YINT -21.951805 SEABIRD_T_I 2.7523491e-05

MASS 51950 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011632 SEABIRD_T_J 3.1132354e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.525962

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 1.7 SEABIRD_C_H 1.1896306

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_I -0.0026426413

HD_A 0.0040048002 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00031414768

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3347 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 2 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 70 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 1.7

ALTIM_SENSITIVITY 0 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011632 TCM_ROLL_OFFSET -0.89999998

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -21.951805 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 0.0040048002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010364 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 5.4717998e-06 RHO 1.023 T_GPS_CHARGE -109131.63

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 16 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 600

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 100 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 22 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2530 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_CLIMB 2000 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51950 R_PORT_OVSHOOT 15 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 20 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.525962 VBD_BLEED_AD_RATE 4

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1896306 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0026426413 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00031414768 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044140997 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064927549 VBD_MIN 658

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7523491e-05 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 43 PHONE_DEVICE 0 SEABIRD_T_J 3.1132354e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 004547,4740.510,-12248.957,9,2.2,28,18.3 TGT_NAME H3

_CALLS 2 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.214,-0.005

_SM_DEPTHo 1.29 KALMAN_X 4866.8,45.7,189.8,-1.2,212.1

_SM_ANGLEo -71.2 KALMAN_Y 1802.1,-135.6,-16.3,-126.4,-98.4

GPS2 005323,4740.515,-12248.894,12,2.2,31,18.3 MHEAD_RNG_PITCHd_Wd 250.5,5714,-10.9,-5.833

SPEED_LIMITS 0.101,0.214 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.5,1.010540 ALTIM_TOP_PING 9.7,8.0

SM_CCo 2400,155.80,0.647,0,0,1444,500.17 ALTIM_BOTTOM_PING 50.2,7.9

SM_GC 1.38,0.00,0.00,155.80,0.000,0.000,0.647,40,2104,1444,-11.45,0.11,500.17 _24V_AH 23.8,12.327

IRIDIUM_FIX 0.00,0.00,010170,000000 _10V_AH 10.2,3.322

TT8_MAMPS 0.028379 DATA_FILE_SIZE 6466,241

HUMID 2119 CFSIZE 260034560,255942656

TCM_TEMP 19.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 1 GPS 220907,013807,4740.474,-12249.023,29,1.4,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 200 132.60 SBE_CT 156 24 89.59

Roll_motor 38 141 131.45 nil 0 0 0.00

VBD_pump_during_apogee 243 708 4103.80 nil 0 0 0.00

VBD_pump_during_surface 155 646 2397.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 66 103 161.88 nil 0 0 0.00

Iridium_during_connect 67 160 257.46 ARS 0 0 0.00

Iridium_during_xfer 164 223 873.81

Transponder_ping 1 420 10.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.65

TT8 432 19 87.35

LPSleep 1256 2 28.06

TT8_Active 537 19 108.56

TT8_Sampling 418 39 169.81

TT8_CF8 400 45 187.12

TT8_Kalman 33 81 27.82

Analog_circuits 819 12 100.36

GPS_charging 0 0 0.00

Compass 402 8 32.82

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

23 -0.84 -146.6 0.0 0.0 0 92 0.00 0.00 -67.20 0.000 2 0.000 0.000 38 2112 2895

95 -0.84 -146.6 2.1 -1.7 11 168 13.70 3.00 -49.55 0.000 4 0.201 0.142 2340 695 3997

188 -0.84 -146.6 5.4 -7.5 26 195 0.00 2.65 0.00 0.000 6 0.000 0.075 2340 2107 3997

260 -0.84 -146.6 10.6 -6.6 37 266 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2107 3998

332 -0.84 -146.6 15.4 -6.6 48 338 0.00 2.67 0.00 0.000 4 0.000 0.086 2341 3521 3998

370 -0.84 -146.6 18.2 -7.4 54 377 0.00 2.70 0.00 0.000 6 0.000 0.079 2341 2096 3998

446 -0.84 -146.6 23.6 -7.0 62 451 0.00 2.78 0.00 0.000 4 0.000 0.089 2341 3517 3999

478 -0.84 -146.6 26.0 -7.6 64 486 0.00 2.75 0.00 0.000 6 0.000 0.081 2341 2090 3999

674 -0.84 -146.6 38.6 -6.4 80 675 0.00 0.00 0.00 0.000 6 0.000 0.000 2341 2090 4000

867 -0.84 -146.6 50.2 -5.8 95 872 0.00 2.92 0.00 0.000 4 0.000 0.137 2340 677 4001

891 -0.84 -146.6 51.9 -6.1 96 899 0.00 2.72 0.00 0.000 6 0.000 0.078 2341 2109 4001

1088 -0.84 -146.6 65.2 -6.9 112 1093 0.00 2.72 0.00 0.000 4 0.000 0.094 2341 3517 4001

1134 -0.84 -146.6 68.9 -8.4 115 1141 0.00 2.72 0.00 0.000 6 0.000 0.083 2341 2087 4001

1151 end dive: TARGET_DEPTH_EXCEEDED

state 1151 begin apogee

1155 -0.31 0.0 70.4 8.0 117 1261 0.60 0.00 98.22 0.709 6 0.123 0.000 2456 1988 3484

1262 end apogee: CONTROL_FINISHED_OK

state 1262 begin climb

1264 0.84 146.6 73.0 0.0 126 1385 1.23 0.00 112.53 0.693 6 0.099 0.000 2708 1984 2885

1575 0.84 146.6 53.2 7.5 151 1579 0.00 2.83 0.00 0.000 4 0.000 0.117 2707 583 2885

1598 0.84 146.6 51.2 7.4 152 1607 0.00 2.62 0.00 0.000 6 0.000 0.061 2708 2007 2884

1795 0.84 146.6 36.2 7.4 168 1796 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2005 2884

1985 0.84 146.6 21.5 7.9 183 1990 0.00 2.90 0.00 0.000 4 0.000 0.120 2707 580 2884

2030 0.84 146.6 17.9 8.2 187 2037 0.00 2.60 0.00 0.000 6 0.000 0.061 2707 2014 2883

2102 0.84 146.6 13.2 6.2 198 2108 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2015 2884

2174 0.84 146.6 8.1 7.3 209 2179 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2015 2883

2245 0.89 190.0 4.2 4.7 220 2282 0.00 0.00 32.55 0.682 6 0.000 0.000 2708 2015 2709

2305 end climb: SURFACE_DEPTH_REACHED

state 2305 begin surface coast

2380 end surface coast: CONTROL_FINISHED_OK

state 2380 begin surface

ID	22	HD_B	0.010364	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	2	HD_C	5.4717998e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	43	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	208	ALTIM_PING_DEPTH	50
D_TGT	70	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	0
D_PITCH	0	SM_CC	500	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	15	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	100	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	2	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	658	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	600	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	0
T_WATCHDOG	10	T_GPS_CHARGE	-109131.63	VBD_PUMP_AD_RATE_APOGEE	1	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	16	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0044140997
SPEED_FACTOR	1	PITCH_MAX	3347	AH0_10V	61.200001	SEABIRD_T_H	0.00064927549
RHO	1.023	C_PITCH	2530	PRESSURE_YINT	-21.951805	SEABIRD_T_I	2.7523491e-05
MASS	51950	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011632	SEABIRD_T_J	3.1132354e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.525962
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	1.7	SEABIRD_C_H	1.1896306
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_I	-0.0026426413
HD_A	0.0040048002	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00031414768

GPS1	004547,4740.510,-12248.957,9,2.2,28,18.3	TGT_NAME	H3
_CALLS	2	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.214,-0.005
_SM_DEPTHo	1.29	KALMAN_X	4866.8,45.7,189.8,-1.2,212.1
_SM_ANGLEo	-71.2	KALMAN_Y	1802.1,-135.6,-16.3,-126.4,-98.4
GPS2	005323,4740.515,-12248.894,12,2.2,31,18.3	MHEAD_RNG_PITCHd_Wd	250.5,5714,-10.9,-5.833
SPEED_LIMITS	0.101,0.214	D_GRID	90

FINISH	0.5,1.010540	ALTIM_TOP_PING	9.7,8.0
SM_CCo	2400,155.80,0.647,0,0,1444,500.17	ALTIM_BOTTOM_PING	50.2,7.9
SM_GC	1.38,0.00,0.00,155.80,0.000,0.000,0.647,40,2104,1444,-11.45,0.11,500.17	_24V_AH	23.8,12.327
IRIDIUM_FIX	0.00,0.00,010170,000000	_10V_AH	10.2,3.322
TT8_MAMPS	0.028379	DATA_FILE_SIZE	6466,241
HUMID	2119	CFSIZE	260034560,255942656
TCM_TEMP	19.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	1	GPS	220907,013807,4740.474,-12249.023,29,1.4,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	200	132.60	SBE_CT	156	24	89.59
Roll_motor	38	141	131.45	nil	0	0	0.00
VBD_pump_during_apogee	243	708	4103.80	nil	0	0	0.00
VBD_pump_during_surface	155	646	2397.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	66	103	161.88	nil	0	0	0.00
Iridium_during_connect	67	160	257.46	ARS	0	0	0.00
Iridium_during_xfer	164	223	873.81
Transponder_ping	1	420	10.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.65
TT8	432	19	87.35
LPSleep	1256	2	28.06
TT8_Active	537	19	108.56
TT8_Sampling	418	39	169.81
TT8_CF8	400	45	187.12
TT8_Kalman	33	81	27.82
Analog_circuits	819	12	100.36
GPS_charging	0	0	0.00
Compass	402	8	32.82
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
23	-0.84	-146.6	0.0	0.0	0	92	0.00	0.00	-67.20	0.000	2	0.000	0.000	38	2112	2895
95	-0.84	-146.6	2.1	-1.7	11	168	13.70	3.00	-49.55	0.000	4	0.201	0.142	2340	695	3997
188	-0.84	-146.6	5.4	-7.5	26	195	0.00	2.65	0.00	0.000	6	0.000	0.075	2340	2107	3997
260	-0.84	-146.6	10.6	-6.6	37	266	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	2107	3998
332	-0.84	-146.6	15.4	-6.6	48	338	0.00	2.67	0.00	0.000	4	0.000	0.086	2341	3521	3998
370	-0.84	-146.6	18.2	-7.4	54	377	0.00	2.70	0.00	0.000	6	0.000	0.079	2341	2096	3998
446	-0.84	-146.6	23.6	-7.0	62	451	0.00	2.78	0.00	0.000	4	0.000	0.089	2341	3517	3999
478	-0.84	-146.6	26.0	-7.6	64	486	0.00	2.75	0.00	0.000	6	0.000	0.081	2341	2090	3999
674	-0.84	-146.6	38.6	-6.4	80	675	0.00	0.00	0.00	0.000	6	0.000	0.000	2341	2090	4000
867	-0.84	-146.6	50.2	-5.8	95	872	0.00	2.92	0.00	0.000	4	0.000	0.137	2340	677	4001
891	-0.84	-146.6	51.9	-6.1	96	899	0.00	2.72	0.00	0.000	6	0.000	0.078	2341	2109	4001
1088	-0.84	-146.6	65.2	-6.9	112	1093	0.00	2.72	0.00	0.000	4	0.000	0.094	2341	3517	4001
1134	-0.84	-146.6	68.9	-8.4	115	1141	0.00	2.72	0.00	0.000	6	0.000	0.083	2341	2087	4001
1151	end dive: TARGET_DEPTH_EXCEEDED
state	1151	begin apogee
1155	-0.31	0.0	70.4	8.0	117	1261	0.60	0.00	98.22	0.709	6	0.123	0.000	2456	1988	3484
1262	end apogee: CONTROL_FINISHED_OK
state	1262	begin climb
1264	0.84	146.6	73.0	0.0	126	1385	1.23	0.00	112.53	0.693	6	0.099	0.000	2708	1984	2885
1575	0.84	146.6	53.2	7.5	151	1579	0.00	2.83	0.00	0.000	4	0.000	0.117	2707	583	2885
1598	0.84	146.6	51.2	7.4	152	1607	0.00	2.62	0.00	0.000	6	0.000	0.061	2708	2007	2884
1795	0.84	146.6	36.2	7.4	168	1796	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2005	2884
1985	0.84	146.6	21.5	7.9	183	1990	0.00	2.90	0.00	0.000	4	0.000	0.120	2707	580	2884
2030	0.84	146.6	17.9	8.2	187	2037	0.00	2.60	0.00	0.000	6	0.000	0.061	2707	2014	2883
2102	0.84	146.6	13.2	6.2	198	2108	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2015	2884
2174	0.84	146.6	8.1	7.3	209	2179	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2015	2883
2245	0.89	190.0	4.2	4.7	220	2282	0.00	0.00	32.55	0.682	6	0.000	0.000	2708	2015	2709
2305	end climb: SURFACE_DEPTH_REACHED
state	2305	begin surface coast
2380	end surface coast: CONTROL_FINISHED_OK
state	2380	begin surface