Glider dive log

PortSusan 14Aug08 * SG156 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 156 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 169 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 5 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3842 ALTIM_PING_DEPTH 70

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2131 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2131 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 80 SM_CC 600 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 41 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 50 UPLOAD_DIVES_MAX -1 VBD_MIN 470 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3516 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 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 -7156.7822 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 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 20 RAFOS_DEVICE -1

MAX_BUOY 110 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 46 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4003 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2030 PRESSURE_YINT -17.876059 SEABIRD_T_G 0.0043895515

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001145783 SEABIRD_T_H 0.00064076902

MASS 51255 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.6836891e-05

NAV_MODE 1 P_OVSHOOT 0.029999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.0528029e-06

FERRY_MAX 45 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.163977

KALMAN_USE 1 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1456759

HD_A 0.003 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.001231113

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018464784

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SM_CC 600

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 30 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4003 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 46 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 70 D_TGT 150 PITCH_TIMEOUT 17 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 0.0001145783 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -17.876059 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.029999999 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 50

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 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -7156.7822

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 156 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3842 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2030 KALMAN_USE 1 ROLL_MIN 169 USE_BATHY -4

C_ROLL_CLIMB 2131 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2131 MASS 51255 R_PORT_OVSHOOT 41 VBD_BLEED_AD_RATE 8

C_VBD 3516 MAX_BUOY 110 R_STBD_OVSHOOT 35 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -10.163977 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1456759 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.001231113 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018464784 VBD_MIN 470

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043895515 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064076902 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6836891e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.0528029e-06 XPDR_DEVICE 24

DIVE 5 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 -1

Pre-dive calculations and measurements:

GPS1 215214,4806.893,-12222.782,9,1.6,14,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.126,-0.187

_SM_DEPTHo 0.26 KALMAN_X -228.1,-54.4,10.3,339.2,-112.4

_SM_ANGLEo -63.3 KALMAN_Y 89.9,-98.7,-143.7,-444.1,129.9

GPS2 215732,4806.888,-12222.772,10,1.8,15,18.3 MHEAD_RNG_PITCHd_Wd 127.8,1902,-20.6,-10.000

SPEED_LIMITS 0.173,0.226 D_GRID 107

Post-dive calculations and measurements:

FINISH 2.0,1.018285 ALTIM_BOTTOM_PING 80.1,41.4

SM_CCo 1997,362.67,0.549,0,0,1070,600.00 _24V_AH 24.8,1.010

SM_GC 0.33,0.00,0.00,362.67,0.000,0.000,0.549,25,2128,1070,-6.27,-0.11,600.00 _10V_AH 10.8,0.786

IRIDIUM_FIX 4751.72,-12226.29,091197,212136 DATA_FILE_SIZE 22307,422

TT8_MAMPS 0.028379 CAP_FILE_SIZE 43551,0

HUMID 2101 CFSIZE 260165632,258703360

INTERNAL_PRESSURE 8.99449 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.30 GPS 150808,223850,4806.779,-12222.793,12,1.7,29,18.3

XPDR_PINGS 6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 256 94.95 SBE_CT 282 24 168.32

Roll_motor 30 49 37.50 SBE_O2 218 19 103.19

VBD_pump_during_apogee 159 625 2471.12 WL_BB2F 524 105 1364.56

VBD_pump_during_surface 362 549 4939.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 66.46 nil 0 0 0.00

Iridium_during_connect 30 160 120.51 nil 0 0 0.00

Iridium_during_xfer 172 223 955.45

Transponder_ping 2 420 26.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.53

TT8 640 19 136.92

LPSleep 360 2 8.53

TT8_Active 611 19 130.66

TT8_Sampling 773 39 332.60

TT8_CF8 310 45 153.81

TT8_Kalman 33 81 29.45

Analog_circuits 998 12 129.35

GPS_charging 0 0 0.00

Compass 768 8 66.40

RAFOS 0 0 0.00

Transponder 9 30 3.22

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

14 -0.82 -107.5 0.0 0.0 0 132 0.00 0.00 -113.40 0.000 6 0.000 0.000 22 2122 3956

134 -0.82 -107.5 3.6 -6.4 20 148 6.90 2.22 0.00 0.000 4 0.257 0.040 1742 3553 3956

384 -0.82 -107.5 25.1 -8.2 79 391 0.00 2.17 0.00 0.000 6 0.000 0.032 1743 2117 3958

454 -0.82 -107.5 31.0 -8.4 95 460 0.00 2.22 0.00 0.000 4 0.000 0.046 1732 3544 3958

710 -0.82 -107.5 61.1 -12.4 153 717 0.12 2.15 0.00 0.000 6 0.179 0.032 1763 2118 3958

853 -0.82 -107.5 77.2 -11.2 184 860 0.00 2.22 0.00 0.000 4 0.000 0.048 1753 3546 3958

899 -0.82 -107.5 82.4 -12.0 193 905 0.00 2.12 0.00 0.000 6 0.000 0.032 1753 2136 3958

1042 -0.82 -107.5 98.7 -10.6 224 1049 0.00 2.20 0.00 0.000 4 0.000 0.048 1743 3551 3958

1077 -0.82 -107.5 102.9 -11.8 231 1083 0.00 2.15 0.00 0.000 6 0.000 0.032 1743 2125 3958

1110 end dive: TARGET_DEPTH_EXCEEDED

state 1110 begin apogee

1114 -0.17 0.0 107.1 12.0 238 1200 0.73 0.00 80.05 0.625 6 0.163 0.000 1968 2122 3516

1200 end apogee: CONTROL_FINISHED_OK

state 1200 begin climb

1202 0.82 107.5 109.7 0.0 253 1287 0.93 0.00 79.35 0.603 6 0.100 0.000 2287 2122 3076

1423 0.82 107.5 81.0 15.7 298 1429 0.00 2.28 0.00 0.000 4 0.000 0.048 2287 3545 3075

1477 0.82 107.5 71.9 17.5 309 1483 0.00 2.20 0.00 0.000 6 0.000 0.034 2298 2127 3074

1619 0.82 107.5 49.2 15.0 340 1625 0.00 0.00 0.00 0.000 6 0.000 0.000 2298 2126 3074

1755 0.82 107.5 29.0 14.1 371 1761 0.00 2.25 0.00 0.000 4 0.000 0.049 2298 3551 3074

1779 0.82 107.5 25.2 15.1 376 1786 0.00 2.17 0.00 0.000 6 0.000 0.034 2309 2128 3073

1850 0.82 107.5 14.7 14.6 392 1856 0.00 2.20 0.00 0.000 4 0.000 0.044 2320 719 3073

1870 0.82 107.5 11.7 14.2 396 1877 0.00 2.22 0.00 0.000 6 0.000 0.038 2319 2126 3073

1935 end climb: SURFACE_DEPTH_REACHED

state 1935 begin surface coast

1983 end surface coast: CONTROL_FINISHED_OK

state 1983 begin surface

ID	156	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	169	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	5	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3842	ALTIM_PING_DEPTH	70
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2131	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2131	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	80	SM_CC	600	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	41	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	470	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3516	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	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	-7156.7822	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	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	20	RAFOS_DEVICE	-1
MAX_BUOY	110	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	46	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4003	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2030	PRESSURE_YINT	-17.876059	SEABIRD_T_G	0.0043895515
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001145783	SEABIRD_T_H	0.00064076902
MASS	51255	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.6836891e-05
NAV_MODE	1	P_OVSHOOT	0.029999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.0528029e-06
FERRY_MAX	45	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.163977
KALMAN_USE	1	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1456759
HD_A	0.003	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.001231113
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018464784
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	215214,4806.893,-12222.782,9,1.6,14,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.126,-0.187
_SM_DEPTHo	0.26	KALMAN_X	-228.1,-54.4,10.3,339.2,-112.4
_SM_ANGLEo	-63.3	KALMAN_Y	89.9,-98.7,-143.7,-444.1,129.9
GPS2	215732,4806.888,-12222.772,10,1.8,15,18.3	MHEAD_RNG_PITCHd_Wd	127.8,1902,-20.6,-10.000
SPEED_LIMITS	0.173,0.226	D_GRID	107

FINISH	2.0,1.018285	ALTIM_BOTTOM_PING	80.1,41.4
SM_CCo	1997,362.67,0.549,0,0,1070,600.00	_24V_AH	24.8,1.010
SM_GC	0.33,0.00,0.00,362.67,0.000,0.000,0.549,25,2128,1070,-6.27,-0.11,600.00	_10V_AH	10.8,0.786
IRIDIUM_FIX	4751.72,-12226.29,091197,212136	DATA_FILE_SIZE	22307,422
TT8_MAMPS	0.028379	CAP_FILE_SIZE	43551,0
HUMID	2101	CFSIZE	260165632,258703360
INTERNAL_PRESSURE	8.99449	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.30	GPS	150808,223850,4806.779,-12222.793,12,1.7,29,18.3
XPDR_PINGS	6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	256	94.95	SBE_CT	282	24	168.32
Roll_motor	30	49	37.50	SBE_O2	218	19	103.19
VBD_pump_during_apogee	159	625	2471.12	WL_BB2F	524	105	1364.56
VBD_pump_during_surface	362	549	4939.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	66.46	nil	0	0	0.00
Iridium_during_connect	30	160	120.51	nil	0	0	0.00
Iridium_during_xfer	172	223	955.45
Transponder_ping	2	420	26.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.53
TT8	640	19	136.92
LPSleep	360	2	8.53
TT8_Active	611	19	130.66
TT8_Sampling	773	39	332.60
TT8_CF8	310	45	153.81
TT8_Kalman	33	81	29.45
Analog_circuits	998	12	129.35
GPS_charging	0	0	0.00
Compass	768	8	66.40
RAFOS	0	0	0.00
Transponder	9	30	3.22

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
14	-0.82	-107.5	0.0	0.0	0	132	0.00	0.00	-113.40	0.000	6	0.000	0.000	22	2122	3956
134	-0.82	-107.5	3.6	-6.4	20	148	6.90	2.22	0.00	0.000	4	0.257	0.040	1742	3553	3956
384	-0.82	-107.5	25.1	-8.2	79	391	0.00	2.17	0.00	0.000	6	0.000	0.032	1743	2117	3958
454	-0.82	-107.5	31.0	-8.4	95	460	0.00	2.22	0.00	0.000	4	0.000	0.046	1732	3544	3958
710	-0.82	-107.5	61.1	-12.4	153	717	0.12	2.15	0.00	0.000	6	0.179	0.032	1763	2118	3958
853	-0.82	-107.5	77.2	-11.2	184	860	0.00	2.22	0.00	0.000	4	0.000	0.048	1753	3546	3958
899	-0.82	-107.5	82.4	-12.0	193	905	0.00	2.12	0.00	0.000	6	0.000	0.032	1753	2136	3958
1042	-0.82	-107.5	98.7	-10.6	224	1049	0.00	2.20	0.00	0.000	4	0.000	0.048	1743	3551	3958
1077	-0.82	-107.5	102.9	-11.8	231	1083	0.00	2.15	0.00	0.000	6	0.000	0.032	1743	2125	3958
1110	end dive: TARGET_DEPTH_EXCEEDED
state	1110	begin apogee
1114	-0.17	0.0	107.1	12.0	238	1200	0.73	0.00	80.05	0.625	6	0.163	0.000	1968	2122	3516
1200	end apogee: CONTROL_FINISHED_OK
state	1200	begin climb
1202	0.82	107.5	109.7	0.0	253	1287	0.93	0.00	79.35	0.603	6	0.100	0.000	2287	2122	3076
1423	0.82	107.5	81.0	15.7	298	1429	0.00	2.28	0.00	0.000	4	0.000	0.048	2287	3545	3075
1477	0.82	107.5	71.9	17.5	309	1483	0.00	2.20	0.00	0.000	6	0.000	0.034	2298	2127	3074
1619	0.82	107.5	49.2	15.0	340	1625	0.00	0.00	0.00	0.000	6	0.000	0.000	2298	2126	3074
1755	0.82	107.5	29.0	14.1	371	1761	0.00	2.25	0.00	0.000	4	0.000	0.049	2298	3551	3074
1779	0.82	107.5	25.2	15.1	376	1786	0.00	2.17	0.00	0.000	6	0.000	0.034	2309	2128	3073
1850	0.82	107.5	14.7	14.6	392	1856	0.00	2.20	0.00	0.000	4	0.000	0.044	2320	719	3073
1870	0.82	107.5	11.7	14.2	396	1877	0.00	2.22	0.00	0.000	6	0.000	0.038	2319	2126	3073
1935	end climb: SURFACE_DEPTH_REACHED
state	1935	begin surface coast
1983	end surface coast: CONTROL_FINISHED_OK
state	1983	begin surface