Glider dive log

PortSusan 19May09 * SG500 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 500 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 213 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 6 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3849 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1878 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1878 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 700 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 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 475 DEVICE2 -1

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3942 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3392 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 600 HEAPDBG 0 VBD_TIMEOUT 400 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 1 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -2815.5791 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 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 20 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 157 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3893 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2720 PRESSURE_YINT -65.923767 SEABIRD_T_G 0.0042834957

RHO 1.0233001 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011603366 SEABIRD_T_H 0.0006203251

MASS 51563.898 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.2469603e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3267601e-06

FERRY_MAX 45 PITCH_GAIN 25 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.868659

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1169316

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00023590792

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.8038953e-05

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 700

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3893 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 157 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 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 0.00011603366 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -65.923767 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 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 -2815.5791

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0233001 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 600

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 5

COMPASS_DEVICE 33 ID 500 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3849 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2720 KALMAN_USE 1 ROLL_MIN 213 USE_BATHY -4

C_ROLL_CLIMB 1878 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1878 MASS 51563.898 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 3392 MAX_BUOY 150 R_STBD_OVSHOOT 24 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.868659 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1169316 VBD_MAX 3942

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.00023590792 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 4 SEABIRD_C_J 7.8038953e-05 VBD_MIN 475

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0042834957 VBD_PUMP_AD_RATE_APOGEE 1

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006203251 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2469603e-05 VBD_TIMEOUT 400

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3267601e-06 XPDR_DEVICE 24

DIVE 6 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 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 052701,4805.735,-12221.849,11,1.4,28,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.179,0.095

_SM_DEPTHo 1.15 KALMAN_X 497.8,98.7,73.4,215.8,186.5

_SM_ANGLEo -67.3 KALMAN_Y -2075.3,-1013.9,-232.0,-2474.7,260.6

GPS2 053014,4805.742,-12221.839,10,2.0,10,18.3 MHEAD_RNG_PITCHd_Wd 279.8,517,-23.2,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 108

Post-dive calculations and measurements:

FINISH 3.5,1.018305 XPDR_PINGS 0

SM_CCo 2177,283.77,0.586,0,0,538,700.07 _24V_AH 24.2,1.553

SM_GC 1.68,0.00,0.00,283.77,0.000,0.000,0.586,154,1876,538,-8.02,-0.06,700.07 _10V_AH 10.6,0.573

IRIDIUM_FIX 4748.51,-12217.40,140898,050504 DATA_FILE_SIZE 12725,474

TT8_MAMPS 0.051389 CAP_FILE_SIZE 73091,0

HUMID 1788 CFSIZE 260165632,259129344

INTERNAL_PRESSURE 7.98859 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.60 GPS 200509,061236,4805.744,-12222.167,9,1.3,25,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 270 131.70 SBE_CT 317 24 184.30

Roll_motor 26 78 49.46 nil 0 0 0.00

VBD_pump_during_apogee 318 679 5234.98 nil 0 0 0.00

VBD_pump_during_surface 283 585 4024.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 7.62

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 6.31

TT8 0 19 0.00

LPSleep 954 2 22.15

TT8_Active 671 19 141.02

TT8_Sampling 850 39 358.88

TT8_CF8 24 45 11.97

TT8_Kalman 33 81 28.89

Analog_circuits 1080 12 137.50

GPS_charging 0 0 0.00

Compass 693 8 58.81

RAFOS 0 0 0.00

Transponder 5 30 1.78

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

11 -1.04 -85.8 0.0 0.0 0 86 0.00 0.00 -73.78 0.000 2 0.000 0.000 159 1872 2546

88 -1.11 -146.6 3.5 -4.4 14 142 9.12 2.22 -41.12 0.000 4 0.271 0.078 2354 454 3943

319 -1.11 -146.6 23.3 -10.3 65 325 0.00 2.17 0.00 0.000 6 0.000 0.054 2346 1885 3945

390 -1.11 -146.6 31.4 -11.9 81 394 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 1886 3945

458 -1.11 -146.6 40.2 -12.6 97 465 0.00 2.17 0.00 0.000 4 0.000 0.067 2345 3286 3945

511 -1.11 -146.6 47.6 -14.0 109 517 0.00 2.15 0.00 0.000 6 0.000 0.053 2345 1867 3945

647 -1.11 -146.6 67.3 -14.9 140 653 0.00 2.20 0.00 0.000 4 0.000 0.067 2345 3282 3945

704 -1.11 -146.6 75.5 -14.0 153 710 0.00 2.12 0.00 0.000 6 0.000 0.053 2345 1877 3945

839 -1.11 -146.6 94.9 -14.6 184 845 0.00 2.17 0.00 0.000 4 0.000 0.067 2345 3280 3945

879 -1.11 -146.6 100.5 -14.4 193 885 0.00 2.10 0.00 0.000 6 0.000 0.054 2345 1870 3945

930 end dive: TARGET_DEPTH_EXCEEDED

state 930 begin apogee

933 -0.20 0.0 108.1 14.6 205 1039 0.98 0.00 101.85 0.680 6 0.176 0.000 2644 1868 3391

1039 end apogee: CONTROL_FINISHED_OK

state 1039 begin climb

1041 1.11 146.6 111.2 0.0 225 1157 1.30 0.00 111.88 0.651 6 0.120 0.000 3066 1868 2794

1287 1.11 146.6 79.5 16.2 277 1292 0.00 0.00 0.00 0.000 6 0.000 0.000 3067 1868 2793

1421 1.11 146.6 59.0 14.9 308 1427 0.00 2.25 0.00 0.000 4 0.000 0.068 3066 3284 2793

1465 1.11 146.6 52.0 15.9 318 1471 0.00 2.17 0.00 0.000 6 0.000 0.058 3077 1889 2793

1601 1.11 146.6 31.5 15.0 349 1606 0.00 0.00 0.00 0.000 6 0.000 0.000 3077 1889 2792

1670 1.11 146.6 21.2 14.8 365 1676 0.00 2.20 0.00 0.000 4 0.000 0.069 3077 3287 2792

1770 1.11 146.6 7.1 12.4 388 1776 0.00 2.17 0.00 0.000 6 0.000 0.059 3085 1877 2792

1841 1.32 313.7 4.8 -3.1 404 1948 0.17 0.00 104.60 0.608 2 0.090 0.000 3152 1877 2212

1948 end climb: SURFACE_DEPTH_REACHED

state 1948 begin surface coast

2164 end surface coast: CONTROL_FINISHED_OK

state 2164 begin surface

ID	500	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	213	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	6	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3849	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1878	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1878	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	700	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	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	475	DEVICE2	-1
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3942	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3392	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	600	HEAPDBG	0	VBD_TIMEOUT	400	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	1	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-2815.5791	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	20	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	157	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3893	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2720	PRESSURE_YINT	-65.923767	SEABIRD_T_G	0.0042834957
RHO	1.0233001	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011603366	SEABIRD_T_H	0.0006203251
MASS	51563.898	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.2469603e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3267601e-06
FERRY_MAX	45	PITCH_GAIN	25	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.868659
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1169316
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00023590792
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.8038953e-05
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	052701,4805.735,-12221.849,11,1.4,28,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.179,0.095
_SM_DEPTHo	1.15	KALMAN_X	497.8,98.7,73.4,215.8,186.5
_SM_ANGLEo	-67.3	KALMAN_Y	-2075.3,-1013.9,-232.0,-2474.7,260.6
GPS2	053014,4805.742,-12221.839,10,2.0,10,18.3	MHEAD_RNG_PITCHd_Wd	279.8,517,-23.2,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	108

FINISH	3.5,1.018305	XPDR_PINGS	0
SM_CCo	2177,283.77,0.586,0,0,538,700.07	_24V_AH	24.2,1.553
SM_GC	1.68,0.00,0.00,283.77,0.000,0.000,0.586,154,1876,538,-8.02,-0.06,700.07	_10V_AH	10.6,0.573
IRIDIUM_FIX	4748.51,-12217.40,140898,050504	DATA_FILE_SIZE	12725,474
TT8_MAMPS	0.051389	CAP_FILE_SIZE	73091,0
HUMID	1788	CFSIZE	260165632,259129344
INTERNAL_PRESSURE	7.98859	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.60	GPS	200509,061236,4805.744,-12222.167,9,1.3,25,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	270	131.70	SBE_CT	317	24	184.30
Roll_motor	26	78	49.46	nil	0	0	0.00
VBD_pump_during_apogee	318	679	5234.98	nil	0	0	0.00
VBD_pump_during_surface	283	585	4024.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	7.62
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	6.31
TT8	0	19	0.00
LPSleep	954	2	22.15
TT8_Active	671	19	141.02
TT8_Sampling	850	39	358.88
TT8_CF8	24	45	11.97
TT8_Kalman	33	81	28.89
Analog_circuits	1080	12	137.50
GPS_charging	0	0	0.00
Compass	693	8	58.81
RAFOS	0	0	0.00
Transponder	5	30	1.78

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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
11	-1.04	-85.8	0.0	0.0	0	86	0.00	0.00	-73.78	0.000	2	0.000	0.000	159	1872	2546
88	-1.11	-146.6	3.5	-4.4	14	142	9.12	2.22	-41.12	0.000	4	0.271	0.078	2354	454	3943
319	-1.11	-146.6	23.3	-10.3	65	325	0.00	2.17	0.00	0.000	6	0.000	0.054	2346	1885	3945
390	-1.11	-146.6	31.4	-11.9	81	394	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	1886	3945
458	-1.11	-146.6	40.2	-12.6	97	465	0.00	2.17	0.00	0.000	4	0.000	0.067	2345	3286	3945
511	-1.11	-146.6	47.6	-14.0	109	517	0.00	2.15	0.00	0.000	6	0.000	0.053	2345	1867	3945
647	-1.11	-146.6	67.3	-14.9	140	653	0.00	2.20	0.00	0.000	4	0.000	0.067	2345	3282	3945
704	-1.11	-146.6	75.5	-14.0	153	710	0.00	2.12	0.00	0.000	6	0.000	0.053	2345	1877	3945
839	-1.11	-146.6	94.9	-14.6	184	845	0.00	2.17	0.00	0.000	4	0.000	0.067	2345	3280	3945
879	-1.11	-146.6	100.5	-14.4	193	885	0.00	2.10	0.00	0.000	6	0.000	0.054	2345	1870	3945
930	end dive: TARGET_DEPTH_EXCEEDED
state	930	begin apogee
933	-0.20	0.0	108.1	14.6	205	1039	0.98	0.00	101.85	0.680	6	0.176	0.000	2644	1868	3391
1039	end apogee: CONTROL_FINISHED_OK
state	1039	begin climb
1041	1.11	146.6	111.2	0.0	225	1157	1.30	0.00	111.88	0.651	6	0.120	0.000	3066	1868	2794
1287	1.11	146.6	79.5	16.2	277	1292	0.00	0.00	0.00	0.000	6	0.000	0.000	3067	1868	2793
1421	1.11	146.6	59.0	14.9	308	1427	0.00	2.25	0.00	0.000	4	0.000	0.068	3066	3284	2793
1465	1.11	146.6	52.0	15.9	318	1471	0.00	2.17	0.00	0.000	6	0.000	0.058	3077	1889	2793
1601	1.11	146.6	31.5	15.0	349	1606	0.00	0.00	0.00	0.000	6	0.000	0.000	3077	1889	2792
1670	1.11	146.6	21.2	14.8	365	1676	0.00	2.20	0.00	0.000	4	0.000	0.069	3077	3287	2792
1770	1.11	146.6	7.1	12.4	388	1776	0.00	2.17	0.00	0.000	6	0.000	0.059	3085	1877	2792
1841	1.32	313.7	4.8	-3.1	404	1948	0.17	0.00	104.60	0.608	2	0.090	0.000	3152	1877	2212
1948	end climb: SURFACE_DEPTH_REACHED
state	1948	begin surface coast
2164	end surface coast: CONTROL_FINISHED_OK
state	2164	begin surface