Glider dive log

PN07 DabobBay 29Sep07 * SG107 * Dive index * Mission links * Dive 85 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 107 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 10 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 85 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 152 ALTIM_PING_DEPTH 0

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3928 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2450 ALTIM_PULSE 1

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_PITCH 0 SM_CC 450 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 22 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 300 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 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 679 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 4028 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3415 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -16668.299 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 363 AH0_24V 91.800003 SEABIRD_T_G 0.004345139

SPEED_FACTOR 1 PITCH_MAX 3698 AH0_10V 61.200001 SEABIRD_T_H 0.00064258272

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -10.644979 SEABIRD_T_I 2.3711646e-05

MASS 51588 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001156423 SEABIRD_T_J 2.2769887e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.006271

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1385506

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022333476

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00024018179

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3698 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 363 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 95 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001156423 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -10.644979 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 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -16668.299

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 107 ROLL_MAX 3928 T_TURN_SAMPINT 6

C_PITCH 2730 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2450 INT_PRESSURE_YINT 0 ROLL_MIN 152 UNCOM_BLEED 20

C_ROLL_DIVE 2050 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3415 MASS 51588 R_PORT_OVSHOOT 22 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 27 USE_ICE 0

DEEPGLIDERMB 0 MISSION 10 SEABIRD_C_G -10.006271 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1385506 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0022333476 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00024018179 VBD_MAX 4028

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004345139 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064258272 VBD_MIN 679

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3711646e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 85 PHONE_DEVICE 48 SEABIRD_T_J 2.2769887e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 064607,4741.147,-12251.475,11,1.0,27,18.3 TGT_NAME 10_XC

_CALLS 1 TGT_LATLONG 4741.454,-12251.414

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.024,0.200

_SM_DEPTHo 0.62 KALMAN_X 18760.4,293.4,-146.8,-16855.6,2.3

_SM_ANGLEo -55.0 KALMAN_Y 13847.5,344.8,-89.1,-11360.8,-10.7

GPS2 065126,4741.123,-12251.478,13,1.1,13,18.3 MHEAD_RNG_PITCHd_Wd 348.6,619,-18.4,-7.917

SPEED_LIMITS 0.137,0.201 D_GRID 102

Post-dive calculations and measurements:

FINISH -0.0,1.000545 ALTIM_TOP_PING 9.8,9.7

SM_CCo 2860,142.25,0.502,0,0,1579,450.13 ALTIM_BOTTOM_PING 70.3,999.0

SM_GC 0.68,0.00,0.00,142.25,0.000,0.000,0.502,363,2059,1579,-10.89,0.25,450.13 _24V_AH 23.9,8.994

IRIDIUM_FIX 4722.92,-12253.53,031007,090908 _10V_AH 10.1,6.260

TT8_MAMPS 0.071331 DATA_FILE_SIZE 6469,264

HUMID 1998 CFSIZE 260034560,254017536

INTERNAL_PRESSURE 7.69561 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 031007,074321,4741.308,-12251.417,13,2.0,13,18.3

XPDR_PINGS 183

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 161 102.78 SBE_CT 175 24 100.83

Roll_motor 41 71 71.26 nil 0 0 0.00

VBD_pump_during_apogee 203 590 2873.83 nil 0 0 0.00

VBD_pump_during_surface 142 501 1705.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.28 nil 0 0 0.00

Iridium_during_connect 36 160 139.57 ARS 0 0 0.00

Iridium_during_xfer 137 223 732.02

Transponder_ping 46 420 464.26

Mmodem_TX 26 1000 644.82

Mmodem_RX 3408 6 521.29

GPS 13 50 7.03

TT8 492 19 98.58

LPSleep 1584 2 35.05

TT8_Active 465 19 93.06

TT8_Sampling 485 39 195.10

TT8_CF8 321 45 148.66

TT8_Kalman 33 81 27.54

Analog_circuits 763 12 92.50

GPS_charging 0 0 0.00

Compass 460 8 37.21

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.54 -97.8 0.0 0.0 0 117 0.00 0.00 -91.30 0.000 2 0.000 0.000 362 2051 3500

120 -1.54 -97.8 2.2 -4.5 15 151 11.38 2.58 -10.35 0.000 4 0.161 0.067 2391 3449 3815

269 -1.54 -97.8 16.3 -8.4 38 276 0.00 2.45 0.00 0.000 6 0.000 0.038 2391 2044 3816

347 -1.54 -97.8 22.0 -6.7 48 351 0.00 2.60 0.00 0.000 4 0.000 0.071 2391 639 3816

385 -1.54 -97.8 24.3 -5.9 50 393 0.00 2.47 0.00 0.000 6 0.000 0.035 2392 2051 3816

582 -1.54 -97.8 37.0 -6.8 66 586 0.00 2.53 0.00 0.000 4 0.000 0.056 2392 3460 3816

674 -1.54 -97.8 43.1 -6.4 73 678 0.00 2.47 0.00 0.000 6 0.000 0.038 2392 2042 3816

869 -1.54 -97.8 55.8 -6.7 88 870 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2040 3816

1059 -1.54 -97.8 68.7 -6.9 103 1064 0.00 2.55 0.00 0.000 4 0.000 0.057 2391 3454 3816

1177 -1.54 -97.8 77.4 -7.5 111 1184 0.00 2.45 0.00 0.000 6 0.000 0.040 2391 2052 3816

1373 -1.54 -97.8 89.9 -6.4 127 1374 0.00 0.00 0.00 0.000 6 0.000 0.000 2392 2050 3816

1448 end dive: TARGET_DEPTH_EXCEEDED

state 1448 begin apogee

1453 -0.38 0.0 95.2 6.7 133 1534 1.23 0.00 75.45 0.575 6 0.093 0.000 2642 2448 3415

1535 end apogee: CONTROL_FINISHED_OK

state 1535 begin climb

1537 1.54 97.8 96.9 0.0 140 1622 1.92 2.67 73.43 0.568 4 0.068 0.067 3059 3847 3016

1648 1.55 107.4 90.8 7.4 149 1661 0.00 2.45 6.97 0.591 6 0.000 0.035 3059 2440 2976

1849 1.55 107.4 74.7 8.3 165 1853 0.00 2.62 0.00 0.000 4 0.000 0.065 3059 3856 2975

1920 1.55 107.4 68.3 9.3 170 1928 0.00 2.45 0.00 0.000 6 0.000 0.033 3059 2452 2975

2117 1.56 115.8 53.2 7.5 186 2130 0.00 2.62 5.97 0.574 4 0.000 0.066 3059 3857 2941

2156 1.56 115.8 50.1 8.6 189 2160 0.00 2.45 0.00 0.000 6 0.000 0.033 3059 2451 2941

2358 1.56 116.4 33.7 7.9 205 2359 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2448 2941

2550 1.57 122.4 19.4 7.6 220 2562 0.00 2.62 4.78 0.565 4 0.000 0.065 3059 3846 2914

2629 1.60 152.3 14.0 6.3 232 2659 0.00 2.40 22.15 0.534 6 0.000 0.034 3059 2444 2793

2725 1.63 172.8 7.6 6.8 247 2744 0.12 0.00 14.85 0.532 6 0.067 0.000 3092 2442 2710

2809 end climb: SURFACE_DEPTH_REACHED

state 2809 begin surface coast

2835 end surface coast: CONTROL_FINISHED_OK

state 2836 begin surface

ID	107	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	10	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	85	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	152	ALTIM_PING_DEPTH	0
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3928	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2450	ALTIM_PULSE	1
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_PITCH	0	SM_CC	450	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	22	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	300	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	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	679	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	4028	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3415	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-16668.299	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	363	AH0_24V	91.800003	SEABIRD_T_G	0.004345139
SPEED_FACTOR	1	PITCH_MAX	3698	AH0_10V	61.200001	SEABIRD_T_H	0.00064258272
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-10.644979	SEABIRD_T_I	2.3711646e-05
MASS	51588	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001156423	SEABIRD_T_J	2.2769887e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.006271
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1385506
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022333476
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00024018179

GPS1	064607,4741.147,-12251.475,11,1.0,27,18.3	TGT_NAME	10_XC
_CALLS	1	TGT_LATLONG	4741.454,-12251.414
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.024,0.200
_SM_DEPTHo	0.62	KALMAN_X	18760.4,293.4,-146.8,-16855.6,2.3
_SM_ANGLEo	-55.0	KALMAN_Y	13847.5,344.8,-89.1,-11360.8,-10.7
GPS2	065126,4741.123,-12251.478,13,1.1,13,18.3	MHEAD_RNG_PITCHd_Wd	348.6,619,-18.4,-7.917
SPEED_LIMITS	0.137,0.201	D_GRID	102

FINISH	-0.0,1.000545	ALTIM_TOP_PING	9.8,9.7
SM_CCo	2860,142.25,0.502,0,0,1579,450.13	ALTIM_BOTTOM_PING	70.3,999.0
SM_GC	0.68,0.00,0.00,142.25,0.000,0.000,0.502,363,2059,1579,-10.89,0.25,450.13	_24V_AH	23.9,8.994
IRIDIUM_FIX	4722.92,-12253.53,031007,090908	_10V_AH	10.1,6.260
TT8_MAMPS	0.071331	DATA_FILE_SIZE	6469,264
HUMID	1998	CFSIZE	260034560,254017536
INTERNAL_PRESSURE	7.69561	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	031007,074321,4741.308,-12251.417,13,2.0,13,18.3
XPDR_PINGS	183

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	161	102.78	SBE_CT	175	24	100.83
Roll_motor	41	71	71.26	nil	0	0	0.00
VBD_pump_during_apogee	203	590	2873.83	nil	0	0	0.00
VBD_pump_during_surface	142	501	1705.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.28	nil	0	0	0.00
Iridium_during_connect	36	160	139.57	ARS	0	0	0.00
Iridium_during_xfer	137	223	732.02
Transponder_ping	46	420	464.26
Mmodem_TX	26	1000	644.82
Mmodem_RX	3408	6	521.29
GPS	13	50	7.03
TT8	492	19	98.58
LPSleep	1584	2	35.05
TT8_Active	465	19	93.06
TT8_Sampling	485	39	195.10
TT8_CF8	321	45	148.66
TT8_Kalman	33	81	27.54
Analog_circuits	763	12	92.50
GPS_charging	0	0	0.00
Compass	460	8	37.21
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.54	-97.8	0.0	0.0	0	117	0.00	0.00	-91.30	0.000	2	0.000	0.000	362	2051	3500
120	-1.54	-97.8	2.2	-4.5	15	151	11.38	2.58	-10.35	0.000	4	0.161	0.067	2391	3449	3815
269	-1.54	-97.8	16.3	-8.4	38	276	0.00	2.45	0.00	0.000	6	0.000	0.038	2391	2044	3816
347	-1.54	-97.8	22.0	-6.7	48	351	0.00	2.60	0.00	0.000	4	0.000	0.071	2391	639	3816
385	-1.54	-97.8	24.3	-5.9	50	393	0.00	2.47	0.00	0.000	6	0.000	0.035	2392	2051	3816
582	-1.54	-97.8	37.0	-6.8	66	586	0.00	2.53	0.00	0.000	4	0.000	0.056	2392	3460	3816
674	-1.54	-97.8	43.1	-6.4	73	678	0.00	2.47	0.00	0.000	6	0.000	0.038	2392	2042	3816
869	-1.54	-97.8	55.8	-6.7	88	870	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2040	3816
1059	-1.54	-97.8	68.7	-6.9	103	1064	0.00	2.55	0.00	0.000	4	0.000	0.057	2391	3454	3816
1177	-1.54	-97.8	77.4	-7.5	111	1184	0.00	2.45	0.00	0.000	6	0.000	0.040	2391	2052	3816
1373	-1.54	-97.8	89.9	-6.4	127	1374	0.00	0.00	0.00	0.000	6	0.000	0.000	2392	2050	3816
1448	end dive: TARGET_DEPTH_EXCEEDED
state	1448	begin apogee
1453	-0.38	0.0	95.2	6.7	133	1534	1.23	0.00	75.45	0.575	6	0.093	0.000	2642	2448	3415
1535	end apogee: CONTROL_FINISHED_OK
state	1535	begin climb
1537	1.54	97.8	96.9	0.0	140	1622	1.92	2.67	73.43	0.568	4	0.068	0.067	3059	3847	3016
1648	1.55	107.4	90.8	7.4	149	1661	0.00	2.45	6.97	0.591	6	0.000	0.035	3059	2440	2976
1849	1.55	107.4	74.7	8.3	165	1853	0.00	2.62	0.00	0.000	4	0.000	0.065	3059	3856	2975
1920	1.55	107.4	68.3	9.3	170	1928	0.00	2.45	0.00	0.000	6	0.000	0.033	3059	2452	2975
2117	1.56	115.8	53.2	7.5	186	2130	0.00	2.62	5.97	0.574	4	0.000	0.066	3059	3857	2941
2156	1.56	115.8	50.1	8.6	189	2160	0.00	2.45	0.00	0.000	6	0.000	0.033	3059	2451	2941
2358	1.56	116.4	33.7	7.9	205	2359	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2448	2941
2550	1.57	122.4	19.4	7.6	220	2562	0.00	2.62	4.78	0.565	4	0.000	0.065	3059	3846	2914
2629	1.60	152.3	14.0	6.3	232	2659	0.00	2.40	22.15	0.534	6	0.000	0.034	3059	2444	2793
2725	1.63	172.8	7.6	6.8	247	2744	0.12	0.00	14.85	0.532	6	0.067	0.000	3092	2442	2710
2809	end climb: SURFACE_DEPTH_REACHED
state	2809	begin surface coast
2835	end surface coast: CONTROL_FINISHED_OK
state	2836	begin surface