Glider dive log

PortSusan 01Jul08 * SG070 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 70 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 3 HEADING -1 ROLL_MIN 300 ALTIM_PING_DEPTH 80

DIVE 1 ESCAPE_HEADING 0 ROLL_MAX 3750 ALTIM_PING_DELTA 10

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2025 ALTIM_PULSE 3

D_TGT 90 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2025 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 XPDR_VALID 0

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_BOOST 0 SM_CC 350 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 N_FILEKB 4 R_PORT_OVSHOOT 1 INT_PRESSURE_YINT 0

D_PITCH 0 FILEMGR 0 R_STBD_OVSHOOT 1 DEEPGLIDER 0

D_SAFE 0 CALL_NDIVES 1 ROLL_AD_RATE 400 DEEPGLIDERMB 0

D_CALL 0 COMM_SEQ 0 ROLL_MAXERRORS 1 MOTHERBOARD 4

SURFACE_URGENCY 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MIN 500 DEVICE3 -1

T_DIVE 30 UPLOAD_DIVES_MAX -1 VBD_MAX 3500 DEVICE4 -1

T_MISSION 45 CALL_TRIES 5 C_VBD 2500 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_DBAND 2 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 VBD_CNV -0.24529999 SMARTS 2

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_TIMEOUT 360 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE2 19

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 COMPASS_DEVICE 1

USE_BATHY -4 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS2_DEVICE -1

USE_ICE 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 PHONE_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 T_GPS_CHARGE -7592.0962 UNCOM_BLEED 20 GPS_DEVICE 48

D_OFFGRID 100 T_RSLEEP 3 VBD_MAXERRORS 1 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 20 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_24V 91.800003 SIM_W 0

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 AH0_10V 61.200001 SIM_PITCH 0

MAX_BUOY 150 PITCH_MIN 450 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MAX 3300 PRESSURE_YINT -0.19713593 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 30 C_PITCH 2700 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 PITCH_DBAND 0.1 AD7714Ch0Gain 1 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_CNV 0.0046000001 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.331019

MASS 52000 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763502

NAV_MODE 1 PITCH_GAIN 16 COMPASS_USE 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

HD_A 0.0038360001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 1 D_FINISH 0 PITCH_CNV 0.0046000001 SM_CC 350

AH0_10V 61.200001 D_FLARE 3 PITCH_DBAND 0.1 SPEED_FACTOR 1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_GAIN 16 SURFACE_URGENCY 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_MAX 3300 SURFACE_URGENCY_FORCE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_TRY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MIN 450 TCM_PITCH_OFFSET 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0

ALTIM_PING_DEPTH 80 D_TGT 90 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TGT_DEFAULT_LAT 4736

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -0.19713593 TGT_DEFAULT_LON -12218

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 P_OVSHOOT 0.039999999 T_ABORT 1440

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 RAFOS_CORR_THRESH 60 T_DIVE 30

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_GPS 15

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -7592.0962

CALL_TRIES 5 HD_A 0.0038360001 RELAUNCH 1 T_LOITER 0

CALL_WAIT 60 HD_B 0.010078 RHO 1.023 T_MISSION 45

CAPMAXSIZE 100000 HD_C 9.8541004e-06 ROLL_ADJ_DBAND 0 T_NO_W 120

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_GAIN 0 T_RSLEEP 3

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_AD_RATE 400 T_TURN 270

COMM_SEQ 0 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_DEVICE 1 ID 70 ROLL_MAX 3750 UNCOM_BLEED 20

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MIN 300 USE_BATHY -4

C_PITCH 2700 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_CLIMB 2025 KERMIT 0 R_PORT_OVSHOOT 1 VBD_BLEED_AD_RATE 8

C_ROLL_DIVE 2025 MASS 52000 R_STBD_OVSHOOT 1 VBD_CNV -0.24529999

C_VBD 2500 MAX_BUOY 150 SEABIRD_C_G -10.331019 VBD_DBAND 2

DEEPGLIDER 0 MISSION 3 SEABIRD_C_H 1.1763502 VBD_MAX 3500

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_I -0.0012340198 VBD_MAXERRORS 1

DEVICE1 2 NAV_MODE 1 SEABIRD_C_J 0.00017379176 VBD_MIN 500

DEVICE2 -1 N_FILEKB 4 SEABIRD_T_G 0.0043805656 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE3 -1 N_GPS 20 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_I 2.5554549e-05 VBD_TIMEOUT 360

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_J 2.6681391e-06 XPDR_DEVICE 24

DEVICE6 -1 PHONE_DEVICE 32 SIM_PITCH 0 XPDR_INHIBIT 90

DIVE 1 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

D_ABORT 1090 PITCH_ADJ_DBAND 0 SMARTDEVICE1 -1

D_BOOST 0 PITCH_ADJ_GAIN 0 SMARTDEVICE2 19

D_CALL 0 PITCH_AD_RATE 175 SMARTS 2

Pre-dive calculations and measurements:

GPS1 225342,4807.814,-12223.850,27,1.1,27,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.103,0.191

_SM_DEPTHo 0.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -50.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 225646,4807.814,-12223.850,23,1.1,23,18.0 MHEAD_RNG_PITCHd_Wd 313.6,392,-22.2,-10.000

SPEED_LIMITS 0.173,0.261 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.1,NaN ALTIM_BOTTOM_PING 80.3,21.9

SM_CCo 1896,20.45,0.004,0,0,1070,350.04 _24V_AH 23.7,0.391

SM_GC 0.02,0.00,0.00,20.45,0.000,0.000,0.004,423,2097,1070,-10.50,2.15,350.04 _10V_AH 9.8,0.064

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 3302,162

TT8_MAMPS 0.055224 CAP_FILE_SIZE 81594,1

HUMID 1538 CFSIZE 260280320,259620864

INTERNAL_PRESSURE 14.2779 ERRORS 0,0,0,0,0,0,0,0,0,0,0,63,202,0,0

TCM_TEMP 15.00 GPS 010708,233020,4807.730,-12223.587,26,1.1,26,18.0

XPDR_PINGS -1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 3 2.42 SBE_CT 355 24 202.39

Roll_motor 50 3 3.64 nil 0 0 0.00

VBD_pump_during_apogee 119 3 10.87 nil 0 0 0.00

VBD_pump_during_surface 20 3 1.86 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 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 7.47

GUMSTIX_24V 599 1000 14198.58

GPS 24 50 11.80

TT8 334 19 64.93

LPSleep 894 2 19.21

TT8_Active 221 19 42.99

TT8_Sampling 500 39 195.27

TT8_CF8 34 45 15.56

TT8_Kalman 29 81 23.43

Analog_circuits 491 12 57.76

GPS_charging 0 0 0.00

Compass 234 26 59.62

RAFOS 0 0 0.00

Transponder 6 30 1.90

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 -1.51 -99.5 0.0 0.0 0 46 0.00 0.00 -26.20 0.000 6 0.000 0.000 414 1875 2922

48 -1.57 -146.6 0.9 -4.5 3 70 9.70 2.33 -2.12 0.000 4 0.003 0.003 2405 460 3132

82 -1.57 -146.6 1.7 -2.9 6 88 0.30 3.10 0.00 0.000 6 0.004 0.003 2332 2219 3128

120 -1.57 -146.6 8.6 -19.0 9 126 0.35 2.97 0.00 0.000 4 0.004 0.003 2402 456 3130

129 -1.57 -146.6 10.1 -16.0 9 138 0.30 2.78 0.00 0.000 6 0.004 0.003 2364 2127 3124

169 -1.57 -146.6 14.8 -12.7 13 173 0.00 2.28 0.00 0.000 4 0.000 0.003 2366 3554 3132

196 -1.57 -146.6 18.2 -12.6 15 201 0.00 3.03 0.00 0.000 6 0.000 0.003 2366 1895 3132

233 -1.57 -146.6 23.0 -13.0 18 238 0.00 2.80 0.00 0.000 4 0.000 0.003 2371 3540 3125

542 -1.57 -146.6 61.3 -13.0 45 546 0.00 2.60 0.00 0.000 6 0.000 0.003 2366 1908 3128

579 -1.57 -146.6 65.8 -12.2 48 584 0.00 2.95 0.00 0.000 4 0.000 0.003 2369 3576 3128

766 end dive: TARGET_DEPTH_EXCEEDED

state 767 begin apogee

772 -0.31 0.0 90.3 12.5 64 821 1.58 0.00 43.55 0.004 6 0.004 0.000 2674 1896 2504

822 end apogee: CONTROL_FINISHED_OK

state 822 begin climb

823 1.57 146.6 93.1 0.0 69 877 2.00 2.40 41.33 0.004 4 0.003 0.003 3077 416 1901

968 1.68 241.3 92.7 3.6 82 1001 0.00 3.15 27.08 0.004 6 0.000 0.003 3081 2178 1518

1032 1.71 261.4 88.1 8.6 88 1046 0.00 2.83 7.68 0.004 4 0.000 0.003 3085 514 1432

1349 1.71 261.4 53.1 10.6 116 1357 0.00 2.65 0.00 0.000 6 0.000 0.003 3084 2188 1436

1388 1.71 261.4 49.1 10.9 120 1393 0.00 2.95 0.00 0.000 4 0.000 0.003 3082 429 1432

1697 1.71 261.4 17.1 10.3 147 1702 0.00 3.05 0.00 0.000 6 0.000 0.003 3078 2198 1431

1734 1.71 261.4 13.1 11.1 150 1739 0.00 2.83 0.00 0.000 4 0.000 0.003 3079 422 1420

1850 end climb: SURFACE_DEPTH_REACHED

state 1850 begin surface coast

1873 end surface coast: CONTROL_FINISHED_OK

state 1873 begin surface

ID	70	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	3	HEADING	-1	ROLL_MIN	300	ALTIM_PING_DEPTH	80
DIVE	1	ESCAPE_HEADING	0	ROLL_MAX	3750	ALTIM_PING_DELTA	10
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2025	ALTIM_PULSE	3
D_TGT	90	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2025	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	XPDR_VALID	0
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_BOOST	0	SM_CC	350	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	N_FILEKB	4	R_PORT_OVSHOOT	1	INT_PRESSURE_YINT	0
D_PITCH	0	FILEMGR	0	R_STBD_OVSHOOT	1	DEEPGLIDER	0
D_SAFE	0	CALL_NDIVES	1	ROLL_AD_RATE	400	DEEPGLIDERMB	0
D_CALL	0	COMM_SEQ	0	ROLL_MAXERRORS	1	MOTHERBOARD	4
SURFACE_URGENCY	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MIN	500	DEVICE3	-1
T_DIVE	30	UPLOAD_DIVES_MAX	-1	VBD_MAX	3500	DEVICE4	-1
T_MISSION	45	CALL_TRIES	5	C_VBD	2500	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_DBAND	2	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	VBD_CNV	-0.24529999	SMARTS	2
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_TIMEOUT	360	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE2	19
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	COMPASS_DEVICE	1
USE_BATHY	-4	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS2_DEVICE	-1
USE_ICE	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	PHONE_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	T_GPS_CHARGE	-7592.0962	UNCOM_BLEED	20	GPS_DEVICE	48
D_OFFGRID	100	T_RSLEEP	3	VBD_MAXERRORS	1	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	20	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_24V	91.800003	SIM_W	0
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	AH0_10V	61.200001	SIM_PITCH	0
MAX_BUOY	150	PITCH_MIN	450	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MAX	3300	PRESSURE_YINT	-0.19713593	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	30	C_PITCH	2700	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	PITCH_DBAND	0.1	AD7714Ch0Gain	1	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_CNV	0.0046000001	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.331019
MASS	52000	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763502
NAV_MODE	1	PITCH_GAIN	16	COMPASS_USE	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
HD_A	0.0038360001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0

GPS1	225342,4807.814,-12223.850,27,1.1,27,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.103,0.191
_SM_DEPTHo	0.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-50.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	225646,4807.814,-12223.850,23,1.1,23,18.0	MHEAD_RNG_PITCHd_Wd	313.6,392,-22.2,-10.000
SPEED_LIMITS	0.173,0.261	D_GRID	100

FINISH	0.1,NaN	ALTIM_BOTTOM_PING	80.3,21.9
SM_CCo	1896,20.45,0.004,0,0,1070,350.04	_24V_AH	23.7,0.391
SM_GC	0.02,0.00,0.00,20.45,0.000,0.000,0.004,423,2097,1070,-10.50,2.15,350.04	_10V_AH	9.8,0.064
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	3302,162
TT8_MAMPS	0.055224	CAP_FILE_SIZE	81594,1
HUMID	1538	CFSIZE	260280320,259620864
INTERNAL_PRESSURE	14.2779	ERRORS	0,0,0,0,0,0,0,0,0,0,0,63,202,0,0
TCM_TEMP	15.00	GPS	010708,233020,4807.730,-12223.587,26,1.1,26,18.0
XPDR_PINGS	-1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	3	2.42	SBE_CT	355	24	202.39
Roll_motor	50	3	3.64	nil	0	0	0.00
VBD_pump_during_apogee	119	3	10.87	nil	0	0	0.00
VBD_pump_during_surface	20	3	1.86	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	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	7.47
GUMSTIX_24V	599	1000	14198.58
GPS	24	50	11.80
TT8	334	19	64.93
LPSleep	894	2	19.21
TT8_Active	221	19	42.99
TT8_Sampling	500	39	195.27
TT8_CF8	34	45	15.56
TT8_Kalman	29	81	23.43
Analog_circuits	491	12	57.76
GPS_charging	0	0	0.00
Compass	234	26	59.62
RAFOS	0	0	0.00
Transponder	6	30	1.90

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	-1.51	-99.5	0.0	0.0	0	46	0.00	0.00	-26.20	0.000	6	0.000	0.000	414	1875	2922
48	-1.57	-146.6	0.9	-4.5	3	70	9.70	2.33	-2.12	0.000	4	0.003	0.003	2405	460	3132
82	-1.57	-146.6	1.7	-2.9	6	88	0.30	3.10	0.00	0.000	6	0.004	0.003	2332	2219	3128
120	-1.57	-146.6	8.6	-19.0	9	126	0.35	2.97	0.00	0.000	4	0.004	0.003	2402	456	3130
129	-1.57	-146.6	10.1	-16.0	9	138	0.30	2.78	0.00	0.000	6	0.004	0.003	2364	2127	3124
169	-1.57	-146.6	14.8	-12.7	13	173	0.00	2.28	0.00	0.000	4	0.000	0.003	2366	3554	3132
196	-1.57	-146.6	18.2	-12.6	15	201	0.00	3.03	0.00	0.000	6	0.000	0.003	2366	1895	3132
233	-1.57	-146.6	23.0	-13.0	18	238	0.00	2.80	0.00	0.000	4	0.000	0.003	2371	3540	3125
542	-1.57	-146.6	61.3	-13.0	45	546	0.00	2.60	0.00	0.000	6	0.000	0.003	2366	1908	3128
579	-1.57	-146.6	65.8	-12.2	48	584	0.00	2.95	0.00	0.000	4	0.000	0.003	2369	3576	3128
766	end dive: TARGET_DEPTH_EXCEEDED
state	767	begin apogee
772	-0.31	0.0	90.3	12.5	64	821	1.58	0.00	43.55	0.004	6	0.004	0.000	2674	1896	2504
822	end apogee: CONTROL_FINISHED_OK
state	822	begin climb
823	1.57	146.6	93.1	0.0	69	877	2.00	2.40	41.33	0.004	4	0.003	0.003	3077	416	1901
968	1.68	241.3	92.7	3.6	82	1001	0.00	3.15	27.08	0.004	6	0.000	0.003	3081	2178	1518
1032	1.71	261.4	88.1	8.6	88	1046	0.00	2.83	7.68	0.004	4	0.000	0.003	3085	514	1432
1349	1.71	261.4	53.1	10.6	116	1357	0.00	2.65	0.00	0.000	6	0.000	0.003	3084	2188	1436
1388	1.71	261.4	49.1	10.9	120	1393	0.00	2.95	0.00	0.000	4	0.000	0.003	3082	429	1432
1697	1.71	261.4	17.1	10.3	147	1702	0.00	3.05	0.00	0.000	6	0.000	0.003	3078	2198	1431
1734	1.71	261.4	13.1	11.1	150	1739	0.00	2.83	0.00	0.000	4	0.000	0.003	3079	422	1420
1850	end climb: SURFACE_DEPTH_REACHED
state	1850	begin surface coast
1873	end surface coast: CONTROL_FINISHED_OK
state	1873	begin surface