Glider dive log

PN07 DabobBay 29Sep07 * SG107 * Dive index * Mission links * Dive 10 * 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 10 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 100 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 18 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 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 30 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 -14976.617 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 100 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 30

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 -14976.617

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 18 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 21 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 10 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 061457,4739.858,-12251.931,11,1.4,11,18.3 TGT_NAME H2

_CALLS 2 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.150,-0.164

_SM_DEPTHo 0.61 KALMAN_X 1895.7,704.0,207.9,-1094.9,113.5

_SM_ANGLEo -50.4 KALMAN_Y 1801.0,763.9,150.5,-2085.9,110.1

GPS2 062351,4739.987,-12251.743,15,1.5,15,18.3 MHEAD_RNG_PITCHd_Wd 204.3,1266,-24.3,-11.111

SPEED_LIMITS 0.192,0.222 D_GRID 120

Post-dive calculations and measurements:

FINISH -0.1,1.007728 ALTIM_TOP_PING 9.7,999.0

SM_CCo 2283,151.35,0.504,0,0,1581,450.13 ALTIM_BOTTOM_PING 75.4,999.0

SM_GC 0.51,0.00,0.00,151.35,0.000,0.000,0.504,364,2063,1581,-10.88,0.37,450.13 _24V_AH 23.6,1.112

IRIDIUM_FIX 4722.92,-12251.79,300907,101041 _10V_AH 10.0,0.832

TT8_MAMPS 0.074399 DATA_FILE_SIZE 6421,212

HUMID 1992 CFSIZE 260034560,256483328

INTERNAL_PRESSURE 7.67608 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 300907,070635,4739.959,-12251.748,11,3.9,30,18.3

XPDR_PINGS 140

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 176 116.57 SBE_CT 140 24 79.57

Roll_motor 46 80 87.81 nil 0 0 0.00

VBD_pump_during_apogee 186 586 2586.01 nil 0 0 0.00

VBD_pump_during_surface 151 503 1799.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 73 103 179.58 nil 0 0 0.00

Iridium_during_connect 71 160 270.45 ARS 0 0 0.00

Iridium_during_xfer 215 223 1135.09

Transponder_ping 35 420 351.88

Mmodem_TX 0 1000 0.00

Mmodem_RX 3085 6 465.96

GPS 15 50 7.96

TT8 407 19 80.66

LPSleep 1249 2 27.36

TT8_Active 472 19 93.61

TT8_Sampling 395 39 157.34

TT8_CF8 472 45 216.42

TT8_Kalman 33 81 27.26

Analog_circuits 731 12 87.80

GPS_charging 0 0 0.00

Compass 374 8 29.97

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 -1.99 -97.8 0.0 0.0 0 110 0.00 0.00 -85.32 0.000 2 0.000 0.000 365 2059 3338

113 -1.99 -97.8 2.0 -4.9 14 150 11.27 2.67 -17.23 0.000 4 0.176 0.081 2292 645 3814

163 -1.99 -97.8 5.2 -7.4 22 169 0.00 2.47 0.00 0.000 6 0.000 0.036 2292 2063 3814

235 -1.99 -97.8 11.3 -7.4 33 240 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2065 3814

306 -1.99 -97.8 17.3 -9.4 44 312 0.00 0.00 0.00 0.000 6 0.000 0.000 2292 2064 3814

376 -1.99 -97.8 24.1 -9.7 52 381 0.00 2.65 0.00 0.000 4 0.000 0.070 2292 642 3815

409 -1.99 -97.8 27.3 -10.3 54 413 0.00 2.47 0.00 0.000 6 0.000 0.037 2292 2057 3814

611 -1.99 -97.8 46.4 -9.2 70 615 0.00 2.65 0.00 0.000 4 0.000 0.071 2292 640 3815

656 -1.99 -97.8 51.2 -11.0 73 661 0.00 2.47 0.00 0.000 6 0.000 0.038 2292 2058 3814

858 -1.99 -97.8 71.7 -10.0 89 862 0.00 2.55 0.00 0.000 4 0.000 0.060 2292 3455 3815

890 -1.99 -97.8 74.9 -10.3 91 898 0.00 2.53 0.00 0.000 6 0.000 0.039 2291 2040 3814

1086 -1.99 -97.8 93.6 -9.6 107 1091 0.00 2.60 0.00 0.000 4 0.000 0.058 2292 3460 3815

1111 -1.99 -97.8 96.0 -9.6 108 1119 0.00 2.53 0.00 0.000 6 0.000 0.040 2292 2046 3815

1167 end dive: TARGET_DEPTH_EXCEEDED

state 1167 begin apogee

1172 -0.38 0.0 101.1 9.3 113 1254 1.77 0.00 74.97 0.587 6 0.110 0.000 2642 2451 3415

1255 end apogee: CONTROL_FINISHED_OK

state 1255 begin climb

1257 1.99 97.8 103.0 0.0 120 1340 2.45 2.65 73.65 0.576 4 0.072 0.071 3162 3851 3015

1397 2.01 112.5 92.5 10.0 131 1417 0.00 2.50 10.62 0.580 6 0.000 0.033 3162 2438 2954

1606 2.03 126.8 71.8 10.0 148 1622 0.00 2.70 10.52 0.572 4 0.000 0.067 3162 3845 2897

1662 2.03 126.8 65.4 11.5 152 1670 0.00 2.45 0.00 0.000 6 0.000 0.033 3162 2452 2897

1859 2.04 135.2 44.5 10.5 168 1871 0.00 0.00 6.15 0.567 6 0.000 0.000 3162 2449 2862

2060 2.05 146.8 22.6 10.2 184 2074 0.00 2.70 8.15 0.551 4 0.000 0.068 3162 3853 2816

2106 2.05 148.8 17.6 11.0 189 2113 0.00 2.45 0.00 0.000 6 0.000 0.032 3161 2438 2816

2180 2.06 150.5 9.7 11.0 200 2187 0.00 2.62 2.67 0.574 4 0.000 0.063 3162 1043 2802

2244 end climb: SURFACE_DEPTH_REACHED

state 2244 begin surface coast

2258 end surface coast: CONTROL_FINISHED_OK

state 2259 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	10	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	100	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	18	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	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	30	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	-14976.617	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	061457,4739.858,-12251.931,11,1.4,11,18.3	TGT_NAME	H2
_CALLS	2	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.150,-0.164
_SM_DEPTHo	0.61	KALMAN_X	1895.7,704.0,207.9,-1094.9,113.5
_SM_ANGLEo	-50.4	KALMAN_Y	1801.0,763.9,150.5,-2085.9,110.1
GPS2	062351,4739.987,-12251.743,15,1.5,15,18.3	MHEAD_RNG_PITCHd_Wd	204.3,1266,-24.3,-11.111
SPEED_LIMITS	0.192,0.222	D_GRID	120

FINISH	-0.1,1.007728	ALTIM_TOP_PING	9.7,999.0
SM_CCo	2283,151.35,0.504,0,0,1581,450.13	ALTIM_BOTTOM_PING	75.4,999.0
SM_GC	0.51,0.00,0.00,151.35,0.000,0.000,0.504,364,2063,1581,-10.88,0.37,450.13	_24V_AH	23.6,1.112
IRIDIUM_FIX	4722.92,-12251.79,300907,101041	_10V_AH	10.0,0.832
TT8_MAMPS	0.074399	DATA_FILE_SIZE	6421,212
HUMID	1992	CFSIZE	260034560,256483328
INTERNAL_PRESSURE	7.67608	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	300907,070635,4739.959,-12251.748,11,3.9,30,18.3
XPDR_PINGS	140

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	176	116.57	SBE_CT	140	24	79.57
Roll_motor	46	80	87.81	nil	0	0	0.00
VBD_pump_during_apogee	186	586	2586.01	nil	0	0	0.00
VBD_pump_during_surface	151	503	1799.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	73	103	179.58	nil	0	0	0.00
Iridium_during_connect	71	160	270.45	ARS	0	0	0.00
Iridium_during_xfer	215	223	1135.09
Transponder_ping	35	420	351.88
Mmodem_TX	0	1000	0.00
Mmodem_RX	3085	6	465.96
GPS	15	50	7.96
TT8	407	19	80.66
LPSleep	1249	2	27.36
TT8_Active	472	19	93.61
TT8_Sampling	395	39	157.34
TT8_CF8	472	45	216.42
TT8_Kalman	33	81	27.26
Analog_circuits	731	12	87.80
GPS_charging	0	0	0.00
Compass	374	8	29.97
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	-1.99	-97.8	0.0	0.0	0	110	0.00	0.00	-85.32	0.000	2	0.000	0.000	365	2059	3338
113	-1.99	-97.8	2.0	-4.9	14	150	11.27	2.67	-17.23	0.000	4	0.176	0.081	2292	645	3814
163	-1.99	-97.8	5.2	-7.4	22	169	0.00	2.47	0.00	0.000	6	0.000	0.036	2292	2063	3814
235	-1.99	-97.8	11.3	-7.4	33	240	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2065	3814
306	-1.99	-97.8	17.3	-9.4	44	312	0.00	0.00	0.00	0.000	6	0.000	0.000	2292	2064	3814
376	-1.99	-97.8	24.1	-9.7	52	381	0.00	2.65	0.00	0.000	4	0.000	0.070	2292	642	3815
409	-1.99	-97.8	27.3	-10.3	54	413	0.00	2.47	0.00	0.000	6	0.000	0.037	2292	2057	3814
611	-1.99	-97.8	46.4	-9.2	70	615	0.00	2.65	0.00	0.000	4	0.000	0.071	2292	640	3815
656	-1.99	-97.8	51.2	-11.0	73	661	0.00	2.47	0.00	0.000	6	0.000	0.038	2292	2058	3814
858	-1.99	-97.8	71.7	-10.0	89	862	0.00	2.55	0.00	0.000	4	0.000	0.060	2292	3455	3815
890	-1.99	-97.8	74.9	-10.3	91	898	0.00	2.53	0.00	0.000	6	0.000	0.039	2291	2040	3814
1086	-1.99	-97.8	93.6	-9.6	107	1091	0.00	2.60	0.00	0.000	4	0.000	0.058	2292	3460	3815
1111	-1.99	-97.8	96.0	-9.6	108	1119	0.00	2.53	0.00	0.000	6	0.000	0.040	2292	2046	3815
1167	end dive: TARGET_DEPTH_EXCEEDED
state	1167	begin apogee
1172	-0.38	0.0	101.1	9.3	113	1254	1.77	0.00	74.97	0.587	6	0.110	0.000	2642	2451	3415
1255	end apogee: CONTROL_FINISHED_OK
state	1255	begin climb
1257	1.99	97.8	103.0	0.0	120	1340	2.45	2.65	73.65	0.576	4	0.072	0.071	3162	3851	3015
1397	2.01	112.5	92.5	10.0	131	1417	0.00	2.50	10.62	0.580	6	0.000	0.033	3162	2438	2954
1606	2.03	126.8	71.8	10.0	148	1622	0.00	2.70	10.52	0.572	4	0.000	0.067	3162	3845	2897
1662	2.03	126.8	65.4	11.5	152	1670	0.00	2.45	0.00	0.000	6	0.000	0.033	3162	2452	2897
1859	2.04	135.2	44.5	10.5	168	1871	0.00	0.00	6.15	0.567	6	0.000	0.000	3162	2449	2862
2060	2.05	146.8	22.6	10.2	184	2074	0.00	2.70	8.15	0.551	4	0.000	0.068	3162	3853	2816
2106	2.05	148.8	17.6	11.0	189	2113	0.00	2.45	0.00	0.000	6	0.000	0.032	3161	2438	2816
2180	2.06	150.5	9.7	11.0	200	2187	0.00	2.62	2.67	0.574	4	0.000	0.063	3162	1043	2802
2244	end climb: SURFACE_DEPTH_REACHED
state	2244	begin surface coast
2258	end surface coast: CONTROL_FINISHED_OK
state	2259	begin surface