Glider dive log

PortSusan 20May09 * SG502 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 502 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 10 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 50

D_SURF 4.5 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2470 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2470 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 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT -1.35

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 420 DEVICE2 -1

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3410 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 120 HEAPDBG 0 VBD_TIMEOUT 360 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 -2095.9287 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 450 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2740 PRESSURE_YINT -71.658096 SEABIRD_T_G 0.0043373196

RHO 1.0233001 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011650941 SEABIRD_T_H 0.00062598457

MASS 51245 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5066851e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8555498e-06

FERRY_MAX 45 PITCH_GAIN 32 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7998753

KALMAN_USE 0 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1362277

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00070417771

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00014171835

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

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 32 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3944 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 4.5 PITCH_MIN 450 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 50 D_TGT 150 PITCH_TIMEOUT 20 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 0.00011650941 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -71.658096 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 -2095.9287

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0233001 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 5

COMPASS_DEVICE 33 ID 502 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.35 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2740 KALMAN_USE 0 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2470 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2470 MASS 51245 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 3410 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.7998753 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1362277 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.00070417771 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 4 SEABIRD_C_J 0.00014171835 VBD_MIN 420

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043373196 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062598457 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5066851e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8555498e-06 XPDR_DEVICE 24

DIVE 10 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 091506,4806.791,-12223.057,146,1.0,150,18.3 TGT_NAME SEVEN

_CALLS 2 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.134,0.110

_SM_DEPTHo 1.95 KALMAN_X 182.4,128.7,7.8,-1700.8,-73.8

_SM_ANGLEo -71.0 KALMAN_Y -1649.3,-637.4,-128.6,3746.9,129.2

GPS2 092425,4806.846,-12223.096,24,1.2,31,18.3 MHEAD_RNG_PITCHd_Wd 32.1,308,-27.2,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 103

Post-dive calculations and measurements:

FINISH 3.5,1.020697 ALTIM_BOTTOM_PING 90.1,31.5

SM_CCo 2494,0.62,0.091,0,0,556,700.07 _24V_AH 24.2,2.350

SM_GC 1.71,0.00,0.00,0.62,0.000,0.000,0.091,440,2467,556,-7.19,-0.08,700.07 _10V_AH 10.7,0.760

IRIDIUM_FIX 4751.72,-12153.14,150898,090900 DATA_FILE_SIZE 12691,438

TT8_MAMPS 0.026845 CAP_FILE_SIZE 49136,8

HUMID 1980 CFSIZE 260165632,258490368

INTERNAL_PRESSURE 8.99219 ERRORS 0,0,0,0,0,0,0,0,0,0,1,0,2,1,0

TCM_TEMP 18.40 GPS 210509,100732,4806.987,-12222.857,13,1.2,13,18.3

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 241 99.83 SBE_CT 293 24 170.28

Roll_motor 30 80 59.10 nil 0 0 0.00

VBD_pump_during_apogee 200 665 3235.55 nil 0 0 0.00

VBD_pump_during_surface 355 580 4996.53 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 54 103 135.49 nil 0 0 0.00

Iridium_during_connect 65 160 255.42 nil 0 0 0.00

Iridium_during_xfer 252 223 1361.57

Transponder_ping 3 420 33.03

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.83

TT8 633 19 134.27

LPSleep 635 2 14.89

TT8_Active 656 19 139.13

TT8_Sampling 684 39 291.45

TT8_CF8 453 45 222.10

TT8_Kalman 33 81 29.17

Analog_circuits 1041 12 133.78

GPS_charging 0 0 0.00

Compass 651 8 55.77

RAFOS 0 0 0.00

Transponder 21 30 6.78

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -0.93 -63.1 0.0 0.0 0 99 0.00 0.00 -83.45 0.000 2 0.000 0.000 437 2468 2967

101 -1.01 -131.3 3.2 -2.7 16 146 7.75 2.12 -30.00 0.000 4 0.242 0.081 2407 3759 3946

363 -1.01 -131.3 23.3 -10.4 71 369 0.00 2.05 0.00 0.000 6 0.000 0.050 2408 2458 3949

439 -1.01 -131.3 31.3 -10.7 87 444 0.00 2.22 0.00 0.000 4 0.000 0.061 2408 1062 3949

477 -1.01 -131.3 35.9 -12.2 95 483 0.00 2.25 0.00 0.000 6 0.000 0.054 2407 2476 3949

552 -1.01 -131.3 45.0 -11.8 111 557 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2476 3949

695 -1.01 -131.3 62.4 -11.9 142 701 0.00 0.00 0.00 0.000 6 0.000 0.000 2407 2476 3949

839 -1.01 -131.3 79.3 -11.4 173 845 0.00 2.25 0.00 0.000 4 0.000 0.060 2407 1062 3949

895 -1.01 -131.3 85.4 -11.7 184 901 0.00 2.22 0.00 0.000 6 0.000 0.054 2407 2470 3949

1040 -1.01 -131.3 101.9 -11.0 215 1046 0.00 2.25 0.00 0.000 4 0.000 0.061 2407 1059 3949

1050 end dive: TARGET_DEPTH_EXCEEDED

state 1050 begin apogee

1055 -0.16 0.0 103.2 11.3 217 1161 0.82 0.00 100.00 0.666 6 0.125 0.000 2683 2482 3409

1162 end apogee: CONTROL_FINISHED_OK

state 1162 begin climb

1164 1.01 131.3 106.0 0.0 237 1272 1.05 2.25 100.82 0.639 4 0.064 0.063 3064 3759 2872

1438 1.01 131.3 79.4 14.4 293 1444 0.00 2.08 0.00 0.000 6 0.000 0.051 3069 2462 2870

1583 1.01 131.3 60.9 12.4 324 1588 0.00 0.00 0.00 0.000 6 0.000 0.000 3069 2462 2870

1727 1.01 131.3 44.2 11.4 355 1733 0.00 2.12 0.00 0.000 4 0.000 0.064 3069 3767 2869

1863 1.01 131.3 27.0 13.0 384 1868 0.00 2.05 0.00 0.000 6 0.000 0.051 3076 2469 2869

1938 1.01 131.3 17.8 11.2 400 1943 0.00 0.00 0.00 0.000 6 0.000 0.000 3076 2468 2869

2012 1.01 131.3 9.9 10.7 416 2018 0.00 2.10 0.00 0.000 4 0.000 0.065 3076 3767 2868

2063 end climb: SURFACE_DEPTH_REACHED

state 2063 begin surface coast

2116 end surface coast: CONTROL_FINISHED_OK

state 2116 begin surface

ID	502	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	10	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	50
D_SURF	4.5	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2470	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2470	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	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	-1.35
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	420	DEVICE2	-1
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3410	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	120	HEAPDBG	0	VBD_TIMEOUT	360	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	-2095.9287	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	450	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2740	PRESSURE_YINT	-71.658096	SEABIRD_T_G	0.0043373196
RHO	1.0233001	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011650941	SEABIRD_T_H	0.00062598457
MASS	51245	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5066851e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8555498e-06
FERRY_MAX	45	PITCH_GAIN	32	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7998753
KALMAN_USE	0	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1362277
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00070417771
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00014171835
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	091506,4806.791,-12223.057,146,1.0,150,18.3	TGT_NAME	SEVEN
_CALLS	2	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.134,0.110
_SM_DEPTHo	1.95	KALMAN_X	182.4,128.7,7.8,-1700.8,-73.8
_SM_ANGLEo	-71.0	KALMAN_Y	-1649.3,-637.4,-128.6,3746.9,129.2
GPS2	092425,4806.846,-12223.096,24,1.2,31,18.3	MHEAD_RNG_PITCHd_Wd	32.1,308,-27.2,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	103

FINISH	3.5,1.020697	ALTIM_BOTTOM_PING	90.1,31.5
SM_CCo	2494,0.62,0.091,0,0,556,700.07	_24V_AH	24.2,2.350
SM_GC	1.71,0.00,0.00,0.62,0.000,0.000,0.091,440,2467,556,-7.19,-0.08,700.07	_10V_AH	10.7,0.760
IRIDIUM_FIX	4751.72,-12153.14,150898,090900	DATA_FILE_SIZE	12691,438
TT8_MAMPS	0.026845	CAP_FILE_SIZE	49136,8
HUMID	1980	CFSIZE	260165632,258490368
INTERNAL_PRESSURE	8.99219	ERRORS	0,0,0,0,0,0,0,0,0,0,1,0,2,1,0
TCM_TEMP	18.40	GPS	210509,100732,4806.987,-12222.857,13,1.2,13,18.3
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	241	99.83	SBE_CT	293	24	170.28
Roll_motor	30	80	59.10	nil	0	0	0.00
VBD_pump_during_apogee	200	665	3235.55	nil	0	0	0.00
VBD_pump_during_surface	355	580	4996.53	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	54	103	135.49	nil	0	0	0.00
Iridium_during_connect	65	160	255.42	nil	0	0	0.00
Iridium_during_xfer	252	223	1361.57
Transponder_ping	3	420	33.03
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.83
TT8	633	19	134.27
LPSleep	635	2	14.89
TT8_Active	656	19	139.13
TT8_Sampling	684	39	291.45
TT8_CF8	453	45	222.10
TT8_Kalman	33	81	29.17
Analog_circuits	1041	12	133.78
GPS_charging	0	0	0.00
Compass	651	8	55.77
RAFOS	0	0	0.00
Transponder	21	30	6.78

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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-0.93	-63.1	0.0	0.0	0	99	0.00	0.00	-83.45	0.000	2	0.000	0.000	437	2468	2967
101	-1.01	-131.3	3.2	-2.7	16	146	7.75	2.12	-30.00	0.000	4	0.242	0.081	2407	3759	3946
363	-1.01	-131.3	23.3	-10.4	71	369	0.00	2.05	0.00	0.000	6	0.000	0.050	2408	2458	3949
439	-1.01	-131.3	31.3	-10.7	87	444	0.00	2.22	0.00	0.000	4	0.000	0.061	2408	1062	3949
477	-1.01	-131.3	35.9	-12.2	95	483	0.00	2.25	0.00	0.000	6	0.000	0.054	2407	2476	3949
552	-1.01	-131.3	45.0	-11.8	111	557	0.00	0.00	0.00	0.000	6	0.000	0.000	2407	2476	3949
695	-1.01	-131.3	62.4	-11.9	142	701	0.00	0.00	0.00	0.000	6	0.000	0.000	2407	2476	3949
839	-1.01	-131.3	79.3	-11.4	173	845	0.00	2.25	0.00	0.000	4	0.000	0.060	2407	1062	3949
895	-1.01	-131.3	85.4	-11.7	184	901	0.00	2.22	0.00	0.000	6	0.000	0.054	2407	2470	3949
1040	-1.01	-131.3	101.9	-11.0	215	1046	0.00	2.25	0.00	0.000	4	0.000	0.061	2407	1059	3949
1050	end dive: TARGET_DEPTH_EXCEEDED
state	1050	begin apogee
1055	-0.16	0.0	103.2	11.3	217	1161	0.82	0.00	100.00	0.666	6	0.125	0.000	2683	2482	3409
1162	end apogee: CONTROL_FINISHED_OK
state	1162	begin climb
1164	1.01	131.3	106.0	0.0	237	1272	1.05	2.25	100.82	0.639	4	0.064	0.063	3064	3759	2872
1438	1.01	131.3	79.4	14.4	293	1444	0.00	2.08	0.00	0.000	6	0.000	0.051	3069	2462	2870
1583	1.01	131.3	60.9	12.4	324	1588	0.00	0.00	0.00	0.000	6	0.000	0.000	3069	2462	2870
1727	1.01	131.3	44.2	11.4	355	1733	0.00	2.12	0.00	0.000	4	0.000	0.064	3069	3767	2869
1863	1.01	131.3	27.0	13.0	384	1868	0.00	2.05	0.00	0.000	6	0.000	0.051	3076	2469	2869
1938	1.01	131.3	17.8	11.2	400	1943	0.00	0.00	0.00	0.000	6	0.000	0.000	3076	2468	2869
2012	1.01	131.3	9.9	10.7	416	2018	0.00	2.10	0.00	0.000	4	0.000	0.065	3076	3767	2868
2063	end climb: SURFACE_DEPTH_REACHED
state	2063	begin surface coast
2116	end surface coast: CONTROL_FINISHED_OK
state	2116	begin surface