Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 139 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 139 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2080 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 500 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 44 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3202 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 -19845.354 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 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

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 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 5 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 120 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1405377 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 45

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 -19845.354

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2080 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 25 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 44 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 139 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-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 195859,4739.407,-12252.668,10,4.1,29,18.3 TGT_NAME H2

_CALLS 2 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.194,0.075

_SM_DEPTHo 1.21 KALMAN_X 21421.1,14.6,182.6,-21643.1,-142.4

_SM_ANGLEo -63.0 KALMAN_Y 8752.2,-46.1,205.8,-9621.3,-93.3

GPS2 200628,4739.405,-12252.719,30,3.9,49,18.3 MHEAD_RNG_PITCHd_Wd 50.6,412,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 124

Post-dive calculations and measurements:

FINISH 3.2,1.020735 XPDR_PINGS 1

SM_CCo 2931,160.98,0.584,0,0,1164,500.17 ALTIM_BOTTOM_PING 95.1,999.0

SM_GC 1.22,0.00,0.00,160.98,0.000,0.000,0.584,410,2207,1164,-11.45,0.20,500.17 _24V_AH 23.7,29.243

IRIDIUM_FIX 4722.92,-12256.21,270907,232350 _10V_AH 10.1,19.632

TT8_MAMPS 0.071331 DATA_FILE_SIZE 6450,264

HUMID 2189 CFSIZE 260231168,253001728

INTERNAL_PRESSURE 7.95929 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.10 GPS 270907,210011,4739.414,-12252.453,9,2.2,28,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 199 144.39 SBE_CT 186 24 105.93

Roll_motor 50 69 82.96 nil 0 0 0.00

VBD_pump_during_apogee 198 774 3635.22 nil 0 0 0.00

VBD_pump_during_surface 160 583 2226.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 61 103 149.88 nil 0 0 0.00

Iridium_during_connect 35 160 136.29 ARS 0 0 0.00

Iridium_during_xfer 142 223 750.93

Transponder_ping 0 420 4.98

Mmodem_TX 0 1000 0.00

Mmodem_RX 3672 6 556.97

GPS 51 50 26.02

TT8 499 19 99.84

LPSleep 1678 2 37.13

TT8_Active 489 19 97.83

TT8_Sampling 533 39 214.48

TT8_CF8 369 45 170.88

TT8_Kalman 33 81 27.55

Analog_circuits 786 12 95.37

GPS_charging 0 0 0.00

Compass 473 8 38.29

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.68 -97.8 0.0 0.0 0 87 0.00 0.00 -61.20 0.000 2 0.000 0.000 409 2216 2471

90 -1.68 -97.8 2.0 -2.9 10 158 13.32 2.50 -45.62 0.000 4 0.199 0.070 2525 3590 3604

190 -1.68 -97.8 7.6 -10.0 26 197 0.00 2.40 0.00 0.000 6 0.000 0.035 2525 2195 3605

262 -1.68 -97.8 15.3 -10.0 37 268 0.00 2.58 0.00 0.000 4 0.000 0.061 2525 803 3605

346 -1.68 -97.8 23.8 -9.3 47 354 0.00 2.45 0.00 0.000 6 0.000 0.035 2525 2189 3606

542 -1.68 -97.8 43.4 -10.1 63 546 0.00 2.53 0.00 0.000 4 0.000 0.058 2525 3596 3606

595 -1.68 -97.8 49.0 -10.8 67 599 0.00 2.40 0.00 0.000 6 0.000 0.035 2525 2197 3606

797 -1.68 -97.8 69.0 -9.8 83 800 0.00 2.53 0.00 0.000 4 0.000 0.057 2525 3595 3606

849 -1.68 -97.8 74.5 -10.6 87 853 0.00 2.40 0.00 0.000 6 0.000 0.035 2525 2200 3606

1052 -1.68 -97.8 95.1 -10.5 103 1053 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2200 3606

1243 -1.68 -97.8 115.4 -10.3 118 1247 0.00 2.53 0.00 0.000 4 0.000 0.058 2525 3601 3606

1281 -1.68 -97.8 119.8 -10.6 120 1288 0.00 2.45 0.00 0.000 6 0.000 0.035 2525 2198 3606

1298 end dive: TARGET_DEPTH_EXCEEDED

state 1299 begin apogee

1304 -0.38 0.0 121.6 10.2 122 1386 1.48 0.00 78.00 0.679 6 0.107 0.000 2812 2073 3202

1387 end apogee: CONTROL_FINISHED_OK

state 1387 begin climb

1389 1.68 97.8 124.5 0.0 129 1470 2.15 0.00 76.32 0.658 6 0.063 0.000 3267 2074 2803

1659 1.70 113.4 108.7 7.9 151 1676 0.00 2.58 11.85 0.690 4 0.000 0.054 3267 3476 2739

1809 1.72 128.0 96.3 8.0 162 1826 0.00 2.42 10.85 0.694 6 0.000 0.036 3268 2084 2680

2023 1.72 129.6 77.2 8.8 179 2028 0.00 2.53 0.00 0.000 4 0.000 0.054 3267 3478 2679

2069 1.72 129.6 73.0 9.4 182 2073 0.00 2.42 0.00 0.000 6 0.000 0.035 3268 2079 2678

2271 1.72 129.6 55.0 9.0 198 2275 0.00 2.53 0.00 0.000 4 0.000 0.054 3268 3476 2678

2397 1.72 129.6 42.6 9.9 207 2401 0.00 2.42 0.00 0.000 6 0.000 0.036 3268 2078 2678

2592 1.73 136.9 25.3 8.4 222 2605 0.00 2.55 6.57 0.703 4 0.000 0.054 3267 3476 2643

2724 1.74 140.2 13.3 8.7 237 2731 0.00 2.42 2.15 0.775 6 0.000 0.035 3268 2079 2630

2798 1.76 156.0 7.2 7.9 248 2817 0.00 2.65 12.25 0.666 4 0.000 0.066 3268 681 2564

2841 end climb: SURFACE_DEPTH_REACHED

state 2841 begin surface coast

2902 end surface coast: CONTROL_FINISHED_OK

state 2902 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	139	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2080	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	500	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	44	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3202	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	-19845.354	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	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	195859,4739.407,-12252.668,10,4.1,29,18.3	TGT_NAME	H2
_CALLS	2	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.194,0.075
_SM_DEPTHo	1.21	KALMAN_X	21421.1,14.6,182.6,-21643.1,-142.4
_SM_ANGLEo	-63.0	KALMAN_Y	8752.2,-46.1,205.8,-9621.3,-93.3
GPS2	200628,4739.405,-12252.719,30,3.9,49,18.3	MHEAD_RNG_PITCHd_Wd	50.6,412,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	124

FINISH	3.2,1.020735	XPDR_PINGS	1
SM_CCo	2931,160.98,0.584,0,0,1164,500.17	ALTIM_BOTTOM_PING	95.1,999.0
SM_GC	1.22,0.00,0.00,160.98,0.000,0.000,0.584,410,2207,1164,-11.45,0.20,500.17	_24V_AH	23.7,29.243
IRIDIUM_FIX	4722.92,-12256.21,270907,232350	_10V_AH	10.1,19.632
TT8_MAMPS	0.071331	DATA_FILE_SIZE	6450,264
HUMID	2189	CFSIZE	260231168,253001728
INTERNAL_PRESSURE	7.95929	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.10	GPS	270907,210011,4739.414,-12252.453,9,2.2,28,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	199	144.39	SBE_CT	186	24	105.93
Roll_motor	50	69	82.96	nil	0	0	0.00
VBD_pump_during_apogee	198	774	3635.22	nil	0	0	0.00
VBD_pump_during_surface	160	583	2226.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	61	103	149.88	nil	0	0	0.00
Iridium_during_connect	35	160	136.29	ARS	0	0	0.00
Iridium_during_xfer	142	223	750.93
Transponder_ping	0	420	4.98
Mmodem_TX	0	1000	0.00
Mmodem_RX	3672	6	556.97
GPS	51	50	26.02
TT8	499	19	99.84
LPSleep	1678	2	37.13
TT8_Active	489	19	97.83
TT8_Sampling	533	39	214.48
TT8_CF8	369	45	170.88
TT8_Kalman	33	81	27.55
Analog_circuits	786	12	95.37
GPS_charging	0	0	0.00
Compass	473	8	38.29
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.68	-97.8	0.0	0.0	0	87	0.00	0.00	-61.20	0.000	2	0.000	0.000	409	2216	2471
90	-1.68	-97.8	2.0	-2.9	10	158	13.32	2.50	-45.62	0.000	4	0.199	0.070	2525	3590	3604
190	-1.68	-97.8	7.6	-10.0	26	197	0.00	2.40	0.00	0.000	6	0.000	0.035	2525	2195	3605
262	-1.68	-97.8	15.3	-10.0	37	268	0.00	2.58	0.00	0.000	4	0.000	0.061	2525	803	3605
346	-1.68	-97.8	23.8	-9.3	47	354	0.00	2.45	0.00	0.000	6	0.000	0.035	2525	2189	3606
542	-1.68	-97.8	43.4	-10.1	63	546	0.00	2.53	0.00	0.000	4	0.000	0.058	2525	3596	3606
595	-1.68	-97.8	49.0	-10.8	67	599	0.00	2.40	0.00	0.000	6	0.000	0.035	2525	2197	3606
797	-1.68	-97.8	69.0	-9.8	83	800	0.00	2.53	0.00	0.000	4	0.000	0.057	2525	3595	3606
849	-1.68	-97.8	74.5	-10.6	87	853	0.00	2.40	0.00	0.000	6	0.000	0.035	2525	2200	3606
1052	-1.68	-97.8	95.1	-10.5	103	1053	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2200	3606
1243	-1.68	-97.8	115.4	-10.3	118	1247	0.00	2.53	0.00	0.000	4	0.000	0.058	2525	3601	3606
1281	-1.68	-97.8	119.8	-10.6	120	1288	0.00	2.45	0.00	0.000	6	0.000	0.035	2525	2198	3606
1298	end dive: TARGET_DEPTH_EXCEEDED
state	1299	begin apogee
1304	-0.38	0.0	121.6	10.2	122	1386	1.48	0.00	78.00	0.679	6	0.107	0.000	2812	2073	3202
1387	end apogee: CONTROL_FINISHED_OK
state	1387	begin climb
1389	1.68	97.8	124.5	0.0	129	1470	2.15	0.00	76.32	0.658	6	0.063	0.000	3267	2074	2803
1659	1.70	113.4	108.7	7.9	151	1676	0.00	2.58	11.85	0.690	4	0.000	0.054	3267	3476	2739
1809	1.72	128.0	96.3	8.0	162	1826	0.00	2.42	10.85	0.694	6	0.000	0.036	3268	2084	2680
2023	1.72	129.6	77.2	8.8	179	2028	0.00	2.53	0.00	0.000	4	0.000	0.054	3267	3478	2679
2069	1.72	129.6	73.0	9.4	182	2073	0.00	2.42	0.00	0.000	6	0.000	0.035	3268	2079	2678
2271	1.72	129.6	55.0	9.0	198	2275	0.00	2.53	0.00	0.000	4	0.000	0.054	3268	3476	2678
2397	1.72	129.6	42.6	9.9	207	2401	0.00	2.42	0.00	0.000	6	0.000	0.036	3268	2078	2678
2592	1.73	136.9	25.3	8.4	222	2605	0.00	2.55	6.57	0.703	4	0.000	0.054	3267	3476	2643
2724	1.74	140.2	13.3	8.7	237	2731	0.00	2.42	2.15	0.775	6	0.000	0.035	3268	2079	2630
2798	1.76	156.0	7.2	7.9	248	2817	0.00	2.65	12.25	0.666	4	0.000	0.066	3268	681	2564
2841	end climb: SURFACE_DEPTH_REACHED
state	2841	begin surface coast
2902	end surface coast: CONTROL_FINISHED_OK
state	2902	begin surface