Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 158 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 158 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 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 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 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 35 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 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -46457.5 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 460 AH0_24V 91.800003 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -7.4494777 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 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 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 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 -7.4494777 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 35

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 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -46457.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 28 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 36 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 158 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 182214,4739.598,-12252.199,8,1.2,13,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.186,-0.146

_SM_DEPTHo 0.80 KALMAN_X 5418.3,258.5,87.7,-5630.5,190.5

_SM_ANGLEo -57.1 KALMAN_Y 8417.2,388.8,111.8,-9131.9,131.7

GPS2 182745,4739.648,-12252.093,10,1.8,10,18.3 MHEAD_RNG_PITCHd_Wd 213.6,512,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.1,1.021818 XPDR_PINGS 0

SM_CCo 2866,118.95,0.579,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.3,51.3

SM_GC 0.70,0.00,0.00,118.95,0.000,0.000,0.579,462,1806,1586,-12.13,0.17,400.08 _24V_AH 23.9,18.685

IRIDIUM_FIX 4722.92,-12249.11,300907,212128 _10V_AH 10.1,39.881

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6452,262

HUMID 2011 CFSIZE 260034560,252231680

INTERNAL_PRESSURE 8.41829 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 300907,191926,4739.565,-12252.274,10,1.9,15,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 222 169.45 SBE_CT 175 24 100.69

Roll_motor 40 84 82.37 nil 0 0 0.00

VBD_pump_during_apogee 193 682 3162.23 nil 0 0 0.00

VBD_pump_during_surface 118 579 1646.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 99.18 nil 0 0 0.00

Iridium_during_connect 35 160 134.67 ARS 0 0 0.00

Iridium_during_xfer 142 223 760.79

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3429 6 524.50

GPS 10 50 5.24

TT8 494 19 98.83

LPSleep 1611 2 35.65

TT8_Active 428 19 85.74

TT8_Sampling 467 39 188.11

TT8_CF8 342 45 158.33

TT8_Kalman 33 81 27.54

Analog_circuits 714 12 86.54

GPS_charging 0 0 0.00

Compass 443 8 35.82

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 -1.63 -122.2 0.0 0.0 0 105 0.00 0.00 -79.07 0.000 2 0.000 0.000 462 1814 3279

108 -1.63 -122.2 2.1 -5.0 13 146 15.15 2.70 -14.70 0.000 4 0.222 0.084 2739 404 3719

166 -1.63 -122.2 5.4 -7.1 22 173 0.00 2.45 0.00 0.000 6 0.000 0.035 2739 1812 3720

238 -1.63 -122.2 9.7 -5.2 33 245 0.00 2.47 0.00 0.000 4 0.000 0.049 2739 3189 3720

264 -1.63 -122.2 10.6 -3.9 37 270 0.00 2.45 0.00 0.000 6 0.000 0.037 2739 1801 3721

336 -1.63 -122.2 14.4 -5.4 48 342 0.00 2.65 0.00 0.000 4 0.000 0.073 2739 395 3721

415 -1.63 -122.2 19.0 -6.1 60 421 0.00 2.45 0.00 0.000 6 0.000 0.035 2739 1800 3721

484 -1.63 -122.2 22.8 -5.3 67 489 0.00 2.67 0.00 0.000 4 0.000 0.071 2739 393 3721

575 -1.63 -122.2 28.2 -6.4 73 582 0.00 2.47 0.00 0.000 6 0.000 0.034 2739 1799 3721

772 -1.63 -122.2 39.9 -6.3 89 776 0.00 2.50 0.00 0.000 4 0.000 0.049 2739 3192 3721

857 -1.63 -122.2 45.6 -6.8 95 861 0.00 2.47 0.00 0.000 6 0.000 0.038 2739 1793 3721

1052 -1.63 -122.2 56.5 -5.6 110 1057 0.00 2.53 0.00 0.000 4 0.000 0.048 2739 3192 3721

1092 -1.63 -122.2 58.8 -6.1 112 1098 0.00 2.45 0.00 0.000 6 0.000 0.037 2739 1798 3721

1287 -1.63 -122.2 69.4 -4.8 128 1288 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 1799 3721

1477 -1.63 -122.2 79.9 -5.1 143 1479 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 1799 3721

1667 -1.63 -122.2 90.5 -5.6 158 1668 0.00 0.00 0.00 0.000 6 0.000 0.000 2739 1799 3721

1841 end dive: TARGET_DEPTH_EXCEEDED

state 1841 begin apogee

1847 -0.38 0.0 100.4 5.7 172 1951 1.40 0.00 98.40 0.683 6 0.111 0.000 3012 1725 3217

1952 end apogee: CONTROL_FINISHED_OK

state 1952 begin climb

1954 1.63 122.2 100.9 0.0 181 2060 1.98 2.78 95.43 0.653 4 0.057 0.079 3453 334 2717

2099 1.63 122.2 87.4 12.9 192 2103 0.00 2.47 0.00 0.000 6 0.000 0.035 3453 1734 2716

2301 1.63 122.2 62.8 12.2 208 2302 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 1734 2715

2492 1.63 122.2 40.6 11.8 223 2493 0.00 0.00 0.00 0.000 6 0.000 0.000 3453 1734 2715

2681 1.63 122.2 18.7 11.3 238 2687 0.00 2.67 0.00 0.000 4 0.000 0.077 3453 339 2715

2739 1.63 122.2 11.5 11.9 247 2746 0.00 2.45 0.00 0.000 6 0.000 0.034 3453 1743 2715

2796 end climb: SURFACE_DEPTH_REACHED

state 2796 begin surface coast

2839 end surface coast: CONTROL_FINISHED_OK

state 2839 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	158	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	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	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	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	35	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	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-46457.5	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	460	AH0_24V	91.800003	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-7.4494777	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	182214,4739.598,-12252.199,8,1.2,13,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.186,-0.146
_SM_DEPTHo	0.80	KALMAN_X	5418.3,258.5,87.7,-5630.5,190.5
_SM_ANGLEo	-57.1	KALMAN_Y	8417.2,388.8,111.8,-9131.9,131.7
GPS2	182745,4739.648,-12252.093,10,1.8,10,18.3	MHEAD_RNG_PITCHd_Wd	213.6,512,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	124

FINISH	0.1,1.021818	XPDR_PINGS	0
SM_CCo	2866,118.95,0.579,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.3,51.3
SM_GC	0.70,0.00,0.00,118.95,0.000,0.000,0.579,462,1806,1586,-12.13,0.17,400.08	_24V_AH	23.9,18.685
IRIDIUM_FIX	4722.92,-12249.11,300907,212128	_10V_AH	10.1,39.881
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6452,262
HUMID	2011	CFSIZE	260034560,252231680
INTERNAL_PRESSURE	8.41829	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	300907,191926,4739.565,-12252.274,10,1.9,15,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	222	169.45	SBE_CT	175	24	100.69
Roll_motor	40	84	82.37	nil	0	0	0.00
VBD_pump_during_apogee	193	682	3162.23	nil	0	0	0.00
VBD_pump_during_surface	118	579	1646.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	99.18	nil	0	0	0.00
Iridium_during_connect	35	160	134.67	ARS	0	0	0.00
Iridium_during_xfer	142	223	760.79
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3429	6	524.50
GPS	10	50	5.24
TT8	494	19	98.83
LPSleep	1611	2	35.65
TT8_Active	428	19	85.74
TT8_Sampling	467	39	188.11
TT8_CF8	342	45	158.33
TT8_Kalman	33	81	27.54
Analog_circuits	714	12	86.54
GPS_charging	0	0	0.00
Compass	443	8	35.82
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	-1.63	-122.2	0.0	0.0	0	105	0.00	0.00	-79.07	0.000	2	0.000	0.000	462	1814	3279
108	-1.63	-122.2	2.1	-5.0	13	146	15.15	2.70	-14.70	0.000	4	0.222	0.084	2739	404	3719
166	-1.63	-122.2	5.4	-7.1	22	173	0.00	2.45	0.00	0.000	6	0.000	0.035	2739	1812	3720
238	-1.63	-122.2	9.7	-5.2	33	245	0.00	2.47	0.00	0.000	4	0.000	0.049	2739	3189	3720
264	-1.63	-122.2	10.6	-3.9	37	270	0.00	2.45	0.00	0.000	6	0.000	0.037	2739	1801	3721
336	-1.63	-122.2	14.4	-5.4	48	342	0.00	2.65	0.00	0.000	4	0.000	0.073	2739	395	3721
415	-1.63	-122.2	19.0	-6.1	60	421	0.00	2.45	0.00	0.000	6	0.000	0.035	2739	1800	3721
484	-1.63	-122.2	22.8	-5.3	67	489	0.00	2.67	0.00	0.000	4	0.000	0.071	2739	393	3721
575	-1.63	-122.2	28.2	-6.4	73	582	0.00	2.47	0.00	0.000	6	0.000	0.034	2739	1799	3721
772	-1.63	-122.2	39.9	-6.3	89	776	0.00	2.50	0.00	0.000	4	0.000	0.049	2739	3192	3721
857	-1.63	-122.2	45.6	-6.8	95	861	0.00	2.47	0.00	0.000	6	0.000	0.038	2739	1793	3721
1052	-1.63	-122.2	56.5	-5.6	110	1057	0.00	2.53	0.00	0.000	4	0.000	0.048	2739	3192	3721
1092	-1.63	-122.2	58.8	-6.1	112	1098	0.00	2.45	0.00	0.000	6	0.000	0.037	2739	1798	3721
1287	-1.63	-122.2	69.4	-4.8	128	1288	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	1799	3721
1477	-1.63	-122.2	79.9	-5.1	143	1479	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	1799	3721
1667	-1.63	-122.2	90.5	-5.6	158	1668	0.00	0.00	0.00	0.000	6	0.000	0.000	2739	1799	3721
1841	end dive: TARGET_DEPTH_EXCEEDED
state	1841	begin apogee
1847	-0.38	0.0	100.4	5.7	172	1951	1.40	0.00	98.40	0.683	6	0.111	0.000	3012	1725	3217
1952	end apogee: CONTROL_FINISHED_OK
state	1952	begin climb
1954	1.63	122.2	100.9	0.0	181	2060	1.98	2.78	95.43	0.653	4	0.057	0.079	3453	334	2717
2099	1.63	122.2	87.4	12.9	192	2103	0.00	2.47	0.00	0.000	6	0.000	0.035	3453	1734	2716
2301	1.63	122.2	62.8	12.2	208	2302	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	1734	2715
2492	1.63	122.2	40.6	11.8	223	2493	0.00	0.00	0.00	0.000	6	0.000	0.000	3453	1734	2715
2681	1.63	122.2	18.7	11.3	238	2687	0.00	2.67	0.00	0.000	4	0.000	0.077	3453	339	2715
2739	1.63	122.2	11.5	11.9	247	2746	0.00	2.45	0.00	0.000	6	0.000	0.034	3453	1743	2715
2796	end climb: SURFACE_DEPTH_REACHED
state	2796	begin surface coast
2839	end surface coast: CONTROL_FINISHED_OK
state	2839	begin surface