Glider dive log

PortSusan 15Jul09 * SG169 * Dive index * Mission links * Dive 16 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 169 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 220 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 16 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3795 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2380 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2380 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 80 SM_CC 480 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT -10 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT -10 INT_PRESSURE_YINT -1.1

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 435 DEVICE2 101

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3345 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 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 100 T_GPS_CHARGE -5737.6792 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 120 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 146 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3945 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2718 PRESSURE_YINT -75.823097 SEABIRD_T_G 0.0043354151

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00062527717

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.379055e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5466652e-06

FERRY_MAX 45 PITCH_GAIN 39 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9450293

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1242783

HD_A 0.003 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0011038103

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00017515429

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 165 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 80 PITCH_DBAND 0.1 SM_CC 480

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 39 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3945 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 146 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 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 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -75.823097 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 -5737.6792

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 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 4

COMPASS_DEVICE 33 ID 169 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3795 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.1 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2718 KALMAN_USE 1 ROLL_MIN 220 USE_BATHY -4

C_ROLL_CLIMB 2380 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2380 MASS 52000 R_PORT_OVSHOOT -10 VBD_BLEED_AD_RATE 8

C_VBD 3345 MAX_BUOY 120 R_STBD_OVSHOOT -10 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.9450293 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1242783 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0011038103 VBD_MAXERRORS 1

DEVICE2 101 N_FILEKB 4 SEABIRD_C_J 0.00017515429 VBD_MIN 435

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043354151 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062527717 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.379055e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5466652e-06 XPDR_DEVICE 24

DIVE 16 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 052734,4806.238,-12222.021,13,3.1,32,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 7 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.179,0.153

_SM_DEPTHo 0.52 KALMAN_X -112.4,-132.9,12.1,1058.0,250.0

_SM_ANGLEo -76.6 KALMAN_Y 2283.3,357.4,15.0,-5085.9,-148.5

GPS2 053244,4806.204,-12221.981,15,1.5,15,18.3 MHEAD_RNG_PITCHd_Wd 292.2,4159,-19.7,-10.000

SPEED_LIMITS 0.173,0.235 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.2,1.020139 XPDR_PINGS 5

SM_CCo 1655,181.52,0.564,0,0,1388,480.05 _24V_AH 24.4,1.565

SM_GC 0.68,0.00,0.00,181.52,0.000,0.000,0.564,140,2401,1388,-8.06,0.59,480.05 _10V_AH 10.7,0.950

IRIDIUM_FIX 4748.51,-12224.57,101098,040409 DATA_FILE_SIZE 22362,343

TT8_MAMPS 0.027612 CAP_FILE_SIZE 39831,0

HUMID 1852 CFSIZE 260165632,257785856

INTERNAL_PRESSURE 9.2129 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 15.40 GPS 160709,060456,4806.353,-12222.070,15,1.3,15,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 240 113.27 SBE_CT 229 24 134.67

Roll_motor 22 130 72.30 AA4330 562 33 452.79

VBD_pump_during_apogee 175 630 2695.97 WL_BB2F 507 105 1300.90

VBD_pump_during_surface 181 563 2496.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 57.39 nil 0 0 0.00

Iridium_during_connect 24 160 95.76 nil 0 0 0.00

Iridium_during_xfer 185 223 1006.79

Transponder_ping 2 420 20.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.45

TT8 529 19 112.08

LPSleep 172 2 4.04

TT8_Active 426 19 90.38

TT8_Sampling 739 39 314.84

TT8_CF8 290 45 142.52

TT8_Kalman 33 81 29.18

Analog_circuits 783 12 100.55

GPS_charging 0 0 0.00

Compass 731 8 62.65

RAFOS 0 0 0.00

Transponder 5 30 1.91

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -0.65 -117.3 0.0 0.0 0 111 0.00 0.00 -93.40 0.000 2 0.000 0.000 141 2407 3802

113 -0.65 -117.3 3.8 -7.9 15 127 9.35 0.00 -0.55 0.000 6 0.241 0.000 2500 2407 3826

191 -0.65 -117.3 20.6 -17.0 32 197 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2407 3826

260 -0.65 -117.3 32.5 -17.6 48 266 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2407 3827

329 -0.65 -117.3 45.0 -17.3 64 336 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2407 3827

469 -0.65 -117.3 70.5 -18.2 95 474 0.00 0.00 0.00 0.000 6 0.000 0.000 2499 2407 3827

605 -0.65 -117.3 95.0 -17.2 126 611 0.00 0.00 0.00 0.000 6 0.000 0.000 2500 2407 3827

683 end dive: TARGET_DEPTH_EXCEEDED

state 683 begin apogee

687 -0.13 0.0 108.2 16.6 143 781 0.57 0.00 87.05 0.630 6 0.186 0.000 2665 2371 3344

782 end apogee: CONTROL_FINISHED_OK

state 782 begin climb

783 0.65 117.3 113.6 0.0 159 879 0.85 2.33 88.20 0.613 4 0.159 0.043 2926 939 2865

908 0.65 117.3 102.3 13.4 181 914 0.00 2.33 0.00 0.000 6 0.000 0.047 2926 2401 2865

1045 0.65 117.3 81.9 14.4 212 1052 0.00 2.25 0.00 0.000 4 0.000 0.052 2926 3811 2865

1081 0.65 117.3 76.4 17.1 219 1087 0.00 2.22 0.00 0.000 6 0.000 0.038 2937 2356 2864

1218 0.65 117.3 55.9 14.2 250 1225 0.00 2.30 0.00 0.000 4 0.000 0.051 2937 3804 2865

1235 0.65 117.3 53.4 14.5 253 1241 0.00 2.20 0.00 0.000 6 0.000 0.038 2948 2355 2864

1373 0.65 117.3 32.9 15.3 284 1379 0.00 2.30 0.00 0.000 4 0.000 0.051 2948 3809 2864

1415 0.65 117.3 26.1 16.6 293 1422 0.10 2.22 0.00 0.000 6 0.214 0.037 2933 2355 2864

1486 0.65 117.3 16.1 12.7 309 1492 0.00 0.00 0.00 0.000 6 0.000 0.000 2934 2353 2864

1556 0.65 117.3 8.4 11.0 325 1562 0.00 2.28 0.00 0.000 4 0.000 0.051 2933 3803 2863

1593 0.65 117.3 4.2 11.0 333 1600 0.00 2.20 0.00 0.000 6 0.000 0.036 2943 2354 2863

1609 end climb: SURFACE_DEPTH_REACHED

state 1609 begin surface coast

1640 end surface coast: CONTROL_FINISHED_OK

state 1640 begin surface

ID	169	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	220	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	16	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3795	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2380	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2380	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	80	SM_CC	480	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	-10	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	-10	INT_PRESSURE_YINT	-1.1
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	435	DEVICE2	101
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3345	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	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	100	T_GPS_CHARGE	-5737.6792	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	120	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	146	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3945	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2718	PRESSURE_YINT	-75.823097	SEABIRD_T_G	0.0043354151
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00062527717
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.379055e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5466652e-06
FERRY_MAX	45	PITCH_GAIN	39	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9450293
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1242783
HD_A	0.003	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0011038103
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00017515429
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	052734,4806.238,-12222.021,13,3.1,32,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	7	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.179,0.153
_SM_DEPTHo	0.52	KALMAN_X	-112.4,-132.9,12.1,1058.0,250.0
_SM_ANGLEo	-76.6	KALMAN_Y	2283.3,357.4,15.0,-5085.9,-148.5
GPS2	053244,4806.204,-12221.981,15,1.5,15,18.3	MHEAD_RNG_PITCHd_Wd	292.2,4159,-19.7,-10.000
SPEED_LIMITS	0.173,0.235	D_GRID	108

FINISH	1.2,1.020139	XPDR_PINGS	5
SM_CCo	1655,181.52,0.564,0,0,1388,480.05	_24V_AH	24.4,1.565
SM_GC	0.68,0.00,0.00,181.52,0.000,0.000,0.564,140,2401,1388,-8.06,0.59,480.05	_10V_AH	10.7,0.950
IRIDIUM_FIX	4748.51,-12224.57,101098,040409	DATA_FILE_SIZE	22362,343
TT8_MAMPS	0.027612	CAP_FILE_SIZE	39831,0
HUMID	1852	CFSIZE	260165632,257785856
INTERNAL_PRESSURE	9.2129	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	15.40	GPS	160709,060456,4806.353,-12222.070,15,1.3,15,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	240	113.27	SBE_CT	229	24	134.67
Roll_motor	22	130	72.30	AA4330	562	33	452.79
VBD_pump_during_apogee	175	630	2695.97	WL_BB2F	507	105	1300.90
VBD_pump_during_surface	181	563	2496.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	57.39	nil	0	0	0.00
Iridium_during_connect	24	160	95.76	nil	0	0	0.00
Iridium_during_xfer	185	223	1006.79
Transponder_ping	2	420	20.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.45
TT8	529	19	112.08
LPSleep	172	2	4.04
TT8_Active	426	19	90.38
TT8_Sampling	739	39	314.84
TT8_CF8	290	45	142.52
TT8_Kalman	33	81	29.18
Analog_circuits	783	12	100.55
GPS_charging	0	0	0.00
Compass	731	8	62.65
RAFOS	0	0	0.00
Transponder	5	30	1.91

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-0.65	-117.3	0.0	0.0	0	111	0.00	0.00	-93.40	0.000	2	0.000	0.000	141	2407	3802
113	-0.65	-117.3	3.8	-7.9	15	127	9.35	0.00	-0.55	0.000	6	0.241	0.000	2500	2407	3826
191	-0.65	-117.3	20.6	-17.0	32	197	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2407	3826
260	-0.65	-117.3	32.5	-17.6	48	266	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2407	3827
329	-0.65	-117.3	45.0	-17.3	64	336	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2407	3827
469	-0.65	-117.3	70.5	-18.2	95	474	0.00	0.00	0.00	0.000	6	0.000	0.000	2499	2407	3827
605	-0.65	-117.3	95.0	-17.2	126	611	0.00	0.00	0.00	0.000	6	0.000	0.000	2500	2407	3827
683	end dive: TARGET_DEPTH_EXCEEDED
state	683	begin apogee
687	-0.13	0.0	108.2	16.6	143	781	0.57	0.00	87.05	0.630	6	0.186	0.000	2665	2371	3344
782	end apogee: CONTROL_FINISHED_OK
state	782	begin climb
783	0.65	117.3	113.6	0.0	159	879	0.85	2.33	88.20	0.613	4	0.159	0.043	2926	939	2865
908	0.65	117.3	102.3	13.4	181	914	0.00	2.33	0.00	0.000	6	0.000	0.047	2926	2401	2865
1045	0.65	117.3	81.9	14.4	212	1052	0.00	2.25	0.00	0.000	4	0.000	0.052	2926	3811	2865
1081	0.65	117.3	76.4	17.1	219	1087	0.00	2.22	0.00	0.000	6	0.000	0.038	2937	2356	2864
1218	0.65	117.3	55.9	14.2	250	1225	0.00	2.30	0.00	0.000	4	0.000	0.051	2937	3804	2865
1235	0.65	117.3	53.4	14.5	253	1241	0.00	2.20	0.00	0.000	6	0.000	0.038	2948	2355	2864
1373	0.65	117.3	32.9	15.3	284	1379	0.00	2.30	0.00	0.000	4	0.000	0.051	2948	3809	2864
1415	0.65	117.3	26.1	16.6	293	1422	0.10	2.22	0.00	0.000	6	0.214	0.037	2933	2355	2864
1486	0.65	117.3	16.1	12.7	309	1492	0.00	0.00	0.00	0.000	6	0.000	0.000	2934	2353	2864
1556	0.65	117.3	8.4	11.0	325	1562	0.00	2.28	0.00	0.000	4	0.000	0.051	2933	3803	2863
1593	0.65	117.3	4.2	11.0	333	1600	0.00	2.20	0.00	0.000	6	0.000	0.036	2943	2354	2863
1609	end climb: SURFACE_DEPTH_REACHED
state	1609	begin surface coast
1640	end surface coast: CONTROL_FINISHED_OK
state	1640	begin surface