Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 168 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_B 0.010078 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 168 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 311 ALTIM_PING_DEPTH 70

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2415 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 17 INT_PRESSURE_YINT 1.4

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 50 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 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 540 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3800 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3229 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY 0 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17174.934 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

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 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 428 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3730 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 3000 PRESSURE_YINT -6.9690108 SEABIRD_T_I 2.5554549e-05

MASS 51630 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 2 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 10 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3730 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 428 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 90 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -6.9690108 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 16 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 -17174.934

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 118 ROLL_MAX 3943 T_TURN_SAMPINT 6

C_PITCH 3000 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2415 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 UNCOM_BLEED 20

C_ROLL_DIVE 2500 KALMAN_USE 2 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 50 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 27 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3800

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 540

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 168 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 010750,4739.578,-12252.619,15,1.8,32,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.95 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 011402,4739.582,-12252.637,11,1.5,16,18.3 MHEAD_RNG_PITCHd_Wd 234.9,737,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.1,1.025207 XPDR_PINGS 7

SM_CCo 2695,99.68,0.516,0,0,1597,400.08 ALTIM_BOTTOM_PING 65.2,999.0

SM_GC 0.99,0.00,0.00,99.68,0.000,0.000,0.516,429,2480,1597,-11.83,-0.57,400.08 _24V_AH 23.5,13.448

IRIDIUM_FIX 4719.74,-12254.47,270907,040415 _10V_AH 10.1,8.872

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6466,255

HUMID 1800 CFSIZE 260034560,252362752

INTERNAL_PRESSURE 9.34952 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.00 GPS 270907,020208,4739.596,-12252.963,28,1.4,28,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 158 107.92 SBE_CT 175 24 99.23

Roll_motor 44 69 72.55 nil 0 0 0.00

VBD_pump_during_apogee 234 590 3255.63 nil 0 0 0.00

VBD_pump_during_surface 99 516 1209.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 92.33 nil 0 0 0.00

Iridium_during_connect 35 160 132.51 ARS 0 0 0.00

Iridium_during_xfer 164 223 859.74

Transponder_ping 2 420 27.14

Mmodem_TX 129 1000 3046.07

Mmodem_RX 3159 6 475.17

GPS 16 93 15.13

TT8 468 19 93.75

LPSleep 1404 2 31.07

TT8_Active 430 19 86.02

TT8_Sampling 452 39 182.10

TT8_CF8 423 45 195.90

TT8_Kalman 0 0 0.00

Analog_circuits 729 12 88.39

GPS_charging 0 0 0.00

Compass 461 8 37.25

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.54 -122.2 0.0 0.0 0 76 0.00 0.00 -48.75 0.000 2 0.000 0.000 430 2480 2826

80 -1.54 -122.2 2.1 -2.9 8 130 12.68 2.45 -31.02 0.000 4 0.159 0.059 2658 1113 3728

232 -1.54 -122.2 11.0 -6.5 31 238 0.00 2.42 0.00 0.000 6 0.000 0.034 2658 2508 3730

304 -1.54 -122.2 15.7 -6.6 42 310 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2508 3731

383 -1.54 -122.2 21.1 -6.9 53 384 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2508 3731

574 -1.54 -122.2 33.0 -6.5 68 578 0.00 2.58 0.00 0.000 4 0.000 0.069 2658 3894 3732

678 -1.54 -122.2 40.0 -6.7 75 685 0.00 2.40 0.00 0.000 6 0.000 0.031 2658 2496 3732

875 -1.54 -122.2 51.8 -6.0 91 877 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2496 3732

1066 -1.54 -122.2 63.9 -6.3 106 1070 0.00 2.62 0.00 0.000 4 0.000 0.067 2658 3904 3733

1157 -1.54 -122.2 70.1 -7.3 112 1164 0.00 2.40 0.00 0.000 6 0.000 0.034 2658 2491 3733

1354 -1.54 -122.2 83.2 -6.5 128 1355 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2489 3732

1453 end dive: TARGET_DEPTH_EXCEEDED

state 1453 begin apogee

1459 -0.50 0.0 90.0 6.7 136 1562 1.12 0.00 95.38 0.591 6 0.089 0.000 2887 2408 3228

1563 end apogee: CONTROL_FINISHED_OK

state 1563 begin climb

1566 1.54 122.2 92.4 0.0 145 1667 2.08 2.55 92.72 0.572 4 0.064 0.051 3333 1037 2730

1694 1.54 122.2 84.5 9.2 155 1701 0.00 2.45 0.00 0.000 6 0.000 0.032 3333 2419 2729

1893 1.54 122.2 65.0 9.8 171 1897 0.00 2.53 0.00 0.000 4 0.000 0.051 3333 1034 2728

1917 1.54 122.2 62.0 10.8 172 1924 0.00 2.45 0.00 0.000 6 0.000 0.032 3333 2421 2728

2114 1.54 122.2 42.3 10.1 188 2118 0.00 2.53 0.00 0.000 4 0.000 0.051 3333 1024 2728

2154 1.54 122.2 38.3 10.3 190 2160 0.00 2.42 0.00 0.000 6 0.000 0.033 3333 2418 2728

2349 1.54 122.2 19.7 9.5 206 2356 0.00 2.50 0.00 0.000 4 0.000 0.050 3333 1031 2728

2388 1.54 122.2 16.5 9.0 212 2395 0.00 2.42 0.00 0.000 6 0.000 0.032 3333 2424 2728

2461 1.54 122.2 10.7 8.2 223 2467 0.00 2.53 0.00 0.000 4 0.000 0.051 3333 1026 2728

2493 1.54 122.2 7.8 8.6 228 2499 0.00 2.42 0.00 0.000 6 0.000 0.033 3333 2416 2728

2565 1.62 193.5 3.7 4.0 239 2620 0.00 2.65 46.47 0.538 4 0.000 0.067 3333 3809 2438

2624 end climb: SURFACE_DEPTH_REACHED

state 2625 begin surface coast

2664 end surface coast: CONTROL_FINISHED_OK

state 2664 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	168	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	311	ALTIM_PING_DEPTH	70
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2415	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	17	INT_PRESSURE_YINT	1.4
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	50	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	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	540	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3800	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3229	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	0	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17174.934	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
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	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	428	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3730	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	3000	PRESSURE_YINT	-6.9690108	SEABIRD_T_I	2.5554549e-05
MASS	51630	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	2	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	010750,4739.578,-12252.619,15,1.8,32,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.95	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	011402,4739.582,-12252.637,11,1.5,16,18.3	MHEAD_RNG_PITCHd_Wd	234.9,737,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.1,1.025207	XPDR_PINGS	7
SM_CCo	2695,99.68,0.516,0,0,1597,400.08	ALTIM_BOTTOM_PING	65.2,999.0
SM_GC	0.99,0.00,0.00,99.68,0.000,0.000,0.516,429,2480,1597,-11.83,-0.57,400.08	_24V_AH	23.5,13.448
IRIDIUM_FIX	4719.74,-12254.47,270907,040415	_10V_AH	10.1,8.872
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6466,255
HUMID	1800	CFSIZE	260034560,252362752
INTERNAL_PRESSURE	9.34952	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.00	GPS	270907,020208,4739.596,-12252.963,28,1.4,28,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	158	107.92	SBE_CT	175	24	99.23
Roll_motor	44	69	72.55	nil	0	0	0.00
VBD_pump_during_apogee	234	590	3255.63	nil	0	0	0.00
VBD_pump_during_surface	99	516	1209.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	92.33	nil	0	0	0.00
Iridium_during_connect	35	160	132.51	ARS	0	0	0.00
Iridium_during_xfer	164	223	859.74
Transponder_ping	2	420	27.14
Mmodem_TX	129	1000	3046.07
Mmodem_RX	3159	6	475.17
GPS	16	93	15.13
TT8	468	19	93.75
LPSleep	1404	2	31.07
TT8_Active	430	19	86.02
TT8_Sampling	452	39	182.10
TT8_CF8	423	45	195.90
TT8_Kalman	0	0	0.00
Analog_circuits	729	12	88.39
GPS_charging	0	0	0.00
Compass	461	8	37.25
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.54	-122.2	0.0	0.0	0	76	0.00	0.00	-48.75	0.000	2	0.000	0.000	430	2480	2826
80	-1.54	-122.2	2.1	-2.9	8	130	12.68	2.45	-31.02	0.000	4	0.159	0.059	2658	1113	3728
232	-1.54	-122.2	11.0	-6.5	31	238	0.00	2.42	0.00	0.000	6	0.000	0.034	2658	2508	3730
304	-1.54	-122.2	15.7	-6.6	42	310	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2508	3731
383	-1.54	-122.2	21.1	-6.9	53	384	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2508	3731
574	-1.54	-122.2	33.0	-6.5	68	578	0.00	2.58	0.00	0.000	4	0.000	0.069	2658	3894	3732
678	-1.54	-122.2	40.0	-6.7	75	685	0.00	2.40	0.00	0.000	6	0.000	0.031	2658	2496	3732
875	-1.54	-122.2	51.8	-6.0	91	877	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2496	3732
1066	-1.54	-122.2	63.9	-6.3	106	1070	0.00	2.62	0.00	0.000	4	0.000	0.067	2658	3904	3733
1157	-1.54	-122.2	70.1	-7.3	112	1164	0.00	2.40	0.00	0.000	6	0.000	0.034	2658	2491	3733
1354	-1.54	-122.2	83.2	-6.5	128	1355	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2489	3732
1453	end dive: TARGET_DEPTH_EXCEEDED
state	1453	begin apogee
1459	-0.50	0.0	90.0	6.7	136	1562	1.12	0.00	95.38	0.591	6	0.089	0.000	2887	2408	3228
1563	end apogee: CONTROL_FINISHED_OK
state	1563	begin climb
1566	1.54	122.2	92.4	0.0	145	1667	2.08	2.55	92.72	0.572	4	0.064	0.051	3333	1037	2730
1694	1.54	122.2	84.5	9.2	155	1701	0.00	2.45	0.00	0.000	6	0.000	0.032	3333	2419	2729
1893	1.54	122.2	65.0	9.8	171	1897	0.00	2.53	0.00	0.000	4	0.000	0.051	3333	1034	2728
1917	1.54	122.2	62.0	10.8	172	1924	0.00	2.45	0.00	0.000	6	0.000	0.032	3333	2421	2728
2114	1.54	122.2	42.3	10.1	188	2118	0.00	2.53	0.00	0.000	4	0.000	0.051	3333	1024	2728
2154	1.54	122.2	38.3	10.3	190	2160	0.00	2.42	0.00	0.000	6	0.000	0.033	3333	2418	2728
2349	1.54	122.2	19.7	9.5	206	2356	0.00	2.50	0.00	0.000	4	0.000	0.050	3333	1031	2728
2388	1.54	122.2	16.5	9.0	212	2395	0.00	2.42	0.00	0.000	6	0.000	0.032	3333	2424	2728
2461	1.54	122.2	10.7	8.2	223	2467	0.00	2.53	0.00	0.000	4	0.000	0.051	3333	1026	2728
2493	1.54	122.2	7.8	8.6	228	2499	0.00	2.42	0.00	0.000	6	0.000	0.033	3333	2416	2728
2565	1.62	193.5	3.7	4.0	239	2620	0.00	2.65	46.47	0.538	4	0.000	0.067	3333	3809	2438
2624	end climb: SURFACE_DEPTH_REACHED
state	2625	begin surface coast
2664	end surface coast: CONTROL_FINISHED_OK
state	2664	begin surface