Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 19 * 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 10

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 19 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 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 2100 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1910 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 22 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 1 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 -16819.416 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 450

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 2 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 10 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 -16819.416

CAPUPLOAD 1 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 1910 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 22 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 19 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 151655,4739.326,-12251.155,31,1.1,41,18.3 TGT_NAME H1

_CALLS 2 TGT_LATLONG 4739.000,-12252.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.184,-0.098

_SM_DEPTHo 0.89 KALMAN_X 5446.2,792.5,304.0,-4541.4,141.6

_SM_ANGLEo -64.4 KALMAN_Y 3979.3,578.9,170.6,-5489.0,45.1

GPS2 152533,4739.380,-12251.090,14,0.9,14,18.3 MHEAD_RNG_PITCHd_Wd 223.7,1336,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 119

Post-dive calculations and measurements:

FINISH 1.7,1.020369 ALTIM_TOP_PING 9.7,999.0

SM_CCo 3024,135.50,0.584,0,0,1367,450.13 ALTIM_BOTTOM_PING 94.7,999.0

SM_GC 1.06,0.00,0.00,135.50,0.000,0.000,0.584,412,2089,1367,-11.44,-0.31,450.13 _24V_AH 23.0,16.496

IRIDIUM_FIX 4722.92,-12249.11,220907,181859 _10V_AH 10.1,10.213

TT8_MAMPS 0.073632 DATA_FILE_SIZE 9567,278

HUMID 2319 CFSIZE 260231168,256942080

INTERNAL_PRESSURE 8.02765 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 20.20 GPS 220907,162029,4739.254,-12251.386,15,2.7,34,18.3

XPDR_PINGS 116

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 195 139.90 SBE_CT 195 24 108.10

Roll_motor 40 53 49.55 nil 0 0 0.00

VBD_pump_during_apogee 192 707 3128.30 nil 0 0 0.00

VBD_pump_during_surface 135 583 1819.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 63 103 151.32 nil 0 0 0.00

Iridium_during_connect 33 160 122.61 ARS 0 0 0.00

Iridium_during_xfer 232 223 1192.01

Transponder_ping 29 420 284.97

Mmodem_TX 431 1000 9930.23

Mmodem_RX 3363 6 495.07

GPS 14 50 7.22

TT8 519 19 103.85

LPSleep 1759 2 38.91

TT8_Active 451 19 90.30

TT8_Sampling 510 39 205.32

TT8_CF8 466 45 215.84

TT8_Kalman 33 81 27.53

Analog_circuits 749 12 90.90

GPS_charging 0 0 0.00

Compass 486 8 39.28

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 -1.68 -97.8 0.0 0.0 0 82 0.00 0.00 -55.22 0.000 2 0.000 0.000 409 2116 2540

85 -1.68 -97.8 2.1 -4.0 9 151 13.62 0.00 -45.28 0.000 6 0.196 0.000 2528 2119 3603

217 -1.68 -97.8 8.2 -7.9 30 223 0.00 2.50 0.00 0.000 4 0.000 0.054 2528 3485 3604

309 -1.68 -97.8 18.1 -11.0 44 316 0.00 2.45 0.00 0.000 6 0.000 0.034 2528 2088 3604

378 -1.68 -97.8 25.1 -9.7 51 379 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2088 3605

569 -1.68 -97.8 42.9 -9.7 66 573 0.00 2.60 0.00 0.000 4 0.000 0.052 2529 3483 3605

601 -1.68 -97.8 46.0 -9.9 68 605 0.00 2.42 0.00 0.000 6 0.000 0.034 2528 2094 3605

803 -1.68 -97.8 65.1 -9.5 84 807 0.00 2.53 0.00 0.000 4 0.000 0.054 2528 3484 3605

828 -1.68 -97.8 67.7 -10.5 86 833 0.00 2.45 0.00 0.000 6 0.000 0.034 2529 2096 3605

1030 -1.68 -97.8 85.9 -9.2 102 1035 0.00 2.55 0.00 0.000 4 0.000 0.054 2528 3489 3605

1096 -1.68 -97.8 92.4 -10.3 107 1100 0.00 2.45 0.00 0.000 6 0.000 0.035 2528 2096 3605

1298 -1.68 -97.8 111.7 -9.5 123 1299 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 2096 3606

1385 end dive: TARGET_DEPTH_EXCEEDED

state 1385 begin apogee

1390 -0.38 0.0 120.1 9.6 130 1472 1.50 0.00 77.93 0.676 6 0.107 0.000 2815 1909 3202

1473 end apogee: CONTROL_FINISHED_OK

state 1473 begin climb

1475 1.68 97.8 122.4 0.0 137 1556 2.17 0.00 75.90 0.657 6 0.065 0.000 3271 1908 2803

1745 1.71 115.1 105.7 7.8 159 1763 0.00 2.55 13.05 0.686 4 0.000 0.049 3271 3293 2731

1807 1.71 115.1 100.3 9.0 163 1815 0.00 2.50 0.00 0.000 6 0.000 0.036 3271 1914 2730

2004 1.72 124.3 82.9 8.3 179 2017 0.00 2.62 6.55 0.708 4 0.000 0.048 3272 3293 2694

2162 1.72 124.3 67.7 9.6 191 2166 0.00 2.45 0.00 0.000 6 0.000 0.037 3272 1908 2694

2364 1.72 124.3 49.1 8.9 207 2368 0.00 2.53 0.00 0.000 4 0.000 0.050 3272 3293 2695

2534 1.72 124.3 32.8 9.3 219 2542 0.00 2.50 0.00 0.000 6 0.000 0.036 3272 1914 2693

2733 1.73 137.4 15.9 8.1 238 2745 0.00 0.00 9.70 0.673 6 0.000 0.000 3272 1914 2642

2813 1.75 149.0 9.7 8.2 250 2831 0.00 2.58 9.00 0.670 4 0.000 0.051 3272 3293 2593

2941 end climb: SURFACE_DEPTH_REACHED

state 2941 begin surface coast

2996 end surface coast: CONTROL_FINISHED_OK

state 2997 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	19	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	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	2100	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1910	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	22	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	1	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	-16819.416	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	151655,4739.326,-12251.155,31,1.1,41,18.3	TGT_NAME	H1
_CALLS	2	TGT_LATLONG	4739.000,-12252.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.184,-0.098
_SM_DEPTHo	0.89	KALMAN_X	5446.2,792.5,304.0,-4541.4,141.6
_SM_ANGLEo	-64.4	KALMAN_Y	3979.3,578.9,170.6,-5489.0,45.1
GPS2	152533,4739.380,-12251.090,14,0.9,14,18.3	MHEAD_RNG_PITCHd_Wd	223.7,1336,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	119

FINISH	1.7,1.020369	ALTIM_TOP_PING	9.7,999.0
SM_CCo	3024,135.50,0.584,0,0,1367,450.13	ALTIM_BOTTOM_PING	94.7,999.0
SM_GC	1.06,0.00,0.00,135.50,0.000,0.000,0.584,412,2089,1367,-11.44,-0.31,450.13	_24V_AH	23.0,16.496
IRIDIUM_FIX	4722.92,-12249.11,220907,181859	_10V_AH	10.1,10.213
TT8_MAMPS	0.073632	DATA_FILE_SIZE	9567,278
HUMID	2319	CFSIZE	260231168,256942080
INTERNAL_PRESSURE	8.02765	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	20.20	GPS	220907,162029,4739.254,-12251.386,15,2.7,34,18.3
XPDR_PINGS	116

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	195	139.90	SBE_CT	195	24	108.10
Roll_motor	40	53	49.55	nil	0	0	0.00
VBD_pump_during_apogee	192	707	3128.30	nil	0	0	0.00
VBD_pump_during_surface	135	583	1819.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	63	103	151.32	nil	0	0	0.00
Iridium_during_connect	33	160	122.61	ARS	0	0	0.00
Iridium_during_xfer	232	223	1192.01
Transponder_ping	29	420	284.97
Mmodem_TX	431	1000	9930.23
Mmodem_RX	3363	6	495.07
GPS	14	50	7.22
TT8	519	19	103.85
LPSleep	1759	2	38.91
TT8_Active	451	19	90.30
TT8_Sampling	510	39	205.32
TT8_CF8	466	45	215.84
TT8_Kalman	33	81	27.53
Analog_circuits	749	12	90.90
GPS_charging	0	0	0.00
Compass	486	8	39.28
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	-1.68	-97.8	0.0	0.0	0	82	0.00	0.00	-55.22	0.000	2	0.000	0.000	409	2116	2540
85	-1.68	-97.8	2.1	-4.0	9	151	13.62	0.00	-45.28	0.000	6	0.196	0.000	2528	2119	3603
217	-1.68	-97.8	8.2	-7.9	30	223	0.00	2.50	0.00	0.000	4	0.000	0.054	2528	3485	3604
309	-1.68	-97.8	18.1	-11.0	44	316	0.00	2.45	0.00	0.000	6	0.000	0.034	2528	2088	3604
378	-1.68	-97.8	25.1	-9.7	51	379	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2088	3605
569	-1.68	-97.8	42.9	-9.7	66	573	0.00	2.60	0.00	0.000	4	0.000	0.052	2529	3483	3605
601	-1.68	-97.8	46.0	-9.9	68	605	0.00	2.42	0.00	0.000	6	0.000	0.034	2528	2094	3605
803	-1.68	-97.8	65.1	-9.5	84	807	0.00	2.53	0.00	0.000	4	0.000	0.054	2528	3484	3605
828	-1.68	-97.8	67.7	-10.5	86	833	0.00	2.45	0.00	0.000	6	0.000	0.034	2529	2096	3605
1030	-1.68	-97.8	85.9	-9.2	102	1035	0.00	2.55	0.00	0.000	4	0.000	0.054	2528	3489	3605
1096	-1.68	-97.8	92.4	-10.3	107	1100	0.00	2.45	0.00	0.000	6	0.000	0.035	2528	2096	3605
1298	-1.68	-97.8	111.7	-9.5	123	1299	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	2096	3606
1385	end dive: TARGET_DEPTH_EXCEEDED
state	1385	begin apogee
1390	-0.38	0.0	120.1	9.6	130	1472	1.50	0.00	77.93	0.676	6	0.107	0.000	2815	1909	3202
1473	end apogee: CONTROL_FINISHED_OK
state	1473	begin climb
1475	1.68	97.8	122.4	0.0	137	1556	2.17	0.00	75.90	0.657	6	0.065	0.000	3271	1908	2803
1745	1.71	115.1	105.7	7.8	159	1763	0.00	2.55	13.05	0.686	4	0.000	0.049	3271	3293	2731
1807	1.71	115.1	100.3	9.0	163	1815	0.00	2.50	0.00	0.000	6	0.000	0.036	3271	1914	2730
2004	1.72	124.3	82.9	8.3	179	2017	0.00	2.62	6.55	0.708	4	0.000	0.048	3272	3293	2694
2162	1.72	124.3	67.7	9.6	191	2166	0.00	2.45	0.00	0.000	6	0.000	0.037	3272	1908	2694
2364	1.72	124.3	49.1	8.9	207	2368	0.00	2.53	0.00	0.000	4	0.000	0.050	3272	3293	2695
2534	1.72	124.3	32.8	9.3	219	2542	0.00	2.50	0.00	0.000	6	0.000	0.036	3272	1914	2693
2733	1.73	137.4	15.9	8.1	238	2745	0.00	0.00	9.70	0.673	6	0.000	0.000	3272	1914	2642
2813	1.75	149.0	9.7	8.2	250	2831	0.00	2.58	9.00	0.670	4	0.000	0.051	3272	3293	2593
2941	end climb: SURFACE_DEPTH_REACHED
state	2941	begin surface coast
2996	end surface coast: CONTROL_FINISHED_OK
state	2997	begin surface