Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 205 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 205 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 425 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 51 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 87 INT_PRESSURE_YINT 2.7

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 275 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 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 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -9230.2578 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0 RAFOS_DEVICE -1

MAX_BUOY 250 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3938 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 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 275

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -9230.2578

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -4

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 51 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 250 R_STBD_OVSHOOT 87 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 205 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 071006,2414.270,12323.377,40,1.1,40,-3.5 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2403.100,12330.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 071514,2414.323,12323.461,13,1.3,13,-3.5 MHEAD_RNG_PITCHd_Wd 200.5,23544,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 217

Post-dive calculations and measurements:

FINISH 0.6,1.005661 ALTIM_BOTTOM_PING 200.3,131.0

SM_CCo 4036,0.00,0.000,0,0,511,576.95 _24V_AH 24.9,43.401

SM_GC 1.40,8.10,0.00,0.00,0.044,0.000,0.000,142,1532,511,-8.03,0.90,576.95 _10V_AH 10.9,26.076

IRIDIUM_FIX 2403.92,12321.74,130998,060639 DATA_FILE_SIZE 34815,677

TT8_MAMPS 0.026845 CAP_FILE_SIZE 56466,0

HUMID 1544 CFSIZE 260165632,220622848

INTERNAL_PRESSURE 10.0538 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.80 CURRENT 0.385, 41.3,1

XPDR_PINGS 0 GPS 190609,082352,2414.727,12323.706,11,2.1,30,-3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 227 118.86 SBE_CT 442 24 264.66

Roll_motor 32 47 38.72 Optode 635 33 522.27

VBD_pump_during_apogee 632 780 12289.88 WL_BB2F 1068 105 2792.62

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 68.16 nil 0 0 0.00

Iridium_during_connect 33 160 131.67 nil 0 0 0.00

Iridium_during_xfer 157 223 873.76

Transponder_ping 0 420 5.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.59

TT8 998 19 215.45

LPSleep 1146 2 27.38

TT8_Active 598 19 129.10

TT8_Sampling 1275 39 553.39

TT8_CF8 331 45 165.74

TT8_Kalman 0 0 0.00

Analog_circuits 1239 12 162.14

GPS_charging 0 0 0.00

Compass 1278 8 111.49

RAFOS 0 0 0.00

Transponder 5 30 1.89

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.97 -243.4 0.0 0.0 0 104 0.00 0.00 -87.15 0.000 2 0.000 0.000 124 1523 2418

107 -0.97 -243.4 3.1 -5.6 13 160 8.85 1.95 -37.28 0.000 4 0.227 0.048 2418 2871 3857

241 -0.36 -243.4 34.2 -28.4 35 249 0.60 2.00 0.00 0.000 6 0.141 0.031 2622 1505 3857

588 -0.48 -243.4 75.6 -11.6 96 594 0.12 2.00 0.00 0.000 4 0.067 0.034 2559 2886 3858

668 -0.48 -243.4 86.9 -13.9 110 674 0.00 1.98 0.00 0.000 6 0.000 0.031 2559 1532 3858

1012 -0.48 -243.4 134.4 -9.5 171 1020 0.00 1.98 0.00 0.000 4 0.000 0.036 2558 2869 3860

1089 -0.59 -243.4 142.1 -10.0 184 1095 0.00 1.98 0.00 0.000 6 0.000 0.031 2558 1519 3860

1433 -0.66 -243.4 178.1 -10.7 245 1439 0.00 2.00 0.00 0.000 4 0.000 0.038 2560 2867 3860

1537 -0.82 -243.4 188.8 -9.6 263 1545 0.17 1.95 0.00 0.000 6 0.039 0.031 2445 1527 3860

1724 end dive: TARGET_DEPTH_EXCEEDED

state 1724 begin apogee

1730 -0.20 0.0 217.4 14.7 296 1921 0.68 0.00 182.00 0.780 6 0.131 0.000 2666 1743 2863

1923 end apogee: CONTROL_FINISHED_OK

state 1923 begin climb

1925 0.97 243.4 226.1 0.0 328 2117 1.08 2.25 183.45 0.780 4 0.081 0.046 3059 345 1869

2371 0.83 273.0 187.4 11.0 404 2403 0.15 2.05 23.88 0.723 6 0.133 0.028 3009 1757 1750

2744 1.15 444.1 157.5 6.3 469 2889 0.22 2.10 135.95 0.749 4 0.051 0.037 3124 3139 1051

2980 1.04 444.1 123.9 15.5 508 2987 0.20 2.10 0.00 0.000 6 0.139 0.031 3071 1710 1050

3326 1.29 485.2 88.6 10.6 569 3366 0.20 2.20 33.60 0.686 4 0.051 0.035 3176 3147 884

3458 1.05 485.2 64.0 21.1 591 3466 0.38 2.17 0.00 0.000 6 0.143 0.031 3076 1650 884

3806 1.42 575.7 26.4 9.0 652 3888 0.28 2.03 73.88 0.653 4 0.043 0.042 3223 349 516

3939 end climb: SURFACE_DEPTH_REACHED

state 3941 begin surface coast

3958 end surface coast: CONTROL_FINISHED_OK

state 3958 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	205	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	425	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	51	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	87	INT_PRESSURE_YINT	2.7
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	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	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-9230.2578	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0	RAFOS_DEVICE	-1
MAX_BUOY	250	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	071006,2414.270,12323.377,40,1.1,40,-3.5	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2403.100,12330.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	071514,2414.323,12323.461,13,1.3,13,-3.5	MHEAD_RNG_PITCHd_Wd	200.5,23544,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	217

FINISH	0.6,1.005661	ALTIM_BOTTOM_PING	200.3,131.0
SM_CCo	4036,0.00,0.000,0,0,511,576.95	_24V_AH	24.9,43.401
SM_GC	1.40,8.10,0.00,0.00,0.044,0.000,0.000,142,1532,511,-8.03,0.90,576.95	_10V_AH	10.9,26.076
IRIDIUM_FIX	2403.92,12321.74,130998,060639	DATA_FILE_SIZE	34815,677
TT8_MAMPS	0.026845	CAP_FILE_SIZE	56466,0
HUMID	1544	CFSIZE	260165632,220622848
INTERNAL_PRESSURE	10.0538	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.80	CURRENT	0.385, 41.3,1
XPDR_PINGS	0	GPS	190609,082352,2414.727,12323.706,11,2.1,30,-3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	227	118.86	SBE_CT	442	24	264.66
Roll_motor	32	47	38.72	Optode	635	33	522.27
VBD_pump_during_apogee	632	780	12289.88	WL_BB2F	1068	105	2792.62
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	68.16	nil	0	0	0.00
Iridium_during_connect	33	160	131.67	nil	0	0	0.00
Iridium_during_xfer	157	223	873.76
Transponder_ping	0	420	5.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.59
TT8	998	19	215.45
LPSleep	1146	2	27.38
TT8_Active	598	19	129.10
TT8_Sampling	1275	39	553.39
TT8_CF8	331	45	165.74
TT8_Kalman	0	0	0.00
Analog_circuits	1239	12	162.14
GPS_charging	0	0	0.00
Compass	1278	8	111.49
RAFOS	0	0	0.00
Transponder	5	30	1.89

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.97	-243.4	0.0	0.0	0	104	0.00	0.00	-87.15	0.000	2	0.000	0.000	124	1523	2418
107	-0.97	-243.4	3.1	-5.6	13	160	8.85	1.95	-37.28	0.000	4	0.227	0.048	2418	2871	3857
241	-0.36	-243.4	34.2	-28.4	35	249	0.60	2.00	0.00	0.000	6	0.141	0.031	2622	1505	3857
588	-0.48	-243.4	75.6	-11.6	96	594	0.12	2.00	0.00	0.000	4	0.067	0.034	2559	2886	3858
668	-0.48	-243.4	86.9	-13.9	110	674	0.00	1.98	0.00	0.000	6	0.000	0.031	2559	1532	3858
1012	-0.48	-243.4	134.4	-9.5	171	1020	0.00	1.98	0.00	0.000	4	0.000	0.036	2558	2869	3860
1089	-0.59	-243.4	142.1	-10.0	184	1095	0.00	1.98	0.00	0.000	6	0.000	0.031	2558	1519	3860
1433	-0.66	-243.4	178.1	-10.7	245	1439	0.00	2.00	0.00	0.000	4	0.000	0.038	2560	2867	3860
1537	-0.82	-243.4	188.8	-9.6	263	1545	0.17	1.95	0.00	0.000	6	0.039	0.031	2445	1527	3860
1724	end dive: TARGET_DEPTH_EXCEEDED
state	1724	begin apogee
1730	-0.20	0.0	217.4	14.7	296	1921	0.68	0.00	182.00	0.780	6	0.131	0.000	2666	1743	2863
1923	end apogee: CONTROL_FINISHED_OK
state	1923	begin climb
1925	0.97	243.4	226.1	0.0	328	2117	1.08	2.25	183.45	0.780	4	0.081	0.046	3059	345	1869
2371	0.83	273.0	187.4	11.0	404	2403	0.15	2.05	23.88	0.723	6	0.133	0.028	3009	1757	1750
2744	1.15	444.1	157.5	6.3	469	2889	0.22	2.10	135.95	0.749	4	0.051	0.037	3124	3139	1051
2980	1.04	444.1	123.9	15.5	508	2987	0.20	2.10	0.00	0.000	6	0.139	0.031	3071	1710	1050
3326	1.29	485.2	88.6	10.6	569	3366	0.20	2.20	33.60	0.686	4	0.051	0.035	3176	3147	884
3458	1.05	485.2	64.0	21.1	591	3466	0.38	2.17	0.00	0.000	6	0.143	0.031	3076	1650	884
3806	1.42	575.7	26.4	9.0	652	3888	0.28	2.03	73.88	0.653	4	0.043	0.042	3223	349	516
3939	end climb: SURFACE_DEPTH_REACHED
state	3941	begin surface coast
3958	end surface coast: CONTROL_FINISHED_OK
state	3958	begin surface