Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 211 * 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 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 211 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 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 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2080 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 500 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 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 0 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

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 -21573.588 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 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 500

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 5 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 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 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 -21573.588

CAPUPLOAD 0 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 2080 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 27 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 30 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 211 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 182257,4739.523,-12252.165,11,1.3,11,18.3 TGT_NAME H2

_CALLS 2 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.176,-0.111

_SM_DEPTHo 0.96 KALMAN_X 27987.7,101.3,14.0,-27268.7,337.8

_SM_ANGLEo -58.3 KALMAN_Y 13596.6,99.0,39.1,-14102.9,232.2

GPS2 182935,4739.591,-12252.024,12,6.4,31,18.3 MHEAD_RNG_PITCHd_Wd 219.5,524,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.4,1.022484 XPDR_PINGS 1

SM_CCo 2900,170.93,0.582,0,0,1162,500.17 ALTIM_BOTTOM_PING 95.2,999.0

SM_GC 1.06,0.00,0.00,170.93,0.000,0.000,0.582,409,2209,1162,-11.45,0.25,500.17 _24V_AH 23.7,34.929

IRIDIUM_FIX 4722.92,-12246.42,300907,212157 _10V_AH 10.2,21.805

TT8_MAMPS 0.028379 DATA_FILE_SIZE 6480,261

HUMID 2147 CFSIZE 260231168,251105280

INTERNAL_PRESSURE 7.92999 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.00 GPS 300907,192256,4739.484,-12252.201,12,1.4,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 199 141.20 SBE_CT 185 24 105.36

Roll_motor 40 69 67.45 nil 0 0 0.00

VBD_pump_during_apogee 176 797 3336.26 nil 0 0 0.00

VBD_pump_during_surface 170 582 2358.26 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 63 103 155.71 nil 0 0 0.00

Iridium_during_connect 35 160 133.30 ARS 0 18 0.00

Iridium_during_xfer 138 223 734.11

Transponder_ping 0 420 4.98

Mmodem_TX 0 1000 0.00

Mmodem_RX 0 6 0.00

GPS 32 50 16.43

TT8 489 19 98.78

LPSleep 1692 2 37.81

TT8_Active 490 19 99.02

TT8_Sampling 475 39 193.21

TT8_CF8 350 45 163.77

TT8_Kalman 33 81 27.83

Analog_circuits 773 12 94.69

GPS_charging 0 0 0.00

Compass 450 8 36.80

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

22 -1.68 -97.8 0.0 0.0 0 104 0.00 0.00 -79.32 0.000 2 0.000 0.000 411 2203 2767

107 -1.68 -97.8 2.1 -4.0 13 162 13.38 2.58 -33.03 0.000 4 0.199 0.070 2526 3597 3602

188 -1.68 -97.8 7.0 -11.0 26 194 0.00 2.42 0.00 0.000 6 0.000 0.035 2527 2195 3603

260 -1.68 -97.8 13.2 -8.8 37 266 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2195 3604

332 -1.68 -97.8 19.8 -8.9 48 338 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2195 3604

401 -1.68 -97.8 26.4 -9.6 54 405 0.00 2.60 0.00 0.000 4 0.000 0.064 2526 797 3604

439 -1.68 -97.8 30.4 -10.1 56 446 0.00 2.50 0.00 0.000 6 0.000 0.035 2526 2204 3604

635 -1.68 -97.8 49.4 -9.9 72 637 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2204 3604

828 -1.68 -97.8 68.1 -10.0 87 832 0.00 2.53 0.00 0.000 4 0.000 0.059 2526 3604 3604

892 -1.68 -97.8 75.0 -10.3 91 900 0.00 2.45 0.00 0.000 6 0.000 0.035 2526 2201 3604

1089 -1.68 -97.8 92.9 -8.8 107 1090 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2201 3604

1278 -1.68 -97.8 109.7 -8.9 122 1279 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2201 3604

1389 end dive: TARGET_DEPTH_EXCEEDED

state 1389 begin apogee

1395 -0.38 0.0 120.1 9.2 131 1478 1.48 0.00 78.28 0.693 6 0.108 0.000 2812 2075 3202

1479 end apogee: CONTROL_FINISHED_OK

state 1479 begin climb

1481 1.68 97.8 122.3 0.0 138 1563 2.15 0.00 77.22 0.670 6 0.064 0.000 3267 2075 2803

1750 1.70 108.2 105.2 8.2 160 1763 0.00 2.62 7.70 0.719 4 0.000 0.054 3267 3477 2760

1830 1.70 108.2 97.6 9.6 166 1835 0.00 2.42 0.00 0.000 6 0.000 0.035 3267 2089 2759

2025 1.70 108.2 78.8 9.9 181 2029 0.00 2.53 0.00 0.000 4 0.000 0.054 3267 3480 2759

2124 1.70 108.2 68.5 10.6 188 2128 0.00 2.42 0.00 0.000 6 0.000 0.036 3267 2078 2759

2319 1.70 111.5 50.8 8.7 203 2326 0.00 2.60 2.08 0.798 4 0.000 0.053 3267 3482 2747

2458 1.70 111.5 37.7 9.0 213 2462 0.00 2.45 0.00 0.000 6 0.000 0.035 3267 2072 2747

2660 1.72 123.9 20.9 8.1 229 2679 0.00 2.62 9.30 0.692 4 0.000 0.053 3267 3479 2696

2705 1.72 123.9 16.8 9.6 235 2711 0.00 2.45 0.00 0.000 6 0.000 0.035 3267 2073 2696

2777 1.72 126.7 10.6 8.7 246 2784 0.00 2.67 1.90 0.785 4 0.000 0.067 3267 681 2685

2828 end climb: SURFACE_DEPTH_REACHED

state 2828 begin surface coast

2875 end surface coast: CONTROL_FINISHED_OK

state 2876 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	211	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	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	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2080	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	500	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	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	0	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
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	-21573.588	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	182257,4739.523,-12252.165,11,1.3,11,18.3	TGT_NAME	H2
_CALLS	2	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.176,-0.111
_SM_DEPTHo	0.96	KALMAN_X	27987.7,101.3,14.0,-27268.7,337.8
_SM_ANGLEo	-58.3	KALMAN_Y	13596.6,99.0,39.1,-14102.9,232.2
GPS2	182935,4739.591,-12252.024,12,6.4,31,18.3	MHEAD_RNG_PITCHd_Wd	219.5,524,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	124

FINISH	0.4,1.022484	XPDR_PINGS	1
SM_CCo	2900,170.93,0.582,0,0,1162,500.17	ALTIM_BOTTOM_PING	95.2,999.0
SM_GC	1.06,0.00,0.00,170.93,0.000,0.000,0.582,409,2209,1162,-11.45,0.25,500.17	_24V_AH	23.7,34.929
IRIDIUM_FIX	4722.92,-12246.42,300907,212157	_10V_AH	10.2,21.805
TT8_MAMPS	0.028379	DATA_FILE_SIZE	6480,261
HUMID	2147	CFSIZE	260231168,251105280
INTERNAL_PRESSURE	7.92999	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.00	GPS	300907,192256,4739.484,-12252.201,12,1.4,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	199	141.20	SBE_CT	185	24	105.36
Roll_motor	40	69	67.45	nil	0	0	0.00
VBD_pump_during_apogee	176	797	3336.26	nil	0	0	0.00
VBD_pump_during_surface	170	582	2358.26	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	63	103	155.71	nil	0	0	0.00
Iridium_during_connect	35	160	133.30	ARS	0	18	0.00
Iridium_during_xfer	138	223	734.11
Transponder_ping	0	420	4.98
Mmodem_TX	0	1000	0.00
Mmodem_RX	0	6	0.00
GPS	32	50	16.43
TT8	489	19	98.78
LPSleep	1692	2	37.81
TT8_Active	490	19	99.02
TT8_Sampling	475	39	193.21
TT8_CF8	350	45	163.77
TT8_Kalman	33	81	27.83
Analog_circuits	773	12	94.69
GPS_charging	0	0	0.00
Compass	450	8	36.80
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
22	-1.68	-97.8	0.0	0.0	0	104	0.00	0.00	-79.32	0.000	2	0.000	0.000	411	2203	2767
107	-1.68	-97.8	2.1	-4.0	13	162	13.38	2.58	-33.03	0.000	4	0.199	0.070	2526	3597	3602
188	-1.68	-97.8	7.0	-11.0	26	194	0.00	2.42	0.00	0.000	6	0.000	0.035	2527	2195	3603
260	-1.68	-97.8	13.2	-8.8	37	266	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2195	3604
332	-1.68	-97.8	19.8	-8.9	48	338	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2195	3604
401	-1.68	-97.8	26.4	-9.6	54	405	0.00	2.60	0.00	0.000	4	0.000	0.064	2526	797	3604
439	-1.68	-97.8	30.4	-10.1	56	446	0.00	2.50	0.00	0.000	6	0.000	0.035	2526	2204	3604
635	-1.68	-97.8	49.4	-9.9	72	637	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2204	3604
828	-1.68	-97.8	68.1	-10.0	87	832	0.00	2.53	0.00	0.000	4	0.000	0.059	2526	3604	3604
892	-1.68	-97.8	75.0	-10.3	91	900	0.00	2.45	0.00	0.000	6	0.000	0.035	2526	2201	3604
1089	-1.68	-97.8	92.9	-8.8	107	1090	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2201	3604
1278	-1.68	-97.8	109.7	-8.9	122	1279	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2201	3604
1389	end dive: TARGET_DEPTH_EXCEEDED
state	1389	begin apogee
1395	-0.38	0.0	120.1	9.2	131	1478	1.48	0.00	78.28	0.693	6	0.108	0.000	2812	2075	3202
1479	end apogee: CONTROL_FINISHED_OK
state	1479	begin climb
1481	1.68	97.8	122.3	0.0	138	1563	2.15	0.00	77.22	0.670	6	0.064	0.000	3267	2075	2803
1750	1.70	108.2	105.2	8.2	160	1763	0.00	2.62	7.70	0.719	4	0.000	0.054	3267	3477	2760
1830	1.70	108.2	97.6	9.6	166	1835	0.00	2.42	0.00	0.000	6	0.000	0.035	3267	2089	2759
2025	1.70	108.2	78.8	9.9	181	2029	0.00	2.53	0.00	0.000	4	0.000	0.054	3267	3480	2759
2124	1.70	108.2	68.5	10.6	188	2128	0.00	2.42	0.00	0.000	6	0.000	0.036	3267	2078	2759
2319	1.70	111.5	50.8	8.7	203	2326	0.00	2.60	2.08	0.798	4	0.000	0.053	3267	3482	2747
2458	1.70	111.5	37.7	9.0	213	2462	0.00	2.45	0.00	0.000	6	0.000	0.035	3267	2072	2747
2660	1.72	123.9	20.9	8.1	229	2679	0.00	2.62	9.30	0.692	4	0.000	0.053	3267	3479	2696
2705	1.72	123.9	16.8	9.6	235	2711	0.00	2.45	0.00	0.000	6	0.000	0.035	3267	2073	2696
2777	1.72	126.7	10.6	8.7	246	2784	0.00	2.67	1.90	0.785	4	0.000	0.067	3267	681	2685
2828	end climb: SURFACE_DEPTH_REACHED
state	2828	begin surface coast
2875	end surface coast: CONTROL_FINISHED_OK
state	2876	begin surface