Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 224 * 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 224 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 39 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -17178.061 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 -17178.061

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 39 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 34 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 224 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 015007,4739.477,-12252.776,38,1.6,38,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.85 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 015620,4739.531,-12252.800,15,1.0,15,18.3 MHEAD_RNG_PITCHd_Wd 85.2,511,-15.8,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 1.1,1.026162 XPDR_PINGS 2

SM_CCo 2399,128.30,0.519,0,0,1598,400.08 ALTIM_BOTTOM_PING 90.9,41.8

SM_GC 0.69,0.00,0.00,128.30,0.000,0.000,0.519,428,2513,1598,-11.83,0.37,400.08 _24V_AH 24.1,17.696

IRIDIUM_FIX 4722.92,-12251.79,290907,040405 _10V_AH 10.1,12.604

TT8_MAMPS 0.067496 DATA_FILE_SIZE 6448,222

HUMID 1816 CFSIZE 260034560,250695680

INTERNAL_PRESSURE 9.33976 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 290907,023938,4739.519,-12252.390,8,1.5,8,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 156 109.73 SBE_CT 153 24 88.63

Roll_motor 44 69 75.40 nil 0 0 0.00

VBD_pump_during_apogee 192 591 2738.11 nil 0 0 0.00

VBD_pump_during_surface 128 519 1605.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 96.12 nil 0 0 0.00

Iridium_during_connect 46 160 177.88 ARS 0 0 0.00

Iridium_during_xfer 153 223 822.43

Transponder_ping 1 420 17.71

Mmodem_TX 4 1000 100.02

Mmodem_RX 3000 6 462.85

GPS 15 93 14.97

TT8 429 19 85.84

LPSleep 1230 2 27.22

TT8_Active 417 19 83.58

TT8_Sampling 413 39 166.38

TT8_CF8 421 45 194.77

TT8_Kalman 0 0 0.00

Analog_circuits 692 12 83.92

GPS_charging 0 0 0.00

Compass 413 8 33.39

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 -1.70 -97.1 0.0 0.0 0 82 0.00 0.00 -54.65 0.000 2 0.000 0.000 425 2508 2960

86 -1.73 -122.2 2.3 -3.9 9 129 12.20 2.55 -22.25 0.000 4 0.156 0.058 2617 1107 3730

157 -1.73 -122.2 6.9 -6.3 20 163 0.00 2.42 0.00 0.000 6 0.000 0.034 2617 2500 3732

229 -1.73 -122.2 12.3 -8.1 31 235 0.00 2.58 0.00 0.000 4 0.000 0.070 2617 3897 3733

308 -1.73 -122.2 19.6 -9.4 43 315 0.00 2.38 0.00 0.000 6 0.000 0.032 2617 2484 3733

377 -1.73 -122.2 25.8 -9.1 49 379 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2484 3734

568 -1.73 -122.2 40.2 -6.8 64 573 0.00 2.60 0.00 0.000 4 0.000 0.065 2617 3897 3734

672 -1.73 -122.2 47.9 -7.6 71 680 0.00 2.40 0.00 0.000 6 0.000 0.033 2617 2498 3735

869 -1.73 -122.2 62.7 -7.8 87 874 0.00 2.60 0.00 0.000 4 0.000 0.067 2617 3905 3735

907 -1.73 -122.2 66.0 -8.4 89 914 0.00 2.42 0.00 0.000 6 0.000 0.034 2617 2506 3735

1104 -1.73 -122.2 81.5 -7.6 105 1108 0.00 2.58 0.00 0.000 4 0.000 0.067 2617 3901 3735

1181 -1.73 -122.2 88.4 -8.3 110 1189 0.00 2.40 0.00 0.000 6 0.000 0.032 2617 2496 3735

1217 end dive: TARGET_DEPTH_EXCEEDED

state 1217 begin apogee

1223 -0.50 0.0 90.9 8.0 113 1327 1.30 0.00 94.80 0.591 6 0.092 0.000 2884 2413 3228

1328 end apogee: CONTROL_FINISHED_OK

state 1328 begin climb

1330 1.73 122.2 93.2 0.0 122 1431 2.25 2.55 92.22 0.574 4 0.060 0.051 3374 1030 2729

1453 1.73 122.2 85.3 9.5 132 1457 0.00 2.42 0.00 0.000 6 0.000 0.032 3374 2425 2729

1648 1.73 122.2 66.1 9.1 147 1649 0.00 0.00 0.00 0.000 6 0.000 0.000 3374 2425 2729

1840 1.73 122.2 46.5 10.4 162 1844 0.00 2.50 0.00 0.000 4 0.000 0.051 3374 1034 2728

1885 1.73 122.2 41.2 11.1 165 1890 0.00 2.40 0.00 0.000 6 0.000 0.034 3374 2419 2729

2081 1.73 122.2 21.3 9.8 180 2085 0.00 2.50 0.00 0.000 4 0.000 0.050 3375 1026 2728

2154 1.73 122.2 14.4 9.6 189 2160 0.00 2.40 0.00 0.000 6 0.000 0.034 3374 2417 2728

2226 1.73 122.2 9.1 6.7 200 2232 0.00 2.47 0.00 0.000 4 0.000 0.050 3374 1026 2728

2258 1.73 122.2 6.5 7.8 205 2265 0.00 2.40 0.00 0.000 6 0.000 0.034 3374 2419 2728

2331 1.74 131.7 2.2 6.2 216 2338 0.00 0.00 5.10 0.591 2 0.000 0.000 3374 2418 2700

2339 end climb: SURFACE_DEPTH_REACHED

state 2339 begin surface coast

2370 end surface coast: CONTROL_FINISHED_OK

state 2371 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	224	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	39	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-17178.061	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	015007,4739.477,-12252.776,38,1.6,38,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.85	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	015620,4739.531,-12252.800,15,1.0,15,18.3	MHEAD_RNG_PITCHd_Wd	85.2,511,-15.8,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	1.1,1.026162	XPDR_PINGS	2
SM_CCo	2399,128.30,0.519,0,0,1598,400.08	ALTIM_BOTTOM_PING	90.9,41.8
SM_GC	0.69,0.00,0.00,128.30,0.000,0.000,0.519,428,2513,1598,-11.83,0.37,400.08	_24V_AH	24.1,17.696
IRIDIUM_FIX	4722.92,-12251.79,290907,040405	_10V_AH	10.1,12.604
TT8_MAMPS	0.067496	DATA_FILE_SIZE	6448,222
HUMID	1816	CFSIZE	260034560,250695680
INTERNAL_PRESSURE	9.33976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	290907,023938,4739.519,-12252.390,8,1.5,8,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	156	109.73	SBE_CT	153	24	88.63
Roll_motor	44	69	75.40	nil	0	0	0.00
VBD_pump_during_apogee	192	591	2738.11	nil	0	0	0.00
VBD_pump_during_surface	128	519	1605.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	96.12	nil	0	0	0.00
Iridium_during_connect	46	160	177.88	ARS	0	0	0.00
Iridium_during_xfer	153	223	822.43
Transponder_ping	1	420	17.71
Mmodem_TX	4	1000	100.02
Mmodem_RX	3000	6	462.85
GPS	15	93	14.97
TT8	429	19	85.84
LPSleep	1230	2	27.22
TT8_Active	417	19	83.58
TT8_Sampling	413	39	166.38
TT8_CF8	421	45	194.77
TT8_Kalman	0	0	0.00
Analog_circuits	692	12	83.92
GPS_charging	0	0	0.00
Compass	413	8	33.39
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	-1.70	-97.1	0.0	0.0	0	82	0.00	0.00	-54.65	0.000	2	0.000	0.000	425	2508	2960
86	-1.73	-122.2	2.3	-3.9	9	129	12.20	2.55	-22.25	0.000	4	0.156	0.058	2617	1107	3730
157	-1.73	-122.2	6.9	-6.3	20	163	0.00	2.42	0.00	0.000	6	0.000	0.034	2617	2500	3732
229	-1.73	-122.2	12.3	-8.1	31	235	0.00	2.58	0.00	0.000	4	0.000	0.070	2617	3897	3733
308	-1.73	-122.2	19.6	-9.4	43	315	0.00	2.38	0.00	0.000	6	0.000	0.032	2617	2484	3733
377	-1.73	-122.2	25.8	-9.1	49	379	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2484	3734
568	-1.73	-122.2	40.2	-6.8	64	573	0.00	2.60	0.00	0.000	4	0.000	0.065	2617	3897	3734
672	-1.73	-122.2	47.9	-7.6	71	680	0.00	2.40	0.00	0.000	6	0.000	0.033	2617	2498	3735
869	-1.73	-122.2	62.7	-7.8	87	874	0.00	2.60	0.00	0.000	4	0.000	0.067	2617	3905	3735
907	-1.73	-122.2	66.0	-8.4	89	914	0.00	2.42	0.00	0.000	6	0.000	0.034	2617	2506	3735
1104	-1.73	-122.2	81.5	-7.6	105	1108	0.00	2.58	0.00	0.000	4	0.000	0.067	2617	3901	3735
1181	-1.73	-122.2	88.4	-8.3	110	1189	0.00	2.40	0.00	0.000	6	0.000	0.032	2617	2496	3735
1217	end dive: TARGET_DEPTH_EXCEEDED
state	1217	begin apogee
1223	-0.50	0.0	90.9	8.0	113	1327	1.30	0.00	94.80	0.591	6	0.092	0.000	2884	2413	3228
1328	end apogee: CONTROL_FINISHED_OK
state	1328	begin climb
1330	1.73	122.2	93.2	0.0	122	1431	2.25	2.55	92.22	0.574	4	0.060	0.051	3374	1030	2729
1453	1.73	122.2	85.3	9.5	132	1457	0.00	2.42	0.00	0.000	6	0.000	0.032	3374	2425	2729
1648	1.73	122.2	66.1	9.1	147	1649	0.00	0.00	0.00	0.000	6	0.000	0.000	3374	2425	2729
1840	1.73	122.2	46.5	10.4	162	1844	0.00	2.50	0.00	0.000	4	0.000	0.051	3374	1034	2728
1885	1.73	122.2	41.2	11.1	165	1890	0.00	2.40	0.00	0.000	6	0.000	0.034	3374	2419	2729
2081	1.73	122.2	21.3	9.8	180	2085	0.00	2.50	0.00	0.000	4	0.000	0.050	3375	1026	2728
2154	1.73	122.2	14.4	9.6	189	2160	0.00	2.40	0.00	0.000	6	0.000	0.034	3374	2417	2728
2226	1.73	122.2	9.1	6.7	200	2232	0.00	2.47	0.00	0.000	4	0.000	0.050	3374	1026	2728
2258	1.73	122.2	6.5	7.8	205	2265	0.00	2.40	0.00	0.000	6	0.000	0.034	3374	2419	2728
2331	1.74	131.7	2.2	6.2	216	2338	0.00	0.00	5.10	0.591	2	0.000	0.000	3374	2418	2700
2339	end climb: SURFACE_DEPTH_REACHED
state	2339	begin surface coast
2370	end surface coast: CONTROL_FINISHED_OK
state	2371	begin surface