Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 271 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 80 HD_C 5.8987e-05 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 11 HEADING -1 ROLL_MIN 300 ALTIM_PING_DEPTH 80

DIVE 271 ESCAPE_HEADING 0 ROLL_MAX 3750 ALTIM_PING_DELTA 10

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_FLARE 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2069 ALTIM_PULSE 3

D_TGT 95 TGT_DEFAULT_LAT 47.599998 C_ROLL_CLIMB 2069 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_DEFAULT_LON -122.3 HEAD_ERRBAND 10 XPDR_VALID 0

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 XPDR_INHIBIT 90

D_BOOST 0 SM_CC 300 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 N_FILEKB 4 R_PORT_OVSHOOT 2 INT_PRESSURE_YINT 0

D_PITCH 0 FILEMGR 0 R_STBD_OVSHOOT 1 DEEPGLIDER 0

D_SAFE 0 CALL_NDIVES 1 ROLL_AD_RATE 400 DEEPGLIDERMB 0

D_CALL 0 COMM_SEQ 0 ROLL_MAXERRORS 10 MOTHERBOARD 4

SURFACE_URGENCY 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEVICE2 -1

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MIN 188 DEVICE3 -1

T_DIVE 63 UPLOAD_DIVES_MAX -1 VBD_MAX 3616 DEVICE4 -1

T_MISSION 75 CALL_TRIES 5 C_VBD 2473 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_DBAND 2 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 VBD_CNV -0.24529999 SMARTS 1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_TIMEOUT 360 SMARTDEVICE1 3

T_NO_W 120 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE2 -1

T_LOITER 0 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 COMPASS_DEVICE 1

USE_BATHY -4 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS2_DEVICE -1

USE_ICE 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 PHONE_DEVICE 32

ICE_FREEZE_MARGIN 0.30000001 T_GPS_CHARGE -31096.652 UNCOM_BLEED 20 GPS_DEVICE 48

D_OFFGRID 100 T_RSLEEP 3 VBD_MAXERRORS 1 RAFOS_DEVICE -1

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 CF8_MAXERRORS 0 XPDR_DEVICE -1

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_24V 91.800003 SIM_W 0

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 AH0_10V 61.200001 SIM_PITCH 0

MAX_BUOY 150 PITCH_MIN 30 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MAX 4065 PRESSURE_YINT -0.16054545 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 C_PITCH 2692 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 PITCH_DBAND 0.1 AD7714Ch0Gain 1 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_CNV 0.0046000001 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.331019

MASS 52000 P_OVSHOOT 0.039999999 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763502

NAV_MODE 1 PITCH_GAIN 16 COMPASS_USE 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0 AR_RESETARS 0.0

HD_A 0.0043390002 PITCH_MAXERRORS 10 ALTIM_BOTTOM_TURN_MARGIN 0 AR_RECORDBELOW 0.0

HD_B 0.013382 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0 AR_NOTIFYAPOGEE 0.0

AD7714Ch0Gain 1 D_ABORT 1090 PITCH_ADJ_DBAND 0 SMARTDEVICE1 3

AH0_10V 61.200001 D_BOOST 0 PITCH_ADJ_GAIN 0 SMARTDEVICE2 -1

AH0_24V 91.800003 D_CALL 0 PITCH_AD_RATE 175 SMARTS 1

ALTIM_BOTTOM_PING_RANGE 25 D_FINISH 0 PITCH_CNV 0.0046000001 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 D_FLARE 3 PITCH_DBAND 0.1 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_NO_BLEED 200 PITCH_GAIN 16 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_OFFGRID 100 PITCH_MAX 4065 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_PITCH 0 PITCH_MAXERRORS 10 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 D_SAFE 0 PITCH_MIN 30 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 D_SURF 2 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 D_TGT 95 PITCH_VBD_SHIFT 0.0012300001 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -0.16054545 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 FERRY_MAX 45 P_OVSHOOT 0.039999999 T_ABORT 1440

AR_NOTIFYAPOGEE 0.0 FILEMGR 0 RAFOS_CORR_THRESH 60 T_DIVE 63

AR_RECORDBELOW 0.0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_GPS 15

AR_RESETARS 0.0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_GPS_ALMANAC 0

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_PEAK_OFFSET 1.5 T_GPS_CHARGE -31096.652

CALL_TRIES 5 HD_A 0.0043390002 RELAUNCH 1 T_LOITER 0

CALL_WAIT 60 HD_B 0.013382 RHO 1.023 T_MISSION 75

CAPMAXSIZE 100000 HD_C 5.8987e-05 ROLL_ADJ_DBAND 0 T_NO_W 120

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_GAIN 0 T_RSLEEP 3

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_AD_RATE 400 T_TURN 270

COMM_SEQ 0 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_DEVICE 1 ID 80 ROLL_MAX 3750 UNCOM_BLEED 20

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 10 UPLOAD_DIVES_MAX -1

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MIN 300 USE_BATHY -4

C_PITCH 2692 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_CLIMB 2069 KERMIT 0 R_PORT_OVSHOOT 2 VBD_BLEED_AD_RATE 8

C_ROLL_DIVE 2069 MASS 52000 R_STBD_OVSHOOT 1 VBD_CNV -0.24529999

C_VBD 2473 MAX_BUOY 150 SEABIRD_C_G -10.331019 VBD_DBAND 2

DEEPGLIDER 0 MISSION 11 SEABIRD_C_H 1.1763502 VBD_MAX 3616

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_I -0.0012340198 VBD_MAXERRORS 1

DEVICE1 2 NAV_MODE 1 SEABIRD_C_J 0.00017379176 VBD_MIN 188

DEVICE2 -1 N_FILEKB 4 SEABIRD_T_G 0.0043805656 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE3 -1 N_GPS 20 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_I 2.5554549e-05 VBD_TIMEOUT 360

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_J 2.6681391e-06 XPDR_DEVICE -1

DEVICE6 -1 PHONE_DEVICE 32 SIM_PITCH 0 XPDR_INHIBIT 90

DIVE 271 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 201612,4804.868,-12220.993,17,1.1,17,18.0 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.042,0.107

_SM_DEPTHo 0.00 KALMAN_X 18644.4,-63.4,67.9,-15453.0,-149.7

_SM_ANGLEo -50.0 KALMAN_Y 645.0,56.6,-104.4,-5855.9,-174.6

GPS2 202252,4804.874,-12221.008,27,1.1,28,18.0 MHEAD_RNG_PITCHd_Wd 3.5,233,-18.7,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.6,0.996868 _24V_AH 23.8,30.883

SM_CCo 2704,139.40,0.004,18,0,1249,300.00 _10V_AH 9.7,41.643

SM_GC 0.00,0.00,0.00,139.40,0.000,0.000,0.004,147,1992,1249,-11.72,-2.18,300.00 DATA_FILE_SIZE 6447,219

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 51743,8

TT8_MAMPS 0.049088 CFSIZE 260165632,250789888

HUMID 1513 ERRORS 0,0,0,0,0,0,0,0,1,0,0,82,169,18,0

INTERNAL_PRESSURE 12.4321 GPS 060808,211530,4804.973,-12220.914,30,1.1,30,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 4 3.47 SBE_CT 171 24 97.93

Roll_motor 40 3 3.71 nil 0 0 0.00

VBD_pump_during_apogee 227 4 24.96 nil 0 0 0.00

VBD_pump_during_surface 139 3 12.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 ARS 0 216 0.00

Iridium_during_xfer 77 223 410.01

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 28 50 13.80

TT8 440 18 76.90

LPSleep 1401 0 5.30

TT8_Active 564 18 98.54

TT8_Sampling 393 38 145.02

TT8_CF8 599 44 256.05

TT8_Kalman 33 80 25.87

Analog_circuits 876 12 102.02

GPS_charging 0 0 0.00

Compass 309 26 77.97

RAFOS 0 0 0.00

Transponder 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

123 end surface: CONTROL_FINISHED_OK

state 124 begin dive

127 -1.24 -60.5 0.0 0.0 0 182 0.00 0.00 -48.75 0.000 6 0.000 0.000 300 1965 2725

185 -1.34 -137.8 0.2 -0.4 6 217 11.00 2.78 -10.38 0.000 4 0.004 0.004 2431 3605 3037

521 -1.34 -137.8 22.4 -7.9 36 527 0.30 2.78 0.00 0.000 6 0.004 0.004 2358 1969 3038

558 -1.34 -137.8 25.4 -7.8 39 564 0.30 2.65 0.00 0.000 4 0.004 0.004 2433 3624 3038

868 -1.34 -137.8 45.6 -6.9 66 877 0.43 3.03 0.00 0.000 6 0.004 0.004 2358 1971 3038

909 -1.34 -137.8 48.3 -6.7 70 915 0.32 2.65 0.00 0.000 4 0.005 0.004 2428 3590 3038

1050 -1.34 -137.8 57.6 -6.3 82 1056 0.30 2.80 0.00 0.000 6 0.004 0.004 2351 1944 3039

1089 -1.34 -137.8 60.0 -6.5 85 1095 0.25 2.60 0.00 0.000 4 0.004 0.004 2430 490 3037

1398 -1.34 -137.8 79.5 -6.4 112 1404 0.30 2.97 0.00 0.000 6 0.004 0.004 2352 2267 3038

1436 -1.34 -137.8 82.1 -7.0 115 1442 0.40 3.03 0.00 0.000 4 0.004 0.004 2425 523 3038

1642 end dive: TARGET_DEPTH_EXCEEDED

state 1642 begin apogee

1651 -0.31 0.0 95.2 6.0 133 1770 0.98 0.00 114.43 0.005 6 0.005 0.000 2654 2167 2472

1771 end apogee: CONTROL_FINISHED_OK

state 1771 begin climb

1774 1.34 137.8 91.1 0.0 145 1897 1.80 2.53 113.43 0.005 4 0.004 0.004 3031 3615 1908

2201 1.34 137.8 40.6 11.1 184 2207 0.30 2.88 0.00 0.000 6 0.003 0.004 2956 1957 1908

2239 1.34 137.8 36.7 10.5 187 2244 0.40 2.65 0.00 0.000 4 0.004 0.004 3029 3639 1909

2548 1.34 137.8 6.3 8.8 214 2554 0.30 2.95 0.00 0.000 6 0.003 0.004 2956 1887 1910

2587 1.34 137.8 2.1 11.6 217 2591 0.38 0.93 0.00 0.000 3 0.004 0.004 3026 2498 1909

2592 end climb: SURFACE_DEPTH_REACHED

state 2592 begin surface coast

2608 end surface coast: CONTROL_FINISHED_OK

state 2608 begin surface

ID	80	HD_C	5.8987e-05	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	11	HEADING	-1	ROLL_MIN	300	ALTIM_PING_DEPTH	80
DIVE	271	ESCAPE_HEADING	0	ROLL_MAX	3750	ALTIM_PING_DELTA	10
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_FLARE	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2069	ALTIM_PULSE	3
D_TGT	95	TGT_DEFAULT_LAT	47.599998	C_ROLL_CLIMB	2069	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_DEFAULT_LON	-122.3	HEAD_ERRBAND	10	XPDR_VALID	0
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	XPDR_INHIBIT	90
D_BOOST	0	SM_CC	300	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	N_FILEKB	4	R_PORT_OVSHOOT	2	INT_PRESSURE_YINT	0
D_PITCH	0	FILEMGR	0	R_STBD_OVSHOOT	1	DEEPGLIDER	0
D_SAFE	0	CALL_NDIVES	1	ROLL_AD_RATE	400	DEEPGLIDERMB	0
D_CALL	0	COMM_SEQ	0	ROLL_MAXERRORS	10	MOTHERBOARD	4
SURFACE_URGENCY	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEVICE2	-1
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MIN	188	DEVICE3	-1
T_DIVE	63	UPLOAD_DIVES_MAX	-1	VBD_MAX	3616	DEVICE4	-1
T_MISSION	75	CALL_TRIES	5	C_VBD	2473	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_DBAND	2	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	VBD_CNV	-0.24529999	SMARTS	1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_TIMEOUT	360	SMARTDEVICE1	3
T_NO_W	120	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE2	-1
T_LOITER	0	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	COMPASS_DEVICE	1
USE_BATHY	-4	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS2_DEVICE	-1
USE_ICE	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	PHONE_DEVICE	32
ICE_FREEZE_MARGIN	0.30000001	T_GPS_CHARGE	-31096.652	UNCOM_BLEED	20	GPS_DEVICE	48
D_OFFGRID	100	T_RSLEEP	3	VBD_MAXERRORS	1	RAFOS_DEVICE	-1
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	CF8_MAXERRORS	0	XPDR_DEVICE	-1
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_24V	91.800003	SIM_W	0
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	AH0_10V	61.200001	SIM_PITCH	0
MAX_BUOY	150	PITCH_MIN	30	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MAX	4065	PRESSURE_YINT	-0.16054545	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	C_PITCH	2692	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	PITCH_DBAND	0.1	AD7714Ch0Gain	1	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_CNV	0.0046000001	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.331019
MASS	52000	P_OVSHOOT	0.039999999	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763502
NAV_MODE	1	PITCH_GAIN	16	COMPASS_USE	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0	AR_RESETARS	0.0
HD_A	0.0043390002	PITCH_MAXERRORS	10	ALTIM_BOTTOM_TURN_MARGIN	0	AR_RECORDBELOW	0.0
HD_B	0.013382	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	AR_NOTIFYAPOGEE	0.0

GPS1	201612,4804.868,-12220.993,17,1.1,17,18.0	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.042,0.107
_SM_DEPTHo	0.00	KALMAN_X	18644.4,-63.4,67.9,-15453.0,-149.7
_SM_ANGLEo	-50.0	KALMAN_Y	645.0,56.6,-104.4,-5855.9,-174.6
GPS2	202252,4804.874,-12221.008,27,1.1,28,18.0	MHEAD_RNG_PITCHd_Wd	3.5,233,-18.7,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.6,0.996868	_24V_AH	23.8,30.883
SM_CCo	2704,139.40,0.004,18,0,1249,300.00	_10V_AH	9.7,41.643
SM_GC	0.00,0.00,0.00,139.40,0.000,0.000,0.004,147,1992,1249,-11.72,-2.18,300.00	DATA_FILE_SIZE	6447,219
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	51743,8
TT8_MAMPS	0.049088	CFSIZE	260165632,250789888
HUMID	1513	ERRORS	0,0,0,0,0,0,0,0,1,0,0,82,169,18,0
INTERNAL_PRESSURE	12.4321	GPS	060808,211530,4804.973,-12220.914,30,1.1,30,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	4	3.47	SBE_CT	171	24	97.93
Roll_motor	40	3	3.71	nil	0	0	0.00
VBD_pump_during_apogee	227	4	24.96	nil	0	0	0.00
VBD_pump_during_surface	139	3	12.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	ARS	0	216	0.00
Iridium_during_xfer	77	223	410.01
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	28	50	13.80
TT8	440	18	76.90
LPSleep	1401	0	5.30
TT8_Active	564	18	98.54
TT8_Sampling	393	38	145.02
TT8_CF8	599	44	256.05
TT8_Kalman	33	80	25.87
Analog_circuits	876	12	102.02
GPS_charging	0	0	0.00
Compass	309	26	77.97
RAFOS	0	0	0.00
Transponder	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
123	end surface: CONTROL_FINISHED_OK
state	124	begin dive
127	-1.24	-60.5	0.0	0.0	0	182	0.00	0.00	-48.75	0.000	6	0.000	0.000	300	1965	2725
185	-1.34	-137.8	0.2	-0.4	6	217	11.00	2.78	-10.38	0.000	4	0.004	0.004	2431	3605	3037
521	-1.34	-137.8	22.4	-7.9	36	527	0.30	2.78	0.00	0.000	6	0.004	0.004	2358	1969	3038
558	-1.34	-137.8	25.4	-7.8	39	564	0.30	2.65	0.00	0.000	4	0.004	0.004	2433	3624	3038
868	-1.34	-137.8	45.6	-6.9	66	877	0.43	3.03	0.00	0.000	6	0.004	0.004	2358	1971	3038
909	-1.34	-137.8	48.3	-6.7	70	915	0.32	2.65	0.00	0.000	4	0.005	0.004	2428	3590	3038
1050	-1.34	-137.8	57.6	-6.3	82	1056	0.30	2.80	0.00	0.000	6	0.004	0.004	2351	1944	3039
1089	-1.34	-137.8	60.0	-6.5	85	1095	0.25	2.60	0.00	0.000	4	0.004	0.004	2430	490	3037
1398	-1.34	-137.8	79.5	-6.4	112	1404	0.30	2.97	0.00	0.000	6	0.004	0.004	2352	2267	3038
1436	-1.34	-137.8	82.1	-7.0	115	1442	0.40	3.03	0.00	0.000	4	0.004	0.004	2425	523	3038
1642	end dive: TARGET_DEPTH_EXCEEDED
state	1642	begin apogee
1651	-0.31	0.0	95.2	6.0	133	1770	0.98	0.00	114.43	0.005	6	0.005	0.000	2654	2167	2472
1771	end apogee: CONTROL_FINISHED_OK
state	1771	begin climb
1774	1.34	137.8	91.1	0.0	145	1897	1.80	2.53	113.43	0.005	4	0.004	0.004	3031	3615	1908
2201	1.34	137.8	40.6	11.1	184	2207	0.30	2.88	0.00	0.000	6	0.003	0.004	2956	1957	1908
2239	1.34	137.8	36.7	10.5	187	2244	0.40	2.65	0.00	0.000	4	0.004	0.004	3029	3639	1909
2548	1.34	137.8	6.3	8.8	214	2554	0.30	2.95	0.00	0.000	6	0.003	0.004	2956	1887	1910
2587	1.34	137.8	2.1	11.6	217	2591	0.38	0.93	0.00	0.000	3	0.004	0.004	3026	2498	1909
2592	end climb: SURFACE_DEPTH_REACHED
state	2592	begin surface coast
2608	end surface coast: CONTROL_FINISHED_OK
state	2608	begin surface