Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 278 * 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 278 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 -31261.34 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 -31261.34

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 278 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 033847,4805.058,-12221.013,29,1.1,30,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.025,0.155

_SM_DEPTHo 0.00 KALMAN_X 17100.6,-47.7,-83.3,-13839.9,-202.4

_SM_ANGLEo -50.0 KALMAN_Y -516.4,-77.3,178.5,-4506.9,-142.1

GPS2 034536,4805.059,-12221.062,26,1.1,26,18.0 MHEAD_RNG_PITCHd_Wd 332.9,6547,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.8,0.997160 _24V_AH 23.8,31.680

SM_CCo 2714,132.32,0.004,18,0,1250,300.00 _10V_AH 9.7,41.833

SM_GC 0.00,0.00,0.00,132.32,0.000,0.000,0.004,144,2142,1250,-11.71,2.04,300.00 DATA_FILE_SIZE 6460,218

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 51813,8

TT8_MAMPS 0.049855 CFSIZE 260165632,250605568

HUMID 1511 ERRORS 0,0,0,0,0,0,0,0,1,0,0,75,186,18,0

INTERNAL_PRESSURE 12.4126 GPS 070808,043759,4805.059,-12220.798,11,1.1,11,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 4 3.38 SBE_CT 168 24 96.42

Roll_motor 45 3 4.17 nil 0 0 0.00

VBD_pump_during_apogee 242 4 26.58 nil 0 0 0.00

VBD_pump_during_surface 132 3 12.08 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 87 223 465.76

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 50 13.31

TT8 436 18 76.27

LPSleep 1396 0 5.28

TT8_Active 575 18 100.54

TT8_Sampling 390 38 144.00

TT8_CF8 612 44 261.60

TT8_Kalman 33 80 25.88

Analog_circuits 887 12 103.35

GPS_charging 0 0 0.00

Compass 309 26 78.12

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

126 end surface: CONTROL_FINISHED_OK

state 126 begin dive

129 -0.84 -146.6 0.0 0.0 0 192 0.00 0.00 -60.80 0.000 6 0.000 0.000 145 2205 3076

196 -0.84 -146.6 0.3 -0.6 6 216 11.82 2.30 0.00 0.000 4 0.004 0.004 2546 3630 3076

255 -0.84 -146.6 1.0 -1.4 11 262 0.30 3.10 0.00 0.000 6 0.004 0.004 2469 1886 3076

293 -0.84 -146.6 6.3 -15.5 15 299 0.32 2.90 0.00 0.000 4 0.004 0.004 2542 3575 3076

603 -0.84 -146.6 27.8 -7.2 42 609 0.30 3.03 0.00 0.000 6 0.004 0.004 2468 1931 3077

642 -0.84 -146.6 30.5 -7.3 45 648 0.40 2.85 0.00 0.000 4 0.005 0.004 2546 3662 3076

952 -0.84 -146.6 53.2 -7.9 72 958 0.30 2.97 0.00 0.000 6 0.004 0.004 2472 1911 3077

989 -0.84 -146.6 56.0 -7.3 75 995 0.30 2.72 0.00 0.000 4 0.004 0.004 2549 3578 3077

1298 -0.84 -146.6 79.2 -7.4 102 1304 0.30 2.65 0.00 0.000 6 0.004 0.004 2476 1949 3075

1336 -0.84 -146.6 82.0 -7.7 105 1342 0.28 2.90 0.00 0.000 4 0.004 0.004 2552 3595 3076

1507 end dive: TARGET_DEPTH_EXCEEDED

state 1507 begin apogee

1517 -0.31 0.0 95.2 7.5 120 1644 0.47 0.00 121.93 0.005 6 0.004 0.000 2665 1961 2473

1645 end apogee: CONTROL_FINISHED_OK

state 1645 begin climb

1648 0.84 146.6 94.1 0.0 133 1780 1.27 2.47 120.75 0.005 4 0.004 0.003 2930 538 1874

2087 0.84 146.6 48.9 10.2 173 2093 0.50 2.90 0.00 0.000 6 0.003 0.004 2822 2212 1875

2124 0.84 146.6 45.3 9.8 176 2130 0.32 2.83 0.00 0.000 4 0.004 0.004 2859 462 1874

2434 0.84 146.6 16.5 9.0 203 2439 0.00 3.35 0.00 0.000 6 0.000 0.004 2858 2232 1875

2472 0.84 146.6 12.9 9.7 206 2477 0.00 3.17 0.00 0.000 4 0.000 0.004 2859 509 1876

2591 end climb: SURFACE_DEPTH_REACHED

state 2591 begin surface coast

2617 end surface coast: CONTROL_FINISHED_OK

state 2617 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	278	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	-31261.34	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	033847,4805.058,-12221.013,29,1.1,30,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.025,0.155
_SM_DEPTHo	0.00	KALMAN_X	17100.6,-47.7,-83.3,-13839.9,-202.4
_SM_ANGLEo	-50.0	KALMAN_Y	-516.4,-77.3,178.5,-4506.9,-142.1
GPS2	034536,4805.059,-12221.062,26,1.1,26,18.0	MHEAD_RNG_PITCHd_Wd	332.9,6547,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.8,0.997160	_24V_AH	23.8,31.680
SM_CCo	2714,132.32,0.004,18,0,1250,300.00	_10V_AH	9.7,41.833
SM_GC	0.00,0.00,0.00,132.32,0.000,0.000,0.004,144,2142,1250,-11.71,2.04,300.00	DATA_FILE_SIZE	6460,218
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	51813,8
TT8_MAMPS	0.049855	CFSIZE	260165632,250605568
HUMID	1511	ERRORS	0,0,0,0,0,0,0,0,1,0,0,75,186,18,0
INTERNAL_PRESSURE	12.4126	GPS	070808,043759,4805.059,-12220.798,11,1.1,11,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	4	3.38	SBE_CT	168	24	96.42
Roll_motor	45	3	4.17	nil	0	0	0.00
VBD_pump_during_apogee	242	4	26.58	nil	0	0	0.00
VBD_pump_during_surface	132	3	12.08	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	87	223	465.76
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	50	13.31
TT8	436	18	76.27
LPSleep	1396	0	5.28
TT8_Active	575	18	100.54
TT8_Sampling	390	38	144.00
TT8_CF8	612	44	261.60
TT8_Kalman	33	80	25.88
Analog_circuits	887	12	103.35
GPS_charging	0	0	0.00
Compass	309	26	78.12
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
126	end surface: CONTROL_FINISHED_OK
state	126	begin dive
129	-0.84	-146.6	0.0	0.0	0	192	0.00	0.00	-60.80	0.000	6	0.000	0.000	145	2205	3076
196	-0.84	-146.6	0.3	-0.6	6	216	11.82	2.30	0.00	0.000	4	0.004	0.004	2546	3630	3076
255	-0.84	-146.6	1.0	-1.4	11	262	0.30	3.10	0.00	0.000	6	0.004	0.004	2469	1886	3076
293	-0.84	-146.6	6.3	-15.5	15	299	0.32	2.90	0.00	0.000	4	0.004	0.004	2542	3575	3076
603	-0.84	-146.6	27.8	-7.2	42	609	0.30	3.03	0.00	0.000	6	0.004	0.004	2468	1931	3077
642	-0.84	-146.6	30.5	-7.3	45	648	0.40	2.85	0.00	0.000	4	0.005	0.004	2546	3662	3076
952	-0.84	-146.6	53.2	-7.9	72	958	0.30	2.97	0.00	0.000	6	0.004	0.004	2472	1911	3077
989	-0.84	-146.6	56.0	-7.3	75	995	0.30	2.72	0.00	0.000	4	0.004	0.004	2549	3578	3077
1298	-0.84	-146.6	79.2	-7.4	102	1304	0.30	2.65	0.00	0.000	6	0.004	0.004	2476	1949	3075
1336	-0.84	-146.6	82.0	-7.7	105	1342	0.28	2.90	0.00	0.000	4	0.004	0.004	2552	3595	3076
1507	end dive: TARGET_DEPTH_EXCEEDED
state	1507	begin apogee
1517	-0.31	0.0	95.2	7.5	120	1644	0.47	0.00	121.93	0.005	6	0.004	0.000	2665	1961	2473
1645	end apogee: CONTROL_FINISHED_OK
state	1645	begin climb
1648	0.84	146.6	94.1	0.0	133	1780	1.27	2.47	120.75	0.005	4	0.004	0.003	2930	538	1874
2087	0.84	146.6	48.9	10.2	173	2093	0.50	2.90	0.00	0.000	6	0.003	0.004	2822	2212	1875
2124	0.84	146.6	45.3	9.8	176	2130	0.32	2.83	0.00	0.000	4	0.004	0.004	2859	462	1874
2434	0.84	146.6	16.5	9.0	203	2439	0.00	3.35	0.00	0.000	6	0.000	0.004	2858	2232	1875
2472	0.84	146.6	12.9	9.7	206	2477	0.00	3.17	0.00	0.000	4	0.000	0.004	2859	509	1876
2591	end climb: SURFACE_DEPTH_REACHED
state	2591	begin surface coast
2617	end surface coast: CONTROL_FINISHED_OK
state	2617	begin surface