Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 286 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 286 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 156 ALTIM_PING_DEPTH 50

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 20 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 350 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 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 30 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 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -54160.48 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 175 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 15 PITCH_MIN 460 AH0_24V 71.400002 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -8.3042984 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 20 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -8.3042984 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 15 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 30

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 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -54160.48

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 20 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 175 R_STBD_OVSHOOT 41 USE_ICE 0

DEEPGLIDERMB 0 MISSION 8 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 0 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 286 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 154207,4740.637,-12252.074,12,1.6,28,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.069,0.377

_SM_DEPTHo 0.51 KALMAN_X 2588.9,29.5,63.0,-1550.4,1235.7

_SM_ANGLEo -62.6 KALMAN_Y 1661.1,-1375.9,-426.5,1975.5,-11083.3

GPS2 154702,4740.618,-12252.065,10,1.9,15,18.3 MHEAD_RNG_PITCHd_Wd 172.8,2173,-11.1,-10.000

SPEED_LIMITS 0.373,0.383 D_GRID 100

Post-dive calculations and measurements:

FREEZE -0.23,11.058,-1.568 XPDR_PINGS 0

FINISH -0.2,1.021908 ALTIM_BOTTOM_PING 50.1,51.9

SM_CCo 3146,14.65,0.600,0,0,1790,350.04 _24V_AH 23.9,22.958

SM_GC 0.12,0.00,0.00,14.65,0.000,0.000,0.600,464,1799,1790,-12.13,-0.03,350.04 _10V_AH 10.2,17.941

IRIDIUM_FIX 4722.92,-12249.11,111007,181822 DATA_FILE_SIZE 6459,282

TT8_MAMPS 0.029146 CFSIZE 260034560,248586240

HUMID 2131 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.47689 GPS 111007,164214,4740.347,-12252.092,15,1.4,31,18.3

TCM_TEMP 19.60

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 211 156.59 SBE_CT 188 24 107.96

Roll_motor 35 83 70.33 nil 0 0 0.00

VBD_pump_during_apogee 383 655 5999.75 nil 0 0 0.00

VBD_pump_during_surface 14 599 210.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 93.93 nil 0 0 0.00

Iridium_during_connect 31 160 120.22 ARS 0 0 0.00

Iridium_during_xfer 131 223 700.27

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 0 6 0.00

GPS 15 50 7.70

TT8 545 19 110.27

LPSleep 1643 2 36.72

TT8_Active 480 19 97.11

TT8_Sampling 476 39 193.31

TT8_CF8 354 45 165.57

TT8_Kalman 33 81 27.80

Analog_circuits 783 12 95.93

GPS_charging 0 0 0.00

Compass 466 8 38.05

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.07 -171.1 0.0 0.0 0 104 0.00 0.00 -78.70 0.000 2 0.000 0.000 463 1801 3554

108 -1.07 -171.1 2.3 -5.0 13 139 15.50 2.67 -8.70 0.000 4 0.212 0.081 2861 397 3918

390 -1.07 -171.1 20.6 -6.1 55 397 0.00 2.45 0.00 0.000 6 0.000 0.031 2861 1809 3919

586 -1.07 -171.1 29.4 -4.0 71 591 0.00 2.67 0.00 0.000 4 0.000 0.067 2861 391 3920

625 -1.07 -171.1 31.4 -5.0 73 632 0.00 2.45 0.00 0.000 6 0.000 0.031 2861 1807 3920

821 -1.07 -171.1 40.8 -4.9 89 826 0.00 2.47 0.00 0.000 4 0.000 0.047 2861 3191 3920

873 -1.07 -171.1 43.2 -5.0 92 880 0.00 2.45 0.00 0.000 6 0.000 0.034 2861 1794 3920

1070 -1.07 -171.1 51.8 -4.4 108 1074 0.00 2.50 0.00 0.000 4 0.000 0.045 2861 3185 3920

1103 -1.07 -171.1 53.2 -4.5 110 1107 0.00 2.45 0.00 0.000 6 0.000 0.033 2861 1790 3920

1299 -1.07 -171.1 60.8 -3.8 125 1300 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1789 3919

1492 -1.07 -171.1 68.8 -4.2 140 1496 0.00 2.53 0.00 0.000 4 0.000 0.046 2861 3192 3920

1538 -1.07 -171.1 70.9 -4.6 143 1542 0.00 2.45 0.00 0.000 6 0.000 0.033 2861 1796 3920

1734 -1.07 -171.1 79.5 -4.7 158 1738 0.00 2.50 0.00 0.000 4 0.000 0.045 2861 3189 3919

1772 -1.07 -171.1 81.5 -4.8 160 1779 0.00 2.45 0.00 0.000 6 0.000 0.033 2861 1792 3919

1971 -1.07 -171.1 89.6 -3.4 176 1972 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1792 3920

1979 end dive: TARGET_DEPTH_EXCEEDED

state 1979 begin apogee

1985 -0.38 0.0 90.2 3.8 177 2126 0.75 0.00 136.77 0.655 6 0.085 0.000 3014 1731 3218

2130 end apogee: CONTROL_FINISHED_OK

state 2130 begin climb

2132 1.07 171.1 92.5 0.0 189 2274 1.45 0.00 134.25 0.620 6 0.058 0.000 3334 1731 2519

2462 1.22 295.2 69.4 7.7 216 2563 0.15 0.00 97.70 0.603 6 0.053 0.000 3370 1731 2013

2747 1.22 295.2 38.5 11.4 239 2751 0.00 2.53 0.00 0.000 4 0.000 0.047 3370 3117 2010

2780 1.22 295.2 34.9 11.6 241 2784 0.00 2.45 0.00 0.000 6 0.000 0.035 3370 1742 2009

2979 1.22 295.2 13.0 10.1 261 2984 0.00 0.00 0.00 0.000 6 0.000 0.000 3370 1742 2009

3054 1.29 353.5 6.4 8.9 272 3070 0.00 0.00 14.52 0.614 2 0.000 0.000 3369 1742 1935

3071 end climb: SURFACE_DEPTH_REACHED

state 3071 begin surface coast

3122 end surface coast: CONTROL_FINISHED_OK

state 3123 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	286	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	156	ALTIM_PING_DEPTH	50
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	20	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	350	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	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	30	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	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-54160.48	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	175	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	15	PITCH_MIN	460	AH0_24V	71.400002	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-8.3042984	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	154207,4740.637,-12252.074,12,1.6,28,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.069,0.377
_SM_DEPTHo	0.51	KALMAN_X	2588.9,29.5,63.0,-1550.4,1235.7
_SM_ANGLEo	-62.6	KALMAN_Y	1661.1,-1375.9,-426.5,1975.5,-11083.3
GPS2	154702,4740.618,-12252.065,10,1.9,15,18.3	MHEAD_RNG_PITCHd_Wd	172.8,2173,-11.1,-10.000
SPEED_LIMITS	0.373,0.383	D_GRID	100

FREEZE	-0.23,11.058,-1.568	XPDR_PINGS	0
FINISH	-0.2,1.021908	ALTIM_BOTTOM_PING	50.1,51.9
SM_CCo	3146,14.65,0.600,0,0,1790,350.04	_24V_AH	23.9,22.958
SM_GC	0.12,0.00,0.00,14.65,0.000,0.000,0.600,464,1799,1790,-12.13,-0.03,350.04	_10V_AH	10.2,17.941
IRIDIUM_FIX	4722.92,-12249.11,111007,181822	DATA_FILE_SIZE	6459,282
TT8_MAMPS	0.029146	CFSIZE	260034560,248586240
HUMID	2131	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.47689	GPS	111007,164214,4740.347,-12252.092,15,1.4,31,18.3
TCM_TEMP	19.60

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	211	156.59	SBE_CT	188	24	107.96
Roll_motor	35	83	70.33	nil	0	0	0.00
VBD_pump_during_apogee	383	655	5999.75	nil	0	0	0.00
VBD_pump_during_surface	14	599	210.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	93.93	nil	0	0	0.00
Iridium_during_connect	31	160	120.22	ARS	0	0	0.00
Iridium_during_xfer	131	223	700.27
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	0	6	0.00
GPS	15	50	7.70
TT8	545	19	110.27
LPSleep	1643	2	36.72
TT8_Active	480	19	97.11
TT8_Sampling	476	39	193.31
TT8_CF8	354	45	165.57
TT8_Kalman	33	81	27.80
Analog_circuits	783	12	95.93
GPS_charging	0	0	0.00
Compass	466	8	38.05
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.07	-171.1	0.0	0.0	0	104	0.00	0.00	-78.70	0.000	2	0.000	0.000	463	1801	3554
108	-1.07	-171.1	2.3	-5.0	13	139	15.50	2.67	-8.70	0.000	4	0.212	0.081	2861	397	3918
390	-1.07	-171.1	20.6	-6.1	55	397	0.00	2.45	0.00	0.000	6	0.000	0.031	2861	1809	3919
586	-1.07	-171.1	29.4	-4.0	71	591	0.00	2.67	0.00	0.000	4	0.000	0.067	2861	391	3920
625	-1.07	-171.1	31.4	-5.0	73	632	0.00	2.45	0.00	0.000	6	0.000	0.031	2861	1807	3920
821	-1.07	-171.1	40.8	-4.9	89	826	0.00	2.47	0.00	0.000	4	0.000	0.047	2861	3191	3920
873	-1.07	-171.1	43.2	-5.0	92	880	0.00	2.45	0.00	0.000	6	0.000	0.034	2861	1794	3920
1070	-1.07	-171.1	51.8	-4.4	108	1074	0.00	2.50	0.00	0.000	4	0.000	0.045	2861	3185	3920
1103	-1.07	-171.1	53.2	-4.5	110	1107	0.00	2.45	0.00	0.000	6	0.000	0.033	2861	1790	3920
1299	-1.07	-171.1	60.8	-3.8	125	1300	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1789	3919
1492	-1.07	-171.1	68.8	-4.2	140	1496	0.00	2.53	0.00	0.000	4	0.000	0.046	2861	3192	3920
1538	-1.07	-171.1	70.9	-4.6	143	1542	0.00	2.45	0.00	0.000	6	0.000	0.033	2861	1796	3920
1734	-1.07	-171.1	79.5	-4.7	158	1738	0.00	2.50	0.00	0.000	4	0.000	0.045	2861	3189	3919
1772	-1.07	-171.1	81.5	-4.8	160	1779	0.00	2.45	0.00	0.000	6	0.000	0.033	2861	1792	3919
1971	-1.07	-171.1	89.6	-3.4	176	1972	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1792	3920
1979	end dive: TARGET_DEPTH_EXCEEDED
state	1979	begin apogee
1985	-0.38	0.0	90.2	3.8	177	2126	0.75	0.00	136.77	0.655	6	0.085	0.000	3014	1731	3218
2130	end apogee: CONTROL_FINISHED_OK
state	2130	begin climb
2132	1.07	171.1	92.5	0.0	189	2274	1.45	0.00	134.25	0.620	6	0.058	0.000	3334	1731	2519
2462	1.22	295.2	69.4	7.7	216	2563	0.15	0.00	97.70	0.603	6	0.053	0.000	3370	1731	2013
2747	1.22	295.2	38.5	11.4	239	2751	0.00	2.53	0.00	0.000	4	0.000	0.047	3370	3117	2010
2780	1.22	295.2	34.9	11.6	241	2784	0.00	2.45	0.00	0.000	6	0.000	0.035	3370	1742	2009
2979	1.22	295.2	13.0	10.1	261	2984	0.00	0.00	0.00	0.000	6	0.000	0.000	3370	1742	2009
3054	1.29	353.5	6.4	8.9	272	3070	0.00	0.00	14.52	0.614	2	0.000	0.000	3369	1742	1935
3071	end climb: SURFACE_DEPTH_REACHED
state	3071	begin surface coast
3122	end surface coast: CONTROL_FINISHED_OK
state	3123	begin surface