Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 287 * 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 287 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 46 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 -54173.141 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 -54173.141

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 46 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 287 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 164214,4740.347,-12252.092,15,1.4,31,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.223,-0.312

_SM_DEPTHo 0.47 KALMAN_X 2449.5,286.0,326.0,-1970.6,61.9

_SM_ANGLEo -62.8 KALMAN_Y 2785.4,-3732.7,-2876.2,5216.4,-619.2

GPS2 164726,4740.342,-12252.092,12,1.4,12,18.3 MHEAD_RNG_PITCHd_Wd 175.1,1666,-11.1,-10.000

SPEED_LIMITS 0.373,0.383 D_GRID 115

Post-dive calculations and measurements:

FREEZE -0.27,10.745,-0.729 XPDR_PINGS 0

FINISH -0.3,1.010102 ALTIM_BOTTOM_PING 50.5,52.4

SM_CCo 3190,12.70,0.600,0,0,1790,350.04 _24V_AH 23.9,23.040

SM_GC 0.32,0.00,0.00,12.70,0.000,0.000,0.600,462,1817,1790,-12.13,0.48,350.04 _10V_AH 10.2,17.965

IRIDIUM_FIX 4722.92,-12253.53,111007,191950 DATA_FILE_SIZE 6441,283

TT8_MAMPS 0.029146 CFSIZE 260034560,248557568

HUMID 2103 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.47689 GPS 111007,174317,4740.047,-12252.203,9,3.6,28,18.3

TCM_TEMP 19.50

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 210 157.79 SBE_CT 188 24 108.30

Roll_motor 40 82 79.54 nil 0 0 0.00

VBD_pump_during_apogee 385 658 6068.75 nil 0 0 0.00

VBD_pump_during_surface 12 599 182.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 98.48 nil 0 0 0.00

Iridium_during_connect 35 160 137.17 ARS 0 0 0.00

Iridium_during_xfer 144 223 768.07

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 0 6 0.00

GPS 12 50 6.14

TT8 546 19 110.32

LPSleep 1675 2 37.44

TT8_Active 467 19 94.47

TT8_Sampling 494 39 200.79

TT8_CF8 374 45 175.15

TT8_Kalman 33 81 27.80

Analog_circuits 789 12 96.57

GPS_charging 0 0 0.00

Compass 486 8 39.71

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 0 105 0.00 0.00 -78.75 0.000 2 0.000 0.000 464 1800 3561

108 -1.07 -171.1 2.2 -4.1 13 139 15.43 2.67 -8.50 0.000 4 0.211 0.082 2862 397 3919

390 -1.07 -171.1 20.9 -4.4 54 397 0.00 2.42 0.00 0.000 6 0.000 0.030 2861 1798 3921

586 -1.07 -171.1 29.2 -4.4 70 591 0.00 2.50 0.00 0.000 4 0.000 0.048 2861 3193 3921

646 -1.07 -171.1 32.0 -5.2 74 651 0.00 2.47 0.00 0.000 6 0.000 0.034 2861 1789 3921

842 -1.07 -171.1 41.5 -4.8 89 843 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1789 3921

1038 -1.07 -171.1 50.5 -5.1 104 1042 0.00 2.53 0.00 0.000 4 0.000 0.047 2861 3188 3920

1097 -1.07 -171.1 53.7 -5.0 108 1101 0.00 2.45 0.00 0.000 6 0.000 0.033 2861 1793 3921

1293 -1.07 -171.1 62.3 -4.5 123 1294 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1793 3921

1486 -1.07 -171.1 69.5 -2.8 138 1490 0.00 2.53 0.00 0.000 4 0.000 0.047 2861 3195 3921

1551 -1.07 -171.1 71.1 -2.3 142 1558 0.00 2.45 0.00 0.000 6 0.000 0.033 2861 1798 3921

1748 -1.07 -171.1 79.6 -3.9 158 1749 0.00 0.00 0.00 0.000 6 0.000 0.000 2861 1798 3921

1940 -1.07 -171.1 89.2 -5.2 173 1945 0.00 2.50 0.00 0.000 4 0.000 0.046 2861 3186 3921

1949 end dive: TARGET_DEPTH_EXCEEDED

state 1949 begin apogee

1958 -0.38 0.0 90.1 5.1 173 2099 0.73 0.00 136.80 0.651 6 0.087 0.000 3012 1733 3217

2102 end apogee: CONTROL_FINISHED_OK

state 2102 begin climb

2104 1.07 171.1 92.7 0.0 185 2245 1.48 0.00 134.12 0.617 6 0.063 0.000 3334 1733 2519

2429 1.18 264.0 71.0 8.2 211 2508 0.10 2.58 72.55 0.607 4 0.059 0.047 3361 3123 2139

2548 1.18 264.0 59.4 10.1 220 2552 0.00 2.47 0.00 0.000 6 0.000 0.035 3361 1742 2137

2744 1.19 271.7 39.8 9.9 235 2756 0.00 2.75 5.10 0.658 4 0.000 0.077 3361 324 2109

2775 1.19 271.7 36.3 11.3 237 2782 0.00 2.47 0.00 0.000 6 0.000 0.031 3361 1734 2109

2973 1.19 272.9 17.2 10.0 255 2979 0.00 2.53 0.00 0.000 4 0.000 0.048 3361 3137 2109

3000 1.20 282.5 14.6 9.8 259 3015 0.00 2.50 8.38 0.637 6 0.000 0.035 3361 1734 2065

3081 1.39 435.2 7.6 7.1 271 3113 0.15 0.00 28.90 0.597 2 0.049 0.000 3405 1734 1919

3114 end climb: SURFACE_DEPTH_REACHED

state 3114 begin surface coast

3165 end surface coast: CONTROL_FINISHED_OK

state 3165 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	287	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	46	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	-54173.141	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	164214,4740.347,-12252.092,15,1.4,31,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.223,-0.312
_SM_DEPTHo	0.47	KALMAN_X	2449.5,286.0,326.0,-1970.6,61.9
_SM_ANGLEo	-62.8	KALMAN_Y	2785.4,-3732.7,-2876.2,5216.4,-619.2
GPS2	164726,4740.342,-12252.092,12,1.4,12,18.3	MHEAD_RNG_PITCHd_Wd	175.1,1666,-11.1,-10.000
SPEED_LIMITS	0.373,0.383	D_GRID	115

FREEZE	-0.27,10.745,-0.729	XPDR_PINGS	0
FINISH	-0.3,1.010102	ALTIM_BOTTOM_PING	50.5,52.4
SM_CCo	3190,12.70,0.600,0,0,1790,350.04	_24V_AH	23.9,23.040
SM_GC	0.32,0.00,0.00,12.70,0.000,0.000,0.600,462,1817,1790,-12.13,0.48,350.04	_10V_AH	10.2,17.965
IRIDIUM_FIX	4722.92,-12253.53,111007,191950	DATA_FILE_SIZE	6441,283
TT8_MAMPS	0.029146	CFSIZE	260034560,248557568
HUMID	2103	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.47689	GPS	111007,174317,4740.047,-12252.203,9,3.6,28,18.3
TCM_TEMP	19.50

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	210	157.79	SBE_CT	188	24	108.30
Roll_motor	40	82	79.54	nil	0	0	0.00
VBD_pump_during_apogee	385	658	6068.75	nil	0	0	0.00
VBD_pump_during_surface	12	599	182.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	98.48	nil	0	0	0.00
Iridium_during_connect	35	160	137.17	ARS	0	0	0.00
Iridium_during_xfer	144	223	768.07
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	0	6	0.00
GPS	12	50	6.14
TT8	546	19	110.32
LPSleep	1675	2	37.44
TT8_Active	467	19	94.47
TT8_Sampling	494	39	200.79
TT8_CF8	374	45	175.15
TT8_Kalman	33	81	27.80
Analog_circuits	789	12	96.57
GPS_charging	0	0	0.00
Compass	486	8	39.71
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	105	0.00	0.00	-78.75	0.000	2	0.000	0.000	464	1800	3561
108	-1.07	-171.1	2.2	-4.1	13	139	15.43	2.67	-8.50	0.000	4	0.211	0.082	2862	397	3919
390	-1.07	-171.1	20.9	-4.4	54	397	0.00	2.42	0.00	0.000	6	0.000	0.030	2861	1798	3921
586	-1.07	-171.1	29.2	-4.4	70	591	0.00	2.50	0.00	0.000	4	0.000	0.048	2861	3193	3921
646	-1.07	-171.1	32.0	-5.2	74	651	0.00	2.47	0.00	0.000	6	0.000	0.034	2861	1789	3921
842	-1.07	-171.1	41.5	-4.8	89	843	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1789	3921
1038	-1.07	-171.1	50.5	-5.1	104	1042	0.00	2.53	0.00	0.000	4	0.000	0.047	2861	3188	3920
1097	-1.07	-171.1	53.7	-5.0	108	1101	0.00	2.45	0.00	0.000	6	0.000	0.033	2861	1793	3921
1293	-1.07	-171.1	62.3	-4.5	123	1294	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1793	3921
1486	-1.07	-171.1	69.5	-2.8	138	1490	0.00	2.53	0.00	0.000	4	0.000	0.047	2861	3195	3921
1551	-1.07	-171.1	71.1	-2.3	142	1558	0.00	2.45	0.00	0.000	6	0.000	0.033	2861	1798	3921
1748	-1.07	-171.1	79.6	-3.9	158	1749	0.00	0.00	0.00	0.000	6	0.000	0.000	2861	1798	3921
1940	-1.07	-171.1	89.2	-5.2	173	1945	0.00	2.50	0.00	0.000	4	0.000	0.046	2861	3186	3921
1949	end dive: TARGET_DEPTH_EXCEEDED
state	1949	begin apogee
1958	-0.38	0.0	90.1	5.1	173	2099	0.73	0.00	136.80	0.651	6	0.087	0.000	3012	1733	3217
2102	end apogee: CONTROL_FINISHED_OK
state	2102	begin climb
2104	1.07	171.1	92.7	0.0	185	2245	1.48	0.00	134.12	0.617	6	0.063	0.000	3334	1733	2519
2429	1.18	264.0	71.0	8.2	211	2508	0.10	2.58	72.55	0.607	4	0.059	0.047	3361	3123	2139
2548	1.18	264.0	59.4	10.1	220	2552	0.00	2.47	0.00	0.000	6	0.000	0.035	3361	1742	2137
2744	1.19	271.7	39.8	9.9	235	2756	0.00	2.75	5.10	0.658	4	0.000	0.077	3361	324	2109
2775	1.19	271.7	36.3	11.3	237	2782	0.00	2.47	0.00	0.000	6	0.000	0.031	3361	1734	2109
2973	1.19	272.9	17.2	10.0	255	2979	0.00	2.53	0.00	0.000	4	0.000	0.048	3361	3137	2109
3000	1.20	282.5	14.6	9.8	259	3015	0.00	2.50	8.38	0.637	6	0.000	0.035	3361	1734	2065
3081	1.39	435.2	7.6	7.1	271	3113	0.15	0.00	28.90	0.597	2	0.049	0.000	3405	1734	1919
3114	end climb: SURFACE_DEPTH_REACHED
state	3114	begin surface coast
3165	end surface coast: CONTROL_FINISHED_OK
state	3165	begin surface