Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 29 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 29 HEADING -1 PITCH_ADJ_GAIN 0.059999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 150 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 200 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2060 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1870 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 500 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 2 R_PORT_OVSHOOT 14 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 14 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3335 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -18506.68 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 135 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2269 PRESSURE_YINT -3.7066903 SEABIRD_T_I 2.5554549e-05

MASS 51440 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 150 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 45 PRESSURE_YINT -3.7066903 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 50

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.023 T_GPS_CHARGE -18506.68

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2269 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1870 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 2060 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3335 MASS 51440 R_PORT_OVSHOOT 14 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 135 R_STBD_OVSHOOT 14 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3897

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 486

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 29 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 200 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 205837,4806.095,-12222.082,8,1.3,24,18.3 TGT_NAME FIVE_sb

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.115,-0.171

_SM_DEPTHo 1.90 KALMAN_X 549.1,147.5,47.0,-153.2,-199.3

_SM_ANGLEo -50.3 KALMAN_Y -1593.9,-26.1,55.8,586.2,290.6

GPS2 210459,4806.167,-12222.113,10,2.7,29,18.3 MHEAD_RNG_PITCHd_Wd 128.9,2562,-22.4,-10.000

SPEED_LIMITS 0.173,0.206 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.0,0.999317 XPDR_PINGS 1

SM_CCo 2263,120.40,0.590,0,0,1296,500.17 ALTIM_TOP_PING 19.3,18.0

SM_GC 2.25,0.00,0.00,120.40,0.000,0.000,0.590,678,2048,1296,-7.32,-0.34,500.17 _24V_AH 20.8,16.487

RAFOS_CLK 104 _10V_AH 10.0,6.406

RAFOS 5,1184187248,20.916666,20.902222,53,52,51,50,50,48,206,147,194,127,179,110 DATA_FILE_SIZE 6451,224

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 260165632,256028672

IRIDIUM_FIX 4751.72,-12221.84,120707,000035 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TT8_MAMPS 0.024544 SOUNDSPEED 1483.7

HUMID 1952 CURRENT 0.206,334.4,1

INTERNAL_PRESSURE 10.3715 GPS 110707,214659,4806.110,-12222.024,11,2.5,30,18.3

TCM_TEMP 9.30

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 37 259 201.40 SBE_CT 158 24 78.92

Roll_motor 47 105 103.11 SBE_O2 157 19 62.43

VBD_pump_during_apogee 377 680 5335.93 nil 0 0 0.00

VBD_pump_during_surface 120 589 1477.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 86.66 nil 0 0 0.00

Iridium_during_connect 37 160 125.28 nil 0 0 0.00

Iridium_during_xfer 154 223 715.30

Transponder_ping 0 420 4.37

GPS 31 50 15.96

TT8 485 19 96.68

LPSleep 982 2 22.71

TT8_Active 620 19 123.66

TT8_Sampling 304 39 121.66

TT8_CF8 391 45 179.69

TT8_Kalman 33 81 27.30

Analog_circuits 892 12 107.06

GPS_charging 0 0 0.00

Compass 279 20 55.98

RAFOS 0 1 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

28 -1.15 -132.0 0.0 0.0 0 91 0.00 0.00 -60.60 0.000 2 0.000 0.000 680 2077 3043

94 -1.15 -132.0 3.0 -1.3 10 140 11.98 2.95 -23.10 0.000 4 0.259 0.074 2012 3469 3875

153 -1.15 -132.0 7.5 -8.1 19 160 0.00 2.78 0.00 0.000 6 0.000 0.036 2012 2040 3876

229 -0.69 -132.0 16.3 -11.7 32 235 0.62 0.00 0.00 0.000 6 0.156 0.000 2109 2040 3877

309 -0.43 -132.0 22.2 -6.6 43 311 0.38 0.00 0.00 0.000 6 0.120 0.000 2169 2040 3877

372 -0.76 -132.0 25.3 -4.5 49 378 0.30 3.03 0.00 0.000 4 0.033 0.072 2092 3472 3877

436 -1.55 -132.0 29.9 -7.9 54 442 0.80 2.75 0.00 0.000 6 0.038 0.038 1924 2055 3878

506 -1.80 -132.0 41.0 -17.8 60 508 0.25 0.00 0.00 0.000 6 0.058 0.000 1874 2055 3878

634 -1.17 -132.0 68.5 -21.9 72 640 0.88 2.95 0.00 0.000 4 0.169 0.067 2005 3467 3878

675 -0.35 -132.0 75.3 -14.3 75 686 1.15 2.75 0.00 0.000 6 0.142 0.040 2187 2055 3878

814 -0.17 -132.0 82.3 -4.9 88 819 0.20 3.00 0.00 0.000 4 0.081 0.075 2228 3473 3878

1027 -1.32 -132.0 97.0 -7.6 106 1034 1.30 2.75 0.00 0.000 6 0.072 0.041 1980 2056 3878

1125 end dive: TARGET_DEPTH_EXCEEDED

state 1126 begin apogee

1133 -0.21 0.0 108.1 13.2 116 1251 1.45 0.00 112.80 0.680 6 0.148 0.000 2219 1866 3334

1251 end apogee: CONTROL_FINISHED_OK

state 1251 begin climb

1255 1.15 132.0 112.1 0.0 128 1377 1.60 3.28 112.07 0.661 4 0.077 0.105 2518 468 2796

1416 1.15 132.0 99.0 14.3 142 1423 0.00 2.85 0.00 0.000 6 0.000 0.048 2518 1867 2795

1550 0.58 132.0 80.9 13.2 155 1561 0.75 3.15 0.00 0.000 4 0.146 0.091 2400 3282 2795

1635 0.11 172.8 73.6 7.9 162 1675 0.65 2.85 33.60 0.657 6 0.123 0.048 2295 1876 2630

1804 0.36 260.2 65.8 5.4 178 1887 0.25 3.08 72.28 0.643 4 0.057 0.061 2347 3283 2274

2035 1.71 316.5 50.3 7.1 199 2091 1.50 2.88 46.33 0.650 6 0.043 0.045 2647 1861 2043

2219 2.70 316.5 4.0 25.6 221 2227 1.00 3.22 0.00 0.000 4 0.054 0.087 2855 3285 2042

2231 end climb: SURFACE_DEPTH_REACHED

state 2231 begin surface coast

2237 end surface coast: CONTROL_FINISHED_OK

state 2237 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	29	HEADING	-1	PITCH_ADJ_GAIN	0.059999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	150	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	200	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2060	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1870	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	500	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	2	R_PORT_OVSHOOT	14	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	14	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3335	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-18506.68	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	135	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2269	PRESSURE_YINT	-3.7066903	SEABIRD_T_I	2.5554549e-05
MASS	51440	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017379176

GPS1	205837,4806.095,-12222.082,8,1.3,24,18.3	TGT_NAME	FIVE_sb
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.115,-0.171
_SM_DEPTHo	1.90	KALMAN_X	549.1,147.5,47.0,-153.2,-199.3
_SM_ANGLEo	-50.3	KALMAN_Y	-1593.9,-26.1,55.8,586.2,290.6
GPS2	210459,4806.167,-12222.113,10,2.7,29,18.3	MHEAD_RNG_PITCHd_Wd	128.9,2562,-22.4,-10.000
SPEED_LIMITS	0.173,0.206	D_GRID	108

FINISH	1.0,0.999317	XPDR_PINGS	1
SM_CCo	2263,120.40,0.590,0,0,1296,500.17	ALTIM_TOP_PING	19.3,18.0
SM_GC	2.25,0.00,0.00,120.40,0.000,0.000,0.590,678,2048,1296,-7.32,-0.34,500.17	_24V_AH	20.8,16.487
RAFOS_CLK	104	_10V_AH	10.0,6.406
RAFOS	5,1184187248,20.916666,20.902222,53,52,51,50,50,48,206,147,194,127,179,110	DATA_FILE_SIZE	6451,224
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	260165632,256028672
IRIDIUM_FIX	4751.72,-12221.84,120707,000035	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TT8_MAMPS	0.024544	SOUNDSPEED	1483.7
HUMID	1952	CURRENT	0.206,334.4,1
INTERNAL_PRESSURE	10.3715	GPS	110707,214659,4806.110,-12222.024,11,2.5,30,18.3
TCM_TEMP	9.30

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	37	259	201.40	SBE_CT	158	24	78.92
Roll_motor	47	105	103.11	SBE_O2	157	19	62.43
VBD_pump_during_apogee	377	680	5335.93	nil	0	0	0.00
VBD_pump_during_surface	120	589	1477.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	86.66	nil	0	0	0.00
Iridium_during_connect	37	160	125.28	nil	0	0	0.00
Iridium_during_xfer	154	223	715.30
Transponder_ping	0	420	4.37
GPS	31	50	15.96
TT8	485	19	96.68
LPSleep	982	2	22.71
TT8_Active	620	19	123.66
TT8_Sampling	304	39	121.66
TT8_CF8	391	45	179.69
TT8_Kalman	33	81	27.30
Analog_circuits	892	12	107.06
GPS_charging	0	0	0.00
Compass	279	20	55.98
RAFOS	0	1	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
28	-1.15	-132.0	0.0	0.0	0	91	0.00	0.00	-60.60	0.000	2	0.000	0.000	680	2077	3043
94	-1.15	-132.0	3.0	-1.3	10	140	11.98	2.95	-23.10	0.000	4	0.259	0.074	2012	3469	3875
153	-1.15	-132.0	7.5	-8.1	19	160	0.00	2.78	0.00	0.000	6	0.000	0.036	2012	2040	3876
229	-0.69	-132.0	16.3	-11.7	32	235	0.62	0.00	0.00	0.000	6	0.156	0.000	2109	2040	3877
309	-0.43	-132.0	22.2	-6.6	43	311	0.38	0.00	0.00	0.000	6	0.120	0.000	2169	2040	3877
372	-0.76	-132.0	25.3	-4.5	49	378	0.30	3.03	0.00	0.000	4	0.033	0.072	2092	3472	3877
436	-1.55	-132.0	29.9	-7.9	54	442	0.80	2.75	0.00	0.000	6	0.038	0.038	1924	2055	3878
506	-1.80	-132.0	41.0	-17.8	60	508	0.25	0.00	0.00	0.000	6	0.058	0.000	1874	2055	3878
634	-1.17	-132.0	68.5	-21.9	72	640	0.88	2.95	0.00	0.000	4	0.169	0.067	2005	3467	3878
675	-0.35	-132.0	75.3	-14.3	75	686	1.15	2.75	0.00	0.000	6	0.142	0.040	2187	2055	3878
814	-0.17	-132.0	82.3	-4.9	88	819	0.20	3.00	0.00	0.000	4	0.081	0.075	2228	3473	3878
1027	-1.32	-132.0	97.0	-7.6	106	1034	1.30	2.75	0.00	0.000	6	0.072	0.041	1980	2056	3878
1125	end dive: TARGET_DEPTH_EXCEEDED
state	1126	begin apogee
1133	-0.21	0.0	108.1	13.2	116	1251	1.45	0.00	112.80	0.680	6	0.148	0.000	2219	1866	3334
1251	end apogee: CONTROL_FINISHED_OK
state	1251	begin climb
1255	1.15	132.0	112.1	0.0	128	1377	1.60	3.28	112.07	0.661	4	0.077	0.105	2518	468	2796
1416	1.15	132.0	99.0	14.3	142	1423	0.00	2.85	0.00	0.000	6	0.000	0.048	2518	1867	2795
1550	0.58	132.0	80.9	13.2	155	1561	0.75	3.15	0.00	0.000	4	0.146	0.091	2400	3282	2795
1635	0.11	172.8	73.6	7.9	162	1675	0.65	2.85	33.60	0.657	6	0.123	0.048	2295	1876	2630
1804	0.36	260.2	65.8	5.4	178	1887	0.25	3.08	72.28	0.643	4	0.057	0.061	2347	3283	2274
2035	1.71	316.5	50.3	7.1	199	2091	1.50	2.88	46.33	0.650	6	0.043	0.045	2647	1861	2043
2219	2.70	316.5	4.0	25.6	221	2227	1.00	3.22	0.00	0.000	4	0.054	0.087	2855	3285	2042
2231	end climb: SURFACE_DEPTH_REACHED
state	2231	begin surface coast
2237	end surface coast: CONTROL_FINISHED_OK
state	2237	begin surface