Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 292 * 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 292 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 0 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 -31573.525 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 -31573.525

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 0 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 292 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 185906,4808.011,-12224.026,31,1.1,31,18.0 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.126,-0.094

_SM_DEPTHo 0.00 KALMAN_X 12957.5,-190.0,322.1,-13560.8,-247.4

_SM_ANGLEo -50.0 KALMAN_Y -2520.9,248.7,-120.6,2889.5,14.0

GPS2 190528,4807.984,-12223.974,18,1.1,18,18.0 MHEAD_RNG_PITCHd_Wd 108.9,6639,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.7,0.997240 _24V_AH 23.8,33.335

SM_CCo 3259,132.18,0.004,17,0,1249,300.25 _10V_AH 9.7,42.215

SM_GC 0.00,0.00,0.00,132.18,0.000,0.000,0.004,144,2225,1249,-11.72,4.38,300.25 DATA_FILE_SIZE 6452,266

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 55354,8

TT8_MAMPS 0.049088 CFSIZE 260165632,250216448

HUMID 1602 ERRORS 0,0,0,0,0,0,0,0,1,0,0,84,179,17,0

INTERNAL_PRESSURE 12.4224 GPS 070808,200705,4807.654,-12223.660,23,1.1,23,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 4 3.45 SBE_CT 207 24 118.35

Roll_motor 44 3 4.07 nil 0 0 0.00

VBD_pump_during_apogee 243 4 26.63 nil 0 0 0.00

VBD_pump_during_surface 132 3 12.06 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 74 223 396.43

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 50 9.17

TT8 523 18 91.37

LPSleep 1778 0 6.73

TT8_Active 569 18 99.46

TT8_Sampling 457 38 168.80

TT8_CF8 598 44 255.46

TT8_Kalman 33 80 25.87

Analog_circuits 940 12 109.52

GPS_charging 0 0 0.00

Compass 378 26 95.57

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 -0.84 -146.6 0.0 0.0 0 190 0.00 0.00 -60.58 0.000 6 0.000 0.000 147 1938 3079

194 -0.84 -146.6 0.6 -1.5 6 215 11.90 2.65 0.00 0.000 4 0.004 0.004 2550 3615 3079

519 -0.84 -146.6 29.5 -6.4 35 525 0.30 2.67 0.00 0.000 6 0.004 0.004 2476 1960 3079

557 -0.84 -146.6 32.2 -7.2 38 562 0.30 2.72 0.00 0.000 4 0.004 0.004 2548 3596 3079

866 -0.84 -146.6 52.8 -6.5 65 872 0.30 2.78 0.00 0.000 6 0.004 0.004 2475 1932 3080

904 -0.84 -146.6 55.2 -6.3 68 910 0.32 2.65 0.00 0.000 4 0.005 0.004 2512 3589 3079

1214 -0.84 -146.6 75.0 -6.8 95 1218 0.00 2.78 0.00 0.000 6 0.000 0.004 2510 1929 3078

1251 -0.84 -146.6 77.5 -6.6 98 1256 0.00 2.85 0.00 0.000 4 0.000 0.004 2511 3578 3079

1527 end dive: TARGET_DEPTH_EXCEEDED

state 1527 begin apogee

1537 -0.31 0.0 95.1 5.9 122 1664 0.62 0.00 122.88 0.005 6 0.004 0.000 2655 1909 2472

1665 end apogee: CONTROL_FINISHED_OK

state 1665 begin climb

1668 0.84 146.6 97.6 0.0 135 1801 1.40 2.47 120.22 0.005 4 0.004 0.004 2921 465 1875

2107 0.84 146.6 69.0 7.0 175 2113 0.30 2.78 0.00 0.000 6 0.004 0.004 2847 2201 1875

2145 0.84 146.6 66.3 7.0 178 2151 0.38 2.80 0.00 0.000 4 0.004 0.004 2922 561 1875

2455 0.84 146.6 44.8 6.5 205 2461 0.32 2.83 0.00 0.000 6 0.004 0.004 2850 2210 1875

2493 0.84 146.6 42.4 6.5 208 2499 0.40 3.03 0.00 0.000 4 0.004 0.004 2930 462 1875

2803 0.84 146.6 21.4 7.0 235 2809 0.50 2.85 0.00 0.000 6 0.003 0.004 2813 2215 1875

2840 0.84 146.6 18.7 7.2 238 2846 0.65 2.88 0.00 0.000 4 0.004 0.004 2929 463 1875

3114 end climb: SURFACE_DEPTH_REACHED

state 3114 begin surface coast

3160 end surface coast: CONTROL_FINISHED_OK

state 3160 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	292	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	0	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	-31573.525	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	185906,4808.011,-12224.026,31,1.1,31,18.0	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.126,-0.094
_SM_DEPTHo	0.00	KALMAN_X	12957.5,-190.0,322.1,-13560.8,-247.4
_SM_ANGLEo	-50.0	KALMAN_Y	-2520.9,248.7,-120.6,2889.5,14.0
GPS2	190528,4807.984,-12223.974,18,1.1,18,18.0	MHEAD_RNG_PITCHd_Wd	108.9,6639,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	100

FINISH	0.7,0.997240	_24V_AH	23.8,33.335
SM_CCo	3259,132.18,0.004,17,0,1249,300.25	_10V_AH	9.7,42.215
SM_GC	0.00,0.00,0.00,132.18,0.000,0.000,0.004,144,2225,1249,-11.72,4.38,300.25	DATA_FILE_SIZE	6452,266
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	55354,8
TT8_MAMPS	0.049088	CFSIZE	260165632,250216448
HUMID	1602	ERRORS	0,0,0,0,0,0,0,0,1,0,0,84,179,17,0
INTERNAL_PRESSURE	12.4224	GPS	070808,200705,4807.654,-12223.660,23,1.1,23,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	4	3.45	SBE_CT	207	24	118.35
Roll_motor	44	3	4.07	nil	0	0	0.00
VBD_pump_during_apogee	243	4	26.63	nil	0	0	0.00
VBD_pump_during_surface	132	3	12.06	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	74	223	396.43
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	50	9.17
TT8	523	18	91.37
LPSleep	1778	0	6.73
TT8_Active	569	18	99.46
TT8_Sampling	457	38	168.80
TT8_CF8	598	44	255.46
TT8_Kalman	33	80	25.87
Analog_circuits	940	12	109.52
GPS_charging	0	0	0.00
Compass	378	26	95.57
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	-0.84	-146.6	0.0	0.0	0	190	0.00	0.00	-60.58	0.000	6	0.000	0.000	147	1938	3079
194	-0.84	-146.6	0.6	-1.5	6	215	11.90	2.65	0.00	0.000	4	0.004	0.004	2550	3615	3079
519	-0.84	-146.6	29.5	-6.4	35	525	0.30	2.67	0.00	0.000	6	0.004	0.004	2476	1960	3079
557	-0.84	-146.6	32.2	-7.2	38	562	0.30	2.72	0.00	0.000	4	0.004	0.004	2548	3596	3079
866	-0.84	-146.6	52.8	-6.5	65	872	0.30	2.78	0.00	0.000	6	0.004	0.004	2475	1932	3080
904	-0.84	-146.6	55.2	-6.3	68	910	0.32	2.65	0.00	0.000	4	0.005	0.004	2512	3589	3079
1214	-0.84	-146.6	75.0	-6.8	95	1218	0.00	2.78	0.00	0.000	6	0.000	0.004	2510	1929	3078
1251	-0.84	-146.6	77.5	-6.6	98	1256	0.00	2.85	0.00	0.000	4	0.000	0.004	2511	3578	3079
1527	end dive: TARGET_DEPTH_EXCEEDED
state	1527	begin apogee
1537	-0.31	0.0	95.1	5.9	122	1664	0.62	0.00	122.88	0.005	6	0.004	0.000	2655	1909	2472
1665	end apogee: CONTROL_FINISHED_OK
state	1665	begin climb
1668	0.84	146.6	97.6	0.0	135	1801	1.40	2.47	120.22	0.005	4	0.004	0.004	2921	465	1875
2107	0.84	146.6	69.0	7.0	175	2113	0.30	2.78	0.00	0.000	6	0.004	0.004	2847	2201	1875
2145	0.84	146.6	66.3	7.0	178	2151	0.38	2.80	0.00	0.000	4	0.004	0.004	2922	561	1875
2455	0.84	146.6	44.8	6.5	205	2461	0.32	2.83	0.00	0.000	6	0.004	0.004	2850	2210	1875
2493	0.84	146.6	42.4	6.5	208	2499	0.40	3.03	0.00	0.000	4	0.004	0.004	2930	462	1875
2803	0.84	146.6	21.4	7.0	235	2809	0.50	2.85	0.00	0.000	6	0.003	0.004	2813	2215	1875
2840	0.84	146.6	18.7	7.2	238	2846	0.65	2.88	0.00	0.000	4	0.004	0.004	2929	463	1875
3114	end climb: SURFACE_DEPTH_REACHED
state	3114	begin surface coast
3160	end surface coast: CONTROL_FINISHED_OK
state	3160	begin surface