Glider dive log

PortSusan 15Jul09 * SG172 * Dive index * Mission links * Dive 3 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 172 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 160 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 3 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3717 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2145 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2145 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 480 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 18 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 460 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3514 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 5 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -2376.4749 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE 16

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 154 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3948 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3066 PRESSURE_YINT -56.536236 SEABIRD_T_G 0.0043614767

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001168426 SEABIRD_T_H 0.00062996609

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5014444e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7838146e-06

FERRY_MAX 45 PITCH_GAIN 35 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.228213

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1292607

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.001076734

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00017059842

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 480

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 35 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3948 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 154 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001168426 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -56.536236 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 16 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -2376.4749

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 172 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3717 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3066 KALMAN_USE 1 ROLL_MIN 160 USE_BATHY -4

C_ROLL_CLIMB 2145 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2145 MASS 52000 R_PORT_OVSHOOT 23 VBD_BLEED_AD_RATE 8

C_VBD 3514 MAX_BUOY 150 R_STBD_OVSHOOT 18 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -10.228213 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1292607 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.001076734 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00017059842 VBD_MIN 460

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043614767 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062996609 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5014444e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7838146e-06 XPDR_DEVICE 24

DIVE 3 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 225044,4807.200,-12222.796,9,1.2,9,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.101,-0.239

_SM_DEPTHo 1.11 KALMAN_X -38.1,-37.0,-36.3,348.3,-39.4

_SM_ANGLEo -78.9 KALMAN_Y 107.8,94.0,87.2,-636.5,108.9

GPS2 225620,4807.204,-12222.792,16,1.4,16,18.3 MHEAD_RNG_PITCHd_Wd 138.7,2435,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 107

Post-dive calculations and measurements:

FINISH 2.3,1.017987 XPDR_PINGS 0

SM_CCo 1861,148.85,0.502,8,0,1556,480.05 ALTIM_BOTTOM_PING 80.0,3.8

SM_GC 1.64,0.00,0.00,148.85,0.000,0.000,0.502,140,2133,1556,-9.14,-0.34,480.05 _24V_AH 24.6,0.638

RAFOS_CLK 0 _10V_AH 10.7,0.226

RAFOS 0,1247699345,23.166666,23.151388,43,43,41,0,0,0,40,2172,145,0,0,0 DATA_FILE_SIZE 12756,400

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CAP_FILE_SIZE 41291,0

IRIDIUM_FIX 4801.38,-12240.42,091098,222233 CFSIZE 260165632,258789376

TT8_MAMPS 0.050622 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,8,0

HUMID 1904 SOUNDSPEED 1483.1

INTERNAL_PRESSURE 9.16051 GPS 150709,233144,4807.096,-12222.607,12,2.0,12,18.3

TCM_TEMP 19.20

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 237 116.61 SBE_CT 265 24 156.94

Roll_motor 22 83 46.94 SBE_O2 196 19 91.73

VBD_pump_during_apogee 231 595 3389.19 nil 0 0 0.00

VBD_pump_during_surface 148 502 1839.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 59.26 nil 0 0 0.00

Iridium_during_connect 28 160 112.77 nil 0 0 0.00

Iridium_during_xfer 212 223 1164.71

Transponder_ping 0 420 5.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.70

TT8 0 19 0.00

LPSleep 826 2 20.42

TT8_Active 515 19 109.92

TT8_Sampling 746 39 319.01

TT8_CF8 298 45 146.56

TT8_Kalman 31 81 27.52

Analog_circuits 856 12 109.91

GPS_charging 0 0 0.00

Compass 587 8 50.31

RAFOS 960 1 15.41

Transponder 5 30 1.74

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11 -0.68 -146.6 0.0 0.0 0 121 0.00 0.00 -107.93 0.000 2 0.000 0.000 143 2142 3333

123 -0.68 -146.6 3.3 -4.9 19 153 10.30 2.33 -14.95 0.000 4 0.237 0.084 2840 725 3962

399 -0.68 -146.6 46.5 -16.5 81 406 0.00 2.30 0.00 0.000 6 0.000 0.073 2836 2141 3964

535 -0.68 -146.6 70.2 -18.2 112 541 0.00 2.25 0.00 0.000 4 0.000 0.071 2836 742 3964

627 -0.68 -146.6 85.3 -14.9 133 634 0.00 2.25 0.00 0.000 6 0.000 0.071 2833 2138 3964

762 end dive: TARGET_DEPTH_EXCEEDED

state 762 begin apogee

764 -0.14 0.0 107.1 17.1 164 849 0.55 0.00 81.60 0.595 6 0.140 0.000 3014 2137 3514

850 end apogee: CONTROL_FINISHED_OK

state 850 begin climb

850 0.68 146.6 110.6 0.0 179 968 0.73 0.00 110.40 0.580 6 0.090 0.000 3278 2137 2914

1097 0.68 146.6 88.4 12.4 230 1097 0.00 0.00 0.00 0.000 6 0.000 0.000 3278 2137 2913

1227 0.68 146.6 72.8 11.9 260 1228 0.00 0.00 0.00 0.000 6 0.000 0.000 3278 2137 2913

1357 0.74 199.4 62.6 7.6 290 1403 0.00 2.33 39.47 0.567 4 0.000 0.072 3278 3562 2701

1480 0.74 199.4 46.9 14.4 316 1486 0.00 2.28 0.00 0.000 6 0.000 0.059 3286 2147 2700

1615 0.74 199.4 28.6 12.9 347 1621 0.00 0.00 0.00 0.000 6 0.000 0.000 3286 2146 2700

1685 0.74 199.4 19.8 13.1 363 1691 0.00 2.28 0.00 0.000 4 0.000 0.068 3297 726 2699

1720 0.74 199.4 15.6 12.1 371 1727 0.00 2.30 0.00 0.000 6 0.000 0.068 3297 2145 2699

1790 0.74 199.4 7.0 12.0 387 1797 0.00 2.28 0.00 0.000 4 0.000 0.074 3297 3552 2699

1816 end climb: SURFACE_DEPTH_REACHED

state 1816 begin surface coast

1847 end surface coast: CONTROL_FINISHED_OK

state 1847 begin surface

ID	172	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	160	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	3	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3717	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2145	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2145	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	480	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	18	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	460	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3514	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	5	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-2376.4749	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	16
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	154	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3948	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3066	PRESSURE_YINT	-56.536236	SEABIRD_T_G	0.0043614767
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001168426	SEABIRD_T_H	0.00062996609
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5014444e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7838146e-06
FERRY_MAX	45	PITCH_GAIN	35	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.228213
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1292607
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.001076734
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00017059842
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	225044,4807.200,-12222.796,9,1.2,9,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.101,-0.239
_SM_DEPTHo	1.11	KALMAN_X	-38.1,-37.0,-36.3,348.3,-39.4
_SM_ANGLEo	-78.9	KALMAN_Y	107.8,94.0,87.2,-636.5,108.9
GPS2	225620,4807.204,-12222.792,16,1.4,16,18.3	MHEAD_RNG_PITCHd_Wd	138.7,2435,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	107

FINISH	2.3,1.017987	XPDR_PINGS	0
SM_CCo	1861,148.85,0.502,8,0,1556,480.05	ALTIM_BOTTOM_PING	80.0,3.8
SM_GC	1.64,0.00,0.00,148.85,0.000,0.000,0.502,140,2133,1556,-9.14,-0.34,480.05	_24V_AH	24.6,0.638
RAFOS_CLK	0	_10V_AH	10.7,0.226
RAFOS	0,1247699345,23.166666,23.151388,43,43,41,0,0,0,40,2172,145,0,0,0	DATA_FILE_SIZE	12756,400
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CAP_FILE_SIZE	41291,0
IRIDIUM_FIX	4801.38,-12240.42,091098,222233	CFSIZE	260165632,258789376
TT8_MAMPS	0.050622	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,8,0
HUMID	1904	SOUNDSPEED	1483.1
INTERNAL_PRESSURE	9.16051	GPS	150709,233144,4807.096,-12222.607,12,2.0,12,18.3
TCM_TEMP	19.20

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	237	116.61	SBE_CT	265	24	156.94
Roll_motor	22	83	46.94	SBE_O2	196	19	91.73
VBD_pump_during_apogee	231	595	3389.19	nil	0	0	0.00
VBD_pump_during_surface	148	502	1839.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	59.26	nil	0	0	0.00
Iridium_during_connect	28	160	112.77	nil	0	0	0.00
Iridium_during_xfer	212	223	1164.71
Transponder_ping	0	420	5.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.70
TT8	0	19	0.00
LPSleep	826	2	20.42
TT8_Active	515	19	109.92
TT8_Sampling	746	39	319.01
TT8_CF8	298	45	146.56
TT8_Kalman	31	81	27.52
Analog_circuits	856	12	109.91
GPS_charging	0	0	0.00
Compass	587	8	50.31
RAFOS	960	1	15.41
Transponder	5	30	1.74

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11	-0.68	-146.6	0.0	0.0	0	121	0.00	0.00	-107.93	0.000	2	0.000	0.000	143	2142	3333
123	-0.68	-146.6	3.3	-4.9	19	153	10.30	2.33	-14.95	0.000	4	0.237	0.084	2840	725	3962
399	-0.68	-146.6	46.5	-16.5	81	406	0.00	2.30	0.00	0.000	6	0.000	0.073	2836	2141	3964
535	-0.68	-146.6	70.2	-18.2	112	541	0.00	2.25	0.00	0.000	4	0.000	0.071	2836	742	3964
627	-0.68	-146.6	85.3	-14.9	133	634	0.00	2.25	0.00	0.000	6	0.000	0.071	2833	2138	3964
762	end dive: TARGET_DEPTH_EXCEEDED
state	762	begin apogee
764	-0.14	0.0	107.1	17.1	164	849	0.55	0.00	81.60	0.595	6	0.140	0.000	3014	2137	3514
850	end apogee: CONTROL_FINISHED_OK
state	850	begin climb
850	0.68	146.6	110.6	0.0	179	968	0.73	0.00	110.40	0.580	6	0.090	0.000	3278	2137	2914
1097	0.68	146.6	88.4	12.4	230	1097	0.00	0.00	0.00	0.000	6	0.000	0.000	3278	2137	2913
1227	0.68	146.6	72.8	11.9	260	1228	0.00	0.00	0.00	0.000	6	0.000	0.000	3278	2137	2913
1357	0.74	199.4	62.6	7.6	290	1403	0.00	2.33	39.47	0.567	4	0.000	0.072	3278	3562	2701
1480	0.74	199.4	46.9	14.4	316	1486	0.00	2.28	0.00	0.000	6	0.000	0.059	3286	2147	2700
1615	0.74	199.4	28.6	12.9	347	1621	0.00	0.00	0.00	0.000	6	0.000	0.000	3286	2146	2700
1685	0.74	199.4	19.8	13.1	363	1691	0.00	2.28	0.00	0.000	4	0.000	0.068	3297	726	2699
1720	0.74	199.4	15.6	12.1	371	1727	0.00	2.30	0.00	0.000	6	0.000	0.068	3297	2145	2699
1790	0.74	199.4	7.0	12.0	387	1797	0.00	2.28	0.00	0.000	4	0.000	0.074	3297	3552	2699
1816	end climb: SURFACE_DEPTH_REACHED
state	1816	begin surface coast
1847	end surface coast: CONTROL_FINISHED_OK
state	1847	begin surface