Glider dive log

PortSusan 03Jul08 * SG080 * Dive index * Mission links * Dive 335 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 80 HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 10 HEADING -1 ROLL_MIN 300 ALTIM_PING_DEPTH 80

DIVE 335 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 90 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 350 ROLL_TIMEOUT 15 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 N_FILEKB 4 R_PORT_OVSHOOT 1 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 30 UPLOAD_DIVES_MAX -1 VBD_MAX 3616 DEVICE4 -1

T_MISSION 45 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 -22770.574 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 0.0038360001 PITCH_MAXERRORS 10 ALTIM_BOTTOM_TURN_MARGIN 0 AR_RECORDBELOW 0.0

HD_B 0.010078 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 350

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 90 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 30

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 -22770.574

CALL_TRIES 5 HD_A 0.0038360001 RELAUNCH 1 T_LOITER 0

CALL_WAIT 60 HD_B 0.010078 RHO 1.023 T_MISSION 45

CAPMAXSIZE 100000 HD_C 9.8541004e-06 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 1 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 10 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 335 PHONE_SUPPLY 2 SIM_W 0 XPDR_VALID 0

Pre-dive calculations and measurements:

GPS1 120944,4807.024,-12222.928,9,1.1,9,18.0 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.119,0.232

_SM_DEPTHo -0.00 KALMAN_X 9962.2,-31.5,67.9,-8824.1,53.2

_SM_ANGLEo -50.0 KALMAN_Y -4609.1,409.6,-3.3,2673.0,-194.9

GPS2 121649,4806.988,-12222.897,32,1.1,32,18.0 MHEAD_RNG_PITCHd_Wd 314.8,2318,-18.2,-10.000

SPEED_LIMITS 0.100,0.261 D_GRID 100

Post-dive calculations and measurements:

FINISH 2.2,0.997118 _24V_AH 23.7,38.835

SM_CCo 2543,92.12,0.004,12,0,187,560.51 _10V_AH 9.7,41.483

SM_GC -0.01,13.90,0.00,0.00,0.003,0.000,0.000,145,1998,187,-11.71,-2.01,560.51 DATA_FILE_SIZE 6464,180

IRIDIUM_FIX 0.00,0.00,010170,000000 CAP_FILE_SIZE 60271,15

TT8_MAMPS 0.049088 CFSIZE 260165632,248004608

HUMID 1612 ERRORS 0,0,0,0,0,0,0,0,1,0,1,82,143,41,0

INTERNAL_PRESSURE 12.5591 GPS 180708,130640,4807.030,-12223.030,24,1.1,24,18.0

TCM_TEMP 15.00

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 4 3.53 SBE_CT 137 24 78.27

Roll_motor 31 3 2.86 nil 0 0 0.00

VBD_pump_during_apogee 285 4 31.19 nil 0 0 0.00

VBD_pump_during_surface 306 3 27.85 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 104 223 552.77

Transponder_ping 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 33 50 16.22

TT8 360 18 62.94

LPSleep 1127 0 4.27

TT8_Active 904 18 157.92

TT8_Sampling 329 38 121.28

TT8_CF8 542 44 231.59

TT8_Kalman 33 80 25.88

Analog_circuits 1165 12 135.72

GPS_charging 0 0 0.00

Compass 249 26 62.89

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

90 end surface: CONTROL_FINISHED_OK

state 90 begin dive

93 -1.32 -146.6 0.0 0.0 0 165 0.00 0.00 -67.50 0.000 6 0.000 0.000 146 2217 3080

169 -1.32 -146.6 0.6 -0.8 7 183 11.35 0.00 0.00 0.000 6 0.004 0.000 2455 2216 3079

210 -1.32 -146.6 7.5 -17.2 11 213 0.35 0.00 0.00 0.000 6 0.003 0.000 2381 2216 3081

242 -1.32 -146.6 11.8 -13.4 14 244 0.38 0.00 0.00 0.000 6 0.003 0.000 2457 2216 3080

274 -1.32 -146.6 15.6 -11.9 17 277 0.38 0.00 0.00 0.000 6 0.004 0.000 2343 2214 3080

306 -1.32 -146.6 19.0 -11.0 20 312 0.55 2.83 0.00 0.000 4 0.004 0.004 2464 467 3080

616 -1.32 -146.6 50.4 -9.9 47 626 0.47 3.03 0.00 0.000 6 0.003 0.004 2348 2200 3080

658 -1.32 -146.6 54.8 -10.6 51 664 0.45 2.65 0.00 0.000 4 0.004 0.004 2455 557 3080

968 -1.32 -146.6 86.2 -9.9 78 974 0.32 2.90 0.00 0.000 6 0.004 0.004 2382 2231 3079

1006 -1.32 -146.6 89.8 -9.7 81 1010 0.35 1.38 0.00 0.000 3 0.004 0.004 2456 1496 3080

1011 end dive: TARGET_DEPTH_EXCEEDED

state 1011 begin apogee

1018 -0.31 0.0 90.3 9.4 81 1145 1.00 0.00 122.57 0.005 6 0.004 0.000 2685 2207 2474

1146 end apogee: CONTROL_FINISHED_OK

state 1147 begin climb

1150 1.32 146.6 84.4 0.0 94 1284 1.58 2.47 120.45 0.005 4 0.005 0.003 3021 3635 1875

1587 1.32 146.6 40.7 10.2 134 1593 0.30 2.85 0.00 0.000 6 0.003 0.004 2947 1951 1876

1625 1.32 146.6 36.9 10.0 137 1631 0.43 2.65 0.00 0.000 4 0.004 0.004 3022 3603 1875

1934 1.37 191.1 10.6 8.0 164 1975 0.28 2.80 31.08 0.005 6 0.003 0.004 2944 1972 1691

2007 1.39 207.1 4.3 9.3 171 2029 0.30 2.78 11.88 0.005 4 0.004 0.004 3019 3630 1627

2049 end climb: SURFACE_DEPTH_REACHED

state 2049 begin surface coast

2107 end surface coast: CONTROL_FINISHED_OK

state 2107 begin surface

ID	80	HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	10	HEADING	-1	ROLL_MIN	300	ALTIM_PING_DEPTH	80
DIVE	335	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	90	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	350	ROLL_TIMEOUT	15	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	N_FILEKB	4	R_PORT_OVSHOOT	1	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	30	UPLOAD_DIVES_MAX	-1	VBD_MAX	3616	DEVICE4	-1
T_MISSION	45	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	-22770.574	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	0.0038360001	PITCH_MAXERRORS	10	ALTIM_BOTTOM_TURN_MARGIN	0	AR_RECORDBELOW	0.0
HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0	AR_NOTIFYAPOGEE	0.0

GPS1	120944,4807.024,-12222.928,9,1.1,9,18.0	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.119,0.232
_SM_DEPTHo	-0.00	KALMAN_X	9962.2,-31.5,67.9,-8824.1,53.2
_SM_ANGLEo	-50.0	KALMAN_Y	-4609.1,409.6,-3.3,2673.0,-194.9
GPS2	121649,4806.988,-12222.897,32,1.1,32,18.0	MHEAD_RNG_PITCHd_Wd	314.8,2318,-18.2,-10.000
SPEED_LIMITS	0.100,0.261	D_GRID	100

FINISH	2.2,0.997118	_24V_AH	23.7,38.835
SM_CCo	2543,92.12,0.004,12,0,187,560.51	_10V_AH	9.7,41.483
SM_GC	-0.01,13.90,0.00,0.00,0.003,0.000,0.000,145,1998,187,-11.71,-2.01,560.51	DATA_FILE_SIZE	6464,180
IRIDIUM_FIX	0.00,0.00,010170,000000	CAP_FILE_SIZE	60271,15
TT8_MAMPS	0.049088	CFSIZE	260165632,248004608
HUMID	1612	ERRORS	0,0,0,0,0,0,0,0,1,0,1,82,143,41,0
INTERNAL_PRESSURE	12.5591	GPS	180708,130640,4807.030,-12223.030,24,1.1,24,18.0
TCM_TEMP	15.00

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	4	3.53	SBE_CT	137	24	78.27
Roll_motor	31	3	2.86	nil	0	0	0.00
VBD_pump_during_apogee	285	4	31.19	nil	0	0	0.00
VBD_pump_during_surface	306	3	27.85	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	104	223	552.77
Transponder_ping	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	33	50	16.22
TT8	360	18	62.94
LPSleep	1127	0	4.27
TT8_Active	904	18	157.92
TT8_Sampling	329	38	121.28
TT8_CF8	542	44	231.59
TT8_Kalman	33	80	25.88
Analog_circuits	1165	12	135.72
GPS_charging	0	0	0.00
Compass	249	26	62.89
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
90	end surface: CONTROL_FINISHED_OK
state	90	begin dive
93	-1.32	-146.6	0.0	0.0	0	165	0.00	0.00	-67.50	0.000	6	0.000	0.000	146	2217	3080
169	-1.32	-146.6	0.6	-0.8	7	183	11.35	0.00	0.00	0.000	6	0.004	0.000	2455	2216	3079
210	-1.32	-146.6	7.5	-17.2	11	213	0.35	0.00	0.00	0.000	6	0.003	0.000	2381	2216	3081
242	-1.32	-146.6	11.8	-13.4	14	244	0.38	0.00	0.00	0.000	6	0.003	0.000	2457	2216	3080
274	-1.32	-146.6	15.6	-11.9	17	277	0.38	0.00	0.00	0.000	6	0.004	0.000	2343	2214	3080
306	-1.32	-146.6	19.0	-11.0	20	312	0.55	2.83	0.00	0.000	4	0.004	0.004	2464	467	3080
616	-1.32	-146.6	50.4	-9.9	47	626	0.47	3.03	0.00	0.000	6	0.003	0.004	2348	2200	3080
658	-1.32	-146.6	54.8	-10.6	51	664	0.45	2.65	0.00	0.000	4	0.004	0.004	2455	557	3080
968	-1.32	-146.6	86.2	-9.9	78	974	0.32	2.90	0.00	0.000	6	0.004	0.004	2382	2231	3079
1006	-1.32	-146.6	89.8	-9.7	81	1010	0.35	1.38	0.00	0.000	3	0.004	0.004	2456	1496	3080
1011	end dive: TARGET_DEPTH_EXCEEDED
state	1011	begin apogee
1018	-0.31	0.0	90.3	9.4	81	1145	1.00	0.00	122.57	0.005	6	0.004	0.000	2685	2207	2474
1146	end apogee: CONTROL_FINISHED_OK
state	1147	begin climb
1150	1.32	146.6	84.4	0.0	94	1284	1.58	2.47	120.45	0.005	4	0.005	0.003	3021	3635	1875
1587	1.32	146.6	40.7	10.2	134	1593	0.30	2.85	0.00	0.000	6	0.003	0.004	2947	1951	1876
1625	1.32	146.6	36.9	10.0	137	1631	0.43	2.65	0.00	0.000	4	0.004	0.004	3022	3603	1875
1934	1.37	191.1	10.6	8.0	164	1975	0.28	2.80	31.08	0.005	6	0.003	0.004	2944	1972	1691
2007	1.39	207.1	4.3	9.3	171	2029	0.30	2.78	11.88	0.005	4	0.004	0.004	3019	3630	1627
2049	end climb: SURFACE_DEPTH_REACHED
state	2049	begin surface coast
2107	end surface coast: CONTROL_FINISHED_OK
state	2107	begin surface