Glider dive log

PN07 DabobBay Sep07 * SG023 * Dive index * Mission links * Dive 386 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 23 HD_B 0.0123087 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 3.5261501e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 386 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 208 ALTIM_PING_DEPTH 50

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3567 ALTIM_PING_DELTA 20

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1890 ALTIM_PULSE 5

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_PITCH 0 SM_CC 450 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 0 R_PORT_OVSHOOT 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 43 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 3

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 580 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3994 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3484 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 0

USE_BATHY -1 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -28258.236 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 10 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 19

MAX_BUOY 110 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 20 PITCH_MIN 370 AH0_24V 91.800003 SEABIRD_T_G 0.0043036696

SPEED_FACTOR 1 PITCH_MAX 3518 AH0_10V 61.200001 SEABIRD_T_H 0.00062677584

RHO 1.023 C_PITCH 2610 PRESSURE_YINT -24.5345 SEABIRD_T_I 2.2664151e-05

MASS 51702 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.2667414e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.310682

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1615626

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0017275931

HD_A 0.0030006149 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 15 SEABIRD_C_J 0.00021877716

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 15 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3518 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 20 D_SURF 5 PITCH_MIN 370 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 95 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -24.5345 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 20 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 16 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0030006149 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0123087 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 3.5261501e-06 RHO 1.023 T_GPS_CHARGE -28258.236

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 23 ROLL_MAX 3567 T_TURN_SAMPINT 6

C_PITCH 2610 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1890 INT_PRESSURE_YINT 0 ROLL_MIN 208 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3484 MASS 51702 R_PORT_OVSHOOT 21 USE_BATHY -1

DEEPGLIDER 0 MAX_BUOY 110 R_STBD_OVSHOOT 43 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.310682 VBD_BLEED_AD_RATE 10

DEVICE1 2 MOTHERBOARD 3 SEABIRD_C_H 1.1615626 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0017275931 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00021877716 VBD_MAX 3994

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043036696 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062677584 VBD_MIN 580

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2664151e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 386 PHONE_DEVICE 48 SEABIRD_T_J 2.2667414e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 19

Pre-dive calculations and measurements:

GPS1 081638,4746.132,-12249.735,9,1.6,9,18.3 TGT_NAME GP1

_CALLS 5 TGT_LATLONG 4746.257,-12250.251

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.186,0.081

_SM_DEPTHo 0.88 KALMAN_X 22254.6,-52.2,-45.6,-18179.8,-28.7

_SM_ANGLEo -69.0 KALMAN_Y 13876.6,-170.2,-34.3,-1919.0,-11.8

GPS2 083740,4746.128,-12249.761,9,1.7,16,18.3 MHEAD_RNG_PITCHd_Wd 275.2,655,-13.6,-7.037

SPEED_LIMITS 0.193,0.203 D_GRID 166

Post-dive calculations and measurements:

FINISH 0.2,1.013686 ALTIM_BOTTOM_PING 80.3,999.0

SM_CCo 3142,127.72,0.643,0,0,1649,450.13 _24V_AH 24.0,31.663

SM_GC 0.85,0.00,0.00,127.72,0.000,0.000,0.643,365,2118,1649,-10.33,0.48,450.13 _10V_AH 10.2,11.095

IRIDIUM_FIX 4729.30,-12252.58,051007,121246 DATA_FILE_SIZE 6465,294

TT8_MAMPS 0.026845 CFSIZE 260034560,247480320

HUMID 2121 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 051007,093441,4746.260,-12250.243,8,2.8,28,18.3

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 149 87.94 SBE_CT 197 24 113.71

Roll_motor 24 49 29.02 nil 0 0 0.00

VBD_pump_during_apogee 216 749 3900.41 nil 0 0 0.00

VBD_pump_during_surface 127 642 1970.27 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 189 103 469.05 nil 0 0 0.00

Iridium_during_connect 274 160 1054.94 ARS 0 23 0.00

Iridium_during_xfer 419 223 2247.77

Transponder_ping 2 420 20.16

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 93 17.44

TT8 548 19 110.82

LPSleep 2020 2 45.14

TT8_Active 443 19 89.61

TT8_Sampling 483 39 196.25

TT8_CF8 1073 45 501.50

TT8_Kalman 33 81 27.82

Analog_circuits 738 12 90.42

GPS_charging 0 0 0.00

Compass 471 8 38.49

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -0.97 -107.5 0.0 0.0 0 117 0.00 0.00 -90.03 0.000 2 0.000 0.000 368 2127 3465

122 -0.97 -107.5 2.1 -3.4 15 153 11.35 0.00 -14.75 0.000 6 0.150 0.000 2394 2128 3923

219 -0.97 -107.5 10.2 -10.0 30 224 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2129 3923

292 -0.97 -107.5 15.0 -6.0 41 297 0.00 0.00 0.00 0.000 6 0.000 0.000 2395 2129 3924

364 -0.97 -107.5 19.4 -6.1 52 369 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2129 3925

434 -0.97 -107.5 23.5 -5.9 59 439 0.00 3.00 0.00 0.000 4 0.000 0.048 2394 679 3925

467 -0.97 -107.5 25.5 -6.2 61 472 0.00 2.85 0.00 0.000 6 0.000 0.030 2394 2096 3925

663 -0.97 -107.5 36.9 -5.7 76 664 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2095 3925

856 -0.97 -107.5 48.6 -6.3 91 861 0.00 2.95 0.00 0.000 4 0.000 0.049 2395 683 3925

889 -0.97 -107.5 51.0 -6.4 93 894 0.00 2.85 0.00 0.000 6 0.000 0.030 2394 2102 3925

1085 -0.97 -107.5 63.1 -6.4 108 1086 0.00 0.00 0.00 0.000 6 0.000 0.000 2394 2101 3926

1278 -0.97 -107.5 74.4 -5.9 123 1283 0.00 2.95 0.00 0.000 4 0.000 0.050 2395 688 3925

1311 -0.97 -107.5 76.7 -6.2 125 1316 0.00 2.85 0.00 0.000 6 0.000 0.031 2395 2107 3926

1507 -0.97 -107.5 88.8 -6.2 140 1511 0.00 2.97 0.00 0.000 4 0.000 0.050 2395 682 3926

1559 -0.97 -107.5 92.1 -6.9 143 1565 0.00 2.88 0.00 0.000 6 0.000 0.031 2395 2110 3926

1613 end dive: TARGET_DEPTH_EXCEEDED

state 1613 begin apogee

1620 -0.31 0.0 95.5 6.0 148 1706 0.73 0.00 82.57 0.749 6 0.084 0.000 2541 1875 3484

1707 end apogee: CONTROL_FINISHED_OK

state 1707 begin climb

1710 0.97 107.5 97.0 0.0 155 1795 1.30 0.00 81.28 0.729 6 0.065 0.000 2818 1875 3045

1985 0.97 107.5 78.8 8.0 177 1986 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 1875 3044

2175 0.97 107.5 63.7 7.8 192 2176 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 1876 3044

2365 0.97 107.5 49.1 7.8 207 2366 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 1875 3044

2554 0.97 107.5 34.6 7.6 222 2555 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 1876 3044

2745 0.97 107.5 20.2 7.7 237 2746 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 1875 3044

2939 1.05 181.0 7.2 4.4 266 2994 0.00 0.00 53.03 0.683 2 0.000 0.000 2818 1875 2749

2995 end climb: SURFACE_DEPTH_REACHED

state 2995 begin surface coast

3119 end surface coast: CONTROL_FINISHED_OK

state 3119 begin surface

ID	23	HD_B	0.0123087	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	3.5261501e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	386	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	208	ALTIM_PING_DEPTH	50
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3567	ALTIM_PING_DELTA	20
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1890	ALTIM_PULSE	5
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_PITCH	0	SM_CC	450	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	0	R_PORT_OVSHOOT	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	43	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	3
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	580	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3994	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3484	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-1	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-28258.236	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	10	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	19
MAX_BUOY	110	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	20	PITCH_MIN	370	AH0_24V	91.800003	SEABIRD_T_G	0.0043036696
SPEED_FACTOR	1	PITCH_MAX	3518	AH0_10V	61.200001	SEABIRD_T_H	0.00062677584
RHO	1.023	C_PITCH	2610	PRESSURE_YINT	-24.5345	SEABIRD_T_I	2.2664151e-05
MASS	51702	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.2667414e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.310682
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1615626
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0017275931
HD_A	0.0030006149	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	15	SEABIRD_C_J	0.00021877716

GPS1	081638,4746.132,-12249.735,9,1.6,9,18.3	TGT_NAME	GP1
_CALLS	5	TGT_LATLONG	4746.257,-12250.251
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.186,0.081
_SM_DEPTHo	0.88	KALMAN_X	22254.6,-52.2,-45.6,-18179.8,-28.7
_SM_ANGLEo	-69.0	KALMAN_Y	13876.6,-170.2,-34.3,-1919.0,-11.8
GPS2	083740,4746.128,-12249.761,9,1.7,16,18.3	MHEAD_RNG_PITCHd_Wd	275.2,655,-13.6,-7.037
SPEED_LIMITS	0.193,0.203	D_GRID	166

FINISH	0.2,1.013686	ALTIM_BOTTOM_PING	80.3,999.0
SM_CCo	3142,127.72,0.643,0,0,1649,450.13	_24V_AH	24.0,31.663
SM_GC	0.85,0.00,0.00,127.72,0.000,0.000,0.643,365,2118,1649,-10.33,0.48,450.13	_10V_AH	10.2,11.095
IRIDIUM_FIX	4729.30,-12252.58,051007,121246	DATA_FILE_SIZE	6465,294
TT8_MAMPS	0.026845	CFSIZE	260034560,247480320
HUMID	2121	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	051007,093441,4746.260,-12250.243,8,2.8,28,18.3
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	149	87.94	SBE_CT	197	24	113.71
Roll_motor	24	49	29.02	nil	0	0	0.00
VBD_pump_during_apogee	216	749	3900.41	nil	0	0	0.00
VBD_pump_during_surface	127	642	1970.27	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	189	103	469.05	nil	0	0	0.00
Iridium_during_connect	274	160	1054.94	ARS	0	23	0.00
Iridium_during_xfer	419	223	2247.77
Transponder_ping	2	420	20.16
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	93	17.44
TT8	548	19	110.82
LPSleep	2020	2	45.14
TT8_Active	443	19	89.61
TT8_Sampling	483	39	196.25
TT8_CF8	1073	45	501.50
TT8_Kalman	33	81	27.82
Analog_circuits	738	12	90.42
GPS_charging	0	0	0.00
Compass	471	8	38.49
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-0.97	-107.5	0.0	0.0	0	117	0.00	0.00	-90.03	0.000	2	0.000	0.000	368	2127	3465
122	-0.97	-107.5	2.1	-3.4	15	153	11.35	0.00	-14.75	0.000	6	0.150	0.000	2394	2128	3923
219	-0.97	-107.5	10.2	-10.0	30	224	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2129	3923
292	-0.97	-107.5	15.0	-6.0	41	297	0.00	0.00	0.00	0.000	6	0.000	0.000	2395	2129	3924
364	-0.97	-107.5	19.4	-6.1	52	369	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2129	3925
434	-0.97	-107.5	23.5	-5.9	59	439	0.00	3.00	0.00	0.000	4	0.000	0.048	2394	679	3925
467	-0.97	-107.5	25.5	-6.2	61	472	0.00	2.85	0.00	0.000	6	0.000	0.030	2394	2096	3925
663	-0.97	-107.5	36.9	-5.7	76	664	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2095	3925
856	-0.97	-107.5	48.6	-6.3	91	861	0.00	2.95	0.00	0.000	4	0.000	0.049	2395	683	3925
889	-0.97	-107.5	51.0	-6.4	93	894	0.00	2.85	0.00	0.000	6	0.000	0.030	2394	2102	3925
1085	-0.97	-107.5	63.1	-6.4	108	1086	0.00	0.00	0.00	0.000	6	0.000	0.000	2394	2101	3926
1278	-0.97	-107.5	74.4	-5.9	123	1283	0.00	2.95	0.00	0.000	4	0.000	0.050	2395	688	3925
1311	-0.97	-107.5	76.7	-6.2	125	1316	0.00	2.85	0.00	0.000	6	0.000	0.031	2395	2107	3926
1507	-0.97	-107.5	88.8	-6.2	140	1511	0.00	2.97	0.00	0.000	4	0.000	0.050	2395	682	3926
1559	-0.97	-107.5	92.1	-6.9	143	1565	0.00	2.88	0.00	0.000	6	0.000	0.031	2395	2110	3926
1613	end dive: TARGET_DEPTH_EXCEEDED
state	1613	begin apogee
1620	-0.31	0.0	95.5	6.0	148	1706	0.73	0.00	82.57	0.749	6	0.084	0.000	2541	1875	3484
1707	end apogee: CONTROL_FINISHED_OK
state	1707	begin climb
1710	0.97	107.5	97.0	0.0	155	1795	1.30	0.00	81.28	0.729	6	0.065	0.000	2818	1875	3045
1985	0.97	107.5	78.8	8.0	177	1986	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	1875	3044
2175	0.97	107.5	63.7	7.8	192	2176	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	1876	3044
2365	0.97	107.5	49.1	7.8	207	2366	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	1875	3044
2554	0.97	107.5	34.6	7.6	222	2555	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	1876	3044
2745	0.97	107.5	20.2	7.7	237	2746	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	1875	3044
2939	1.05	181.0	7.2	4.4	266	2994	0.00	0.00	53.03	0.683	2	0.000	0.000	2818	1875	2749
2995	end climb: SURFACE_DEPTH_REACHED
state	2995	begin surface coast
3119	end surface coast: CONTROL_FINISHED_OK
state	3119	begin surface