Glider dive log

Shilshole 18Jul08 * SG113 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 113 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 280 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 4 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2112 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2300 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 450 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 43 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 65 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2900 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -6 T_GPS 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 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 -19715.137 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 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 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 171 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2600 PRESSURE_YINT -26.1754 SEABIRD_T_G 0.004371644

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51398 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.0034169999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0095870001 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.059999999 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 450

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 18 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 171 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00135 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160825 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -26.1754 TGT_DEFAULT_LAT 21

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -19715.137

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_MISSION 65

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 2

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 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2600 KALMAN_USE 2 ROLL_MIN 280 USE_BATHY -6

C_ROLL_CLIMB 2300 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2112 MASS 51398 R_PORT_OVSHOOT 43 VBD_BLEED_AD_RATE 8

C_VBD 2900 MAX_BUOY 150 R_STBD_OVSHOOT 31 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 4 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 212441,4743.205,-12225.065,8,3.3,27,18.2 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.500,-12225.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 212823,4743.198,-12225.068,10,3.8,29,18.2 MHEAD_RNG_PITCHd_Wd 350.5,565,-25.4,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 178

Post-dive calculations and measurements:

FINISH 0.2,1.018894 TCM_TEMP 19.90

SM_CCo 2282,68.82,0.746,0,0,1065,450.13 XPDR_PINGS 1

SM_GC 1.23,0.00,0.00,68.82,0.000,0.000,0.746,163,2093,1065,-11.21,-0.54,450.13 _24V_AH 24.2,0.886

RAFOS_CLK 96 _10V_AH 10.8,0.331

RAFOS 4,1216416543,21.500000,21.484167,59,58,55,55,52,51,205,166,190,152,181,139 DATA_FILE_SIZE 12726,397

RAFOS_FIX -29309.968750,-545750.187500,180708,202052,2,64,0.06 CAP_FILE_SIZE 48129,0

IRIDIUM_FIX 4726.11,-12223.37,121097,212134 CFSIZE 260165632,257138688

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

HUMID 1906 SOUNDSPEED 1487.7

INTERNAL_PRESSURE 8.8187 GPS 180708,220839,4743.053,-12225.444,5,1.9,5,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 279 132.59 SBE_CT 276 24 160.51

Roll_motor 26 59 38.19 SBE_O2 271 19 124.92

VBD_pump_during_apogee 311 840 6328.80 nil 0 105 0.00

VBD_pump_during_surface 68 745 1241.72 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 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 2.54

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.42

TT8 564 19 121.51

LPSleep 783 2 19.55

TT8_Active 453 19 97.56

TT8_Sampling 618 39 266.78

TT8_CF8 25 45 12.45

TT8_Kalman 0 0 0.00

Analog_circuits 824 12 106.84

GPS_charging 0 0 0.00

Compass 591 8 51.11

RAFOS 360 1 5.83

Transponder 0 30 0.17

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

14 -1.51 -73.0 0.0 0.0 0 135 0.00 0.00 -117.88 0.000 2 0.000 0.000 164 2115 2883

137 -1.53 -88.0 3.6 -8.6 21 162 8.82 2.20 -7.80 0.000 4 0.279 0.060 2260 702 3261

414 -1.53 -88.0 79.1 -23.7 70 420 0.00 2.15 0.00 0.000 6 0.000 0.041 2260 2120 3266

623 -1.53 -88.0 125.3 -22.5 107 629 0.00 2.17 0.00 0.000 4 0.000 0.056 2260 3526 3266

668 -1.78 -88.0 135.0 -21.1 115 675 0.17 2.05 0.00 0.000 6 0.096 0.036 2198 2133 3267

729 end dive: TARGET_DEPTH_EXCEEDED

state 729 begin apogee

733 -0.28 0.0 151.2 27.3 126 807 1.12 0.00 67.45 0.841 6 0.188 0.000 2533 2308 2900

807 end apogee: CONTROL_FINISHED_OK

state 807 begin climb

809 1.53 88.0 157.6 0.0 139 884 1.23 2.38 67.95 0.803 4 0.105 0.054 2936 3704 2541

912 1.32 277.2 162.3 -7.5 157 1065 0.22 2.17 142.73 0.795 6 0.218 0.035 2888 2308 1769

1268 1.26 277.2 126.2 15.0 220 1275 0.00 2.17 0.00 0.000 4 0.000 0.046 2888 892 1769

1437 1.26 277.2 101.9 14.3 250 1444 0.00 2.20 0.00 0.000 6 0.000 0.041 2887 2343 1769

1645 1.26 277.2 70.5 11.8 287 1651 0.00 2.10 0.00 0.000 4 0.000 0.054 2888 3704 1769

1820 1.08 277.2 42.3 16.6 318 1827 0.20 2.00 0.00 0.000 6 0.175 0.038 2832 2374 1768

1962 1.41 287.8 28.1 9.0 343 1981 0.20 2.12 9.12 0.706 4 0.073 0.054 2912 3703 1725

1991 1.41 287.8 24.6 12.0 348 1998 0.00 1.98 0.00 0.000 6 0.000 0.037 2913 2403 1726

2132 1.45 319.3 9.8 7.1 373 2161 0.00 0.00 23.85 0.762 6 0.000 0.000 2913 2403 1597

2238 end climb: SURFACE_DEPTH_REACHED

state 2238 begin surface coast

2267 end surface coast: CONTROL_FINISHED_OK

state 2268 begin surface

ID	113	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	280	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	4	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2112	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2300	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	450	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	43	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	65	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2900	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-6	T_GPS	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	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	-19715.137	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	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	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	171	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4022	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2600	PRESSURE_YINT	-26.1754	SEABIRD_T_G	0.004371644
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160825	SEABIRD_T_H	0.00064727472
MASS	51398	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6231954e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8174416e-06
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9426794
KALMAN_USE	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.0034169999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0095870001	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012778315
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.059999999	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	212441,4743.205,-12225.065,8,3.3,27,18.2	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.500,-12225.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	212823,4743.198,-12225.068,10,3.8,29,18.2	MHEAD_RNG_PITCHd_Wd	350.5,565,-25.4,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	178

FINISH	0.2,1.018894	TCM_TEMP	19.90
SM_CCo	2282,68.82,0.746,0,0,1065,450.13	XPDR_PINGS	1
SM_GC	1.23,0.00,0.00,68.82,0.000,0.000,0.746,163,2093,1065,-11.21,-0.54,450.13	_24V_AH	24.2,0.886
RAFOS_CLK	96	_10V_AH	10.8,0.331
RAFOS	4,1216416543,21.500000,21.484167,59,58,55,55,52,51,205,166,190,152,181,139	DATA_FILE_SIZE	12726,397
RAFOS_FIX	-29309.968750,-545750.187500,180708,202052,2,64,0.06	CAP_FILE_SIZE	48129,0
IRIDIUM_FIX	4726.11,-12223.37,121097,212134	CFSIZE	260165632,257138688
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
HUMID	1906	SOUNDSPEED	1487.7
INTERNAL_PRESSURE	8.8187	GPS	180708,220839,4743.053,-12225.444,5,1.9,5,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	279	132.59	SBE_CT	276	24	160.51
Roll_motor	26	59	38.19	SBE_O2	271	19	124.92
VBD_pump_during_apogee	311	840	6328.80	nil	0	105	0.00
VBD_pump_during_surface	68	745	1241.72	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	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	2.54
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.42
TT8	564	19	121.51
LPSleep	783	2	19.55
TT8_Active	453	19	97.56
TT8_Sampling	618	39	266.78
TT8_CF8	25	45	12.45
TT8_Kalman	0	0	0.00
Analog_circuits	824	12	106.84
GPS_charging	0	0	0.00
Compass	591	8	51.11
RAFOS	360	1	5.83
Transponder	0	30	0.17

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
14	-1.51	-73.0	0.0	0.0	0	135	0.00	0.00	-117.88	0.000	2	0.000	0.000	164	2115	2883
137	-1.53	-88.0	3.6	-8.6	21	162	8.82	2.20	-7.80	0.000	4	0.279	0.060	2260	702	3261
414	-1.53	-88.0	79.1	-23.7	70	420	0.00	2.15	0.00	0.000	6	0.000	0.041	2260	2120	3266
623	-1.53	-88.0	125.3	-22.5	107	629	0.00	2.17	0.00	0.000	4	0.000	0.056	2260	3526	3266
668	-1.78	-88.0	135.0	-21.1	115	675	0.17	2.05	0.00	0.000	6	0.096	0.036	2198	2133	3267
729	end dive: TARGET_DEPTH_EXCEEDED
state	729	begin apogee
733	-0.28	0.0	151.2	27.3	126	807	1.12	0.00	67.45	0.841	6	0.188	0.000	2533	2308	2900
807	end apogee: CONTROL_FINISHED_OK
state	807	begin climb
809	1.53	88.0	157.6	0.0	139	884	1.23	2.38	67.95	0.803	4	0.105	0.054	2936	3704	2541
912	1.32	277.2	162.3	-7.5	157	1065	0.22	2.17	142.73	0.795	6	0.218	0.035	2888	2308	1769
1268	1.26	277.2	126.2	15.0	220	1275	0.00	2.17	0.00	0.000	4	0.000	0.046	2888	892	1769
1437	1.26	277.2	101.9	14.3	250	1444	0.00	2.20	0.00	0.000	6	0.000	0.041	2887	2343	1769
1645	1.26	277.2	70.5	11.8	287	1651	0.00	2.10	0.00	0.000	4	0.000	0.054	2888	3704	1769
1820	1.08	277.2	42.3	16.6	318	1827	0.20	2.00	0.00	0.000	6	0.175	0.038	2832	2374	1768
1962	1.41	287.8	28.1	9.0	343	1981	0.20	2.12	9.12	0.706	4	0.073	0.054	2912	3703	1725
1991	1.41	287.8	24.6	12.0	348	1998	0.00	1.98	0.00	0.000	6	0.000	0.037	2913	2403	1726
2132	1.45	319.3	9.8	7.1	373	2161	0.00	0.00	23.85	0.762	6	0.000	0.000	2913	2403	1597
2238	end climb: SURFACE_DEPTH_REACHED
state	2238	begin surface coast
2267	end surface coast: CONTROL_FINISHED_OK
state	2268	begin surface