Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 5 HEADING -1 PITCH_ADJ_GAIN 0.029999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 150 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 200 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2060 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1870 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 688.85968 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 2 R_PORT_OVSHOOT 12 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3450 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17982.896 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2269 PRESSURE_YINT -3.7066903 SEABIRD_T_I 2.5554549e-05

MASS 51440 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 688.85968

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 150 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 0 PRESSURE_YINT -3.7066903 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 50

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.023 T_GPS_CHARGE -17982.896

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 75

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2269 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1870 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 2060 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3450 MASS 51440 R_PORT_OVSHOOT 12 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 37 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 486

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 5 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 200 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 014351,4806.267,-12222.416,8,2.0,8,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.102,0.190

_SM_DEPTHo 1.68 KALMAN_X 18.6,7.0,1.4,192.1,13.9

_SM_ANGLEo -50.3 KALMAN_Y -332.6,-224.7,-105.9,-210.6,-62.4

GPS2 015117,4806.218,-12222.410,15,2.1,34,18.3 MHEAD_RNG_PITCHd_Wd 313.4,3841,-21.2,-10.000

SPEED_LIMITS 0.173,0.216 D_GRID 105

Post-dive calculations and measurements:

FINISH 1.0,1.019584 XPDR_PINGS 1

SM_CCo 2427,207.00,0.590,0,0,640,689.05 ALTIM_TOP_PING 19.4,18.4

SM_GC 1.74,0.00,0.00,207.00,0.000,0.000,0.590,672,2093,640,-7.35,0.93,689.05 _24V_AH 21.0,14.075

RAFOS_CLK 113 _10V_AH 10.0,5.850

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 9621,250

IRIDIUM_FIX 4745.30,-12253.20,110707,040454 CFSIZE 260165632,256614400

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 2018 SOUNDSPEED 1484.1

INTERNAL_PRESSURE 10.352 GPS 110707,023729,4806.376,-12222.611,12,4.7,31,18.3

TCM_TEMP 9.40

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 241 127.86 SBE_CT 172 24 87.16

Roll_motor 51 95 102.93 SBE_O2 175 19 70.00

VBD_pump_during_apogee 360 704 5331.06 nil 0 0 0.00

VBD_pump_during_surface 207 589 2563.96 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 82.39 nil 0 0 0.00

Iridium_during_connect 32 160 108.12 nil 0 0 0.00

Iridium_during_xfer 194 223 912.29

Transponder_ping 0 420 4.41

GPS 37 50 18.57

TT8 451 19 89.99

LPSleep 1177 2 27.21

TT8_Active 683 19 136.05

TT8_Sampling 336 39 134.15

TT8_CF8 451 45 207.28

TT8_Kalman 33 81 27.30

Analog_circuits 976 12 117.17

GPS_charging 0 0 0.00

Compass 303 20 60.79

RAFOS 0 1 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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.13 -146.6 0.0 0.0 0 103 0.00 0.00 -74.72 0.000 2 0.000 0.000 670 2100 2780

107 -1.13 -146.6 3.3 -6.5 15 158 11.10 2.78 -32.35 0.000 4 0.242 0.070 2016 3456 3898

193 -1.13 -146.6 10.2 -12.1 31 199 0.00 2.70 0.00 0.000 6 0.000 0.035 2016 2049 3898

267 -0.97 -146.6 18.7 -11.6 44 274 0.20 2.88 0.00 0.000 4 0.146 0.061 2048 3452 3898

303 -0.83 -146.6 22.6 -10.5 48 308 0.22 2.65 0.00 0.000 6 0.146 0.035 2081 2073 3898

373 -0.79 -146.6 28.9 -8.6 54 374 0.00 0.00 0.00 0.000 6 0.000 0.000 2081 2073 3899

437 -0.87 -146.6 34.5 -8.9 60 441 0.00 2.83 0.00 0.000 4 0.000 0.067 2081 3446 3899

499 -0.95 -146.6 40.3 -9.1 65 504 0.00 2.60 0.00 0.000 6 0.000 0.035 2081 2083 3899

633 -1.05 -146.6 52.1 -8.8 77 639 0.17 2.83 0.00 0.000 4 0.047 0.067 2034 3450 3899

718 -1.15 -146.6 61.5 -11.7 84 723 0.00 2.55 0.00 0.000 6 0.000 0.036 2033 2117 3899

852 -1.11 -146.6 76.9 -11.2 96 857 0.00 2.78 0.00 0.000 4 0.000 0.073 2034 3450 3899

915 -1.08 -146.6 84.1 -11.2 101 919 0.00 2.50 0.00 0.000 6 0.000 0.036 2033 2143 3899

1049 -1.06 -146.6 99.0 -11.1 113 1050 0.00 0.00 0.00 0.000 6 0.000 0.000 2033 2143 3899

1109 end dive: TARGET_DEPTH_EXCEEDED

state 1109 begin apogee

1116 -0.21 0.0 106.1 11.0 119 1214 1.05 0.00 93.60 0.697 6 0.132 0.000 2216 1867 3450

1214 end apogee: CONTROL_FINISHED_OK

state 1215 begin climb

1218 1.13 146.6 109.4 0.0 129 1350 1.55 3.15 122.88 0.670 4 0.075 0.090 2514 472 2852

1426 1.13 146.6 95.2 14.0 148 1432 0.00 2.75 0.00 0.000 6 0.000 0.046 2513 1847 2851

1560 0.82 146.6 78.7 12.1 161 1566 0.38 3.20 0.00 0.000 4 0.132 0.096 2452 3278 2850

1650 0.56 156.7 69.9 9.5 168 1667 0.38 2.78 7.75 0.705 6 0.133 0.044 2394 1892 2811

1795 0.46 236.3 60.5 6.2 182 1867 0.15 3.03 65.55 0.657 4 0.127 0.064 2372 3282 2486

1997 0.69 308.1 47.6 6.6 200 2063 0.22 2.72 57.92 0.646 6 0.044 0.043 2424 1914 2194

2194 1.03 323.3 29.7 9.3 219 2215 0.30 2.95 12.45 0.655 4 0.039 0.067 2497 3275 2131

2322 1.19 323.3 11.2 14.5 235 2328 0.15 2.67 0.00 0.000 6 0.054 0.045 2530 1943 2130

2388 end climb: SURFACE_DEPTH_REACHED

state 2388 begin surface coast

2406 end surface coast: CONTROL_FINISHED_OK

state 2406 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	5	HEADING	-1	PITCH_ADJ_GAIN	0.029999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	150	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	200	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2060	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1870	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	688.85968	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	2	R_PORT_OVSHOOT	12	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3450	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17982.896	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2269	PRESSURE_YINT	-3.7066903	SEABIRD_T_I	2.5554549e-05
MASS	51440	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017379176

GPS1	014351,4806.267,-12222.416,8,2.0,8,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.102,0.190
_SM_DEPTHo	1.68	KALMAN_X	18.6,7.0,1.4,192.1,13.9
_SM_ANGLEo	-50.3	KALMAN_Y	-332.6,-224.7,-105.9,-210.6,-62.4
GPS2	015117,4806.218,-12222.410,15,2.1,34,18.3	MHEAD_RNG_PITCHd_Wd	313.4,3841,-21.2,-10.000
SPEED_LIMITS	0.173,0.216	D_GRID	105

FINISH	1.0,1.019584	XPDR_PINGS	1
SM_CCo	2427,207.00,0.590,0,0,640,689.05	ALTIM_TOP_PING	19.4,18.4
SM_GC	1.74,0.00,0.00,207.00,0.000,0.000,0.590,672,2093,640,-7.35,0.93,689.05	_24V_AH	21.0,14.075
RAFOS_CLK	113	_10V_AH	10.0,5.850
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	9621,250
IRIDIUM_FIX	4745.30,-12253.20,110707,040454	CFSIZE	260165632,256614400
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	2018	SOUNDSPEED	1484.1
INTERNAL_PRESSURE	10.352	GPS	110707,023729,4806.376,-12222.611,12,4.7,31,18.3
TCM_TEMP	9.40

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	241	127.86	SBE_CT	172	24	87.16
Roll_motor	51	95	102.93	SBE_O2	175	19	70.00
VBD_pump_during_apogee	360	704	5331.06	nil	0	0	0.00
VBD_pump_during_surface	207	589	2563.96	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	82.39	nil	0	0	0.00
Iridium_during_connect	32	160	108.12	nil	0	0	0.00
Iridium_during_xfer	194	223	912.29
Transponder_ping	0	420	4.41
GPS	37	50	18.57
TT8	451	19	89.99
LPSleep	1177	2	27.21
TT8_Active	683	19	136.05
TT8_Sampling	336	39	134.15
TT8_CF8	451	45	207.28
TT8_Kalman	33	81	27.30
Analog_circuits	976	12	117.17
GPS_charging	0	0	0.00
Compass	303	20	60.79
RAFOS	0	1	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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.13	-146.6	0.0	0.0	0	103	0.00	0.00	-74.72	0.000	2	0.000	0.000	670	2100	2780
107	-1.13	-146.6	3.3	-6.5	15	158	11.10	2.78	-32.35	0.000	4	0.242	0.070	2016	3456	3898
193	-1.13	-146.6	10.2	-12.1	31	199	0.00	2.70	0.00	0.000	6	0.000	0.035	2016	2049	3898
267	-0.97	-146.6	18.7	-11.6	44	274	0.20	2.88	0.00	0.000	4	0.146	0.061	2048	3452	3898
303	-0.83	-146.6	22.6	-10.5	48	308	0.22	2.65	0.00	0.000	6	0.146	0.035	2081	2073	3898
373	-0.79	-146.6	28.9	-8.6	54	374	0.00	0.00	0.00	0.000	6	0.000	0.000	2081	2073	3899
437	-0.87	-146.6	34.5	-8.9	60	441	0.00	2.83	0.00	0.000	4	0.000	0.067	2081	3446	3899
499	-0.95	-146.6	40.3	-9.1	65	504	0.00	2.60	0.00	0.000	6	0.000	0.035	2081	2083	3899
633	-1.05	-146.6	52.1	-8.8	77	639	0.17	2.83	0.00	0.000	4	0.047	0.067	2034	3450	3899
718	-1.15	-146.6	61.5	-11.7	84	723	0.00	2.55	0.00	0.000	6	0.000	0.036	2033	2117	3899
852	-1.11	-146.6	76.9	-11.2	96	857	0.00	2.78	0.00	0.000	4	0.000	0.073	2034	3450	3899
915	-1.08	-146.6	84.1	-11.2	101	919	0.00	2.50	0.00	0.000	6	0.000	0.036	2033	2143	3899
1049	-1.06	-146.6	99.0	-11.1	113	1050	0.00	0.00	0.00	0.000	6	0.000	0.000	2033	2143	3899
1109	end dive: TARGET_DEPTH_EXCEEDED
state	1109	begin apogee
1116	-0.21	0.0	106.1	11.0	119	1214	1.05	0.00	93.60	0.697	6	0.132	0.000	2216	1867	3450
1214	end apogee: CONTROL_FINISHED_OK
state	1215	begin climb
1218	1.13	146.6	109.4	0.0	129	1350	1.55	3.15	122.88	0.670	4	0.075	0.090	2514	472	2852
1426	1.13	146.6	95.2	14.0	148	1432	0.00	2.75	0.00	0.000	6	0.000	0.046	2513	1847	2851
1560	0.82	146.6	78.7	12.1	161	1566	0.38	3.20	0.00	0.000	4	0.132	0.096	2452	3278	2850
1650	0.56	156.7	69.9	9.5	168	1667	0.38	2.78	7.75	0.705	6	0.133	0.044	2394	1892	2811
1795	0.46	236.3	60.5	6.2	182	1867	0.15	3.03	65.55	0.657	4	0.127	0.064	2372	3282	2486
1997	0.69	308.1	47.6	6.6	200	2063	0.22	2.72	57.92	0.646	6	0.044	0.043	2424	1914	2194
2194	1.03	323.3	29.7	9.3	219	2215	0.30	2.95	12.45	0.655	4	0.039	0.067	2497	3275	2131
2322	1.19	323.3	11.2	14.5	235	2328	0.15	2.67	0.00	0.000	6	0.054	0.045	2530	1943	2130
2388	end climb: SURFACE_DEPTH_REACHED
state	2388	begin surface coast
2406	end surface coast: CONTROL_FINISHED_OK
state	2406	begin surface