Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 21 ESCAPE_HEADING 180 ROLL_MIN 311 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 5 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2550 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 17 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 39 INT_PRESSURE_YINT 1.4

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 60 UPLOAD_DIVES_MAX -1 VBD_MIN 582 DEVICE2 -1

T_MISSION 75 CALL_TRIES 5 VBD_MAX 3956 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2937 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 720 SMARTS 1

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 3

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 500 T_GPS_CHARGE -85786.242 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE -1

COURSE_BIAS 0 PITCH_MIN 428 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3730 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2970 PRESSURE_YINT -8.3219604 SEABIRD_T_G 0.0043077655

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063814409

MASS 51726 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4031482e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4698193e-06

FERRY_MAX 45 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826059

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1260695

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0021108589

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00021799213

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 500 PITCH_GAIN 10 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3730 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 428 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 180 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -8.3219604 TGT_DEFAULT_LAT 21.83

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -159.78

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 60

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -85786.242

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 75

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 118 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 1.4 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2970 KALMAN_USE 1 ROLL_MIN 311 USE_BATHY 0

C_ROLL_CLIMB 2550 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2400 MASS 51726 R_PORT_OVSHOOT 43 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 150 R_STBD_OVSHOOT 39 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 21 SEABIRD_C_G -9.9826059 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1260695 VBD_MAX 3956

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0021108589 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00021799213 VBD_MIN 582

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043077655 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063814409 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4031482e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4698193e-06 XPDR_DEVICE -1

DIVE 5 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 034608,2156.151,-15941.860,12,1.6,12,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 500.000

_XMS_NAKs 0 KALMAN_CONTROL -0.002,-0.260

_XMS_TOUTs 0 KALMAN_X 122.1,73.5,4.7,-64.7,58.4

_SM_DEPTHo 1.10 KALMAN_Y 1155.9,875.8,423.7,-2348.1,-65.7

_SM_ANGLEo -62.1 MHEAD_RNG_PITCHd_Wd 170.6,10619,-18.3,-10.000

GPS2 035156,2156.146,-15941.875,15,1.8,15,9.8 D_GRID 180

SPEED_LIMITS 0.173,0.260 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.4,1.011491 MM_CLLLayer 0.03

SM_CCo 3370,-0.03,0.000,0,0,1714,300.00 MM_CfgFile 0.30

SM_GC 1.96,0.00,0.00,-0.03,0.000,0.000,0.000,420,2388,1714,-11.73,-0.34,300.00 _24V_AH 24.2,16.527

IRIDIUM_FIX 2150.42,-15939.97,231098,030336 _10V_AH 10.1,22.706

TT8_MAMPS 0.062127 DATA_FILE_SIZE 9592,313

HUMID 1791 CAP_FILE_SIZE 146761,0

INTERNAL_PRESSURE 10.2187 CFSIZE -70647808,-79953920

TCM_TEMP 24.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 290709,045031,2155.994,-15941.980,45,1.5,45,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 124 83.59 SBE_CT 209 24 121.68

Roll_motor 35 49 41.64 nil 0 0 0.00

VBD_pump_during_apogee 329 537 4281.77 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 GUMSTIX 42 1000 1022.79

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 230 1000 5568.25

GPS 15 50 7.91

TT8 624 18 113.57

LPSleep 1460 0 5.75

TT8_Active 344 18 62.65

TT8_Sampling 588 38 225.94

TT8_CF8 429 44 190.76

TT8_Kalman 33 80 26.92

Analog_circuits 726 12 88.06

GPS_charging 0 0 0.00

Compass 578 8 46.72

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

24 -2.00 -146.0 0.0 0.0 0 91 0.00 0.00 -63.47 0.000 2 0.000 0.000 422 2380 3521

96 -2.00 -146.0 4.8 -10.1 9 113 10.82 2.58 -0.22 0.000 4 0.124 0.048 2529 3797 3536

145 -2.00 -146.0 25.7 -25.0 14 152 0.00 2.40 0.00 0.000 6 0.000 0.025 2529 2406 3536

345 -2.00 -146.0 63.0 -17.2 33 350 0.00 2.50 0.00 0.000 4 0.000 0.038 2529 3805 3536

610 -2.00 -146.0 102.6 -14.5 55 617 0.00 2.45 0.00 0.000 6 0.000 0.025 2529 2388 3536

938 -2.00 -146.0 148.1 -14.6 86 942 0.00 2.53 0.00 0.000 4 0.000 0.041 2530 3795 3536

985 -2.00 -146.0 155.7 -16.1 89 992 0.00 2.42 0.00 0.000 6 0.000 0.025 2529 2398 3537

1159 end dive: TARGET_DEPTH_EXCEEDED

state 1159 begin apogee

1171 -0.50 0.0 181.4 14.4 106 1284 1.50 0.00 107.40 0.538 6 0.066 0.000 2857 2574 2937

1289 end apogee: CONTROL_FINISHED_OK

state 1290 begin climb

1295 2.00 146.0 187.4 0.0 117 1415 2.38 2.53 107.07 0.536 4 0.039 0.044 3414 1140 2341

1504 2.01 153.2 179.3 9.7 135 1517 0.00 2.33 7.00 0.423 6 0.000 0.026 3414 2534 2312

1838 2.14 253.5 149.6 5.4 166 1918 0.00 2.47 74.50 0.516 4 0.000 0.045 3414 1151 1902

1987 2.14 253.5 135.9 10.9 178 1991 0.00 2.35 0.00 0.000 6 0.000 0.028 3414 2554 1899

2315 2.14 253.5 101.9 10.5 208 2319 0.00 2.50 0.00 0.000 4 0.000 0.049 3414 3932 1896

2428 2.14 253.5 89.4 11.3 217 2432 0.00 2.40 0.00 0.000 6 0.000 0.026 3413 2538 1897

2762 2.14 254.2 53.3 10.0 248 2768 0.00 0.00 0.00 0.000 6 0.000 0.000 3414 2539 1895

3090 2.19 297.2 27.6 8.0 279 3130 0.15 2.60 33.10 0.439 4 0.041 0.044 3464 3933 1724

3296 end climb: SURFACE_DEPTH_REACHED

state 3297 begin surface coast

3334 end surface coast: CONTROL_FINISHED_OK

state 3334 begin surface

ID	118	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	21	ESCAPE_HEADING	180	ROLL_MIN	311	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	5	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2550	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	17	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	39	INT_PRESSURE_YINT	1.4
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	60	UPLOAD_DIVES_MAX	-1	VBD_MIN	582	DEVICE2	-1
T_MISSION	75	CALL_TRIES	5	VBD_MAX	3956	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2937	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	720	SMARTS	1
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	3
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	500	T_GPS_CHARGE	-85786.242	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	-1
COURSE_BIAS	0	PITCH_MIN	428	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3730	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2970	PRESSURE_YINT	-8.3219604	SEABIRD_T_G	0.0043077655
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063814409
MASS	51726	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4031482e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4698193e-06
FERRY_MAX	45	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826059
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1260695
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0021108589
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00021799213
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	034608,2156.151,-15941.860,12,1.6,12,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	500.000
_XMS_NAKs	0	KALMAN_CONTROL	-0.002,-0.260
_XMS_TOUTs	0	KALMAN_X	122.1,73.5,4.7,-64.7,58.4
_SM_DEPTHo	1.10	KALMAN_Y	1155.9,875.8,423.7,-2348.1,-65.7
_SM_ANGLEo	-62.1	MHEAD_RNG_PITCHd_Wd	170.6,10619,-18.3,-10.000
GPS2	035156,2156.146,-15941.875,15,1.8,15,9.8	D_GRID	180
SPEED_LIMITS	0.173,0.260	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.4,1.011491	MM_CLLLayer	0.03
SM_CCo	3370,-0.03,0.000,0,0,1714,300.00	MM_CfgFile	0.30
SM_GC	1.96,0.00,0.00,-0.03,0.000,0.000,0.000,420,2388,1714,-11.73,-0.34,300.00	_24V_AH	24.2,16.527
IRIDIUM_FIX	2150.42,-15939.97,231098,030336	_10V_AH	10.1,22.706
TT8_MAMPS	0.062127	DATA_FILE_SIZE	9592,313
HUMID	1791	CAP_FILE_SIZE	146761,0
INTERNAL_PRESSURE	10.2187	CFSIZE	-70647808,-79953920
TCM_TEMP	24.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	290709,045031,2155.994,-15941.980,45,1.5,45,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	124	83.59	SBE_CT	209	24	121.68
Roll_motor	35	49	41.64	nil	0	0	0.00
VBD_pump_during_apogee	329	537	4281.77	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	GUMSTIX	42	1000	1022.79
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	230	1000	5568.25
GPS	15	50	7.91
TT8	624	18	113.57
LPSleep	1460	0	5.75
TT8_Active	344	18	62.65
TT8_Sampling	588	38	225.94
TT8_CF8	429	44	190.76
TT8_Kalman	33	80	26.92
Analog_circuits	726	12	88.06
GPS_charging	0	0	0.00
Compass	578	8	46.72
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
24	-2.00	-146.0	0.0	0.0	0	91	0.00	0.00	-63.47	0.000	2	0.000	0.000	422	2380	3521
96	-2.00	-146.0	4.8	-10.1	9	113	10.82	2.58	-0.22	0.000	4	0.124	0.048	2529	3797	3536
145	-2.00	-146.0	25.7	-25.0	14	152	0.00	2.40	0.00	0.000	6	0.000	0.025	2529	2406	3536
345	-2.00	-146.0	63.0	-17.2	33	350	0.00	2.50	0.00	0.000	4	0.000	0.038	2529	3805	3536
610	-2.00	-146.0	102.6	-14.5	55	617	0.00	2.45	0.00	0.000	6	0.000	0.025	2529	2388	3536
938	-2.00	-146.0	148.1	-14.6	86	942	0.00	2.53	0.00	0.000	4	0.000	0.041	2530	3795	3536
985	-2.00	-146.0	155.7	-16.1	89	992	0.00	2.42	0.00	0.000	6	0.000	0.025	2529	2398	3537
1159	end dive: TARGET_DEPTH_EXCEEDED
state	1159	begin apogee
1171	-0.50	0.0	181.4	14.4	106	1284	1.50	0.00	107.40	0.538	6	0.066	0.000	2857	2574	2937
1289	end apogee: CONTROL_FINISHED_OK
state	1290	begin climb
1295	2.00	146.0	187.4	0.0	117	1415	2.38	2.53	107.07	0.536	4	0.039	0.044	3414	1140	2341
1504	2.01	153.2	179.3	9.7	135	1517	0.00	2.33	7.00	0.423	6	0.000	0.026	3414	2534	2312
1838	2.14	253.5	149.6	5.4	166	1918	0.00	2.47	74.50	0.516	4	0.000	0.045	3414	1151	1902
1987	2.14	253.5	135.9	10.9	178	1991	0.00	2.35	0.00	0.000	6	0.000	0.028	3414	2554	1899
2315	2.14	253.5	101.9	10.5	208	2319	0.00	2.50	0.00	0.000	4	0.000	0.049	3414	3932	1896
2428	2.14	253.5	89.4	11.3	217	2432	0.00	2.40	0.00	0.000	6	0.000	0.026	3413	2538	1897
2762	2.14	254.2	53.3	10.0	248	2768	0.00	0.00	0.00	0.000	6	0.000	0.000	3414	2539	1895
3090	2.19	297.2	27.6	8.0	279	3130	0.15	2.60	33.10	0.439	4	0.041	0.044	3464	3933	1724
3296	end climb: SURFACE_DEPTH_REACHED
state	3297	begin surface coast
3334	end surface coast: CONTROL_FINISHED_OK
state	3334	begin surface