Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 67 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 67 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2000 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 24 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

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 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 1 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -18025.473 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 120 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1405377 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 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 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -18025.473

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2000 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2100 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 24 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 41 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 67 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 185359,4738.667,-12252.801,12,3.3,31,18.3 TGT_NAME H5

_CALLS 2 TGT_LATLONG 4738.532,-12253.202

_XMS_NAKs 1 TGT_RADIUS 200.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.197,-0.069

_SM_DEPTHo 1.25 KALMAN_X 18023.7,515.7,274.7,-18790.0,-28.2

_SM_ANGLEo -62.9 KALMAN_Y 10310.9,390.1,231.4,-12921.2,-103.6

GPS2 190358,4738.716,-12252.675,14,3.4,33,18.3 MHEAD_RNG_PITCHd_Wd 232.4,741,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 133

Post-dive calculations and measurements:

FINISH 0.4,1.021569 ALTIM_TOP_PING 9.6,8.8

SM_CCo 3159,58.65,0.583,0,0,1367,450.13 ALTIM_BOTTOM_PING 95.8,999.0

SM_GC 1.18,0.00,0.00,58.65,0.000,0.000,0.583,412,2114,1367,-11.44,0.40,450.13 _24V_AH 23.2,22.100

IRIDIUM_FIX 4722.92,-12258.89,240907,212157 _10V_AH 10.1,14.128

TT8_MAMPS 0.073632 DATA_FILE_SIZE 9578,301

HUMID 2248 CFSIZE 260231168,255336448

INTERNAL_PRESSURE 8.01789 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.20 GPS 240907,195947,4738.539,-12253.035,11,6.9,30,18.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 193 136.10 SBE_CT 212 24 118.13

Roll_motor 40 74 69.82 nil 0 0 0.00

VBD_pump_during_apogee 274 703 4481.18 nil 0 0 0.00

VBD_pump_during_surface 58 582 793.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 64 103 153.08 nil 0 0 0.00

Iridium_during_connect 42 160 159.47 ARS 0 0 0.00

Iridium_during_xfer 281 223 1455.23

Transponder_ping 0 420 7.31

Mmodem_TX 66 1000 1540.71

Mmodem_RX 3886 6 577.08

GPS 34 50 17.56

TT8 531 19 106.19

LPSleep 1790 2 39.61

TT8_Active 438 19 87.64

TT8_Sampling 551 39 221.70

TT8_CF8 533 45 246.63

TT8_Kalman 33 81 27.55

Analog_circuits 758 12 91.96

GPS_charging 0 0 0.00

Compass 507 8 40.98

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.68 -97.8 0.0 0.0 0 70 0.00 0.00 -43.17 0.000 2 0.000 0.000 408 2113 2325

73 -1.68 -97.8 2.1 -3.1 7 146 13.15 2.67 -51.33 0.000 4 0.193 0.074 2524 706 3603

180 -1.68 -97.8 5.9 -5.7 24 187 0.00 2.42 0.00 0.000 6 0.000 0.035 2524 2094 3604

252 -1.68 -97.8 12.7 -9.8 35 259 0.00 2.53 0.00 0.000 4 0.000 0.054 2524 3502 3605

389 -1.68 -97.8 27.8 -10.5 50 397 0.00 2.45 0.00 0.000 6 0.000 0.035 2524 2102 3605

585 -1.68 -97.8 46.8 -10.0 66 587 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2102 3605

776 -1.68 -97.8 65.3 -9.8 81 780 0.00 2.50 0.00 0.000 4 0.000 0.054 2524 3493 3606

813 -1.68 -97.8 69.3 -10.4 83 821 0.00 2.42 0.00 0.000 6 0.000 0.035 2524 2109 3605

1010 -1.68 -97.8 89.2 -10.1 99 1011 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2106 3606

1199 -1.68 -97.8 108.7 -9.9 114 1203 0.00 2.53 0.00 0.000 4 0.000 0.054 2524 3502 3606

1231 -1.68 -97.8 112.1 -11.0 116 1238 0.00 2.45 0.00 0.000 6 0.000 0.035 2524 2104 3606

1311 end dive: TARGET_DEPTH_EXCEEDED

state 1312 begin apogee

1317 -0.38 0.0 120.5 10.3 123 1399 1.48 0.00 77.68 0.683 6 0.104 0.000 2811 1997 3202

1400 end apogee: CONTROL_FINISHED_OK

state 1400 begin climb

1402 1.68 97.8 122.9 0.0 130 1483 2.17 0.00 75.90 0.658 6 0.063 0.000 3271 1997 2803

1672 1.72 127.0 109.2 7.1 152 1700 0.00 2.60 22.10 0.675 4 0.000 0.052 3271 3384 2683

1775 1.72 127.0 100.7 9.1 160 1780 0.00 2.42 0.00 0.000 6 0.000 0.036 3271 2004 2682

1970 1.72 127.0 82.7 9.4 175 1974 0.00 2.55 0.00 0.000 4 0.000 0.052 3272 3398 2682

2076 1.72 127.0 72.1 10.0 183 2080 0.00 2.53 0.00 0.000 6 0.000 0.035 3272 2002 2682

2271 1.72 127.0 53.2 9.3 198 2275 0.00 2.53 0.00 0.000 4 0.000 0.052 3272 3396 2681

2350 1.72 127.0 45.7 9.5 204 2354 0.00 2.45 0.00 0.000 6 0.000 0.036 3271 1998 2682

2552 1.73 135.1 28.0 8.4 220 2564 0.00 0.00 5.78 0.703 6 0.000 0.000 3271 1998 2651

2757 1.75 147.6 12.0 8.1 243 2776 0.00 2.62 9.45 0.675 4 0.000 0.052 3271 3396 2599

2961 1.96 322.2 3.6 -1.8 274 3054 0.25 2.45 83.72 0.597 6 0.051 0.035 3329 1989 1887

3058 end climb: SURFACE_DEPTH_REACHED

state 3058 begin surface coast

3134 end surface coast: CONTROL_FINISHED_OK

state 3134 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	67	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2000	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	24	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
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	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	1	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-18025.473	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	185359,4738.667,-12252.801,12,3.3,31,18.3	TGT_NAME	H5
_CALLS	2	TGT_LATLONG	4738.532,-12253.202
_XMS_NAKs	1	TGT_RADIUS	200.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.197,-0.069
_SM_DEPTHo	1.25	KALMAN_X	18023.7,515.7,274.7,-18790.0,-28.2
_SM_ANGLEo	-62.9	KALMAN_Y	10310.9,390.1,231.4,-12921.2,-103.6
GPS2	190358,4738.716,-12252.675,14,3.4,33,18.3	MHEAD_RNG_PITCHd_Wd	232.4,741,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	133

FINISH	0.4,1.021569	ALTIM_TOP_PING	9.6,8.8
SM_CCo	3159,58.65,0.583,0,0,1367,450.13	ALTIM_BOTTOM_PING	95.8,999.0
SM_GC	1.18,0.00,0.00,58.65,0.000,0.000,0.583,412,2114,1367,-11.44,0.40,450.13	_24V_AH	23.2,22.100
IRIDIUM_FIX	4722.92,-12258.89,240907,212157	_10V_AH	10.1,14.128
TT8_MAMPS	0.073632	DATA_FILE_SIZE	9578,301
HUMID	2248	CFSIZE	260231168,255336448
INTERNAL_PRESSURE	8.01789	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.20	GPS	240907,195947,4738.539,-12253.035,11,6.9,30,18.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	193	136.10	SBE_CT	212	24	118.13
Roll_motor	40	74	69.82	nil	0	0	0.00
VBD_pump_during_apogee	274	703	4481.18	nil	0	0	0.00
VBD_pump_during_surface	58	582	793.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	64	103	153.08	nil	0	0	0.00
Iridium_during_connect	42	160	159.47	ARS	0	0	0.00
Iridium_during_xfer	281	223	1455.23
Transponder_ping	0	420	7.31
Mmodem_TX	66	1000	1540.71
Mmodem_RX	3886	6	577.08
GPS	34	50	17.56
TT8	531	19	106.19
LPSleep	1790	2	39.61
TT8_Active	438	19	87.64
TT8_Sampling	551	39	221.70
TT8_CF8	533	45	246.63
TT8_Kalman	33	81	27.55
Analog_circuits	758	12	91.96
GPS_charging	0	0	0.00
Compass	507	8	40.98
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.68	-97.8	0.0	0.0	0	70	0.00	0.00	-43.17	0.000	2	0.000	0.000	408	2113	2325
73	-1.68	-97.8	2.1	-3.1	7	146	13.15	2.67	-51.33	0.000	4	0.193	0.074	2524	706	3603
180	-1.68	-97.8	5.9	-5.7	24	187	0.00	2.42	0.00	0.000	6	0.000	0.035	2524	2094	3604
252	-1.68	-97.8	12.7	-9.8	35	259	0.00	2.53	0.00	0.000	4	0.000	0.054	2524	3502	3605
389	-1.68	-97.8	27.8	-10.5	50	397	0.00	2.45	0.00	0.000	6	0.000	0.035	2524	2102	3605
585	-1.68	-97.8	46.8	-10.0	66	587	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2102	3605
776	-1.68	-97.8	65.3	-9.8	81	780	0.00	2.50	0.00	0.000	4	0.000	0.054	2524	3493	3606
813	-1.68	-97.8	69.3	-10.4	83	821	0.00	2.42	0.00	0.000	6	0.000	0.035	2524	2109	3605
1010	-1.68	-97.8	89.2	-10.1	99	1011	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2106	3606
1199	-1.68	-97.8	108.7	-9.9	114	1203	0.00	2.53	0.00	0.000	4	0.000	0.054	2524	3502	3606
1231	-1.68	-97.8	112.1	-11.0	116	1238	0.00	2.45	0.00	0.000	6	0.000	0.035	2524	2104	3606
1311	end dive: TARGET_DEPTH_EXCEEDED
state	1312	begin apogee
1317	-0.38	0.0	120.5	10.3	123	1399	1.48	0.00	77.68	0.683	6	0.104	0.000	2811	1997	3202
1400	end apogee: CONTROL_FINISHED_OK
state	1400	begin climb
1402	1.68	97.8	122.9	0.0	130	1483	2.17	0.00	75.90	0.658	6	0.063	0.000	3271	1997	2803
1672	1.72	127.0	109.2	7.1	152	1700	0.00	2.60	22.10	0.675	4	0.000	0.052	3271	3384	2683
1775	1.72	127.0	100.7	9.1	160	1780	0.00	2.42	0.00	0.000	6	0.000	0.036	3271	2004	2682
1970	1.72	127.0	82.7	9.4	175	1974	0.00	2.55	0.00	0.000	4	0.000	0.052	3272	3398	2682
2076	1.72	127.0	72.1	10.0	183	2080	0.00	2.53	0.00	0.000	6	0.000	0.035	3272	2002	2682
2271	1.72	127.0	53.2	9.3	198	2275	0.00	2.53	0.00	0.000	4	0.000	0.052	3272	3396	2681
2350	1.72	127.0	45.7	9.5	204	2354	0.00	2.45	0.00	0.000	6	0.000	0.036	3271	1998	2682
2552	1.73	135.1	28.0	8.4	220	2564	0.00	0.00	5.78	0.703	6	0.000	0.000	3271	1998	2651
2757	1.75	147.6	12.0	8.1	243	2776	0.00	2.62	9.45	0.675	4	0.000	0.052	3271	3396	2599
2961	1.96	322.2	3.6	-1.8	274	3054	0.25	2.45	83.72	0.597	6	0.051	0.035	3329	1989	1887
3058	end climb: SURFACE_DEPTH_REACHED
state	3058	begin surface coast
3134	end surface coast: CONTROL_FINISHED_OK
state	3134	begin surface