Glider dive log

PN07 DabobBay 29Sep07 * SG107 * Dive index * Mission links * Dive 88 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 107 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 10 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 88 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 152 ALTIM_PING_DEPTH 0

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3928 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2450 ALTIM_PULSE 1

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 300 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 40 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 679 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 4028 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3415 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 -16733.703 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 363 AH0_24V 91.800003 SEABIRD_T_G 0.004345139

SPEED_FACTOR 1 PITCH_MAX 3698 AH0_10V 61.200001 SEABIRD_T_H 0.00064258272

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -10.644979 SEABIRD_T_I 2.3711646e-05

MASS 51588 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001156423 SEABIRD_T_J 2.2769887e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.006271

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1385506

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022333476

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00024018179

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 3698 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 363 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 95 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001156423 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -10.644979 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 40

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 -16733.703

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 107 ROLL_MAX 3928 T_TURN_SAMPINT 6

C_PITCH 2730 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2450 INT_PRESSURE_YINT 0 ROLL_MIN 152 UNCOM_BLEED 20

C_ROLL_DIVE 2050 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3415 MASS 51588 R_PORT_OVSHOOT 23 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 28 USE_ICE 0

DEEPGLIDERMB 0 MISSION 10 SEABIRD_C_G -10.006271 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1385506 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0022333476 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00024018179 VBD_MAX 4028

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004345139 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064258272 VBD_MIN 679

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3711646e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 88 PHONE_DEVICE 48 SEABIRD_T_J 2.2769887e-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 093507,4741.455,-12251.443,7,1.9,23,18.3 TGT_NAME 9_XN

_CALLS 1 TGT_LATLONG 4741.982,-12251.243

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.051,0.194

_SM_DEPTHo 0.64 KALMAN_X 18701.0,92.6,-10.3,-16697.2,-36.3

_SM_ANGLEo -55.6 KALMAN_Y 13542.6,130.1,-90.3,-10275.9,-121.3

GPS2 094039,4741.428,-12251.450,15,1.8,15,18.3 MHEAD_RNG_PITCHd_Wd 356.5,1058,-18.4,-7.917

SPEED_LIMITS 0.137,0.201 D_GRID 119

Post-dive calculations and measurements:

FINISH 0.0,1.011009 ALTIM_TOP_PING 9.9,999.0

SM_CCo 2840,144.25,0.499,0,0,1579,450.13 ALTIM_BOTTOM_PING 70.6,999.0

SM_GC 0.62,0.00,0.00,144.25,0.000,0.000,0.499,362,2061,1579,-10.89,0.31,450.13 _24V_AH 23.9,9.258

IRIDIUM_FIX 4722.92,-12251.79,031007,121218 _10V_AH 10.1,6.475

TT8_MAMPS 0.070564 DATA_FILE_SIZE 6454,262

HUMID 2009 CFSIZE 260034560,253923328

INTERNAL_PRESSURE 7.69561 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.80 GPS 031007,103215,4741.592,-12251.422,12,1.5,12,18.3

XPDR_PINGS 186

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 162 103.47 SBE_CT 174 24 100.15

Roll_motor 50 70 84.62 nil 0 0 0.00

VBD_pump_during_apogee 195 582 2716.70 nil 0 0 0.00

VBD_pump_during_surface 144 499 1721.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 100.99 nil 0 0 0.00

Iridium_during_connect 35 160 136.12 ARS 0 0 0.00

Iridium_during_xfer 145 223 777.15

Transponder_ping 47 420 471.79

Mmodem_TX 26 1000 623.79

Mmodem_RX 3444 6 526.93

GPS 15 50 7.83

TT8 492 19 98.40

LPSleep 1568 2 34.68

TT8_Active 468 19 93.66

TT8_Sampling 484 39 194.75

TT8_CF8 332 45 153.93

TT8_Kalman 33 81 27.54

Analog_circuits 759 12 92.07

GPS_charging 0 0 0.00

Compass 458 8 37.08

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 -1.54 -97.8 0.0 0.0 0 124 0.00 0.00 -97.32 0.000 2 0.000 0.000 361 2058 3644

127 -1.54 -97.8 2.4 -4.0 16 152 11.40 2.55 -5.05 0.000 4 0.163 0.067 2390 3444 3815

264 -1.54 -97.8 17.2 -9.5 37 271 0.00 2.45 0.00 0.000 6 0.000 0.038 2390 2040 3816

341 -1.54 -97.8 22.5 -6.7 46 345 0.00 2.55 0.00 0.000 4 0.000 0.054 2391 3454 3816

379 -1.54 -97.8 25.1 -6.3 48 386 0.00 2.47 0.00 0.000 6 0.000 0.038 2391 2053 3817

575 -1.54 -97.8 38.2 -6.6 64 580 0.00 2.53 0.00 0.000 4 0.000 0.055 2391 3460 3816

634 -1.54 -97.8 42.4 -7.4 68 641 0.00 2.50 0.00 0.000 6 0.000 0.038 2391 2046 3816

830 -1.54 -97.8 55.8 -6.4 84 834 0.00 2.58 0.00 0.000 4 0.000 0.071 2390 646 3816

889 -1.54 -97.8 59.5 -7.0 88 893 0.00 2.42 0.00 0.000 6 0.000 0.036 2391 2050 3816

1091 -1.54 -97.8 72.3 -6.7 104 1095 0.00 2.60 0.00 0.000 4 0.000 0.070 2391 644 3816

1155 -1.54 -97.8 76.7 -7.2 108 1163 0.00 2.45 0.00 0.000 6 0.000 0.037 2390 2044 3816

1352 -1.54 -97.8 91.3 -7.6 124 1356 0.00 2.53 0.00 0.000 4 0.000 0.058 2391 3449 3816

1401 end dive: TARGET_DEPTH_EXCEEDED

state 1401 begin apogee

1407 -0.38 0.0 95.0 6.8 127 1486 1.23 0.00 75.62 0.573 6 0.097 0.000 2642 2435 3415

1487 end apogee: CONTROL_FINISHED_OK

state 1487 begin climb

1489 1.54 97.8 96.9 0.0 134 1570 2.00 0.00 73.97 0.568 6 0.074 0.000 3064 2435 3016

1759 1.55 106.0 77.9 7.5 156 1772 0.00 2.65 5.82 0.583 4 0.000 0.067 3064 3848 2983

1838 1.55 106.0 71.2 8.8 162 1842 0.00 2.42 0.00 0.000 6 0.000 0.035 3065 2447 2981

2033 1.55 106.0 55.8 7.9 177 2037 0.00 2.55 0.00 0.000 4 0.000 0.063 3064 1052 2981

2085 1.55 106.0 51.6 8.2 181 2089 0.00 2.45 0.00 0.000 6 0.000 0.039 3065 2460 2981

2287 1.55 106.0 35.8 8.1 197 2291 0.00 2.55 0.00 0.000 4 0.000 0.066 3065 3845 2981

2339 1.55 106.0 31.1 9.0 201 2344 0.00 2.42 0.00 0.000 6 0.000 0.034 3064 2447 2981

2537 1.57 128.2 16.9 6.7 219 2562 0.00 2.65 16.15 0.535 4 0.000 0.064 3064 3848 2892

2747 1.61 159.9 4.1 6.2 251 2778 0.00 2.40 23.42 0.522 6 0.000 0.033 3065 2445 2762

2782 end climb: SURFACE_DEPTH_REACHED

state 2782 begin surface coast

2816 end surface coast: CONTROL_FINISHED_OK

state 2817 begin surface

ID	107	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	10	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	88	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	152	ALTIM_PING_DEPTH	0
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3928	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2450	ALTIM_PULSE	1
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	300	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	40	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	679	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	4028	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3415	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	-16733.703	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	363	AH0_24V	91.800003	SEABIRD_T_G	0.004345139
SPEED_FACTOR	1	PITCH_MAX	3698	AH0_10V	61.200001	SEABIRD_T_H	0.00064258272
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-10.644979	SEABIRD_T_I	2.3711646e-05
MASS	51588	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001156423	SEABIRD_T_J	2.2769887e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.006271
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1385506
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022333476
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00024018179

GPS1	093507,4741.455,-12251.443,7,1.9,23,18.3	TGT_NAME	9_XN
_CALLS	1	TGT_LATLONG	4741.982,-12251.243
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.051,0.194
_SM_DEPTHo	0.64	KALMAN_X	18701.0,92.6,-10.3,-16697.2,-36.3
_SM_ANGLEo	-55.6	KALMAN_Y	13542.6,130.1,-90.3,-10275.9,-121.3
GPS2	094039,4741.428,-12251.450,15,1.8,15,18.3	MHEAD_RNG_PITCHd_Wd	356.5,1058,-18.4,-7.917
SPEED_LIMITS	0.137,0.201	D_GRID	119

FINISH	0.0,1.011009	ALTIM_TOP_PING	9.9,999.0
SM_CCo	2840,144.25,0.499,0,0,1579,450.13	ALTIM_BOTTOM_PING	70.6,999.0
SM_GC	0.62,0.00,0.00,144.25,0.000,0.000,0.499,362,2061,1579,-10.89,0.31,450.13	_24V_AH	23.9,9.258
IRIDIUM_FIX	4722.92,-12251.79,031007,121218	_10V_AH	10.1,6.475
TT8_MAMPS	0.070564	DATA_FILE_SIZE	6454,262
HUMID	2009	CFSIZE	260034560,253923328
INTERNAL_PRESSURE	7.69561	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	031007,103215,4741.592,-12251.422,12,1.5,12,18.3
XPDR_PINGS	186

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	162	103.47	SBE_CT	174	24	100.15
Roll_motor	50	70	84.62	nil	0	0	0.00
VBD_pump_during_apogee	195	582	2716.70	nil	0	0	0.00
VBD_pump_during_surface	144	499	1721.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	100.99	nil	0	0	0.00
Iridium_during_connect	35	160	136.12	ARS	0	0	0.00
Iridium_during_xfer	145	223	777.15
Transponder_ping	47	420	471.79
Mmodem_TX	26	1000	623.79
Mmodem_RX	3444	6	526.93
GPS	15	50	7.83
TT8	492	19	98.40
LPSleep	1568	2	34.68
TT8_Active	468	19	93.66
TT8_Sampling	484	39	194.75
TT8_CF8	332	45	153.93
TT8_Kalman	33	81	27.54
Analog_circuits	759	12	92.07
GPS_charging	0	0	0.00
Compass	458	8	37.08
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	-1.54	-97.8	0.0	0.0	0	124	0.00	0.00	-97.32	0.000	2	0.000	0.000	361	2058	3644
127	-1.54	-97.8	2.4	-4.0	16	152	11.40	2.55	-5.05	0.000	4	0.163	0.067	2390	3444	3815
264	-1.54	-97.8	17.2	-9.5	37	271	0.00	2.45	0.00	0.000	6	0.000	0.038	2390	2040	3816
341	-1.54	-97.8	22.5	-6.7	46	345	0.00	2.55	0.00	0.000	4	0.000	0.054	2391	3454	3816
379	-1.54	-97.8	25.1	-6.3	48	386	0.00	2.47	0.00	0.000	6	0.000	0.038	2391	2053	3817
575	-1.54	-97.8	38.2	-6.6	64	580	0.00	2.53	0.00	0.000	4	0.000	0.055	2391	3460	3816
634	-1.54	-97.8	42.4	-7.4	68	641	0.00	2.50	0.00	0.000	6	0.000	0.038	2391	2046	3816
830	-1.54	-97.8	55.8	-6.4	84	834	0.00	2.58	0.00	0.000	4	0.000	0.071	2390	646	3816
889	-1.54	-97.8	59.5	-7.0	88	893	0.00	2.42	0.00	0.000	6	0.000	0.036	2391	2050	3816
1091	-1.54	-97.8	72.3	-6.7	104	1095	0.00	2.60	0.00	0.000	4	0.000	0.070	2391	644	3816
1155	-1.54	-97.8	76.7	-7.2	108	1163	0.00	2.45	0.00	0.000	6	0.000	0.037	2390	2044	3816
1352	-1.54	-97.8	91.3	-7.6	124	1356	0.00	2.53	0.00	0.000	4	0.000	0.058	2391	3449	3816
1401	end dive: TARGET_DEPTH_EXCEEDED
state	1401	begin apogee
1407	-0.38	0.0	95.0	6.8	127	1486	1.23	0.00	75.62	0.573	6	0.097	0.000	2642	2435	3415
1487	end apogee: CONTROL_FINISHED_OK
state	1487	begin climb
1489	1.54	97.8	96.9	0.0	134	1570	2.00	0.00	73.97	0.568	6	0.074	0.000	3064	2435	3016
1759	1.55	106.0	77.9	7.5	156	1772	0.00	2.65	5.82	0.583	4	0.000	0.067	3064	3848	2983
1838	1.55	106.0	71.2	8.8	162	1842	0.00	2.42	0.00	0.000	6	0.000	0.035	3065	2447	2981
2033	1.55	106.0	55.8	7.9	177	2037	0.00	2.55	0.00	0.000	4	0.000	0.063	3064	1052	2981
2085	1.55	106.0	51.6	8.2	181	2089	0.00	2.45	0.00	0.000	6	0.000	0.039	3065	2460	2981
2287	1.55	106.0	35.8	8.1	197	2291	0.00	2.55	0.00	0.000	4	0.000	0.066	3065	3845	2981
2339	1.55	106.0	31.1	9.0	201	2344	0.00	2.42	0.00	0.000	6	0.000	0.034	3064	2447	2981
2537	1.57	128.2	16.9	6.7	219	2562	0.00	2.65	16.15	0.535	4	0.000	0.064	3064	3848	2892
2747	1.61	159.9	4.1	6.2	251	2778	0.00	2.40	23.42	0.522	6	0.000	0.033	3065	2445	2762
2782	end climb: SURFACE_DEPTH_REACHED
state	2782	begin surface coast
2816	end surface coast: CONTROL_FINISHED_OK
state	2817	begin surface