Glider dive log

PortSusan 21Jul08 * SG113 * Dive index * Mission links * Dive 9 * 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 3 ESCAPE_HEADING 0 ROLL_MIN 280 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 9 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 2112 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 520 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 45 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 70 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2620 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 -4 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 -20319.568 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 2605 PRESSURE_YINT -26.366219 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 520

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 -26.366219 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 -20319.568

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_MISSION 70

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 350 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 2605 KALMAN_USE 2 ROLL_MIN 280 USE_BATHY -4

C_ROLL_CLIMB 2112 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2112 MASS 51398 R_PORT_OVSHOOT 45 VBD_BLEED_AD_RATE 8

C_VBD 2620 MAX_BUOY 150 R_STBD_OVSHOOT 35 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 3 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 9 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 025802,4807.956,-12224.219,7,1.9,13,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.85 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030132,4807.951,-12224.213,8,1.9,13,18.3 MHEAD_RNG_PITCHd_Wd 52.5,279,-27.6,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 103

Post-dive calculations and measurements:

FINISH 1.4,1.017779 TCM_TEMP 19.80

SM_CCo 2600,110.12,0.726,0,0,500,520.04 XPDR_PINGS 0

SM_GC 1.11,0.00,0.00,110.12,0.000,0.000,0.726,166,2093,500,-11.22,-0.54,520.04 _24V_AH 24.1,2.342

RAFOS_CLK 101 _10V_AH 10.8,0.681

RAFOS 4,1216697343,3.500000,3.484167,62,57,56,56,51,50,156,211,200,125,136,178 DATA_FILE_SIZE 15893,451

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CAP_FILE_SIZE 42185,0

IRIDIUM_FIX 4751.72,-12254.00,161097,020215 CFSIZE 260165632,257003520

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1996 SOUNDSPEED 1484.8

INTERNAL_PRESSURE 8.7894 GPS 220708,034817,4808.098,-12224.118,12,2.5,31,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 266 139.43 SBE_CT 314 24 181.91

Roll_motor 26 59 37.43 SBE_O2 312 19 143.26

VBD_pump_during_apogee 274 807 5337.62 nil 0 0 0.00

VBD_pump_during_surface 110 725 1925.70 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 63.67 nil 0 0 0.00

Iridium_during_connect 31 160 119.93 nil 0 0 0.00

Iridium_during_xfer 78 223 420.63

Transponder_ping 0 420 0.00

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.25

TT8 681 19 146.67

LPSleep 955 2 23.85

TT8_Active 447 19 96.37

TT8_Sampling 679 39 293.12

TT8_CF8 174 45 86.43

TT8_Kalman 0 0 0.00

Analog_circuits 839 12 108.81

GPS_charging 0 0 0.00

Compass 668 8 57.74

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.62 -61.8 0.0 0.0 0 113 0.00 0.00 -96.28 0.000 2 0.000 0.000 163 2094 2752

115 -1.63 -69.9 3.7 -9.1 17 134 8.68 2.12 -3.83 0.000 4 0.267 0.057 2248 706 2906

302 -1.01 -69.9 39.0 -19.0 50 309 0.50 2.17 0.00 0.000 6 0.215 0.042 2381 2120 2909

445 -1.21 -69.9 58.6 -13.1 75 450 0.15 0.00 0.00 0.000 6 0.093 0.000 2328 2120 2911

653 -1.32 -69.9 89.9 -13.6 112 659 0.00 2.17 0.00 0.000 4 0.000 0.054 2328 3522 2911

732 -1.49 -69.9 101.4 -13.9 126 739 0.15 2.10 0.00 0.000 6 0.095 0.035 2274 2119 2912

743 end dive: TARGET_DEPTH_EXCEEDED

state 743 begin apogee

746 -0.28 0.0 103.2 14.2 128 805 0.90 0.00 54.80 0.808 6 0.181 0.000 2541 2117 2619

806 end apogee: CONTROL_FINISHED_OK

state 806 begin climb

807 1.63 69.9 107.2 0.0 138 871 1.30 2.38 54.08 0.768 4 0.115 0.051 2959 3518 2335

917 1.06 83.4 100.9 8.5 157 936 0.50 2.22 12.10 0.705 6 0.196 0.037 2833 2107 2279

1138 1.36 119.5 88.2 6.1 196 1175 0.20 2.30 28.05 0.779 4 0.076 0.052 2910 3517 2132

1427 1.12 119.5 57.8 10.5 247 1434 0.25 2.12 0.00 0.000 6 0.179 0.038 2845 2132 2132

1637 1.46 151.0 43.0 6.6 284 1667 0.22 2.30 24.38 0.786 4 0.071 0.052 2935 3524 2004

1920 1.25 151.0 10.0 11.0 334 1927 0.22 2.05 0.00 0.000 6 0.180 0.038 2875 2176 2002

2062 1.80 243.4 5.2 -0.1 359 2138 0.32 2.22 68.68 0.777 4 0.068 0.051 3002 3518 1626

2392 1.75 325.2 2.3 1.1 417 2428 0.00 1.98 32.15 0.752 2 0.000 0.037 3002 2227 1401

2429 end climb: SURFACE_DEPTH_REACHED

state 2429 begin surface coast

2586 end surface coast: NO_VERTICAL_VELOCITY

state 2586 begin surface

ID	113	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	280	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	9	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	2112	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	520	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	45	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	70	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2620	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	-4	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	-20319.568	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	2605	PRESSURE_YINT	-26.366219	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	025802,4807.956,-12224.219,7,1.9,13,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.85	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030132,4807.951,-12224.213,8,1.9,13,18.3	MHEAD_RNG_PITCHd_Wd	52.5,279,-27.6,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	103

FINISH	1.4,1.017779	TCM_TEMP	19.80
SM_CCo	2600,110.12,0.726,0,0,500,520.04	XPDR_PINGS	0
SM_GC	1.11,0.00,0.00,110.12,0.000,0.000,0.726,166,2093,500,-11.22,-0.54,520.04	_24V_AH	24.1,2.342
RAFOS_CLK	101	_10V_AH	10.8,0.681
RAFOS	4,1216697343,3.500000,3.484167,62,57,56,56,51,50,156,211,200,125,136,178	DATA_FILE_SIZE	15893,451
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CAP_FILE_SIZE	42185,0
IRIDIUM_FIX	4751.72,-12254.00,161097,020215	CFSIZE	260165632,257003520
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1996	SOUNDSPEED	1484.8
INTERNAL_PRESSURE	8.7894	GPS	220708,034817,4808.098,-12224.118,12,2.5,31,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	266	139.43	SBE_CT	314	24	181.91
Roll_motor	26	59	37.43	SBE_O2	312	19	143.26
VBD_pump_during_apogee	274	807	5337.62	nil	0	0	0.00
VBD_pump_during_surface	110	725	1925.70	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	63.67	nil	0	0	0.00
Iridium_during_connect	31	160	119.93	nil	0	0	0.00
Iridium_during_xfer	78	223	420.63
Transponder_ping	0	420	0.00
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.25
TT8	681	19	146.67
LPSleep	955	2	23.85
TT8_Active	447	19	96.37
TT8_Sampling	679	39	293.12
TT8_CF8	174	45	86.43
TT8_Kalman	0	0	0.00
Analog_circuits	839	12	108.81
GPS_charging	0	0	0.00
Compass	668	8	57.74
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.62	-61.8	0.0	0.0	0	113	0.00	0.00	-96.28	0.000	2	0.000	0.000	163	2094	2752
115	-1.63	-69.9	3.7	-9.1	17	134	8.68	2.12	-3.83	0.000	4	0.267	0.057	2248	706	2906
302	-1.01	-69.9	39.0	-19.0	50	309	0.50	2.17	0.00	0.000	6	0.215	0.042	2381	2120	2909
445	-1.21	-69.9	58.6	-13.1	75	450	0.15	0.00	0.00	0.000	6	0.093	0.000	2328	2120	2911
653	-1.32	-69.9	89.9	-13.6	112	659	0.00	2.17	0.00	0.000	4	0.000	0.054	2328	3522	2911
732	-1.49	-69.9	101.4	-13.9	126	739	0.15	2.10	0.00	0.000	6	0.095	0.035	2274	2119	2912
743	end dive: TARGET_DEPTH_EXCEEDED
state	743	begin apogee
746	-0.28	0.0	103.2	14.2	128	805	0.90	0.00	54.80	0.808	6	0.181	0.000	2541	2117	2619
806	end apogee: CONTROL_FINISHED_OK
state	806	begin climb
807	1.63	69.9	107.2	0.0	138	871	1.30	2.38	54.08	0.768	4	0.115	0.051	2959	3518	2335
917	1.06	83.4	100.9	8.5	157	936	0.50	2.22	12.10	0.705	6	0.196	0.037	2833	2107	2279
1138	1.36	119.5	88.2	6.1	196	1175	0.20	2.30	28.05	0.779	4	0.076	0.052	2910	3517	2132
1427	1.12	119.5	57.8	10.5	247	1434	0.25	2.12	0.00	0.000	6	0.179	0.038	2845	2132	2132
1637	1.46	151.0	43.0	6.6	284	1667	0.22	2.30	24.38	0.786	4	0.071	0.052	2935	3524	2004
1920	1.25	151.0	10.0	11.0	334	1927	0.22	2.05	0.00	0.000	6	0.180	0.038	2875	2176	2002
2062	1.80	243.4	5.2	-0.1	359	2138	0.32	2.22	68.68	0.777	4	0.068	0.051	3002	3518	1626
2392	1.75	325.2	2.3	1.1	417	2428	0.00	1.98	32.15	0.752	2	0.000	0.037	3002	2227	1401
2429	end climb: SURFACE_DEPTH_REACHED
state	2429	begin surface coast
2586	end surface coast: NO_VERTICAL_VELOCITY
state	2586	begin surface