Glider dive log

PortSusan 17Jun09 * SG159 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 159 HEADING -1 ROLL_MAX 4045 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 10 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2200 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2000 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 80 SM_CC 580 R_PORT_OVSHOOT 34 XPDR_VALID 1

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 40 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

D_CALL 0 KERMIT 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 188 MOTHERBOARD 5

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3616 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 3060 DEVICE2 39

T_DIVE 40 CALL_TRIES 5 VBD_DBAND 2 DEVICE3 -1

T_MISSION 65 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE4 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN 270 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 SMARTS 0

T_NO_W 240 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 SMARTDEVICE1 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS_ALMANAC 0 UNCOM_BLEED 20 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -84129.336 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 137 MINV_10V 8 SIM_W 0

MAX_BUOY 100 PITCH_MAX 3974 FG_AHR_10V 5.1127753 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2754 FG_AHR_24V 3.8097034 SEABIRD_T_G 0.0043238276

GLIDE_SLOPE 45 PITCH_DBAND 0.050000001 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063342927

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_YINT -12.938553 SEABIRD_T_I 2.5365067e-05

RHO 1.023 P_OVSHOOT 0.1 PRESSURE_SLOPE 0.0001162598 SEABIRD_T_J 2.820881e-06

MASS 51634 PITCH_GAIN 26 AD7714Ch0Gain 128 SEABIRD_C_G -10.044323

NAV_MODE 1 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1187451

FERRY_MAX 45 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012779017

KALMAN_USE 1 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00018763109

HD_A 0.0041149999 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.014024 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

HD_C 5.5727e-05 ROLL_MIN 253 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_ADJ_GAIN 0 SMARTS 0

AH0_10V 100 D_NO_BLEED 80 PITCH_AD_RATE 175 SM_CC 580

AH0_24V 150 D_OFFGRID 100 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_DBAND 0.050000001 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_GAIN 26 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_MAX 3974 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 150 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PITCH_MIN 137 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 5.1127753 PRESSURE_SLOPE 0.0001162598 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 3.8097034 PRESSURE_YINT -12.938553 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 P_OVSHOOT 0.1 T_DIVE 40

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_GPS 15

CALL_NDIVES 1 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CALL_TRIES 5 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -84129.336

CALL_WAIT 60 HD_A 0.0041149999 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

CAPMAXSIZE 100000 HD_B 0.014024 RELAUNCH 1 T_MISSION 65

CAPUPLOAD 1 HD_C 5.5727e-05 RHO 1.023 T_NO_W 240

CF8_MAXERRORS 0 HEADING -1 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COMM_SEQ 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_TURN 270

COMPASS2_DEVICE -1 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_WATCHDOG 10

COMPASS_USE 0 ID 159 ROLL_DEG 40 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 4045 UPLOAD_DIVES_MAX -1

C_PITCH 2754 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 USE_BATHY -4

C_ROLL_CLIMB 2000 KALMAN_USE 1 ROLL_MIN 253 USE_ICE 0

C_ROLL_DIVE 2200 KERMIT 0 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

C_VBD 3060 MASS 51634 R_PORT_OVSHOOT 34 VBD_CNV -0.24529999

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 40 VBD_DBAND 2

DEEPGLIDERMB 0 MINV_10V 8 SEABIRD_C_G -10.044323 VBD_MAX 3616

DEVICE1 2 MINV_24V 19 SEABIRD_C_H 1.1187451 VBD_MAXERRORS 1

DEVICE2 39 MISSION 3 SEABIRD_C_I -0.0012779017 VBD_MIN 188

DEVICE3 -1 MOTHERBOARD 5 SEABIRD_C_J 0.00018763109 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 NAV_MODE 1 SEABIRD_T_G 0.0043238276 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_FILEKB 4 SEABIRD_T_H 0.00063342927 VBD_TIMEOUT 720

DEVICE6 -1 N_GPS 20 SEABIRD_T_I 2.5365067e-05 XPDR_DEVICE 24

DIVE 10 N_NOCOMM 1 SEABIRD_T_J 2.820881e-06 XPDR_INHIBIT 90

D_ABORT 1090 N_NOSURFACE 0 SIM_PITCH 0 XPDR_VALID 1

D_BOOST 0 PHONE_DEVICE 48 SIM_W 0

D_CALL 0 PHONE_SUPPLY 2 SMARTDEVICE1 -1

D_FINISH 0 PITCH_ADJ_DBAND 0 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 005956,4807.970,-12222.896,12,1.6,12,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.050,-0.180

_SM_DEPTHo -0.09 KALMAN_X -485.2,-189.2,-35.9,333.3,-4.6

_SM_ANGLEo -73.5 KALMAN_Y 1979.0,816.6,173.5,-1280.7,43.0

GPS2 010602,4808.015,-12222.932,12,1.1,12,18.3 MHEAD_RNG_PITCHd_Wd 146.1,3906,-31.4,-12.500

SPEED_LIMITS 0.125,0.187 D_GRID 101

Post-dive calculations and measurements:

FINISH 3.8,1.020346 _10V_AH 10.6,0.529

SM_CCo 1737,355.90,0.699,0,0,695,580.13 FG_AHR_24Vo 3.915

SM_GC 0.33,0.00,0.00,355.90,0.008,0.682,0.699,150,2198,695,-8.14,-0.06,580.13 FG_AHR_10Vo 5.141

SUPER 3,206,254,0,0,0 MEM 324360

IRIDIUM_FIX 4751.72,-12340.51,120998,000018 DATA_FILE_SIZE 12855,302

HUMID 1078566509 CAP_FILE_SIZE 38867,0

INTERNAL_PRESSURE 7.89029 CFSIZE 260034560,257150976

TCM_TEMP 13.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 180609,014250,4807.922,-12222.934,8,1.8,8,18.3

_24V_AH 24.3,1.401

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 239 111.90 SBE_CT 175 24 102.06

Roll_motor 21 56 28.88 WL_BB2F 557 105 1421.83

VBD_pump_during_apogee 152 761 2810.93 nil 0 0 0.00

VBD_pump_during_surface 355 699 6046.52 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 58.61 nil 0 0 0.00

Iridium_during_connect 29 160 116.35 nil 0 0 0.00

Iridium_during_xfer 174 223 945.07

Transponder_ping 1 420 15.31

GUMSTIX_24V 0 0 0.00

GPS 13 50 7.30

TT8 441 19 92.75

LPSleep 357 2 8.30

TT8_Active 562 19 117.99

TT8_Sampling 736 39 310.66

TT8_CF8 377 45 183.33

TT8_Kalman 33 81 28.90

Analog_circuits 725 12 92.32

GPS_charging 0 0 0.00

Compass 727 8 61.71

RAFOS 0 0 0.00

Transponder 14 30 4.56

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.33 -97.8 0.0 0.0 0 156 0.00 0.00 -128.38 0.000 2 0.007 0.000 153 2177 3197 0 0 0 0 0 0

161 -1.33 -97.8 3.1 -4.7 25 180 8.10 0.00 -7.18 0.000 6 0.240 0.000 2297 2177 3460 0 0 0 0 0 0

246 -1.33 -97.8 11.9 -9.7 40 253 0.00 2.10 0.00 0.007 4 0.007 0.051 2298 792 3463 0 0 0 0 0 0

266 -1.33 -97.8 14.1 -10.6 43 273 0.03 2.10 0.00 0.022 6 0.022 0.031 2298 2201 3462 0 0 0 0 0 0

339 -1.33 -97.8 22.9 -12.4 56 346 0.00 2.10 0.00 0.007 4 0.007 0.035 2288 3604 3462 0 0 0 0 0 0

647 -1.33 -97.8 76.3 -17.9 111 653 0.05 2.05 0.00 0.012 6 0.012 0.036 2306 2197 3464 0 0 0 0 0 0

788 end dive: TARGET_DEPTH_EXCEEDED

state 788 begin apogee

796 -0.19 0.0 101.5 15.2 136 874 1.10 0.00 71.53 0.761 6 0.172 0.018 2661 1985 3064 0 0 0 0 0 0

875 end apogee: CONTROL_FINISHED_OK

state 875 begin climb

879 1.33 97.8 105.9 0.0 151 963 1.38 2.22 73.97 0.721 4 0.087 0.056 3170 600 2661 0 0 0 0 0 0

991 1.33 97.8 95.5 15.5 171 997 0.00 2.12 0.00 0.010 6 0.043 0.040 3171 2004 2660 0 0 0 0 0 0

1130 1.33 97.8 73.9 13.0 196 1137 0.00 2.12 0.00 0.007 4 0.007 0.053 3171 3400 2660 0 0 0 0 0 0

1436 1.33 97.8 32.4 12.7 251 1442 0.00 2.10 0.00 0.028 6 0.028 0.033 3180 2008 2659 0 0 0 0 0 0

1508 1.34 104.3 24.2 11.9 264 1520 0.00 2.12 6.50 0.576 4 0.000 0.051 3180 3406 2632 0 0 0 0 0 0

1677 end climb: SURFACE_DEPTH_REACHED

state 1677 begin surface coast

1715 end surface coast: CONTROL_FINISHED_OK

state 1715 begin surface

ID	159	HEADING	-1	ROLL_MAX	4045	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	10	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2200	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2000	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	80	SM_CC	580	R_PORT_OVSHOOT	34	XPDR_VALID	1
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	40	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
D_CALL	0	KERMIT	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	188	MOTHERBOARD	5
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3616	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	3060	DEVICE2	39
T_DIVE	40	CALL_TRIES	5	VBD_DBAND	2	DEVICE3	-1
T_MISSION	65	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE4	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN	270	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	SMARTS	0
T_NO_W	240	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	SMARTDEVICE1	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS_ALMANAC	0	UNCOM_BLEED	20	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-84129.336	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	137	MINV_10V	8	SIM_W	0
MAX_BUOY	100	PITCH_MAX	3974	FG_AHR_10V	5.1127753	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2754	FG_AHR_24V	3.8097034	SEABIRD_T_G	0.0043238276
GLIDE_SLOPE	45	PITCH_DBAND	0.050000001	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063342927
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_YINT	-12.938553	SEABIRD_T_I	2.5365067e-05
RHO	1.023	P_OVSHOOT	0.1	PRESSURE_SLOPE	0.0001162598	SEABIRD_T_J	2.820881e-06
MASS	51634	PITCH_GAIN	26	AD7714Ch0Gain	128	SEABIRD_C_G	-10.044323
NAV_MODE	1	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1187451
FERRY_MAX	45	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012779017
KALMAN_USE	1	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00018763109
HD_A	0.0041149999	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.014024	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0
HD_C	5.5727e-05	ROLL_MIN	253	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	005956,4807.970,-12222.896,12,1.6,12,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.050,-0.180
_SM_DEPTHo	-0.09	KALMAN_X	-485.2,-189.2,-35.9,333.3,-4.6
_SM_ANGLEo	-73.5	KALMAN_Y	1979.0,816.6,173.5,-1280.7,43.0
GPS2	010602,4808.015,-12222.932,12,1.1,12,18.3	MHEAD_RNG_PITCHd_Wd	146.1,3906,-31.4,-12.500
SPEED_LIMITS	0.125,0.187	D_GRID	101

FINISH	3.8,1.020346	_10V_AH	10.6,0.529
SM_CCo	1737,355.90,0.699,0,0,695,580.13	FG_AHR_24Vo	3.915
SM_GC	0.33,0.00,0.00,355.90,0.008,0.682,0.699,150,2198,695,-8.14,-0.06,580.13	FG_AHR_10Vo	5.141
SUPER	3,206,254,0,0,0	MEM	324360
IRIDIUM_FIX	4751.72,-12340.51,120998,000018	DATA_FILE_SIZE	12855,302
HUMID	1078566509	CAP_FILE_SIZE	38867,0
INTERNAL_PRESSURE	7.89029	CFSIZE	260034560,257150976
TCM_TEMP	13.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	180609,014250,4807.922,-12222.934,8,1.8,8,18.3
_24V_AH	24.3,1.401

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	239	111.90	SBE_CT	175	24	102.06
Roll_motor	21	56	28.88	WL_BB2F	557	105	1421.83
VBD_pump_during_apogee	152	761	2810.93	nil	0	0	0.00
VBD_pump_during_surface	355	699	6046.52	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	58.61	nil	0	0	0.00
Iridium_during_connect	29	160	116.35	nil	0	0	0.00
Iridium_during_xfer	174	223	945.07
Transponder_ping	1	420	15.31
GUMSTIX_24V	0	0	0.00
GPS	13	50	7.30
TT8	441	19	92.75
LPSleep	357	2	8.30
TT8_Active	562	19	117.99
TT8_Sampling	736	39	310.66
TT8_CF8	377	45	183.33
TT8_Kalman	33	81	28.90
Analog_circuits	725	12	92.32
GPS_charging	0	0	0.00
Compass	727	8	61.71
RAFOS	0	0	0.00
Transponder	14	30	4.56

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.33	-97.8	0.0	0.0	0	156	0.00	0.00	-128.38	0.000	2	0.007	0.000	153	2177	3197	0	0	0	0	0	0
161	-1.33	-97.8	3.1	-4.7	25	180	8.10	0.00	-7.18	0.000	6	0.240	0.000	2297	2177	3460	0	0	0	0	0	0
246	-1.33	-97.8	11.9	-9.7	40	253	0.00	2.10	0.00	0.007	4	0.007	0.051	2298	792	3463	0	0	0	0	0	0
266	-1.33	-97.8	14.1	-10.6	43	273	0.03	2.10	0.00	0.022	6	0.022	0.031	2298	2201	3462	0	0	0	0	0	0
339	-1.33	-97.8	22.9	-12.4	56	346	0.00	2.10	0.00	0.007	4	0.007	0.035	2288	3604	3462	0	0	0	0	0	0
647	-1.33	-97.8	76.3	-17.9	111	653	0.05	2.05	0.00	0.012	6	0.012	0.036	2306	2197	3464	0	0	0	0	0	0
788	end dive: TARGET_DEPTH_EXCEEDED
state	788	begin apogee
796	-0.19	0.0	101.5	15.2	136	874	1.10	0.00	71.53	0.761	6	0.172	0.018	2661	1985	3064	0	0	0	0	0	0
875	end apogee: CONTROL_FINISHED_OK
state	875	begin climb
879	1.33	97.8	105.9	0.0	151	963	1.38	2.22	73.97	0.721	4	0.087	0.056	3170	600	2661	0	0	0	0	0	0
991	1.33	97.8	95.5	15.5	171	997	0.00	2.12	0.00	0.010	6	0.043	0.040	3171	2004	2660	0	0	0	0	0	0
1130	1.33	97.8	73.9	13.0	196	1137	0.00	2.12	0.00	0.007	4	0.007	0.053	3171	3400	2660	0	0	0	0	0	0
1436	1.33	97.8	32.4	12.7	251	1442	0.00	2.10	0.00	0.028	6	0.028	0.033	3180	2008	2659	0	0	0	0	0	0
1508	1.34	104.3	24.2	11.9	264	1520	0.00	2.12	6.50	0.576	4	0.000	0.051	3180	3406	2632	0	0	0	0	0	0
1677	end climb: SURFACE_DEPTH_REACHED
state	1677	begin surface coast
1715	end surface coast: CONTROL_FINISHED_OK
state	1715	begin surface