Glider dive log

PortSusan 26Aug09 * SG143 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 7

MISSION 7 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2102 ALTIM_PING_DEPTH 70

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2102 ALTIM_PING_DELTA 10

D_TGT 60 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 15 ALTIM_FREQUENCY 13

D_ABORT 100 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 450 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 31 XPDR_VALID 0

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 33 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3793 DEVICE1 2

T_DIVE 20 CALL_TRIES 5 C_VBD 3063 DEVICE2 20

T_MISSION 40 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -4 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -16962.125 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2500 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.023 PITCH_CNV 0.0031256729 PRESSURE_YINT -23.51395 SEABIRD_T_I 2.3348166e-05

MASS 50964 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 0 PITCH_GAIN 27 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 50 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 450

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 7 D_SAFE 0 PITCH_AD_RATE 50 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_TGT 60 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 70 ESCAPE_HEADING 0 PITCH_GAIN 27 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001163694 T_DIVE 20

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -23.51395 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -16962.125

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 40

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 15 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 143 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2500 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2102 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -4

C_ROLL_DIVE 2102 KERMIT 0 ROLL_MAX 3915 USE_ICE 0

C_VBD 3063 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 50964 R_PORT_OVSHOOT 31 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 33 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 7 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 2 NAV_MODE 0 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 100 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4454023e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 194107,4806.896,-12222.748,7,1.7,13,18.3 TGT_NAME SIX

_CALLS 2 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.99 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 194750,4806.895,-12222.747,12,1.7,12,18.3 MHEAD_RNG_PITCHd_Wd 132.6,1897,-18.2,-10.000

SPEED_LIMITS 0.173,0.261 D_GRID 107

Post-dive calculations and measurements:

FINISH 1.8,1.020192 _24V_AH 24.9,1.355

SM_CCo 1351,131.57,0.594,0,0,1227,450.13 _10V_AH 10.5,0.436

SM_GC 1.07,0.00,0.00,131.57,0.000,0.000,0.594,127,2106,1227,-7.42,0.11,450.13 FG_AHR_24Vo 0.000

RAFOS_CLK 138 FG_AHR_10Vo 0.000

RAFOS 0,1251317050,20.083334,20.069445,43,42,42,0,0,0,1140,193,1631,0,0,0 MEM 264256

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 6485,160

IRIDIUM_FIX 4751.72,-12220.85,201198,191911 CAP_FILE_SIZE 40699,0

TT8_MAMPS 0.026845 CFSIZE 260165632,257351680

HUMID 1078583861 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 9.20934 SOUNDSPEED 1487.8

TCM_TEMP 20.20 GPS 260809,201404,4806.823,-12222.753,10,3.6,29,18.3

XPDR_PINGS 13

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 288 135.72 SBE_CT 105 24 63.34

Roll_motor 13 81 26.87 SBE_O2 110 19 52.26

VBD_pump_during_apogee 231 630 3626.82 nil 0 0 0.00

VBD_pump_during_surface 131 593 1944.95 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 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 3 420 33.99

GUMSTIX_24V 0 0 0.00

GPS 13 50 7.27

TT8 266 19 55.76

LPSleep 533 2 12.93

TT8_Active 435 19 91.07

TT8_Sampling 299 39 125.36

TT8_CF8 24 45 11.73

TT8_Kalman 0 0 0.00

Analog_circuits 645 12 81.37

GPS_charging 0 0 0.00

Compass 295 8 24.81

RAFOS 360 1 5.67

Transponder 1 30 0.32

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.86 -146.6 0.0 0.0 0 133 0.00 0.00 -115.35 0.000 2 0.000 0.000 122 2105 3373 0 0 0 0 0 0

136 -0.86 -146.6 3.9 -10.7 23 158 9.40 2.20 -5.68 0.000 4 0.288 0.081 2218 693 3663 0 0 0 0 0 0

411 -0.86 -146.6 51.3 -15.3 54 416 0.00 2.10 0.00 0.000 6 0.000 0.051 2217 2098 3666 0 0 0 0 0 0

467 end dive: TARGET_DEPTH_EXCEEDED

state 467 begin apogee

471 -0.19 0.0 60.2 15.2 60 580 0.75 0.00 104.53 0.630 6 0.176 0.000 2437 2098 3062 0 0 0 0 0 0

581 end apogee: CONTROL_FINISHED_OK

state 581 begin climb

583 0.86 146.6 65.8 0.0 71 696 1.02 2.38 104.95 0.604 4 0.115 0.071 2778 695 2464 0 0 0 0 0 0

735 0.89 174.2 60.1 8.7 85 762 0.00 2.22 21.55 0.578 6 0.000 0.049 2778 2100 2351 0 0 0 0 0 0

1079 0.89 174.2 23.8 10.6 118 1083 0.00 2.22 0.00 0.000 4 0.000 0.073 2788 687 2348 0 0 0 0 0 0

1169 0.89 174.2 13.8 11.1 130 1174 0.00 2.15 0.00 0.000 6 0.000 0.051 2788 2105 2347 0 0 0 0 0 0

1241 0.89 174.2 5.5 10.2 143 1246 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 2105 2347 0 0 0 0 0 0

1295 end climb: SURFACE_DEPTH_REACHED

state 1295 begin surface coast

1336 end surface coast: CONTROL_FINISHED_OK

state 1336 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	7
MISSION	7	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2102	ALTIM_PING_DEPTH	70
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2102	ALTIM_PING_DELTA	10
D_TGT	60	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	15	ALTIM_FREQUENCY	13
D_ABORT	100	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	450	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	31	XPDR_VALID	0
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	33	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3793	DEVICE1	2
T_DIVE	20	CALL_TRIES	5	C_VBD	3063	DEVICE2	20
T_MISSION	40	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-4	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-16962.125	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2500	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.023	PITCH_CNV	0.0031256729	PRESSURE_YINT	-23.51395	SEABIRD_T_I	2.3348166e-05
MASS	50964	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	0	PITCH_GAIN	27	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	50	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0

GPS1	194107,4806.896,-12222.748,7,1.7,13,18.3	TGT_NAME	SIX
_CALLS	2	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.99	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	194750,4806.895,-12222.747,12,1.7,12,18.3	MHEAD_RNG_PITCHd_Wd	132.6,1897,-18.2,-10.000
SPEED_LIMITS	0.173,0.261	D_GRID	107

FINISH	1.8,1.020192	_24V_AH	24.9,1.355
SM_CCo	1351,131.57,0.594,0,0,1227,450.13	_10V_AH	10.5,0.436
SM_GC	1.07,0.00,0.00,131.57,0.000,0.000,0.594,127,2106,1227,-7.42,0.11,450.13	FG_AHR_24Vo	0.000
RAFOS_CLK	138	FG_AHR_10Vo	0.000
RAFOS	0,1251317050,20.083334,20.069445,43,42,42,0,0,0,1140,193,1631,0,0,0	MEM	264256
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	6485,160
IRIDIUM_FIX	4751.72,-12220.85,201198,191911	CAP_FILE_SIZE	40699,0
TT8_MAMPS	0.026845	CFSIZE	260165632,257351680
HUMID	1078583861	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	9.20934	SOUNDSPEED	1487.8
TCM_TEMP	20.20	GPS	260809,201404,4806.823,-12222.753,10,3.6,29,18.3
XPDR_PINGS	13

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	288	135.72	SBE_CT	105	24	63.34
Roll_motor	13	81	26.87	SBE_O2	110	19	52.26
VBD_pump_during_apogee	231	630	3626.82	nil	0	0	0.00
VBD_pump_during_surface	131	593	1944.95	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	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	3	420	33.99
GUMSTIX_24V	0	0	0.00
GPS	13	50	7.27
TT8	266	19	55.76
LPSleep	533	2	12.93
TT8_Active	435	19	91.07
TT8_Sampling	299	39	125.36
TT8_CF8	24	45	11.73
TT8_Kalman	0	0	0.00
Analog_circuits	645	12	81.37
GPS_charging	0	0	0.00
Compass	295	8	24.81
RAFOS	360	1	5.67
Transponder	1	30	0.32

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.86	-146.6	0.0	0.0	0	133	0.00	0.00	-115.35	0.000	2	0.000	0.000	122	2105	3373	0	0	0	0	0	0
136	-0.86	-146.6	3.9	-10.7	23	158	9.40	2.20	-5.68	0.000	4	0.288	0.081	2218	693	3663	0	0	0	0	0	0
411	-0.86	-146.6	51.3	-15.3	54	416	0.00	2.10	0.00	0.000	6	0.000	0.051	2217	2098	3666	0	0	0	0	0	0
467	end dive: TARGET_DEPTH_EXCEEDED
state	467	begin apogee
471	-0.19	0.0	60.2	15.2	60	580	0.75	0.00	104.53	0.630	6	0.176	0.000	2437	2098	3062	0	0	0	0	0	0
581	end apogee: CONTROL_FINISHED_OK
state	581	begin climb
583	0.86	146.6	65.8	0.0	71	696	1.02	2.38	104.95	0.604	4	0.115	0.071	2778	695	2464	0	0	0	0	0	0
735	0.89	174.2	60.1	8.7	85	762	0.00	2.22	21.55	0.578	6	0.000	0.049	2778	2100	2351	0	0	0	0	0	0
1079	0.89	174.2	23.8	10.6	118	1083	0.00	2.22	0.00	0.000	4	0.000	0.073	2788	687	2348	0	0	0	0	0	0
1169	0.89	174.2	13.8	11.1	130	1174	0.00	2.15	0.00	0.000	6	0.000	0.051	2788	2105	2347	0	0	0	0	0	0
1241	0.89	174.2	5.5	10.2	143	1246	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	2105	2347	0	0	0	0	0	0
1295	end climb: SURFACE_DEPTH_REACHED
state	1295	begin surface coast
1336	end surface coast: CONTROL_FINISHED_OK
state	1336	begin surface