Glider dive log

PortSusan 24Mar10 * SG128 * Dive index * Mission links * Dive 26 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HEADING -1 ROLL_MIN 190 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3778 ALTIM_TOP_TURN_MARGIN 0

DIVE 26 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2350 ALTIM_PING_DEPTH 75

D_FLARE 3 TGT_DEFAULT_LAT 19 C_ROLL_CLIMB 2320 ALTIM_PING_DELTA 5

D_TGT 150 TGT_DEFAULT_LON 118 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1020 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 200 SM_CC 400 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 40 XPDR_VALID 1

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 38 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 204 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3580 DEVICE1 2

T_DIVE 50 CALL_TRIES 5 C_VBD 3007 DEVICE2 35

T_MISSION 60 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 CAPUPLOAD 1 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 -172569.58 UNCOM_BLEED 50 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 1 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 -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 100 PITCH_MIN 154 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3958 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2910 FG_AHR_24V 0 SEABIRD_T_G 0.0043202997

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063066871

RHO 1.0275 PITCH_CNV 0.00312576 PRESSURE_YINT -13.18169 SEABIRD_T_I 2.423454e-05

MASS 51580 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001162386 SEABIRD_T_J 2.6245777e-06

NAV_MODE 1 PITCH_GAIN 23 AD7714Ch0Gain 128 SEABIRD_C_G -9.8552961

FERRY_MAX 45 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1169292

KALMAN_USE 1 PITCH_AD_RATE 160 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010928692

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00015437596

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 200 PHONE_SUPPLY 2 SM_CC 400

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 10 D_SAFE 0 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.00312576 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_TGT 150 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 75 ESCAPE_HEADING 0 PITCH_GAIN 23 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3958 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 154 TGT_DEFAULT_LAT 19

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON 118

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001162386 T_DIVE 50

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -13.18169 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 -172569.58

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 60

CF8_MAXERRORS 1 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 128 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2910 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2320 KALMAN_USE 1 ROLL_DEG 40 USE_BATHY -4

C_ROLL_DIVE 2350 KERMIT 0 ROLL_MAX 3778 USE_ICE 0

C_VBD 3007 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 190 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51580 R_PORT_OVSHOOT 40 VBD_MAX 3580

DEVICE2 35 MAX_BUOY 100 R_STBD_OVSHOOT 38 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -9.8552961 VBD_MIN 204

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1169292 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 2 SEABIRD_C_I -0.0010928692 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00015437596 VBD_TIMEOUT 720

DIVE 26 NAV_MODE 1 SEABIRD_T_G 0.0043202997 XPDR_DEVICE 24

D_ABORT 1020 N_FILEKB 4 SEABIRD_T_H 0.00063066871 XPDR_INHIBIT 90

D_BOOST 4 N_GPS 20 SEABIRD_T_I 2.423454e-05 XPDR_VALID 1

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.6245777e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 131801,4808.036,-12223.668,10,1.1,15,18.3 TGT_NAME KAYAKPT

_CALLS 1 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.215,-0.014

_SM_DEPTHo 1.25 KALMAN_X 969.5,-39.3,8.5,-1382.7,-149.8

_SM_ANGLEo -71.6 KALMAN_Y -1176.0,-192.8,59.8,2708.5,-22.5

GPS2 132450,4808.079,-12223.667,14,1.6,14,18.3 MHEAD_RNG_PITCHd_Wd 75.4,837,-22.4,-10.000

SPEED_LIMITS 0.173,0.215 D_GRID 103

Post-dive calculations and measurements:

FINISH 3.6,1.020929 _24V_AH 24.1,2.162

SM_CCo 1609,287.77,0.825,1,0,204,687.58 _10V_AH 10.5,1.139

SM_GC 0.98,9.15,0.00,0.00,0.044,0.000,0.000,146,2348,199,-8.59,-0.06,688.80 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12144.26,190699,121248 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026078 MEM 324336

HUMID 31.76 DATA_FILE_SIZE 12918,273

INTERNAL_PRESSURE 9.14098 CAP_FILE_SIZE 34929,0

TCM_TEMP 13.50 CFSIZE 260165632,188297216

XPDR_PINGS 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

ALTIM_BOTTOM_PING 90.6,29.6 GPS 250310,140034,4808.133,-12223.434,10,3.9,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 238 123.74 SBE_CT 189 24 109.88

Roll_motor 18 55 24.95 WL_BB2F 455 105 1152.86

VBD_pump_during_apogee 147 974 3471.25 nil 0 0 0.00

VBD_pump_during_surface 287 825 5723.71 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 68.59 nil 0 0 0.00

Iridium_during_connect 32 160 124.33 nil 0 0 0.00

Iridium_during_xfer 180 223 967.66

Transponder_ping 2 420 22.77

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.22

TT8 422 19 87.81

LPSleep 441 2 10.16

TT8_Active 460 19 95.81

TT8_Sampling 589 39 246.34

TT8_CF8 522 45 251.24

TT8_Kalman 33 81 28.64

Analog_circuits 768 12 96.88

GPS_charging 0 0 0.00

Compass 676 8 56.83

RAFOS 0 0 0.00

Transponder 18 30 5.89

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

18 -1.09 -97.3 0.0 0.0 0 99 0.00 0.00 -78.15 0.000 2 0.000 0.000 149 2343 3230 0 0 0 0 0 0

103 -1.09 -97.3 3.4 -5.6 13 123 10.00 2.33 -3.90 0.000 4 0.239 0.055 2539 3753 3403 0 0 0 0 0 0

378 -1.09 -97.3 53.9 -16.8 61 385 0.00 2.30 0.00 0.000 6 0.000 0.030 2539 2336 3404 0 0 0 0 0 0

523 -1.09 -97.3 77.1 -16.4 86 530 0.00 0.00 0.00 0.000 6 0.000 0.000 2539 2329 3404 0 0 0 0 0 0

674 -1.09 -97.3 100.7 -17.1 111 680 0.00 2.33 0.00 0.000 4 0.000 0.044 2529 3753 3404 0 0 0 0 0 0

686 end dive: TARGET_DEPTH_EXCEEDED

state 686 begin apogee

695 -0.22 0.0 103.7 16.6 113 776 1.05 0.00 72.95 0.975 6 0.163 0.000 2832 2307 3007 0 0 0 0 0 0

776 end apogee: CONTROL_FINISHED_OK

state 777 begin climb

782 1.09 97.3 108.2 0.0 128 863 1.33 0.00 74.80 0.892 6 0.088 0.000 3256 2306 2610 0 0 0 0 0 0

1003 1.09 97.3 83.0 14.8 167 1008 0.00 0.00 0.00 0.000 6 0.000 0.000 3256 2306 2609 0 0 0 0 0 0

1145 1.09 97.3 61.6 14.5 192 1152 0.00 2.40 0.00 0.000 4 0.000 0.044 3255 3719 2609 0 0 0 0 0 0

1210 1.09 97.3 51.4 16.1 203 1215 0.00 2.30 0.00 0.000 6 0.000 0.031 3267 2317 2609 0 0 0 0 0 0

1351 1.09 97.3 30.3 14.8 228 1359 0.00 2.38 0.00 0.000 4 0.000 0.044 3267 3722 2608 0 0 0 0 0 0

1543 end climb: SURFACE_DEPTH_REACHED

state 1544 begin surface coast

1605 end surface coast: CONTROL_FINISHED_OK

state 1605 begin surface

ID	128	HEADING	-1	ROLL_MIN	190	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3778	ALTIM_TOP_TURN_MARGIN	0
DIVE	26	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2350	ALTIM_PING_DEPTH	75
D_FLARE	3	TGT_DEFAULT_LAT	19	C_ROLL_CLIMB	2320	ALTIM_PING_DELTA	5
D_TGT	150	TGT_DEFAULT_LON	118	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1020	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	200	SM_CC	400	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	40	XPDR_VALID	1
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	38	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	204	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3580	DEVICE1	2
T_DIVE	50	CALL_TRIES	5	C_VBD	3007	DEVICE2	35
T_MISSION	60	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	CAPUPLOAD	1	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	-172569.58	UNCOM_BLEED	50	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	1	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	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	100	PITCH_MIN	154	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3958	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2910	FG_AHR_24V	0	SEABIRD_T_G	0.0043202997
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063066871
RHO	1.0275	PITCH_CNV	0.00312576	PRESSURE_YINT	-13.18169	SEABIRD_T_I	2.423454e-05
MASS	51580	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001162386	SEABIRD_T_J	2.6245777e-06
NAV_MODE	1	PITCH_GAIN	23	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8552961
FERRY_MAX	45	PITCH_TIMEOUT	16	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1169292
KALMAN_USE	1	PITCH_AD_RATE	160	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010928692
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00015437596
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	131801,4808.036,-12223.668,10,1.1,15,18.3	TGT_NAME	KAYAKPT
_CALLS	1	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.215,-0.014
_SM_DEPTHo	1.25	KALMAN_X	969.5,-39.3,8.5,-1382.7,-149.8
_SM_ANGLEo	-71.6	KALMAN_Y	-1176.0,-192.8,59.8,2708.5,-22.5
GPS2	132450,4808.079,-12223.667,14,1.6,14,18.3	MHEAD_RNG_PITCHd_Wd	75.4,837,-22.4,-10.000
SPEED_LIMITS	0.173,0.215	D_GRID	103

FINISH	3.6,1.020929	_24V_AH	24.1,2.162
SM_CCo	1609,287.77,0.825,1,0,204,687.58	_10V_AH	10.5,1.139
SM_GC	0.98,9.15,0.00,0.00,0.044,0.000,0.000,146,2348,199,-8.59,-0.06,688.80	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12144.26,190699,121248	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026078	MEM	324336
HUMID	31.76	DATA_FILE_SIZE	12918,273
INTERNAL_PRESSURE	9.14098	CAP_FILE_SIZE	34929,0
TCM_TEMP	13.50	CFSIZE	260165632,188297216
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
ALTIM_BOTTOM_PING	90.6,29.6	GPS	250310,140034,4808.133,-12223.434,10,3.9,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	238	123.74	SBE_CT	189	24	109.88
Roll_motor	18	55	24.95	WL_BB2F	455	105	1152.86
VBD_pump_during_apogee	147	974	3471.25	nil	0	0	0.00
VBD_pump_during_surface	287	825	5723.71	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	68.59	nil	0	0	0.00
Iridium_during_connect	32	160	124.33	nil	0	0	0.00
Iridium_during_xfer	180	223	967.66
Transponder_ping	2	420	22.77
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.22
TT8	422	19	87.81
LPSleep	441	2	10.16
TT8_Active	460	19	95.81
TT8_Sampling	589	39	246.34
TT8_CF8	522	45	251.24
TT8_Kalman	33	81	28.64
Analog_circuits	768	12	96.88
GPS_charging	0	0	0.00
Compass	676	8	56.83
RAFOS	0	0	0.00
Transponder	18	30	5.89

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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
18	-1.09	-97.3	0.0	0.0	0	99	0.00	0.00	-78.15	0.000	2	0.000	0.000	149	2343	3230	0	0	0	0	0	0
103	-1.09	-97.3	3.4	-5.6	13	123	10.00	2.33	-3.90	0.000	4	0.239	0.055	2539	3753	3403	0	0	0	0	0	0
378	-1.09	-97.3	53.9	-16.8	61	385	0.00	2.30	0.00	0.000	6	0.000	0.030	2539	2336	3404	0	0	0	0	0	0
523	-1.09	-97.3	77.1	-16.4	86	530	0.00	0.00	0.00	0.000	6	0.000	0.000	2539	2329	3404	0	0	0	0	0	0
674	-1.09	-97.3	100.7	-17.1	111	680	0.00	2.33	0.00	0.000	4	0.000	0.044	2529	3753	3404	0	0	0	0	0	0
686	end dive: TARGET_DEPTH_EXCEEDED
state	686	begin apogee
695	-0.22	0.0	103.7	16.6	113	776	1.05	0.00	72.95	0.975	6	0.163	0.000	2832	2307	3007	0	0	0	0	0	0
776	end apogee: CONTROL_FINISHED_OK
state	777	begin climb
782	1.09	97.3	108.2	0.0	128	863	1.33	0.00	74.80	0.892	6	0.088	0.000	3256	2306	2610	0	0	0	0	0	0
1003	1.09	97.3	83.0	14.8	167	1008	0.00	0.00	0.00	0.000	6	0.000	0.000	3256	2306	2609	0	0	0	0	0	0
1145	1.09	97.3	61.6	14.5	192	1152	0.00	2.40	0.00	0.000	4	0.000	0.044	3255	3719	2609	0	0	0	0	0	0
1210	1.09	97.3	51.4	16.1	203	1215	0.00	2.30	0.00	0.000	6	0.000	0.031	3267	2317	2609	0	0	0	0	0	0
1351	1.09	97.3	30.3	14.8	228	1359	0.00	2.38	0.00	0.000	4	0.000	0.044	3267	3722	2608	0	0	0	0	0	0
1543	end climb: SURFACE_DEPTH_REACHED
state	1544	begin surface coast
1605	end surface coast: CONTROL_FINISHED_OK
state	1605	begin surface