Glider dive log

PortSusan 03Feb10.02 * SG022 * Dive index * Mission links * Dive 28 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 22 HEADING -1 ROLL_MIN 150 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 15 ESCAPE_HEADING 0 ROLL_MAX 3954 ALTIM_TOP_TURN_MARGIN 0

DIVE 28 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 6 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2425 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 48.099998 C_ROLL_CLIMB 2100 ALTIM_PING_DELTA 10

D_TGT 150 TGT_DEFAULT_LON -122.36667 HEAD_ERRBAND 10 ALTIM_FREQUENCY 15

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 5

D_NO_BLEED 30 SM_CC 550 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 32 XPDR_VALID 4

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 33 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 100 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 2 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 350 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3841 DEVICE1 2

T_DIVE 50 CALL_TRIES 5 C_VBD 3230 DEVICE2 -1

T_MISSION 75 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 150000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.00109 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 1 LOGGERDEVICE1 69

USE_BATHY -4 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 4 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -253279.62 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 101 STROBE 0 CF8_MAXERRORS 1 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 91.800003 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 61.200001 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 19

MAX_BUOY 120 PITCH_MIN 380 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3641 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2552 FG_AHR_24V 0 SEABIRD_T_G 0.0044149966

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00064680085

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_YINT -22.247711 SEABIRD_T_I 2.5778523e-05

MASS 51743 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011632 SEABIRD_T_J 2.7323422e-06

NAV_MODE 1 PITCH_GAIN 18 AD7714Ch0Gain 128 SEABIRD_C_G -10.507483

FERRY_MAX 0 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 1.7 SEABIRD_C_H 1.1800622

KALMAN_USE 1 PITCH_AD_RATE 150 TCM_ROLL_OFFSET -0.89999998 SEABIRD_C_I -0.00046262925

HD_A 0.0040048002 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00014728548

HD_B 0.010364 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0 PA_OFFLOAD 1.0

HD_C 5.4717998e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 PA_MAXUPLOADSIZE 20480.0

AD7714Ch0Gain 128 D_FLARE 3 PA_MAXUPLOADSIZE 20480.0 SEABIRD_T_J 2.7323422e-06

AH0_10V 61.200001 D_NO_BLEED 30 PA_OFFLOAD 1.0 SIM_PITCH 0

AH0_24V 91.800003 D_OFFGRID 101 PHONE_DEVICE 48 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 550

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 15 D_SURF 6 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PING_DELTA 10 D_TGT 150 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 5 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FERRY_MAX 0 PITCH_GAIN 18 TCM_PITCH_OFFSET 1.7

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MAX 3641 TCM_ROLL_OFFSET -0.89999998

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MIN 380 TGT_DEFAULT_LAT 48.099998

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -122.36667

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.00109 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 32 PRESSURE_SLOPE 0.00011632 T_DIVE 50

CALL_WAIT 60 HD_A 0.0040048002 PRESSURE_YINT -22.247711 T_GPS 15

CAPMAXSIZE 150000 HD_B 0.010364 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPUPLOAD 0 HD_C 5.4717998e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -253279.62

CF8_MAXERRORS 1 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 75

COMPASS2_DEVICE -1 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_USE 0 ID 22 RHO 1.023 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

C_PITCH 2552 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_AD_RATE 100 UNCOM_BLEED 20

C_ROLL_DIVE 2425 KERMIT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 3230 LOGGERDEVICE1 69 ROLL_DEG 40 USE_BATHY -4

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MAX 3954 USE_ICE 0

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 2 VBD_BLEED_AD_RATE 4

DEVICE1 2 MASS 51743 ROLL_MIN 150 VBD_CNV -0.24529999

DEVICE2 -1 MAX_BUOY 120 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MINV_10V 8 R_PORT_OVSHOOT 32 VBD_MAX 3841

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 33 VBD_MAXERRORS 1

DEVICE5 -1 MISSION 15 SEABIRD_C_G -10.507483 VBD_MIN 350

DEVICE6 -1 MOTHERBOARD 2 SEABIRD_C_H 1.1800622 VBD_PUMP_AD_RATE_APOGEE 1

DIVE 28 NAV_MODE 1 SEABIRD_C_I -0.00046262925 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 1090 N_FILEKB 8 SEABIRD_C_J 0.00014728548 VBD_TIMEOUT 720

D_BOOST 0 N_GPS 20 SEABIRD_T_G 0.0044149966 XPDR_DEVICE 19

D_CALL 0 N_NOCOMM 1 SEABIRD_T_H 0.00064680085 XPDR_INHIBIT 90

D_FINISH 0 N_NOSURFACE 0 SEABIRD_T_I 2.5778523e-05 XPDR_VALID 4

Pre-dive calculations and measurements:

GPS1 040210,143413,4807.463,-12223.374,32,1.6,49,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.167,0.162

_SM_DEPTHo 0.78 KALMAN_X -1866.8,-90.2,-131.2,2205.1,-58.8

_SM_ANGLEo -71.1 KALMAN_Y 3741.4,402.2,61.1,-5248.2,177.8

GPS2 040210,143830,4807.514,-12223.421,36,1.7,40,18.3 MHEAD_RNG_PITCHd_Wd 295.8,1150,-20.7,-10.000

SPEED_LIMITS 0.173,0.233 D_GRID 105

Post-dive calculations and measurements:

FINISH 4.9,1.021110 _10V_AH 9.9,0.743

SM_CCo 1823,249.95,0.593,0,0,986,550.21 FG_AHR_24Vo 0.000

SM_GC 0.84,0.00,0.00,249.95,0.000,0.000,0.593,375,2444,986,-10.01,0.54,550.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.51,-12221.84,310711,080805 MEM 324220

TT8_MAMPS 0.029146 DATA_FILE_SIZE 6443,207

HUMID 1078101281 CAP_FILE_SIZE 31644,0

TCM_TEMP 19.50 CFSIZE 260034560,256339968

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

_24V_AH 23.7,2.761 GPS 040210,151506,4807.749,-12223.644,31,1.8,35,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 167 96.59 SBE_CT 135 24 77.10

Roll_motor 21 62 31.07 nil 0 0 0.00

VBD_pump_during_apogee 190 693 3123.06 nil 0 0 0.00

VBD_pump_during_surface 249 592 3512.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.00 nil 0 0 0.00

Iridium_during_connect 25 160 95.11 PAAM 0 0 0.00

Iridium_during_xfer 100 223 532.57

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 40 50 19.91

TT8 330 19 64.79

LPSleep 873 2 18.94

TT8_Active 533 19 104.58

TT8_Sampling 384 39 151.53

TT8_CF8 224 45 101.92

TT8_Kalman 33 81 27.01

Analog_circuits 779 12 92.60

GPS_charging 0 0 0.00

Compass 364 8 28.84

RAFOS 0 0 0.00

Transponder 0 30 0.16

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

15 -1.28 -117.3 0.0 0.0 0 118 0.00 0.00 -99.93 0.000 2 0.000 0.000 379 2439 2734 0 0 0 0 0 0

122 -1.28 -117.3 3.4 -8.2 20 173 10.43 2.53 -33.85 0.000 4 0.167 0.060 2265 1004 3710 0 0 0 0 0 0

392 -1.28 -117.3 36.4 -14.0 58 398 0.00 2.50 0.00 0.000 6 0.000 0.050 2265 2422 3710 0 0 0 0 0 0

589 -1.28 -117.3 67.2 -16.3 77 593 0.00 2.55 0.00 0.000 4 0.000 0.062 2265 3837 3710 0 0 0 0 0 0

611 -1.28 -117.3 70.8 -16.0 79 616 0.00 2.50 0.00 0.000 6 0.000 0.043 2265 2410 3710 0 0 0 0 0 0

838 end dive: TARGET_DEPTH_EXCEEDED

state 838 begin apogee

843 -0.28 0.0 106.1 15.0 100 943 1.12 0.00 95.03 0.693 6 0.116 0.000 2489 2067 3229 0 0 0 0 0 0

944 end apogee: CONTROL_FINISHED_OK

state 944 begin climb

946 1.28 117.3 109.4 0.0 110 1052 1.58 2.50 95.03 0.670 4 0.075 0.051 2827 711 2750 0 0 0 0 0 0

1159 1.28 117.3 83.4 15.4 130 1164 0.00 2.47 0.00 0.000 6 0.000 0.046 2827 2107 2747 0 0 0 0 0 0

1489 1.28 117.3 35.4 13.5 161 1493 0.00 2.50 0.00 0.000 4 0.000 0.056 2827 3514 2744 0 0 0 0 0 0

1521 1.28 117.3 30.5 15.7 163 1527 0.00 2.45 0.00 0.000 6 0.000 0.042 2827 2110 2744 0 0 0 0 0 0

1719 end climb: SURFACE_DEPTH_REACHED

state 1719 begin surface coast

1802 end surface coast: CONTROL_FINISHED_OK

state 1803 begin surface

ID	22	HEADING	-1	ROLL_MIN	150	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	15	ESCAPE_HEADING	0	ROLL_MAX	3954	ALTIM_TOP_TURN_MARGIN	0
DIVE	28	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	6	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2425	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	48.099998	C_ROLL_CLIMB	2100	ALTIM_PING_DELTA	10
D_TGT	150	TGT_DEFAULT_LON	-122.36667	HEAD_ERRBAND	10	ALTIM_FREQUENCY	15
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	5
D_NO_BLEED	30	SM_CC	550	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	32	XPDR_VALID	4
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	33	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	100	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	2	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	350	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3841	DEVICE1	2
T_DIVE	50	CALL_TRIES	5	C_VBD	3230	DEVICE2	-1
T_MISSION	75	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	150000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.00109	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	1	LOGGERDEVICE1	69
USE_BATHY	-4	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	4	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-253279.62	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	101	STROBE	0	CF8_MAXERRORS	1	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	91.800003	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	61.200001	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	19
MAX_BUOY	120	PITCH_MIN	380	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3641	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2552	FG_AHR_24V	0	SEABIRD_T_G	0.0044149966
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00064680085
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_YINT	-22.247711	SEABIRD_T_I	2.5778523e-05
MASS	51743	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011632	SEABIRD_T_J	2.7323422e-06
NAV_MODE	1	PITCH_GAIN	18	AD7714Ch0Gain	128	SEABIRD_C_G	-10.507483
FERRY_MAX	0	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	1.7	SEABIRD_C_H	1.1800622
KALMAN_USE	1	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	-0.89999998	SEABIRD_C_I	-0.00046262925
HD_A	0.0040048002	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00014728548
HD_B	0.010364	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0	PA_OFFLOAD	1.0
HD_C	5.4717998e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	PA_MAXUPLOADSIZE	20480.0

GPS1	040210,143413,4807.463,-12223.374,32,1.6,49,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.167,0.162
_SM_DEPTHo	0.78	KALMAN_X	-1866.8,-90.2,-131.2,2205.1,-58.8
_SM_ANGLEo	-71.1	KALMAN_Y	3741.4,402.2,61.1,-5248.2,177.8
GPS2	040210,143830,4807.514,-12223.421,36,1.7,40,18.3	MHEAD_RNG_PITCHd_Wd	295.8,1150,-20.7,-10.000
SPEED_LIMITS	0.173,0.233	D_GRID	105

FINISH	4.9,1.021110	_10V_AH	9.9,0.743
SM_CCo	1823,249.95,0.593,0,0,986,550.21	FG_AHR_24Vo	0.000
SM_GC	0.84,0.00,0.00,249.95,0.000,0.000,0.593,375,2444,986,-10.01,0.54,550.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.51,-12221.84,310711,080805	MEM	324220
TT8_MAMPS	0.029146	DATA_FILE_SIZE	6443,207
HUMID	1078101281	CAP_FILE_SIZE	31644,0
TCM_TEMP	19.50	CFSIZE	260034560,256339968
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	23.7,2.761	GPS	040210,151506,4807.749,-12223.644,31,1.8,35,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	167	96.59	SBE_CT	135	24	77.10
Roll_motor	21	62	31.07	nil	0	0	0.00
VBD_pump_during_apogee	190	693	3123.06	nil	0	0	0.00
VBD_pump_during_surface	249	592	3512.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.00	nil	0	0	0.00
Iridium_during_connect	25	160	95.11	PAAM	0	0	0.00
Iridium_during_xfer	100	223	532.57
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	40	50	19.91
TT8	330	19	64.79
LPSleep	873	2	18.94
TT8_Active	533	19	104.58
TT8_Sampling	384	39	151.53
TT8_CF8	224	45	101.92
TT8_Kalman	33	81	27.01
Analog_circuits	779	12	92.60
GPS_charging	0	0	0.00
Compass	364	8	28.84
RAFOS	0	0	0.00
Transponder	0	30	0.16

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
15	-1.28	-117.3	0.0	0.0	0	118	0.00	0.00	-99.93	0.000	2	0.000	0.000	379	2439	2734	0	0	0	0	0	0
122	-1.28	-117.3	3.4	-8.2	20	173	10.43	2.53	-33.85	0.000	4	0.167	0.060	2265	1004	3710	0	0	0	0	0	0
392	-1.28	-117.3	36.4	-14.0	58	398	0.00	2.50	0.00	0.000	6	0.000	0.050	2265	2422	3710	0	0	0	0	0	0
589	-1.28	-117.3	67.2	-16.3	77	593	0.00	2.55	0.00	0.000	4	0.000	0.062	2265	3837	3710	0	0	0	0	0	0
611	-1.28	-117.3	70.8	-16.0	79	616	0.00	2.50	0.00	0.000	6	0.000	0.043	2265	2410	3710	0	0	0	0	0	0
838	end dive: TARGET_DEPTH_EXCEEDED
state	838	begin apogee
843	-0.28	0.0	106.1	15.0	100	943	1.12	0.00	95.03	0.693	6	0.116	0.000	2489	2067	3229	0	0	0	0	0	0
944	end apogee: CONTROL_FINISHED_OK
state	944	begin climb
946	1.28	117.3	109.4	0.0	110	1052	1.58	2.50	95.03	0.670	4	0.075	0.051	2827	711	2750	0	0	0	0	0	0
1159	1.28	117.3	83.4	15.4	130	1164	0.00	2.47	0.00	0.000	6	0.000	0.046	2827	2107	2747	0	0	0	0	0	0
1489	1.28	117.3	35.4	13.5	161	1493	0.00	2.50	0.00	0.000	4	0.000	0.056	2827	3514	2744	0	0	0	0	0	0
1521	1.28	117.3	30.5	15.7	163	1527	0.00	2.45	0.00	0.000	6	0.000	0.042	2827	2110	2744	0	0	0	0	0	0
1719	end climb: SURFACE_DEPTH_REACHED
state	1719	begin surface coast
1802	end surface coast: CONTROL_FINISHED_OK
state	1803	begin surface