Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING -1 ROLL_MIN 236 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3800 ALTIM_TOP_TURN_MARGIN 0

DIVE 4 ESCAPE_HEADING_DELTA 10 ROLL_DEG 35 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2100 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2000 ALTIM_PING_DELTA 10

D_TGT 200 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 200 SM_CC 450 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 28 XPDR_VALID 1

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 23 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 0.69999999

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 470 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 60 CALL_TRIES 5 C_VBD 3150 DEVICE2 20

T_MISSION 75 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 83

T_ABORT 1440 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 300 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 6 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -1 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -23902.201 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 20 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

RELAUNCH -7 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 175 PITCH_MIN 155 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3970 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2842 FG_AHR_24V 0 SEABIRD_T_G 0.0043543768

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006249955

RHO 1.023 PITCH_CNV 0.003125763 PRESSURE_YINT -61.597298 SEABIRD_T_I 2.3401506e-05

MASS 52000 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_J 2.4672308e-06

NAV_MODE 2 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_C_G -9.9855604

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1126566

KALMAN_USE 2 PITCH_AD_RATE 165 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0021479612

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002479906

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1 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 450

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_TGT 200 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3970 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 155 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001138132 T_DIVE 60

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -61.597298 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -23902.201

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 75

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH -7 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 187 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2842 INT_PRESSURE_YINT 0.69999999 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2000 KALMAN_USE 2 ROLL_DEG 35 USE_BATHY -1

C_ROLL_DIVE 2100 KERMIT 0 ROLL_MAX 3800 USE_ICE 0

C_VBD 3150 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 236 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52000 R_PORT_OVSHOOT 28 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 175 R_STBD_OVSHOOT 23 VBD_MAXERRORS 1

DEVICE3 83 MINV_10V 8 SEABIRD_C_G -9.9855604 VBD_MIN 470

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1126566 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 2 SEABIRD_C_I -0.0021479612 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002479906 VBD_TIMEOUT 720

DIVE 4 NAV_MODE 2 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 4 SEABIRD_T_H 0.0006249955 XPDR_INHIBIT 90

D_BOOST 4 N_GPS 20 SEABIRD_T_I 2.3401506e-05 XPDR_VALID 1

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4672308e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 210302,4757.328,-12457.792,15,1.5,15,18.8 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.92 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 210626,4757.327,-12457.748,15,1.5,15,18.8 MHEAD_RNG_PITCHd_Wd 216.7,187389,-17.7,-11.111

SPEED_LIMITS 0.192,0.289 D_GRID 88

Post-dive calculations and measurements:

FINISH 0.2,1.003684 _10V_AH 10.4,1.782

SM_CCo 1877,14.75,0.282,1,0,1314,450.13 FG_AHR_24Vo 0.000

SM_GC 1.09,0.00,0.00,14.75,0.000,0.000,0.282,140,2117,1314,-8.44,0.48,450.13 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4735.69,-12511.36,101099,202053 MEM 298624

TT8_MAMPS 0.05369 DATA_FILE_SIZE 19212,343

HUMID 38.85 CAP_FILE_SIZE 39644,0

INTERNAL_PRESSURE 9.02063 CFSIZE 260165632,256761856

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.154,138.7,1

_24V_AH 24.4,3.037 GPS 160710,213851,4757.113,-12457.875,6,2.4,25,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 245 121.72 SBE_CT 226 24 132.75

Roll_motor 16 85 34.07 SBE_O2 242 19 112.58

VBD_pump_during_apogee 472 606 6992.02 WL_BBFL2VMT 720 105 1846.82

VBD_pump_during_surface 14 282 101.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 78.03 nil 0 0 0.00

Iridium_during_connect 29 160 115.06 nil 0 0 0.00

Iridium_during_xfer 85 223 466.41

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.24

TT8 0 19 0.00

LPSleep 594 2 13.55

TT8_Active 403 19 83.16

TT8_Sampling 911 39 377.38

TT8_CF8 191 45 91.10

TT8_Kalman 0 0 0.00

Analog_circuits 848 12 105.87

GPS_charging 0 0 0.00

Compass 797 8 66.35

RAFOS 0 0 0.00

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11 -0.80 -171.1 0.0 0.0 0 124 0.00 0.00 -110.32 0.000 2 0.000 0.000 132 2025 3243 0 0 0 0 0 0

125 -0.80 -171.1 3.2 -7.7 20 153 9.90 2.12 -11.85 0.000 4 0.245 0.075 2569 3343 3851 0 0 0 0 0 0

249 -0.60 -171.1 39.6 -19.3 43 255 0.22 1.95 0.00 0.000 6 0.150 0.048 2638 2099 3853 0 0 0 0 0 0

575 -0.64 -171.1 85.5 -13.6 104 580 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2096 3853 0 0 0 0 0 0

594 end dive: TARGET_DEPTH_EXCEEDED

state 594 begin apogee

597 -0.17 0.0 88.0 12.4 108 737 0.43 0.00 131.57 0.607 6 0.127 0.000 2781 1982 3150 0 0 0 0 0 0

737 end apogee: CONTROL_FINISHED_OK

state 737 begin climb

738 0.80 171.1 94.1 0.0 134 880 0.93 1.98 134.75 0.589 4 0.094 0.054 3099 767 2453 0 0 0 0 0 0

895 0.55 171.1 86.0 11.7 163 902 0.25 2.03 0.00 0.000 6 0.146 0.053 3024 2007 2451 0 0 0 0 0 0

1221 0.67 273.9 60.3 6.6 224 1310 0.10 2.05 80.62 0.584 4 0.112 0.063 3066 3232 2031 0 0 0 0 0 0

1336 0.65 281.8 49.1 10.8 245 1349 0.00 1.98 7.32 0.493 6 0.000 0.051 3073 2013 2001 0 0 0 0 0 0

1670 0.73 343.8 18.2 8.4 307 1724 0.00 2.00 49.42 0.571 4 0.000 0.059 3081 764 1747 0 0 0 0 0 0

1771 1.03 445.5 10.7 6.7 326 1845 0.22 1.98 68.62 0.556 2 0.052 0.055 3182 1998 1391 0 0 0 0 0 0

1845 end climb: SURFACE_DEPTH_REACHED

state 1845 begin surface coast

1865 end surface coast: CONTROL_FINISHED_OK

state 1865 begin surface

ID	187	HEADING	-1	ROLL_MIN	236	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3800	ALTIM_TOP_TURN_MARGIN	0
DIVE	4	ESCAPE_HEADING_DELTA	10	ROLL_DEG	35	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2100	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2000	ALTIM_PING_DELTA	10
D_TGT	200	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	200	SM_CC	450	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	28	XPDR_VALID	1
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	23	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	0.69999999
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	470	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	60	CALL_TRIES	5	C_VBD	3150	DEVICE2	20
T_MISSION	75	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	83
T_ABORT	1440	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	300	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	6	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-1	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-23902.201	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	20	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
RELAUNCH	-7	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	175	PITCH_MIN	155	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3970	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2842	FG_AHR_24V	0	SEABIRD_T_G	0.0043543768
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006249955
RHO	1.023	PITCH_CNV	0.003125763	PRESSURE_YINT	-61.597298	SEABIRD_T_I	2.3401506e-05
MASS	52000	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_J	2.4672308e-06
NAV_MODE	2	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9855604
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1126566
KALMAN_USE	2	PITCH_AD_RATE	165	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0021479612
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002479906
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	210302,4757.328,-12457.792,15,1.5,15,18.8	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.92	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	210626,4757.327,-12457.748,15,1.5,15,18.8	MHEAD_RNG_PITCHd_Wd	216.7,187389,-17.7,-11.111
SPEED_LIMITS	0.192,0.289	D_GRID	88

FINISH	0.2,1.003684	_10V_AH	10.4,1.782
SM_CCo	1877,14.75,0.282,1,0,1314,450.13	FG_AHR_24Vo	0.000
SM_GC	1.09,0.00,0.00,14.75,0.000,0.000,0.282,140,2117,1314,-8.44,0.48,450.13	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4735.69,-12511.36,101099,202053	MEM	298624
TT8_MAMPS	0.05369	DATA_FILE_SIZE	19212,343
HUMID	38.85	CAP_FILE_SIZE	39644,0
INTERNAL_PRESSURE	9.02063	CFSIZE	260165632,256761856
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.154,138.7,1
_24V_AH	24.4,3.037	GPS	160710,213851,4757.113,-12457.875,6,2.4,25,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	245	121.72	SBE_CT	226	24	132.75
Roll_motor	16	85	34.07	SBE_O2	242	19	112.58
VBD_pump_during_apogee	472	606	6992.02	WL_BBFL2VMT	720	105	1846.82
VBD_pump_during_surface	14	282	101.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	78.03	nil	0	0	0.00
Iridium_during_connect	29	160	115.06	nil	0	0	0.00
Iridium_during_xfer	85	223	466.41
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.24
TT8	0	19	0.00
LPSleep	594	2	13.55
TT8_Active	403	19	83.16
TT8_Sampling	911	39	377.38
TT8_CF8	191	45	91.10
TT8_Kalman	0	0	0.00
Analog_circuits	848	12	105.87
GPS_charging	0	0	0.00
Compass	797	8	66.35
RAFOS	0	0	0.00
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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11	-0.80	-171.1	0.0	0.0	0	124	0.00	0.00	-110.32	0.000	2	0.000	0.000	132	2025	3243	0	0	0	0	0	0
125	-0.80	-171.1	3.2	-7.7	20	153	9.90	2.12	-11.85	0.000	4	0.245	0.075	2569	3343	3851	0	0	0	0	0	0
249	-0.60	-171.1	39.6	-19.3	43	255	0.22	1.95	0.00	0.000	6	0.150	0.048	2638	2099	3853	0	0	0	0	0	0
575	-0.64	-171.1	85.5	-13.6	104	580	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2096	3853	0	0	0	0	0	0
594	end dive: TARGET_DEPTH_EXCEEDED
state	594	begin apogee
597	-0.17	0.0	88.0	12.4	108	737	0.43	0.00	131.57	0.607	6	0.127	0.000	2781	1982	3150	0	0	0	0	0	0
737	end apogee: CONTROL_FINISHED_OK
state	737	begin climb
738	0.80	171.1	94.1	0.0	134	880	0.93	1.98	134.75	0.589	4	0.094	0.054	3099	767	2453	0	0	0	0	0	0
895	0.55	171.1	86.0	11.7	163	902	0.25	2.03	0.00	0.000	6	0.146	0.053	3024	2007	2451	0	0	0	0	0	0
1221	0.67	273.9	60.3	6.6	224	1310	0.10	2.05	80.62	0.584	4	0.112	0.063	3066	3232	2031	0	0	0	0	0	0
1336	0.65	281.8	49.1	10.8	245	1349	0.00	1.98	7.32	0.493	6	0.000	0.051	3073	2013	2001	0	0	0	0	0	0
1670	0.73	343.8	18.2	8.4	307	1724	0.00	2.00	49.42	0.571	4	0.000	0.059	3081	764	1747	0	0	0	0	0	0
1771	1.03	445.5	10.7	6.7	326	1845	0.22	1.98	68.62	0.556	2	0.052	0.055	3182	1998	1391	0	0	0	0	0	0
1845	end climb: SURFACE_DEPTH_REACHED
state	1845	begin surface coast
1865	end surface coast: CONTROL_FINISHED_OK
state	1865	begin surface