Glider dive log

SOSCEx 08Dec12 * SG543 * Dive index * Mission links * Dive 403 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING -1 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 403 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3400 ALTIM_PING_DELTA 15

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3280 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 15 ALTIM_PULSE 4

D_TGT 50 TGT_DEFAULT_LON -200 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 3

D_NO_BLEED 200 SM_CC 230 R_PORT_OVSHOOT 50 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE3 131

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 118

T_DIVE 15 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 30 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -9019.249 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1628 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043127281

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -55.913475 SEABIRD_T_H 0.00062185986

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2048062e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2117231e-06

MASS 52459 PITCH_GAIN 39 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.303595

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1762303

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.001936322

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024357962

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 230

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 50 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 15 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 1050 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 39 TCM_ROLL_OFFSET 0

ALTIM_PULSE 4 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4230

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON -200

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00061500003 T_BOOST 5

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 15

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -55.913475 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -9019.249

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING -1 RAFOS_HIT_WINDOW 3600 T_MISSION 30

CF8_MAXERRORS 20 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1628 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3280 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 3400 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2474 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 50 VBD_MAX 3960

DEVICE2 101 MASS 52459 R_STBD_OVSHOOT 27 VBD_MAXERRORS 1

DEVICE3 131 MAX_BUOY 150 SEABIRD_C_G -10.303595 VBD_MIN 507

DEVICE4 118 MINV_10V 8 SEABIRD_C_H 1.1762303 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.001936322 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00024357962 VBD_TIMEOUT 800

DIVE 403 MOTHERBOARD 4 SEABIRD_T_G 0.0043127281 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00062185986 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.2048062e-05 XPDR_VALID 3

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.2117231e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 240213,114759,-4236.455,836.932,12,1.9,12,-25.0 TGT_NAME RECOVERY

_CALLS 1 TGT_LATLONG -4630.000,803.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.177,-0.292

_SM_DEPTHo 1.64 KALMAN_X 56153.6,600.1,498.9,-8965.2,134.3

_SM_ANGLEo -49.4 KALMAN_Y 362959.8,-550.9,-206.1,-374111.2,33.3

GPS2 240213,115535,-4236.467,837.033,17,1.2,18,-25.0 MHEAD_RNG_PITCHd_Wd 236.1,434674,-14.3,-11.111

SPEED_LIMITS 0.192,0.269 D_GRID 50

Post-dive calculations and measurements:

FINISH 1.0,1.014135 _10V_AH 10.0,47.699

SM_CCo 1436,0.00,0.000,0,0,1138,327.72 FG_AHR_24Vo 0.000

SM_GC 1.43,4.50,0.00,0.00,0.038,0.000,0.000,49,3381,1138,-4.77,-0.54,327.72 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4221.55,836.76,240213,111149 MEM 354560

TT8_MAMPS 0.025466 DATA_FILE_SIZE 13694,190

HUMID 52.20 CAP_FILE_SIZE 27599,0

INTERNAL_PRESSURE 9.12261 CFSIZE 259252224,231243776

TCM_TEMP 18.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2

XPDR_PINGS 0 GPS 240213,122129,-4236.456,837.232,21,1.0,22,-25.0

_24V_AH 24.5,66.402

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 11 226 62.00 SBE_CT 124 24 73.32

Roll_motor 12 86 27.11 AA4330 525 33 425.03

VBD_pump_during_apogee 361 628 5565.69 WL_BB2FLVMT 434 105 1118.78

VBD_pump_during_surface 0 0 0.00 QSP2150 400 4 42.96

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 65.29 nil 0 0 0.00

Iridium_during_connect 48 160 188.22 nil 0 0 0.00

Iridium_during_xfer 256 223 1400.15 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.45

TT8 389 14 58.33

LPSleep 100 2 2.19

TT8_Active 265 14 37.76

TT8_Sampling 818 37 306.39

TT8_CF8 331 47 156.57

TT8_Kalman 33 59 19.73

Analog_circuits 596 12 71.62

GPS_charging 0 0 0.00

Compass 623 15 98.04

RAFOS 0 0 0.00

Transponder 1 5 0.05

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.46 -146.1 0.0 0.0 0 71 0.00 0.00 -49.03 0.000 2 0.000 0.000 44 3390 2736 0 0 0 0 0 0

75 -0.46 -146.1 3.0 -3.7 6 95 5.75 0.93 -9.25 0.000 4 0.226 0.086 1469 3952 3072 0 0 0 0 0 0

281 -0.46 -146.1 26.4 -11.6 36 289 0.00 0.82 0.00 0.000 6 0.000 0.033 1469 3405 3074 0 0 0 0 0 0

369 -0.46 -146.1 34.7 -9.9 49 377 0.00 2.15 0.00 0.000 4 0.000 0.029 1469 1991 3074 0 0 0 0 0 0

393 -0.46 -146.1 37.2 -10.2 52 402 0.00 2.30 0.00 0.000 6 0.000 0.063 1459 3387 3074 0 0 0 0 0 0

528 end dive: TARGET_DEPTH_EXCEEDED

state 528 begin apogee

535 -0.13 0.0 50.1 9.1 74 654 0.38 0.00 112.55 0.628 6 0.132 0.000 1578 3276 2469 0 0 0 0 0 0

655 end apogee: CONTROL_FINISHED_OK

state 658 begin climb

661 0.46 146.1 54.2 0.0 90 784 0.55 2.22 113.05 0.607 4 0.096 0.025 1778 1851 1871 0 0 0 0 0 0

848 0.53 270.5 43.4 7.4 116 951 0.00 2.33 96.97 0.584 6 0.000 0.045 1777 3286 1368 0 0 0 0 0 0

1209 0.57 324.2 13.1 9.5 169 1260 0.00 1.05 39.12 0.570 4 0.000 0.050 1778 3944 1145 0 0 0 0 0 0

1319 end climb: SURFACE_DEPTH_REACHED

state 1319 begin surface coast

1360 end surface coast: CONTROL_FINISHED_OK

state 1360 begin surface

ID	543	HEADING	-1	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	403	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3400	ALTIM_PING_DELTA	15
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3280	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	15	ALTIM_PULSE	4
D_TGT	50	TGT_DEFAULT_LON	-200	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	3
D_NO_BLEED	200	SM_CC	230	R_PORT_OVSHOOT	50	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE3	131
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	118
T_DIVE	15	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	30	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-9019.249	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1628	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043127281
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-55.913475	SEABIRD_T_H	0.00062185986
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2048062e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2117231e-06
MASS	52459	PITCH_GAIN	39	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.303595
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1762303
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.001936322
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024357962
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	240213,114759,-4236.455,836.932,12,1.9,12,-25.0	TGT_NAME	RECOVERY
_CALLS	1	TGT_LATLONG	-4630.000,803.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.177,-0.292
_SM_DEPTHo	1.64	KALMAN_X	56153.6,600.1,498.9,-8965.2,134.3
_SM_ANGLEo	-49.4	KALMAN_Y	362959.8,-550.9,-206.1,-374111.2,33.3
GPS2	240213,115535,-4236.467,837.033,17,1.2,18,-25.0	MHEAD_RNG_PITCHd_Wd	236.1,434674,-14.3,-11.111
SPEED_LIMITS	0.192,0.269	D_GRID	50

FINISH	1.0,1.014135	_10V_AH	10.0,47.699
SM_CCo	1436,0.00,0.000,0,0,1138,327.72	FG_AHR_24Vo	0.000
SM_GC	1.43,4.50,0.00,0.00,0.038,0.000,0.000,49,3381,1138,-4.77,-0.54,327.72	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4221.55,836.76,240213,111149	MEM	354560
TT8_MAMPS	0.025466	DATA_FILE_SIZE	13694,190
HUMID	52.20	CAP_FILE_SIZE	27599,0
INTERNAL_PRESSURE	9.12261	CFSIZE	259252224,231243776
TCM_TEMP	18.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
XPDR_PINGS	0	GPS	240213,122129,-4236.456,837.232,21,1.0,22,-25.0
_24V_AH	24.5,66.402

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	11	226	62.00	SBE_CT	124	24	73.32
Roll_motor	12	86	27.11	AA4330	525	33	425.03
VBD_pump_during_apogee	361	628	5565.69	WL_BB2FLVMT	434	105	1118.78
VBD_pump_during_surface	0	0	0.00	QSP2150	400	4	42.96
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	65.29	nil	0	0	0.00
Iridium_during_connect	48	160	188.22	nil	0	0	0.00
Iridium_during_xfer	256	223	1400.15	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.45
TT8	389	14	58.33
LPSleep	100	2	2.19
TT8_Active	265	14	37.76
TT8_Sampling	818	37	306.39
TT8_CF8	331	47	156.57
TT8_Kalman	33	59	19.73
Analog_circuits	596	12	71.62
GPS_charging	0	0	0.00
Compass	623	15	98.04
RAFOS	0	0	0.00
Transponder	1	5	0.05

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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.46	-146.1	0.0	0.0	0	71	0.00	0.00	-49.03	0.000	2	0.000	0.000	44	3390	2736	0	0	0	0	0	0
75	-0.46	-146.1	3.0	-3.7	6	95	5.75	0.93	-9.25	0.000	4	0.226	0.086	1469	3952	3072	0	0	0	0	0	0
281	-0.46	-146.1	26.4	-11.6	36	289	0.00	0.82	0.00	0.000	6	0.000	0.033	1469	3405	3074	0	0	0	0	0	0
369	-0.46	-146.1	34.7	-9.9	49	377	0.00	2.15	0.00	0.000	4	0.000	0.029	1469	1991	3074	0	0	0	0	0	0
393	-0.46	-146.1	37.2	-10.2	52	402	0.00	2.30	0.00	0.000	6	0.000	0.063	1459	3387	3074	0	0	0	0	0	0
528	end dive: TARGET_DEPTH_EXCEEDED
state	528	begin apogee
535	-0.13	0.0	50.1	9.1	74	654	0.38	0.00	112.55	0.628	6	0.132	0.000	1578	3276	2469	0	0	0	0	0	0
655	end apogee: CONTROL_FINISHED_OK
state	658	begin climb
661	0.46	146.1	54.2	0.0	90	784	0.55	2.22	113.05	0.607	4	0.096	0.025	1778	1851	1871	0	0	0	0	0	0
848	0.53	270.5	43.4	7.4	116	951	0.00	2.33	96.97	0.584	6	0.000	0.045	1777	3286	1368	0	0	0	0	0	0
1209	0.57	324.2	13.1	9.5	169	1260	0.00	1.05	39.12	0.570	4	0.000	0.050	1778	3944	1145	0	0	0	0	0	0
1319	end climb: SURFACE_DEPTH_REACHED
state	1319	begin surface coast
1360	end surface coast: CONTROL_FINISHED_OK
state	1360	begin surface