Glider dive log

SOSCEx 10Dec12 * SG542 * Dive index * Mission links * Dive 498 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 542 HEADING -1 ROLL_MAX 3901 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 6 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 1050

DIVE 498 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2860 ALTIM_PING_DELTA 5

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 2670 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -4230 HEAD_ERRBAND 10 ALTIM_PULSE 3

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 2

D_NO_BLEED 200 SM_CC 230 R_PORT_OVSHOOT 74 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 36 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 5 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 2.49

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 480 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3961 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2820 DEVICE3 115

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 134

T_DIVE 15 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 30 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 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 -14992.355 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 5 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 -7 PITCH_MIN 73 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3888 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1830 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042910837

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -48.034508 SEABIRD_T_H 0.00061853422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011816985 SEABIRD_T_I 2.1182957e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.0754619e-06

MASS 52816 PITCH_GAIN 39 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.7625904

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1369455

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0017508121

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021125977

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 10

HD_C 9.9999997e-06 ROLL_MIN 335 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 10 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 5 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 3 FERRY_MAX 45 PITCH_MAX 3888 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 73 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 0.0012300001 T_BOOST 5

APOGEE_PITCH -7 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011816985 T_DIVE 15

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -48.034508 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 -14992.355

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 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 5

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 542 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 2.49 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1830 KALMAN_USE 1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2670 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2860 LOGGERDEVICE1 -1 ROLL_MAX 3901 USE_ICE 0

C_VBD 2820 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 335 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 74 VBD_MAX 3961

DEVICE2 101 MASS 52816 R_STBD_OVSHOOT 36 VBD_MAXERRORS 1

DEVICE3 115 MAX_BUOY 150 SEABIRD_C_G -9.7625904 VBD_MIN 480

DEVICE4 134 MINV_10V 8 SEABIRD_C_H 1.1369455 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0017508121 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 6 SEABIRD_C_J 0.00021125977 VBD_TIMEOUT 720

DIVE 498 MOTHERBOARD 4 SEABIRD_T_G 0.0042910837 XPDR_DEVICE 24

D_ABORT 1050 NAV_MODE 1 SEABIRD_T_H 0.00061853422 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.1182957e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.0754619e-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 060313,103242,-4331.424,705.840,16,1.0,16,-24.6 TGT_NAME MOORING

_CALLS 2 TGT_LATLONG -4329.000,709.000

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.051,0.262

_SM_DEPTHo 1.72 KALMAN_X 27599.8,-1165.4,-191.4,187774.4,126.2

_SM_ANGLEo -57.8 KALMAN_Y 809353.1,-627.4,-391.7,-438309.5,-140.2

GPS2 060313,104235,-4331.481,705.966,18,1.0,18,-24.6 MHEAD_RNG_PITCHd_Wd 13.5,6142,-19.4,-11.111

SPEED_LIMITS 0.192,0.269 D_GRID 50

Post-dive calculations and measurements:

FINISH 0.9,1.014349 _10V_AH 9.9,49.122

SM_CCo 1070,52.75,0.599,1,0,1879,230.09 FG_AHR_24Vo 0.000

SM_GC 1.97,0.00,0.00,52.75,0.000,0.000,0.599,55,2880,1879,-5.55,0.57,230.09 FG_AHR_10Vo 0.000

IRIDIUM_FIX -4317.42,703.08,060313,101011 MEM 354340

TT8_MAMPS 0.026215 DATA_FILE_SIZE 10475,149

HUMID 55.78 CAP_FILE_SIZE 24641,0

INTERNAL_PRESSURE 9.53129 CFSIZE 259252224,198430720

TCM_TEMP 15.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

XPDR_PINGS 0 GPS 060313,110323,-4331.536,706.120,17,1.1,17,-24.6

_24V_AH 24.4,90.641

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 223 68.81 SBE_CT 91 24 53.73

Roll_motor 8 61 12.40 AA4330 365 33 294.34

VBD_pump_during_apogee 233 627 3577.42 WL_BB2FLVMT 340 105 871.79

VBD_pump_during_surface 52 598 770.97 QSP2150 254 4 27.15

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 50 103 126.49 nil 0 0 0.00

Iridium_during_connect 102 160 400.07 nil 0 0 0.00

Iridium_during_xfer 198 223 1082.72 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 26 5.61

TT8 312 14 46.25

LPSleep 101 2 2.19

TT8_Active 273 14 38.42

TT8_Sampling 800 37 296.60

TT8_CF8 239 47 111.68

TT8_Kalman 33 59 19.52

Analog_circuits 513 12 60.99

GPS_charging 0 0 0.00

Compass 447 15 69.73

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

21 end surface: CONTROL_FINISHED_OK

state 25 begin dive

30 -0.67 -143.9 0.0 0.0 0 80 0.00 0.00 -47.05 0.000 2 0.000 0.000 55 2871 2830 0 0 0 0 0 0

86 -0.68 -146.1 3.1 -4.2 6 120 6.03 2.15 -18.88 0.000 4 0.223 0.046 1605 1485 3415 0 0 0 0 0 0

239 -0.68 -146.1 25.3 -15.0 28 248 0.00 2.20 0.00 0.000 6 0.000 0.050 1596 2852 3416 0 0 0 0 0 0

326 -0.68 -146.1 39.4 -16.3 41 332 0.00 1.65 0.00 0.000 4 0.000 0.055 1588 3919 3417 0 0 0 0 0 0

382 -0.68 -146.1 49.7 -17.5 49 388 0.00 1.58 0.00 0.000 6 0.000 0.029 1588 2875 3417 0 0 0 0 0 0

396 end dive: TARGET_DEPTH_EXCEEDED

state 397 begin apogee

408 -0.18 0.0 53.2 18.1 51 529 0.57 0.00 115.28 0.627 6 0.163 0.000 1762 2647 2817 0 0 0 0 0 0

534 end apogee: CONTROL_FINISHED_OK

state 534 begin climb

539 0.68 146.1 62.4 0.0 70 664 0.82 0.00 118.45 0.603 6 0.104 0.000 2042 2647 2219 0 0 0 0 0 0

917 0.68 146.1 18.3 14.6 130 927 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2647 2214 0 0 0 0 0 0

1005 0.68 146.1 3.3 14.8 143 1014 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2647 2212 0 0 0 0 0 0

1022 end climb: SURFACE_DEPTH_REACHED

state 1022 begin surface coast

1048 end surface coast: CONTROL_FINISHED_OK

state 1048 begin surface

ID	542	HEADING	-1	ROLL_MAX	3901	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	6	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	1050
DIVE	498	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2860	ALTIM_PING_DELTA	5
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	2670	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-4230	HEAD_ERRBAND	10	ALTIM_PULSE	3
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	2
D_NO_BLEED	200	SM_CC	230	R_PORT_OVSHOOT	74	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	36	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	5	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	2.49
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	480	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3961	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2820	DEVICE3	115
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	134
T_DIVE	15	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	30	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	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	-14992.355	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	5	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	-7	PITCH_MIN	73	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3888	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1830	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042910837
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-48.034508	SEABIRD_T_H	0.00061853422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011816985	SEABIRD_T_I	2.1182957e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.0754619e-06
MASS	52816	PITCH_GAIN	39	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.7625904
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1369455
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0017508121
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021125977
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	10
HD_C	9.9999997e-06	ROLL_MIN	335	ALTIM_TOP_TURN_MARGIN	0

GPS1	060313,103242,-4331.424,705.840,16,1.0,16,-24.6	TGT_NAME	MOORING
_CALLS	2	TGT_LATLONG	-4329.000,709.000
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.051,0.262
_SM_DEPTHo	1.72	KALMAN_X	27599.8,-1165.4,-191.4,187774.4,126.2
_SM_ANGLEo	-57.8	KALMAN_Y	809353.1,-627.4,-391.7,-438309.5,-140.2
GPS2	060313,104235,-4331.481,705.966,18,1.0,18,-24.6	MHEAD_RNG_PITCHd_Wd	13.5,6142,-19.4,-11.111
SPEED_LIMITS	0.192,0.269	D_GRID	50

FINISH	0.9,1.014349	_10V_AH	9.9,49.122
SM_CCo	1070,52.75,0.599,1,0,1879,230.09	FG_AHR_24Vo	0.000
SM_GC	1.97,0.00,0.00,52.75,0.000,0.000,0.599,55,2880,1879,-5.55,0.57,230.09	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-4317.42,703.08,060313,101011	MEM	354340
TT8_MAMPS	0.026215	DATA_FILE_SIZE	10475,149
HUMID	55.78	CAP_FILE_SIZE	24641,0
INTERNAL_PRESSURE	9.53129	CFSIZE	259252224,198430720
TCM_TEMP	15.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
XPDR_PINGS	0	GPS	060313,110323,-4331.536,706.120,17,1.1,17,-24.6
_24V_AH	24.4,90.641

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	223	68.81	SBE_CT	91	24	53.73
Roll_motor	8	61	12.40	AA4330	365	33	294.34
VBD_pump_during_apogee	233	627	3577.42	WL_BB2FLVMT	340	105	871.79
VBD_pump_during_surface	52	598	770.97	QSP2150	254	4	27.15
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	50	103	126.49	nil	0	0	0.00
Iridium_during_connect	102	160	400.07	nil	0	0	0.00
Iridium_during_xfer	198	223	1082.72	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	26	5.61
TT8	312	14	46.25
LPSleep	101	2	2.19
TT8_Active	273	14	38.42
TT8_Sampling	800	37	296.60
TT8_CF8	239	47	111.68
TT8_Kalman	33	59	19.52
Analog_circuits	513	12	60.99
GPS_charging	0	0	0.00
Compass	447	15	69.73
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
21	end surface: CONTROL_FINISHED_OK
state	25	begin dive
30	-0.67	-143.9	0.0	0.0	0	80	0.00	0.00	-47.05	0.000	2	0.000	0.000	55	2871	2830	0	0	0	0	0	0
86	-0.68	-146.1	3.1	-4.2	6	120	6.03	2.15	-18.88	0.000	4	0.223	0.046	1605	1485	3415	0	0	0	0	0	0
239	-0.68	-146.1	25.3	-15.0	28	248	0.00	2.20	0.00	0.000	6	0.000	0.050	1596	2852	3416	0	0	0	0	0	0
326	-0.68	-146.1	39.4	-16.3	41	332	0.00	1.65	0.00	0.000	4	0.000	0.055	1588	3919	3417	0	0	0	0	0	0
382	-0.68	-146.1	49.7	-17.5	49	388	0.00	1.58	0.00	0.000	6	0.000	0.029	1588	2875	3417	0	0	0	0	0	0
396	end dive: TARGET_DEPTH_EXCEEDED
state	397	begin apogee
408	-0.18	0.0	53.2	18.1	51	529	0.57	0.00	115.28	0.627	6	0.163	0.000	1762	2647	2817	0	0	0	0	0	0
534	end apogee: CONTROL_FINISHED_OK
state	534	begin climb
539	0.68	146.1	62.4	0.0	70	664	0.82	0.00	118.45	0.603	6	0.104	0.000	2042	2647	2219	0	0	0	0	0	0
917	0.68	146.1	18.3	14.6	130	927	0.00	0.00	0.00	0.000	6	0.000	0.000	2042	2647	2214	0	0	0	0	0	0
1005	0.68	146.1	3.3	14.8	143	1014	0.00	0.00	0.00	0.000	6	0.000	0.000	2042	2647	2212	0	0	0	0	0	0
1022	end climb: SURFACE_DEPTH_REACHED
state	1022	begin surface coast
1048	end surface coast: CONTROL_FINISHED_OK
state	1048	begin surface