Glider dive log

PortSusan 14Dec09 * SG505 * Dive index * Mission links * Dive 51 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 505 HEADING -1 ROLL_MIN 175 ALTIM_BOTTOM_TURN_MARGIN 10

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3810 ALTIM_TOP_TURN_MARGIN 0

DIVE 51 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 0 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1700 ALTIM_PING_DEPTH 80

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 1680 ALTIM_PING_DELTA 5

D_TGT 30 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 5 ALTIM_FREQUENCY 13

D_ABORT 250 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 6

D_NO_BLEED 500 SM_CC 480 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 1

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 30 XPDR_VALID 2

D_FINISH 1 FILEMGR 0 R_STBD_OVSHOOT 34 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 -0.80000001

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.5 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.027000001 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE -5 VBD_MIN 450 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 20 CALL_TRIES 5 C_VBD 2807 DEVICE2 -1

T_MISSION 30 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_CNV -0.245296 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 200000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 4 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 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -23028.604 UNCOM_BLEED 20 LOGGERDEVICE3 -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

D_OFFGRID 1001 STROBE 0 CF8_MAXERRORS 20 COMPASS_DEVICE 33

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 COMPASS2_DEVICE -1

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 PHONE_DEVICE 48

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 GPS_DEVICE 32

MAX_BUOY 220 PITCH_MIN 110 MINV_10V 8 RAFOS_DEVICE -1

COURSE_BIAS 0 PITCH_MAX 3893 FG_AHR_10V 0 XPDR_DEVICE 24

GLIDE_SLOPE 30 C_PITCH 2915 FG_AHR_24V 0 SIM_W 0

SPEED_FACTOR 1 PITCH_DBAND 0.050000001 PHONE_SUPPLY 2 SIM_PITCH 0

RHO 1.0273 PITCH_CNV 0.003125763 PRESSURE_YINT -66.661293 SEABIRD_T_G 0.0042964104

MASS 52152 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011485742 SEABIRD_T_H 0.00061985431

NAV_MODE 1 PITCH_GAIN 30 AD7714Ch0Gain 128 SEABIRD_T_I 2.235871e-05

FERRY_MAX 45 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3254006e-06

KALMAN_USE 1 PITCH_AD_RATE 160 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7945118

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_H 1.1383005

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0013506444

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018750974

AD7714Ch0Gain 128 D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.3254006e-06

AH0_10V 100 D_NO_BLEED 500 N_NOSURFACE -5 SIM_PITCH 0

AH0_24V 150 D_OFFGRID 1001 PHONE_DEVICE 48 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PHONE_SUPPLY 2 SM_CC 480

ALTIM_BOTTOM_TURN_MARGIN 10 D_SAFE 0 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SURF 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_PING_DELTA 5 D_TGT 30 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 6 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.050000001 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 1 FERRY_MAX 45 PITCH_GAIN 30 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MAX 3893 TCM_ROLL_OFFSET 0

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 110 TGT_DEFAULT_LAT 4736

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -12218

CALL_NDIVES 1 GLIDE_SLOPE 30 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_TRIES 5 GPS_DEVICE 32 PRESSURE_SLOPE 0.00011485742 T_DIVE 20

CALL_WAIT 60 HD_A 0.003 PRESSURE_YINT -66.661293 T_GPS 15

CAPMAXSIZE 200000 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPUPLOAD 1 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -23028.604

CF8_MAXERRORS 20 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 5 RAFOS_HIT_WINDOW 3600 T_MISSION 30

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 505 RHO 1.0273 T_TURN 225

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.027000001 T_TURN_SAMPINT 4

C_PITCH 2915 INT_PRESSURE_YINT -0.80000001 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

C_ROLL_CLIMB 1680 KALMAN_USE 1 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_ROLL_DIVE 1700 KERMIT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_VBD 2807 LOGGERDEVICE1 -1 ROLL_DEG 45 USE_BATHY 0

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MAX 3810 USE_ICE 0

DEEPGLIDERMB 0 LOGGERDEVICE3 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE1 2 LOGGERDEVICE4 -1 ROLL_MIN 175 VBD_CNV -0.245296

DEVICE2 -1 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE3 -1 MASS 52152 R_PORT_OVSHOOT 30 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 220 R_STBD_OVSHOOT 34 VBD_MAXERRORS 1

DEVICE5 -1 MINV_10V 8 SEABIRD_C_G -9.7945118 VBD_MIN 450

DEVICE6 -1 MINV_24V 19 SEABIRD_C_H 1.1383005 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 51 MISSION 2 SEABIRD_C_I -0.0013506444 VBD_PUMP_AD_RATE_SURFACE 5

D_ABORT 250 MOTHERBOARD 4 SEABIRD_C_J 0.00018750974 VBD_TIMEOUT 720

D_BOOST 4 NAV_MODE 1 SEABIRD_T_G 0.0042964104 XPDR_DEVICE 24

D_CALL 0 N_FILEKB 4 SEABIRD_T_H 0.00061985431 XPDR_INHIBIT 90

D_FINISH 1 N_GPS 20 SEABIRD_T_I 2.235871e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 161209,031906,4806.928,-12223.104,14,1.3,30,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.229,-0.031

_SM_DEPTHo 0.86 KALMAN_X -9028.2,-1218.2,-1159.9,9006.5,242.8

_SM_ANGLEo -68.8 KALMAN_Y -15494.6,5835.7,12753.0,67.7,-2777.0

GPS2 161209,032808,4806.934,-12223.127,14,1.1,14,18.3 MHEAD_RNG_PITCHd_Wd 79.3,4445,-4.6,-5.000

SPEED_LIMITS 0.087,0.232 D_GRID 30

Post-dive calculations and measurements:

FINISH1 0.9,1.018648,431 _10V_AH 10.4,5.702

FINISH2 0.1 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12226.29,100611,202047 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028379 MEM 323992

HUMID 1077376111 DATA_FILE_SIZE 6837,214

INTERNAL_PRESSURE 8.97577 CAP_FILE_SIZE 37598,0

TCM_TEMP 18.40 CFSIZE 260165632,256544768

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

_24V_AH 23.9,17.326 GPS 100611,202147,4748.505,-12226.294,0,10000.0,0,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 274 86.13 SBE_CT 137 24 78.93

Roll_motor 22 88 47.59 nil 0 0 0.00

VBD_pump_during_apogee 249 915 5461.50 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 0 0.00 nil 0 0 0.00

Iridium_during_connect 23 0 0.00 nil 0 0 0.00

Iridium_during_xfer 394 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 0 0.00

TT8 276 19 56.91

LPSleep 181 2 4.14

TT8_Active 274 19 56.55

TT8_Sampling 772 39 319.75

TT8_CF8 60 45 28.68

TT8_Kalman 33 0 0.00

Analog_circuits 525 12 65.57

GPS_charging 0 0 0.00

Compass 320 15 50.01

RAFOS 0 0 0.00

Transponder 0 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

13 end surface: CONTROL_FINISHED_OK

state 14 begin dive

15 -0.42 -214.2 0.0 0.0 0 89 0.00 0.00 -70.82 0.000 2 0.000 0.000 106 1706 2258 0 0 0 0 0 0

91 -0.42 -214.2 3.1 -3.4 17 141 11.88 2.58 -30.62 0.000 4 0.275 0.064 2769 3281 3683 0 0 0 0 0 0

169 -0.42 -214.2 13.6 -11.8 34 175 0.00 2.53 0.00 0.000 6 0.000 0.042 2768 1698 3685 0 0 0 0 0 0

213 -0.42 -214.2 15.5 -4.0 43 219 0.00 2.45 0.00 0.000 4 0.000 0.051 2769 175 3684 0 0 0 0 0 0

233 -0.42 -214.2 16.5 -4.4 47 239 0.00 2.45 0.00 0.000 6 0.000 0.039 2768 1716 3684 0 0 0 0 0 0

277 -0.42 -214.2 18.7 -4.9 56 282 0.00 2.50 0.00 0.000 4 0.000 0.051 2768 3291 3684 0 0 0 0 0 0

426 -0.42 -214.2 29.3 -7.7 88 431 0.00 2.40 0.00 0.000 6 0.000 0.041 2772 1770 3684 0 0 0 0 0 0

440 end dive: TARGET_DEPTH_EXCEEDED

state 440 begin apogee

443 -0.17 0.0 30.2 7.6 91 521 0.25 0.00 73.20 0.916 6 0.069 0.000 2886 1666 2805 0 0 0 0 0 0

523 end apogee: CONTROL_FINISHED_OK

state 523 begin climb

524 0.42 214.2 34.1 0.0 109 607 0.43 2.53 74.38 0.883 4 0.061 0.050 3065 193 1931 0 0 0 0 0 0

870 0.83 545.3 7.6 -0.4 185 979 0.30 2.38 101.95 0.741 2 0.064 0.039 3191 1680 741 0 0 0 0 0 0

980 end climb: FINISH_DEPTH_REACHED

state 980 begin subsurface finish

985 0.53 431.2 0.9 -9.7 210 1004 0.28 2.65 -11.43 0.000 4 0.061 0.061 3071 3267 1051 0 0 0 0 0 0

1005 end subsurface finish: CONTROL_FINISHED_OK

state 1005 begin surface

ID	505	HEADING	-1	ROLL_MIN	175	ALTIM_BOTTOM_TURN_MARGIN	10
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3810	ALTIM_TOP_TURN_MARGIN	0
DIVE	51	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	0	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1700	ALTIM_PING_DEPTH	80
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	1680	ALTIM_PING_DELTA	5
D_TGT	30	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	5	ALTIM_FREQUENCY	13
D_ABORT	250	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	6
D_NO_BLEED	500	SM_CC	480	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	1
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	30	XPDR_VALID	2
D_FINISH	1	FILEMGR	0	R_STBD_OVSHOOT	34	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	-0.80000001
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.5	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.027000001	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	-5	VBD_MIN	450	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	20	CALL_TRIES	5	C_VBD	2807	DEVICE2	-1
T_MISSION	30	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_CNV	-0.245296	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	200000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	4	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	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-23028.604	UNCOM_BLEED	20	LOGGERDEVICE3	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
D_OFFGRID	1001	STROBE	0	CF8_MAXERRORS	20	COMPASS_DEVICE	33
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	COMPASS2_DEVICE	-1
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	PHONE_DEVICE	48
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	GPS_DEVICE	32
MAX_BUOY	220	PITCH_MIN	110	MINV_10V	8	RAFOS_DEVICE	-1
COURSE_BIAS	0	PITCH_MAX	3893	FG_AHR_10V	0	XPDR_DEVICE	24
GLIDE_SLOPE	30	C_PITCH	2915	FG_AHR_24V	0	SIM_W	0
SPEED_FACTOR	1	PITCH_DBAND	0.050000001	PHONE_SUPPLY	2	SIM_PITCH	0
RHO	1.0273	PITCH_CNV	0.003125763	PRESSURE_YINT	-66.661293	SEABIRD_T_G	0.0042964104
MASS	52152	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011485742	SEABIRD_T_H	0.00061985431
NAV_MODE	1	PITCH_GAIN	30	AD7714Ch0Gain	128	SEABIRD_T_I	2.235871e-05
FERRY_MAX	45	PITCH_TIMEOUT	20	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3254006e-06
KALMAN_USE	1	PITCH_AD_RATE	160	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7945118
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_H	1.1383005
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0013506444
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018750974

GPS1	161209,031906,4806.928,-12223.104,14,1.3,30,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.229,-0.031
_SM_DEPTHo	0.86	KALMAN_X	-9028.2,-1218.2,-1159.9,9006.5,242.8
_SM_ANGLEo	-68.8	KALMAN_Y	-15494.6,5835.7,12753.0,67.7,-2777.0
GPS2	161209,032808,4806.934,-12223.127,14,1.1,14,18.3	MHEAD_RNG_PITCHd_Wd	79.3,4445,-4.6,-5.000
SPEED_LIMITS	0.087,0.232	D_GRID	30

FINISH1	0.9,1.018648,431	_10V_AH	10.4,5.702
FINISH2	0.1	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12226.29,100611,202047	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028379	MEM	323992
HUMID	1077376111	DATA_FILE_SIZE	6837,214
INTERNAL_PRESSURE	8.97577	CAP_FILE_SIZE	37598,0
TCM_TEMP	18.40	CFSIZE	260165632,256544768
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	23.9,17.326	GPS	100611,202147,4748.505,-12226.294,0,10000.0,0,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	274	86.13	SBE_CT	137	24	78.93
Roll_motor	22	88	47.59	nil	0	0	0.00
VBD_pump_during_apogee	249	915	5461.50	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	0	0.00	nil	0	0	0.00
Iridium_during_connect	23	0	0.00	nil	0	0	0.00
Iridium_during_xfer	394	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	0	0.00
TT8	276	19	56.91
LPSleep	181	2	4.14
TT8_Active	274	19	56.55
TT8_Sampling	772	39	319.75
TT8_CF8	60	45	28.68
TT8_Kalman	33	0	0.00
Analog_circuits	525	12	65.57
GPS_charging	0	0	0.00
Compass	320	15	50.01
RAFOS	0	0	0.00
Transponder	0	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
13	end surface: CONTROL_FINISHED_OK
state	14	begin dive
15	-0.42	-214.2	0.0	0.0	0	89	0.00	0.00	-70.82	0.000	2	0.000	0.000	106	1706	2258	0	0	0	0	0	0
91	-0.42	-214.2	3.1	-3.4	17	141	11.88	2.58	-30.62	0.000	4	0.275	0.064	2769	3281	3683	0	0	0	0	0	0
169	-0.42	-214.2	13.6	-11.8	34	175	0.00	2.53	0.00	0.000	6	0.000	0.042	2768	1698	3685	0	0	0	0	0	0
213	-0.42	-214.2	15.5	-4.0	43	219	0.00	2.45	0.00	0.000	4	0.000	0.051	2769	175	3684	0	0	0	0	0	0
233	-0.42	-214.2	16.5	-4.4	47	239	0.00	2.45	0.00	0.000	6	0.000	0.039	2768	1716	3684	0	0	0	0	0	0
277	-0.42	-214.2	18.7	-4.9	56	282	0.00	2.50	0.00	0.000	4	0.000	0.051	2768	3291	3684	0	0	0	0	0	0
426	-0.42	-214.2	29.3	-7.7	88	431	0.00	2.40	0.00	0.000	6	0.000	0.041	2772	1770	3684	0	0	0	0	0	0
440	end dive: TARGET_DEPTH_EXCEEDED
state	440	begin apogee
443	-0.17	0.0	30.2	7.6	91	521	0.25	0.00	73.20	0.916	6	0.069	0.000	2886	1666	2805	0	0	0	0	0	0
523	end apogee: CONTROL_FINISHED_OK
state	523	begin climb
524	0.42	214.2	34.1	0.0	109	607	0.43	2.53	74.38	0.883	4	0.061	0.050	3065	193	1931	0	0	0	0	0	0
870	0.83	545.3	7.6	-0.4	185	979	0.30	2.38	101.95	0.741	2	0.064	0.039	3191	1680	741	0	0	0	0	0	0
980	end climb: FINISH_DEPTH_REACHED
state	980	begin subsurface finish
985	0.53	431.2	0.9	-9.7	210	1004	0.28	2.65	-11.43	0.000	4	0.061	0.061	3071	3267	1051	0	0	0	0	0	0
1005	end subsurface finish: CONTROL_FINISHED_OK
state	1005	begin surface