Glider dive log

PortSusan 03Feb10.02 * SG022 * Dive index * Mission links * Dive 9 * 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 9 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 6 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2200 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 48.099998 C_ROLL_CLIMB 2200 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 34 XPDR_VALID 4

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 30 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 -252560.98 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 -252560.98

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 2200 KALMAN_USE 1 ROLL_AD_RATE 100 UNCOM_BLEED 20

C_ROLL_DIVE 2200 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 34 VBD_MAX 3841

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 30 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 9 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 040210,013613,4807.120,-12222.979,30,1.6,42,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.127,0.195

_SM_DEPTHo 0.85 KALMAN_X -405.0,-253.7,-47.5,1364.3,20.9

_SM_ANGLEo -74.7 KALMAN_Y -197.0,-97.7,5.2,-1480.9,-89.5

GPS2 040210,014022,4807.122,-12222.982,13,2.8,32,18.3 MHEAD_RNG_PITCHd_Wd 308.5,2056,-20.7,-10.000

SPEED_LIMITS 0.173,0.233 D_GRID 105

Post-dive calculations and measurements:

FINISH 4.4,1.020972 _10V_AH 9.9,0.374

SM_CCo 1795,237.52,0.598,0,0,986,550.21 FG_AHR_24Vo 0.000

SM_GC 1.21,0.00,0.00,237.52,0.000,0.000,0.598,375,2211,986,-10.01,0.31,550.21 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.51,-12224.57,300711,191954 MEM 324216

TT8_MAMPS 0.029146 DATA_FILE_SIZE 6453,201

HUMID 1078118055 CAP_FILE_SIZE 31028,0

TCM_TEMP 19.40 CFSIZE 260034560,256737280

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

_24V_AH 23.8,1.141 GPS 040210,021613,4807.348,-12223.059,13,1.8,30,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 166 96.06 SBE_CT 131 24 75.04

Roll_motor 20 71 34.42 nil 0 0 0.00

VBD_pump_during_apogee 189 700 3151.21 nil 0 0 0.00

VBD_pump_during_surface 237 598 3382.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 72.87 nil 0 0 0.00

Iridium_during_connect 39 160 148.62 PAAM 0 0 0.00

Iridium_during_xfer 79 223 420.75

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 34 50 16.88

TT8 322 19 63.15

LPSleep 845 2 18.33

TT8_Active 525 19 102.93

TT8_Sampling 382 39 150.73

TT8_CF8 223 45 101.31

TT8_Kalman 33 81 26.99

Analog_circuits 770 12 91.52

GPS_charging 0 0 0.00

Compass 367 8 29.12

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

14 -1.28 -117.3 0.0 0.0 0 113 0.00 0.00 -95.15 0.000 2 0.000 0.000 376 2188 2725 0 0 0 0 0 0

115 -1.28 -117.3 3.0 -4.8 19 176 10.38 2.65 -40.88 0.000 4 0.166 0.071 2265 3616 3710 0 0 0 0 0 0

329 -1.28 -117.3 29.7 -15.8 52 334 0.00 2.50 0.00 0.000 6 0.000 0.044 2266 2186 3711 0 0 0 0 0 0

525 -1.28 -117.3 60.4 -16.0 71 530 0.00 2.58 0.00 0.000 4 0.000 0.061 2266 3607 3711 0 0 0 0 0 0

710 -1.28 -117.3 91.7 -15.3 87 714 0.00 2.47 0.00 0.000 6 0.000 0.044 2266 2193 3710 0 0 0 0 0 0

809 end dive: TARGET_DEPTH_EXCEEDED

state 809 begin apogee

814 -0.28 0.0 106.1 13.7 96 913 1.10 0.00 94.47 0.700 6 0.114 0.000 2486 2189 3230 0 0 0 0 0 0

914 end apogee: CONTROL_FINISHED_OK

state 914 begin climb

916 1.28 117.3 109.2 0.0 106 1022 1.58 2.58 94.60 0.678 4 0.077 0.051 2826 786 2752 0 0 0 0 0 0

1163 1.28 117.3 79.4 14.3 129 1167 0.00 2.50 0.00 0.000 6 0.000 0.048 2826 2207 2748 0 0 0 0 0 0

1487 1.28 117.3 34.2 14.5 159 1488 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2208 2746 0 0 0 0 0 0

1683 1.28 117.3 7.9 10.1 185 1689 0.00 2.47 0.00 0.000 4 0.000 0.050 2826 792 2746 0 0 0 0 0 0

1709 end climb: SURFACE_DEPTH_REACHED

state 1709 begin surface coast

1772 end surface coast: CONTROL_FINISHED_OK

state 1772 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	9	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	6	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2200	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	48.099998	C_ROLL_CLIMB	2200	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	34	XPDR_VALID	4
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	30	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	-252560.98	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	040210,013613,4807.120,-12222.979,30,1.6,42,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.127,0.195
_SM_DEPTHo	0.85	KALMAN_X	-405.0,-253.7,-47.5,1364.3,20.9
_SM_ANGLEo	-74.7	KALMAN_Y	-197.0,-97.7,5.2,-1480.9,-89.5
GPS2	040210,014022,4807.122,-12222.982,13,2.8,32,18.3	MHEAD_RNG_PITCHd_Wd	308.5,2056,-20.7,-10.000
SPEED_LIMITS	0.173,0.233	D_GRID	105

FINISH	4.4,1.020972	_10V_AH	9.9,0.374
SM_CCo	1795,237.52,0.598,0,0,986,550.21	FG_AHR_24Vo	0.000
SM_GC	1.21,0.00,0.00,237.52,0.000,0.000,0.598,375,2211,986,-10.01,0.31,550.21	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.51,-12224.57,300711,191954	MEM	324216
TT8_MAMPS	0.029146	DATA_FILE_SIZE	6453,201
HUMID	1078118055	CAP_FILE_SIZE	31028,0
TCM_TEMP	19.40	CFSIZE	260034560,256737280
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	23.8,1.141	GPS	040210,021613,4807.348,-12223.059,13,1.8,30,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	166	96.06	SBE_CT	131	24	75.04
Roll_motor	20	71	34.42	nil	0	0	0.00
VBD_pump_during_apogee	189	700	3151.21	nil	0	0	0.00
VBD_pump_during_surface	237	598	3382.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	72.87	nil	0	0	0.00
Iridium_during_connect	39	160	148.62	PAAM	0	0	0.00
Iridium_during_xfer	79	223	420.75
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	34	50	16.88
TT8	322	19	63.15
LPSleep	845	2	18.33
TT8_Active	525	19	102.93
TT8_Sampling	382	39	150.73
TT8_CF8	223	45	101.31
TT8_Kalman	33	81	26.99
Analog_circuits	770	12	91.52
GPS_charging	0	0	0.00
Compass	367	8	29.12
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
14	-1.28	-117.3	0.0	0.0	0	113	0.00	0.00	-95.15	0.000	2	0.000	0.000	376	2188	2725	0	0	0	0	0	0
115	-1.28	-117.3	3.0	-4.8	19	176	10.38	2.65	-40.88	0.000	4	0.166	0.071	2265	3616	3710	0	0	0	0	0	0
329	-1.28	-117.3	29.7	-15.8	52	334	0.00	2.50	0.00	0.000	6	0.000	0.044	2266	2186	3711	0	0	0	0	0	0
525	-1.28	-117.3	60.4	-16.0	71	530	0.00	2.58	0.00	0.000	4	0.000	0.061	2266	3607	3711	0	0	0	0	0	0
710	-1.28	-117.3	91.7	-15.3	87	714	0.00	2.47	0.00	0.000	6	0.000	0.044	2266	2193	3710	0	0	0	0	0	0
809	end dive: TARGET_DEPTH_EXCEEDED
state	809	begin apogee
814	-0.28	0.0	106.1	13.7	96	913	1.10	0.00	94.47	0.700	6	0.114	0.000	2486	2189	3230	0	0	0	0	0	0
914	end apogee: CONTROL_FINISHED_OK
state	914	begin climb
916	1.28	117.3	109.2	0.0	106	1022	1.58	2.58	94.60	0.678	4	0.077	0.051	2826	786	2752	0	0	0	0	0	0
1163	1.28	117.3	79.4	14.3	129	1167	0.00	2.50	0.00	0.000	6	0.000	0.048	2826	2207	2748	0	0	0	0	0	0
1487	1.28	117.3	34.2	14.5	159	1488	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2208	2746	0	0	0	0	0	0
1683	1.28	117.3	7.9	10.1	185	1689	0.00	2.47	0.00	0.000	4	0.000	0.050	2826	792	2746	0	0	0	0	0	0
1709	end climb: SURFACE_DEPTH_REACHED
state	1709	begin surface coast
1772	end surface coast: CONTROL_FINISHED_OK
state	1772	begin surface