Glider dive log

Shilshole 29Jun11 * SG168 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 168 HD_C 9.9999997e-06 ROLL_MIN 160 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 HEADING -1 ROLL_MAX 3729 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 1 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 80

N_DIVES 508 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1950 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1950 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 45 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 1

D_NO_BLEED 200 SM_CC 623 R_PORT_OVSHOOT 47 XPDR_INHIBIT 90

D_BOOST 50 N_FILEKB 8 R_STBD_OVSHOOT 35 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 1 DEEPGLIDERMB 0

D_SAFE 0 PROTOCOL 0 ROLL_ADJ_DBAND 0.029999999 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 415 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 101

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2973 DEVICE3 35

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 15 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 25 CAPUPLOAD 1 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 50 LOGGERDEVICE4 -1

USE_BATHY -6 T_GPS_CHARGE -4904.9346 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 49

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 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 0 PITCH_MIN 143 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3945 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2310 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042821765

GLIDE_SLOPE 30 PITCH_DBAND 0.050000001 PRESSURE_YINT -64.654274 SEABIRD_T_H 0.00061988086

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.000115925 SEABIRD_T_I 2.2270933e-05

RHO 1.02625 P_OVSHOOT 0.029999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.2936731e-06

MASS 51866 PITCH_GAIN 45 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8276911

NAV_MODE 2 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1035888

FERRY_MAX 45 PITCH_AD_RATE 160 COMPASS_USE 0 SEABIRD_C_I -0.0012978988

KALMAN_USE 1 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.0001838774

HD_A 0.003 PITCH_ADJ_GAIN 0.0070000002 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 49 SIM_W 0

AH0_10V 110 D_OFFGRID 100 PHONE_SUPPLY 2 SM_CC 623

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0.0070000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_AD_RATE 160 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_TGT 45 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.050000001 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 45 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3945 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 143 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH 0 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.000115925 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -64.654274 T_DIVE 15

CALL_TRIES 5 HD_A 0.003 PROTOCOL 0 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.029999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -4904.9346

CAPUPLOAD 1 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 25

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RELAUNCH 1 T_RSLEEP 3

COMPASS_DEVICE 33 ID 168 RHO 1.02625 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 1 T_WATCHDOG 10

C_PITCH 2310 KALMAN_USE 1 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_ROLL_CLIMB 1950 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1950 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -6

C_VBD 2973 LOGGERDEVICE3 -1 ROLL_MAX 3729 USE_ICE 0

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 160 VBD_CNV -0.24529999

DEVICE1 2 MASS 51866 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 101 MAX_BUOY 150 R_PORT_OVSHOOT 47 VBD_MAX 3960

DEVICE3 35 MINV_10V 8 R_STBD_OVSHOOT 35 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8276911 VBD_MIN 415

DEVICE5 -1 MISSION 5 SEABIRD_C_H 1.1035888 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.0012978988 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 1 NAV_MODE 2 SEABIRD_C_J 0.0001838774 VBD_TIMEOUT 720

D_ABORT 1090 N_DIVES 508 SEABIRD_T_G 0.0042821765 XPDR_DEVICE 24

D_BOOST 50 N_FILEKB 8 SEABIRD_T_H 0.00061988086 XPDR_INHIBIT 90

D_CALL 0 N_GPS 20 SEABIRD_T_I 2.2270933e-05 XPDR_VALID 1

D_FINISH 0 N_NOCOMM 1 SEABIRD_T_J 2.2936731e-06

D_FLARE 3 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 290611,171038,4743.741,-12224.176,9,1.8,9,18.2 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.900,-12224.800

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.248,0.077

_SM_DEPTHo 0.95 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 290611,171343,4743.765,-12224.153,16,2.0,21,18.2 MHEAD_RNG_PITCHd_Wd 269.0,843,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 173

Post-dive calculations and measurements:

FINISH 1.8,1.020033 _10V_AH 10.5,0.308

SM_CCo 980,175.93,0.132,0,0,430,623.06 FG_AHR_24Vo 0.000

SM_GC 0.82,0.00,0.00,175.93,0.000,0.000,0.132,97,1935,430,-6.92,-0.42,623.06 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4726.11,-12227.78,290611,171747 MEM 323128

TT8_MAMPS 0.026964 DATA_FILE_SIZE 10307,154

HUMID 41.61 CAP_FILE_SIZE 46843,0

INTERNAL_PRESSURE 9.19957 CFSIZE 260165632,222142464

TCM_TEMP 17.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 13 CURRENT 0.129, 41.1,1

_24V_AH 25.6,0.508 GPS 290611,173455,4743.812,-12224.181,11,1.0,16,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 209 77.94 SBE_CT 103 24 63.53

Roll_motor 17 71 32.72 AA4330 359 33 304.13

VBD_pump_during_apogee 107 260 718.79 WL_BB2F 354 105 952.62

VBD_pump_during_surface 175 131 592.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 3 420 34.94 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 21 50 11.46

TT8 382 19 79.51

LPSleep 17 2 0.40

TT8_Active 358 19 74.52

TT8_Sampling 397 39 166.11

TT8_CF8 91 45 44.18

TT8_Kalman 29 81 25.11

Analog_circuits 559 12 70.45

GPS_charging 0 0 0.00

Compass 429 15 67.63

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.57 -146.2 0.0 0.0 0 129 0.00 0.00 -111.05 0.000 2 0.000 0.000 126 1958 3410 0 0 0 0 0 0

132 -0.57 -146.2 3.2 -5.6 14 150 7.18 2.20 -2.88 0.000 4 0.210 0.072 2123 558 3569 0 0 0 0 0 0

273 -0.57 -146.2 33.4 -12.3 39 281 0.00 2.17 0.00 0.000 6 0.000 0.055 2112 1933 3568 0 0 0 0 0 0

328 -0.53 -146.2 40.4 -14.1 48 337 0.10 2.30 0.00 0.000 4 0.181 0.062 2129 3366 3569 0 0 0 0 0 0

362 end dive: TARGET_DEPTH_EXCEEDED

state 362 begin apogee

369 0.00 0.0 45.8 15.0 53 425 0.50 0.00 52.85 0.255 4 0.121 0.000 2303 1968 2971 0 0 0 0 0 0

426 end apogee: CONTROL_FINISHED_OK

state 426 begin climb

428 0.57 146.2 48.5 0.0 61 491 0.50 2.28 55.10 0.260 4 0.060 0.064 2505 543 2374 0 0 0 0 0 0

527 0.55 146.2 40.9 11.7 76 536 0.05 2.20 0.00 0.000 6 0.128 0.044 2485 1957 2369 0 0 0 0 0 0

708 0.52 146.2 18.8 11.3 107 716 0.00 2.17 0.00 0.000 4 0.000 0.048 2485 3353 2362 0 0 0 0 0 0

939 end climb: SURFACE_DEPTH_REACHED

state 939 begin surface coast

963 end surface coast: CONTROL_FINISHED_OK

state 963 begin surface

ID	168	HD_C	9.9999997e-06	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	HEADING	-1	ROLL_MAX	3729	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	1	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	80
N_DIVES	508	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1950	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1950	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	45	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	1
D_NO_BLEED	200	SM_CC	623	R_PORT_OVSHOOT	47	XPDR_INHIBIT	90
D_BOOST	50	N_FILEKB	8	R_STBD_OVSHOOT	35	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	1	DEEPGLIDERMB	0
D_SAFE	0	PROTOCOL	0	ROLL_ADJ_DBAND	0.029999999	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	415	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	101
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2973	DEVICE3	35
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	15	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	25	CAPUPLOAD	1	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	50	LOGGERDEVICE4	-1
USE_BATHY	-6	T_GPS_CHARGE	-4904.9346	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	49
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	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	0	PITCH_MIN	143	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3945	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2310	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042821765
GLIDE_SLOPE	30	PITCH_DBAND	0.050000001	PRESSURE_YINT	-64.654274	SEABIRD_T_H	0.00061988086
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.000115925	SEABIRD_T_I	2.2270933e-05
RHO	1.02625	P_OVSHOOT	0.029999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.2936731e-06
MASS	51866	PITCH_GAIN	45	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8276911
NAV_MODE	2	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1035888
FERRY_MAX	45	PITCH_AD_RATE	160	COMPASS_USE	0	SEABIRD_C_I	-0.0012978988
KALMAN_USE	1	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.0001838774
HD_A	0.003	PITCH_ADJ_GAIN	0.0070000002	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	290611,171038,4743.741,-12224.176,9,1.8,9,18.2	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.900,-12224.800
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.248,0.077
_SM_DEPTHo	0.95	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	290611,171343,4743.765,-12224.153,16,2.0,21,18.2	MHEAD_RNG_PITCHd_Wd	269.0,843,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	173

FINISH	1.8,1.020033	_10V_AH	10.5,0.308
SM_CCo	980,175.93,0.132,0,0,430,623.06	FG_AHR_24Vo	0.000
SM_GC	0.82,0.00,0.00,175.93,0.000,0.000,0.132,97,1935,430,-6.92,-0.42,623.06	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4726.11,-12227.78,290611,171747	MEM	323128
TT8_MAMPS	0.026964	DATA_FILE_SIZE	10307,154
HUMID	41.61	CAP_FILE_SIZE	46843,0
INTERNAL_PRESSURE	9.19957	CFSIZE	260165632,222142464
TCM_TEMP	17.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	13	CURRENT	0.129, 41.1,1
_24V_AH	25.6,0.508	GPS	290611,173455,4743.812,-12224.181,11,1.0,16,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	209	77.94	SBE_CT	103	24	63.53
Roll_motor	17	71	32.72	AA4330	359	33	304.13
VBD_pump_during_apogee	107	260	718.79	WL_BB2F	354	105	952.62
VBD_pump_during_surface	175	131	592.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	3	420	34.94	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	21	50	11.46
TT8	382	19	79.51
LPSleep	17	2	0.40
TT8_Active	358	19	74.52
TT8_Sampling	397	39	166.11
TT8_CF8	91	45	44.18
TT8_Kalman	29	81	25.11
Analog_circuits	559	12	70.45
GPS_charging	0	0	0.00
Compass	429	15	67.63
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.57	-146.2	0.0	0.0	0	129	0.00	0.00	-111.05	0.000	2	0.000	0.000	126	1958	3410	0	0	0	0	0	0
132	-0.57	-146.2	3.2	-5.6	14	150	7.18	2.20	-2.88	0.000	4	0.210	0.072	2123	558	3569	0	0	0	0	0	0
273	-0.57	-146.2	33.4	-12.3	39	281	0.00	2.17	0.00	0.000	6	0.000	0.055	2112	1933	3568	0	0	0	0	0	0
328	-0.53	-146.2	40.4	-14.1	48	337	0.10	2.30	0.00	0.000	4	0.181	0.062	2129	3366	3569	0	0	0	0	0	0
362	end dive: TARGET_DEPTH_EXCEEDED
state	362	begin apogee
369	0.00	0.0	45.8	15.0	53	425	0.50	0.00	52.85	0.255	4	0.121	0.000	2303	1968	2971	0	0	0	0	0	0
426	end apogee: CONTROL_FINISHED_OK
state	426	begin climb
428	0.57	146.2	48.5	0.0	61	491	0.50	2.28	55.10	0.260	4	0.060	0.064	2505	543	2374	0	0	0	0	0	0
527	0.55	146.2	40.9	11.7	76	536	0.05	2.20	0.00	0.000	6	0.128	0.044	2485	1957	2369	0	0	0	0	0	0
708	0.52	146.2	18.8	11.3	107	716	0.00	2.17	0.00	0.000	4	0.000	0.048	2485	3353	2362	0	0	0	0	0	0
939	end climb: SURFACE_DEPTH_REACHED
state	939	begin surface coast
963	end surface coast: CONTROL_FINISHED_OK
state	963	begin surface