Glider dive log

PortSusan 13Jan10 * SG146 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 146 HEADING -1 ROLL_MIN 160 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MAX 3941 ALTIM_TOP_TURN_MARGIN 0

DIVE 2 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 1900 ALTIM_PING_DEPTH 80

D_FLARE 3 TGT_DEFAULT_LAT 2143 C_ROLL_CLIMB 1800 ALTIM_PING_DELTA 5

D_TGT 45 TGT_DEFAULT_LON -15810 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 200 SM_CC 690 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 1

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 21 XPDR_VALID 3

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 56 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

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.029999999 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 477 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3951 DEVICE1 2

T_DIVE 15 CALL_TRIES 5 C_VBD 3458 DEVICE2 20

T_MISSION 25 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 53

T_ABORT 1440 CAPUPLOAD 1 VBD_CNV -0.24529999 DEVICE4 35

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 87

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 25 VBD_PUMP_AD_RATE_SURFACE 4 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -4 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -244820.08 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 20 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 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 120 PITCH_MIN 485 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3757 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 35 C_PITCH 3004 FG_AHR_24V 0 SEABIRD_T_G 0.0042931344

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062637561

RHO 1.0275 PITCH_CNV 0.0046000001 PRESSURE_YINT -28.22426 SEABIRD_T_I 2.1754668e-05

MASS 52407 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.0718112e-06

NAV_MODE 1 PITCH_GAIN 16 AD7714Ch0Gain 128 SEABIRD_C_G -10.090527

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1300763

KALMAN_USE 1 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00016902627

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00021855479

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1.2 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 200 PHONE_SUPPLY 2 SM_CC 690

AH0_24V 91.800003 D_OFFGRID 100 PITCH_ADJ_DBAND 1.2 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_TGT 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PITCH_GAIN 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3757 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 1 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 485 TGT_DEFAULT_LAT 2143

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -15810

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.000115925 T_DIVE 15

CALL_NDIVES 1 GLIDE_SLOPE 35 PRESSURE_YINT -28.22426 T_GPS 25

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -244820.08

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 25

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.029999999 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 146 ROLL_ADJ_GAIN 1 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 3004 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1800 KALMAN_USE 1 ROLL_DEG 45 USE_BATHY -4

C_ROLL_DIVE 1900 KERMIT 0 ROLL_MAX 3941 USE_ICE 0

C_VBD 3458 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 160 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52407 R_PORT_OVSHOOT 21 VBD_MAX 3951

DEVICE2 20 MAX_BUOY 120 R_STBD_OVSHOOT 56 VBD_MAXERRORS 1

DEVICE3 53 MINV_10V 8 SEABIRD_C_G -10.090527 VBD_MIN 477

DEVICE4 35 MINV_24V 19 SEABIRD_C_H 1.1300763 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 87 MISSION 5 SEABIRD_C_I -0.00016902627 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00021855479 VBD_TIMEOUT 720

DIVE 2 NAV_MODE 1 SEABIRD_T_G 0.0042931344 XPDR_DEVICE 24

D_ABORT 1050 N_FILEKB 4 SEABIRD_T_H 0.00062637561 XPDR_INHIBIT 90

D_BOOST 4 N_GPS 20 SEABIRD_T_I 2.1754668e-05 XPDR_VALID 3

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.0718112e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 200454,4807.182,-12222.928,85,1.2,86,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 10 TGT_RADIUS 200.000

_XMS_TOUTs 1 KALMAN_CONTROL -0.189,-0.138

_SM_DEPTHo 1.77 KALMAN_X 32.1,32.1,32.1,10.2,54.9

_SM_ANGLEo -73.9 KALMAN_Y -27.1,-27.1,-27.1,-237.0,-46.2

GPS2 201149,4807.130,-12222.863,9,1.3,14,18.3 MHEAD_RNG_PITCHd_Wd 215.6,295,-19.8,-10.000

SPEED_LIMITS 0.143,0.235 D_GRID 105

Post-dive calculations and measurements:

SM_CCo 1330,469.08,0.597,0,0,477,731.24 _10V_AH 10.3,0.307

SM_GC 1.83,12.32,0.00,0.00,0.058,0.000,0.000,485,1882,476,-11.55,-0.51,731.73 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12236.18,090499,191914 FG_AHR_10Vo 0.000

TT8_MAMPS 0.025311 MEM 324556

HUMID 34.13 DATA_FILE_SIZE 13146,180

INTERNAL_PRESSURE 9.05308 CAP_FILE_SIZE 34513,0

TCM_TEMP 12.10 CFSIZE 260165632,183201792

XPDR_PINGS 31 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

_24V_AH 23.6,0.522 GPS 130110,204615,4807.000,-12222.928,59,2.0,60,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 169 108.41 SBE_CT 127 24 72.39

Roll_motor 20 120 59.11 SBE_O2 115 19 51.73

VBD_pump_during_apogee 215 664 3379.65 AA3830 162 33 126.55

VBD_pump_during_surface 469 596 6605.86 WL_BB2F 510 105 1264.98

VBD_valve 0 0 0.00 WL_BBFL2VMT 768 105 1904.82

Iridium_during_init 29 103 72.77 nil 0 0 0.00

Iridium_during_connect 25 160 95.25 nil 0 0 0.00

Iridium_during_xfer 223 223 1175.85

Transponder_ping 7 420 76.82

GUMSTIX_24V 0 0 0.00

GPS 15 50 8.16

TT8 291 19 59.40

LPSleep 108 2 2.44

TT8_Active 668 19 136.24

TT8_Sampling 856 39 351.20

TT8_CF8 419 45 198.09

TT8_Kalman 30 81 25.43

Analog_circuits 1047 12 129.41

GPS_charging 0 0 0.00

Compass 867 8 71.46

RAFOS 0 0 0.00

Transponder 0 30 0.30

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

15 -1.38 -116.8 0.0 0.0 0 97 0.00 0.00 -79.47 0.000 2 0.000 0.000 484 1924 2246 0 0 0 0 0 0

100 -1.38 -116.8 3.2 -1.9 10 182 12.00 2.58 -56.25 0.000 4 0.170 0.057 2696 3453 3936 0 0 0 0 0 0

194 -1.38 -116.8 6.3 -1.3 21 203 0.00 2.58 0.00 0.000 6 0.000 0.039 2696 1898 3937 0 0 0 0 0 0

288 -1.38 -116.8 13.6 -8.4 34 298 0.00 2.58 0.00 0.000 4 0.000 0.037 2696 3447 3937 0 0 0 0 0 0

308 -1.38 -116.8 15.3 -8.3 36 317 0.00 2.62 0.00 0.000 6 0.000 0.037 2695 1874 3937 0 0 0 0 0 0

404 -1.38 -116.8 24.3 -10.3 49 412 0.00 0.00 0.00 0.000 6 0.000 0.000 2695 1874 3937 0 0 0 0 0 0

497 -1.38 -116.8 34.6 -11.2 62 506 0.00 0.00 0.00 0.000 6 0.000 0.000 2696 1873 3937 0 0 0 0 0 0

585 end dive: TARGET_DEPTH_EXCEEDED

state 585 begin apogee

591 -0.31 0.0 45.0 11.9 75 689 1.10 0.00 92.68 0.665 6 0.110 0.000 2926 1788 3458 0 0 0 0 0 0

689 end apogee: CONTROL_FINISHED_OK

state 690 begin climb

693 1.38 116.8 49.1 0.0 90 794 1.67 0.00 92.40 0.640 6 0.074 0.000 3301 1788 2981 0 0 0 0 0 0

960 1.38 116.8 25.9 10.4 129 969 0.00 2.62 0.00 0.000 4 0.000 0.041 3301 3358 2979 0 0 0 0 0 0

1047 1.38 116.8 16.3 10.7 141 1056 0.00 2.62 0.00 0.000 6 0.000 0.050 3301 1812 2978 0 0 0 0 0 0

1143 1.42 154.2 7.4 7.8 154 1185 0.00 2.60 30.27 0.611 4 0.000 0.040 3301 3354 2828 0 0 0 0 0 0

1327 end climb: NO_VERTICAL_VELOCITY

state 1327 begin surface

ID	146	HEADING	-1	ROLL_MIN	160	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MAX	3941	ALTIM_TOP_TURN_MARGIN	0
DIVE	2	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	1900	ALTIM_PING_DEPTH	80
D_FLARE	3	TGT_DEFAULT_LAT	2143	C_ROLL_CLIMB	1800	ALTIM_PING_DELTA	5
D_TGT	45	TGT_DEFAULT_LON	-15810	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	200	SM_CC	690	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	1
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	21	XPDR_VALID	3
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	56	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
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.029999999	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	477	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3951	DEVICE1	2
T_DIVE	15	CALL_TRIES	5	C_VBD	3458	DEVICE2	20
T_MISSION	25	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	53
T_ABORT	1440	CAPUPLOAD	1	VBD_CNV	-0.24529999	DEVICE4	35
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	87
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	25	VBD_PUMP_AD_RATE_SURFACE	4	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-4	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-244820.08	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	20	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	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	120	PITCH_MIN	485	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3757	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	35	C_PITCH	3004	FG_AHR_24V	0	SEABIRD_T_G	0.0042931344
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062637561
RHO	1.0275	PITCH_CNV	0.0046000001	PRESSURE_YINT	-28.22426	SEABIRD_T_I	2.1754668e-05
MASS	52407	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.0718112e-06
NAV_MODE	1	PITCH_GAIN	16	AD7714Ch0Gain	128	SEABIRD_C_G	-10.090527
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1300763
KALMAN_USE	1	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00016902627
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00021855479
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1.2	ALTIM_TOP_PING_RANGE	0

GPS1	200454,4807.182,-12222.928,85,1.2,86,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	10	TGT_RADIUS	200.000
_XMS_TOUTs	1	KALMAN_CONTROL	-0.189,-0.138
_SM_DEPTHo	1.77	KALMAN_X	32.1,32.1,32.1,10.2,54.9
_SM_ANGLEo	-73.9	KALMAN_Y	-27.1,-27.1,-27.1,-237.0,-46.2
GPS2	201149,4807.130,-12222.863,9,1.3,14,18.3	MHEAD_RNG_PITCHd_Wd	215.6,295,-19.8,-10.000
SPEED_LIMITS	0.143,0.235	D_GRID	105

SM_CCo	1330,469.08,0.597,0,0,477,731.24	_10V_AH	10.3,0.307
SM_GC	1.83,12.32,0.00,0.00,0.058,0.000,0.000,485,1882,476,-11.55,-0.51,731.73	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12236.18,090499,191914	FG_AHR_10Vo	0.000
TT8_MAMPS	0.025311	MEM	324556
HUMID	34.13	DATA_FILE_SIZE	13146,180
INTERNAL_PRESSURE	9.05308	CAP_FILE_SIZE	34513,0
TCM_TEMP	12.10	CFSIZE	260165632,183201792
XPDR_PINGS	31	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	23.6,0.522	GPS	130110,204615,4807.000,-12222.928,59,2.0,60,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	169	108.41	SBE_CT	127	24	72.39
Roll_motor	20	120	59.11	SBE_O2	115	19	51.73
VBD_pump_during_apogee	215	664	3379.65	AA3830	162	33	126.55
VBD_pump_during_surface	469	596	6605.86	WL_BB2F	510	105	1264.98
VBD_valve	0	0	0.00	WL_BBFL2VMT	768	105	1904.82
Iridium_during_init	29	103	72.77	nil	0	0	0.00
Iridium_during_connect	25	160	95.25	nil	0	0	0.00
Iridium_during_xfer	223	223	1175.85
Transponder_ping	7	420	76.82
GUMSTIX_24V	0	0	0.00
GPS	15	50	8.16
TT8	291	19	59.40
LPSleep	108	2	2.44
TT8_Active	668	19	136.24
TT8_Sampling	856	39	351.20
TT8_CF8	419	45	198.09
TT8_Kalman	30	81	25.43
Analog_circuits	1047	12	129.41
GPS_charging	0	0	0.00
Compass	867	8	71.46
RAFOS	0	0	0.00
Transponder	0	30	0.30

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
15	-1.38	-116.8	0.0	0.0	0	97	0.00	0.00	-79.47	0.000	2	0.000	0.000	484	1924	2246	0	0	0	0	0	0
100	-1.38	-116.8	3.2	-1.9	10	182	12.00	2.58	-56.25	0.000	4	0.170	0.057	2696	3453	3936	0	0	0	0	0	0
194	-1.38	-116.8	6.3	-1.3	21	203	0.00	2.58	0.00	0.000	6	0.000	0.039	2696	1898	3937	0	0	0	0	0	0
288	-1.38	-116.8	13.6	-8.4	34	298	0.00	2.58	0.00	0.000	4	0.000	0.037	2696	3447	3937	0	0	0	0	0	0
308	-1.38	-116.8	15.3	-8.3	36	317	0.00	2.62	0.00	0.000	6	0.000	0.037	2695	1874	3937	0	0	0	0	0	0
404	-1.38	-116.8	24.3	-10.3	49	412	0.00	0.00	0.00	0.000	6	0.000	0.000	2695	1874	3937	0	0	0	0	0	0
497	-1.38	-116.8	34.6	-11.2	62	506	0.00	0.00	0.00	0.000	6	0.000	0.000	2696	1873	3937	0	0	0	0	0	0
585	end dive: TARGET_DEPTH_EXCEEDED
state	585	begin apogee
591	-0.31	0.0	45.0	11.9	75	689	1.10	0.00	92.68	0.665	6	0.110	0.000	2926	1788	3458	0	0	0	0	0	0
689	end apogee: CONTROL_FINISHED_OK
state	690	begin climb
693	1.38	116.8	49.1	0.0	90	794	1.67	0.00	92.40	0.640	6	0.074	0.000	3301	1788	2981	0	0	0	0	0	0
960	1.38	116.8	25.9	10.4	129	969	0.00	2.62	0.00	0.000	4	0.000	0.041	3301	3358	2979	0	0	0	0	0	0
1047	1.38	116.8	16.3	10.7	141	1056	0.00	2.62	0.00	0.000	6	0.000	0.050	3301	1812	2978	0	0	0	0	0	0
1143	1.42	154.2	7.4	7.8	154	1185	0.00	2.60	30.27	0.611	4	0.000	0.040	3301	3354	2828	0	0	0	0	0	0
1327	end climb: NO_VERTICAL_VELOCITY
state	1327	begin surface