Glider dive log

PortSusan 03Feb10.02 * SG022 * Dive index * Mission links * Dive 5 * 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 5 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 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 32 XPDR_VALID 4

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 26 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 -252440.28 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 3 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 -252440.28

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 32 VBD_MAX 3841

DEVICE4 -1 MINV_24V 19 R_STBD_OVSHOOT 26 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 5 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 030210,224621,4807.391,-12223.151,79,3.4,98,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.035,-0.230

_SM_DEPTHo 0.73 KALMAN_X -139.1,-134.4,-128.5,908.6,10.6

_SM_ANGLEo -72.4 KALMAN_Y 20.8,-64.0,-63.7,-1201.5,54.6

GPS2 030210,225022,4807.372,-12223.106,17,2.2,36,18.3 MHEAD_RNG_PITCHd_Wd 153.1,702,-20.7,-10.000

SPEED_LIMITS 0.173,0.233 D_GRID 105

Post-dive calculations and measurements:

SM_CCo 2219,236.07,0.591,0,0,350,706.46 FG_AHR_24Vo 0.000

SM_GC 0.65,11.38,0.00,0.00,0.056,0.000,0.000,378,2214,346,-9.94,0.40,707.45 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4748.51,-12226.29,300711,161631 MEM 324232

TT8_MAMPS 0.029146 DATA_FILE_SIZE 9582,281

HUMID 1078167087 CAP_FILE_SIZE 37695,0

TCM_TEMP 19.40 CFSIZE 260034560,256815104

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

_24V_AH 23.8,0.805 GPS 030210,233528,4807.190,-12223.252,35,2.1,54,18.3

_10V_AH 9.9,0.297

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 164 97.04 SBE_CT 181 24 103.89

Roll_motor 20 70 33.80 nil 0 0 0.00

VBD_pump_during_apogee 349 702 5845.32 nil 0 0 0.00

VBD_pump_during_surface 236 591 3322.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 66.81 nil 0 0 0.00

Iridium_during_connect 26 160 99.53 PAAM 0 0 0.00

Iridium_during_xfer 83 223 441.68

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 36 50 18.22

TT8 388 19 76.06

LPSleep 1044 2 22.65

TT8_Active 655 19 128.43

TT8_Sampling 508 39 200.20

TT8_CF8 223 45 101.48

TT8_Kalman 33 81 26.99

Analog_circuits 989 12 117.60

GPS_charging 0 0 0.00

Compass 490 8 38.81

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 0 133 0.00 0.00 -115.18 0.000 2 0.000 0.000 375 2185 2402 0 0 0 0 0 0

137 -1.28 -117.3 3.4 -6.3 23 204 10.32 2.60 -47.30 0.000 4 0.165 0.071 2268 3606 3710 0 0 0 0 0 0

458 -1.28 -117.3 41.3 -16.0 68 462 0.00 2.47 0.00 0.000 6 0.000 0.044 2267 2185 3710 0 0 0 0 0 0

655 -1.28 -117.3 71.4 -15.0 86 659 0.00 2.58 0.00 0.000 4 0.000 0.061 2268 3612 3710 0 0 0 0 0 0

864 end dive: TARGET_DEPTH_EXCEEDED

state 864 begin apogee

872 -0.28 0.0 105.1 15.6 104 971 1.08 0.00 93.85 0.703 6 0.119 0.000 2485 2187 3229 0 0 0 0 0 0

971 end apogee: CONTROL_FINISHED_OK

state 971 begin climb

973 1.28 117.3 109.4 0.0 114 1077 1.58 2.47 94.47 0.680 4 0.077 0.049 2825 795 2751 0 0 0 0 0 0

1190 1.28 117.3 83.5 15.4 134 1194 0.00 2.47 0.00 0.000 6 0.000 0.047 2825 2209 2747 0 0 0 0 0 0

1519 1.28 117.3 36.2 13.8 165 1520 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2209 2745 0 0 0 0 0 0

1714 1.28 117.3 11.1 13.0 189 1719 0.00 0.00 0.00 0.000 6 0.000 0.000 2825 2209 2744 0 0 0 0 0 0

1786 1.47 289.5 6.3 0.2 202 1935 0.20 2.53 140.07 0.617 4 0.079 0.048 2870 792 2047 0 0 0 0 0 0

2188 1.65 459.4 6.2 0.3 276 2215 0.17 2.47 21.17 0.591 2 0.081 0.047 2912 2212 1940 0 0 0 0 0 0

2216 end climb: NO_VERTICAL_VELOCITY

state 2216 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	5	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	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	32	XPDR_VALID	4
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	26	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	-252440.28	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	030210,224621,4807.391,-12223.151,79,3.4,98,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.035,-0.230
_SM_DEPTHo	0.73	KALMAN_X	-139.1,-134.4,-128.5,908.6,10.6
_SM_ANGLEo	-72.4	KALMAN_Y	20.8,-64.0,-63.7,-1201.5,54.6
GPS2	030210,225022,4807.372,-12223.106,17,2.2,36,18.3	MHEAD_RNG_PITCHd_Wd	153.1,702,-20.7,-10.000
SPEED_LIMITS	0.173,0.233	D_GRID	105

SM_CCo	2219,236.07,0.591,0,0,350,706.46	FG_AHR_24Vo	0.000
SM_GC	0.65,11.38,0.00,0.00,0.056,0.000,0.000,378,2214,346,-9.94,0.40,707.45	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4748.51,-12226.29,300711,161631	MEM	324232
TT8_MAMPS	0.029146	DATA_FILE_SIZE	9582,281
HUMID	1078167087	CAP_FILE_SIZE	37695,0
TCM_TEMP	19.40	CFSIZE	260034560,256815104
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	23.8,0.805	GPS	030210,233528,4807.190,-12223.252,35,2.1,54,18.3
_10V_AH	9.9,0.297

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	164	97.04	SBE_CT	181	24	103.89
Roll_motor	20	70	33.80	nil	0	0	0.00
VBD_pump_during_apogee	349	702	5845.32	nil	0	0	0.00
VBD_pump_during_surface	236	591	3322.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	66.81	nil	0	0	0.00
Iridium_during_connect	26	160	99.53	PAAM	0	0	0.00
Iridium_during_xfer	83	223	441.68
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	36	50	18.22
TT8	388	19	76.06
LPSleep	1044	2	22.65
TT8_Active	655	19	128.43
TT8_Sampling	508	39	200.20
TT8_CF8	223	45	101.48
TT8_Kalman	33	81	26.99
Analog_circuits	989	12	117.60
GPS_charging	0	0	0.00
Compass	490	8	38.81
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	133	0.00	0.00	-115.18	0.000	2	0.000	0.000	375	2185	2402	0	0	0	0	0	0
137	-1.28	-117.3	3.4	-6.3	23	204	10.32	2.60	-47.30	0.000	4	0.165	0.071	2268	3606	3710	0	0	0	0	0	0
458	-1.28	-117.3	41.3	-16.0	68	462	0.00	2.47	0.00	0.000	6	0.000	0.044	2267	2185	3710	0	0	0	0	0	0
655	-1.28	-117.3	71.4	-15.0	86	659	0.00	2.58	0.00	0.000	4	0.000	0.061	2268	3612	3710	0	0	0	0	0	0
864	end dive: TARGET_DEPTH_EXCEEDED
state	864	begin apogee
872	-0.28	0.0	105.1	15.6	104	971	1.08	0.00	93.85	0.703	6	0.119	0.000	2485	2187	3229	0	0	0	0	0	0
971	end apogee: CONTROL_FINISHED_OK
state	971	begin climb
973	1.28	117.3	109.4	0.0	114	1077	1.58	2.47	94.47	0.680	4	0.077	0.049	2825	795	2751	0	0	0	0	0	0
1190	1.28	117.3	83.5	15.4	134	1194	0.00	2.47	0.00	0.000	6	0.000	0.047	2825	2209	2747	0	0	0	0	0	0
1519	1.28	117.3	36.2	13.8	165	1520	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2209	2745	0	0	0	0	0	0
1714	1.28	117.3	11.1	13.0	189	1719	0.00	0.00	0.00	0.000	6	0.000	0.000	2825	2209	2744	0	0	0	0	0	0
1786	1.47	289.5	6.3	0.2	202	1935	0.20	2.53	140.07	0.617	4	0.079	0.048	2870	792	2047	0	0	0	0	0	0
2188	1.65	459.4	6.2	0.3	276	2215	0.17	2.47	21.17	0.591	2	0.081	0.047	2912	2212	1940	0	0	0	0	0	0
2216	end climb: NO_VERTICAL_VELOCITY
state	2216	begin surface