Glider dive log

PortSusan 14Dec09 * SG505 * Dive index * Mission links * Dive 82 * 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 82 ESCAPE_HEADING_DELTA 10 ROLL_DEG 45 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 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 50 N_FILEKB 4 R_PORT_OVSHOOT 30 XPDR_VALID 2

D_FINISH 10 FILEMGR 0 R_STBD_OVSHOOT 39 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 0.025 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 15 CALL_TRIES 5 C_VBD 2807 DEVICE2 -1

T_MISSION 90 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 -4 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -23418.242 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 180 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 2835 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 2 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 15

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 -23418.242

CF8_MAXERRORS 20 HEADING -1 RAFOS_DEVICE -1 T_LOITER 0

COMM_SEQ 0 HEAD_ERRBAND 5 RAFOS_HIT_WINDOW 3600 T_MISSION 90

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 0.025 T_TURN_SAMPINT 4

C_PITCH 2835 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 -4

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 180 R_STBD_OVSHOOT 39 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 82 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 50 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 10 N_GPS 20 SEABIRD_T_I 2.235871e-05 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 161209,204022,4806.472,-12222.298,15,2.8,34,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 4 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.174,0.168

_SM_DEPTHo 1.08 KALMAN_X -15596.6,-912.0,224.9,14807.8,-54.3

_SM_ANGLEo -71.0 KALMAN_Y -1377.1,12438.0,5960.8,-14173.0,-1411.1

GPS2 161209,204722,4806.520,-12222.361,16,2.1,35,18.3 MHEAD_RNG_PITCHd_Wd 27.8,1061,-10.0,-6.667

SPEED_LIMITS 0.115,0.242 D_GRID 108

Post-dive calculations and measurements:

FINISH1 9.9,1.020410,0 _10V_AH 10.5,6.329

FINISH2 9.4 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4745.30,-12234.44,110611,141450 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028379 MEM 324080

HUMID 1077407079 DATA_FILE_SIZE 3504,133

INTERNAL_PRESSURE 9.17109 CAP_FILE_SIZE 27221,0

TCM_TEMP 18.90 CFSIZE 260165632,255680512

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

_24V_AH 25.1,19.145 GPS 110611,141750,4745.296,-12234.443,0,10000.0,0,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 285 98.65 SBE_CT 84 24 51.18

Roll_motor 17 62 27.94 nil 0 0 0.00

VBD_pump_during_apogee 120 255 769.94 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 29 0 0.00 nil 0 0 0.00

Iridium_during_connect 28 0 0.00 nil 0 0 0.00

Iridium_during_xfer 256 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 36 0 0.00

TT8 200 19 41.63

LPSleep 101 2 2.34

TT8_Active 184 19 38.31

TT8_Sampling 547 39 228.83

TT8_CF8 38 45 18.30

TT8_Kalman 33 0 0.00

Analog_circuits 356 12 44.91

GPS_charging 0 0 0.00

Compass 206 15 32.47

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 13 begin dive

15 -0.55 -175.2 0.0 0.0 0 84 0.00 0.00 -67.07 0.000 2 0.000 0.000 104 1668 2604 0 0 0 0 0 0

86 -0.55 -175.2 3.1 -4.9 16 127 11.88 2.65 -20.05 0.000 4 0.285 0.063 2647 3272 3526 0 0 0 0 0 0

275 end dive: TARGET_DEPTH_EXCEEDED

state 275 begin apogee

281 -0.17 0.0 30.5 11.2 57 345 0.40 0.00 58.05 0.255 6 0.150 0.000 2775 1673 2804 0 0 0 0 0 0

346 end apogee: CONTROL_FINISHED_OK

state 346 begin climb

348 0.55 175.2 34.1 0.0 72 412 0.70 0.00 57.65 0.252 6 0.123 0.000 3004 1672 2088 0 0 0 0 0 0

450 0.55 175.2 25.6 11.1 95 456 0.00 2.58 0.00 0.000 4 0.000 0.044 3004 3263 2085 0 0 0 0 0 0

465 0.55 175.2 23.6 11.6 98 471 0.00 2.55 0.00 0.000 6 0.000 0.039 3010 1686 2084 0 0 0 0 0 0

508 0.55 175.2 18.3 12.5 107 514 0.00 2.45 0.00 0.000 4 0.000 0.050 3019 175 2085 0 0 0 0 0 0

519 0.55 175.2 16.9 12.6 109 524 0.00 2.42 0.00 0.000 6 0.000 0.036 3019 1702 2084 0 0 0 0 0 0

562 0.55 175.2 11.5 12.9 118 567 0.00 0.00 0.00 0.000 6 0.000 0.000 3019 1703 2084 0 0 0 0 0 0

604 0.69 292.5 10.0 3.6 127 611 0.10 0.00 4.40 0.202 2 0.110 0.000 3070 1703 2027 0 0 0 0 0 0

612 end climb: FINISH_DEPTH_REACHED

state 612 begin subsurface finish

617 0.00 0.0 9.9 -2.8 128 640 0.70 2.47 -16.23 0.000 4 0.118 0.058 2838 3258 2809 0 0 0 0 0 0

641 end subsurface finish: CONTROL_FINISHED_OK

state 641 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	82	ESCAPE_HEADING_DELTA	10	ROLL_DEG	45	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	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	50	N_FILEKB	4	R_PORT_OVSHOOT	30	XPDR_VALID	2
D_FINISH	10	FILEMGR	0	R_STBD_OVSHOOT	39	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	0.025	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	15	CALL_TRIES	5	C_VBD	2807	DEVICE2	-1
T_MISSION	90	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	-4	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-23418.242	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	180	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	2835	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	161209,204022,4806.472,-12222.298,15,2.8,34,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	4	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.174,0.168
_SM_DEPTHo	1.08	KALMAN_X	-15596.6,-912.0,224.9,14807.8,-54.3
_SM_ANGLEo	-71.0	KALMAN_Y	-1377.1,12438.0,5960.8,-14173.0,-1411.1
GPS2	161209,204722,4806.520,-12222.361,16,2.1,35,18.3	MHEAD_RNG_PITCHd_Wd	27.8,1061,-10.0,-6.667
SPEED_LIMITS	0.115,0.242	D_GRID	108

FINISH1	9.9,1.020410,0	_10V_AH	10.5,6.329
FINISH2	9.4	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4745.30,-12234.44,110611,141450	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028379	MEM	324080
HUMID	1077407079	DATA_FILE_SIZE	3504,133
INTERNAL_PRESSURE	9.17109	CAP_FILE_SIZE	27221,0
TCM_TEMP	18.90	CFSIZE	260165632,255680512
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	25.1,19.145	GPS	110611,141750,4745.296,-12234.443,0,10000.0,0,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	285	98.65	SBE_CT	84	24	51.18
Roll_motor	17	62	27.94	nil	0	0	0.00
VBD_pump_during_apogee	120	255	769.94	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	29	0	0.00	nil	0	0	0.00
Iridium_during_connect	28	0	0.00	nil	0	0	0.00
Iridium_during_xfer	256	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	36	0	0.00
TT8	200	19	41.63
LPSleep	101	2	2.34
TT8_Active	184	19	38.31
TT8_Sampling	547	39	228.83
TT8_CF8	38	45	18.30
TT8_Kalman	33	0	0.00
Analog_circuits	356	12	44.91
GPS_charging	0	0	0.00
Compass	206	15	32.47
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	13	begin dive
15	-0.55	-175.2	0.0	0.0	0	84	0.00	0.00	-67.07	0.000	2	0.000	0.000	104	1668	2604	0	0	0	0	0	0
86	-0.55	-175.2	3.1	-4.9	16	127	11.88	2.65	-20.05	0.000	4	0.285	0.063	2647	3272	3526	0	0	0	0	0	0
275	end dive: TARGET_DEPTH_EXCEEDED
state	275	begin apogee
281	-0.17	0.0	30.5	11.2	57	345	0.40	0.00	58.05	0.255	6	0.150	0.000	2775	1673	2804	0	0	0	0	0	0
346	end apogee: CONTROL_FINISHED_OK
state	346	begin climb
348	0.55	175.2	34.1	0.0	72	412	0.70	0.00	57.65	0.252	6	0.123	0.000	3004	1672	2088	0	0	0	0	0	0
450	0.55	175.2	25.6	11.1	95	456	0.00	2.58	0.00	0.000	4	0.000	0.044	3004	3263	2085	0	0	0	0	0	0
465	0.55	175.2	23.6	11.6	98	471	0.00	2.55	0.00	0.000	6	0.000	0.039	3010	1686	2084	0	0	0	0	0	0
508	0.55	175.2	18.3	12.5	107	514	0.00	2.45	0.00	0.000	4	0.000	0.050	3019	175	2085	0	0	0	0	0	0
519	0.55	175.2	16.9	12.6	109	524	0.00	2.42	0.00	0.000	6	0.000	0.036	3019	1702	2084	0	0	0	0	0	0
562	0.55	175.2	11.5	12.9	118	567	0.00	0.00	0.00	0.000	6	0.000	0.000	3019	1703	2084	0	0	0	0	0	0
604	0.69	292.5	10.0	3.6	127	611	0.10	0.00	4.40	0.202	2	0.110	0.000	3070	1703	2027	0	0	0	0	0	0
612	end climb: FINISH_DEPTH_REACHED
state	612	begin subsurface finish
617	0.00	0.0	9.9	-2.8	128	640	0.70	2.47	-16.23	0.000	4	0.118	0.058	2838	3258	2809	0	0	0	0	0	0
641	end subsurface finish: CONTROL_FINISHED_OK
state	641	begin surface