Glider dive log

PortSusan 14Dec09 * SG505 * Dive index * Mission links * Dive 88 * 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 88 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 38 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 -23433.059 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 -23433.059

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 38 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 88 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 110611,150221,4748.505,-12220.121,0,10000.0,0,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 6 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.151,0.189

_SM_DEPTHo 10.82 KALMAN_X -21154.3,576.4,5337.0,16492.9,145.9

_SM_ANGLEo -2.8 KALMAN_Y -31309.9,3638.8,20330.7,-22944.3,-306.8

GPS2 110611,150221,4748.505,-12220.121,0,10000.0,0,18.3 MHEAD_RNG_PITCHd_Wd 302.9,32483,-10.0,-6.667

SPEED_LIMITS 0.115,0.242 D_GRID 1001

Post-dive calculations and measurements:

FINISH1 9.9,1.020623,0 _10V_AH 10.5,6.380

FINISH2 9.4 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12220.12,110611,151521 FG_AHR_10Vo 0.000

TT8_MAMPS 0.029146 MEM 324348

HUMID 1077425143 DATA_FILE_SIZE 3516,104

INTERNAL_PRESSURE 9.17109 CAP_FILE_SIZE 17167,0

TCM_TEMP 19.10 CFSIZE 260165632,255578112

XPDR_PINGS 0 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

_24V_AH 25.1,19.226 GPS 110611,150221,4748.505,-12220.121,0,10000.0,0,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 2 200 10.84 SBE_CT 67 24 40.48

Roll_motor 19 59 29.43 nil 0 0 0.00

VBD_pump_during_apogee 116 252 735.20 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 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 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 185 19 38.59

LPSleep 89 2 2.06

TT8_Active 123 19 25.71

TT8_Sampling 150 39 62.70

TT8_CF8 14 45 6.94

TT8_Kalman 33 0 0.00

Analog_circuits 257 12 32.39

GPS_charging 0 0 0.00

Compass 164 15 25.94

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

14 -0.55 -175.2 0.0 0.0 0 21 0.00 0.00 -4.75 0.000 2 0.000 0.000 2839 1697 3068 0 0 0 0 0 0

23 -0.55 -175.2 12.1 -0.0 1 38 0.47 2.53 -8.15 0.000 4 0.066 0.059 2647 3281 3523 0 0 0 0 0 0

112 -0.55 -175.2 20.1 -10.5 20 118 0.00 2.53 0.00 0.000 6 0.000 0.040 2647 1691 3524 0 0 0 0 0 0

156 -0.55 -175.2 25.1 -11.7 29 160 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 1690 3524 0 0 0 0 0 0

197 end dive: TARGET_DEPTH_EXCEEDED

state 197 begin apogee

200 -0.17 0.0 30.0 11.6 38 265 0.40 0.00 57.92 0.252 6 0.136 0.000 2777 1690 2804 0 0 0 0 0 0

265 end apogee: CONTROL_FINISHED_OK

state 265 begin climb

267 0.55 175.2 33.4 0.0 53 333 0.68 2.47 58.15 0.250 4 0.107 0.047 3018 180 2088 0 0 0 0 0 0

338 0.55 175.2 28.4 8.9 69 344 0.00 2.40 0.00 0.000 6 0.000 0.036 3018 1686 2087 0 0 0 0 0 0

381 0.55 175.2 23.1 12.4 78 387 0.00 2.53 0.00 0.000 4 0.000 0.044 3018 3262 2084 0 0 0 0 0 0

433 0.55 175.2 16.0 13.7 89 439 0.08 2.47 0.00 0.000 6 0.201 0.040 3011 1720 2083 0 0 0 0 0 0

477 0.55 175.2 10.8 11.9 98 482 0.00 2.50 0.00 0.000 4 0.000 0.050 3019 174 2083 0 0 0 0 0 0

488 end climb: FINISH_DEPTH_REACHED

state 488 begin subsurface finish

495 0.00 0.0 9.9 -11.1 100 514 0.52 0.00 -15.00 0.000 6 0.100 0.000 2836 1687 2810 0 0 0 0 0 0

515 end subsurface finish: CONTROL_FINISHED_OK

state 515 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	88	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	38	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	-23433.059	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	110611,150221,4748.505,-12220.121,0,10000.0,0,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	6	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.151,0.189
_SM_DEPTHo	10.82	KALMAN_X	-21154.3,576.4,5337.0,16492.9,145.9
_SM_ANGLEo	-2.8	KALMAN_Y	-31309.9,3638.8,20330.7,-22944.3,-306.8
GPS2	110611,150221,4748.505,-12220.121,0,10000.0,0,18.3	MHEAD_RNG_PITCHd_Wd	302.9,32483,-10.0,-6.667
SPEED_LIMITS	0.115,0.242	D_GRID	1001

FINISH1	9.9,1.020623,0	_10V_AH	10.5,6.380
FINISH2	9.4	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12220.12,110611,151521	FG_AHR_10Vo	0.000
TT8_MAMPS	0.029146	MEM	324348
HUMID	1077425143	DATA_FILE_SIZE	3516,104
INTERNAL_PRESSURE	9.17109	CAP_FILE_SIZE	17167,0
TCM_TEMP	19.10	CFSIZE	260165632,255578112
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	25.1,19.226	GPS	110611,150221,4748.505,-12220.121,0,10000.0,0,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	2	200	10.84	SBE_CT	67	24	40.48
Roll_motor	19	59	29.43	nil	0	0	0.00
VBD_pump_during_apogee	116	252	735.20	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	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	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	185	19	38.59
LPSleep	89	2	2.06
TT8_Active	123	19	25.71
TT8_Sampling	150	39	62.70
TT8_CF8	14	45	6.94
TT8_Kalman	33	0	0.00
Analog_circuits	257	12	32.39
GPS_charging	0	0	0.00
Compass	164	15	25.94
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
14	-0.55	-175.2	0.0	0.0	0	21	0.00	0.00	-4.75	0.000	2	0.000	0.000	2839	1697	3068	0	0	0	0	0	0
23	-0.55	-175.2	12.1	-0.0	1	38	0.47	2.53	-8.15	0.000	4	0.066	0.059	2647	3281	3523	0	0	0	0	0	0
112	-0.55	-175.2	20.1	-10.5	20	118	0.00	2.53	0.00	0.000	6	0.000	0.040	2647	1691	3524	0	0	0	0	0	0
156	-0.55	-175.2	25.1	-11.7	29	160	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	1690	3524	0	0	0	0	0	0
197	end dive: TARGET_DEPTH_EXCEEDED
state	197	begin apogee
200	-0.17	0.0	30.0	11.6	38	265	0.40	0.00	57.92	0.252	6	0.136	0.000	2777	1690	2804	0	0	0	0	0	0
265	end apogee: CONTROL_FINISHED_OK
state	265	begin climb
267	0.55	175.2	33.4	0.0	53	333	0.68	2.47	58.15	0.250	4	0.107	0.047	3018	180	2088	0	0	0	0	0	0
338	0.55	175.2	28.4	8.9	69	344	0.00	2.40	0.00	0.000	6	0.000	0.036	3018	1686	2087	0	0	0	0	0	0
381	0.55	175.2	23.1	12.4	78	387	0.00	2.53	0.00	0.000	4	0.000	0.044	3018	3262	2084	0	0	0	0	0	0
433	0.55	175.2	16.0	13.7	89	439	0.08	2.47	0.00	0.000	6	0.201	0.040	3011	1720	2083	0	0	0	0	0	0
477	0.55	175.2	10.8	11.9	98	482	0.00	2.50	0.00	0.000	4	0.000	0.050	3019	174	2083	0	0	0	0	0	0
488	end climb: FINISH_DEPTH_REACHED
state	488	begin subsurface finish
495	0.00	0.0	9.9	-11.1	100	514	0.52	0.00	-15.00	0.000	6	0.100	0.000	2836	1687	2810	0	0	0	0	0	0
515	end subsurface finish: CONTROL_FINISHED_OK
state	515	begin surface