Glider dive log

PortSusan 14Dec09 * SG505 * Dive index * Mission links * Dive 91 * 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 91 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 34 XPDR_VALID 2

D_FINISH 10 FILEMGR 0 R_STBD_OVSHOOT 44 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 -23448.6 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 -23448.6

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 34 VBD_MAX 3960

DEVICE4 -1 MAX_BUOY 180 R_STBD_OVSHOOT 44 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 91 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 161209,224356,4807.309,-12222.547,15,1.6,15,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.242,-0.007

_SM_DEPTHo 1.04 KALMAN_X -18226.5,74.5,74.5,16244.1,-922.6

_SM_ANGLEo -68.0 KALMAN_Y 23232.4,1354.9,1354.9,-21531.9,-2443.0

GPS2 161209,225326,4807.417,-12222.645,14,1.6,14,18.3 MHEAD_RNG_PITCHd_Wd 73.2,2744,-10.0,-6.667

SPEED_LIMITS 0.115,0.242 D_GRID 105

Post-dive calculations and measurements:

FINISH1 9.7,1.020180,0 _10V_AH 10.5,6.410

FINISH2 9.7 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12226.29,110611,151550 FG_AHR_10Vo 0.000

TT8_MAMPS 0.028379 MEM 324120

HUMID 1077399337 DATA_FILE_SIZE 3522,125

INTERNAL_PRESSURE 9.16132 CAP_FILE_SIZE 32283,0

TCM_TEMP 18.80 CFSIZE 260165632,255512576

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

_24V_AH 25.0,19.284 GPS 110611,155950,4748.505,-12226.294,0,10000.0,0,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 275 90.18 SBE_CT 79 24 47.72

Roll_motor 22 60 33.97 nil 0 0 0.00

VBD_pump_during_apogee 116 254 741.33 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 23 0 0.00 nil 0 0 0.00

Iridium_during_connect 31 0 0.00 nil 0 0 0.00

Iridium_during_xfer 398 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 14 0 0.00

TT8 194 19 40.43

LPSleep 87 2 2.02

TT8_Active 180 19 37.55

TT8_Sampling 647 39 270.72

TT8_CF8 81 45 39.39

TT8_Kalman 32 0 0.00

Analog_circuits 349 12 43.99

GPS_charging 0 0 0.00

Compass 196 15 30.95

RAFOS 0 0 0.00

Transponder 1 5 0.07

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 80 0.00 0.00 -62.75 0.000 2 0.000 0.000 114 1691 2506 0 0 0 0 0 0

82 -0.55 -175.2 3.1 -5.1 15 123 11.45 2.58 -22.30 0.000 4 0.275 0.061 2643 3282 3523 0 0 0 0 0 0

239 -0.55 -175.2 26.7 -12.5 49 245 0.00 2.53 0.00 0.000 6 0.000 0.040 2643 1692 3524 0 0 0 0 0 0

267 end dive: TARGET_DEPTH_EXCEEDED

state 267 begin apogee

270 -0.17 0.0 30.2 12.3 55 335 0.43 0.00 58.20 0.255 6 0.152 0.000 2775 1691 2804 0 0 0 0 0 0

336 end apogee: CONTROL_FINISHED_OK

state 336 begin climb

338 0.55 175.2 34.2 0.0 70 402 0.70 0.00 58.25 0.252 6 0.119 0.000 3006 1691 2088 0 0 0 0 0 0

440 0.55 175.2 25.5 11.3 93 445 0.00 2.53 0.00 0.000 4 0.000 0.045 3006 3255 2085 0 0 0 0 0 0

455 0.55 175.2 23.4 11.8 96 461 0.00 2.55 0.00 0.000 6 0.000 0.041 3008 1679 2084 0 0 0 0 0 0

498 0.55 175.2 18.0 12.7 105 504 0.00 2.42 0.00 0.000 4 0.000 0.050 3019 180 2084 0 0 0 0 0 0

518 0.55 175.2 15.6 12.0 109 524 0.00 2.38 0.00 0.000 6 0.000 0.037 3018 1672 2084 0 0 0 0 0 0

561 0.55 175.2 10.3 12.7 118 567 0.00 2.42 0.00 0.000 4 0.000 0.049 3019 179 2084 0 0 0 0 0 0

571 end climb: FINISH_DEPTH_REACHED

state 571 begin subsurface finish

578 0.00 0.0 9.7 -11.4 120 602 0.52 2.60 -15.15 0.000 4 0.091 0.060 2831 3268 2810 0 0 0 0 0 0

603 end subsurface finish: CONTROL_FINISHED_OK

state 603 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	91	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	34	XPDR_VALID	2
D_FINISH	10	FILEMGR	0	R_STBD_OVSHOOT	44	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	-23448.6	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	161209,224356,4807.309,-12222.547,15,1.6,15,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.242,-0.007
_SM_DEPTHo	1.04	KALMAN_X	-18226.5,74.5,74.5,16244.1,-922.6
_SM_ANGLEo	-68.0	KALMAN_Y	23232.4,1354.9,1354.9,-21531.9,-2443.0
GPS2	161209,225326,4807.417,-12222.645,14,1.6,14,18.3	MHEAD_RNG_PITCHd_Wd	73.2,2744,-10.0,-6.667
SPEED_LIMITS	0.115,0.242	D_GRID	105

FINISH1	9.7,1.020180,0	_10V_AH	10.5,6.410
FINISH2	9.7	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12226.29,110611,151550	FG_AHR_10Vo	0.000
TT8_MAMPS	0.028379	MEM	324120
HUMID	1077399337	DATA_FILE_SIZE	3522,125
INTERNAL_PRESSURE	9.16132	CAP_FILE_SIZE	32283,0
TCM_TEMP	18.80	CFSIZE	260165632,255512576
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	25.0,19.284	GPS	110611,155950,4748.505,-12226.294,0,10000.0,0,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	275	90.18	SBE_CT	79	24	47.72
Roll_motor	22	60	33.97	nil	0	0	0.00
VBD_pump_during_apogee	116	254	741.33	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	23	0	0.00	nil	0	0	0.00
Iridium_during_connect	31	0	0.00	nil	0	0	0.00
Iridium_during_xfer	398	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	14	0	0.00
TT8	194	19	40.43
LPSleep	87	2	2.02
TT8_Active	180	19	37.55
TT8_Sampling	647	39	270.72
TT8_CF8	81	45	39.39
TT8_Kalman	32	0	0.00
Analog_circuits	349	12	43.99
GPS_charging	0	0	0.00
Compass	196	15	30.95
RAFOS	0	0	0.00
Transponder	1	5	0.07

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	80	0.00	0.00	-62.75	0.000	2	0.000	0.000	114	1691	2506	0	0	0	0	0	0
82	-0.55	-175.2	3.1	-5.1	15	123	11.45	2.58	-22.30	0.000	4	0.275	0.061	2643	3282	3523	0	0	0	0	0	0
239	-0.55	-175.2	26.7	-12.5	49	245	0.00	2.53	0.00	0.000	6	0.000	0.040	2643	1692	3524	0	0	0	0	0	0
267	end dive: TARGET_DEPTH_EXCEEDED
state	267	begin apogee
270	-0.17	0.0	30.2	12.3	55	335	0.43	0.00	58.20	0.255	6	0.152	0.000	2775	1691	2804	0	0	0	0	0	0
336	end apogee: CONTROL_FINISHED_OK
state	336	begin climb
338	0.55	175.2	34.2	0.0	70	402	0.70	0.00	58.25	0.252	6	0.119	0.000	3006	1691	2088	0	0	0	0	0	0
440	0.55	175.2	25.5	11.3	93	445	0.00	2.53	0.00	0.000	4	0.000	0.045	3006	3255	2085	0	0	0	0	0	0
455	0.55	175.2	23.4	11.8	96	461	0.00	2.55	0.00	0.000	6	0.000	0.041	3008	1679	2084	0	0	0	0	0	0
498	0.55	175.2	18.0	12.7	105	504	0.00	2.42	0.00	0.000	4	0.000	0.050	3019	180	2084	0	0	0	0	0	0
518	0.55	175.2	15.6	12.0	109	524	0.00	2.38	0.00	0.000	6	0.000	0.037	3018	1672	2084	0	0	0	0	0	0
561	0.55	175.2	10.3	12.7	118	567	0.00	2.42	0.00	0.000	4	0.000	0.049	3019	179	2084	0	0	0	0	0	0
571	end climb: FINISH_DEPTH_REACHED
state	571	begin subsurface finish
578	0.00	0.0	9.7	-11.4	120	602	0.52	2.60	-15.15	0.000	4	0.091	0.060	2831	3268	2810	0	0	0	0	0	0
603	end subsurface finish: CONTROL_FINISHED_OK
state	603	begin surface