Glider dive log

PortSusan 14Dec09 * SG506 * Dive index * Mission links * Dive 91 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 506 HEADING -1 ROLL_MIN 180 ALTIM_BOTTOM_TURN_MARGIN 12

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3875 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 2230 ALTIM_PING_DEPTH 80

D_FLARE 2 TGT_DEFAULT_LAT 4808 C_ROLL_CLIMB 2190 ALTIM_PING_DELTA 5

D_TGT 30 TGT_DEFAULT_LON -12223 HEAD_ERRBAND 5 ALTIM_FREQUENCY 13

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 500 SM_CC 480 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 5 N_FILEKB 4 R_PORT_OVSHOOT 20 XPDR_VALID 2

D_FINISH 10 FILEMGR 0 R_STBD_OVSHOOT 20 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 400 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT -0.54000002

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 430 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3959 DEVICE1 2

T_DIVE 15 CALL_TRIES 5 C_VBD 3060 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 6 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 -8593.9395 UNCOM_BLEED 50 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 150 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -7 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 180 PITCH_MIN 160 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3940 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 3180 FG_AHR_24V 0 SEABIRD_T_G 0.004302992

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062119117

RHO 1.0233001 PITCH_CNV 0.003125763 PRESSURE_YINT -43.606201 SEABIRD_T_I 2.2739867e-05

MASS 51509 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.00011645618 SEABIRD_T_J 2.4046374e-06

NAV_MODE 1 PITCH_GAIN 26 AD7714Ch0Gain 128 SEABIRD_C_G -9.8404341

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.104722

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022409149

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00025927747

HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 2 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 500 PHONE_SUPPLY 2 SM_CC 480

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 0 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 12 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_TGT 30 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PITCH_GAIN 26 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3940 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 160 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -7 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.00011645618 T_DIVE 15

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -43.606201 T_GPS 15

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 -8593.9395

CAPMAXSIZE 200000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 90

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 5 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0233001 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 4

COMPASS_USE 0 ID 506 ROLL_ADJ_GAIN 1.5 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 400 UNCOM_BLEED 50

C_PITCH 3180 INT_PRESSURE_YINT -0.54000002 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2190 KALMAN_USE 2 ROLL_DEG 45 USE_BATHY -4

C_ROLL_DIVE 2230 KERMIT 0 ROLL_MAX 3875 USE_ICE 0

C_VBD 3060 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 180 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51509 R_PORT_OVSHOOT 20 VBD_MAX 3959

DEVICE2 -1 MAX_BUOY 180 R_STBD_OVSHOOT 20 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -9.8404341 VBD_MIN 430

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.104722 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 2 SEABIRD_C_I -0.0022409149 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00025927747 VBD_TIMEOUT 720

DIVE 91 NAV_MODE 1 SEABIRD_T_G 0.004302992 XPDR_DEVICE 24

D_ABORT 1090 N_FILEKB 4 SEABIRD_T_H 0.00062119117 XPDR_INHIBIT 90

D_BOOST 5 N_GPS 20 SEABIRD_T_I 2.2739867e-05 XPDR_VALID 2

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4046374e-06

D_FINISH 10 N_NOSURFACE -5 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 212528,4808.429,-12223.870,11,3.3,30,18.3 TGT_NAME SIX

_CALLS 3 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.76 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 214308,4808.708,-12223.906,13,1.6,13,18.4 MHEAD_RNG_PITCHd_Wd 136.4,5542,-10.0,-6.667

SPEED_LIMITS 0.115,0.242 D_GRID 92

Post-dive calculations and measurements:

FINISH1 9.8,1.019238,0 _10V_AH 10.3,3.819

FINISH2 9.5 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12221.84,120399,212102 FG_AHR_10Vo 0.000

TT8_MAMPS 0.05369 MEM 324812

HUMID 23.73 DATA_FILE_SIZE 6467,194

INTERNAL_PRESSURE 9.50921 CAP_FILE_SIZE 50160,0

TCM_TEMP 18.60 CFSIZE 260165632,256122880

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

_24V_AH 23.9,12.749 GPS 161209,214308,4808.708,-12223.906,13,1.6,13,18.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 279 99.59 SBE_CT 121 24 69.73

Roll_motor 24 90 52.94 nil 0 0 0.00

VBD_pump_during_apogee 277 615 4086.71 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 87 103 216.56 nil 0 0 0.00

Iridium_during_connect 76 160 291.72 nil 0 0 0.00

Iridium_during_xfer 662 223 3531.92

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 15 50 7.92

TT8 0 19 0.00

LPSleep 301 2 6.81

TT8_Active 318 19 65.03

TT8_Sampling 372 39 152.90

TT8_CF8 919 45 433.91

TT8_Kalman 0 0 0.00

Analog_circuits 563 12 69.63

GPS_charging 0 0 0.00

Compass 286 8 23.60

RAFOS 0 0 0.00

Transponder 0 30 0.31

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.60 -175.9 0.0 0.0 0 81 0.00 0.00 -67.20 0.000 2 0.000 0.000 152 2224 2237 0 0 0 0 0 0

82 -0.60 -175.9 2.1 -2.9 16 151 12.95 2.75 -48.80 0.000 4 0.279 0.090 2968 3810 3780 0 0 0 0 0 0

229 -0.60 -175.9 15.6 -7.7 50 234 0.00 2.62 0.00 0.000 6 0.000 0.058 2968 2206 3782 0 0 0 0 0 0

268 -0.60 -175.9 18.7 -8.1 59 274 0.00 2.75 0.00 0.000 4 0.000 0.080 2956 3815 3782 0 0 1 0 0 0

281 -0.60 -175.9 19.8 -7.9 62 287 0.10 2.60 0.00 0.000 6 0.165 0.064 2980 2265 3781 0 0 0 0 0 0

321 -0.60 -175.9 22.8 -7.8 71 325 0.00 0.00 0.00 0.000 6 0.000 0.000 2980 2265 3781 0 0 0 0 0 0

359 -0.60 -175.9 25.8 -7.6 80 364 0.00 2.67 0.00 0.000 4 0.000 0.071 2980 641 3781 0 0 0 0 0 0

376 -0.60 -175.9 27.2 -7.9 84 382 0.00 2.62 0.00 0.000 6 0.000 0.058 2971 2261 3781 0 0 0 0 0 0

410 end dive: TARGET_DEPTH_EXCEEDED

state 410 begin apogee

413 -0.27 0.0 30.2 8.6 92 557 0.38 0.00 137.98 0.615 6 0.141 0.000 3089 2172 3059 0 0 0 0 0 0

557 end apogee: CONTROL_FINISHED_OK

state 557 begin climb

558 0.60 175.9 34.1 0.0 126 707 0.88 2.78 140.00 0.584 4 0.106 0.068 3380 604 2341 0 0 0 0 0 0

714 0.60 175.9 22.1 10.8 163 720 0.00 2.72 0.00 0.000 6 0.000 0.055 3380 2185 2341 0 0 0 0 0 0

754 0.60 175.9 17.7 11.2 172 758 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 2185 2340 0 0 0 0 0 0

791 0.60 175.9 13.5 11.0 181 796 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 2185 2339 0 0 0 0 0 0

824 end climb: FINISH_DEPTH_REACHED

state 824 begin subsurface finish

827 0.00 0.0 9.8 -11.1 189 849 0.62 2.80 -14.20 0.000 4 0.119 0.091 3181 3773 3063 0 0 0 0 0 0

850 end subsurface finish: CONTROL_FINISHED_OK

state 850 begin surface

ID	506	HEADING	-1	ROLL_MIN	180	ALTIM_BOTTOM_TURN_MARGIN	12
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3875	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	2230	ALTIM_PING_DEPTH	80
D_FLARE	2	TGT_DEFAULT_LAT	4808	C_ROLL_CLIMB	2190	ALTIM_PING_DELTA	5
D_TGT	30	TGT_DEFAULT_LON	-12223	HEAD_ERRBAND	5	ALTIM_FREQUENCY	13
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	500	SM_CC	480	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	5	N_FILEKB	4	R_PORT_OVSHOOT	20	XPDR_VALID	2
D_FINISH	10	FILEMGR	0	R_STBD_OVSHOOT	20	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	400	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	-0.54000002
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	430	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3959	DEVICE1	2
T_DIVE	15	CALL_TRIES	5	C_VBD	3060	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	6	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	-8593.9395	UNCOM_BLEED	50	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	150	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-7	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	180	PITCH_MIN	160	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3940	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	3180	FG_AHR_24V	0	SEABIRD_T_G	0.004302992
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062119117
RHO	1.0233001	PITCH_CNV	0.003125763	PRESSURE_YINT	-43.606201	SEABIRD_T_I	2.2739867e-05
MASS	51509	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.00011645618	SEABIRD_T_J	2.4046374e-06
NAV_MODE	1	PITCH_GAIN	26	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8404341
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.104722
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022409149
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00025927747
HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0

GPS1	212528,4808.429,-12223.870,11,3.3,30,18.3	TGT_NAME	SIX
_CALLS	3	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.76	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	214308,4808.708,-12223.906,13,1.6,13,18.4	MHEAD_RNG_PITCHd_Wd	136.4,5542,-10.0,-6.667
SPEED_LIMITS	0.115,0.242	D_GRID	92

FINISH1	9.8,1.019238,0	_10V_AH	10.3,3.819
FINISH2	9.5	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12221.84,120399,212102	FG_AHR_10Vo	0.000
TT8_MAMPS	0.05369	MEM	324812
HUMID	23.73	DATA_FILE_SIZE	6467,194
INTERNAL_PRESSURE	9.50921	CAP_FILE_SIZE	50160,0
TCM_TEMP	18.60	CFSIZE	260165632,256122880
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
_24V_AH	23.9,12.749	GPS	161209,214308,4808.708,-12223.906,13,1.6,13,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	279	99.59	SBE_CT	121	24	69.73
Roll_motor	24	90	52.94	nil	0	0	0.00
VBD_pump_during_apogee	277	615	4086.71	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	87	103	216.56	nil	0	0	0.00
Iridium_during_connect	76	160	291.72	nil	0	0	0.00
Iridium_during_xfer	662	223	3531.92
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	15	50	7.92
TT8	0	19	0.00
LPSleep	301	2	6.81
TT8_Active	318	19	65.03
TT8_Sampling	372	39	152.90
TT8_CF8	919	45	433.91
TT8_Kalman	0	0	0.00
Analog_circuits	563	12	69.63
GPS_charging	0	0	0.00
Compass	286	8	23.60
RAFOS	0	0	0.00
Transponder	0	30	0.31

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.60	-175.9	0.0	0.0	0	81	0.00	0.00	-67.20	0.000	2	0.000	0.000	152	2224	2237	0	0	0	0	0	0
82	-0.60	-175.9	2.1	-2.9	16	151	12.95	2.75	-48.80	0.000	4	0.279	0.090	2968	3810	3780	0	0	0	0	0	0
229	-0.60	-175.9	15.6	-7.7	50	234	0.00	2.62	0.00	0.000	6	0.000	0.058	2968	2206	3782	0	0	0	0	0	0
268	-0.60	-175.9	18.7	-8.1	59	274	0.00	2.75	0.00	0.000	4	0.000	0.080	2956	3815	3782	0	0	1	0	0	0
281	-0.60	-175.9	19.8	-7.9	62	287	0.10	2.60	0.00	0.000	6	0.165	0.064	2980	2265	3781	0	0	0	0	0	0
321	-0.60	-175.9	22.8	-7.8	71	325	0.00	0.00	0.00	0.000	6	0.000	0.000	2980	2265	3781	0	0	0	0	0	0
359	-0.60	-175.9	25.8	-7.6	80	364	0.00	2.67	0.00	0.000	4	0.000	0.071	2980	641	3781	0	0	0	0	0	0
376	-0.60	-175.9	27.2	-7.9	84	382	0.00	2.62	0.00	0.000	6	0.000	0.058	2971	2261	3781	0	0	0	0	0	0
410	end dive: TARGET_DEPTH_EXCEEDED
state	410	begin apogee
413	-0.27	0.0	30.2	8.6	92	557	0.38	0.00	137.98	0.615	6	0.141	0.000	3089	2172	3059	0	0	0	0	0	0
557	end apogee: CONTROL_FINISHED_OK
state	557	begin climb
558	0.60	175.9	34.1	0.0	126	707	0.88	2.78	140.00	0.584	4	0.106	0.068	3380	604	2341	0	0	0	0	0	0
714	0.60	175.9	22.1	10.8	163	720	0.00	2.72	0.00	0.000	6	0.000	0.055	3380	2185	2341	0	0	0	0	0	0
754	0.60	175.9	17.7	11.2	172	758	0.00	0.00	0.00	0.000	6	0.000	0.000	3380	2185	2340	0	0	0	0	0	0
791	0.60	175.9	13.5	11.0	181	796	0.00	0.00	0.00	0.000	6	0.000	0.000	3380	2185	2339	0	0	0	0	0	0
824	end climb: FINISH_DEPTH_REACHED
state	824	begin subsurface finish
827	0.00	0.0	9.8	-11.1	189	849	0.62	2.80	-14.20	0.000	4	0.119	0.091	3181	3773	3063	0	0	0	0	0	0
850	end subsurface finish: CONTROL_FINISHED_OK
state	850	begin surface