Glider dive log

SOSCEx Sep13 * SG574 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 574 HD_B 0.010078 ROLL_MIN 160 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 HD_C 9.8500004e-06 ROLL_MAX 3798 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 1 HEADING -1 ROLL_DEG 40 ALTIM_PING_DEPTH 1000

D_SURF 3 ESCAPE_HEADING 0 C_ROLL_DIVE 3400 ALTIM_PING_DELTA 5

D_FLARE 3 ESCAPE_HEADING_DELTA 10 C_ROLL_CLIMB 3280 ALTIM_FREQUENCY 13

D_TGT 30 FIX_MISSING_TIMEOUT 0 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_ABORT 1020 TGT_DEFAULT_LAT -4235 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 TGT_DEFAULT_LON -200 ROLL_TIMEOUT 15 XPDR_VALID 5

D_BOOST 0 TGT_AUTO_DEFAULT 0 R_PORT_OVSHOOT 65 XPDR_INHIBIT 90

T_BOOST 0 SM_CC 150 R_STBD_OVSHOOT 32 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST_BLACKOUT 0 N_FILEKB 4 ROLL_AD_RATE 350 INT_PRESSURE_YINT -1.812

D_FINISH 0 FILEMGR 0 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 CALL_NDIVES 1 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 KERMIT 0 ROLL_GAIN_P 0.5 DEVICE1 2

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 396 DEVICE2 115

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE3 20

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 2474 DEVICE4 134

T_DIVE 10 CALL_TRIES 5 VBD_DBAND 2 DEVICE5 -1

T_MISSION 15 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE6 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_TIMEOUT 720 LOGGERS 7

T_TURN 225 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 4.9999999e-05 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE3 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -11767.523 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 1 CF8_MAXERRORS 20 PHONE_DEVICE 48

D_OFFGRID 100 STROBE 0 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 0 RAFOS_CORR_THRESH 60 MINV_24V 20 XPDR_DEVICE 24

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 8 SIM_W 0

MAX_BUOY 150 PITCH_MIN 92 FG_AHR_10V 0 SIM_PITCH 0

COURSE_BIAS 0 PITCH_MAX 3858 FG_AHR_24V 0 SEABIRD_T_G 0.0043017557

GLIDE_SLOPE 30 C_PITCH 1628 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062339538

SPEED_FACTOR 1 PITCH_DBAND 0.0099999998 PRESSURE_YINT -61.017719 SEABIRD_T_I 2.3377639e-05

RHO 1.0278 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011710486 SEABIRD_T_J 2.5612862e-06

MASS 53599 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_C_G -9.9136524

LENGTH 1.8 PITCH_GAIN 18 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1456692

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00078246131

DIRECT_CONTROL 0 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_J 0.00012677554

FERRY_MAX 45 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 EBE_ENABLE 0

KALMAN_USE 2 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 0 GC_WINDOW 20

HD_A 0.0038360001 PITCH_ADJ_DBAND 13 ALTIM_BOTTOM_TURN_MARGIN 20 GC_LAST_COLLECTION -1

AD7714Ch0Gain 128 D_NO_BLEED 200 N_GPS 20 SEABIRD_T_J 2.5612862e-06

AH0_10V 100 D_OFFGRID 100 N_NOCOMM 1 SIM_PITCH 0

AH0_24V 150 D_PITCH 0 N_NOSURFACE 0 SIM_W 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PHONE_DEVICE 48 SM_CC 150

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PHONE_SUPPLY 2 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_TGT 30 PITCH_ADJ_DBAND 13 STROBE 0

ALTIM_PING_DELTA 5 EBE_ENABLE 0 PITCH_ADJ_GAIN 0.02 SURFACE_URGENCY 0

ALTIM_PING_DEPTH 1000 ESCAPE_HEADING 0 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_DBAND 0.0099999998 TCM_PITCH_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_GAIN 18 TCM_ROLL_OFFSET 0

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_MAX 3858 TGT_AUTO_DEFAULT 0

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -4235

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PITCH_MIN 92 TGT_DEFAULT_LON -200

CALL_NDIVES 1 GC_LAST_COLLECTION -1 PITCH_TIMEOUT 16 T_ABORT 1440

CALL_TRIES 5 GC_WINDOW 20 PITCH_VBD_SHIFT 4.9999999e-05 T_BOOST 0

CALL_WAIT 60 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011710486 T_BOOST_BLACKOUT 0

CAPMAXSIZE 100000 GPS_DEVICE 32 PRESSURE_YINT -61.017719 T_DIVE 10

CAPUPLOAD 1 HD_A 0.0038360001 P_OVSHOOT 0.039999999 T_GPS 15

CF8_MAXERRORS 20 HD_B 0.010078 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

COMM_SEQ 0 HD_C 9.8500004e-06 RAFOS_DEVICE -1 T_GPS_CHARGE -11767.523

COMPASS2_DEVICE -1 HEADING -1 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS_DEVICE 33 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_MISSION 15

COMPASS_USE 0 HEAPDBG 0 RELAUNCH 0 T_NO_W 120

COURSE_BIAS 0 ICE_FREEZE_MARGIN 0.30000001 RHO 1.0278 T_RSLEEP 1

C_PITCH 1628 ID 574 ROLL_ADJ_DBAND 0 T_TURN 225

C_ROLL_CLIMB 3280 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_DIVE 3400 INT_PRESSURE_YINT -1.812 ROLL_AD_RATE 350 T_WATCHDOG 10

C_VBD 2474 KALMAN_USE 2 ROLL_CNV 0.028270001 UNCOM_BLEED 60

DEEPGLIDER 0 KERMIT 0 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDERMB 0 LENGTH 1.8 ROLL_GAIN_P 0.5 USE_BATHY 0

DEVICE1 2 LOGGERDEVICE1 -1 ROLL_MAX 3798 USE_ICE 0

DEVICE2 115 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEVICE3 20 LOGGERDEVICE3 -1 ROLL_MIN 160 VBD_CNV -0.245296

DEVICE4 134 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE5 -1 LOGGERS 7 R_PORT_OVSHOOT 65 VBD_MAX 3960

DEVICE6 -1 MASS 53599 R_STBD_OVSHOOT 32 VBD_MAXERRORS 1

DIRECT_CONTROL 0 MAX_BUOY 150 SEABIRD_C_G -9.9136524 VBD_MIN 396

DIVE 1 MINV_10V 8 SEABIRD_C_H 1.1456692 VBD_PUMP_AD_RATE_APOGEE 4

D_ABORT 1020 MINV_24V 20 SEABIRD_C_I -0.00078246131 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 0 MISSION 5 SEABIRD_C_J 0.00012677554 VBD_TIMEOUT 720

D_CALL 0 MOTHERBOARD 4 SEABIRD_T_G 0.0043017557 XPDR_DEVICE 24

D_FINISH 0 NAV_MODE 1 SEABIRD_T_H 0.00062339538 XPDR_INHIBIT 90

D_FLARE 3 N_FILEKB 4 SEABIRD_T_I 2.3377639e-05 XPDR_VALID 5

Pre-dive calculations and measurements:

GPS1 011013,084359,-3352.232,1818.582,17,1.5,17,-24.4 TGT_NAME ISLAND

_CALLS 1 TGT_LATLONG -3349.625,1820.957

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo -0.79 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 011013,084811,-3352.233,1818.587,16,2.0,16,-24.4 MHEAD_RNG_PITCHd_Wd 61.5,6052,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 30

Post-dive calculations and measurements:

FINISH -1.2,1.026117 _10V_AH 10.6,0.903

SM_CCo 558,0.88,0.096,0,0,1861,150.12 FG_AHR_24Vo 0.000

SM_GC -0.29,0.00,0.00,0.88,0.000,0.000,0.096,86,3407,1861,-4.82,0.14,150.12 FG_AHR_10Vo 0.000

IRIDIUM_FIX -3340.91,1817.89,011013,080830 MEM 355036

TT8_MAMPS 0.026215 DATA_FILE_SIZE 3671,88

HUMID 55.39 CAP_FILE_SIZE 118166,0

INTERNAL_PRESSURE 9.64352 CFSIZE 2097086464,2094792704

TCM_TEMP 17.70 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1

XPDR_PINGS 17 GPS 011013,085838,-3352.231,1818.638,13,1.0,14,-24.4

_24V_AH 24.9,1.066

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 266 87.00 SBE_CT 55 24 33.39

Roll_motor 5 45 6.77 WL_BB2FLVMT 224 105 587.49

VBD_pump_during_apogee 179 719 3210.92 SBE_O2 44 19 21.19

VBD_pump_during_surface 0 96 2.10 QSP2150 31 4 3.42

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 4 420 44.45 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.31

TT8 166 14 26.36

LPSleep 4 2 0.11

TT8_Active 158 14 23.83

TT8_Sampling 289 37 114.82

TT8_CF8 13 47 6.62

TT8_Kalman 0 0 0.00

Analog_circuits 366 12 46.68

GPS_charging 0 0 0.00

Compass 288 15 48.08

RAFOS 0 0 0.00

Transponder 1 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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

23 -1.02 -145.9 0.0 0.0 0 132 0.00 0.00 -106.22 0.000 6 0.000 0.000 80 3415 3070 0 0 0 0 0 0

134 -1.02 -145.9 -0.1 -1.3 18 142 5.18 0.60 0.00 0.000 4 0.266 0.046 1288 3820 3071 0 0 0 0 0 0

276 end dive: TARGET_DEPTH_EXCEEDED

state 276 begin apogee

280 -0.28 0.0 30.3 27.3 42 385 0.98 0.00 97.22 0.719 6 0.251 0.000 1527 3247 2474 0 0 0 0 0 0

386 end apogee: CONTROL_FINISHED_OK

state 386 begin climb

387 1.02 145.9 41.0 0.0 61 482 1.77 2.17 82.10 0.655 4 0.254 0.044 1945 1913 1878 0 0 0 0 0 0

531 end climb: SURFACE_DEPTH_REACHED

state 531 begin surface coast

544 end surface coast: CONTROL_FINISHED_OK

state 544 begin surface

ID	574	HD_B	0.010078	ROLL_MIN	160	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	HD_C	9.8500004e-06	ROLL_MAX	3798	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	1	HEADING	-1	ROLL_DEG	40	ALTIM_PING_DEPTH	1000
D_SURF	3	ESCAPE_HEADING	0	C_ROLL_DIVE	3400	ALTIM_PING_DELTA	5
D_FLARE	3	ESCAPE_HEADING_DELTA	10	C_ROLL_CLIMB	3280	ALTIM_FREQUENCY	13
D_TGT	30	FIX_MISSING_TIMEOUT	0	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_ABORT	1020	TGT_DEFAULT_LAT	-4235	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	TGT_DEFAULT_LON	-200	ROLL_TIMEOUT	15	XPDR_VALID	5
D_BOOST	0	TGT_AUTO_DEFAULT	0	R_PORT_OVSHOOT	65	XPDR_INHIBIT	90
T_BOOST	0	SM_CC	150	R_STBD_OVSHOOT	32	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST_BLACKOUT	0	N_FILEKB	4	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-1.812
D_FINISH	0	FILEMGR	0	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	CALL_NDIVES	1	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	KERMIT	0	ROLL_GAIN_P	0.5	DEVICE1	2
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	396	DEVICE2	115
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE3	20
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	2474	DEVICE4	134
T_DIVE	10	CALL_TRIES	5	VBD_DBAND	2	DEVICE5	-1
T_MISSION	15	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE6	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_TIMEOUT	720	LOGGERS	7
T_TURN	225	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	4.9999999e-05	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE3	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-11767.523	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	1	CF8_MAXERRORS	20	PHONE_DEVICE	48
D_OFFGRID	100	STROBE	0	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	0	RAFOS_CORR_THRESH	60	MINV_24V	20	XPDR_DEVICE	24
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	8	SIM_W	0
MAX_BUOY	150	PITCH_MIN	92	FG_AHR_10V	0	SIM_PITCH	0
COURSE_BIAS	0	PITCH_MAX	3858	FG_AHR_24V	0	SEABIRD_T_G	0.0043017557
GLIDE_SLOPE	30	C_PITCH	1628	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062339538
SPEED_FACTOR	1	PITCH_DBAND	0.0099999998	PRESSURE_YINT	-61.017719	SEABIRD_T_I	2.3377639e-05
RHO	1.0278	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011710486	SEABIRD_T_J	2.5612862e-06
MASS	53599	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9136524
LENGTH	1.8	PITCH_GAIN	18	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1456692
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00078246131
DIRECT_CONTROL	0	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_J	0.00012677554
FERRY_MAX	45	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	EBE_ENABLE	0
KALMAN_USE	2	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	0	GC_WINDOW	20
HD_A	0.0038360001	PITCH_ADJ_DBAND	13	ALTIM_BOTTOM_TURN_MARGIN	20	GC_LAST_COLLECTION	-1

GPS1	011013,084359,-3352.232,1818.582,17,1.5,17,-24.4	TGT_NAME	ISLAND
_CALLS	1	TGT_LATLONG	-3349.625,1820.957
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	-0.79	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	011013,084811,-3352.233,1818.587,16,2.0,16,-24.4	MHEAD_RNG_PITCHd_Wd	61.5,6052,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	30

FINISH	-1.2,1.026117	_10V_AH	10.6,0.903
SM_CCo	558,0.88,0.096,0,0,1861,150.12	FG_AHR_24Vo	0.000
SM_GC	-0.29,0.00,0.00,0.88,0.000,0.000,0.096,86,3407,1861,-4.82,0.14,150.12	FG_AHR_10Vo	0.000
IRIDIUM_FIX	-3340.91,1817.89,011013,080830	MEM	355036
TT8_MAMPS	0.026215	DATA_FILE_SIZE	3671,88
HUMID	55.39	CAP_FILE_SIZE	118166,0
INTERNAL_PRESSURE	9.64352	CFSIZE	2097086464,2094792704
TCM_TEMP	17.70	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
XPDR_PINGS	17	GPS	011013,085838,-3352.231,1818.638,13,1.0,14,-24.4
_24V_AH	24.9,1.066

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	266	87.00	SBE_CT	55	24	33.39
Roll_motor	5	45	6.77	WL_BB2FLVMT	224	105	587.49
VBD_pump_during_apogee	179	719	3210.92	SBE_O2	44	19	21.19
VBD_pump_during_surface	0	96	2.10	QSP2150	31	4	3.42
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	4	420	44.45	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.31
TT8	166	14	26.36
LPSleep	4	2	0.11
TT8_Active	158	14	23.83
TT8_Sampling	289	37	114.82
TT8_CF8	13	47	6.62
TT8_Kalman	0	0	0.00
Analog_circuits	366	12	46.68
GPS_charging	0	0	0.00
Compass	288	15	48.08
RAFOS	0	0	0.00
Transponder	1	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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
23	-1.02	-145.9	0.0	0.0	0	132	0.00	0.00	-106.22	0.000	6	0.000	0.000	80	3415	3070	0	0	0	0	0	0
134	-1.02	-145.9	-0.1	-1.3	18	142	5.18	0.60	0.00	0.000	4	0.266	0.046	1288	3820	3071	0	0	0	0	0	0
276	end dive: TARGET_DEPTH_EXCEEDED
state	276	begin apogee
280	-0.28	0.0	30.3	27.3	42	385	0.98	0.00	97.22	0.719	6	0.251	0.000	1527	3247	2474	0	0	0	0	0	0
386	end apogee: CONTROL_FINISHED_OK
state	386	begin climb
387	1.02	145.9	41.0	0.0	61	482	1.77	2.17	82.10	0.655	4	0.254	0.044	1945	1913	1878	0	0	0	0	0	0
531	end climb: SURFACE_DEPTH_REACHED
state	531	begin surface coast
544	end surface coast: CONTROL_FINISHED_OK
state	544	begin surface