Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING -1 ROLL_MIN 236 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3800 ALTIM_TOP_TURN_MARGIN 0

DIVE 11 ESCAPE_HEADING_DELTA 10 ROLL_DEG 35 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2100 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2000 ALTIM_PING_DELTA 10

D_TGT 200 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 1070 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 200 SM_CC 350 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 27 XPDR_VALID 1

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 33 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 0.69999999

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 470 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3960 DEVICE1 2

T_DIVE 60 CALL_TRIES 5 C_VBD 3150 DEVICE2 20

T_MISSION 75 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 83

T_ABORT 1440 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 300 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 -1 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -24038.238 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 -7 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 175 PITCH_MIN 155 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3970 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2850 FG_AHR_24V 0 SEABIRD_T_G 0.0043543768

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.0006249955

RHO 1.023 PITCH_CNV 0.003125763 PRESSURE_YINT -61.597298 SEABIRD_T_I 2.3401506e-05

MASS 52000 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001138132 SEABIRD_T_J 2.4672308e-06

NAV_MODE 0 PITCH_GAIN 28 AD7714Ch0Gain 128 SEABIRD_C_G -9.9855604

FERRY_MAX 45 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1126566

KALMAN_USE 2 PITCH_AD_RATE 165 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0021479612

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.0002479906

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 200 PHONE_SUPPLY 2 SM_CC 350

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.029999999 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_AD_RATE 165 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 3 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_TGT 200 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING 0 PITCH_GAIN 28 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3970 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 155 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 17 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001138132 T_DIVE 60

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -61.597298 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 -24038.238

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 75

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH -7 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 187 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2850 INT_PRESSURE_YINT 0.69999999 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2000 KALMAN_USE 2 ROLL_DEG 35 USE_BATHY -1

C_ROLL_DIVE 2100 KERMIT 0 ROLL_MAX 3800 USE_ICE 0

C_VBD 3150 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 236 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 52000 R_PORT_OVSHOOT 27 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 175 R_STBD_OVSHOOT 33 VBD_MAXERRORS 1

DEVICE3 83 MINV_10V 8 SEABIRD_C_G -9.9855604 VBD_MIN 470

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1126566 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 2 SEABIRD_C_I -0.0021479612 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.0002479906 VBD_TIMEOUT 720

DIVE 11 NAV_MODE 0 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 1070 N_FILEKB 4 SEABIRD_T_H 0.0006249955 XPDR_INHIBIT 90

D_BOOST 4 N_GPS 20 SEABIRD_T_I 2.3401506e-05 XPDR_VALID 1

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4672308e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 011208,4755.897,-12457.435,45,1.8,45,18.7 TGT_NAME OFFSHORE

_CALLS 1 TGT_LATLONG 4700.000,-12700.000

_XMS_NAKs 0 TGT_RADIUS 1000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 011532,4755.844,-12457.413,11,1.9,11,18.7 MHEAD_RNG_PITCHd_Wd 217.6,186199,-17.7,-11.111

SPEED_LIMITS 0.192,0.289 D_GRID 87

Post-dive calculations and measurements:

FINISH 0.1,1.013889 _10V_AH 10.4,2.085

SM_CCo 1917,0.00,0.000,0,0,1650,367.70 FG_AHR_24Vo 0.000

SM_GC 1.14,8.25,0.00,0.00,0.050,0.000,0.000,145,2108,1650,-8.38,0.23,367.70 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4738.89,-12452.68,111099,000018 MEM 298600

TT8_MAMPS 0.052923 DATA_FILE_SIZE 19304,345

HUMID 39.17 CAP_FILE_SIZE 37736,0

INTERNAL_PRESSURE 9.0304 CFSIZE 260165632,256561152

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 0 GPS 170710,014801,4755.553,-12457.566,12,1.5,12,18.7

_24V_AH 24.2,3.572

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 252 127.78 SBE_CT 228 24 132.94

Roll_motor 16 88 34.99 SBE_O2 253 19 116.36

VBD_pump_during_apogee 421 616 6284.60 WL_BBFL2VMT 726 105 1844.89

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 25 103 63.87 nil 0 0 0.00

Iridium_during_connect 36 160 141.96 nil 0 0 0.00

Iridium_during_xfer 87 223 473.20

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 50 6.09

TT8 0 19 0.00

LPSleep 713 2 16.25

TT8_Active 312 19 64.42

TT8_Sampling 901 39 373.11

TT8_CF8 193 45 92.17

TT8_Kalman 0 0 0.00

Analog_circuits 733 12 91.56

GPS_charging 0 0 0.00

Compass 794 8 66.07

RAFOS 0 0 0.00

Transponder 0 30 0.17

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

11 -0.84 -171.1 0.0 0.0 0 77 0.00 0.00 -63.90 0.000 2 0.000 0.000 132 2112 3329 0 0 0 0 0 0

78 -0.84 -171.1 4.1 -11.5 12 105 10.10 1.98 -9.15 0.000 4 0.252 0.080 2565 3328 3850 0 0 0 0 0 0

195 -0.61 -171.1 42.6 -22.8 34 202 0.25 1.95 0.00 0.000 6 0.149 0.049 2642 2091 3852 0 0 0 0 0 0

521 -0.61 -171.1 86.4 -12.7 95 528 0.00 2.00 0.00 0.000 4 0.000 0.065 2635 3325 3853 0 0 0 0 0 0

531 end dive: TARGET_DEPTH_EXCEEDED

state 531 begin apogee

535 -0.18 0.0 87.8 12.0 97 674 0.45 0.00 131.95 0.617 6 0.130 0.000 2782 1992 3149 0 0 0 0 0 0

674 end apogee: CONTROL_FINISHED_OK

state 674 begin climb

675 0.84 171.1 94.7 0.0 124 819 1.00 2.05 134.93 0.594 4 0.094 0.058 3124 771 2451 0 0 0 0 0 0

920 0.53 171.1 75.2 13.8 171 926 0.32 1.98 0.00 0.000 6 0.153 0.051 3026 1996 2448 0 0 0 0 0 0

1246 0.70 304.8 51.0 5.3 232 1360 0.15 2.08 104.85 0.584 4 0.086 0.061 3090 3227 1905 0 0 0 0 0 0

1444 0.65 333.6 31.1 9.8 270 1472 0.10 1.98 23.58 0.558 6 0.137 0.051 3064 2006 1788 0 0 0 0 0 0

1792 0.98 453.7 4.8 5.9 335 1820 0.30 0.00 25.83 0.564 2 0.065 0.000 3183 2005 1658 0 0 0 0 0 0

1820 end climb: SURFACE_DEPTH_REACHED

state 1820 begin surface coast

1845 end surface coast: CONTROL_FINISHED_OK

state 1845 begin surface

ID	187	HEADING	-1	ROLL_MIN	236	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3800	ALTIM_TOP_TURN_MARGIN	0
DIVE	11	ESCAPE_HEADING_DELTA	10	ROLL_DEG	35	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2100	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2000	ALTIM_PING_DELTA	10
D_TGT	200	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	1070	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	200	SM_CC	350	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	27	XPDR_VALID	1
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	33	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	0.69999999
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	470	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3960	DEVICE1	2
T_DIVE	60	CALL_TRIES	5	C_VBD	3150	DEVICE2	20
T_MISSION	75	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	83
T_ABORT	1440	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	300	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	-1	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-24038.238	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	-7	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	175	PITCH_MIN	155	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3970	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2850	FG_AHR_24V	0	SEABIRD_T_G	0.0043543768
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.0006249955
RHO	1.023	PITCH_CNV	0.003125763	PRESSURE_YINT	-61.597298	SEABIRD_T_I	2.3401506e-05
MASS	52000	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001138132	SEABIRD_T_J	2.4672308e-06
NAV_MODE	0	PITCH_GAIN	28	AD7714Ch0Gain	128	SEABIRD_C_G	-9.9855604
FERRY_MAX	45	PITCH_TIMEOUT	17	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1126566
KALMAN_USE	2	PITCH_AD_RATE	165	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0021479612
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.0002479906
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	011208,4755.897,-12457.435,45,1.8,45,18.7	TGT_NAME	OFFSHORE
_CALLS	1	TGT_LATLONG	4700.000,-12700.000
_XMS_NAKs	0	TGT_RADIUS	1000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	011532,4755.844,-12457.413,11,1.9,11,18.7	MHEAD_RNG_PITCHd_Wd	217.6,186199,-17.7,-11.111
SPEED_LIMITS	0.192,0.289	D_GRID	87

FINISH	0.1,1.013889	_10V_AH	10.4,2.085
SM_CCo	1917,0.00,0.000,0,0,1650,367.70	FG_AHR_24Vo	0.000
SM_GC	1.14,8.25,0.00,0.00,0.050,0.000,0.000,145,2108,1650,-8.38,0.23,367.70	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4738.89,-12452.68,111099,000018	MEM	298600
TT8_MAMPS	0.052923	DATA_FILE_SIZE	19304,345
HUMID	39.17	CAP_FILE_SIZE	37736,0
INTERNAL_PRESSURE	9.0304	CFSIZE	260165632,256561152
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	0	GPS	170710,014801,4755.553,-12457.566,12,1.5,12,18.7
_24V_AH	24.2,3.572

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	252	127.78	SBE_CT	228	24	132.94
Roll_motor	16	88	34.99	SBE_O2	253	19	116.36
VBD_pump_during_apogee	421	616	6284.60	WL_BBFL2VMT	726	105	1844.89
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	25	103	63.87	nil	0	0	0.00
Iridium_during_connect	36	160	141.96	nil	0	0	0.00
Iridium_during_xfer	87	223	473.20
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	50	6.09
TT8	0	19	0.00
LPSleep	713	2	16.25
TT8_Active	312	19	64.42
TT8_Sampling	901	39	373.11
TT8_CF8	193	45	92.17
TT8_Kalman	0	0	0.00
Analog_circuits	733	12	91.56
GPS_charging	0	0	0.00
Compass	794	8	66.07
RAFOS	0	0	0.00
Transponder	0	30	0.17

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
11	-0.84	-171.1	0.0	0.0	0	77	0.00	0.00	-63.90	0.000	2	0.000	0.000	132	2112	3329	0	0	0	0	0	0
78	-0.84	-171.1	4.1	-11.5	12	105	10.10	1.98	-9.15	0.000	4	0.252	0.080	2565	3328	3850	0	0	0	0	0	0
195	-0.61	-171.1	42.6	-22.8	34	202	0.25	1.95	0.00	0.000	6	0.149	0.049	2642	2091	3852	0	0	0	0	0	0
521	-0.61	-171.1	86.4	-12.7	95	528	0.00	2.00	0.00	0.000	4	0.000	0.065	2635	3325	3853	0	0	0	0	0	0
531	end dive: TARGET_DEPTH_EXCEEDED
state	531	begin apogee
535	-0.18	0.0	87.8	12.0	97	674	0.45	0.00	131.95	0.617	6	0.130	0.000	2782	1992	3149	0	0	0	0	0	0
674	end apogee: CONTROL_FINISHED_OK
state	674	begin climb
675	0.84	171.1	94.7	0.0	124	819	1.00	2.05	134.93	0.594	4	0.094	0.058	3124	771	2451	0	0	0	0	0	0
920	0.53	171.1	75.2	13.8	171	926	0.32	1.98	0.00	0.000	6	0.153	0.051	3026	1996	2448	0	0	0	0	0	0
1246	0.70	304.8	51.0	5.3	232	1360	0.15	2.08	104.85	0.584	4	0.086	0.061	3090	3227	1905	0	0	0	0	0	0
1444	0.65	333.6	31.1	9.8	270	1472	0.10	1.98	23.58	0.558	6	0.137	0.051	3064	2006	1788	0	0	0	0	0	0
1792	0.98	453.7	4.8	5.9	335	1820	0.30	0.00	25.83	0.564	2	0.065	0.000	3183	2005	1658	0	0	0	0	0	0
1820	end climb: SURFACE_DEPTH_REACHED
state	1820	begin surface coast
1845	end surface coast: CONTROL_FINISHED_OK
state	1845	begin surface