Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 5 * 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 5 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 450 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 26 XPDR_VALID 1

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 31 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 -23938.664 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 2842 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 2 PITCH_GAIN 30 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 450

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 30 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 -23938.664

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 2842 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 26 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 175 R_STBD_OVSHOOT 31 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 5 NAV_MODE 2 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 213851,4757.113,-12457.875,6,2.4,25,18.8 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 -74.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 214228,4757.104,-12457.829,15,2.3,34,18.8 MHEAD_RNG_PITCHd_Wd 248.8,187072,-17.7,-11.111

SPEED_LIMITS 0.192,0.289 D_GRID 85

Post-dive calculations and measurements:

FINISH 0.2,1.011433 _10V_AH 10.4,1.828

SM_CCo 1955,52.85,0.491,1,0,1315,450.13 FG_AHR_24Vo 0.000

SM_GC 0.98,0.00,0.00,52.85,0.000,0.000,0.491,145,2113,1315,-8.42,0.37,450.13 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4738.89,-12455.31,101099,212148 MEM 298632

TT8_MAMPS 0.052923 DATA_FILE_SIZE 19219,358

HUMID 39.36 CAP_FILE_SIZE 39149,0

INTERNAL_PRESSURE 9.0304 CFSIZE 260165632,256733184

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 CURRENT 0.153,123.1,1

_24V_AH 24.3,3.120 GPS 160710,221725,4757.005,-12457.894,62,1.1,62,18.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 249 125.24 SBE_CT 237 24 138.72

Roll_motor 16 89 35.22 SBE_O2 259 19 119.99

VBD_pump_during_apogee 406 613 6062.60 WL_BBFL2VMT 753 105 1921.86

VBD_pump_during_surface 52 490 630.42 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 26 103 65.59 nil 0 0 0.00

Iridium_during_connect 29 160 112.81 nil 0 0 0.00

Iridium_during_xfer 84 223 459.16

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 35 50 18.63

TT8 0 19 0.00

LPSleep 693 2 15.80

TT8_Active 386 19 79.52

TT8_Sampling 967 39 400.35

TT8_CF8 183 45 87.40

TT8_Kalman 0 0 0.00

Analog_circuits 808 12 100.87

GPS_charging 0 0 0.00

Compass 828 8 68.89

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 -0.80 -171.1 0.0 0.0 0 90 0.00 0.00 -76.78 0.000 2 0.000 0.000 131 2116 3188 0 0 0 0 0 0

91 -0.80 -171.1 3.1 -7.2 14 119 10.00 1.92 -12.88 0.000 4 0.249 0.074 2570 3342 3846 0 0 0 0 0 0

145 -0.39 -171.1 22.9 -37.8 24 152 0.45 1.98 0.00 0.000 6 0.152 0.049 2708 2095 3848 0 0 0 0 0 0

472 -0.52 -171.1 57.0 -8.4 85 479 0.00 1.92 0.00 0.000 4 0.000 0.056 2708 857 3848 0 0 0 0 0 0

568 -0.70 -171.1 64.8 -8.3 103 575 0.22 1.95 0.00 0.000 6 0.050 0.055 2601 2101 3848 0 0 0 0 0 0

702 end dive: TARGET_DEPTH_EXCEEDED

state 702 begin apogee

705 -0.17 0.0 85.1 16.1 128 845 0.55 0.00 130.95 0.614 6 0.140 0.000 2778 1976 3150 0 0 0 0 0 0

845 end apogee: CONTROL_FINISHED_OK

state 845 begin climb

846 0.80 171.1 91.9 0.0 154 988 0.95 2.08 134.95 0.593 4 0.096 0.057 3095 3235 2452 0 0 0 0 0 0

1084 0.49 171.1 73.5 13.5 198 1090 0.32 1.98 0.00 0.000 6 0.145 0.049 3004 2007 2447 0 0 0 0 0 0

1410 0.76 350.6 53.6 3.3 259 1559 0.22 2.03 140.70 0.582 4 0.072 0.059 3105 766 1718 0 0 0 0 0 0

1659 0.83 350.6 27.6 12.0 305 1666 0.00 1.98 0.00 0.000 6 0.000 0.054 3105 1996 1714 0 0 0 0 0 0

1905 end climb: SURFACE_DEPTH_REACHED

state 1905 begin surface coast

1943 end surface coast: CONTROL_FINISHED_OK

state 1943 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	5	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	450	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	26	XPDR_VALID	1
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	31	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	-23938.664	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	2842	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	2	PITCH_GAIN	30	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	213851,4757.113,-12457.875,6,2.4,25,18.8	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	-74.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	214228,4757.104,-12457.829,15,2.3,34,18.8	MHEAD_RNG_PITCHd_Wd	248.8,187072,-17.7,-11.111
SPEED_LIMITS	0.192,0.289	D_GRID	85

FINISH	0.2,1.011433	_10V_AH	10.4,1.828
SM_CCo	1955,52.85,0.491,1,0,1315,450.13	FG_AHR_24Vo	0.000
SM_GC	0.98,0.00,0.00,52.85,0.000,0.000,0.491,145,2113,1315,-8.42,0.37,450.13	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4738.89,-12455.31,101099,212148	MEM	298632
TT8_MAMPS	0.052923	DATA_FILE_SIZE	19219,358
HUMID	39.36	CAP_FILE_SIZE	39149,0
INTERNAL_PRESSURE	9.0304	CFSIZE	260165632,256733184
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	CURRENT	0.153,123.1,1
_24V_AH	24.3,3.120	GPS	160710,221725,4757.005,-12457.894,62,1.1,62,18.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	249	125.24	SBE_CT	237	24	138.72
Roll_motor	16	89	35.22	SBE_O2	259	19	119.99
VBD_pump_during_apogee	406	613	6062.60	WL_BBFL2VMT	753	105	1921.86
VBD_pump_during_surface	52	490	630.42	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	26	103	65.59	nil	0	0	0.00
Iridium_during_connect	29	160	112.81	nil	0	0	0.00
Iridium_during_xfer	84	223	459.16
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	35	50	18.63
TT8	0	19	0.00
LPSleep	693	2	15.80
TT8_Active	386	19	79.52
TT8_Sampling	967	39	400.35
TT8_CF8	183	45	87.40
TT8_Kalman	0	0	0.00
Analog_circuits	808	12	100.87
GPS_charging	0	0	0.00
Compass	828	8	68.89
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	-0.80	-171.1	0.0	0.0	0	90	0.00	0.00	-76.78	0.000	2	0.000	0.000	131	2116	3188	0	0	0	0	0	0
91	-0.80	-171.1	3.1	-7.2	14	119	10.00	1.92	-12.88	0.000	4	0.249	0.074	2570	3342	3846	0	0	0	0	0	0
145	-0.39	-171.1	22.9	-37.8	24	152	0.45	1.98	0.00	0.000	6	0.152	0.049	2708	2095	3848	0	0	0	0	0	0
472	-0.52	-171.1	57.0	-8.4	85	479	0.00	1.92	0.00	0.000	4	0.000	0.056	2708	857	3848	0	0	0	0	0	0
568	-0.70	-171.1	64.8	-8.3	103	575	0.22	1.95	0.00	0.000	6	0.050	0.055	2601	2101	3848	0	0	0	0	0	0
702	end dive: TARGET_DEPTH_EXCEEDED
state	702	begin apogee
705	-0.17	0.0	85.1	16.1	128	845	0.55	0.00	130.95	0.614	6	0.140	0.000	2778	1976	3150	0	0	0	0	0	0
845	end apogee: CONTROL_FINISHED_OK
state	845	begin climb
846	0.80	171.1	91.9	0.0	154	988	0.95	2.08	134.95	0.593	4	0.096	0.057	3095	3235	2452	0	0	0	0	0	0
1084	0.49	171.1	73.5	13.5	198	1090	0.32	1.98	0.00	0.000	6	0.145	0.049	3004	2007	2447	0	0	0	0	0	0
1410	0.76	350.6	53.6	3.3	259	1559	0.22	2.03	140.70	0.582	4	0.072	0.059	3105	766	1718	0	0	0	0	0	0
1659	0.83	350.6	27.6	12.0	305	1666	0.00	1.98	0.00	0.000	6	0.000	0.054	3105	1996	1714	0	0	0	0	0	0
1905	end climb: SURFACE_DEPTH_REACHED
state	1905	begin surface coast
1943	end surface coast: CONTROL_FINISHED_OK
state	1943	begin surface