Glider dive log

PortSusan 17Jun09 * SG159 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 159 HEADING -1 ROLL_MAX 4045 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 6 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2100 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1900 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_NO_BLEED 80 SM_CC 600 R_PORT_OVSHOOT 34 XPDR_VALID 0

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 48 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_SAFE 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDER 0

D_CALL 0 KERMIT 0 ROLL_ADJ_DBAND 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 VBD_MIN 188 MOTHERBOARD 5

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MAX 3616 DEVICE1 2

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 C_VBD 3060 DEVICE2 39

T_DIVE 50 CALL_TRIES 5 VBD_DBAND 2 DEVICE3 -1

T_MISSION 65 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE4 -1

T_ABORT 1440 CAPUPLOAD 1 VBD_TIMEOUT 720 DEVICE5 -1

T_TURN 270 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_TURN_SAMPINT 5 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 4 SMARTS 0

T_NO_W 240 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 SMARTDEVICE1 -1

T_LOITER 0 N_GPS 20 VBD_BLEED_AD_RATE 8 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS_ALMANAC 0 UNCOM_BLEED 20 COMPASS_DEVICE 33

USE_ICE 0 T_GPS_CHARGE -84065.242 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 0 PHONE_DEVICE 48

D_OFFGRID 100 RAFOS_PEAK_OFFSET 1.5 AH0_24V 150 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 137 MINV_10V 8 SIM_W 0

MAX_BUOY 100 PITCH_MAX 3974 FG_AHR_10V 4.9609771 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2754 FG_AHR_24V 3.3346822 SEABIRD_T_G 0.0043238276

GLIDE_SLOPE 45 PITCH_DBAND 0.050000001 PHONE_SUPPLY 2 SEABIRD_T_H 0.00063342927

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_YINT -12.938553 SEABIRD_T_I 2.5365067e-05

RHO 1.023 P_OVSHOOT 0.1 PRESSURE_SLOPE 0.0001162598 SEABIRD_T_J 2.820881e-06

MASS 51634 PITCH_GAIN 25 AD7714Ch0Gain 128 SEABIRD_C_G -10.044323

NAV_MODE 1 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1187451

FERRY_MAX 45 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012779017

KALMAN_USE 1 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00018763109

HD_A 0.0041149999 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_PING_RANGE 0

HD_B 0.014024 PITCH_ADJ_DBAND 0 ALTIM_TOP_PING_RANGE 0

HD_C 5.5727e-05 ROLL_MIN 253 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_ADJ_GAIN 0 SMARTS 0

AH0_10V 100 D_NO_BLEED 80 PITCH_AD_RATE 175 SM_CC 600

AH0_24V 150 D_OFFGRID 100 PITCH_CNV 0.003125763 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_DBAND 0.050000001 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_GAIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 4 PITCH_MAX 3974 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 150 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PITCH_MIN 137 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_TIMEOUT 15 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 4.9609771 PRESSURE_SLOPE 0.0001162598 TGT_DEFAULT_LON -12218

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 3.3346822 PRESSURE_YINT -12.938553 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 P_OVSHOOT 0.1 T_DIVE 50

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_GPS 15

CALL_NDIVES 1 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_GPS_ALMANAC 0

CALL_TRIES 5 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS_CHARGE -84065.242

CALL_WAIT 60 HD_A 0.0041149999 RAFOS_PEAK_OFFSET 1.5 T_LOITER 0

CAPMAXSIZE 100000 HD_B 0.014024 RELAUNCH 1 T_MISSION 65

CAPUPLOAD 1 HD_C 5.5727e-05 RHO 1.023 T_NO_W 240

CF8_MAXERRORS 0 HEADING -1 ROLL_ADJ_DBAND 0 T_RSLEEP 3

COMM_SEQ 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_TURN 270

COMPASS2_DEVICE -1 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_WATCHDOG 10

COMPASS_USE 0 ID 159 ROLL_DEG 40 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 4045 UPLOAD_DIVES_MAX -1

C_PITCH 2754 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 USE_BATHY -4

C_ROLL_CLIMB 1900 KALMAN_USE 1 ROLL_MIN 253 USE_ICE 0

C_ROLL_DIVE 2100 KERMIT 0 ROLL_TIMEOUT 15 VBD_BLEED_AD_RATE 8

C_VBD 3060 MASS 51634 R_PORT_OVSHOOT 34 VBD_CNV -0.24529999

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 48 VBD_DBAND 2

DEEPGLIDERMB 0 MINV_10V 8 SEABIRD_C_G -10.044323 VBD_MAX 3616

DEVICE1 2 MINV_24V 19 SEABIRD_C_H 1.1187451 VBD_MAXERRORS 1

DEVICE2 39 MISSION 3 SEABIRD_C_I -0.0012779017 VBD_MIN 188

DEVICE3 -1 MOTHERBOARD 5 SEABIRD_C_J 0.00018763109 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 NAV_MODE 1 SEABIRD_T_G 0.0043238276 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_FILEKB 4 SEABIRD_T_H 0.00063342927 VBD_TIMEOUT 720

DEVICE6 -1 N_GPS 20 SEABIRD_T_I 2.5365067e-05 XPDR_DEVICE 24

DIVE 6 N_NOCOMM 1 SEABIRD_T_J 2.820881e-06 XPDR_INHIBIT 90

D_ABORT 1090 N_NOSURFACE 0 SIM_PITCH 0 XPDR_VALID 0

D_BOOST 0 PHONE_DEVICE 48 SIM_W 0

D_CALL 0 PHONE_SUPPLY 2 SMARTDEVICE1 -1

D_FINISH 0 PITCH_ADJ_DBAND 0 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 215034,4807.959,-12222.934,11,99.0,30,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.045,-0.171

_SM_DEPTHo 0.45 KALMAN_X -275.3,-127.1,-99.6,78.6,-45.2

_SM_ANGLEo -73.7 KALMAN_Y 947.9,525.8,319.2,-43.4,199.4

GPS2 215707,4808.048,-12222.967,9,1.4,14,18.3 MHEAD_RNG_PITCHd_Wd 146.9,3978,-26.4,-10.000

SPEED_LIMITS 0.100,0.177 D_GRID 101

Post-dive calculations and measurements:

FINISH 4.3,1.021295 _10V_AH 10.6,0.349

SM_CCo 1986,367.90,0.700,0,0,614,600.00 FG_AHR_24Vo 3.443

SM_GC 0.57,0.00,0.00,367.90,0.007,0.000,0.700,150,2091,614,-8.14,-0.23,600.00 FG_AHR_10Vo 4.993

SUPER 3,206,254,0,0,0 MEM 324336

IRIDIUM_FIX 4751.72,-12056.72,110998,212125 DATA_FILE_SIZE 16024,348

HUMID 1078630467 CAP_FILE_SIZE 40263,0

INTERNAL_PRESSURE 7.91394 CFSIZE 260034560,257265664

TCM_TEMP 13.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 3 GPS 170609,223820,4808.007,-12222.895,11,2.0,11,18.3

_24V_AH 24.4,0.918

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 239 109.52 SBE_CT 201 24 118.10

Roll_motor 21 49 25.25 WL_BB2F 653 105 1674.00

VBD_pump_during_apogee 152 753 2805.06 nil 0 0 0.00

VBD_pump_during_surface 367 699 6282.80 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 64.39 nil 0 0 0.00

Iridium_during_connect 32 160 126.37 nil 0 0 0.00

Iridium_during_xfer 194 223 1060.71

Transponder_ping 2 420 23.06

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.64

TT8 509 19 106.94

LPSleep 430 2 9.99

TT8_Active 568 19 119.38

TT8_Sampling 852 39 359.78

TT8_CF8 401 45 194.94

TT8_Kalman 33 81 28.89

Analog_circuits 725 12 92.30

GPS_charging 0 0 0.00

Compass 841 8 71.34

RAFOS 0 0 0.00

Transponder 14 30 4.47

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

25 -1.18 -97.8 0.0 0.0 0 153 0.00 0.00 -124.00 0.000 2 0.007 0.000 151 2103 3457 0 0 0 0 0 0

158 -1.18 -97.8 3.1 -4.1 24 172 8.18 2.12 0.00 0.013 4 0.240 0.047 2338 3504 3458 0 0 0 0 0 0

265 -1.18 -97.8 16.3 -8.5 43 272 0.03 2.10 0.00 0.050 6 0.050 0.043 2347 2086 3459 0 0 0 0 0 0

338 -1.18 -97.8 24.6 -11.1 56 345 0.00 2.12 0.00 0.000 4 0.007 0.049 2338 3499 3459 0 0 0 0 0 0

543 -1.18 -97.8 55.8 -16.2 93 550 0.03 2.03 0.00 0.012 6 0.012 0.042 2349 2098 3460 0 0 0 0 0 0

683 -1.18 -97.8 77.6 -15.1 118 689 0.00 2.10 0.00 0.007 4 0.007 0.047 2341 3498 3460 0 0 0 0 0 0

840 end dive: TARGET_DEPTH_EXCEEDED

state 840 begin apogee

849 -0.20 0.0 101.2 14.1 145 927 0.98 0.00 71.18 0.754 6 0.160 0.025 2664 1903 3059 0 0 0 0 0 0

928 end apogee: CONTROL_FINISHED_OK

state 928 begin climb

930 1.18 97.8 105.5 0.0 160 1009 1.23 0.00 72.60 0.725 6 0.085 0.016 3113 1903 2661 0 0 0 0 0 0

1144 1.18 97.8 81.9 12.4 199 1150 0.00 2.10 0.00 0.007 4 0.007 0.035 3111 3299 2660 0 0 0 0 0 0

1452 1.18 97.8 43.4 10.4 254 1458 0.00 2.10 0.00 0.015 6 0.015 0.045 3115 1907 2659 0 0 0 0 0 0

1589 1.19 107.8 29.6 9.3 279 1608 0.00 2.10 8.73 0.630 4 0.007 0.047 3112 3296 2620 0 0 0 0 0 0

1856 end climb: SURFACE_DEPTH_REACHED

state 1856 begin surface coast

1964 end surface coast: CONTROL_FINISHED_OK

state 1965 begin surface

ID	159	HEADING	-1	ROLL_MAX	4045	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	6	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2100	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1900	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_NO_BLEED	80	SM_CC	600	R_PORT_OVSHOOT	34	XPDR_VALID	0
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	48	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_SAFE	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDER	0
D_CALL	0	KERMIT	0	ROLL_ADJ_DBAND	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	VBD_MIN	188	MOTHERBOARD	5
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MAX	3616	DEVICE1	2
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	C_VBD	3060	DEVICE2	39
T_DIVE	50	CALL_TRIES	5	VBD_DBAND	2	DEVICE3	-1
T_MISSION	65	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE4	-1
T_ABORT	1440	CAPUPLOAD	1	VBD_TIMEOUT	720	DEVICE5	-1
T_TURN	270	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_TURN_SAMPINT	5	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	4	SMARTS	0
T_NO_W	240	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	SMARTDEVICE1	-1
T_LOITER	0	N_GPS	20	VBD_BLEED_AD_RATE	8	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS_ALMANAC	0	UNCOM_BLEED	20	COMPASS_DEVICE	33
USE_ICE	0	T_GPS_CHARGE	-84065.242	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	0	PHONE_DEVICE	48
D_OFFGRID	100	RAFOS_PEAK_OFFSET	1.5	AH0_24V	150	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	137	MINV_10V	8	SIM_W	0
MAX_BUOY	100	PITCH_MAX	3974	FG_AHR_10V	4.9609771	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2754	FG_AHR_24V	3.3346822	SEABIRD_T_G	0.0043238276
GLIDE_SLOPE	45	PITCH_DBAND	0.050000001	PHONE_SUPPLY	2	SEABIRD_T_H	0.00063342927
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_YINT	-12.938553	SEABIRD_T_I	2.5365067e-05
RHO	1.023	P_OVSHOOT	0.1	PRESSURE_SLOPE	0.0001162598	SEABIRD_T_J	2.820881e-06
MASS	51634	PITCH_GAIN	25	AD7714Ch0Gain	128	SEABIRD_C_G	-10.044323
NAV_MODE	1	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1187451
FERRY_MAX	45	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012779017
KALMAN_USE	1	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00018763109
HD_A	0.0041149999	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_PING_RANGE	0
HD_B	0.014024	PITCH_ADJ_DBAND	0	ALTIM_TOP_PING_RANGE	0
HD_C	5.5727e-05	ROLL_MIN	253	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	215034,4807.959,-12222.934,11,99.0,30,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.045,-0.171
_SM_DEPTHo	0.45	KALMAN_X	-275.3,-127.1,-99.6,78.6,-45.2
_SM_ANGLEo	-73.7	KALMAN_Y	947.9,525.8,319.2,-43.4,199.4
GPS2	215707,4808.048,-12222.967,9,1.4,14,18.3	MHEAD_RNG_PITCHd_Wd	146.9,3978,-26.4,-10.000
SPEED_LIMITS	0.100,0.177	D_GRID	101

FINISH	4.3,1.021295	_10V_AH	10.6,0.349
SM_CCo	1986,367.90,0.700,0,0,614,600.00	FG_AHR_24Vo	3.443
SM_GC	0.57,0.00,0.00,367.90,0.007,0.000,0.700,150,2091,614,-8.14,-0.23,600.00	FG_AHR_10Vo	4.993
SUPER	3,206,254,0,0,0	MEM	324336
IRIDIUM_FIX	4751.72,-12056.72,110998,212125	DATA_FILE_SIZE	16024,348
HUMID	1078630467	CAP_FILE_SIZE	40263,0
INTERNAL_PRESSURE	7.91394	CFSIZE	260034560,257265664
TCM_TEMP	13.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	3	GPS	170609,223820,4808.007,-12222.895,11,2.0,11,18.3
_24V_AH	24.4,0.918

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	239	109.52	SBE_CT	201	24	118.10
Roll_motor	21	49	25.25	WL_BB2F	653	105	1674.00
VBD_pump_during_apogee	152	753	2805.06	nil	0	0	0.00
VBD_pump_during_surface	367	699	6282.80	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	64.39	nil	0	0	0.00
Iridium_during_connect	32	160	126.37	nil	0	0	0.00
Iridium_during_xfer	194	223	1060.71
Transponder_ping	2	420	23.06
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.64
TT8	509	19	106.94
LPSleep	430	2	9.99
TT8_Active	568	19	119.38
TT8_Sampling	852	39	359.78
TT8_CF8	401	45	194.94
TT8_Kalman	33	81	28.89
Analog_circuits	725	12	92.30
GPS_charging	0	0	0.00
Compass	841	8	71.34
RAFOS	0	0	0.00
Transponder	14	30	4.47

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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
25	-1.18	-97.8	0.0	0.0	0	153	0.00	0.00	-124.00	0.000	2	0.007	0.000	151	2103	3457	0	0	0	0	0	0
158	-1.18	-97.8	3.1	-4.1	24	172	8.18	2.12	0.00	0.013	4	0.240	0.047	2338	3504	3458	0	0	0	0	0	0
265	-1.18	-97.8	16.3	-8.5	43	272	0.03	2.10	0.00	0.050	6	0.050	0.043	2347	2086	3459	0	0	0	0	0	0
338	-1.18	-97.8	24.6	-11.1	56	345	0.00	2.12	0.00	0.000	4	0.007	0.049	2338	3499	3459	0	0	0	0	0	0
543	-1.18	-97.8	55.8	-16.2	93	550	0.03	2.03	0.00	0.012	6	0.012	0.042	2349	2098	3460	0	0	0	0	0	0
683	-1.18	-97.8	77.6	-15.1	118	689	0.00	2.10	0.00	0.007	4	0.007	0.047	2341	3498	3460	0	0	0	0	0	0
840	end dive: TARGET_DEPTH_EXCEEDED
state	840	begin apogee
849	-0.20	0.0	101.2	14.1	145	927	0.98	0.00	71.18	0.754	6	0.160	0.025	2664	1903	3059	0	0	0	0	0	0
928	end apogee: CONTROL_FINISHED_OK
state	928	begin climb
930	1.18	97.8	105.5	0.0	160	1009	1.23	0.00	72.60	0.725	6	0.085	0.016	3113	1903	2661	0	0	0	0	0	0
1144	1.18	97.8	81.9	12.4	199	1150	0.00	2.10	0.00	0.007	4	0.007	0.035	3111	3299	2660	0	0	0	0	0	0
1452	1.18	97.8	43.4	10.4	254	1458	0.00	2.10	0.00	0.015	6	0.015	0.045	3115	1907	2659	0	0	0	0	0	0
1589	1.19	107.8	29.6	9.3	279	1608	0.00	2.10	8.73	0.630	4	0.007	0.047	3112	3296	2620	0	0	0	0	0	0
1856	end climb: SURFACE_DEPTH_REACHED
state	1856	begin surface coast
1964	end surface coast: CONTROL_FINISHED_OK
state	1965	begin surface