Glider dive log

PortSusan 14Dec09 * SG506 * Dive index * Mission links * Dive 92 * 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 92 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 28 XPDR_VALID 2

D_FINISH 10 FILEMGR 0 R_STBD_OVSHOOT 17 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 28 VBD_MAX 3959

DEVICE2 -1 MAX_BUOY 180 R_STBD_OVSHOOT 17 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 92 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 214308,4808.708,-12223.906,13,1.6,13,18.4 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 11.11 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -5.4 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 9.7,1.019349,0 _10V_AH 10.4,3.827

FINISH2 9.8 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4748.51,-12221.84,120399,212102 FG_AHR_10Vo 0.000

TT8_MAMPS 0.052156 MEM 324860

HUMID 22.27 DATA_FILE_SIZE 3341,166

INTERNAL_PRESSURE 9.52875 CAP_FILE_SIZE 22233,0

TCM_TEMP 19.10 CFSIZE 260165632,256131072

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

_24V_AH 23.8,12.794 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 2 133 7.78 SBE_CT 105 24 60.06

Roll_motor 27 94 60.74 nil 0 0 0.00

VBD_pump_during_apogee 278 589 3907.59 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 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 50 0.00

TT8 0 19 0.00

LPSleep 186 2 4.25

TT8_Active 242 19 50.01

TT8_Sampling 312 39 129.40

TT8_CF8 14 45 6.77

TT8_Kalman 0 0 0.00

Analog_circuits 444 12 55.48

GPS_charging 0 0 0.00

Compass 246 8 20.51

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

11 -0.60 -175.9 0.0 0.0 0 18 0.00 0.00 -5.28 0.000 2 0.000 0.000 3181 3773 3355 0 0 0 0 0 0

19 -0.60 -175.9 11.4 -0.0 1 37 0.57 5.22 -7.60 0.000 4 0.106 0.066 2990 650 3782 0 0 1 0 0 0

66 -0.60 -175.9 14.1 -6.3 12 72 0.00 2.65 0.00 0.000 6 0.000 0.060 2983 2241 3782 0 0 0 0 0 0

105 -0.60 -175.9 16.9 -7.0 21 111 0.00 2.70 0.00 0.000 4 0.000 0.077 2972 3820 3782 0 0 0 0 0 0

179 -0.60 -175.9 22.8 -8.0 38 185 0.00 2.62 0.00 0.000 6 0.000 0.064 2972 2271 3783 0 0 0 0 0 0

218 -0.60 -175.9 25.8 -7.7 47 224 0.00 2.72 0.00 0.000 4 0.000 0.071 2972 634 3783 0 0 0 0 0 0

236 -0.60 -175.9 27.2 -7.8 51 242 0.00 2.67 0.00 0.000 6 0.000 0.058 2962 2259 3783 0 0 0 0 0 0

274 end dive: TARGET_DEPTH_EXCEEDED

state 274 begin apogee

277 -0.27 0.0 30.3 7.8 60 421 0.40 0.00 138.93 0.589 6 0.133 0.000 3087 2184 3059 0 0 0 0 0 0

422 end apogee: CONTROL_FINISHED_OK

state 422 begin climb

423 0.60 175.9 34.2 0.0 94 571 0.88 2.80 139.80 0.567 4 0.104 0.071 3380 610 2341 0 0 0 0 0 0

596 0.60 175.9 21.1 10.2 135 601 0.00 2.72 0.00 0.000 6 0.000 0.058 3379 2184 2340 0 0 0 0 0 0

635 0.60 175.9 17.2 10.3 144 639 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 2185 2340 0 0 0 0 0 0

673 0.60 175.9 13.1 10.6 153 677 0.00 0.00 0.00 0.000 6 0.000 0.000 3380 2185 2339 0 0 0 0 0 0

706 end climb: FINISH_DEPTH_REACHED

state 706 begin subsurface finish

708 0.00 0.0 9.7 -10.3 161 730 0.60 2.80 -14.00 0.000 4 0.110 0.087 3183 3778 3063 0 0 0 0 0 0

731 end subsurface finish: CONTROL_FINISHED_OK

state 731 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	92	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	28	XPDR_VALID	2
D_FINISH	10	FILEMGR	0	R_STBD_OVSHOOT	17	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	214308,4808.708,-12223.906,13,1.6,13,18.4	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	11.11	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-5.4	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	9.7,1.019349,0	_10V_AH	10.4,3.827
FINISH2	9.8	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4748.51,-12221.84,120399,212102	FG_AHR_10Vo	0.000
TT8_MAMPS	0.052156	MEM	324860
HUMID	22.27	DATA_FILE_SIZE	3341,166
INTERNAL_PRESSURE	9.52875	CAP_FILE_SIZE	22233,0
TCM_TEMP	19.10	CFSIZE	260165632,256131072
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
_24V_AH	23.8,12.794	GPS	161209,214308,4808.708,-12223.906,13,1.6,13,18.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	2	133	7.78	SBE_CT	105	24	60.06
Roll_motor	27	94	60.74	nil	0	0	0.00
VBD_pump_during_apogee	278	589	3907.59	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	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	50	0.00
TT8	0	19	0.00
LPSleep	186	2	4.25
TT8_Active	242	19	50.01
TT8_Sampling	312	39	129.40
TT8_CF8	14	45	6.77
TT8_Kalman	0	0	0.00
Analog_circuits	444	12	55.48
GPS_charging	0	0	0.00
Compass	246	8	20.51
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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
11	-0.60	-175.9	0.0	0.0	0	18	0.00	0.00	-5.28	0.000	2	0.000	0.000	3181	3773	3355	0	0	0	0	0	0
19	-0.60	-175.9	11.4	-0.0	1	37	0.57	5.22	-7.60	0.000	4	0.106	0.066	2990	650	3782	0	0	1	0	0	0
66	-0.60	-175.9	14.1	-6.3	12	72	0.00	2.65	0.00	0.000	6	0.000	0.060	2983	2241	3782	0	0	0	0	0	0
105	-0.60	-175.9	16.9	-7.0	21	111	0.00	2.70	0.00	0.000	4	0.000	0.077	2972	3820	3782	0	0	0	0	0	0
179	-0.60	-175.9	22.8	-8.0	38	185	0.00	2.62	0.00	0.000	6	0.000	0.064	2972	2271	3783	0	0	0	0	0	0
218	-0.60	-175.9	25.8	-7.7	47	224	0.00	2.72	0.00	0.000	4	0.000	0.071	2972	634	3783	0	0	0	0	0	0
236	-0.60	-175.9	27.2	-7.8	51	242	0.00	2.67	0.00	0.000	6	0.000	0.058	2962	2259	3783	0	0	0	0	0	0
274	end dive: TARGET_DEPTH_EXCEEDED
state	274	begin apogee
277	-0.27	0.0	30.3	7.8	60	421	0.40	0.00	138.93	0.589	6	0.133	0.000	3087	2184	3059	0	0	0	0	0	0
422	end apogee: CONTROL_FINISHED_OK
state	422	begin climb
423	0.60	175.9	34.2	0.0	94	571	0.88	2.80	139.80	0.567	4	0.104	0.071	3380	610	2341	0	0	0	0	0	0
596	0.60	175.9	21.1	10.2	135	601	0.00	2.72	0.00	0.000	6	0.000	0.058	3379	2184	2340	0	0	0	0	0	0
635	0.60	175.9	17.2	10.3	144	639	0.00	0.00	0.00	0.000	6	0.000	0.000	3380	2185	2340	0	0	0	0	0	0
673	0.60	175.9	13.1	10.6	153	677	0.00	0.00	0.00	0.000	6	0.000	0.000	3380	2185	2339	0	0	0	0	0	0
706	end climb: FINISH_DEPTH_REACHED
state	706	begin subsurface finish
708	0.00	0.0	9.7	-10.3	161	730	0.60	2.80	-14.00	0.000	4	0.110	0.087	3183	3778	3063	0	0	0	0	0	0
731	end subsurface finish: CONTROL_FINISHED_OK
state	731	begin surface