Glider dive log

DavisStrait Oct09 * SG143 * Dive index * Mission links * Dive 1 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 143 HEADING -1 ROLL_MIN 290 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 8 ESCAPE_HEADING 0 ROLL_MAX 3915 ALTIM_TOP_TURN_MARGIN 0

DIVE 1 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2102 ALTIM_PING_DEPTH 400

D_FLARE 3 TGT_DEFAULT_LAT -2030 C_ROLL_CLIMB 2102 ALTIM_PING_DELTA 25

D_TGT 45 TGT_DEFAULT_LON 5900 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 100 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 4

D_NO_BLEED 50 SM_CC 632.93127 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 36 XPDR_VALID 0

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 0 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 442 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3793 DEVICE1 2

T_DIVE 15 CALL_TRIES 5 C_VBD 3063 DEVICE2 20

T_MISSION 30 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 -1

T_ABORT 720 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 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 0

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY -2 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -18329.607 UNCOM_BLEED 20 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 -3 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE 16

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 127 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 4070 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2500 FG_AHR_24V 0 SEABIRD_T_G 0.0043131942

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00062854384

RHO 1.0275 PITCH_CNV 0.0031256729 PRESSURE_YINT -23.246302 SEABIRD_T_I 2.3348166e-05

MASS 51701 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001163694 SEABIRD_T_J 2.4454023e-06

NAV_MODE 2 PITCH_GAIN 27 AD7714Ch0Gain 128 SEABIRD_C_G -10.029707

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1484355

KALMAN_USE 2 PITCH_AD_RATE 150 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0010294267

HD_A 0.0038360001 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00016845814

HD_B 0.010078 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.8541004e-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 50 PHONE_SUPPLY 2 SM_CC 632.93127

AH0_24V 150 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 8 D_SAFE 0 PITCH_AD_RATE 150 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_TGT 45 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 400 ESCAPE_HEADING 0 PITCH_GAIN 27 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING_DELTA 10 PITCH_MAX 4070 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 45 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_10V 0 PITCH_MIN 127 TGT_DEFAULT_LAT -2030

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON 5900

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001163694 T_DIVE 15

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -23.246302 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.0038360001 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -18329.607

CAPMAXSIZE 100000 HD_B 0.010078 RAFOS_DEVICE 16 T_LOITER 0

CAPUPLOAD 0 HD_C 9.8541004e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 30

CF8_MAXERRORS 20 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH -3 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.0275 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 143 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2500 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2102 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY -2

C_ROLL_DIVE 2102 KERMIT 0 ROLL_MAX 3915 USE_ICE 0

C_VBD 3063 LOGGERDEVICE1 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 290 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 0 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51701 R_PORT_OVSHOOT 36 VBD_MAX 3793

DEVICE2 20 MAX_BUOY 150 R_STBD_OVSHOOT 33 VBD_MAXERRORS 1

DEVICE3 -1 MINV_10V 8 SEABIRD_C_G -10.029707 VBD_MIN 442

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1484355 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 8 SEABIRD_C_I -0.0010294267 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00016845814 VBD_TIMEOUT 720

DIVE 1 NAV_MODE 2 SEABIRD_T_G 0.0043131942 XPDR_DEVICE 24

D_ABORT 100 N_FILEKB 8 SEABIRD_T_H 0.00062854384 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.3348166e-05 XPDR_VALID 0

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 2.4454023e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 154233,6645.400,-6006.179,7,2.1,26,-38.1 TGT_NAME TARGET_W_IN

_CALLS 1 TGT_LATLONG 6642.000,-6043.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.77 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 154531,6645.374,-6006.166,10,1.8,15,-38.1 MHEAD_RNG_PITCHd_Wd 295.1,27697,-18.3,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 597

Post-dive calculations and measurements:

FINISH 0.4,1.025085 _24V_AH 24.4,3.985

SM_CCo 1597,137.68,0.693,0,0,482,633.12 _10V_AH 10.5,1.248

SM_GC 0.89,0.00,0.00,137.68,0.000,0.000,0.693,124,2110,482,-7.42,0.23,633.12 FG_AHR_24Vo 0.000

RAFOS_CLK 143 FG_AHR_10Vo 0.000

RAFOS 0,1255190645,16.083334,16.068056,66,41,41,0,0,0,508,627,1714,0,0,0 MEM 152744

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 9636,282

IRIDIUM_FIX 6614.97,-6011.26,040199,151526 CAP_FILE_SIZE 46259,0

TT8_MAMPS 0.027612 CFSIZE 260165632,250728448

HUMID 53.70 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.86753 SOUNDSPEED 1446.1

TCM_TEMP 17.10 CURRENT 0.427,182.3,1

XPDR_PINGS 3 GPS 101009,161656,6645.150,-6006.383,11,1.6,11,-38.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 283 129.83 SBE_CT 196 24 115.18

Roll_motor 13 91 30.73 SBE_O2 181 19 83.97

VBD_pump_during_apogee 365 791 7067.84 nil 0 0 0.00

VBD_pump_during_surface 137 693 2329.21 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 7.69

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.69

TT8 389 19 81.55

LPSleep 426 2 10.36

TT8_Active 553 19 115.68

TT8_Sampling 425 39 178.21

TT8_CF8 96 45 46.31

TT8_Kalman 0 0 0.00

Analog_circuits 850 12 107.14

GPS_charging 0 0 0.00

Compass 415 8 34.88

RAFOS 360 1 5.67

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.86 -146.0 0.0 0.0 0 159 0.00 0.00 -140.18 0.000 2 0.000 0.000 124 2098 3163 0 0 0 0 0 0

162 -0.86 -146.0 3.1 -7.6 27 189 9.32 2.25 -11.40 0.000 4 0.284 0.091 2217 694 3662 0 0 0 0 0 0

229 -0.97 -146.0 18.2 -14.3 39 234 0.00 2.22 0.00 0.000 6 0.000 0.068 2217 2101 3663 0 0 0 0 0 0

429 end dive: TARGET_DEPTH_EXCEEDED

state 429 begin apogee

433 -0.19 0.0 45.2 12.5 75 551 0.70 0.00 109.07 0.792 6 0.162 0.000 2429 2101 3062 0 0 0 0 0 0

552 end apogee: CONTROL_FINISHED_OK

state 552 begin climb

554 0.86 146.0 51.9 0.0 98 678 1.00 2.42 110.15 0.728 4 0.085 0.081 2779 711 2465 0 0 0 0 0 0

931 0.70 306.2 56.1 2.6 165 1062 0.17 2.22 120.28 0.734 6 0.230 0.070 2732 2102 1812 0 0 0 0 0 0

1401 0.75 341.4 18.1 8.4 250 1433 0.00 2.35 26.45 0.731 4 0.000 0.084 2741 700 1670 0 0 0 0 0 0

1561 end climb: SURFACE_DEPTH_REACHED

state 1561 begin surface coast

1579 end surface coast: CONTROL_FINISHED_OK

state 1579 begin surface

ID	143	HEADING	-1	ROLL_MIN	290	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	8	ESCAPE_HEADING	0	ROLL_MAX	3915	ALTIM_TOP_TURN_MARGIN	0
DIVE	1	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2102	ALTIM_PING_DEPTH	400
D_FLARE	3	TGT_DEFAULT_LAT	-2030	C_ROLL_CLIMB	2102	ALTIM_PING_DELTA	25
D_TGT	45	TGT_DEFAULT_LON	5900	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	100	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	4
D_NO_BLEED	50	SM_CC	632.93127	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	36	XPDR_VALID	0
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	0	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	442	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3793	DEVICE1	2
T_DIVE	15	CALL_TRIES	5	C_VBD	3063	DEVICE2	20
T_MISSION	30	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	-1
T_ABORT	720	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	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	0
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-18329.607	UNCOM_BLEED	20	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	-3	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	16
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	127	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	4070	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2500	FG_AHR_24V	0	SEABIRD_T_G	0.0043131942
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00062854384
RHO	1.0275	PITCH_CNV	0.0031256729	PRESSURE_YINT	-23.246302	SEABIRD_T_I	2.3348166e-05
MASS	51701	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001163694	SEABIRD_T_J	2.4454023e-06
NAV_MODE	2	PITCH_GAIN	27	AD7714Ch0Gain	128	SEABIRD_C_G	-10.029707
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1484355
KALMAN_USE	2	PITCH_AD_RATE	150	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0010294267
HD_A	0.0038360001	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00016845814
HD_B	0.010078	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.8541004e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	154233,6645.400,-6006.179,7,2.1,26,-38.1	TGT_NAME	TARGET_W_IN
_CALLS	1	TGT_LATLONG	6642.000,-6043.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.77	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	154531,6645.374,-6006.166,10,1.8,15,-38.1	MHEAD_RNG_PITCHd_Wd	295.1,27697,-18.3,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	597

FINISH	0.4,1.025085	_24V_AH	24.4,3.985
SM_CCo	1597,137.68,0.693,0,0,482,633.12	_10V_AH	10.5,1.248
SM_GC	0.89,0.00,0.00,137.68,0.000,0.000,0.693,124,2110,482,-7.42,0.23,633.12	FG_AHR_24Vo	0.000
RAFOS_CLK	143	FG_AHR_10Vo	0.000
RAFOS	0,1255190645,16.083334,16.068056,66,41,41,0,0,0,508,627,1714,0,0,0	MEM	152744
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	9636,282
IRIDIUM_FIX	6614.97,-6011.26,040199,151526	CAP_FILE_SIZE	46259,0
TT8_MAMPS	0.027612	CFSIZE	260165632,250728448
HUMID	53.70	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.86753	SOUNDSPEED	1446.1
TCM_TEMP	17.10	CURRENT	0.427,182.3,1
XPDR_PINGS	3	GPS	101009,161656,6645.150,-6006.383,11,1.6,11,-38.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	283	129.83	SBE_CT	196	24	115.18
Roll_motor	13	91	30.73	SBE_O2	181	19	83.97
VBD_pump_during_apogee	365	791	7067.84	nil	0	0	0.00
VBD_pump_during_surface	137	693	2329.21	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	7.69
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.69
TT8	389	19	81.55
LPSleep	426	2	10.36
TT8_Active	553	19	115.68
TT8_Sampling	425	39	178.21
TT8_CF8	96	45	46.31
TT8_Kalman	0	0	0.00
Analog_circuits	850	12	107.14
GPS_charging	0	0	0.00
Compass	415	8	34.88
RAFOS	360	1	5.67
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.86	-146.0	0.0	0.0	0	159	0.00	0.00	-140.18	0.000	2	0.000	0.000	124	2098	3163	0	0	0	0	0	0
162	-0.86	-146.0	3.1	-7.6	27	189	9.32	2.25	-11.40	0.000	4	0.284	0.091	2217	694	3662	0	0	0	0	0	0
229	-0.97	-146.0	18.2	-14.3	39	234	0.00	2.22	0.00	0.000	6	0.000	0.068	2217	2101	3663	0	0	0	0	0	0
429	end dive: TARGET_DEPTH_EXCEEDED
state	429	begin apogee
433	-0.19	0.0	45.2	12.5	75	551	0.70	0.00	109.07	0.792	6	0.162	0.000	2429	2101	3062	0	0	0	0	0	0
552	end apogee: CONTROL_FINISHED_OK
state	552	begin climb
554	0.86	146.0	51.9	0.0	98	678	1.00	2.42	110.15	0.728	4	0.085	0.081	2779	711	2465	0	0	0	0	0	0
931	0.70	306.2	56.1	2.6	165	1062	0.17	2.22	120.28	0.734	6	0.230	0.070	2732	2102	1812	0	0	0	0	0	0
1401	0.75	341.4	18.1	8.4	250	1433	0.00	2.35	26.45	0.731	4	0.000	0.084	2741	700	1670	0	0	0	0	0	0
1561	end climb: SURFACE_DEPTH_REACHED
state	1561	begin surface coast
1579	end surface coast: CONTROL_FINISHED_OK
state	1579	begin surface