Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 16 * 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 16 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 32 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 37 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 2 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 -24103.93 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 -24103.93

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 32 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 175 R_STBD_OVSHOOT 37 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 16 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 5 N_NOSURFACE 2 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 040156,4754.168,-12458.313,63,2.4,82,18.7 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 1.05 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -73.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 040636,4754.104,-12458.377,16,1.1,32,18.7 MHEAD_RNG_PITCHd_Wd 218.2,183408,-17.7,-11.111

SPEED_LIMITS 0.192,0.289 D_GRID 95

Post-dive calculations and measurements:

FINISH1 4.7,1.023812,-40 _10V_AH 10.4,2.292

FINISH2 5.4 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4742.09,-12457.15,111099,030351 FG_AHR_10Vo 0.000

TT8_MAMPS 0.052156 MEM 298596

HUMID 38.26 DATA_FILE_SIZE 19137,340

INTERNAL_PRESSURE 9.15736 CAP_FILE_SIZE 38791,0

TCM_TEMP 16.10 CFSIZE 260165632,256421888

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

_24V_AH 24.2,3.944 GPS 170710,040636,4754.104,-12458.377,16,1.1,32,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 249 79.18 SBE_CT 225 24 131.05

Roll_motor 18 85 37.58 SBE_O2 248 19 114.04

VBD_pump_during_apogee 390 624 5902.32 WL_BBFL2VMT 702 105 1784.55

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 27 103 68.40 nil 0 0 0.00

Iridium_during_connect 35 160 136.75 nil 0 0 0.00

Iridium_during_xfer 139 223 753.25

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 32 50 17.12

TT8 0 19 0.00

LPSleep 652 2 14.85

TT8_Active 326 19 67.33

TT8_Sampling 921 39 381.31

TT8_CF8 251 45 119.80

TT8_Kalman 0 0 0.00

Analog_circuits 740 12 92.38

GPS_charging 0 0 0.00

Compass 792 8 65.91

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 72 0.00 0.00 -58.62 0.000 2 0.000 0.000 131 2123 3155 0 0 0 0 0 0

73 -0.84 -171.1 3.2 -8.5 11 100 9.98 1.98 -13.55 0.000 4 0.249 0.079 2565 3328 3851 0 0 0 0 0 0

169 -0.63 -171.1 31.9 -25.2 29 175 0.22 1.95 0.00 0.000 6 0.146 0.050 2635 2099 3853 0 0 0 0 0 0

495 -0.59 -171.1 81.2 -13.2 90 501 0.00 2.00 0.00 0.000 4 0.000 0.067 2628 3325 3855 0 0 0 0 0 0

553 -0.59 -171.1 88.9 -13.3 101 560 0.08 1.92 0.00 0.000 6 0.138 0.051 2653 2096 3854 0 0 0 0 0 0

606 end dive: TARGET_DEPTH_EXCEEDED

state 606 begin apogee

609 -0.18 0.0 95.4 11.9 111 744 0.40 0.00 132.12 0.624 6 0.126 0.000 2788 1982 3150 0 0 0 0 0 0

745 end apogee: CONTROL_FINISHED_OK

state 745 begin climb

746 0.84 171.1 101.0 0.0 135 889 0.98 2.03 134.95 0.601 4 0.092 0.058 3123 779 2452 0 0 0 0 0 0

957 0.53 171.1 85.9 13.1 169 964 0.32 1.98 0.00 0.000 6 0.152 0.052 3025 1992 2449 0 0 0 0 0 0

1284 0.63 279.6 57.7 6.4 230 1377 0.00 2.08 85.38 0.592 4 0.000 0.063 3025 3223 2009 0 0 0 0 0 0

1451 0.72 306.8 43.1 9.9 262 1478 0.12 1.98 22.62 0.565 6 0.056 0.053 3088 2011 1898 0 0 0 0 0 0

1798 0.84 371.8 5.9 8.3 327 1816 0.10 0.00 15.57 0.559 2 0.114 0.000 3135 2011 1821 0 0 0 0 0 0

1816 end climb: FINISH_DEPTH_REACHED

state 1816 begin subsurface finish

1819 -0.05 -40.3 4.7 -8.0 330 1871 0.93 2.03 -44.05 0.000 4 0.128 0.079 2840 763 3317 0 0 0 0 0 0

1871 end subsurface finish: CONTROL_FINISHED_OK

state 1872 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	16	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	32	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	37	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	2	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	-24103.93	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	040156,4754.168,-12458.313,63,2.4,82,18.7	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	1.05	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-73.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	040636,4754.104,-12458.377,16,1.1,32,18.7	MHEAD_RNG_PITCHd_Wd	218.2,183408,-17.7,-11.111
SPEED_LIMITS	0.192,0.289	D_GRID	95

FINISH1	4.7,1.023812,-40	_10V_AH	10.4,2.292
FINISH2	5.4	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4742.09,-12457.15,111099,030351	FG_AHR_10Vo	0.000
TT8_MAMPS	0.052156	MEM	298596
HUMID	38.26	DATA_FILE_SIZE	19137,340
INTERNAL_PRESSURE	9.15736	CAP_FILE_SIZE	38791,0
TCM_TEMP	16.10	CFSIZE	260165632,256421888
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	24.2,3.944	GPS	170710,040636,4754.104,-12458.377,16,1.1,32,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	249	79.18	SBE_CT	225	24	131.05
Roll_motor	18	85	37.58	SBE_O2	248	19	114.04
VBD_pump_during_apogee	390	624	5902.32	WL_BBFL2VMT	702	105	1784.55
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	27	103	68.40	nil	0	0	0.00
Iridium_during_connect	35	160	136.75	nil	0	0	0.00
Iridium_during_xfer	139	223	753.25
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	32	50	17.12
TT8	0	19	0.00
LPSleep	652	2	14.85
TT8_Active	326	19	67.33
TT8_Sampling	921	39	381.31
TT8_CF8	251	45	119.80
TT8_Kalman	0	0	0.00
Analog_circuits	740	12	92.38
GPS_charging	0	0	0.00
Compass	792	8	65.91
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	72	0.00	0.00	-58.62	0.000	2	0.000	0.000	131	2123	3155	0	0	0	0	0	0
73	-0.84	-171.1	3.2	-8.5	11	100	9.98	1.98	-13.55	0.000	4	0.249	0.079	2565	3328	3851	0	0	0	0	0	0
169	-0.63	-171.1	31.9	-25.2	29	175	0.22	1.95	0.00	0.000	6	0.146	0.050	2635	2099	3853	0	0	0	0	0	0
495	-0.59	-171.1	81.2	-13.2	90	501	0.00	2.00	0.00	0.000	4	0.000	0.067	2628	3325	3855	0	0	0	0	0	0
553	-0.59	-171.1	88.9	-13.3	101	560	0.08	1.92	0.00	0.000	6	0.138	0.051	2653	2096	3854	0	0	0	0	0	0
606	end dive: TARGET_DEPTH_EXCEEDED
state	606	begin apogee
609	-0.18	0.0	95.4	11.9	111	744	0.40	0.00	132.12	0.624	6	0.126	0.000	2788	1982	3150	0	0	0	0	0	0
745	end apogee: CONTROL_FINISHED_OK
state	745	begin climb
746	0.84	171.1	101.0	0.0	135	889	0.98	2.03	134.95	0.601	4	0.092	0.058	3123	779	2452	0	0	0	0	0	0
957	0.53	171.1	85.9	13.1	169	964	0.32	1.98	0.00	0.000	6	0.152	0.052	3025	1992	2449	0	0	0	0	0	0
1284	0.63	279.6	57.7	6.4	230	1377	0.00	2.08	85.38	0.592	4	0.000	0.063	3025	3223	2009	0	0	0	0	0	0
1451	0.72	306.8	43.1	9.9	262	1478	0.12	1.98	22.62	0.565	6	0.056	0.053	3088	2011	1898	0	0	0	0	0	0
1798	0.84	371.8	5.9	8.3	327	1816	0.10	0.00	15.57	0.559	2	0.114	0.000	3135	2011	1821	0	0	0	0	0	0
1816	end climb: FINISH_DEPTH_REACHED
state	1816	begin subsurface finish
1819	-0.05	-40.3	4.7	-8.0	330	1871	0.93	2.03	-44.05	0.000	4	0.128	0.079	2840	763	3317	0	0	0	0	0	0
1871	end subsurface finish: CONTROL_FINISHED_OK
state	1872	begin surface