Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 3 * 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 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 35 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2018 ALTIM_PING_DEPTH 0

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_CLIMB 2018 ALTIM_PING_DELTA 10

D_TGT 100 TGT_DEFAULT_LON -12218 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 200 SM_CC 647.40399 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 3

D_BOOST 4 N_FILEKB 4 R_PORT_OVSHOOT 28 XPDR_VALID 1

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 26 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 30 CALL_TRIES 5 C_VBD 3150 DEVICE2 20

T_MISSION 45 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 -23885.736 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 2830 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 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 647.40399

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 100 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 30

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 -23885.736

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 45

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 2830 INT_PRESSURE_YINT 0.69999999 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2018 KALMAN_USE 2 ROLL_DEG 35 USE_BATHY -1

C_ROLL_DIVE 2018 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 28 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 175 R_STBD_OVSHOOT 26 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 3 NAV_MODE 0 SEABIRD_T_G 0.0043543768 XPDR_DEVICE 24

D_ABORT 200 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 202249,4757.492,-12457.931,8,1.5,8,18.8 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 0.98 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 202626,4757.500,-12457.877,13,1.8,13,18.8 MHEAD_RNG_PITCHd_Wd 216.6,187438,-17.7,-11.111

SPEED_LIMITS 0.192,0.289 D_GRID 88

Post-dive calculations and measurements:

FINISH 0.3,1.023814 _10V_AH 10.5,1.737

SM_CCo 1996,157.65,0.526,1,0,510,647.59 FG_AHR_24Vo 0.000

SM_GC 0.86,0.00,0.00,157.65,0.000,0.000,0.526,135,2025,510,-8.38,0.20,647.59 FG_AHR_10Vo 0.000

IRIDIUM_FIX 4738.89,-12459.78,101099,191940 MEM 298620

TT8_MAMPS 0.051389 DATA_FILE_SIZE 19233,372

HUMID 37.47 CAP_FILE_SIZE 39800,0

INTERNAL_PRESSURE 8.98157 CFSIZE 260165632,256790528

TCM_TEMP 15.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

XPDR_PINGS 0 GPS 160710,210302,4757.328,-12457.792,15,1.5,15,18.8

_24V_AH 24.4,2.951

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 245 119.33 SBE_CT 246 24 144.18

Roll_motor 15 72 27.62 SBE_O2 273 19 126.71

VBD_pump_during_apogee 390 608 5792.75 WL_BBFL2VMT 782 105 2003.91

VBD_pump_during_surface 157 526 2023.97 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 72.31 nil 0 0 0.00

Iridium_during_connect 48 160 188.55 nil 0 0 0.00

Iridium_during_xfer 83 223 454.45

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 50 7.33

TT8 0 19 0.00

LPSleep 719 2 16.55

TT8_Active 483 19 100.58

TT8_Sampling 968 39 404.92

TT8_CF8 204 45 98.15

TT8_Kalman 0 0 0.00

Analog_circuits 927 12 116.84

GPS_charging 0 0 0.00

Compass 854 8 71.76

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 0 123 0.00 0.00 -109.18 0.000 2 0.000 0.000 132 2022 3236 0 0 0 0 0 0

124 -0.80 -171.1 3.3 -7.4 21 150 9.85 1.92 -11.90 0.000 4 0.245 0.072 2557 3260 3849 0 0 0 0 0 0

192 -0.48 -171.1 27.0 -32.0 34 199 0.35 1.95 0.00 0.000 6 0.153 0.049 2664 2017 3850 0 0 0 0 0 0

518 -0.51 -171.1 74.0 -11.5 95 525 0.00 1.90 0.00 0.000 4 0.000 0.055 2664 786 3851 0 0 0 0 0 0

583 -0.66 -171.1 81.2 -10.6 107 589 0.10 1.92 0.00 0.000 6 0.057 0.055 2606 2017 3851 0 0 0 0 0 0

635 end dive: TARGET_DEPTH_EXCEEDED

state 635 begin apogee

638 -0.17 0.0 88.6 14.9 117 776 0.50 0.00 130.80 0.608 6 0.134 0.000 2769 2017 3150 0 0 0 0 0 0

776 end apogee: CONTROL_FINISHED_OK

state 777 begin climb

777 0.80 171.1 96.1 0.0 144 922 0.95 2.05 134.35 0.591 4 0.100 0.057 3092 785 2451 0 0 0 0 0 0

1070 0.60 171.1 71.9 11.3 200 1077 0.20 1.95 0.00 0.000 6 0.144 0.053 3029 2016 2447 0 0 0 0 0 0

1397 0.76 302.8 49.7 5.3 261 1506 0.12 2.00 102.10 0.584 4 0.098 0.058 3092 779 1914 0 0 0 0 0 0

1590 0.89 331.2 32.4 9.9 298 1617 0.00 2.00 23.08 0.557 6 0.000 0.054 3092 2025 1799 0 0 0 0 0 0

1926 end climb: SURFACE_DEPTH_REACHED

state 1926 begin surface coast

1985 end surface coast: CONTROL_FINISHED_OK

state 1985 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	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	35	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2018	ALTIM_PING_DEPTH	0
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_CLIMB	2018	ALTIM_PING_DELTA	10
D_TGT	100	TGT_DEFAULT_LON	-12218	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	200	SM_CC	647.40399	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	3
D_BOOST	4	N_FILEKB	4	R_PORT_OVSHOOT	28	XPDR_VALID	1
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	26	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	30	CALL_TRIES	5	C_VBD	3150	DEVICE2	20
T_MISSION	45	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	-23885.736	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	2830	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	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	202249,4757.492,-12457.931,8,1.5,8,18.8	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	0.98	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	202626,4757.500,-12457.877,13,1.8,13,18.8	MHEAD_RNG_PITCHd_Wd	216.6,187438,-17.7,-11.111
SPEED_LIMITS	0.192,0.289	D_GRID	88

FINISH	0.3,1.023814	_10V_AH	10.5,1.737
SM_CCo	1996,157.65,0.526,1,0,510,647.59	FG_AHR_24Vo	0.000
SM_GC	0.86,0.00,0.00,157.65,0.000,0.000,0.526,135,2025,510,-8.38,0.20,647.59	FG_AHR_10Vo	0.000
IRIDIUM_FIX	4738.89,-12459.78,101099,191940	MEM	298620
TT8_MAMPS	0.051389	DATA_FILE_SIZE	19233,372
HUMID	37.47	CAP_FILE_SIZE	39800,0
INTERNAL_PRESSURE	8.98157	CFSIZE	260165632,256790528
TCM_TEMP	15.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
XPDR_PINGS	0	GPS	160710,210302,4757.328,-12457.792,15,1.5,15,18.8
_24V_AH	24.4,2.951

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	245	119.33	SBE_CT	246	24	144.18
Roll_motor	15	72	27.62	SBE_O2	273	19	126.71
VBD_pump_during_apogee	390	608	5792.75	WL_BBFL2VMT	782	105	2003.91
VBD_pump_during_surface	157	526	2023.97	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	72.31	nil	0	0	0.00
Iridium_during_connect	48	160	188.55	nil	0	0	0.00
Iridium_during_xfer	83	223	454.45
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	50	7.33
TT8	0	19	0.00
LPSleep	719	2	16.55
TT8_Active	483	19	100.58
TT8_Sampling	968	39	404.92
TT8_CF8	204	45	98.15
TT8_Kalman	0	0	0.00
Analog_circuits	927	12	116.84
GPS_charging	0	0	0.00
Compass	854	8	71.76
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	123	0.00	0.00	-109.18	0.000	2	0.000	0.000	132	2022	3236	0	0	0	0	0	0
124	-0.80	-171.1	3.3	-7.4	21	150	9.85	1.92	-11.90	0.000	4	0.245	0.072	2557	3260	3849	0	0	0	0	0	0
192	-0.48	-171.1	27.0	-32.0	34	199	0.35	1.95	0.00	0.000	6	0.153	0.049	2664	2017	3850	0	0	0	0	0	0
518	-0.51	-171.1	74.0	-11.5	95	525	0.00	1.90	0.00	0.000	4	0.000	0.055	2664	786	3851	0	0	0	0	0	0
583	-0.66	-171.1	81.2	-10.6	107	589	0.10	1.92	0.00	0.000	6	0.057	0.055	2606	2017	3851	0	0	0	0	0	0
635	end dive: TARGET_DEPTH_EXCEEDED
state	635	begin apogee
638	-0.17	0.0	88.6	14.9	117	776	0.50	0.00	130.80	0.608	6	0.134	0.000	2769	2017	3150	0	0	0	0	0	0
776	end apogee: CONTROL_FINISHED_OK
state	777	begin climb
777	0.80	171.1	96.1	0.0	144	922	0.95	2.05	134.35	0.591	4	0.100	0.057	3092	785	2451	0	0	0	0	0	0
1070	0.60	171.1	71.9	11.3	200	1077	0.20	1.95	0.00	0.000	6	0.144	0.053	3029	2016	2447	0	0	0	0	0	0
1397	0.76	302.8	49.7	5.3	261	1506	0.12	2.00	102.10	0.584	4	0.098	0.058	3092	779	1914	0	0	0	0	0	0
1590	0.89	331.2	32.4	9.9	298	1617	0.00	2.00	23.08	0.557	6	0.000	0.054	3092	2025	1799	0	0	0	0	0	0
1926	end climb: SURFACE_DEPTH_REACHED
state	1926	begin surface coast
1985	end surface coast: CONTROL_FINISHED_OK
state	1985	begin surface