Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 50 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 187 HEADING 270 ROLL_MIN 236 ALTIM_BOTTOM_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MAX 3800 ALTIM_TOP_TURN_MARGIN 0

DIVE 50 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 25 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 32 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 54 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 -24514.855 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 200 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 24 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 24 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 54

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 -24514.855

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 270 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 25 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 200 R_STBD_OVSHOOT 32 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 50 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 234449,4748.516,-12502.228,43,1.1,60,18.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 4748.444,-12518.302

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.06 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -76.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 234932,4748.444,-12502.223,16,1.1,16,18.7 MHEAD_RNG_PITCHd_Wd 251.3,20000,-18.1,-12.346

SPEED_LIMITS 0.214,0.317 D_GRID 126

Post-dive calculations and measurements:

FINISH1 4.7,1.023916,-45 _10V_AH 10.4,3.608

FINISH2 5.5 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4729.30,-12501.36,111099,222252 FG_AHR_10Vo 0.000

TT8_MAMPS 0.052156 MEM 298608

HUMID 37.00 DATA_FILE_SIZE 19220,348

INTERNAL_PRESSURE 9.15736 CAP_FILE_SIZE 41411,0

TCM_TEMP 15.10 CFSIZE 260165632,255500288

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

_24V_AH 24.1,6.671 GPS 170710,234932,4748.444,-12502.223,16,1.1,16,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 252 81.80 SBE_CT 232 24 134.33

Roll_motor 22 88 47.30 SBE_O2 252 19 115.82

VBD_pump_during_apogee 435 637 6695.77 WL_BBFL2VMT 652 105 1649.92

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 68.50 nil 0 0 0.00

Iridium_during_connect 41 160 161.23 nil 0 0 0.00

Iridium_during_xfer 150 223 806.79

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 16 50 8.36

TT8 0 19 0.00

LPSleep 829 2 18.90

TT8_Active 410 19 84.62

TT8_Sampling 931 39 385.50

TT8_CF8 271 45 129.23

TT8_Kalman 0 0 0.00

Analog_circuits 816 12 101.90

GPS_charging 0 0 0.00

Compass 810 8 67.45

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

9 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11 -0.99 -195.5 0.0 0.0 0 76 0.00 0.00 -63.05 0.000 2 0.000 0.000 133 2112 3294 0 0 0 0 0 0

77 -0.99 -195.5 3.9 -11.0 12 104 9.90 1.95 -12.00 0.000 4 0.252 0.079 2516 3328 3947 0 0 0 0 0 0

156 -0.71 -195.5 32.0 -26.3 27 163 0.32 1.95 0.00 0.000 6 0.153 0.050 2614 2101 3950 0 0 0 0 0 0

483 -0.66 -195.5 89.8 -14.7 88 489 0.00 2.00 0.00 0.000 4 0.000 0.067 2607 3322 3950 0 0 0 0 0 0

541 -0.66 -195.5 98.6 -14.4 99 548 0.00 1.92 0.00 0.000 6 0.000 0.050 2607 2099 3950 0 0 0 0 0 0

722 end dive: TARGET_DEPTH_EXCEEDED

state 722 begin apogee

724 -0.21 0.0 126.6 14.7 118 879 0.55 0.00 152.07 0.637 6 0.139 0.000 2779 1985 3150 0 0 0 0 0 0

880 end apogee: CONTROL_FINISHED_OK

state 880 begin climb

881 0.99 195.5 132.5 0.0 133 1043 1.15 2.08 155.23 0.614 4 0.089 0.057 3171 770 2353 0 0 0 0 0 0

1142 0.61 195.5 101.9 18.4 158 1149 0.43 2.03 0.00 0.000 6 0.170 0.051 3050 2004 2348 0 0 0 0 0 0

1469 0.62 259.9 68.2 9.6 218 1527 0.00 2.05 50.83 0.594 4 0.000 0.062 3050 3232 2089 0 0 0 0 0 0

1558 0.66 286.0 58.7 11.2 235 1585 0.00 1.98 22.27 0.571 6 0.000 0.052 3054 2016 1983 0 0 0 0 0 0

1905 0.82 355.8 26.4 9.4 300 1968 0.17 2.08 55.50 0.578 4 0.079 0.064 3140 766 1698 0 0 0 0 0 0

1988 0.76 355.8 16.2 12.6 316 1995 0.12 2.00 0.00 0.000 6 0.136 0.054 3100 1993 1696 0 0 0 0 0 0

2105 end climb: FINISH_DEPTH_REACHED

state 2105 begin subsurface finish

2108 -0.06 -45.5 4.7 -8.7 338 2161 0.80 2.08 -47.55 0.000 4 0.111 0.082 2833 3239 3336 0 0 0 0 0 0

2161 end subsurface finish: CONTROL_FINISHED_OK

state 2161 begin surface

ID	187	HEADING	270	ROLL_MIN	236	ALTIM_BOTTOM_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MAX	3800	ALTIM_TOP_TURN_MARGIN	0
DIVE	50	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	25	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	32	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	54	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	-24514.855	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	200	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	24	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	234449,4748.516,-12502.228,43,1.1,60,18.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	4748.444,-12518.302
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.06	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-76.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	234932,4748.444,-12502.223,16,1.1,16,18.7	MHEAD_RNG_PITCHd_Wd	251.3,20000,-18.1,-12.346
SPEED_LIMITS	0.214,0.317	D_GRID	126

FINISH1	4.7,1.023916,-45	_10V_AH	10.4,3.608
FINISH2	5.5	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4729.30,-12501.36,111099,222252	FG_AHR_10Vo	0.000
TT8_MAMPS	0.052156	MEM	298608
HUMID	37.00	DATA_FILE_SIZE	19220,348
INTERNAL_PRESSURE	9.15736	CAP_FILE_SIZE	41411,0
TCM_TEMP	15.10	CFSIZE	260165632,255500288
XPDR_PINGS	0	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
_24V_AH	24.1,6.671	GPS	170710,234932,4748.444,-12502.223,16,1.1,16,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	252	81.80	SBE_CT	232	24	134.33
Roll_motor	22	88	47.30	SBE_O2	252	19	115.82
VBD_pump_during_apogee	435	637	6695.77	WL_BBFL2VMT	652	105	1649.92
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	68.50	nil	0	0	0.00
Iridium_during_connect	41	160	161.23	nil	0	0	0.00
Iridium_during_xfer	150	223	806.79
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	16	50	8.36
TT8	0	19	0.00
LPSleep	829	2	18.90
TT8_Active	410	19	84.62
TT8_Sampling	931	39	385.50
TT8_CF8	271	45	129.23
TT8_Kalman	0	0	0.00
Analog_circuits	816	12	101.90
GPS_charging	0	0	0.00
Compass	810	8	67.45
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
9	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11	-0.99	-195.5	0.0	0.0	0	76	0.00	0.00	-63.05	0.000	2	0.000	0.000	133	2112	3294	0	0	0	0	0	0
77	-0.99	-195.5	3.9	-11.0	12	104	9.90	1.95	-12.00	0.000	4	0.252	0.079	2516	3328	3947	0	0	0	0	0	0
156	-0.71	-195.5	32.0	-26.3	27	163	0.32	1.95	0.00	0.000	6	0.153	0.050	2614	2101	3950	0	0	0	0	0	0
483	-0.66	-195.5	89.8	-14.7	88	489	0.00	2.00	0.00	0.000	4	0.000	0.067	2607	3322	3950	0	0	0	0	0	0
541	-0.66	-195.5	98.6	-14.4	99	548	0.00	1.92	0.00	0.000	6	0.000	0.050	2607	2099	3950	0	0	0	0	0	0
722	end dive: TARGET_DEPTH_EXCEEDED
state	722	begin apogee
724	-0.21	0.0	126.6	14.7	118	879	0.55	0.00	152.07	0.637	6	0.139	0.000	2779	1985	3150	0	0	0	0	0	0
880	end apogee: CONTROL_FINISHED_OK
state	880	begin climb
881	0.99	195.5	132.5	0.0	133	1043	1.15	2.08	155.23	0.614	4	0.089	0.057	3171	770	2353	0	0	0	0	0	0
1142	0.61	195.5	101.9	18.4	158	1149	0.43	2.03	0.00	0.000	6	0.170	0.051	3050	2004	2348	0	0	0	0	0	0
1469	0.62	259.9	68.2	9.6	218	1527	0.00	2.05	50.83	0.594	4	0.000	0.062	3050	3232	2089	0	0	0	0	0	0
1558	0.66	286.0	58.7	11.2	235	1585	0.00	1.98	22.27	0.571	6	0.000	0.052	3054	2016	1983	0	0	0	0	0	0
1905	0.82	355.8	26.4	9.4	300	1968	0.17	2.08	55.50	0.578	4	0.079	0.064	3140	766	1698	0	0	0	0	0	0
1988	0.76	355.8	16.2	12.6	316	1995	0.12	2.00	0.00	0.000	6	0.136	0.054	3100	1993	1696	0	0	0	0	0	0
2105	end climb: FINISH_DEPTH_REACHED
state	2105	begin subsurface finish
2108	-0.06	-45.5	4.7	-8.7	338	2161	0.80	2.08	-47.55	0.000	4	0.111	0.082	2833	3239	3336	0	0	0	0	0	0
2161	end subsurface finish: CONTROL_FINISHED_OK
state	2161	begin surface