Glider dive log

NANOOS Jul10 * SG187 * Dive index * Mission links * Dive 58 * 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 58 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 22 XPDR_VALID 1

D_FINISH 5 FILEMGR 0 R_STBD_OVSHOOT 34 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 -24575.412 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 -24575.412

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 22 VBD_MAX 3960

DEVICE2 20 MAX_BUOY 200 R_STBD_OVSHOOT 34 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 58 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 052843,4747.345,-12504.070,12,1.3,17,18.7 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG 4747.295,-12520.129

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -75.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 053314,4747.295,-12504.056,14,2.0,14,18.7 MHEAD_RNG_PITCHd_Wd 251.3,20000,-18.1,-12.346

SPEED_LIMITS 0.214,0.317 D_GRID 149

Post-dive calculations and measurements:

FINISH1 4.5,1.023846,-42 _10V_AH 10.4,3.961

FINISH2 5.5 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4735.69,-12502.41,121099,040405 FG_AHR_10Vo 0.000

TT8_MAMPS 0.052923 MEM 298608

HUMID 38.18 DATA_FILE_SIZE 22395,385

INTERNAL_PRESSURE 9.18665 CAP_FILE_SIZE 46168,0

TCM_TEMP 16.30 CFSIZE 260165632,255258624

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

_24V_AH 24.1,7.400 GPS 180710,053314,4747.295,-12504.056,14,2.0,14,18.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 13 250 82.41 SBE_CT 255 24 147.49

Roll_motor 22 83 44.88 SBE_O2 280 19 128.62

VBD_pump_during_apogee 511 655 8070.95 WL_BBFL2VMT 671 105 1698.17

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 67.07 nil 0 0 0.00

Iridium_during_connect 30 160 117.46 nil 0 0 0.00

Iridium_during_xfer 150 223 810.16

Transponder_ping 0 420 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.75

TT8 0 19 0.00

LPSleep 1102 2 25.12

TT8_Active 456 19 94.06

TT8_Sampling 1006 39 416.58

TT8_CF8 260 45 124.31

TT8_Kalman 0 0 0.00

Analog_circuits 926 12 115.63

GPS_charging 0 0 0.00

Compass 879 8 73.21

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 -0.99 -195.5 0.0 0.0 0 81 0.00 0.00 -67.82 0.000 2 0.000 0.000 132 2119 3289 0 0 0 0 0 0

82 -0.99 -195.5 3.9 -9.7 13 109 9.82 1.92 -12.20 0.000 4 0.250 0.077 2518 3332 3948 0 0 0 0 0 0

204 -0.66 -195.5 45.4 -29.5 36 211 0.38 1.98 0.00 0.000 6 0.161 0.050 2629 2087 3951 0 0 0 0 0 0

530 -0.61 -195.5 99.3 -14.2 97 536 0.00 0.00 0.00 0.000 6 0.000 0.000 2629 2084 3951 0 0 0 0 0 0

850 -0.61 -195.5 143.1 -13.9 129 854 0.00 2.03 0.00 0.000 4 0.000 0.067 2622 3329 3951 0 0 0 0 0 0

896 end dive: TARGET_DEPTH_EXCEEDED

state 896 begin apogee

900 -0.21 0.0 149.5 12.2 133 1056 0.47 0.00 152.23 0.655 6 0.130 0.000 2777 1995 3150 0 0 0 0 0 0

1057 end apogee: CONTROL_FINISHED_OK

state 1057 begin climb

1058 0.99 195.5 158.3 0.0 149 1220 1.15 2.05 155.68 0.632 4 0.091 0.058 3168 767 2352 0 0 0 0 0 0

1358 0.62 195.5 124.3 17.8 178 1362 0.38 2.00 0.00 0.000 6 0.167 0.053 3058 1997 2348 0 0 0 0 0 0

1677 0.58 234.8 86.9 10.7 219 1715 0.00 2.05 31.33 0.607 4 0.000 0.064 3058 3235 2191 0 0 0 0 0 0

1831 0.54 253.5 70.3 11.5 248 1854 0.12 1.98 15.98 0.583 6 0.137 0.053 3024 2007 2114 0 0 0 0 0 0

2173 0.91 451.1 48.5 3.9 312 2339 0.32 2.10 156.07 0.584 4 0.060 0.063 3155 3226 1309 0 0 0 0 0 0

2402 0.99 451.1 16.3 13.1 356 2408 0.00 2.03 0.00 0.000 6 0.000 0.054 3162 2001 1303 0 0 0 0 0 0

2486 end climb: FINISH_DEPTH_REACHED

state 2486 begin subsurface finish

2489 -0.05 -42.0 4.5 -14.3 372 2556 1.02 2.05 -59.55 0.000 4 0.129 0.084 2839 3223 3324 0 0 0 0 0 0

2557 end subsurface finish: CONTROL_FINISHED_OK

state 2557 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	58	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	22	XPDR_VALID	1
D_FINISH	5	FILEMGR	0	R_STBD_OVSHOOT	34	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	-24575.412	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	052843,4747.345,-12504.070,12,1.3,17,18.7	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	4747.295,-12520.129
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-75.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	053314,4747.295,-12504.056,14,2.0,14,18.7	MHEAD_RNG_PITCHd_Wd	251.3,20000,-18.1,-12.346
SPEED_LIMITS	0.214,0.317	D_GRID	149

FINISH1	4.5,1.023846,-42	_10V_AH	10.4,3.961
FINISH2	5.5	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4735.69,-12502.41,121099,040405	FG_AHR_10Vo	0.000
TT8_MAMPS	0.052923	MEM	298608
HUMID	38.18	DATA_FILE_SIZE	22395,385
INTERNAL_PRESSURE	9.18665	CAP_FILE_SIZE	46168,0
TCM_TEMP	16.30	CFSIZE	260165632,255258624
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
_24V_AH	24.1,7.400	GPS	180710,053314,4747.295,-12504.056,14,2.0,14,18.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	13	250	82.41	SBE_CT	255	24	147.49
Roll_motor	22	83	44.88	SBE_O2	280	19	128.62
VBD_pump_during_apogee	511	655	8070.95	WL_BBFL2VMT	671	105	1698.17
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	67.07	nil	0	0	0.00
Iridium_during_connect	30	160	117.46	nil	0	0	0.00
Iridium_during_xfer	150	223	810.16
Transponder_ping	0	420	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.75
TT8	0	19	0.00
LPSleep	1102	2	25.12
TT8_Active	456	19	94.06
TT8_Sampling	1006	39	416.58
TT8_CF8	260	45	124.31
TT8_Kalman	0	0	0.00
Analog_circuits	926	12	115.63
GPS_charging	0	0	0.00
Compass	879	8	73.21
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	-0.99	-195.5	0.0	0.0	0	81	0.00	0.00	-67.82	0.000	2	0.000	0.000	132	2119	3289	0	0	0	0	0	0
82	-0.99	-195.5	3.9	-9.7	13	109	9.82	1.92	-12.20	0.000	4	0.250	0.077	2518	3332	3948	0	0	0	0	0	0
204	-0.66	-195.5	45.4	-29.5	36	211	0.38	1.98	0.00	0.000	6	0.161	0.050	2629	2087	3951	0	0	0	0	0	0
530	-0.61	-195.5	99.3	-14.2	97	536	0.00	0.00	0.00	0.000	6	0.000	0.000	2629	2084	3951	0	0	0	0	0	0
850	-0.61	-195.5	143.1	-13.9	129	854	0.00	2.03	0.00	0.000	4	0.000	0.067	2622	3329	3951	0	0	0	0	0	0
896	end dive: TARGET_DEPTH_EXCEEDED
state	896	begin apogee
900	-0.21	0.0	149.5	12.2	133	1056	0.47	0.00	152.23	0.655	6	0.130	0.000	2777	1995	3150	0	0	0	0	0	0
1057	end apogee: CONTROL_FINISHED_OK
state	1057	begin climb
1058	0.99	195.5	158.3	0.0	149	1220	1.15	2.05	155.68	0.632	4	0.091	0.058	3168	767	2352	0	0	0	0	0	0
1358	0.62	195.5	124.3	17.8	178	1362	0.38	2.00	0.00	0.000	6	0.167	0.053	3058	1997	2348	0	0	0	0	0	0
1677	0.58	234.8	86.9	10.7	219	1715	0.00	2.05	31.33	0.607	4	0.000	0.064	3058	3235	2191	0	0	0	0	0	0
1831	0.54	253.5	70.3	11.5	248	1854	0.12	1.98	15.98	0.583	6	0.137	0.053	3024	2007	2114	0	0	0	0	0	0
2173	0.91	451.1	48.5	3.9	312	2339	0.32	2.10	156.07	0.584	4	0.060	0.063	3155	3226	1309	0	0	0	0	0	0
2402	0.99	451.1	16.3	13.1	356	2408	0.00	2.03	0.00	0.000	6	0.000	0.054	3162	2001	1303	0	0	0	0	0	0
2486	end climb: FINISH_DEPTH_REACHED
state	2486	begin subsurface finish
2489	-0.05	-42.0	4.5	-14.3	372	2556	1.02	2.05	-59.55	0.000	4	0.129	0.084	2839	3223	3324	0	0	0	0	0	0
2557	end subsurface finish: CONTROL_FINISHED_OK
state	2557	begin surface