Glider dive log

PortSusan 20Jan09 * SG104 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 104 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 0 ROLL_MIN 176 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 10 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3929 ALTIM_PING_DEPTH 60

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 4 TGT_DEFAULT_LAT 48.130001 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -122.366 C_ROLL_CLIMB 1840 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 658 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 INT_PRESSURE_YINT -1.784981

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 62.5 UPLOAD_DIVES_MAX -1 VBD_MIN 574 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3908 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3296 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -216769.17 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 45 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3331 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2375 PRESSURE_YINT -16.602304 SEABIRD_T_G 0.0043870676

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064850412

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4590418e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3871978e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.313265

KALMAN_USE 1 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1866801

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.0012373535

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J -1.1855637e-05

HD_C 2.5700001e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 658

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3331 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 45 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -16.602304 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.366

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 62.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -216769.17

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 104 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3929 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.784981 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2375 KALMAN_USE 1 ROLL_MIN 176 USE_BATHY 0

C_ROLL_CLIMB 1840 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 3296 MAX_BUOY 150 R_STBD_OVSHOOT 35 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -10.313265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1866801 VBD_MAX 3908

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.0012373535 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J -1.1855637e-05 VBD_MIN 574

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043870676 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064850412 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4590418e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3871978e-06 XPDR_DEVICE 24

DIVE 10 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 055806,4807.033,-12222.963,37,1.0,37,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.164,-0.182

_SM_DEPTHo 2.53 KALMAN_X -717.9,-109.4,24.8,441.9,-190.3

_SM_ANGLEo -69.7 KALMAN_Y -371.3,26.2,-34.7,-2877.0,-11.5

GPS2 060231,4807.044,-12222.966,13,1.0,13,18.3 MHEAD_RNG_PITCHd_Wd 119.5,2274,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.8,1.016930 ALTIM_BOTTOM_PING 90.0,31.2

SM_CCo 3484,191.90,0.509,19,0,613,658.14 _24V_AH 23.6,6.622

SM_GC 2.43,0.00,0.00,191.90,0.000,0.000,0.509,42,1999,613,-10.73,0.00,658.14 _10V_AH 10.1,2.394

IRIDIUM_FIX 4748.51,-12249.54,170498,050527 DATA_FILE_SIZE 16001,349

TT8_MAMPS 0.025311 CAP_FILE_SIZE 40753,0

HUMID 1409 CFSIZE 260165632,257925120

INTERNAL_PRESSURE 8.15681 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,19,0

TCM_TEMP 17.40 GPS 210109,070701,4806.838,-12222.675,12,1.2,12,18.3

XPDR_PINGS 86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 147 91.49 SBE_CT 232 24 131.84

Roll_motor 15 66 24.33 SBE_O2 254 19 114.30

VBD_pump_during_apogee 428 682 6895.91 WL_BB2F 677 105 1679.08

VBD_pump_during_surface 191 508 2303.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 57.74 nil 0 0 0.00

Iridium_during_connect 24 160 91.98 nil 0 0 0.00

Iridium_during_xfer 146 223 771.21

Transponder_ping 22 420 225.50

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.49

TT8 520 19 104.04

LPSleep 1788 2 39.55

TT8_Active 702 19 140.46

TT8_Sampling 801 39 322.12

TT8_CF8 242 45 112.07

TT8_Kalman 33 81 27.53

Analog_circuits 1103 12 133.69

GPS_charging 0 0 0.00

Compass 797 8 64.46

RAFOS 0 0 0.00

Transponder 10 30 3.15

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.17 -146.6 0.0 0.0 0 90 0.00 0.00 -74.00 0.000 2 0.000 0.000 47 2012 3053

92 -1.17 -146.6 4.1 -2.7 12 137 11.45 2.53 -23.15 0.000 4 0.147 0.067 2115 3393 3895

311 -1.17 -146.6 19.5 -7.7 50 318 0.00 2.45 0.00 0.000 6 0.000 0.041 2115 1993 3895

388 -1.17 -146.6 25.2 -7.4 58 389 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 1993 3895

579 -1.17 -146.6 38.6 -6.9 76 580 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 1993 3895

780 -1.17 -146.6 51.9 -6.6 94 781 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 1993 3895

1089 -1.17 -146.6 72.1 -6.0 109 1090 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 1993 3895

1399 -1.17 -146.6 89.4 -5.5 124 1403 0.00 2.50 0.00 0.000 4 0.000 0.053 2115 3392 3895

1482 -1.17 -146.6 94.7 -7.1 128 1486 0.00 2.42 0.00 0.000 6 0.000 0.038 2115 1988 3895

1760 end dive: BOTTOM_OBSTACLE_DETECTED

state 1760 begin apogee

1764 -0.33 0.0 111.3 5.9 150 1883 0.88 0.00 115.10 0.683 6 0.069 0.000 2301 1831 3295

1884 end apogee: CONTROL_FINISHED_OK

state 1884 begin climb

1885 1.17 146.6 113.9 0.0 162 2009 1.45 0.00 114.95 0.650 6 0.042 0.000 2632 1831 2697

2329 1.17 146.6 67.2 12.2 192 2333 0.00 2.55 0.00 0.000 4 0.000 0.065 2632 436 2697

2377 1.17 146.6 60.7 13.0 194 2382 0.00 2.45 0.00 0.000 6 0.000 0.035 2632 1837 2697

2706 1.17 146.6 23.9 10.4 221 2707 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 1836 2697

2906 1.24 207.7 6.4 5.8 253 2961 0.00 0.00 48.22 0.597 6 0.000 0.000 2631 1836 2448

3030 1.54 449.5 4.7 -0.8 274 3183 0.30 0.00 149.77 0.584 2 0.041 0.000 2712 1836 1643

3184 end climb: SURFACE_DEPTH_REACHED

state 3184 begin surface coast

3465 end surface coast: CONTROL_FINISHED_OK

state 3465 begin surface

ID	104	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	0	ROLL_MIN	176	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	10	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3929	ALTIM_PING_DEPTH	60
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	4	TGT_DEFAULT_LAT	48.130001	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-122.366	C_ROLL_CLIMB	1840	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	658	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	INT_PRESSURE_YINT	-1.784981
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	62.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	574	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3908	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3296	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-216769.17	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	45	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3331	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2375	PRESSURE_YINT	-16.602304	SEABIRD_T_G	0.0043870676
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064850412
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4590418e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3871978e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.313265
KALMAN_USE	1	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1866801
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.0012373535
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	-1.1855637e-05
HD_C	2.5700001e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	055806,4807.033,-12222.963,37,1.0,37,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.164,-0.182
_SM_DEPTHo	2.53	KALMAN_X	-717.9,-109.4,24.8,441.9,-190.3
_SM_ANGLEo	-69.7	KALMAN_Y	-371.3,26.2,-34.7,-2877.0,-11.5
GPS2	060231,4807.044,-12222.966,13,1.0,13,18.3	MHEAD_RNG_PITCHd_Wd	119.5,2274,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	150

FINISH	2.8,1.016930	ALTIM_BOTTOM_PING	90.0,31.2
SM_CCo	3484,191.90,0.509,19,0,613,658.14	_24V_AH	23.6,6.622
SM_GC	2.43,0.00,0.00,191.90,0.000,0.000,0.509,42,1999,613,-10.73,0.00,658.14	_10V_AH	10.1,2.394
IRIDIUM_FIX	4748.51,-12249.54,170498,050527	DATA_FILE_SIZE	16001,349
TT8_MAMPS	0.025311	CAP_FILE_SIZE	40753,0
HUMID	1409	CFSIZE	260165632,257925120
INTERNAL_PRESSURE	8.15681	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,19,0
TCM_TEMP	17.40	GPS	210109,070701,4806.838,-12222.675,12,1.2,12,18.3
XPDR_PINGS	86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	147	91.49	SBE_CT	232	24	131.84
Roll_motor	15	66	24.33	SBE_O2	254	19	114.30
VBD_pump_during_apogee	428	682	6895.91	WL_BB2F	677	105	1679.08
VBD_pump_during_surface	191	508	2303.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	57.74	nil	0	0	0.00
Iridium_during_connect	24	160	91.98	nil	0	0	0.00
Iridium_during_xfer	146	223	771.21
Transponder_ping	22	420	225.50
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.49
TT8	520	19	104.04
LPSleep	1788	2	39.55
TT8_Active	702	19	140.46
TT8_Sampling	801	39	322.12
TT8_CF8	242	45	112.07
TT8_Kalman	33	81	27.53
Analog_circuits	1103	12	133.69
GPS_charging	0	0	0.00
Compass	797	8	64.46
RAFOS	0	0	0.00
Transponder	10	30	3.15

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.17	-146.6	0.0	0.0	0	90	0.00	0.00	-74.00	0.000	2	0.000	0.000	47	2012	3053
92	-1.17	-146.6	4.1	-2.7	12	137	11.45	2.53	-23.15	0.000	4	0.147	0.067	2115	3393	3895
311	-1.17	-146.6	19.5	-7.7	50	318	0.00	2.45	0.00	0.000	6	0.000	0.041	2115	1993	3895
388	-1.17	-146.6	25.2	-7.4	58	389	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	1993	3895
579	-1.17	-146.6	38.6	-6.9	76	580	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	1993	3895
780	-1.17	-146.6	51.9	-6.6	94	781	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	1993	3895
1089	-1.17	-146.6	72.1	-6.0	109	1090	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	1993	3895
1399	-1.17	-146.6	89.4	-5.5	124	1403	0.00	2.50	0.00	0.000	4	0.000	0.053	2115	3392	3895
1482	-1.17	-146.6	94.7	-7.1	128	1486	0.00	2.42	0.00	0.000	6	0.000	0.038	2115	1988	3895
1760	end dive: BOTTOM_OBSTACLE_DETECTED
state	1760	begin apogee
1764	-0.33	0.0	111.3	5.9	150	1883	0.88	0.00	115.10	0.683	6	0.069	0.000	2301	1831	3295
1884	end apogee: CONTROL_FINISHED_OK
state	1884	begin climb
1885	1.17	146.6	113.9	0.0	162	2009	1.45	0.00	114.95	0.650	6	0.042	0.000	2632	1831	2697
2329	1.17	146.6	67.2	12.2	192	2333	0.00	2.55	0.00	0.000	4	0.000	0.065	2632	436	2697
2377	1.17	146.6	60.7	13.0	194	2382	0.00	2.45	0.00	0.000	6	0.000	0.035	2632	1837	2697
2706	1.17	146.6	23.9	10.4	221	2707	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	1836	2697
2906	1.24	207.7	6.4	5.8	253	2961	0.00	0.00	48.22	0.597	6	0.000	0.000	2631	1836	2448
3030	1.54	449.5	4.7	-0.8	274	3183	0.30	0.00	149.77	0.584	2	0.041	0.000	2712	1836	1643
3184	end climb: SURFACE_DEPTH_REACHED
state	3184	begin surface coast
3465	end surface coast: CONTROL_FINISHED_OK
state	3465	begin surface