Glider dive log

Shilshole 17May11 * SG035 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 35 HEADING 315 ROLL_MAX 4041 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 8 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 50

DIVE 10 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1450 ALTIM_PING_DELTA 5

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1450 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 47.724998 HEAD_ERRBAND 15 ALTIM_PULSE 3

D_TGT 300 TGT_DEFAULT_LON -122.4 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 6099 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 6

D_NO_BLEED 500 SM_CC 841.31995 R_PORT_OVSHOOT 39 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 67 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 1

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 1

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 191 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3888 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 3041 DEVICE3 -1

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 100 CALL_WAIT 60 VBD_CNV -0.29519999 DEVICE5 -1

T_MISSION 120 CAPUPLOAD 1 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 2880 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 2 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 -1

T_NO_W 300 N_GPS 20 VBD_BLEED_AD_RATE 7 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -733842.19 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 CF8_MAXERRORS 2 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 6084 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 172 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 250 PITCH_MAX 3980 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2475 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043353452

GLIDE_SLOPE 45 PITCH_DBAND 0.1 PRESSURE_YINT -1038.4044 SEABIRD_T_H 0.00062385562

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00092600001 SEABIRD_T_I 2.3002971e-05

RHO 1.023 P_OVSHOOT 0.039999999 AD7714Ch0Gain 32 SEABIRD_T_J 2.38801e-06

MASS 52000 PITCH_GAIN 30 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.126381

NAV_MODE 1 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.14029

FERRY_MAX 45 PITCH_AD_RATE 140 COMPASS_USE 0 SEABIRD_C_I -0.0021114452

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00024549942

HD_A 0.0047458 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

HD_B 0.011518 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 10

HD_C 1.6100001e-05 ROLL_MIN 231 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_NO_BLEED 500 PHONE_DEVICE 48 SM_CC 841.31995

AH0_10V 100 D_OFFGRID 6084 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 10 D_SURF 4 PITCH_AD_RATE 140 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 300 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 5 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 30 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3980 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 47.724998

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 172 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 PITCH_TIMEOUT 20 T_ABORT 2880

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PRESSURE_SLOPE 0.00092600001 T_DIVE 100

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -1038.4044 T_GPS 15

CALL_TRIES 5 HD_A 0.0047458 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.011518 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -733842.19

CAPMAXSIZE 100000 HD_C 1.6100001e-05 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HEADING 315 RAFOS_HIT_WINDOW 3600 T_MISSION 120

CF8_MAXERRORS 2 HEAD_ERRBAND 15 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 2

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ID 35 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_AD_RATE 350 UNCOM_BLEED 50

C_PITCH 2475 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1450 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 1450 LOGGERDEVICE1 -1 ROLL_MAX 4041 USE_ICE 0

C_VBD 3041 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 7

DEEPGLIDER 1 LOGGERDEVICE3 -1 ROLL_MIN 231 VBD_CNV -0.29519999

DEEPGLIDERMB 1 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 39 VBD_MAX 3888

DEVICE2 -1 MASS 52000 R_STBD_OVSHOOT 67 VBD_MAXERRORS 1

DEVICE3 -1 MAX_BUOY 250 SEABIRD_C_G -10.126381 VBD_MIN 191

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.14029 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0021114452 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE6 -1 MISSION 8 SEABIRD_C_J 0.00024549942 VBD_TIMEOUT 720

DIVE 10 MOTHERBOARD 4 SEABIRD_T_G 0.0043353452 XPDR_DEVICE 24

D_ABORT 6099 NAV_MODE 1 SEABIRD_T_H 0.00062385562 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.3002971e-05 XPDR_VALID 6

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.38801e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 180511,010816,4741.244,-12225.729,901,99.0,901,18.2 TGT_NAME HEADING

_CALLS 5 TGT_LATLONG 4748.880,-12237.100

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.232,0.077

_SM_DEPTHo 0.83 KALMAN_X -1922.1,-554.8,-225.5,1405.8,-2510.3

_SM_ANGLEo -42.7 KALMAN_Y -2524.6,-1140.6,-608.5,2622.1,-4003.9

GPS2 180511,010816,4741.244,-12225.729,901,99.0,901,18.2 MHEAD_RNG_PITCHd_Wd 296.8,20000,-15.2,-10.000

SPEED_LIMITS 0.100,0.307 D_GRID 300

Post-dive calculations and measurements:

FINISH -0.0,1.021586 _24V_AH 24.3,7.249

SM_CCo 1750,120.88,0.740,0,0,191,841.32 _10V_AH 10.4,4.337

SM_GC 0.59,0.00,0.00,120.88,0.000,0.000,0.740,168,1420,191,-7.21,-0.85,841.32 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4732.49,-12231.22,180511,010143 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020972 MEM 323848

HUMID 78.31 DATA_FILE_SIZE 6825,185

INTERNAL_PRESSURE 8.94566 CAP_FILE_SIZE 43587,0

TCM_TEMP 19.80 CFSIZE 260165632,249524224

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

ALTIM_TOP_PING 18.2,18.1 GPS 180511,010816,4741.244,-12225.729,901,99.0,901,18.2

ALTIM_BOTTOM_PING 62.7,35.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 248 107.70 SBE_CT 114 24 66.72

Roll_motor 12 74 22.99 nil 0 0 0.00

VBD_pump_during_apogee 688 836 13994.05 nil 0 0 0.00

VBD_pump_during_surface 120 739 2173.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 164 103 412.87 nil 0 0 0.00

Iridium_during_connect 142 160 554.73 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 12.76 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 903 50 469.83

TT8 259 19 53.43

LPSleep 593 2 13.51

TT8_Active 831 19 171.28

TT8_Sampling 1666 39 689.70

TT8_CF8 52 45 24.78

TT8_Kalman 0 0 0.00

Analog_circuits 1238 12 154.56

GPS_charging 0 0 0.00

Compass 453 15 70.68

RAFOS 0 0 0.00

Transponder 10 30 3.17

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.81 -244.4 0.0 0.0 0 252 0.00 0.00 -233.32 0.000 2 0.000 0.000 124 1448 2373 0 0 0 0 0 0

254 -0.81 -244.4 4.0 -6.7 40 319 8.02 2.12 -50.95 0.000 4 0.248 0.065 2194 2835 3870 0 0 0 0 0 0

323 -0.81 -244.4 21.7 -31.1 50 331 0.00 2.17 0.00 0.000 6 0.000 0.067 2194 1452 3870 0 0 0 0 0 0

457 end dive: BOTTOM_OBSTACLE_DETECTED

state 457 begin apogee

460 -0.17 0.0 93.1 -48.8 63 644 0.75 0.00 174.60 0.837 6 0.201 0.000 2408 1452 3041 0 0 0 0 0 0

645 end apogee: CONTROL_FINISHED_OK

state 645 begin climb

647 0.81 244.4 97.7 0.0 79 832 0.93 2.05 176.73 0.804 4 0.084 0.074 2736 246 2213 0 0 0 0 0 0

1087 1.36 694.4 100.3 -2.4 119 1433 0.52 1.88 336.90 0.807 6 0.099 0.062 2920 1447 690 0 0 0 0 0 0

1560 1.36 694.4 39.7 20.8 163 1564 0.00 2.22 0.00 0.000 4 0.000 0.070 2920 2837 686 0 0 0 0 0 0

1716 end climb: SURFACE_DEPTH_REACHED

state 1716 begin surface coast

1734 end surface coast: CONTROL_FINISHED_OK

state 1734 begin surface

ID	35	HEADING	315	ROLL_MAX	4041	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	8	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	50
DIVE	10	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1450	ALTIM_PING_DELTA	5
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1450	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	47.724998	HEAD_ERRBAND	15	ALTIM_PULSE	3
D_TGT	300	TGT_DEFAULT_LON	-122.4	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	6099	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	6
D_NO_BLEED	500	SM_CC	841.31995	R_PORT_OVSHOOT	39	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	67	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	1
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	1
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	191	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3888	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	3041	DEVICE3	-1
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	100	CALL_WAIT	60	VBD_CNV	-0.29519999	DEVICE5	-1
T_MISSION	120	CAPUPLOAD	1	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	2880	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	2	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	-1
T_NO_W	300	N_GPS	20	VBD_BLEED_AD_RATE	7	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-733842.19	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	CF8_MAXERRORS	2	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	6084	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	172	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	250	PITCH_MAX	3980	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2475	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043353452
GLIDE_SLOPE	45	PITCH_DBAND	0.1	PRESSURE_YINT	-1038.4044	SEABIRD_T_H	0.00062385562
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00092600001	SEABIRD_T_I	2.3002971e-05
RHO	1.023	P_OVSHOOT	0.039999999	AD7714Ch0Gain	32	SEABIRD_T_J	2.38801e-06
MASS	52000	PITCH_GAIN	30	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.126381
NAV_MODE	1	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.14029
FERRY_MAX	45	PITCH_AD_RATE	140	COMPASS_USE	0	SEABIRD_C_I	-0.0021114452
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00024549942
HD_A	0.0047458	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
HD_B	0.011518	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	10
HD_C	1.6100001e-05	ROLL_MIN	231	ALTIM_TOP_TURN_MARGIN	0

GPS1	180511,010816,4741.244,-12225.729,901,99.0,901,18.2	TGT_NAME	HEADING
_CALLS	5	TGT_LATLONG	4748.880,-12237.100
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.232,0.077
_SM_DEPTHo	0.83	KALMAN_X	-1922.1,-554.8,-225.5,1405.8,-2510.3
_SM_ANGLEo	-42.7	KALMAN_Y	-2524.6,-1140.6,-608.5,2622.1,-4003.9
GPS2	180511,010816,4741.244,-12225.729,901,99.0,901,18.2	MHEAD_RNG_PITCHd_Wd	296.8,20000,-15.2,-10.000
SPEED_LIMITS	0.100,0.307	D_GRID	300

FINISH	-0.0,1.021586	_24V_AH	24.3,7.249
SM_CCo	1750,120.88,0.740,0,0,191,841.32	_10V_AH	10.4,4.337
SM_GC	0.59,0.00,0.00,120.88,0.000,0.000,0.740,168,1420,191,-7.21,-0.85,841.32	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4732.49,-12231.22,180511,010143	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020972	MEM	323848
HUMID	78.31	DATA_FILE_SIZE	6825,185
INTERNAL_PRESSURE	8.94566	CAP_FILE_SIZE	43587,0
TCM_TEMP	19.80	CFSIZE	260165632,249524224
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_TOP_PING	18.2,18.1	GPS	180511,010816,4741.244,-12225.729,901,99.0,901,18.2
ALTIM_BOTTOM_PING	62.7,35.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	248	107.70	SBE_CT	114	24	66.72
Roll_motor	12	74	22.99	nil	0	0	0.00
VBD_pump_during_apogee	688	836	13994.05	nil	0	0	0.00
VBD_pump_during_surface	120	739	2173.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	164	103	412.87	nil	0	0	0.00
Iridium_during_connect	142	160	554.73	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	12.76	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	903	50	469.83
TT8	259	19	53.43
LPSleep	593	2	13.51
TT8_Active	831	19	171.28
TT8_Sampling	1666	39	689.70
TT8_CF8	52	45	24.78
TT8_Kalman	0	0	0.00
Analog_circuits	1238	12	154.56
GPS_charging	0	0	0.00
Compass	453	15	70.68
RAFOS	0	0	0.00
Transponder	10	30	3.17

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.81	-244.4	0.0	0.0	0	252	0.00	0.00	-233.32	0.000	2	0.000	0.000	124	1448	2373	0	0	0	0	0	0
254	-0.81	-244.4	4.0	-6.7	40	319	8.02	2.12	-50.95	0.000	4	0.248	0.065	2194	2835	3870	0	0	0	0	0	0
323	-0.81	-244.4	21.7	-31.1	50	331	0.00	2.17	0.00	0.000	6	0.000	0.067	2194	1452	3870	0	0	0	0	0	0
457	end dive: BOTTOM_OBSTACLE_DETECTED
state	457	begin apogee
460	-0.17	0.0	93.1	-48.8	63	644	0.75	0.00	174.60	0.837	6	0.201	0.000	2408	1452	3041	0	0	0	0	0	0
645	end apogee: CONTROL_FINISHED_OK
state	645	begin climb
647	0.81	244.4	97.7	0.0	79	832	0.93	2.05	176.73	0.804	4	0.084	0.074	2736	246	2213	0	0	0	0	0	0
1087	1.36	694.4	100.3	-2.4	119	1433	0.52	1.88	336.90	0.807	6	0.099	0.062	2920	1447	690	0	0	0	0	0	0
1560	1.36	694.4	39.7	20.8	163	1564	0.00	2.22	0.00	0.000	4	0.000	0.070	2920	2837	686	0	0	0	0	0	0
1716	end climb: SURFACE_DEPTH_REACHED
state	1716	begin surface coast
1734	end surface coast: CONTROL_FINISHED_OK
state	1734	begin surface