Glider dive log

PortSusan 03Mar09 * SG164 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 164 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 204 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 11 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3882 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 370 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT 0.94

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 50 UPLOAD_DIVES_MAX -1 VBD_MIN 490 DEVICE2 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3962 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3288 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -32326.174 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 40 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 20 RAFOS_DEVICE -1

MAX_BUOY 165 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 126 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3926 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2775 PRESSURE_YINT -7.9007363 SEABIRD_T_G 0.0043488215

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158597 SEABIRD_T_H 0.00063635618

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5028745e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7326657e-06

FERRY_MAX 45 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.160287

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1436546

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00018147723

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010835609

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 370

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 27 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3926 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 3 PITCH_MIN 126 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158597 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -7.9007363 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

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 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -32326.174

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 164 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3882 UNCOM_BLEED 40

COURSE_BIAS 0 INT_PRESSURE_YINT 0.94 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2775 KALMAN_USE 1 ROLL_MIN 204 USE_BATHY 0

C_ROLL_CLIMB 2100 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 52000 R_PORT_OVSHOOT 18 VBD_BLEED_AD_RATE 8

C_VBD 3288 MAX_BUOY 165 R_STBD_OVSHOOT 22 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.160287 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1436546 VBD_MAX 3962

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00018147723 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00010835609 VBD_MIN 490

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043488215 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063635618 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5028745e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7326657e-06 XPDR_DEVICE 24

DIVE 11 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 033308,4806.899,-12222.596,7,1.9,7,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.116,-0.245

_SM_DEPTHo 0.98 KALMAN_X -1639.8,-310.7,15.9,2783.0,-271.3

_SM_ANGLEo -65.4 KALMAN_Y 3546.5,777.0,-151.0,-6164.6,559.1

GPS2 033744,4806.895,-12222.574,12,1.7,12,18.3 MHEAD_RNG_PITCHd_Wd 136.5,1803,-16.6,-10.000

SPEED_LIMITS 0.173,0.271 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.2,1.019708 ALTIM_BOTTOM_PING 80.3,42.1

SM_CCo 1973,162.23,0.749,1,0,1779,370.16 _24V_AH 24.0,1.677

SM_GC 1.14,0.00,0.00,162.23,0.000,0.000,0.749,122,2097,1779,-8.29,-0.06,370.16 _10V_AH 10.6,0.561

IRIDIUM_FIX 4751.72,-12055.06,290598,030335 DATA_FILE_SIZE 19191,359

TT8_MAMPS 0.049855 CAP_FILE_SIZE 38543,0

HUMID 1416 CFSIZE 260165632,258527232

INTERNAL_PRESSURE 9.08484 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.80 GPS 040309,041432,4806.713,-12222.544,8,1.9,8,18.3

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 269 129.55 SBE_CT 239 24 138.20

Roll_motor 32 85 65.44 Optode 246 33 195.16

VBD_pump_during_apogee 248 846 5059.27 WL_BB2F 415 105 1046.57

VBD_pump_during_surface 162 748 2914.57 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 71.20 nil 0 0 0.00

Iridium_during_connect 23 160 89.35 nil 0 0 0.00

Iridium_during_xfer 150 223 806.56

Transponder_ping 1 420 17.64

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.60

TT8 0 19 0.00

LPSleep 895 2 20.78

TT8_Active 479 19 100.60

TT8_Sampling 771 39 325.47

TT8_CF8 272 45 132.24

TT8_Kalman 33 81 28.88

Analog_circuits 823 12 104.78

GPS_charging 0 0 0.00

Compass 640 8 54.35

RAFOS 0 0 0.00

Transponder 5 30 1.76

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

9 end surface: CONTROL_FINISHED_OK

state 9 begin dive

11 -0.81 -161.3 0.0 0.0 0 90 0.00 0.00 -76.80 0.000 2 0.000 0.000 125 2096 3512

92 -0.81 -161.3 3.2 -6.4 13 116 10.23 2.33 -9.62 0.000 4 0.269 0.085 2508 3516 3943

356 -0.81 -161.3 37.2 -11.1 62 362 0.00 2.28 0.00 0.000 6 0.000 0.061 2508 2106 3944

425 -0.81 -161.3 44.9 -11.3 75 431 0.00 2.30 0.00 0.000 4 0.000 0.072 2509 3509 3944

536 -0.81 -161.3 56.6 -11.2 96 544 0.00 2.28 0.00 0.000 6 0.000 0.065 2509 2093 3944

671 -0.81 -161.3 71.0 -10.3 121 677 0.00 2.28 0.00 0.000 4 0.000 0.071 2509 692 3944

750 -0.81 -161.3 79.9 -11.1 136 763 0.00 2.28 0.00 0.000 6 0.000 0.065 2508 2101 3944

891 -0.81 -161.3 93.8 -9.5 161 896 0.00 2.28 0.00 0.000 4 0.000 0.071 2508 681 3944

959 -0.81 -161.3 101.1 -10.7 174 966 0.00 2.28 0.00 0.000 6 0.000 0.063 2509 2100 3944

1075 end dive: BOTTOM_OBSTACLE_DETECTED

state 1075 begin apogee

1079 -0.19 0.0 112.5 9.7 196 1207 0.62 0.00 123.18 0.847 6 0.146 0.000 2706 2100 3287

1207 end apogee: CONTROL_FINISHED_OK

state 1207 begin climb

1209 0.81 161.3 114.5 0.0 219 1343 0.98 0.00 125.78 0.809 6 0.094 0.000 3029 2099 2629

1470 0.81 161.3 72.7 19.7 267 1476 0.00 2.35 0.00 0.000 4 0.000 0.068 3029 691 2628

1565 0.81 161.3 55.3 17.7 285 1572 0.00 2.28 0.00 0.000 6 0.000 0.054 3030 2100 2628

1699 0.81 161.3 31.5 17.4 310 1705 0.00 2.33 0.00 0.000 4 0.000 0.070 3029 690 2627

1747 0.81 161.3 23.1 16.8 319 1753 0.00 2.25 0.00 0.000 6 0.000 0.055 3030 2092 2627

1816 0.81 161.3 11.6 16.3 332 1823 0.00 2.30 0.00 0.000 4 0.000 0.071 3030 694 2627

1843 0.81 161.3 7.7 14.9 337 1850 0.00 2.25 0.00 0.000 6 0.000 0.056 3030 2097 2627

1901 end climb: SURFACE_DEPTH_REACHED

state 1901 begin surface coast

1960 end surface coast: CONTROL_FINISHED_OK

state 1960 begin surface

ID	164	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	204	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	11	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3882	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	370	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	0.94
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	490	DEVICE2	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3962	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3288	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-32326.174	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	40	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	20	RAFOS_DEVICE	-1
MAX_BUOY	165	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	126	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3926	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2775	PRESSURE_YINT	-7.9007363	SEABIRD_T_G	0.0043488215
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158597	SEABIRD_T_H	0.00063635618
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5028745e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7326657e-06
FERRY_MAX	45	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.160287
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1436546
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00018147723
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010835609
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	033308,4806.899,-12222.596,7,1.9,7,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.116,-0.245
_SM_DEPTHo	0.98	KALMAN_X	-1639.8,-310.7,15.9,2783.0,-271.3
_SM_ANGLEo	-65.4	KALMAN_Y	3546.5,777.0,-151.0,-6164.6,559.1
GPS2	033744,4806.895,-12222.574,12,1.7,12,18.3	MHEAD_RNG_PITCHd_Wd	136.5,1803,-16.6,-10.000
SPEED_LIMITS	0.173,0.271	D_GRID	150

FINISH	1.2,1.019708	ALTIM_BOTTOM_PING	80.3,42.1
SM_CCo	1973,162.23,0.749,1,0,1779,370.16	_24V_AH	24.0,1.677
SM_GC	1.14,0.00,0.00,162.23,0.000,0.000,0.749,122,2097,1779,-8.29,-0.06,370.16	_10V_AH	10.6,0.561
IRIDIUM_FIX	4751.72,-12055.06,290598,030335	DATA_FILE_SIZE	19191,359
TT8_MAMPS	0.049855	CAP_FILE_SIZE	38543,0
HUMID	1416	CFSIZE	260165632,258527232
INTERNAL_PRESSURE	9.08484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.80	GPS	040309,041432,4806.713,-12222.544,8,1.9,8,18.3
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	269	129.55	SBE_CT	239	24	138.20
Roll_motor	32	85	65.44	Optode	246	33	195.16
VBD_pump_during_apogee	248	846	5059.27	WL_BB2F	415	105	1046.57
VBD_pump_during_surface	162	748	2914.57	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	71.20	nil	0	0	0.00
Iridium_during_connect	23	160	89.35	nil	0	0	0.00
Iridium_during_xfer	150	223	806.56
Transponder_ping	1	420	17.64
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.60
TT8	0	19	0.00
LPSleep	895	2	20.78
TT8_Active	479	19	100.60
TT8_Sampling	771	39	325.47
TT8_CF8	272	45	132.24
TT8_Kalman	33	81	28.88
Analog_circuits	823	12	104.78
GPS_charging	0	0	0.00
Compass	640	8	54.35
RAFOS	0	0	0.00
Transponder	5	30	1.76

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
9	end surface: CONTROL_FINISHED_OK
state	9	begin dive
11	-0.81	-161.3	0.0	0.0	0	90	0.00	0.00	-76.80	0.000	2	0.000	0.000	125	2096	3512
92	-0.81	-161.3	3.2	-6.4	13	116	10.23	2.33	-9.62	0.000	4	0.269	0.085	2508	3516	3943
356	-0.81	-161.3	37.2	-11.1	62	362	0.00	2.28	0.00	0.000	6	0.000	0.061	2508	2106	3944
425	-0.81	-161.3	44.9	-11.3	75	431	0.00	2.30	0.00	0.000	4	0.000	0.072	2509	3509	3944
536	-0.81	-161.3	56.6	-11.2	96	544	0.00	2.28	0.00	0.000	6	0.000	0.065	2509	2093	3944
671	-0.81	-161.3	71.0	-10.3	121	677	0.00	2.28	0.00	0.000	4	0.000	0.071	2509	692	3944
750	-0.81	-161.3	79.9	-11.1	136	763	0.00	2.28	0.00	0.000	6	0.000	0.065	2508	2101	3944
891	-0.81	-161.3	93.8	-9.5	161	896	0.00	2.28	0.00	0.000	4	0.000	0.071	2508	681	3944
959	-0.81	-161.3	101.1	-10.7	174	966	0.00	2.28	0.00	0.000	6	0.000	0.063	2509	2100	3944
1075	end dive: BOTTOM_OBSTACLE_DETECTED
state	1075	begin apogee
1079	-0.19	0.0	112.5	9.7	196	1207	0.62	0.00	123.18	0.847	6	0.146	0.000	2706	2100	3287
1207	end apogee: CONTROL_FINISHED_OK
state	1207	begin climb
1209	0.81	161.3	114.5	0.0	219	1343	0.98	0.00	125.78	0.809	6	0.094	0.000	3029	2099	2629
1470	0.81	161.3	72.7	19.7	267	1476	0.00	2.35	0.00	0.000	4	0.000	0.068	3029	691	2628
1565	0.81	161.3	55.3	17.7	285	1572	0.00	2.28	0.00	0.000	6	0.000	0.054	3030	2100	2628
1699	0.81	161.3	31.5	17.4	310	1705	0.00	2.33	0.00	0.000	4	0.000	0.070	3029	690	2627
1747	0.81	161.3	23.1	16.8	319	1753	0.00	2.25	0.00	0.000	6	0.000	0.055	3030	2092	2627
1816	0.81	161.3	11.6	16.3	332	1823	0.00	2.30	0.00	0.000	4	0.000	0.071	3030	694	2627
1843	0.81	161.3	7.7	14.9	337	1850	0.00	2.25	0.00	0.000	6	0.000	0.056	3030	2097	2627
1901	end climb: SURFACE_DEPTH_REACHED
state	1901	begin surface coast
1960	end surface coast: CONTROL_FINISHED_OK
state	1960	begin surface