Glider dive log

PortSusan 28Jan09 * SG167 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 14 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 80

D_SURF 4 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 1050 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 550 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 37 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 INT_PRESSURE_YINT 0

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 40 UPLOAD_DIVES_MAX -1 VBD_MIN 450 DEVICE2 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3392 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 -3034.7344 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 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 20 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 174 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2733 PRESSURE_YINT -14.577106 SEABIRD_T_G 0.0042613237

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_H 0.000318543

MASS 52000 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_T_I 2.2247017e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3141051e-06

FERRY_MAX 45 PITCH_GAIN 25 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.028838

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1493243

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0017152225

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002181365

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 0.0031256729 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 550

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3944 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 4 PITCH_MIN 174 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 0.0001158971 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.577106 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 40

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 -3034.7344

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 167 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2733 KALMAN_USE 1 ROLL_MIN 187 USE_BATHY 0

C_ROLL_CLIMB 2100 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 52000 R_PORT_OVSHOOT 37 VBD_BLEED_AD_RATE 8

C_VBD 3392 MAX_BUOY 150 R_STBD_OVSHOOT 31 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -10.028838 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1493243 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0017152225 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.0002181365 VBD_MIN 450

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0042613237 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000318543 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2247017e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3141051e-06 XPDR_DEVICE 24

DIVE 14 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1050 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 074832,4804.136,-12221.142,13,1.5,13,18.3 TGT_NAME EIGHT

_CALLS 2 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.097,0.262

_SM_DEPTHo 1.31 KALMAN_X 3382.0,249.9,-198.8,-1236.6,100.0

_SM_ANGLEo -71.8 KALMAN_Y -9212.5,-812.2,232.0,4611.5,-361.0

GPS2 075632,4804.083,-12221.073,15,1.4,15,18.3 MHEAD_RNG_PITCHd_Wd 321.3,8106,-21.2,-12.500

SPEED_LIMITS 0.217,0.279 D_GRID 150

Post-dive calculations and measurements:

FINISH 4.4,1.050108 ALTIM_BOTTOM_PING 80.9,46.4

SM_CCo 1846,422.80,0.604,0,0,450,721.67 _24V_AH 24.3,2.259

SM_GC 1.35,8.25,0.00,0.00,0.062,0.000,0.000,174,2103,446,-7.96,0.08,722.65 _10V_AH 10.7,0.897

IRIDIUM_FIX 4748.51,-12224.57,250498,070752 DATA_FILE_SIZE 19120,318

TT8_MAMPS 0.029146 CAP_FILE_SIZE 39488,0

HUMID 1366 CFSIZE 260165632,258084864

INTERNAL_PRESSURE 9.41442 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 19.20 GPS 290109,083754,4804.188,-12221.199,8,1.6,12,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 282 138.72 SBE_CT 213 24 124.76

Roll_motor 22 72 39.09 Optode 221 33 177.94

VBD_pump_during_apogee 225 710 3883.25 WL_BB2F 374 105 954.76

VBD_pump_during_surface 422 604 6209.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 52 103 131.70 nil 0 0 0.00

Iridium_during_connect 59 160 232.57 nil 0 0 0.00

Iridium_during_xfer 204 223 1106.64

Transponder_ping 0 420 5.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.32

TT8 468 19 99.20

LPSleep 680 2 15.94

TT8_Active 724 19 153.46

TT8_Sampling 583 39 248.70

TT8_CF8 422 45 207.10

TT8_Kalman 33 81 29.20

Analog_circuits 1064 12 136.65

GPS_charging 0 0 0.00

Compass 581 8 49.78

RAFOS 0 0 0.00

Transponder 5 30 1.78

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.03 -146.6 0.0 0.0 0 122 0.00 0.00 -103.68 0.000 2 0.000 0.000 175 2104 3069

125 -1.03 -146.6 3.1 -3.5 18 163 9.82 2.33 -22.67 0.000 4 0.282 0.073 2385 3512 3963

175 -1.03 -146.6 9.3 -12.2 26 182 0.00 2.20 0.00 0.000 6 0.000 0.036 2385 2089 3964

250 -1.03 -146.6 22.4 -20.1 39 256 0.00 0.00 0.00 0.000 6 0.000 0.000 2385 2086 3964

324 -1.03 -146.6 35.6 -17.5 52 331 0.00 2.15 0.00 0.000 4 0.000 0.045 2385 705 3964

389 -1.03 -146.6 47.6 -19.3 63 395 0.00 2.17 0.00 0.000 6 0.000 0.048 2377 2100 3964

530 -1.03 -146.6 73.6 -16.7 88 537 0.00 2.17 0.00 0.000 4 0.000 0.044 2377 701 3964

577 -1.03 -146.6 81.8 -17.1 96 584 0.12 2.15 0.00 0.000 6 0.206 0.045 2399 2099 3964

720 -1.03 -146.6 102.9 -13.5 121 725 0.00 0.00 0.00 0.000 6 0.000 0.000 2399 2100 3964

824 end dive: BOTTOM_OBSTACLE_DETECTED

state 824 begin apogee

830 -0.20 0.0 117.9 13.9 140 936 0.88 0.00 101.28 0.710 6 0.175 0.000 2659 2101 3392

937 end apogee: CONTROL_FINISHED_OK

state 937 begin climb

940 1.03 146.6 120.5 0.0 159 1057 1.15 0.00 109.03 0.685 6 0.079 0.000 3059 2101 2793

1191 1.03 146.6 89.1 17.8 204 1197 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2100 2792

1333 1.03 146.6 65.5 15.9 229 1338 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2100 2792

1473 1.03 146.6 43.8 14.5 254 1479 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2100 2791

1614 1.03 146.6 23.3 14.8 279 1620 0.00 2.22 0.00 0.000 4 0.000 0.058 3059 3518 2792

1644 1.03 146.6 19.1 14.4 284 1650 0.00 2.15 0.00 0.000 6 0.000 0.037 3062 2095 2792

1720 1.05 165.2 9.9 11.4 297 1739 0.00 2.22 14.70 0.594 4 0.000 0.048 3072 694 2718

1777 end climb: SURFACE_DEPTH_REACHED

state 1777 begin surface coast

1843 end surface coast: CONTROL_FINISHED_OK

state 1843 begin surface

ID	167	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	14	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	80
D_SURF	4	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	1050	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	550	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	37	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	INT_PRESSURE_YINT	0
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	40	UPLOAD_DIVES_MAX	-1	VBD_MIN	450	DEVICE2	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3392	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	-3034.7344	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	20	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	174	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2733	PRESSURE_YINT	-14.577106	SEABIRD_T_G	0.0042613237
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_H	0.000318543
MASS	52000	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_T_I	2.2247017e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3141051e-06
FERRY_MAX	45	PITCH_GAIN	25	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.028838
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1493243
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0017152225
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002181365
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	074832,4804.136,-12221.142,13,1.5,13,18.3	TGT_NAME	EIGHT
_CALLS	2	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.097,0.262
_SM_DEPTHo	1.31	KALMAN_X	3382.0,249.9,-198.8,-1236.6,100.0
_SM_ANGLEo	-71.8	KALMAN_Y	-9212.5,-812.2,232.0,4611.5,-361.0
GPS2	075632,4804.083,-12221.073,15,1.4,15,18.3	MHEAD_RNG_PITCHd_Wd	321.3,8106,-21.2,-12.500
SPEED_LIMITS	0.217,0.279	D_GRID	150

FINISH	4.4,1.050108	ALTIM_BOTTOM_PING	80.9,46.4
SM_CCo	1846,422.80,0.604,0,0,450,721.67	_24V_AH	24.3,2.259
SM_GC	1.35,8.25,0.00,0.00,0.062,0.000,0.000,174,2103,446,-7.96,0.08,722.65	_10V_AH	10.7,0.897
IRIDIUM_FIX	4748.51,-12224.57,250498,070752	DATA_FILE_SIZE	19120,318
TT8_MAMPS	0.029146	CAP_FILE_SIZE	39488,0
HUMID	1366	CFSIZE	260165632,258084864
INTERNAL_PRESSURE	9.41442	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	19.20	GPS	290109,083754,4804.188,-12221.199,8,1.6,12,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	282	138.72	SBE_CT	213	24	124.76
Roll_motor	22	72	39.09	Optode	221	33	177.94
VBD_pump_during_apogee	225	710	3883.25	WL_BB2F	374	105	954.76
VBD_pump_during_surface	422	604	6209.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	52	103	131.70	nil	0	0	0.00
Iridium_during_connect	59	160	232.57	nil	0	0	0.00
Iridium_during_xfer	204	223	1106.64
Transponder_ping	0	420	5.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.32
TT8	468	19	99.20
LPSleep	680	2	15.94
TT8_Active	724	19	153.46
TT8_Sampling	583	39	248.70
TT8_CF8	422	45	207.10
TT8_Kalman	33	81	29.20
Analog_circuits	1064	12	136.65
GPS_charging	0	0	0.00
Compass	581	8	49.78
RAFOS	0	0	0.00
Transponder	5	30	1.78

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.03	-146.6	0.0	0.0	0	122	0.00	0.00	-103.68	0.000	2	0.000	0.000	175	2104	3069
125	-1.03	-146.6	3.1	-3.5	18	163	9.82	2.33	-22.67	0.000	4	0.282	0.073	2385	3512	3963
175	-1.03	-146.6	9.3	-12.2	26	182	0.00	2.20	0.00	0.000	6	0.000	0.036	2385	2089	3964
250	-1.03	-146.6	22.4	-20.1	39	256	0.00	0.00	0.00	0.000	6	0.000	0.000	2385	2086	3964
324	-1.03	-146.6	35.6	-17.5	52	331	0.00	2.15	0.00	0.000	4	0.000	0.045	2385	705	3964
389	-1.03	-146.6	47.6	-19.3	63	395	0.00	2.17	0.00	0.000	6	0.000	0.048	2377	2100	3964
530	-1.03	-146.6	73.6	-16.7	88	537	0.00	2.17	0.00	0.000	4	0.000	0.044	2377	701	3964
577	-1.03	-146.6	81.8	-17.1	96	584	0.12	2.15	0.00	0.000	6	0.206	0.045	2399	2099	3964
720	-1.03	-146.6	102.9	-13.5	121	725	0.00	0.00	0.00	0.000	6	0.000	0.000	2399	2100	3964
824	end dive: BOTTOM_OBSTACLE_DETECTED
state	824	begin apogee
830	-0.20	0.0	117.9	13.9	140	936	0.88	0.00	101.28	0.710	6	0.175	0.000	2659	2101	3392
937	end apogee: CONTROL_FINISHED_OK
state	937	begin climb
940	1.03	146.6	120.5	0.0	159	1057	1.15	0.00	109.03	0.685	6	0.079	0.000	3059	2101	2793
1191	1.03	146.6	89.1	17.8	204	1197	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2100	2792
1333	1.03	146.6	65.5	15.9	229	1338	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2100	2792
1473	1.03	146.6	43.8	14.5	254	1479	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2100	2791
1614	1.03	146.6	23.3	14.8	279	1620	0.00	2.22	0.00	0.000	4	0.000	0.058	3059	3518	2792
1644	1.03	146.6	19.1	14.4	284	1650	0.00	2.15	0.00	0.000	6	0.000	0.037	3062	2095	2792
1720	1.05	165.2	9.9	11.4	297	1739	0.00	2.22	14.70	0.594	4	0.000	0.048	3072	694	2718
1777	end climb: SURFACE_DEPTH_REACHED
state	1777	begin surface coast
1843	end surface coast: CONTROL_FINISHED_OK
state	1843	begin surface