Glider dive log

PortSusan 20Jan09 * SG104 * Dive index * Mission links * Dive 15 * 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 15 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 29 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 720 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 -216850.23 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 -216850.23

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 29 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 720

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

DIVE 15 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 112826,4805.930,-12221.924,9,1.4,9,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.120,0.214

_SM_DEPTHo 2.27 KALMAN_X -1874.8,-81.9,-85.6,2964.7,-168.8

_SM_ANGLEo -71.1 KALMAN_Y 658.4,37.7,145.9,-6160.9,121.5

GPS2 113202,4805.930,-12221.925,15,1.4,15,18.3 MHEAD_RNG_PITCHd_Wd 312.5,4613,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.0,1.019620 ALTIM_BOTTOM_PING 110.0,15.6

SM_CCo 3282,292.23,0.538,17,0,613,658.14 _24V_AH 23.6,7.164

SM_GC 2.03,0.00,0.00,292.23,0.000,0.000,0.538,46,2009,613,-10.71,0.25,658.14 _10V_AH 10.1,2.630

IRIDIUM_FIX 4748.51,-12224.57,170498,101055 DATA_FILE_SIZE 15998,307

TT8_MAMPS 0.026078 CAP_FILE_SIZE 39613,0

HUMID 1418 CFSIZE 260165632,257781760

INTERNAL_PRESSURE 8.16657 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,17,0

TCM_TEMP 17.40 GPS 210109,123438,4806.238,-12222.019,8,1.4,8,18.3

XPDR_PINGS 79

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 148 92.40 SBE_CT 206 24 117.03

Roll_motor 30 67 48.74 SBE_O2 224 19 100.55

VBD_pump_during_apogee 291 682 4700.11 WL_BB2F 595 105 1476.01

VBD_pump_during_surface 292 537 3708.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 80.18 nil 0 0 0.00

Iridium_during_connect 37 160 141.86 nil 0 0 0.00

Iridium_during_xfer 78 223 413.57

Transponder_ping 22 420 218.06

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.81

TT8 507 19 101.57

LPSleep 1704 2 37.71

TT8_Active 702 19 140.57

TT8_Sampling 788 39 316.88

TT8_CF8 192 45 88.98

TT8_Kalman 33 81 27.55

Analog_circuits 1081 12 131.13

GPS_charging 0 0 0.00

Compass 775 8 62.67

RAFOS 0 0 0.00

Transponder 19 30 5.79

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 0 108 0.00 0.00 -92.00 0.000 2 0.000 0.000 45 1997 3552

110 -1.17 -146.6 4.2 -3.6 15 137 11.50 2.53 -7.85 0.000 4 0.148 0.067 2116 3402 3892

388 -1.17 -146.6 27.3 -7.8 56 396 0.00 2.47 0.00 0.000 6 0.000 0.040 2116 2005 3892

586 -1.17 -146.6 41.1 -6.9 75 591 0.00 2.50 0.00 0.000 4 0.000 0.054 2116 3398 3891

809 -1.17 -146.6 57.1 -7.1 90 814 0.00 2.47 0.00 0.000 6 0.000 0.040 2116 1998 3891

1137 -1.17 -146.6 78.3 -6.2 106 1138 0.00 0.00 0.00 0.000 6 0.000 0.000 2116 1998 3892

1446 -1.17 -146.6 96.6 -5.9 121 1447 0.00 0.00 0.00 0.000 6 0.000 0.000 2116 1998 3891

1763 -1.17 -146.6 115.0 -6.2 148 1767 0.00 2.50 0.00 0.000 4 0.000 0.054 2116 3398 3892

1778 end dive: BOTTOM_OBSTACLE_DETECTED

state 1778 begin apogee

1784 -0.33 0.0 115.9 5.5 149 1902 0.85 0.00 114.62 0.683 6 0.071 0.000 2298 1836 3296

1903 end apogee: CONTROL_FINISHED_OK

state 1903 begin climb

1904 1.17 146.6 118.5 0.0 161 2028 1.48 2.60 113.97 0.651 4 0.044 0.065 2632 434 2699

2144 1.17 146.6 94.2 13.8 180 2152 0.00 2.47 0.00 0.000 6 0.000 0.035 2632 1845 2698

2460 1.17 146.6 55.2 11.8 196 2464 0.00 2.58 0.00 0.000 4 0.000 0.064 2632 435 2699

2521 1.17 146.6 47.5 12.1 199 2525 0.00 2.42 0.00 0.000 6 0.000 0.036 2632 1844 2699

2717 1.17 146.6 25.8 10.8 217 2718 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 1844 2699

2916 1.17 146.6 6.6 8.5 247 2922 0.00 2.58 0.00 0.000 4 0.000 0.065 2632 435 2699

3040 1.50 415.1 4.0 -1.8 269 3110 0.30 2.42 63.15 0.597 2 0.043 0.036 2706 1849 2298

3111 end climb: SURFACE_DEPTH_REACHED

state 3111 begin surface coast

3264 end surface coast: CONTROL_FINISHED_OK

state 3264 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	15	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	29	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	720	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	-216850.23	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	112826,4805.930,-12221.924,9,1.4,9,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.120,0.214
_SM_DEPTHo	2.27	KALMAN_X	-1874.8,-81.9,-85.6,2964.7,-168.8
_SM_ANGLEo	-71.1	KALMAN_Y	658.4,37.7,145.9,-6160.9,121.5
GPS2	113202,4805.930,-12221.925,15,1.4,15,18.3	MHEAD_RNG_PITCHd_Wd	312.5,4613,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	150

FINISH	3.0,1.019620	ALTIM_BOTTOM_PING	110.0,15.6
SM_CCo	3282,292.23,0.538,17,0,613,658.14	_24V_AH	23.6,7.164
SM_GC	2.03,0.00,0.00,292.23,0.000,0.000,0.538,46,2009,613,-10.71,0.25,658.14	_10V_AH	10.1,2.630
IRIDIUM_FIX	4748.51,-12224.57,170498,101055	DATA_FILE_SIZE	15998,307
TT8_MAMPS	0.026078	CAP_FILE_SIZE	39613,0
HUMID	1418	CFSIZE	260165632,257781760
INTERNAL_PRESSURE	8.16657	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,17,0
TCM_TEMP	17.40	GPS	210109,123438,4806.238,-12222.019,8,1.4,8,18.3
XPDR_PINGS	79

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	148	92.40	SBE_CT	206	24	117.03
Roll_motor	30	67	48.74	SBE_O2	224	19	100.55
VBD_pump_during_apogee	291	682	4700.11	WL_BB2F	595	105	1476.01
VBD_pump_during_surface	292	537	3708.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	80.18	nil	0	0	0.00
Iridium_during_connect	37	160	141.86	nil	0	0	0.00
Iridium_during_xfer	78	223	413.57
Transponder_ping	22	420	218.06
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.81
TT8	507	19	101.57
LPSleep	1704	2	37.71
TT8_Active	702	19	140.57
TT8_Sampling	788	39	316.88
TT8_CF8	192	45	88.98
TT8_Kalman	33	81	27.55
Analog_circuits	1081	12	131.13
GPS_charging	0	0	0.00
Compass	775	8	62.67
RAFOS	0	0	0.00
Transponder	19	30	5.79

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	108	0.00	0.00	-92.00	0.000	2	0.000	0.000	45	1997	3552
110	-1.17	-146.6	4.2	-3.6	15	137	11.50	2.53	-7.85	0.000	4	0.148	0.067	2116	3402	3892
388	-1.17	-146.6	27.3	-7.8	56	396	0.00	2.47	0.00	0.000	6	0.000	0.040	2116	2005	3892
586	-1.17	-146.6	41.1	-6.9	75	591	0.00	2.50	0.00	0.000	4	0.000	0.054	2116	3398	3891
809	-1.17	-146.6	57.1	-7.1	90	814	0.00	2.47	0.00	0.000	6	0.000	0.040	2116	1998	3891
1137	-1.17	-146.6	78.3	-6.2	106	1138	0.00	0.00	0.00	0.000	6	0.000	0.000	2116	1998	3892
1446	-1.17	-146.6	96.6	-5.9	121	1447	0.00	0.00	0.00	0.000	6	0.000	0.000	2116	1998	3891
1763	-1.17	-146.6	115.0	-6.2	148	1767	0.00	2.50	0.00	0.000	4	0.000	0.054	2116	3398	3892
1778	end dive: BOTTOM_OBSTACLE_DETECTED
state	1778	begin apogee
1784	-0.33	0.0	115.9	5.5	149	1902	0.85	0.00	114.62	0.683	6	0.071	0.000	2298	1836	3296
1903	end apogee: CONTROL_FINISHED_OK
state	1903	begin climb
1904	1.17	146.6	118.5	0.0	161	2028	1.48	2.60	113.97	0.651	4	0.044	0.065	2632	434	2699
2144	1.17	146.6	94.2	13.8	180	2152	0.00	2.47	0.00	0.000	6	0.000	0.035	2632	1845	2698
2460	1.17	146.6	55.2	11.8	196	2464	0.00	2.58	0.00	0.000	4	0.000	0.064	2632	435	2699
2521	1.17	146.6	47.5	12.1	199	2525	0.00	2.42	0.00	0.000	6	0.000	0.036	2632	1844	2699
2717	1.17	146.6	25.8	10.8	217	2718	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	1844	2699
2916	1.17	146.6	6.6	8.5	247	2922	0.00	2.58	0.00	0.000	4	0.000	0.065	2632	435	2699
3040	1.50	415.1	4.0	-1.8	269	3110	0.30	2.42	63.15	0.597	2	0.043	0.036	2706	1849	2298
3111	end climb: SURFACE_DEPTH_REACHED
state	3111	begin surface coast
3264	end surface coast: CONTROL_FINISHED_OK
state	3264	begin surface