Glider dive log

PortSusan 20Jan09 * SG104 * Dive index * Mission links * Dive 16 * 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 16 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -216861.97 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 -216861.97

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 23 VBD_BLEED_AD_RATE 8

C_VBD 3296 MAX_BUOY 150 R_STBD_OVSHOOT 27 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 16 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 123438,4806.238,-12222.019,8,1.4,8,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.148,0.195

_SM_DEPTHo 2.14 KALMAN_X -1534.5,-100.8,-84.0,2514.2,65.9

_SM_ANGLEo -70.5 KALMAN_Y 414.6,74.5,128.3,-5358.2,-79.9

GPS2 123744,4806.240,-12222.022,9,1.4,9,18.3 MHEAD_RNG_PITCHd_Wd 304.6,4074,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.2,1.020638 ALTIM_BOTTOM_PING 90.9,35.5

SM_CCo 3061,338.67,0.635,3,0,574,667.71 _24V_AH 23.6,7.276

SM_GC 1.92,11.82,0.00,0.00,0.044,0.000,0.000,43,2017,573,-10.68,0.51,667.95 _10V_AH 10.1,2.671

IRIDIUM_FIX 4748.51,-12220.12,170498,111126 DATA_FILE_SIZE 12755,270

TT8_MAMPS 0.025311 CAP_FILE_SIZE 39030,0

HUMID 1438 CFSIZE 260165632,257753088

INTERNAL_PRESSURE 8.15681 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,3,0

TCM_TEMP 16.60 GPS 210109,133802,4806.504,-12222.102,9,1.3,9,18.3

XPDR_PINGS 75

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 148 89.61 SBE_CT 181 24 103.02

Roll_motor 35 67 56.79 SBE_O2 195 19 87.51

VBD_pump_during_apogee 229 684 3698.71 WL_BB2F 523 105 1296.92

VBD_pump_during_surface 338 635 5075.99 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 61.50 nil 0 0 0.00

Iridium_during_connect 27 160 103.08 nil 0 0 0.00

Iridium_during_xfer 73 223 386.09

Transponder_ping 20 420 200.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 11 50 5.61

TT8 469 19 93.99

LPSleep 1716 2 37.96

TT8_Active 645 19 129.03

TT8_Sampling 728 39 293.00

TT8_CF8 166 45 77.19

TT8_Kalman 33 81 27.55

Analog_circuits 1002 12 121.47

GPS_charging 0 0 0.00

Compass 722 8 58.40

RAFOS 0 0 0.00

Transponder 13 30 4.02

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

13 -1.17 -146.6 0.0 0.0 0 108 0.00 0.00 -92.40 0.000 2 0.000 0.000 46 2010 3522

110 -1.17 -146.6 4.3 -4.1 15 137 11.50 2.50 -8.77 0.000 4 0.148 0.067 2117 3400 3894

388 -1.17 -146.6 26.9 -7.8 56 396 0.00 2.47 0.00 0.000 6 0.000 0.040 2117 2002 3894

586 -1.17 -146.6 40.7 -7.1 75 591 0.00 2.53 0.00 0.000 4 0.000 0.055 2117 3402 3894

843 -1.17 -146.6 59.5 -7.7 91 851 0.00 2.47 0.00 0.000 6 0.000 0.039 2117 1998 3894

1159 -1.17 -146.6 79.1 -5.8 107 1163 0.00 2.53 0.00 0.000 4 0.000 0.054 2117 3404 3894

1253 -1.17 -146.6 85.2 -6.4 111 1258 0.00 2.47 0.00 0.000 6 0.000 0.039 2117 2002 3894

1577 -1.17 -146.6 104.6 -5.8 130 1581 0.00 2.50 0.00 0.000 4 0.000 0.054 2117 3400 3894

1597 -1.17 -146.6 105.8 -5.7 131 1604 0.00 2.47 0.00 0.000 6 0.000 0.039 2117 1995 3894

1783 end dive: BOTTOM_OBSTACLE_DETECTED

state 1783 begin apogee

1787 -0.33 0.0 116.6 5.7 149 1906 0.88 0.00 114.95 0.684 6 0.067 0.000 2303 1836 3296

1907 end apogee: CONTROL_FINISHED_OK

state 1907 begin climb

1908 1.17 146.6 119.0 0.0 161 2032 1.45 2.60 114.12 0.649 4 0.041 0.065 2634 434 2698

2156 1.17 146.6 94.6 13.6 182 2160 0.00 2.45 0.00 0.000 6 0.000 0.036 2633 1849 2698

2481 1.17 146.6 55.4 11.7 198 2486 0.00 2.60 0.00 0.000 4 0.000 0.064 2634 433 2698

2535 1.17 146.6 48.4 12.5 200 2544 0.00 2.45 0.00 0.000 6 0.000 0.035 2634 1836 2698

2865 1.17 146.6 13.7 9.3 236 2872 0.00 2.58 0.00 0.000 4 0.000 0.065 2634 430 2699

2939 1.17 146.6 6.3 9.5 249 2946 0.00 2.45 0.00 0.000 6 0.000 0.036 2634 1836 2699

2991 end climb: SURFACE_DEPTH_REACHED

state 2991 begin surface coast

3059 end surface coast: CONTROL_FINISHED_OK

state 3059 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	16	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-216861.97	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	123438,4806.238,-12222.019,8,1.4,8,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.148,0.195
_SM_DEPTHo	2.14	KALMAN_X	-1534.5,-100.8,-84.0,2514.2,65.9
_SM_ANGLEo	-70.5	KALMAN_Y	414.6,74.5,128.3,-5358.2,-79.9
GPS2	123744,4806.240,-12222.022,9,1.4,9,18.3	MHEAD_RNG_PITCHd_Wd	304.6,4074,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	150

FINISH	3.2,1.020638	ALTIM_BOTTOM_PING	90.9,35.5
SM_CCo	3061,338.67,0.635,3,0,574,667.71	_24V_AH	23.6,7.276
SM_GC	1.92,11.82,0.00,0.00,0.044,0.000,0.000,43,2017,573,-10.68,0.51,667.95	_10V_AH	10.1,2.671
IRIDIUM_FIX	4748.51,-12220.12,170498,111126	DATA_FILE_SIZE	12755,270
TT8_MAMPS	0.025311	CAP_FILE_SIZE	39030,0
HUMID	1438	CFSIZE	260165632,257753088
INTERNAL_PRESSURE	8.15681	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
TCM_TEMP	16.60	GPS	210109,133802,4806.504,-12222.102,9,1.3,9,18.3
XPDR_PINGS	75

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	148	89.61	SBE_CT	181	24	103.02
Roll_motor	35	67	56.79	SBE_O2	195	19	87.51
VBD_pump_during_apogee	229	684	3698.71	WL_BB2F	523	105	1296.92
VBD_pump_during_surface	338	635	5075.99	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	61.50	nil	0	0	0.00
Iridium_during_connect	27	160	103.08	nil	0	0	0.00
Iridium_during_xfer	73	223	386.09
Transponder_ping	20	420	200.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	11	50	5.61
TT8	469	19	93.99
LPSleep	1716	2	37.96
TT8_Active	645	19	129.03
TT8_Sampling	728	39	293.00
TT8_CF8	166	45	77.19
TT8_Kalman	33	81	27.55
Analog_circuits	1002	12	121.47
GPS_charging	0	0	0.00
Compass	722	8	58.40
RAFOS	0	0	0.00
Transponder	13	30	4.02

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
13	-1.17	-146.6	0.0	0.0	0	108	0.00	0.00	-92.40	0.000	2	0.000	0.000	46	2010	3522
110	-1.17	-146.6	4.3	-4.1	15	137	11.50	2.50	-8.77	0.000	4	0.148	0.067	2117	3400	3894
388	-1.17	-146.6	26.9	-7.8	56	396	0.00	2.47	0.00	0.000	6	0.000	0.040	2117	2002	3894
586	-1.17	-146.6	40.7	-7.1	75	591	0.00	2.53	0.00	0.000	4	0.000	0.055	2117	3402	3894
843	-1.17	-146.6	59.5	-7.7	91	851	0.00	2.47	0.00	0.000	6	0.000	0.039	2117	1998	3894
1159	-1.17	-146.6	79.1	-5.8	107	1163	0.00	2.53	0.00	0.000	4	0.000	0.054	2117	3404	3894
1253	-1.17	-146.6	85.2	-6.4	111	1258	0.00	2.47	0.00	0.000	6	0.000	0.039	2117	2002	3894
1577	-1.17	-146.6	104.6	-5.8	130	1581	0.00	2.50	0.00	0.000	4	0.000	0.054	2117	3400	3894
1597	-1.17	-146.6	105.8	-5.7	131	1604	0.00	2.47	0.00	0.000	6	0.000	0.039	2117	1995	3894
1783	end dive: BOTTOM_OBSTACLE_DETECTED
state	1783	begin apogee
1787	-0.33	0.0	116.6	5.7	149	1906	0.88	0.00	114.95	0.684	6	0.067	0.000	2303	1836	3296
1907	end apogee: CONTROL_FINISHED_OK
state	1907	begin climb
1908	1.17	146.6	119.0	0.0	161	2032	1.45	2.60	114.12	0.649	4	0.041	0.065	2634	434	2698
2156	1.17	146.6	94.6	13.6	182	2160	0.00	2.45	0.00	0.000	6	0.000	0.036	2633	1849	2698
2481	1.17	146.6	55.4	11.7	198	2486	0.00	2.60	0.00	0.000	4	0.000	0.064	2634	433	2698
2535	1.17	146.6	48.4	12.5	200	2544	0.00	2.45	0.00	0.000	6	0.000	0.035	2634	1836	2698
2865	1.17	146.6	13.7	9.3	236	2872	0.00	2.58	0.00	0.000	4	0.000	0.065	2634	430	2699
2939	1.17	146.6	6.3	9.5	249	2946	0.00	2.45	0.00	0.000	6	0.000	0.036	2634	1836	2699
2991	end climb: SURFACE_DEPTH_REACHED
state	2991	begin surface coast
3059	end surface coast: CONTROL_FINISHED_OK
state	3059	begin surface