Glider dive log

PortSusan 20Jan09 * SG104 * Dive index * Mission links * Dive 17 * 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 17 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 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 -216895.7 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 -216895.7

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 25 VBD_BLEED_AD_RATE 8

C_VBD 3296 MAX_BUOY 150 R_STBD_OVSHOOT 33 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 17 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 133802,4806.504,-12222.102,9,1.3,9,18.3 TGT_NAME EIGHT

_CALLS 2 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.178,0.169

_SM_DEPTHo 1.85 KALMAN_X -1137.1,-93.1,-58.3,1962.0,321.9

_SM_ANGLEo -69.0 KALMAN_Y 245.6,81.5,59.0,-4626.8,-223.4

GPS2 134436,4806.512,-12222.122,15,0.9,31,18.3 MHEAD_RNG_PITCHd_Wd 295.2,3604,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.1,1.019775 ALTIM_BOTTOM_PING 100.2,23.4

SM_CCo 2943,327.88,0.650,0,0,574,667.71 _24V_AH 23.5,7.398

SM_GC 1.93,11.77,0.00,0.00,0.042,0.000,0.000,44,2006,572,-10.67,0.17,668.20 _10V_AH 10.1,2.713

IRIDIUM_FIX 4751.72,-12219.12,170498,131349 DATA_FILE_SIZE 12857,259

TT8_MAMPS 0.025311 CAP_FILE_SIZE 39658,0

HUMID 1437 CFSIZE 260165632,257724416

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

TCM_TEMP 17.40 GPS 210109,144232,4806.785,-12222.330,11,1.9,11,18.3

XPDR_PINGS 71

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 148 89.14 SBE_CT 174 24 98.39

Roll_motor 30 67 48.42 SBE_O2 187 19 83.67

VBD_pump_during_apogee 235 747 4135.72 WL_BB2F 502 105 1239.90

VBD_pump_during_surface 327 649 5005.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 61 103 147.78 nil 0 0 0.00

Iridium_during_connect 50 160 189.44 nil 0 0 0.00

Iridium_during_xfer 134 223 706.41

Transponder_ping 19 420 192.47

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.72

TT8 442 19 88.42

LPSleep 1732 2 38.32

TT8_Active 625 19 125.07

TT8_Sampling 700 39 281.56

TT8_CF8 291 45 134.62

TT8_Kalman 33 81 27.54

Analog_circuits 967 12 117.31

GPS_charging 0 0 0.00

Compass 674 8 54.48

RAFOS 0 0 0.00

Transponder 15 30 4.56

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -1.17 -146.6 0.0 0.0 0 125 0.00 0.00 -109.47 0.000 2 0.000 0.000 43 2018 3835

127 -1.17 -146.6 4.2 -3.8 18 148 11.50 2.50 -1.25 0.000 4 0.148 0.067 2115 3400 3895

401 -1.17 -146.6 30.5 -8.3 55 405 0.00 2.45 0.00 0.000 6 0.000 0.039 2115 1994 3895

598 -1.17 -146.6 44.8 -7.0 73 602 0.00 2.53 0.00 0.000 4 0.000 0.054 2115 3398 3895

764 -1.17 -146.6 57.0 -7.2 83 772 0.00 2.47 0.00 0.000 6 0.000 0.039 2114 1998 3895

1080 -1.17 -146.6 77.9 -6.4 99 1081 0.00 0.00 0.00 0.000 6 0.000 0.000 2115 1998 3895

1390 -1.17 -146.6 96.4 -6.0 114 1394 0.00 2.50 0.00 0.000 4 0.000 0.053 2115 3397 3895

1443 -1.17 -146.6 99.9 -6.4 116 1455 0.00 2.45 0.00 0.000 6 0.000 0.038 2115 2002 3895

1672 end dive: BOTTOM_OBSTACLE_DETECTED

state 1672 begin apogee

1676 -0.33 0.0 113.7 5.9 138 1796 0.88 0.00 116.55 0.747 6 0.068 0.000 2301 1830 3296

1797 end apogee: CONTROL_FINISHED_OK

state 1797 begin climb

1798 1.17 146.6 116.6 0.0 150 1923 1.48 2.60 115.57 0.718 4 0.043 0.064 2634 436 2697

2033 1.17 146.6 94.0 13.4 169 2038 0.00 2.45 0.00 0.000 6 0.000 0.035 2634 1836 2697

2355 1.17 146.6 54.6 11.8 185 2359 0.00 2.55 0.00 0.000 4 0.000 0.064 2634 439 2697

2380 1.17 146.6 51.3 12.5 186 2386 0.00 2.45 0.00 0.000 6 0.000 0.035 2634 1837 2697

2707 1.17 146.6 16.9 9.7 218 2714 0.00 2.58 0.00 0.000 4 0.000 0.064 2634 434 2697

2770 1.17 146.6 10.2 10.5 229 2777 0.00 2.42 0.00 0.000 6 0.000 0.036 2634 1842 2697

2844 1.18 152.7 3.9 7.8 242 2851 0.00 0.00 3.45 0.398 6 0.000 0.000 2634 1842 2672

2868 end climb: SURFACE_DEPTH_REACHED

state 2868 begin surface coast

2941 end surface coast: CONTROL_FINISHED_OK

state 2941 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	17	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	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	-216895.7	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	133802,4806.504,-12222.102,9,1.3,9,18.3	TGT_NAME	EIGHT
_CALLS	2	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.178,0.169
_SM_DEPTHo	1.85	KALMAN_X	-1137.1,-93.1,-58.3,1962.0,321.9
_SM_ANGLEo	-69.0	KALMAN_Y	245.6,81.5,59.0,-4626.8,-223.4
GPS2	134436,4806.512,-12222.122,15,0.9,31,18.3	MHEAD_RNG_PITCHd_Wd	295.2,3604,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	150

FINISH	3.1,1.019775	ALTIM_BOTTOM_PING	100.2,23.4
SM_CCo	2943,327.88,0.650,0,0,574,667.71	_24V_AH	23.5,7.398
SM_GC	1.93,11.77,0.00,0.00,0.042,0.000,0.000,44,2006,572,-10.67,0.17,668.20	_10V_AH	10.1,2.713
IRIDIUM_FIX	4751.72,-12219.12,170498,131349	DATA_FILE_SIZE	12857,259
TT8_MAMPS	0.025311	CAP_FILE_SIZE	39658,0
HUMID	1437	CFSIZE	260165632,257724416
INTERNAL_PRESSURE	8.15681	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.40	GPS	210109,144232,4806.785,-12222.330,11,1.9,11,18.3
XPDR_PINGS	71

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	148	89.14	SBE_CT	174	24	98.39
Roll_motor	30	67	48.42	SBE_O2	187	19	83.67
VBD_pump_during_apogee	235	747	4135.72	WL_BB2F	502	105	1239.90
VBD_pump_during_surface	327	649	5005.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	61	103	147.78	nil	0	0	0.00
Iridium_during_connect	50	160	189.44	nil	0	0	0.00
Iridium_during_xfer	134	223	706.41
Transponder_ping	19	420	192.47
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.72
TT8	442	19	88.42
LPSleep	1732	2	38.32
TT8_Active	625	19	125.07
TT8_Sampling	700	39	281.56
TT8_CF8	291	45	134.62
TT8_Kalman	33	81	27.54
Analog_circuits	967	12	117.31
GPS_charging	0	0	0.00
Compass	674	8	54.48
RAFOS	0	0	0.00
Transponder	15	30	4.56

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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-1.17	-146.6	0.0	0.0	0	125	0.00	0.00	-109.47	0.000	2	0.000	0.000	43	2018	3835
127	-1.17	-146.6	4.2	-3.8	18	148	11.50	2.50	-1.25	0.000	4	0.148	0.067	2115	3400	3895
401	-1.17	-146.6	30.5	-8.3	55	405	0.00	2.45	0.00	0.000	6	0.000	0.039	2115	1994	3895
598	-1.17	-146.6	44.8	-7.0	73	602	0.00	2.53	0.00	0.000	4	0.000	0.054	2115	3398	3895
764	-1.17	-146.6	57.0	-7.2	83	772	0.00	2.47	0.00	0.000	6	0.000	0.039	2114	1998	3895
1080	-1.17	-146.6	77.9	-6.4	99	1081	0.00	0.00	0.00	0.000	6	0.000	0.000	2115	1998	3895
1390	-1.17	-146.6	96.4	-6.0	114	1394	0.00	2.50	0.00	0.000	4	0.000	0.053	2115	3397	3895
1443	-1.17	-146.6	99.9	-6.4	116	1455	0.00	2.45	0.00	0.000	6	0.000	0.038	2115	2002	3895
1672	end dive: BOTTOM_OBSTACLE_DETECTED
state	1672	begin apogee
1676	-0.33	0.0	113.7	5.9	138	1796	0.88	0.00	116.55	0.747	6	0.068	0.000	2301	1830	3296
1797	end apogee: CONTROL_FINISHED_OK
state	1797	begin climb
1798	1.17	146.6	116.6	0.0	150	1923	1.48	2.60	115.57	0.718	4	0.043	0.064	2634	436	2697
2033	1.17	146.6	94.0	13.4	169	2038	0.00	2.45	0.00	0.000	6	0.000	0.035	2634	1836	2697
2355	1.17	146.6	54.6	11.8	185	2359	0.00	2.55	0.00	0.000	4	0.000	0.064	2634	439	2697
2380	1.17	146.6	51.3	12.5	186	2386	0.00	2.45	0.00	0.000	6	0.000	0.035	2634	1837	2697
2707	1.17	146.6	16.9	9.7	218	2714	0.00	2.58	0.00	0.000	4	0.000	0.064	2634	434	2697
2770	1.17	146.6	10.2	10.5	229	2777	0.00	2.42	0.00	0.000	6	0.000	0.036	2634	1842	2697
2844	1.18	152.7	3.9	7.8	242	2851	0.00	0.00	3.45	0.398	6	0.000	0.000	2634	1842	2672
2868	end climb: SURFACE_DEPTH_REACHED
state	2868	begin surface coast
2941	end surface coast: CONTROL_FINISHED_OK
state	2941	begin surface