Glider dive log

PortSusan 29Apr08 * SG016 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 8 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 17 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 70

D_TGT 150 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_FINISH 0 SM_CC 600 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 17 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 62.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2995 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2089351.5 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 250 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.153397 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 600

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 150 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.153397 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 62.5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2089351.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2300 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2500 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2995 MASS 52000 R_PORT_OVSHOOT 17 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 250 R_STBD_OVSHOOT 18 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 8 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 17 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 115553,4806.721,-12222.763,7,5.3,27,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.188,-0.179

_SM_DEPTHo 1.21 KALMAN_X 4152.3,-186.6,92.3,-3386.9,201.8

_SM_ANGLEo -63.1 KALMAN_Y -10227.2,-395.2,-626.2,8456.4,-587.9

GPS2 120003,4806.689,-12222.743,38,1.3,38,18.3 MHEAD_RNG_PITCHd_Wd 125.9,1573,-11.0,-8.000

SPEED_LIMITS 0.139,0.305 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.8,1.018418 ALTIM_BOTTOM_PING 80.3,43.1

SM_CCo 3082,175.88,0.578,1,0,549,600.00 _24V_AH 23.7,2.286

SM_GC 1.29,0.00,0.00,175.88,0.000,0.000,0.578,73,2500,549,-10.24,0.00,600.00 _10V_AH 10.1,0.912

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 12855,273

TT8_MAMPS 0.023777 CAP_FILE_SIZE 41166,0

HUMID 1724 CFSIZE 260165632,258777088

TCM_TEMP 17.00 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 18 GPS 300408,125626,4806.466,-12222.497,11,1.6,29,18.3

ALTIM_TOP_PING 18.5,17.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 158 89.50 SBE_CT 184 24 105.04

Roll_motor 46 82 90.64 SBE_O2 193 19 87.03

VBD_pump_during_apogee 367 677 5902.39 WL_BB2F 471 105 1174.26

VBD_pump_during_surface 175 577 2407.37 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 44.82 nil 0 0 0.00

Iridium_during_connect 30 160 115.49 nil 0 0 0.00

Iridium_during_xfer 87 223 460.55

Transponder_ping 5 420 54.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 40 50 20.44

TT8 461 19 92.24

LPSleep 1520 2 33.62

TT8_Active 616 19 123.25

TT8_Sampling 688 39 276.65

TT8_CF8 243 45 112.65

TT8_Kalman 33 81 27.52

Analog_circuits 1013 12 122.90

GPS_charging 0 0 0.00

Compass 652 8 52.73

RAFOS 0 0 0.00

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

40 end surface: CONTROL_FINISHED_OK

state 40 begin dive

43 -0.95 -244.4 0.0 0.0 0 171 0.00 0.00 -124.70 0.000 2 0.000 0.000 76 2501 3135

174 -0.95 -244.4 3.1 -2.5 23 221 11.10 2.60 -28.88 0.000 4 0.158 0.069 2087 1079 3836

331 -0.95 -244.4 10.3 -6.0 50 338 0.00 2.62 -0.08 0.000 6 0.000 0.056 2087 2502 3837

407 -0.95 -244.4 14.1 -5.3 63 413 0.00 2.38 0.00 0.000 4 0.000 0.072 2087 3769 3837

426 -0.95 -244.4 15.2 -5.5 66 433 0.00 2.30 0.00 0.000 6 0.000 0.051 2087 2499 3837

502 -0.95 -244.4 18.9 -5.0 79 508 0.00 2.62 0.00 0.000 4 0.000 0.064 2087 1077 3837

594 -0.95 -244.4 23.7 -5.3 89 598 0.00 2.65 0.00 0.000 6 0.000 0.058 2087 2500 3836

792 -0.95 -244.4 34.7 -5.8 107 796 0.00 2.62 0.00 0.000 4 0.000 0.058 2087 1080 3836

922 -0.95 -244.4 42.3 -5.8 118 927 0.00 2.62 0.00 0.000 6 0.000 0.058 2087 2499 3836

1118 -0.95 -244.4 53.7 -5.9 133 1123 0.00 2.62 0.00 0.000 4 0.000 0.058 2087 1078 3836

1236 -0.95 -244.4 60.5 -5.7 138 1241 0.00 2.65 -0.03 0.000 6 0.000 0.059 2087 2502 3838

1552 -0.95 -244.4 77.9 -5.4 153 1556 0.00 2.40 0.00 0.000 4 0.000 0.074 2087 3772 3838

1633 -0.95 -244.4 82.5 -5.4 156 1639 0.00 2.30 0.00 0.000 6 0.000 0.051 2087 2499 3838

1949 -0.95 -244.4 99.4 -5.3 172 1953 0.00 2.42 0.00 0.000 4 0.000 0.076 2087 3771 3838

1970 -0.95 -244.4 100.7 -5.7 173 1977 0.00 2.30 0.00 0.000 6 0.000 0.052 2087 2500 3838

2208 end dive: BOTTOM_OBSTACLE_DETECTED

state 2208 begin apogee

2215 -0.31 0.0 113.7 5.7 196 2392 0.65 0.00 170.10 0.677 6 0.068 0.000 2230 2294 2995

2393 end apogee: CONTROL_FINISHED_OK

state 2393 begin climb

2396 0.95 244.4 118.1 0.0 214 2607 1.23 2.75 197.62 0.645 4 0.051 0.072 2508 3717 1997

2646 0.95 244.4 77.5 20.3 232 2653 0.00 2.67 0.00 0.000 6 0.000 0.064 2507 2303 1997

2968 0.95 244.4 16.4 18.6 257 2974 0.00 2.67 0.00 0.000 4 0.000 0.067 2508 874 1997

3009 0.95 244.4 8.4 19.6 264 3015 0.00 2.62 0.00 0.000 6 0.000 0.082 2508 2301 1997

3036 end climb: SURFACE_DEPTH_REACHED

state 3036 begin surface coast

3060 end surface coast: CONTROL_FINISHED_OK

state 3060 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	8	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	17	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	70
D_TGT	150	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_FINISH	0	SM_CC	600	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	17	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	62.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2995	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2089351.5	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	250	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.153397	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	115553,4806.721,-12222.763,7,5.3,27,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.188,-0.179
_SM_DEPTHo	1.21	KALMAN_X	4152.3,-186.6,92.3,-3386.9,201.8
_SM_ANGLEo	-63.1	KALMAN_Y	-10227.2,-395.2,-626.2,8456.4,-587.9
GPS2	120003,4806.689,-12222.743,38,1.3,38,18.3	MHEAD_RNG_PITCHd_Wd	125.9,1573,-11.0,-8.000
SPEED_LIMITS	0.139,0.305	D_GRID	150

FINISH	1.8,1.018418	ALTIM_BOTTOM_PING	80.3,43.1
SM_CCo	3082,175.88,0.578,1,0,549,600.00	_24V_AH	23.7,2.286
SM_GC	1.29,0.00,0.00,175.88,0.000,0.000,0.578,73,2500,549,-10.24,0.00,600.00	_10V_AH	10.1,0.912
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	12855,273
TT8_MAMPS	0.023777	CAP_FILE_SIZE	41166,0
HUMID	1724	CFSIZE	260165632,258777088
TCM_TEMP	17.00	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	18	GPS	300408,125626,4806.466,-12222.497,11,1.6,29,18.3
ALTIM_TOP_PING	18.5,17.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	158	89.50	SBE_CT	184	24	105.04
Roll_motor	46	82	90.64	SBE_O2	193	19	87.03
VBD_pump_during_apogee	367	677	5902.39	WL_BB2F	471	105	1174.26
VBD_pump_during_surface	175	577	2407.37	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	44.82	nil	0	0	0.00
Iridium_during_connect	30	160	115.49	nil	0	0	0.00
Iridium_during_xfer	87	223	460.55
Transponder_ping	5	420	54.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	40	50	20.44
TT8	461	19	92.24
LPSleep	1520	2	33.62
TT8_Active	616	19	123.25
TT8_Sampling	688	39	276.65
TT8_CF8	243	45	112.65
TT8_Kalman	33	81	27.52
Analog_circuits	1013	12	122.90
GPS_charging	0	0	0.00
Compass	652	8	52.73
RAFOS	0	0	0.00

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
40	end surface: CONTROL_FINISHED_OK
state	40	begin dive
43	-0.95	-244.4	0.0	0.0	0	171	0.00	0.00	-124.70	0.000	2	0.000	0.000	76	2501	3135
174	-0.95	-244.4	3.1	-2.5	23	221	11.10	2.60	-28.88	0.000	4	0.158	0.069	2087	1079	3836
331	-0.95	-244.4	10.3	-6.0	50	338	0.00	2.62	-0.08	0.000	6	0.000	0.056	2087	2502	3837
407	-0.95	-244.4	14.1	-5.3	63	413	0.00	2.38	0.00	0.000	4	0.000	0.072	2087	3769	3837
426	-0.95	-244.4	15.2	-5.5	66	433	0.00	2.30	0.00	0.000	6	0.000	0.051	2087	2499	3837
502	-0.95	-244.4	18.9	-5.0	79	508	0.00	2.62	0.00	0.000	4	0.000	0.064	2087	1077	3837
594	-0.95	-244.4	23.7	-5.3	89	598	0.00	2.65	0.00	0.000	6	0.000	0.058	2087	2500	3836
792	-0.95	-244.4	34.7	-5.8	107	796	0.00	2.62	0.00	0.000	4	0.000	0.058	2087	1080	3836
922	-0.95	-244.4	42.3	-5.8	118	927	0.00	2.62	0.00	0.000	6	0.000	0.058	2087	2499	3836
1118	-0.95	-244.4	53.7	-5.9	133	1123	0.00	2.62	0.00	0.000	4	0.000	0.058	2087	1078	3836
1236	-0.95	-244.4	60.5	-5.7	138	1241	0.00	2.65	-0.03	0.000	6	0.000	0.059	2087	2502	3838
1552	-0.95	-244.4	77.9	-5.4	153	1556	0.00	2.40	0.00	0.000	4	0.000	0.074	2087	3772	3838
1633	-0.95	-244.4	82.5	-5.4	156	1639	0.00	2.30	0.00	0.000	6	0.000	0.051	2087	2499	3838
1949	-0.95	-244.4	99.4	-5.3	172	1953	0.00	2.42	0.00	0.000	4	0.000	0.076	2087	3771	3838
1970	-0.95	-244.4	100.7	-5.7	173	1977	0.00	2.30	0.00	0.000	6	0.000	0.052	2087	2500	3838
2208	end dive: BOTTOM_OBSTACLE_DETECTED
state	2208	begin apogee
2215	-0.31	0.0	113.7	5.7	196	2392	0.65	0.00	170.10	0.677	6	0.068	0.000	2230	2294	2995
2393	end apogee: CONTROL_FINISHED_OK
state	2393	begin climb
2396	0.95	244.4	118.1	0.0	214	2607	1.23	2.75	197.62	0.645	4	0.051	0.072	2508	3717	1997
2646	0.95	244.4	77.5	20.3	232	2653	0.00	2.67	0.00	0.000	6	0.000	0.064	2507	2303	1997
2968	0.95	244.4	16.4	18.6	257	2974	0.00	2.67	0.00	0.000	4	0.000	0.067	2508	874	1997
3009	0.95	244.4	8.4	19.6	264	3015	0.00	2.62	0.00	0.000	6	0.000	0.082	2508	2301	1997
3036	end climb: SURFACE_DEPTH_REACHED
state	3036	begin surface coast
3060	end surface coast: CONTROL_FINISHED_OK
state	3060	begin surface