Glider dive log

WA coast Jan08 * SG119 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 3 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 18 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 175 ALTIM_PING_DEPTH 150

D_TGT 990 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3878 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LAT 48.150002 C_ROLL_DIVE 2220 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -125.67 C_ROLL_CLIMB 2180 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 330 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 360 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 425 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3879 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2860 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 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -14880.587 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 150 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 1379 AH0_24V 147 SEABIRD_T_G 0.004348367

SPEED_FACTOR 1 PITCH_MAX 3813 AH0_10V 122.2 SEABIRD_T_H 0.00063394889

RHO 1.023 C_PITCH 3363 PRESSURE_YINT -2.3287585 SEABIRD_T_I 2.4089732e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 2.5198262e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.04077

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1285373

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022196125

HD_A 0.0038945 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00025642588

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3813 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 1379 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.3287585 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -125.67

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 330

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 -14880.587

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 360

CF8_MAXERRORS 2 HEAD_ERRBAND 10 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

COURSE_BIAS 0 ID 119 ROLL_MAX 3878 T_TURN_SAMPINT 5

C_PITCH 3363 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2180 INT_PRESSURE_YINT 0 ROLL_MIN 175 UNCOM_BLEED 50

C_ROLL_DIVE 2220 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2860 MASS 51528 R_PORT_OVSHOOT 30 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 34 USE_ICE 0

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.04077 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1285373 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0022196125 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00025642588 VBD_MAX 3879

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004348367 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063394889 VBD_MIN 425

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4089732e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 18 PHONE_DEVICE 48 SEABIRD_T_J 2.5198262e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 010759,4805.622,-12539.900,12,2.1,31,18.9 TGT_NAME SW_47N_128W

_CALLS 2 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.227,-0.134

_SM_DEPTHo 1.61 KALMAN_X -13536.3,-166.3,1073.2,13426.4,-10581.9

_SM_ANGLEo -70.2 KALMAN_Y -16827.2,-907.5,1250.5,22637.7,-25623.6

GPS2 011607,4805.548,-12539.798,11,1.4,27,18.9 MHEAD_RNG_PITCHd_Wd 220.7,214698,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.013477 XPDR_PINGS 7

SM_CCo 4989,55.50,0.752,0,0,1228,400.08 ALTIM_BOTTOM_PING 177.7,99.3

SM_GC 2.16,0.00,0.00,55.50,0.000,0.000,0.752,1378,2210,1228,-9.13,-0.28,400.08 _24V_AH 23.9,5.281

IRIDIUM_FIX 4748.51,-12541.26,190108,050518 _10V_AH 10.7,2.218

TT8_MAMPS 0.028379 DATA_FILE_SIZE 19077,402

HUMID 1882 CFSIZE 260165632,258088960

INTERNAL_PRESSURE 9.56091 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,4,0,0

TCM_TEMP 16.60 GPS 190108,024204,4804.949,-12540.300,8,4.2,28,18.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 171 114.26 SBE_CT 284 24 163.44

Roll_motor 48 91 105.14 SBE_O2 290 19 132.07

VBD_pump_during_apogee 348 939 7819.12 WL_BB2F 676 105 1698.40

VBD_pump_during_surface 55 751 997.04 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 78 103 193.44 nil 0 0 0.00

Iridium_during_connect 73 160 281.51 nil 0 0 0.00

Iridium_during_xfer 172 223 921.57

Transponder_ping 2 420 25.09

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 29 50 15.89

TT8 716 19 151.87

LPSleep 2909 2 68.18

TT8_Active 455 19 96.48

TT8_Sampling 1065 39 453.93

TT8_CF8 398 45 195.50

TT8_Kalman 33 81 29.17

Analog_circuits 961 12 123.48

GPS_charging 0 0 0.00

Compass 1041 8 89.11

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

16 -1.00 -146.6 0.0 0.0 0 60 0.00 0.00 -42.03 0.000 2 0.000 0.000 1376 2229 2124

62 -1.00 -146.6 3.3 -5.5 4 123 12.60 2.42 -40.47 0.000 4 0.172 0.091 3137 3613 3458

172 -1.00 -146.6 18.4 -18.2 14 179 0.00 2.35 0.00 0.000 6 0.000 0.046 3138 2227 3458

510 -1.00 -146.6 79.2 -18.1 64 516 0.00 2.38 0.00 0.000 4 0.000 0.064 3138 813 3458

537 -1.00 -146.6 84.9 -19.5 67 545 0.00 2.33 0.00 0.000 6 0.000 0.051 3138 2202 3458

862 -1.00 -146.6 139.0 -15.7 98 866 0.00 2.35 0.00 0.000 4 0.000 0.062 3138 809 3458

978 -1.00 -146.6 156.3 -14.0 107 983 0.00 2.38 0.00 0.000 6 0.000 0.052 3138 2214 3458

1305 -1.00 -146.6 199.4 -12.1 123 1309 0.00 2.45 0.00 0.000 4 0.000 0.082 3138 3631 3458

1370 -1.00 -146.6 208.2 -13.8 126 1375 0.00 2.35 0.00 0.000 6 0.000 0.046 3138 2213 3458

1697 -1.00 -146.6 247.2 -11.0 142 1698 0.00 0.00 0.00 0.000 6 0.000 0.000 3138 2213 3458

1882 end dive: BOTTOM_OBSTACLE_DETECTED

state 1882 begin apogee

1885 -0.23 0.0 267.7 10.7 151 2005 1.02 0.00 115.88 0.940 6 0.098 0.000 3308 2213 2860

2005 end apogee: CONTROL_FINISHED_OK

state 2005 begin climb

2007 1.00 146.6 271.5 0.0 157 2134 1.58 2.62 118.47 0.900 4 0.060 0.079 3574 3585 2262

2386 1.03 169.1 251.7 9.0 174 2412 0.00 2.40 19.25 0.881 6 0.000 0.046 3574 2185 2169

2728 1.05 188.6 222.5 9.1 191 2751 0.00 2.53 16.88 0.880 4 0.000 0.078 3574 3587 2090

2863 1.05 188.6 206.8 13.4 197 2867 0.00 2.38 0.00 0.000 6 0.000 0.046 3574 2179 2090

3188 1.12 238.5 177.6 7.7 213 3234 0.15 2.60 39.50 0.879 4 0.065 0.079 3607 3589 1887

3487 1.12 238.5 138.2 13.4 230 3492 0.00 2.38 0.00 0.000 6 0.000 0.047 3607 2176 1886

3811 1.13 248.1 108.1 9.6 260 3826 0.00 2.42 9.12 0.788 4 0.000 0.063 3607 782 1848

4080 1.15 263.9 79.9 9.3 284 4098 0.00 2.33 13.57 0.808 6 0.000 0.051 3607 2191 1784

4436 1.15 263.9 47.6 10.2 347 4442 0.00 2.40 0.00 0.000 4 0.000 0.077 3607 3584 1784

4542 1.15 263.9 35.3 11.0 362 4549 0.00 2.35 0.00 0.000 6 0.000 0.044 3608 2179 1784

4868 1.18 292.5 4.7 8.7 393 4890 0.00 2.47 15.52 0.769 4 0.000 0.072 3608 3592 1666

4923 end climb: SURFACE_DEPTH_REACHED

state 4923 begin surface coast

4968 end surface coast: CONTROL_FINISHED_OK

state 4968 begin surface

ID	119	HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	3	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	18	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	175	ALTIM_PING_DEPTH	150
D_TGT	990	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3878	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LAT	48.150002	C_ROLL_DIVE	2220	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-125.67	C_ROLL_CLIMB	2180	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	330	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	360	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	425	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3879	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2860	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	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-14880.587	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	150	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	1379	AH0_24V	147	SEABIRD_T_G	0.004348367
SPEED_FACTOR	1	PITCH_MAX	3813	AH0_10V	122.2	SEABIRD_T_H	0.00063394889
RHO	1.023	C_PITCH	3363	PRESSURE_YINT	-2.3287585	SEABIRD_T_I	2.4089732e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	2.5198262e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.04077
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1285373
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022196125
HD_A	0.0038945	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00025642588

GPS1	010759,4805.622,-12539.900,12,2.1,31,18.9	TGT_NAME	SW_47N_128W
_CALLS	2	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.227,-0.134
_SM_DEPTHo	1.61	KALMAN_X	-13536.3,-166.3,1073.2,13426.4,-10581.9
_SM_ANGLEo	-70.2	KALMAN_Y	-16827.2,-907.5,1250.5,22637.7,-25623.6
GPS2	011607,4805.548,-12539.798,11,1.4,27,18.9	MHEAD_RNG_PITCHd_Wd	220.7,214698,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	990

FINISH	0.5,1.013477	XPDR_PINGS	7
SM_CCo	4989,55.50,0.752,0,0,1228,400.08	ALTIM_BOTTOM_PING	177.7,99.3
SM_GC	2.16,0.00,0.00,55.50,0.000,0.000,0.752,1378,2210,1228,-9.13,-0.28,400.08	_24V_AH	23.9,5.281
IRIDIUM_FIX	4748.51,-12541.26,190108,050518	_10V_AH	10.7,2.218
TT8_MAMPS	0.028379	DATA_FILE_SIZE	19077,402
HUMID	1882	CFSIZE	260165632,258088960
INTERNAL_PRESSURE	9.56091	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
TCM_TEMP	16.60	GPS	190108,024204,4804.949,-12540.300,8,4.2,28,18.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	171	114.26	SBE_CT	284	24	163.44
Roll_motor	48	91	105.14	SBE_O2	290	19	132.07
VBD_pump_during_apogee	348	939	7819.12	WL_BB2F	676	105	1698.40
VBD_pump_during_surface	55	751	997.04	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	78	103	193.44	nil	0	0	0.00
Iridium_during_connect	73	160	281.51	nil	0	0	0.00
Iridium_during_xfer	172	223	921.57
Transponder_ping	2	420	25.09
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	29	50	15.89
TT8	716	19	151.87
LPSleep	2909	2	68.18
TT8_Active	455	19	96.48
TT8_Sampling	1065	39	453.93
TT8_CF8	398	45	195.50
TT8_Kalman	33	81	29.17
Analog_circuits	961	12	123.48
GPS_charging	0	0	0.00
Compass	1041	8	89.11
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
16	-1.00	-146.6	0.0	0.0	0	60	0.00	0.00	-42.03	0.000	2	0.000	0.000	1376	2229	2124
62	-1.00	-146.6	3.3	-5.5	4	123	12.60	2.42	-40.47	0.000	4	0.172	0.091	3137	3613	3458
172	-1.00	-146.6	18.4	-18.2	14	179	0.00	2.35	0.00	0.000	6	0.000	0.046	3138	2227	3458
510	-1.00	-146.6	79.2	-18.1	64	516	0.00	2.38	0.00	0.000	4	0.000	0.064	3138	813	3458
537	-1.00	-146.6	84.9	-19.5	67	545	0.00	2.33	0.00	0.000	6	0.000	0.051	3138	2202	3458
862	-1.00	-146.6	139.0	-15.7	98	866	0.00	2.35	0.00	0.000	4	0.000	0.062	3138	809	3458
978	-1.00	-146.6	156.3	-14.0	107	983	0.00	2.38	0.00	0.000	6	0.000	0.052	3138	2214	3458
1305	-1.00	-146.6	199.4	-12.1	123	1309	0.00	2.45	0.00	0.000	4	0.000	0.082	3138	3631	3458
1370	-1.00	-146.6	208.2	-13.8	126	1375	0.00	2.35	0.00	0.000	6	0.000	0.046	3138	2213	3458
1697	-1.00	-146.6	247.2	-11.0	142	1698	0.00	0.00	0.00	0.000	6	0.000	0.000	3138	2213	3458
1882	end dive: BOTTOM_OBSTACLE_DETECTED
state	1882	begin apogee
1885	-0.23	0.0	267.7	10.7	151	2005	1.02	0.00	115.88	0.940	6	0.098	0.000	3308	2213	2860
2005	end apogee: CONTROL_FINISHED_OK
state	2005	begin climb
2007	1.00	146.6	271.5	0.0	157	2134	1.58	2.62	118.47	0.900	4	0.060	0.079	3574	3585	2262
2386	1.03	169.1	251.7	9.0	174	2412	0.00	2.40	19.25	0.881	6	0.000	0.046	3574	2185	2169
2728	1.05	188.6	222.5	9.1	191	2751	0.00	2.53	16.88	0.880	4	0.000	0.078	3574	3587	2090
2863	1.05	188.6	206.8	13.4	197	2867	0.00	2.38	0.00	0.000	6	0.000	0.046	3574	2179	2090
3188	1.12	238.5	177.6	7.7	213	3234	0.15	2.60	39.50	0.879	4	0.065	0.079	3607	3589	1887
3487	1.12	238.5	138.2	13.4	230	3492	0.00	2.38	0.00	0.000	6	0.000	0.047	3607	2176	1886
3811	1.13	248.1	108.1	9.6	260	3826	0.00	2.42	9.12	0.788	4	0.000	0.063	3607	782	1848
4080	1.15	263.9	79.9	9.3	284	4098	0.00	2.33	13.57	0.808	6	0.000	0.051	3607	2191	1784
4436	1.15	263.9	47.6	10.2	347	4442	0.00	2.40	0.00	0.000	4	0.000	0.077	3607	3584	1784
4542	1.15	263.9	35.3	11.0	362	4549	0.00	2.35	0.00	0.000	6	0.000	0.044	3608	2179	1784
4868	1.18	292.5	4.7	8.7	393	4890	0.00	2.47	15.52	0.769	4	0.000	0.072	3608	3592	1666
4923	end climb: SURFACE_DEPTH_REACHED
state	4923	begin surface coast
4968	end surface coast: CONTROL_FINISHED_OK
state	4968	begin surface