Glider dive log

Faroes Jun08 * SG016 * Dive index * Mission links * Dive 2 * 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 9 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 2 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 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 150

D_TGT 300 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 25

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 560 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 23 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 100 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 120 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 2781 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -6 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 -2091904.8 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 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 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 -20.434687 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 560

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 25 D_SURF 2 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 150 D_TGT 300 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 -20.434687 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 100

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 -2091904.8

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 120

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 -6

C_VBD 2781 MASS 52000 R_PORT_OVSHOOT 23 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 18 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 9 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 2 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 143614,6047.876,-516.770,8,1.5,13,-7.0 TGT_NAME B2

_CALLS 1 TGT_LATLONG 6141.000,-911.000

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.263,0.021

_SM_DEPTHo 0.81 KALMAN_X 98.3,98.3,98.3,-116.6,451.6

_SM_ANGLEo -56.0 KALMAN_Y 85.7,85.7,85.7,186.1,393.8

GPS2 143903,6047.901,-516.736,15,1.3,15,-7.0 MHEAD_RNG_PITCHd_Wd 302.5,228086,-18.1,-10.000

SPEED_LIMITS 0.173,0.264 D_GRID 764

Post-dive calculations and measurements:

FINISH 0.4,1.026927 ALTIM_BOTTOM_PING 252.3,6.9

SM_CCo 4677,0.00,0.000,0,0,509,557.32 _24V_AH 23.7,4.396

SM_GC 0.98,0.00,0.00,0.00,0.000,0.000,0.000,69,2505,509,-10.26,0.14,557.32 _10V_AH 10.1,1.690

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9695,212

TT8_MAMPS 0.02301 CAP_FILE_SIZE 57342,0

HUMID 1871 CFSIZE 260165632,258113536

TCM_TEMP 17.50 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

XPDR_PINGS 179 GPS 070608,155958,6047.609,-517.573,23,2.6,42,-7.0

ALTIM_TOP_PING 19.8,19.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 162 97.50 SBE_CT 154 24 87.61

Roll_motor 42 68 67.99 SBE_O2 141 19 63.83

VBD_pump_during_apogee 328 767 5965.99 WL_BB2F 227 105 566.96

VBD_pump_during_surface 145 595 2049.43 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 46 420 462.86

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.75

TT8 454 19 90.91

LPSleep 3005 2 66.48

TT8_Active 592 19 118.55

TT8_Sampling 624 39 251.08

TT8_CF8 118 45 54.75

TT8_Kalman 30 81 24.93

Analog_circuits 938 12 113.74

GPS_charging 0 0 0.00

Compass 606 8 49.04

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

24 -1.29 -146.6 0.0 0.0 0 162 0.00 0.00 -135.68 0.000 2 0.000 0.000 68 2496 3275

165 -1.29 -146.6 4.1 -3.7 7 187 10.77 2.62 -2.15 0.000 4 0.163 0.068 2013 1090 3381

391 -1.18 -146.6 45.4 -14.8 17 396 0.15 2.53 0.00 0.000 6 0.126 0.045 2038 2502 3381

719 -1.12 -146.6 87.5 -13.4 33 723 0.00 2.60 0.00 0.000 4 0.000 0.056 2038 1086 3381

858 -1.12 -146.6 106.2 -12.9 39 862 0.00 2.53 0.00 0.000 6 0.000 0.047 2036 2499 3380

1174 -1.06 -146.6 149.8 -14.0 54 1182 0.15 2.58 0.00 0.000 4 0.120 0.056 2068 1091 3380

1290 -1.13 -146.6 163.7 -11.8 59 1295 0.00 2.53 0.00 0.000 6 0.000 0.051 2068 2500 3380

1617 -1.13 -146.6 199.9 -11.3 75 1622 0.00 2.60 0.00 0.000 4 0.000 0.058 2068 1085 3379

1757 -1.21 -146.6 215.2 -10.4 81 1762 0.15 2.55 0.00 0.000 6 0.045 0.051 2025 2498 3379

2017 end dive: BOTTOM_OBSTACLE_DETECTED

state 2018 begin apogee

2026 -0.31 0.0 252.3 14.8 94 2156 1.00 0.00 121.82 0.767 6 0.096 0.000 2228 2290 2781

2157 end apogee: CONTROL_FINISHED_OK

state 2157 begin climb

2160 1.29 146.6 260.9 0.0 101 2291 1.62 2.72 120.30 0.749 4 0.072 0.061 2576 3710 2183

2373 1.36 213.2 253.8 7.0 111 2435 0.00 2.58 55.17 0.731 6 0.000 0.049 2576 2305 1910

2748 1.51 249.4 224.3 8.4 129 2784 0.25 0.00 30.90 0.707 6 0.041 0.000 2640 2306 1763

3094 1.46 249.4 178.0 14.4 146 3099 0.12 2.62 0.00 0.000 4 0.100 0.064 2617 3713 1762

3166 1.46 249.4 167.2 14.2 149 3171 0.00 2.58 0.00 0.000 6 0.000 0.050 2617 2302 1762

3484 1.46 249.4 125.5 13.3 164 3488 0.00 2.60 0.00 0.000 4 0.000 0.060 2617 889 1762

3533 1.46 249.4 118.4 13.8 166 3537 0.00 2.55 0.00 0.000 6 0.000 0.042 2617 2304 1762

3850 1.46 249.4 76.7 12.5 181 3855 0.00 2.58 0.00 0.000 4 0.000 0.061 2617 3707 1762

3878 1.46 249.4 72.7 13.6 182 3882 0.00 2.55 0.00 0.000 6 0.000 0.048 2617 2299 1762

4194 1.46 249.4 34.5 12.2 197 4195 0.00 0.00 0.00 0.000 6 0.000 0.000 2617 2299 1761

4480 end climb: SURFACE_DEPTH_REACHED

state 4480 begin surface coast

4502 end surface coast: CONTROL_FINISHED_OK

state 4502 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	9	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	2	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	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	150
D_TGT	300	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	25
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	560	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	23	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	100	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	120	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	2781	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-6	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	-2091904.8	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	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	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	-20.434687	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	143614,6047.876,-516.770,8,1.5,13,-7.0	TGT_NAME	B2
_CALLS	1	TGT_LATLONG	6141.000,-911.000
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.263,0.021
_SM_DEPTHo	0.81	KALMAN_X	98.3,98.3,98.3,-116.6,451.6
_SM_ANGLEo	-56.0	KALMAN_Y	85.7,85.7,85.7,186.1,393.8
GPS2	143903,6047.901,-516.736,15,1.3,15,-7.0	MHEAD_RNG_PITCHd_Wd	302.5,228086,-18.1,-10.000
SPEED_LIMITS	0.173,0.264	D_GRID	764

FINISH	0.4,1.026927	ALTIM_BOTTOM_PING	252.3,6.9
SM_CCo	4677,0.00,0.000,0,0,509,557.32	_24V_AH	23.7,4.396
SM_GC	0.98,0.00,0.00,0.00,0.000,0.000,0.000,69,2505,509,-10.26,0.14,557.32	_10V_AH	10.1,1.690
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9695,212
TT8_MAMPS	0.02301	CAP_FILE_SIZE	57342,0
HUMID	1871	CFSIZE	260165632,258113536
TCM_TEMP	17.50	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
XPDR_PINGS	179	GPS	070608,155958,6047.609,-517.573,23,2.6,42,-7.0
ALTIM_TOP_PING	19.8,19.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	162	97.50	SBE_CT	154	24	87.61
Roll_motor	42	68	67.99	SBE_O2	141	19	63.83
VBD_pump_during_apogee	328	767	5965.99	WL_BB2F	227	105	566.96
VBD_pump_during_surface	145	595	2049.43	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	46	420	462.86
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.75
TT8	454	19	90.91
LPSleep	3005	2	66.48
TT8_Active	592	19	118.55
TT8_Sampling	624	39	251.08
TT8_CF8	118	45	54.75
TT8_Kalman	30	81	24.93
Analog_circuits	938	12	113.74
GPS_charging	0	0	0.00
Compass	606	8	49.04
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
24	-1.29	-146.6	0.0	0.0	0	162	0.00	0.00	-135.68	0.000	2	0.000	0.000	68	2496	3275
165	-1.29	-146.6	4.1	-3.7	7	187	10.77	2.62	-2.15	0.000	4	0.163	0.068	2013	1090	3381
391	-1.18	-146.6	45.4	-14.8	17	396	0.15	2.53	0.00	0.000	6	0.126	0.045	2038	2502	3381
719	-1.12	-146.6	87.5	-13.4	33	723	0.00	2.60	0.00	0.000	4	0.000	0.056	2038	1086	3381
858	-1.12	-146.6	106.2	-12.9	39	862	0.00	2.53	0.00	0.000	6	0.000	0.047	2036	2499	3380
1174	-1.06	-146.6	149.8	-14.0	54	1182	0.15	2.58	0.00	0.000	4	0.120	0.056	2068	1091	3380
1290	-1.13	-146.6	163.7	-11.8	59	1295	0.00	2.53	0.00	0.000	6	0.000	0.051	2068	2500	3380
1617	-1.13	-146.6	199.9	-11.3	75	1622	0.00	2.60	0.00	0.000	4	0.000	0.058	2068	1085	3379
1757	-1.21	-146.6	215.2	-10.4	81	1762	0.15	2.55	0.00	0.000	6	0.045	0.051	2025	2498	3379
2017	end dive: BOTTOM_OBSTACLE_DETECTED
state	2018	begin apogee
2026	-0.31	0.0	252.3	14.8	94	2156	1.00	0.00	121.82	0.767	6	0.096	0.000	2228	2290	2781
2157	end apogee: CONTROL_FINISHED_OK
state	2157	begin climb
2160	1.29	146.6	260.9	0.0	101	2291	1.62	2.72	120.30	0.749	4	0.072	0.061	2576	3710	2183
2373	1.36	213.2	253.8	7.0	111	2435	0.00	2.58	55.17	0.731	6	0.000	0.049	2576	2305	1910
2748	1.51	249.4	224.3	8.4	129	2784	0.25	0.00	30.90	0.707	6	0.041	0.000	2640	2306	1763
3094	1.46	249.4	178.0	14.4	146	3099	0.12	2.62	0.00	0.000	4	0.100	0.064	2617	3713	1762
3166	1.46	249.4	167.2	14.2	149	3171	0.00	2.58	0.00	0.000	6	0.000	0.050	2617	2302	1762
3484	1.46	249.4	125.5	13.3	164	3488	0.00	2.60	0.00	0.000	4	0.000	0.060	2617	889	1762
3533	1.46	249.4	118.4	13.8	166	3537	0.00	2.55	0.00	0.000	6	0.000	0.042	2617	2304	1762
3850	1.46	249.4	76.7	12.5	181	3855	0.00	2.58	0.00	0.000	4	0.000	0.061	2617	3707	1762
3878	1.46	249.4	72.7	13.6	182	3882	0.00	2.55	0.00	0.000	6	0.000	0.048	2617	2299	1762
4194	1.46	249.4	34.5	12.2	197	4195	0.00	0.00	0.00	0.000	6	0.000	0.000	2617	2299	1761
4480	end climb: SURFACE_DEPTH_REACHED
state	4480	begin surface coast
4502	end surface coast: CONTROL_FINISHED_OK
state	4502	begin surface