Glider dive log

PortSusan 15Oct08 * SG005 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 20 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 60

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 52 C_ROLL_DIVE 2190 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -7 C_ROLL_CLIMB 2190 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 400 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 44 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 360 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 80 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 100 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3240 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 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 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 1001 T_GPS_CHARGE -85902.922 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 16

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 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2650 PRESSURE_YINT -24.906118 SEABIRD_T_G 0.0043761111

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064345129

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5632376e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7382036e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.188265

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1432956

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00020702372

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00012956691

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -24.906118 TGT_DEFAULT_LAT 52

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -7

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 80

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 -85902.922

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 100

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 360 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2650 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 2190 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2190 MASS 52000 R_PORT_OVSHOOT 44 VBD_BLEED_AD_RATE 8

C_VBD 3240 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -10.188265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1432956 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00020702372 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012956691 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043761111 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064345129 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5632376e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.7382036e-06 XPDR_DEVICE 21

DIVE 20 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 094056,4807.684,-12223.710,8,1.4,13,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.068,0.084

_SM_DEPTHo 0.61 KALMAN_X -378.0,188.3,146.0,-629.0,7.1

_SM_ANGLEo -68.3 KALMAN_Y 2968.0,-726.0,-174.9,-2421.9,169.4

GPS2 094503,4807.721,-12223.776,13,1.8,13,18.3 MHEAD_RNG_PITCHd_Wd 302.5,587,-27.4,-6.250

SPEED_LIMITS 0.108,0.225 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.6,1.020538 ALTIM_BOTTOM_PING 110.6,6.9

SM_CCo 3485,127.22,0.742,0,0,1609,400.08 _24V_AH 24.0,2.252

SM_GC 0.57,0.00,0.00,127.22,0.000,0.000,0.742,421,2191,1609,-10.25,0.03,400.08 _10V_AH 10.0,0.800

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 19079,368

TT8_MAMPS 0.029146 CAP_FILE_SIZE 43993,0

HUMID 1734 CFSIZE 254472192,252715008

TCM_TEMP 18.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

XPDR_PINGS 3 GPS 161008,104716,4807.882,-12224.081,8,2.8,28,18.3

ALTIM_TOP_PING 19.7,19.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 141 87.10 SBE_CT 251 24 144.63

Roll_motor 30 65 47.18 SBE_O2 278 19 126.83

VBD_pump_during_apogee 160 820 3158.34 WL_BB2F 634 105 1599.31

VBD_pump_during_surface 127 742 2267.02 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.34 nil 0 0 0.00

Iridium_during_connect 31 160 119.23 nil 0 0 0.00

Iridium_during_xfer 86 223 464.50

Transponder_ping 3 420 35.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.63

TT8 621 19 123.08

LPSleep 1778 2 38.95

TT8_Active 357 19 70.74

TT8_Sampling 837 39 333.28

TT8_CF8 280 45 128.45

TT8_Kalman 33 81 27.25

Analog_circuits 747 12 89.74

GPS_charging 0 0 0.00

Compass 826 8 66.14

RAFOS 0 0 0.00

Transponder 25 30 7.59

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

16 -1.87 -30.7 0.0 0.0 0 99 0.00 0.00 -80.07 0.000 6 0.000 0.000 428 2190 3366

102 -1.90 -45.2 3.4 -4.3 14 122 9.45 2.53 -1.58 0.000 4 0.142 0.065 2231 804 3426

377 -1.54 -45.2 36.3 -8.6 46 382 0.40 2.47 0.00 0.000 6 0.110 0.049 2309 2191 3426

575 -1.46 -45.2 49.7 -6.6 64 580 0.10 2.53 0.00 0.000 4 0.120 0.054 2328 793 3427

832 -1.46 -45.2 67.5 -6.3 75 839 0.00 2.53 0.00 0.000 6 0.000 0.051 2328 2217 3427

1149 -1.46 -45.2 87.4 -6.6 91 1153 0.00 2.50 0.00 0.000 4 0.000 0.065 2328 3601 3426

1195 -1.39 -45.2 90.6 -6.6 93 1199 0.00 2.38 0.00 0.000 6 0.000 0.048 2328 2254 3426

1525 end dive: BOTTOM_OBSTACLE_DETECTED

state 1525 begin apogee

1532 -0.33 0.0 110.6 6.2 117 1573 1.15 0.00 37.12 0.821 6 0.094 0.000 2569 2236 3240

1573 end apogee: CONTROL_FINISHED_OK

state 1573 begin climb

1576 1.90 45.2 112.2 0.0 121 1619 2.20 0.00 36.40 0.813 6 0.058 0.000 3066 2236 3056

1943 1.64 45.2 64.5 14.1 144 1948 0.28 2.45 0.00 0.000 4 0.107 0.060 3011 3596 3055

2066 1.46 45.2 48.3 13.1 149 2074 0.20 2.47 0.00 0.000 6 0.104 0.046 2972 2199 3055

2392 1.46 45.2 18.7 7.5 181 2398 0.00 0.00 0.00 0.000 6 0.000 0.000 2973 2180 3055

2467 1.46 45.2 13.4 6.8 194 2473 0.00 0.00 0.00 0.000 6 0.000 0.000 2972 2180 3055

2542 1.47 46.5 9.1 6.1 207 2548 0.00 2.55 0.00 0.000 4 0.000 0.061 2972 3603 3055

2803 1.54 91.6 8.9 0.1 253 2845 0.00 2.50 36.67 0.756 6 0.000 0.044 2972 2146 2865

2915 1.72 112.7 6.4 3.4 272 2940 0.20 2.47 16.45 0.720 4 0.048 0.058 3026 813 2780

3195 1.80 158.2 5.1 0.1 321 3237 0.00 2.62 33.70 0.746 6 0.000 0.048 3026 2298 2594

3258 end climb: SURFACE_DEPTH_REACHED

state 3258 begin surface coast

3462 end surface coast: CONTROL_FINISHED_OK

state 3462 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	20	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	60
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	52	C_ROLL_DIVE	2190	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-7	C_ROLL_CLIMB	2190	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	400	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	44	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	360	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	80	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	100	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3240	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	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	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	1001	T_GPS_CHARGE	-85902.922	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	16
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	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2650	PRESSURE_YINT	-24.906118	SEABIRD_T_G	0.0043761111
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064345129
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5632376e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7382036e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.188265
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1432956
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00020702372
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00012956691
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	094056,4807.684,-12223.710,8,1.4,13,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.068,0.084
_SM_DEPTHo	0.61	KALMAN_X	-378.0,188.3,146.0,-629.0,7.1
_SM_ANGLEo	-68.3	KALMAN_Y	2968.0,-726.0,-174.9,-2421.9,169.4
GPS2	094503,4807.721,-12223.776,13,1.8,13,18.3	MHEAD_RNG_PITCHd_Wd	302.5,587,-27.4,-6.250
SPEED_LIMITS	0.108,0.225	D_GRID	150

FINISH	1.6,1.020538	ALTIM_BOTTOM_PING	110.6,6.9
SM_CCo	3485,127.22,0.742,0,0,1609,400.08	_24V_AH	24.0,2.252
SM_GC	0.57,0.00,0.00,127.22,0.000,0.000,0.742,421,2191,1609,-10.25,0.03,400.08	_10V_AH	10.0,0.800
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	19079,368
TT8_MAMPS	0.029146	CAP_FILE_SIZE	43993,0
HUMID	1734	CFSIZE	254472192,252715008
TCM_TEMP	18.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
XPDR_PINGS	3	GPS	161008,104716,4807.882,-12224.081,8,2.8,28,18.3
ALTIM_TOP_PING	19.7,19.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	141	87.10	SBE_CT	251	24	144.63
Roll_motor	30	65	47.18	SBE_O2	278	19	126.83
VBD_pump_during_apogee	160	820	3158.34	WL_BB2F	634	105	1599.31
VBD_pump_during_surface	127	742	2267.02	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.34	nil	0	0	0.00
Iridium_during_connect	31	160	119.23	nil	0	0	0.00
Iridium_during_xfer	86	223	464.50
Transponder_ping	3	420	35.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.63
TT8	621	19	123.08
LPSleep	1778	2	38.95
TT8_Active	357	19	70.74
TT8_Sampling	837	39	333.28
TT8_CF8	280	45	128.45
TT8_Kalman	33	81	27.25
Analog_circuits	747	12	89.74
GPS_charging	0	0	0.00
Compass	826	8	66.14
RAFOS	0	0	0.00
Transponder	25	30	7.59

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
16	-1.87	-30.7	0.0	0.0	0	99	0.00	0.00	-80.07	0.000	6	0.000	0.000	428	2190	3366
102	-1.90	-45.2	3.4	-4.3	14	122	9.45	2.53	-1.58	0.000	4	0.142	0.065	2231	804	3426
377	-1.54	-45.2	36.3	-8.6	46	382	0.40	2.47	0.00	0.000	6	0.110	0.049	2309	2191	3426
575	-1.46	-45.2	49.7	-6.6	64	580	0.10	2.53	0.00	0.000	4	0.120	0.054	2328	793	3427
832	-1.46	-45.2	67.5	-6.3	75	839	0.00	2.53	0.00	0.000	6	0.000	0.051	2328	2217	3427
1149	-1.46	-45.2	87.4	-6.6	91	1153	0.00	2.50	0.00	0.000	4	0.000	0.065	2328	3601	3426
1195	-1.39	-45.2	90.6	-6.6	93	1199	0.00	2.38	0.00	0.000	6	0.000	0.048	2328	2254	3426
1525	end dive: BOTTOM_OBSTACLE_DETECTED
state	1525	begin apogee
1532	-0.33	0.0	110.6	6.2	117	1573	1.15	0.00	37.12	0.821	6	0.094	0.000	2569	2236	3240
1573	end apogee: CONTROL_FINISHED_OK
state	1573	begin climb
1576	1.90	45.2	112.2	0.0	121	1619	2.20	0.00	36.40	0.813	6	0.058	0.000	3066	2236	3056
1943	1.64	45.2	64.5	14.1	144	1948	0.28	2.45	0.00	0.000	4	0.107	0.060	3011	3596	3055
2066	1.46	45.2	48.3	13.1	149	2074	0.20	2.47	0.00	0.000	6	0.104	0.046	2972	2199	3055
2392	1.46	45.2	18.7	7.5	181	2398	0.00	0.00	0.00	0.000	6	0.000	0.000	2973	2180	3055
2467	1.46	45.2	13.4	6.8	194	2473	0.00	0.00	0.00	0.000	6	0.000	0.000	2972	2180	3055
2542	1.47	46.5	9.1	6.1	207	2548	0.00	2.55	0.00	0.000	4	0.000	0.061	2972	3603	3055
2803	1.54	91.6	8.9	0.1	253	2845	0.00	2.50	36.67	0.756	6	0.000	0.044	2972	2146	2865
2915	1.72	112.7	6.4	3.4	272	2940	0.20	2.47	16.45	0.720	4	0.048	0.058	3026	813	2780
3195	1.80	158.2	5.1	0.1	321	3237	0.00	2.62	33.70	0.746	6	0.000	0.048	3026	2298	2594
3258	end climb: SURFACE_DEPTH_REACHED
state	3258	begin surface coast
3462	end surface coast: CONTROL_FINISHED_OK
state	3462	begin surface