Glider dive log

RapidMocha 18May10 * SG033 * Dive index * Mission links * Dive 24 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 33 HEADING 0 ROLL_MAX 3837 ALTIM_TOP_MIN_OBSTACLE 1

MISSION 17 ESCAPE_HEADING 0 ROLL_DEG 40 ALTIM_PING_DEPTH 50

DIVE 24 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 1900 ALTIM_PING_DELTA 10

D_SURF 4 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 1650 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT 18.5 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 90 TGT_DEFAULT_LON -125 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 5800 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 0

D_NO_BLEED 200 SM_CC 450 R_PORT_OVSHOOT 39 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 R_STBD_OVSHOOT 62 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 400 INT_PRESSURE_YINT 0

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 1

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 1

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 163 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3981 DEVICE2 -1

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2074 DEVICE3 101

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_DIVE 30 CALL_WAIT 60 VBD_CNV -0.29522699 DEVICE5 -1

T_MISSION 45 CAPUPLOAD 0 VBD_TIMEOUT 950 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 600 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 2 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 -1

T_NO_W 300 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -220573.33 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 2 CF8_MAXERRORS 2 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 151 PHONE_DEVICE 48

D_OFFGRID 5761 RAFOS_PEAK_OFFSET 1.5 AH0_10V 122.2 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 27 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 300 PITCH_MAX 2563 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1550 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043575475

GLIDE_SLOPE 45 PITCH_DBAND 0.1 PRESSURE_YINT -20.171059 SEABIRD_T_H 0.00062940316

SPEED_FACTOR 1 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.00093601202 SEABIRD_T_I 2.4306677e-05

RHO 1.023 P_OVSHOOT 0.039999999 AD7714Ch0Gain 32 SEABIRD_T_J 2.6223986e-06

MASS 52000 PITCH_GAIN 12 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.332057

NAV_MODE 1 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.2094743

FERRY_MAX 2 PITCH_AD_RATE 160 COMPASS_USE 0 SEABIRD_C_I -0.0016192879

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021825745

HD_A 0.0038945 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099684997 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 2.5700001e-06 ROLL_MIN 60 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 32 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 450

AH0_10V 122.2 D_OFFGRID 5761 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 151 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 4 PITCH_AD_RATE 160 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 90 PITCH_CNV 0.0046000001 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 50 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 12 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 2 PITCH_MAX 2563 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT 18.5

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MIN 27 TGT_DEFAULT_LON -125

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 PITCH_TIMEOUT 20 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.0012300001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 45 PRESSURE_SLOPE 0.00093601202 T_DIVE 30

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -20.171059 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -220573.33

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING 0 RAFOS_HIT_WINDOW 3600 T_MISSION 45

CF8_MAXERRORS 2 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 300

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 2

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.023 T_TURN 600

COMPASS_DEVICE 33 ID 33 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_AD_RATE 400 UNCOM_BLEED 20

C_PITCH 1550 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 1650 KERMIT 0 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 1900 LOGGERDEVICE1 -1 ROLL_MAX 3837 USE_ICE 0

C_VBD 2074 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 1 LOGGERDEVICE3 -1 ROLL_MIN 60 VBD_CNV -0.29522699

DEEPGLIDERMB 1 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 39 VBD_MAX 3981

DEVICE2 -1 MASS 52000 R_STBD_OVSHOOT 62 VBD_MAXERRORS 1

DEVICE3 101 MAX_BUOY 300 SEABIRD_C_G -10.332057 VBD_MIN 163

DEVICE4 -1 MINV_10V 8 SEABIRD_C_H 1.2094743 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0016192879 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE6 -1 MISSION 17 SEABIRD_C_J 0.00021825745 VBD_TIMEOUT 950

DIVE 24 MOTHERBOARD 4 SEABIRD_T_G 0.0043575475 XPDR_DEVICE 24

D_ABORT 5800 NAV_MODE 1 SEABIRD_T_H 0.00062940316 XPDR_INHIBIT 90

D_BOOST 0 N_FILEKB 4 SEABIRD_T_I 2.4306677e-05 XPDR_VALID 0

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.6223986e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 210510,014913,1828.818,-6558.664,9,1.6,19,-12.7 TGT_NAME HEADING

_CALLS 3 TGT_LATLONG 1839.636,-6558.680

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.060,-0.232

_SM_DEPTHo 0.72 KALMAN_X -122227.6,-1884.7,-416.7,45933.4,-95004.8

_SM_ANGLEo -45.3 KALMAN_Y 192979.2,3432.2,1187.5,-45160.7,151930.8

GPS2 210510,015826,1828.837,-6558.680,13,1.7,13,-12.7 MHEAD_RNG_PITCHd_Wd 12.7,20000,-12.4,-10.000

SPEED_LIMITS 0.100,0.358 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.3,1.023433 _24V_AH 25.3,3.950

SM_CCo 1533,100.62,0.660,0,0,549,450.22 _10V_AH 10.7,1.533

SM_GC 0.77,0.00,0.00,100.62,0.000,0.000,0.660,12,1921,549,-7.07,0.59,450.22 FG_AHR_24Vo 0.000

IRIDIUM_FIX 1823.67,-6555.56,131111,202046 FG_AHR_10Vo 0.000

TT8_MAMPS 0.020223 MEM 328616

HUMID 1078004506 DATA_FILE_SIZE 6959,143

INTERNAL_PRESSURE 8.25227 CAP_FILE_SIZE 57172,0

TCM_TEMP 25.60 CFSIZE 260280320,253722624

XPDR_PINGS 1 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,0

ALTIM_TOP_PING 19.6,18.3 GPS 210510,022701,1829.006,-6558.660,12,1.4,29,-12.7

ALTIM_BOTTOM_PING 61.3,25.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 16 201 82.31 SBE_CT 89 24 54.30

Roll_motor 13 91 32.31 nil 0 0 0.00

VBD_pump_during_apogee 387 727 7124.13 AA4330 218 33 182.22

VBD_pump_during_surface 100 660 1681.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 1 420 13.28 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 14 0 0.00

TT8 229 19 48.67

LPSleep 589 2 13.82

TT8_Active 554 19 117.50

TT8_Sampling 309 39 131.79

TT8_CF8 17 45 8.47

TT8_Kalman 0 0 0.00

Analog_circuits 771 12 99.12

GPS_charging 0 0 0.00

Compass 285 15 45.88

RAFOS 0 0 0.00

Transponder 8 30 2.78

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -1.40 -293.3 0.0 0.0 0 122 0.00 0.00 -106.12 0.000 2 0.000 0.000 14 1894 2287 0 0 0 0 0 0

125 -1.40 -293.3 4.0 -6.8 11 166 6.35 2.25 -25.90 0.000 4 0.201 0.079 1238 3283 3070 0 0 0 0 0 0

339 -1.40 -293.3 35.8 -14.5 30 346 0.00 2.15 0.00 0.000 6 0.000 0.070 1238 1902 3070 0 0 0 0 0 0

568 end dive: BOTTOM_OBSTACLE_DETECTED

state 568 begin apogee

572 -0.42 0.0 67.1 14.2 52 771 0.95 0.00 194.57 0.728 6 0.122 0.000 1457 1645 2073 0 0 0 0 0 0

772 end apogee: CONTROL_FINISHED_OK

state 772 begin climb

773 1.40 293.3 74.8 0.0 72 975 1.67 2.28 192.48 0.705 4 0.097 0.082 1856 3035 1080 0 0 1 0 0 0

1052 1.40 293.3 51.7 12.5 99 1059 0.00 2.20 0.00 0.000 6 0.000 0.070 1856 1662 1080 0 0 0 0 0 0

1376 1.40 293.3 15.7 11.9 130 1380 0.00 2.22 0.00 0.000 4 0.000 0.092 1856 249 1080 0 0 0 0 0 0

1470 1.40 293.3 4.3 11.6 138 1477 0.00 2.12 0.00 0.000 6 0.000 0.065 1856 1672 1080 0 0 0 0 0 0

1486 end climb: SURFACE_DEPTH_REACHED

state 1486 begin surface coast

1519 end surface coast: CONTROL_FINISHED_OK

state 1519 begin surface

ID	33	HEADING	0	ROLL_MAX	3837	ALTIM_TOP_MIN_OBSTACLE	1
MISSION	17	ESCAPE_HEADING	0	ROLL_DEG	40	ALTIM_PING_DEPTH	50
DIVE	24	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	1900	ALTIM_PING_DELTA	10
D_SURF	4	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	1650	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	18.5	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	90	TGT_DEFAULT_LON	-125	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	5800	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	0
D_NO_BLEED	200	SM_CC	450	R_PORT_OVSHOOT	39	XPDR_INHIBIT	90
D_BOOST	0	N_FILEKB	4	R_STBD_OVSHOOT	62	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	400	INT_PRESSURE_YINT	0
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	1
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	1
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	163	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3981	DEVICE2	-1
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2074	DEVICE3	101
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_DIVE	30	CALL_WAIT	60	VBD_CNV	-0.29522699	DEVICE5	-1
T_MISSION	45	CAPUPLOAD	0	VBD_TIMEOUT	950	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	600	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	2	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	-1
T_NO_W	300	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-220573.33	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	2	CF8_MAXERRORS	2	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	151	PHONE_DEVICE	48
D_OFFGRID	5761	RAFOS_PEAK_OFFSET	1.5	AH0_10V	122.2	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	27	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	300	PITCH_MAX	2563	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1550	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043575475
GLIDE_SLOPE	45	PITCH_DBAND	0.1	PRESSURE_YINT	-20.171059	SEABIRD_T_H	0.00062940316
SPEED_FACTOR	1	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.00093601202	SEABIRD_T_I	2.4306677e-05
RHO	1.023	P_OVSHOOT	0.039999999	AD7714Ch0Gain	32	SEABIRD_T_J	2.6223986e-06
MASS	52000	PITCH_GAIN	12	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.332057
NAV_MODE	1	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.2094743
FERRY_MAX	2	PITCH_AD_RATE	160	COMPASS_USE	0	SEABIRD_C_I	-0.0016192879
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021825745
HD_A	0.0038945	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099684997	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	2.5700001e-06	ROLL_MIN	60	ALTIM_TOP_TURN_MARGIN	0

GPS1	210510,014913,1828.818,-6558.664,9,1.6,19,-12.7	TGT_NAME	HEADING
_CALLS	3	TGT_LATLONG	1839.636,-6558.680
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.060,-0.232
_SM_DEPTHo	0.72	KALMAN_X	-122227.6,-1884.7,-416.7,45933.4,-95004.8
_SM_ANGLEo	-45.3	KALMAN_Y	192979.2,3432.2,1187.5,-45160.7,151930.8
GPS2	210510,015826,1828.837,-6558.680,13,1.7,13,-12.7	MHEAD_RNG_PITCHd_Wd	12.7,20000,-12.4,-10.000
SPEED_LIMITS	0.100,0.358	D_GRID	90

FINISH	0.3,1.023433	_24V_AH	25.3,3.950
SM_CCo	1533,100.62,0.660,0,0,549,450.22	_10V_AH	10.7,1.533
SM_GC	0.77,0.00,0.00,100.62,0.000,0.000,0.660,12,1921,549,-7.07,0.59,450.22	FG_AHR_24Vo	0.000
IRIDIUM_FIX	1823.67,-6555.56,131111,202046	FG_AHR_10Vo	0.000
TT8_MAMPS	0.020223	MEM	328616
HUMID	1078004506	DATA_FILE_SIZE	6959,143
INTERNAL_PRESSURE	8.25227	CAP_FILE_SIZE	57172,0
TCM_TEMP	25.60	CFSIZE	260280320,253722624
XPDR_PINGS	1	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,0
ALTIM_TOP_PING	19.6,18.3	GPS	210510,022701,1829.006,-6558.660,12,1.4,29,-12.7
ALTIM_BOTTOM_PING	61.3,25.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	16	201	82.31	SBE_CT	89	24	54.30
Roll_motor	13	91	32.31	nil	0	0	0.00
VBD_pump_during_apogee	387	727	7124.13	AA4330	218	33	182.22
VBD_pump_during_surface	100	660	1681.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	1	420	13.28	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	14	0	0.00
TT8	229	19	48.67
LPSleep	589	2	13.82
TT8_Active	554	19	117.50
TT8_Sampling	309	39	131.79
TT8_CF8	17	45	8.47
TT8_Kalman	0	0	0.00
Analog_circuits	771	12	99.12
GPS_charging	0	0	0.00
Compass	285	15	45.88
RAFOS	0	0	0.00
Transponder	8	30	2.78

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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-1.40	-293.3	0.0	0.0	0	122	0.00	0.00	-106.12	0.000	2	0.000	0.000	14	1894	2287	0	0	0	0	0	0
125	-1.40	-293.3	4.0	-6.8	11	166	6.35	2.25	-25.90	0.000	4	0.201	0.079	1238	3283	3070	0	0	0	0	0	0
339	-1.40	-293.3	35.8	-14.5	30	346	0.00	2.15	0.00	0.000	6	0.000	0.070	1238	1902	3070	0	0	0	0	0	0
568	end dive: BOTTOM_OBSTACLE_DETECTED
state	568	begin apogee
572	-0.42	0.0	67.1	14.2	52	771	0.95	0.00	194.57	0.728	6	0.122	0.000	1457	1645	2073	0	0	0	0	0	0
772	end apogee: CONTROL_FINISHED_OK
state	772	begin climb
773	1.40	293.3	74.8	0.0	72	975	1.67	2.28	192.48	0.705	4	0.097	0.082	1856	3035	1080	0	0	1	0	0	0
1052	1.40	293.3	51.7	12.5	99	1059	0.00	2.20	0.00	0.000	6	0.000	0.070	1856	1662	1080	0	0	0	0	0	0
1376	1.40	293.3	15.7	11.9	130	1380	0.00	2.22	0.00	0.000	4	0.000	0.092	1856	249	1080	0	0	0	0	0	0
1470	1.40	293.3	4.3	11.6	138	1477	0.00	2.12	0.00	0.000	6	0.000	0.065	1856	1672	1080	0	0	0	0	0	0
1486	end climb: SURFACE_DEPTH_REACHED
state	1486	begin surface coast
1519	end surface coast: CONTROL_FINISHED_OK
state	1519	begin surface