Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 244 * 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 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 244 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 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 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 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 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 990 T_GPS_CHARGE -104990.48 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 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 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 990 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 25 D_SURF 3 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

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 412.5

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 -104990.48

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

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 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 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 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 26 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 244 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 062025,6405.567,-1310.865,40,1.8,41,-12.6 TGT_NAME P3

_CALLS 1 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.179,0.168

_SM_DEPTHo 1.27 KALMAN_X -56983.0,-8477.5,971.2,-174373.1,-74935.6

_SM_ANGLEo -58.5 KALMAN_Y -39797.0,-321.4,962.8,314930.3,-91433.3

GPS2 062500,6405.528,-1311.093,15,1.8,31,-12.6 MHEAD_RNG_PITCHd_Wd 59.3,30347,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.5,1.003929 ALTIM_BOTTOM_PING 122.4,28.5

SM_CCo 3301,33.75,0.779,0,0,1608,300.00 _24V_AH 24.0,40.849

SM_GC 1.42,0.00,0.00,33.75,0.000,0.000,0.779,420,2142,1608,-10.70,0.28,300.00 _10V_AH 10.1,18.159

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 6509,153

TT8_MAMPS 0.029146 CAP_FILE_SIZE 34190,0

HUMID 1817 CFSIZE 254472192,238985216

TCM_TEMP 16.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

XPDR_PINGS 9 GPS 061009,072234,6405.799,-1311.740,8,2.4,28,-12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 169 103.74 SBE_CT 103 24 59.47

Roll_motor 36 72 64.57 SBE_O2 112 19 51.19

VBD_pump_during_apogee 314 888 6704.48 WL_BB2F 263 105 664.72

VBD_pump_during_surface 33 778 630.59 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.33 nil 0 0 0.00

Iridium_during_connect 27 160 106.70 nil 0 0 0.00

Iridium_during_xfer 94 223 505.54

Transponder_ping 2 420 27.72

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.80

TT8 332 19 66.59

LPSleep 2127 2 47.07

TT8_Active 398 19 79.64

TT8_Sampling 488 39 196.47

TT8_CF8 276 45 127.70

TT8_Kalman 33 81 27.55

Analog_circuits 674 12 81.72

GPS_charging 0 0 0.00

Compass 463 8 37.41

RAFOS 0 0 0.00

Transponder 6 30 2.02

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 -1.22 -146.6 0.0 0.0 0 79 0.00 0.00 -61.15 0.000 2 0.000 0.000 419 2143 2801

82 -1.22 -146.6 2.5 -2.6 3 125 11.55 2.62 -22.23 0.000 4 0.170 0.073 2473 720 3430

242 -1.17 -146.6 23.8 -14.9 10 247 0.00 2.53 0.00 0.000 6 0.000 0.051 2474 2134 3430

570 -1.11 -146.6 66.0 -13.0 26 572 0.15 0.00 0.00 0.000 6 0.100 0.000 2505 2134 3430

879 -1.11 -146.6 100.4 -11.3 41 883 0.00 2.60 0.00 0.000 4 0.000 0.063 2505 709 3430

929 -1.14 -146.6 106.1 -10.9 43 933 0.00 2.53 0.00 0.000 6 0.000 0.051 2505 2121 3430

1246 -1.14 -146.6 139.7 -10.3 58 1250 0.00 2.60 0.00 0.000 4 0.000 0.068 2505 3546 3430

1254 end dive: BOTTOM_OBSTACLE_DETECTED

state 1254 begin apogee

1265 -0.33 0.0 141.2 11.0 58 1392 0.75 0.00 121.40 0.889 6 0.079 0.000 2668 1844 2830

1392 end apogee: CONTROL_FINISHED_OK

state 1393 begin climb

1396 1.22 146.6 147.4 0.0 65 1524 1.55 2.65 119.97 0.854 4 0.060 0.064 3009 435 2233

1628 1.13 147.0 136.8 8.0 75 1633 0.00 2.55 0.00 0.000 6 0.000 0.048 3009 1868 2233

1946 1.23 234.9 117.7 4.8 90 2025 0.00 2.55 72.88 0.836 4 0.000 0.060 3009 3258 1872

2121 1.27 234.9 103.7 9.3 97 2125 0.00 2.55 0.00 0.000 6 0.000 0.053 3009 1851 1872

2443 1.27 234.9 75.3 9.0 113 2444 0.00 0.00 0.00 0.000 6 0.000 0.000 3009 1851 1872

2751 1.27 234.9 47.9 8.6 128 2755 0.00 2.58 0.00 0.000 4 0.000 0.059 3009 3258 1872

2792 1.31 234.9 44.4 8.9 130 2796 0.00 2.53 0.00 0.000 6 0.000 0.052 3009 1853 1872

3119 1.31 234.9 17.1 8.8 146 3123 0.00 2.55 0.00 0.000 4 0.000 0.059 3009 3252 1872

3147 1.35 234.9 14.4 9.4 147 3152 0.12 2.50 0.00 0.000 6 0.055 0.052 3044 1860 1872

3254 end climb: SURFACE_DEPTH_REACHED

state 3254 begin surface coast

3277 end surface coast: CONTROL_FINISHED_OK

state 3277 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	244	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	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	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	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	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	990	T_GPS_CHARGE	-104990.48	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	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	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	062025,6405.567,-1310.865,40,1.8,41,-12.6	TGT_NAME	P3
_CALLS	1	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.179,0.168
_SM_DEPTHo	1.27	KALMAN_X	-56983.0,-8477.5,971.2,-174373.1,-74935.6
_SM_ANGLEo	-58.5	KALMAN_Y	-39797.0,-321.4,962.8,314930.3,-91433.3
GPS2	062500,6405.528,-1311.093,15,1.8,31,-12.6	MHEAD_RNG_PITCHd_Wd	59.3,30347,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.5,1.003929	ALTIM_BOTTOM_PING	122.4,28.5
SM_CCo	3301,33.75,0.779,0,0,1608,300.00	_24V_AH	24.0,40.849
SM_GC	1.42,0.00,0.00,33.75,0.000,0.000,0.779,420,2142,1608,-10.70,0.28,300.00	_10V_AH	10.1,18.159
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	6509,153
TT8_MAMPS	0.029146	CAP_FILE_SIZE	34190,0
HUMID	1817	CFSIZE	254472192,238985216
TCM_TEMP	16.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
XPDR_PINGS	9	GPS	061009,072234,6405.799,-1311.740,8,2.4,28,-12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	169	103.74	SBE_CT	103	24	59.47
Roll_motor	36	72	64.57	SBE_O2	112	19	51.19
VBD_pump_during_apogee	314	888	6704.48	WL_BB2F	263	105	664.72
VBD_pump_during_surface	33	778	630.59	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.33	nil	0	0	0.00
Iridium_during_connect	27	160	106.70	nil	0	0	0.00
Iridium_during_xfer	94	223	505.54
Transponder_ping	2	420	27.72
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.80
TT8	332	19	66.59
LPSleep	2127	2	47.07
TT8_Active	398	19	79.64
TT8_Sampling	488	39	196.47
TT8_CF8	276	45	127.70
TT8_Kalman	33	81	27.55
Analog_circuits	674	12	81.72
GPS_charging	0	0	0.00
Compass	463	8	37.41
RAFOS	0	0	0.00
Transponder	6	30	2.02

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	-1.22	-146.6	0.0	0.0	0	79	0.00	0.00	-61.15	0.000	2	0.000	0.000	419	2143	2801
82	-1.22	-146.6	2.5	-2.6	3	125	11.55	2.62	-22.23	0.000	4	0.170	0.073	2473	720	3430
242	-1.17	-146.6	23.8	-14.9	10	247	0.00	2.53	0.00	0.000	6	0.000	0.051	2474	2134	3430
570	-1.11	-146.6	66.0	-13.0	26	572	0.15	0.00	0.00	0.000	6	0.100	0.000	2505	2134	3430
879	-1.11	-146.6	100.4	-11.3	41	883	0.00	2.60	0.00	0.000	4	0.000	0.063	2505	709	3430
929	-1.14	-146.6	106.1	-10.9	43	933	0.00	2.53	0.00	0.000	6	0.000	0.051	2505	2121	3430
1246	-1.14	-146.6	139.7	-10.3	58	1250	0.00	2.60	0.00	0.000	4	0.000	0.068	2505	3546	3430
1254	end dive: BOTTOM_OBSTACLE_DETECTED
state	1254	begin apogee
1265	-0.33	0.0	141.2	11.0	58	1392	0.75	0.00	121.40	0.889	6	0.079	0.000	2668	1844	2830
1392	end apogee: CONTROL_FINISHED_OK
state	1393	begin climb
1396	1.22	146.6	147.4	0.0	65	1524	1.55	2.65	119.97	0.854	4	0.060	0.064	3009	435	2233
1628	1.13	147.0	136.8	8.0	75	1633	0.00	2.55	0.00	0.000	6	0.000	0.048	3009	1868	2233
1946	1.23	234.9	117.7	4.8	90	2025	0.00	2.55	72.88	0.836	4	0.000	0.060	3009	3258	1872
2121	1.27	234.9	103.7	9.3	97	2125	0.00	2.55	0.00	0.000	6	0.000	0.053	3009	1851	1872
2443	1.27	234.9	75.3	9.0	113	2444	0.00	0.00	0.00	0.000	6	0.000	0.000	3009	1851	1872
2751	1.27	234.9	47.9	8.6	128	2755	0.00	2.58	0.00	0.000	4	0.000	0.059	3009	3258	1872
2792	1.31	234.9	44.4	8.9	130	2796	0.00	2.53	0.00	0.000	6	0.000	0.052	3009	1853	1872
3119	1.31	234.9	17.1	8.8	146	3123	0.00	2.55	0.00	0.000	4	0.000	0.059	3009	3252	1872
3147	1.35	234.9	14.4	9.4	147	3152	0.12	2.50	0.00	0.000	6	0.055	0.052	3044	1860	1872
3254	end climb: SURFACE_DEPTH_REACHED
state	3254	begin surface coast
3277	end surface coast: CONTROL_FINISHED_OK
state	3277	begin surface