Glider dive log

PortSusan 09Oct08 * SG101 * Dive index * Mission links * Dive 25 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 101 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 60 ROLL_MIN 177 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 25 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3698 ALTIM_PING_DEPTH 60

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 4 TGT_DEFAULT_LAT 48.150002 C_ROLL_DIVE 2417 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -125.67 C_ROLL_CLIMB 2417 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 500 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 34 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 657 DEVICE2 20

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3935 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3323 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 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 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 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -730231.94 VBD_BLEED_AD_RATE 10 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

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 24

COURSE_BIAS 0 PITCH_MIN 29 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3302 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 0.94999993 C_PITCH 2493 PRESSURE_YINT -14.306441 SEABIRD_T_G 0.0042858003

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00062598009

MASS 50300 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.1740922e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET -1.3 SEABIRD_T_J 2.0518198e-06

FERRY_MAX 45 PITCH_GAIN 11 TCM_ROLL_OFFSET -0.2 SEABIRD_C_G -9.9824123

KALMAN_USE 2 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1171527

HD_A 0.0034169999 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00017022179

HD_B 0.0095870001 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010324208

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 500

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 11 SPEED_FACTOR 0.94999993

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3302 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 29 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET -1.3

ALTIM_PULSE 3 ESCAPE_HEADING 60 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET -0.2

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.306441 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -125.67

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 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -730231.94

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_MISSION 60

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 101 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3698 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2493 KALMAN_USE 2 ROLL_MIN 177 USE_BATHY 0

C_ROLL_CLIMB 2417 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2417 MASS 50300 R_PORT_OVSHOOT 34 VBD_BLEED_AD_RATE 10

C_VBD 3323 MAX_BUOY 150 R_STBD_OVSHOOT 22 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -9.9824123 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1171527 VBD_MAX 3935

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00017022179 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00010324208 VBD_MIN 657

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0042858003 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062598009 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1740922e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.0518198e-06 XPDR_DEVICE 24

DIVE 25 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 155935,4806.662,-12222.185,9,5.7,28,18.3 TGT_NAME KAYAKPT

_CALLS 5 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.27 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 161403,4806.530,-12221.914,12,1.4,12,18.3 MHEAD_RNG_PITCHd_Wd 315.5,3035,-17.9,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.6,1.005317 ALTIM_BOTTOM_PING 90.9,29.2

SM_CCo 2366,212.10,0.700,1,0,1284,500.17 _24V_AH 23.3,3.021

SM_GC 1.43,0.00,0.00,212.10,0.000,0.000,0.700,27,2413,1284,-11.34,-0.11,500.17 _10V_AH 10.1,1.044

IRIDIUM_FIX 4751.72,-12211.95,040198,161641 DATA_FILE_SIZE 9660,209

TT8_MAMPS 0.029146 CAP_FILE_SIZE 40493,0

HUMID 1836 CFSIZE 260165632,258203648

INTERNAL_PRESSURE 7.85186 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 18.50 GPS 101008,165820,4806.756,-12221.998,6,1.1,11,18.3

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 138 90.23 SBE_CT 140 24 78.47

Roll_motor 33 57 44.30 SBE_O2 153 19 67.92

VBD_pump_during_apogee 236 807 4442.99 WL_BB2F 359 105 879.20

VBD_pump_during_surface 212 700 3460.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 139 103 334.54 nil 0 0 0.00

Iridium_during_connect 195 160 727.45 nil 0 0 0.00

Iridium_during_xfer 186 223 968.95

Transponder_ping 2 420 26.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.82

TT8 369 19 73.94

LPSleep 1396 2 30.90

TT8_Active 532 19 106.48

TT8_Sampling 517 39 208.06

TT8_CF8 652 45 301.67

TT8_Kalman 0 0 0.00

Analog_circuits 836 12 101.33

GPS_charging 0 0 0.00

Compass 507 8 40.97

RAFOS 0 0 0.00

Transponder 15 30 4.78

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

16 -1.81 -146.6 0.0 0.0 0 138 0.00 0.00 -116.78 0.000 6 0.000 0.000 25 2413 3920

142 -1.81 -146.6 4.3 -8.3 21 161 10.75 2.50 0.00 0.000 4 0.121 0.048 2094 1017 3921

180 -1.33 -146.6 11.3 -14.0 27 187 0.55 2.47 0.00 0.000 6 0.094 0.041 2201 2418 3921

257 -1.47 -146.6 16.8 -6.3 40 264 0.12 2.30 0.00 0.000 4 0.056 0.058 2167 3696 3921

389 -1.47 -146.6 27.6 -7.9 55 395 0.00 2.20 0.00 0.000 6 0.000 0.035 2168 2414 3921

588 -1.55 -146.6 42.2 -7.3 74 589 0.00 0.00 0.00 0.000 6 0.000 0.000 2168 2414 3921

788 -1.64 -146.6 55.6 -6.6 89 793 0.15 2.33 0.00 0.000 4 0.047 0.054 2125 3698 3921

878 -1.60 -146.6 63.7 -8.9 93 882 0.00 2.20 0.00 0.000 6 0.000 0.036 2125 2420 3921

1206 -1.60 -146.6 90.9 -8.6 109 1210 0.00 2.30 0.00 0.000 4 0.000 0.056 2125 3693 3921

1262 -1.60 -146.6 96.6 -8.8 111 1269 0.00 2.20 0.00 0.000 6 0.000 0.036 2125 2411 3921

1425 end dive: BOTTOM_OBSTACLE_DETECTED

state 1425 begin apogee

1432 -0.45 0.0 110.4 8.5 125 1559 1.23 0.00 118.20 0.808 6 0.069 0.000 2388 2411 3323

1560 end apogee: CONTROL_FINISHED_OK

state 1560 begin climb

1563 1.81 146.6 112.7 0.0 138 1695 2.22 2.58 117.90 0.770 4 0.051 0.047 2890 1015 2725

1809 1.49 146.6 75.6 20.4 155 1815 0.38 2.47 0.00 0.000 6 0.138 0.041 2823 2420 2725

2135 1.34 146.6 25.6 14.3 178 2140 0.20 2.50 0.00 0.000 4 0.129 0.045 2785 1014 2724

2226 1.27 146.6 13.8 11.4 190 2233 0.00 2.47 0.00 0.000 6 0.000 0.040 2785 2419 2724

2302 1.22 146.6 4.8 12.3 203 2309 0.12 2.28 0.00 0.000 4 0.127 0.056 2763 3690 2724

2314 end climb: SURFACE_DEPTH_REACHED

state 2314 begin surface coast

2338 end surface coast: CONTROL_FINISHED_OK

state 2339 begin surface

ID	101	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	60	ROLL_MIN	177	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	25	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3698	ALTIM_PING_DEPTH	60
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	4	TGT_DEFAULT_LAT	48.150002	C_ROLL_DIVE	2417	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-125.67	C_ROLL_CLIMB	2417	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	500	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	34	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	657	DEVICE2	20
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3935	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3323	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	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	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	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-730231.94	VBD_BLEED_AD_RATE	10	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
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	24
COURSE_BIAS	0	PITCH_MIN	29	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3302	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	0.94999993	C_PITCH	2493	PRESSURE_YINT	-14.306441	SEABIRD_T_G	0.0042858003
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00062598009
MASS	50300	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.1740922e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	-1.3	SEABIRD_T_J	2.0518198e-06
FERRY_MAX	45	PITCH_GAIN	11	TCM_ROLL_OFFSET	-0.2	SEABIRD_C_G	-9.9824123
KALMAN_USE	2	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1171527
HD_A	0.0034169999	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00017022179
HD_B	0.0095870001	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010324208
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	155935,4806.662,-12222.185,9,5.7,28,18.3	TGT_NAME	KAYAKPT
_CALLS	5	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.27	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	161403,4806.530,-12221.914,12,1.4,12,18.3	MHEAD_RNG_PITCHd_Wd	315.5,3035,-17.9,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	150

FINISH	0.6,1.005317	ALTIM_BOTTOM_PING	90.9,29.2
SM_CCo	2366,212.10,0.700,1,0,1284,500.17	_24V_AH	23.3,3.021
SM_GC	1.43,0.00,0.00,212.10,0.000,0.000,0.700,27,2413,1284,-11.34,-0.11,500.17	_10V_AH	10.1,1.044
IRIDIUM_FIX	4751.72,-12211.95,040198,161641	DATA_FILE_SIZE	9660,209
TT8_MAMPS	0.029146	CAP_FILE_SIZE	40493,0
HUMID	1836	CFSIZE	260165632,258203648
INTERNAL_PRESSURE	7.85186	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	18.50	GPS	101008,165820,4806.756,-12221.998,6,1.1,11,18.3
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	138	90.23	SBE_CT	140	24	78.47
Roll_motor	33	57	44.30	SBE_O2	153	19	67.92
VBD_pump_during_apogee	236	807	4442.99	WL_BB2F	359	105	879.20
VBD_pump_during_surface	212	700	3460.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	139	103	334.54	nil	0	0	0.00
Iridium_during_connect	195	160	727.45	nil	0	0	0.00
Iridium_during_xfer	186	223	968.95
Transponder_ping	2	420	26.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.82
TT8	369	19	73.94
LPSleep	1396	2	30.90
TT8_Active	532	19	106.48
TT8_Sampling	517	39	208.06
TT8_CF8	652	45	301.67
TT8_Kalman	0	0	0.00
Analog_circuits	836	12	101.33
GPS_charging	0	0	0.00
Compass	507	8	40.97
RAFOS	0	0	0.00
Transponder	15	30	4.78

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
16	-1.81	-146.6	0.0	0.0	0	138	0.00	0.00	-116.78	0.000	6	0.000	0.000	25	2413	3920
142	-1.81	-146.6	4.3	-8.3	21	161	10.75	2.50	0.00	0.000	4	0.121	0.048	2094	1017	3921
180	-1.33	-146.6	11.3	-14.0	27	187	0.55	2.47	0.00	0.000	6	0.094	0.041	2201	2418	3921
257	-1.47	-146.6	16.8	-6.3	40	264	0.12	2.30	0.00	0.000	4	0.056	0.058	2167	3696	3921
389	-1.47	-146.6	27.6	-7.9	55	395	0.00	2.20	0.00	0.000	6	0.000	0.035	2168	2414	3921
588	-1.55	-146.6	42.2	-7.3	74	589	0.00	0.00	0.00	0.000	6	0.000	0.000	2168	2414	3921
788	-1.64	-146.6	55.6	-6.6	89	793	0.15	2.33	0.00	0.000	4	0.047	0.054	2125	3698	3921
878	-1.60	-146.6	63.7	-8.9	93	882	0.00	2.20	0.00	0.000	6	0.000	0.036	2125	2420	3921
1206	-1.60	-146.6	90.9	-8.6	109	1210	0.00	2.30	0.00	0.000	4	0.000	0.056	2125	3693	3921
1262	-1.60	-146.6	96.6	-8.8	111	1269	0.00	2.20	0.00	0.000	6	0.000	0.036	2125	2411	3921
1425	end dive: BOTTOM_OBSTACLE_DETECTED
state	1425	begin apogee
1432	-0.45	0.0	110.4	8.5	125	1559	1.23	0.00	118.20	0.808	6	0.069	0.000	2388	2411	3323
1560	end apogee: CONTROL_FINISHED_OK
state	1560	begin climb
1563	1.81	146.6	112.7	0.0	138	1695	2.22	2.58	117.90	0.770	4	0.051	0.047	2890	1015	2725
1809	1.49	146.6	75.6	20.4	155	1815	0.38	2.47	0.00	0.000	6	0.138	0.041	2823	2420	2725
2135	1.34	146.6	25.6	14.3	178	2140	0.20	2.50	0.00	0.000	4	0.129	0.045	2785	1014	2724
2226	1.27	146.6	13.8	11.4	190	2233	0.00	2.47	0.00	0.000	6	0.000	0.040	2785	2419	2724
2302	1.22	146.6	4.8	12.3	203	2309	0.12	2.28	0.00	0.000	4	0.127	0.056	2763	3690	2724
2314	end climb: SURFACE_DEPTH_REACHED
state	2314	begin surface coast
2338	end surface coast: CONTROL_FINISHED_OK
state	2339	begin surface