Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 250 * 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 250 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 23 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -105140.88 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 -105140.88

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 23 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 250 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 123036,6409.362,-1302.496,32,2.0,33,-12.5 TGT_NAME P3

_CALLS 1 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.245,0.020

_SM_DEPTHo 1.23 KALMAN_X -64534.8,5693.9,2416.7,-174765.0,-120890.9

_SM_ANGLEo -59.4 KALMAN_Y -29708.3,3826.7,758.3,308000.2,-44853.7

GPS2 123506,6409.361,-1302.362,16,1.6,33,-12.5 MHEAD_RNG_PITCHd_Wd 97.8,39420,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.4,1.024255 ALTIM_BOTTOM_PING 146.2,25.1

SM_CCo 3687,6.20,0.659,0,0,1606,300.00 _24V_AH 24.0,41.404

SM_GC 1.88,0.00,0.00,6.20,0.000,0.000,0.659,422,2146,1606,-10.69,0.42,300.00 _10V_AH 10.1,18.330

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 9688,185

TT8_MAMPS 0.029146 CAP_FILE_SIZE 35186,0

HUMID 1835 CFSIZE 254472192,238854144

TCM_TEMP 16.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 12 GPS 061009,133820,6408.863,-1259.964,9,1.5,10,-12.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 162 99.81 SBE_CT 124 24 71.87

Roll_motor 31 69 53.39 SBE_O2 137 19 62.78

VBD_pump_during_apogee 359 905 7811.57 WL_BB2F 265 105 668.70

VBD_pump_during_surface 6 658 98.04 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 26 160 99.95 nil 0 0 0.00

Iridium_during_xfer 91 223 489.34

Transponder_ping 3 420 37.80

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 16.86

TT8 368 19 73.78

LPSleep 2413 2 53.38

TT8_Active 410 19 82.16

TT8_Sampling 510 39 205.21

TT8_CF8 273 45 126.54

TT8_Kalman 33 81 27.57

Analog_circuits 699 12 84.74

GPS_charging 0 0 0.00

Compass 481 8 38.89

RAFOS 0 0 0.00

Transponder 8 30 2.50

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

15 -1.22 -146.6 0.0 0.0 0 59 0.00 0.00 -41.55 0.000 2 0.000 0.000 419 2158 2415

63 -1.22 -146.6 2.0 -2.4 2 119 11.23 0.00 -41.80 0.000 6 0.163 0.000 2470 2149 3430

417 -1.15 -146.6 45.0 -13.5 19 422 0.10 2.62 0.00 0.000 4 0.117 0.062 2490 714 3430

450 -1.15 -146.6 49.9 -13.5 20 457 0.00 2.53 0.00 0.000 6 0.000 0.051 2490 2132 3430

769 -1.12 -146.6 88.3 -11.0 36 770 0.00 0.00 0.00 0.000 6 0.000 0.000 2490 2132 3430

1076 -1.12 -146.6 117.8 -8.5 51 1080 0.00 2.58 0.00 0.000 4 0.000 0.064 2490 721 3430

1241 -1.12 -146.6 135.9 -11.6 58 1245 0.00 2.50 0.00 0.000 6 0.000 0.051 2490 2128 3430

1483 end dive: BOTTOM_OBSTACLE_DETECTED

state 1483 begin apogee

1490 -0.33 0.0 162.2 10.8 72 1621 0.85 0.00 121.50 0.905 6 0.078 0.000 2674 1845 2830

1621 end apogee: CONTROL_FINISHED_OK

state 1622 begin climb

1625 1.22 146.6 167.9 0.0 81 1753 1.52 2.65 119.55 0.871 4 0.062 0.069 3008 443 2233

1786 1.22 213.5 163.6 5.6 91 1849 0.00 2.55 55.80 0.847 6 0.000 0.051 3008 1869 1960

2179 1.24 220.6 134.5 7.7 113 2188 0.00 0.00 7.38 0.723 6 0.000 0.000 3008 1869 1931

2486 1.34 287.9 115.6 5.6 128 2551 0.12 2.70 55.40 0.857 4 0.059 0.070 3041 454 1657

2576 1.26 287.9 108.1 10.8 132 2581 0.12 2.50 0.00 0.000 6 0.094 0.053 3019 1830 1657

2903 1.26 287.9 75.0 10.1 148 2908 0.00 2.58 0.00 0.000 4 0.000 0.062 3018 3258 1657

2944 1.31 287.9 71.4 9.3 150 2949 0.00 2.55 0.00 0.000 6 0.000 0.057 3018 1850 1656

3272 1.31 287.9 41.5 9.2 166 3277 0.00 2.58 0.00 0.000 4 0.000 0.062 3018 3256 1656

3313 1.37 287.9 37.9 8.6 168 3318 0.12 2.53 0.00 0.000 6 0.058 0.054 3051 1859 1656

3638 end climb: SURFACE_DEPTH_REACHED

state 3638 begin surface coast

3664 end surface coast: CONTROL_FINISHED_OK

state 3664 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	250	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	23	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-105140.88	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	123036,6409.362,-1302.496,32,2.0,33,-12.5	TGT_NAME	P3
_CALLS	1	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.245,0.020
_SM_DEPTHo	1.23	KALMAN_X	-64534.8,5693.9,2416.7,-174765.0,-120890.9
_SM_ANGLEo	-59.4	KALMAN_Y	-29708.3,3826.7,758.3,308000.2,-44853.7
GPS2	123506,6409.361,-1302.362,16,1.6,33,-12.5	MHEAD_RNG_PITCHd_Wd	97.8,39420,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	0.4,1.024255	ALTIM_BOTTOM_PING	146.2,25.1
SM_CCo	3687,6.20,0.659,0,0,1606,300.00	_24V_AH	24.0,41.404
SM_GC	1.88,0.00,0.00,6.20,0.000,0.000,0.659,422,2146,1606,-10.69,0.42,300.00	_10V_AH	10.1,18.330
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	9688,185
TT8_MAMPS	0.029146	CAP_FILE_SIZE	35186,0
HUMID	1835	CFSIZE	254472192,238854144
TCM_TEMP	16.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	12	GPS	061009,133820,6408.863,-1259.964,9,1.5,10,-12.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	162	99.81	SBE_CT	124	24	71.87
Roll_motor	31	69	53.39	SBE_O2	137	19	62.78
VBD_pump_during_apogee	359	905	7811.57	WL_BB2F	265	105	668.70
VBD_pump_during_surface	6	658	98.04	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	26	160	99.95	nil	0	0	0.00
Iridium_during_xfer	91	223	489.34
Transponder_ping	3	420	37.80
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	16.86
TT8	368	19	73.78
LPSleep	2413	2	53.38
TT8_Active	410	19	82.16
TT8_Sampling	510	39	205.21
TT8_CF8	273	45	126.54
TT8_Kalman	33	81	27.57
Analog_circuits	699	12	84.74
GPS_charging	0	0	0.00
Compass	481	8	38.89
RAFOS	0	0	0.00
Transponder	8	30	2.50

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
15	-1.22	-146.6	0.0	0.0	0	59	0.00	0.00	-41.55	0.000	2	0.000	0.000	419	2158	2415
63	-1.22	-146.6	2.0	-2.4	2	119	11.23	0.00	-41.80	0.000	6	0.163	0.000	2470	2149	3430
417	-1.15	-146.6	45.0	-13.5	19	422	0.10	2.62	0.00	0.000	4	0.117	0.062	2490	714	3430
450	-1.15	-146.6	49.9	-13.5	20	457	0.00	2.53	0.00	0.000	6	0.000	0.051	2490	2132	3430
769	-1.12	-146.6	88.3	-11.0	36	770	0.00	0.00	0.00	0.000	6	0.000	0.000	2490	2132	3430
1076	-1.12	-146.6	117.8	-8.5	51	1080	0.00	2.58	0.00	0.000	4	0.000	0.064	2490	721	3430
1241	-1.12	-146.6	135.9	-11.6	58	1245	0.00	2.50	0.00	0.000	6	0.000	0.051	2490	2128	3430
1483	end dive: BOTTOM_OBSTACLE_DETECTED
state	1483	begin apogee
1490	-0.33	0.0	162.2	10.8	72	1621	0.85	0.00	121.50	0.905	6	0.078	0.000	2674	1845	2830
1621	end apogee: CONTROL_FINISHED_OK
state	1622	begin climb
1625	1.22	146.6	167.9	0.0	81	1753	1.52	2.65	119.55	0.871	4	0.062	0.069	3008	443	2233
1786	1.22	213.5	163.6	5.6	91	1849	0.00	2.55	55.80	0.847	6	0.000	0.051	3008	1869	1960
2179	1.24	220.6	134.5	7.7	113	2188	0.00	0.00	7.38	0.723	6	0.000	0.000	3008	1869	1931
2486	1.34	287.9	115.6	5.6	128	2551	0.12	2.70	55.40	0.857	4	0.059	0.070	3041	454	1657
2576	1.26	287.9	108.1	10.8	132	2581	0.12	2.50	0.00	0.000	6	0.094	0.053	3019	1830	1657
2903	1.26	287.9	75.0	10.1	148	2908	0.00	2.58	0.00	0.000	4	0.000	0.062	3018	3258	1657
2944	1.31	287.9	71.4	9.3	150	2949	0.00	2.55	0.00	0.000	6	0.000	0.057	3018	1850	1656
3272	1.31	287.9	41.5	9.2	166	3277	0.00	2.58	0.00	0.000	4	0.000	0.062	3018	3256	1656
3313	1.37	287.9	37.9	8.6	168	3318	0.12	2.53	0.00	0.000	6	0.058	0.054	3051	1859	1656
3638	end climb: SURFACE_DEPTH_REACHED
state	3638	begin surface coast
3664	end surface coast: CONTROL_FINISHED_OK
state	3664	begin surface