Glider dive log

PortSusan 10Dec07 * SG140 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 4 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 4 ESCAPE_HEADING_DELTA 10 ROLL_MIN 170 ALTIM_PING_DEPTH 80

D_TGT 150 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2390 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2370 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 630 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 10 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 9 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 53

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 520 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3978 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3457 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -1995.3336 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 592 AH0_24V 91.800003 SEABIRD_T_G 0.0043383949

SPEED_FACTOR 1 PITCH_MAX 3894 AH0_10V 61.200001 SEABIRD_T_H 0.00063259009

RHO 1.023 C_PITCH 2990 PRESSURE_YINT -1.7017781 SEABIRD_T_I 2.4332165e-05

MASS 51445 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.0994887e-05 SEABIRD_T_J 2.5442112e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -9.8722277

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1011369

KALMAN_USE 2 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00070075336

HD_A 0.003 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00014688425

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SM_CC 630

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3894 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 592 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.0994887e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -1.7017781 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -1995.3336

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 140 ROLL_MAX 3940 T_TURN_SAMPINT 5

C_PITCH 2990 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2370 INT_PRESSURE_YINT 0 ROLL_MIN 170 UNCOM_BLEED 20

C_ROLL_DIVE 2390 KALMAN_USE 2 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3457 MASS 51445 R_PORT_OVSHOOT 10 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 9 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -9.8722277 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1011369 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.00070075336 VBD_DBAND 2

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00014688425 VBD_MAX 3978

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0043383949 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063259009 VBD_MIN 520

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4332165e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 4 PHONE_DEVICE 48 SEABIRD_T_J 2.5442112e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 000232,4807.425,-12223.422,10,1.2,10,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.00 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 000614,4807.431,-12223.441,13,1.3,13,18.3 MHEAD_RNG_PITCHd_Wd 127.3,967,-14.9,-10.000

SPEED_LIMITS 0.100,0.295 D_GRID 103

Post-dive calculations and measurements:

FINISH 2.9,1.016746 XPDR_PINGS 28

SM_CCo 2048,270.50,0.743,14,0,888,630.18 ALTIM_BOTTOM_PING 80.2,6.3

SM_GC 1.00,0.00,0.00,270.50,0.000,0.000,0.743,593,2373,888,-11.03,-0.48,630.18 _24V_AH 23.6,1.647

IRIDIUM_FIX 4748.51,-12226.29,111207,030315 _10V_AH 10.1,0.663

TT8_MAMPS 0.023777 DATA_FILE_SIZE 19108,352

HUMID 1512 CFSIZE 260165632,258842624

INTERNAL_PRESSURE 8.34993 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,14,0

TCM_TEMP 18.60 GPS 111207,004729,4807.267,-12223.310,9,2.1,28,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 178 113.56 SBE_CT 234 24 132.71

Roll_motor 51 148 181.64 SBE_O2 879 19 394.31

VBD_pump_during_apogee 255 897 5407.38 Optode 0 0 0.00

VBD_pump_during_surface 270 743 4744.59 WL_BB2F 421 105 1044.57

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 7 420 74.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.04

TT8 532 19 106.47

LPSleep 205 2 4.55

TT8_Active 631 19 126.20

TT8_Sampling 1057 39 425.08

TT8_CF8 39 45 18.06

TT8_Kalman 0 0 0.00

Analog_circuits 1079 12 130.86

GPS_charging 0 0 0.00

Compass 643 8 52.00

RAFOS 0 0 0.00

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

16 -1.23 -195.5 0.0 0.0 0 118 0.00 0.00 -99.28 0.000 2 0.000 0.000 589 2384 3367

120 -1.23 -195.5 4.1 -6.8 14 157 12.45 2.97 -17.58 0.000 4 0.179 0.145 2716 979 3979

392 -1.23 -195.5 17.9 -7.6 64 400 0.00 2.85 0.00 0.000 6 0.000 0.109 2716 2390 3980

464 -1.23 -195.5 23.4 -7.4 77 472 0.00 3.00 0.00 0.000 4 0.000 0.134 2716 980 3980

525 -1.23 -195.5 28.5 -8.8 88 533 0.00 2.83 0.00 0.000 6 0.000 0.104 2716 2390 3980

599 -1.23 -195.5 34.6 -8.0 101 605 0.00 2.85 0.00 0.000 4 0.000 0.111 2716 3803 3980

634 -1.23 -195.5 37.5 -8.7 107 640 0.00 2.83 0.00 0.000 6 0.000 0.106 2716 2390 3980

769 -1.23 -195.5 48.6 -8.3 132 777 0.00 2.97 0.00 0.000 4 0.000 0.132 2716 984 3980

823 -1.23 -195.5 53.1 -8.9 141 830 0.00 2.78 0.00 0.000 6 0.000 0.103 2716 2392 3980

958 -1.23 -195.5 63.8 -7.3 166 966 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2392 3980

1098 -1.23 -195.5 74.0 -7.1 191 1104 0.00 2.95 0.00 0.000 4 0.000 0.132 2715 975 3980

1154 -1.23 -195.5 78.6 -8.8 201 1160 0.00 2.78 0.00 0.000 6 0.000 0.097 2716 2393 3980

1172 end dive: BOTTOM_OBSTACLE_DETECTED

state 1172 begin apogee

1176 -0.33 0.0 80.2 8.4 204 1282 0.95 0.00 101.90 0.897 6 0.095 0.000 2911 2370 3457

1282 end apogee: CONTROL_FINISHED_OK

state 1282 begin climb

1284 1.23 195.5 82.5 0.0 221 1448 1.55 3.00 153.43 0.867 4 0.066 0.134 3249 961 2660

1466 1.23 195.5 67.7 12.8 251 1472 0.00 2.78 0.00 0.000 6 0.000 0.094 3249 2369 2660

1601 1.23 195.5 51.3 12.2 276 1609 0.00 2.88 0.00 0.000 4 0.000 0.107 3249 3779 2660

1623 1.23 195.5 48.8 12.5 279 1629 0.00 2.80 0.00 0.000 6 0.000 0.097 3249 2371 2660

1758 1.23 195.5 32.0 12.1 304 1766 0.00 2.97 0.00 0.000 4 0.000 0.131 3249 964 2660

1780 1.23 195.5 29.7 12.3 307 1788 0.00 2.75 0.00 0.000 6 0.000 0.091 3249 2364 2660

1852 1.23 195.5 20.8 12.4 320 1859 0.00 2.88 0.00 0.000 4 0.000 0.105 3249 3783 2660

1866 1.23 195.5 19.0 12.2 322 1874 0.00 2.83 0.00 0.000 6 0.000 0.100 3249 2373 2660

1938 1.23 195.5 10.0 12.3 335 1945 0.00 0.00 0.00 0.000 6 0.000 0.000 3249 2373 2660

1993 end climb: SURFACE_DEPTH_REACHED

state 1993 begin surface coast

2030 end surface coast: CONTROL_FINISHED_OK

state 2031 begin surface

ID	140	HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	4	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	4	ESCAPE_HEADING_DELTA	10	ROLL_MIN	170	ALTIM_PING_DEPTH	80
D_TGT	150	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2390	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2370	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	630	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	10	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	9	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	53
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	520	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3978	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3457	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-1995.3336	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	592	AH0_24V	91.800003	SEABIRD_T_G	0.0043383949
SPEED_FACTOR	1	PITCH_MAX	3894	AH0_10V	61.200001	SEABIRD_T_H	0.00063259009
RHO	1.023	C_PITCH	2990	PRESSURE_YINT	-1.7017781	SEABIRD_T_I	2.4332165e-05
MASS	51445	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.0994887e-05	SEABIRD_T_J	2.5442112e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-9.8722277
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1011369
KALMAN_USE	2	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00070075336
HD_A	0.003	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00014688425

GPS1	000232,4807.425,-12223.422,10,1.2,10,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.00	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	000614,4807.431,-12223.441,13,1.3,13,18.3	MHEAD_RNG_PITCHd_Wd	127.3,967,-14.9,-10.000
SPEED_LIMITS	0.100,0.295	D_GRID	103

FINISH	2.9,1.016746	XPDR_PINGS	28
SM_CCo	2048,270.50,0.743,14,0,888,630.18	ALTIM_BOTTOM_PING	80.2,6.3
SM_GC	1.00,0.00,0.00,270.50,0.000,0.000,0.743,593,2373,888,-11.03,-0.48,630.18	_24V_AH	23.6,1.647
IRIDIUM_FIX	4748.51,-12226.29,111207,030315	_10V_AH	10.1,0.663
TT8_MAMPS	0.023777	DATA_FILE_SIZE	19108,352
HUMID	1512	CFSIZE	260165632,258842624
INTERNAL_PRESSURE	8.34993	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,14,0
TCM_TEMP	18.60	GPS	111207,004729,4807.267,-12223.310,9,2.1,28,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	178	113.56	SBE_CT	234	24	132.71
Roll_motor	51	148	181.64	SBE_O2	879	19	394.31
VBD_pump_during_apogee	255	897	5407.38	Optode	0	0	0.00
VBD_pump_during_surface	270	743	4744.59	WL_BB2F	421	105	1044.57
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	7	420	74.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.04
TT8	532	19	106.47
LPSleep	205	2	4.55
TT8_Active	631	19	126.20
TT8_Sampling	1057	39	425.08
TT8_CF8	39	45	18.06
TT8_Kalman	0	0	0.00
Analog_circuits	1079	12	130.86
GPS_charging	0	0	0.00
Compass	643	8	52.00
RAFOS	0	0	0.00

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
16	-1.23	-195.5	0.0	0.0	0	118	0.00	0.00	-99.28	0.000	2	0.000	0.000	589	2384	3367
120	-1.23	-195.5	4.1	-6.8	14	157	12.45	2.97	-17.58	0.000	4	0.179	0.145	2716	979	3979
392	-1.23	-195.5	17.9	-7.6	64	400	0.00	2.85	0.00	0.000	6	0.000	0.109	2716	2390	3980
464	-1.23	-195.5	23.4	-7.4	77	472	0.00	3.00	0.00	0.000	4	0.000	0.134	2716	980	3980
525	-1.23	-195.5	28.5	-8.8	88	533	0.00	2.83	0.00	0.000	6	0.000	0.104	2716	2390	3980
599	-1.23	-195.5	34.6	-8.0	101	605	0.00	2.85	0.00	0.000	4	0.000	0.111	2716	3803	3980
634	-1.23	-195.5	37.5	-8.7	107	640	0.00	2.83	0.00	0.000	6	0.000	0.106	2716	2390	3980
769	-1.23	-195.5	48.6	-8.3	132	777	0.00	2.97	0.00	0.000	4	0.000	0.132	2716	984	3980
823	-1.23	-195.5	53.1	-8.9	141	830	0.00	2.78	0.00	0.000	6	0.000	0.103	2716	2392	3980
958	-1.23	-195.5	63.8	-7.3	166	966	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2392	3980
1098	-1.23	-195.5	74.0	-7.1	191	1104	0.00	2.95	0.00	0.000	4	0.000	0.132	2715	975	3980
1154	-1.23	-195.5	78.6	-8.8	201	1160	0.00	2.78	0.00	0.000	6	0.000	0.097	2716	2393	3980
1172	end dive: BOTTOM_OBSTACLE_DETECTED
state	1172	begin apogee
1176	-0.33	0.0	80.2	8.4	204	1282	0.95	0.00	101.90	0.897	6	0.095	0.000	2911	2370	3457
1282	end apogee: CONTROL_FINISHED_OK
state	1282	begin climb
1284	1.23	195.5	82.5	0.0	221	1448	1.55	3.00	153.43	0.867	4	0.066	0.134	3249	961	2660
1466	1.23	195.5	67.7	12.8	251	1472	0.00	2.78	0.00	0.000	6	0.000	0.094	3249	2369	2660
1601	1.23	195.5	51.3	12.2	276	1609	0.00	2.88	0.00	0.000	4	0.000	0.107	3249	3779	2660
1623	1.23	195.5	48.8	12.5	279	1629	0.00	2.80	0.00	0.000	6	0.000	0.097	3249	2371	2660
1758	1.23	195.5	32.0	12.1	304	1766	0.00	2.97	0.00	0.000	4	0.000	0.131	3249	964	2660
1780	1.23	195.5	29.7	12.3	307	1788	0.00	2.75	0.00	0.000	6	0.000	0.091	3249	2364	2660
1852	1.23	195.5	20.8	12.4	320	1859	0.00	2.88	0.00	0.000	4	0.000	0.105	3249	3783	2660
1866	1.23	195.5	19.0	12.2	322	1874	0.00	2.83	0.00	0.000	6	0.000	0.100	3249	2373	2660
1938	1.23	195.5	10.0	12.3	335	1945	0.00	0.00	0.00	0.000	6	0.000	0.000	3249	2373	2660
1993	end climb: SURFACE_DEPTH_REACHED
state	1993	begin surface coast
2030	end surface coast: CONTROL_FINISHED_OK
state	2031	begin surface