Glider dive log

Shilshole 14Aug09 * SG140 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 140 HEADING -1 ROLL_MIN 174 ALTIM_BOTTOM_TURN_MARGIN 8

MISSION 7 ESCAPE_HEADING 0 ROLL_MAX 4054 ALTIM_TOP_TURN_MARGIN 0

DIVE 5 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2350 ALTIM_PING_DEPTH 60

D_FLARE 3 TGT_DEFAULT_LAT 5900 C_ROLL_CLIMB 2500 ALTIM_PING_DELTA 10

D_TGT 100 TGT_DEFAULT_LON -2030 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 120 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_PULSE 3

D_NO_BLEED 50 SM_CC 674.38696 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 54 XPDR_VALID 2

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 39 XPDR_INHIBIT 90

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 350 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 1 INT_PRESSURE_YINT 0

D_CALL 0 KERMIT 0 ROLL_ADJ_GAIN 1.75 DEEPGLIDER 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 0.025 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOSURFACE 0 VBD_MIN 550 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 UPLOAD_DIVES_MAX -1 VBD_MAX 3938 DEVICE1 2

T_DIVE 33 CALL_TRIES 5 C_VBD 3340 DEVICE2 53

T_MISSION 45 CALL_WAIT 60 VBD_DBAND 2 DEVICE3 35

T_ABORT 720 CAPUPLOAD 0 VBD_CNV -0.24529999 DEVICE4 -1

T_TURN 225 CAPMAXSIZE 100000 VBD_TIMEOUT 360 DEVICE5 -1

T_TURN_SAMPINT 5 HEAPDBG 0 PITCH_VBD_SHIFT 0.0012300001 DEVICE6 -1

T_NO_W 120 T_GPS 15 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERS 3

T_LOITER 0 N_GPS 20 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE1 -1

USE_BATHY 0 T_GPS_ALMANAC 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 -1

USE_ICE 0 T_GPS_CHARGE -43578.176 UNCOM_BLEED 20 COMPASS_DEVICE 33

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 CF8_MAXERRORS 0 PHONE_DEVICE 48

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_24V 91.800003 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 AH0_10V 100 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_24V 19 XPDR_DEVICE 24

MAX_BUOY 150 PITCH_MIN 214 MINV_10V 8 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3926 FG_AHR_10V 0 SIM_PITCH 0

GLIDE_SLOPE 30 C_PITCH 2830 FG_AHR_24V 0 SEABIRD_T_G 0.0044206623

SPEED_FACTOR 1 PITCH_DBAND 0.1 PHONE_SUPPLY 2 SEABIRD_T_H 0.00065338978

RHO 1.023 PITCH_CNV 0.003125763 PRESSURE_YINT -16.054012 SEABIRD_T_I 2.7511465e-05

MASS 51118 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001158875 SEABIRD_T_J 3.0433071e-06

NAV_MODE 0 PITCH_GAIN 20 AD7714Ch0Gain 128 SEABIRD_C_G -10.080298

FERRY_MAX 0 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1283234

KALMAN_USE 2 PITCH_AD_RATE 175 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0013448599

HD_A 0.003 PITCH_MAXERRORS 1 COMPASS_USE 0 SEABIRD_C_J 0.00017661104

HD_B 0.0099999998 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_PING_RANGE 0

HD_C 9.9999997e-06 PITCH_ADJ_DBAND 1 ALTIM_TOP_PING_RANGE 0

AD7714Ch0Gain 128 D_FLARE 3 PHONE_DEVICE 48 SIM_W 0

AH0_10V 100 D_NO_BLEED 50 PHONE_SUPPLY 2 SM_CC 674.38696

AH0_24V 91.800003 D_OFFGRID 100 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_PITCH 0 PITCH_ADJ_GAIN 0.045000002 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 8 D_SAFE 0 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_CNV 0.003125763 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_TGT 100 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 ESCAPE_HEADING 0 PITCH_GAIN 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3926 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 FERRY_MAX 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_10V 0 PITCH_MIN 214 TGT_DEFAULT_LAT 5900

ALTIM_TOP_PING_RANGE 0 FG_AHR_24V 0 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -2030

ALTIM_TOP_TURN_MARGIN 0 FILEMGR 0 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 720

APOGEE_PITCH -5 FIX_MISSING_TIMEOUT 0 PRESSURE_SLOPE 0.0001158875 T_DIVE 33

CALL_NDIVES 1 GLIDE_SLOPE 30 PRESSURE_YINT -16.054012 T_GPS 15

CALL_TRIES 5 GPS_DEVICE 32 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_A 0.003 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -43578.176

CAPMAXSIZE 100000 HD_B 0.0099999998 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HD_C 9.9999997e-06 RAFOS_HIT_WINDOW 3600 T_MISSION 45

CF8_MAXERRORS 0 HEADING -1 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAD_ERRBAND 10 RELAUNCH 1 T_RSLEEP 3

COMPASS2_DEVICE -1 HEAPDBG 0 RHO 1.023 T_TURN 225

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_ADJ_DBAND 0.025 T_TURN_SAMPINT 5

COMPASS_USE 0 ID 140 ROLL_ADJ_GAIN 1.75 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_AD_RATE 350 UNCOM_BLEED 20

C_PITCH 2830 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2500 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2350 KERMIT 0 ROLL_MAX 4054 USE_ICE 0

C_VBD 3340 LOGGERDEVICE1 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE2 -1 ROLL_MIN 174 VBD_CNV -0.24529999

DEEPGLIDERMB 0 LOGGERS 3 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 MASS 51118 R_PORT_OVSHOOT 54 VBD_MAX 3938

DEVICE2 53 MAX_BUOY 150 R_STBD_OVSHOOT 39 VBD_MAXERRORS 1

DEVICE3 35 MINV_10V 8 SEABIRD_C_G -10.080298 VBD_MIN 550

DEVICE4 -1 MINV_24V 19 SEABIRD_C_H 1.1283234 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MISSION 7 SEABIRD_C_I -0.0013448599 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_J 0.00017661104 VBD_TIMEOUT 360

DIVE 5 NAV_MODE 0 SEABIRD_T_G 0.0044206623 XPDR_DEVICE 24

D_ABORT 120 N_FILEKB 4 SEABIRD_T_H 0.00065338978 XPDR_INHIBIT 90

D_BOOST 0 N_GPS 20 SEABIRD_T_I 2.7511465e-05 XPDR_VALID 2

D_CALL 0 N_NOCOMM 1 SEABIRD_T_J 3.0433071e-06

D_FINISH 0 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 190132,4742.771,-12223.432,11,1.3,11,18.2 TGT_NAME NW

_CALLS 1 TGT_LATLONG 4743.500,-12225.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.32 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -60.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 190526,4742.757,-12223.421,14,1.3,14,18.2 MHEAD_RNG_PITCHd_Wd 286.8,2400,-17.6,-10.101

SPEED_LIMITS 0.175,0.261 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.7,1.009881 _24V_AH 24.4,1.798

SM_CCo 1978,319.90,0.766,0,0,590,674.58 _10V_AH 10.4,0.625

SM_GC 1.33,0.00,0.00,319.90,0.000,0.000,0.766,220,2334,590,-8.16,-0.45,674.58 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4722.92,-12223.37,081198,191952 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026845 MEM 266264

HUMID 1078363216 DATA_FILE_SIZE 19186,351

INTERNAL_PRESSURE 8.82846 CAP_FILE_SIZE 53189,0

TCM_TEMP 17.80 CFSIZE 260165632,255619072

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

ALTIM_BOTTOM_PING 90.4,6.8 GPS 140809,194450,4742.838,-12223.702,12,1.2,12,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 299 153.48 SBE_CT 231 24 135.60

Roll_motor 17 59 25.36 AA3830 358 33 288.84

VBD_pump_during_apogee 311 855 6507.99 WL_BB2F 896 105 2296.75

VBD_pump_during_surface 319 766 5980.88 nil 0 0 0.00

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 1 420 15.37

GUMSTIX_24V 0 0 0.00

GPS 14 50 7.57

TT8 485 19 100.02

LPSleep 275 2 6.28

TT8_Active 584 19 120.34

TT8_Sampling 972 39 402.49

TT8_CF8 48 45 23.33

TT8_Kalman 0 0 0.00

Analog_circuits 1031 12 128.74

GPS_charging 0 0 0.00

Compass 971 8 80.82

RAFOS 0 0 0.00

Transponder 12 30 4.01

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

15 -1.06 -146.6 0.0 0.0 0 135 0.00 0.00 -117.47 0.000 2 0.000 0.000 218 2311 3284 0 0 0 0 0 0

139 -1.06 -146.6 3.3 -7.2 21 175 9.95 2.08 -15.98 0.000 4 0.300 0.054 2479 945 3939 0 0 0 0 0 0

247 -0.72 -146.6 21.5 -18.5 40 254 0.38 2.12 0.00 0.000 6 0.199 0.035 2588 2358 3940 0 0 0 0 0 0

576 -0.72 -146.6 59.8 -10.8 101 583 0.00 2.10 0.00 0.000 4 0.000 0.047 2588 3754 3940 0 0 0 0 0 0

660 -0.79 -146.6 69.9 -12.6 116 669 0.00 2.03 0.00 0.000 6 0.000 0.025 2589 2342 3940 0 0 0 0 0 0

846 end dive: BOTTOM_OBSTACLE_DETECTED

state 847 begin apogee

852 -0.25 0.0 90.4 9.9 149 969 0.47 0.00 110.40 0.856 6 0.177 0.000 2738 2523 3339 0 0 0 0 0 0

970 end apogee: CONTROL_FINISHED_OK

state 970 begin climb

972 1.06 146.6 95.7 0.0 170 1095 1.35 2.25 112.03 0.828 4 0.133 0.039 3168 1128 2742 0 0 0 0 0 0

1108 0.98 260.8 93.9 4.8 194 1203 0.00 2.12 89.18 0.806 6 0.000 0.034 3159 2483 2276 0 0 0 0 0 0

1527 0.90 260.8 46.4 12.2 271 1534 0.15 2.20 0.00 0.000 4 0.226 0.048 3119 3907 2269 0 0 0 0 0 0

1727 0.91 262.6 23.4 10.0 308 1734 0.00 2.03 0.00 0.000 6 0.000 0.027 3125 2526 2269 0 0 0 0 0 0

1943 end climb: SURFACE_DEPTH_REACHED

state 1943 begin surface coast

1960 end surface coast: CONTROL_FINISHED_OK

state 1960 begin surface

ID	140	HEADING	-1	ROLL_MIN	174	ALTIM_BOTTOM_TURN_MARGIN	8
MISSION	7	ESCAPE_HEADING	0	ROLL_MAX	4054	ALTIM_TOP_TURN_MARGIN	0
DIVE	5	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2350	ALTIM_PING_DEPTH	60
D_FLARE	3	TGT_DEFAULT_LAT	5900	C_ROLL_CLIMB	2500	ALTIM_PING_DELTA	10
D_TGT	100	TGT_DEFAULT_LON	-2030	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	120	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_PULSE	3
D_NO_BLEED	50	SM_CC	674.38696	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	54	XPDR_VALID	2
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	39	XPDR_INHIBIT	90
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	350	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	1	INT_PRESSURE_YINT	0
D_CALL	0	KERMIT	0	ROLL_ADJ_GAIN	1.75	DEEPGLIDER	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	0.025	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOSURFACE	0	VBD_MIN	550	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	UPLOAD_DIVES_MAX	-1	VBD_MAX	3938	DEVICE1	2
T_DIVE	33	CALL_TRIES	5	C_VBD	3340	DEVICE2	53
T_MISSION	45	CALL_WAIT	60	VBD_DBAND	2	DEVICE3	35
T_ABORT	720	CAPUPLOAD	0	VBD_CNV	-0.24529999	DEVICE4	-1
T_TURN	225	CAPMAXSIZE	100000	VBD_TIMEOUT	360	DEVICE5	-1
T_TURN_SAMPINT	5	HEAPDBG	0	PITCH_VBD_SHIFT	0.0012300001	DEVICE6	-1
T_NO_W	120	T_GPS	15	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERS	3
T_LOITER	0	N_GPS	20	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE1	-1
USE_BATHY	0	T_GPS_ALMANAC	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	-1
USE_ICE	0	T_GPS_CHARGE	-43578.176	UNCOM_BLEED	20	COMPASS_DEVICE	33
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	CF8_MAXERRORS	0	PHONE_DEVICE	48
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_24V	91.800003	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	AH0_10V	100	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_24V	19	XPDR_DEVICE	24
MAX_BUOY	150	PITCH_MIN	214	MINV_10V	8	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3926	FG_AHR_10V	0	SIM_PITCH	0
GLIDE_SLOPE	30	C_PITCH	2830	FG_AHR_24V	0	SEABIRD_T_G	0.0044206623
SPEED_FACTOR	1	PITCH_DBAND	0.1	PHONE_SUPPLY	2	SEABIRD_T_H	0.00065338978
RHO	1.023	PITCH_CNV	0.003125763	PRESSURE_YINT	-16.054012	SEABIRD_T_I	2.7511465e-05
MASS	51118	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001158875	SEABIRD_T_J	3.0433071e-06
NAV_MODE	0	PITCH_GAIN	20	AD7714Ch0Gain	128	SEABIRD_C_G	-10.080298
FERRY_MAX	0	PITCH_TIMEOUT	15	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1283234
KALMAN_USE	2	PITCH_AD_RATE	175	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0013448599
HD_A	0.003	PITCH_MAXERRORS	1	COMPASS_USE	0	SEABIRD_C_J	0.00017661104
HD_B	0.0099999998	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_PING_RANGE	0
HD_C	9.9999997e-06	PITCH_ADJ_DBAND	1	ALTIM_TOP_PING_RANGE	0

GPS1	190132,4742.771,-12223.432,11,1.3,11,18.2	TGT_NAME	NW
_CALLS	1	TGT_LATLONG	4743.500,-12225.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.32	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-60.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	190526,4742.757,-12223.421,14,1.3,14,18.2	MHEAD_RNG_PITCHd_Wd	286.8,2400,-17.6,-10.101
SPEED_LIMITS	0.175,0.261	D_GRID	100

FINISH	0.7,1.009881	_24V_AH	24.4,1.798
SM_CCo	1978,319.90,0.766,0,0,590,674.58	_10V_AH	10.4,0.625
SM_GC	1.33,0.00,0.00,319.90,0.000,0.000,0.766,220,2334,590,-8.16,-0.45,674.58	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4722.92,-12223.37,081198,191952	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026845	MEM	266264
HUMID	1078363216	DATA_FILE_SIZE	19186,351
INTERNAL_PRESSURE	8.82846	CAP_FILE_SIZE	53189,0
TCM_TEMP	17.80	CFSIZE	260165632,255619072
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	90.4,6.8	GPS	140809,194450,4742.838,-12223.702,12,1.2,12,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	299	153.48	SBE_CT	231	24	135.60
Roll_motor	17	59	25.36	AA3830	358	33	288.84
VBD_pump_during_apogee	311	855	6507.99	WL_BB2F	896	105	2296.75
VBD_pump_during_surface	319	766	5980.88	nil	0	0	0.00
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	1	420	15.37
GUMSTIX_24V	0	0	0.00
GPS	14	50	7.57
TT8	485	19	100.02
LPSleep	275	2	6.28
TT8_Active	584	19	120.34
TT8_Sampling	972	39	402.49
TT8_CF8	48	45	23.33
TT8_Kalman	0	0	0.00
Analog_circuits	1031	12	128.74
GPS_charging	0	0	0.00
Compass	971	8	80.82
RAFOS	0	0	0.00
Transponder	12	30	4.01

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
15	-1.06	-146.6	0.0	0.0	0	135	0.00	0.00	-117.47	0.000	2	0.000	0.000	218	2311	3284	0	0	0	0	0	0
139	-1.06	-146.6	3.3	-7.2	21	175	9.95	2.08	-15.98	0.000	4	0.300	0.054	2479	945	3939	0	0	0	0	0	0
247	-0.72	-146.6	21.5	-18.5	40	254	0.38	2.12	0.00	0.000	6	0.199	0.035	2588	2358	3940	0	0	0	0	0	0
576	-0.72	-146.6	59.8	-10.8	101	583	0.00	2.10	0.00	0.000	4	0.000	0.047	2588	3754	3940	0	0	0	0	0	0
660	-0.79	-146.6	69.9	-12.6	116	669	0.00	2.03	0.00	0.000	6	0.000	0.025	2589	2342	3940	0	0	0	0	0	0
846	end dive: BOTTOM_OBSTACLE_DETECTED
state	847	begin apogee
852	-0.25	0.0	90.4	9.9	149	969	0.47	0.00	110.40	0.856	6	0.177	0.000	2738	2523	3339	0	0	0	0	0	0
970	end apogee: CONTROL_FINISHED_OK
state	970	begin climb
972	1.06	146.6	95.7	0.0	170	1095	1.35	2.25	112.03	0.828	4	0.133	0.039	3168	1128	2742	0	0	0	0	0	0
1108	0.98	260.8	93.9	4.8	194	1203	0.00	2.12	89.18	0.806	6	0.000	0.034	3159	2483	2276	0	0	0	0	0	0
1527	0.90	260.8	46.4	12.2	271	1534	0.15	2.20	0.00	0.000	4	0.226	0.048	3119	3907	2269	0	0	0	0	0	0
1727	0.91	262.6	23.4	10.0	308	1734	0.00	2.03	0.00	0.000	6	0.000	0.027	3125	2526	2269	0	0	0	0	0	0
1943	end climb: SURFACE_DEPTH_REACHED
state	1943	begin surface coast
1960	end surface coast: CONTROL_FINISHED_OK
state	1960	begin surface