Glider dive log

Shilshole 14Aug09 * SG140 * Dive index * Mission links * Dive 7 * 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 7 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 684.38696 ROLL_TIMEOUT 15 ALTIM_SENSITIVITY 2

D_BOOST 0 N_FILEKB 4 R_PORT_OVSHOOT 85 XPDR_VALID 2

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 45 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 -43609.133 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 684.38696

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 -43609.133

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 85 VBD_MAX 3938

DEVICE2 53 MAX_BUOY 150 R_STBD_OVSHOOT 45 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 7 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 203100,4742.998,-12224.008,42,1.9,47,18.2 TGT_NAME NW

_CALLS 5 TGT_LATLONG 4743.500,-12225.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.51 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -65.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 204525,4743.094,-12223.885,12,1.8,17,18.2 MHEAD_RNG_PITCHd_Wd 280.2,1579,-17.6,-10.101

SPEED_LIMITS 0.175,0.261 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.7,1.004163 _24V_AH 24.3,2.080

SM_CCo 2031,339.38,0.770,0,0,550,684.39 _10V_AH 10.4,0.754

SM_GC 1.40,0.00,0.00,339.38,0.000,0.000,0.770,217,2333,550,-8.17,-0.48,684.39 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12222.38,081198,202025 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026845 MEM 266400

HUMID 1078355474 DATA_FILE_SIZE 19177,360

INTERNAL_PRESSURE 8.8187 CAP_FILE_SIZE 39512,0

TCM_TEMP 17.70 CFSIZE 260165632,255557632

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

ALTIM_BOTTOM_PING 80.5,6.5 GPS 140809,212620,4743.253,-12224.188,10,2.0,28,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 305 159.86 SBE_CT 238 24 139.20

Roll_motor 17 69 29.17 AA3830 368 33 295.10

VBD_pump_during_apogee 302 862 6351.17 WL_BB2F 918 105 2344.19

VBD_pump_during_surface 339 770 6350.61 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 135 103 339.96 nil 0 0 0.00

Iridium_during_connect 400 160 1556.73 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 1 420 10.21

GUMSTIX_24V 0 0 0.00

GPS 17 50 8.96

TT8 514 19 106.03

LPSleep 542 2 12.36

TT8_Active 577 19 118.93

TT8_Sampling 1000 39 414.08

TT8_CF8 614 45 292.68

TT8_Kalman 0 0 0.00

Analog_circuits 1014 12 126.61

GPS_charging 0 0 0.00

Compass 999 8 83.14

RAFOS 0 0 0.00

Transponder 9 30 2.96

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 91 0.00 0.00 -73.32 0.000 2 0.000 0.000 223 2321 3161 0 0 0 0 0 0

93 -1.06 -146.6 3.2 -6.0 13 130 10.23 2.05 -21.20 0.000 4 0.305 0.054 2483 978 3939 0 0 0 0 0 0

236 -0.72 -146.6 23.4 -17.1 38 243 0.35 2.08 0.00 0.000 6 0.196 0.033 2585 2357 3940 0 0 0 0 0 0

564 -0.72 -146.6 59.9 -11.0 99 571 0.00 2.08 0.00 0.000 4 0.000 0.037 2585 977 3941 0 0 0 0 0 0

644 -0.72 -146.6 70.6 -13.5 113 651 0.00 2.03 0.00 0.000 6 0.000 0.032 2585 2334 3940 0 0 0 0 0 0

724 end dive: BOTTOM_OBSTACLE_DETECTED

state 724 begin apogee

729 -0.25 0.0 80.5 12.3 127 850 0.50 0.00 110.82 0.863 6 0.173 0.000 2743 2509 3340 0 0 0 0 0 0

850 end apogee: CONTROL_FINISHED_OK

state 851 begin climb

852 1.06 146.6 90.0 0.0 148 976 1.33 2.25 112.43 0.840 4 0.132 0.047 3159 3900 2742 0 0 0 0 0 0

1216 0.81 194.1 76.4 7.9 214 1262 0.25 2.05 37.10 0.823 6 0.216 0.025 3098 2509 2547 0 0 0 0 0 0

1585 0.88 248.7 49.4 7.6 282 1638 0.00 2.20 42.55 0.820 4 0.000 0.041 3098 1111 2325 0 0 0 0 0 0

1694 1.01 248.7 38.6 11.8 301 1701 0.15 2.10 0.00 0.000 6 0.094 0.033 3149 2479 2323 0 0 0 0 0 0

1994 end climb: SURFACE_DEPTH_REACHED

state 1994 begin surface coast

2013 end surface coast: CONTROL_FINISHED_OK

state 2013 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	7	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	684.38696	ROLL_TIMEOUT	15	ALTIM_SENSITIVITY	2
D_BOOST	0	N_FILEKB	4	R_PORT_OVSHOOT	85	XPDR_VALID	2
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	45	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	-43609.133	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	203100,4742.998,-12224.008,42,1.9,47,18.2	TGT_NAME	NW
_CALLS	5	TGT_LATLONG	4743.500,-12225.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.51	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-65.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	204525,4743.094,-12223.885,12,1.8,17,18.2	MHEAD_RNG_PITCHd_Wd	280.2,1579,-17.6,-10.101
SPEED_LIMITS	0.175,0.261	D_GRID	100

FINISH	0.7,1.004163	_24V_AH	24.3,2.080
SM_CCo	2031,339.38,0.770,0,0,550,684.39	_10V_AH	10.4,0.754
SM_GC	1.40,0.00,0.00,339.38,0.000,0.000,0.770,217,2333,550,-8.17,-0.48,684.39	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12222.38,081198,202025	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026845	MEM	266400
HUMID	1078355474	DATA_FILE_SIZE	19177,360
INTERNAL_PRESSURE	8.8187	CAP_FILE_SIZE	39512,0
TCM_TEMP	17.70	CFSIZE	260165632,255557632
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	80.5,6.5	GPS	140809,212620,4743.253,-12224.188,10,2.0,28,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	305	159.86	SBE_CT	238	24	139.20
Roll_motor	17	69	29.17	AA3830	368	33	295.10
VBD_pump_during_apogee	302	862	6351.17	WL_BB2F	918	105	2344.19
VBD_pump_during_surface	339	770	6350.61	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	135	103	339.96	nil	0	0	0.00
Iridium_during_connect	400	160	1556.73	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	1	420	10.21
GUMSTIX_24V	0	0	0.00
GPS	17	50	8.96
TT8	514	19	106.03
LPSleep	542	2	12.36
TT8_Active	577	19	118.93
TT8_Sampling	1000	39	414.08
TT8_CF8	614	45	292.68
TT8_Kalman	0	0	0.00
Analog_circuits	1014	12	126.61
GPS_charging	0	0	0.00
Compass	999	8	83.14
RAFOS	0	0	0.00
Transponder	9	30	2.96

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	91	0.00	0.00	-73.32	0.000	2	0.000	0.000	223	2321	3161	0	0	0	0	0	0
93	-1.06	-146.6	3.2	-6.0	13	130	10.23	2.05	-21.20	0.000	4	0.305	0.054	2483	978	3939	0	0	0	0	0	0
236	-0.72	-146.6	23.4	-17.1	38	243	0.35	2.08	0.00	0.000	6	0.196	0.033	2585	2357	3940	0	0	0	0	0	0
564	-0.72	-146.6	59.9	-11.0	99	571	0.00	2.08	0.00	0.000	4	0.000	0.037	2585	977	3941	0	0	0	0	0	0
644	-0.72	-146.6	70.6	-13.5	113	651	0.00	2.03	0.00	0.000	6	0.000	0.032	2585	2334	3940	0	0	0	0	0	0
724	end dive: BOTTOM_OBSTACLE_DETECTED
state	724	begin apogee
729	-0.25	0.0	80.5	12.3	127	850	0.50	0.00	110.82	0.863	6	0.173	0.000	2743	2509	3340	0	0	0	0	0	0
850	end apogee: CONTROL_FINISHED_OK
state	851	begin climb
852	1.06	146.6	90.0	0.0	148	976	1.33	2.25	112.43	0.840	4	0.132	0.047	3159	3900	2742	0	0	0	0	0	0
1216	0.81	194.1	76.4	7.9	214	1262	0.25	2.05	37.10	0.823	6	0.216	0.025	3098	2509	2547	0	0	0	0	0	0
1585	0.88	248.7	49.4	7.6	282	1638	0.00	2.20	42.55	0.820	4	0.000	0.041	3098	1111	2325	0	0	0	0	0	0
1694	1.01	248.7	38.6	11.8	301	1701	0.15	2.10	0.00	0.000	6	0.094	0.033	3149	2479	2323	0	0	0	0	0	0
1994	end climb: SURFACE_DEPTH_REACHED
state	1994	begin surface coast
2013	end surface coast: CONTROL_FINISHED_OK
state	2013	begin surface