Glider dive log

Shilshole 14Aug09 * SG140 * Dive index * Mission links * Dive 8 * 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 8 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 2 FIX_MISSING_TIMEOUT 0 C_ROLL_DIVE 2450 ALTIM_PING_DEPTH 60

D_FLARE 3 TGT_DEFAULT_LAT 5900 C_ROLL_CLIMB 2550 ALTIM_PING_DELTA 10

D_TGT 120 TGT_DEFAULT_LON -2030 HEAD_ERRBAND 10 ALTIM_FREQUENCY 13

D_ABORT 150 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 82 XPDR_VALID 2

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 58 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 40 CALL_TRIES 5 C_VBD 3340 DEVICE2 53

T_MISSION 52 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 -43707.117 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 2840 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 21 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 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 ESCAPE_HEADING 0 PITCH_GAIN 21 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 40

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 -43707.117

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 52

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 2840 INT_PRESSURE_YINT 0 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2550 KALMAN_USE 2 ROLL_DEG 40 USE_BATHY 0

C_ROLL_DIVE 2450 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 82 VBD_MAX 3938

DEVICE2 53 MAX_BUOY 150 R_STBD_OVSHOOT 58 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 8 NAV_MODE 0 SEABIRD_T_G 0.0044206623 XPDR_DEVICE 24

D_ABORT 150 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 213716,4743.333,-12224.118,9,99.0,28,18.2 TGT_NAME NW

_CALLS 2 TGT_LATLONG 4743.500,-12225.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -59.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 214410,4743.373,-12224.089,11,2.2,30,18.2 MHEAD_RNG_PITCHd_Wd 263.5,1159,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 120

Post-dive calculations and measurements:

FINISH 0.6,1.014374 _24V_AH 24.4,2.249

SM_CCo 2063,323.48,0.764,0,0,549,684.39 _10V_AH 10.4,0.821

SM_GC 1.40,0.00,0.00,323.48,0.000,0.000,0.764,219,2437,549,-8.20,-0.34,684.39 FG_AHR_24Vo 0.000

IRIDIUM_FIX 4726.11,-12220.67,081198,212137 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026845 MEM 266260

HUMID 1078355474 DATA_FILE_SIZE 19149,366

INTERNAL_PRESSURE 8.80893 CAP_FILE_SIZE 52727,0

TCM_TEMP 17.80 CFSIZE 260165632,255528960

XPDR_PINGS 1 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

ALTIM_BOTTOM_PING 80.2,6.5 GPS 140809,222507,4743.468,-12224.312,8,1.7,13,18.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 300 154.98 SBE_CT 241 24 141.60

Roll_motor 17 105 43.97 AA3830 374 33 301.22

VBD_pump_during_apogee 316 860 6638.52 WL_BB2F 934 105 2394.67

VBD_pump_during_surface 323 763 6029.55 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 12.81

GUMSTIX_24V 0 0 0.00

GPS 31 50 16.35

TT8 510 19 105.03

LPSleep 296 2 6.76

TT8_Active 586 19 120.69

TT8_Sampling 1033 39 427.60

TT8_CF8 49 45 23.61

TT8_Kalman 0 0 0.00

Analog_circuits 1046 12 130.63

GPS_charging 0 0 0.00

Compass 1018 8 84.72

RAFOS 0 0 0.00

Transponder 8 30 2.65

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

14 -1.01 -146.6 0.0 0.0 0 129 0.00 0.00 -112.28 0.000 2 0.000 0.000 217 2471 3122 0 0 0 0 0 0

133 -1.01 -146.6 3.0 -6.2 20 170 10.15 2.12 -21.23 0.000 4 0.301 0.052 2505 1079 3940 0 0 0 0 0 0

326 -0.75 -146.6 30.3 -16.1 55 333 0.28 2.03 0.00 0.000 6 0.193 0.035 2587 2431 3940 0 0 0 0 0 0

658 -0.75 -146.6 64.4 -10.6 116 665 0.00 2.03 0.00 0.000 4 0.000 0.036 2588 1079 3941 0 0 0 0 0 0

752 -0.75 -146.6 74.6 -10.4 133 759 0.00 2.05 0.00 0.000 6 0.000 0.035 2587 2448 3941 0 0 0 0 0 0

806 end dive: BOTTOM_OBSTACLE_DETECTED

state 806 begin apogee

811 -0.24 0.0 80.2 10.6 142 932 0.52 0.00 110.85 0.861 6 0.173 0.000 2752 2566 3340 0 0 0 0 0 0

933 end apogee: CONTROL_FINISHED_OK

state 933 begin climb

934 1.01 146.6 86.7 0.0 163 1058 1.27 2.22 112.32 0.826 4 0.130 0.047 3155 3938 2742 0 0 0 0 0 0

1161 0.69 146.6 76.7 10.5 204 1169 0.30 2.05 0.00 0.000 6 0.213 0.027 3073 2573 2741 0 0 0 0 0 0

1492 0.84 267.4 57.6 4.4 265 1597 0.12 2.25 92.97 0.818 4 0.132 0.040 3114 1161 2248 0 0 0 0 0 0

1753 0.92 267.4 32.7 11.3 312 1760 0.00 2.08 0.00 0.000 6 0.000 0.034 3114 2518 2243 0 0 0 0 0 0

2029 end climb: SURFACE_DEPTH_REACHED

state 2029 begin surface coast

2047 end surface coast: CONTROL_FINISHED_OK

state 2047 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	8	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	2	FIX_MISSING_TIMEOUT	0	C_ROLL_DIVE	2450	ALTIM_PING_DEPTH	60
D_FLARE	3	TGT_DEFAULT_LAT	5900	C_ROLL_CLIMB	2550	ALTIM_PING_DELTA	10
D_TGT	120	TGT_DEFAULT_LON	-2030	HEAD_ERRBAND	10	ALTIM_FREQUENCY	13
D_ABORT	150	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	82	XPDR_VALID	2
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	58	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	40	CALL_TRIES	5	C_VBD	3340	DEVICE2	53
T_MISSION	52	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	-43707.117	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	2840	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	21	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	213716,4743.333,-12224.118,9,99.0,28,18.2	TGT_NAME	NW
_CALLS	2	TGT_LATLONG	4743.500,-12225.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-59.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	214410,4743.373,-12224.089,11,2.2,30,18.2	MHEAD_RNG_PITCHd_Wd	263.5,1159,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	120

FINISH	0.6,1.014374	_24V_AH	24.4,2.249
SM_CCo	2063,323.48,0.764,0,0,549,684.39	_10V_AH	10.4,0.821
SM_GC	1.40,0.00,0.00,323.48,0.000,0.000,0.764,219,2437,549,-8.20,-0.34,684.39	FG_AHR_24Vo	0.000
IRIDIUM_FIX	4726.11,-12220.67,081198,212137	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026845	MEM	266260
HUMID	1078355474	DATA_FILE_SIZE	19149,366
INTERNAL_PRESSURE	8.80893	CAP_FILE_SIZE	52727,0
TCM_TEMP	17.80	CFSIZE	260165632,255528960
XPDR_PINGS	1	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
ALTIM_BOTTOM_PING	80.2,6.5	GPS	140809,222507,4743.468,-12224.312,8,1.7,13,18.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	300	154.98	SBE_CT	241	24	141.60
Roll_motor	17	105	43.97	AA3830	374	33	301.22
VBD_pump_during_apogee	316	860	6638.52	WL_BB2F	934	105	2394.67
VBD_pump_during_surface	323	763	6029.55	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	12.81
GUMSTIX_24V	0	0	0.00
GPS	31	50	16.35
TT8	510	19	105.03
LPSleep	296	2	6.76
TT8_Active	586	19	120.69
TT8_Sampling	1033	39	427.60
TT8_CF8	49	45	23.61
TT8_Kalman	0	0	0.00
Analog_circuits	1046	12	130.63
GPS_charging	0	0	0.00
Compass	1018	8	84.72
RAFOS	0	0	0.00
Transponder	8	30	2.65

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
14	-1.01	-146.6	0.0	0.0	0	129	0.00	0.00	-112.28	0.000	2	0.000	0.000	217	2471	3122	0	0	0	0	0	0
133	-1.01	-146.6	3.0	-6.2	20	170	10.15	2.12	-21.23	0.000	4	0.301	0.052	2505	1079	3940	0	0	0	0	0	0
326	-0.75	-146.6	30.3	-16.1	55	333	0.28	2.03	0.00	0.000	6	0.193	0.035	2587	2431	3940	0	0	0	0	0	0
658	-0.75	-146.6	64.4	-10.6	116	665	0.00	2.03	0.00	0.000	4	0.000	0.036	2588	1079	3941	0	0	0	0	0	0
752	-0.75	-146.6	74.6	-10.4	133	759	0.00	2.05	0.00	0.000	6	0.000	0.035	2587	2448	3941	0	0	0	0	0	0
806	end dive: BOTTOM_OBSTACLE_DETECTED
state	806	begin apogee
811	-0.24	0.0	80.2	10.6	142	932	0.52	0.00	110.85	0.861	6	0.173	0.000	2752	2566	3340	0	0	0	0	0	0
933	end apogee: CONTROL_FINISHED_OK
state	933	begin climb
934	1.01	146.6	86.7	0.0	163	1058	1.27	2.22	112.32	0.826	4	0.130	0.047	3155	3938	2742	0	0	0	0	0	0
1161	0.69	146.6	76.7	10.5	204	1169	0.30	2.05	0.00	0.000	6	0.213	0.027	3073	2573	2741	0	0	0	0	0	0
1492	0.84	267.4	57.6	4.4	265	1597	0.12	2.25	92.97	0.818	4	0.132	0.040	3114	1161	2248	0	0	0	0	0	0
1753	0.92	267.4	32.7	11.3	312	1760	0.00	2.08	0.00	0.000	6	0.000	0.034	3114	2518	2243	0	0	0	0	0	0
2029	end climb: SURFACE_DEPTH_REACHED
state	2029	begin surface coast
2047	end surface coast: CONTROL_FINISHED_OK
state	2047	begin surface