Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 1004 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING 270 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 15

DIVE 1004 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3200 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3050 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -3415 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 100 TGT_DEFAULT_LON 2600 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

D_ABORT 150 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 402.28543 R_PORT_OVSHOOT 101 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 41 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 2 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 2147 DEVICE3 117

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 131

T_DIVE 33 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 48 CAPUPLOAD 0 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00056000001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -18261.195 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 175 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1870 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043512532

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -54.899082 SEABIRD_T_H 0.00062429422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2835797e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.3805812e-06

MASS 52780 PITCH_GAIN 45 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.305622

NAV_MODE 0 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763667

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0018977363

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012677554

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 15

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 402.28543

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 100 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 15 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 45 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 2 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -3415

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON 2600

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00056000001 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 33

CALL_NDIVES 2 GPS_DEVICE 32 PRESSURE_YINT -54.899082 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -18261.195

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 0 HEADING 270 RAFOS_HIT_WINDOW 3600 T_MISSION 48

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1870 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3050 KERMIT 0 ROLL_DEG 25 USE_BATHY 0

C_ROLL_DIVE 3200 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 2147 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 101 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 41 VBD_MAXERRORS 1

DEVICE3 117 MAX_BUOY 175 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 131 MINV_10V 8 SEABIRD_C_H 1.1763667 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0018977363 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 11 SEABIRD_C_J 0.00012677554 VBD_TIMEOUT 800

DIVE 1004 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 150 NAV_MODE 0 SEABIRD_T_H 0.00062429422 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 SEABIRD_T_I 2.2835797e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.3805812e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 270515,042018,-3408.627,2559.316,30,0.9,30,-27.6 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3408.634,2546.261

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 270515,042124,-3408.634,2559.310,17,1.4,17,-27.6 MHEAD_RNG_PITCHd_Wd 297.6,20000,-16.2,-10.101

SPEED_LIMITS 0.175,0.279 D_GRID 100

Post-dive calculations and measurements:

FINISH 0.4,1.001609 _24V_AH 24.3,88.889

SM_CCo 764,12.90,0.125,0,0,505,402.29 _10V_AH 10.4,41.256

SM_GC 1.16,0.00,0.00,12.90,0.000,0.000,0.125,44,3218,505,-5.71,0.48,402.29 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3356.48,2557.80,220308,161652 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026215 MEM 332688

HUMID 53.93 DATA_FILE_SIZE 3696,104

INTERNAL_PRESSURE 11.5251 CAP_FILE_SIZE 19634,0

TCM_TEMP 23.60 CFSIZE 259252224,227934208

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

ALTIM_BOTTOM_PING 25.3,5.8 GPS 270515,043535,-3408.536,2559.292,10,2.0,10,-27.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 217 65.07 SBE_CT 67 24 39.61

Roll_motor 7 60 11.34 SBE_O2 52 19 24.34

VBD_pump_during_apogee 238 688 3992.33 QSP2150 37 4 3.94

VBD_pump_during_surface 12 124 39.09 WL_BB2FLVMT 250 105 639.66

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 7.65 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 20 26 5.67

TT8 223 14 34.72

LPSleep 20 2 0.48

TT8_Active 231 14 34.15

TT8_Sampling 332 37 129.25

TT8_CF8 49 47 24.47

TT8_Kalman 0 0 0.00

Analog_circuits 448 12 55.97

GPS_charging 0 0 0.00

Compass 327 15 53.51

RAFOS 0 0 0.00

Transponder 6 30 2.17

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

17 -0.46 -170.4 0.0 0.0 0 96 0.00 0.00 -77.45 0.000 2 0.000 0.000 63 3214 2682 0 0 0 0 0 0

100 -0.46 -170.4 3.6 -5.5 10 118 6.43 1.10 -3.10 0.000 4 0.217 0.060 1710 3949 2843 0 0 0 0 0 0

129 -0.46 -170.4 15.5 -33.3 13 138 0.00 1.00 0.00 0.000 6 0.000 0.024 1711 3213 2845 0 0 0 0 0 0

187 end dive: BOTTOM_OBSTACLE_DETECTED

state 188 begin apogee

195 -0.11 0.0 25.3 11.9 22 276 0.35 0.00 76.47 0.689 6 0.116 0.000 1827 3039 2144 0 0 0 0 0 0

278 end apogee: CONTROL_FINISHED_OK

state 278 begin climb

281 0.46 170.4 29.0 0.0 34 363 0.52 1.20 74.82 0.689 4 0.083 0.017 2024 2136 1449 0 0 0 0 0 0

469 0.51 272.2 22.3 6.0 64 519 0.00 1.40 44.50 0.650 6 0.000 0.037 2024 3045 1033 0 0 0 0 0 0

570 0.54 314.0 15.0 8.4 79 595 0.00 1.38 18.50 0.610 4 0.000 0.042 2024 3933 863 0 0 0 0 0 0

617 0.56 352.0 11.1 8.6 85 642 0.00 1.25 16.73 0.581 6 0.000 0.023 2031 3041 708 0 0 0 0 0 0

694 0.57 379.6 3.3 9.0 96 703 0.00 0.00 7.60 0.135 2 0.000 0.000 2030 3041 630 0 0 0 0 0 0

704 end climb: SURFACE_DEPTH_REACHED

state 704 begin surface coast

746 end surface coast: CONTROL_FINISHED_OK

state 747 begin surface

ID	543	HEADING	270	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	15
DIVE	1004	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3200	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3050	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-3415	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	100	TGT_DEFAULT_LON	2600	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
D_ABORT	150	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	402.28543	R_PORT_OVSHOOT	101	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	41	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	2	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	2147	DEVICE3	117
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	131
T_DIVE	33	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	48	CAPUPLOAD	0	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00056000001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-18261.195	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	175	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1870	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043512532
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-54.899082	SEABIRD_T_H	0.00062429422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2835797e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.3805812e-06
MASS	52780	PITCH_GAIN	45	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.305622
NAV_MODE	0	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763667
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0018977363
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012677554
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	15
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	270515,042018,-3408.627,2559.316,30,0.9,30,-27.6	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3408.634,2546.261
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	270515,042124,-3408.634,2559.310,17,1.4,17,-27.6	MHEAD_RNG_PITCHd_Wd	297.6,20000,-16.2,-10.101
SPEED_LIMITS	0.175,0.279	D_GRID	100

FINISH	0.4,1.001609	_24V_AH	24.3,88.889
SM_CCo	764,12.90,0.125,0,0,505,402.29	_10V_AH	10.4,41.256
SM_GC	1.16,0.00,0.00,12.90,0.000,0.000,0.125,44,3218,505,-5.71,0.48,402.29	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3356.48,2557.80,220308,161652	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026215	MEM	332688
HUMID	53.93	DATA_FILE_SIZE	3696,104
INTERNAL_PRESSURE	11.5251	CAP_FILE_SIZE	19634,0
TCM_TEMP	23.60	CFSIZE	259252224,227934208
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
ALTIM_BOTTOM_PING	25.3,5.8	GPS	270515,043535,-3408.536,2559.292,10,2.0,10,-27.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	217	65.07	SBE_CT	67	24	39.61
Roll_motor	7	60	11.34	SBE_O2	52	19	24.34
VBD_pump_during_apogee	238	688	3992.33	QSP2150	37	4	3.94
VBD_pump_during_surface	12	124	39.09	WL_BB2FLVMT	250	105	639.66
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	7.65	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	20	26	5.67
TT8	223	14	34.72
LPSleep	20	2	0.48
TT8_Active	231	14	34.15
TT8_Sampling	332	37	129.25
TT8_CF8	49	47	24.47
TT8_Kalman	0	0	0.00
Analog_circuits	448	12	55.97
GPS_charging	0	0	0.00
Compass	327	15	53.51
RAFOS	0	0	0.00
Transponder	6	30	2.17

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
17	-0.46	-170.4	0.0	0.0	0	96	0.00	0.00	-77.45	0.000	2	0.000	0.000	63	3214	2682	0	0	0	0	0	0
100	-0.46	-170.4	3.6	-5.5	10	118	6.43	1.10	-3.10	0.000	4	0.217	0.060	1710	3949	2843	0	0	0	0	0	0
129	-0.46	-170.4	15.5	-33.3	13	138	0.00	1.00	0.00	0.000	6	0.000	0.024	1711	3213	2845	0	0	0	0	0	0
187	end dive: BOTTOM_OBSTACLE_DETECTED
state	188	begin apogee
195	-0.11	0.0	25.3	11.9	22	276	0.35	0.00	76.47	0.689	6	0.116	0.000	1827	3039	2144	0	0	0	0	0	0
278	end apogee: CONTROL_FINISHED_OK
state	278	begin climb
281	0.46	170.4	29.0	0.0	34	363	0.52	1.20	74.82	0.689	4	0.083	0.017	2024	2136	1449	0	0	0	0	0	0
469	0.51	272.2	22.3	6.0	64	519	0.00	1.40	44.50	0.650	6	0.000	0.037	2024	3045	1033	0	0	0	0	0	0
570	0.54	314.0	15.0	8.4	79	595	0.00	1.38	18.50	0.610	4	0.000	0.042	2024	3933	863	0	0	0	0	0	0
617	0.56	352.0	11.1	8.6	85	642	0.00	1.25	16.73	0.581	6	0.000	0.023	2031	3041	708	0	0	0	0	0	0
694	0.57	379.6	3.3	9.0	96	703	0.00	0.00	7.60	0.135	2	0.000	0.000	2030	3041	630	0	0	0	0	0	0
704	end climb: SURFACE_DEPTH_REACHED
state	704	begin surface coast
746	end surface coast: CONTROL_FINISHED_OK
state	747	begin surface