Glider dive log

PortSusan 28Jan09 * SG167 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 12 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 550 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 48 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 40 UPLOAD_DIVES_MAX -1 VBD_MIN 450 DEVICE2 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3392 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -3000.7378 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 174 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2733 PRESSURE_YINT -14.577106 SEABIRD_T_G 0.0042613237

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_H 0.000318543

MASS 52000 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_T_I 2.2247017e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3141051e-06

FERRY_MAX 45 PITCH_GAIN 25 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.028838

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1493243

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0017152225

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002181365

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0031256729 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 550

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3944 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 4 PITCH_MIN 174 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158971 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.577106 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 40

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -3000.7378

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 167 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2733 KALMAN_USE 1 ROLL_MIN 187 USE_BATHY 0

C_ROLL_CLIMB 2100 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 52000 R_PORT_OVSHOOT 48 VBD_BLEED_AD_RATE 8

C_VBD 3392 MAX_BUOY 150 R_STBD_OVSHOOT 33 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -10.028838 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1493243 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0017152225 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.0002181365 VBD_MIN 450

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0042613237 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000318543 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2247017e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3141051e-06 XPDR_DEVICE 24

DIVE 12 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 061644,4803.992,-12221.022,10,1.3,10,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.072,0.270

_SM_DEPTHo 1.40 KALMAN_X 2897.4,484.3,-206.8,-872.2,80.4

_SM_ANGLEo -73.9 KALMAN_Y -7626.3,-1227.4,110.4,3334.3,-460.1

GPS2 062225,4803.961,-12220.989,15,1.3,32,18.3 MHEAD_RNG_PITCHd_Wd 326.7,8354,-21.2,-12.500

SPEED_LIMITS 0.217,0.279 D_GRID 150

Post-dive calculations and measurements:

FINISH 4.0,1.051537 ALTIM_BOTTOM_PING 85.4,41.9

SM_CCo 1781,423.23,0.601,0,0,451,721.67 _24V_AH 24.3,2.001

SM_GC 1.32,8.15,0.00,0.00,0.058,0.000,0.000,173,2095,446,-7.97,-0.14,722.65 _10V_AH 10.7,0.784

IRIDIUM_FIX 4748.51,-12224.57,250498,050541 DATA_FILE_SIZE 15919,307

TT8_MAMPS 0.029146 CAP_FILE_SIZE 37442,0

HUMID 1365 CFSIZE 260165632,258146304

INTERNAL_PRESSURE 9.42419 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 19.30 GPS 290109,070304,4804.051,-12221.103,14,2.6,33,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 278 135.99 SBE_CT 206 24 120.57

Roll_motor 22 72 39.00 Optode 211 33 169.81

VBD_pump_during_apogee 221 707 3813.90 WL_BB2F 356 105 910.69

VBD_pump_during_surface 423 601 6184.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 63.95 nil 0 0 0.00

Iridium_during_connect 31 160 122.32 nil 0 0 0.00

Iridium_during_xfer 164 223 889.01

Transponder_ping 1 420 10.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 33 50 18.11

TT8 459 19 97.29

LPSleep 609 2 14.28

TT8_Active 702 19 148.85

TT8_Sampling 581 39 247.45

TT8_CF8 321 45 157.62

TT8_Kalman 33 81 29.18

Analog_circuits 1028 12 132.02

GPS_charging 0 0 0.00

Compass 559 8 47.86

RAFOS 0 0 0.00

Transponder 9 30 3.18

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.03 -146.6 0.0 0.0 0 99 0.00 0.00 -81.45 0.000 2 0.000 0.000 173 2084 3255

102 -1.03 -146.6 3.7 -4.4 14 134 9.77 2.35 -15.82 0.000 4 0.278 0.073 2387 3506 3962

162 -1.03 -146.6 14.2 -16.6 24 169 0.00 2.17 0.00 0.000 6 0.000 0.035 2387 2094 3963

237 -1.03 -146.6 27.9 -18.2 37 243 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2091 3964

311 -1.03 -146.6 40.8 -17.8 50 318 0.00 2.15 0.00 0.000 4 0.000 0.043 2387 708 3963

352 -1.03 -146.6 48.7 -19.8 57 358 0.00 2.17 0.00 0.000 6 0.000 0.048 2384 2101 3963

493 -1.03 -146.6 73.3 -17.1 82 499 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2100 3963

636 -1.03 -146.6 96.6 -15.5 107 642 0.00 2.15 0.00 0.000 4 0.000 0.043 2384 694 3962

699 -1.03 -146.6 106.4 -15.6 118 705 0.00 2.17 0.00 0.000 6 0.000 0.045 2376 2112 3962

771 end dive: BOTTOM_OBSTACLE_DETECTED

state 771 begin apogee

777 -0.20 0.0 117.9 14.9 131 883 0.98 0.00 100.95 0.708 6 0.181 0.000 2659 2113 3391

884 end apogee: CONTROL_FINISHED_OK

state 884 begin climb

886 1.03 146.6 121.3 0.0 150 999 1.20 0.00 108.25 0.690 6 0.105 0.000 3053 2113 2794

1134 1.03 146.6 89.9 18.5 194 1139 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2113 2793

1275 1.03 146.6 66.8 16.3 219 1280 0.00 0.00 0.00 0.000 6 0.000 0.000 3053 2113 2793

1415 1.03 146.6 44.8 14.8 244 1421 0.00 0.00 0.00 0.000 6 0.000 0.000 3054 2113 2793

1556 1.03 146.6 24.3 14.9 269 1563 0.00 2.20 0.00 0.000 4 0.000 0.058 3054 3514 2793

1586 1.03 146.6 19.8 15.7 274 1592 0.00 2.12 0.00 0.000 6 0.000 0.035 3061 2098 2793

1662 1.05 162.5 11.0 11.6 287 1681 0.00 2.25 12.50 0.585 4 0.000 0.056 3061 3511 2731

1725 end climb: SURFACE_DEPTH_REACHED

state 1725 begin surface coast

1776 end surface coast: CONTROL_FINISHED_OK

state 1778 begin surface

ID	167	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	12	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	550	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	48	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	40	UPLOAD_DIVES_MAX	-1	VBD_MIN	450	DEVICE2	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3392	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-3000.7378	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	174	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2733	PRESSURE_YINT	-14.577106	SEABIRD_T_G	0.0042613237
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_H	0.000318543
MASS	52000	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_T_I	2.2247017e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3141051e-06
FERRY_MAX	45	PITCH_GAIN	25	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.028838
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1493243
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0017152225
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002181365
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	061644,4803.992,-12221.022,10,1.3,10,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.072,0.270
_SM_DEPTHo	1.40	KALMAN_X	2897.4,484.3,-206.8,-872.2,80.4
_SM_ANGLEo	-73.9	KALMAN_Y	-7626.3,-1227.4,110.4,3334.3,-460.1
GPS2	062225,4803.961,-12220.989,15,1.3,32,18.3	MHEAD_RNG_PITCHd_Wd	326.7,8354,-21.2,-12.500
SPEED_LIMITS	0.217,0.279	D_GRID	150

FINISH	4.0,1.051537	ALTIM_BOTTOM_PING	85.4,41.9
SM_CCo	1781,423.23,0.601,0,0,451,721.67	_24V_AH	24.3,2.001
SM_GC	1.32,8.15,0.00,0.00,0.058,0.000,0.000,173,2095,446,-7.97,-0.14,722.65	_10V_AH	10.7,0.784
IRIDIUM_FIX	4748.51,-12224.57,250498,050541	DATA_FILE_SIZE	15919,307
TT8_MAMPS	0.029146	CAP_FILE_SIZE	37442,0
HUMID	1365	CFSIZE	260165632,258146304
INTERNAL_PRESSURE	9.42419	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	19.30	GPS	290109,070304,4804.051,-12221.103,14,2.6,33,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	278	135.99	SBE_CT	206	24	120.57
Roll_motor	22	72	39.00	Optode	211	33	169.81
VBD_pump_during_apogee	221	707	3813.90	WL_BB2F	356	105	910.69
VBD_pump_during_surface	423	601	6184.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	63.95	nil	0	0	0.00
Iridium_during_connect	31	160	122.32	nil	0	0	0.00
Iridium_during_xfer	164	223	889.01
Transponder_ping	1	420	10.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	33	50	18.11
TT8	459	19	97.29
LPSleep	609	2	14.28
TT8_Active	702	19	148.85
TT8_Sampling	581	39	247.45
TT8_CF8	321	45	157.62
TT8_Kalman	33	81	29.18
Analog_circuits	1028	12	132.02
GPS_charging	0	0	0.00
Compass	559	8	47.86
RAFOS	0	0	0.00
Transponder	9	30	3.18

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.03	-146.6	0.0	0.0	0	99	0.00	0.00	-81.45	0.000	2	0.000	0.000	173	2084	3255
102	-1.03	-146.6	3.7	-4.4	14	134	9.77	2.35	-15.82	0.000	4	0.278	0.073	2387	3506	3962
162	-1.03	-146.6	14.2	-16.6	24	169	0.00	2.17	0.00	0.000	6	0.000	0.035	2387	2094	3963
237	-1.03	-146.6	27.9	-18.2	37	243	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2091	3964
311	-1.03	-146.6	40.8	-17.8	50	318	0.00	2.15	0.00	0.000	4	0.000	0.043	2387	708	3963
352	-1.03	-146.6	48.7	-19.8	57	358	0.00	2.17	0.00	0.000	6	0.000	0.048	2384	2101	3963
493	-1.03	-146.6	73.3	-17.1	82	499	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2100	3963
636	-1.03	-146.6	96.6	-15.5	107	642	0.00	2.15	0.00	0.000	4	0.000	0.043	2384	694	3962
699	-1.03	-146.6	106.4	-15.6	118	705	0.00	2.17	0.00	0.000	6	0.000	0.045	2376	2112	3962
771	end dive: BOTTOM_OBSTACLE_DETECTED
state	771	begin apogee
777	-0.20	0.0	117.9	14.9	131	883	0.98	0.00	100.95	0.708	6	0.181	0.000	2659	2113	3391
884	end apogee: CONTROL_FINISHED_OK
state	884	begin climb
886	1.03	146.6	121.3	0.0	150	999	1.20	0.00	108.25	0.690	6	0.105	0.000	3053	2113	2794
1134	1.03	146.6	89.9	18.5	194	1139	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2113	2793
1275	1.03	146.6	66.8	16.3	219	1280	0.00	0.00	0.00	0.000	6	0.000	0.000	3053	2113	2793
1415	1.03	146.6	44.8	14.8	244	1421	0.00	0.00	0.00	0.000	6	0.000	0.000	3054	2113	2793
1556	1.03	146.6	24.3	14.9	269	1563	0.00	2.20	0.00	0.000	4	0.000	0.058	3054	3514	2793
1586	1.03	146.6	19.8	15.7	274	1592	0.00	2.12	0.00	0.000	6	0.000	0.035	3061	2098	2793
1662	1.05	162.5	11.0	11.6	287	1681	0.00	2.25	12.50	0.585	4	0.000	0.056	3061	3511	2731
1725	end climb: SURFACE_DEPTH_REACHED
state	1725	begin surface coast
1776	end surface coast: CONTROL_FINISHED_OK
state	1778	begin surface