Glider dive log

PortSusan 16Sep09 * SG502 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 502 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 13 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 2248 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2086 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 380 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 50 UPLOAD_DIVES_MAX -1 VBD_MIN 420 DEVICE2 101

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 3425 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 5 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -2265.615 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 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 450 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3012 PRESSURE_YINT -71.419655 SEABIRD_T_G 0.0043373196

RHO 1.0233001 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011650941 SEABIRD_T_H 0.00062598457

MASS 51342 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5066851e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8555498e-06

FERRY_MAX 45 PITCH_GAIN 32 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7998753

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1362277

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00070417771

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00014171835

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 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 380

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 32 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 3 PITCH_MIN 450 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 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 0.00011650941 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -71.419655 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12223

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 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

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 -2265.615

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0233001 T_MISSION 60

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 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 502 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3012 KALMAN_USE 1 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2086 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2248 MASS 51342 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 3425 MAX_BUOY 150 R_STBD_OVSHOOT 35 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.7998753 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1362277 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00070417771 VBD_MAXERRORS 1

DEVICE2 101 N_FILEKB 4 SEABIRD_C_J 0.00014171835 VBD_MIN 420

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043373196 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062598457 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5066851e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8555498e-06 XPDR_DEVICE 24

DIVE 13 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 072726,4805.385,-12221.387,12,1.3,12,18.3 TGT_NAME EIGHTOFDOOM

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.138,0.220

_SM_DEPTHo 1.17 KALMAN_X -2009.1,-274.1,-78.8,3158.0,-74.8

_SM_ANGLEo -78.5 KALMAN_Y 1469.8,142.0,-155.6,-3582.5,81.4

GPS2 073502,4805.337,-12221.329,16,1.3,16,18.3 MHEAD_RNG_PITCHd_Wd 309.6,5935,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 110

Post-dive calculations and measurements:

FINISH 0.2,0.999014 ALTIM_BOTTOM_PING 90.4,6.2

SM_CCo 1672,26.27,0.551,0,0,1874,380.21 _24V_AH 24.3,5.383

SM_GC 1.78,0.00,0.00,26.27,0.000,0.000,0.551,429,2254,1874,-8.07,0.17,380.21 _10V_AH 10.7,2.067

IRIDIUM_FIX 4748.51,-12217.40,121298,060641 DATA_FILE_SIZE 22505,335

TT8_MAMPS 0.028379 CAP_FILE_SIZE 42185,0

HUMID 2132 CFSIZE 260165632,258404352

INTERNAL_PRESSURE 9.57068 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.30 GPS 170909,080502,4805.379,-12221.561,12,1.7,12,18.3

XPDR_PINGS 31

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 237 109.20 SBE_CT 220 24 128.70

Roll_motor 23 65 36.48 AA4330 402 33 322.96

VBD_pump_during_apogee 339 651 5380.07 WL_BBFL2VMT 350 105 895.23

VBD_pump_during_surface 26 551 352.11 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 77.49 nil 0 0 0.00

Iridium_during_connect 23 160 92.93 nil 0 0 0.00

Iridium_during_xfer 324 223 1756.16

Transponder_ping 8 420 89.30

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.81

TT8 485 19 102.93

LPSleep 318 2 7.46

TT8_Active 376 19 79.68

TT8_Sampling 553 39 235.91

TT8_CF8 440 45 215.96

TT8_Kalman 33 81 29.18

Analog_circuits 722 12 92.74

GPS_charging 0 0 0.00

Compass 541 8 46.35

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.73 -146.6 0.0 0.0 0 62 0.00 0.00 -45.72 0.000 2 0.000 0.000 421 2255 3054

64 -0.73 -146.6 3.1 -5.9 8 100 9.27 2.30 -20.92 0.000 4 0.238 0.065 2760 3661 3962

120 -0.73 -146.6 10.1 -8.1 18 126 0.00 2.22 0.00 0.000 6 0.000 0.046 2759 2245 3963

192 -0.73 -146.6 20.7 -15.9 34 198 0.00 2.22 0.00 0.000 4 0.000 0.054 2759 836 3963

244 -0.73 -146.6 29.4 -17.5 45 250 0.00 2.20 0.00 0.000 6 0.000 0.044 2749 2246 3963

317 -0.73 -146.6 42.1 -16.8 61 323 0.00 0.00 0.00 0.000 6 0.000 0.000 2749 2247 3964

460 -0.73 -146.6 67.0 -17.2 92 467 0.00 2.22 0.00 0.000 4 0.000 0.052 2749 832 3964

504 -0.73 -146.6 75.0 -18.5 101 510 0.15 2.20 0.00 0.000 6 0.155 0.043 2779 2249 3964

610 end dive: BOTTOM_OBSTACLE_DETECTED

state 611 begin apogee

615 -0.16 0.0 90.4 14.1 123 720 0.52 0.00 99.53 0.652 6 0.134 0.000 2952 2071 3425

721 end apogee: CONTROL_FINISHED_OK

state 721 begin climb

722 0.73 146.6 95.7 0.0 142 844 0.80 2.40 111.57 0.640 4 0.075 0.049 3239 3492 2825

922 0.73 146.6 74.7 16.0 181 928 0.00 2.25 0.00 0.000 6 0.000 0.048 3248 2094 2822

1066 0.73 146.6 53.4 14.2 212 1071 0.00 0.00 0.00 0.000 6 0.000 0.000 3247 2093 2822

1209 0.73 146.6 34.1 13.2 243 1215 0.00 2.22 0.00 0.000 4 0.000 0.049 3247 3504 2821

1246 0.73 146.6 28.5 14.7 251 1252 0.00 2.22 0.00 0.000 6 0.000 0.048 3253 2082 2821

1320 0.73 146.6 18.1 14.7 267 1325 0.00 0.00 0.00 0.000 6 0.000 0.000 3253 2081 2821

1392 0.73 146.6 8.4 12.8 283 1397 0.00 0.00 0.00 0.000 6 0.000 0.000 3253 2081 2821

1463 1.10 448.7 6.7 -3.9 299 1596 0.28 0.00 128.50 0.584 2 0.046 0.000 3391 2081 2099

1597 end climb: SURFACE_DEPTH_REACHED

state 1597 begin surface coast

1658 end surface coast: CONTROL_FINISHED_OK

state 1658 begin surface

ID	502	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	13	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	2248	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2086	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	380	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	420	DEVICE2	101
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	3425	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	5	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-2265.615	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	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	450	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3012	PRESSURE_YINT	-71.419655	SEABIRD_T_G	0.0043373196
RHO	1.0233001	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011650941	SEABIRD_T_H	0.00062598457
MASS	51342	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5066851e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8555498e-06
FERRY_MAX	45	PITCH_GAIN	32	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7998753
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1362277
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00070417771
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00014171835
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	072726,4805.385,-12221.387,12,1.3,12,18.3	TGT_NAME	EIGHTOFDOOM
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.138,0.220
_SM_DEPTHo	1.17	KALMAN_X	-2009.1,-274.1,-78.8,3158.0,-74.8
_SM_ANGLEo	-78.5	KALMAN_Y	1469.8,142.0,-155.6,-3582.5,81.4
GPS2	073502,4805.337,-12221.329,16,1.3,16,18.3	MHEAD_RNG_PITCHd_Wd	309.6,5935,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	110

FINISH	0.2,0.999014	ALTIM_BOTTOM_PING	90.4,6.2
SM_CCo	1672,26.27,0.551,0,0,1874,380.21	_24V_AH	24.3,5.383
SM_GC	1.78,0.00,0.00,26.27,0.000,0.000,0.551,429,2254,1874,-8.07,0.17,380.21	_10V_AH	10.7,2.067
IRIDIUM_FIX	4748.51,-12217.40,121298,060641	DATA_FILE_SIZE	22505,335
TT8_MAMPS	0.028379	CAP_FILE_SIZE	42185,0
HUMID	2132	CFSIZE	260165632,258404352
INTERNAL_PRESSURE	9.57068	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.30	GPS	170909,080502,4805.379,-12221.561,12,1.7,12,18.3
XPDR_PINGS	31

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	237	109.20	SBE_CT	220	24	128.70
Roll_motor	23	65	36.48	AA4330	402	33	322.96
VBD_pump_during_apogee	339	651	5380.07	WL_BBFL2VMT	350	105	895.23
VBD_pump_during_surface	26	551	352.11	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	77.49	nil	0	0	0.00
Iridium_during_connect	23	160	92.93	nil	0	0	0.00
Iridium_during_xfer	324	223	1756.16
Transponder_ping	8	420	89.30
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.81
TT8	485	19	102.93
LPSleep	318	2	7.46
TT8_Active	376	19	79.68
TT8_Sampling	553	39	235.91
TT8_CF8	440	45	215.96
TT8_Kalman	33	81	29.18
Analog_circuits	722	12	92.74
GPS_charging	0	0	0.00
Compass	541	8	46.35
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.73	-146.6	0.0	0.0	0	62	0.00	0.00	-45.72	0.000	2	0.000	0.000	421	2255	3054
64	-0.73	-146.6	3.1	-5.9	8	100	9.27	2.30	-20.92	0.000	4	0.238	0.065	2760	3661	3962
120	-0.73	-146.6	10.1	-8.1	18	126	0.00	2.22	0.00	0.000	6	0.000	0.046	2759	2245	3963
192	-0.73	-146.6	20.7	-15.9	34	198	0.00	2.22	0.00	0.000	4	0.000	0.054	2759	836	3963
244	-0.73	-146.6	29.4	-17.5	45	250	0.00	2.20	0.00	0.000	6	0.000	0.044	2749	2246	3963
317	-0.73	-146.6	42.1	-16.8	61	323	0.00	0.00	0.00	0.000	6	0.000	0.000	2749	2247	3964
460	-0.73	-146.6	67.0	-17.2	92	467	0.00	2.22	0.00	0.000	4	0.000	0.052	2749	832	3964
504	-0.73	-146.6	75.0	-18.5	101	510	0.15	2.20	0.00	0.000	6	0.155	0.043	2779	2249	3964
610	end dive: BOTTOM_OBSTACLE_DETECTED
state	611	begin apogee
615	-0.16	0.0	90.4	14.1	123	720	0.52	0.00	99.53	0.652	6	0.134	0.000	2952	2071	3425
721	end apogee: CONTROL_FINISHED_OK
state	721	begin climb
722	0.73	146.6	95.7	0.0	142	844	0.80	2.40	111.57	0.640	4	0.075	0.049	3239	3492	2825
922	0.73	146.6	74.7	16.0	181	928	0.00	2.25	0.00	0.000	6	0.000	0.048	3248	2094	2822
1066	0.73	146.6	53.4	14.2	212	1071	0.00	0.00	0.00	0.000	6	0.000	0.000	3247	2093	2822
1209	0.73	146.6	34.1	13.2	243	1215	0.00	2.22	0.00	0.000	4	0.000	0.049	3247	3504	2821
1246	0.73	146.6	28.5	14.7	251	1252	0.00	2.22	0.00	0.000	6	0.000	0.048	3253	2082	2821
1320	0.73	146.6	18.1	14.7	267	1325	0.00	0.00	0.00	0.000	6	0.000	0.000	3253	2081	2821
1392	0.73	146.6	8.4	12.8	283	1397	0.00	0.00	0.00	0.000	6	0.000	0.000	3253	2081	2821
1463	1.10	448.7	6.7	-3.9	299	1596	0.28	0.00	128.50	0.584	2	0.046	0.000	3391	2081	2099
1597	end climb: SURFACE_DEPTH_REACHED
state	1597	begin surface coast
1658	end surface coast: CONTROL_FINISHED_OK
state	1658	begin surface