Glider dive log

PortSusan 20Jan09 * SG104 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 104 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 13 ESCAPE_HEADING 0 ROLL_MIN 176 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 14 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3929 ALTIM_PING_DEPTH 60

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 4 TGT_DEFAULT_LAT 48.130001 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -122.366 C_ROLL_CLIMB 1840 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 658 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 INT_PRESSURE_YINT -1.784981

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 62.5 UPLOAD_DIVES_MAX -1 VBD_MIN 574 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3908 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3296 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 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 -216832.16 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 45 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3331 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2375 PRESSURE_YINT -16.602304 SEABIRD_T_G 0.0043870676

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064850412

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4590418e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3871978e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.313265

KALMAN_USE 1 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.1866801

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.0012373535

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J -1.1855637e-05

HD_C 2.5700001e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 658

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3331 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 45 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -16.602304 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.366

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 62.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -216832.16

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

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 5

COMPASS_DEVICE 33 ID 104 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3929 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.784981 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2375 KALMAN_USE 1 ROLL_MIN 176 USE_BATHY 0

C_ROLL_CLIMB 1840 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 3296 MAX_BUOY 150 R_STBD_OVSHOOT 30 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 13 SEABIRD_C_G -10.313265 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1866801 VBD_MAX 3908

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.0012373535 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J -1.1855637e-05 VBD_MIN 574

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043870676 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064850412 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4590418e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3871978e-06 XPDR_DEVICE 24

DIVE 14 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 103306,4806.067,-12222.112,35,1.0,41,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.101,-0.095

_SM_DEPTHo 2.29 KALMAN_X -1727.8,-92.3,-78.3,2585.3,-190.5

_SM_ANGLEo -72.1 KALMAN_Y 592.5,21.9,135.1,-5800.6,175.5

GPS2 103631,4806.075,-12222.116,12,1.1,17,18.3 MHEAD_RNG_PITCHd_Wd 115.1,200,-27.7,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.9,1.017732 ALTIM_BOTTOM_PING 110.4,14.7

SM_CCo 2687,256.38,0.538,15,0,613,658.14 _24V_AH 23.6,7.056

SM_GC 2.16,0.00,0.00,256.38,0.000,0.000,0.538,44,1997,613,-10.72,-0.08,658.14 _10V_AH 10.1,2.584

IRIDIUM_FIX 4748.51,-12221.84,170498,090955 DATA_FILE_SIZE 12799,294

TT8_MAMPS 0.025311 CAP_FILE_SIZE 35953,0

HUMID 1427 CFSIZE 260165632,257814528

INTERNAL_PRESSURE 8.15681 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,15,0

TCM_TEMP 17.40 GPS 210109,112826,4805.930,-12221.924,9,1.4,9,18.3

XPDR_PINGS 66

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 150 98.36 SBE_CT 195 24 110.96

Roll_motor 25 64 39.00 SBE_O2 215 19 96.84

VBD_pump_during_apogee 297 691 4852.88 WL_BB2F 569 105 1412.27

VBD_pump_during_surface 256 538 3257.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 68.07 nil 0 0 0.00

Iridium_during_connect 31 160 120.76 nil 0 0 0.00

Iridium_during_xfer 76 223 404.01

Transponder_ping 18 420 185.85

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.39

TT8 457 19 91.52

LPSleep 1274 2 28.19

TT8_Active 658 19 131.75

TT8_Sampling 672 39 270.47

TT8_CF8 179 45 82.88

TT8_Kalman 33 81 27.55

Analog_circuits 996 12 120.78

GPS_charging 0 0 0.00

Compass 662 8 53.53

RAFOS 0 0 0.00

Transponder 19 30 5.78

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

13 -1.90 -44.4 0.0 0.0 0 96 0.00 0.00 -80.53 0.000 2 0.000 0.000 46 2002 3232

98 -1.95 -88.2 4.1 -2.7 13 124 10.57 0.00 -11.05 0.000 6 0.150 0.000 1945 2001 3658

193 -1.95 -88.2 11.6 -9.1 29 199 0.00 2.50 0.00 0.000 4 0.000 0.054 1945 3401 3658

295 -1.95 -88.2 22.4 -10.6 46 299 0.00 2.45 0.00 0.000 6 0.000 0.041 1945 1998 3658

491 -1.95 -88.2 44.8 -11.6 64 493 0.00 0.00 0.00 0.000 6 0.000 0.000 1945 1998 3658

689 -1.95 -88.2 67.3 -11.1 76 693 0.00 2.53 0.00 0.000 4 0.000 0.053 1945 3405 3658

742 -1.95 -88.2 73.7 -11.8 78 750 0.00 2.47 0.00 0.000 6 0.000 0.039 1945 2002 3658

1061 -1.95 -88.2 107.2 -10.6 97 1062 0.00 0.00 0.00 0.000 6 0.000 0.000 1945 2003 3658

1145 end dive: BOTTOM_OBSTACLE_DETECTED

state 1145 begin apogee

1149 -0.33 0.0 115.9 10.2 105 1227 1.73 0.00 70.05 0.692 6 0.097 0.000 2294 1830 3297

1228 end apogee: CONTROL_FINISHED_OK

state 1228 begin climb

1229 1.95 88.2 117.1 0.0 113 1304 2.25 0.00 70.05 0.664 6 0.040 0.000 2811 1830 2936

1612 1.95 88.2 61.8 16.0 139 1613 0.00 0.00 0.00 0.000 6 0.000 0.000 2811 1830 2936

1929 1.95 88.2 16.9 12.2 167 1935 0.00 2.55 0.00 0.000 4 0.000 0.064 2811 428 2936

2025 1.95 88.2 6.7 8.9 184 2032 0.00 2.42 0.00 0.000 6 0.000 0.035 2811 1843 2936

2100 2.05 168.2 5.4 -1.6 197 2168 0.00 2.62 61.40 0.604 4 0.000 0.061 2811 430 2610

2271 2.14 236.4 3.9 -0.2 226 2327 0.12 2.42 46.83 0.591 6 0.062 0.035 2842 1845 2331

2397 2.22 303.5 3.3 -0.1 247 2453 0.00 2.62 48.90 0.583 4 0.000 0.064 2842 438 2057

2457 end climb: SURFACE_DEPTH_REACHED

state 2457 begin surface coast

2666 end surface coast: NO_VERTICAL_VELOCITY

state 2666 begin surface

ID	104	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	13	ESCAPE_HEADING	0	ROLL_MIN	176	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	14	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3929	ALTIM_PING_DEPTH	60
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	4	TGT_DEFAULT_LAT	48.130001	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-122.366	C_ROLL_CLIMB	1840	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	658	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	INT_PRESSURE_YINT	-1.784981
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	62.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	574	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3908	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3296	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	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	-216832.16	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	45	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3331	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2375	PRESSURE_YINT	-16.602304	SEABIRD_T_G	0.0043870676
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064850412
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4590418e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3871978e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.313265
KALMAN_USE	1	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.1866801
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.0012373535
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	-1.1855637e-05
HD_C	2.5700001e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	103306,4806.067,-12222.112,35,1.0,41,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.101,-0.095
_SM_DEPTHo	2.29	KALMAN_X	-1727.8,-92.3,-78.3,2585.3,-190.5
_SM_ANGLEo	-72.1	KALMAN_Y	592.5,21.9,135.1,-5800.6,175.5
GPS2	103631,4806.075,-12222.116,12,1.1,17,18.3	MHEAD_RNG_PITCHd_Wd	115.1,200,-27.7,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	150

FINISH	2.9,1.017732	ALTIM_BOTTOM_PING	110.4,14.7
SM_CCo	2687,256.38,0.538,15,0,613,658.14	_24V_AH	23.6,7.056
SM_GC	2.16,0.00,0.00,256.38,0.000,0.000,0.538,44,1997,613,-10.72,-0.08,658.14	_10V_AH	10.1,2.584
IRIDIUM_FIX	4748.51,-12221.84,170498,090955	DATA_FILE_SIZE	12799,294
TT8_MAMPS	0.025311	CAP_FILE_SIZE	35953,0
HUMID	1427	CFSIZE	260165632,257814528
INTERNAL_PRESSURE	8.15681	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,15,0
TCM_TEMP	17.40	GPS	210109,112826,4805.930,-12221.924,9,1.4,9,18.3
XPDR_PINGS	66

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	150	98.36	SBE_CT	195	24	110.96
Roll_motor	25	64	39.00	SBE_O2	215	19	96.84
VBD_pump_during_apogee	297	691	4852.88	WL_BB2F	569	105	1412.27
VBD_pump_during_surface	256	538	3257.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	68.07	nil	0	0	0.00
Iridium_during_connect	31	160	120.76	nil	0	0	0.00
Iridium_during_xfer	76	223	404.01
Transponder_ping	18	420	185.85
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.39
TT8	457	19	91.52
LPSleep	1274	2	28.19
TT8_Active	658	19	131.75
TT8_Sampling	672	39	270.47
TT8_CF8	179	45	82.88
TT8_Kalman	33	81	27.55
Analog_circuits	996	12	120.78
GPS_charging	0	0	0.00
Compass	662	8	53.53
RAFOS	0	0	0.00
Transponder	19	30	5.78

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
13	-1.90	-44.4	0.0	0.0	0	96	0.00	0.00	-80.53	0.000	2	0.000	0.000	46	2002	3232
98	-1.95	-88.2	4.1	-2.7	13	124	10.57	0.00	-11.05	0.000	6	0.150	0.000	1945	2001	3658
193	-1.95	-88.2	11.6	-9.1	29	199	0.00	2.50	0.00	0.000	4	0.000	0.054	1945	3401	3658
295	-1.95	-88.2	22.4	-10.6	46	299	0.00	2.45	0.00	0.000	6	0.000	0.041	1945	1998	3658
491	-1.95	-88.2	44.8	-11.6	64	493	0.00	0.00	0.00	0.000	6	0.000	0.000	1945	1998	3658
689	-1.95	-88.2	67.3	-11.1	76	693	0.00	2.53	0.00	0.000	4	0.000	0.053	1945	3405	3658
742	-1.95	-88.2	73.7	-11.8	78	750	0.00	2.47	0.00	0.000	6	0.000	0.039	1945	2002	3658
1061	-1.95	-88.2	107.2	-10.6	97	1062	0.00	0.00	0.00	0.000	6	0.000	0.000	1945	2003	3658
1145	end dive: BOTTOM_OBSTACLE_DETECTED
state	1145	begin apogee
1149	-0.33	0.0	115.9	10.2	105	1227	1.73	0.00	70.05	0.692	6	0.097	0.000	2294	1830	3297
1228	end apogee: CONTROL_FINISHED_OK
state	1228	begin climb
1229	1.95	88.2	117.1	0.0	113	1304	2.25	0.00	70.05	0.664	6	0.040	0.000	2811	1830	2936
1612	1.95	88.2	61.8	16.0	139	1613	0.00	0.00	0.00	0.000	6	0.000	0.000	2811	1830	2936
1929	1.95	88.2	16.9	12.2	167	1935	0.00	2.55	0.00	0.000	4	0.000	0.064	2811	428	2936
2025	1.95	88.2	6.7	8.9	184	2032	0.00	2.42	0.00	0.000	6	0.000	0.035	2811	1843	2936
2100	2.05	168.2	5.4	-1.6	197	2168	0.00	2.62	61.40	0.604	4	0.000	0.061	2811	430	2610
2271	2.14	236.4	3.9	-0.2	226	2327	0.12	2.42	46.83	0.591	6	0.062	0.035	2842	1845	2331
2397	2.22	303.5	3.3	-0.1	247	2453	0.00	2.62	48.90	0.583	4	0.000	0.064	2842	438	2057
2457	end climb: SURFACE_DEPTH_REACHED
state	2457	begin surface coast
2666	end surface coast: NO_VERTICAL_VELOCITY
state	2666	begin surface