Glider dive log

PortSusan 17Sep09 * SG152 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 152 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 242 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 14 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3915 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 1950 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2000 ALTIM_PULSE 5

D_ABORT 1050 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 400 ROLL_CNV 0.028270001 XPDR_VALID 5

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 35 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 47 INT_PRESSURE_YINT 0.69999999

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 70 UPLOAD_DIVES_MAX -1 VBD_MIN 540 DEVICE2 20

T_MISSION 100 CALL_TRIES 5 VBD_MAX 3950 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 3210 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 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 -13688.764 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 200 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 446 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3720 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2920 PRESSURE_YINT -87.183395 SEABIRD_T_G 0.0043139826

RHO 1.0276 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162351 SEABIRD_T_H 0.00063131854

MASS 51523 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3268194e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3261061e-06

FERRY_MAX 45 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.052959

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1241329

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057783123

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00013255829

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 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3720 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 446 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 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 0.0001162351 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -87.183395 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 70

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 -13688.764

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0276 T_MISSION 100

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 4

COMPASS_DEVICE 33 ID 152 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3915 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0.69999999 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2920 KALMAN_USE 1 ROLL_MIN 242 USE_BATHY 0

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1950 MASS 51523 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 3210 MAX_BUOY 200 R_STBD_OVSHOOT 47 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.052959 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1241329 VBD_MAX 3950

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00057783123 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00013255829 VBD_MIN 540

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043139826 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063131854 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3268194e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3261061e-06 XPDR_DEVICE 24

DIVE 14 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 5

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 091250,4806.968,-12222.854,12,1.4,12,18.3 TGT_NAME SEVEN

_CALLS 2 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.023,-0.121

_SM_DEPTHo 3.83 KALMAN_X -1179.2,-181.0,-58.1,305.0,-272.1

_SM_ANGLEo -69.6 KALMAN_Y 896.9,54.4,147.2,258.7,635.9

GPS2 092716,4806.928,-12222.856,15,2.9,34,18.3 MHEAD_RNG_PITCHd_Wd 150.8,221,-26.7,-7.143

SPEED_LIMITS 0.124,0.259 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.2,1.019109 ALTIM_BOTTOM_PING 80.9,7.5

SM_CCo 1801,75.45,0.717,0,0,1579,400.08 _24V_AH 23.5,2.432

SM_GC 2.96,0.00,0.00,75.45,0.000,0.000,0.717,442,1933,1579,-11.40,-0.48,400.08 _10V_AH 10.7,1.114

IRIDIUM_FIX 4748.51,-12221.84,131298,090957 DATA_FILE_SIZE 16000,309

TT8_MAMPS 0.021476 CAP_FILE_SIZE 40863,0

HUMID 2187 CFSIZE 260165632,237453312

INTERNAL_PRESSURE 9.44057 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.00 GPS 180909,100046,4806.804,-12222.809,12,99.0,31,18.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 168 113.91 SBE_CT 210 24 119.00

Roll_motor 33 75 59.33 SBE_O2 177 19 79.25

VBD_pump_during_apogee 263 790 4897.04 WL_BBFL2VMT 617 105 1523.91

VBD_pump_during_surface 75 717 1271.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 58 103 141.54 nil 0 0 0.00

Iridium_during_connect 57 160 216.81 nil 0 0 0.00

Iridium_during_xfer 461 223 2420.36

Transponder_ping 0 420 7.40

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 19.57

TT8 461 19 97.69

LPSleep 263 2 6.18

TT8_Active 370 19 78.47

TT8_Sampling 789 39 336.19

TT8_CF8 865 45 424.08

TT8_Kalman 33 81 29.16

Analog_circuits 750 12 96.33

GPS_charging 0 0 0.00

Compass 770 8 65.96

RAFOS 0 0 0.00

Transponder 6 30 1.94

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

23 -2.27 -38.1 0.0 0.0 0 31 0.00 0.00 -6.25 0.000 2 0.000 0.000 439 1936 1697

37 -2.34 -95.0 3.8 -0.0 1 153 10.93 2.40 -97.30 0.000 4 0.169 0.076 2406 557 3598

167 -2.34 -95.0 7.7 -12.0 20 175 0.00 2.28 0.00 0.000 6 0.000 0.028 2406 1960 3598

245 -2.34 -95.0 23.2 -14.0 33 252 0.00 2.47 0.00 0.000 4 0.000 0.063 2406 561 3599

313 -2.34 -95.0 31.6 -13.0 47 320 0.00 2.25 0.00 0.000 6 0.000 0.029 2406 1946 3598

388 -2.34 -95.0 42.1 -14.1 60 395 0.00 2.45 0.00 0.000 4 0.000 0.065 2406 567 3599

455 -2.34 -95.0 52.0 -16.8 73 461 0.00 2.22 0.00 0.000 6 0.000 0.030 2406 1953 3599

599 -2.34 -95.0 75.7 -16.2 98 606 0.00 0.00 0.00 0.000 6 0.000 0.000 2406 1954 3599

631 end dive: BOTTOM_OBSTACLE_DETECTED

state 631 begin apogee

643 -0.42 0.0 80.9 15.7 103 728 2.05 0.00 76.28 0.790 6 0.120 0.000 2824 1955 3209

729 end apogee: CONTROL_FINISHED_OK

state 729 begin climb

735 2.34 95.0 85.6 0.0 117 820 2.65 2.47 76.20 0.768 4 0.057 0.046 3434 3387 2821

909 2.34 95.0 61.8 18.6 149 915 0.00 2.33 0.00 0.000 6 0.000 0.038 3434 2011 2820

1052 2.34 95.0 36.6 18.0 174 1059 0.00 2.35 0.00 0.000 4 0.000 0.044 3434 3376 2820

1095 2.34 95.0 29.3 17.4 182 1102 0.00 2.35 0.00 0.000 6 0.000 0.041 3434 2005 2820

1173 2.34 95.0 15.9 16.6 195 1180 0.00 2.38 0.00 0.000 4 0.000 0.043 3434 3385 2819

1211 2.34 95.0 9.0 18.4 202 1218 0.00 2.35 0.00 0.000 6 0.000 0.036 3434 1999 2819

1287 2.44 175.6 7.9 -3.0 215 1360 0.00 2.58 64.75 0.746 4 0.000 0.075 3434 604 2492

1610 2.52 239.8 5.5 -0.9 283 1665 0.10 2.28 46.55 0.738 6 0.043 0.029 3473 2004 2231

1698 end climb: SURFACE_DEPTH_REACHED

state 1698 begin surface coast

1769 end surface coast: CONTROL_FINISHED_OK

state 1769 begin surface

ID	152	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	242	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	14	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3915	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	1950	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2000	ALTIM_PULSE	5
D_ABORT	1050	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	400	ROLL_CNV	0.028270001	XPDR_VALID	5
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	35	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	47	INT_PRESSURE_YINT	0.69999999
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	70	UPLOAD_DIVES_MAX	-1	VBD_MIN	540	DEVICE2	20
T_MISSION	100	CALL_TRIES	5	VBD_MAX	3950	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	3210	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	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	-13688.764	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	200	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	446	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3720	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2920	PRESSURE_YINT	-87.183395	SEABIRD_T_G	0.0043139826
RHO	1.0276	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162351	SEABIRD_T_H	0.00063131854
MASS	51523	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3268194e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3261061e-06
FERRY_MAX	45	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.052959
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1241329
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057783123
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00013255829
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	091250,4806.968,-12222.854,12,1.4,12,18.3	TGT_NAME	SEVEN
_CALLS	2	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.023,-0.121
_SM_DEPTHo	3.83	KALMAN_X	-1179.2,-181.0,-58.1,305.0,-272.1
_SM_ANGLEo	-69.6	KALMAN_Y	896.9,54.4,147.2,258.7,635.9
GPS2	092716,4806.928,-12222.856,15,2.9,34,18.3	MHEAD_RNG_PITCHd_Wd	150.8,221,-26.7,-7.143
SPEED_LIMITS	0.124,0.259	D_GRID	150

FINISH	2.2,1.019109	ALTIM_BOTTOM_PING	80.9,7.5
SM_CCo	1801,75.45,0.717,0,0,1579,400.08	_24V_AH	23.5,2.432
SM_GC	2.96,0.00,0.00,75.45,0.000,0.000,0.717,442,1933,1579,-11.40,-0.48,400.08	_10V_AH	10.7,1.114
IRIDIUM_FIX	4748.51,-12221.84,131298,090957	DATA_FILE_SIZE	16000,309
TT8_MAMPS	0.021476	CAP_FILE_SIZE	40863,0
HUMID	2187	CFSIZE	260165632,237453312
INTERNAL_PRESSURE	9.44057	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.00	GPS	180909,100046,4806.804,-12222.809,12,99.0,31,18.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	168	113.91	SBE_CT	210	24	119.00
Roll_motor	33	75	59.33	SBE_O2	177	19	79.25
VBD_pump_during_apogee	263	790	4897.04	WL_BBFL2VMT	617	105	1523.91
VBD_pump_during_surface	75	717	1271.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	58	103	141.54	nil	0	0	0.00
Iridium_during_connect	57	160	216.81	nil	0	0	0.00
Iridium_during_xfer	461	223	2420.36
Transponder_ping	0	420	7.40
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	19.57
TT8	461	19	97.69
LPSleep	263	2	6.18
TT8_Active	370	19	78.47
TT8_Sampling	789	39	336.19
TT8_CF8	865	45	424.08
TT8_Kalman	33	81	29.16
Analog_circuits	750	12	96.33
GPS_charging	0	0	0.00
Compass	770	8	65.96
RAFOS	0	0	0.00
Transponder	6	30	1.94

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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
23	-2.27	-38.1	0.0	0.0	0	31	0.00	0.00	-6.25	0.000	2	0.000	0.000	439	1936	1697
37	-2.34	-95.0	3.8	-0.0	1	153	10.93	2.40	-97.30	0.000	4	0.169	0.076	2406	557	3598
167	-2.34	-95.0	7.7	-12.0	20	175	0.00	2.28	0.00	0.000	6	0.000	0.028	2406	1960	3598
245	-2.34	-95.0	23.2	-14.0	33	252	0.00	2.47	0.00	0.000	4	0.000	0.063	2406	561	3599
313	-2.34	-95.0	31.6	-13.0	47	320	0.00	2.25	0.00	0.000	6	0.000	0.029	2406	1946	3598
388	-2.34	-95.0	42.1	-14.1	60	395	0.00	2.45	0.00	0.000	4	0.000	0.065	2406	567	3599
455	-2.34	-95.0	52.0	-16.8	73	461	0.00	2.22	0.00	0.000	6	0.000	0.030	2406	1953	3599
599	-2.34	-95.0	75.7	-16.2	98	606	0.00	0.00	0.00	0.000	6	0.000	0.000	2406	1954	3599
631	end dive: BOTTOM_OBSTACLE_DETECTED
state	631	begin apogee
643	-0.42	0.0	80.9	15.7	103	728	2.05	0.00	76.28	0.790	6	0.120	0.000	2824	1955	3209
729	end apogee: CONTROL_FINISHED_OK
state	729	begin climb
735	2.34	95.0	85.6	0.0	117	820	2.65	2.47	76.20	0.768	4	0.057	0.046	3434	3387	2821
909	2.34	95.0	61.8	18.6	149	915	0.00	2.33	0.00	0.000	6	0.000	0.038	3434	2011	2820
1052	2.34	95.0	36.6	18.0	174	1059	0.00	2.35	0.00	0.000	4	0.000	0.044	3434	3376	2820
1095	2.34	95.0	29.3	17.4	182	1102	0.00	2.35	0.00	0.000	6	0.000	0.041	3434	2005	2820
1173	2.34	95.0	15.9	16.6	195	1180	0.00	2.38	0.00	0.000	4	0.000	0.043	3434	3385	2819
1211	2.34	95.0	9.0	18.4	202	1218	0.00	2.35	0.00	0.000	6	0.000	0.036	3434	1999	2819
1287	2.44	175.6	7.9	-3.0	215	1360	0.00	2.58	64.75	0.746	4	0.000	0.075	3434	604	2492
1610	2.52	239.8	5.5	-0.9	283	1665	0.10	2.28	46.55	0.738	6	0.043	0.029	3473	2004	2231
1698	end climb: SURFACE_DEPTH_REACHED
state	1698	begin surface coast
1769	end surface coast: CONTROL_FINISHED_OK
state	1769	begin surface