Glider dive log

PortSusan 03Mar09 * SG164 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 164 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 204 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 14 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3882 ALTIM_PING_DEPTH 80

D_SURF 3 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 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 370 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 INT_PRESSURE_YINT 0.94

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 50 UPLOAD_DIVES_MAX -1 VBD_MIN 490 DEVICE2 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3962 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3288 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 -32390.979 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 40 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 165 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 126 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3926 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2768 PRESSURE_YINT -7.9007363 SEABIRD_T_G 0.0043488215

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158597 SEABIRD_T_H 0.00063635618

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5028745e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7326657e-06

FERRY_MAX 45 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.160287

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1436546

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00018147723

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010835609

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 370

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 27 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3926 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 126 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 0.0001158597 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -7.9007363 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 50

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 -32390.979

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 164 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3882 UNCOM_BLEED 40

COURSE_BIAS 0 INT_PRESSURE_YINT 0.94 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2768 KALMAN_USE 1 ROLL_MIN 204 USE_BATHY 0

C_ROLL_CLIMB 2100 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 52000 R_PORT_OVSHOOT 18 VBD_BLEED_AD_RATE 8

C_VBD 3288 MAX_BUOY 165 R_STBD_OVSHOOT 24 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.160287 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1436546 VBD_MAX 3962

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00018147723 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00010835609 VBD_MIN 490

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043488215 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063635618 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5028745e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7326657e-06 XPDR_DEVICE 24

DIVE 14 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 053638,4806.539,-12222.250,10,1.5,10,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.113,-0.247

_SM_DEPTHo 0.90 KALMAN_X -2459.1,-254.9,12.3,3939.8,-342.2

_SM_ANGLEo -75.4 KALMAN_Y 5306.3,535.5,-224.7,-8288.4,754.5

GPS2 054125,4806.528,-12222.257,11,1.4,29,18.3 MHEAD_RNG_PITCHd_Wd 137.2,1028,-16.6,-10.000

SPEED_LIMITS 0.173,0.271 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.0,1.019722 ALTIM_BOTTOM_PING 80.2,44.8

SM_CCo 1975,162.55,0.751,1,0,1779,370.16 _24V_AH 23.4,1.991

SM_GC 1.13,0.00,0.00,162.55,0.000,0.000,0.751,124,2106,1779,-8.26,0.17,370.16 _10V_AH 10.6,0.672

IRIDIUM_FIX 4748.51,-11913.92,290598,050541 DATA_FILE_SIZE 19118,360

TT8_MAMPS 0.050622 CAP_FILE_SIZE 38586,0

HUMID 1413 CFSIZE 260165632,258441216

INTERNAL_PRESSURE 9.09461 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.80 GPS 040309,061814,4806.402,-12222.091,8,1.6,8,18.3

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 264 122.91 SBE_CT 240 24 135.23

Roll_motor 32 82 62.27 Optode 247 33 191.09

VBD_pump_during_apogee 249 849 4959.11 WL_BB2F 416 105 1024.48

VBD_pump_during_surface 162 750 2856.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 56.02 nil 0 0 0.00

Iridium_during_connect 23 160 89.45 nil 0 0 0.00

Iridium_during_xfer 152 223 794.04

Transponder_ping 1 420 17.20

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.50

TT8 0 19 0.00

LPSleep 898 2 20.87

TT8_Active 474 19 99.61

TT8_Sampling 789 39 333.03

TT8_CF8 267 45 129.92

TT8_Kalman 33 81 28.88

Analog_circuits 815 12 103.76

GPS_charging 0 0 0.00

Compass 642 8 54.46

RAFOS 0 0 0.00

Transponder 5 30 1.85

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.81 -161.3 0.0 0.0 0 91 0.00 0.00 -76.78 0.000 2 0.000 0.000 121 2102 3526

92 -0.81 -161.3 3.6 -7.4 13 117 10.05 2.30 -9.75 0.000 4 0.265 0.083 2497 689 3947

356 -0.81 -161.3 37.8 -12.4 62 363 0.00 2.28 0.00 0.000 6 0.000 0.064 2498 2087 3948

426 -0.81 -161.3 45.6 -10.9 75 432 0.00 2.30 0.00 0.000 4 0.000 0.078 2498 690 3948

672 -0.81 -161.3 74.7 -11.7 121 678 0.00 2.28 0.00 0.000 6 0.000 0.064 2498 2100 3948

804 -0.81 -161.3 89.3 -10.6 146 811 0.00 2.30 0.00 0.000 4 0.000 0.071 2498 685 3948

906 -0.81 -161.3 100.9 -11.1 165 913 0.00 2.28 0.00 0.000 6 0.000 0.064 2498 2100 3948

1038 end dive: BOTTOM_OBSTACLE_DETECTED

state 1038 begin apogee

1042 -0.19 0.0 115.2 10.0 190 1171 0.65 0.00 123.97 0.849 6 0.150 0.000 2702 2100 3287

1171 end apogee: CONTROL_FINISHED_OK

state 1171 begin climb

1172 0.81 161.3 117.8 0.0 213 1301 0.98 0.00 125.62 0.812 6 0.097 0.000 3024 2099 2630

1428 0.81 161.3 80.0 18.9 260 1435 0.00 2.35 0.00 0.000 4 0.000 0.067 3024 695 2627

1476 0.81 161.3 71.4 17.4 269 1483 0.00 2.28 0.00 0.000 6 0.000 0.055 3024 2095 2628

1609 0.81 161.3 47.8 16.8 294 1616 0.00 2.33 0.00 0.000 4 0.000 0.070 3024 687 2627

1674 0.81 161.3 36.9 17.2 306 1680 0.00 2.28 0.00 0.000 6 0.000 0.055 3024 2102 2627

1743 0.81 161.3 25.0 17.4 319 1750 0.00 2.33 0.00 0.000 4 0.000 0.071 3024 691 2627

1776 0.81 161.3 19.6 16.5 325 1782 0.00 2.25 0.00 0.000 6 0.000 0.056 3024 2098 2627

1845 0.81 161.3 8.3 15.3 338 1852 0.00 2.33 0.00 0.000 4 0.000 0.071 3024 686 2627

1872 0.81 161.3 4.9 12.6 343 1878 0.00 2.28 0.00 0.000 6 0.000 0.057 3024 2105 2627

1902 end climb: SURFACE_DEPTH_REACHED

state 1902 begin surface coast

1961 end surface coast: CONTROL_FINISHED_OK

state 1961 begin surface

ID	164	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	204	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	14	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3882	ALTIM_PING_DEPTH	80
D_SURF	3	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	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	370	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	INT_PRESSURE_YINT	0.94
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	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	490	DEVICE2	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3962	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3288	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	-32390.979	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	40	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	165	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	126	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3926	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2768	PRESSURE_YINT	-7.9007363	SEABIRD_T_G	0.0043488215
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158597	SEABIRD_T_H	0.00063635618
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5028745e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7326657e-06
FERRY_MAX	45	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.160287
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1436546
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00018147723
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010835609
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	053638,4806.539,-12222.250,10,1.5,10,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.113,-0.247
_SM_DEPTHo	0.90	KALMAN_X	-2459.1,-254.9,12.3,3939.8,-342.2
_SM_ANGLEo	-75.4	KALMAN_Y	5306.3,535.5,-224.7,-8288.4,754.5
GPS2	054125,4806.528,-12222.257,11,1.4,29,18.3	MHEAD_RNG_PITCHd_Wd	137.2,1028,-16.6,-10.000
SPEED_LIMITS	0.173,0.271	D_GRID	150

FINISH	1.0,1.019722	ALTIM_BOTTOM_PING	80.2,44.8
SM_CCo	1975,162.55,0.751,1,0,1779,370.16	_24V_AH	23.4,1.991
SM_GC	1.13,0.00,0.00,162.55,0.000,0.000,0.751,124,2106,1779,-8.26,0.17,370.16	_10V_AH	10.6,0.672
IRIDIUM_FIX	4748.51,-11913.92,290598,050541	DATA_FILE_SIZE	19118,360
TT8_MAMPS	0.050622	CAP_FILE_SIZE	38586,0
HUMID	1413	CFSIZE	260165632,258441216
INTERNAL_PRESSURE	9.09461	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.80	GPS	040309,061814,4806.402,-12222.091,8,1.6,8,18.3
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	264	122.91	SBE_CT	240	24	135.23
Roll_motor	32	82	62.27	Optode	247	33	191.09
VBD_pump_during_apogee	249	849	4959.11	WL_BB2F	416	105	1024.48
VBD_pump_during_surface	162	750	2856.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	56.02	nil	0	0	0.00
Iridium_during_connect	23	160	89.45	nil	0	0	0.00
Iridium_during_xfer	152	223	794.04
Transponder_ping	1	420	17.20
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.50
TT8	0	19	0.00
LPSleep	898	2	20.87
TT8_Active	474	19	99.61
TT8_Sampling	789	39	333.03
TT8_CF8	267	45	129.92
TT8_Kalman	33	81	28.88
Analog_circuits	815	12	103.76
GPS_charging	0	0	0.00
Compass	642	8	54.46
RAFOS	0	0	0.00
Transponder	5	30	1.85

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.81	-161.3	0.0	0.0	0	91	0.00	0.00	-76.78	0.000	2	0.000	0.000	121	2102	3526
92	-0.81	-161.3	3.6	-7.4	13	117	10.05	2.30	-9.75	0.000	4	0.265	0.083	2497	689	3947
356	-0.81	-161.3	37.8	-12.4	62	363	0.00	2.28	0.00	0.000	6	0.000	0.064	2498	2087	3948
426	-0.81	-161.3	45.6	-10.9	75	432	0.00	2.30	0.00	0.000	4	0.000	0.078	2498	690	3948
672	-0.81	-161.3	74.7	-11.7	121	678	0.00	2.28	0.00	0.000	6	0.000	0.064	2498	2100	3948
804	-0.81	-161.3	89.3	-10.6	146	811	0.00	2.30	0.00	0.000	4	0.000	0.071	2498	685	3948
906	-0.81	-161.3	100.9	-11.1	165	913	0.00	2.28	0.00	0.000	6	0.000	0.064	2498	2100	3948
1038	end dive: BOTTOM_OBSTACLE_DETECTED
state	1038	begin apogee
1042	-0.19	0.0	115.2	10.0	190	1171	0.65	0.00	123.97	0.849	6	0.150	0.000	2702	2100	3287
1171	end apogee: CONTROL_FINISHED_OK
state	1171	begin climb
1172	0.81	161.3	117.8	0.0	213	1301	0.98	0.00	125.62	0.812	6	0.097	0.000	3024	2099	2630
1428	0.81	161.3	80.0	18.9	260	1435	0.00	2.35	0.00	0.000	4	0.000	0.067	3024	695	2627
1476	0.81	161.3	71.4	17.4	269	1483	0.00	2.28	0.00	0.000	6	0.000	0.055	3024	2095	2628
1609	0.81	161.3	47.8	16.8	294	1616	0.00	2.33	0.00	0.000	4	0.000	0.070	3024	687	2627
1674	0.81	161.3	36.9	17.2	306	1680	0.00	2.28	0.00	0.000	6	0.000	0.055	3024	2102	2627
1743	0.81	161.3	25.0	17.4	319	1750	0.00	2.33	0.00	0.000	4	0.000	0.071	3024	691	2627
1776	0.81	161.3	19.6	16.5	325	1782	0.00	2.25	0.00	0.000	6	0.000	0.056	3024	2098	2627
1845	0.81	161.3	8.3	15.3	338	1852	0.00	2.33	0.00	0.000	4	0.000	0.071	3024	686	2627
1872	0.81	161.3	4.9	12.6	343	1878	0.00	2.28	0.00	0.000	6	0.000	0.057	3024	2105	2627
1902	end climb: SURFACE_DEPTH_REACHED
state	1902	begin surface coast
1961	end surface coast: CONTROL_FINISHED_OK
state	1961	begin surface