Glider dive log

PortSusan 03Dec08 * SG103 * Dive index * Mission links * Dive 18 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 103 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 10 ESCAPE_HEADING 45 ROLL_MIN 229 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 18 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3788 ALTIM_PING_DEPTH 60

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 4 TGT_DEFAULT_LAT 62 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -6.8000002 C_ROLL_CLIMB 2350 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 660 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 20 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 11 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 62.5 UPLOAD_DIVES_MAX -1 VBD_MIN 572 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3921 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3309 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 200 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 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -142564.61 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 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 55 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3362 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2247 PRESSURE_YINT -13.411201 SEABIRD_T_G 0.0043321555

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162 SEABIRD_T_H 0.00063294952

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4435583e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6458358e-06

FERRY_MAX 55 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.239935

KALMAN_USE 2 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1471217

HD_A 0.0038945 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0012735804

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00018857721

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 660

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3362 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 55 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 55 PRESSURE_YINT -13.411201 TGT_DEFAULT_LAT 62

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -6.8000002

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 15

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 -142564.61

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 200

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

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 103 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3788 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2247 KALMAN_USE 2 ROLL_MIN 229 USE_BATHY 0

C_ROLL_CLIMB 2350 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2200 MASS 52000 R_PORT_OVSHOOT 20 VBD_BLEED_AD_RATE 8

C_VBD 3309 MAX_BUOY 150 R_STBD_OVSHOOT 11 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 10 SEABIRD_C_G -10.239935 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1471217 VBD_MAX 3921

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012735804 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00018857721 VBD_MIN 572

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043321555 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063294952 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4435583e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6458358e-06 XPDR_DEVICE 24

DIVE 18 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 132035,4807.151,-12223.442,10,4.6,29,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.55 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.3 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 132445,4807.139,-12223.436,13,1.4,13,18.3 MHEAD_RNG_PITCHd_Wd 318.1,1741,-14.9,-8.000

SPEED_LIMITS 0.139,0.243 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.6,1.018611 ALTIM_BOTTOM_PING 101.1,17.5

SM_CCo 2955,279.73,0.591,0,0,617,660.10 _24V_AH 23.7,9.664

SM_GC 1.51,0.00,0.00,279.73,0.000,0.000,0.591,52,2198,617,-10.10,-0.06,660.10 _10V_AH 10.1,4.353

IRIDIUM_FIX 4751.72,-12221.84,280298,121205 DATA_FILE_SIZE 12855,275

TT8_MAMPS 0.029146 CAP_FILE_SIZE 36206,0

HUMID 1691 CFSIZE 260165632,257572864

INTERNAL_PRESSURE 8.57455 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,0,0

TCM_TEMP 18.20 GPS 041208,141945,4807.465,-12223.753,10,1.9,10,18.3

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 161 98.86 SBE_CT 188 24 106.96

Roll_motor 26 88 55.98 SBE_O2 203 19 91.47

VBD_pump_during_apogee 341 690 5584.93 WL_BB2F 471 105 1172.21

VBD_pump_during_surface 279 590 3915.31 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 77.02 nil 0 0 0.00

Iridium_during_connect 28 160 108.64 nil 0 0 0.00

Iridium_during_xfer 91 223 484.46

Transponder_ping 2 420 19.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.92

TT8 433 19 86.67

LPSleep 1581 2 34.97

TT8_Active 640 19 128.11

TT8_Sampling 574 39 230.81

TT8_CF8 266 45 123.38

TT8_Kalman 0 0 0.00

Analog_circuits 963 12 116.75

GPS_charging 0 0 0.00

Compass 569 8 46.04

RAFOS 0 0 0.00

Transponder 11 30 3.52

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 -1.42 -146.6 0.0 0.0 0 86 0.00 0.00 -68.47 0.000 2 0.000 0.000 55 2198 3194

90 -1.42 -146.6 4.4 -6.6 12 120 10.80 0.00 -13.05 0.000 6 0.162 0.000 1933 2198 3908

189 -1.42 -146.6 15.0 -8.5 29 196 0.00 2.75 0.00 0.000 4 0.000 0.089 1933 3611 3907

231 -1.42 -146.6 18.3 -7.8 36 238 0.00 2.58 0.00 0.000 6 0.000 0.060 1933 2206 3907

311 -1.42 -146.6 24.1 -7.1 45 316 0.00 2.65 0.00 0.000 4 0.000 0.071 1933 780 3907

345 -1.42 -146.6 26.7 -7.2 47 351 0.00 2.60 0.00 0.000 6 0.000 0.054 1933 2209 3907

543 -1.42 -146.6 40.0 -6.7 66 544 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2209 3908

733 -1.42 -146.6 53.2 -7.1 82 734 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2209 3907

1042 -1.42 -146.6 73.8 -6.6 97 1047 0.00 2.67 0.00 0.000 4 0.000 0.085 1933 3608 3907

1093 -1.42 -146.6 77.4 -7.5 99 1098 0.00 2.55 0.00 0.000 6 0.000 0.057 1933 2198 3907

1411 -1.42 -146.6 97.3 -6.1 114 1412 0.00 0.00 0.00 0.000 6 0.000 0.000 1933 2199 3907

1596 end dive: BOTTOM_OBSTACLE_DETECTED

state 1596 begin apogee

1603 -0.42 0.0 109.1 6.2 129 1722 1.05 0.00 114.78 0.690 6 0.088 0.000 2148 2348 3309

1723 end apogee: CONTROL_FINISHED_OK

state 1723 begin climb

1726 1.42 146.6 110.8 0.0 141 1845 1.88 0.00 114.00 0.677 6 0.051 0.000 2556 2349 2711

2166 1.42 146.6 57.5 13.4 169 2171 0.00 2.60 0.00 0.000 4 0.000 0.064 2556 3760 2710

2211 1.42 146.6 50.9 13.9 171 2215 0.00 2.45 0.00 0.000 6 0.000 0.031 2556 2322 2711

2542 1.42 146.6 11.2 10.8 208 2549 0.00 2.67 0.00 0.000 4 0.000 0.067 2556 3760 2710

2803 1.68 356.5 4.6 0.3 254 2923 0.25 2.45 112.60 0.622 2 0.038 0.038 2618 2349 2110

2924 end climb: SURFACE_DEPTH_REACHED

state 2924 begin surface coast

2931 end surface coast: CONTROL_FINISHED_OK

state 2931 begin surface

ID	103	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	10	ESCAPE_HEADING	45	ROLL_MIN	229	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	18	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3788	ALTIM_PING_DEPTH	60
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	4	TGT_DEFAULT_LAT	62	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-6.8000002	C_ROLL_CLIMB	2350	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	660	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	20	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	11	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	62.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	572	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3921	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3309	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	200	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	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-142564.61	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	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	55	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3362	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2247	PRESSURE_YINT	-13.411201	SEABIRD_T_G	0.0043321555
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162	SEABIRD_T_H	0.00063294952
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4435583e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6458358e-06
FERRY_MAX	55	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.239935
KALMAN_USE	2	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1471217
HD_A	0.0038945	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0012735804
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00018857721
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	132035,4807.151,-12223.442,10,4.6,29,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.55	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.3	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	132445,4807.139,-12223.436,13,1.4,13,18.3	MHEAD_RNG_PITCHd_Wd	318.1,1741,-14.9,-8.000
SPEED_LIMITS	0.139,0.243	D_GRID	150

FINISH	2.6,1.018611	ALTIM_BOTTOM_PING	101.1,17.5
SM_CCo	2955,279.73,0.591,0,0,617,660.10	_24V_AH	23.7,9.664
SM_GC	1.51,0.00,0.00,279.73,0.000,0.000,0.591,52,2198,617,-10.10,-0.06,660.10	_10V_AH	10.1,4.353
IRIDIUM_FIX	4751.72,-12221.84,280298,121205	DATA_FILE_SIZE	12855,275
TT8_MAMPS	0.029146	CAP_FILE_SIZE	36206,0
HUMID	1691	CFSIZE	260165632,257572864
INTERNAL_PRESSURE	8.57455	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
TCM_TEMP	18.20	GPS	041208,141945,4807.465,-12223.753,10,1.9,10,18.3
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	161	98.86	SBE_CT	188	24	106.96
Roll_motor	26	88	55.98	SBE_O2	203	19	91.47
VBD_pump_during_apogee	341	690	5584.93	WL_BB2F	471	105	1172.21
VBD_pump_during_surface	279	590	3915.31	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	77.02	nil	0	0	0.00
Iridium_during_connect	28	160	108.64	nil	0	0	0.00
Iridium_during_xfer	91	223	484.46
Transponder_ping	2	420	19.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.92
TT8	433	19	86.67
LPSleep	1581	2	34.97
TT8_Active	640	19	128.11
TT8_Sampling	574	39	230.81
TT8_CF8	266	45	123.38
TT8_Kalman	0	0	0.00
Analog_circuits	963	12	116.75
GPS_charging	0	0	0.00
Compass	569	8	46.04
RAFOS	0	0	0.00
Transponder	11	30	3.52

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	-1.42	-146.6	0.0	0.0	0	86	0.00	0.00	-68.47	0.000	2	0.000	0.000	55	2198	3194
90	-1.42	-146.6	4.4	-6.6	12	120	10.80	0.00	-13.05	0.000	6	0.162	0.000	1933	2198	3908
189	-1.42	-146.6	15.0	-8.5	29	196	0.00	2.75	0.00	0.000	4	0.000	0.089	1933	3611	3907
231	-1.42	-146.6	18.3	-7.8	36	238	0.00	2.58	0.00	0.000	6	0.000	0.060	1933	2206	3907
311	-1.42	-146.6	24.1	-7.1	45	316	0.00	2.65	0.00	0.000	4	0.000	0.071	1933	780	3907
345	-1.42	-146.6	26.7	-7.2	47	351	0.00	2.60	0.00	0.000	6	0.000	0.054	1933	2209	3907
543	-1.42	-146.6	40.0	-6.7	66	544	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2209	3908
733	-1.42	-146.6	53.2	-7.1	82	734	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2209	3907
1042	-1.42	-146.6	73.8	-6.6	97	1047	0.00	2.67	0.00	0.000	4	0.000	0.085	1933	3608	3907
1093	-1.42	-146.6	77.4	-7.5	99	1098	0.00	2.55	0.00	0.000	6	0.000	0.057	1933	2198	3907
1411	-1.42	-146.6	97.3	-6.1	114	1412	0.00	0.00	0.00	0.000	6	0.000	0.000	1933	2199	3907
1596	end dive: BOTTOM_OBSTACLE_DETECTED
state	1596	begin apogee
1603	-0.42	0.0	109.1	6.2	129	1722	1.05	0.00	114.78	0.690	6	0.088	0.000	2148	2348	3309
1723	end apogee: CONTROL_FINISHED_OK
state	1723	begin climb
1726	1.42	146.6	110.8	0.0	141	1845	1.88	0.00	114.00	0.677	6	0.051	0.000	2556	2349	2711
2166	1.42	146.6	57.5	13.4	169	2171	0.00	2.60	0.00	0.000	4	0.000	0.064	2556	3760	2710
2211	1.42	146.6	50.9	13.9	171	2215	0.00	2.45	0.00	0.000	6	0.000	0.031	2556	2322	2711
2542	1.42	146.6	11.2	10.8	208	2549	0.00	2.67	0.00	0.000	4	0.000	0.067	2556	3760	2710
2803	1.68	356.5	4.6	0.3	254	2923	0.25	2.45	112.60	0.622	2	0.038	0.038	2618	2349	2110
2924	end climb: SURFACE_DEPTH_REACHED
state	2924	begin surface coast
2931	end surface coast: CONTROL_FINISHED_OK
state	2931	begin surface