Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 193 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 193 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 425 ROLL_CNV 0.028270001 XPDR_VALID 1

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 88 INT_PRESSURE_YINT 2.7

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 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 275 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 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 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -8978.7236 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 250 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

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 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3938 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 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 275

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -8978.7236

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 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 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -4

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 35 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 250 R_STBD_OVSHOOT 88 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 193 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 164206,2411.725,12322.997,37,0.8,37,-3.4 TGT_NAME RET_1

_CALLS 2 TGT_LATLONG 2403.100,12326.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.31 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 165049,2411.729,12323.009,15,1.2,15,-3.4 MHEAD_RNG_PITCHd_Wd 196.7,16762,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 470

Post-dive calculations and measurements:

FINISH 0.6,0.997527 ALTIM_BOTTOM_PING 200.5,60.7

SM_CCo 3909,0.00,0.000,0,0,450,591.91 _24V_AH 24.9,41.683

SM_GC 1.43,7.82,0.00,0.00,0.041,0.000,0.000,149,1475,450,-8.03,-0.71,591.91 _10V_AH 10.9,25.192

IRIDIUM_FIX 2401.56,12320.44,120998,161621 DATA_FILE_SIZE 34796,657

TT8_MAMPS 0.026845 CAP_FILE_SIZE 55852,0

HUMID 1597 CFSIZE 260165632,221077504

INTERNAL_PRESSURE 10.0245 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.10 CURRENT 0.350, 22.3,1

XPDR_PINGS 0 GPS 180609,175702,2412.069,12323.133,12,1.1,12,-3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 237 127.29 SBE_CT 430 24 257.10

Roll_motor 25 55 34.45 Optode 575 33 472.62

VBD_pump_during_apogee 644 808 12973.03 WL_BB2F 966 105 2527.45

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 49 103 127.73 nil 0 0 0.00

Iridium_during_connect 72 160 289.37 nil 0 0 0.00

Iridium_during_xfer 236 223 1312.66

Transponder_ping 0 420 5.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.30

TT8 960 19 207.27

LPSleep 1181 2 28.19

TT8_Active 599 19 129.48

TT8_Sampling 1222 39 530.44

TT8_CF8 472 45 235.98

TT8_Kalman 0 0 0.00

Analog_circuits 1229 12 160.87

GPS_charging 0 0 0.00

Compass 1222 8 106.64

RAFOS 0 0 0.00

Transponder 5 30 1.83

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 -0.97 -243.4 0.0 0.0 0 106 0.00 0.00 -88.90 0.000 2 0.000 0.000 147 1519 2476

109 -0.97 -243.4 3.5 -6.6 14 161 9.05 2.03 -33.67 0.000 4 0.238 0.055 2418 191 3858

382 -0.21 -243.4 85.9 -32.8 61 389 0.75 1.85 0.00 0.000 6 0.143 0.028 2665 1469 3858

727 -0.53 -243.4 123.2 -7.9 122 734 0.22 2.10 0.00 0.000 4 0.045 0.036 2542 2894 3860

987 -0.53 -243.4 155.3 -12.4 168 994 0.00 2.00 0.00 0.000 6 0.000 0.029 2543 1519 3860

1334 -0.60 -243.4 195.6 -11.0 229 1339 0.00 0.00 0.00 0.000 6 0.000 0.000 2542 1519 3861

1679 -0.70 -243.4 226.7 -8.4 290 1686 0.00 2.03 0.00 0.000 4 0.000 0.038 2543 2901 3860

1726 -0.89 -243.4 230.9 -9.5 298 1733 0.25 2.03 0.00 0.000 6 0.047 0.031 2424 1490 3861

1766 end dive: BOTTOM_OBSTACLE_DETECTED

state 1766 begin apogee

1772 -0.20 0.0 236.9 16.7 305 1962 0.75 0.00 182.50 0.808 6 0.134 0.000 2668 1758 2864

1964 end apogee: CONTROL_FINISHED_OK

state 1964 begin climb

1966 0.97 243.4 248.9 0.0 337 2163 1.05 2.15 184.02 0.794 4 0.074 0.041 3052 3127 1868

2193 0.71 243.4 230.2 16.2 374 2201 0.32 2.05 0.00 0.000 6 0.142 0.033 2971 1760 1866

2540 0.92 330.4 195.9 9.1 435 2617 0.17 2.10 68.07 0.774 4 0.056 0.040 3060 3133 1514

2624 0.76 330.4 185.5 12.2 448 2631 0.30 2.17 0.00 0.000 6 0.143 0.032 2981 1682 1513

2970 1.31 590.1 162.5 3.4 509 3186 0.45 0.00 209.88 0.760 6 0.038 0.000 3183 1682 457

3525 1.13 590.1 52.2 21.3 603 3532 0.25 2.03 0.00 0.000 4 0.137 0.043 3116 327 453

3596 1.33 590.1 40.9 12.9 615 3603 0.10 1.92 0.00 0.000 6 0.047 0.027 3183 1670 452

3814 end climb: SURFACE_DEPTH_REACHED

state 3814 begin surface coast

3833 end surface coast: CONTROL_FINISHED_OK

state 3833 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	193	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	425	ROLL_CNV	0.028270001	XPDR_VALID	1
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	88	INT_PRESSURE_YINT	2.7
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	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	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	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-8978.7236	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	250	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	164206,2411.725,12322.997,37,0.8,37,-3.4	TGT_NAME	RET_1
_CALLS	2	TGT_LATLONG	2403.100,12326.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.31	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	165049,2411.729,12323.009,15,1.2,15,-3.4	MHEAD_RNG_PITCHd_Wd	196.7,16762,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	470

FINISH	0.6,0.997527	ALTIM_BOTTOM_PING	200.5,60.7
SM_CCo	3909,0.00,0.000,0,0,450,591.91	_24V_AH	24.9,41.683
SM_GC	1.43,7.82,0.00,0.00,0.041,0.000,0.000,149,1475,450,-8.03,-0.71,591.91	_10V_AH	10.9,25.192
IRIDIUM_FIX	2401.56,12320.44,120998,161621	DATA_FILE_SIZE	34796,657
TT8_MAMPS	0.026845	CAP_FILE_SIZE	55852,0
HUMID	1597	CFSIZE	260165632,221077504
INTERNAL_PRESSURE	10.0245	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.10	CURRENT	0.350, 22.3,1
XPDR_PINGS	0	GPS	180609,175702,2412.069,12323.133,12,1.1,12,-3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	237	127.29	SBE_CT	430	24	257.10
Roll_motor	25	55	34.45	Optode	575	33	472.62
VBD_pump_during_apogee	644	808	12973.03	WL_BB2F	966	105	2527.45
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	49	103	127.73	nil	0	0	0.00
Iridium_during_connect	72	160	289.37	nil	0	0	0.00
Iridium_during_xfer	236	223	1312.66
Transponder_ping	0	420	5.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.30
TT8	960	19	207.27
LPSleep	1181	2	28.19
TT8_Active	599	19	129.48
TT8_Sampling	1222	39	530.44
TT8_CF8	472	45	235.98
TT8_Kalman	0	0	0.00
Analog_circuits	1229	12	160.87
GPS_charging	0	0	0.00
Compass	1222	8	106.64
RAFOS	0	0	0.00
Transponder	5	30	1.83

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	-0.97	-243.4	0.0	0.0	0	106	0.00	0.00	-88.90	0.000	2	0.000	0.000	147	1519	2476
109	-0.97	-243.4	3.5	-6.6	14	161	9.05	2.03	-33.67	0.000	4	0.238	0.055	2418	191	3858
382	-0.21	-243.4	85.9	-32.8	61	389	0.75	1.85	0.00	0.000	6	0.143	0.028	2665	1469	3858
727	-0.53	-243.4	123.2	-7.9	122	734	0.22	2.10	0.00	0.000	4	0.045	0.036	2542	2894	3860
987	-0.53	-243.4	155.3	-12.4	168	994	0.00	2.00	0.00	0.000	6	0.000	0.029	2543	1519	3860
1334	-0.60	-243.4	195.6	-11.0	229	1339	0.00	0.00	0.00	0.000	6	0.000	0.000	2542	1519	3861
1679	-0.70	-243.4	226.7	-8.4	290	1686	0.00	2.03	0.00	0.000	4	0.000	0.038	2543	2901	3860
1726	-0.89	-243.4	230.9	-9.5	298	1733	0.25	2.03	0.00	0.000	6	0.047	0.031	2424	1490	3861
1766	end dive: BOTTOM_OBSTACLE_DETECTED
state	1766	begin apogee
1772	-0.20	0.0	236.9	16.7	305	1962	0.75	0.00	182.50	0.808	6	0.134	0.000	2668	1758	2864
1964	end apogee: CONTROL_FINISHED_OK
state	1964	begin climb
1966	0.97	243.4	248.9	0.0	337	2163	1.05	2.15	184.02	0.794	4	0.074	0.041	3052	3127	1868
2193	0.71	243.4	230.2	16.2	374	2201	0.32	2.05	0.00	0.000	6	0.142	0.033	2971	1760	1866
2540	0.92	330.4	195.9	9.1	435	2617	0.17	2.10	68.07	0.774	4	0.056	0.040	3060	3133	1514
2624	0.76	330.4	185.5	12.2	448	2631	0.30	2.17	0.00	0.000	6	0.143	0.032	2981	1682	1513
2970	1.31	590.1	162.5	3.4	509	3186	0.45	0.00	209.88	0.760	6	0.038	0.000	3183	1682	457
3525	1.13	590.1	52.2	21.3	603	3532	0.25	2.03	0.00	0.000	4	0.137	0.043	3116	327	453
3596	1.33	590.1	40.9	12.9	615	3603	0.10	1.92	0.00	0.000	6	0.047	0.027	3183	1670	452
3814	end climb: SURFACE_DEPTH_REACHED
state	3814	begin surface coast
3833	end surface coast: CONTROL_FINISHED_OK
state	3833	begin surface