Glider dive log

PortSusan 29Apr08 * SG102 * Dive index * Mission links * Dive 20 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 102 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 20 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3761 ALTIM_PING_DEPTH 70

D_TGT 150 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 1955 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2100 ALTIM_PULSE 5

D_FINISH 0 SM_CC 650 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 25 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 38 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 62.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 603 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3890 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 3278 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -89500.93 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 38 AH0_24V 91.800003 SEABIRD_T_G 0.0043153311

SPEED_FACTOR 1 PITCH_MAX 3332 AH0_10V 61.200001 SEABIRD_T_H 0.00063080539

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -8.8701944 SEABIRD_T_I 2.4434674e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011626 SEABIRD_T_J 2.6712662e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.14561

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1327434

KALMAN_USE 1 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011798358

HD_A 0.0034169999 PITCH_TIMEOUT 19 COMPASS_USE 0 SEABIRD_C_J 0.00018524687

HD_B 0.0095870001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SM_CC 650

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3332 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 38 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 150 PITCH_TIMEOUT 19 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011626 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -8.8701944 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 62.5

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -89500.93

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 102 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3761 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2100 KALMAN_USE 1 ROLL_MIN 150 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 1955 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3278 MASS 52000 R_PORT_OVSHOOT 25 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 38 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -10.14561 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1327434 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011798358 VBD_MAX 3890

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00018524687 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043153311 VBD_MIN 603

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063080539 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4434674e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 20 PHONE_DEVICE 48 SEABIRD_T_J 2.6712662e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 162508,4807.062,-12222.671,28,1.4,28,18.3 TGT_NAME KAYAKPT

_CALLS 1 TGT_LATLONG 4808.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.082,0.223

_SM_DEPTHo 0.29 KALMAN_X 5971.0,-479.3,12.1,-4723.6,227.8

_SM_ANGLEo -67.1 KALMAN_Y -10937.5,670.9,141.1,8305.4,-502.3

GPS2 162909,4807.013,-12222.645,9,2.0,9,18.3 MHEAD_RNG_PITCHd_Wd 321.5,1881,-14.7,-8.000

SPEED_LIMITS 0.139,0.238 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.7,1.016277 ALTIM_TOP_PING 18.8,19.0

SM_CCo 3631,20.27,0.680,2,0,628,650.04 ALTIM_BOTTOM_PING 80.2,44.2

SM_GC 0.22,0.00,0.00,20.27,0.000,0.000,0.680,33,1940,628,-10.43,-0.45,650.04 _24V_AH 23.5,3.127

IRIDIUM_FIX 4751.72,-12226.29,250797,151511 _10V_AH 10.0,0.994

TT8_MAMPS 0.026845 DATA_FILE_SIZE 12805,263

HUMID 1604 CAP_FILE_SIZE 39816,8

INTERNAL_PRESSURE 8.39876 CFSIZE 260165632,258695168

TCM_TEMP 16.50 ERRORS 0,0,0,0,0,0,0,0,0,0,1,0,1,60,0

XPDR_PINGS 0 GPS 300408,173214,4807.142,-12222.730,10,1.4,28,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 134 76.85 SBE_CT 182 24 103.05

Roll_motor 30 61 44.23 SBE_O2 183 19 82.15

VBD_pump_during_apogee 226 854 4552.98 WL_BB2F 453 105 1118.15

VBD_pump_during_surface 448 711 7507.38 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.79 nil 0 0 0.00

Iridium_during_connect 34 160 128.32 nil 0 0 0.00

Iridium_during_xfer 94 223 495.93

Transponder_ping 1 420 12.34

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.39

TT8 461 19 91.39

LPSleep 1554 2 34.04

TT8_Active 1060 19 209.89

TT8_Sampling 580 39 231.23

TT8_CF8 265 45 121.61

TT8_Kalman 33 81 27.26

Analog_circuits 1385 12 166.29

GPS_charging 0 0 0.00

Compass 578 8 46.28

RAFOS 0 0 0.00

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

40 end surface: CONTROL_FINISHED_OK

state 40 begin dive

43 -1.23 -146.6 0.0 0.0 0 154 0.00 0.00 -107.72 0.000 2 0.000 0.000 31 1950 3294

158 -1.23 -146.6 3.2 -6.1 20 193 10.57 0.00 -21.75 0.000 6 0.135 0.000 2028 1950 3877

262 -1.23 -146.6 6.0 -4.8 38 268 0.00 2.55 0.00 0.000 4 0.000 0.048 2028 3353 3877

320 -1.23 -146.6 9.4 -6.9 48 326 0.00 2.50 0.00 0.000 6 0.000 0.040 2028 1948 3877

395 -1.23 -146.6 13.7 -5.5 61 402 0.00 2.58 0.00 0.000 4 0.000 0.061 2028 550 3878

448 -1.23 -146.6 18.1 -8.6 70 454 0.00 2.45 0.00 0.000 6 0.000 0.038 2028 1950 3877

521 -1.23 -146.6 23.3 -6.7 79 525 0.00 2.53 0.00 0.000 4 0.000 0.049 2028 3353 3878

644 -1.23 -146.6 33.1 -7.8 89 650 0.00 2.50 0.00 0.000 6 0.000 0.041 2028 1955 3878

842 -1.23 -146.6 46.9 -7.0 108 846 0.00 2.55 0.00 0.000 4 0.000 0.048 2028 3352 3877

910 -1.23 -146.6 51.9 -7.8 113 914 0.00 2.50 0.00 0.000 6 0.000 0.041 2028 1956 3877

1232 -1.23 -146.6 74.6 -6.9 129 1233 0.00 0.00 0.00 0.000 6 0.000 0.000 2028 1956 3877

1541 -1.23 -146.6 95.3 -6.3 144 1545 0.00 2.55 0.00 0.000 4 0.000 0.049 2029 3353 3878

1626 -1.23 -146.6 100.9 -6.4 148 1630 0.00 2.50 0.00 0.000 6 0.000 0.042 2028 1956 3877

1843 end dive: BOTTOM_OBSTACLE_DETECTED

state 1843 begin apogee

1850 -0.36 0.0 114.8 6.4 168 1968 0.88 0.00 113.95 0.854 6 0.081 0.000 2217 2108 3278

1968 end apogee: CONTROL_FINISHED_OK

state 1969 begin climb

1971 1.23 146.6 116.3 0.0 180 2091 1.58 0.00 112.80 0.818 6 0.055 0.000 2564 2112 2680

2401 1.23 146.6 61.2 13.9 209 2402 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2112 2679

2717 1.23 146.6 18.8 13.1 234 2723 0.00 0.00 0.00 0.000 6 0.000 0.000 2564 2112 2679

2792 1.23 146.6 9.9 12.0 247 2798 0.00 2.50 0.00 0.000 4 0.000 0.050 2565 3492 2679

2816 1.23 146.6 6.9 12.5 251 2822 0.00 2.47 0.00 0.000 6 0.000 0.039 2564 2100 2679

2843 end climb: SURFACE_DEPTH_REACHED

state 2843 begin surface coast

2884 end surface coast: CONTROL_FINISHED_OK

state 2884 begin surface

ID	102	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	20	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3761	ALTIM_PING_DEPTH	70
D_TGT	150	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	1955	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2100	ALTIM_PULSE	5
D_FINISH	0	SM_CC	650	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	25	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	38	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	62.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	603	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3890	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	3278	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-89500.93	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	38	AH0_24V	91.800003	SEABIRD_T_G	0.0043153311
SPEED_FACTOR	1	PITCH_MAX	3332	AH0_10V	61.200001	SEABIRD_T_H	0.00063080539
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-8.8701944	SEABIRD_T_I	2.4434674e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011626	SEABIRD_T_J	2.6712662e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.14561
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1327434
KALMAN_USE	1	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011798358
HD_A	0.0034169999	PITCH_TIMEOUT	19	COMPASS_USE	0	SEABIRD_C_J	0.00018524687
HD_B	0.0095870001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	162508,4807.062,-12222.671,28,1.4,28,18.3	TGT_NAME	KAYAKPT
_CALLS	1	TGT_LATLONG	4808.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.082,0.223
_SM_DEPTHo	0.29	KALMAN_X	5971.0,-479.3,12.1,-4723.6,227.8
_SM_ANGLEo	-67.1	KALMAN_Y	-10937.5,670.9,141.1,8305.4,-502.3
GPS2	162909,4807.013,-12222.645,9,2.0,9,18.3	MHEAD_RNG_PITCHd_Wd	321.5,1881,-14.7,-8.000
SPEED_LIMITS	0.139,0.238	D_GRID	150

FINISH	0.7,1.016277	ALTIM_TOP_PING	18.8,19.0
SM_CCo	3631,20.27,0.680,2,0,628,650.04	ALTIM_BOTTOM_PING	80.2,44.2
SM_GC	0.22,0.00,0.00,20.27,0.000,0.000,0.680,33,1940,628,-10.43,-0.45,650.04	_24V_AH	23.5,3.127
IRIDIUM_FIX	4751.72,-12226.29,250797,151511	_10V_AH	10.0,0.994
TT8_MAMPS	0.026845	DATA_FILE_SIZE	12805,263
HUMID	1604	CAP_FILE_SIZE	39816,8
INTERNAL_PRESSURE	8.39876	CFSIZE	260165632,258695168
TCM_TEMP	16.50	ERRORS	0,0,0,0,0,0,0,0,0,0,1,0,1,60,0
XPDR_PINGS	0	GPS	300408,173214,4807.142,-12222.730,10,1.4,28,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	134	76.85	SBE_CT	182	24	103.05
Roll_motor	30	61	44.23	SBE_O2	183	19	82.15
VBD_pump_during_apogee	226	854	4552.98	WL_BB2F	453	105	1118.15
VBD_pump_during_surface	448	711	7507.38	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.79	nil	0	0	0.00
Iridium_during_connect	34	160	128.32	nil	0	0	0.00
Iridium_during_xfer	94	223	495.93
Transponder_ping	1	420	12.34
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.39
TT8	461	19	91.39
LPSleep	1554	2	34.04
TT8_Active	1060	19	209.89
TT8_Sampling	580	39	231.23
TT8_CF8	265	45	121.61
TT8_Kalman	33	81	27.26
Analog_circuits	1385	12	166.29
GPS_charging	0	0	0.00
Compass	578	8	46.28
RAFOS	0	0	0.00

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
40	end surface: CONTROL_FINISHED_OK
state	40	begin dive
43	-1.23	-146.6	0.0	0.0	0	154	0.00	0.00	-107.72	0.000	2	0.000	0.000	31	1950	3294
158	-1.23	-146.6	3.2	-6.1	20	193	10.57	0.00	-21.75	0.000	6	0.135	0.000	2028	1950	3877
262	-1.23	-146.6	6.0	-4.8	38	268	0.00	2.55	0.00	0.000	4	0.000	0.048	2028	3353	3877
320	-1.23	-146.6	9.4	-6.9	48	326	0.00	2.50	0.00	0.000	6	0.000	0.040	2028	1948	3877
395	-1.23	-146.6	13.7	-5.5	61	402	0.00	2.58	0.00	0.000	4	0.000	0.061	2028	550	3878
448	-1.23	-146.6	18.1	-8.6	70	454	0.00	2.45	0.00	0.000	6	0.000	0.038	2028	1950	3877
521	-1.23	-146.6	23.3	-6.7	79	525	0.00	2.53	0.00	0.000	4	0.000	0.049	2028	3353	3878
644	-1.23	-146.6	33.1	-7.8	89	650	0.00	2.50	0.00	0.000	6	0.000	0.041	2028	1955	3878
842	-1.23	-146.6	46.9	-7.0	108	846	0.00	2.55	0.00	0.000	4	0.000	0.048	2028	3352	3877
910	-1.23	-146.6	51.9	-7.8	113	914	0.00	2.50	0.00	0.000	6	0.000	0.041	2028	1956	3877
1232	-1.23	-146.6	74.6	-6.9	129	1233	0.00	0.00	0.00	0.000	6	0.000	0.000	2028	1956	3877
1541	-1.23	-146.6	95.3	-6.3	144	1545	0.00	2.55	0.00	0.000	4	0.000	0.049	2029	3353	3878
1626	-1.23	-146.6	100.9	-6.4	148	1630	0.00	2.50	0.00	0.000	6	0.000	0.042	2028	1956	3877
1843	end dive: BOTTOM_OBSTACLE_DETECTED
state	1843	begin apogee
1850	-0.36	0.0	114.8	6.4	168	1968	0.88	0.00	113.95	0.854	6	0.081	0.000	2217	2108	3278
1968	end apogee: CONTROL_FINISHED_OK
state	1969	begin climb
1971	1.23	146.6	116.3	0.0	180	2091	1.58	0.00	112.80	0.818	6	0.055	0.000	2564	2112	2680
2401	1.23	146.6	61.2	13.9	209	2402	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2112	2679
2717	1.23	146.6	18.8	13.1	234	2723	0.00	0.00	0.00	0.000	6	0.000	0.000	2564	2112	2679
2792	1.23	146.6	9.9	12.0	247	2798	0.00	2.50	0.00	0.000	4	0.000	0.050	2565	3492	2679
2816	1.23	146.6	6.9	12.5	251	2822	0.00	2.47	0.00	0.000	6	0.000	0.039	2564	2100	2679
2843	end climb: SURFACE_DEPTH_REACHED
state	2843	begin surface coast
2884	end surface coast: CONTROL_FINISHED_OK
state	2884	begin surface