Glider dive log

SAGE 17Apr15 * SG543 * Dive index * Mission links * Dive 33 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 543 HEADING 20 ROLL_MAX 3944 ALTIM_TOP_MIN_OBSTACLE 0

MISSION 11 ESCAPE_HEADING 0 ROLL_DEG 25 ALTIM_PING_DEPTH 80

DIVE 33 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 3270 ALTIM_PING_DELTA 10

D_SURF 3 FIX_MISSING_TIMEOUT 0 C_ROLL_CLIMB 3157 ALTIM_FREQUENCY 13

D_FLARE 3 TGT_DEFAULT_LAT -3415 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 140 TGT_DEFAULT_LON 2600 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 3

D_ABORT 170 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 2

D_NO_BLEED 200 SM_CC 280 R_PORT_OVSHOOT 57 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 R_STBD_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 0 ROLL_AD_RATE 350 INT_PRESSURE_YINT 0.050000001

D_FINISH 0 CALL_NDIVES 1 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_PITCH 0 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 0 KERMIT 0 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 0 N_NOCOMM 1 VBD_MIN 507 DEVICE1 2

SURFACE_URGENCY 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

SURFACE_URGENCY_TRY 0 UPLOAD_DIVES_MAX -1 C_VBD 1800 DEVICE3 117

SURFACE_URGENCY_FORCE 0 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 131

T_DIVE 40 CALL_WAIT 60 VBD_CNV -0.245296 DEVICE5 -1

T_MISSION 50 CAPUPLOAD 1 VBD_TIMEOUT 800 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00061500003 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 60 LOGGERDEVICE4 -1

USE_BATHY 0 T_GPS_CHARGE -15423.365 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 0 T_RSLEEP 1 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

ICE_FREEZE_MARGIN 0.30000001 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 100 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE -1

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 86 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 200 PITCH_MAX 3908 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 1860 PHONE_SUPPLY 2 SEABIRD_T_G 0.0043512532

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -54.899082 SEABIRD_T_H 0.00062429422

SPEED_FACTOR 1 PITCH_CNV 0.003125763 PRESSURE_SLOPE 0.00011638312 SEABIRD_T_I 2.2835797e-05

RHO 1.027 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.3805812e-06

MASS 52780 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.305622

NAV_MODE 1 PITCH_TIMEOUT 16 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1763667

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.0018977363

KALMAN_USE 2 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012677554

HD_A 0.003 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

HD_B 0.0099999998 PITCH_ADJ_DBAND 0 ALTIM_BOTTOM_TURN_MARGIN 20

HD_C 9.9999997e-06 ROLL_MIN 394 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 128 D_NO_BLEED 200 PHONE_DEVICE 48 SM_CC 280

AH0_10V 100 D_OFFGRID 250 PHONE_SUPPLY 2 SPEED_FACTOR 1

AH0_24V 150 D_PITCH 0 PITCH_ADJ_DBAND 0 STROBE 0

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_GAIN 0 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 20 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_TGT 140 PITCH_CNV 0.003125763 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_DBAND 0.1 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3908 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 TGT_DEFAULT_LAT -3415

ALTIM_TOP_MIN_OBSTACLE 0 FG_AHR_24V 0 PITCH_MIN 86 TGT_DEFAULT_LON 2600

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_TIMEOUT 16 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00061500003 T_BOOST 0

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.00011638312 T_DIVE 40

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -54.899082 T_GPS 15

CALL_TRIES 5 HD_A 0.003 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -15423.365

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_DEVICE -1 T_LOITER 0

CAPUPLOAD 1 HEADING 20 RAFOS_HIT_WINDOW 3600 T_MISSION 50

CF8_MAXERRORS 20 HEAD_ERRBAND 10 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 RELAUNCH 1 T_RSLEEP 1

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RHO 1.027 T_TURN 225

COMPASS_DEVICE 33 ID 543 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_YINT 0.050000001 ROLL_AD_RATE 350 UNCOM_BLEED 60

C_PITCH 1860 KALMAN_USE 2 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 3157 KERMIT 0 ROLL_DEG 25 USE_BATHY 0

C_ROLL_DIVE 3270 LOGGERDEVICE1 -1 ROLL_MAX 3944 USE_ICE 0

C_VBD 1800 LOGGERDEVICE2 -1 ROLL_MAXERRORS 1 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 LOGGERDEVICE3 -1 ROLL_MIN 394 VBD_CNV -0.245296

DEEPGLIDERMB 0 LOGGERDEVICE4 -1 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE1 2 LOGGERS 0 R_PORT_OVSHOOT 57 VBD_MAX 3960

DEVICE2 20 MASS 52780 R_STBD_OVSHOOT 33 VBD_MAXERRORS 1

DEVICE3 117 MAX_BUOY 200 SEABIRD_C_G -10.305622 VBD_MIN 507

DEVICE4 131 MINV_10V 8 SEABIRD_C_H 1.1763667 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE5 -1 MINV_24V 19 SEABIRD_C_I -0.0018977363 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE6 -1 MISSION 11 SEABIRD_C_J 0.00012677554 VBD_TIMEOUT 800

DIVE 33 MOTHERBOARD 4 SEABIRD_T_G 0.0043512532 XPDR_DEVICE 24

D_ABORT 170 NAV_MODE 1 SEABIRD_T_H 0.00062429422 XPDR_INHIBIT 90

D_BOOST 5 N_FILEKB 4 SEABIRD_T_I 2.2835797e-05 XPDR_VALID 2

D_CALL 0 N_GPS 20 SEABIRD_T_J 2.3805812e-06

D_FINISH 0 N_NOCOMM 1 SIM_PITCH 0

D_FLARE 3 N_NOSURFACE 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 200415,193447,-3421.675,2556.475,16,1.2,17,-27.8 TGT_NAME HEADING

_CALLS 1 TGT_LATLONG -3411.522,2601.019

_XMS_NAKs 0 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.15 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -64.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200415,194112,-3421.670,2556.553,15,0.9,17,-27.8 MHEAD_RNG_PITCHd_Wd 47.8,20000,-17.2,-11.667

SPEED_LIMITS 0.202,0.311 D_GRID 140

Post-dive calculations and measurements:

FINISH 0.2,1.025624 _24V_AH 23.9,6.315

SM_CCo 1534,47.70,0.461,1,0,654,280.13 _10V_AH 10.5,2.079

SM_GC 1.05,0.00,0.00,47.70,0.000,0.000,0.461,66,3285,654,-5.60,0.42,280.13 FG_AHR_24Vo 0.000

IRIDIUM_FIX -3406.89,2555.40,150208,080829 FG_AHR_10Vo 0.000

TT8_MAMPS 0.026964 MEM 334180

HUMID 53.30 DATA_FILE_SIZE 13589,242

INTERNAL_PRESSURE 11.3102 CAP_FILE_SIZE 31017,0

TCM_TEMP 18.20 CFSIZE 259252224,257527808

XPDR_PINGS 0 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1

ALTIM_BOTTOM_PING 80.3,40.3 GPS 200415,200853,-3421.560,2556.862,17,1.0,18,-27.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 12 220 66.35 SBE_CT 164 24 94.53

Roll_motor 8 72 14.68 SBE_O2 111 19 50.71

VBD_pump_during_apogee 171 1037 4255.00 QSP2150 65 4 6.90

VBD_pump_during_surface 47 460 525.02 WL_BB2FLVMT 317 105 796.28

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 64.00 nil 0 0 0.00

Iridium_during_connect 22 160 87.18 nil 0 0 0.00

Iridium_during_xfer 250 223 1333.15 nil 0 0 0.00

Transponder_ping 0 420 5.02 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 18 26 5.35

TT8 559 14 87.84

LPSleep 241 2 5.56

TT8_Active 262 14 39.20

TT8_Sampling 893 37 351.02

TT8_CF8 38 47 19.01

TT8_Kalman 0 0 0.00

Analog_circuits 509 12 64.18

GPS_charging 0 0 0.00

Compass 572 15 94.61

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 pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.55 -194.7 0.0 0.0 0 95 0.00 0.00 -73.00 0.000 6 0.000 0.000 69 3291 2594 0 0 0 0 0 0

97 -0.55 -194.7 4.3 -8.2 10 107 6.20 1.40 0.00 0.000 4 0.220 0.033 1678 2370 2594 0 0 0 0 0 0

336 -0.55 -194.7 52.7 -14.2 51 343 0.00 1.42 0.00 0.000 6 0.000 0.053 1672 3261 2598 0 0 0 0 0 0

687 end dive: BOTTOM_OBSTACLE_DETECTED

state 687 begin apogee

691 -0.12 0.0 101.9 14.6 112 780 0.47 0.00 86.12 1.037 6 0.151 0.000 1814 3160 1798 0 0 0 0 0 0

781 end apogee: CONTROL_FINISHED_OK

state 781 begin climb

783 0.55 194.7 106.2 0.0 121 877 0.68 1.38 85.50 1.006 4 0.111 0.029 2037 2263 1006 0 0 0 0 0 0

958 0.55 194.7 84.8 14.8 145 965 0.00 1.48 0.00 0.000 6 0.000 0.050 2038 3152 1004 0 0 0 0 0 0

1304 0.55 194.7 31.5 12.5 206 1313 0.00 1.25 0.00 0.000 4 0.000 0.056 2037 3950 1003 0 0 0 0 0 0

1372 0.55 194.7 21.5 15.7 217 1379 0.00 1.20 0.00 0.000 6 0.000 0.036 2043 3146 1003 0 0 0 0 0 0

1497 end climb: SURFACE_DEPTH_REACHED

state 1497 begin surface coast

1522 end surface coast: CONTROL_FINISHED_OK

state 1522 begin surface

ID	543	HEADING	20	ROLL_MAX	3944	ALTIM_TOP_MIN_OBSTACLE	0
MISSION	11	ESCAPE_HEADING	0	ROLL_DEG	25	ALTIM_PING_DEPTH	80
DIVE	33	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	3270	ALTIM_PING_DELTA	10
D_SURF	3	FIX_MISSING_TIMEOUT	0	C_ROLL_CLIMB	3157	ALTIM_FREQUENCY	13
D_FLARE	3	TGT_DEFAULT_LAT	-3415	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	140	TGT_DEFAULT_LON	2600	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	3
D_ABORT	170	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	2
D_NO_BLEED	200	SM_CC	280	R_PORT_OVSHOOT	57	XPDR_INHIBIT	90
D_BOOST	5	N_FILEKB	4	R_STBD_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	0	ROLL_AD_RATE	350	INT_PRESSURE_YINT	0.050000001
D_FINISH	0	CALL_NDIVES	1	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_PITCH	0	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	0	KERMIT	0	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	0	N_NOCOMM	1	VBD_MIN	507	DEVICE1	2
SURFACE_URGENCY	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
SURFACE_URGENCY_TRY	0	UPLOAD_DIVES_MAX	-1	C_VBD	1800	DEVICE3	117
SURFACE_URGENCY_FORCE	0	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	131
T_DIVE	40	CALL_WAIT	60	VBD_CNV	-0.245296	DEVICE5	-1
T_MISSION	50	CAPUPLOAD	1	VBD_TIMEOUT	800	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00061500003	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	60	LOGGERDEVICE4	-1
USE_BATHY	0	T_GPS_CHARGE	-15423.365	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	0	T_RSLEEP	1	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
ICE_FREEZE_MARGIN	0.30000001	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	100	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	-1
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	86	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	200	PITCH_MAX	3908	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	1860	PHONE_SUPPLY	2	SEABIRD_T_G	0.0043512532
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-54.899082	SEABIRD_T_H	0.00062429422
SPEED_FACTOR	1	PITCH_CNV	0.003125763	PRESSURE_SLOPE	0.00011638312	SEABIRD_T_I	2.2835797e-05
RHO	1.027	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.3805812e-06
MASS	52780	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.305622
NAV_MODE	1	PITCH_TIMEOUT	16	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1763667
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.0018977363
KALMAN_USE	2	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012677554
HD_A	0.003	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
HD_B	0.0099999998	PITCH_ADJ_DBAND	0	ALTIM_BOTTOM_TURN_MARGIN	20
HD_C	9.9999997e-06	ROLL_MIN	394	ALTIM_TOP_TURN_MARGIN	0

GPS1	200415,193447,-3421.675,2556.475,16,1.2,17,-27.8	TGT_NAME	HEADING
_CALLS	1	TGT_LATLONG	-3411.522,2601.019
_XMS_NAKs	0	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.15	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-64.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200415,194112,-3421.670,2556.553,15,0.9,17,-27.8	MHEAD_RNG_PITCHd_Wd	47.8,20000,-17.2,-11.667
SPEED_LIMITS	0.202,0.311	D_GRID	140

FINISH	0.2,1.025624	_24V_AH	23.9,6.315
SM_CCo	1534,47.70,0.461,1,0,654,280.13	_10V_AH	10.5,2.079
SM_GC	1.05,0.00,0.00,47.70,0.000,0.000,0.461,66,3285,654,-5.60,0.42,280.13	FG_AHR_24Vo	0.000
IRIDIUM_FIX	-3406.89,2555.40,150208,080829	FG_AHR_10Vo	0.000
TT8_MAMPS	0.026964	MEM	334180
HUMID	53.30	DATA_FILE_SIZE	13589,242
INTERNAL_PRESSURE	11.3102	CAP_FILE_SIZE	31017,0
TCM_TEMP	18.20	CFSIZE	259252224,257527808
XPDR_PINGS	0	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
ALTIM_BOTTOM_PING	80.3,40.3	GPS	200415,200853,-3421.560,2556.862,17,1.0,18,-27.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	12	220	66.35	SBE_CT	164	24	94.53
Roll_motor	8	72	14.68	SBE_O2	111	19	50.71
VBD_pump_during_apogee	171	1037	4255.00	QSP2150	65	4	6.90
VBD_pump_during_surface	47	460	525.02	WL_BB2FLVMT	317	105	796.28
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	64.00	nil	0	0	0.00
Iridium_during_connect	22	160	87.18	nil	0	0	0.00
Iridium_during_xfer	250	223	1333.15	nil	0	0	0.00
Transponder_ping	0	420	5.02	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	18	26	5.35
TT8	559	14	87.84
LPSleep	241	2	5.56
TT8_Active	262	14	39.20
TT8_Sampling	893	37	351.02
TT8_CF8	38	47	19.01
TT8_Kalman	0	0	0.00
Analog_circuits	509	12	64.18
GPS_charging	0	0	0.00
Compass	572	15	94.61
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	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.55	-194.7	0.0	0.0	0	95	0.00	0.00	-73.00	0.000	6	0.000	0.000	69	3291	2594	0	0	0	0	0	0
97	-0.55	-194.7	4.3	-8.2	10	107	6.20	1.40	0.00	0.000	4	0.220	0.033	1678	2370	2594	0	0	0	0	0	0
336	-0.55	-194.7	52.7	-14.2	51	343	0.00	1.42	0.00	0.000	6	0.000	0.053	1672	3261	2598	0	0	0	0	0	0
687	end dive: BOTTOM_OBSTACLE_DETECTED
state	687	begin apogee
691	-0.12	0.0	101.9	14.6	112	780	0.47	0.00	86.12	1.037	6	0.151	0.000	1814	3160	1798	0	0	0	0	0	0
781	end apogee: CONTROL_FINISHED_OK
state	781	begin climb
783	0.55	194.7	106.2	0.0	121	877	0.68	1.38	85.50	1.006	4	0.111	0.029	2037	2263	1006	0	0	0	0	0	0
958	0.55	194.7	84.8	14.8	145	965	0.00	1.48	0.00	0.000	6	0.000	0.050	2038	3152	1004	0	0	0	0	0	0
1304	0.55	194.7	31.5	12.5	206	1313	0.00	1.25	0.00	0.000	4	0.000	0.056	2037	3950	1003	0	0	0	0	0	0
1372	0.55	194.7	21.5	15.7	217	1379	0.00	1.20	0.00	0.000	6	0.000	0.036	2043	3146	1003	0	0	0	0	0	0
1497	end climb: SURFACE_DEPTH_REACHED
state	1497	begin surface coast
1522	end surface coast: CONTROL_FINISHED_OK
state	1522	begin surface