Glider dive log

PortSusan 19Aug09.03 * SG033 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 33 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 ROLL_MIN 171 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 6 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3738 ALTIM_PING_DEPTH 60

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 2060 ALTIM_PULSE 3

D_ABORT 250 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 500 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 15 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 15 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 1

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 1

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 186 DEVICE2 99

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3785 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3000 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.36790001 DEVICE6 -1

T_NO_W 300 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 2 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -166741.84 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 1555 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 4048 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3870 PRESSURE_YINT -19.276699 SEABIRD_T_G 0.0043575475

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00046800601 SEABIRD_T_H 0.00062940316

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_T_I 2.4306677e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6223986e-06

FERRY_MAX 2 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.332057

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.2094743

HD_A 0.0038945 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016192879

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00021825745

HD_C 2.5700001e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 500

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_PITCH 0 PITCH_MAX 4048 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 1555 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 20 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 0.00046800601 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 2 PRESSURE_YINT -19.276699 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -166741.84

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_MISSION 60

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

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 33 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3738 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3870 KALMAN_USE 1 ROLL_MIN 171 USE_BATHY 0

C_ROLL_CLIMB 2060 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 15 VBD_BLEED_AD_RATE 8

C_VBD 3000 MAX_BUOY 150 R_STBD_OVSHOOT 15 VBD_CNV -0.36790001

DEEPGLIDER 1 MISSION 4 SEABIRD_C_G -10.332057 VBD_DBAND 2

DEEPGLIDERMB 1 MOTHERBOARD 4 SEABIRD_C_H 1.2094743 VBD_MAX 3785

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016192879 VBD_MAXERRORS 1

DEVICE2 99 N_FILEKB 4 SEABIRD_C_J 0.00021825745 VBD_MIN 186

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043575475 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062940316 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4306677e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6223986e-06 XPDR_DEVICE 24

DIVE 6 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 250 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 002302,4807.093,-12222.864,11,1.3,11,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.043,-0.118

_SM_DEPTHo 0.73 KALMAN_X -32.8,57.6,-0.5,292.8,-24.7

_SM_ANGLEo -66.0 KALMAN_Y -592.0,-410.8,-103.6,608.4,179.5

GPS2 002625,4807.094,-12222.876,11,1.1,16,18.3 MHEAD_RNG_PITCHd_Wd 181.6,232,-36.9,-10.000

SPEED_LIMITS 0.100,0.264 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.9,1.019219 ALTIM_BOTTOM_PING 80.0,41.9

SM_CCo 2892,174.80,0.755,0,0,1640,500.34 _24V_AH 23.1,1.553

SM_GC 0.99,0.00,0.00,174.80,0.000,0.000,0.755,1556,1977,1640,-10.64,-0.65,500.34 _10V_AH 10.8,0.746

IRIDIUM_FIX 4748.51,-12226.29,141198,000044 DATA_FILE_SIZE 12824,276

TT8_MAMPS 0.021476 CAP_FILE_SIZE 61536,0

HUMID 2213 CFSIZE 260280320,257937408

INTERNAL_PRESSURE 8.25227 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,6,0,0

TCM_TEMP 20.00 GPS 200809,011919,4806.922,-12223.052,10,1.6,27,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 211 149.06 SBE_CT 180 24 100.24

Roll_motor 36 116 98.46 AA4330 419 33 320.09

VBD_pump_during_apogee 296 816 5592.76 nil 0 0 0.00

VBD_pump_during_surface 174 754 3047.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 1 420 9.70

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 9.07

TT8 434 19 93.01

LPSleep 1529 2 36.17

TT8_Active 583 19 124.88

TT8_Sampling 563 39 242.00

TT8_CF8 23 45 11.83

TT8_Kalman 33 81 29.43

Analog_circuits 942 12 122.20

GPS_charging 0 0 0.00

Compass 523 8 45.19

RAFOS 0 0 0.00

Transponder 8 30 2.78

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

13 -3.12 -35.7 0.0 0.0 0 181 0.00 0.00 -162.70 0.000 6 0.000 0.000 1556 1994 3098

183 -3.16 -71.1 2.4 -3.4 31 207 11.30 2.60 -4.80 0.000 4 0.211 0.097 3177 3422 3195

459 -3.17 -78.7 25.3 -8.6 74 466 0.00 2.55 -0.38 0.000 6 0.000 0.084 3177 1995 3218

655 -3.17 -78.7 51.1 -14.2 93 659 0.00 2.58 0.00 0.000 4 0.000 0.097 3177 3418 3219

832 -3.17 -78.7 80.0 -18.2 101 836 0.00 2.55 0.00 0.000 6 0.000 0.089 3177 1998 3219

981 end dive: BOTTOM_OBSTACLE_DETECTED

state 981 begin apogee

985 -0.42 0.0 107.7 18.6 110 1056 3.95 0.00 63.90 0.817 6 0.199 0.000 3772 2083 3000

1056 end apogee: CONTROL_FINISHED_OK

state 1057 begin climb

1058 3.17 78.7 111.0 0.0 117 1131 1.55 2.67 61.78 0.800 4 0.129 0.104 4038 641 2785

1153 3.20 101.1 106.9 5.8 126 1178 0.00 2.53 18.58 0.752 6 0.000 0.079 4038 2064 2724

1497 3.22 123.8 86.7 5.7 148 1522 0.00 2.70 18.67 0.757 4 0.000 0.109 4038 3475 2663

1562 3.25 142.5 82.8 6.5 151 1584 0.00 2.55 15.73 0.740 6 0.000 0.084 4038 2059 2612

1891 3.27 161.5 62.3 6.5 167 1913 0.00 2.58 15.23 0.740 4 0.000 0.107 4038 640 2562

2007 3.29 176.2 53.9 7.3 172 2026 0.00 2.55 13.02 0.723 6 0.000 0.082 4038 2061 2521

2341 3.31 194.9 32.1 6.5 200 2361 0.00 0.00 15.95 0.735 6 0.000 0.000 4038 2061 2470

2553 3.34 219.6 19.8 5.4 220 2587 0.00 2.65 27.12 0.755 4 0.000 0.104 4038 644 2403

2621 3.36 237.2 15.9 6.7 232 2645 0.00 2.53 17.15 0.725 6 0.000 0.082 4039 2062 2355

2713 3.38 252.0 9.0 7.2 248 2736 0.00 2.67 13.70 0.708 4 0.000 0.104 4038 644 2314

2771 3.41 270.6 5.3 6.5 258 2793 0.00 2.53 15.55 0.713 6 0.000 0.084 4038 2061 2264

2797 end climb: SURFACE_DEPTH_REACHED

state 2797 begin surface coast

2872 end surface coast: CONTROL_FINISHED_OK

state 2872 begin surface

ID	33	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	171	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	6	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3738	ALTIM_PING_DEPTH	60
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	2060	ALTIM_PULSE	3
D_ABORT	250	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	500	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	15	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	15	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	1
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	1
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	186	DEVICE2	99
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3785	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3000	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.36790001	DEVICE6	-1
T_NO_W	300	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	2	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-166741.84	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	1555	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	4048	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3870	PRESSURE_YINT	-19.276699	SEABIRD_T_G	0.0043575475
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00046800601	SEABIRD_T_H	0.00062940316
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_T_I	2.4306677e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6223986e-06
FERRY_MAX	2	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.332057
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.2094743
HD_A	0.0038945	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016192879
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00021825745
HD_C	2.5700001e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	002302,4807.093,-12222.864,11,1.3,11,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.043,-0.118
_SM_DEPTHo	0.73	KALMAN_X	-32.8,57.6,-0.5,292.8,-24.7
_SM_ANGLEo	-66.0	KALMAN_Y	-592.0,-410.8,-103.6,608.4,179.5
GPS2	002625,4807.094,-12222.876,11,1.1,16,18.3	MHEAD_RNG_PITCHd_Wd	181.6,232,-36.9,-10.000
SPEED_LIMITS	0.100,0.264	D_GRID	150

FINISH	0.9,1.019219	ALTIM_BOTTOM_PING	80.0,41.9
SM_CCo	2892,174.80,0.755,0,0,1640,500.34	_24V_AH	23.1,1.553
SM_GC	0.99,0.00,0.00,174.80,0.000,0.000,0.755,1556,1977,1640,-10.64,-0.65,500.34	_10V_AH	10.8,0.746
IRIDIUM_FIX	4748.51,-12226.29,141198,000044	DATA_FILE_SIZE	12824,276
TT8_MAMPS	0.021476	CAP_FILE_SIZE	61536,0
HUMID	2213	CFSIZE	260280320,257937408
INTERNAL_PRESSURE	8.25227	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,6,0,0
TCM_TEMP	20.00	GPS	200809,011919,4806.922,-12223.052,10,1.6,27,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	211	149.06	SBE_CT	180	24	100.24
Roll_motor	36	116	98.46	AA4330	419	33	320.09
VBD_pump_during_apogee	296	816	5592.76	nil	0	0	0.00
VBD_pump_during_surface	174	754	3047.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	1	420	9.70
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	9.07
TT8	434	19	93.01
LPSleep	1529	2	36.17
TT8_Active	583	19	124.88
TT8_Sampling	563	39	242.00
TT8_CF8	23	45	11.83
TT8_Kalman	33	81	29.43
Analog_circuits	942	12	122.20
GPS_charging	0	0	0.00
Compass	523	8	45.19
RAFOS	0	0	0.00
Transponder	8	30	2.78

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
13	-3.12	-35.7	0.0	0.0	0	181	0.00	0.00	-162.70	0.000	6	0.000	0.000	1556	1994	3098
183	-3.16	-71.1	2.4	-3.4	31	207	11.30	2.60	-4.80	0.000	4	0.211	0.097	3177	3422	3195
459	-3.17	-78.7	25.3	-8.6	74	466	0.00	2.55	-0.38	0.000	6	0.000	0.084	3177	1995	3218
655	-3.17	-78.7	51.1	-14.2	93	659	0.00	2.58	0.00	0.000	4	0.000	0.097	3177	3418	3219
832	-3.17	-78.7	80.0	-18.2	101	836	0.00	2.55	0.00	0.000	6	0.000	0.089	3177	1998	3219
981	end dive: BOTTOM_OBSTACLE_DETECTED
state	981	begin apogee
985	-0.42	0.0	107.7	18.6	110	1056	3.95	0.00	63.90	0.817	6	0.199	0.000	3772	2083	3000
1056	end apogee: CONTROL_FINISHED_OK
state	1057	begin climb
1058	3.17	78.7	111.0	0.0	117	1131	1.55	2.67	61.78	0.800	4	0.129	0.104	4038	641	2785
1153	3.20	101.1	106.9	5.8	126	1178	0.00	2.53	18.58	0.752	6	0.000	0.079	4038	2064	2724
1497	3.22	123.8	86.7	5.7	148	1522	0.00	2.70	18.67	0.757	4	0.000	0.109	4038	3475	2663
1562	3.25	142.5	82.8	6.5	151	1584	0.00	2.55	15.73	0.740	6	0.000	0.084	4038	2059	2612
1891	3.27	161.5	62.3	6.5	167	1913	0.00	2.58	15.23	0.740	4	0.000	0.107	4038	640	2562
2007	3.29	176.2	53.9	7.3	172	2026	0.00	2.55	13.02	0.723	6	0.000	0.082	4038	2061	2521
2341	3.31	194.9	32.1	6.5	200	2361	0.00	0.00	15.95	0.735	6	0.000	0.000	4038	2061	2470
2553	3.34	219.6	19.8	5.4	220	2587	0.00	2.65	27.12	0.755	4	0.000	0.104	4038	644	2403
2621	3.36	237.2	15.9	6.7	232	2645	0.00	2.53	17.15	0.725	6	0.000	0.082	4039	2062	2355
2713	3.38	252.0	9.0	7.2	248	2736	0.00	2.67	13.70	0.708	4	0.000	0.104	4038	644	2314
2771	3.41	270.6	5.3	6.5	258	2793	0.00	2.53	15.55	0.713	6	0.000	0.084	4038	2061	2264
2797	end climb: SURFACE_DEPTH_REACHED
state	2797	begin surface coast
2872	end surface coast: CONTROL_FINISHED_OK
state	2872	begin surface