Glider dive log

PortSusan 17Jun09 * SG147 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 147 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 160 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 7 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3941 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2360 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2360 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 80 SM_CC 620 ROLL_CNV 0.028270001 XPDR_VALID 2

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 21 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 40 UPLOAD_DIVES_MAX -1 VBD_MIN 477 DEVICE2 20

T_MISSION 65 CALL_TRIES 5 VBD_MAX 3951 DEVICE3 53

T_ABORT 1440 CALL_WAIT 60 C_VBD 3688 DEVICE4 35

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 87

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 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 100 T_GPS_CHARGE -1480.9237 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 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 20 RAFOS_DEVICE -1

MAX_BUOY 100 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 485 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3757 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2462 PRESSURE_YINT -27.463364 SEABIRD_T_G 0.0042836252

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116148 SEABIRD_T_H 0.00062757189

MASS 52067 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.2935745e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.394582e-06

FERRY_MAX 45 PITCH_GAIN 15.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8471985

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.102998

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0019362674

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002209621

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SM_CC 620

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3757 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 485 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 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 0.000116148 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -27.463364 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 40

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -1480.9237

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 65

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

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 147 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3941 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2462 KALMAN_USE 1 ROLL_MIN 160 USE_BATHY 0

C_ROLL_CLIMB 2360 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2360 MASS 52067 R_PORT_OVSHOOT 20 VBD_BLEED_AD_RATE 8

C_VBD 3688 MAX_BUOY 100 R_STBD_OVSHOOT 21 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.8471985 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.102998 VBD_MAX 3951

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0019362674 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.0002209621 VBD_MIN 477

DEVICE3 53 N_GPS 20 SEABIRD_T_G 0.0042836252 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 35 N_NOCOMM 1 SEABIRD_T_H 0.00062757189 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 87 N_NOSURFACE 0 SEABIRD_T_I 2.2935745e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.394582e-06 XPDR_DEVICE 24

DIVE 7 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 235802,4807.696,-12222.724,9,1.9,9,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.045,-0.224

_SM_DEPTHo 1.30 KALMAN_X -358.2,-243.9,-67.1,576.5,51.2

_SM_ANGLEo -66.5 KALMAN_Y 1919.6,952.9,284.1,-1803.5,-14.7

GPS2 000356,4807.751,-12222.753,13,1.9,13,18.3 MHEAD_RNG_PITCHd_Wd 150.4,3375,-26.1,-12.500

SPEED_LIMITS 0.217,0.229 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.4,1.018083 ALTIM_BOTTOM_PING 80.0,41.8

SM_CCo 2031,328.30,0.578,0,0,1160,620.11 _24V_AH 23.8,1.528

SM_GC 1.40,0.00,0.00,328.30,0.000,0.000,0.578,480,2371,1160,-9.12,0.31,620.11 _10V_AH 10.6,0.880

IRIDIUM_FIX 4751.72,-12223.57,110998,232350 DATA_FILE_SIZE 25648,331

TT8_MAMPS 0.027612 CAP_FILE_SIZE 39518,0

HUMID 1760 CFSIZE 260165632,258699264

INTERNAL_PRESSURE 8.61361 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 14.10 GPS 180609,004502,4807.616,-12222.747,14,1.4,14,18.3

XPDR_PINGS 4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 197 112.91 SBE_CT 229 24 131.05

Roll_motor 28 60 41.32 SBE_O2 156 19 70.79

VBD_pump_during_apogee 220 649 3415.09 Optode 231 33 181.52

VBD_pump_during_surface 328 578 4518.71 WL_BB2F 392 105 980.45

VBD_valve 0 0 0.00 WL_BBFL2VMT 825 105 2062.29

Iridium_during_init 27 103 67.56 nil 0 0 0.00

Iridium_during_connect 23 160 87.58 nil 0 0 0.00

Iridium_during_xfer 185 223 983.59

Transponder_ping 1 420 14.99

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.29

TT8 512 19 107.58

LPSleep 217 2 5.05

TT8_Active 596 19 125.12

TT8_Sampling 1036 39 437.08

TT8_CF8 366 45 177.89

TT8_Kalman 33 81 28.89

Analog_circuits 1020 12 129.76

GPS_charging 0 0 0.00

Compass 1043 8 88.51

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -1.80 -97.8 0.0 0.0 0 122 0.00 0.00 -104.35 0.000 2 0.000 0.000 483 2368 3165

125 -1.80 -97.8 3.2 -3.4 13 174 9.45 2.45 -28.12 0.000 4 0.198 0.058 2059 947 3953

423 -1.80 -97.8 38.3 -15.9 64 432 0.00 2.33 0.00 0.000 6 0.000 0.029 2058 2361 3953

501 -1.80 -97.8 49.9 -13.9 77 507 0.00 2.38 0.00 0.000 4 0.000 0.048 2058 3772 3953

705 -1.80 -97.8 81.2 -15.2 113 711 0.00 2.33 0.00 0.000 6 0.000 0.030 2058 2343 3953

844 -1.80 -97.8 101.8 -14.1 138 852 0.00 2.42 0.00 0.000 4 0.000 0.048 2058 3761 3953

859 -1.80 -97.8 103.9 -14.1 140 867 0.00 2.33 0.00 0.000 6 0.000 0.030 2058 2355 3953

915 end dive: BOTTOM_OBSTACLE_DETECTED

state 915 begin apogee

921 -0.32 0.0 112.4 14.4 150 983 1.65 0.00 51.53 0.650 6 0.123 0.000 2384 2355 3688

983 end apogee: CONTROL_FINISHED_OK

state 983 begin climb

986 1.80 97.8 115.4 0.0 159 1072 2.05 2.45 76.82 0.645 4 0.049 0.061 2862 956 3290

1103 1.92 188.7 113.2 4.7 177 1183 0.00 2.33 71.72 0.637 6 0.000 0.034 2863 2361 2918

1322 1.92 188.7 86.7 14.0 213 1327 0.00 0.00 0.00 0.000 6 0.000 0.000 2863 2360 2915

1460 1.92 188.7 67.3 12.7 238 1468 0.00 0.00 0.00 0.000 6 0.000 0.000 2863 2361 2914

1604 1.92 190.4 48.8 12.3 263 1609 0.00 0.00 0.00 0.000 6 0.000 0.000 2863 2360 2914

1743 1.93 195.9 32.2 12.0 288 1760 0.00 2.47 6.70 0.528 4 0.000 0.055 2862 959 2889

1796 1.93 195.9 25.5 12.7 296 1804 0.00 2.35 0.00 0.000 6 0.000 0.035 2863 2357 2888

1873 1.94 211.8 16.2 11.1 309 1899 0.10 2.47 14.10 0.581 4 0.073 0.057 2891 3761 2824

1907 1.94 211.8 11.7 12.8 313 1916 0.00 2.35 0.00 0.000 6 0.000 0.035 2891 2373 2823

1971 end climb: SURFACE_DEPTH_REACHED

state 1971 begin surface coast

2011 end surface coast: CONTROL_FINISHED_OK

state 2011 begin surface

ID	147	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	160	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	7	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3941	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2360	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2360	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	80	SM_CC	620	ROLL_CNV	0.028270001	XPDR_VALID	2
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	21	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	40	UPLOAD_DIVES_MAX	-1	VBD_MIN	477	DEVICE2	20
T_MISSION	65	CALL_TRIES	5	VBD_MAX	3951	DEVICE3	53
T_ABORT	1440	CALL_WAIT	60	C_VBD	3688	DEVICE4	35
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	87
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	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	100	T_GPS_CHARGE	-1480.9237	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	20	RAFOS_DEVICE	-1
MAX_BUOY	100	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	485	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3757	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2462	PRESSURE_YINT	-27.463364	SEABIRD_T_G	0.0042836252
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116148	SEABIRD_T_H	0.00062757189
MASS	52067	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.2935745e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.394582e-06
FERRY_MAX	45	PITCH_GAIN	15.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8471985
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.102998
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0019362674
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002209621
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	235802,4807.696,-12222.724,9,1.9,9,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.045,-0.224
_SM_DEPTHo	1.30	KALMAN_X	-358.2,-243.9,-67.1,576.5,51.2
_SM_ANGLEo	-66.5	KALMAN_Y	1919.6,952.9,284.1,-1803.5,-14.7
GPS2	000356,4807.751,-12222.753,13,1.9,13,18.3	MHEAD_RNG_PITCHd_Wd	150.4,3375,-26.1,-12.500
SPEED_LIMITS	0.217,0.229	D_GRID	150

FINISH	2.4,1.018083	ALTIM_BOTTOM_PING	80.0,41.8
SM_CCo	2031,328.30,0.578,0,0,1160,620.11	_24V_AH	23.8,1.528
SM_GC	1.40,0.00,0.00,328.30,0.000,0.000,0.578,480,2371,1160,-9.12,0.31,620.11	_10V_AH	10.6,0.880
IRIDIUM_FIX	4751.72,-12223.57,110998,232350	DATA_FILE_SIZE	25648,331
TT8_MAMPS	0.027612	CAP_FILE_SIZE	39518,0
HUMID	1760	CFSIZE	260165632,258699264
INTERNAL_PRESSURE	8.61361	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	14.10	GPS	180609,004502,4807.616,-12222.747,14,1.4,14,18.3
XPDR_PINGS	4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	197	112.91	SBE_CT	229	24	131.05
Roll_motor	28	60	41.32	SBE_O2	156	19	70.79
VBD_pump_during_apogee	220	649	3415.09	Optode	231	33	181.52
VBD_pump_during_surface	328	578	4518.71	WL_BB2F	392	105	980.45
VBD_valve	0	0	0.00	WL_BBFL2VMT	825	105	2062.29
Iridium_during_init	27	103	67.56	nil	0	0	0.00
Iridium_during_connect	23	160	87.58	nil	0	0	0.00
Iridium_during_xfer	185	223	983.59
Transponder_ping	1	420	14.99
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.29
TT8	512	19	107.58
LPSleep	217	2	5.05
TT8_Active	596	19	125.12
TT8_Sampling	1036	39	437.08
TT8_CF8	366	45	177.89
TT8_Kalman	33	81	28.89
Analog_circuits	1020	12	129.76
GPS_charging	0	0	0.00
Compass	1043	8	88.51
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-1.80	-97.8	0.0	0.0	0	122	0.00	0.00	-104.35	0.000	2	0.000	0.000	483	2368	3165
125	-1.80	-97.8	3.2	-3.4	13	174	9.45	2.45	-28.12	0.000	4	0.198	0.058	2059	947	3953
423	-1.80	-97.8	38.3	-15.9	64	432	0.00	2.33	0.00	0.000	6	0.000	0.029	2058	2361	3953
501	-1.80	-97.8	49.9	-13.9	77	507	0.00	2.38	0.00	0.000	4	0.000	0.048	2058	3772	3953
705	-1.80	-97.8	81.2	-15.2	113	711	0.00	2.33	0.00	0.000	6	0.000	0.030	2058	2343	3953
844	-1.80	-97.8	101.8	-14.1	138	852	0.00	2.42	0.00	0.000	4	0.000	0.048	2058	3761	3953
859	-1.80	-97.8	103.9	-14.1	140	867	0.00	2.33	0.00	0.000	6	0.000	0.030	2058	2355	3953
915	end dive: BOTTOM_OBSTACLE_DETECTED
state	915	begin apogee
921	-0.32	0.0	112.4	14.4	150	983	1.65	0.00	51.53	0.650	6	0.123	0.000	2384	2355	3688
983	end apogee: CONTROL_FINISHED_OK
state	983	begin climb
986	1.80	97.8	115.4	0.0	159	1072	2.05	2.45	76.82	0.645	4	0.049	0.061	2862	956	3290
1103	1.92	188.7	113.2	4.7	177	1183	0.00	2.33	71.72	0.637	6	0.000	0.034	2863	2361	2918
1322	1.92	188.7	86.7	14.0	213	1327	0.00	0.00	0.00	0.000	6	0.000	0.000	2863	2360	2915
1460	1.92	188.7	67.3	12.7	238	1468	0.00	0.00	0.00	0.000	6	0.000	0.000	2863	2361	2914
1604	1.92	190.4	48.8	12.3	263	1609	0.00	0.00	0.00	0.000	6	0.000	0.000	2863	2360	2914
1743	1.93	195.9	32.2	12.0	288	1760	0.00	2.47	6.70	0.528	4	0.000	0.055	2862	959	2889
1796	1.93	195.9	25.5	12.7	296	1804	0.00	2.35	0.00	0.000	6	0.000	0.035	2863	2357	2888
1873	1.94	211.8	16.2	11.1	309	1899	0.10	2.47	14.10	0.581	4	0.073	0.057	2891	3761	2824
1907	1.94	211.8	11.7	12.8	313	1916	0.00	2.35	0.00	0.000	6	0.000	0.035	2891	2373	2823
1971	end climb: SURFACE_DEPTH_REACHED
state	1971	begin surface coast
2011	end surface coast: CONTROL_FINISHED_OK
state	2011	begin surface