Glider dive log

PortSusan 04Mar09 * SG166 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 7 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 380 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 INT_PRESSURE_YINT 2.7

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 67 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3420 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 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 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 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 -4289.0601 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 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 2650 PRESSURE_YINT -28.361515 SEABIRD_T_G 0.0043153614

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 25 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 7

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 500 PITCH_DBAND 0.1 SM_CC 380

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 7 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 5 D_SURF 4 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 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 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -28.361515 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 67

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

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 -4289.0601

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

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 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 2650 KALMAN_USE 1 ROLL_MIN 197 USE_BATHY 0

C_ROLL_CLIMB 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2150 MASS 52000 R_PORT_OVSHOOT 30 VBD_BLEED_AD_RATE 8

C_VBD 3420 MAX_BUOY 100 R_STBD_OVSHOOT 25 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 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 5

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 7 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 000434,4806.579,-12222.061,15,99.0,34,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.060,-0.187

_SM_DEPTHo 1.33 KALMAN_X 328.5,-51.6,-33.8,1137.1,240.2

_SM_ANGLEo -73.2 KALMAN_Y 1004.3,-39.3,-29.9,-3607.4,791.9

GPS2 000850,4806.552,-12222.038,14,1.3,14,18.3 MHEAD_RNG_PITCHd_Wd 179.5,1023,-16.6,-7.463

SPEED_LIMITS 0.129,0.197 D_GRID 150

Post-dive calculations and measurements:

SM_CCo 2140,512.15,0.784,6,0,455,727.31 ALTIM_BOTTOM_PING 85.2,35.5

SM_GC 0.99,7.97,0.00,0.00,0.068,0.000,0.000,162,2145,450,-7.74,-0.14,728.30 _24V_AH 24.1,1.021

IRIDIUM_FIX 4748.51,-12221.84,290598,232312 _10V_AH 10.7,0.303

TT8_MAMPS 0.026845 DATA_FILE_SIZE 22242,374

HUMID 1422 CAP_FILE_SIZE 40504,0

INTERNAL_PRESSURE 9.12603 CFSIZE 260165632,258277376

TCM_TEMP 17.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,6,0

XPDR_PINGS 17 GPS 050309,005706,4806.278,-12221.807,14,1.5,30,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 309 151.60 SBE_CT 252 24 146.17

Roll_motor 26 72 46.61 Optode 264 33 210.73

VBD_pump_during_apogee 153 909 3366.25 WL_BB2F 447 105 1132.49

VBD_pump_during_surface 512 783 9675.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 63.64 nil 0 0 0.00

Iridium_during_connect 28 160 111.52 nil 0 0 0.00

Iridium_during_xfer 135 223 726.80

Transponder_ping 5 420 53.14

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.60

TT8 572 19 121.38

LPSleep 787 2 18.46

TT8_Active 780 19 165.27

TT8_Sampling 680 39 289.92

TT8_CF8 235 45 115.36

TT8_Kalman 33 81 29.18

Analog_circuits 1129 12 145.07

GPS_charging 0 0 0.00

Compass 676 8 57.93

RAFOS 0 0 0.00

Transponder 10 30 3.28

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 -0.78 -97.8 0.0 0.0 0 99 0.00 0.00 -82.72 0.000 2 0.000 0.000 165 2137 3523

101 -0.78 -97.8 3.4 -4.1 14 127 10.73 2.20 -7.93 0.000 4 0.310 0.072 2389 737 3819

381 -0.78 -97.8 36.9 -11.1 63 387 0.00 2.22 0.00 0.000 6 0.000 0.058 2388 2159 3821

454 -0.78 -97.8 44.8 -10.2 76 460 0.00 2.22 0.00 0.000 4 0.000 0.056 2388 747 3820

572 -0.78 -97.8 58.1 -11.0 97 578 0.00 2.20 0.00 0.000 6 0.000 0.055 2387 2151 3820

714 -0.78 -97.8 72.7 -10.3 122 719 0.00 0.00 0.00 0.000 6 0.000 0.000 2387 2151 3820

855 -0.78 -97.8 86.8 -9.4 147 861 0.00 2.20 0.00 0.000 4 0.000 0.062 2388 730 3820

945 -0.78 -97.8 96.1 -10.2 163 951 0.00 2.20 0.00 0.000 6 0.000 0.056 2387 2150 3820

1085 -0.78 -97.8 109.7 -9.7 188 1090 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2150 3819

1128 end dive: BOTTOM_OBSTACLE_DETECTED

state 1128 begin apogee

1131 -0.20 0.0 113.9 9.4 196 1211 0.62 0.00 75.65 0.910 6 0.175 0.000 2575 2151 3420

1212 end apogee: CONTROL_FINISHED_OK

state 1212 begin climb

1213 0.78 97.8 115.8 0.0 210 1300 0.98 2.35 77.90 0.881 4 0.107 0.064 2896 3559 3020

1333 0.78 97.8 102.5 16.4 231 1339 0.00 2.25 0.00 0.000 6 0.000 0.044 2905 2146 3019

1473 0.78 97.8 78.7 16.9 256 1479 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 2146 3019

1613 0.78 97.8 55.2 17.0 281 1619 0.00 0.00 0.00 0.000 6 0.000 0.000 2905 2146 3019

1753 0.78 97.8 32.7 15.7 306 1760 0.00 2.28 0.00 0.000 4 0.000 0.066 2905 3557 3018

1782 0.78 97.8 27.8 16.6 311 1788 0.00 2.15 0.00 0.000 6 0.000 0.045 2916 2149 3018

1857 0.78 97.8 15.9 15.7 324 1862 0.00 0.00 0.00 0.000 6 0.000 0.000 2916 2149 3018

1929 0.78 97.8 6.2 11.7 337 1936 0.00 2.22 0.00 0.000 4 0.000 0.066 2916 3565 3018

2138 end climb: NO_VERTICAL_VELOCITY

state 2138 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	7	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	380	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	INT_PRESSURE_YINT	2.7
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	67	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3420	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	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	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	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	-4289.0601	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	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	2650	PRESSURE_YINT	-28.361515	SEABIRD_T_G	0.0043153614
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	25	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	7

GPS1	000434,4806.579,-12222.061,15,99.0,34,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.060,-0.187
_SM_DEPTHo	1.33	KALMAN_X	328.5,-51.6,-33.8,1137.1,240.2
_SM_ANGLEo	-73.2	KALMAN_Y	1004.3,-39.3,-29.9,-3607.4,791.9
GPS2	000850,4806.552,-12222.038,14,1.3,14,18.3	MHEAD_RNG_PITCHd_Wd	179.5,1023,-16.6,-7.463
SPEED_LIMITS	0.129,0.197	D_GRID	150

SM_CCo	2140,512.15,0.784,6,0,455,727.31	ALTIM_BOTTOM_PING	85.2,35.5
SM_GC	0.99,7.97,0.00,0.00,0.068,0.000,0.000,162,2145,450,-7.74,-0.14,728.30	_24V_AH	24.1,1.021
IRIDIUM_FIX	4748.51,-12221.84,290598,232312	_10V_AH	10.7,0.303
TT8_MAMPS	0.026845	DATA_FILE_SIZE	22242,374
HUMID	1422	CAP_FILE_SIZE	40504,0
INTERNAL_PRESSURE	9.12603	CFSIZE	260165632,258277376
TCM_TEMP	17.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
XPDR_PINGS	17	GPS	050309,005706,4806.278,-12221.807,14,1.5,30,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	309	151.60	SBE_CT	252	24	146.17
Roll_motor	26	72	46.61	Optode	264	33	210.73
VBD_pump_during_apogee	153	909	3366.25	WL_BB2F	447	105	1132.49
VBD_pump_during_surface	512	783	9675.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	63.64	nil	0	0	0.00
Iridium_during_connect	28	160	111.52	nil	0	0	0.00
Iridium_during_xfer	135	223	726.80
Transponder_ping	5	420	53.14
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.60
TT8	572	19	121.38
LPSleep	787	2	18.46
TT8_Active	780	19	165.27
TT8_Sampling	680	39	289.92
TT8_CF8	235	45	115.36
TT8_Kalman	33	81	29.18
Analog_circuits	1129	12	145.07
GPS_charging	0	0	0.00
Compass	676	8	57.93
RAFOS	0	0	0.00
Transponder	10	30	3.28

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	-0.78	-97.8	0.0	0.0	0	99	0.00	0.00	-82.72	0.000	2	0.000	0.000	165	2137	3523
101	-0.78	-97.8	3.4	-4.1	14	127	10.73	2.20	-7.93	0.000	4	0.310	0.072	2389	737	3819
381	-0.78	-97.8	36.9	-11.1	63	387	0.00	2.22	0.00	0.000	6	0.000	0.058	2388	2159	3821
454	-0.78	-97.8	44.8	-10.2	76	460	0.00	2.22	0.00	0.000	4	0.000	0.056	2388	747	3820
572	-0.78	-97.8	58.1	-11.0	97	578	0.00	2.20	0.00	0.000	6	0.000	0.055	2387	2151	3820
714	-0.78	-97.8	72.7	-10.3	122	719	0.00	0.00	0.00	0.000	6	0.000	0.000	2387	2151	3820
855	-0.78	-97.8	86.8	-9.4	147	861	0.00	2.20	0.00	0.000	4	0.000	0.062	2388	730	3820
945	-0.78	-97.8	96.1	-10.2	163	951	0.00	2.20	0.00	0.000	6	0.000	0.056	2387	2150	3820
1085	-0.78	-97.8	109.7	-9.7	188	1090	0.00	0.00	0.00	0.000	6	0.000	0.000	2388	2150	3819
1128	end dive: BOTTOM_OBSTACLE_DETECTED
state	1128	begin apogee
1131	-0.20	0.0	113.9	9.4	196	1211	0.62	0.00	75.65	0.910	6	0.175	0.000	2575	2151	3420
1212	end apogee: CONTROL_FINISHED_OK
state	1212	begin climb
1213	0.78	97.8	115.8	0.0	210	1300	0.98	2.35	77.90	0.881	4	0.107	0.064	2896	3559	3020
1333	0.78	97.8	102.5	16.4	231	1339	0.00	2.25	0.00	0.000	6	0.000	0.044	2905	2146	3019
1473	0.78	97.8	78.7	16.9	256	1479	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	2146	3019
1613	0.78	97.8	55.2	17.0	281	1619	0.00	0.00	0.00	0.000	6	0.000	0.000	2905	2146	3019
1753	0.78	97.8	32.7	15.7	306	1760	0.00	2.28	0.00	0.000	4	0.000	0.066	2905	3557	3018
1782	0.78	97.8	27.8	16.6	311	1788	0.00	2.15	0.00	0.000	6	0.000	0.045	2916	2149	3018
1857	0.78	97.8	15.9	15.7	324	1862	0.00	0.00	0.00	0.000	6	0.000	0.000	2916	2149	3018
1929	0.78	97.8	6.2	11.7	337	1936	0.00	2.22	0.00	0.000	4	0.000	0.066	2916	3565	3018
2138	end climb: NO_VERTICAL_VELOCITY
state	2138	begin surface