Glider dive log

PortSusan 03Dec08.02 * SG163 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 163 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 227 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 9 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3784 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 2250 ALTIM_FREQUENCY 12

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2359 ALTIM_PULSE 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 90 SM_CC 570 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 INT_PRESSURE_YINT 4

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 50 UPLOAD_DIVES_MAX -1 VBD_MIN 450 DEVICE2 35

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3750 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 360 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 -4323.3706 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 70 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 123 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3969 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2970 PRESSURE_YINT -30.71829 SEABIRD_T_G 0.0043696649

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000160567 SEABIRD_T_H 0.00063696795

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5730227e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8682675e-06

FERRY_MAX 45 PITCH_GAIN 21 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7142849

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.0845447

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00099864113

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016596938

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 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 90 PITCH_DBAND 0.1 SM_CC 570

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 21 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3969 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 4 PITCH_MIN 123 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 0.000160567 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -30.71829 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 50

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 -4323.3706

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 60

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 163 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3784 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 4 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2970 KALMAN_USE 1 ROLL_MIN 227 USE_BATHY 0

C_ROLL_CLIMB 2359 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2250 MASS 52000 R_PORT_OVSHOOT 33 VBD_BLEED_AD_RATE 8

C_VBD 3750 MAX_BUOY 70 R_STBD_OVSHOOT 27 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.7142849 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.0845447 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00099864113 VBD_MAXERRORS 1

DEVICE2 35 N_FILEKB 4 SEABIRD_C_J 0.00016596938 VBD_MIN 450

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043696649 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063696795 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5730227e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8682675e-06 XPDR_DEVICE 24

DIVE 9 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 024707,4806.880,-12223.045,14,1.4,30,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 11 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.052,0.173

_SM_DEPTHo 3.28 KALMAN_X -174.6,-49.0,198.3,629.5,172.4

_SM_ANGLEo -72.4 KALMAN_Y -1197.7,-182.3,-243.9,-776.4,-300.7

GPS2 025308,4806.818,-12223.021,11,1.6,16,18.3 MHEAD_RNG_PITCHd_Wd 325.1,338,-26.1,-10.000

SPEED_LIMITS 0.173,0.181 D_GRID 150

Post-dive calculations and measurements:

SM_CCo 2685,184.82,0.568,20,0,449,809.49 ALTIM_BOTTOM_PING 80.6,59.1

SM_GC 2.28,9.43,0.00,0.00,0.050,0.000,0.000,123,2244,445,-8.85,-0.17,810.72 _24V_AH 24.6,1.602

IRIDIUM_FIX 4751.72,-12340.51,280298,020202 _10V_AH 10.7,0.553

TT8_MAMPS 0.050622 DATA_FILE_SIZE 19043,426

HUMID 1479 CAP_FILE_SIZE 48786,8

INTERNAL_PRESSURE 9.24434 CFSIZE 260165632,258662400

TCM_TEMP 17.60 ERRORS 0,0,0,0,0,0,0,0,0,0,1,0,0,23,0

XPDR_PINGS 0 GPS 041208,034532,4806.846,-12223.110,8,1.3,13,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 250 138.05 SBE_CT 284 24 167.97

Roll_motor 36 72 64.25 WL_BB2F 520 105 1345.37

VBD_pump_during_apogee 169 793 3311.07 nil 0 0 0.00

VBD_pump_during_surface 529 672 8765.99 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 57.79 nil 0 0 0.00

Iridium_during_connect 33 160 131.95 nil 0 0 0.00

Iridium_during_xfer 228 223 1253.00

Transponder_ping 0 420 5.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.81

TT8 0 19 0.00

LPSleep 1248 2 29.26

TT8_Active 907 19 192.34

TT8_Sampling 919 39 391.69

TT8_CF8 357 45 175.33

TT8_Kalman 33 81 29.16

Analog_circuits 1280 12 164.38

GPS_charging 0 0 0.00

Compass 766 8 65.65

RAFOS 0 0 0.00

Transponder 5 30 1.79

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -1.33 -68.4 0.0 0.0 0 21 0.00 0.00 -8.10 0.000 2 0.000 0.000 121 2247 1625

23 -1.33 -68.4 3.4 -0.0 1 122 10.12 2.25 -81.18 0.000 4 0.251 0.070 2540 848 3963

361 -1.33 -68.4 36.4 -12.3 63 368 0.00 2.22 0.00 0.000 6 0.000 0.053 2532 2248 3963

430 -1.33 -68.4 45.6 -14.4 76 438 0.00 2.22 0.00 0.000 4 0.000 0.054 2532 845 3963

639 -1.33 -68.4 79.9 -17.1 115 649 0.00 2.22 0.00 0.000 6 0.000 0.053 2522 2251 3963

775 -1.33 -68.4 103.0 -17.2 140 782 0.00 2.25 0.00 0.000 4 0.000 0.063 2511 3660 3963

818 -1.33 -68.4 110.5 -17.7 148 825 0.08 2.20 0.00 0.000 6 0.176 0.045 2533 2244 3963

952 end dive: BOTTOM_OBSTACLE_DETECTED

state 952 begin apogee

956 -0.24 0.0 130.2 13.8 173 1000 1.12 0.00 40.62 0.794 6 0.151 0.000 2881 2369 3750

1001 end apogee: CONTROL_FINISHED_OK

state 1001 begin climb

1002 1.33 68.4 131.7 0.0 181 1063 1.45 2.35 52.58 0.759 4 0.064 0.062 3399 3765 3471

1099 1.33 68.4 121.8 15.2 199 1105 0.00 2.25 0.00 0.000 6 0.000 0.044 3409 2366 3471

1232 1.33 68.4 101.1 15.4 224 1239 0.00 2.28 0.00 0.000 4 0.000 0.061 3409 3759 3470

1296 1.33 68.4 91.8 14.1 236 1303 0.00 2.20 0.00 0.000 6 0.000 0.045 3420 2363 3470

1430 1.33 68.4 74.3 12.7 261 1436 0.00 2.28 0.00 0.000 4 0.000 0.062 3420 3770 3470

1547 1.33 68.4 59.3 12.3 283 1554 0.10 2.20 0.00 0.000 6 0.234 0.044 3406 2358 3470

1680 1.33 68.4 43.4 12.3 308 1687 0.00 2.25 0.00 0.000 4 0.000 0.061 3405 3766 3470

1927 1.38 110.3 18.0 5.9 354 1963 0.00 2.17 31.92 0.734 6 0.000 0.044 3415 2357 3300

2026 1.42 146.4 12.8 6.5 372 2062 0.00 2.33 28.23 0.712 4 0.000 0.061 3414 3764 3153

2301 1.55 245.4 9.0 0.3 423 2322 0.08 2.20 16.20 0.706 2 0.087 0.044 3459 2357 3071

2322 end climb: NO_VERTICAL_VELOCITY

state 2322 begin surface

ID	163	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	227	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	9	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3784	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	2250	ALTIM_FREQUENCY	12
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2359	ALTIM_PULSE	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	90	SM_CC	570	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	INT_PRESSURE_YINT	4
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	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	450	DEVICE2	35
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3750	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	360	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	-4323.3706	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	70	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	123	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3969	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2970	PRESSURE_YINT	-30.71829	SEABIRD_T_G	0.0043696649
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000160567	SEABIRD_T_H	0.00063696795
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5730227e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8682675e-06
FERRY_MAX	45	PITCH_GAIN	21	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7142849
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.0845447
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00099864113
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016596938
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	024707,4806.880,-12223.045,14,1.4,30,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	11	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.052,0.173
_SM_DEPTHo	3.28	KALMAN_X	-174.6,-49.0,198.3,629.5,172.4
_SM_ANGLEo	-72.4	KALMAN_Y	-1197.7,-182.3,-243.9,-776.4,-300.7
GPS2	025308,4806.818,-12223.021,11,1.6,16,18.3	MHEAD_RNG_PITCHd_Wd	325.1,338,-26.1,-10.000
SPEED_LIMITS	0.173,0.181	D_GRID	150

SM_CCo	2685,184.82,0.568,20,0,449,809.49	ALTIM_BOTTOM_PING	80.6,59.1
SM_GC	2.28,9.43,0.00,0.00,0.050,0.000,0.000,123,2244,445,-8.85,-0.17,810.72	_24V_AH	24.6,1.602
IRIDIUM_FIX	4751.72,-12340.51,280298,020202	_10V_AH	10.7,0.553
TT8_MAMPS	0.050622	DATA_FILE_SIZE	19043,426
HUMID	1479	CAP_FILE_SIZE	48786,8
INTERNAL_PRESSURE	9.24434	CFSIZE	260165632,258662400
TCM_TEMP	17.60	ERRORS	0,0,0,0,0,0,0,0,0,0,1,0,0,23,0
XPDR_PINGS	0	GPS	041208,034532,4806.846,-12223.110,8,1.3,13,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	250	138.05	SBE_CT	284	24	167.97
Roll_motor	36	72	64.25	WL_BB2F	520	105	1345.37
VBD_pump_during_apogee	169	793	3311.07	nil	0	0	0.00
VBD_pump_during_surface	529	672	8765.99	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	57.79	nil	0	0	0.00
Iridium_during_connect	33	160	131.95	nil	0	0	0.00
Iridium_during_xfer	228	223	1253.00
Transponder_ping	0	420	5.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.81
TT8	0	19	0.00
LPSleep	1248	2	29.26
TT8_Active	907	19	192.34
TT8_Sampling	919	39	391.69
TT8_CF8	357	45	175.33
TT8_Kalman	33	81	29.16
Analog_circuits	1280	12	164.38
GPS_charging	0	0	0.00
Compass	766	8	65.65
RAFOS	0	0	0.00
Transponder	5	30	1.79

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-1.33	-68.4	0.0	0.0	0	21	0.00	0.00	-8.10	0.000	2	0.000	0.000	121	2247	1625
23	-1.33	-68.4	3.4	-0.0	1	122	10.12	2.25	-81.18	0.000	4	0.251	0.070	2540	848	3963
361	-1.33	-68.4	36.4	-12.3	63	368	0.00	2.22	0.00	0.000	6	0.000	0.053	2532	2248	3963
430	-1.33	-68.4	45.6	-14.4	76	438	0.00	2.22	0.00	0.000	4	0.000	0.054	2532	845	3963
639	-1.33	-68.4	79.9	-17.1	115	649	0.00	2.22	0.00	0.000	6	0.000	0.053	2522	2251	3963
775	-1.33	-68.4	103.0	-17.2	140	782	0.00	2.25	0.00	0.000	4	0.000	0.063	2511	3660	3963
818	-1.33	-68.4	110.5	-17.7	148	825	0.08	2.20	0.00	0.000	6	0.176	0.045	2533	2244	3963
952	end dive: BOTTOM_OBSTACLE_DETECTED
state	952	begin apogee
956	-0.24	0.0	130.2	13.8	173	1000	1.12	0.00	40.62	0.794	6	0.151	0.000	2881	2369	3750
1001	end apogee: CONTROL_FINISHED_OK
state	1001	begin climb
1002	1.33	68.4	131.7	0.0	181	1063	1.45	2.35	52.58	0.759	4	0.064	0.062	3399	3765	3471
1099	1.33	68.4	121.8	15.2	199	1105	0.00	2.25	0.00	0.000	6	0.000	0.044	3409	2366	3471
1232	1.33	68.4	101.1	15.4	224	1239	0.00	2.28	0.00	0.000	4	0.000	0.061	3409	3759	3470
1296	1.33	68.4	91.8	14.1	236	1303	0.00	2.20	0.00	0.000	6	0.000	0.045	3420	2363	3470
1430	1.33	68.4	74.3	12.7	261	1436	0.00	2.28	0.00	0.000	4	0.000	0.062	3420	3770	3470
1547	1.33	68.4	59.3	12.3	283	1554	0.10	2.20	0.00	0.000	6	0.234	0.044	3406	2358	3470
1680	1.33	68.4	43.4	12.3	308	1687	0.00	2.25	0.00	0.000	4	0.000	0.061	3405	3766	3470
1927	1.38	110.3	18.0	5.9	354	1963	0.00	2.17	31.92	0.734	6	0.000	0.044	3415	2357	3300
2026	1.42	146.4	12.8	6.5	372	2062	0.00	2.33	28.23	0.712	4	0.000	0.061	3414	3764	3153
2301	1.55	245.4	9.0	0.3	423	2322	0.08	2.20	16.20	0.706	2	0.087	0.044	3459	2357	3071
2322	end climb: NO_VERTICAL_VELOCITY
state	2322	begin surface