Glider dive log

WA coast Sep08 * SG119 * Dive index * Mission links * Dive 129 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 119 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 5 HEADING -1 PITCH_ADJ_GAIN 0.039999999 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 129 ESCAPE_HEADING 90 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 200 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3772 ALTIM_PING_DEPTH 125

D_TGT 990 TGT_DEFAULT_LAT 48.130001 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_ABORT 1090 TGT_DEFAULT_LON -122.366 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_FINISH 0 SM_CC 350 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 30 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 36 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 600 N_NOSURFACE 0 ROLL_ADJ_GAIN 10 DEVICE2 20

T_MISSION 660 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 403 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3857 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2837 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -212168.03 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 27 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 120 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 863 AH0_24V 147 SEABIRD_T_G 0.0044304794

SPEED_FACTOR 1 PITCH_MAX 3325 AH0_10V 122.2 SEABIRD_T_H 0.00064686994

RHO 1.023 C_PITCH 2800 PRESSURE_YINT -2.9385166 SEABIRD_T_I 2.8000688e-05

MASS 51528 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001159777 SEABIRD_T_J 3.1833417e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8991232

FERRY_MAX 30 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.099651

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012204468

HD_A 0.0038945 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_J 0.00018128238

HD_B 0.0099684997 PITCH_AD_RATE 125 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22 SM_CC 350

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3325 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 25 D_SURF 2 PITCH_MIN 863 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 125 D_TGT 990 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 90 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001159777 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 30 PRESSURE_YINT -2.9385166 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.366

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 600

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -212168.03

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 660

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 10 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 27

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 119 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3772 T_WATCHDOG 10

C_PITCH 2800 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_ROLL_CLIMB 2200 KALMAN_USE 1 ROLL_MIN 200 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2837 MASS 51528 R_PORT_OVSHOOT 30 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 120 R_STBD_OVSHOOT 36 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 5 SEABIRD_C_G -9.8991232 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.099651 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012204468 VBD_MAX 3857

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00018128238 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044304794 VBD_MIN 403

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064686994 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8000688e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 129 PHONE_DEVICE 48 SEABIRD_T_J 3.1833417e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0.039999999 SIM_W 0

Pre-dive calculations and measurements:

GPS1 104437,4807.816,-12535.057,12,1.0,29,18.9 TGT_NAME SW_47N_128W

_CALLS 1 TGT_LATLONG 4700.000,-12800.000

_XMS_NAKs 2 TGT_RADIUS 1852.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.174,-0.088

_SM_DEPTHo 0.96 KALMAN_X -12434.2,-889.8,28731.5,-62175.9,51442.2

_SM_ANGLEo -70.5 KALMAN_Y 127157.8,-149.7,20188.0,-18894.9,-7023.8

GPS2 104851,4807.817,-12535.049,14,1.0,14,18.9 MHEAD_RNG_PITCHd_Wd 224.3,222022,-11.5,-5.500

SPEED_LIMITS 0.095,0.195 D_GRID 990

Post-dive calculations and measurements:

FINISH 0.2,1.017445 ALTIM_BOTTOM_PING 125.4,22.2

SM_CCo 4534,28.75,0.788,0,0,1410,350.04 _24V_AH 23.9,53.203

SM_GC 1.42,0.00,0.00,28.75,0.000,0.000,0.788,861,2225,1410,-8.91,0.71,350.04 _10V_AH 10.6,36.550

IRIDIUM_FIX 4748.51,-12536.76,160198,090926 DATA_FILE_SIZE 25354,510

TT8_MAMPS 0.027612 CAP_FILE_SIZE 52537,0

HUMID 2045 CFSIZE 260165632,249581568

INTERNAL_PRESSURE 8.71127 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.20 GPS 221008,120632,4807.918,-12535.362,9,1.7,9,18.9

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 150 96.20 SBE_CT 343 24 196.88

Roll_motor 31 72 55.47 SBE_O2 392 19 178.31

VBD_pump_during_apogee 326 888 6939.85 WL_BB2F 856 105 2150.60

VBD_pump_during_surface 28 787 541.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 68.39 nil 0 0 0.00

Iridium_during_connect 27 160 103.75 nil 0 0 0.00

Iridium_during_xfer 107 223 573.67

Transponder_ping 0 420 5.02

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.58

TT8 830 19 174.28

LPSleep 2265 2 52.59

TT8_Active 391 19 82.09

TT8_Sampling 1069 39 451.10

TT8_CF8 271 45 132.03

TT8_Kalman 33 81 28.92

Analog_circuits 886 12 112.77

GPS_charging 0 0 0.00

Compass 1063 8 90.16

RAFOS 0 0 0.00

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -0.67 -117.3 0.0 0.0 0 84 0.00 0.00 -62.12 0.000 2 0.000 0.000 860 2221 2804

87 -0.67 -117.3 3.3 -5.5 6 120 12.27 2.42 -11.70 0.000 4 0.150 0.073 2650 790 3318

312 -0.51 -117.3 32.8 -10.0 26 317 0.20 2.22 0.00 0.000 6 0.082 0.046 2683 2201 3317

649 -0.51 -117.3 55.4 -6.6 77 655 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2201 3318

993 -0.58 -117.3 79.3 -7.0 138 998 0.00 0.00 0.00 0.000 6 0.000 0.000 2684 2201 3318

1320 -0.66 -117.3 100.4 -6.6 170 1325 0.15 2.28 0.00 0.000 4 0.054 0.058 2646 792 3318

1370 -0.62 -117.3 104.8 -9.1 174 1374 0.00 2.17 0.00 0.000 6 0.000 0.047 2646 2183 3318

1696 -0.57 -117.3 128.3 -6.9 204 1698 0.15 0.00 0.00 0.000 6 0.084 0.000 2673 2184 3318

1863 end dive: BOTTOM_OBSTACLE_DETECTED

state 1863 begin apogee

1868 -0.23 0.0 138.0 5.6 220 1966 0.43 0.00 91.35 0.888 6 0.069 0.000 2747 2183 2836

1966 end apogee: CONTROL_FINISHED_OK

state 1967 begin climb

1969 0.67 117.3 141.4 0.0 230 2066 1.08 0.00 93.03 0.855 6 0.049 0.000 2941 2183 2358

2381 0.51 118.8 124.9 5.5 269 2385 0.15 2.40 0.00 0.000 4 0.092 0.069 2913 3609 2358

2447 0.42 118.8 121.1 5.6 274 2453 0.00 2.28 0.00 0.000 6 0.000 0.046 2913 2187 2358

2775 0.41 154.3 104.5 4.4 305 2811 0.12 2.38 30.27 0.858 4 0.095 0.065 2892 777 2208

2920 0.50 227.8 99.2 3.2 318 2987 0.00 2.12 61.22 0.842 6 0.000 0.048 2892 2116 1908

3310 0.71 227.8 78.2 5.8 357 3316 0.30 2.17 0.00 0.000 4 0.044 0.063 2957 787 1908

3403 0.63 227.8 70.5 8.4 373 3409 0.00 2.12 0.00 0.000 6 0.000 0.048 2957 2137 1908

3746 0.63 227.8 43.9 7.3 434 3753 0.00 2.40 0.00 0.000 4 0.000 0.067 2957 3601 1908

3798 0.58 227.8 39.9 7.8 443 3805 0.17 2.33 0.00 0.000 6 0.090 0.047 2928 2123 1908

4127 0.79 290.0 25.7 3.5 474 4184 0.20 2.28 51.05 0.819 4 0.053 0.066 2973 801 1654

4263 0.79 290.0 17.6 6.8 486 4269 0.00 2.12 0.00 0.000 6 0.000 0.047 2974 2112 1654

4489 end climb: SURFACE_DEPTH_REACHED

state 4490 begin surface coast

4514 end surface coast: CONTROL_FINISHED_OK

state 4514 begin surface

ID	119	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	5	HEADING	-1	PITCH_ADJ_GAIN	0.039999999	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	129	ESCAPE_HEADING	90	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	200	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3772	ALTIM_PING_DEPTH	125
D_TGT	990	TGT_DEFAULT_LAT	48.130001	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_ABORT	1090	TGT_DEFAULT_LON	-122.366	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_FINISH	0	SM_CC	350	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	30	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	36	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	600	N_NOSURFACE	0	ROLL_ADJ_GAIN	10	DEVICE2	20
T_MISSION	660	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	403	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3857	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2837	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-212168.03	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	27	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	120	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	863	AH0_24V	147	SEABIRD_T_G	0.0044304794
SPEED_FACTOR	1	PITCH_MAX	3325	AH0_10V	122.2	SEABIRD_T_H	0.00064686994
RHO	1.023	C_PITCH	2800	PRESSURE_YINT	-2.9385166	SEABIRD_T_I	2.8000688e-05
MASS	51528	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001159777	SEABIRD_T_J	3.1833417e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8991232
FERRY_MAX	30	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.099651
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012204468
HD_A	0.0038945	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_J	0.00018128238
HD_B	0.0099684997	PITCH_AD_RATE	125	ALTIM_BOTTOM_PING_RANGE	0

GPS1	104437,4807.816,-12535.057,12,1.0,29,18.9	TGT_NAME	SW_47N_128W
_CALLS	1	TGT_LATLONG	4700.000,-12800.000
_XMS_NAKs	2	TGT_RADIUS	1852.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.174,-0.088
_SM_DEPTHo	0.96	KALMAN_X	-12434.2,-889.8,28731.5,-62175.9,51442.2
_SM_ANGLEo	-70.5	KALMAN_Y	127157.8,-149.7,20188.0,-18894.9,-7023.8
GPS2	104851,4807.817,-12535.049,14,1.0,14,18.9	MHEAD_RNG_PITCHd_Wd	224.3,222022,-11.5,-5.500
SPEED_LIMITS	0.095,0.195	D_GRID	990

FINISH	0.2,1.017445	ALTIM_BOTTOM_PING	125.4,22.2
SM_CCo	4534,28.75,0.788,0,0,1410,350.04	_24V_AH	23.9,53.203
SM_GC	1.42,0.00,0.00,28.75,0.000,0.000,0.788,861,2225,1410,-8.91,0.71,350.04	_10V_AH	10.6,36.550
IRIDIUM_FIX	4748.51,-12536.76,160198,090926	DATA_FILE_SIZE	25354,510
TT8_MAMPS	0.027612	CAP_FILE_SIZE	52537,0
HUMID	2045	CFSIZE	260165632,249581568
INTERNAL_PRESSURE	8.71127	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.20	GPS	221008,120632,4807.918,-12535.362,9,1.7,9,18.9
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	150	96.20	SBE_CT	343	24	196.88
Roll_motor	31	72	55.47	SBE_O2	392	19	178.31
VBD_pump_during_apogee	326	888	6939.85	WL_BB2F	856	105	2150.60
VBD_pump_during_surface	28	787	541.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	68.39	nil	0	0	0.00
Iridium_during_connect	27	160	103.75	nil	0	0	0.00
Iridium_during_xfer	107	223	573.67
Transponder_ping	0	420	5.02
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.58
TT8	830	19	174.28
LPSleep	2265	2	52.59
TT8_Active	391	19	82.09
TT8_Sampling	1069	39	451.10
TT8_CF8	271	45	132.03
TT8_Kalman	33	81	28.92
Analog_circuits	886	12	112.77
GPS_charging	0	0	0.00
Compass	1063	8	90.16
RAFOS	0	0	0.00

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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-0.67	-117.3	0.0	0.0	0	84	0.00	0.00	-62.12	0.000	2	0.000	0.000	860	2221	2804
87	-0.67	-117.3	3.3	-5.5	6	120	12.27	2.42	-11.70	0.000	4	0.150	0.073	2650	790	3318
312	-0.51	-117.3	32.8	-10.0	26	317	0.20	2.22	0.00	0.000	6	0.082	0.046	2683	2201	3317
649	-0.51	-117.3	55.4	-6.6	77	655	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2201	3318
993	-0.58	-117.3	79.3	-7.0	138	998	0.00	0.00	0.00	0.000	6	0.000	0.000	2684	2201	3318
1320	-0.66	-117.3	100.4	-6.6	170	1325	0.15	2.28	0.00	0.000	4	0.054	0.058	2646	792	3318
1370	-0.62	-117.3	104.8	-9.1	174	1374	0.00	2.17	0.00	0.000	6	0.000	0.047	2646	2183	3318
1696	-0.57	-117.3	128.3	-6.9	204	1698	0.15	0.00	0.00	0.000	6	0.084	0.000	2673	2184	3318
1863	end dive: BOTTOM_OBSTACLE_DETECTED
state	1863	begin apogee
1868	-0.23	0.0	138.0	5.6	220	1966	0.43	0.00	91.35	0.888	6	0.069	0.000	2747	2183	2836
1966	end apogee: CONTROL_FINISHED_OK
state	1967	begin climb
1969	0.67	117.3	141.4	0.0	230	2066	1.08	0.00	93.03	0.855	6	0.049	0.000	2941	2183	2358
2381	0.51	118.8	124.9	5.5	269	2385	0.15	2.40	0.00	0.000	4	0.092	0.069	2913	3609	2358
2447	0.42	118.8	121.1	5.6	274	2453	0.00	2.28	0.00	0.000	6	0.000	0.046	2913	2187	2358
2775	0.41	154.3	104.5	4.4	305	2811	0.12	2.38	30.27	0.858	4	0.095	0.065	2892	777	2208
2920	0.50	227.8	99.2	3.2	318	2987	0.00	2.12	61.22	0.842	6	0.000	0.048	2892	2116	1908
3310	0.71	227.8	78.2	5.8	357	3316	0.30	2.17	0.00	0.000	4	0.044	0.063	2957	787	1908
3403	0.63	227.8	70.5	8.4	373	3409	0.00	2.12	0.00	0.000	6	0.000	0.048	2957	2137	1908
3746	0.63	227.8	43.9	7.3	434	3753	0.00	2.40	0.00	0.000	4	0.000	0.067	2957	3601	1908
3798	0.58	227.8	39.9	7.8	443	3805	0.17	2.33	0.00	0.000	6	0.090	0.047	2928	2123	1908
4127	0.79	290.0	25.7	3.5	474	4184	0.20	2.28	51.05	0.819	4	0.053	0.066	2973	801	1654
4263	0.79	290.0	17.6	6.8	486	4269	0.00	2.12	0.00	0.000	6	0.000	0.047	2974	2112	1654
4489	end climb: SURFACE_DEPTH_REACHED
state	4490	begin surface coast
4514	end surface coast: CONTROL_FINISHED_OK
state	4514	begin surface