Glider dive log

PortSusan 04Jun08 * SG137 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 137 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 2 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 17 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING_DELTA 10 ROLL_MIN 220 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3918 ALTIM_PING_DEPTH 80

D_TGT 150 TGT_DEFAULT_LAT 48.150002 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LON -122.36 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_NO_BLEED 80 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2185 ALTIM_PULSE 3

D_FINISH 0 SM_CC 750 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

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 35 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 38 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 35

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 425 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3850 DEVICE5 -1

T_TURN_SAMPINT 4 CAPUPLOAD 1 C_VBD 3508 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 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -10989.788 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 35 PITCH_MIN 435 AH0_24V 91.800003 SEABIRD_T_G 0.0043829796

SPEED_FACTOR 1 PITCH_MAX 3729 AH0_10V 61.200001 SEABIRD_T_H 0.00064033607

RHO 1.023 C_PITCH 2617 PRESSURE_YINT -21.608009 SEABIRD_T_I 2.6896696e-05

MASS 51666 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161082 SEABIRD_T_J 3.076357e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.991785

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1193115

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00069633877

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.0001443676

HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SM_CC 750

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3729 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 435 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001161082 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -21.608009 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.36

APOGEE_PITCH -5 GLIDE_SLOPE 35 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -10989.788

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 137 ROLL_DEG 40 T_TURN_SAMPINT 4

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3918 T_WATCHDOG 10

C_PITCH 2617 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2185 KALMAN_USE 1 ROLL_MIN 220 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2250 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3508 MASS 51666 R_PORT_OVSHOOT 35 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 38 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -9.991785 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1193115 VBD_DBAND 2

DEVICE2 35 NAV_MODE 1 SEABIRD_C_I -0.00069633877 VBD_MAX 3850

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.0001443676 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043829796 VBD_MIN 425

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064033607 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6896696e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 17 PHONE_DEVICE 48 SEABIRD_T_J 3.076357e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 134310,4806.762,-12222.897,11,2.6,30,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.140,0.219

_SM_DEPTHo 1.49 KALMAN_X -1595.6,-91.5,-36.9,1514.7,40.7

_SM_ANGLEo -62.5 KALMAN_Y 1174.6,-0.0,-8.1,-1003.7,-13.9

GPS2 134857,4806.790,-12222.935,13,1.1,13,18.3 MHEAD_RNG_PITCHd_Wd 309.2,2600,-17.5,-10.000

SPEED_LIMITS 0.143,0.260 D_GRID 150

Post-dive calculations and measurements:

FINISH 4.4,1.020157 ALTIM_BOTTOM_PING 90.1,32.5

SM_CCo 2626,356.95,0.670,4,0,450,750.13 _24V_AH 23.3,75.314

SM_GC 2.02,0.00,0.00,356.95,0.000,0.000,0.670,429,2257,450,-10.06,0.23,750.13 _10V_AH 10.1,51.200

IRIDIUM_FIX 4751.72,-12056.72,300897,121222 DATA_FILE_SIZE 25330,555

TT8_MAMPS 0.028379 CAP_FILE_SIZE 52601,0

HUMID 1895 CFSIZE 260165632,254603264

INTERNAL_PRESSURE 7.80303 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,0

TCM_TEMP 17.60 GPS 050608,144053,4806.976,-12222.984,7,1.2,21,18.3

XPDR_PINGS 10

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 139 79.28 SBE_CT 370 24 207.31

Roll_motor 39 73 67.30 WL_BB2F 660 105 1615.14

VBD_pump_during_apogee 214 770 3845.54 nil 0 0 0.00

VBD_pump_during_surface 356 669 5568.94 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 60.74 nil 0 0 0.00

Iridium_during_connect 28 160 106.12 nil 0 0 0.00

Iridium_during_xfer 185 223 962.62

Transponder_ping 3 420 34.25

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.66

TT8 818 19 163.70

LPSleep 483 2 10.70

TT8_Active 678 19 135.68

TT8_Sampling 1010 39 406.01

TT8_CF8 375 45 173.56

TT8_Kalman 33 81 27.53

Analog_circuits 1175 12 142.53

GPS_charging 0 0 0.00

Compass 999 8 80.80

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 -1.35 -146.6 0.0 0.0 0 120 0.00 0.00 -97.07 0.000 2 0.000 0.000 432 2262 3052

124 -1.35 -146.6 3.0 -1.4 18 165 10.35 2.45 -22.90 0.000 4 0.140 0.054 2319 3649 3854

402 -1.35 -146.6 26.3 -8.6 82 408 0.00 2.40 0.00 0.000 6 0.000 0.032 2319 2243 3855

472 -1.35 -146.6 32.1 -8.7 98 479 0.00 2.50 0.00 0.000 4 0.000 0.049 2319 3651 3855

731 -1.35 -146.6 57.9 -10.0 156 738 0.00 2.40 0.00 0.000 6 0.000 0.027 2318 2247 3855

875 -1.35 -146.6 70.7 -8.6 187 882 0.00 2.47 0.00 0.000 4 0.000 0.042 2319 3645 3855

1098 -1.35 -146.6 91.6 -9.0 235 1104 0.00 2.38 0.00 0.000 6 0.000 0.027 2319 2250 3855

1241 -1.35 -146.6 103.8 -8.3 266 1247 0.00 0.00 0.00 0.000 6 0.000 0.000 2319 2250 3855

1345 end dive: BOTTOM_OBSTACLE_DETECTED

state 1345 begin apogee

1351 -0.33 0.0 112.8 8.4 289 1426 1.05 0.00 69.85 0.770 6 0.082 0.000 2535 2177 3508

1426 end apogee: CONTROL_FINISHED_OK

state 1426 begin climb

1429 1.35 146.6 115.3 0.0 303 1556 1.70 2.50 114.97 0.758 4 0.054 0.046 2911 802 2909

1582 1.35 146.6 105.2 11.6 332 1589 0.00 2.38 0.00 0.000 6 0.000 0.031 2910 2179 2907

1726 1.35 146.6 88.5 11.3 363 1732 0.00 0.00 0.00 0.000 6 0.000 0.000 2911 2180 2906

1867 1.35 146.6 72.8 11.0 394 1873 0.00 2.47 0.00 0.000 4 0.000 0.042 2911 3589 2906

1884 1.35 146.6 70.7 11.4 397 1890 0.00 2.40 0.00 0.000 6 0.000 0.027 2911 2194 2905

2028 1.35 146.6 55.1 10.6 428 2034 0.00 2.45 0.00 0.000 4 0.000 0.041 2911 785 2905

2059 1.35 146.6 51.5 10.7 434 2065 0.00 2.40 0.00 0.000 6 0.000 0.039 2911 2187 2905

2202 1.37 166.2 37.8 9.1 465 2225 0.00 0.00 16.40 0.695 6 0.000 0.000 2911 2187 2829

2289 1.37 166.2 28.8 10.3 484 2295 0.00 0.00 0.00 0.000 6 0.000 0.000 2910 2187 2828

2359 1.37 166.2 21.8 10.0 500 2366 0.00 2.45 0.00 0.000 4 0.000 0.041 2911 3586 2827

2413 1.37 166.2 16.3 10.3 512 2419 0.00 2.40 0.00 0.000 6 0.000 0.027 2911 2183 2827

2484 1.39 181.2 9.6 9.3 528 2503 0.00 2.53 13.10 0.677 4 0.000 0.040 2911 785 2769

2556 end climb: SURFACE_DEPTH_REACHED

state 2556 begin surface coast

2603 end surface coast: CONTROL_FINISHED_OK

state 2603 begin surface

ID	137	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	2	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	17	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING_DELTA	10	ROLL_MIN	220	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3918	ALTIM_PING_DEPTH	80
D_TGT	150	TGT_DEFAULT_LAT	48.150002	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LON	-122.36	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_NO_BLEED	80	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2185	ALTIM_PULSE	3
D_FINISH	0	SM_CC	750	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
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	35	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	38	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	35
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	425	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3850	DEVICE5	-1
T_TURN_SAMPINT	4	CAPUPLOAD	1	C_VBD	3508	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	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-10989.788	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	35	PITCH_MIN	435	AH0_24V	91.800003	SEABIRD_T_G	0.0043829796
SPEED_FACTOR	1	PITCH_MAX	3729	AH0_10V	61.200001	SEABIRD_T_H	0.00064033607
RHO	1.023	C_PITCH	2617	PRESSURE_YINT	-21.608009	SEABIRD_T_I	2.6896696e-05
MASS	51666	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161082	SEABIRD_T_J	3.076357e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.991785
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1193115
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00069633877
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.0001443676
HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	134310,4806.762,-12222.897,11,2.6,30,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.140,0.219
_SM_DEPTHo	1.49	KALMAN_X	-1595.6,-91.5,-36.9,1514.7,40.7
_SM_ANGLEo	-62.5	KALMAN_Y	1174.6,-0.0,-8.1,-1003.7,-13.9
GPS2	134857,4806.790,-12222.935,13,1.1,13,18.3	MHEAD_RNG_PITCHd_Wd	309.2,2600,-17.5,-10.000
SPEED_LIMITS	0.143,0.260	D_GRID	150

FINISH	4.4,1.020157	ALTIM_BOTTOM_PING	90.1,32.5
SM_CCo	2626,356.95,0.670,4,0,450,750.13	_24V_AH	23.3,75.314
SM_GC	2.02,0.00,0.00,356.95,0.000,0.000,0.670,429,2257,450,-10.06,0.23,750.13	_10V_AH	10.1,51.200
IRIDIUM_FIX	4751.72,-12056.72,300897,121222	DATA_FILE_SIZE	25330,555
TT8_MAMPS	0.028379	CAP_FILE_SIZE	52601,0
HUMID	1895	CFSIZE	260165632,254603264
INTERNAL_PRESSURE	7.80303	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
TCM_TEMP	17.60	GPS	050608,144053,4806.976,-12222.984,7,1.2,21,18.3
XPDR_PINGS	10

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	139	79.28	SBE_CT	370	24	207.31
Roll_motor	39	73	67.30	WL_BB2F	660	105	1615.14
VBD_pump_during_apogee	214	770	3845.54	nil	0	0	0.00
VBD_pump_during_surface	356	669	5568.94	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	60.74	nil	0	0	0.00
Iridium_during_connect	28	160	106.12	nil	0	0	0.00
Iridium_during_xfer	185	223	962.62
Transponder_ping	3	420	34.25
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.66
TT8	818	19	163.70
LPSleep	483	2	10.70
TT8_Active	678	19	135.68
TT8_Sampling	1010	39	406.01
TT8_CF8	375	45	173.56
TT8_Kalman	33	81	27.53
Analog_circuits	1175	12	142.53
GPS_charging	0	0	0.00
Compass	999	8	80.80
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	-1.35	-146.6	0.0	0.0	0	120	0.00	0.00	-97.07	0.000	2	0.000	0.000	432	2262	3052
124	-1.35	-146.6	3.0	-1.4	18	165	10.35	2.45	-22.90	0.000	4	0.140	0.054	2319	3649	3854
402	-1.35	-146.6	26.3	-8.6	82	408	0.00	2.40	0.00	0.000	6	0.000	0.032	2319	2243	3855
472	-1.35	-146.6	32.1	-8.7	98	479	0.00	2.50	0.00	0.000	4	0.000	0.049	2319	3651	3855
731	-1.35	-146.6	57.9	-10.0	156	738	0.00	2.40	0.00	0.000	6	0.000	0.027	2318	2247	3855
875	-1.35	-146.6	70.7	-8.6	187	882	0.00	2.47	0.00	0.000	4	0.000	0.042	2319	3645	3855
1098	-1.35	-146.6	91.6	-9.0	235	1104	0.00	2.38	0.00	0.000	6	0.000	0.027	2319	2250	3855
1241	-1.35	-146.6	103.8	-8.3	266	1247	0.00	0.00	0.00	0.000	6	0.000	0.000	2319	2250	3855
1345	end dive: BOTTOM_OBSTACLE_DETECTED
state	1345	begin apogee
1351	-0.33	0.0	112.8	8.4	289	1426	1.05	0.00	69.85	0.770	6	0.082	0.000	2535	2177	3508
1426	end apogee: CONTROL_FINISHED_OK
state	1426	begin climb
1429	1.35	146.6	115.3	0.0	303	1556	1.70	2.50	114.97	0.758	4	0.054	0.046	2911	802	2909
1582	1.35	146.6	105.2	11.6	332	1589	0.00	2.38	0.00	0.000	6	0.000	0.031	2910	2179	2907
1726	1.35	146.6	88.5	11.3	363	1732	0.00	0.00	0.00	0.000	6	0.000	0.000	2911	2180	2906
1867	1.35	146.6	72.8	11.0	394	1873	0.00	2.47	0.00	0.000	4	0.000	0.042	2911	3589	2906
1884	1.35	146.6	70.7	11.4	397	1890	0.00	2.40	0.00	0.000	6	0.000	0.027	2911	2194	2905
2028	1.35	146.6	55.1	10.6	428	2034	0.00	2.45	0.00	0.000	4	0.000	0.041	2911	785	2905
2059	1.35	146.6	51.5	10.7	434	2065	0.00	2.40	0.00	0.000	6	0.000	0.039	2911	2187	2905
2202	1.37	166.2	37.8	9.1	465	2225	0.00	0.00	16.40	0.695	6	0.000	0.000	2911	2187	2829
2289	1.37	166.2	28.8	10.3	484	2295	0.00	0.00	0.00	0.000	6	0.000	0.000	2910	2187	2828
2359	1.37	166.2	21.8	10.0	500	2366	0.00	2.45	0.00	0.000	4	0.000	0.041	2911	3586	2827
2413	1.37	166.2	16.3	10.3	512	2419	0.00	2.40	0.00	0.000	6	0.000	0.027	2911	2183	2827
2484	1.39	181.2	9.6	9.3	528	2503	0.00	2.53	13.10	0.677	4	0.000	0.040	2911	785	2769
2556	end climb: SURFACE_DEPTH_REACHED
state	2556	begin surface coast
2603	end surface coast: CONTROL_FINISHED_OK
state	2603	begin surface