Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 182 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 182 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 425 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 47 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 93 INT_PRESSURE_YINT 2.7

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 275 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 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 -4 T_GPS 15 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 1001 T_GPS_CHARGE -8780.2676 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 0 RAFOS_DEVICE -1

MAX_BUOY 250 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 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

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 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 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 25 D_SURF 3 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 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 275

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -8780.2676

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 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 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -4

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 47 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 250 R_STBD_OVSHOOT 93 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 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 4

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 182 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 030036,2413.143,12322.703,35,0.9,41,-3.5 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2403.100,12322.900

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.38 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 030501,2413.164,12322.739,10,1.2,10,-3.5 MHEAD_RNG_PITCHd_Wd 218.0,18640,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 281

Post-dive calculations and measurements:

FINISH 0.7,1.013785 ALTIM_BOTTOM_PING 200.4,60.6

SM_CCo 3942,0.00,0.000,0,0,449,592.15 _24V_AH 24.9,40.068

SM_GC 1.50,8.10,0.00,0.00,0.043,0.000,0.000,159,1522,449,-8.01,0.62,592.15 _10V_AH 10.9,24.369

IRIDIUM_FIX 2403.92,12321.74,120998,010127 DATA_FILE_SIZE 34890,660

TT8_MAMPS 0.026845 CAP_FILE_SIZE 54778,0

HUMID 1545 CFSIZE 260165632,221507584

INTERNAL_PRESSURE 10.044 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.50 CURRENT 0.191, 52.7,1

XPDR_PINGS 0 GPS 180609,041149,2413.131,12322.739,9,1.4,14,-3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 227 121.95 SBE_CT 431 24 257.96

Roll_motor 32 55 44.55 Optode 589 33 484.18

VBD_pump_during_apogee 643 793 12700.20 WL_BB2F 990 105 2590.34

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 58.64 nil 0 0 0.00

Iridium_during_connect 30 160 121.05 nil 0 0 0.00

Iridium_during_xfer 125 223 695.33

Transponder_ping 0 420 5.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 10 50 5.55

TT8 970 19 209.41

LPSleep 1123 2 26.81

TT8_Active 607 19 131.06

TT8_Sampling 1228 39 532.97

TT8_CF8 284 45 141.81

TT8_Kalman 0 0 0.00

Analog_circuits 1237 12 161.92

GPS_charging 0 0 0.00

Compass 1230 8 107.30

RAFOS 0 0 0.00

Transponder 6 30 2.27

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 -0.97 -243.4 0.0 0.0 0 100 0.00 0.00 -83.18 0.000 2 0.000 0.000 155 1526 2310

102 -0.97 -243.4 3.1 -6.3 13 160 8.80 2.00 -41.12 0.000 4 0.228 0.055 2417 202 3858

313 -0.23 -243.4 70.7 -34.3 49 320 0.73 1.83 0.00 0.000 6 0.150 0.028 2657 1469 3859

656 -0.52 -243.4 103.3 -9.0 110 664 0.20 2.10 0.00 0.000 4 0.049 0.036 2555 2925 3859

817 -0.52 -243.4 125.2 -14.4 138 825 0.00 2.03 0.00 0.000 6 0.000 0.031 2550 1514 3860

1164 -0.45 -243.4 172.1 -14.6 199 1171 0.17 1.92 0.00 0.000 4 0.130 0.042 2605 204 3861

1206 -0.62 -243.4 177.3 -10.8 206 1215 0.17 1.90 0.00 0.000 6 0.039 0.025 2519 1545 3860

1558 -0.47 -243.4 229.0 -15.1 267 1565 0.20 1.95 0.00 0.000 4 0.134 0.038 2583 2887 3860

1583 -0.47 -243.4 232.2 -12.4 271 1589 0.00 1.95 0.00 0.000 6 0.000 0.031 2582 1532 3860

1628 end dive: BOTTOM_OBSTACLE_DETECTED

state 1628 begin apogee

1633 -0.20 0.0 236.3 9.1 279 1821 0.22 0.00 181.75 0.793 6 0.117 0.000 2661 1749 2863

1823 end apogee: CONTROL_FINISHED_OK

state 1823 begin climb

1825 0.97 243.4 245.8 0.0 310 2019 1.12 2.15 183.10 0.782 4 0.095 0.041 3041 3128 1868

2110 0.77 243.4 221.2 14.2 357 2117 0.22 2.05 0.00 0.000 6 0.149 0.035 2987 1744 1866

2456 0.97 351.5 192.5 8.4 418 2546 0.17 2.22 84.25 0.760 4 0.057 0.047 3083 348 1429

2666 0.76 351.5 165.3 15.8 453 2673 0.32 2.03 0.00 0.000 6 0.137 0.028 2983 1756 1427

3011 1.26 543.5 137.5 5.6 514 3176 0.38 2.15 154.98 0.732 4 0.039 0.038 3162 3139 646

3319 1.01 543.5 80.4 21.0 565 3326 0.38 2.10 0.00 0.000 6 0.149 0.031 3063 1700 645

3665 1.41 628.0 44.6 9.2 626 3711 0.30 2.05 39.05 0.657 4 0.041 0.043 3229 345 454

3850 end climb: SURFACE_DEPTH_REACHED

state 3850 begin surface coast

3864 end surface coast: CONTROL_FINISHED_OK

state 3864 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	182	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	425	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	47	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	93	INT_PRESSURE_YINT	2.7
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	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	-4	T_GPS	15	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	1001	T_GPS_CHARGE	-8780.2676	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	0	RAFOS_DEVICE	-1
MAX_BUOY	250	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	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	030036,2413.143,12322.703,35,0.9,41,-3.5	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2403.100,12322.900
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.38	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	030501,2413.164,12322.739,10,1.2,10,-3.5	MHEAD_RNG_PITCHd_Wd	218.0,18640,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	281

FINISH	0.7,1.013785	ALTIM_BOTTOM_PING	200.4,60.6
SM_CCo	3942,0.00,0.000,0,0,449,592.15	_24V_AH	24.9,40.068
SM_GC	1.50,8.10,0.00,0.00,0.043,0.000,0.000,159,1522,449,-8.01,0.62,592.15	_10V_AH	10.9,24.369
IRIDIUM_FIX	2403.92,12321.74,120998,010127	DATA_FILE_SIZE	34890,660
TT8_MAMPS	0.026845	CAP_FILE_SIZE	54778,0
HUMID	1545	CFSIZE	260165632,221507584
INTERNAL_PRESSURE	10.044	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.50	CURRENT	0.191, 52.7,1
XPDR_PINGS	0	GPS	180609,041149,2413.131,12322.739,9,1.4,14,-3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	227	121.95	SBE_CT	431	24	257.96
Roll_motor	32	55	44.55	Optode	589	33	484.18
VBD_pump_during_apogee	643	793	12700.20	WL_BB2F	990	105	2590.34
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	58.64	nil	0	0	0.00
Iridium_during_connect	30	160	121.05	nil	0	0	0.00
Iridium_during_xfer	125	223	695.33
Transponder_ping	0	420	5.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	10	50	5.55
TT8	970	19	209.41
LPSleep	1123	2	26.81
TT8_Active	607	19	131.06
TT8_Sampling	1228	39	532.97
TT8_CF8	284	45	141.81
TT8_Kalman	0	0	0.00
Analog_circuits	1237	12	161.92
GPS_charging	0	0	0.00
Compass	1230	8	107.30
RAFOS	0	0	0.00
Transponder	6	30	2.27

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	-0.97	-243.4	0.0	0.0	0	100	0.00	0.00	-83.18	0.000	2	0.000	0.000	155	1526	2310
102	-0.97	-243.4	3.1	-6.3	13	160	8.80	2.00	-41.12	0.000	4	0.228	0.055	2417	202	3858
313	-0.23	-243.4	70.7	-34.3	49	320	0.73	1.83	0.00	0.000	6	0.150	0.028	2657	1469	3859
656	-0.52	-243.4	103.3	-9.0	110	664	0.20	2.10	0.00	0.000	4	0.049	0.036	2555	2925	3859
817	-0.52	-243.4	125.2	-14.4	138	825	0.00	2.03	0.00	0.000	6	0.000	0.031	2550	1514	3860
1164	-0.45	-243.4	172.1	-14.6	199	1171	0.17	1.92	0.00	0.000	4	0.130	0.042	2605	204	3861
1206	-0.62	-243.4	177.3	-10.8	206	1215	0.17	1.90	0.00	0.000	6	0.039	0.025	2519	1545	3860
1558	-0.47	-243.4	229.0	-15.1	267	1565	0.20	1.95	0.00	0.000	4	0.134	0.038	2583	2887	3860
1583	-0.47	-243.4	232.2	-12.4	271	1589	0.00	1.95	0.00	0.000	6	0.000	0.031	2582	1532	3860
1628	end dive: BOTTOM_OBSTACLE_DETECTED
state	1628	begin apogee
1633	-0.20	0.0	236.3	9.1	279	1821	0.22	0.00	181.75	0.793	6	0.117	0.000	2661	1749	2863
1823	end apogee: CONTROL_FINISHED_OK
state	1823	begin climb
1825	0.97	243.4	245.8	0.0	310	2019	1.12	2.15	183.10	0.782	4	0.095	0.041	3041	3128	1868
2110	0.77	243.4	221.2	14.2	357	2117	0.22	2.05	0.00	0.000	6	0.149	0.035	2987	1744	1866
2456	0.97	351.5	192.5	8.4	418	2546	0.17	2.22	84.25	0.760	4	0.057	0.047	3083	348	1429
2666	0.76	351.5	165.3	15.8	453	2673	0.32	2.03	0.00	0.000	6	0.137	0.028	2983	1756	1427
3011	1.26	543.5	137.5	5.6	514	3176	0.38	2.15	154.98	0.732	4	0.039	0.038	3162	3139	646
3319	1.01	543.5	80.4	21.0	565	3326	0.38	2.10	0.00	0.000	6	0.149	0.031	3063	1700	645
3665	1.41	628.0	44.6	9.2	626	3711	0.30	2.05	39.05	0.657	4	0.041	0.043	3229	345	454
3850	end climb: SURFACE_DEPTH_REACHED
state	3850	begin surface coast
3864	end surface coast: CONTROL_FINISHED_OK
state	3864	begin surface