Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 184 * 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 184 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 33 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 82 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 -8810.4902 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 -8810.4902

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 33 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 250 R_STBD_OVSHOOT 82 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 184 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 052708,2413.328,12322.951,11,1.6,11,-3.5 TGT_NAME RET_1

_CALLS 2 TGT_LATLONG 2403.100,12322.900

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 053426,2413.413,12323.024,12,1.6,12,-3.5 MHEAD_RNG_PITCHd_Wd 227.9,19101,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 281

Post-dive calculations and measurements:

FINISH 0.7,1.021212 ALTIM_BOTTOM_PING 200.1,58.8

SM_CCo 3976,0.00,0.000,0,0,994,458.22 _24V_AH 24.9,40.358

SM_GC 1.42,7.70,0.00,0.00,0.044,0.000,0.000,161,1532,994,-8.03,0.90,458.22 _10V_AH 10.9,24.515

IRIDIUM_FIX 2403.92,12321.74,120998,050515 DATA_FILE_SIZE 34810,669

TT8_MAMPS 0.026845 CAP_FILE_SIZE 56807,0

HUMID 1557 CFSIZE 260165632,221429760

INTERNAL_PRESSURE 10.1026 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.60 CURRENT 0.276, 54.9,1

XPDR_PINGS 0 GPS 180609,064206,2413.500,12322.940,32,0.8,32,-3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 226 117.89 SBE_CT 439 24 262.61

Roll_motor 32 53 43.05 Optode 603 33 496.11

VBD_pump_during_apogee 538 797 10696.81 WL_BB2F 1015 105 2653.90

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 51 103 133.00 nil 0 0 0.00

Iridium_during_connect 68 160 273.21 nil 0 0 0.00

Iridium_during_xfer 163 223 909.55

Transponder_ping 0 420 5.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.17

TT8 1015 19 219.16

LPSleep 1228 2 29.32

TT8_Active 537 19 115.94

TT8_Sampling 1243 39 539.40

TT8_CF8 397 45 198.61

TT8_Kalman 0 0 0.00

Analog_circuits 1152 12 150.76

GPS_charging 0 0 0.00

Compass 1247 8 108.79

RAFOS 0 0 0.00

Transponder 5 30 1.83

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 0 107 0.00 0.00 -89.80 0.000 2 0.000 0.000 169 1536 2486

109 -0.97 -243.4 3.2 -4.4 14 162 8.75 2.05 -34.72 0.000 4 0.226 0.054 2408 184 3858

302 -0.12 -243.4 63.4 -36.3 47 309 0.93 1.88 0.00 0.000 6 0.156 0.025 2695 1493 3859

648 -0.85 -243.4 98.9 -10.5 108 655 0.62 2.00 0.00 0.000 4 0.077 0.032 2466 2897 3860

701 -0.50 -243.4 106.1 -15.7 117 708 0.35 2.05 0.00 0.000 6 0.140 0.029 2572 1461 3860

1048 -0.54 -243.4 154.4 -11.9 178 1055 0.00 2.08 0.00 0.000 4 0.000 0.035 2570 2891 3860

1158 -0.71 -243.4 166.7 -11.1 197 1165 0.12 2.00 0.00 0.000 6 0.043 0.030 2489 1515 3860

1505 -0.47 -243.4 227.8 -17.7 258 1513 0.28 2.03 0.00 0.000 4 0.130 0.039 2585 2892 3861

1580 end dive: BOTTOM_OBSTACLE_DETECTED

state 1580 begin apogee

1586 -0.20 0.0 234.0 5.0 271 1777 0.25 0.00 182.10 0.798 6 0.100 0.000 2671 1749 2862

1779 end apogee: CONTROL_FINISHED_OK

state 1780 begin climb

1781 0.97 243.4 239.7 0.0 303 1969 1.05 0.00 183.12 0.783 6 0.078 0.000 3045 1749 1869

2309 0.84 272.2 197.1 11.0 393 2341 0.15 2.12 23.30 0.742 4 0.146 0.039 3006 3134 1751

2377 0.86 292.4 189.4 11.3 404 2403 0.00 2.03 16.90 0.719 6 0.000 0.033 3008 1754 1671

2742 1.07 414.9 158.2 7.9 468 2850 0.17 2.25 97.62 0.753 4 0.053 0.044 3109 340 1170

2963 1.01 414.9 126.7 14.2 505 2970 0.12 2.08 0.00 0.000 6 0.133 0.028 3065 1762 1167

3308 1.11 434.2 87.6 11.4 566 3329 0.00 2.20 16.25 0.670 4 0.000 0.044 3073 346 1092

3375 1.27 456.4 80.0 11.3 577 3402 0.17 2.03 19.25 0.667 6 0.042 0.028 3165 1742 1001

3742 1.07 456.4 16.6 15.7 641 3749 0.25 2.08 0.00 0.000 4 0.142 0.041 3098 347 999

3866 end climb: SURFACE_DEPTH_REACHED

state 3866 begin surface coast

3899 end surface coast: CONTROL_FINISHED_OK

state 3899 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	184	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	33	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	82	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	-8810.4902	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	052708,2413.328,12322.951,11,1.6,11,-3.5	TGT_NAME	RET_1
_CALLS	2	TGT_LATLONG	2403.100,12322.900
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	053426,2413.413,12323.024,12,1.6,12,-3.5	MHEAD_RNG_PITCHd_Wd	227.9,19101,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	281

FINISH	0.7,1.021212	ALTIM_BOTTOM_PING	200.1,58.8
SM_CCo	3976,0.00,0.000,0,0,994,458.22	_24V_AH	24.9,40.358
SM_GC	1.42,7.70,0.00,0.00,0.044,0.000,0.000,161,1532,994,-8.03,0.90,458.22	_10V_AH	10.9,24.515
IRIDIUM_FIX	2403.92,12321.74,120998,050515	DATA_FILE_SIZE	34810,669
TT8_MAMPS	0.026845	CAP_FILE_SIZE	56807,0
HUMID	1557	CFSIZE	260165632,221429760
INTERNAL_PRESSURE	10.1026	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.60	CURRENT	0.276, 54.9,1
XPDR_PINGS	0	GPS	180609,064206,2413.500,12322.940,32,0.8,32,-3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	226	117.89	SBE_CT	439	24	262.61
Roll_motor	32	53	43.05	Optode	603	33	496.11
VBD_pump_during_apogee	538	797	10696.81	WL_BB2F	1015	105	2653.90
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	51	103	133.00	nil	0	0	0.00
Iridium_during_connect	68	160	273.21	nil	0	0	0.00
Iridium_during_xfer	163	223	909.55
Transponder_ping	0	420	5.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.17
TT8	1015	19	219.16
LPSleep	1228	2	29.32
TT8_Active	537	19	115.94
TT8_Sampling	1243	39	539.40
TT8_CF8	397	45	198.61
TT8_Kalman	0	0	0.00
Analog_circuits	1152	12	150.76
GPS_charging	0	0	0.00
Compass	1247	8	108.79
RAFOS	0	0	0.00
Transponder	5	30	1.83

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	107	0.00	0.00	-89.80	0.000	2	0.000	0.000	169	1536	2486
109	-0.97	-243.4	3.2	-4.4	14	162	8.75	2.05	-34.72	0.000	4	0.226	0.054	2408	184	3858
302	-0.12	-243.4	63.4	-36.3	47	309	0.93	1.88	0.00	0.000	6	0.156	0.025	2695	1493	3859
648	-0.85	-243.4	98.9	-10.5	108	655	0.62	2.00	0.00	0.000	4	0.077	0.032	2466	2897	3860
701	-0.50	-243.4	106.1	-15.7	117	708	0.35	2.05	0.00	0.000	6	0.140	0.029	2572	1461	3860
1048	-0.54	-243.4	154.4	-11.9	178	1055	0.00	2.08	0.00	0.000	4	0.000	0.035	2570	2891	3860
1158	-0.71	-243.4	166.7	-11.1	197	1165	0.12	2.00	0.00	0.000	6	0.043	0.030	2489	1515	3860
1505	-0.47	-243.4	227.8	-17.7	258	1513	0.28	2.03	0.00	0.000	4	0.130	0.039	2585	2892	3861
1580	end dive: BOTTOM_OBSTACLE_DETECTED
state	1580	begin apogee
1586	-0.20	0.0	234.0	5.0	271	1777	0.25	0.00	182.10	0.798	6	0.100	0.000	2671	1749	2862
1779	end apogee: CONTROL_FINISHED_OK
state	1780	begin climb
1781	0.97	243.4	239.7	0.0	303	1969	1.05	0.00	183.12	0.783	6	0.078	0.000	3045	1749	1869
2309	0.84	272.2	197.1	11.0	393	2341	0.15	2.12	23.30	0.742	4	0.146	0.039	3006	3134	1751
2377	0.86	292.4	189.4	11.3	404	2403	0.00	2.03	16.90	0.719	6	0.000	0.033	3008	1754	1671
2742	1.07	414.9	158.2	7.9	468	2850	0.17	2.25	97.62	0.753	4	0.053	0.044	3109	340	1170
2963	1.01	414.9	126.7	14.2	505	2970	0.12	2.08	0.00	0.000	6	0.133	0.028	3065	1762	1167
3308	1.11	434.2	87.6	11.4	566	3329	0.00	2.20	16.25	0.670	4	0.000	0.044	3073	346	1092
3375	1.27	456.4	80.0	11.3	577	3402	0.17	2.03	19.25	0.667	6	0.042	0.028	3165	1742	1001
3742	1.07	456.4	16.6	15.7	641	3749	0.25	2.08	0.00	0.000	4	0.142	0.041	3098	347	999
3866	end climb: SURFACE_DEPTH_REACHED
state	3866	begin surface coast
3899	end surface coast: CONTROL_FINISHED_OK
state	3899	begin surface