Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 196 * 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 196 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 43 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 92 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 -9042.1631 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 -9042.1631

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 43 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 250 R_STBD_OVSHOOT 92 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 196 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 200355,2412.906,12323.198,43,1.6,43,-3.5 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2403.100,12326.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.35 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 200836,2412.912,12323.195,16,1.6,32,-3.5 MHEAD_RNG_PITCHd_Wd 210.5,18781,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 281

Post-dive calculations and measurements:

FINISH 0.7,1.008854 ALTIM_BOTTOM_PING 200.2,59.0

SM_CCo 4143,0.00,0.000,0,0,631,547.51 _24V_AH 24.9,42.092

SM_GC 1.33,8.00,0.00,0.00,0.041,0.000,0.000,149,1463,631,-8.03,-1.07,547.51 _10V_AH 10.9,25.399

IRIDIUM_FIX 2403.92,12323.71,120998,191947 DATA_FILE_SIZE 38019,696

TT8_MAMPS 0.026845 CAP_FILE_SIZE 56569,0

HUMID 1548 CFSIZE 260165632,220962816

INTERNAL_PRESSURE 10.0636 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 25.60 CURRENT 0.304, 43.1,1

XPDR_PINGS 0 GPS 180609,211844,2413.243,12323.237,13,1.5,13,-3.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 224 123.95 SBE_CT 456 24 272.89

Roll_motor 28 54 39.29 Optode 621 33 510.67

VBD_pump_during_apogee 608 798 12105.74 WL_BB2F 1045 105 2733.98

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 23 103 60.96 nil 0 0 0.00

Iridium_during_connect 34 160 139.32 nil 0 0 0.00

Iridium_during_xfer 111 223 621.42

Transponder_ping 0 420 5.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 17.92

TT8 1040 19 224.49

LPSleep 1211 2 28.92

TT8_Active 581 19 125.57

TT8_Sampling 1313 39 569.83

TT8_CF8 286 45 142.83

TT8_Kalman 0 0 0.00

Analog_circuits 1225 12 160.30

GPS_charging 0 0 0.00

Compass 1296 8 113.03

RAFOS 0 0 0.00

Transponder 6 30 2.28

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 -90.15 0.000 2 0.000 0.000 147 1515 2500

110 -0.97 -243.4 3.1 -4.8 13 162 8.68 2.00 -34.33 0.000 4 0.225 0.054 2423 196 3858

287 -0.19 -243.4 57.1 -33.3 43 295 0.77 1.85 0.00 0.000 6 0.153 0.028 2672 1477 3858

634 -0.52 -243.4 94.4 -6.3 104 640 0.25 2.05 0.00 0.000 4 0.044 0.035 2540 2897 3859

826 -0.45 -243.4 117.5 -13.4 138 833 0.15 2.00 0.00 0.000 6 0.125 0.031 2592 1521 3859

1171 -0.61 -243.4 159.0 -12.7 199 1179 0.15 2.00 0.00 0.000 4 0.058 0.036 2513 2892 3859

1327 -0.54 -243.4 179.2 -12.1 226 1334 0.12 1.95 0.00 0.000 6 0.117 0.033 2559 1559 3859

1675 -0.62 -243.4 215.6 -7.5 287 1682 0.00 1.95 0.00 0.000 4 0.000 0.038 2559 2897 3859

1712 -0.76 -243.4 219.6 -11.4 293 1719 0.20 1.92 0.00 0.000 6 0.049 0.029 2457 1548 3859

1813 end dive: BOTTOM_OBSTACLE_DETECTED

state 1813 begin apogee

1819 -0.20 0.0 235.1 16.9 311 2008 0.62 0.00 182.30 0.798 6 0.130 0.000 2663 1764 2862

2009 end apogee: CONTROL_FINISHED_OK

state 2009 begin climb

2011 0.97 243.4 248.7 0.0 342 2205 1.10 2.28 183.60 0.795 4 0.084 0.044 3070 352 1870

2458 0.69 243.4 206.0 12.5 418 2465 0.35 2.03 0.00 0.000 6 0.138 0.028 2966 1767 1866

2802 1.16 467.7 184.1 4.6 479 2987 0.38 2.15 177.32 0.763 4 0.040 0.038 3143 3139 955

3051 0.92 467.7 143.2 19.5 519 3059 0.32 2.15 0.00 0.000 6 0.133 0.031 3034 1722 954

3398 1.35 541.5 103.7 9.6 580 3467 0.35 2.17 60.35 0.707 4 0.036 0.044 3211 330 654

3676 1.08 541.5 41.8 22.8 628 3683 0.35 1.92 0.00 0.000 6 0.132 0.027 3085 1672 651

4022 1.52 629.1 3.2 9.1 689 4030 0.35 0.00 5.32 0.477 2 0.038 0.000 3257 1674 632

4031 end climb: SURFACE_DEPTH_REACHED

state 4031 begin surface coast

4066 end surface coast: CONTROL_FINISHED_OK

state 4066 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	196	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	43	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	92	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	-9042.1631	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	200355,2412.906,12323.198,43,1.6,43,-3.5	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2403.100,12326.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.35	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	200836,2412.912,12323.195,16,1.6,32,-3.5	MHEAD_RNG_PITCHd_Wd	210.5,18781,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	281

FINISH	0.7,1.008854	ALTIM_BOTTOM_PING	200.2,59.0
SM_CCo	4143,0.00,0.000,0,0,631,547.51	_24V_AH	24.9,42.092
SM_GC	1.33,8.00,0.00,0.00,0.041,0.000,0.000,149,1463,631,-8.03,-1.07,547.51	_10V_AH	10.9,25.399
IRIDIUM_FIX	2403.92,12323.71,120998,191947	DATA_FILE_SIZE	38019,696
TT8_MAMPS	0.026845	CAP_FILE_SIZE	56569,0
HUMID	1548	CFSIZE	260165632,220962816
INTERNAL_PRESSURE	10.0636	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	25.60	CURRENT	0.304, 43.1,1
XPDR_PINGS	0	GPS	180609,211844,2413.243,12323.237,13,1.5,13,-3.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	224	123.95	SBE_CT	456	24	272.89
Roll_motor	28	54	39.29	Optode	621	33	510.67
VBD_pump_during_apogee	608	798	12105.74	WL_BB2F	1045	105	2733.98
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	23	103	60.96	nil	0	0	0.00
Iridium_during_connect	34	160	139.32	nil	0	0	0.00
Iridium_during_xfer	111	223	621.42
Transponder_ping	0	420	5.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	17.92
TT8	1040	19	224.49
LPSleep	1211	2	28.92
TT8_Active	581	19	125.57
TT8_Sampling	1313	39	569.83
TT8_CF8	286	45	142.83
TT8_Kalman	0	0	0.00
Analog_circuits	1225	12	160.30
GPS_charging	0	0	0.00
Compass	1296	8	113.03
RAFOS	0	0	0.00
Transponder	6	30	2.28

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	-90.15	0.000	2	0.000	0.000	147	1515	2500
110	-0.97	-243.4	3.1	-4.8	13	162	8.68	2.00	-34.33	0.000	4	0.225	0.054	2423	196	3858
287	-0.19	-243.4	57.1	-33.3	43	295	0.77	1.85	0.00	0.000	6	0.153	0.028	2672	1477	3858
634	-0.52	-243.4	94.4	-6.3	104	640	0.25	2.05	0.00	0.000	4	0.044	0.035	2540	2897	3859
826	-0.45	-243.4	117.5	-13.4	138	833	0.15	2.00	0.00	0.000	6	0.125	0.031	2592	1521	3859
1171	-0.61	-243.4	159.0	-12.7	199	1179	0.15	2.00	0.00	0.000	4	0.058	0.036	2513	2892	3859
1327	-0.54	-243.4	179.2	-12.1	226	1334	0.12	1.95	0.00	0.000	6	0.117	0.033	2559	1559	3859
1675	-0.62	-243.4	215.6	-7.5	287	1682	0.00	1.95	0.00	0.000	4	0.000	0.038	2559	2897	3859
1712	-0.76	-243.4	219.6	-11.4	293	1719	0.20	1.92	0.00	0.000	6	0.049	0.029	2457	1548	3859
1813	end dive: BOTTOM_OBSTACLE_DETECTED
state	1813	begin apogee
1819	-0.20	0.0	235.1	16.9	311	2008	0.62	0.00	182.30	0.798	6	0.130	0.000	2663	1764	2862
2009	end apogee: CONTROL_FINISHED_OK
state	2009	begin climb
2011	0.97	243.4	248.7	0.0	342	2205	1.10	2.28	183.60	0.795	4	0.084	0.044	3070	352	1870
2458	0.69	243.4	206.0	12.5	418	2465	0.35	2.03	0.00	0.000	6	0.138	0.028	2966	1767	1866
2802	1.16	467.7	184.1	4.6	479	2987	0.38	2.15	177.32	0.763	4	0.040	0.038	3143	3139	955
3051	0.92	467.7	143.2	19.5	519	3059	0.32	2.15	0.00	0.000	6	0.133	0.031	3034	1722	954
3398	1.35	541.5	103.7	9.6	580	3467	0.35	2.17	60.35	0.707	4	0.036	0.044	3211	330	654
3676	1.08	541.5	41.8	22.8	628	3683	0.35	1.92	0.00	0.000	6	0.132	0.027	3085	1672	651
4022	1.52	629.1	3.2	9.1	689	4030	0.35	0.00	5.32	0.477	2	0.038	0.000	3257	1674	632
4031	end climb: SURFACE_DEPTH_REACHED
state	4031	begin surface coast
4066	end surface coast: CONTROL_FINISHED_OK
state	4066	begin surface