Glider dive log

PortSusan 04Mar09 * SG166 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 4 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 380 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 29 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 INT_PRESSURE_YINT 2.7

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 67 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3420 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 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 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 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 -4222.8081 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 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 20 RAFOS_DEVICE -1

MAX_BUOY 100 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 2650 PRESSURE_YINT -28.361515 SEABIRD_T_G 0.0043153614

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 25 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 7

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 500 PITCH_DBAND 0.1 SM_CC 380

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 7 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 5 D_SURF 3 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -28.361515 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 67

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -4222.8081

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 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 2650 KALMAN_USE 1 ROLL_MIN 197 USE_BATHY 0

C_ROLL_CLIMB 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2150 MASS 52000 R_PORT_OVSHOOT 29 VBD_BLEED_AD_RATE 8

C_VBD 3420 MAX_BUOY 100 R_STBD_OVSHOOT 25 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 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 5

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 4 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 214450,4807.188,-12222.678,11,1.6,11,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.079,-0.180

_SM_DEPTHo 1.10 KALMAN_X -12.8,2.6,12.3,573.2,-12.9

_SM_ANGLEo -65.3 KALMAN_Y -58.4,-77.5,-90.3,-1348.1,-30.3

GPS2 215022,4807.147,-12222.692,15,3.2,34,18.3 MHEAD_RNG_PITCHd_Wd 138.1,2291,-16.6,-7.463

SPEED_LIMITS 0.129,0.197 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.0,1.020569 ALTIM_BOTTOM_PING 90.3,30.9

SM_CCo 2126,217.18,0.808,1,0,1870,380.21 _24V_AH 24.2,0.592

SM_GC 1.28,0.00,0.00,217.18,0.000,0.000,0.808,160,2146,1870,-7.79,-0.11,380.21 _10V_AH 10.7,0.181

IRIDIUM_FIX 4748.51,-12221.84,290598,212129 DATA_FILE_SIZE 19083,367

TT8_MAMPS 0.027612 CAP_FILE_SIZE 41534,0

HUMID 1451 CFSIZE 260165632,258359296

INTERNAL_PRESSURE 9.26275 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 18.10 GPS 040309,223122,4806.950,-12222.475,7,4.0,26,18.3

XPDR_PINGS 19

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 298 145.13 SBE_CT 246 24 143.08

Roll_motor 31 72 54.39 Optode 258 33 206.66

VBD_pump_during_apogee 152 908 3359.78 WL_BB2F 436 105 1110.10

VBD_pump_during_surface 217 807 4244.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 57.59 nil 0 0 0.00

Iridium_during_connect 25 160 100.45 nil 0 0 0.00

Iridium_during_xfer 188 223 1016.65

Transponder_ping 6 420 60.98

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 19.08

TT8 554 19 117.49

LPSleep 651 2 15.26

TT8_Active 513 19 108.72

TT8_Sampling 694 39 295.76

TT8_CF8 284 45 139.61

TT8_Kalman 32 81 28.30

Analog_circuits 877 12 112.63

GPS_charging 0 0 0.00

Compass 665 8 56.99

RAFOS 0 0 0.00

Transponder 11 30 3.75

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 -0.78 -97.8 0.0 0.0 0 180 0.00 0.00 -163.20 0.000 2 0.000 0.000 167 2146 3714

182 -0.78 -97.8 3.7 -3.1 28 202 10.20 2.20 -2.83 0.000 4 0.298 0.072 2381 741 3820

456 -0.78 -97.8 31.2 -9.8 76 462 0.00 2.20 0.00 0.000 6 0.000 0.058 2377 2153 3820

529 -0.78 -97.8 38.7 -10.5 89 536 0.00 2.17 0.00 0.000 4 0.000 0.055 2378 739 3821

766 -0.78 -97.8 64.7 -11.4 131 772 0.00 2.20 0.00 0.000 6 0.000 0.058 2376 2151 3821

906 -0.78 -97.8 79.8 -10.8 156 915 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2151 3820

1053 -0.78 -97.8 94.3 -9.8 181 1059 0.00 2.17 0.00 0.000 4 0.000 0.056 2378 739 3820

1087 -0.78 -97.8 97.8 -10.1 187 1093 0.00 2.20 0.00 0.000 6 0.000 0.061 2377 2158 3820

1227 -0.78 -97.8 111.3 -9.9 212 1234 0.00 2.22 0.00 0.000 4 0.000 0.057 2378 737 3820

1262 end dive: BOTTOM_OBSTACLE_DETECTED

state 1262 begin apogee

1267 -0.20 0.0 114.8 10.2 218 1347 0.68 0.00 75.32 0.909 6 0.178 0.000 2579 2155 3420

1348 end apogee: CONTROL_FINISHED_OK

state 1348 begin climb

1349 0.78 97.8 117.1 0.0 232 1435 0.95 2.35 77.43 0.883 4 0.107 0.065 2892 3563 3020

1451 0.78 97.8 106.7 14.5 250 1458 0.00 2.28 0.00 0.000 6 0.000 0.048 2902 2155 3021

1593 0.78 97.8 82.7 17.0 275 1599 0.00 2.25 0.00 0.000 4 0.000 0.056 2913 731 3020

1620 0.78 97.8 78.0 16.6 280 1627 0.00 2.28 0.00 0.000 6 0.000 0.054 2913 2140 3019

1762 0.78 97.8 54.6 16.6 305 1767 0.00 0.00 0.00 0.000 6 0.000 0.000 2913 2141 3019

1902 0.78 97.8 31.1 16.7 330 1908 0.00 2.28 0.00 0.000 4 0.000 0.066 2913 3563 3019

1941 0.78 97.8 23.8 18.5 337 1948 0.00 2.15 0.00 0.000 6 0.000 0.048 2923 2147 3019

2016 0.78 97.8 11.8 15.8 350 2022 0.00 0.00 0.00 0.000 6 0.000 0.000 2923 2147 3019

2083 end climb: SURFACE_DEPTH_REACHED

state 2083 begin surface coast

2112 end surface coast: CONTROL_FINISHED_OK

state 2112 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	4	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	380	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	29	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	INT_PRESSURE_YINT	2.7
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	67	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3420	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	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	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	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	-4222.8081	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	20	RAFOS_DEVICE	-1
MAX_BUOY	100	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	2650	PRESSURE_YINT	-28.361515	SEABIRD_T_G	0.0043153614
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	25	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	7

GPS1	214450,4807.188,-12222.678,11,1.6,11,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.079,-0.180
_SM_DEPTHo	1.10	KALMAN_X	-12.8,2.6,12.3,573.2,-12.9
_SM_ANGLEo	-65.3	KALMAN_Y	-58.4,-77.5,-90.3,-1348.1,-30.3
GPS2	215022,4807.147,-12222.692,15,3.2,34,18.3	MHEAD_RNG_PITCHd_Wd	138.1,2291,-16.6,-7.463
SPEED_LIMITS	0.129,0.197	D_GRID	150

FINISH	2.0,1.020569	ALTIM_BOTTOM_PING	90.3,30.9
SM_CCo	2126,217.18,0.808,1,0,1870,380.21	_24V_AH	24.2,0.592
SM_GC	1.28,0.00,0.00,217.18,0.000,0.000,0.808,160,2146,1870,-7.79,-0.11,380.21	_10V_AH	10.7,0.181
IRIDIUM_FIX	4748.51,-12221.84,290598,212129	DATA_FILE_SIZE	19083,367
TT8_MAMPS	0.027612	CAP_FILE_SIZE	41534,0
HUMID	1451	CFSIZE	260165632,258359296
INTERNAL_PRESSURE	9.26275	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	18.10	GPS	040309,223122,4806.950,-12222.475,7,4.0,26,18.3
XPDR_PINGS	19

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	298	145.13	SBE_CT	246	24	143.08
Roll_motor	31	72	54.39	Optode	258	33	206.66
VBD_pump_during_apogee	152	908	3359.78	WL_BB2F	436	105	1110.10
VBD_pump_during_surface	217	807	4244.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	57.59	nil	0	0	0.00
Iridium_during_connect	25	160	100.45	nil	0	0	0.00
Iridium_during_xfer	188	223	1016.65
Transponder_ping	6	420	60.98
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	19.08
TT8	554	19	117.49
LPSleep	651	2	15.26
TT8_Active	513	19	108.72
TT8_Sampling	694	39	295.76
TT8_CF8	284	45	139.61
TT8_Kalman	32	81	28.30
Analog_circuits	877	12	112.63
GPS_charging	0	0	0.00
Compass	665	8	56.99
RAFOS	0	0	0.00
Transponder	11	30	3.75

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	-0.78	-97.8	0.0	0.0	0	180	0.00	0.00	-163.20	0.000	2	0.000	0.000	167	2146	3714
182	-0.78	-97.8	3.7	-3.1	28	202	10.20	2.20	-2.83	0.000	4	0.298	0.072	2381	741	3820
456	-0.78	-97.8	31.2	-9.8	76	462	0.00	2.20	0.00	0.000	6	0.000	0.058	2377	2153	3820
529	-0.78	-97.8	38.7	-10.5	89	536	0.00	2.17	0.00	0.000	4	0.000	0.055	2378	739	3821
766	-0.78	-97.8	64.7	-11.4	131	772	0.00	2.20	0.00	0.000	6	0.000	0.058	2376	2151	3821
906	-0.78	-97.8	79.8	-10.8	156	915	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2151	3820
1053	-0.78	-97.8	94.3	-9.8	181	1059	0.00	2.17	0.00	0.000	4	0.000	0.056	2378	739	3820
1087	-0.78	-97.8	97.8	-10.1	187	1093	0.00	2.20	0.00	0.000	6	0.000	0.061	2377	2158	3820
1227	-0.78	-97.8	111.3	-9.9	212	1234	0.00	2.22	0.00	0.000	4	0.000	0.057	2378	737	3820
1262	end dive: BOTTOM_OBSTACLE_DETECTED
state	1262	begin apogee
1267	-0.20	0.0	114.8	10.2	218	1347	0.68	0.00	75.32	0.909	6	0.178	0.000	2579	2155	3420
1348	end apogee: CONTROL_FINISHED_OK
state	1348	begin climb
1349	0.78	97.8	117.1	0.0	232	1435	0.95	2.35	77.43	0.883	4	0.107	0.065	2892	3563	3020
1451	0.78	97.8	106.7	14.5	250	1458	0.00	2.28	0.00	0.000	6	0.000	0.048	2902	2155	3021
1593	0.78	97.8	82.7	17.0	275	1599	0.00	2.25	0.00	0.000	4	0.000	0.056	2913	731	3020
1620	0.78	97.8	78.0	16.6	280	1627	0.00	2.28	0.00	0.000	6	0.000	0.054	2913	2140	3019
1762	0.78	97.8	54.6	16.6	305	1767	0.00	0.00	0.00	0.000	6	0.000	0.000	2913	2141	3019
1902	0.78	97.8	31.1	16.7	330	1908	0.00	2.28	0.00	0.000	4	0.000	0.066	2913	3563	3019
1941	0.78	97.8	23.8	18.5	337	1948	0.00	2.15	0.00	0.000	6	0.000	0.048	2923	2147	3019
2016	0.78	97.8	11.8	15.8	350	2022	0.00	0.00	0.00	0.000	6	0.000	0.000	2923	2147	3019
2083	end climb: SURFACE_DEPTH_REACHED
state	2083	begin surface coast
2112	end surface coast: CONTROL_FINISHED_OK
state	2112	begin surface