Glider dive log

PortSusan 04Mar09 * SG166 * Dive index * Mission links * Dive 5 * 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 5 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 32 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 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 -4257.8228 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 -4257.8228

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 32 VBD_BLEED_AD_RATE 8

C_VBD 3420 MAX_BUOY 100 R_STBD_OVSHOOT 22 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 5 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 223122,4806.950,-12222.475,7,4.0,26,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.056,-0.188

_SM_DEPTHo 1.35 KALMAN_X -61.6,1.9,20.1,888.9,-61.9

_SM_ANGLEo -73.1 KALMAN_Y 282.2,-39.8,-152.6,-2060.6,276.3

GPS2 223616,4806.934,-12222.470,14,4.8,33,18.3 MHEAD_RNG_PITCHd_Wd 145.2,1825,-16.6,-7.463

SPEED_LIMITS 0.129,0.197 D_GRID 150

Post-dive calculations and measurements:

FINISH 4.0,1.020704 ALTIM_BOTTOM_PING 80.2,40.4

SM_CCo 2093,503.55,0.788,2,0,455,727.31 _24V_AH 24.2,0.754

SM_GC 1.20,7.97,0.00,0.00,0.071,0.000,0.000,162,2141,450,-7.73,-0.25,728.30 _10V_AH 10.7,0.224

IRIDIUM_FIX 4748.51,-12221.84,290598,212138 DATA_FILE_SIZE 19114,365

TT8_MAMPS 0.026845 CAP_FILE_SIZE 41213,0

HUMID 1439 CFSIZE 260165632,258330624

INTERNAL_PRESSURE 9.11626 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 18.00 GPS 040309,232330,4806.763,-12222.238,37,1.4,37,18.3

XPDR_PINGS 18

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 312 154.11 SBE_CT 246 24 143.19

Roll_motor 31 72 55.02 Optode 252 33 201.73

VBD_pump_during_apogee 153 913 3385.08 WL_BB2F 426 105 1084.01

VBD_pump_during_surface 503 788 9608.30 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 56.89 nil 0 0 0.00

Iridium_during_connect 34 160 131.88 nil 0 0 0.00

Iridium_during_xfer 147 223 798.02

Transponder_ping 5 420 50.82

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 18.40

TT8 570 19 120.84

LPSleep 772 2 18.10

TT8_Active 752 19 159.49

TT8_Sampling 680 39 289.78

TT8_CF8 248 45 121.59

TT8_Kalman 33 81 29.17

Analog_circuits 1098 12 141.08

GPS_charging 0 0 0.00

Compass 657 8 56.29

RAFOS 0 0 0.00

Transponder 5 30 1.87

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

13 -0.78 -97.8 0.0 0.0 0 105 0.00 0.00 -88.78 0.000 2 0.000 0.000 160 2146 3626

107 -0.78 -97.8 3.4 -2.8 15 128 10.77 2.28 -5.18 0.000 4 0.313 0.073 2387 744 3820

382 -0.78 -97.8 33.7 -10.9 63 388 0.00 2.20 0.00 0.000 6 0.000 0.057 2384 2155 3822

455 -0.78 -97.8 41.6 -10.6 76 461 0.00 2.22 0.00 0.000 4 0.000 0.055 2384 746 3822

713 -0.78 -97.8 69.9 -10.8 122 720 0.00 2.22 0.00 0.000 6 0.000 0.057 2384 2153 3822

855 -0.78 -97.8 84.1 -9.8 147 860 0.00 2.17 0.00 0.000 4 0.000 0.054 2385 741 3822

922 -0.78 -97.8 90.9 -10.2 159 928 0.00 2.20 0.00 0.000 6 0.000 0.058 2384 2161 3822

1064 -0.78 -97.8 103.8 -9.0 184 1069 0.00 0.00 0.00 0.000 6 0.000 0.000 2384 2161 3822

1174 end dive: BOTTOM_OBSTACLE_DETECTED

state 1174 begin apogee

1178 -0.20 0.0 113.9 9.7 204 1258 0.62 0.00 75.80 0.913 6 0.175 0.000 2572 2161 3420

1258 end apogee: CONTROL_FINISHED_OK

state 1259 begin climb

1260 0.78 97.8 115.8 0.0 218 1346 0.98 2.33 77.32 0.871 4 0.110 0.065 2885 3557 3021

1384 0.78 97.8 101.7 16.3 240 1391 0.00 2.28 0.00 0.000 6 0.000 0.047 2894 2150 3020

1526 0.78 97.8 78.6 16.0 265 1531 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 2149 3020

1665 0.78 97.8 56.4 15.5 290 1671 0.00 0.00 0.00 0.000 6 0.000 0.000 2894 2149 3019

1805 0.78 97.8 35.1 15.0 315 1812 0.00 2.22 0.00 0.000 4 0.000 0.066 2894 3559 3019

1834 0.78 97.8 30.5 15.4 320 1840 0.00 2.17 0.00 0.000 6 0.000 0.048 2905 2137 3019

1909 0.78 97.8 19.0 15.9 333 1915 0.00 2.17 0.00 0.000 4 0.000 0.058 2916 730 3019

1931 0.78 97.8 15.3 15.3 337 1938 0.00 2.20 0.00 0.000 6 0.000 0.056 2915 2149 3019

2006 0.78 97.8 5.0 13.2 350 2013 0.00 2.20 0.00 0.000 4 0.000 0.067 2916 3560 3019

2039 end climb: SURFACE_DEPTH_REACHED

state 2040 begin surface coast

2091 end surface coast: CONTROL_FINISHED_OK

state 2091 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	5	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	32	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	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	-4257.8228	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	223122,4806.950,-12222.475,7,4.0,26,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.056,-0.188
_SM_DEPTHo	1.35	KALMAN_X	-61.6,1.9,20.1,888.9,-61.9
_SM_ANGLEo	-73.1	KALMAN_Y	282.2,-39.8,-152.6,-2060.6,276.3
GPS2	223616,4806.934,-12222.470,14,4.8,33,18.3	MHEAD_RNG_PITCHd_Wd	145.2,1825,-16.6,-7.463
SPEED_LIMITS	0.129,0.197	D_GRID	150

FINISH	4.0,1.020704	ALTIM_BOTTOM_PING	80.2,40.4
SM_CCo	2093,503.55,0.788,2,0,455,727.31	_24V_AH	24.2,0.754
SM_GC	1.20,7.97,0.00,0.00,0.071,0.000,0.000,162,2141,450,-7.73,-0.25,728.30	_10V_AH	10.7,0.224
IRIDIUM_FIX	4748.51,-12221.84,290598,212138	DATA_FILE_SIZE	19114,365
TT8_MAMPS	0.026845	CAP_FILE_SIZE	41213,0
HUMID	1439	CFSIZE	260165632,258330624
INTERNAL_PRESSURE	9.11626	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	18.00	GPS	040309,232330,4806.763,-12222.238,37,1.4,37,18.3
XPDR_PINGS	18

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	312	154.11	SBE_CT	246	24	143.19
Roll_motor	31	72	55.02	Optode	252	33	201.73
VBD_pump_during_apogee	153	913	3385.08	WL_BB2F	426	105	1084.01
VBD_pump_during_surface	503	788	9608.30	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	56.89	nil	0	0	0.00
Iridium_during_connect	34	160	131.88	nil	0	0	0.00
Iridium_during_xfer	147	223	798.02
Transponder_ping	5	420	50.82
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	18.40
TT8	570	19	120.84
LPSleep	772	2	18.10
TT8_Active	752	19	159.49
TT8_Sampling	680	39	289.78
TT8_CF8	248	45	121.59
TT8_Kalman	33	81	29.17
Analog_circuits	1098	12	141.08
GPS_charging	0	0	0.00
Compass	657	8	56.29
RAFOS	0	0	0.00
Transponder	5	30	1.87

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
13	-0.78	-97.8	0.0	0.0	0	105	0.00	0.00	-88.78	0.000	2	0.000	0.000	160	2146	3626
107	-0.78	-97.8	3.4	-2.8	15	128	10.77	2.28	-5.18	0.000	4	0.313	0.073	2387	744	3820
382	-0.78	-97.8	33.7	-10.9	63	388	0.00	2.20	0.00	0.000	6	0.000	0.057	2384	2155	3822
455	-0.78	-97.8	41.6	-10.6	76	461	0.00	2.22	0.00	0.000	4	0.000	0.055	2384	746	3822
713	-0.78	-97.8	69.9	-10.8	122	720	0.00	2.22	0.00	0.000	6	0.000	0.057	2384	2153	3822
855	-0.78	-97.8	84.1	-9.8	147	860	0.00	2.17	0.00	0.000	4	0.000	0.054	2385	741	3822
922	-0.78	-97.8	90.9	-10.2	159	928	0.00	2.20	0.00	0.000	6	0.000	0.058	2384	2161	3822
1064	-0.78	-97.8	103.8	-9.0	184	1069	0.00	0.00	0.00	0.000	6	0.000	0.000	2384	2161	3822
1174	end dive: BOTTOM_OBSTACLE_DETECTED
state	1174	begin apogee
1178	-0.20	0.0	113.9	9.7	204	1258	0.62	0.00	75.80	0.913	6	0.175	0.000	2572	2161	3420
1258	end apogee: CONTROL_FINISHED_OK
state	1259	begin climb
1260	0.78	97.8	115.8	0.0	218	1346	0.98	2.33	77.32	0.871	4	0.110	0.065	2885	3557	3021
1384	0.78	97.8	101.7	16.3	240	1391	0.00	2.28	0.00	0.000	6	0.000	0.047	2894	2150	3020
1526	0.78	97.8	78.6	16.0	265	1531	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	2149	3020
1665	0.78	97.8	56.4	15.5	290	1671	0.00	0.00	0.00	0.000	6	0.000	0.000	2894	2149	3019
1805	0.78	97.8	35.1	15.0	315	1812	0.00	2.22	0.00	0.000	4	0.000	0.066	2894	3559	3019
1834	0.78	97.8	30.5	15.4	320	1840	0.00	2.17	0.00	0.000	6	0.000	0.048	2905	2137	3019
1909	0.78	97.8	19.0	15.9	333	1915	0.00	2.17	0.00	0.000	4	0.000	0.058	2916	730	3019
1931	0.78	97.8	15.3	15.3	337	1938	0.00	2.20	0.00	0.000	6	0.000	0.056	2915	2149	3019
2006	0.78	97.8	5.0	13.2	350	2013	0.00	2.20	0.00	0.000	4	0.000	0.067	2916	3560	3019
2039	end climb: SURFACE_DEPTH_REACHED
state	2040	begin surface coast
2091	end surface coast: CONTROL_FINISHED_OK
state	2091	begin surface