Glider dive log

PortSusan 28Jan09 * SG167 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 167 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 6 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 550 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 40 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 INT_PRESSURE_YINT 0

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 40 UPLOAD_DIVES_MAX -1 VBD_MIN 450 DEVICE2 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3392 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 -2869.3413 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 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 174 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2733 PRESSURE_YINT -14.577106 SEABIRD_T_G 0.0042613237

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158971 SEABIRD_T_H 0.000318543

MASS 52000 PITCH_CNV 0.0031256729 AD7714Ch0Gain 128 SEABIRD_T_I 2.2247017e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3141051e-06

FERRY_MAX 45 PITCH_GAIN 25 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.028838

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1493243

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0017152225

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.0002181365

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0031256729 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 550

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 25 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3944 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 4 PITCH_MIN 174 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 0.0001158971 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -14.577106 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 40

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 -2869.3413

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 167 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2733 KALMAN_USE 1 ROLL_MIN 187 USE_BATHY 0

C_ROLL_CLIMB 2100 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 52000 R_PORT_OVSHOOT 40 VBD_BLEED_AD_RATE 8

C_VBD 3392 MAX_BUOY 150 R_STBD_OVSHOOT 33 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -10.028838 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1493243 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0017152225 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.0002181365 VBD_MIN 450

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0042613237 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.000318543 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.2247017e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3141051e-06 XPDR_DEVICE 24

DIVE 6 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 020658,4803.844,-12220.581,10,99.0,29,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.088,0.265

_SM_DEPTHo 1.31 KALMAN_X 1523.8,782.5,220.9,317.6,-45.3

_SM_ANGLEo -70.8 KALMAN_Y -3346.8,-1598.3,-442.8,-326.4,-164.9

GPS2 021105,4803.788,-12220.546,17,1.9,26,18.3 MHEAD_RNG_PITCHd_Wd 323.2,8894,-21.2,-12.500

SPEED_LIMITS 0.217,0.279 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.1,1.050112 ALTIM_BOTTOM_PING 81.0,46.8

SM_CCo 1802,295.55,0.614,0,0,1148,550.21 _24V_AH 24.3,1.349

SM_GC 1.43,0.00,0.00,295.55,0.000,0.000,0.614,173,2085,1148,-8.00,-0.42,550.21 _10V_AH 10.7,0.566

IRIDIUM_FIX 4745.30,-12222.84,250498,020209 DATA_FILE_SIZE 16001,307

TT8_MAMPS 0.029146 CAP_FILE_SIZE 50817,0

HUMID 1406 CFSIZE 260165632,258289664

INTERNAL_PRESSURE 9.51208 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.40 GPS 290109,024744,4803.866,-12220.634,10,2.0,10,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 283 140.16 SBE_CT 206 24 120.26

Roll_motor 26 75 48.34 Optode 214 33 172.28

VBD_pump_during_apogee 210 723 3692.66 WL_BB2F 362 105 923.93

VBD_pump_during_surface 295 613 4406.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 5.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 26 50 14.31

TT8 450 19 95.51

LPSleep 504 2 11.82

TT8_Active 595 19 126.24

TT8_Sampling 576 39 245.58

TT8_CF8 56 45 27.59

TT8_Kalman 33 81 29.17

Analog_circuits 932 12 119.78

GPS_charging 0 0 0.00

Compass 561 8 48.10

RAFOS 0 0 0.00

Transponder 5 30 1.78

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 -1.03 -146.6 0.0 0.0 0 121 0.00 0.00 -103.82 0.000 2 0.000 0.000 182 2088 3011

124 -1.03 -146.6 3.1 -2.0 18 167 9.70 2.30 -23.98 0.000 4 0.284 0.076 2387 3500 3963

174 -1.03 -146.6 9.0 -10.1 26 180 0.00 2.12 0.00 0.000 6 0.000 0.037 2387 2090 3963

250 -1.03 -146.6 21.5 -18.2 39 256 0.00 2.12 0.00 0.000 4 0.000 0.046 2387 693 3963

298 -1.03 -146.6 30.5 -19.9 47 304 0.00 2.17 0.00 0.000 6 0.000 0.049 2384 2096 3963

372 -1.03 -146.6 45.3 -19.7 60 378 0.00 2.15 0.00 0.000 4 0.000 0.044 2384 691 3964

424 -1.03 -146.6 54.8 -17.9 69 430 0.00 2.17 0.00 0.000 6 0.000 0.047 2377 2103 3964

565 -1.03 -146.6 80.0 -17.7 94 576 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2104 3964

712 -1.03 -146.6 104.1 -16.4 119 717 0.00 0.00 0.00 0.000 6 0.000 0.000 2377 2103 3964

800 end dive: BOTTOM_OBSTACLE_DETECTED

state 800 begin apogee

806 -0.20 0.0 118.4 15.3 135 912 0.98 0.00 101.28 0.723 6 0.184 0.000 2660 2104 3392

913 end apogee: CONTROL_FINISHED_OK

state 913 begin climb

915 1.03 146.6 122.7 0.0 154 1033 1.23 0.00 108.82 0.692 6 0.110 0.000 3059 2103 2794

1169 1.03 146.6 87.6 17.3 199 1174 0.00 0.00 0.00 0.000 6 0.000 0.000 3059 2103 2793

1309 1.03 146.6 64.3 15.0 224 1315 0.00 2.25 0.00 0.000 4 0.000 0.060 3059 3517 2793

1378 1.03 146.6 51.9 18.4 236 1384 0.00 2.15 0.00 0.000 6 0.000 0.040 3059 2111 2792

1520 1.03 146.6 30.4 13.3 261 1526 0.00 2.22 0.00 0.000 4 0.000 0.051 3062 696 2792

1538 1.03 146.6 28.1 13.2 264 1544 0.00 2.17 0.00 0.000 6 0.000 0.044 3061 2107 2793

1613 1.03 146.6 18.1 13.6 277 1619 0.00 2.20 0.00 0.000 4 0.000 0.059 3061 3509 2792

1659 1.03 146.6 11.9 13.6 285 1665 0.00 2.15 0.00 0.000 6 0.000 0.038 3062 2088 2792

1733 end climb: SURFACE_DEPTH_REACHED

state 1733 begin surface coast

1783 end surface coast: CONTROL_FINISHED_OK

state 1785 begin surface

ID	167	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	6	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	550	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	40	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	INT_PRESSURE_YINT	0
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	40	UPLOAD_DIVES_MAX	-1	VBD_MIN	450	DEVICE2	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3392	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	-2869.3413	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	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	174	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2733	PRESSURE_YINT	-14.577106	SEABIRD_T_G	0.0042613237
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158971	SEABIRD_T_H	0.000318543
MASS	52000	PITCH_CNV	0.0031256729	AD7714Ch0Gain	128	SEABIRD_T_I	2.2247017e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3141051e-06
FERRY_MAX	45	PITCH_GAIN	25	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.028838
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1493243
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0017152225
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.0002181365
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	020658,4803.844,-12220.581,10,99.0,29,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.088,0.265
_SM_DEPTHo	1.31	KALMAN_X	1523.8,782.5,220.9,317.6,-45.3
_SM_ANGLEo	-70.8	KALMAN_Y	-3346.8,-1598.3,-442.8,-326.4,-164.9
GPS2	021105,4803.788,-12220.546,17,1.9,26,18.3	MHEAD_RNG_PITCHd_Wd	323.2,8894,-21.2,-12.500
SPEED_LIMITS	0.217,0.279	D_GRID	150

FINISH	3.1,1.050112	ALTIM_BOTTOM_PING	81.0,46.8
SM_CCo	1802,295.55,0.614,0,0,1148,550.21	_24V_AH	24.3,1.349
SM_GC	1.43,0.00,0.00,295.55,0.000,0.000,0.614,173,2085,1148,-8.00,-0.42,550.21	_10V_AH	10.7,0.566
IRIDIUM_FIX	4745.30,-12222.84,250498,020209	DATA_FILE_SIZE	16001,307
TT8_MAMPS	0.029146	CAP_FILE_SIZE	50817,0
HUMID	1406	CFSIZE	260165632,258289664
INTERNAL_PRESSURE	9.51208	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.40	GPS	290109,024744,4803.866,-12220.634,10,2.0,10,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	283	140.16	SBE_CT	206	24	120.26
Roll_motor	26	75	48.34	Optode	214	33	172.28
VBD_pump_during_apogee	210	723	3692.66	WL_BB2F	362	105	923.93
VBD_pump_during_surface	295	613	4406.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	5.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	26	50	14.31
TT8	450	19	95.51
LPSleep	504	2	11.82
TT8_Active	595	19	126.24
TT8_Sampling	576	39	245.58
TT8_CF8	56	45	27.59
TT8_Kalman	33	81	29.17
Analog_circuits	932	12	119.78
GPS_charging	0	0	0.00
Compass	561	8	48.10
RAFOS	0	0	0.00
Transponder	5	30	1.78

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	-1.03	-146.6	0.0	0.0	0	121	0.00	0.00	-103.82	0.000	2	0.000	0.000	182	2088	3011
124	-1.03	-146.6	3.1	-2.0	18	167	9.70	2.30	-23.98	0.000	4	0.284	0.076	2387	3500	3963
174	-1.03	-146.6	9.0	-10.1	26	180	0.00	2.12	0.00	0.000	6	0.000	0.037	2387	2090	3963
250	-1.03	-146.6	21.5	-18.2	39	256	0.00	2.12	0.00	0.000	4	0.000	0.046	2387	693	3963
298	-1.03	-146.6	30.5	-19.9	47	304	0.00	2.17	0.00	0.000	6	0.000	0.049	2384	2096	3963
372	-1.03	-146.6	45.3	-19.7	60	378	0.00	2.15	0.00	0.000	4	0.000	0.044	2384	691	3964
424	-1.03	-146.6	54.8	-17.9	69	430	0.00	2.17	0.00	0.000	6	0.000	0.047	2377	2103	3964
565	-1.03	-146.6	80.0	-17.7	94	576	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2104	3964
712	-1.03	-146.6	104.1	-16.4	119	717	0.00	0.00	0.00	0.000	6	0.000	0.000	2377	2103	3964
800	end dive: BOTTOM_OBSTACLE_DETECTED
state	800	begin apogee
806	-0.20	0.0	118.4	15.3	135	912	0.98	0.00	101.28	0.723	6	0.184	0.000	2660	2104	3392
913	end apogee: CONTROL_FINISHED_OK
state	913	begin climb
915	1.03	146.6	122.7	0.0	154	1033	1.23	0.00	108.82	0.692	6	0.110	0.000	3059	2103	2794
1169	1.03	146.6	87.6	17.3	199	1174	0.00	0.00	0.00	0.000	6	0.000	0.000	3059	2103	2793
1309	1.03	146.6	64.3	15.0	224	1315	0.00	2.25	0.00	0.000	4	0.000	0.060	3059	3517	2793
1378	1.03	146.6	51.9	18.4	236	1384	0.00	2.15	0.00	0.000	6	0.000	0.040	3059	2111	2792
1520	1.03	146.6	30.4	13.3	261	1526	0.00	2.22	0.00	0.000	4	0.000	0.051	3062	696	2792
1538	1.03	146.6	28.1	13.2	264	1544	0.00	2.17	0.00	0.000	6	0.000	0.044	3061	2107	2793
1613	1.03	146.6	18.1	13.6	277	1619	0.00	2.20	0.00	0.000	4	0.000	0.059	3061	3509	2792
1659	1.03	146.6	11.9	13.6	285	1665	0.00	2.15	0.00	0.000	6	0.000	0.038	3062	2088	2792
1733	end climb: SURFACE_DEPTH_REACHED
state	1733	begin surface coast
1783	end surface coast: CONTROL_FINISHED_OK
state	1785	begin surface