Glider dive log

PortSusan 20Jan09 * SG105 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 10 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 60

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 1946 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 668 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 41 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 INT_PRESSURE_YINT -1.8522969

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 62.5 UPLOAD_DIVES_MAX -1 VBD_MIN 475 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3239 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 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 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -1626868.1 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 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2602 PRESSURE_YINT -18.710485 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 668

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 15 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 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.710485 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

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 62.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -1626868.1

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2602 KALMAN_USE 1 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1946 MASS 52000 R_PORT_OVSHOOT 41 VBD_BLEED_AD_RATE 8

C_VBD 3239 MAX_BUOY 150 R_STBD_OVSHOOT 37 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 10 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 062408,4806.313,-12222.497,14,1.7,14,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.180,-0.167

_SM_DEPTHo 1.20 KALMAN_X -1073.8,-114.8,-50.5,2127.0,-314.0

_SM_ANGLEo -67.9 KALMAN_Y 1092.3,187.3,20.8,-4992.9,268.7

GPS2 062806,4806.326,-12222.497,16,1.4,32,18.3 MHEAD_RNG_PITCHd_Wd 114.5,862,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.2,1.019723 ALTIM_BOTTOM_PING 80.5,41.8

SM_CCo 2951,397.40,0.700,0,0,475,678.01 _24V_AH 23.5,16.031

SM_GC 1.27,11.25,0.00,0.00,0.035,0.000,0.000,399,1940,469,-10.07,-0.17,679.48 _10V_AH 10.1,6.560

IRIDIUM_FIX 4748.51,-12221.84,170498,050521 DATA_FILE_SIZE 12847,275

TT8_MAMPS 0.026845 CAP_FILE_SIZE 37292,0

HUMID 1705 CFSIZE 260165632,258932736

INTERNAL_PRESSURE 7.9723 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 17.30 GPS 210109,072746,4806.130,-12222.254,11,2.8,30,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 141 81.36 SBE_CT 189 24 106.66

Roll_motor 30 55 39.13 SBE_O2 247 19 110.45

VBD_pump_during_apogee 271 809 5166.61 WL_BB2F 485 105 1197.61

VBD_pump_during_surface 397 699 6532.60 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.46 nil 0 0 0.00

Iridium_during_connect 22 160 86.44 nil 0 0 0.00

Iridium_during_xfer 81 223 426.20

Transponder_ping 1 420 9.87

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 32 50 16.41

TT8 454 19 90.80

LPSleep 1621 2 35.87

TT8_Active 707 19 141.53

TT8_Sampling 593 39 238.73

TT8_CF8 335 45 155.40

TT8_Kalman 33 81 27.54

Analog_circuits 1054 12 127.83

GPS_charging 0 0 0.00

Compass 663 8 53.58

RAFOS 0 0 0.00

Transponder 8 30 2.60

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

15 -1.24 -146.6 0.0 0.0 0 109 0.00 0.00 -90.80 0.000 2 0.000 0.000 397 1951 3653

112 -1.24 -146.6 4.1 -5.5 15 134 10.50 2.45 -3.97 0.000 4 0.142 0.055 2327 3344 3837

435 -1.24 -146.6 34.5 -8.9 58 442 0.00 2.38 0.00 0.000 6 0.000 0.027 2327 1941 3837

646 -1.24 -146.6 52.2 -8.6 77 650 0.00 2.47 0.00 0.000 4 0.000 0.042 2327 3344 3837

717 -1.24 -146.6 58.8 -8.8 80 722 0.00 2.38 0.00 0.000 6 0.000 0.027 2327 1944 3837

1034 -1.24 -146.6 83.6 -7.7 95 1035 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 1944 3838

1348 -1.24 -146.6 106.6 -7.2 114 1353 0.00 0.00 0.00 0.000 6 0.000 0.000 2327 1944 3837

1429 end dive: BOTTOM_OBSTACLE_DETECTED

state 1429 begin apogee

1436 -0.36 0.0 112.8 7.3 122 1562 0.90 0.00 118.12 0.809 6 0.083 0.000 2516 2211 3239

1563 end apogee: CONTROL_FINISHED_OK

state 1563 begin climb

1565 1.24 146.6 115.4 0.0 135 1691 1.62 2.53 117.75 0.771 4 0.058 0.041 2868 803 2641

1713 1.24 146.6 104.4 10.4 149 1720 0.00 2.45 0.00 0.000 6 0.000 0.031 2868 2207 2640

2031 1.24 146.6 70.8 10.5 167 2035 0.00 2.47 0.00 0.000 4 0.000 0.040 2868 803 2640

2075 1.24 146.6 65.7 10.6 169 2079 0.00 2.42 0.00 0.000 6 0.000 0.030 2868 2205 2640

2402 1.24 146.6 32.7 9.8 193 2406 0.00 2.47 0.00 0.000 4 0.000 0.040 2868 797 2639

2443 1.24 146.6 28.8 9.9 196 2447 0.00 2.40 0.00 0.000 6 0.000 0.028 2868 2202 2640

2645 1.24 146.6 11.0 8.7 223 2651 0.00 2.45 0.00 0.000 4 0.000 0.040 2868 802 2639

2680 1.24 146.6 8.0 8.4 229 2688 0.00 2.42 0.00 0.000 6 0.000 0.028 2868 2202 2639

2757 1.36 244.9 3.8 4.4 242 2795 0.12 0.00 35.83 0.724 2 0.044 0.000 2917 2202 2465

2796 end climb: SURFACE_DEPTH_REACHED

state 2796 begin surface coast

2948 end surface coast: CONTROL_FINISHED_OK

state 2948 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	10	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	60
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	1946	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	668	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	41	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	INT_PRESSURE_YINT	-1.8522969
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	62.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	475	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3239	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	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	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-1626868.1	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	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2602	PRESSURE_YINT	-18.710485	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	062408,4806.313,-12222.497,14,1.7,14,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.180,-0.167
_SM_DEPTHo	1.20	KALMAN_X	-1073.8,-114.8,-50.5,2127.0,-314.0
_SM_ANGLEo	-67.9	KALMAN_Y	1092.3,187.3,20.8,-4992.9,268.7
GPS2	062806,4806.326,-12222.497,16,1.4,32,18.3	MHEAD_RNG_PITCHd_Wd	114.5,862,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	150

FINISH	3.2,1.019723	ALTIM_BOTTOM_PING	80.5,41.8
SM_CCo	2951,397.40,0.700,0,0,475,678.01	_24V_AH	23.5,16.031
SM_GC	1.27,11.25,0.00,0.00,0.035,0.000,0.000,399,1940,469,-10.07,-0.17,679.48	_10V_AH	10.1,6.560
IRIDIUM_FIX	4748.51,-12221.84,170498,050521	DATA_FILE_SIZE	12847,275
TT8_MAMPS	0.026845	CAP_FILE_SIZE	37292,0
HUMID	1705	CFSIZE	260165632,258932736
INTERNAL_PRESSURE	7.9723	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	17.30	GPS	210109,072746,4806.130,-12222.254,11,2.8,30,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	141	81.36	SBE_CT	189	24	106.66
Roll_motor	30	55	39.13	SBE_O2	247	19	110.45
VBD_pump_during_apogee	271	809	5166.61	WL_BB2F	485	105	1197.61
VBD_pump_during_surface	397	699	6532.60	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.46	nil	0	0	0.00
Iridium_during_connect	22	160	86.44	nil	0	0	0.00
Iridium_during_xfer	81	223	426.20
Transponder_ping	1	420	9.87
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	32	50	16.41
TT8	454	19	90.80
LPSleep	1621	2	35.87
TT8_Active	707	19	141.53
TT8_Sampling	593	39	238.73
TT8_CF8	335	45	155.40
TT8_Kalman	33	81	27.54
Analog_circuits	1054	12	127.83
GPS_charging	0	0	0.00
Compass	663	8	53.58
RAFOS	0	0	0.00
Transponder	8	30	2.60

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
15	-1.24	-146.6	0.0	0.0	0	109	0.00	0.00	-90.80	0.000	2	0.000	0.000	397	1951	3653
112	-1.24	-146.6	4.1	-5.5	15	134	10.50	2.45	-3.97	0.000	4	0.142	0.055	2327	3344	3837
435	-1.24	-146.6	34.5	-8.9	58	442	0.00	2.38	0.00	0.000	6	0.000	0.027	2327	1941	3837
646	-1.24	-146.6	52.2	-8.6	77	650	0.00	2.47	0.00	0.000	4	0.000	0.042	2327	3344	3837
717	-1.24	-146.6	58.8	-8.8	80	722	0.00	2.38	0.00	0.000	6	0.000	0.027	2327	1944	3837
1034	-1.24	-146.6	83.6	-7.7	95	1035	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	1944	3838
1348	-1.24	-146.6	106.6	-7.2	114	1353	0.00	0.00	0.00	0.000	6	0.000	0.000	2327	1944	3837
1429	end dive: BOTTOM_OBSTACLE_DETECTED
state	1429	begin apogee
1436	-0.36	0.0	112.8	7.3	122	1562	0.90	0.00	118.12	0.809	6	0.083	0.000	2516	2211	3239
1563	end apogee: CONTROL_FINISHED_OK
state	1563	begin climb
1565	1.24	146.6	115.4	0.0	135	1691	1.62	2.53	117.75	0.771	4	0.058	0.041	2868	803	2641
1713	1.24	146.6	104.4	10.4	149	1720	0.00	2.45	0.00	0.000	6	0.000	0.031	2868	2207	2640
2031	1.24	146.6	70.8	10.5	167	2035	0.00	2.47	0.00	0.000	4	0.000	0.040	2868	803	2640
2075	1.24	146.6	65.7	10.6	169	2079	0.00	2.42	0.00	0.000	6	0.000	0.030	2868	2205	2640
2402	1.24	146.6	32.7	9.8	193	2406	0.00	2.47	0.00	0.000	4	0.000	0.040	2868	797	2639
2443	1.24	146.6	28.8	9.9	196	2447	0.00	2.40	0.00	0.000	6	0.000	0.028	2868	2202	2640
2645	1.24	146.6	11.0	8.7	223	2651	0.00	2.45	0.00	0.000	4	0.000	0.040	2868	802	2639
2680	1.24	146.6	8.0	8.4	229	2688	0.00	2.42	0.00	0.000	6	0.000	0.028	2868	2202	2639
2757	1.36	244.9	3.8	4.4	242	2795	0.12	0.00	35.83	0.724	2	0.044	0.000	2917	2202	2465
2796	end climb: SURFACE_DEPTH_REACHED
state	2796	begin surface coast
2948	end surface coast: CONTROL_FINISHED_OK
state	2948	begin surface