Glider dive log

PortSusan 28Jan09 * SG167 * Dive index * Mission links * Dive 10 * 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 10 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 47 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -2950.4719 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 -2950.4719

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 47 VBD_BLEED_AD_RATE 8

C_VBD 3392 MAX_BUOY 150 R_STBD_OVSHOOT 34 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 10 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 045435,4803.885,-12220.826,12,1.8,27,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.081,0.267

_SM_DEPTHo 1.44 KALMAN_X 2483.8,666.5,-129.9,-500.3,70.5

_SM_ANGLEo -73.0 KALMAN_Y -6096.3,-1516.8,-77.5,2057.7,-399.1

GPS2 045942,4803.839,-12220.813,10,1.6,14,18.3 MHEAD_RNG_PITCHd_Wd 324.8,8654,-21.2,-12.500

SPEED_LIMITS 0.217,0.279 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.2,1.047601 ALTIM_BOTTOM_PING 80.6,43.8

SM_CCo 1756,274.30,0.607,0,0,1149,550.21 _24V_AH 24.3,1.770

SM_GC 1.38,0.00,0.00,274.30,0.000,0.000,0.607,173,2079,1149,-8.00,-0.59,550.21 _10V_AH 10.7,0.711

IRIDIUM_FIX 4751.72,-12623.75,250498,040417 DATA_FILE_SIZE 15968,299

TT8_MAMPS 0.029913 CAP_FILE_SIZE 36882,0

HUMID 1395 CFSIZE 260165632,258199552

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

TCM_TEMP 19.30 GPS 290109,053514,4803.929,-12220.931,10,1.4,10,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 280 138.99 SBE_CT 200 24 117.06

Roll_motor 21 73 39.23 Optode 208 33 167.28

VBD_pump_during_apogee 234 705 4019.70 WL_BB2F 351 105 897.46

VBD_pump_during_surface 274 606 4043.93 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 30 103 77.30 nil 0 0 0.00

Iridium_during_connect 25 160 99.90 nil 0 0 0.00

Iridium_during_xfer 149 223 812.29

Transponder_ping 0 420 5.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.69

TT8 444 19 94.23

LPSleep 488 2 11.45

TT8_Active 566 19 119.99

TT8_Sampling 548 39 233.41

TT8_CF8 308 45 151.05

TT8_Kalman 33 81 29.18

Analog_circuits 892 12 114.58

GPS_charging 0 0 0.00

Compass 545 8 46.68

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

15 -1.03 -146.6 0.0 0.0 0 99 0.00 0.00 -81.38 0.000 2 0.000 0.000 173 2086 3191

102 -1.03 -146.6 3.1 -3.0 14 139 9.82 2.33 -19.15 0.000 4 0.281 0.074 2383 3502 3962

162 -1.03 -146.6 12.5 -17.5 24 169 0.00 2.12 0.00 0.000 6 0.000 0.035 2383 2097 3963

238 -1.03 -146.6 26.9 -19.4 37 244 0.00 0.00 0.00 0.000 6 0.000 0.000 2383 2095 3964

312 -1.03 -146.6 40.6 -17.7 50 319 0.00 2.17 0.00 0.000 4 0.000 0.047 2383 703 3963

376 -1.03 -146.6 52.0 -17.4 61 382 0.00 2.17 0.00 0.000 6 0.000 0.048 2375 2098 3963

518 -1.03 -146.6 76.6 -16.6 86 524 0.00 0.00 0.00 0.000 6 0.000 0.000 2375 2099 3963

660 -1.03 -146.6 99.9 -15.2 111 666 0.00 2.15 0.00 0.000 4 0.000 0.044 2375 696 3962

706 -1.03 -146.6 107.1 -15.7 119 713 0.12 2.17 0.00 0.000 6 0.200 0.047 2396 2104 3962

756 end dive: BOTTOM_OBSTACLE_DETECTED

state 756 begin apogee

762 -0.20 0.0 114.9 14.2 128 868 0.90 0.00 100.78 0.706 6 0.178 0.000 2662 2105 3392

869 end apogee: CONTROL_FINISHED_OK

state 869 begin climb

871 1.03 146.6 118.6 0.0 147 984 1.20 0.00 108.47 0.677 6 0.104 0.000 3056 2105 2794

1119 1.03 146.6 84.0 16.8 191 1125 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2105 2794

1260 1.03 146.6 60.4 16.5 216 1265 0.00 0.00 0.00 0.000 6 0.000 0.000 3056 2105 2793

1401 1.03 146.6 38.8 14.4 241 1407 0.00 2.22 0.00 0.000 4 0.000 0.058 3056 3515 2793

1430 1.03 146.6 34.3 15.7 246 1437 0.00 2.15 0.00 0.000 6 0.000 0.036 3057 2101 2792

1506 1.03 146.6 23.3 14.0 259 1512 0.00 0.00 0.00 0.000 6 0.000 0.000 3057 2100 2792

1580 1.06 172.1 14.2 11.0 272 1605 0.00 2.25 19.27 0.603 4 0.000 0.056 3057 3513 2691

1612 1.07 177.8 10.3 12.2 277 1625 0.00 2.17 5.90 0.497 6 0.000 0.035 3058 2082 2667

1676 end climb: SURFACE_DEPTH_REACHED

state 1676 begin surface coast

1739 end surface coast: CONTROL_FINISHED_OK

state 1739 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	10	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	47	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-2950.4719	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	045435,4803.885,-12220.826,12,1.8,27,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.081,0.267
_SM_DEPTHo	1.44	KALMAN_X	2483.8,666.5,-129.9,-500.3,70.5
_SM_ANGLEo	-73.0	KALMAN_Y	-6096.3,-1516.8,-77.5,2057.7,-399.1
GPS2	045942,4803.839,-12220.813,10,1.6,14,18.3	MHEAD_RNG_PITCHd_Wd	324.8,8654,-21.2,-12.500
SPEED_LIMITS	0.217,0.279	D_GRID	150

FINISH	2.2,1.047601	ALTIM_BOTTOM_PING	80.6,43.8
SM_CCo	1756,274.30,0.607,0,0,1149,550.21	_24V_AH	24.3,1.770
SM_GC	1.38,0.00,0.00,274.30,0.000,0.000,0.607,173,2079,1149,-8.00,-0.59,550.21	_10V_AH	10.7,0.711
IRIDIUM_FIX	4751.72,-12623.75,250498,040417	DATA_FILE_SIZE	15968,299
TT8_MAMPS	0.029913	CAP_FILE_SIZE	36882,0
HUMID	1395	CFSIZE	260165632,258199552
INTERNAL_PRESSURE	9.51208	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.30	GPS	290109,053514,4803.929,-12220.931,10,1.4,10,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	280	138.99	SBE_CT	200	24	117.06
Roll_motor	21	73	39.23	Optode	208	33	167.28
VBD_pump_during_apogee	234	705	4019.70	WL_BB2F	351	105	897.46
VBD_pump_during_surface	274	606	4043.93	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	30	103	77.30	nil	0	0	0.00
Iridium_during_connect	25	160	99.90	nil	0	0	0.00
Iridium_during_xfer	149	223	812.29
Transponder_ping	0	420	5.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.69
TT8	444	19	94.23
LPSleep	488	2	11.45
TT8_Active	566	19	119.99
TT8_Sampling	548	39	233.41
TT8_CF8	308	45	151.05
TT8_Kalman	33	81	29.18
Analog_circuits	892	12	114.58
GPS_charging	0	0	0.00
Compass	545	8	46.68
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
15	-1.03	-146.6	0.0	0.0	0	99	0.00	0.00	-81.38	0.000	2	0.000	0.000	173	2086	3191
102	-1.03	-146.6	3.1	-3.0	14	139	9.82	2.33	-19.15	0.000	4	0.281	0.074	2383	3502	3962
162	-1.03	-146.6	12.5	-17.5	24	169	0.00	2.12	0.00	0.000	6	0.000	0.035	2383	2097	3963
238	-1.03	-146.6	26.9	-19.4	37	244	0.00	0.00	0.00	0.000	6	0.000	0.000	2383	2095	3964
312	-1.03	-146.6	40.6	-17.7	50	319	0.00	2.17	0.00	0.000	4	0.000	0.047	2383	703	3963
376	-1.03	-146.6	52.0	-17.4	61	382	0.00	2.17	0.00	0.000	6	0.000	0.048	2375	2098	3963
518	-1.03	-146.6	76.6	-16.6	86	524	0.00	0.00	0.00	0.000	6	0.000	0.000	2375	2099	3963
660	-1.03	-146.6	99.9	-15.2	111	666	0.00	2.15	0.00	0.000	4	0.000	0.044	2375	696	3962
706	-1.03	-146.6	107.1	-15.7	119	713	0.12	2.17	0.00	0.000	6	0.200	0.047	2396	2104	3962
756	end dive: BOTTOM_OBSTACLE_DETECTED
state	756	begin apogee
762	-0.20	0.0	114.9	14.2	128	868	0.90	0.00	100.78	0.706	6	0.178	0.000	2662	2105	3392
869	end apogee: CONTROL_FINISHED_OK
state	869	begin climb
871	1.03	146.6	118.6	0.0	147	984	1.20	0.00	108.47	0.677	6	0.104	0.000	3056	2105	2794
1119	1.03	146.6	84.0	16.8	191	1125	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2105	2794
1260	1.03	146.6	60.4	16.5	216	1265	0.00	0.00	0.00	0.000	6	0.000	0.000	3056	2105	2793
1401	1.03	146.6	38.8	14.4	241	1407	0.00	2.22	0.00	0.000	4	0.000	0.058	3056	3515	2793
1430	1.03	146.6	34.3	15.7	246	1437	0.00	2.15	0.00	0.000	6	0.000	0.036	3057	2101	2792
1506	1.03	146.6	23.3	14.0	259	1512	0.00	0.00	0.00	0.000	6	0.000	0.000	3057	2100	2792
1580	1.06	172.1	14.2	11.0	272	1605	0.00	2.25	19.27	0.603	4	0.000	0.056	3057	3513	2691
1612	1.07	177.8	10.3	12.2	277	1625	0.00	2.17	5.90	0.497	6	0.000	0.035	3058	2082	2667
1676	end climb: SURFACE_DEPTH_REACHED
state	1676	begin surface coast
1739	end surface coast: CONTROL_FINISHED_OK
state	1739	begin surface