Glider dive log

PortSusan 03Dec08 * SG160 * Dive index * Mission links * Dive 11 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 160 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 220 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 11 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3792 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 2300 ALTIM_FREQUENCY 12

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_ABORT 1050 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 90 SM_CC 620 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 17 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 50 UPLOAD_DIVES_MAX -1 VBD_MIN 490 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3961 DEVICE3 53

T_ABORT 1440 CALL_WAIT 60 C_VBD 3589 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 -5097.9053 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 155 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3934 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2555 PRESSURE_YINT -23.342426 SEABIRD_T_G 0.004341932

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063318753

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3343002e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4016158e-06

FERRY_MAX 45 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9320574

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1090317

HD_A 0.003 PITCH_AD_RATE 140 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00091700396

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016420601

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 140 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 90 PITCH_DBAND 0.1 SM_CC 620

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 30 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3934 SURFACE_URGENCY 0

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 4 PITCH_MIN 155 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -23.342426 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 50

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 -5097.9053

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 160 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3792 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2555 KALMAN_USE 1 ROLL_MIN 220 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2300 MASS 52000 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 3589 MAX_BUOY 100 R_STBD_OVSHOOT 17 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.9320574 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1090317 VBD_MAX 3961

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00091700396 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016420601 VBD_MIN 490

DEVICE3 53 N_GPS 20 SEABIRD_T_G 0.004341932 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063318753 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3343002e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4016158e-06 XPDR_DEVICE 24

DIVE 11 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 020558,4806.875,-12222.688,7,3.1,26,18.3 TGT_NAME SIX

_CALLS 2 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.109,-0.186

_SM_DEPTHo 1.60 KALMAN_X -602.5,-176.7,-27.8,1933.2,-35.1

_SM_ANGLEo -74.7 KALMAN_Y 588.7,212.5,-114.8,-3473.8,21.8

GPS2 021333,4806.793,-12222.649,12,1.4,12,18.3 MHEAD_RNG_PITCHd_Wd 131.2,1675,-21.7,-10.000

SPEED_LIMITS 0.173,0.216 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.4,1.218649 ALTIM_BOTTOM_PING 80.5,42.9

SM_CCo 2177,247.85,0.604,0,0,1060,620.12 _24V_AH 24.2,1.570

SM_GC 2.53,0.00,0.00,247.85,0.000,0.000,0.604,147,2314,1060,-7.53,0.40,620.12 _10V_AH 10.7,0.831

IRIDIUM_FIX 4751.72,-12226.29,280298,020246 DATA_FILE_SIZE 15932,404

TT8_MAMPS 0.050622 CAP_FILE_SIZE 45502,0

HUMID 1561 CFSIZE 260165632,258347008

INTERNAL_PRESSURE 8.17414 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 19.50 GPS 041208,025523,4806.644,-12222.551,8,3.4,27,18.3

XPDR_PINGS 5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 251 111.57 SBE_CT 268 24 155.91

Roll_motor 23 81 45.74 SBE_O2 217 19 100.20

VBD_pump_during_apogee 286 707 4910.08 Optode 305 33 243.96

VBD_pump_during_surface 247 604 3625.15 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 55 103 137.94 nil 0 0 0.00

Iridium_during_connect 51 160 199.98 nil 0 0 0.00

Iridium_during_xfer 222 223 1199.26

Transponder_ping 1 420 17.79

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.63

TT8 0 19 0.00

LPSleep 1143 2 26.81

TT8_Active 620 19 131.55

TT8_Sampling 735 39 313.27

TT8_CF8 381 45 187.00

TT8_Kalman 33 81 29.17

Analog_circuits 980 12 125.90

GPS_charging 0 0 0.00

Compass 592 8 50.75

RAFOS 0 0 0.00

Transponder 5 30 1.77

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11 -0.84 -97.8 0.0 0.0 0 103 0.00 0.00 -90.05 0.000 2 0.000 0.000 146 2319 2794

105 -0.84 -97.8 3.1 -2.3 17 159 8.57 2.30 -38.08 0.000 4 0.252 0.081 2269 3707 3963

167 -0.84 -97.8 6.9 -8.9 29 174 0.00 2.28 0.00 0.000 6 0.000 0.046 2269 2299 3963

236 -0.84 -97.8 15.0 -11.7 42 243 0.00 2.35 0.00 0.000 4 0.000 0.067 2267 3714 3963

482 -0.84 -97.8 48.8 -15.8 88 489 0.00 2.25 0.00 0.000 6 0.000 0.048 2267 2302 3964

615 -0.84 -97.8 69.6 -14.9 113 622 0.00 2.33 0.00 0.000 4 0.000 0.071 2260 3714 3964

732 -0.84 -97.8 87.9 -15.6 135 739 0.00 2.25 0.00 0.000 6 0.000 0.048 2260 2301 3964

865 -0.84 -97.8 108.2 -15.4 160 866 0.00 0.00 0.00 0.000 6 0.000 0.000 2260 2300 3963

902 end dive: BOTTOM_OBSTACLE_DETECTED

state 902 begin apogee

905 -0.17 0.0 113.6 14.6 167 979 0.75 0.00 67.75 0.708 6 0.157 0.000 2494 2188 3590

979 end apogee: CONTROL_FINISHED_OK

state 979 begin climb

980 0.84 97.8 116.5 0.0 181 1059 0.95 0.00 74.20 0.685 6 0.088 0.000 2821 2188 3189

1186 0.84 97.8 92.5 14.1 220 1192 0.00 2.38 0.00 0.000 4 0.000 0.061 2821 3613 3189

1249 0.84 97.8 82.4 15.7 232 1256 0.00 2.28 0.00 0.000 6 0.000 0.047 2831 2213 3189

1382 0.84 97.8 63.1 12.8 257 1383 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2213 3189

1511 0.84 97.8 45.6 14.3 281 1512 0.00 0.00 0.00 0.000 6 0.000 0.000 2831 2213 3189

1639 0.84 97.8 28.0 13.8 305 1646 0.00 2.28 0.00 0.000 4 0.000 0.058 2831 3614 3189

1730 0.84 97.8 14.9 13.7 322 1737 0.00 2.22 0.00 0.000 6 0.000 0.041 2840 2200 3189

1799 0.85 101.6 7.3 9.7 335 1806 0.00 0.00 4.55 0.480 6 0.000 0.000 2840 2200 3173

1868 1.08 293.3 7.8 -3.2 348 2013 0.17 0.00 140.10 0.630 6 0.077 0.000 2909 2199 2393

2041 end climb: SURFACE_DEPTH_REACHED

state 2041 begin surface coast

2165 end surface coast: CONTROL_FINISHED_OK

state 2165 begin surface

ID	160	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	220	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	11	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3792	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	2300	ALTIM_FREQUENCY	12
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_ABORT	1050	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	90	SM_CC	620	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	17	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	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	490	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3961	DEVICE3	53
T_ABORT	1440	CALL_WAIT	60	C_VBD	3589	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	-5097.9053	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	155	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3934	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2555	PRESSURE_YINT	-23.342426	SEABIRD_T_G	0.004341932
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063318753
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3343002e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4016158e-06
FERRY_MAX	45	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9320574
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1090317
HD_A	0.003	PITCH_AD_RATE	140	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00091700396
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016420601
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	020558,4806.875,-12222.688,7,3.1,26,18.3	TGT_NAME	SIX
_CALLS	2	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.109,-0.186
_SM_DEPTHo	1.60	KALMAN_X	-602.5,-176.7,-27.8,1933.2,-35.1
_SM_ANGLEo	-74.7	KALMAN_Y	588.7,212.5,-114.8,-3473.8,21.8
GPS2	021333,4806.793,-12222.649,12,1.4,12,18.3	MHEAD_RNG_PITCHd_Wd	131.2,1675,-21.7,-10.000
SPEED_LIMITS	0.173,0.216	D_GRID	150

FINISH	3.4,1.218649	ALTIM_BOTTOM_PING	80.5,42.9
SM_CCo	2177,247.85,0.604,0,0,1060,620.12	_24V_AH	24.2,1.570
SM_GC	2.53,0.00,0.00,247.85,0.000,0.000,0.604,147,2314,1060,-7.53,0.40,620.12	_10V_AH	10.7,0.831
IRIDIUM_FIX	4751.72,-12226.29,280298,020246	DATA_FILE_SIZE	15932,404
TT8_MAMPS	0.050622	CAP_FILE_SIZE	45502,0
HUMID	1561	CFSIZE	260165632,258347008
INTERNAL_PRESSURE	8.17414	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	19.50	GPS	041208,025523,4806.644,-12222.551,8,3.4,27,18.3
XPDR_PINGS	5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	251	111.57	SBE_CT	268	24	155.91
Roll_motor	23	81	45.74	SBE_O2	217	19	100.20
VBD_pump_during_apogee	286	707	4910.08	Optode	305	33	243.96
VBD_pump_during_surface	247	604	3625.15	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	55	103	137.94	nil	0	0	0.00
Iridium_during_connect	51	160	199.98	nil	0	0	0.00
Iridium_during_xfer	222	223	1199.26
Transponder_ping	1	420	17.79
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.63
TT8	0	19	0.00
LPSleep	1143	2	26.81
TT8_Active	620	19	131.55
TT8_Sampling	735	39	313.27
TT8_CF8	381	45	187.00
TT8_Kalman	33	81	29.17
Analog_circuits	980	12	125.90
GPS_charging	0	0	0.00
Compass	592	8	50.75
RAFOS	0	0	0.00
Transponder	5	30	1.77

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11	-0.84	-97.8	0.0	0.0	0	103	0.00	0.00	-90.05	0.000	2	0.000	0.000	146	2319	2794
105	-0.84	-97.8	3.1	-2.3	17	159	8.57	2.30	-38.08	0.000	4	0.252	0.081	2269	3707	3963
167	-0.84	-97.8	6.9	-8.9	29	174	0.00	2.28	0.00	0.000	6	0.000	0.046	2269	2299	3963
236	-0.84	-97.8	15.0	-11.7	42	243	0.00	2.35	0.00	0.000	4	0.000	0.067	2267	3714	3963
482	-0.84	-97.8	48.8	-15.8	88	489	0.00	2.25	0.00	0.000	6	0.000	0.048	2267	2302	3964
615	-0.84	-97.8	69.6	-14.9	113	622	0.00	2.33	0.00	0.000	4	0.000	0.071	2260	3714	3964
732	-0.84	-97.8	87.9	-15.6	135	739	0.00	2.25	0.00	0.000	6	0.000	0.048	2260	2301	3964
865	-0.84	-97.8	108.2	-15.4	160	866	0.00	0.00	0.00	0.000	6	0.000	0.000	2260	2300	3963
902	end dive: BOTTOM_OBSTACLE_DETECTED
state	902	begin apogee
905	-0.17	0.0	113.6	14.6	167	979	0.75	0.00	67.75	0.708	6	0.157	0.000	2494	2188	3590
979	end apogee: CONTROL_FINISHED_OK
state	979	begin climb
980	0.84	97.8	116.5	0.0	181	1059	0.95	0.00	74.20	0.685	6	0.088	0.000	2821	2188	3189
1186	0.84	97.8	92.5	14.1	220	1192	0.00	2.38	0.00	0.000	4	0.000	0.061	2821	3613	3189
1249	0.84	97.8	82.4	15.7	232	1256	0.00	2.28	0.00	0.000	6	0.000	0.047	2831	2213	3189
1382	0.84	97.8	63.1	12.8	257	1383	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	2213	3189
1511	0.84	97.8	45.6	14.3	281	1512	0.00	0.00	0.00	0.000	6	0.000	0.000	2831	2213	3189
1639	0.84	97.8	28.0	13.8	305	1646	0.00	2.28	0.00	0.000	4	0.000	0.058	2831	3614	3189
1730	0.84	97.8	14.9	13.7	322	1737	0.00	2.22	0.00	0.000	6	0.000	0.041	2840	2200	3189
1799	0.85	101.6	7.3	9.7	335	1806	0.00	0.00	4.55	0.480	6	0.000	0.000	2840	2200	3173
1868	1.08	293.3	7.8	-3.2	348	2013	0.17	0.00	140.10	0.630	6	0.077	0.000	2909	2199	2393
2041	end climb: SURFACE_DEPTH_REACHED
state	2041	begin surface coast
2165	end surface coast: CONTROL_FINISHED_OK
state	2165	begin surface