Glider dive log

PortSusan 28Jan09 * SG167 * Dive index * Mission links * Dive 11 * 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 11 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 43 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -2966.2529 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 -2966.2529

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 43 VBD_BLEED_AD_RATE 8

C_VBD 3392 MAX_BUOY 150 R_STBD_OVSHOOT 30 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 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 053514,4803.929,-12220.931,10,1.4,10,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.074,0.269

_SM_DEPTHo 1.44 KALMAN_X 2698.8,584.7,-177.6,-693.8,78.3

_SM_ANGLEo -73.2 KALMAN_Y -6866.1,-1390.2,22.3,2691.1,-447.5

GPS2 054020,4803.888,-12220.900,15,1.4,15,18.3 MHEAD_RNG_PITCHd_Wd 326.3,8525,-21.2,-12.500

SPEED_LIMITS 0.217,0.279 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.7,1.052089 ALTIM_BOTTOM_PING 80.6,43.1

SM_CCo 1798,283.90,0.607,0,0,1148,550.21 _24V_AH 24.3,1.874

SM_GC 1.49,0.00,0.00,283.90,0.000,0.000,0.607,172,2084,1148,-8.00,-0.45,550.21 _10V_AH 10.7,0.746

IRIDIUM_FIX 4745.30,-12220.12,250498,050558 DATA_FILE_SIZE 16004,306

TT8_MAMPS 0.029146 CAP_FILE_SIZE 37390,0

HUMID 1379 CFSIZE 260165632,258170880

INTERNAL_PRESSURE 9.52185 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 19.30 GPS 290109,061644,4803.992,-12221.022,10,1.3,10,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 282 140.61 SBE_CT 205 24 120.08

Roll_motor 26 58 37.08 Optode 214 33 172.18

VBD_pump_during_apogee 225 707 3882.80 WL_BB2F 362 105 923.76

VBD_pump_during_surface 283 607 4190.75 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 78.09 nil 0 0 0.00

Iridium_during_connect 27 160 107.22 nil 0 0 0.00

Iridium_during_xfer 146 223 792.70

Transponder_ping 0 420 5.10

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.11

TT8 458 19 97.07

LPSleep 510 2 11.97

TT8_Active 572 19 121.30

TT8_Sampling 560 39 238.67

TT8_CF8 305 45 149.70

TT8_Kalman 33 81 29.18

Analog_circuits 898 12 115.41

GPS_charging 0 0 0.00

Compass 557 8 47.75

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 93 0.00 0.00 -76.03 0.000 2 0.000 0.000 174 2079 3103

96 -1.03 -146.6 3.1 -1.7 13 133 9.90 0.00 -21.67 0.000 6 0.282 0.000 2396 2077 3963

202 -1.03 -146.6 18.5 -17.4 31 208 0.00 0.00 0.00 0.000 6 0.000 0.000 2396 2077 3963

276 -1.03 -146.6 31.5 -16.3 44 283 0.00 2.15 0.00 0.000 4 0.000 0.046 2396 703 3964

339 -1.03 -146.6 42.2 -16.6 55 345 0.00 2.17 0.00 0.000 6 0.000 0.046 2388 2100 3963

482 -1.03 -146.6 66.0 -16.5 80 488 0.00 0.00 0.00 0.000 6 0.000 0.000 2388 2100 3964

625 -1.03 -146.6 88.6 -15.3 105 631 0.00 2.15 0.00 0.000 4 0.000 0.044 2388 696 3964

643 -1.03 -146.6 91.5 -15.8 108 649 0.00 2.17 0.00 0.000 6 0.000 0.046 2384 2108 3962

785 -1.03 -146.6 112.7 -14.4 133 790 0.00 2.17 0.00 0.000 4 0.000 0.044 2384 687 3963

795 end dive: BOTTOM_OBSTACLE_DETECTED

state 795 begin apogee

803 -0.20 0.0 114.5 14.1 135 909 0.98 0.00 100.78 0.707 6 0.189 0.000 2656 2103 3392

910 end apogee: CONTROL_FINISHED_OK

state 910 begin climb

912 1.03 146.6 119.1 0.0 154 1025 1.23 0.00 108.43 0.681 6 0.107 0.000 3057 2103 2794

1160 1.03 146.6 84.9 17.0 198 1166 0.00 2.25 0.00 0.000 4 0.000 0.058 3057 3504 2793

1212 1.03 146.6 75.4 19.3 207 1218 0.00 2.15 0.00 0.000 6 0.000 0.035 3062 2102 2793

1354 1.03 146.6 51.1 16.5 232 1359 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2101 2793

1495 1.03 146.6 29.7 14.5 257 1500 0.00 0.00 0.00 0.000 6 0.000 0.000 3061 2101 2793

1569 1.03 146.6 19.2 12.6 270 1575 0.00 2.20 0.00 0.000 4 0.000 0.050 3061 696 2793

1587 1.04 150.9 16.8 12.3 273 1600 0.00 2.17 4.43 0.457 6 0.000 0.044 3062 2109 2778

1670 1.05 165.5 7.3 11.7 287 1688 0.00 2.20 12.32 0.581 4 0.000 0.057 3062 3506 2717

1710 end climb: SURFACE_DEPTH_REACHED

state 1710 begin surface coast

1778 end surface coast: CONTROL_FINISHED_OK

state 1778 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	11	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	43	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-2966.2529	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	053514,4803.929,-12220.931,10,1.4,10,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.074,0.269
_SM_DEPTHo	1.44	KALMAN_X	2698.8,584.7,-177.6,-693.8,78.3
_SM_ANGLEo	-73.2	KALMAN_Y	-6866.1,-1390.2,22.3,2691.1,-447.5
GPS2	054020,4803.888,-12220.900,15,1.4,15,18.3	MHEAD_RNG_PITCHd_Wd	326.3,8525,-21.2,-12.500
SPEED_LIMITS	0.217,0.279	D_GRID	150

FINISH	3.7,1.052089	ALTIM_BOTTOM_PING	80.6,43.1
SM_CCo	1798,283.90,0.607,0,0,1148,550.21	_24V_AH	24.3,1.874
SM_GC	1.49,0.00,0.00,283.90,0.000,0.000,0.607,172,2084,1148,-8.00,-0.45,550.21	_10V_AH	10.7,0.746
IRIDIUM_FIX	4745.30,-12220.12,250498,050558	DATA_FILE_SIZE	16004,306
TT8_MAMPS	0.029146	CAP_FILE_SIZE	37390,0
HUMID	1379	CFSIZE	260165632,258170880
INTERNAL_PRESSURE	9.52185	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	19.30	GPS	290109,061644,4803.992,-12221.022,10,1.3,10,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	282	140.61	SBE_CT	205	24	120.08
Roll_motor	26	58	37.08	Optode	214	33	172.18
VBD_pump_during_apogee	225	707	3882.80	WL_BB2F	362	105	923.76
VBD_pump_during_surface	283	607	4190.75	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	78.09	nil	0	0	0.00
Iridium_during_connect	27	160	107.22	nil	0	0	0.00
Iridium_during_xfer	146	223	792.70
Transponder_ping	0	420	5.10
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.11
TT8	458	19	97.07
LPSleep	510	2	11.97
TT8_Active	572	19	121.30
TT8_Sampling	560	39	238.67
TT8_CF8	305	45	149.70
TT8_Kalman	33	81	29.18
Analog_circuits	898	12	115.41
GPS_charging	0	0	0.00
Compass	557	8	47.75
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	93	0.00	0.00	-76.03	0.000	2	0.000	0.000	174	2079	3103
96	-1.03	-146.6	3.1	-1.7	13	133	9.90	0.00	-21.67	0.000	6	0.282	0.000	2396	2077	3963
202	-1.03	-146.6	18.5	-17.4	31	208	0.00	0.00	0.00	0.000	6	0.000	0.000	2396	2077	3963
276	-1.03	-146.6	31.5	-16.3	44	283	0.00	2.15	0.00	0.000	4	0.000	0.046	2396	703	3964
339	-1.03	-146.6	42.2	-16.6	55	345	0.00	2.17	0.00	0.000	6	0.000	0.046	2388	2100	3963
482	-1.03	-146.6	66.0	-16.5	80	488	0.00	0.00	0.00	0.000	6	0.000	0.000	2388	2100	3964
625	-1.03	-146.6	88.6	-15.3	105	631	0.00	2.15	0.00	0.000	4	0.000	0.044	2388	696	3964
643	-1.03	-146.6	91.5	-15.8	108	649	0.00	2.17	0.00	0.000	6	0.000	0.046	2384	2108	3962
785	-1.03	-146.6	112.7	-14.4	133	790	0.00	2.17	0.00	0.000	4	0.000	0.044	2384	687	3963
795	end dive: BOTTOM_OBSTACLE_DETECTED
state	795	begin apogee
803	-0.20	0.0	114.5	14.1	135	909	0.98	0.00	100.78	0.707	6	0.189	0.000	2656	2103	3392
910	end apogee: CONTROL_FINISHED_OK
state	910	begin climb
912	1.03	146.6	119.1	0.0	154	1025	1.23	0.00	108.43	0.681	6	0.107	0.000	3057	2103	2794
1160	1.03	146.6	84.9	17.0	198	1166	0.00	2.25	0.00	0.000	4	0.000	0.058	3057	3504	2793
1212	1.03	146.6	75.4	19.3	207	1218	0.00	2.15	0.00	0.000	6	0.000	0.035	3062	2102	2793
1354	1.03	146.6	51.1	16.5	232	1359	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2101	2793
1495	1.03	146.6	29.7	14.5	257	1500	0.00	0.00	0.00	0.000	6	0.000	0.000	3061	2101	2793
1569	1.03	146.6	19.2	12.6	270	1575	0.00	2.20	0.00	0.000	4	0.000	0.050	3061	696	2793
1587	1.04	150.9	16.8	12.3	273	1600	0.00	2.17	4.43	0.457	6	0.000	0.044	3062	2109	2778
1670	1.05	165.5	7.3	11.7	287	1688	0.00	2.20	12.32	0.581	4	0.000	0.057	3062	3506	2717
1710	end climb: SURFACE_DEPTH_REACHED
state	1710	begin surface coast
1778	end surface coast: CONTROL_FINISHED_OK
state	1778	begin surface