Glider dive log

PortSusan 03Mar09 * SG164 * Dive index * Mission links * Dive 13 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 164 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 204 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 13 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3882 ALTIM_PING_DEPTH 80

D_SURF 3 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 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 370 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 INT_PRESSURE_YINT 0.94

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 53

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3962 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3288 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 -32359.213 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 40 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 165 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 126 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3926 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2768 PRESSURE_YINT -7.9007363 SEABIRD_T_G 0.0043488215

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158597 SEABIRD_T_H 0.00063635618

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5028745e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7326657e-06

FERRY_MAX 45 PITCH_GAIN 27 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.160287

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1436546

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00018147723

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00010835609

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 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 370

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 27 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3926 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 3 PITCH_MIN 126 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 0.0001158597 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -7.9007363 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 -32359.213

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 164 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3882 UNCOM_BLEED 40

COURSE_BIAS 0 INT_PRESSURE_YINT 0.94 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2768 KALMAN_USE 1 ROLL_MIN 204 USE_BATHY 0

C_ROLL_CLIMB 2100 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 52000 R_PORT_OVSHOOT 18 VBD_BLEED_AD_RATE 8

C_VBD 3288 MAX_BUOY 165 R_STBD_OVSHOOT 25 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.160287 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1436546 VBD_MAX 3962

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00018147723 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00010835609 VBD_MIN 490

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043488215 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063635618 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5028745e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7326657e-06 XPDR_DEVICE 24

DIVE 13 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 045536,4806.693,-12222.422,13,1.5,29,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.133,-0.236

_SM_DEPTHo 1.25 KALMAN_X -2331.9,-242.8,62.1,3550.1,-392.7

_SM_ANGLEo -72.2 KALMAN_Y 4817.9,619.4,-257.6,-7592.9,690.6

GPS2 050019,4806.670,-12222.421,10,1.5,15,18.3 MHEAD_RNG_PITCHd_Wd 132.2,1345,-16.6,-10.000

SPEED_LIMITS 0.173,0.271 D_GRID 150

Post-dive calculations and measurements:

FINISH 1.3,1.019780 ALTIM_BOTTOM_PING 80.5,43.6

SM_CCo 1943,162.65,0.753,1,0,1778,370.16 _24V_AH 24.0,1.886

SM_GC 0.91,0.00,0.00,162.65,0.000,0.000,0.753,121,2101,1778,-8.27,0.03,370.16 _10V_AH 10.6,0.635

IRIDIUM_FIX 4748.51,-12224.57,290598,040430 DATA_FILE_SIZE 19156,354

TT8_MAMPS 0.050622 CAP_FILE_SIZE 38975,0

HUMID 1409 CFSIZE 260165632,258469888

INTERNAL_PRESSURE 9.08484 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.80 GPS 040309,053638,4806.539,-12222.250,10,1.5,10,18.3

XPDR_PINGS 3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 268 128.69 SBE_CT 236 24 136.22

Roll_motor 36 84 74.41 Optode 242 33 191.93

VBD_pump_during_apogee 249 844 5066.30 WL_BB2F 408 105 1029.07

VBD_pump_during_surface 162 753 2940.17 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 59.47 nil 0 0 0.00

Iridium_during_connect 34 160 132.49 nil 0 0 0.00

Iridium_during_xfer 151 223 808.89

Transponder_ping 1 420 12.60

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.94

TT8 0 19 0.00

LPSleep 873 2 20.28

TT8_Active 480 19 100.75

TT8_Sampling 763 39 322.23

TT8_CF8 277 45 134.59

TT8_Kalman 33 81 28.88

Analog_circuits 818 12 104.12

GPS_charging 0 0 0.00

Compass 630 8 53.45

RAFOS 0 0 0.00

Transponder 5 30 1.85

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

12 -0.81 -161.3 0.0 0.0 0 85 0.00 0.00 -70.72 0.000 2 0.000 0.000 123 2101 3401

86 -0.81 -161.3 3.2 -5.1 12 116 10.15 2.33 -13.48 0.000 4 0.268 0.084 2501 683 3949

356 -0.81 -161.3 36.5 -11.8 62 362 0.00 2.30 0.00 0.000 6 0.000 0.063 2500 2100 3950

425 -0.81 -161.3 44.7 -11.5 75 431 0.00 2.33 0.00 0.000 4 0.000 0.072 2501 686 3950

671 -0.81 -161.3 74.7 -11.6 121 677 0.00 2.28 0.00 0.000 6 0.000 0.063 2500 2099 3950

803 -0.81 -161.3 89.1 -10.9 146 810 0.00 2.30 0.00 0.000 4 0.000 0.070 2500 683 3950

884 -0.81 -161.3 98.2 -12.0 161 890 0.00 2.28 0.00 0.000 6 0.000 0.064 2500 2098 3950

1016 -0.81 -161.3 112.5 -10.9 186 1024 0.00 2.28 0.00 0.000 4 0.000 0.071 2500 694 3950

1032 end dive: BOTTOM_OBSTACLE_DETECTED

state 1032 begin apogee

1037 -0.19 0.0 114.3 11.2 189 1165 0.62 0.00 124.35 0.844 6 0.149 0.000 2696 2101 3287

1166 end apogee: CONTROL_FINISHED_OK

state 1166 begin climb

1167 0.81 161.3 117.3 0.0 212 1296 1.00 0.00 125.62 0.815 6 0.098 0.000 3024 2101 2630

1423 0.81 161.3 79.5 17.7 259 1430 0.00 2.38 0.00 0.000 4 0.000 0.069 3024 685 2628

1492 0.81 161.3 67.5 16.6 272 1499 0.00 2.30 0.00 0.000 6 0.000 0.055 3024 2102 2628

1626 0.81 161.3 44.0 17.6 297 1632 0.00 2.33 0.00 0.000 4 0.000 0.070 3025 692 2628

1679 0.81 161.3 34.8 16.7 307 1686 0.00 2.25 0.00 0.000 6 0.000 0.055 3025 2093 2628

1749 0.81 161.3 22.8 17.8 320 1755 0.00 2.33 0.00 0.000 4 0.000 0.071 3024 683 2628

1781 0.81 161.3 17.4 17.1 326 1787 0.00 2.28 0.00 0.000 6 0.000 0.055 3025 2102 2628

1850 0.81 161.3 7.0 13.7 339 1857 0.00 2.33 0.00 0.000 4 0.000 0.071 3025 687 2627

1861 0.81 161.3 5.6 13.0 341 1868 0.00 2.25 0.00 0.000 6 0.000 0.056 3025 2098 2627

1892 end climb: SURFACE_DEPTH_REACHED

state 1892 begin surface coast

1929 end surface coast: CONTROL_FINISHED_OK

state 1929 begin surface

ID	164	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	204	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	13	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3882	ALTIM_PING_DEPTH	80
D_SURF	3	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	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	370	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	INT_PRESSURE_YINT	0.94
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	53
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3962	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3288	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	-32359.213	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	40	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	165	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	126	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3926	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2768	PRESSURE_YINT	-7.9007363	SEABIRD_T_G	0.0043488215
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158597	SEABIRD_T_H	0.00063635618
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5028745e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7326657e-06
FERRY_MAX	45	PITCH_GAIN	27	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.160287
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1436546
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00018147723
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00010835609
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	045536,4806.693,-12222.422,13,1.5,29,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.133,-0.236
_SM_DEPTHo	1.25	KALMAN_X	-2331.9,-242.8,62.1,3550.1,-392.7
_SM_ANGLEo	-72.2	KALMAN_Y	4817.9,619.4,-257.6,-7592.9,690.6
GPS2	050019,4806.670,-12222.421,10,1.5,15,18.3	MHEAD_RNG_PITCHd_Wd	132.2,1345,-16.6,-10.000
SPEED_LIMITS	0.173,0.271	D_GRID	150

FINISH	1.3,1.019780	ALTIM_BOTTOM_PING	80.5,43.6
SM_CCo	1943,162.65,0.753,1,0,1778,370.16	_24V_AH	24.0,1.886
SM_GC	0.91,0.00,0.00,162.65,0.000,0.000,0.753,121,2101,1778,-8.27,0.03,370.16	_10V_AH	10.6,0.635
IRIDIUM_FIX	4748.51,-12224.57,290598,040430	DATA_FILE_SIZE	19156,354
TT8_MAMPS	0.050622	CAP_FILE_SIZE	38975,0
HUMID	1409	CFSIZE	260165632,258469888
INTERNAL_PRESSURE	9.08484	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.80	GPS	040309,053638,4806.539,-12222.250,10,1.5,10,18.3
XPDR_PINGS	3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	268	128.69	SBE_CT	236	24	136.22
Roll_motor	36	84	74.41	Optode	242	33	191.93
VBD_pump_during_apogee	249	844	5066.30	WL_BB2F	408	105	1029.07
VBD_pump_during_surface	162	753	2940.17	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	59.47	nil	0	0	0.00
Iridium_during_connect	34	160	132.49	nil	0	0	0.00
Iridium_during_xfer	151	223	808.89
Transponder_ping	1	420	12.60
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.94
TT8	0	19	0.00
LPSleep	873	2	20.28
TT8_Active	480	19	100.75
TT8_Sampling	763	39	322.23
TT8_CF8	277	45	134.59
TT8_Kalman	33	81	28.88
Analog_circuits	818	12	104.12
GPS_charging	0	0	0.00
Compass	630	8	53.45
RAFOS	0	0	0.00
Transponder	5	30	1.85

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
12	-0.81	-161.3	0.0	0.0	0	85	0.00	0.00	-70.72	0.000	2	0.000	0.000	123	2101	3401
86	-0.81	-161.3	3.2	-5.1	12	116	10.15	2.33	-13.48	0.000	4	0.268	0.084	2501	683	3949
356	-0.81	-161.3	36.5	-11.8	62	362	0.00	2.30	0.00	0.000	6	0.000	0.063	2500	2100	3950
425	-0.81	-161.3	44.7	-11.5	75	431	0.00	2.33	0.00	0.000	4	0.000	0.072	2501	686	3950
671	-0.81	-161.3	74.7	-11.6	121	677	0.00	2.28	0.00	0.000	6	0.000	0.063	2500	2099	3950
803	-0.81	-161.3	89.1	-10.9	146	810	0.00	2.30	0.00	0.000	4	0.000	0.070	2500	683	3950
884	-0.81	-161.3	98.2	-12.0	161	890	0.00	2.28	0.00	0.000	6	0.000	0.064	2500	2098	3950
1016	-0.81	-161.3	112.5	-10.9	186	1024	0.00	2.28	0.00	0.000	4	0.000	0.071	2500	694	3950
1032	end dive: BOTTOM_OBSTACLE_DETECTED
state	1032	begin apogee
1037	-0.19	0.0	114.3	11.2	189	1165	0.62	0.00	124.35	0.844	6	0.149	0.000	2696	2101	3287
1166	end apogee: CONTROL_FINISHED_OK
state	1166	begin climb
1167	0.81	161.3	117.3	0.0	212	1296	1.00	0.00	125.62	0.815	6	0.098	0.000	3024	2101	2630
1423	0.81	161.3	79.5	17.7	259	1430	0.00	2.38	0.00	0.000	4	0.000	0.069	3024	685	2628
1492	0.81	161.3	67.5	16.6	272	1499	0.00	2.30	0.00	0.000	6	0.000	0.055	3024	2102	2628
1626	0.81	161.3	44.0	17.6	297	1632	0.00	2.33	0.00	0.000	4	0.000	0.070	3025	692	2628
1679	0.81	161.3	34.8	16.7	307	1686	0.00	2.25	0.00	0.000	6	0.000	0.055	3025	2093	2628
1749	0.81	161.3	22.8	17.8	320	1755	0.00	2.33	0.00	0.000	4	0.000	0.071	3024	683	2628
1781	0.81	161.3	17.4	17.1	326	1787	0.00	2.28	0.00	0.000	6	0.000	0.055	3025	2102	2628
1850	0.81	161.3	7.0	13.7	339	1857	0.00	2.33	0.00	0.000	4	0.000	0.071	3025	687	2627
1861	0.81	161.3	5.6	13.0	341	1868	0.00	2.25	0.00	0.000	6	0.000	0.056	3025	2098	2627
1892	end climb: SURFACE_DEPTH_REACHED
state	1892	begin surface coast
1929	end surface coast: CONTROL_FINISHED_OK
state	1929	begin surface