Glider dive log

PortSusan 13May09 * SG144 * Dive index * Mission links * Dive 15 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 144 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 14 ESCAPE_HEADING 0 ROLL_MIN 150 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 15 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3809 ALTIM_PING_DEPTH 60

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 2303 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2303 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 600 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 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 24 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 62.5 UPLOAD_DIVES_MAX -1 VBD_MIN 480 DEVICE2 20

T_MISSION 75 CALL_TRIES 5 VBD_MAX 3950 DEVICE3 53

T_ABORT 1440 CALL_WAIT 60 C_VBD 3338 DEVICE4 35

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 600 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 10 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -58884.402 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 147 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 120 AH0_10V 122.2 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 3976 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2000 PRESSURE_YINT -4.5495057 SEABIRD_T_G 0.0043441742

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011159377 SEABIRD_T_H 0.00062523223

MASS 51458 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 1.8114715e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 1.1782754e-06

FERRY_MAX 45 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.019677

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1227477

HD_A 0.0044757999 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00077646878

HD_B 0.0099689998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00015901824

HD_C 1.0513e-05 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 122.2 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 147 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 600

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 22 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3976 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 120 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 0.00011159377 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -4.5495057 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_DIVE 62.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 10

CALL_TRIES 5 HD_A 0.0044757999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099689998 RELAUNCH 1 T_GPS_CHARGE -58884.402

CAPMAXSIZE 100000 HD_C 1.0513e-05 RHO 1.023 T_MISSION 75

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 600

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

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 144 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3809 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2000 KALMAN_USE 1 ROLL_MIN 150 USE_BATHY 0

C_ROLL_CLIMB 2303 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2303 MASS 51458 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 3338 MAX_BUOY 150 R_STBD_OVSHOOT 24 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 14 SEABIRD_C_G -10.019677 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1227477 VBD_MAX 3950

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00077646878 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00015901824 VBD_MIN 480

DEVICE3 53 N_GPS 20 SEABIRD_T_G 0.0043441742 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 35 N_NOCOMM 1 SEABIRD_T_H 0.00062523223 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 1.8114715e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 1.1782754e-06 XPDR_DEVICE 24

DIVE 15 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 055921,4807.723,-12224.181,12,2.3,31,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 7 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.120,-0.212

_SM_DEPTHo -0.28 KALMAN_X -84.5,-211.0,-335.8,-604.7,-86.3

_SM_ANGLEo -63.6 KALMAN_Y 9201.8,1070.2,317.9,-10491.4,1383.1

GPS2 060516,4807.841,-12224.273,14,2.6,33,18.3 MHEAD_RNG_PITCHd_Wd 132.3,2215,-15.3,-8.000

SPEED_LIMITS 0.080,0.243 D_GRID 150

Post-dive calculations and measurements:

FINISH 3.7,1.021059 ALTIM_TOP_PING 19.8,999.0

SM_CCo 2105,328.92,0.581,0,0,891,600.00 ALTIM_BOTTOM_PING 90.5,24.2

SM_GC -0.23,0.00,0.00,328.92,0.000,0.000,0.581,99,2310,891,-8.74,0.20,600.00 _24V_AH 24.3,1.947

IRIDIUM_FIX 4751.72,-12219.12,080898,050500 _10V_AH 10.7,0.702

TT8_MAMPS 0.029146 DATA_FILE_SIZE 9664,194

HUMID 1533 CAP_FILE_SIZE 36203,0

INTERNAL_PRESSURE 7.39286 CFSIZE 260165632,258387968

TCM_TEMP 16.80 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 10 GPS 140509,064752,4807.736,-12224.181,13,4.2,32,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 14 260 91.89 SBE_CT 137 24 80.27

Roll_motor 36 85 76.49 SBE_O2 132 19 61.33

VBD_pump_during_apogee 208 661 3360.09 Optode 198 33 159.40

VBD_pump_during_surface 328 581 4646.95 WL_BB2F 334 105 853.33

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 70.49 nil 0 0 0.00

Iridium_during_connect 29 160 113.14 nil 0 0 0.00

Iridium_during_xfer 176 223 956.25

Transponder_ping 4 420 43.38

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 35 50 19.25

TT8 351 19 74.45

LPSleep 1032 2 24.19

TT8_Active 597 19 126.48

TT8_Sampling 492 39 209.73

TT8_CF8 331 45 162.53

TT8_Kalman 33 81 29.16

Analog_circuits 874 12 112.23

GPS_charging 0 0 0.00

Compass 465 8 39.85

RAFOS 0 0 0.00

Transponder 14 30 4.65

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 -0.88 -146.6 0.0 0.0 0 88 0.00 0.00 -70.05 0.000 2 0.000 0.000 100 2307 3077

91 -0.88 -146.6 3.0 -7.1 12 128 7.05 2.35 -21.20 0.000 4 0.261 0.085 1789 3706 3938

135 -0.88 -146.6 5.8 -5.1 19 141 0.00 2.25 0.00 0.000 6 0.000 0.056 1789 2303 3939

211 -0.88 -146.6 16.1 -13.9 32 217 0.00 2.28 0.00 0.000 4 0.000 0.061 1788 889 3939

329 -0.88 -146.6 34.1 -14.5 45 336 0.08 2.33 0.00 0.000 6 0.157 0.058 1803 2300 3939

525 -0.88 -146.6 59.1 -12.6 61 529 0.00 2.30 0.00 0.000 4 0.000 0.066 1795 3716 3939

551 -0.88 -146.6 62.9 -13.3 62 556 0.00 2.25 0.00 0.000 6 0.000 0.049 1794 2297 3939

874 -0.88 -146.6 103.1 -12.1 79 878 0.00 2.25 0.00 0.000 4 0.000 0.061 1795 888 3939

889 end dive: BOTTOM_OBSTACLE_DETECTED

state 889 begin apogee

897 -0.23 0.0 105.4 12.8 80 1005 0.50 0.00 103.22 0.662 6 0.140 0.000 1948 2311 3337

1006 end apogee: CONTROL_FINISHED_OK

state 1006 begin climb

1008 0.88 146.6 109.5 0.0 91 1123 0.70 2.45 105.68 0.639 4 0.080 0.063 2204 900 2739

1155 0.88 146.6 103.8 11.4 104 1162 0.00 2.40 0.00 0.000 6 0.000 0.058 2204 2302 2735

1482 0.88 146.6 61.8 13.1 122 1486 0.00 2.33 0.00 0.000 4 0.000 0.067 2205 3717 2731

1627 0.88 146.6 40.4 14.7 131 1635 0.08 2.30 0.00 0.000 6 0.222 0.055 2183 2309 2731

1825 0.88 146.6 20.8 8.8 150 1829 0.00 2.30 0.00 0.000 4 0.000 0.065 2183 3717 2730

1882 0.88 146.6 15.2 10.3 158 1889 0.00 2.25 0.00 0.000 6 0.000 0.060 2192 2299 2731

1958 0.88 146.6 8.0 9.7 171 1965 0.00 2.28 0.00 0.000 4 0.000 0.067 2203 889 2730

1982 0.88 146.6 6.1 8.7 175 1989 0.00 2.33 0.00 0.000 6 0.000 0.061 2203 2310 2730

2017 end climb: SURFACE_DEPTH_REACHED

state 2017 begin surface coast

2090 end surface coast: CONTROL_FINISHED_OK

state 2090 begin surface

ID	144	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	14	ESCAPE_HEADING	0	ROLL_MIN	150	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	15	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3809	ALTIM_PING_DEPTH	60
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	2303	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2303	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	600	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	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	24	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	62.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	480	DEVICE2	20
T_MISSION	75	CALL_TRIES	5	VBD_MAX	3950	DEVICE3	53
T_ABORT	1440	CALL_WAIT	60	C_VBD	3338	DEVICE4	35
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	600	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	10	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-58884.402	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	147	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	120	AH0_10V	122.2	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	3976	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2000	PRESSURE_YINT	-4.5495057	SEABIRD_T_G	0.0043441742
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011159377	SEABIRD_T_H	0.00062523223
MASS	51458	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	1.8114715e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	1.1782754e-06
FERRY_MAX	45	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.019677
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1227477
HD_A	0.0044757999	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00077646878
HD_B	0.0099689998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00015901824
HD_C	1.0513e-05	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	055921,4807.723,-12224.181,12,2.3,31,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	7	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.120,-0.212
_SM_DEPTHo	-0.28	KALMAN_X	-84.5,-211.0,-335.8,-604.7,-86.3
_SM_ANGLEo	-63.6	KALMAN_Y	9201.8,1070.2,317.9,-10491.4,1383.1
GPS2	060516,4807.841,-12224.273,14,2.6,33,18.3	MHEAD_RNG_PITCHd_Wd	132.3,2215,-15.3,-8.000
SPEED_LIMITS	0.080,0.243	D_GRID	150

FINISH	3.7,1.021059	ALTIM_TOP_PING	19.8,999.0
SM_CCo	2105,328.92,0.581,0,0,891,600.00	ALTIM_BOTTOM_PING	90.5,24.2
SM_GC	-0.23,0.00,0.00,328.92,0.000,0.000,0.581,99,2310,891,-8.74,0.20,600.00	_24V_AH	24.3,1.947
IRIDIUM_FIX	4751.72,-12219.12,080898,050500	_10V_AH	10.7,0.702
TT8_MAMPS	0.029146	DATA_FILE_SIZE	9664,194
HUMID	1533	CAP_FILE_SIZE	36203,0
INTERNAL_PRESSURE	7.39286	CFSIZE	260165632,258387968
TCM_TEMP	16.80	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	10	GPS	140509,064752,4807.736,-12224.181,13,4.2,32,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	14	260	91.89	SBE_CT	137	24	80.27
Roll_motor	36	85	76.49	SBE_O2	132	19	61.33
VBD_pump_during_apogee	208	661	3360.09	Optode	198	33	159.40
VBD_pump_during_surface	328	581	4646.95	WL_BB2F	334	105	853.33
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	70.49	nil	0	0	0.00
Iridium_during_connect	29	160	113.14	nil	0	0	0.00
Iridium_during_xfer	176	223	956.25
Transponder_ping	4	420	43.38
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	35	50	19.25
TT8	351	19	74.45
LPSleep	1032	2	24.19
TT8_Active	597	19	126.48
TT8_Sampling	492	39	209.73
TT8_CF8	331	45	162.53
TT8_Kalman	33	81	29.16
Analog_circuits	874	12	112.23
GPS_charging	0	0	0.00
Compass	465	8	39.85
RAFOS	0	0	0.00
Transponder	14	30	4.65

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	-0.88	-146.6	0.0	0.0	0	88	0.00	0.00	-70.05	0.000	2	0.000	0.000	100	2307	3077
91	-0.88	-146.6	3.0	-7.1	12	128	7.05	2.35	-21.20	0.000	4	0.261	0.085	1789	3706	3938
135	-0.88	-146.6	5.8	-5.1	19	141	0.00	2.25	0.00	0.000	6	0.000	0.056	1789	2303	3939
211	-0.88	-146.6	16.1	-13.9	32	217	0.00	2.28	0.00	0.000	4	0.000	0.061	1788	889	3939
329	-0.88	-146.6	34.1	-14.5	45	336	0.08	2.33	0.00	0.000	6	0.157	0.058	1803	2300	3939
525	-0.88	-146.6	59.1	-12.6	61	529	0.00	2.30	0.00	0.000	4	0.000	0.066	1795	3716	3939
551	-0.88	-146.6	62.9	-13.3	62	556	0.00	2.25	0.00	0.000	6	0.000	0.049	1794	2297	3939
874	-0.88	-146.6	103.1	-12.1	79	878	0.00	2.25	0.00	0.000	4	0.000	0.061	1795	888	3939
889	end dive: BOTTOM_OBSTACLE_DETECTED
state	889	begin apogee
897	-0.23	0.0	105.4	12.8	80	1005	0.50	0.00	103.22	0.662	6	0.140	0.000	1948	2311	3337
1006	end apogee: CONTROL_FINISHED_OK
state	1006	begin climb
1008	0.88	146.6	109.5	0.0	91	1123	0.70	2.45	105.68	0.639	4	0.080	0.063	2204	900	2739
1155	0.88	146.6	103.8	11.4	104	1162	0.00	2.40	0.00	0.000	6	0.000	0.058	2204	2302	2735
1482	0.88	146.6	61.8	13.1	122	1486	0.00	2.33	0.00	0.000	4	0.000	0.067	2205	3717	2731
1627	0.88	146.6	40.4	14.7	131	1635	0.08	2.30	0.00	0.000	6	0.222	0.055	2183	2309	2731
1825	0.88	146.6	20.8	8.8	150	1829	0.00	2.30	0.00	0.000	4	0.000	0.065	2183	3717	2730
1882	0.88	146.6	15.2	10.3	158	1889	0.00	2.25	0.00	0.000	6	0.000	0.060	2192	2299	2731
1958	0.88	146.6	8.0	9.7	171	1965	0.00	2.28	0.00	0.000	4	0.000	0.067	2203	889	2730
1982	0.88	146.6	6.1	8.7	175	1989	0.00	2.33	0.00	0.000	6	0.000	0.061	2203	2310	2730
2017	end climb: SURFACE_DEPTH_REACHED
state	2017	begin surface coast
2090	end surface coast: CONTROL_FINISHED_OK
state	2090	begin surface