Glider dive log

PortSusan 07May08 * SG155 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 155 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 2 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 17 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_MIN 160 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 4 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DEPTH 80

D_TGT 200 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 1030 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2281 ALTIM_FREQUENCY 13

D_NO_BLEED 80 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2331 ALTIM_PULSE 3

D_FINISH 0 SM_CC 720 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT -0.40000001

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 16 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 60 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 83

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 490 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3950 DEVICE5 -1

T_TURN_SAMPINT 4 CAPUPLOAD 1 C_VBD 3605 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -4921.4004 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 444 AH0_24V 91.800003 SEABIRD_T_G 0.0043393103

SPEED_FACTOR 1 PITCH_MAX 3726 AH0_10V 61.200001 SEABIRD_T_H 0.00063474569

RHO 1.023 C_PITCH 2762 PRESSURE_YINT -29.170238 SEABIRD_T_I 2.4713847e-05

MASS 51562 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116173 SEABIRD_T_J 2.6275377e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.090682

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1599662

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0014223002

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00020517112

HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 720

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3726 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 444 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 200 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000116173 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -29.170238 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -4921.4004

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 60

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 155 ROLL_DEG 40 T_TURN_SAMPINT 4

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2762 INT_PRESSURE_YINT -0.40000001 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2331 KALMAN_USE 1 ROLL_MIN 160 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2281 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 3605 MASS 51562 R_PORT_OVSHOOT 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 16 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.090682 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1599662 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0014223002 VBD_MAX 3950

DEVICE3 83 N_FILEKB 4 SEABIRD_C_J 0.00020517112 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043393103 VBD_MIN 490

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063474569 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4713847e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 17 PHONE_DEVICE 48 SEABIRD_T_J 2.6275377e-06 VBD_TIMEOUT 720

D_ABORT 1030 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 113451,4807.055,-12223.239,11,1.9,11,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.113,0.305

_SM_DEPTHo 1.90 KALMAN_X -1210.3,61.1,113.1,493.0,39.1

_SM_ANGLEo -57.4 KALMAN_Y -2253.4,-131.1,-254.0,3005.4,-342.4

GPS2 114014,4807.050,-12223.256,9,1.6,14,18.3 MHEAD_RNG_PITCHd_Wd 321.4,1985,-19.3,-13.333

SPEED_LIMITS 0.231,0.325 D_GRID 200

Post-dive calculations and measurements:

FINISH 2.3,1.018380 ALTIM_BOTTOM_PING 80.1,43.4

SM_CCo 2218,234.45,0.632,4,0,669,720.20 _24V_AH 23.6,2.444

SM_GC 2.08,0.00,0.00,234.45,0.000,0.000,0.632,442,2279,669,-10.67,-0.06,720.20 _10V_AH 10.1,1.322

IRIDIUM_FIX 4751.72,-12226.29,020897,101049 DATA_FILE_SIZE 25364,467

TT8_MAMPS 0.028379 CAP_FILE_SIZE 46357,0

HUMID 1656 CFSIZE 260165632,258252800

INTERNAL_PRESSURE 8.83864 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,4,0

TCM_TEMP 16.00 GPS 080508,122337,4807.328,-12223.510,36,1.0,41,18.3

XPDR_PINGS 23

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 170 103.07 SBE_CT 318 24 180.27

Roll_motor 11 178 47.13 SBE_O2 215 19 96.44

VBD_pump_during_apogee 286 791 5345.41 WL_BBFL2VMT 704 105 1746.74

VBD_pump_during_surface 234 632 3496.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 71.14 nil 0 0 0.00

Iridium_during_connect 28 160 109.18 nil 0 0 0.00

Iridium_during_xfer 183 223 967.90

Transponder_ping 6 420 61.95

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.30

TT8 669 19 133.84

LPSleep 240 2 5.33

TT8_Active 576 19 115.35

TT8_Sampling 1016 39 408.81

TT8_CF8 309 45 143.07

TT8_Kalman 33 81 27.55

Analog_circuits 1052 12 127.58

GPS_charging 0 0 0.00

Compass 1015 8 82.02

RAFOS 0 0 0.00

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

17 -1.45 -195.5 0.0 0.0 0 126 0.00 0.00 -105.70 0.000 2 0.000 0.000 438 2272 3202

128 -1.45 -195.5 4.4 -5.8 18 166 10.95 2.80 -20.50 0.000 4 0.170 0.127 2440 3691 3950

271 -1.45 -195.5 20.1 -13.1 49 278 0.00 2.62 0.00 0.000 6 0.000 0.084 2440 2275 3951

342 -1.45 -195.5 28.6 -11.7 65 349 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2275 3952

412 -1.45 -195.5 36.6 -11.3 81 418 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2275 3952

486 -1.45 -195.5 45.0 -11.3 97 491 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2275 3952

623 -1.45 -195.5 60.6 -10.7 128 630 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2275 3952

764 -1.45 -195.5 75.9 -10.8 159 770 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2275 3952

904 -1.45 -195.5 91.4 -10.2 190 910 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2275 3952

1044 -1.45 -195.5 106.4 -11.0 221 1049 0.00 0.00 0.00 0.000 6 0.000 0.000 2440 2275 3952

1110 end dive: BOTTOM_OBSTACLE_DETECTED

state 1110 begin apogee

1114 -0.31 0.0 113.8 10.0 236 1187 1.20 0.00 67.80 0.792 6 0.111 0.000 2689 2334 3605

1188 end apogee: CONTROL_FINISHED_OK

state 1188 begin climb

1189 1.45 195.5 116.4 0.0 249 1348 1.73 0.00 151.82 0.727 6 0.078 0.000 3074 2334 2808

1480 1.48 219.6 92.7 12.2 308 1509 0.00 2.88 20.55 0.749 4 0.000 0.124 3074 3725 2709

1530 1.48 219.8 86.9 13.3 317 1536 0.00 2.65 0.00 0.000 6 0.000 0.094 3073 2328 2709

1668 1.53 264.1 70.2 11.3 348 1708 0.00 0.00 35.90 0.731 6 0.000 0.000 3073 2328 2527

1840 1.55 274.2 48.8 12.9 385 1853 0.10 0.00 10.07 0.739 6 0.077 0.000 3101 2328 2486

1982 1.55 274.2 28.8 14.8 417 1988 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2328 2486

2051 1.55 274.2 19.2 13.4 433 2057 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2327 2486

2121 1.55 274.2 9.9 13.4 449 2128 0.00 0.00 0.00 0.000 6 0.000 0.000 3101 2327 2486

2169 end climb: SURFACE_DEPTH_REACHED

state 2169 begin surface coast

2200 end surface coast: CONTROL_FINISHED_OK

state 2200 begin surface

ID	155	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	2	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	17	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_MIN	160	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	4	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DEPTH	80
D_TGT	200	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	1030	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2281	ALTIM_FREQUENCY	13
D_NO_BLEED	80	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2331	ALTIM_PULSE	3
D_FINISH	0	SM_CC	720	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	-0.40000001
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	16	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	60	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	83
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	490	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3950	DEVICE5	-1
T_TURN_SAMPINT	4	CAPUPLOAD	1	C_VBD	3605	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-4921.4004	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	444	AH0_24V	91.800003	SEABIRD_T_G	0.0043393103
SPEED_FACTOR	1	PITCH_MAX	3726	AH0_10V	61.200001	SEABIRD_T_H	0.00063474569
RHO	1.023	C_PITCH	2762	PRESSURE_YINT	-29.170238	SEABIRD_T_I	2.4713847e-05
MASS	51562	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116173	SEABIRD_T_J	2.6275377e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.090682
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1599662
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0014223002
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00020517112
HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	113451,4807.055,-12223.239,11,1.9,11,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.113,0.305
_SM_DEPTHo	1.90	KALMAN_X	-1210.3,61.1,113.1,493.0,39.1
_SM_ANGLEo	-57.4	KALMAN_Y	-2253.4,-131.1,-254.0,3005.4,-342.4
GPS2	114014,4807.050,-12223.256,9,1.6,14,18.3	MHEAD_RNG_PITCHd_Wd	321.4,1985,-19.3,-13.333
SPEED_LIMITS	0.231,0.325	D_GRID	200

FINISH	2.3,1.018380	ALTIM_BOTTOM_PING	80.1,43.4
SM_CCo	2218,234.45,0.632,4,0,669,720.20	_24V_AH	23.6,2.444
SM_GC	2.08,0.00,0.00,234.45,0.000,0.000,0.632,442,2279,669,-10.67,-0.06,720.20	_10V_AH	10.1,1.322
IRIDIUM_FIX	4751.72,-12226.29,020897,101049	DATA_FILE_SIZE	25364,467
TT8_MAMPS	0.028379	CAP_FILE_SIZE	46357,0
HUMID	1656	CFSIZE	260165632,258252800
INTERNAL_PRESSURE	8.83864	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,4,0
TCM_TEMP	16.00	GPS	080508,122337,4807.328,-12223.510,36,1.0,41,18.3
XPDR_PINGS	23

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	170	103.07	SBE_CT	318	24	180.27
Roll_motor	11	178	47.13	SBE_O2	215	19	96.44
VBD_pump_during_apogee	286	791	5345.41	WL_BBFL2VMT	704	105	1746.74
VBD_pump_during_surface	234	632	3496.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	71.14	nil	0	0	0.00
Iridium_during_connect	28	160	109.18	nil	0	0	0.00
Iridium_during_xfer	183	223	967.90
Transponder_ping	6	420	61.95
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.30
TT8	669	19	133.84
LPSleep	240	2	5.33
TT8_Active	576	19	115.35
TT8_Sampling	1016	39	408.81
TT8_CF8	309	45	143.07
TT8_Kalman	33	81	27.55
Analog_circuits	1052	12	127.58
GPS_charging	0	0	0.00
Compass	1015	8	82.02
RAFOS	0	0	0.00

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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
17	-1.45	-195.5	0.0	0.0	0	126	0.00	0.00	-105.70	0.000	2	0.000	0.000	438	2272	3202
128	-1.45	-195.5	4.4	-5.8	18	166	10.95	2.80	-20.50	0.000	4	0.170	0.127	2440	3691	3950
271	-1.45	-195.5	20.1	-13.1	49	278	0.00	2.62	0.00	0.000	6	0.000	0.084	2440	2275	3951
342	-1.45	-195.5	28.6	-11.7	65	349	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2275	3952
412	-1.45	-195.5	36.6	-11.3	81	418	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2275	3952
486	-1.45	-195.5	45.0	-11.3	97	491	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2275	3952
623	-1.45	-195.5	60.6	-10.7	128	630	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2275	3952
764	-1.45	-195.5	75.9	-10.8	159	770	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2275	3952
904	-1.45	-195.5	91.4	-10.2	190	910	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2275	3952
1044	-1.45	-195.5	106.4	-11.0	221	1049	0.00	0.00	0.00	0.000	6	0.000	0.000	2440	2275	3952
1110	end dive: BOTTOM_OBSTACLE_DETECTED
state	1110	begin apogee
1114	-0.31	0.0	113.8	10.0	236	1187	1.20	0.00	67.80	0.792	6	0.111	0.000	2689	2334	3605
1188	end apogee: CONTROL_FINISHED_OK
state	1188	begin climb
1189	1.45	195.5	116.4	0.0	249	1348	1.73	0.00	151.82	0.727	6	0.078	0.000	3074	2334	2808
1480	1.48	219.6	92.7	12.2	308	1509	0.00	2.88	20.55	0.749	4	0.000	0.124	3074	3725	2709
1530	1.48	219.8	86.9	13.3	317	1536	0.00	2.65	0.00	0.000	6	0.000	0.094	3073	2328	2709
1668	1.53	264.1	70.2	11.3	348	1708	0.00	0.00	35.90	0.731	6	0.000	0.000	3073	2328	2527
1840	1.55	274.2	48.8	12.9	385	1853	0.10	0.00	10.07	0.739	6	0.077	0.000	3101	2328	2486
1982	1.55	274.2	28.8	14.8	417	1988	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	2328	2486
2051	1.55	274.2	19.2	13.4	433	2057	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	2327	2486
2121	1.55	274.2	9.9	13.4	449	2128	0.00	0.00	0.00	0.000	6	0.000	0.000	3101	2327	2486
2169	end climb: SURFACE_DEPTH_REACHED
state	2169	begin surface coast
2200	end surface coast: CONTROL_FINISHED_OK
state	2200	begin surface