Glider dive log

PortSusan 19Aug09.03 * SG033 * Dive index * Mission links * Dive 2 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 33 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 ROLL_MIN 171 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3738 ALTIM_PING_DEPTH 60

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1960 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1960 ALTIM_PULSE 3

D_ABORT 250 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 200 SM_CC 950 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 10 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 1

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 1

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 186 DEVICE2 99

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3785 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3239 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.36790001 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 2 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 2 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -166354.2 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 2 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 1555 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 45 PITCH_MAX 4048 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3734 PRESSURE_YINT -19.276699 SEABIRD_T_G 0.0043575475

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00046800601 SEABIRD_T_H 0.00062940316

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_T_I 2.4306677e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6223986e-06

FERRY_MAX 2 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.332057

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.2094743

HD_A 0.0038945 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016192879

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0.00021825745

HD_C 2.5700001e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 950

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 12 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 15 D_PITCH 0 PITCH_MAX 4048 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 1555 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 60 D_TGT 150 PITCH_TIMEOUT 20 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 0.00046800601 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 2 PRESSURE_YINT -19.276699 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

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 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -166354.2

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_MISSION 60

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 300

CF8_MAXERRORS 2 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 33 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3738 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3734 KALMAN_USE 1 ROLL_MIN 171 USE_BATHY -4

C_ROLL_CLIMB 1960 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1960 MASS 52000 R_PORT_OVSHOOT 10 VBD_BLEED_AD_RATE 8

C_VBD 3239 MAX_BUOY 150 R_STBD_OVSHOOT 28 VBD_CNV -0.36790001

DEEPGLIDER 1 MISSION 4 SEABIRD_C_G -10.332057 VBD_DBAND 2

DEEPGLIDERMB 1 MOTHERBOARD 4 SEABIRD_C_H 1.2094743 VBD_MAX 3785

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016192879 VBD_MAXERRORS 1

DEVICE2 99 N_FILEKB 4 SEABIRD_C_J 0.00021825745 VBD_MIN 186

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043575475 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062940316 VBD_PUMP_AD_RATE_SURFACE 2

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4306677e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6223986e-06 XPDR_DEVICE 24

DIVE 2 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 250 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 190408,4806.855,-12222.818,14,1.1,14,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.120,0.235

_SM_DEPTHo 0.84 KALMAN_X 81.9,81.9,81.9,138.2,150.4

_SM_ANGLEo -63.6 KALMAN_Y -189.3,-189.3,-189.3,-419.8,-347.6

GPS2 190644,4806.819,-12222.815,12,1.4,12,18.3 MHEAD_RNG_PITCHd_Wd 314.6,405,-18.1,-10.000

SPEED_LIMITS 0.100,0.264 D_GRID 105

Post-dive calculations and measurements:

FINISH 1.5,1.018689 ALTIM_TOP_PING 19.7,19.2

SM_CCo 2556,299.60,0.732,0,0,656,950.29 ALTIM_BOTTOM_PING 93.1,24.5

SM_GC 1.01,0.00,0.00,299.60,0.000,0.000,0.732,1551,1957,656,-10.05,-0.08,950.29 _24V_AH 23.4,0.881

IRIDIUM_FIX 4807.83,-12235.73,131198,191932 _10V_AH 10.9,0.592

TT8_MAMPS 0.021476 DATA_FILE_SIZE 12835,253

HUMID 2243 CAP_FILE_SIZE 67152,0

INTERNAL_PRESSURE 8.22297 CFSIZE 260280320,258064384

TCM_TEMP 20.60 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

XPDR_PINGS 0 GPS 190809,195614,4806.995,-12223.170,15,2.0,15,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 203 139.72 SBE_CT 162 24 91.14

Roll_motor 30 104 75.04 AA4330 384 33 297.13

VBD_pump_during_apogee 534 809 10126.03 nil 0 0 0.00

VBD_pump_during_surface 299 732 5135.19 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 1 420 17.20

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.76

TT8 359 19 77.50

LPSleep 1138 2 27.18

TT8_Active 917 19 198.00

TT8_Sampling 490 39 212.63

TT8_CF8 35 45 17.80

TT8_Kalman 30 81 26.91

Analog_circuits 1280 12 167.46

GPS_charging 0 0 0.00

Compass 455 8 39.68

RAFOS 0 0 0.00

Transponder 14 30 4.76

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

11 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -1.69 -146.6 0.0 0.0 0 198 0.00 0.00 -181.07 0.000 2 0.000 0.000 1550 1961 3013

200 -1.69 -146.6 3.3 -5.1 34 246 12.23 2.53 -27.60 0.000 4 0.204 0.079 3356 3365 3639

262 -1.69 -146.6 9.1 -9.9 45 268 0.00 2.45 0.00 0.000 6 0.000 0.070 3357 1938 3639

337 -1.69 -146.6 18.7 -14.1 58 342 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 1938 3639

410 -1.69 -146.6 31.1 -16.8 66 411 0.00 0.00 0.00 0.000 6 0.000 0.000 3357 1938 3639

599 -1.69 -146.6 67.1 -19.8 80 603 0.00 2.53 0.00 0.000 4 0.000 0.084 3357 3364 3639

642 -1.69 -146.6 76.4 -21.4 82 647 0.00 2.45 0.00 0.000 6 0.000 0.072 3357 1961 3639

772 end dive: BOTTOM_OBSTACLE_DETECTED

state 772 begin apogee

775 -0.42 0.0 104.5 22.0 89 895 1.75 0.00 114.90 0.809 6 0.161 0.000 3640 1961 3239

896 end apogee: CONTROL_FINISHED_OK

state 896 begin climb

897 1.69 146.6 114.9 0.0 101 1017 2.33 2.60 110.55 0.792 4 0.134 0.102 4038 3362 2840

1021 1.87 291.9 112.8 3.4 113 1136 0.00 2.55 108.15 0.780 6 0.000 0.087 4037 1970 2444

1454 1.93 342.1 81.2 7.7 144 1497 0.00 2.65 37.70 0.760 4 0.000 0.102 4038 3360 2309

1507 1.97 379.8 77.1 8.3 146 1541 0.00 2.58 29.23 0.742 6 0.000 0.089 4038 1967 2207

1848 2.03 427.5 49.9 7.8 163 1891 0.00 2.62 36.75 0.750 4 0.000 0.104 4038 3363 2076

1929 2.08 465.6 43.3 8.3 170 1967 0.00 2.58 29.30 0.735 6 0.000 0.089 4038 1968 1973

2159 2.12 497.2 25.0 8.6 192 2190 0.00 2.62 25.45 0.730 4 0.000 0.102 4038 3365 1887

2194 2.16 528.6 22.2 8.6 195 2227 0.00 2.60 26.67 0.720 6 0.000 0.092 4038 1964 1802

2430 2.28 630.3 4.8 5.4 234 2448 0.00 0.00 15.90 0.700 2 0.000 0.000 4038 1964 1748

2449 end climb: SURFACE_DEPTH_REACHED

state 2449 begin surface coast

2538 end surface coast: CONTROL_FINISHED_OK

state 2538 begin surface

ID	33	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	171	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3738	ALTIM_PING_DEPTH	60
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1960	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1960	ALTIM_PULSE	3
D_ABORT	250	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	200	SM_CC	950	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	10	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	1
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	1
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	186	DEVICE2	99
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3785	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3239	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.36790001	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	2	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	2	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-166354.2	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	2	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	1555	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	45	PITCH_MAX	4048	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3734	PRESSURE_YINT	-19.276699	SEABIRD_T_G	0.0043575475
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00046800601	SEABIRD_T_H	0.00062940316
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_T_I	2.4306677e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6223986e-06
FERRY_MAX	2	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.332057
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.2094743
HD_A	0.0038945	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016192879
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0.00021825745
HD_C	2.5700001e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	190408,4806.855,-12222.818,14,1.1,14,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.120,0.235
_SM_DEPTHo	0.84	KALMAN_X	81.9,81.9,81.9,138.2,150.4
_SM_ANGLEo	-63.6	KALMAN_Y	-189.3,-189.3,-189.3,-419.8,-347.6
GPS2	190644,4806.819,-12222.815,12,1.4,12,18.3	MHEAD_RNG_PITCHd_Wd	314.6,405,-18.1,-10.000
SPEED_LIMITS	0.100,0.264	D_GRID	105

FINISH	1.5,1.018689	ALTIM_TOP_PING	19.7,19.2
SM_CCo	2556,299.60,0.732,0,0,656,950.29	ALTIM_BOTTOM_PING	93.1,24.5
SM_GC	1.01,0.00,0.00,299.60,0.000,0.000,0.732,1551,1957,656,-10.05,-0.08,950.29	_24V_AH	23.4,0.881
IRIDIUM_FIX	4807.83,-12235.73,131198,191932	_10V_AH	10.9,0.592
TT8_MAMPS	0.021476	DATA_FILE_SIZE	12835,253
HUMID	2243	CAP_FILE_SIZE	67152,0
INTERNAL_PRESSURE	8.22297	CFSIZE	260280320,258064384
TCM_TEMP	20.60	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
XPDR_PINGS	0	GPS	190809,195614,4806.995,-12223.170,15,2.0,15,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	203	139.72	SBE_CT	162	24	91.14
Roll_motor	30	104	75.04	AA4330	384	33	297.13
VBD_pump_during_apogee	534	809	10126.03	nil	0	0	0.00
VBD_pump_during_surface	299	732	5135.19	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	1	420	17.20
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.76
TT8	359	19	77.50
LPSleep	1138	2	27.18
TT8_Active	917	19	198.00
TT8_Sampling	490	39	212.63
TT8_CF8	35	45	17.80
TT8_Kalman	30	81	26.91
Analog_circuits	1280	12	167.46
GPS_charging	0	0	0.00
Compass	455	8	39.68
RAFOS	0	0	0.00
Transponder	14	30	4.76

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
11	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-1.69	-146.6	0.0	0.0	0	198	0.00	0.00	-181.07	0.000	2	0.000	0.000	1550	1961	3013
200	-1.69	-146.6	3.3	-5.1	34	246	12.23	2.53	-27.60	0.000	4	0.204	0.079	3356	3365	3639
262	-1.69	-146.6	9.1	-9.9	45	268	0.00	2.45	0.00	0.000	6	0.000	0.070	3357	1938	3639
337	-1.69	-146.6	18.7	-14.1	58	342	0.00	0.00	0.00	0.000	6	0.000	0.000	3357	1938	3639
410	-1.69	-146.6	31.1	-16.8	66	411	0.00	0.00	0.00	0.000	6	0.000	0.000	3357	1938	3639
599	-1.69	-146.6	67.1	-19.8	80	603	0.00	2.53	0.00	0.000	4	0.000	0.084	3357	3364	3639
642	-1.69	-146.6	76.4	-21.4	82	647	0.00	2.45	0.00	0.000	6	0.000	0.072	3357	1961	3639
772	end dive: BOTTOM_OBSTACLE_DETECTED
state	772	begin apogee
775	-0.42	0.0	104.5	22.0	89	895	1.75	0.00	114.90	0.809	6	0.161	0.000	3640	1961	3239
896	end apogee: CONTROL_FINISHED_OK
state	896	begin climb
897	1.69	146.6	114.9	0.0	101	1017	2.33	2.60	110.55	0.792	4	0.134	0.102	4038	3362	2840
1021	1.87	291.9	112.8	3.4	113	1136	0.00	2.55	108.15	0.780	6	0.000	0.087	4037	1970	2444
1454	1.93	342.1	81.2	7.7	144	1497	0.00	2.65	37.70	0.760	4	0.000	0.102	4038	3360	2309
1507	1.97	379.8	77.1	8.3	146	1541	0.00	2.58	29.23	0.742	6	0.000	0.089	4038	1967	2207
1848	2.03	427.5	49.9	7.8	163	1891	0.00	2.62	36.75	0.750	4	0.000	0.104	4038	3363	2076
1929	2.08	465.6	43.3	8.3	170	1967	0.00	2.58	29.30	0.735	6	0.000	0.089	4038	1968	1973
2159	2.12	497.2	25.0	8.6	192	2190	0.00	2.62	25.45	0.730	4	0.000	0.102	4038	3365	1887
2194	2.16	528.6	22.2	8.6	195	2227	0.00	2.60	26.67	0.720	6	0.000	0.092	4038	1964	1802
2430	2.28	630.3	4.8	5.4	234	2448	0.00	0.00	15.90	0.700	2	0.000	0.000	4038	1964	1748
2449	end climb: SURFACE_DEPTH_REACHED
state	2449	begin surface coast
2538	end surface coast: CONTROL_FINISHED_OK
state	2538	begin surface