Glider dive log

Parameter values: Sort by alphabetical glider order

ID 16 HD_C 2.576e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 20

MISSION 8 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

DIVE 20 ESCAPE_HEADING 45 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 4 ESCAPE_HEADING_DELTA 10 ROLL_MIN 293 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3771 ALTIM_PING_DEPTH 70

D_TGT 150 TGT_DEFAULT_LAT 62 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LON -6.8000002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2300 ALTIM_PULSE 5

D_FINISH 0 SM_CC 600 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

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 20

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 15 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 18 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 62.5 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 509 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3836 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2995 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 0.00109 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 6 PHONE_DEVICE 16

T_WATCHDOG 10 T_GPS_CHARGE -2089428.5 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 4 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 21

MAX_BUOY 250 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 78 AH0_24V 100 SEABIRD_T_G 0.0043329173

SPEED_FACTOR 1 PITCH_MAX 3345 AH0_10V 61.200001 SEABIRD_T_H 0.00063270959

RHO 1.023 C_PITCH 2300 PRESSURE_YINT -20.153397 SEABIRD_T_I 2.426896e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001162269 SEABIRD_T_J 2.5701047e-06

NAV_MODE 0 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.820549

FERRY_MAX 22 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.0992489

KALMAN_USE 1 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00098207768

HD_A 0.0038945 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00017122706

HD_B 0.0099684997 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 100 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 16 SM_CC 600

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3345 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 78 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 150 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 ESCAPE_HEADING 45 PITCH_VBD_SHIFT 0.00109 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001162269 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 22 PRESSURE_YINT -20.153397 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 62

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -6.8000002

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 62.5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_GPS_CHARGE -2089428.5

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 2 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 16 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3771 T_WATCHDOG 10

C_PITCH 2300 INT_PRESSURE_YINT 20 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2300 KALMAN_USE 1 ROLL_MIN 293 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2500 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY 0

C_VBD 2995 MASS 52000 R_PORT_OVSHOOT 15 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 250 R_STBD_OVSHOOT 18 VBD_BLEED_AD_RATE 4

DEEPGLIDERMB 0 MISSION 8 SEABIRD_C_G -9.820549 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 2 SEABIRD_C_H 1.0992489 VBD_DBAND 2

DEVICE2 20 NAV_MODE 0 SEABIRD_C_I -0.00098207768 VBD_MAX 3836

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017122706 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043329173 VBD_MIN 509

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063270959 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.426896e-05 VBD_PUMP_AD_RATE_SURFACE 6

DIVE 20 PHONE_DEVICE 16 SEABIRD_T_J 2.5701047e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 21

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 143802,4805.939,-12221.920,13,1.5,30,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.136,0.273

_SM_DEPTHo 1.20 KALMAN_X 4078.0,-760.0,-13.2,-1605.6,-106.7

_SM_ANGLEo -62.7 KALMAN_Y -11447.1,643.6,210.6,6414.1,-114.5

GPS2 144126,4805.931,-12221.900,10,1.0,15,18.3 MHEAD_RNG_PITCHd_Wd 307.6,4628,-11.0,-8.000

SPEED_LIMITS 0.139,0.305 D_GRID 150

Post-dive calculations and measurements:

FINISH 0.5,1.004214 ALTIM_BOTTOM_PING 100.1,27.9

SM_CCo 3278,174.48,0.559,1,0,548,600.00 _24V_AH 23.7,2.577

SM_GC 1.47,0.00,0.00,174.48,0.000,0.000,0.559,70,2504,548,-10.26,0.11,600.00 _10V_AH 10.1,1.025

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 15976,294

TT8_MAMPS 0.023777 CAP_FILE_SIZE 43285,0

HUMID 1714 CFSIZE 260165632,258699264

TCM_TEMP 16.90 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,1,0

XPDR_PINGS 12 GPS 300408,154050,4806.054,-12222.002,8,1.9,14,18.3

ALTIM_TOP_PING 19.1,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 166 94.57 SBE_CT 199 24 113.34

Roll_motor 41 85 84.03 SBE_O2 208 19 93.66

VBD_pump_during_apogee 369 665 5828.15 WL_BB2F 508 105 1264.59

VBD_pump_during_surface 174 559 2312.09 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 18 103 45.04 nil 0 0 0.00

Iridium_during_connect 25 160 98.58 nil 0 0 0.00

Iridium_during_xfer 75 223 398.55

Transponder_ping 4 420 47.28

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 7.68

TT8 500 19 100.12

LPSleep 1599 2 35.37

TT8_Active 613 19 122.77

TT8_Sampling 736 39 295.91

TT8_CF8 231 45 107.03

TT8_Kalman 33 81 27.52

Analog_circuits 1036 12 125.62

GPS_charging 0 0 0.00

Compass 719 8 58.15

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

40 end surface: CONTROL_FINISHED_OK

state 40 begin dive

43 -0.95 -244.4 0.0 0.0 0 187 0.00 0.00 -140.25 0.000 2 0.000 0.000 75 2506 3381

190 -0.95 -244.4 3.0 -2.2 26 225 11.32 2.38 -16.27 0.000 4 0.166 0.086 2091 3766 3836

272 -0.95 -244.4 7.7 -5.4 40 279 0.00 2.33 -0.08 0.000 6 0.000 0.053 2091 2492 3837

348 -0.95 -244.4 11.2 -4.5 53 354 0.00 2.62 0.00 0.000 4 0.000 0.065 2091 1076 3837

418 -0.95 -244.4 14.7 -5.0 65 424 0.00 2.65 0.00 0.000 6 0.000 0.059 2092 2505 3837

493 -0.95 -244.4 18.1 -4.6 78 499 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 2505 3836

566 -0.95 -244.4 21.8 -5.1 88 567 0.00 0.00 0.00 0.000 6 0.000 0.000 2091 2505 3836

757 -0.95 -244.4 31.6 -5.0 106 761 0.00 2.65 0.00 0.000 4 0.000 0.059 2091 1076 3836

812 -0.95 -244.4 34.6 -5.7 110 819 0.00 2.65 -0.03 0.000 6 0.000 0.058 2091 2506 3838

1011 -0.95 -244.4 43.9 -4.6 129 1015 0.00 2.65 0.00 0.000 4 0.000 0.060 2091 1077 3838

1051 -0.95 -244.4 45.8 -5.1 132 1055 0.00 2.62 0.00 0.000 6 0.000 0.058 2091 2502 3838

1256 -0.95 -244.4 57.0 -5.5 145 1260 0.00 2.62 0.00 0.000 4 0.000 0.058 2091 1079 3838

1408 -0.95 -244.4 65.1 -4.6 152 1413 0.00 2.62 0.00 0.000 6 0.000 0.058 2091 2502 3837

1736 -0.95 -244.4 83.1 -5.6 168 1740 0.00 2.40 0.00 0.000 4 0.000 0.074 2091 3775 3837

1890 -0.95 -244.4 91.9 -5.4 175 1894 0.00 2.30 0.00 0.000 6 0.000 0.051 2091 2499 3837

2220 -0.95 -244.4 110.0 -5.2 199 2225 0.00 2.42 0.00 0.000 4 0.000 0.075 2091 3775 3837

2243 -0.95 -244.4 111.4 -5.7 200 2249 0.00 2.30 0.00 0.000 6 0.000 0.051 2091 2494 3837

2374 end dive: BOTTOM_OBSTACLE_DETECTED

state 2374 begin apogee

2381 -0.31 0.0 118.5 5.3 213 2558 0.62 0.00 170.88 0.666 6 0.075 0.000 2225 2291 2996

2559 end apogee: CONTROL_FINISHED_OK

state 2559 begin climb

2562 0.95 244.4 122.6 0.0 231 2774 1.27 2.67 198.50 0.647 4 0.061 0.066 2509 888 1997

2891 0.95 244.4 67.0 18.1 254 2896 0.00 2.62 0.00 0.000 6 0.000 0.051 2509 2308 1997

3218 0.95 244.4 6.5 17.0 287 3223 0.00 0.00 0.00 0.000 6 0.000 0.000 2509 2308 1997

3234 end climb: SURFACE_DEPTH_REACHED

state 3234 begin surface coast

3256 end surface coast: CONTROL_FINISHED_OK

state 3256 begin surface

ID	16	HD_C	2.576e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	20
MISSION	8	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10
DIVE	20	ESCAPE_HEADING	45	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	4	ESCAPE_HEADING_DELTA	10	ROLL_MIN	293	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3771	ALTIM_PING_DEPTH	70
D_TGT	150	TGT_DEFAULT_LAT	62	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LON	-6.8000002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2300	ALTIM_PULSE	5
D_FINISH	0	SM_CC	600	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
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	20
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	15	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	18	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	62.5	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	509	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3836	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2995	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	0.00109	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	6	PHONE_DEVICE	16
T_WATCHDOG	10	T_GPS_CHARGE	-2089428.5	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	4	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	21
MAX_BUOY	250	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	78	AH0_24V	100	SEABIRD_T_G	0.0043329173
SPEED_FACTOR	1	PITCH_MAX	3345	AH0_10V	61.200001	SEABIRD_T_H	0.00063270959
RHO	1.023	C_PITCH	2300	PRESSURE_YINT	-20.153397	SEABIRD_T_I	2.426896e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001162269	SEABIRD_T_J	2.5701047e-06
NAV_MODE	0	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.820549
FERRY_MAX	22	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.0992489
KALMAN_USE	1	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00098207768
HD_A	0.0038945	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00017122706
HD_B	0.0099684997	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0

GPS1	143802,4805.939,-12221.920,13,1.5,30,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.136,0.273
_SM_DEPTHo	1.20	KALMAN_X	4078.0,-760.0,-13.2,-1605.6,-106.7
_SM_ANGLEo	-62.7	KALMAN_Y	-11447.1,643.6,210.6,6414.1,-114.5
GPS2	144126,4805.931,-12221.900,10,1.0,15,18.3	MHEAD_RNG_PITCHd_Wd	307.6,4628,-11.0,-8.000
SPEED_LIMITS	0.139,0.305	D_GRID	150

FINISH	0.5,1.004214	ALTIM_BOTTOM_PING	100.1,27.9
SM_CCo	3278,174.48,0.559,1,0,548,600.00	_24V_AH	23.7,2.577
SM_GC	1.47,0.00,0.00,174.48,0.000,0.000,0.559,70,2504,548,-10.26,0.11,600.00	_10V_AH	10.1,1.025
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	15976,294
TT8_MAMPS	0.023777	CAP_FILE_SIZE	43285,0
HUMID	1714	CFSIZE	260165632,258699264
TCM_TEMP	16.90	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
XPDR_PINGS	12	GPS	300408,154050,4806.054,-12222.002,8,1.9,14,18.3
ALTIM_TOP_PING	19.1,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	166	94.57	SBE_CT	199	24	113.34
Roll_motor	41	85	84.03	SBE_O2	208	19	93.66
VBD_pump_during_apogee	369	665	5828.15	WL_BB2F	508	105	1264.59
VBD_pump_during_surface	174	559	2312.09	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	18	103	45.04	nil	0	0	0.00
Iridium_during_connect	25	160	98.58	nil	0	0	0.00
Iridium_during_xfer	75	223	398.55
Transponder_ping	4	420	47.28
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	7.68
TT8	500	19	100.12
LPSleep	1599	2	35.37
TT8_Active	613	19	122.77
TT8_Sampling	736	39	295.91
TT8_CF8	231	45	107.03
TT8_Kalman	33	81	27.52
Analog_circuits	1036	12	125.62
GPS_charging	0	0	0.00
Compass	719	8	58.15
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
40	end surface: CONTROL_FINISHED_OK
state	40	begin dive
43	-0.95	-244.4	0.0	0.0	0	187	0.00	0.00	-140.25	0.000	2	0.000	0.000	75	2506	3381
190	-0.95	-244.4	3.0	-2.2	26	225	11.32	2.38	-16.27	0.000	4	0.166	0.086	2091	3766	3836
272	-0.95	-244.4	7.7	-5.4	40	279	0.00	2.33	-0.08	0.000	6	0.000	0.053	2091	2492	3837
348	-0.95	-244.4	11.2	-4.5	53	354	0.00	2.62	0.00	0.000	4	0.000	0.065	2091	1076	3837
418	-0.95	-244.4	14.7	-5.0	65	424	0.00	2.65	0.00	0.000	6	0.000	0.059	2092	2505	3837
493	-0.95	-244.4	18.1	-4.6	78	499	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	2505	3836
566	-0.95	-244.4	21.8	-5.1	88	567	0.00	0.00	0.00	0.000	6	0.000	0.000	2091	2505	3836
757	-0.95	-244.4	31.6	-5.0	106	761	0.00	2.65	0.00	0.000	4	0.000	0.059	2091	1076	3836
812	-0.95	-244.4	34.6	-5.7	110	819	0.00	2.65	-0.03	0.000	6	0.000	0.058	2091	2506	3838
1011	-0.95	-244.4	43.9	-4.6	129	1015	0.00	2.65	0.00	0.000	4	0.000	0.060	2091	1077	3838
1051	-0.95	-244.4	45.8	-5.1	132	1055	0.00	2.62	0.00	0.000	6	0.000	0.058	2091	2502	3838
1256	-0.95	-244.4	57.0	-5.5	145	1260	0.00	2.62	0.00	0.000	4	0.000	0.058	2091	1079	3838
1408	-0.95	-244.4	65.1	-4.6	152	1413	0.00	2.62	0.00	0.000	6	0.000	0.058	2091	2502	3837
1736	-0.95	-244.4	83.1	-5.6	168	1740	0.00	2.40	0.00	0.000	4	0.000	0.074	2091	3775	3837
1890	-0.95	-244.4	91.9	-5.4	175	1894	0.00	2.30	0.00	0.000	6	0.000	0.051	2091	2499	3837
2220	-0.95	-244.4	110.0	-5.2	199	2225	0.00	2.42	0.00	0.000	4	0.000	0.075	2091	3775	3837
2243	-0.95	-244.4	111.4	-5.7	200	2249	0.00	2.30	0.00	0.000	6	0.000	0.051	2091	2494	3837
2374	end dive: BOTTOM_OBSTACLE_DETECTED
state	2374	begin apogee
2381	-0.31	0.0	118.5	5.3	213	2558	0.62	0.00	170.88	0.666	6	0.075	0.000	2225	2291	2996
2559	end apogee: CONTROL_FINISHED_OK
state	2559	begin climb
2562	0.95	244.4	122.6	0.0	231	2774	1.27	2.67	198.50	0.647	4	0.061	0.066	2509	888	1997
2891	0.95	244.4	67.0	18.1	254	2896	0.00	2.62	0.00	0.000	6	0.000	0.051	2509	2308	1997
3218	0.95	244.4	6.5	17.0	287	3223	0.00	0.00	0.00	0.000	6	0.000	0.000	2509	2308	1997
3234	end climb: SURFACE_DEPTH_REACHED
state	3234	begin surface coast
3256	end surface coast: CONTROL_FINISHED_OK
state	3256	begin surface