Glider dive log

Faroes Aug09 * SG005 * Dive index * Mission links * Dive 204 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 5 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 159 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 204 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 120

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 2 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 2130 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 1850 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_NO_BLEED 200 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 6

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 13 XPDR_INHIBIT 9

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 24 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 412.5 UPLOAD_DIVES_MAX -1 VBD_MIN 390 DEVICE2 20

T_MISSION 440 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2831 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 300 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 5 PITCH_VBD_SHIFT 0.0016 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 3 COMPASS_DEVICE 33

D_OFFGRID 990 T_GPS_CHARGE -104104.68 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 27 UNCOM_BLEED 20 PHONE_DEVICE 16

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 91.800003 XPDR_DEVICE 21

COURSE_BIAS 0 PITCH_MIN 432 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3760 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2745 PRESSURE_YINT -23.674383 SEABIRD_T_G 0.0043731672

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00064376107

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5908092e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8225327e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8535681

KALMAN_USE 1 PITCH_TIMEOUT 18 COMPASS_USE 0 SEABIRD_C_H 1.1081258

HD_A 0.0038945 PITCH_AD_RATE 170 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00043031506

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012618699

HD_C 2.576e-06 PITCH_ADJ_GAIN 0.029999999 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 170 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 990 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3760 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 432 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 120 D_TGT 990 PITCH_TIMEOUT 18 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0016 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -23.674383 TGT_DEFAULT_LAT 61.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -8.75

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 412.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

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 -104104.68

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 440

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 300

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 27

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 5 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2745 KALMAN_USE 1 ROLL_MIN 159 USE_BATHY 0

C_ROLL_CLIMB 1850 KERMIT 0 ROLL_TIMEOUT 13 USE_ICE 0

C_ROLL_DIVE 2130 MASS 52000 R_PORT_OVSHOOT 24 VBD_BLEED_AD_RATE 8

C_VBD 2831 MAX_BUOY 150 R_STBD_OVSHOOT 45 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -9.8535681 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 2 SEABIRD_C_H 1.1081258 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00043031506 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012618699 VBD_MIN 390

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043731672 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064376107 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5908092e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 16 SEABIRD_T_J 2.8225327e-06 XPDR_DEVICE 21

DIVE 204 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 9

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 6

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 200106,6404.243,-1313.463,38,1.1,39,-12.6 TGT_NAME P3

_CALLS 1 TGT_LATLONG 6349.750,-1321.120

_XMS_NAKs 0 TGT_RADIUS 5000.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.238,-0.061

_SM_DEPTHo 2.10 KALMAN_X -41270.9,-197.1,-772.2,-198601.1,51622.3

_SM_ANGLEo -64.2 KALMAN_Y -27007.5,-434.4,652.8,300312.6,-12056.0

GPS2 200650,6404.320,-1313.375,13,1.1,13,-12.6 MHEAD_RNG_PITCHd_Wd 268.3,27715,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 990

Post-dive calculations and measurements:

FINISH 1.0,1.027168 ALTIM_BOTTOM_PING 121.6,33.6

SM_CCo 3361,0.00,0.000,0,0,1244,389.29 _24V_AH 24.0,35.715

SM_GC 1.23,11.98,0.00,0.00,0.039,0.000,0.000,425,2160,1244,-10.60,0.85,389.29 _10V_AH 10.1,16.334

IRIDIUM_FIX 0.00,0.00,010170,000000 DATA_FILE_SIZE 6508,160

TT8_MAMPS 0.029146 CAP_FILE_SIZE 38277,0

HUMID 1797 CFSIZE 254472192,240377856

TCM_TEMP 17.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

XPDR_PINGS 4 GPS 021009,210446,6404.745,-1311.931,28,1.5,30,-12.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 151 95.31 SBE_CT 106 24 61.63

Roll_motor 41 72 72.44 SBE_O2 119 19 54.62

VBD_pump_during_apogee 442 888 9432.00 WL_BB2F 251 105 634.15

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.34 nil 0 0 0.00

Iridium_during_connect 30 160 116.04 nil 0 0 0.00

Iridium_during_xfer 173 223 929.64

Transponder_ping 1 420 15.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.81

TT8 340 19 68.00

LPSleep 2023 2 44.75

TT8_Active 450 19 90.17

TT8_Sampling 531 39 213.73

TT8_CF8 366 45 169.65

TT8_Kalman 33 81 27.55

Analog_circuits 783 12 94.90

GPS_charging 0 0 0.00

Compass 520 8 42.06

RAFOS 0 0 0.00

Transponder 6 30 2.03

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

14 end surface: CONTROL_FINISHED_OK

state 14 begin dive

18 -1.22 -146.6 0.0 0.0 0 61 0.00 0.00 -41.33 0.000 2 0.000 0.000 421 2153 2437

65 -1.22 -146.6 2.8 -7.9 2 117 10.98 2.50 -35.50 0.000 4 0.152 0.073 2471 3522 3431

188 -1.14 -146.6 18.0 -14.1 7 195 0.12 2.50 0.00 0.000 6 0.104 0.051 2496 2126 3431

505 -1.14 -146.6 50.1 -5.8 23 509 0.00 2.53 0.00 0.000 4 0.000 0.061 2496 716 3431

549 -1.14 -146.6 53.6 -7.8 25 554 0.00 2.45 0.00 0.000 6 0.000 0.049 2496 2091 3431

872 -1.14 -146.6 87.6 -10.5 41 876 0.00 2.50 0.00 0.000 4 0.000 0.062 2496 720 3431

899 -1.14 -146.6 91.0 -11.7 42 903 0.00 2.47 0.00 0.000 6 0.000 0.050 2496 2112 3431

1216 -1.14 -146.6 128.4 -11.2 57 1220 0.00 2.58 0.00 0.000 4 0.000 0.064 2496 3537 3431

1244 -1.10 -146.6 132.2 -14.2 58 1248 0.00 2.58 0.00 0.000 6 0.000 0.054 2496 2109 3431

1372 end dive: BOTTOM_OBSTACLE_DETECTED

state 1372 begin apogee

1380 -0.33 0.0 146.9 11.5 64 1509 0.82 0.00 122.43 0.888 6 0.077 0.000 2674 1826 2831

1510 end apogee: CONTROL_FINISHED_OK

state 1510 begin climb

1513 1.22 146.6 153.9 0.0 72 1643 1.50 2.65 121.38 0.854 4 0.058 0.056 3006 3262 2232

1899 1.44 307.9 140.3 2.1 93 2042 0.22 2.50 132.48 0.839 6 0.047 0.051 3065 1874 1574

2353 1.36 307.9 90.8 11.2 115 2357 0.12 2.53 0.00 0.000 4 0.096 0.057 3041 3259 1574

2487 1.36 307.9 77.8 9.0 121 2492 0.00 2.55 0.00 0.000 6 0.000 0.051 3041 1842 1574

2809 1.36 307.9 44.6 10.6 137 2814 0.00 2.58 0.00 0.000 4 0.000 0.056 3041 3258 1575

2854 1.36 307.9 39.7 10.3 139 2858 0.00 2.50 0.00 0.000 6 0.000 0.051 3041 1867 1575

3176 1.36 309.3 11.1 8.0 155 3180 0.00 2.60 0.00 0.000 4 0.000 0.068 3041 430 1575

3198 1.77 565.0 11.4 -1.3 156 3271 0.40 2.58 66.20 0.780 2 0.048 0.046 3136 1894 1245

3271 end climb: SURFACE_DEPTH_REACHED

state 3272 begin surface coast

3277 end surface coast: CONTROL_FINISHED_OK

state 3277 begin surface

ID	5	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	159	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	204	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	120
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	2	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	2130	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	1850	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_NO_BLEED	200	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	6
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	13	XPDR_INHIBIT	9
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	24	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	412.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	390	DEVICE2	20
T_MISSION	440	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2831	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	300	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	5	PITCH_VBD_SHIFT	0.0016	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	3	COMPASS_DEVICE	33
D_OFFGRID	990	T_GPS_CHARGE	-104104.68	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	27	UNCOM_BLEED	20	PHONE_DEVICE	16
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	91.800003	XPDR_DEVICE	21
COURSE_BIAS	0	PITCH_MIN	432	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3760	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2745	PRESSURE_YINT	-23.674383	SEABIRD_T_G	0.0043731672
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00064376107
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5908092e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8225327e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8535681
KALMAN_USE	1	PITCH_TIMEOUT	18	COMPASS_USE	0	SEABIRD_C_H	1.1081258
HD_A	0.0038945	PITCH_AD_RATE	170	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00043031506
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012618699
HD_C	2.576e-06	PITCH_ADJ_GAIN	0.029999999	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	200106,6404.243,-1313.463,38,1.1,39,-12.6	TGT_NAME	P3
_CALLS	1	TGT_LATLONG	6349.750,-1321.120
_XMS_NAKs	0	TGT_RADIUS	5000.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.238,-0.061
_SM_DEPTHo	2.10	KALMAN_X	-41270.9,-197.1,-772.2,-198601.1,51622.3
_SM_ANGLEo	-64.2	KALMAN_Y	-27007.5,-434.4,652.8,300312.6,-12056.0
GPS2	200650,6404.320,-1313.375,13,1.1,13,-12.6	MHEAD_RNG_PITCHd_Wd	268.3,27715,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	990

FINISH	1.0,1.027168	ALTIM_BOTTOM_PING	121.6,33.6
SM_CCo	3361,0.00,0.000,0,0,1244,389.29	_24V_AH	24.0,35.715
SM_GC	1.23,11.98,0.00,0.00,0.039,0.000,0.000,425,2160,1244,-10.60,0.85,389.29	_10V_AH	10.1,16.334
IRIDIUM_FIX	0.00,0.00,010170,000000	DATA_FILE_SIZE	6508,160
TT8_MAMPS	0.029146	CAP_FILE_SIZE	38277,0
HUMID	1797	CFSIZE	254472192,240377856
TCM_TEMP	17.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
XPDR_PINGS	4	GPS	021009,210446,6404.745,-1311.931,28,1.5,30,-12.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	151	95.31	SBE_CT	106	24	61.63
Roll_motor	41	72	72.44	SBE_O2	119	19	54.62
VBD_pump_during_apogee	442	888	9432.00	WL_BB2F	251	105	634.15
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.34	nil	0	0	0.00
Iridium_during_connect	30	160	116.04	nil	0	0	0.00
Iridium_during_xfer	173	223	929.64
Transponder_ping	1	420	15.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.81
TT8	340	19	68.00
LPSleep	2023	2	44.75
TT8_Active	450	19	90.17
TT8_Sampling	531	39	213.73
TT8_CF8	366	45	169.65
TT8_Kalman	33	81	27.55
Analog_circuits	783	12	94.90
GPS_charging	0	0	0.00
Compass	520	8	42.06
RAFOS	0	0	0.00
Transponder	6	30	2.03

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
14	end surface: CONTROL_FINISHED_OK
state	14	begin dive
18	-1.22	-146.6	0.0	0.0	0	61	0.00	0.00	-41.33	0.000	2	0.000	0.000	421	2153	2437
65	-1.22	-146.6	2.8	-7.9	2	117	10.98	2.50	-35.50	0.000	4	0.152	0.073	2471	3522	3431
188	-1.14	-146.6	18.0	-14.1	7	195	0.12	2.50	0.00	0.000	6	0.104	0.051	2496	2126	3431
505	-1.14	-146.6	50.1	-5.8	23	509	0.00	2.53	0.00	0.000	4	0.000	0.061	2496	716	3431
549	-1.14	-146.6	53.6	-7.8	25	554	0.00	2.45	0.00	0.000	6	0.000	0.049	2496	2091	3431
872	-1.14	-146.6	87.6	-10.5	41	876	0.00	2.50	0.00	0.000	4	0.000	0.062	2496	720	3431
899	-1.14	-146.6	91.0	-11.7	42	903	0.00	2.47	0.00	0.000	6	0.000	0.050	2496	2112	3431
1216	-1.14	-146.6	128.4	-11.2	57	1220	0.00	2.58	0.00	0.000	4	0.000	0.064	2496	3537	3431
1244	-1.10	-146.6	132.2	-14.2	58	1248	0.00	2.58	0.00	0.000	6	0.000	0.054	2496	2109	3431
1372	end dive: BOTTOM_OBSTACLE_DETECTED
state	1372	begin apogee
1380	-0.33	0.0	146.9	11.5	64	1509	0.82	0.00	122.43	0.888	6	0.077	0.000	2674	1826	2831
1510	end apogee: CONTROL_FINISHED_OK
state	1510	begin climb
1513	1.22	146.6	153.9	0.0	72	1643	1.50	2.65	121.38	0.854	4	0.058	0.056	3006	3262	2232
1899	1.44	307.9	140.3	2.1	93	2042	0.22	2.50	132.48	0.839	6	0.047	0.051	3065	1874	1574
2353	1.36	307.9	90.8	11.2	115	2357	0.12	2.53	0.00	0.000	4	0.096	0.057	3041	3259	1574
2487	1.36	307.9	77.8	9.0	121	2492	0.00	2.55	0.00	0.000	6	0.000	0.051	3041	1842	1574
2809	1.36	307.9	44.6	10.6	137	2814	0.00	2.58	0.00	0.000	4	0.000	0.056	3041	3258	1575
2854	1.36	307.9	39.7	10.3	139	2858	0.00	2.50	0.00	0.000	6	0.000	0.051	3041	1867	1575
3176	1.36	309.3	11.1	8.0	155	3180	0.00	2.60	0.00	0.000	4	0.000	0.068	3041	430	1575
3198	1.77	565.0	11.4	-1.3	156	3271	0.40	2.58	66.20	0.780	2	0.048	0.046	3136	1894	1245
3271	end climb: SURFACE_DEPTH_REACHED
state	3272	begin surface coast
3277	end surface coast: CONTROL_FINISHED_OK
state	3277	begin surface