Glider dive log

PortSusan 20Jan09 * SG105 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 105 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 5 ESCAPE_HEADING 0 ROLL_MIN 253 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 7 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3840 ALTIM_PING_DEPTH 60

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 4 TGT_DEFAULT_LAT 61.599998 C_ROLL_DIVE 1946 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -8.75 C_ROLL_CLIMB 2200 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 668 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 46 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 INT_PRESSURE_YINT -1.8522969

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 475 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3851 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3239 DEVICE4 -1

T_TURN 300 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 320 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY 0 T_GPS 15 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 3 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -1626762.1 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 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3705 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2602 PRESSURE_YINT -18.710485 SEABIRD_T_G 0.0043067979

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001163108 SEABIRD_T_H 0.0006302988

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3035876e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3016955e-06

FERRY_MAX 11 PITCH_GAIN 14 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.448573

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1833477

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0016540284

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00022965467

HD_C 2.576e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 668

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 14 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3705 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 401 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 0.0001163108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 11 PRESSURE_YINT -18.710485 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 62.5

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 -1626762.1

CAPMAXSIZE 100000 HD_C 2.576e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 320

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 300

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 105 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3840 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.8522969 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2602 KALMAN_USE 1 ROLL_MIN 253 USE_BATHY 0

C_ROLL_CLIMB 2200 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1946 MASS 52000 R_PORT_OVSHOOT 46 VBD_BLEED_AD_RATE 8

C_VBD 3239 MAX_BUOY 150 R_STBD_OVSHOOT 30 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 5 SEABIRD_C_G -10.448573 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1833477 VBD_MAX 3851

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0016540284 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00022965467 VBD_MIN 475

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043067979 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006302988 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3035876e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3016955e-06 XPDR_DEVICE 24

DIVE 7 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 031626,4807.048,-12223.113,11,1.2,11,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.151,-0.194

_SM_DEPTHo 0.66 KALMAN_X -155.2,-135.5,-46.6,496.1,17.9

_SM_ANGLEo -70.5 KALMAN_Y 182.3,195.8,85.4,-2867.9,-95.9

GPS2 032026,4807.021,-12223.087,13,1.7,13,18.3 MHEAD_RNG_PITCHd_Wd 123.8,2321,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 150

Post-dive calculations and measurements:

FINISH 2.5,1.018177 ALTIM_BOTTOM_PING 81.4,38.1

SM_CCo 3124,323.88,0.700,0,0,515,668.20 _24V_AH 23.6,15.598

SM_GC 0.88,0.00,0.00,323.88,0.000,0.000,0.700,397,1929,515,-10.14,-0.48,668.20 _10V_AH 10.1,6.433

IRIDIUM_FIX 4748.51,-12226.29,170498,020219 DATA_FILE_SIZE 15943,304

TT8_MAMPS 0.026845 CAP_FILE_SIZE 38921,0

HUMID 1711 CFSIZE 260165632,259014656

INTERNAL_PRESSURE 7.99183 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,0,0

TCM_TEMP 17.30 GPS 210109,041938,4806.834,-12222.794,14,1.9,14,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 138 80.93 SBE_CT 208 24 117.81

Roll_motor 25 54 32.29 SBE_O2 290 19 130.12

VBD_pump_during_apogee 336 805 6393.23 WL_BB2F 539 105 1336.14

VBD_pump_during_surface 323 699 5346.62 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 75.77 nil 0 0 0.00

Iridium_during_connect 27 160 102.79 nil 0 0 0.00

Iridium_during_xfer 90 223 478.04

Transponder_ping 1 420 9.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 6.98

TT8 489 19 97.80

LPSleep 1514 2 33.49

TT8_Active 687 19 137.48

TT8_Sampling 642 39 258.19

TT8_CF8 370 45 171.51

TT8_Kalman 33 81 27.53

Analog_circuits 1069 12 129.62

GPS_charging 0 0 0.00

Compass 729 8 58.92

RAFOS 0 0 0.00

Transponder 8 30 2.60

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 -1.24 -146.6 0.0 0.0 0 114 0.00 0.00 -96.35 0.000 2 0.000 0.000 397 1929 3800

117 -1.24 -146.6 4.9 -6.8 16 137 10.43 2.45 -0.73 0.000 4 0.139 0.054 2329 561 3840

472 -1.24 -146.6 40.9 -9.5 59 479 0.00 2.40 0.00 0.000 6 0.000 0.028 2329 1950 3840

669 -1.24 -146.6 57.6 -8.5 74 673 0.00 2.45 0.00 0.000 4 0.000 0.041 2329 557 3840

875 -1.24 -146.6 75.7 -8.4 83 880 0.00 2.40 0.00 0.000 6 0.000 0.028 2329 1945 3840

1199 -1.24 -146.6 99.6 -7.2 99 1203 0.00 2.47 0.00 0.000 4 0.000 0.046 2329 3351 3840

1251 -1.24 -146.6 103.5 -7.6 103 1255 0.00 2.38 0.00 0.000 6 0.000 0.027 2329 1944 3840

1329 end dive: BOTTOM_OBSTACLE_DETECTED

state 1330 begin apogee

1336 -0.36 0.0 109.7 7.3 110 1463 0.90 0.00 118.60 0.805 6 0.081 0.000 2519 2207 3238

1464 end apogee: CONTROL_FINISHED_OK

state 1464 begin climb

1467 1.24 146.6 112.0 0.0 123 1590 1.60 0.00 117.82 0.767 6 0.057 0.000 2867 2207 2641

1901 1.24 146.6 72.1 10.0 152 1905 0.00 2.47 0.00 0.000 4 0.000 0.041 2867 803 2640

1940 1.24 146.6 67.8 10.2 154 1945 0.00 2.42 0.00 0.000 6 0.000 0.031 2867 2197 2639

2266 1.24 146.6 36.4 9.9 176 2267 0.00 0.00 0.00 0.000 6 0.000 0.000 2867 2197 2639

2460 1.24 146.6 19.6 8.7 194 2466 0.00 2.42 0.00 0.000 4 0.000 0.041 2867 803 2639

2492 1.24 146.6 16.8 8.6 199 2498 0.00 2.40 0.00 0.000 6 0.000 0.030 2867 2207 2639

2567 1.26 162.2 10.7 7.4 212 2586 0.00 0.00 14.15 0.693 6 0.000 0.000 2867 2207 2576

2657 1.33 224.1 5.3 5.8 227 2713 0.10 0.00 50.05 0.722 6 0.051 0.000 2905 2207 2324

2784 1.61 450.8 3.4 -0.2 248 2822 0.17 0.00 35.75 0.703 2 0.042 0.000 2966 2207 2147

2823 end climb: SURFACE_DEPTH_REACHED

state 2823 begin surface coast

3102 end surface coast: CONTROL_FINISHED_OK

state 3102 begin surface

ID	105	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	5	ESCAPE_HEADING	0	ROLL_MIN	253	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	7	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3840	ALTIM_PING_DEPTH	60
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	4	TGT_DEFAULT_LAT	61.599998	C_ROLL_DIVE	1946	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-8.75	C_ROLL_CLIMB	2200	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	668	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	46	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	INT_PRESSURE_YINT	-1.8522969
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	475	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3851	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3239	DEVICE4	-1
T_TURN	300	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	320	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	0	T_GPS	15	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	3	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-1626762.1	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	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3705	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2602	PRESSURE_YINT	-18.710485	SEABIRD_T_G	0.0043067979
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001163108	SEABIRD_T_H	0.0006302988
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3035876e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3016955e-06
FERRY_MAX	11	PITCH_GAIN	14	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.448573
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1833477
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0016540284
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00022965467
HD_C	2.576e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	031626,4807.048,-12223.113,11,1.2,11,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.151,-0.194
_SM_DEPTHo	0.66	KALMAN_X	-155.2,-135.5,-46.6,496.1,17.9
_SM_ANGLEo	-70.5	KALMAN_Y	182.3,195.8,85.4,-2867.9,-95.9
GPS2	032026,4807.021,-12223.087,13,1.7,13,18.3	MHEAD_RNG_PITCHd_Wd	123.8,2321,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	150

FINISH	2.5,1.018177	ALTIM_BOTTOM_PING	81.4,38.1
SM_CCo	3124,323.88,0.700,0,0,515,668.20	_24V_AH	23.6,15.598
SM_GC	0.88,0.00,0.00,323.88,0.000,0.000,0.700,397,1929,515,-10.14,-0.48,668.20	_10V_AH	10.1,6.433
IRIDIUM_FIX	4748.51,-12226.29,170498,020219	DATA_FILE_SIZE	15943,304
TT8_MAMPS	0.026845	CAP_FILE_SIZE	38921,0
HUMID	1711	CFSIZE	260165632,259014656
INTERNAL_PRESSURE	7.99183	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
TCM_TEMP	17.30	GPS	210109,041938,4806.834,-12222.794,14,1.9,14,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	138	80.93	SBE_CT	208	24	117.81
Roll_motor	25	54	32.29	SBE_O2	290	19	130.12
VBD_pump_during_apogee	336	805	6393.23	WL_BB2F	539	105	1336.14
VBD_pump_during_surface	323	699	5346.62	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	75.77	nil	0	0	0.00
Iridium_during_connect	27	160	102.79	nil	0	0	0.00
Iridium_during_xfer	90	223	478.04
Transponder_ping	1	420	9.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	6.98
TT8	489	19	97.80
LPSleep	1514	2	33.49
TT8_Active	687	19	137.48
TT8_Sampling	642	39	258.19
TT8_CF8	370	45	171.51
TT8_Kalman	33	81	27.53
Analog_circuits	1069	12	129.62
GPS_charging	0	0	0.00
Compass	729	8	58.92
RAFOS	0	0	0.00
Transponder	8	30	2.60

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	-1.24	-146.6	0.0	0.0	0	114	0.00	0.00	-96.35	0.000	2	0.000	0.000	397	1929	3800
117	-1.24	-146.6	4.9	-6.8	16	137	10.43	2.45	-0.73	0.000	4	0.139	0.054	2329	561	3840
472	-1.24	-146.6	40.9	-9.5	59	479	0.00	2.40	0.00	0.000	6	0.000	0.028	2329	1950	3840
669	-1.24	-146.6	57.6	-8.5	74	673	0.00	2.45	0.00	0.000	4	0.000	0.041	2329	557	3840
875	-1.24	-146.6	75.7	-8.4	83	880	0.00	2.40	0.00	0.000	6	0.000	0.028	2329	1945	3840
1199	-1.24	-146.6	99.6	-7.2	99	1203	0.00	2.47	0.00	0.000	4	0.000	0.046	2329	3351	3840
1251	-1.24	-146.6	103.5	-7.6	103	1255	0.00	2.38	0.00	0.000	6	0.000	0.027	2329	1944	3840
1329	end dive: BOTTOM_OBSTACLE_DETECTED
state	1330	begin apogee
1336	-0.36	0.0	109.7	7.3	110	1463	0.90	0.00	118.60	0.805	6	0.081	0.000	2519	2207	3238
1464	end apogee: CONTROL_FINISHED_OK
state	1464	begin climb
1467	1.24	146.6	112.0	0.0	123	1590	1.60	0.00	117.82	0.767	6	0.057	0.000	2867	2207	2641
1901	1.24	146.6	72.1	10.0	152	1905	0.00	2.47	0.00	0.000	4	0.000	0.041	2867	803	2640
1940	1.24	146.6	67.8	10.2	154	1945	0.00	2.42	0.00	0.000	6	0.000	0.031	2867	2197	2639
2266	1.24	146.6	36.4	9.9	176	2267	0.00	0.00	0.00	0.000	6	0.000	0.000	2867	2197	2639
2460	1.24	146.6	19.6	8.7	194	2466	0.00	2.42	0.00	0.000	4	0.000	0.041	2867	803	2639
2492	1.24	146.6	16.8	8.6	199	2498	0.00	2.40	0.00	0.000	6	0.000	0.030	2867	2207	2639
2567	1.26	162.2	10.7	7.4	212	2586	0.00	0.00	14.15	0.693	6	0.000	0.000	2867	2207	2576
2657	1.33	224.1	5.3	5.8	227	2713	0.10	0.00	50.05	0.722	6	0.051	0.000	2905	2207	2324
2784	1.61	450.8	3.4	-0.2	248	2822	0.17	0.00	35.75	0.703	2	0.042	0.000	2966	2207	2147
2823	end climb: SURFACE_DEPTH_REACHED
state	2823	begin surface coast
3102	end surface coast: CONTROL_FINISHED_OK
state	3102	begin surface