Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 132 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_B 0.010078 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 132 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 311 ALTIM_PING_DEPTH 70

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2415 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 17 INT_PRESSURE_YINT 1.4

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 45 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 540 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3800 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3229 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY 0 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 5

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 19

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 -17313.861 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 428 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3730 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 3000 PRESSURE_YINT -6.9690108 SEABIRD_T_I 2.5554549e-05

MASS 51630 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 2 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 10 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3730 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 428 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 120 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -6.9690108 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.650002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.8667

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 16 RAFOS_HIT_WINDOW 3600 T_DIVE 45

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -17313.861

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 118 ROLL_MAX 3943 T_TURN_SAMPINT 6

C_PITCH 3000 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2415 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 UNCOM_BLEED 20

C_ROLL_DIVE 2500 KALMAN_USE 2 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 45 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 27 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3800

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 540

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 132 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

D_ABORT 1050 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 720

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 175521,4739.174,-12252.485,13,1.4,13,18.3 TGT_NAME H2

_CALLS 2 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.02 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 180545,4739.125,-12252.486,12,1.3,12,18.3 MHEAD_RNG_PITCHd_Wd 351.2,642,-18.1,-8.889

SPEED_LIMITS 0.154,0.231 D_GRID 120

Post-dive calculations and measurements:

FINISH 0.2,1.024800 XPDR_PINGS 1

SM_CCo 2700,134.80,0.521,0,0,1597,400.08 ALTIM_BOTTOM_PING 90.2,49.6

SM_GC 0.97,0.00,0.00,134.80,0.000,0.000,0.521,427,2507,1597,-11.84,0.20,400.08 _24V_AH 23.5,9.040

IRIDIUM_FIX 4722.92,-12247.38,250907,212136 _10V_AH 10.1,6.488

TT8_MAMPS 0.069797 DATA_FILE_SIZE 6446,243

HUMID 1792 CFSIZE 260034560,253485056

INTERNAL_PRESSURE 9.34952 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.00 GPS 250907,185414,4739.314,-12252.445,9,1.7,14,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 158 110.74 SBE_CT 167 24 94.68

Roll_motor 50 68 80.57 nil 0 0 0.00

VBD_pump_during_apogee 189 611 2715.08 nil 0 0 0.00

VBD_pump_during_surface 134 520 1649.77 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 74 103 180.18 nil 0 0 0.00

Iridium_during_connect 65 160 246.83 ARS 0 0 0.00

Iridium_during_xfer 288 223 1513.60

Transponder_ping 1 420 12.34

Mmodem_TX 387 1000 9117.06

Mmodem_RX 3153 6 474.22

GPS 12 93 11.67

TT8 465 19 93.16

LPSleep 1498 2 33.14

TT8_Active 430 19 86.01

TT8_Sampling 459 39 184.85

TT8_CF8 615 45 284.82

TT8_Kalman 0 0 0.00

Analog_circuits 723 12 87.74

GPS_charging 0 0 0.00

Compass 465 8 37.60

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -1.96 -122.2 0.0 0.0 0 83 0.00 0.00 -54.67 0.000 2 0.000 0.000 430 2488 2976

86 -1.96 -122.2 2.2 -4.5 9 131 12.20 2.53 -26.70 0.000 4 0.158 0.060 2569 1113 3729

210 -1.96 -122.2 9.5 -7.8 28 217 0.00 2.47 0.00 0.000 6 0.000 0.032 2568 2509 3730

283 -1.96 -122.2 15.0 -7.4 39 289 0.00 2.58 0.00 0.000 4 0.000 0.068 2568 3901 3731

395 -1.96 -122.2 23.9 -8.2 52 401 0.00 2.40 0.00 0.000 6 0.000 0.031 2568 2487 3732

591 -1.96 -122.2 40.3 -8.7 68 596 0.00 2.62 0.00 0.000 4 0.000 0.064 2568 3896 3733

669 -1.96 -122.2 47.7 -9.5 73 676 0.00 2.42 0.00 0.000 6 0.000 0.031 2568 2504 3734

866 -1.96 -122.2 65.0 -9.0 89 870 0.00 2.60 0.00 0.000 4 0.000 0.065 2568 3896 3734

943 -1.96 -122.2 72.9 -9.5 94 951 0.00 2.42 0.00 0.000 6 0.000 0.032 2568 2497 3733

1142 -1.96 -122.2 91.4 -9.7 110 1147 0.00 2.62 0.00 0.000 4 0.000 0.064 2568 3902 3733

1201 -1.96 -122.2 97.1 -9.1 114 1205 0.00 2.40 0.00 0.000 6 0.000 0.033 2568 2504 3733

1397 -1.96 -122.2 114.7 -8.8 129 1402 0.00 2.50 0.00 0.000 4 0.000 0.048 2569 1123 3734

1436 -1.96 -122.2 118.2 -9.0 132 1440 0.00 2.40 0.00 0.000 6 0.000 0.032 2568 2502 3733

1465 end dive: TARGET_DEPTH_EXCEEDED

state 1465 begin apogee

1471 -0.50 0.0 120.9 8.9 134 1575 1.60 0.00 95.65 0.611 6 0.094 0.000 2886 2417 3229

1576 end apogee: CONTROL_FINISHED_OK

state 1576 begin climb

1579 1.96 122.2 123.0 0.0 143 1679 2.50 0.00 93.35 0.591 6 0.059 0.000 3427 2417 2729

1865 1.96 122.2 93.0 13.1 166 1870 0.00 2.53 0.00 0.000 4 0.000 0.051 3427 1024 2728

2025 1.96 122.2 72.8 12.6 177 2031 0.00 2.45 0.00 0.000 6 0.000 0.034 3427 2423 2727

2220 1.96 122.2 48.8 12.4 193 2224 0.00 2.55 0.00 0.000 4 0.000 0.051 3427 1023 2728

2265 1.96 122.2 43.0 12.6 196 2270 0.00 2.45 0.00 0.000 6 0.000 0.034 3427 2421 2728

2461 1.96 122.2 19.8 11.3 211 2468 0.00 2.58 0.00 0.000 4 0.000 0.067 3427 3812 2727

2507 1.96 122.2 14.6 11.5 218 2513 0.00 2.42 0.00 0.000 6 0.000 0.031 3426 2415 2727

2579 1.96 122.2 6.2 11.2 229 2586 0.00 2.50 0.00 0.000 4 0.000 0.051 3427 1020 2727

2636 end climb: SURFACE_DEPTH_REACHED

state 2636 begin surface coast

2671 end surface coast: CONTROL_FINISHED_OK

state 2671 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	132	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	311	ALTIM_PING_DEPTH	70
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2415	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	17	INT_PRESSURE_YINT	1.4
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	45	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	540	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3800	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3229	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	0	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	5
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	19
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	-17313.861	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	428	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3730	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	3000	PRESSURE_YINT	-6.9690108	SEABIRD_T_I	2.5554549e-05
MASS	51630	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	2	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	175521,4739.174,-12252.485,13,1.4,13,18.3	TGT_NAME	H2
_CALLS	2	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.02	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	180545,4739.125,-12252.486,12,1.3,12,18.3	MHEAD_RNG_PITCHd_Wd	351.2,642,-18.1,-8.889
SPEED_LIMITS	0.154,0.231	D_GRID	120

FINISH	0.2,1.024800	XPDR_PINGS	1
SM_CCo	2700,134.80,0.521,0,0,1597,400.08	ALTIM_BOTTOM_PING	90.2,49.6
SM_GC	0.97,0.00,0.00,134.80,0.000,0.000,0.521,427,2507,1597,-11.84,0.20,400.08	_24V_AH	23.5,9.040
IRIDIUM_FIX	4722.92,-12247.38,250907,212136	_10V_AH	10.1,6.488
TT8_MAMPS	0.069797	DATA_FILE_SIZE	6446,243
HUMID	1792	CFSIZE	260034560,253485056
INTERNAL_PRESSURE	9.34952	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.00	GPS	250907,185414,4739.314,-12252.445,9,1.7,14,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	158	110.74	SBE_CT	167	24	94.68
Roll_motor	50	68	80.57	nil	0	0	0.00
VBD_pump_during_apogee	189	611	2715.08	nil	0	0	0.00
VBD_pump_during_surface	134	520	1649.77	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	74	103	180.18	nil	0	0	0.00
Iridium_during_connect	65	160	246.83	ARS	0	0	0.00
Iridium_during_xfer	288	223	1513.60
Transponder_ping	1	420	12.34
Mmodem_TX	387	1000	9117.06
Mmodem_RX	3153	6	474.22
GPS	12	93	11.67
TT8	465	19	93.16
LPSleep	1498	2	33.14
TT8_Active	430	19	86.01
TT8_Sampling	459	39	184.85
TT8_CF8	615	45	284.82
TT8_Kalman	0	0	0.00
Analog_circuits	723	12	87.74
GPS_charging	0	0	0.00
Compass	465	8	37.60
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-1.96	-122.2	0.0	0.0	0	83	0.00	0.00	-54.67	0.000	2	0.000	0.000	430	2488	2976
86	-1.96	-122.2	2.2	-4.5	9	131	12.20	2.53	-26.70	0.000	4	0.158	0.060	2569	1113	3729
210	-1.96	-122.2	9.5	-7.8	28	217	0.00	2.47	0.00	0.000	6	0.000	0.032	2568	2509	3730
283	-1.96	-122.2	15.0	-7.4	39	289	0.00	2.58	0.00	0.000	4	0.000	0.068	2568	3901	3731
395	-1.96	-122.2	23.9	-8.2	52	401	0.00	2.40	0.00	0.000	6	0.000	0.031	2568	2487	3732
591	-1.96	-122.2	40.3	-8.7	68	596	0.00	2.62	0.00	0.000	4	0.000	0.064	2568	3896	3733
669	-1.96	-122.2	47.7	-9.5	73	676	0.00	2.42	0.00	0.000	6	0.000	0.031	2568	2504	3734
866	-1.96	-122.2	65.0	-9.0	89	870	0.00	2.60	0.00	0.000	4	0.000	0.065	2568	3896	3734
943	-1.96	-122.2	72.9	-9.5	94	951	0.00	2.42	0.00	0.000	6	0.000	0.032	2568	2497	3733
1142	-1.96	-122.2	91.4	-9.7	110	1147	0.00	2.62	0.00	0.000	4	0.000	0.064	2568	3902	3733
1201	-1.96	-122.2	97.1	-9.1	114	1205	0.00	2.40	0.00	0.000	6	0.000	0.033	2568	2504	3733
1397	-1.96	-122.2	114.7	-8.8	129	1402	0.00	2.50	0.00	0.000	4	0.000	0.048	2569	1123	3734
1436	-1.96	-122.2	118.2	-9.0	132	1440	0.00	2.40	0.00	0.000	6	0.000	0.032	2568	2502	3733
1465	end dive: TARGET_DEPTH_EXCEEDED
state	1465	begin apogee
1471	-0.50	0.0	120.9	8.9	134	1575	1.60	0.00	95.65	0.611	6	0.094	0.000	2886	2417	3229
1576	end apogee: CONTROL_FINISHED_OK
state	1576	begin climb
1579	1.96	122.2	123.0	0.0	143	1679	2.50	0.00	93.35	0.591	6	0.059	0.000	3427	2417	2729
1865	1.96	122.2	93.0	13.1	166	1870	0.00	2.53	0.00	0.000	4	0.000	0.051	3427	1024	2728
2025	1.96	122.2	72.8	12.6	177	2031	0.00	2.45	0.00	0.000	6	0.000	0.034	3427	2423	2727
2220	1.96	122.2	48.8	12.4	193	2224	0.00	2.55	0.00	0.000	4	0.000	0.051	3427	1023	2728
2265	1.96	122.2	43.0	12.6	196	2270	0.00	2.45	0.00	0.000	6	0.000	0.034	3427	2421	2728
2461	1.96	122.2	19.8	11.3	211	2468	0.00	2.58	0.00	0.000	4	0.000	0.067	3427	3812	2727
2507	1.96	122.2	14.6	11.5	218	2513	0.00	2.42	0.00	0.000	6	0.000	0.031	3426	2415	2727
2579	1.96	122.2	6.2	11.2	229	2586	0.00	2.50	0.00	0.000	4	0.000	0.051	3427	1020	2727
2636	end climb: SURFACE_DEPTH_REACHED
state	2636	begin surface coast
2671	end surface coast: CONTROL_FINISHED_OK
state	2671	begin surface