Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 137 * 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 137 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 36 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 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 -17321.74 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 -17321.74

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 36 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 29 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 137 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 215645,4739.417,-12253.185,12,1.4,12,18.3 TGT_NAME H2

_CALLS 1 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 -64.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 220323,4739.378,-12253.198,10,2.9,29,18.3 MHEAD_RNG_PITCHd_Wd 62.3,1007,-18.1,-8.889

SPEED_LIMITS 0.154,0.231 D_GRID 120

Post-dive calculations and measurements:

FINISH 0.8,1.025380 XPDR_PINGS 4

SM_CCo 2668,127.55,0.518,0,0,1597,400.08 ALTIM_BOTTOM_PING 91.0,49.5

SM_GC 1.12,0.00,0.00,127.55,0.000,0.000,0.518,424,2511,1597,-11.85,0.31,400.08 _24V_AH 23.5,9.759

IRIDIUM_FIX 4722.92,-12251.79,260907,010124 _10V_AH 10.1,6.793

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6424,243

HUMID 1811 CFSIZE 260034560,253321216

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

TCM_TEMP 20.00 GPS 250907,225137,4739.256,-12252.815,33,0.8,38,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 155 109.31 SBE_CT 167 24 94.63

Roll_motor 44 67 70.94 nil 0 0 0.00

VBD_pump_during_apogee 190 645 2888.09 nil 0 0 0.00

VBD_pump_during_surface 127 518 1554.14 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.21 nil 0 0 0.00

Iridium_during_connect 34 160 130.48 ARS 0 0 0.00

Iridium_during_xfer 176 223 922.87

Transponder_ping 2 420 19.74

Mmodem_TX 381 1000 8976.55

Mmodem_RX 2911 6 437.82

GPS 29 93 28.15

TT8 459 19 91.92

LPSleep 1424 2 31.52

TT8_Active 420 19 84.02

TT8_Sampling 466 39 187.39

TT8_CF8 435 45 201.23

TT8_Kalman 0 0 0.00

Analog_circuits 710 12 86.16

GPS_charging 0 0 0.00

Compass 448 8 36.24

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.96 -122.2 0.0 0.0 0 78 0.00 0.00 -49.10 0.000 2 0.000 0.000 425 2507 2844

82 -1.96 -122.2 2.1 -4.2 8 137 12.00 2.58 -34.40 0.000 4 0.156 0.059 2567 1101 3730

159 -1.96 -122.2 4.7 -8.0 20 165 0.00 2.47 0.00 0.000 6 0.000 0.032 2568 2505 3731

231 -1.96 -122.2 11.2 -8.5 31 238 0.00 2.53 0.00 0.000 4 0.000 0.046 2567 1104 3732

257 -1.96 -122.2 13.6 -9.4 35 264 0.00 2.42 0.00 0.000 6 0.000 0.031 2567 2500 3732

330 -1.96 -122.2 19.9 -9.0 46 335 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2500 3732

399 -1.96 -122.2 25.6 -8.4 52 400 0.00 0.00 0.00 0.000 6 0.000 0.000 2567 2500 3733

592 -1.96 -122.2 41.9 -9.1 67 596 0.00 2.60 0.00 0.000 4 0.000 0.067 2567 3899 3734

643 -1.96 -122.2 47.2 -9.2 70 650 0.00 2.45 0.00 0.000 6 0.000 0.031 2567 2480 3734

840 -1.96 -122.2 64.6 -8.8 86 845 0.00 2.67 0.00 0.000 4 0.000 0.065 2567 3895 3734

990 -1.96 -122.2 78.9 -9.3 97 998 0.00 2.42 0.00 0.000 6 0.000 0.038 2567 2499 3734

1187 -1.96 -122.2 96.9 -9.3 113 1191 0.00 2.65 0.00 0.000 4 0.000 0.064 2567 3898 3734

1226 -1.96 -122.2 100.9 -10.1 116 1231 0.00 2.42 0.00 0.000 6 0.000 0.033 2567 2506 3734

1428 -1.96 -122.2 119.6 -8.3 132 1432 0.00 2.17 0.00 0.000 3 0.000 0.060 2567 3686 3734

1433 end dive: TARGET_DEPTH_EXCEEDED

state 1433 begin apogee

1441 -0.50 0.0 120.0 8.0 132 1544 1.58 0.00 95.82 0.609 6 0.092 0.000 2886 2415 3228

1545 end apogee: CONTROL_FINISHED_OK

state 1545 begin climb

1547 1.96 122.2 122.7 0.0 141 1648 2.53 2.53 92.72 0.591 4 0.062 0.051 3428 1031 2729

1716 1.96 122.2 107.5 12.3 154 1723 0.00 2.42 0.00 0.000 6 0.000 0.033 3428 2418 2728

1912 1.96 122.2 82.7 12.6 170 1913 0.00 0.00 0.00 0.000 6 0.000 0.000 3428 2418 2728

2103 1.96 122.2 58.4 13.1 185 2104 0.00 0.00 0.00 0.000 6 0.000 0.000 3428 2418 2729

2293 1.96 122.2 34.2 12.6 200 2297 0.00 2.50 0.00 0.000 4 0.000 0.050 3428 1032 2727

2357 1.96 122.2 25.6 12.7 204 2364 0.00 2.45 0.00 0.000 6 0.000 0.033 3428 2415 2727

2560 1.97 125.8 3.3 8.7 231 2568 0.00 2.58 1.98 0.645 4 0.000 0.050 3428 1030 2716

2592 end climb: SURFACE_DEPTH_REACHED

state 2592 begin surface coast

2638 end surface coast: CONTROL_FINISHED_OK

state 2639 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	137	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	36	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	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	-17321.74	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	215645,4739.417,-12253.185,12,1.4,12,18.3	TGT_NAME	H2
_CALLS	1	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	-64.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	220323,4739.378,-12253.198,10,2.9,29,18.3	MHEAD_RNG_PITCHd_Wd	62.3,1007,-18.1,-8.889
SPEED_LIMITS	0.154,0.231	D_GRID	120

FINISH	0.8,1.025380	XPDR_PINGS	4
SM_CCo	2668,127.55,0.518,0,0,1597,400.08	ALTIM_BOTTOM_PING	91.0,49.5
SM_GC	1.12,0.00,0.00,127.55,0.000,0.000,0.518,424,2511,1597,-11.85,0.31,400.08	_24V_AH	23.5,9.759
IRIDIUM_FIX	4722.92,-12251.79,260907,010124	_10V_AH	10.1,6.793
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6424,243
HUMID	1811	CFSIZE	260034560,253321216
INTERNAL_PRESSURE	9.34952	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.00	GPS	250907,225137,4739.256,-12252.815,33,0.8,38,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	155	109.31	SBE_CT	167	24	94.63
Roll_motor	44	67	70.94	nil	0	0	0.00
VBD_pump_during_apogee	190	645	2888.09	nil	0	0	0.00
VBD_pump_during_surface	127	518	1554.14	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.21	nil	0	0	0.00
Iridium_during_connect	34	160	130.48	ARS	0	0	0.00
Iridium_during_xfer	176	223	922.87
Transponder_ping	2	420	19.74
Mmodem_TX	381	1000	8976.55
Mmodem_RX	2911	6	437.82
GPS	29	93	28.15
TT8	459	19	91.92
LPSleep	1424	2	31.52
TT8_Active	420	19	84.02
TT8_Sampling	466	39	187.39
TT8_CF8	435	45	201.23
TT8_Kalman	0	0	0.00
Analog_circuits	710	12	86.16
GPS_charging	0	0	0.00
Compass	448	8	36.24
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.96	-122.2	0.0	0.0	0	78	0.00	0.00	-49.10	0.000	2	0.000	0.000	425	2507	2844
82	-1.96	-122.2	2.1	-4.2	8	137	12.00	2.58	-34.40	0.000	4	0.156	0.059	2567	1101	3730
159	-1.96	-122.2	4.7	-8.0	20	165	0.00	2.47	0.00	0.000	6	0.000	0.032	2568	2505	3731
231	-1.96	-122.2	11.2	-8.5	31	238	0.00	2.53	0.00	0.000	4	0.000	0.046	2567	1104	3732
257	-1.96	-122.2	13.6	-9.4	35	264	0.00	2.42	0.00	0.000	6	0.000	0.031	2567	2500	3732
330	-1.96	-122.2	19.9	-9.0	46	335	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2500	3732
399	-1.96	-122.2	25.6	-8.4	52	400	0.00	0.00	0.00	0.000	6	0.000	0.000	2567	2500	3733
592	-1.96	-122.2	41.9	-9.1	67	596	0.00	2.60	0.00	0.000	4	0.000	0.067	2567	3899	3734
643	-1.96	-122.2	47.2	-9.2	70	650	0.00	2.45	0.00	0.000	6	0.000	0.031	2567	2480	3734
840	-1.96	-122.2	64.6	-8.8	86	845	0.00	2.67	0.00	0.000	4	0.000	0.065	2567	3895	3734
990	-1.96	-122.2	78.9	-9.3	97	998	0.00	2.42	0.00	0.000	6	0.000	0.038	2567	2499	3734
1187	-1.96	-122.2	96.9	-9.3	113	1191	0.00	2.65	0.00	0.000	4	0.000	0.064	2567	3898	3734
1226	-1.96	-122.2	100.9	-10.1	116	1231	0.00	2.42	0.00	0.000	6	0.000	0.033	2567	2506	3734
1428	-1.96	-122.2	119.6	-8.3	132	1432	0.00	2.17	0.00	0.000	3	0.000	0.060	2567	3686	3734
1433	end dive: TARGET_DEPTH_EXCEEDED
state	1433	begin apogee
1441	-0.50	0.0	120.0	8.0	132	1544	1.58	0.00	95.82	0.609	6	0.092	0.000	2886	2415	3228
1545	end apogee: CONTROL_FINISHED_OK
state	1545	begin climb
1547	1.96	122.2	122.7	0.0	141	1648	2.53	2.53	92.72	0.591	4	0.062	0.051	3428	1031	2729
1716	1.96	122.2	107.5	12.3	154	1723	0.00	2.42	0.00	0.000	6	0.000	0.033	3428	2418	2728
1912	1.96	122.2	82.7	12.6	170	1913	0.00	0.00	0.00	0.000	6	0.000	0.000	3428	2418	2728
2103	1.96	122.2	58.4	13.1	185	2104	0.00	0.00	0.00	0.000	6	0.000	0.000	3428	2418	2729
2293	1.96	122.2	34.2	12.6	200	2297	0.00	2.50	0.00	0.000	4	0.000	0.050	3428	1032	2727
2357	1.96	122.2	25.6	12.7	204	2364	0.00	2.45	0.00	0.000	6	0.000	0.033	3428	2415	2727
2560	1.97	125.8	3.3	8.7	231	2568	0.00	2.58	1.98	0.645	4	0.000	0.050	3428	1030	2716
2592	end climb: SURFACE_DEPTH_REACHED
state	2592	begin surface coast
2638	end surface coast: CONTROL_FINISHED_OK
state	2639	begin surface