Glider dive log

PortSusan 20May09 * SG502 * Dive index * Mission links * Dive 14 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 502 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 14 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 50

D_SURF 4.5 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2470 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2470 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 700 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 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT -1.35

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 50 UPLOAD_DIVES_MAX -1 VBD_MIN 420 DEVICE2 -1

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3410 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 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 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -2173.8296 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 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 20 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 450 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2740 PRESSURE_YINT -71.658096 SEABIRD_T_G 0.0043373196

RHO 1.0233001 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011650941 SEABIRD_T_H 0.00062598457

MASS 51245 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5066851e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8555498e-06

FERRY_MAX 45 PITCH_GAIN 32 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7998753

KALMAN_USE 0 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1362277

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00070417771

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00014171835

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 700

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 32 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3944 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 4.5 PITCH_MIN 450 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 50 D_TGT 150 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011650941 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -71.658096 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

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 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -2173.8296

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0233001 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 502 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.35 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2740 KALMAN_USE 0 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2470 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2470 MASS 51245 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 3410 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.7998753 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1362277 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 0.00070417771 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 4 SEABIRD_C_J 0.00014171835 VBD_MIN 420

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043373196 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062598457 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5066851e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8555498e-06 XPDR_DEVICE 24

DIVE 14 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 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 130502,4806.092,-12222.195,13,1.7,13,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.148,-0.090

_SM_DEPTHo 1.39 KALMAN_X 210.6,37.0,-41.5,-492.4,-20.8

_SM_ANGLEo -55.7 KALMAN_Y -2205.9,-368.4,10.9,2490.9,5.1

GPS2 131026,4806.086,-12222.207,30,1.6,30,18.3 MHEAD_RNG_PITCHd_Wd 102.9,302,-27.2,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 107

Post-dive calculations and measurements:

FINISH 3.2,1.021596 ALTIM_BOTTOM_PING 65.2,7.1

SM_CCo 2187,324.30,0.586,3,0,555,700.07 _24V_AH 24.1,2.782

SM_GC 1.52,0.00,0.00,324.30,0.000,0.000,0.586,436,2467,555,-7.20,-0.08,700.07 _10V_AH 10.7,0.886

IRIDIUM_FIX 4748.51,-12220.12,150898,121245 DATA_FILE_SIZE 12731,450

TT8_MAMPS 0.026845 CAP_FILE_SIZE 45174,0

HUMID 1985 CFSIZE 260165632,258363392

INTERNAL_PRESSURE 8.9629 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,3,3,6

TCM_TEMP 18.40 GPS 210509,135428,4805.963,-12221.905,8,2.3,27,18.3

XPDR_PINGS 12

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 17 237 97.99 SBE_CT 301 24 174.55

Roll_motor 30 74 54.91 nil 0 0 0.00

VBD_pump_during_apogee 189 681 3117.92 nil 0 0 0.00

VBD_pump_during_surface 324 585 4579.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 69.56 nil 0 0 0.00

Iridium_during_connect 27 160 107.02 nil 0 0 0.00

Iridium_during_xfer 177 223 954.31

Transponder_ping 4 420 43.02

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.62

TT8 656 19 138.98

LPSleep 611 2 14.33

TT8_Active 626 19 132.83

TT8_Sampling 692 39 295.09

TT8_CF8 282 45 138.23

TT8_Kalman 33 81 29.16

Analog_circuits 1016 12 130.56

GPS_charging 0 0 0.00

Compass 668 8 57.20

RAFOS 0 0 0.00

Transponder 10 30 3.51

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 13 begin dive

14 -0.93 -63.1 0.0 0.0 0 127 0.00 0.00 -109.53 0.000 2 0.000 0.000 437 2471 3580

128 -1.00 -123.3 3.2 -3.6 21 152 7.70 2.30 -9.20 0.000 4 0.238 0.074 2411 1060 3915

415 -1.00 -123.3 33.4 -11.5 82 422 0.00 2.25 0.00 0.000 6 0.000 0.054 2410 2467 3917

491 -1.00 -123.3 42.1 -11.4 98 497 0.00 2.28 0.00 0.000 4 0.000 0.061 2410 1056 3917

602 -1.00 -123.3 55.6 -12.4 122 609 0.00 2.28 0.00 0.000 6 0.000 0.054 2409 2485 3917

748 -1.00 -123.3 72.1 -11.3 153 754 0.00 2.30 0.00 0.000 4 0.000 0.061 2410 1052 3918

815 -1.00 -123.3 79.6 -11.3 167 821 0.00 2.25 0.00 0.000 6 0.000 0.054 2409 2466 3918

961 -1.00 -123.3 95.7 -11.3 198 966 0.00 0.00 0.00 0.000 6 0.000 0.000 2409 2466 3917

1067 end dive: TARGET_DEPTH_EXCEEDED

state 1067 begin apogee

1070 -0.16 0.0 107.5 10.5 221 1171 0.82 0.00 94.72 0.681 6 0.127 0.000 2683 2466 3410

1172 end apogee: CONTROL_FINISHED_OK

state 1172 begin climb

1173 1.00 123.3 110.1 0.0 240 1276 1.05 2.30 95.22 0.656 4 0.065 0.064 3063 3767 2906

1373 1.00 123.3 95.3 14.2 280 1379 0.00 2.10 0.00 0.000 6 0.000 0.051 3069 2471 2904

1518 1.00 123.3 77.1 12.9 311 1524 0.00 2.15 0.00 0.000 4 0.000 0.065 3069 3768 2903

1570 1.00 123.3 70.3 13.1 322 1576 0.00 2.08 0.00 0.000 6 0.000 0.051 3078 2463 2903

1716 1.00 123.3 53.1 11.5 353 1721 0.00 0.00 0.00 0.000 6 0.000 0.000 3078 2464 2903

1861 1.00 123.3 36.8 11.4 384 1867 0.00 2.12 0.00 0.000 4 0.000 0.065 3078 3770 2903

1988 1.00 123.3 21.3 12.5 411 1994 0.00 2.05 0.00 0.000 6 0.000 0.051 3086 2471 2902

2063 1.00 123.3 12.9 10.3 427 2069 0.00 2.10 0.00 0.000 4 0.000 0.066 3086 3766 2902

2133 end climb: SURFACE_DEPTH_REACHED

state 2133 begin surface coast

2171 end surface coast: CONTROL_FINISHED_OK

state 2171 begin surface

ID	502	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	14	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	50
D_SURF	4.5	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2470	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2470	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	700	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	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	-1.35
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	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	420	DEVICE2	-1
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3410	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	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	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-2173.8296	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	20	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	450	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2740	PRESSURE_YINT	-71.658096	SEABIRD_T_G	0.0043373196
RHO	1.0233001	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011650941	SEABIRD_T_H	0.00062598457
MASS	51245	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5066851e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8555498e-06
FERRY_MAX	45	PITCH_GAIN	32	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7998753
KALMAN_USE	0	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1362277
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00070417771
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00014171835
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	130502,4806.092,-12222.195,13,1.7,13,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.148,-0.090
_SM_DEPTHo	1.39	KALMAN_X	210.6,37.0,-41.5,-492.4,-20.8
_SM_ANGLEo	-55.7	KALMAN_Y	-2205.9,-368.4,10.9,2490.9,5.1
GPS2	131026,4806.086,-12222.207,30,1.6,30,18.3	MHEAD_RNG_PITCHd_Wd	102.9,302,-27.2,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	107

FINISH	3.2,1.021596	ALTIM_BOTTOM_PING	65.2,7.1
SM_CCo	2187,324.30,0.586,3,0,555,700.07	_24V_AH	24.1,2.782
SM_GC	1.52,0.00,0.00,324.30,0.000,0.000,0.586,436,2467,555,-7.20,-0.08,700.07	_10V_AH	10.7,0.886
IRIDIUM_FIX	4748.51,-12220.12,150898,121245	DATA_FILE_SIZE	12731,450
TT8_MAMPS	0.026845	CAP_FILE_SIZE	45174,0
HUMID	1985	CFSIZE	260165632,258363392
INTERNAL_PRESSURE	8.9629	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,3,3,6
TCM_TEMP	18.40	GPS	210509,135428,4805.963,-12221.905,8,2.3,27,18.3
XPDR_PINGS	12

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	17	237	97.99	SBE_CT	301	24	174.55
Roll_motor	30	74	54.91	nil	0	0	0.00
VBD_pump_during_apogee	189	681	3117.92	nil	0	0	0.00
VBD_pump_during_surface	324	585	4579.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	69.56	nil	0	0	0.00
Iridium_during_connect	27	160	107.02	nil	0	0	0.00
Iridium_during_xfer	177	223	954.31
Transponder_ping	4	420	43.02
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.62
TT8	656	19	138.98
LPSleep	611	2	14.33
TT8_Active	626	19	132.83
TT8_Sampling	692	39	295.09
TT8_CF8	282	45	138.23
TT8_Kalman	33	81	29.16
Analog_circuits	1016	12	130.56
GPS_charging	0	0	0.00
Compass	668	8	57.20
RAFOS	0	0	0.00
Transponder	10	30	3.51

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	13	begin dive
14	-0.93	-63.1	0.0	0.0	0	127	0.00	0.00	-109.53	0.000	2	0.000	0.000	437	2471	3580
128	-1.00	-123.3	3.2	-3.6	21	152	7.70	2.30	-9.20	0.000	4	0.238	0.074	2411	1060	3915
415	-1.00	-123.3	33.4	-11.5	82	422	0.00	2.25	0.00	0.000	6	0.000	0.054	2410	2467	3917
491	-1.00	-123.3	42.1	-11.4	98	497	0.00	2.28	0.00	0.000	4	0.000	0.061	2410	1056	3917
602	-1.00	-123.3	55.6	-12.4	122	609	0.00	2.28	0.00	0.000	6	0.000	0.054	2409	2485	3917
748	-1.00	-123.3	72.1	-11.3	153	754	0.00	2.30	0.00	0.000	4	0.000	0.061	2410	1052	3918
815	-1.00	-123.3	79.6	-11.3	167	821	0.00	2.25	0.00	0.000	6	0.000	0.054	2409	2466	3918
961	-1.00	-123.3	95.7	-11.3	198	966	0.00	0.00	0.00	0.000	6	0.000	0.000	2409	2466	3917
1067	end dive: TARGET_DEPTH_EXCEEDED
state	1067	begin apogee
1070	-0.16	0.0	107.5	10.5	221	1171	0.82	0.00	94.72	0.681	6	0.127	0.000	2683	2466	3410
1172	end apogee: CONTROL_FINISHED_OK
state	1172	begin climb
1173	1.00	123.3	110.1	0.0	240	1276	1.05	2.30	95.22	0.656	4	0.065	0.064	3063	3767	2906
1373	1.00	123.3	95.3	14.2	280	1379	0.00	2.10	0.00	0.000	6	0.000	0.051	3069	2471	2904
1518	1.00	123.3	77.1	12.9	311	1524	0.00	2.15	0.00	0.000	4	0.000	0.065	3069	3768	2903
1570	1.00	123.3	70.3	13.1	322	1576	0.00	2.08	0.00	0.000	6	0.000	0.051	3078	2463	2903
1716	1.00	123.3	53.1	11.5	353	1721	0.00	0.00	0.00	0.000	6	0.000	0.000	3078	2464	2903
1861	1.00	123.3	36.8	11.4	384	1867	0.00	2.12	0.00	0.000	4	0.000	0.065	3078	3770	2903
1988	1.00	123.3	21.3	12.5	411	1994	0.00	2.05	0.00	0.000	6	0.000	0.051	3086	2471	2902
2063	1.00	123.3	12.9	10.3	427	2069	0.00	2.10	0.00	0.000	4	0.000	0.066	3086	3766	2902
2133	end climb: SURFACE_DEPTH_REACHED
state	2133	begin surface coast
2171	end surface coast: CONTROL_FINISHED_OK
state	2171	begin surface