Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 165 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 165 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -46601.203 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 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 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 460 AH0_24V 91.800003 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -7.4494777 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 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 13 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.4494777 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 32 RAFOS_HIT_WINDOW 3600 T_DIVE 35

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 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -46601.203

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 27 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 36 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 165 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 004239,4739.397,-12252.932,7,1.8,7,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.233,0.038

_SM_DEPTHo 0.77 KALMAN_X 6107.9,271.2,64.5,-7275.1,-113.2

_SM_ANGLEo -59.2 KALMAN_Y 9372.6,273.6,86.5,-10291.4,-72.3

GPS2 004838,4739.461,-12252.868,15,1.5,32,18.3 MHEAD_RNG_PITCHd_Wd 62.5,582,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 122

Post-dive calculations and measurements:

FINISH 0.6,1.021012 XPDR_PINGS 0

SM_CCo 2939,117.25,0.588,0,0,1587,400.08 ALTIM_BOTTOM_PING 50.1,51.3

SM_GC 0.74,0.00,0.00,117.25,0.000,0.000,0.588,462,1807,1587,-12.13,0.20,400.08 _24V_AH 23.9,19.218

IRIDIUM_FIX 4722.92,-12251.79,011007,030356 _10V_AH 10.1,40.357

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6429,275

HUMID 2022 CFSIZE 260034560,252014592

INTERNAL_PRESSURE 8.40853 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 011007,014147,4739.535,-12252.428,12,3.8,31,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 209 157.89 SBE_CT 184 24 105.76

Roll_motor 40 85 82.71 nil 0 0 0.00

VBD_pump_during_apogee 201 684 3294.01 nil 0 0 0.00

VBD_pump_during_surface 117 587 1646.40 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 99.37 nil 0 0 0.00

Iridium_during_connect 33 160 127.42 ARS 0 0 0.00

Iridium_during_xfer 143 223 766.35

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3526 6 539.34

GPS 32 50 16.46

TT8 507 19 101.51

LPSleep 1631 2 36.09

TT8_Active 448 19 89.60

TT8_Sampling 505 39 203.21

TT8_CF8 351 45 162.42

TT8_Kalman 33 81 27.54

Analog_circuits 734 12 89.04

GPS_charging 0 0 0.00

Compass 459 8 37.14

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.63 -122.2 0.0 0.0 0 106 0.00 0.00 -79.00 0.000 2 0.000 0.000 462 1818 3266

108 -1.63 -122.2 2.2 -5.2 13 146 14.62 2.53 -15.23 0.000 4 0.209 0.062 2741 3203 3718

377 -1.63 -122.2 15.6 -5.2 54 384 0.00 2.47 0.00 0.000 6 0.000 0.038 2741 1804 3721

449 -1.63 -122.2 19.5 -5.6 65 456 0.00 2.67 0.00 0.000 4 0.000 0.075 2741 394 3720

494 -1.63 -122.2 22.3 -6.0 69 501 0.00 2.50 0.00 0.000 6 0.000 0.035 2741 1807 3721

690 -1.63 -122.2 33.6 -5.2 85 694 0.00 2.47 0.00 0.000 4 0.000 0.049 2741 3192 3721

776 -1.63 -122.2 38.1 -5.4 91 780 0.00 2.47 0.00 0.000 6 0.000 0.037 2741 1791 3721

971 -1.63 -122.2 48.9 -5.7 106 975 0.00 2.53 0.00 0.000 4 0.000 0.048 2741 3194 3721

1022 -1.63 -122.2 52.1 -5.8 109 1029 0.00 2.47 0.00 0.000 6 0.000 0.037 2741 1804 3721

1218 -1.63 -122.2 63.9 -5.9 125 1223 0.00 2.65 0.00 0.000 4 0.000 0.074 2741 398 3721

1256 -1.63 -122.2 66.5 -6.2 127 1263 0.00 2.47 0.00 0.000 6 0.000 0.035 2741 1804 3721

1453 -1.63 -122.2 78.2 -5.9 143 1457 0.00 2.47 0.00 0.000 4 0.000 0.050 2741 3192 3721

1505 -1.63 -122.2 81.4 -6.0 147 1509 0.00 2.45 0.00 0.000 6 0.000 0.037 2742 1791 3721

1707 -1.63 -122.2 93.1 -6.2 163 1708 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 1791 3721

1831 end dive: TARGET_DEPTH_EXCEEDED

state 1831 begin apogee

1837 -0.38 0.0 100.5 6.0 173 1942 1.38 0.00 98.18 0.684 6 0.106 0.000 3013 1729 3217

1943 end apogee: CONTROL_FINISHED_OK

state 1943 begin climb

1946 1.63 122.2 101.1 0.0 182 2050 2.03 0.00 95.47 0.655 6 0.054 0.000 3454 1729 2717

2239 1.63 122.2 70.4 11.3 206 2243 0.00 2.67 0.00 0.000 4 0.000 0.079 3455 336 2716

2277 1.63 122.2 65.4 12.7 208 2284 0.00 2.47 0.00 0.000 6 0.000 0.035 3455 1724 2715

2473 1.63 122.2 41.8 11.7 224 2474 0.00 0.00 0.00 0.000 6 0.000 0.000 3454 1724 2716

2664 1.63 122.2 20.7 10.9 239 2668 0.00 2.67 0.00 0.000 4 0.000 0.077 3455 334 2715

2709 1.63 122.2 15.5 10.8 244 2716 0.00 2.47 0.00 0.000 6 0.000 0.035 3454 1745 2716

2782 1.64 133.1 8.5 9.0 255 2794 0.00 0.00 7.80 0.676 6 0.000 0.000 3455 1747 2675

2830 end climb: SURFACE_DEPTH_REACHED

state 2831 begin surface coast

2911 end surface coast: CONTROL_FINISHED_OK

state 2911 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	165	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-46601.203	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	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	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	460	AH0_24V	91.800003	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-7.4494777	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	004239,4739.397,-12252.932,7,1.8,7,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.233,0.038
_SM_DEPTHo	0.77	KALMAN_X	6107.9,271.2,64.5,-7275.1,-113.2
_SM_ANGLEo	-59.2	KALMAN_Y	9372.6,273.6,86.5,-10291.4,-72.3
GPS2	004838,4739.461,-12252.868,15,1.5,32,18.3	MHEAD_RNG_PITCHd_Wd	62.5,582,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	122

FINISH	0.6,1.021012	XPDR_PINGS	0
SM_CCo	2939,117.25,0.588,0,0,1587,400.08	ALTIM_BOTTOM_PING	50.1,51.3
SM_GC	0.74,0.00,0.00,117.25,0.000,0.000,0.588,462,1807,1587,-12.13,0.20,400.08	_24V_AH	23.9,19.218
IRIDIUM_FIX	4722.92,-12251.79,011007,030356	_10V_AH	10.1,40.357
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6429,275
HUMID	2022	CFSIZE	260034560,252014592
INTERNAL_PRESSURE	8.40853	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	011007,014147,4739.535,-12252.428,12,3.8,31,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	209	157.89	SBE_CT	184	24	105.76
Roll_motor	40	85	82.71	nil	0	0	0.00
VBD_pump_during_apogee	201	684	3294.01	nil	0	0	0.00
VBD_pump_during_surface	117	587	1646.40	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	99.37	nil	0	0	0.00
Iridium_during_connect	33	160	127.42	ARS	0	0	0.00
Iridium_during_xfer	143	223	766.35
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3526	6	539.34
GPS	32	50	16.46
TT8	507	19	101.51
LPSleep	1631	2	36.09
TT8_Active	448	19	89.60
TT8_Sampling	505	39	203.21
TT8_CF8	351	45	162.42
TT8_Kalman	33	81	27.54
Analog_circuits	734	12	89.04
GPS_charging	0	0	0.00
Compass	459	8	37.14
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.63	-122.2	0.0	0.0	0	106	0.00	0.00	-79.00	0.000	2	0.000	0.000	462	1818	3266
108	-1.63	-122.2	2.2	-5.2	13	146	14.62	2.53	-15.23	0.000	4	0.209	0.062	2741	3203	3718
377	-1.63	-122.2	15.6	-5.2	54	384	0.00	2.47	0.00	0.000	6	0.000	0.038	2741	1804	3721
449	-1.63	-122.2	19.5	-5.6	65	456	0.00	2.67	0.00	0.000	4	0.000	0.075	2741	394	3720
494	-1.63	-122.2	22.3	-6.0	69	501	0.00	2.50	0.00	0.000	6	0.000	0.035	2741	1807	3721
690	-1.63	-122.2	33.6	-5.2	85	694	0.00	2.47	0.00	0.000	4	0.000	0.049	2741	3192	3721
776	-1.63	-122.2	38.1	-5.4	91	780	0.00	2.47	0.00	0.000	6	0.000	0.037	2741	1791	3721
971	-1.63	-122.2	48.9	-5.7	106	975	0.00	2.53	0.00	0.000	4	0.000	0.048	2741	3194	3721
1022	-1.63	-122.2	52.1	-5.8	109	1029	0.00	2.47	0.00	0.000	6	0.000	0.037	2741	1804	3721
1218	-1.63	-122.2	63.9	-5.9	125	1223	0.00	2.65	0.00	0.000	4	0.000	0.074	2741	398	3721
1256	-1.63	-122.2	66.5	-6.2	127	1263	0.00	2.47	0.00	0.000	6	0.000	0.035	2741	1804	3721
1453	-1.63	-122.2	78.2	-5.9	143	1457	0.00	2.47	0.00	0.000	4	0.000	0.050	2741	3192	3721
1505	-1.63	-122.2	81.4	-6.0	147	1509	0.00	2.45	0.00	0.000	6	0.000	0.037	2742	1791	3721
1707	-1.63	-122.2	93.1	-6.2	163	1708	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	1791	3721
1831	end dive: TARGET_DEPTH_EXCEEDED
state	1831	begin apogee
1837	-0.38	0.0	100.5	6.0	173	1942	1.38	0.00	98.18	0.684	6	0.106	0.000	3013	1729	3217
1943	end apogee: CONTROL_FINISHED_OK
state	1943	begin climb
1946	1.63	122.2	101.1	0.0	182	2050	2.03	0.00	95.47	0.655	6	0.054	0.000	3454	1729	2717
2239	1.63	122.2	70.4	11.3	206	2243	0.00	2.67	0.00	0.000	4	0.000	0.079	3455	336	2716
2277	1.63	122.2	65.4	12.7	208	2284	0.00	2.47	0.00	0.000	6	0.000	0.035	3455	1724	2715
2473	1.63	122.2	41.8	11.7	224	2474	0.00	0.00	0.00	0.000	6	0.000	0.000	3454	1724	2716
2664	1.63	122.2	20.7	10.9	239	2668	0.00	2.67	0.00	0.000	4	0.000	0.077	3455	334	2715
2709	1.63	122.2	15.5	10.8	244	2716	0.00	2.47	0.00	0.000	6	0.000	0.035	3454	1745	2716
2782	1.64	133.1	8.5	9.0	255	2794	0.00	0.00	7.80	0.676	6	0.000	0.000	3455	1747	2675
2830	end climb: SURFACE_DEPTH_REACHED
state	2831	begin surface coast
2911	end surface coast: CONTROL_FINISHED_OK
state	2911	begin surface