Glider dive log

PN07 DabobBay 29Sep07 * SG107 * Dive index * Mission links * Dive 17 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 107 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 10

MISSION 10 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 17 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 152 ALTIM_PING_DEPTH 0

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3928 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2450 ALTIM_PULSE 1

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 4

D_PITCH 0 SM_CC 450 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 300 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 40 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 679 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 4028 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3415 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -15117.589 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

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 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 363 AH0_24V 91.800003 SEABIRD_T_G 0.004345139

SPEED_FACTOR 1 PITCH_MAX 3698 AH0_10V 61.200001 SEABIRD_T_H 0.00064258272

RHO 1.023 C_PITCH 2730 PRESSURE_YINT -10.644979 SEABIRD_T_I 2.3711646e-05

MASS 51588 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001156423 SEABIRD_T_J 2.2769887e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.006271

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1385506

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0022333476

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00024018179

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3698 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 363 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 1 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 4 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001156423 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -10.644979 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 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 40

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 -15117.589

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 107 ROLL_MAX 3928 T_TURN_SAMPINT 6

C_PITCH 2730 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2450 INT_PRESSURE_YINT 0 ROLL_MIN 152 UNCOM_BLEED 20

C_ROLL_DIVE 2050 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3415 MASS 51588 R_PORT_OVSHOOT 21 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 27 USE_ICE 0

DEEPGLIDERMB 0 MISSION 10 SEABIRD_C_G -10.006271 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1385506 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0022333476 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00024018179 VBD_MAX 4028

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.004345139 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064258272 VBD_MIN 679

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3711646e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 17 PHONE_DEVICE 48 SEABIRD_T_J 2.2769887e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 115614,4739.813,-12252.040,11,1.5,11,18.3 TGT_NAME S1

_CALLS 2 TGT_LATLONG 4738.867,-12253.333

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.104,-0.176

_SM_DEPTHo 0.51 KALMAN_X 3273.0,667.0,132.5,-2630.3,-113.0

_SM_ANGLEo -51.0 KALMAN_Y 3626.5,745.6,187.4,-4014.7,-1.3

GPS2 120715,4739.940,-12251.964,14,1.7,14,18.3 MHEAD_RNG_PITCHd_Wd 192.4,2620,-19.3,-8.333

SPEED_LIMITS 0.144,0.204 D_GRID 121

Post-dive calculations and measurements:

FINISH 0.1,1.021927 ALTIM_TOP_PING 9.9,10.0

SM_CCo 2869,157.73,0.509,0,0,1579,450.13 ALTIM_BOTTOM_PING 75.5,999.0

SM_GC 0.57,0.00,0.00,157.73,0.000,0.000,0.509,363,2054,1579,-10.88,0.11,450.13 _24V_AH 23.7,2.086

IRIDIUM_FIX 4722.92,-12256.21,300907,151503 _10V_AH 10.0,1.278

TT8_MAMPS 0.065962 DATA_FILE_SIZE 6444,261

HUMID 2019 CFSIZE 260034560,256274432

INTERNAL_PRESSURE 7.69561 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.90 GPS 300907,125950,4739.782,-12252.310,12,1.8,29,18.3

XPDR_PINGS 173

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 170 110.57 SBE_CT 174 24 99.30

Roll_motor 41 71 69.48 nil 0 0 0.00

VBD_pump_during_apogee 177 591 2492.60 nil 0 0 0.00

VBD_pump_during_surface 157 508 1900.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 194.98 nil 0 0 0.00

Iridium_during_connect 92 160 350.90 ARS 0 0 0.00

Iridium_during_xfer 316 223 1674.87

Transponder_ping 43 420 435.49

Mmodem_TX 276 1000 6562.77

Mmodem_RX 3496 6 530.29

GPS 15 50 7.65

TT8 491 19 97.28

LPSleep 1678 2 36.75

TT8_Active 463 19 91.69

TT8_Sampling 485 39 193.18

TT8_CF8 597 45 273.83

TT8_Kalman 33 81 27.26

Analog_circuits 748 12 89.85

GPS_charging 0 0 0.00

Compass 457 8 36.63

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 -1.60 -97.8 0.0 0.0 0 112 0.00 0.00 -85.40 0.000 2 0.000 0.000 361 2047 3364

114 -1.60 -97.8 2.1 -5.0 14 151 11.85 2.65 -15.45 0.000 4 0.170 0.068 2377 3450 3814

223 -1.60 -97.8 11.4 -9.2 31 230 0.00 2.50 0.00 0.000 6 0.000 0.038 2377 2031 3814

295 -1.60 -97.8 17.9 -9.7 42 301 0.00 0.00 0.00 0.000 6 0.000 0.000 2376 2029 3814

371 -1.60 -97.8 24.0 -7.5 50 376 0.00 2.60 0.00 0.000 4 0.000 0.071 2376 643 3815

443 -1.60 -97.8 29.9 -8.7 55 447 0.00 2.47 0.00 0.000 6 0.000 0.037 2376 2056 3814

645 -1.60 -97.8 47.9 -8.8 71 649 0.00 2.65 0.00 0.000 4 0.000 0.069 2377 642 3815

697 -1.60 -97.8 52.6 -9.2 75 702 0.00 2.47 0.00 0.000 6 0.000 0.037 2376 2054 3814

900 -1.60 -97.8 68.5 -7.6 91 904 0.00 2.58 0.00 0.000 4 0.000 0.058 2376 3453 3815

919 -1.60 -97.8 69.6 -5.7 92 923 0.00 2.50 0.00 0.000 6 0.000 0.040 2376 2041 3815

1121 -1.60 -97.8 81.9 -4.3 108 1125 0.00 2.60 0.00 0.000 4 0.000 0.058 2377 3459 3815

1205 -1.60 -97.8 88.0 -8.4 114 1213 0.00 2.55 0.00 0.000 6 0.000 0.039 2376 2044 3815

1349 end dive: TARGET_DEPTH_EXCEEDED

state 1349 begin apogee

1355 -0.38 0.0 100.7 10.0 126 1437 1.33 0.00 75.32 0.584 6 0.097 0.000 2642 2457 3414

1438 end apogee: CONTROL_FINISHED_OK

state 1438 begin climb

1439 1.60 97.8 106.3 0.0 133 1521 2.08 0.00 73.72 0.581 6 0.070 0.000 3079 2458 3016

1709 1.60 97.8 90.2 10.4 155 1710 0.00 0.00 0.00 0.000 6 0.000 0.000 3080 2458 3015

1899 1.60 97.8 74.7 8.9 170 1903 0.00 2.62 0.00 0.000 4 0.000 0.071 3080 3851 3015

2037 1.61 103.5 63.3 8.0 180 2050 0.00 2.50 3.80 0.591 6 0.000 0.033 3079 2436 2992

2238 1.63 121.0 48.0 7.3 196 2253 0.00 0.00 13.02 0.556 6 0.000 0.000 3080 2435 2921

2439 1.63 124.8 32.8 8.1 212 2447 0.00 2.62 2.67 0.591 4 0.000 0.064 3080 1052 2905

2514 1.63 124.8 26.5 8.8 217 2518 0.00 2.55 0.00 0.000 6 0.000 0.038 3080 2456 2906

2714 1.65 137.4 8.8 7.6 241 2732 0.00 2.67 9.30 0.541 4 0.000 0.060 3080 1047 2853

2816 end climb: SURFACE_DEPTH_REACHED

state 2816 begin surface coast

2844 end surface coast: CONTROL_FINISHED_OK

state 2844 begin surface

ID	107	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	10
MISSION	10	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	17	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	152	ALTIM_PING_DEPTH	0
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3928	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2450	ALTIM_PULSE	1
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	4
D_PITCH	0	SM_CC	450	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	300	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	40	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	679	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	4028	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3415	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-15117.589	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
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	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	363	AH0_24V	91.800003	SEABIRD_T_G	0.004345139
SPEED_FACTOR	1	PITCH_MAX	3698	AH0_10V	61.200001	SEABIRD_T_H	0.00064258272
RHO	1.023	C_PITCH	2730	PRESSURE_YINT	-10.644979	SEABIRD_T_I	2.3711646e-05
MASS	51588	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001156423	SEABIRD_T_J	2.2769887e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.006271
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1385506
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0022333476
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00024018179

GPS1	115614,4739.813,-12252.040,11,1.5,11,18.3	TGT_NAME	S1
_CALLS	2	TGT_LATLONG	4738.867,-12253.333
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.104,-0.176
_SM_DEPTHo	0.51	KALMAN_X	3273.0,667.0,132.5,-2630.3,-113.0
_SM_ANGLEo	-51.0	KALMAN_Y	3626.5,745.6,187.4,-4014.7,-1.3
GPS2	120715,4739.940,-12251.964,14,1.7,14,18.3	MHEAD_RNG_PITCHd_Wd	192.4,2620,-19.3,-8.333
SPEED_LIMITS	0.144,0.204	D_GRID	121

FINISH	0.1,1.021927	ALTIM_TOP_PING	9.9,10.0
SM_CCo	2869,157.73,0.509,0,0,1579,450.13	ALTIM_BOTTOM_PING	75.5,999.0
SM_GC	0.57,0.00,0.00,157.73,0.000,0.000,0.509,363,2054,1579,-10.88,0.11,450.13	_24V_AH	23.7,2.086
IRIDIUM_FIX	4722.92,-12256.21,300907,151503	_10V_AH	10.0,1.278
TT8_MAMPS	0.065962	DATA_FILE_SIZE	6444,261
HUMID	2019	CFSIZE	260034560,256274432
INTERNAL_PRESSURE	7.69561	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	300907,125950,4739.782,-12252.310,12,1.8,29,18.3
XPDR_PINGS	173

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	170	110.57	SBE_CT	174	24	99.30
Roll_motor	41	71	69.48	nil	0	0	0.00
VBD_pump_during_apogee	177	591	2492.60	nil	0	0	0.00
VBD_pump_during_surface	157	508	1900.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	194.98	nil	0	0	0.00
Iridium_during_connect	92	160	350.90	ARS	0	0	0.00
Iridium_during_xfer	316	223	1674.87
Transponder_ping	43	420	435.49
Mmodem_TX	276	1000	6562.77
Mmodem_RX	3496	6	530.29
GPS	15	50	7.65
TT8	491	19	97.28
LPSleep	1678	2	36.75
TT8_Active	463	19	91.69
TT8_Sampling	485	39	193.18
TT8_CF8	597	45	273.83
TT8_Kalman	33	81	27.26
Analog_circuits	748	12	89.85
GPS_charging	0	0	0.00
Compass	457	8	36.63
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	-1.60	-97.8	0.0	0.0	0	112	0.00	0.00	-85.40	0.000	2	0.000	0.000	361	2047	3364
114	-1.60	-97.8	2.1	-5.0	14	151	11.85	2.65	-15.45	0.000	4	0.170	0.068	2377	3450	3814
223	-1.60	-97.8	11.4	-9.2	31	230	0.00	2.50	0.00	0.000	6	0.000	0.038	2377	2031	3814
295	-1.60	-97.8	17.9	-9.7	42	301	0.00	0.00	0.00	0.000	6	0.000	0.000	2376	2029	3814
371	-1.60	-97.8	24.0	-7.5	50	376	0.00	2.60	0.00	0.000	4	0.000	0.071	2376	643	3815
443	-1.60	-97.8	29.9	-8.7	55	447	0.00	2.47	0.00	0.000	6	0.000	0.037	2376	2056	3814
645	-1.60	-97.8	47.9	-8.8	71	649	0.00	2.65	0.00	0.000	4	0.000	0.069	2377	642	3815
697	-1.60	-97.8	52.6	-9.2	75	702	0.00	2.47	0.00	0.000	6	0.000	0.037	2376	2054	3814
900	-1.60	-97.8	68.5	-7.6	91	904	0.00	2.58	0.00	0.000	4	0.000	0.058	2376	3453	3815
919	-1.60	-97.8	69.6	-5.7	92	923	0.00	2.50	0.00	0.000	6	0.000	0.040	2376	2041	3815
1121	-1.60	-97.8	81.9	-4.3	108	1125	0.00	2.60	0.00	0.000	4	0.000	0.058	2377	3459	3815
1205	-1.60	-97.8	88.0	-8.4	114	1213	0.00	2.55	0.00	0.000	6	0.000	0.039	2376	2044	3815
1349	end dive: TARGET_DEPTH_EXCEEDED
state	1349	begin apogee
1355	-0.38	0.0	100.7	10.0	126	1437	1.33	0.00	75.32	0.584	6	0.097	0.000	2642	2457	3414
1438	end apogee: CONTROL_FINISHED_OK
state	1438	begin climb
1439	1.60	97.8	106.3	0.0	133	1521	2.08	0.00	73.72	0.581	6	0.070	0.000	3079	2458	3016
1709	1.60	97.8	90.2	10.4	155	1710	0.00	0.00	0.00	0.000	6	0.000	0.000	3080	2458	3015
1899	1.60	97.8	74.7	8.9	170	1903	0.00	2.62	0.00	0.000	4	0.000	0.071	3080	3851	3015
2037	1.61	103.5	63.3	8.0	180	2050	0.00	2.50	3.80	0.591	6	0.000	0.033	3079	2436	2992
2238	1.63	121.0	48.0	7.3	196	2253	0.00	0.00	13.02	0.556	6	0.000	0.000	3080	2435	2921
2439	1.63	124.8	32.8	8.1	212	2447	0.00	2.62	2.67	0.591	4	0.000	0.064	3080	1052	2905
2514	1.63	124.8	26.5	8.8	217	2518	0.00	2.55	0.00	0.000	6	0.000	0.038	3080	2456	2906
2714	1.65	137.4	8.8	7.6	241	2732	0.00	2.67	9.30	0.541	4	0.000	0.060	3080	1047	2853
2816	end climb: SURFACE_DEPTH_REACHED
state	2816	begin surface coast
2844	end surface coast: CONTROL_FINISHED_OK
state	2844	begin surface