Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 175 * 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 175 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 16 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 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 -46869.984 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 -46869.984

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 16 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 34 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 175 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 092728,4739.505,-12252.650,10,2.3,29,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.230,-0.052

_SM_DEPTHo 0.93 KALMAN_X 8033.3,291.7,175.4,-9009.9,34.2

_SM_ANGLEo -60.2 KALMAN_Y 11544.9,329.6,197.9,-12527.0,53.4

GPS2 093307,4739.517,-12252.611,12,1.4,28,18.3 MHEAD_RNG_PITCHd_Wd 238.9,743,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 123

Post-dive calculations and measurements:

FINISH 0.3,1.021160 XPDR_PINGS 0

SM_CCo 2845,119.07,0.578,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.3,51.4

SM_GC 0.84,0.00,0.00,119.07,0.000,0.000,0.578,460,1801,1586,-12.14,0.03,400.08 _24V_AH 23.9,19.979

IRIDIUM_FIX 4719.74,-12251.79,011007,121220 _10V_AH 10.1,41.017

TT8_MAMPS 0.069797 DATA_FILE_SIZE 6447,258

HUMID 2012 CFSIZE 260034560,251715584

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

TCM_TEMP 19.70 GPS 011007,102421,4739.405,-12253.067,9,1.6,9,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 202 150.99 SBE_CT 173 24 99.33

Roll_motor 35 87 74.34 nil 0 0 0.00

VBD_pump_during_apogee 193 678 3142.53 nil 0 0 0.00

VBD_pump_during_surface 119 578 1645.83 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 99.38 nil 0 0 0.00

Iridium_during_connect 30 160 114.81 ARS 0 0 0.00

Iridium_during_xfer 135 223 721.16

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3436 6 525.57

GPS 28 50 14.46

TT8 487 19 97.42

LPSleep 1603 2 35.47

TT8_Active 417 19 83.59

TT8_Sampling 489 39 196.86

TT8_CF8 333 45 154.10

TT8_Kalman 33 81 27.54

Analog_circuits 703 12 85.24

GPS_charging 0 0 0.00

Compass 445 8 36.02

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 99 0.00 0.00 -73.05 0.000 2 0.000 0.000 460 1803 3179

102 -1.63 -122.2 2.1 -4.9 12 145 14.38 2.75 -18.40 0.000 4 0.202 0.084 2743 385 3718

185 -1.63 -122.2 6.2 -6.2 25 191 0.00 2.47 0.00 0.000 6 0.000 0.035 2743 1806 3720

257 -1.63 -122.2 11.0 -6.6 36 262 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 1808 3720

328 -1.63 -122.2 15.3 -6.2 47 335 0.00 2.50 0.00 0.000 4 0.000 0.049 2743 3201 3720

500 -1.63 -122.2 26.1 -6.2 66 504 0.00 2.50 0.00 0.000 6 0.000 0.037 2743 1788 3720

695 -1.63 -122.2 38.2 -6.3 81 699 0.00 2.62 0.00 0.000 4 0.000 0.074 2743 395 3720

741 -1.63 -122.2 41.2 -6.7 84 745 0.00 2.45 0.00 0.000 6 0.000 0.034 2743 1810 3720

938 -1.63 -122.2 52.5 -5.7 99 942 0.00 2.47 0.00 0.000 4 0.000 0.048 2743 3198 3721

983 -1.63 -122.2 55.3 -5.8 102 988 0.00 2.47 0.00 0.000 6 0.000 0.037 2744 1792 3720

1179 -1.63 -122.2 65.4 -5.4 117 1180 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 1793 3720

1369 -1.63 -122.2 76.2 -6.0 132 1373 0.00 2.53 0.00 0.000 4 0.000 0.048 2743 3198 3720

1428 -1.63 -122.2 79.8 -6.0 136 1433 0.00 2.47 0.00 0.000 6 0.000 0.037 2743 1790 3720

1624 -1.63 -122.2 90.3 -5.4 151 1625 0.00 0.00 0.00 0.000 6 0.000 0.000 2744 1790 3720

1785 end dive: TARGET_DEPTH_EXCEEDED

state 1785 begin apogee

1791 -0.38 0.0 100.1 5.8 164 1896 1.38 0.00 98.38 0.678 6 0.107 0.000 3015 1729 3217

1897 end apogee: CONTROL_FINISHED_OK

state 1897 begin climb

1900 1.63 122.2 101.1 0.0 173 2000 1.98 0.00 95.55 0.647 6 0.058 0.000 3457 1729 2717

2198 1.63 122.2 70.7 12.3 197 2203 0.00 2.67 0.00 0.000 4 0.000 0.079 3457 337 2716

2231 1.63 122.2 66.5 13.7 199 2235 0.00 2.45 0.00 0.000 6 0.000 0.035 3457 1737 2716

2426 1.63 122.2 41.6 12.4 214 2427 0.00 0.00 0.00 0.000 6 0.000 0.000 3457 1737 2715

2617 1.63 122.2 21.1 10.7 229 2621 0.00 2.53 0.00 0.000 4 0.000 0.051 3457 3136 2716

2642 1.63 122.2 18.3 10.1 231 2649 0.00 2.47 0.00 0.000 6 0.000 0.038 3457 1743 2715

2714 1.63 122.2 10.8 10.9 242 2719 0.00 0.00 0.00 0.000 6 0.000 0.000 3457 1743 2715

2771 end climb: SURFACE_DEPTH_REACHED

state 2771 begin surface coast

2818 end surface coast: CONTROL_FINISHED_OK

state 2819 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	175	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	16	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	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	-46869.984	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	092728,4739.505,-12252.650,10,2.3,29,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.230,-0.052
_SM_DEPTHo	0.93	KALMAN_X	8033.3,291.7,175.4,-9009.9,34.2
_SM_ANGLEo	-60.2	KALMAN_Y	11544.9,329.6,197.9,-12527.0,53.4
GPS2	093307,4739.517,-12252.611,12,1.4,28,18.3	MHEAD_RNG_PITCHd_Wd	238.9,743,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	123

FINISH	0.3,1.021160	XPDR_PINGS	0
SM_CCo	2845,119.07,0.578,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.3,51.4
SM_GC	0.84,0.00,0.00,119.07,0.000,0.000,0.578,460,1801,1586,-12.14,0.03,400.08	_24V_AH	23.9,19.979
IRIDIUM_FIX	4719.74,-12251.79,011007,121220	_10V_AH	10.1,41.017
TT8_MAMPS	0.069797	DATA_FILE_SIZE	6447,258
HUMID	2012	CFSIZE	260034560,251715584
INTERNAL_PRESSURE	8.40853	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	011007,102421,4739.405,-12253.067,9,1.6,9,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	202	150.99	SBE_CT	173	24	99.33
Roll_motor	35	87	74.34	nil	0	0	0.00
VBD_pump_during_apogee	193	678	3142.53	nil	0	0	0.00
VBD_pump_during_surface	119	578	1645.83	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	99.38	nil	0	0	0.00
Iridium_during_connect	30	160	114.81	ARS	0	0	0.00
Iridium_during_xfer	135	223	721.16
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3436	6	525.57
GPS	28	50	14.46
TT8	487	19	97.42
LPSleep	1603	2	35.47
TT8_Active	417	19	83.59
TT8_Sampling	489	39	196.86
TT8_CF8	333	45	154.10
TT8_Kalman	33	81	27.54
Analog_circuits	703	12	85.24
GPS_charging	0	0	0.00
Compass	445	8	36.02
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	99	0.00	0.00	-73.05	0.000	2	0.000	0.000	460	1803	3179
102	-1.63	-122.2	2.1	-4.9	12	145	14.38	2.75	-18.40	0.000	4	0.202	0.084	2743	385	3718
185	-1.63	-122.2	6.2	-6.2	25	191	0.00	2.47	0.00	0.000	6	0.000	0.035	2743	1806	3720
257	-1.63	-122.2	11.0	-6.6	36	262	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	1808	3720
328	-1.63	-122.2	15.3	-6.2	47	335	0.00	2.50	0.00	0.000	4	0.000	0.049	2743	3201	3720
500	-1.63	-122.2	26.1	-6.2	66	504	0.00	2.50	0.00	0.000	6	0.000	0.037	2743	1788	3720
695	-1.63	-122.2	38.2	-6.3	81	699	0.00	2.62	0.00	0.000	4	0.000	0.074	2743	395	3720
741	-1.63	-122.2	41.2	-6.7	84	745	0.00	2.45	0.00	0.000	6	0.000	0.034	2743	1810	3720
938	-1.63	-122.2	52.5	-5.7	99	942	0.00	2.47	0.00	0.000	4	0.000	0.048	2743	3198	3721
983	-1.63	-122.2	55.3	-5.8	102	988	0.00	2.47	0.00	0.000	6	0.000	0.037	2744	1792	3720
1179	-1.63	-122.2	65.4	-5.4	117	1180	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	1793	3720
1369	-1.63	-122.2	76.2	-6.0	132	1373	0.00	2.53	0.00	0.000	4	0.000	0.048	2743	3198	3720
1428	-1.63	-122.2	79.8	-6.0	136	1433	0.00	2.47	0.00	0.000	6	0.000	0.037	2743	1790	3720
1624	-1.63	-122.2	90.3	-5.4	151	1625	0.00	0.00	0.00	0.000	6	0.000	0.000	2744	1790	3720
1785	end dive: TARGET_DEPTH_EXCEEDED
state	1785	begin apogee
1791	-0.38	0.0	100.1	5.8	164	1896	1.38	0.00	98.38	0.678	6	0.107	0.000	3015	1729	3217
1897	end apogee: CONTROL_FINISHED_OK
state	1897	begin climb
1900	1.63	122.2	101.1	0.0	173	2000	1.98	0.00	95.55	0.647	6	0.058	0.000	3457	1729	2717
2198	1.63	122.2	70.7	12.3	197	2203	0.00	2.67	0.00	0.000	4	0.000	0.079	3457	337	2716
2231	1.63	122.2	66.5	13.7	199	2235	0.00	2.45	0.00	0.000	6	0.000	0.035	3457	1737	2716
2426	1.63	122.2	41.6	12.4	214	2427	0.00	0.00	0.00	0.000	6	0.000	0.000	3457	1737	2715
2617	1.63	122.2	21.1	10.7	229	2621	0.00	2.53	0.00	0.000	4	0.000	0.051	3457	3136	2716
2642	1.63	122.2	18.3	10.1	231	2649	0.00	2.47	0.00	0.000	6	0.000	0.038	3457	1743	2715
2714	1.63	122.2	10.8	10.9	242	2719	0.00	0.00	0.00	0.000	6	0.000	0.000	3457	1743	2715
2771	end climb: SURFACE_DEPTH_REACHED
state	2771	begin surface coast
2818	end surface coast: CONTROL_FINISHED_OK
state	2819	begin surface