Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 175 * 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 175 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 90 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 45 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 -17157.127 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 90 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 -17157.127

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 45 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 35 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 175 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 071402,4739.480,-12253.166,31,2.0,31,18.3 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 0.96 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 072015,4739.500,-12253.201,12,1.5,12,18.3 MHEAD_RNG_PITCHd_Wd 75.3,1000,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.8,1.025991 XPDR_PINGS 2

SM_CCo 2667,132.43,0.522,1,0,1599,400.08 ALTIM_BOTTOM_PING 90.4,46.2

SM_GC 0.86,0.00,0.00,132.43,0.000,0.000,0.522,425,2511,1599,-11.85,0.31,400.08 _24V_AH 23.5,14.026

IRIDIUM_FIX 4722.92,-12305.98,270907,101013 _10V_AH 10.1,9.339

TT8_MAMPS 0.067496 DATA_FILE_SIZE 6444,247

HUMID 1806 CFSIZE 260034560,252145664

INTERNAL_PRESSURE 9.34952 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.90 GPS 270907,080814,4739.386,-12252.886,13,1.8,13,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 155 105.10 SBE_CT 170 24 96.12

Roll_motor 50 79 92.97 nil 0 0 0.00

VBD_pump_during_apogee 187 591 2602.19 nil 0 0 0.00

VBD_pump_during_surface 132 521 1623.09 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 98.10 nil 0 0 0.00

Iridium_during_connect 37 160 140.31 ARS 0 0 0.00

Iridium_during_xfer 163 223 857.40

Transponder_ping 1 420 17.27

Mmodem_TX 41 1000 969.38

Mmodem_RX 3198 6 481.09

GPS 12 93 11.37

TT8 468 19 93.78

LPSleep 1404 2 31.06

TT8_Active 433 19 86.65

TT8_Sampling 454 39 182.83

TT8_CF8 427 45 197.73

TT8_Kalman 0 0 0.00

Analog_circuits 726 12 88.01

GPS_charging 0 0 0.00

Compass 457 8 36.98

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.54 -122.2 0.0 0.0 0 76 0.00 0.00 -48.78 0.000 2 0.000 0.000 425 2511 2827

80 -1.54 -122.2 2.1 -3.1 8 135 12.40 2.60 -34.42 0.000 4 0.156 0.079 2656 3889 3730

347 -1.54 -122.2 18.9 -6.3 49 353 0.00 2.38 0.00 0.000 6 0.000 0.031 2656 2486 3733

417 -1.54 -122.2 23.2 -6.1 56 418 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2480 3733

608 -1.54 -122.2 35.6 -6.7 71 612 0.00 2.62 0.00 0.000 4 0.000 0.064 2656 3897 3734

681 -1.54 -122.2 41.0 -7.5 76 685 0.00 2.38 0.00 0.000 6 0.000 0.032 2656 2499 3734

876 -1.54 -122.2 54.1 -6.4 91 881 0.00 2.58 0.00 0.000 4 0.000 0.065 2656 3893 3736

914 -1.54 -122.2 56.8 -6.9 93 922 0.00 2.40 0.00 0.000 6 0.000 0.033 2656 2495 3734

1111 -1.54 -122.2 69.2 -6.5 109 1115 0.00 2.58 0.00 0.000 4 0.000 0.065 2656 3890 3735

1163 -1.54 -122.2 72.6 -6.1 112 1169 0.00 2.38 0.00 0.000 6 0.000 0.033 2656 2501 3735

1359 -1.54 -122.2 84.6 -6.2 128 1363 0.00 2.58 0.00 0.000 4 0.000 0.065 2656 3897 3735

1446 end dive: TARGET_DEPTH_EXCEEDED

state 1446 begin apogee

1455 -0.50 0.0 90.4 7.1 134 1558 1.12 0.00 94.75 0.591 6 0.094 0.000 2887 2415 3229

1559 end apogee: CONTROL_FINISHED_OK

state 1559 begin climb

1561 1.54 122.2 92.6 0.0 143 1662 2.05 2.58 92.50 0.571 4 0.061 0.051 3334 1026 2729

1689 1.54 122.2 84.2 10.2 153 1696 0.00 2.45 0.00 0.000 6 0.000 0.032 3334 2413 2729

1888 1.54 122.2 65.7 9.3 169 1892 0.00 2.58 0.00 0.000 4 0.000 0.065 3334 3819 2728

1927 1.54 122.2 61.4 10.5 171 1933 0.00 2.40 0.00 0.000 6 0.000 0.031 3334 2415 2728

2122 1.54 122.2 42.3 9.7 187 2126 0.00 2.50 0.00 0.000 4 0.000 0.053 3334 1020 2729

2173 1.54 122.2 37.1 9.7 190 2181 0.00 2.45 0.00 0.000 6 0.000 0.032 3334 2415 2728

2370 1.54 122.2 19.2 9.5 206 2376 0.00 2.65 0.00 0.000 4 0.000 0.066 3334 3812 2728

2403 1.54 122.2 16.0 9.6 211 2409 0.00 2.40 0.00 0.000 6 0.000 0.031 3334 2411 2728

2475 1.54 122.2 9.9 8.0 222 2481 0.00 2.47 0.00 0.000 4 0.000 0.052 3334 1020 2728

2534 1.54 122.2 5.5 7.1 231 2541 0.00 2.40 0.00 0.000 6 0.000 0.033 3334 2415 2728

2597 end climb: SURFACE_DEPTH_REACHED

state 2598 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	175	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	90	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	45	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	-17157.127	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	071402,4739.480,-12253.166,31,2.0,31,18.3	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	0.96	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	072015,4739.500,-12253.201,12,1.5,12,18.3	MHEAD_RNG_PITCHd_Wd	75.3,1000,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.8,1.025991	XPDR_PINGS	2
SM_CCo	2667,132.43,0.522,1,0,1599,400.08	ALTIM_BOTTOM_PING	90.4,46.2
SM_GC	0.86,0.00,0.00,132.43,0.000,0.000,0.522,425,2511,1599,-11.85,0.31,400.08	_24V_AH	23.5,14.026
IRIDIUM_FIX	4722.92,-12305.98,270907,101013	_10V_AH	10.1,9.339
TT8_MAMPS	0.067496	DATA_FILE_SIZE	6444,247
HUMID	1806	CFSIZE	260034560,252145664
INTERNAL_PRESSURE	9.34952	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.90	GPS	270907,080814,4739.386,-12252.886,13,1.8,13,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	155	105.10	SBE_CT	170	24	96.12
Roll_motor	50	79	92.97	nil	0	0	0.00
VBD_pump_during_apogee	187	591	2602.19	nil	0	0	0.00
VBD_pump_during_surface	132	521	1623.09	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	98.10	nil	0	0	0.00
Iridium_during_connect	37	160	140.31	ARS	0	0	0.00
Iridium_during_xfer	163	223	857.40
Transponder_ping	1	420	17.27
Mmodem_TX	41	1000	969.38
Mmodem_RX	3198	6	481.09
GPS	12	93	11.37
TT8	468	19	93.78
LPSleep	1404	2	31.06
TT8_Active	433	19	86.65
TT8_Sampling	454	39	182.83
TT8_CF8	427	45	197.73
TT8_Kalman	0	0	0.00
Analog_circuits	726	12	88.01
GPS_charging	0	0	0.00
Compass	457	8	36.98
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.54	-122.2	0.0	0.0	0	76	0.00	0.00	-48.78	0.000	2	0.000	0.000	425	2511	2827
80	-1.54	-122.2	2.1	-3.1	8	135	12.40	2.60	-34.42	0.000	4	0.156	0.079	2656	3889	3730
347	-1.54	-122.2	18.9	-6.3	49	353	0.00	2.38	0.00	0.000	6	0.000	0.031	2656	2486	3733
417	-1.54	-122.2	23.2	-6.1	56	418	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2480	3733
608	-1.54	-122.2	35.6	-6.7	71	612	0.00	2.62	0.00	0.000	4	0.000	0.064	2656	3897	3734
681	-1.54	-122.2	41.0	-7.5	76	685	0.00	2.38	0.00	0.000	6	0.000	0.032	2656	2499	3734
876	-1.54	-122.2	54.1	-6.4	91	881	0.00	2.58	0.00	0.000	4	0.000	0.065	2656	3893	3736
914	-1.54	-122.2	56.8	-6.9	93	922	0.00	2.40	0.00	0.000	6	0.000	0.033	2656	2495	3734
1111	-1.54	-122.2	69.2	-6.5	109	1115	0.00	2.58	0.00	0.000	4	0.000	0.065	2656	3890	3735
1163	-1.54	-122.2	72.6	-6.1	112	1169	0.00	2.38	0.00	0.000	6	0.000	0.033	2656	2501	3735
1359	-1.54	-122.2	84.6	-6.2	128	1363	0.00	2.58	0.00	0.000	4	0.000	0.065	2656	3897	3735
1446	end dive: TARGET_DEPTH_EXCEEDED
state	1446	begin apogee
1455	-0.50	0.0	90.4	7.1	134	1558	1.12	0.00	94.75	0.591	6	0.094	0.000	2887	2415	3229
1559	end apogee: CONTROL_FINISHED_OK
state	1559	begin climb
1561	1.54	122.2	92.6	0.0	143	1662	2.05	2.58	92.50	0.571	4	0.061	0.051	3334	1026	2729
1689	1.54	122.2	84.2	10.2	153	1696	0.00	2.45	0.00	0.000	6	0.000	0.032	3334	2413	2729
1888	1.54	122.2	65.7	9.3	169	1892	0.00	2.58	0.00	0.000	4	0.000	0.065	3334	3819	2728
1927	1.54	122.2	61.4	10.5	171	1933	0.00	2.40	0.00	0.000	6	0.000	0.031	3334	2415	2728
2122	1.54	122.2	42.3	9.7	187	2126	0.00	2.50	0.00	0.000	4	0.000	0.053	3334	1020	2729
2173	1.54	122.2	37.1	9.7	190	2181	0.00	2.45	0.00	0.000	6	0.000	0.032	3334	2415	2728
2370	1.54	122.2	19.2	9.5	206	2376	0.00	2.65	0.00	0.000	4	0.000	0.066	3334	3812	2728
2403	1.54	122.2	16.0	9.6	211	2409	0.00	2.40	0.00	0.000	6	0.000	0.031	3334	2411	2728
2475	1.54	122.2	9.9	8.0	222	2481	0.00	2.47	0.00	0.000	4	0.000	0.052	3334	1020	2728
2534	1.54	122.2	5.5	7.1	231	2541	0.00	2.40	0.00	0.000	6	0.000	0.033	3334	2415	2728
2597	end climb: SURFACE_DEPTH_REACHED
state	2598	begin surface coast
2638	end surface coast: CONTROL_FINISHED_OK
state	2639	begin surface