Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 199 * 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 199 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 49 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -17194.566 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 -17194.566

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 49 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 27 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 199 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 034721,4739.565,-12253.066,11,1.8,11,18.3 TGT_NAME H2

_CALLS 2 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.81 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 035622,4739.539,-12253.091,12,2.1,31,18.3 MHEAD_RNG_PITCHd_Wd 80.6,870,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH -0.0,1.015805 XPDR_PINGS 8

SM_CCo 2854,115.68,0.518,1,0,1597,400.08 ALTIM_BOTTOM_PING 90.7,41.1

SM_GC 0.70,0.00,0.00,115.68,0.000,0.000,0.518,426,2510,1597,-11.84,0.28,400.08 _24V_AH 24.1,15.804

IRIDIUM_FIX 4719.74,-12251.79,280907,070730 _10V_AH 10.1,10.921

TT8_MAMPS 0.067496 DATA_FILE_SIZE 6474,272

HUMID 1794 CFSIZE 260034560,251432960

INTERNAL_PRESSURE 9.35929 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.90 GPS 280907,044757,4739.521,-12252.624,37,2.7,56,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 154 105.70 SBE_CT 187 24 108.40

Roll_motor 44 69 75.65 nil 0 0 0.00

VBD_pump_during_apogee 217 590 3095.01 nil 0 0 0.00

VBD_pump_during_surface 115 518 1445.44 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 79 103 197.21 nil 0 0 0.00

Iridium_during_connect 112 160 433.77 ARS 0 0 0.00

Iridium_during_xfer 136 223 735.65

Transponder_ping 3 420 32.90

Mmodem_TX 16 1000 400.30

Mmodem_RX 3586 6 553.16

GPS 32 93 30.85

TT8 502 19 100.49

LPSleep 1545 2 34.17

TT8_Active 439 19 87.97

TT8_Sampling 515 39 207.21

TT8_CF8 526 45 243.58

TT8_Kalman 0 0 0.00

Analog_circuits 754 12 91.48

GPS_charging 0 0 0.00

Compass 504 8 40.77

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

27 -1.54 -122.2 0.0 0.0 0 89 0.00 0.00 -59.12 0.000 2 0.000 0.000 426 2500 3076

92 -1.54 -122.2 2.1 -4.1 10 136 12.38 2.53 -21.55 0.000 4 0.154 0.058 2659 1116 3729

327 -1.54 -122.2 15.4 -5.5 46 334 0.00 2.40 0.00 0.000 6 0.000 0.032 2659 2506 3732

400 -1.54 -122.2 19.3 -5.5 57 406 0.00 2.58 0.00 0.000 4 0.000 0.068 2660 3901 3733

466 -1.54 -122.2 23.3 -6.6 63 470 0.00 2.38 0.00 0.000 6 0.000 0.031 2659 2500 3733

662 -1.54 -122.2 34.2 -5.9 78 663 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2495 3734

852 -1.54 -122.2 45.9 -6.4 93 857 0.00 2.60 0.00 0.000 4 0.000 0.067 2659 3898 3734

931 -1.54 -122.2 51.3 -7.0 98 937 0.00 2.38 0.00 0.000 6 0.000 0.031 2659 2483 3734

1127 -1.54 -122.2 63.8 -6.4 114 1131 0.00 2.60 0.00 0.000 4 0.000 0.066 2659 3897 3734

1218 -1.54 -122.2 69.9 -6.6 120 1226 0.00 2.35 0.00 0.000 6 0.000 0.032 2659 2497 3734

1414 -1.54 -122.2 81.9 -6.1 136 1419 0.00 2.58 0.00 0.000 4 0.000 0.066 2659 3901 3735

1514 -1.54 -122.2 88.1 -6.0 143 1518 0.00 2.38 0.00 0.000 6 0.000 0.034 2659 2503 3734

1558 end dive: TARGET_DEPTH_EXCEEDED

state 1558 begin apogee

1564 -0.50 0.0 90.7 5.7 146 1667 1.10 0.00 95.07 0.591 6 0.090 0.000 2887 2415 3228

1668 end apogee: CONTROL_FINISHED_OK

state 1668 begin climb

1671 1.54 122.2 92.6 0.0 155 1777 2.08 2.58 92.60 0.572 4 0.064 0.051 3332 1026 2729

1805 1.54 122.2 83.6 10.1 166 1809 0.00 2.42 0.00 0.000 6 0.000 0.033 3332 2417 2729

2000 1.54 122.2 64.9 10.1 181 2005 0.00 2.60 0.00 0.000 4 0.000 0.067 3332 3816 2728

2045 1.54 122.2 60.1 10.5 184 2053 0.00 2.40 0.00 0.000 6 0.000 0.031 3332 2426 2728

2241 1.54 122.2 41.3 9.4 200 2245 0.00 2.50 0.00 0.000 4 0.000 0.051 3332 1021 2728

2313 1.54 122.2 34.2 10.0 205 2318 0.00 2.45 0.00 0.000 6 0.000 0.033 3332 2419 2728

2511 1.54 122.2 15.6 9.1 224 2516 0.00 0.00 0.00 0.000 6 0.000 0.000 3332 2419 2728

2583 1.54 122.2 9.3 8.6 235 2588 0.00 0.00 0.00 0.000 6 0.000 0.000 3332 2419 2728

2655 1.59 163.3 4.5 5.2 246 2692 0.00 2.55 29.77 0.546 4 0.000 0.050 3332 1022 2562

2743 end climb: SURFACE_DEPTH_REACHED

state 2744 begin surface coast

2823 end surface coast: CONTROL_FINISHED_OK

state 2823 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	199	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	49	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-17194.566	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	034721,4739.565,-12253.066,11,1.8,11,18.3	TGT_NAME	H2
_CALLS	2	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.81	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	035622,4739.539,-12253.091,12,2.1,31,18.3	MHEAD_RNG_PITCHd_Wd	80.6,870,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	-0.0,1.015805	XPDR_PINGS	8
SM_CCo	2854,115.68,0.518,1,0,1597,400.08	ALTIM_BOTTOM_PING	90.7,41.1
SM_GC	0.70,0.00,0.00,115.68,0.000,0.000,0.518,426,2510,1597,-11.84,0.28,400.08	_24V_AH	24.1,15.804
IRIDIUM_FIX	4719.74,-12251.79,280907,070730	_10V_AH	10.1,10.921
TT8_MAMPS	0.067496	DATA_FILE_SIZE	6474,272
HUMID	1794	CFSIZE	260034560,251432960
INTERNAL_PRESSURE	9.35929	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.90	GPS	280907,044757,4739.521,-12252.624,37,2.7,56,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	154	105.70	SBE_CT	187	24	108.40
Roll_motor	44	69	75.65	nil	0	0	0.00
VBD_pump_during_apogee	217	590	3095.01	nil	0	0	0.00
VBD_pump_during_surface	115	518	1445.44	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	79	103	197.21	nil	0	0	0.00
Iridium_during_connect	112	160	433.77	ARS	0	0	0.00
Iridium_during_xfer	136	223	735.65
Transponder_ping	3	420	32.90
Mmodem_TX	16	1000	400.30
Mmodem_RX	3586	6	553.16
GPS	32	93	30.85
TT8	502	19	100.49
LPSleep	1545	2	34.17
TT8_Active	439	19	87.97
TT8_Sampling	515	39	207.21
TT8_CF8	526	45	243.58
TT8_Kalman	0	0	0.00
Analog_circuits	754	12	91.48
GPS_charging	0	0	0.00
Compass	504	8	40.77
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
27	-1.54	-122.2	0.0	0.0	0	89	0.00	0.00	-59.12	0.000	2	0.000	0.000	426	2500	3076
92	-1.54	-122.2	2.1	-4.1	10	136	12.38	2.53	-21.55	0.000	4	0.154	0.058	2659	1116	3729
327	-1.54	-122.2	15.4	-5.5	46	334	0.00	2.40	0.00	0.000	6	0.000	0.032	2659	2506	3732
400	-1.54	-122.2	19.3	-5.5	57	406	0.00	2.58	0.00	0.000	4	0.000	0.068	2660	3901	3733
466	-1.54	-122.2	23.3	-6.6	63	470	0.00	2.38	0.00	0.000	6	0.000	0.031	2659	2500	3733
662	-1.54	-122.2	34.2	-5.9	78	663	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2495	3734
852	-1.54	-122.2	45.9	-6.4	93	857	0.00	2.60	0.00	0.000	4	0.000	0.067	2659	3898	3734
931	-1.54	-122.2	51.3	-7.0	98	937	0.00	2.38	0.00	0.000	6	0.000	0.031	2659	2483	3734
1127	-1.54	-122.2	63.8	-6.4	114	1131	0.00	2.60	0.00	0.000	4	0.000	0.066	2659	3897	3734
1218	-1.54	-122.2	69.9	-6.6	120	1226	0.00	2.35	0.00	0.000	6	0.000	0.032	2659	2497	3734
1414	-1.54	-122.2	81.9	-6.1	136	1419	0.00	2.58	0.00	0.000	4	0.000	0.066	2659	3901	3735
1514	-1.54	-122.2	88.1	-6.0	143	1518	0.00	2.38	0.00	0.000	6	0.000	0.034	2659	2503	3734
1558	end dive: TARGET_DEPTH_EXCEEDED
state	1558	begin apogee
1564	-0.50	0.0	90.7	5.7	146	1667	1.10	0.00	95.07	0.591	6	0.090	0.000	2887	2415	3228
1668	end apogee: CONTROL_FINISHED_OK
state	1668	begin climb
1671	1.54	122.2	92.6	0.0	155	1777	2.08	2.58	92.60	0.572	4	0.064	0.051	3332	1026	2729
1805	1.54	122.2	83.6	10.1	166	1809	0.00	2.42	0.00	0.000	6	0.000	0.033	3332	2417	2729
2000	1.54	122.2	64.9	10.1	181	2005	0.00	2.60	0.00	0.000	4	0.000	0.067	3332	3816	2728
2045	1.54	122.2	60.1	10.5	184	2053	0.00	2.40	0.00	0.000	6	0.000	0.031	3332	2426	2728
2241	1.54	122.2	41.3	9.4	200	2245	0.00	2.50	0.00	0.000	4	0.000	0.051	3332	1021	2728
2313	1.54	122.2	34.2	10.0	205	2318	0.00	2.45	0.00	0.000	6	0.000	0.033	3332	2419	2728
2511	1.54	122.2	15.6	9.1	224	2516	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	2419	2728
2583	1.54	122.2	9.3	8.6	235	2588	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	2419	2728
2655	1.59	163.3	4.5	5.2	246	2692	0.00	2.55	29.77	0.546	4	0.000	0.050	3332	1022	2562
2743	end climb: SURFACE_DEPTH_REACHED
state	2744	begin surface coast
2823	end surface coast: CONTROL_FINISHED_OK
state	2823	begin surface