Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 211 * 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 211 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 42 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 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 -17163.816 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 -17163.816

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 42 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 28 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 211 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 143021,4739.436,-12252.633,13,1.7,13,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.85 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 143609,4739.417,-12252.587,16,1.9,16,18.3 MHEAD_RNG_PITCHd_Wd 258.5,773,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 1.3,1.026048 XPDR_PINGS 6

SM_CCo 2710,124.55,0.524,0,0,1598,400.08 ALTIM_BOTTOM_PING 90.4,45.2

SM_GC 0.72,0.00,0.00,124.55,0.000,0.000,0.524,430,2474,1598,-11.82,-0.71,400.08 _24V_AH 24.1,16.729

IRIDIUM_FIX 4719.74,-12251.79,280907,171703 _10V_AH 10.1,11.736

TT8_MAMPS 0.067496 DATA_FILE_SIZE 6447,252

HUMID 1795 CFSIZE 260034560,251080704

INTERNAL_PRESSURE 9.33976 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.90 GPS 280907,152439,4739.502,-12252.894,12,1.8,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 158 109.38 SBE_CT 174 24 100.65

Roll_motor 44 69 74.70 nil 0 0 0.00

VBD_pump_during_apogee 187 612 2769.61 nil 0 0 0.00

VBD_pump_during_surface 124 523 1572.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 98.43 nil 0 0 0.00

Iridium_during_connect 31 160 122.35 ARS 0 0 0.00

Iridium_during_xfer 136 223 731.51

Transponder_ping 2 420 27.84

Mmodem_TX 20 1000 500.56

Mmodem_RX 3235 6 499.00

GPS 16 93 15.49

TT8 481 19 96.26

LPSleep 1437 2 31.80

TT8_Active 408 19 81.74

TT8_Sampling 466 39 187.47

TT8_CF8 401 45 185.69

TT8_Kalman 0 0 0.00

Analog_circuits 708 12 85.82

GPS_charging 0 0 0.00

Compass 468 8 37.86

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 82 0.00 0.00 -54.67 0.000 2 0.000 0.000 431 2493 2958

86 -1.54 -122.2 2.2 -4.0 9 129 12.43 0.00 -25.42 0.000 6 0.158 0.000 2656 2493 3730

194 -1.54 -122.2 8.9 -7.0 26 201 0.00 2.62 0.00 0.000 4 0.000 0.069 2657 3904 3732

313 -1.54 -122.2 17.4 -7.1 44 320 0.00 2.42 0.00 0.000 6 0.000 0.033 2656 2484 3732

390 -1.54 -122.2 22.7 -6.8 53 391 0.00 0.00 0.00 0.000 6 0.000 0.000 2656 2483 3733

581 -1.54 -122.2 35.1 -7.1 68 586 0.00 2.65 0.00 0.000 4 0.000 0.067 2656 3899 3733

626 -1.54 -122.2 38.6 -7.2 71 634 0.00 2.40 0.00 0.000 6 0.000 0.033 2656 2501 3734

823 -1.54 -122.2 51.5 -6.6 87 824 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2501 3733

1013 -1.54 -122.2 65.0 -7.2 102 1022 0.00 2.58 0.00 0.000 4 0.000 0.067 2656 3898 3734

1160 -1.54 -122.2 76.7 -7.7 113 1165 0.00 2.40 0.00 0.000 6 0.000 0.034 2656 2506 3733

1365 end dive: TARGET_DEPTH_EXCEEDED

state 1365 begin apogee

1372 -0.50 0.0 90.4 6.6 129 1469 1.10 0.00 92.93 0.594 6 0.092 0.000 2883 2404 3229

1469 end apogee: CONTROL_FINISHED_OK

state 1470 begin climb

1472 1.54 122.2 93.1 0.0 137 1571 2.05 2.55 90.88 0.578 4 0.062 0.052 3326 1038 2729

1658 1.54 122.2 81.2 8.7 151 1665 0.00 2.42 0.00 0.000 6 0.000 0.034 3326 2413 2729

1856 1.54 122.2 63.8 9.1 167 1861 0.00 2.58 0.00 0.000 4 0.000 0.067 3326 3812 2728

1915 1.54 122.2 58.1 9.6 171 1920 0.00 2.38 0.00 0.000 6 0.000 0.032 3326 2428 2728

2111 1.54 122.2 40.9 8.4 186 2115 0.00 2.55 0.00 0.000 4 0.000 0.052 3326 1020 2727

2150 1.54 122.2 37.8 8.3 189 2154 0.00 2.42 0.00 0.000 6 0.000 0.034 3325 2415 2728

2346 1.54 122.2 22.3 7.8 204 2350 0.00 2.53 0.00 0.000 4 0.000 0.051 3326 1024 2728

2392 1.54 122.2 18.7 7.8 208 2398 0.00 2.42 0.00 0.000 6 0.000 0.034 3326 2420 2728

2464 1.54 122.2 13.1 7.6 219 2470 0.00 2.53 0.00 0.000 4 0.000 0.051 3326 1014 2728

2523 1.54 122.2 8.7 7.4 228 2529 0.00 2.42 0.00 0.000 6 0.000 0.034 3326 2415 2728

2598 1.54 127.9 3.7 6.5 239 2610 0.00 2.60 3.72 0.613 4 0.000 0.067 3326 3806 2707

2634 end climb: SURFACE_DEPTH_REACHED

state 2634 begin surface coast

2682 end surface coast: CONTROL_FINISHED_OK

state 2682 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	211	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	42	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	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	-17163.816	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	143021,4739.436,-12252.633,13,1.7,13,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.85	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	143609,4739.417,-12252.587,16,1.9,16,18.3	MHEAD_RNG_PITCHd_Wd	258.5,773,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	1.3,1.026048	XPDR_PINGS	6
SM_CCo	2710,124.55,0.524,0,0,1598,400.08	ALTIM_BOTTOM_PING	90.4,45.2
SM_GC	0.72,0.00,0.00,124.55,0.000,0.000,0.524,430,2474,1598,-11.82,-0.71,400.08	_24V_AH	24.1,16.729
IRIDIUM_FIX	4719.74,-12251.79,280907,171703	_10V_AH	10.1,11.736
TT8_MAMPS	0.067496	DATA_FILE_SIZE	6447,252
HUMID	1795	CFSIZE	260034560,251080704
INTERNAL_PRESSURE	9.33976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	280907,152439,4739.502,-12252.894,12,1.8,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	158	109.38	SBE_CT	174	24	100.65
Roll_motor	44	69	74.70	nil	0	0	0.00
VBD_pump_during_apogee	187	612	2769.61	nil	0	0	0.00
VBD_pump_during_surface	124	523	1572.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	98.43	nil	0	0	0.00
Iridium_during_connect	31	160	122.35	ARS	0	0	0.00
Iridium_during_xfer	136	223	731.51
Transponder_ping	2	420	27.84
Mmodem_TX	20	1000	500.56
Mmodem_RX	3235	6	499.00
GPS	16	93	15.49
TT8	481	19	96.26
LPSleep	1437	2	31.80
TT8_Active	408	19	81.74
TT8_Sampling	466	39	187.47
TT8_CF8	401	45	185.69
TT8_Kalman	0	0	0.00
Analog_circuits	708	12	85.82
GPS_charging	0	0	0.00
Compass	468	8	37.86
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	82	0.00	0.00	-54.67	0.000	2	0.000	0.000	431	2493	2958
86	-1.54	-122.2	2.2	-4.0	9	129	12.43	0.00	-25.42	0.000	6	0.158	0.000	2656	2493	3730
194	-1.54	-122.2	8.9	-7.0	26	201	0.00	2.62	0.00	0.000	4	0.000	0.069	2657	3904	3732
313	-1.54	-122.2	17.4	-7.1	44	320	0.00	2.42	0.00	0.000	6	0.000	0.033	2656	2484	3732
390	-1.54	-122.2	22.7	-6.8	53	391	0.00	0.00	0.00	0.000	6	0.000	0.000	2656	2483	3733
581	-1.54	-122.2	35.1	-7.1	68	586	0.00	2.65	0.00	0.000	4	0.000	0.067	2656	3899	3733
626	-1.54	-122.2	38.6	-7.2	71	634	0.00	2.40	0.00	0.000	6	0.000	0.033	2656	2501	3734
823	-1.54	-122.2	51.5	-6.6	87	824	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2501	3733
1013	-1.54	-122.2	65.0	-7.2	102	1022	0.00	2.58	0.00	0.000	4	0.000	0.067	2656	3898	3734
1160	-1.54	-122.2	76.7	-7.7	113	1165	0.00	2.40	0.00	0.000	6	0.000	0.034	2656	2506	3733
1365	end dive: TARGET_DEPTH_EXCEEDED
state	1365	begin apogee
1372	-0.50	0.0	90.4	6.6	129	1469	1.10	0.00	92.93	0.594	6	0.092	0.000	2883	2404	3229
1469	end apogee: CONTROL_FINISHED_OK
state	1470	begin climb
1472	1.54	122.2	93.1	0.0	137	1571	2.05	2.55	90.88	0.578	4	0.062	0.052	3326	1038	2729
1658	1.54	122.2	81.2	8.7	151	1665	0.00	2.42	0.00	0.000	6	0.000	0.034	3326	2413	2729
1856	1.54	122.2	63.8	9.1	167	1861	0.00	2.58	0.00	0.000	4	0.000	0.067	3326	3812	2728
1915	1.54	122.2	58.1	9.6	171	1920	0.00	2.38	0.00	0.000	6	0.000	0.032	3326	2428	2728
2111	1.54	122.2	40.9	8.4	186	2115	0.00	2.55	0.00	0.000	4	0.000	0.052	3326	1020	2727
2150	1.54	122.2	37.8	8.3	189	2154	0.00	2.42	0.00	0.000	6	0.000	0.034	3325	2415	2728
2346	1.54	122.2	22.3	7.8	204	2350	0.00	2.53	0.00	0.000	4	0.000	0.051	3326	1024	2728
2392	1.54	122.2	18.7	7.8	208	2398	0.00	2.42	0.00	0.000	6	0.000	0.034	3326	2420	2728
2464	1.54	122.2	13.1	7.6	219	2470	0.00	2.53	0.00	0.000	4	0.000	0.051	3326	1014	2728
2523	1.54	122.2	8.7	7.4	228	2529	0.00	2.42	0.00	0.000	6	0.000	0.034	3326	2415	2728
2598	1.54	127.9	3.7	6.5	239	2610	0.00	2.60	3.72	0.613	4	0.000	0.067	3326	3806	2707
2634	end climb: SURFACE_DEPTH_REACHED
state	2634	begin surface coast
2682	end surface coast: CONTROL_FINISHED_OK
state	2682	begin surface