Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 223 * 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 223 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 47 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 -17184.303 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 -17184.303

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 47 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 30 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 223 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 005259,4739.497,-12253.210,12,3.4,31,18.3 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 0.84 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 005947,4739.506,-12253.193,16,2.4,35,18.3 MHEAD_RNG_PITCHd_Wd 75.9,991,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.5,1.026164 XPDR_PINGS 5

SM_CCo 2788,131.95,0.522,0,0,1599,400.08 ALTIM_BOTTOM_PING 65.4,999.0

SM_GC 0.85,0.00,0.00,131.95,0.000,0.000,0.522,425,2508,1599,-11.85,0.23,400.08 _24V_AH 24.1,17.626

IRIDIUM_FIX 4722.92,-12251.79,290907,040430 _10V_AH 10.1,12.540

TT8_MAMPS 0.067496 DATA_FILE_SIZE 6451,258

HUMID 1798 CFSIZE 260034560,250724352

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

TCM_TEMP 19.80 GPS 290907,015007,4739.477,-12252.776,38,1.6,38,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 154 106.26 SBE_CT 178 24 103.05

Roll_motor 44 70 76.36 nil 0 0 0.00

VBD_pump_during_apogee 186 593 2663.99 nil 0 0 0.00

VBD_pump_during_surface 131 521 1658.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.76 nil 0 0 0.00

Iridium_during_connect 37 160 145.60 ARS 0 0 0.00

Iridium_during_xfer 174 223 939.27

Transponder_ping 2 420 22.77

Mmodem_TX 4 1000 100.02

Mmodem_RX 3415 6 526.86

GPS 36 93 34.11

TT8 489 19 97.85

LPSleep 1501 2 33.21

TT8_Active 415 19 82.99

TT8_Sampling 492 39 197.87

TT8_CF8 442 45 204.85

TT8_Kalman 0 0 0.00

Analog_circuits 716 12 86.81

GPS_charging 0 0 0.00

Compass 476 8 38.48

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 -54.65 0.000 2 0.000 0.000 425 2511 2936

86 -1.54 -122.2 2.0 -3.3 9 136 12.35 2.53 -31.62 0.000 4 0.154 0.059 2657 1107 3728

222 -1.54 -122.2 8.9 -8.1 30 229 0.00 2.42 0.00 0.000 6 0.000 0.034 2657 2507 3730

294 -1.54 -122.2 14.6 -8.3 41 301 0.00 2.58 0.00 0.000 4 0.000 0.071 2657 3901 3731

327 -1.54 -122.2 18.1 -10.8 46 333 0.00 2.38 0.00 0.000 6 0.000 0.033 2657 2496 3731

404 -1.54 -122.2 22.5 -4.8 54 405 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2496 3731

594 -1.54 -122.2 35.6 -8.6 69 599 0.00 2.62 0.00 0.000 4 0.000 0.068 2657 3900 3732

673 -1.54 -122.2 41.2 -6.6 75 678 0.00 2.38 0.00 0.000 6 0.000 0.033 2657 2503 3732

869 -1.54 -122.2 53.3 -6.5 90 874 0.00 2.60 0.00 0.000 4 0.000 0.067 2657 3904 3732

974 -1.54 -122.2 60.8 -7.2 97 981 0.00 2.42 0.00 0.000 6 0.000 0.034 2657 2495 3732

1171 -1.54 -122.2 72.6 -6.7 113 1175 0.00 2.58 0.00 0.000 4 0.000 0.068 2657 3895 3732

1257 -1.54 -122.2 78.4 -6.5 119 1262 0.00 2.40 0.00 0.000 6 0.000 0.035 2657 2505 3731

1457 end dive: TARGET_DEPTH_EXCEEDED

state 1457 begin apogee

1464 -0.50 0.0 90.4 6.2 135 1561 1.10 0.00 93.95 0.594 6 0.091 0.000 2886 2404 3228

1562 end apogee: CONTROL_FINISHED_OK

state 1562 begin climb

1565 1.54 122.2 92.8 0.0 143 1666 2.05 2.53 92.25 0.574 4 0.061 0.051 3331 1043 2729

1701 1.54 122.2 85.6 8.4 154 1705 0.00 2.40 0.00 0.000 6 0.000 0.034 3331 2416 2730

1899 1.54 122.2 67.9 9.0 169 1900 0.00 0.00 0.00 0.000 6 0.000 0.000 3331 2417 2728

2087 1.54 122.2 52.0 8.2 184 2091 0.00 2.50 0.00 0.000 4 0.000 0.050 3331 1026 2728

2138 1.54 122.2 47.4 8.4 187 2145 0.00 2.45 0.00 0.000 6 0.000 0.034 3331 2418 2728

2337 1.54 122.2 30.9 8.6 203 2342 0.00 2.55 0.00 0.000 4 0.000 0.067 3331 3812 2728

2362 1.54 122.2 28.2 9.5 204 2370 0.00 2.40 0.00 0.000 6 0.000 0.031 3331 2425 2728

2563 1.54 122.2 10.2 8.5 228 2570 0.00 2.50 0.00 0.000 4 0.000 0.051 3331 1020 2728

2635 1.54 122.2 4.7 7.1 239 2642 0.00 2.42 0.00 0.000 6 0.000 0.034 3331 2425 2728

2699 end climb: SURFACE_DEPTH_REACHED

state 2699 begin surface coast

2759 end surface coast: CONTROL_FINISHED_OK

state 2759 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	223	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	47	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	-17184.303	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	005259,4739.497,-12253.210,12,3.4,31,18.3	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	0.84	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	005947,4739.506,-12253.193,16,2.4,35,18.3	MHEAD_RNG_PITCHd_Wd	75.9,991,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.5,1.026164	XPDR_PINGS	5
SM_CCo	2788,131.95,0.522,0,0,1599,400.08	ALTIM_BOTTOM_PING	65.4,999.0
SM_GC	0.85,0.00,0.00,131.95,0.000,0.000,0.522,425,2508,1599,-11.85,0.23,400.08	_24V_AH	24.1,17.626
IRIDIUM_FIX	4722.92,-12251.79,290907,040430	_10V_AH	10.1,12.540
TT8_MAMPS	0.067496	DATA_FILE_SIZE	6451,258
HUMID	1798	CFSIZE	260034560,250724352
INTERNAL_PRESSURE	9.33976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.80	GPS	290907,015007,4739.477,-12252.776,38,1.6,38,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	154	106.26	SBE_CT	178	24	103.05
Roll_motor	44	70	76.36	nil	0	0	0.00
VBD_pump_during_apogee	186	593	2663.99	nil	0	0	0.00
VBD_pump_during_surface	131	521	1658.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.76	nil	0	0	0.00
Iridium_during_connect	37	160	145.60	ARS	0	0	0.00
Iridium_during_xfer	174	223	939.27
Transponder_ping	2	420	22.77
Mmodem_TX	4	1000	100.02
Mmodem_RX	3415	6	526.86
GPS	36	93	34.11
TT8	489	19	97.85
LPSleep	1501	2	33.21
TT8_Active	415	19	82.99
TT8_Sampling	492	39	197.87
TT8_CF8	442	45	204.85
TT8_Kalman	0	0	0.00
Analog_circuits	716	12	86.81
GPS_charging	0	0	0.00
Compass	476	8	38.48
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	-54.65	0.000	2	0.000	0.000	425	2511	2936
86	-1.54	-122.2	2.0	-3.3	9	136	12.35	2.53	-31.62	0.000	4	0.154	0.059	2657	1107	3728
222	-1.54	-122.2	8.9	-8.1	30	229	0.00	2.42	0.00	0.000	6	0.000	0.034	2657	2507	3730
294	-1.54	-122.2	14.6	-8.3	41	301	0.00	2.58	0.00	0.000	4	0.000	0.071	2657	3901	3731
327	-1.54	-122.2	18.1	-10.8	46	333	0.00	2.38	0.00	0.000	6	0.000	0.033	2657	2496	3731
404	-1.54	-122.2	22.5	-4.8	54	405	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2496	3731
594	-1.54	-122.2	35.6	-8.6	69	599	0.00	2.62	0.00	0.000	4	0.000	0.068	2657	3900	3732
673	-1.54	-122.2	41.2	-6.6	75	678	0.00	2.38	0.00	0.000	6	0.000	0.033	2657	2503	3732
869	-1.54	-122.2	53.3	-6.5	90	874	0.00	2.60	0.00	0.000	4	0.000	0.067	2657	3904	3732
974	-1.54	-122.2	60.8	-7.2	97	981	0.00	2.42	0.00	0.000	6	0.000	0.034	2657	2495	3732
1171	-1.54	-122.2	72.6	-6.7	113	1175	0.00	2.58	0.00	0.000	4	0.000	0.068	2657	3895	3732
1257	-1.54	-122.2	78.4	-6.5	119	1262	0.00	2.40	0.00	0.000	6	0.000	0.035	2657	2505	3731
1457	end dive: TARGET_DEPTH_EXCEEDED
state	1457	begin apogee
1464	-0.50	0.0	90.4	6.2	135	1561	1.10	0.00	93.95	0.594	6	0.091	0.000	2886	2404	3228
1562	end apogee: CONTROL_FINISHED_OK
state	1562	begin climb
1565	1.54	122.2	92.8	0.0	143	1666	2.05	2.53	92.25	0.574	4	0.061	0.051	3331	1043	2729
1701	1.54	122.2	85.6	8.4	154	1705	0.00	2.40	0.00	0.000	6	0.000	0.034	3331	2416	2730
1899	1.54	122.2	67.9	9.0	169	1900	0.00	0.00	0.00	0.000	6	0.000	0.000	3331	2417	2728
2087	1.54	122.2	52.0	8.2	184	2091	0.00	2.50	0.00	0.000	4	0.000	0.050	3331	1026	2728
2138	1.54	122.2	47.4	8.4	187	2145	0.00	2.45	0.00	0.000	6	0.000	0.034	3331	2418	2728
2337	1.54	122.2	30.9	8.6	203	2342	0.00	2.55	0.00	0.000	4	0.000	0.067	3331	3812	2728
2362	1.54	122.2	28.2	9.5	204	2370	0.00	2.40	0.00	0.000	6	0.000	0.031	3331	2425	2728
2563	1.54	122.2	10.2	8.5	228	2570	0.00	2.50	0.00	0.000	4	0.000	0.051	3331	1020	2728
2635	1.54	122.2	4.7	7.1	239	2642	0.00	2.42	0.00	0.000	6	0.000	0.034	3331	2425	2728
2699	end climb: SURFACE_DEPTH_REACHED
state	2699	begin surface coast
2759	end surface coast: CONTROL_FINISHED_OK
state	2759	begin surface