Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 236 * 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 236 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 -17139.705 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 -17139.705

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 236 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 115345,4739.449,-12252.521,14,1.8,14,18.3 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 -63.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 115933,4739.438,-12252.502,16,1.9,16,18.3 MHEAD_RNG_PITCHd_Wd 255.3,875,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.2,1.026110 XPDR_PINGS 5

SM_CCo 2703,132.45,0.525,0,0,1598,400.08 ALTIM_BOTTOM_PING 90.2,47.8

SM_GC 0.90,0.00,0.00,132.45,0.000,0.000,0.525,425,2507,1598,-11.85,0.20,400.08 _24V_AH 24.1,18.535

IRIDIUM_FIX 4719.74,-12254.47,290907,151533 _10V_AH 10.1,13.379

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6423,249

HUMID 1806 CFSIZE 260034560,250335232

INTERNAL_PRESSURE 9.32999 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.90 GPS 290907,124823,4739.435,-12252.998,11,7.9,30,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 154 105.95 SBE_CT 171 24 99.45

Roll_motor 44 81 87.83 nil 0 0 0.00

VBD_pump_during_apogee 191 595 2740.45 nil 0 0 0.00

VBD_pump_during_surface 132 524 1674.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 97.41 nil 0 0 0.00

Iridium_during_connect 31 160 121.91 ARS 0 0 0.00

Iridium_during_xfer 141 223 761.91

Transponder_ping 2 420 25.30

Mmodem_TX 4 1000 100.02

Mmodem_RX 3242 6 500.18

GPS 16 93 15.10

TT8 476 19 95.24

LPSleep 1426 2 31.55

TT8_Active 427 19 85.45

TT8_Sampling 465 39 187.29

TT8_CF8 401 45 185.90

TT8_Kalman 0 0 0.00

Analog_circuits 721 12 87.45

GPS_charging 0 0 0.00

Compass 470 8 37.98

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.54 -122.2 0.0 0.0 0 75 0.00 0.00 -48.70 0.000 2 0.000 0.000 428 2503 2826

79 -1.54 -122.2 2.1 -3.0 8 135 12.32 2.62 -33.75 0.000 4 0.155 0.081 2658 3893 3729

167 -1.54 -122.2 5.4 -6.9 22 174 0.00 2.38 0.00 0.000 6 0.000 0.032 2658 2494 3730

240 -1.54 -122.2 10.4 -7.7 33 246 0.00 2.45 0.00 0.000 4 0.000 0.048 2658 1115 3732

358 -1.54 -122.2 19.2 -7.8 51 365 0.00 2.40 0.00 0.000 6 0.000 0.033 2658 2504 3732

435 -1.54 -122.2 24.7 -7.1 58 439 0.00 2.58 0.00 0.000 4 0.000 0.070 2658 3901 3733

539 -1.54 -122.2 32.5 -7.5 65 546 0.00 2.40 0.00 0.000 6 0.000 0.033 2658 2503 3733

736 -1.54 -122.2 46.5 -7.1 81 740 0.00 2.58 0.00 0.000 4 0.000 0.067 2658 3896 3733

840 -1.54 -122.2 54.1 -7.3 88 847 0.00 2.40 0.00 0.000 6 0.000 0.031 2658 2492 3733

1037 -1.54 -122.2 66.2 -5.7 104 1041 0.00 2.60 0.00 0.000 4 0.000 0.066 2658 3901 3733

1123 -1.54 -122.2 71.7 -6.5 110 1127 0.00 2.38 0.00 0.000 6 0.000 0.034 2658 2502 3733

1319 -1.54 -122.2 83.4 -5.9 125 1323 0.00 2.58 0.00 0.000 4 0.000 0.067 2658 3895 3733

1370 -1.54 -122.2 86.8 -6.3 128 1377 0.00 2.40 0.00 0.000 6 0.000 0.034 2658 2495 3733

1428 end dive: TARGET_DEPTH_EXCEEDED

state 1428 begin apogee

1434 -0.50 0.0 90.2 6.1 133 1532 1.10 0.00 93.60 0.595 6 0.090 0.000 2886 2414 3230

1533 end apogee: CONTROL_FINISHED_OK

state 1533 begin climb

1535 1.54 122.2 92.4 0.0 141 1633 2.05 0.00 91.10 0.578 6 0.061 0.000 3330 2414 2730

1822 1.54 122.2 71.8 8.6 164 1826 0.00 2.55 0.00 0.000 4 0.000 0.051 3330 1033 2729

1899 1.54 122.2 64.3 9.1 169 1906 0.00 2.42 0.00 0.000 6 0.000 0.034 3330 2414 2729

2096 1.54 122.2 46.6 9.3 185 2097 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 2414 2729

2287 1.54 122.2 29.6 9.2 200 2291 0.00 2.47 0.00 0.000 4 0.000 0.051 3330 1033 2729

2319 1.54 122.2 26.4 9.7 202 2323 0.00 2.40 0.00 0.000 6 0.000 0.034 3330 2420 2729

2521 1.55 131.0 9.7 6.3 226 2532 0.00 0.00 6.35 0.594 6 0.000 0.000 3330 2420 2693

2598 1.55 131.0 4.6 6.8 238 2605 0.00 2.50 0.00 0.000 4 0.000 0.051 3330 1029 2693

2642 end climb: SURFACE_DEPTH_REACHED

state 2642 begin surface coast

2674 end surface coast: CONTROL_FINISHED_OK

state 2674 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	236	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	-17139.705	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	115345,4739.449,-12252.521,14,1.8,14,18.3	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	-63.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	115933,4739.438,-12252.502,16,1.9,16,18.3	MHEAD_RNG_PITCHd_Wd	255.3,875,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.2,1.026110	XPDR_PINGS	5
SM_CCo	2703,132.45,0.525,0,0,1598,400.08	ALTIM_BOTTOM_PING	90.2,47.8
SM_GC	0.90,0.00,0.00,132.45,0.000,0.000,0.525,425,2507,1598,-11.85,0.20,400.08	_24V_AH	24.1,18.535
IRIDIUM_FIX	4719.74,-12254.47,290907,151533	_10V_AH	10.1,13.379
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6423,249
HUMID	1806	CFSIZE	260034560,250335232
INTERNAL_PRESSURE	9.32999	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	290907,124823,4739.435,-12252.998,11,7.9,30,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	154	105.95	SBE_CT	171	24	99.45
Roll_motor	44	81	87.83	nil	0	0	0.00
VBD_pump_during_apogee	191	595	2740.45	nil	0	0	0.00
VBD_pump_during_surface	132	524	1674.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	97.41	nil	0	0	0.00
Iridium_during_connect	31	160	121.91	ARS	0	0	0.00
Iridium_during_xfer	141	223	761.91
Transponder_ping	2	420	25.30
Mmodem_TX	4	1000	100.02
Mmodem_RX	3242	6	500.18
GPS	16	93	15.10
TT8	476	19	95.24
LPSleep	1426	2	31.55
TT8_Active	427	19	85.45
TT8_Sampling	465	39	187.29
TT8_CF8	401	45	185.90
TT8_Kalman	0	0	0.00
Analog_circuits	721	12	87.45
GPS_charging	0	0	0.00
Compass	470	8	37.98
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.54	-122.2	0.0	0.0	0	75	0.00	0.00	-48.70	0.000	2	0.000	0.000	428	2503	2826
79	-1.54	-122.2	2.1	-3.0	8	135	12.32	2.62	-33.75	0.000	4	0.155	0.081	2658	3893	3729
167	-1.54	-122.2	5.4	-6.9	22	174	0.00	2.38	0.00	0.000	6	0.000	0.032	2658	2494	3730
240	-1.54	-122.2	10.4	-7.7	33	246	0.00	2.45	0.00	0.000	4	0.000	0.048	2658	1115	3732
358	-1.54	-122.2	19.2	-7.8	51	365	0.00	2.40	0.00	0.000	6	0.000	0.033	2658	2504	3732
435	-1.54	-122.2	24.7	-7.1	58	439	0.00	2.58	0.00	0.000	4	0.000	0.070	2658	3901	3733
539	-1.54	-122.2	32.5	-7.5	65	546	0.00	2.40	0.00	0.000	6	0.000	0.033	2658	2503	3733
736	-1.54	-122.2	46.5	-7.1	81	740	0.00	2.58	0.00	0.000	4	0.000	0.067	2658	3896	3733
840	-1.54	-122.2	54.1	-7.3	88	847	0.00	2.40	0.00	0.000	6	0.000	0.031	2658	2492	3733
1037	-1.54	-122.2	66.2	-5.7	104	1041	0.00	2.60	0.00	0.000	4	0.000	0.066	2658	3901	3733
1123	-1.54	-122.2	71.7	-6.5	110	1127	0.00	2.38	0.00	0.000	6	0.000	0.034	2658	2502	3733
1319	-1.54	-122.2	83.4	-5.9	125	1323	0.00	2.58	0.00	0.000	4	0.000	0.067	2658	3895	3733
1370	-1.54	-122.2	86.8	-6.3	128	1377	0.00	2.40	0.00	0.000	6	0.000	0.034	2658	2495	3733
1428	end dive: TARGET_DEPTH_EXCEEDED
state	1428	begin apogee
1434	-0.50	0.0	90.2	6.1	133	1532	1.10	0.00	93.60	0.595	6	0.090	0.000	2886	2414	3230
1533	end apogee: CONTROL_FINISHED_OK
state	1533	begin climb
1535	1.54	122.2	92.4	0.0	141	1633	2.05	0.00	91.10	0.578	6	0.061	0.000	3330	2414	2730
1822	1.54	122.2	71.8	8.6	164	1826	0.00	2.55	0.00	0.000	4	0.000	0.051	3330	1033	2729
1899	1.54	122.2	64.3	9.1	169	1906	0.00	2.42	0.00	0.000	6	0.000	0.034	3330	2414	2729
2096	1.54	122.2	46.6	9.3	185	2097	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	2414	2729
2287	1.54	122.2	29.6	9.2	200	2291	0.00	2.47	0.00	0.000	4	0.000	0.051	3330	1033	2729
2319	1.54	122.2	26.4	9.7	202	2323	0.00	2.40	0.00	0.000	6	0.000	0.034	3330	2420	2729
2521	1.55	131.0	9.7	6.3	226	2532	0.00	0.00	6.35	0.594	6	0.000	0.000	3330	2420	2693
2598	1.55	131.0	4.6	6.8	238	2605	0.00	2.50	0.00	0.000	4	0.000	0.051	3330	1029	2693
2642	end climb: SURFACE_DEPTH_REACHED
state	2642	begin surface coast
2674	end surface coast: CONTROL_FINISHED_OK
state	2674	begin surface