Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 250 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 250 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2080 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 500 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY -2 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -22500.484 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

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 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 13 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 5 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 120 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1405377 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 32 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 -22500.484

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2080 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 20 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 32 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 250 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 104247,4739.528,-12252.214,14,2.7,33,18.3 TGT_NAME H2

_CALLS 3 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.166,-0.127

_SM_DEPTHo 0.82 KALMAN_X 34800.3,329.3,216.9,-34482.0,201.0

_SM_ANGLEo -51.2 KALMAN_Y 19213.4,317.5,202.4,-20002.6,179.5

GPS2 105351,4739.647,-12251.996,16,1.6,34,18.3 MHEAD_RNG_PITCHd_Wd 214.3,606,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.3,1.022639 XPDR_PINGS 0

SM_CCo 2958,170.95,0.598,0,0,1162,500.17 ALTIM_BOTTOM_PING 95.9,999.0

SM_GC 0.94,0.00,0.00,170.95,0.000,0.000,0.598,408,2215,1162,-11.46,0.42,500.17 _24V_AH 23.6,38.397

IRIDIUM_FIX 4722.92,-12249.11,021007,141413 _10V_AH 10.1,23.893

TT8_MAMPS 0.071331 DATA_FILE_SIZE 6465,267

HUMID 2173 CFSIZE 260231168,249966592

INTERNAL_PRESSURE 7.93976 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.10 GPS 021007,114751,4739.493,-12252.288,10,2.0,10,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 197 140.69 SBE_CT 189 24 107.26

Roll_motor 40 74 71.15 nil 0 0 0.00

VBD_pump_during_apogee 183 839 3639.74 nil 0 0 0.00

VBD_pump_during_surface 170 598 2413.63 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 101 103 247.18 nil 0 0 0.00

Iridium_during_connect 62 160 237.49 ARS 0 19 0.00

Iridium_during_xfer 222 223 1168.39

Transponder_ping 0 420 2.48

Mmodem_TX 0 1000 0.00

Mmodem_RX 4113 6 621.23

GPS 34 50 17.36

TT8 499 19 99.80

LPSleep 1756 2 38.85

TT8_Active 502 19 100.47

TT8_Sampling 514 39 206.78

TT8_CF8 547 45 253.16

TT8_Kalman 33 81 27.55

Analog_circuits 795 12 96.41

GPS_charging 0 0 0.00

Compass 465 8 37.57

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.68 -97.8 0.0 0.0 0 131 0.00 0.00 -101.15 0.000 2 0.000 0.000 408 2198 2789

135 -1.68 -97.8 2.2 -4.6 17 184 13.35 2.65 -27.52 0.000 4 0.198 0.074 2526 792 3603

199 -1.68 -97.8 6.3 -9.1 27 205 0.00 2.47 0.00 0.000 6 0.000 0.035 2525 2203 3604

271 -1.68 -97.8 12.1 -7.6 38 277 0.00 2.53 0.00 0.000 4 0.000 0.058 2525 3597 3605

303 -1.68 -97.8 15.6 -11.5 43 310 0.00 2.42 0.00 0.000 6 0.000 0.035 2526 2189 3605

381 -1.68 -97.8 24.0 -10.5 52 385 0.00 2.58 0.00 0.000 4 0.000 0.064 2525 802 3605

400 -1.68 -97.8 26.0 -10.2 53 404 0.00 2.45 0.00 0.000 6 0.000 0.035 2525 2206 3605

595 -1.68 -97.8 46.0 -10.2 68 596 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2206 3605

786 -1.68 -97.8 65.7 -10.7 83 790 0.00 2.50 0.00 0.000 4 0.000 0.058 2525 3594 3606

818 -1.68 -97.8 69.4 -11.4 85 823 0.00 2.40 0.00 0.000 6 0.000 0.035 2526 2199 3605

1014 -1.68 -97.8 89.7 -10.4 100 1015 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2198 3605

1203 -1.68 -97.8 108.5 -10.0 115 1207 0.00 2.60 0.00 0.000 4 0.000 0.067 2525 801 3606

1229 -1.68 -97.8 111.3 -11.0 116 1236 0.00 2.45 0.00 0.000 6 0.000 0.036 2526 2207 3606

1321 end dive: TARGET_DEPTH_EXCEEDED

state 1321 begin apogee

1328 -0.38 0.0 120.5 9.4 124 1408 1.48 0.00 73.80 0.699 6 0.106 0.000 2812 2066 3202

1409 end apogee: CONTROL_FINISHED_OK

state 1409 begin climb

1412 1.68 97.8 123.0 0.0 131 1493 2.15 0.00 76.80 0.701 6 0.061 0.000 3269 2067 2803

1682 1.70 110.6 106.1 8.1 153 1698 0.00 2.62 9.55 0.737 4 0.000 0.054 3269 3476 2751

1839 1.71 115.6 92.2 8.6 165 1852 0.00 2.42 3.92 0.777 6 0.000 0.036 3269 2085 2730

2041 1.72 126.2 75.5 8.2 181 2052 0.00 0.00 7.88 0.742 6 0.000 0.000 3269 2085 2687

2242 1.72 128.5 58.0 8.8 197 2248 0.00 2.58 1.58 0.834 4 0.000 0.054 3269 3475 2678

2374 1.72 128.5 46.0 9.1 206 2380 0.00 2.42 0.00 0.000 6 0.000 0.036 3269 2077 2680

2569 1.72 130.5 29.1 8.8 222 2576 0.00 2.60 1.52 0.839 4 0.000 0.054 3269 3480 2669

2660 1.74 142.3 21.2 8.2 228 2674 0.00 2.45 8.75 0.711 6 0.000 0.036 3269 2089 2621

2871 end climb: SURFACE_DEPTH_REACHED

state 2871 begin surface coast

2930 end surface coast: CONTROL_FINISHED_OK

state 2930 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	250	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2080	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	500	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	-2	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-22500.484	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
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	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	104247,4739.528,-12252.214,14,2.7,33,18.3	TGT_NAME	H2
_CALLS	3	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.166,-0.127
_SM_DEPTHo	0.82	KALMAN_X	34800.3,329.3,216.9,-34482.0,201.0
_SM_ANGLEo	-51.2	KALMAN_Y	19213.4,317.5,202.4,-20002.6,179.5
GPS2	105351,4739.647,-12251.996,16,1.6,34,18.3	MHEAD_RNG_PITCHd_Wd	214.3,606,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	124

FINISH	0.3,1.022639	XPDR_PINGS	0
SM_CCo	2958,170.95,0.598,0,0,1162,500.17	ALTIM_BOTTOM_PING	95.9,999.0
SM_GC	0.94,0.00,0.00,170.95,0.000,0.000,0.598,408,2215,1162,-11.46,0.42,500.17	_24V_AH	23.6,38.397
IRIDIUM_FIX	4722.92,-12249.11,021007,141413	_10V_AH	10.1,23.893
TT8_MAMPS	0.071331	DATA_FILE_SIZE	6465,267
HUMID	2173	CFSIZE	260231168,249966592
INTERNAL_PRESSURE	7.93976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.10	GPS	021007,114751,4739.493,-12252.288,10,2.0,10,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	197	140.69	SBE_CT	189	24	107.26
Roll_motor	40	74	71.15	nil	0	0	0.00
VBD_pump_during_apogee	183	839	3639.74	nil	0	0	0.00
VBD_pump_during_surface	170	598	2413.63	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	101	103	247.18	nil	0	0	0.00
Iridium_during_connect	62	160	237.49	ARS	0	19	0.00
Iridium_during_xfer	222	223	1168.39
Transponder_ping	0	420	2.48
Mmodem_TX	0	1000	0.00
Mmodem_RX	4113	6	621.23
GPS	34	50	17.36
TT8	499	19	99.80
LPSleep	1756	2	38.85
TT8_Active	502	19	100.47
TT8_Sampling	514	39	206.78
TT8_CF8	547	45	253.16
TT8_Kalman	33	81	27.55
Analog_circuits	795	12	96.41
GPS_charging	0	0	0.00
Compass	465	8	37.57
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.68	-97.8	0.0	0.0	0	131	0.00	0.00	-101.15	0.000	2	0.000	0.000	408	2198	2789
135	-1.68	-97.8	2.2	-4.6	17	184	13.35	2.65	-27.52	0.000	4	0.198	0.074	2526	792	3603
199	-1.68	-97.8	6.3	-9.1	27	205	0.00	2.47	0.00	0.000	6	0.000	0.035	2525	2203	3604
271	-1.68	-97.8	12.1	-7.6	38	277	0.00	2.53	0.00	0.000	4	0.000	0.058	2525	3597	3605
303	-1.68	-97.8	15.6	-11.5	43	310	0.00	2.42	0.00	0.000	6	0.000	0.035	2526	2189	3605
381	-1.68	-97.8	24.0	-10.5	52	385	0.00	2.58	0.00	0.000	4	0.000	0.064	2525	802	3605
400	-1.68	-97.8	26.0	-10.2	53	404	0.00	2.45	0.00	0.000	6	0.000	0.035	2525	2206	3605
595	-1.68	-97.8	46.0	-10.2	68	596	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2206	3605
786	-1.68	-97.8	65.7	-10.7	83	790	0.00	2.50	0.00	0.000	4	0.000	0.058	2525	3594	3606
818	-1.68	-97.8	69.4	-11.4	85	823	0.00	2.40	0.00	0.000	6	0.000	0.035	2526	2199	3605
1014	-1.68	-97.8	89.7	-10.4	100	1015	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2198	3605
1203	-1.68	-97.8	108.5	-10.0	115	1207	0.00	2.60	0.00	0.000	4	0.000	0.067	2525	801	3606
1229	-1.68	-97.8	111.3	-11.0	116	1236	0.00	2.45	0.00	0.000	6	0.000	0.036	2526	2207	3606
1321	end dive: TARGET_DEPTH_EXCEEDED
state	1321	begin apogee
1328	-0.38	0.0	120.5	9.4	124	1408	1.48	0.00	73.80	0.699	6	0.106	0.000	2812	2066	3202
1409	end apogee: CONTROL_FINISHED_OK
state	1409	begin climb
1412	1.68	97.8	123.0	0.0	131	1493	2.15	0.00	76.80	0.701	6	0.061	0.000	3269	2067	2803
1682	1.70	110.6	106.1	8.1	153	1698	0.00	2.62	9.55	0.737	4	0.000	0.054	3269	3476	2751
1839	1.71	115.6	92.2	8.6	165	1852	0.00	2.42	3.92	0.777	6	0.000	0.036	3269	2085	2730
2041	1.72	126.2	75.5	8.2	181	2052	0.00	0.00	7.88	0.742	6	0.000	0.000	3269	2085	2687
2242	1.72	128.5	58.0	8.8	197	2248	0.00	2.58	1.58	0.834	4	0.000	0.054	3269	3475	2678
2374	1.72	128.5	46.0	9.1	206	2380	0.00	2.42	0.00	0.000	6	0.000	0.036	3269	2077	2680
2569	1.72	130.5	29.1	8.8	222	2576	0.00	2.60	1.52	0.839	4	0.000	0.054	3269	3480	2669
2660	1.74	142.3	21.2	8.2	228	2674	0.00	2.45	8.75	0.711	6	0.000	0.036	3269	2089	2621
2871	end climb: SURFACE_DEPTH_REACHED
state	2871	begin surface coast
2930	end surface coast: CONTROL_FINISHED_OK
state	2930	begin surface