Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 28 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 28 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 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 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 35 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 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -48240.195 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 130 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 20 PITCH_MIN 460 AH0_24V 71.400002 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -8.3042984 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 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 -8.3042984 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 20 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 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -48240.195

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 20 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 130 R_STBD_OVSHOOT 35 USE_ICE 0

DEEPGLIDERMB 0 MISSION 8 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 28 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 012611,4739.395,-12252.407,13,2.7,32,18.3 TGT_NAME 11_XS

_CALLS 3 TGT_LATLONG 4740.927,-12251.586

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.092,0.201

_SM_DEPTHo 0.25 KALMAN_X 3435.4,301.5,206.4,-3169.2,-30.6

_SM_ANGLEo -62.0 KALMAN_Y 5568.5,207.8,195.6,-5919.7,73.4

GPS2 014053,4739.516,-12252.325,13,2.2,32,18.3 MHEAD_RNG_PITCHd_Wd 6.3,2771,-15.0,-7.407

SPEED_LIMITS 0.204,0.221 D_GRID 124

Post-dive calculations and measurements:

FINISH 0.4,1.021914 XPDR_PINGS 0

SM_CCo 3191,117.18,0.588,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.3,52.2

SM_GC 0.27,0.00,0.00,117.18,0.000,0.000,0.588,461,1806,1586,-12.14,0.17,400.08 _24V_AH 23.9,2.558

IRIDIUM_FIX 4722.92,-12251.79,031007,050557 _10V_AH 10.0,2.177

TT8_MAMPS 0.070564 DATA_FILE_SIZE 6457,287

HUMID 2144 CFSIZE 260034560,256188416

INTERNAL_PRESSURE 8.44759 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 031007,023751,4739.787,-12252.060,10,1.5,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 203 147.68 SBE_CT 192 24 110.61

Roll_motor 41 75 74.45 nil 0 0 0.00

VBD_pump_during_apogee 199 679 3238.97 nil 0 0 0.00

VBD_pump_during_surface 117 587 1645.35 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 112 103 276.13 nil 0 0 0.00

Iridium_during_connect 169 160 650.07 ARS 0 0 0.00

Iridium_during_xfer 331 223 1764.73

Transponder_ping 0 420 5.02

Mmodem_TX 24 1000 595.59

Mmodem_RX 4296 6 657.13

GPS 33 50 16.50

TT8 537 19 106.39

LPSleep 1927 2 42.21

TT8_Active 429 19 85.07

TT8_Sampling 560 39 223.20

TT8_CF8 761 45 348.80

TT8_Kalman 33 81 27.26

Analog_circuits 747 12 89.76

GPS_charging 0 0 0.00

Compass 517 8 41.44

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

25 -1.31 -127.1 0.0 0.0 0 124 0.00 0.00 -95.62 0.000 2 0.000 0.000 466 1812 3717

128 -1.31 -127.1 2.1 -3.9 16 153 14.73 2.58 -0.43 0.000 4 0.203 0.064 2808 3194 3740

404 -1.31 -127.1 22.0 -5.3 56 408 0.00 2.47 0.00 0.000 6 0.000 0.038 2808 1793 3741

599 -1.31 -127.1 31.7 -5.3 71 603 0.00 2.55 0.00 0.000 4 0.000 0.048 2808 3205 3741

857 -1.31 -127.1 44.5 -5.4 90 861 0.00 2.47 0.00 0.000 6 0.000 0.037 2808 1800 3741

1052 -1.31 -127.1 53.7 -4.6 105 1056 0.00 2.53 0.00 0.000 4 0.000 0.049 2808 3206 3741

1085 -1.31 -127.1 55.2 -4.8 107 1089 0.00 2.47 0.00 0.000 6 0.000 0.036 2808 1798 3742

1280 -1.31 -127.1 64.0 -4.5 122 1281 0.00 0.00 0.00 0.000 6 0.000 0.000 2808 1798 3741

1470 -1.31 -127.1 72.6 -4.8 137 1472 0.00 0.00 0.00 0.000 6 0.000 0.000 2810 1798 3741

1661 -1.31 -127.1 82.5 -5.5 152 1666 0.00 2.65 0.00 0.000 4 0.000 0.074 2808 401 3741

1707 -1.31 -127.1 85.5 -6.4 155 1711 0.00 2.45 0.00 0.000 6 0.000 0.035 2808 1814 3741

1902 -1.31 -127.1 95.9 -4.5 170 1907 0.00 2.67 0.00 0.000 4 0.000 0.071 2808 398 3741

1967 -1.31 -127.1 99.2 -4.9 174 1974 0.00 2.45 0.00 0.000 6 0.000 0.035 2808 1792 3741

1984 end dive: TARGET_DEPTH_EXCEEDED

state 1984 begin apogee

1990 -0.38 0.0 100.0 4.9 176 2096 1.02 0.00 101.50 0.680 6 0.083 0.000 3014 1723 3218

2097 end apogee: CONTROL_FINISHED_OK

state 2097 begin climb

2099 1.31 127.1 99.9 0.0 185 2210 1.65 2.72 97.93 0.650 4 0.050 0.076 3384 343 2698

2268 1.31 127.1 84.7 10.6 198 2276 0.00 2.47 0.00 0.000 6 0.000 0.035 3384 1727 2697

2465 1.31 127.1 66.1 9.6 214 2469 0.00 2.67 0.00 0.000 4 0.000 0.075 3384 337 2697

2524 1.31 127.1 59.8 10.9 218 2528 0.00 2.47 0.00 0.000 6 0.000 0.035 3385 1745 2697

2726 1.31 127.1 38.6 9.9 234 2727 0.00 0.00 0.00 0.000 6 0.000 0.000 3384 1746 2697

2916 1.31 127.1 19.9 9.4 249 2922 0.00 2.70 0.00 0.000 4 0.000 0.075 3384 337 2697

2955 1.31 127.1 16.0 9.7 255 2961 0.00 2.45 0.00 0.000 6 0.000 0.035 3384 1735 2697

3027 1.31 127.1 9.1 9.3 266 3032 0.00 0.00 0.00 0.000 6 0.000 0.000 3384 1736 2697

3083 end climb: SURFACE_DEPTH_REACHED

state 3083 begin surface coast

3164 end surface coast: CONTROL_FINISHED_OK

state 3164 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	28	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	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	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	35	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	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-48240.195	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	130	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	20	PITCH_MIN	460	AH0_24V	71.400002	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-8.3042984	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	012611,4739.395,-12252.407,13,2.7,32,18.3	TGT_NAME	11_XS
_CALLS	3	TGT_LATLONG	4740.927,-12251.586
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.092,0.201
_SM_DEPTHo	0.25	KALMAN_X	3435.4,301.5,206.4,-3169.2,-30.6
_SM_ANGLEo	-62.0	KALMAN_Y	5568.5,207.8,195.6,-5919.7,73.4
GPS2	014053,4739.516,-12252.325,13,2.2,32,18.3	MHEAD_RNG_PITCHd_Wd	6.3,2771,-15.0,-7.407
SPEED_LIMITS	0.204,0.221	D_GRID	124

FINISH	0.4,1.021914	XPDR_PINGS	0
SM_CCo	3191,117.18,0.588,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.3,52.2
SM_GC	0.27,0.00,0.00,117.18,0.000,0.000,0.588,461,1806,1586,-12.14,0.17,400.08	_24V_AH	23.9,2.558
IRIDIUM_FIX	4722.92,-12251.79,031007,050557	_10V_AH	10.0,2.177
TT8_MAMPS	0.070564	DATA_FILE_SIZE	6457,287
HUMID	2144	CFSIZE	260034560,256188416
INTERNAL_PRESSURE	8.44759	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	031007,023751,4739.787,-12252.060,10,1.5,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	203	147.68	SBE_CT	192	24	110.61
Roll_motor	41	75	74.45	nil	0	0	0.00
VBD_pump_during_apogee	199	679	3238.97	nil	0	0	0.00
VBD_pump_during_surface	117	587	1645.35	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	112	103	276.13	nil	0	0	0.00
Iridium_during_connect	169	160	650.07	ARS	0	0	0.00
Iridium_during_xfer	331	223	1764.73
Transponder_ping	0	420	5.02
Mmodem_TX	24	1000	595.59
Mmodem_RX	4296	6	657.13
GPS	33	50	16.50
TT8	537	19	106.39
LPSleep	1927	2	42.21
TT8_Active	429	19	85.07
TT8_Sampling	560	39	223.20
TT8_CF8	761	45	348.80
TT8_Kalman	33	81	27.26
Analog_circuits	747	12	89.76
GPS_charging	0	0	0.00
Compass	517	8	41.44
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
25	-1.31	-127.1	0.0	0.0	0	124	0.00	0.00	-95.62	0.000	2	0.000	0.000	466	1812	3717
128	-1.31	-127.1	2.1	-3.9	16	153	14.73	2.58	-0.43	0.000	4	0.203	0.064	2808	3194	3740
404	-1.31	-127.1	22.0	-5.3	56	408	0.00	2.47	0.00	0.000	6	0.000	0.038	2808	1793	3741
599	-1.31	-127.1	31.7	-5.3	71	603	0.00	2.55	0.00	0.000	4	0.000	0.048	2808	3205	3741
857	-1.31	-127.1	44.5	-5.4	90	861	0.00	2.47	0.00	0.000	6	0.000	0.037	2808	1800	3741
1052	-1.31	-127.1	53.7	-4.6	105	1056	0.00	2.53	0.00	0.000	4	0.000	0.049	2808	3206	3741
1085	-1.31	-127.1	55.2	-4.8	107	1089	0.00	2.47	0.00	0.000	6	0.000	0.036	2808	1798	3742
1280	-1.31	-127.1	64.0	-4.5	122	1281	0.00	0.00	0.00	0.000	6	0.000	0.000	2808	1798	3741
1470	-1.31	-127.1	72.6	-4.8	137	1472	0.00	0.00	0.00	0.000	6	0.000	0.000	2810	1798	3741
1661	-1.31	-127.1	82.5	-5.5	152	1666	0.00	2.65	0.00	0.000	4	0.000	0.074	2808	401	3741
1707	-1.31	-127.1	85.5	-6.4	155	1711	0.00	2.45	0.00	0.000	6	0.000	0.035	2808	1814	3741
1902	-1.31	-127.1	95.9	-4.5	170	1907	0.00	2.67	0.00	0.000	4	0.000	0.071	2808	398	3741
1967	-1.31	-127.1	99.2	-4.9	174	1974	0.00	2.45	0.00	0.000	6	0.000	0.035	2808	1792	3741
1984	end dive: TARGET_DEPTH_EXCEEDED
state	1984	begin apogee
1990	-0.38	0.0	100.0	4.9	176	2096	1.02	0.00	101.50	0.680	6	0.083	0.000	3014	1723	3218
2097	end apogee: CONTROL_FINISHED_OK
state	2097	begin climb
2099	1.31	127.1	99.9	0.0	185	2210	1.65	2.72	97.93	0.650	4	0.050	0.076	3384	343	2698
2268	1.31	127.1	84.7	10.6	198	2276	0.00	2.47	0.00	0.000	6	0.000	0.035	3384	1727	2697
2465	1.31	127.1	66.1	9.6	214	2469	0.00	2.67	0.00	0.000	4	0.000	0.075	3384	337	2697
2524	1.31	127.1	59.8	10.9	218	2528	0.00	2.47	0.00	0.000	6	0.000	0.035	3385	1745	2697
2726	1.31	127.1	38.6	9.9	234	2727	0.00	0.00	0.00	0.000	6	0.000	0.000	3384	1746	2697
2916	1.31	127.1	19.9	9.4	249	2922	0.00	2.70	0.00	0.000	4	0.000	0.075	3384	337	2697
2955	1.31	127.1	16.0	9.7	255	2961	0.00	2.45	0.00	0.000	6	0.000	0.035	3384	1735	2697
3027	1.31	127.1	9.1	9.3	266	3032	0.00	0.00	0.00	0.000	6	0.000	0.000	3384	1736	2697
3083	end climb: SURFACE_DEPTH_REACHED
state	3083	begin surface coast
3164	end surface coast: CONTROL_FINISHED_OK
state	3164	begin surface