Glider dive log

PortSusan 21Jul08 * SG113 * Dive index * Mission links * Dive 37 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 113 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 280 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 37 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2112 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2112 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 520 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 46 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2620 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -21073.734 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 171 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2605 PRESSURE_YINT -26.366219 SEABIRD_T_G 0.004371644

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51398 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.0034169999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0095870001 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.059999999 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 520

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 18 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 171 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00135 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160825 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -26.366219 TGT_DEFAULT_LAT 21

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -21073.734

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2605 KALMAN_USE 2 ROLL_MIN 280 USE_BATHY -4

C_ROLL_CLIMB 2112 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2112 MASS 51398 R_PORT_OVSHOOT 46 VBD_BLEED_AD_RATE 8

C_VBD 2620 MAX_BUOY 150 R_STBD_OVSHOOT 33 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 37 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 014703,4806.178,-12222.192,10,1.3,10,18.3 TGT_NAME SIX

_CALLS 2 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.03 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -67.4 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 015333,4806.277,-12222.323,14,1.0,14,18.3 MHEAD_RNG_PITCHd_Wd 123.8,651,-17.9,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 107

Post-dive calculations and measurements:

FINISH 0.4,1.015433 XPDR_PINGS 1

SM_CCo 2464,80.60,0.714,0,0,499,520.04 _24V_AH 23.9,5.234

SM_GC 1.06,0.00,0.00,80.60,0.000,0.000,0.714,166,2150,499,-11.22,1.07,520.04 _10V_AH 10.8,1.403

RAFOS_CLK 94 DATA_FILE_SIZE 15872,425

RAFOS_FIX 6727.419434,65947.898438,220708,161646,3,67,0.01 CAP_FILE_SIZE 42255,0

IRIDIUM_FIX 4748.51,-12224.57,171097,010157 CFSIZE 260165632,256196608

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1915 SOUNDSPEED 1482.7

INTERNAL_PRESSURE 8.76987 GPS 230708,023714,4806.186,-12222.239,8,1.7,13,18.3

TCM_TEMP 19.50

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 260 134.63 SBE_CT 297 24 170.63

Roll_motor 22 67 36.17 SBE_O2 292 19 132.90

VBD_pump_during_apogee 399 779 7431.22 nil 0 0 0.00

VBD_pump_during_surface 80 714 1375.56 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 49 103 121.27 nil 0 0 0.00

Iridium_during_connect 68 160 261.97 nil 0 0 0.00

Iridium_during_xfer 123 223 659.43

Transponder_ping 0 420 2.51

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.44

TT8 621 19 133.68

LPSleep 886 2 22.12

TT8_Active 503 19 108.43

TT8_Sampling 645 39 278.28

TT8_CF8 297 45 147.45

TT8_Kalman 0 0 0.00

Analog_circuits 903 12 117.07

GPS_charging 0 0 0.00

Compass 631 8 54.56

RAFOS 0 1 0.00

Transponder 0 30 0.17

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.19 -146.6 0.0 0.0 0 81 0.00 0.00 -64.25 0.000 2 0.000 0.000 165 2093 2092

83 -1.19 -146.6 3.2 -7.3 11 131 9.02 2.33 -30.05 0.000 4 0.261 0.067 2342 3516 3219

187 -1.00 -146.6 18.5 -16.3 29 194 0.17 2.15 0.00 0.000 6 0.176 0.034 2389 2108 3221

329 -1.00 -146.6 39.3 -14.1 54 335 0.00 2.22 0.00 0.000 4 0.000 0.053 2389 3517 3223

346 -1.00 -146.6 41.8 -14.4 57 353 0.00 2.12 0.00 0.000 6 0.000 0.034 2389 2117 3223

489 -1.08 -146.6 61.0 -13.4 82 494 0.00 0.00 0.00 0.000 6 0.000 0.000 2389 2116 3223

697 -1.22 -146.6 87.9 -12.4 119 703 0.17 0.00 0.00 0.000 6 0.086 0.000 2327 2116 3225

814 end dive: TARGET_DEPTH_EXCEEDED

state 814 begin apogee

817 -0.28 0.0 107.0 16.3 140 933 0.68 0.00 111.75 0.779 6 0.153 0.000 2539 2115 2620

934 end apogee: CONTROL_FINISHED_OK

state 934 begin climb

936 1.19 146.6 112.6 0.0 160 1052 1.00 0.00 111.47 0.741 6 0.104 0.000 2863 2114 2022

1255 0.82 154.6 87.9 9.6 216 1269 0.28 2.35 7.85 0.642 4 0.156 0.052 2783 3528 1989

1437 0.83 218.7 74.5 7.0 248 1491 0.00 2.20 48.42 0.755 6 0.000 0.036 2782 2103 1728

1694 1.13 300.5 57.5 6.2 293 1764 0.20 2.38 61.78 0.747 4 0.074 0.051 2863 3514 1393

1916 0.95 300.5 29.5 14.2 332 1923 0.20 2.15 0.00 0.000 6 0.146 0.038 2809 2139 1391

2058 1.25 363.5 17.7 7.0 357 2112 0.20 2.35 47.25 0.735 4 0.071 0.051 2891 3519 1136

2146 1.15 363.5 6.8 13.5 372 2153 0.15 2.17 0.00 0.000 6 0.140 0.038 2851 2153 1135

2289 2.39 562.7 2.1 0.7 397 2303 0.77 0.00 10.48 0.666 2 0.083 0.000 3124 2151 1081

2303 end climb: SURFACE_DEPTH_REACHED

state 2303 begin surface coast

2449 end surface coast: CONTROL_FINISHED_OK

state 2449 begin surface

ID	113	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	280	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	37	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2112	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2112	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	520	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	46	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2620	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-21073.734	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	171	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4022	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2605	PRESSURE_YINT	-26.366219	SEABIRD_T_G	0.004371644
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160825	SEABIRD_T_H	0.00064727472
MASS	51398	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6231954e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8174416e-06
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9426794
KALMAN_USE	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.0034169999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0095870001	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012778315
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.059999999	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	014703,4806.178,-12222.192,10,1.3,10,18.3	TGT_NAME	SIX
_CALLS	2	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.03	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-67.4	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	015333,4806.277,-12222.323,14,1.0,14,18.3	MHEAD_RNG_PITCHd_Wd	123.8,651,-17.9,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	107

FINISH	0.4,1.015433	XPDR_PINGS	1
SM_CCo	2464,80.60,0.714,0,0,499,520.04	_24V_AH	23.9,5.234
SM_GC	1.06,0.00,0.00,80.60,0.000,0.000,0.714,166,2150,499,-11.22,1.07,520.04	_10V_AH	10.8,1.403
RAFOS_CLK	94	DATA_FILE_SIZE	15872,425
RAFOS_FIX	6727.419434,65947.898438,220708,161646,3,67,0.01	CAP_FILE_SIZE	42255,0
IRIDIUM_FIX	4748.51,-12224.57,171097,010157	CFSIZE	260165632,256196608
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1915	SOUNDSPEED	1482.7
INTERNAL_PRESSURE	8.76987	GPS	230708,023714,4806.186,-12222.239,8,1.7,13,18.3
TCM_TEMP	19.50

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	260	134.63	SBE_CT	297	24	170.63
Roll_motor	22	67	36.17	SBE_O2	292	19	132.90
VBD_pump_during_apogee	399	779	7431.22	nil	0	0	0.00
VBD_pump_during_surface	80	714	1375.56	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	49	103	121.27	nil	0	0	0.00
Iridium_during_connect	68	160	261.97	nil	0	0	0.00
Iridium_during_xfer	123	223	659.43
Transponder_ping	0	420	2.51
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.44
TT8	621	19	133.68
LPSleep	886	2	22.12
TT8_Active	503	19	108.43
TT8_Sampling	645	39	278.28
TT8_CF8	297	45	147.45
TT8_Kalman	0	0	0.00
Analog_circuits	903	12	117.07
GPS_charging	0	0	0.00
Compass	631	8	54.56
RAFOS	0	1	0.00
Transponder	0	30	0.17

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.19	-146.6	0.0	0.0	0	81	0.00	0.00	-64.25	0.000	2	0.000	0.000	165	2093	2092
83	-1.19	-146.6	3.2	-7.3	11	131	9.02	2.33	-30.05	0.000	4	0.261	0.067	2342	3516	3219
187	-1.00	-146.6	18.5	-16.3	29	194	0.17	2.15	0.00	0.000	6	0.176	0.034	2389	2108	3221
329	-1.00	-146.6	39.3	-14.1	54	335	0.00	2.22	0.00	0.000	4	0.000	0.053	2389	3517	3223
346	-1.00	-146.6	41.8	-14.4	57	353	0.00	2.12	0.00	0.000	6	0.000	0.034	2389	2117	3223
489	-1.08	-146.6	61.0	-13.4	82	494	0.00	0.00	0.00	0.000	6	0.000	0.000	2389	2116	3223
697	-1.22	-146.6	87.9	-12.4	119	703	0.17	0.00	0.00	0.000	6	0.086	0.000	2327	2116	3225
814	end dive: TARGET_DEPTH_EXCEEDED
state	814	begin apogee
817	-0.28	0.0	107.0	16.3	140	933	0.68	0.00	111.75	0.779	6	0.153	0.000	2539	2115	2620
934	end apogee: CONTROL_FINISHED_OK
state	934	begin climb
936	1.19	146.6	112.6	0.0	160	1052	1.00	0.00	111.47	0.741	6	0.104	0.000	2863	2114	2022
1255	0.82	154.6	87.9	9.6	216	1269	0.28	2.35	7.85	0.642	4	0.156	0.052	2783	3528	1989
1437	0.83	218.7	74.5	7.0	248	1491	0.00	2.20	48.42	0.755	6	0.000	0.036	2782	2103	1728
1694	1.13	300.5	57.5	6.2	293	1764	0.20	2.38	61.78	0.747	4	0.074	0.051	2863	3514	1393
1916	0.95	300.5	29.5	14.2	332	1923	0.20	2.15	0.00	0.000	6	0.146	0.038	2809	2139	1391
2058	1.25	363.5	17.7	7.0	357	2112	0.20	2.35	47.25	0.735	4	0.071	0.051	2891	3519	1136
2146	1.15	363.5	6.8	13.5	372	2153	0.15	2.17	0.00	0.000	6	0.140	0.038	2851	2153	1135
2289	2.39	562.7	2.1	0.7	397	2303	0.77	0.00	10.48	0.666	2	0.083	0.000	3124	2151	1081
2303	end climb: SURFACE_DEPTH_REACHED
state	2303	begin surface coast
2449	end surface coast: CONTROL_FINISHED_OK
state	2449	begin surface