Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 371 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 5.8987e-05 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 371 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_FREQUENCY 13

D_TGT 95 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2250 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 4 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 49 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE3 35

T_DIVE 65 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 80 CALL_TRIES 5 VBD_MIN 204 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3580 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 C_VBD 2800 SMARTS 0

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS 15 VBD_TIMEOUT 360 COMPASS_DEVICE 33

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 100 T_GPS_CHARGE -68180.805 VBD_PUMP_AD_RATE_APOGEE 3 RAFOS_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MIN 25 AH0_24V 150 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25

HD_A 0.0043390002 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.013382 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 300

AH0_24V 150 D_OFFGRID 100 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 95 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_DIVE 65

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0043390002 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.013382 RHO 1.023 T_GPS_CHARGE -68180.805

CALL_WAIT 60 HD_C 5.8987e-05 ROLL_ADJ_DBAND 0 T_MISSION 80

CAPMAXSIZE 100000 HEADING -1 ROLL_ADJ_GAIN 0 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_RSLEEP 3

CF8_MAXERRORS 1 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 270

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 40 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 128 ROLL_MAX 4014 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_PITCH 2820 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2250 MASS 51503 R_PORT_OVSHOOT 49 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 41 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_DBAND 2

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAXERRORS 1

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MIN 204

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_TIMEOUT 360

DIVE 371 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 1090 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 234355,4807.909,-12223.776,24,1.0,41,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.030,-0.050

_SM_DEPTHo 1.00 KALMAN_X -4641.7,-175.8,61.0,4452.4,-110.4

_SM_ANGLEo -62.1 KALMAN_Y -4471.4,427.2,-197.0,4761.4,185.7

GPS2 234751,4807.940,-12223.799,12,1.0,12,18.3 MHEAD_RNG_PITCHd_Wd 130.9,6453,-36.7,-4.872

SPEED_LIMITS 0.049,0.059 D_GRID 105

Post-dive calculations and measurements:

FINISH 2.2,1.024832 XPDR_PINGS 2

SM_CCo 2700,282.60,0.649,0,0,203,636.80 ALTIM_BOTTOM_PING 70.5,44.5

SM_GC 1.05,10.23,0.00,0.00,0.043,0.000,0.000,12,2255,195,-8.70,0.14,639.01 _24V_AH 25.1,36.559

IRIDIUM_FIX 4748.51,-12221.84,210907,020248 _10V_AH 10.8,18.577

TT8_MAMPS 0.026078 DATA_FILE_SIZE 15938,302

HUMID 1883 CFSIZE 260165632,246919168

INTERNAL_PRESSURE 9.10191 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.70 GPS 210907,004153,4807.882,-12223.767,10,2.1,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 209 122.72 SBE_CT 213 24 128.51

Roll_motor 41 44 45.86 SBE_O2 235 19 112.39

VBD_pump_during_apogee 65 847 1391.26 WL_BB2F 509 105 1343.06

VBD_pump_during_surface 282 648 4602.69 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 65.12 nil 0 0 0.00

Iridium_during_connect 16 160 66.23 nil 0 0 0.00

Iridium_during_xfer 95 223 534.40

Transponder_ping 0 420 7.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.72

TT8 559 19 119.74

LPSleep 1424 2 33.70

TT8_Active 471 19 100.89

TT8_Sampling 638 39 274.54

TT8_CF8 276 45 136.60

TT8_Kalman 33 81 29.44

Analog_circuits 801 12 103.83

GPS_charging 0 0 0.00

Compass 650 8 56.18

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

26 -2.06 -16.1 0.0 0.0 0 137 0.00 0.00 -107.43 0.000 6 0.000 0.000 4 2246 2866

140 -2.08 -35.8 1.6 -0.8 20 159 8.62 0.00 -2.60 0.000 6 0.209 0.000 2147 2244 2947

227 -2.08 -35.8 8.0 -6.2 35 234 0.00 2.25 0.00 0.000 4 0.000 0.037 2147 848 2948

398 -2.09 -40.8 13.8 -3.8 65 405 0.00 2.28 -0.30 0.000 6 0.000 0.033 2139 2248 2970

474 -2.09 -40.9 17.4 -4.9 78 480 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2248 2970

547 -2.09 -40.9 21.5 -5.8 89 551 0.00 2.25 0.00 0.000 4 0.000 0.035 2139 843 2971

565 -2.09 -40.9 22.5 -5.9 90 569 0.00 2.25 0.00 0.000 6 0.000 0.031 2130 2253 2970

762 -2.09 -40.9 34.0 -5.8 108 763 0.00 0.00 0.00 0.000 6 0.000 0.000 2130 2253 2971

953 -2.09 -40.9 44.9 -5.6 126 954 0.00 0.00 0.00 0.000 6 0.000 0.000 2129 2254 2972

1145 -2.09 -40.9 56.7 -6.0 144 1149 0.00 2.25 0.00 0.000 4 0.000 0.035 2130 840 2972

1338 -2.09 -40.9 68.7 -5.9 160 1345 0.00 2.25 0.00 0.000 6 0.000 0.032 2120 2261 2972

1665 -2.09 -40.9 88.1 -6.1 191 1669 0.00 2.25 0.00 0.000 4 0.000 0.035 2120 843 2972

1782 end dive: TARGET_DEPTH_EXCEEDED

state 1782 begin apogee

1790 -0.28 0.0 95.2 6.1 201 1828 2.12 0.00 33.72 0.848 6 0.164 0.000 2725 2157 2800

1829 end apogee: CONTROL_FINISHED_OK

state 1829 begin climb

1832 2.09 40.9 96.1 0.0 205 1875 2.22 2.38 31.67 0.703 4 0.074 0.044 3495 3545 2632

1892 2.09 40.9 91.2 10.8 210 1898 0.00 2.28 0.00 0.000 6 0.000 0.030 3505 2149 2632

2221 2.09 40.9 49.4 12.0 241 2225 0.00 2.33 0.00 0.000 4 0.000 0.044 3504 3552 2630

2250 2.09 40.9 45.2 12.9 243 2254 0.00 2.25 0.00 0.000 6 0.000 0.030 3516 2144 2630

2447 2.09 40.9 21.9 11.2 261 2451 0.00 2.33 0.00 0.000 4 0.000 0.044 3515 3557 2630

2488 2.09 40.9 17.4 11.1 266 2494 0.15 2.25 0.00 0.000 6 0.191 0.031 3493 2138 2630

2563 2.09 40.9 9.7 10.1 279 2569 0.00 2.33 0.00 0.000 4 0.000 0.044 3493 3550 2630

2576 2.09 40.9 8.4 9.9 281 2582 0.00 2.22 0.00 0.000 6 0.000 0.030 3502 2147 2630

2651 2.09 40.9 2.3 7.9 294 2657 0.00 2.25 0.00 0.000 4 0.000 0.039 3512 742 2631

2662 end climb: SURFACE_DEPTH_REACHED

state 2662 begin surface coast

2696 end surface coast: CONTROL_FINISHED_OK

state 2697 begin surface

ID	128	HD_C	5.8987e-05	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	371	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_FREQUENCY	13
D_TGT	95	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2250	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	4	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	49	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE3	35
T_DIVE	65	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	80	CALL_TRIES	5	VBD_MIN	204	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3580	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	C_VBD	2800	SMARTS	0
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS	15	VBD_TIMEOUT	360	COMPASS_DEVICE	33
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	100	T_GPS_CHARGE	-68180.805	VBD_PUMP_AD_RATE_APOGEE	3	RAFOS_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MIN	25	AH0_24V	150	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25
HD_A	0.0043390002	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.013382	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	234355,4807.909,-12223.776,24,1.0,41,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.030,-0.050
_SM_DEPTHo	1.00	KALMAN_X	-4641.7,-175.8,61.0,4452.4,-110.4
_SM_ANGLEo	-62.1	KALMAN_Y	-4471.4,427.2,-197.0,4761.4,185.7
GPS2	234751,4807.940,-12223.799,12,1.0,12,18.3	MHEAD_RNG_PITCHd_Wd	130.9,6453,-36.7,-4.872
SPEED_LIMITS	0.049,0.059	D_GRID	105

FINISH	2.2,1.024832	XPDR_PINGS	2
SM_CCo	2700,282.60,0.649,0,0,203,636.80	ALTIM_BOTTOM_PING	70.5,44.5
SM_GC	1.05,10.23,0.00,0.00,0.043,0.000,0.000,12,2255,195,-8.70,0.14,639.01	_24V_AH	25.1,36.559
IRIDIUM_FIX	4748.51,-12221.84,210907,020248	_10V_AH	10.8,18.577
TT8_MAMPS	0.026078	DATA_FILE_SIZE	15938,302
HUMID	1883	CFSIZE	260165632,246919168
INTERNAL_PRESSURE	9.10191	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.70	GPS	210907,004153,4807.882,-12223.767,10,2.1,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	209	122.72	SBE_CT	213	24	128.51
Roll_motor	41	44	45.86	SBE_O2	235	19	112.39
VBD_pump_during_apogee	65	847	1391.26	WL_BB2F	509	105	1343.06
VBD_pump_during_surface	282	648	4602.69	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	65.12	nil	0	0	0.00
Iridium_during_connect	16	160	66.23	nil	0	0	0.00
Iridium_during_xfer	95	223	534.40
Transponder_ping	0	420	7.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.72
TT8	559	19	119.74
LPSleep	1424	2	33.70
TT8_Active	471	19	100.89
TT8_Sampling	638	39	274.54
TT8_CF8	276	45	136.60
TT8_Kalman	33	81	29.44
Analog_circuits	801	12	103.83
GPS_charging	0	0	0.00
Compass	650	8	56.18
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
26	-2.06	-16.1	0.0	0.0	0	137	0.00	0.00	-107.43	0.000	6	0.000	0.000	4	2246	2866
140	-2.08	-35.8	1.6	-0.8	20	159	8.62	0.00	-2.60	0.000	6	0.209	0.000	2147	2244	2947
227	-2.08	-35.8	8.0	-6.2	35	234	0.00	2.25	0.00	0.000	4	0.000	0.037	2147	848	2948
398	-2.09	-40.8	13.8	-3.8	65	405	0.00	2.28	-0.30	0.000	6	0.000	0.033	2139	2248	2970
474	-2.09	-40.9	17.4	-4.9	78	480	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2248	2970
547	-2.09	-40.9	21.5	-5.8	89	551	0.00	2.25	0.00	0.000	4	0.000	0.035	2139	843	2971
565	-2.09	-40.9	22.5	-5.9	90	569	0.00	2.25	0.00	0.000	6	0.000	0.031	2130	2253	2970
762	-2.09	-40.9	34.0	-5.8	108	763	0.00	0.00	0.00	0.000	6	0.000	0.000	2130	2253	2971
953	-2.09	-40.9	44.9	-5.6	126	954	0.00	0.00	0.00	0.000	6	0.000	0.000	2129	2254	2972
1145	-2.09	-40.9	56.7	-6.0	144	1149	0.00	2.25	0.00	0.000	4	0.000	0.035	2130	840	2972
1338	-2.09	-40.9	68.7	-5.9	160	1345	0.00	2.25	0.00	0.000	6	0.000	0.032	2120	2261	2972
1665	-2.09	-40.9	88.1	-6.1	191	1669	0.00	2.25	0.00	0.000	4	0.000	0.035	2120	843	2972
1782	end dive: TARGET_DEPTH_EXCEEDED
state	1782	begin apogee
1790	-0.28	0.0	95.2	6.1	201	1828	2.12	0.00	33.72	0.848	6	0.164	0.000	2725	2157	2800
1829	end apogee: CONTROL_FINISHED_OK
state	1829	begin climb
1832	2.09	40.9	96.1	0.0	205	1875	2.22	2.38	31.67	0.703	4	0.074	0.044	3495	3545	2632
1892	2.09	40.9	91.2	10.8	210	1898	0.00	2.28	0.00	0.000	6	0.000	0.030	3505	2149	2632
2221	2.09	40.9	49.4	12.0	241	2225	0.00	2.33	0.00	0.000	4	0.000	0.044	3504	3552	2630
2250	2.09	40.9	45.2	12.9	243	2254	0.00	2.25	0.00	0.000	6	0.000	0.030	3516	2144	2630
2447	2.09	40.9	21.9	11.2	261	2451	0.00	2.33	0.00	0.000	4	0.000	0.044	3515	3557	2630
2488	2.09	40.9	17.4	11.1	266	2494	0.15	2.25	0.00	0.000	6	0.191	0.031	3493	2138	2630
2563	2.09	40.9	9.7	10.1	279	2569	0.00	2.33	0.00	0.000	4	0.000	0.044	3493	3550	2630
2576	2.09	40.9	8.4	9.9	281	2582	0.00	2.22	0.00	0.000	6	0.000	0.030	3502	2147	2630
2651	2.09	40.9	2.3	7.9	294	2657	0.00	2.25	0.00	0.000	4	0.000	0.039	3512	742	2631
2662	end climb: SURFACE_DEPTH_REACHED
state	2662	begin surface coast
2696	end surface coast: CONTROL_FINISHED_OK
state	2697	begin surface