Glider dive log

PortSusan 24Mar10.01 * SG518 * Dive index * Mission links * Dive 4 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 518 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 4 ESCAPE_HEADING 0 ROLL_MIN 191 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 4 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3829 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 2570 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2570 ALTIM_PULSE 4

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 400 ROLL_CNV 0.028270001 XPDR_VALID 2

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 43 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 21 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 490 DEVICE2 83

T_MISSION 75 CALL_TRIES 5 VBD_MAX 3961 DEVICE3 101

T_ABORT 1440 CALL_WAIT 60 C_VBD 3264 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 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 -1793.1177 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 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 20 RAFOS_DEVICE -1

MAX_BUOY 100 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 156 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3930 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2713 PRESSURE_YINT -78.120049 SEABIRD_T_G 0.0043315957

RHO 1.0223 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011608547 SEABIRD_T_H 0.00062693458

MASS 51484 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3960321e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.6058406e-06

FERRY_MAX 45 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.015712

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1551708

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0019853432

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00024211408

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SM_CC 400

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 30 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3930 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 3 PITCH_MIN 156 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011608547 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -78.120049 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -1793.1177

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0223 T_MISSION 75

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 518 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3829 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2713 KALMAN_USE 1 ROLL_MIN 191 USE_BATHY -4

C_ROLL_CLIMB 2570 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2570 MASS 51484 R_PORT_OVSHOOT 43 VBD_BLEED_AD_RATE 8

C_VBD 3264 MAX_BUOY 100 R_STBD_OVSHOOT 21 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 4 SEABIRD_C_G -10.015712 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1551708 VBD_MAX 3961

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0019853432 VBD_MAXERRORS 1

DEVICE2 83 N_FILEKB 4 SEABIRD_C_J 0.00024211408 VBD_MIN 490

DEVICE3 101 N_GPS 20 SEABIRD_T_G 0.0043315957 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062693458 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3960321e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6058406e-06 XPDR_DEVICE 24

DIVE 4 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 2

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 213530,4806.940,-12223.024,17,1.4,17,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.147,-0.158

_SM_DEPTHo 1.08 KALMAN_X 167.8,120.3,105.2,-431.9,54.2

_SM_ANGLEo -74.9 KALMAN_Y -490.2,-324.6,-269.5,378.0,-158.3

GPS2 214054,4806.916,-12223.013,16,1.8,16,18.3 MHEAD_RNG_PITCHd_Wd 118.8,2109,-21.7,-10.000

SPEED_LIMITS 0.173,0.216 D_GRID 103

Post-dive calculations and measurements:

FINISH 1.4,1.020647 ALTIM_BOTTOM_PING 85.7,35.6

SM_CCo 1746,234.95,0.712,1,0,1633,400.08 _24V_AH 24.4,4.389

SM_GC 1.19,0.00,0.00,234.95,0.000,0.000,0.712,148,2562,1633,-8.02,-0.23,400.08 _10V_AH 10.6,1.610

IRIDIUM_FIX 4748.51,-12221.84,180699,212139 DATA_FILE_SIZE 19211,316

TT8_MAMPS 0.052156 CAP_FILE_SIZE 39301,0

HUMID 1117 CFSIZE 260165632,259248128

INTERNAL_PRESSURE 9.04332 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,2,1,1

TCM_TEMP 15.10 GPS 240310,221513,4806.791,-12222.780,17,1.5,17,18.3

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 248 118.85 SBE_CT 212 24 124.39

Roll_motor 25 69 42.99 WL_BBFL2VMT 369 105 946.13

VBD_pump_during_apogee 154 794 2993.59 AA4330 382 33 308.32

VBD_pump_during_surface 234 711 4080.46 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 70.47 nil 0 0 0.00

Iridium_during_connect 31 160 124.19 nil 0 0 0.00

Iridium_during_xfer 200 223 1091.59

Transponder_ping 1 420 12.81

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.87

TT8 0 19 0.00

LPSleep 762 2 17.69

TT8_Active 479 19 100.59

TT8_Sampling 767 39 323.80

TT8_CF8 302 45 146.89

TT8_Kalman 32 81 28.02

Analog_circuits 784 12 99.85

GPS_charging 0 0 0.00

Compass 637 8 54.10

RAFOS 0 0 0.00

Transponder 9 30 3.15

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

9 end surface: CONTROL_FINISHED_OK

state 10 begin dive

11 -0.84 -97.8 0.0 0.0 0 103 0.00 0.00 -89.93 0.000 2 0.000 0.000 151 2571 3580

104 -0.84 -97.8 3.1 -4.0 14 124 9.50 2.28 -2.33 0.000 4 0.249 0.068 2434 1169 3665

362 -0.84 -97.8 38.0 -11.9 62 371 0.00 2.30 0.00 0.000 6 0.000 0.057 2424 2592 3665

497 -0.84 -97.8 55.9 -13.5 87 505 0.00 2.28 0.00 0.000 4 0.000 0.050 2424 1164 3665

520 -0.84 -97.8 58.9 -14.1 91 526 0.00 2.28 0.00 0.000 6 0.000 0.058 2414 2570 3665

652 -0.84 -97.8 77.7 -13.4 116 653 0.00 0.00 0.00 0.000 6 0.000 0.000 2414 2570 3665

781 -0.84 -97.8 94.9 -13.0 140 788 0.00 2.08 0.00 0.000 4 0.000 0.068 2404 3835 3665

801 -0.84 -97.8 97.9 -14.4 144 810 0.15 2.00 0.00 0.000 6 0.186 0.045 2441 2560 3665

844 end dive: TARGET_DEPTH_EXCEEDED

state 844 begin apogee

847 -0.17 0.0 103.5 12.4 152 927 0.73 0.00 76.70 0.795 6 0.163 0.000 2657 2560 3263

928 end apogee: CONTROL_FINISHED_OK

state 928 begin climb

929 0.84 97.8 105.9 0.0 166 1013 0.95 0.00 77.70 0.768 6 0.092 0.000 2976 2560 2866

1140 0.84 97.8 80.3 14.3 205 1141 0.00 0.00 0.00 0.000 6 0.000 0.000 2976 2560 2862

1269 0.84 97.8 61.9 14.1 229 1275 0.00 2.12 0.00 0.000 4 0.000 0.067 2976 3831 2862

1300 0.84 97.8 57.0 15.5 235 1307 0.00 2.00 0.00 0.000 6 0.000 0.045 2986 2574 2862

1432 0.84 97.8 38.0 13.9 260 1441 0.00 2.10 0.00 0.000 4 0.000 0.064 2986 3834 2861

1482 0.84 97.8 30.2 16.1 269 1489 0.00 2.00 0.00 0.000 6 0.000 0.045 2995 2571 2861

1616 0.84 97.8 11.2 13.1 294 1623 0.00 2.10 0.00 0.000 4 0.000 0.069 2995 3832 2861

1660 0.84 97.8 5.6 11.5 302 1667 0.00 2.00 0.00 0.000 6 0.000 0.046 3003 2564 2861

1691 end climb: SURFACE_DEPTH_REACHED

state 1691 begin surface coast

1734 end surface coast: CONTROL_FINISHED_OK

state 1734 begin surface

ID	518	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	4	ESCAPE_HEADING	0	ROLL_MIN	191	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	4	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3829	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	2570	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2570	ALTIM_PULSE	4
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	400	ROLL_CNV	0.028270001	XPDR_VALID	2
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	43	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	21	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	490	DEVICE2	83
T_MISSION	75	CALL_TRIES	5	VBD_MAX	3961	DEVICE3	101
T_ABORT	1440	CALL_WAIT	60	C_VBD	3264	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	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	-1793.1177	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	20	RAFOS_DEVICE	-1
MAX_BUOY	100	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	156	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3930	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2713	PRESSURE_YINT	-78.120049	SEABIRD_T_G	0.0043315957
RHO	1.0223	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011608547	SEABIRD_T_H	0.00062693458
MASS	51484	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3960321e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.6058406e-06
FERRY_MAX	45	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.015712
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1551708
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0019853432
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00024211408
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	213530,4806.940,-12223.024,17,1.4,17,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.147,-0.158
_SM_DEPTHo	1.08	KALMAN_X	167.8,120.3,105.2,-431.9,54.2
_SM_ANGLEo	-74.9	KALMAN_Y	-490.2,-324.6,-269.5,378.0,-158.3
GPS2	214054,4806.916,-12223.013,16,1.8,16,18.3	MHEAD_RNG_PITCHd_Wd	118.8,2109,-21.7,-10.000
SPEED_LIMITS	0.173,0.216	D_GRID	103

FINISH	1.4,1.020647	ALTIM_BOTTOM_PING	85.7,35.6
SM_CCo	1746,234.95,0.712,1,0,1633,400.08	_24V_AH	24.4,4.389
SM_GC	1.19,0.00,0.00,234.95,0.000,0.000,0.712,148,2562,1633,-8.02,-0.23,400.08	_10V_AH	10.6,1.610
IRIDIUM_FIX	4748.51,-12221.84,180699,212139	DATA_FILE_SIZE	19211,316
TT8_MAMPS	0.052156	CAP_FILE_SIZE	39301,0
HUMID	1117	CFSIZE	260165632,259248128
INTERNAL_PRESSURE	9.04332	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,2,1,1
TCM_TEMP	15.10	GPS	240310,221513,4806.791,-12222.780,17,1.5,17,18.3
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	248	118.85	SBE_CT	212	24	124.39
Roll_motor	25	69	42.99	WL_BBFL2VMT	369	105	946.13
VBD_pump_during_apogee	154	794	2993.59	AA4330	382	33	308.32
VBD_pump_during_surface	234	711	4080.46	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	70.47	nil	0	0	0.00
Iridium_during_connect	31	160	124.19	nil	0	0	0.00
Iridium_during_xfer	200	223	1091.59
Transponder_ping	1	420	12.81
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.87
TT8	0	19	0.00
LPSleep	762	2	17.69
TT8_Active	479	19	100.59
TT8_Sampling	767	39	323.80
TT8_CF8	302	45	146.89
TT8_Kalman	32	81	28.02
Analog_circuits	784	12	99.85
GPS_charging	0	0	0.00
Compass	637	8	54.10
RAFOS	0	0	0.00
Transponder	9	30	3.15

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
9	end surface: CONTROL_FINISHED_OK
state	10	begin dive
11	-0.84	-97.8	0.0	0.0	0	103	0.00	0.00	-89.93	0.000	2	0.000	0.000	151	2571	3580
104	-0.84	-97.8	3.1	-4.0	14	124	9.50	2.28	-2.33	0.000	4	0.249	0.068	2434	1169	3665
362	-0.84	-97.8	38.0	-11.9	62	371	0.00	2.30	0.00	0.000	6	0.000	0.057	2424	2592	3665
497	-0.84	-97.8	55.9	-13.5	87	505	0.00	2.28	0.00	0.000	4	0.000	0.050	2424	1164	3665
520	-0.84	-97.8	58.9	-14.1	91	526	0.00	2.28	0.00	0.000	6	0.000	0.058	2414	2570	3665
652	-0.84	-97.8	77.7	-13.4	116	653	0.00	0.00	0.00	0.000	6	0.000	0.000	2414	2570	3665
781	-0.84	-97.8	94.9	-13.0	140	788	0.00	2.08	0.00	0.000	4	0.000	0.068	2404	3835	3665
801	-0.84	-97.8	97.9	-14.4	144	810	0.15	2.00	0.00	0.000	6	0.186	0.045	2441	2560	3665
844	end dive: TARGET_DEPTH_EXCEEDED
state	844	begin apogee
847	-0.17	0.0	103.5	12.4	152	927	0.73	0.00	76.70	0.795	6	0.163	0.000	2657	2560	3263
928	end apogee: CONTROL_FINISHED_OK
state	928	begin climb
929	0.84	97.8	105.9	0.0	166	1013	0.95	0.00	77.70	0.768	6	0.092	0.000	2976	2560	2866
1140	0.84	97.8	80.3	14.3	205	1141	0.00	0.00	0.00	0.000	6	0.000	0.000	2976	2560	2862
1269	0.84	97.8	61.9	14.1	229	1275	0.00	2.12	0.00	0.000	4	0.000	0.067	2976	3831	2862
1300	0.84	97.8	57.0	15.5	235	1307	0.00	2.00	0.00	0.000	6	0.000	0.045	2986	2574	2862
1432	0.84	97.8	38.0	13.9	260	1441	0.00	2.10	0.00	0.000	4	0.000	0.064	2986	3834	2861
1482	0.84	97.8	30.2	16.1	269	1489	0.00	2.00	0.00	0.000	6	0.000	0.045	2995	2571	2861
1616	0.84	97.8	11.2	13.1	294	1623	0.00	2.10	0.00	0.000	4	0.000	0.069	2995	3832	2861
1660	0.84	97.8	5.6	11.5	302	1667	0.00	2.00	0.00	0.000	6	0.000	0.046	3003	2564	2861
1691	end climb: SURFACE_DEPTH_REACHED
state	1691	begin surface coast
1734	end surface coast: CONTROL_FINISHED_OK
state	1734	begin surface