Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 41 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 41 HEADING -1 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 150 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 200 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2060 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1870 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 500 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 2 R_PORT_OVSHOOT 9 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 34 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3335 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -18752.289 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 135 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2269 PRESSURE_YINT -3.7066903 SEABIRD_T_I 2.5554549e-05

MASS 51440 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 2 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 150 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 45 PRESSURE_YINT -3.7066903 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 50

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.023 T_GPS_CHARGE -18752.289

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2269 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1870 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 2060 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3335 MASS 51440 R_PORT_OVSHOOT 9 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 135 R_STBD_OVSHOOT 34 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 2 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 486

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 41 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 200 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0.02 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 065959,4805.933,-12221.906,9,4.2,28,18.3 TGT_NAME SIX_nb

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.132,0.112

_SM_DEPTHo 1.90 KALMAN_X 867.2,-18.3,128.9,-78.9,-35.7

_SM_ANGLEo -50.3 KALMAN_Y -347.8,261.9,-172.5,-1178.0,37.9

GPS2 070623,4805.917,-12221.859,11,4.3,30,18.3 MHEAD_RNG_PITCHd_Wd 295.2,232,-26.9,-10.000

SPEED_LIMITS 0.173,0.206 D_GRID 108

Post-dive calculations and measurements:

FINISH 2.5,1.018689 XPDR_PINGS 1

SM_CCo 2054,292.08,0.588,0,0,485,698.86 ALTIM_TOP_PING 19.7,18.7

SM_GC 1.78,9.15,0.00,0.00,0.040,0.000,0.000,677,2052,479,-7.27,-0.23,700.33 _24V_AH 20.8,17.713

RAFOS_CLK 107 _10V_AH 9.9,6.698

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 6462,220

IRIDIUM_FIX 4748.51,-12221.84,120707,101038 CFSIZE 260165632,255725568

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,3,0,0,0

HUMID 1975 SOUNDSPEED 1484.8

INTERNAL_PRESSURE 10.352 CURRENT 0.030,130.0,1

TCM_TEMP 9.80 GPS 120707,074937,4806.048,-12222.026,29,1.6,33,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 271 143.31 SBE_CT 155 24 77.85

Roll_motor 46 100 96.76 SBE_O2 155 19 61.36

VBD_pump_during_apogee 253 682 3600.08 nil 0 0 0.00

VBD_pump_during_surface 292 588 3573.95 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 86.86 nil 0 0 0.00

Iridium_during_connect 40 160 133.97 nil 0 0 0.00

Iridium_during_xfer 153 223 709.94

Transponder_ping 0 420 4.37

GPS 32 50 16.31

TT8 494 19 97.57

LPSleep 1022 2 23.37

TT8_Active 682 19 134.65

TT8_Sampling 277 39 109.71

TT8_CF8 381 45 173.52

TT8_Kalman 33 81 27.03

Analog_circuits 927 12 110.18

GPS_charging 0 0 0.00

Compass 253 20 50.23

RAFOS 0 1 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 22 begin dive

25 -1.27 -91.9 0.0 0.0 0 95 0.00 0.00 -67.68 0.000 2 0.000 0.000 678 2092 3200

99 -1.27 -132.0 3.1 -1.2 11 139 12.40 0.00 -21.33 0.000 6 0.272 0.000 1986 2093 3874

208 -1.34 -132.0 12.1 -13.0 29 215 0.00 2.78 0.00 0.000 4 0.000 0.058 1986 3453 3876

255 -1.30 -132.0 18.6 -13.5 37 262 0.00 2.72 0.00 0.000 6 0.000 0.036 1986 2045 3877

333 -1.25 -132.0 29.3 -13.5 45 338 0.00 2.90 0.00 0.000 4 0.000 0.062 1986 3452 3876

366 -1.22 -132.0 34.3 -14.6 47 373 0.00 2.70 0.00 0.000 6 0.000 0.038 1986 2060 3877

436 -1.18 -132.0 44.3 -14.3 54 438 0.15 0.00 0.00 0.000 6 0.161 0.000 2006 2060 3877

564 -1.16 -132.0 61.6 -13.3 66 568 0.00 2.90 0.00 0.000 4 0.000 0.070 2006 3448 3877

630 -1.19 -132.0 70.6 -13.4 71 637 0.00 2.72 0.00 0.000 6 0.000 0.038 2005 2050 3877

764 -1.22 -132.0 88.2 -12.8 84 769 0.00 2.95 0.00 0.000 4 0.000 0.074 2006 3447 3878

820 -1.26 -132.0 95.8 -13.2 88 826 0.00 2.70 0.00 0.000 6 0.000 0.041 2006 2059 3877

918 end dive: TARGET_DEPTH_EXCEEDED

state 918 begin apogee

926 -0.21 0.0 108.5 12.7 98 1044 1.30 0.00 112.90 0.683 6 0.152 0.000 2215 1865 3334

1044 end apogee: CONTROL_FINISHED_OK

state 1044 begin climb

1048 1.34 132.0 112.4 0.0 110 1171 1.83 3.22 112.05 0.669 4 0.076 0.097 2560 467 2796

1243 1.34 132.0 91.1 17.3 127 1250 0.00 2.80 0.00 0.000 6 0.000 0.047 2559 1851 2795

1378 1.18 132.0 69.8 15.8 140 1383 0.17 3.28 0.00 0.000 4 0.149 0.100 2532 3286 2795

1490 1.04 132.0 53.8 13.7 149 1498 0.22 2.88 0.00 0.000 6 0.134 0.048 2499 1877 2795

1625 0.94 132.0 38.4 11.3 162 1627 0.15 0.00 0.00 0.000 6 0.135 0.000 2478 1877 2794

1688 0.92 132.0 31.7 10.2 168 1693 0.00 2.95 0.00 0.000 4 0.000 0.068 2477 3282 2794

1812 0.94 132.6 19.2 10.0 179 1819 0.00 2.85 0.00 0.000 6 0.000 0.048 2477 1863 2794

1889 0.94 149.0 12.2 8.8 192 1907 0.00 0.00 13.45 0.673 6 0.000 0.000 2477 1862 2727

1976 0.99 167.6 4.5 8.6 207 2000 0.00 3.00 15.15 0.657 4 0.000 0.065 2478 3284 2651

2015 end climb: SURFACE_DEPTH_REACHED

state 2015 begin surface coast

2050 end surface coast: CONTROL_FINISHED_OK

state 2050 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	41	HEADING	-1	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	150	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	200	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2060	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1870	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	500	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	2	R_PORT_OVSHOOT	9	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	34	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3335	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-18752.289	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	135	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2269	PRESSURE_YINT	-3.7066903	SEABIRD_T_I	2.5554549e-05
MASS	51440	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	2	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017379176

GPS1	065959,4805.933,-12221.906,9,4.2,28,18.3	TGT_NAME	SIX_nb
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.132,0.112
_SM_DEPTHo	1.90	KALMAN_X	867.2,-18.3,128.9,-78.9,-35.7
_SM_ANGLEo	-50.3	KALMAN_Y	-347.8,261.9,-172.5,-1178.0,37.9
GPS2	070623,4805.917,-12221.859,11,4.3,30,18.3	MHEAD_RNG_PITCHd_Wd	295.2,232,-26.9,-10.000
SPEED_LIMITS	0.173,0.206	D_GRID	108

FINISH	2.5,1.018689	XPDR_PINGS	1
SM_CCo	2054,292.08,0.588,0,0,485,698.86	ALTIM_TOP_PING	19.7,18.7
SM_GC	1.78,9.15,0.00,0.00,0.040,0.000,0.000,677,2052,479,-7.27,-0.23,700.33	_24V_AH	20.8,17.713
RAFOS_CLK	107	_10V_AH	9.9,6.698
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	6462,220
IRIDIUM_FIX	4748.51,-12221.84,120707,101038	CFSIZE	260165632,255725568
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
HUMID	1975	SOUNDSPEED	1484.8
INTERNAL_PRESSURE	10.352	CURRENT	0.030,130.0,1
TCM_TEMP	9.80	GPS	120707,074937,4806.048,-12222.026,29,1.6,33,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	271	143.31	SBE_CT	155	24	77.85
Roll_motor	46	100	96.76	SBE_O2	155	19	61.36
VBD_pump_during_apogee	253	682	3600.08	nil	0	0	0.00
VBD_pump_during_surface	292	588	3573.95	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	86.86	nil	0	0	0.00
Iridium_during_connect	40	160	133.97	nil	0	0	0.00
Iridium_during_xfer	153	223	709.94
Transponder_ping	0	420	4.37
GPS	32	50	16.31
TT8	494	19	97.57
LPSleep	1022	2	23.37
TT8_Active	682	19	134.65
TT8_Sampling	277	39	109.71
TT8_CF8	381	45	173.52
TT8_Kalman	33	81	27.03
Analog_circuits	927	12	110.18
GPS_charging	0	0	0.00
Compass	253	20	50.23
RAFOS	0	1	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	22	begin dive
25	-1.27	-91.9	0.0	0.0	0	95	0.00	0.00	-67.68	0.000	2	0.000	0.000	678	2092	3200
99	-1.27	-132.0	3.1	-1.2	11	139	12.40	0.00	-21.33	0.000	6	0.272	0.000	1986	2093	3874
208	-1.34	-132.0	12.1	-13.0	29	215	0.00	2.78	0.00	0.000	4	0.000	0.058	1986	3453	3876
255	-1.30	-132.0	18.6	-13.5	37	262	0.00	2.72	0.00	0.000	6	0.000	0.036	1986	2045	3877
333	-1.25	-132.0	29.3	-13.5	45	338	0.00	2.90	0.00	0.000	4	0.000	0.062	1986	3452	3876
366	-1.22	-132.0	34.3	-14.6	47	373	0.00	2.70	0.00	0.000	6	0.000	0.038	1986	2060	3877
436	-1.18	-132.0	44.3	-14.3	54	438	0.15	0.00	0.00	0.000	6	0.161	0.000	2006	2060	3877
564	-1.16	-132.0	61.6	-13.3	66	568	0.00	2.90	0.00	0.000	4	0.000	0.070	2006	3448	3877
630	-1.19	-132.0	70.6	-13.4	71	637	0.00	2.72	0.00	0.000	6	0.000	0.038	2005	2050	3877
764	-1.22	-132.0	88.2	-12.8	84	769	0.00	2.95	0.00	0.000	4	0.000	0.074	2006	3447	3878
820	-1.26	-132.0	95.8	-13.2	88	826	0.00	2.70	0.00	0.000	6	0.000	0.041	2006	2059	3877
918	end dive: TARGET_DEPTH_EXCEEDED
state	918	begin apogee
926	-0.21	0.0	108.5	12.7	98	1044	1.30	0.00	112.90	0.683	6	0.152	0.000	2215	1865	3334
1044	end apogee: CONTROL_FINISHED_OK
state	1044	begin climb
1048	1.34	132.0	112.4	0.0	110	1171	1.83	3.22	112.05	0.669	4	0.076	0.097	2560	467	2796
1243	1.34	132.0	91.1	17.3	127	1250	0.00	2.80	0.00	0.000	6	0.000	0.047	2559	1851	2795
1378	1.18	132.0	69.8	15.8	140	1383	0.17	3.28	0.00	0.000	4	0.149	0.100	2532	3286	2795
1490	1.04	132.0	53.8	13.7	149	1498	0.22	2.88	0.00	0.000	6	0.134	0.048	2499	1877	2795
1625	0.94	132.0	38.4	11.3	162	1627	0.15	0.00	0.00	0.000	6	0.135	0.000	2478	1877	2794
1688	0.92	132.0	31.7	10.2	168	1693	0.00	2.95	0.00	0.000	4	0.000	0.068	2477	3282	2794
1812	0.94	132.6	19.2	10.0	179	1819	0.00	2.85	0.00	0.000	6	0.000	0.048	2477	1863	2794
1889	0.94	149.0	12.2	8.8	192	1907	0.00	0.00	13.45	0.673	6	0.000	0.000	2477	1862	2727
1976	0.99	167.6	4.5	8.6	207	2000	0.00	3.00	15.15	0.657	4	0.000	0.065	2478	3284	2651
2015	end climb: SURFACE_DEPTH_REACHED
state	2015	begin surface coast
2050	end surface coast: CONTROL_FINISHED_OK
state	2050	begin surface