Glider dive log

PN07 DabobBay Sep07 * SG106 * Dive index * Mission links * Dive 42 * 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 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 42 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 1990 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1930 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 26 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 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 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 -43927.949 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 125 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 30 PITCH_MIN 460 AH0_24V 91.800003 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 3080 PRESSURE_YINT -7.4494777 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 91.800003 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 -7.4494777 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 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 35

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 -43927.949

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

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 3080 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1930 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1990 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 30 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 26 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 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 42 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 083405,4739.483,-12252.424,10,3.8,29,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.230,0.053

_SM_DEPTHo 1.27 KALMAN_X 2126.2,65.3,95.7,-2563.6,-55.4

_SM_ANGLEo -64.8 KALMAN_Y 1672.2,-19.3,86.4,-2289.9,-109.2

GPS2 083856,4739.465,-12252.425,11,1.2,16,18.3 MHEAD_RNG_PITCHd_Wd 264.6,970,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 124

Post-dive calculations and measurements:

FINISH 1.6,1.020206 XPDR_PINGS 0

SM_CCo 2753,109.28,0.587,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.8,51.6

SM_GC 1.10,0.00,0.00,109.28,0.000,0.000,0.587,460,1995,1586,-12.05,0.14,400.08 _24V_AH 23.8,9.533

IRIDIUM_FIX 4722.92,-12253.53,260907,111142 _10V_AH 10.1,31.964

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6442,255

HUMID 2034 CFSIZE 260034560,255791104

INTERNAL_PRESSURE 8.41829 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 260907,092827,4739.488,-12252.900,10,1.8,10,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 213 164.00 SBE_CT 170 24 97.45

Roll_motor 46 88 98.52 nil 0 0 0.00

VBD_pump_during_apogee 210 679 3404.13 nil 0 0 0.00

VBD_pump_during_surface 109 586 1526.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.02 nil 0 0 0.00

Iridium_during_connect 41 160 157.75 ARS 0 0 0.00

Iridium_during_xfer 119 223 636.09

Transponder_ping 0 420 5.00

Mmodem_TX 33 1000 790.64

Mmodem_RX 3261 6 496.83

GPS 16 50 8.23

TT8 485 19 97.17

LPSleep 1495 2 33.08

TT8_Active 441 19 88.27

TT8_Sampling 488 39 196.34

TT8_CF8 273 45 126.62

TT8_Kalman 33 81 27.53

Analog_circuits 734 12 89.04

GPS_charging 0 0 0.00

Compass 461 8 37.27

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

22 -1.63 -122.2 0.0 0.0 0 74 0.00 0.00 -49.83 0.000 2 0.000 0.000 464 1993 2733

76 -1.63 -122.2 2.2 -3.5 8 137 14.75 2.62 -36.12 0.000 4 0.214 0.068 2721 3393 3718

216 -1.63 -122.2 9.6 -6.2 30 223 0.00 2.47 0.00 0.000 6 0.000 0.040 2721 1993 3719

288 -1.63 -122.2 14.2 -6.4 41 295 0.00 2.65 0.00 0.000 4 0.000 0.068 2721 584 3720

333 -1.63 -122.2 17.5 -8.1 48 340 0.00 2.47 0.00 0.000 6 0.000 0.035 2721 1994 3720

404 -1.63 -122.2 21.5 -5.6 57 408 0.00 2.55 0.00 0.000 4 0.000 0.055 2721 3396 3720

456 -1.63 -122.2 24.7 -6.5 61 461 0.00 2.50 0.00 0.000 6 0.000 0.040 2721 1985 3720

658 -1.63 -122.2 37.8 -6.9 77 662 0.00 2.62 0.00 0.000 4 0.000 0.070 2721 590 3721

783 -1.63 -122.2 46.3 -7.0 86 790 0.00 2.47 0.00 0.000 6 0.000 0.035 2721 1984 3722

979 -1.63 -122.2 59.2 -6.9 102 983 0.00 2.62 0.00 0.000 4 0.000 0.067 2721 590 3722

1010 -1.63 -122.2 61.4 -7.6 104 1018 0.00 2.50 0.00 0.000 6 0.000 0.035 2721 1991 3722

1206 -1.63 -122.2 74.4 -6.4 120 1208 0.00 0.00 0.00 0.000 6 0.000 0.000 2721 1991 3722

1396 -1.63 -122.2 86.4 -6.2 135 1401 0.00 2.65 0.00 0.000 4 0.000 0.068 2721 586 3722

1500 -1.63 -122.2 93.7 -7.0 142 1508 0.00 2.50 0.00 0.000 6 0.000 0.036 2721 1990 3722

1606 end dive: TARGET_DEPTH_EXCEEDED

state 1606 begin apogee

1611 -0.38 0.0 100.7 6.6 151 1717 1.38 0.00 97.78 0.680 6 0.104 0.000 2993 1920 3218

1718 end apogee: CONTROL_FINISHED_OK

state 1718 begin climb

1720 1.63 122.2 101.5 0.0 160 1826 2.03 2.67 94.93 0.656 4 0.052 0.058 3438 3326 2719

1852 1.63 122.2 90.5 11.4 171 1857 0.00 2.53 0.00 0.000 6 0.000 0.042 3438 1944 2718

2054 1.63 122.2 68.5 10.8 187 2059 0.00 2.75 0.00 0.000 4 0.000 0.075 3438 529 2717

2146 1.63 122.2 58.1 11.4 194 2151 0.00 2.53 0.00 0.000 6 0.000 0.037 3438 1934 2717

2348 1.63 122.2 37.3 10.2 210 2353 0.00 2.70 0.00 0.000 4 0.000 0.071 3438 524 2717

2447 1.63 122.2 26.6 11.2 217 2454 0.00 2.50 0.00 0.000 6 0.000 0.037 3438 1934 2716

2649 1.66 151.4 6.3 8.0 243 2669 0.00 0.00 17.77 0.640 2 0.000 0.000 3439 1934 2619

2669 end climb: SURFACE_DEPTH_REACHED

state 2669 begin surface coast

2728 end surface coast: CONTROL_FINISHED_OK

state 2728 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	42	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	1990	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1930	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	26	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	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	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	-43927.949	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	125	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	30	PITCH_MIN	460	AH0_24V	91.800003	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	3080	PRESSURE_YINT	-7.4494777	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	083405,4739.483,-12252.424,10,3.8,29,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.230,0.053
_SM_DEPTHo	1.27	KALMAN_X	2126.2,65.3,95.7,-2563.6,-55.4
_SM_ANGLEo	-64.8	KALMAN_Y	1672.2,-19.3,86.4,-2289.9,-109.2
GPS2	083856,4739.465,-12252.425,11,1.2,16,18.3	MHEAD_RNG_PITCHd_Wd	264.6,970,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	124

FINISH	1.6,1.020206	XPDR_PINGS	0
SM_CCo	2753,109.28,0.587,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.8,51.6
SM_GC	1.10,0.00,0.00,109.28,0.000,0.000,0.587,460,1995,1586,-12.05,0.14,400.08	_24V_AH	23.8,9.533
IRIDIUM_FIX	4722.92,-12253.53,260907,111142	_10V_AH	10.1,31.964
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6442,255
HUMID	2034	CFSIZE	260034560,255791104
INTERNAL_PRESSURE	8.41829	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	260907,092827,4739.488,-12252.900,10,1.8,10,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	213	164.00	SBE_CT	170	24	97.45
Roll_motor	46	88	98.52	nil	0	0	0.00
VBD_pump_during_apogee	210	679	3404.13	nil	0	0	0.00
VBD_pump_during_surface	109	586	1526.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.02	nil	0	0	0.00
Iridium_during_connect	41	160	157.75	ARS	0	0	0.00
Iridium_during_xfer	119	223	636.09
Transponder_ping	0	420	5.00
Mmodem_TX	33	1000	790.64
Mmodem_RX	3261	6	496.83
GPS	16	50	8.23
TT8	485	19	97.17
LPSleep	1495	2	33.08
TT8_Active	441	19	88.27
TT8_Sampling	488	39	196.34
TT8_CF8	273	45	126.62
TT8_Kalman	33	81	27.53
Analog_circuits	734	12	89.04
GPS_charging	0	0	0.00
Compass	461	8	37.27
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
22	-1.63	-122.2	0.0	0.0	0	74	0.00	0.00	-49.83	0.000	2	0.000	0.000	464	1993	2733
76	-1.63	-122.2	2.2	-3.5	8	137	14.75	2.62	-36.12	0.000	4	0.214	0.068	2721	3393	3718
216	-1.63	-122.2	9.6	-6.2	30	223	0.00	2.47	0.00	0.000	6	0.000	0.040	2721	1993	3719
288	-1.63	-122.2	14.2	-6.4	41	295	0.00	2.65	0.00	0.000	4	0.000	0.068	2721	584	3720
333	-1.63	-122.2	17.5	-8.1	48	340	0.00	2.47	0.00	0.000	6	0.000	0.035	2721	1994	3720
404	-1.63	-122.2	21.5	-5.6	57	408	0.00	2.55	0.00	0.000	4	0.000	0.055	2721	3396	3720
456	-1.63	-122.2	24.7	-6.5	61	461	0.00	2.50	0.00	0.000	6	0.000	0.040	2721	1985	3720
658	-1.63	-122.2	37.8	-6.9	77	662	0.00	2.62	0.00	0.000	4	0.000	0.070	2721	590	3721
783	-1.63	-122.2	46.3	-7.0	86	790	0.00	2.47	0.00	0.000	6	0.000	0.035	2721	1984	3722
979	-1.63	-122.2	59.2	-6.9	102	983	0.00	2.62	0.00	0.000	4	0.000	0.067	2721	590	3722
1010	-1.63	-122.2	61.4	-7.6	104	1018	0.00	2.50	0.00	0.000	6	0.000	0.035	2721	1991	3722
1206	-1.63	-122.2	74.4	-6.4	120	1208	0.00	0.00	0.00	0.000	6	0.000	0.000	2721	1991	3722
1396	-1.63	-122.2	86.4	-6.2	135	1401	0.00	2.65	0.00	0.000	4	0.000	0.068	2721	586	3722
1500	-1.63	-122.2	93.7	-7.0	142	1508	0.00	2.50	0.00	0.000	6	0.000	0.036	2721	1990	3722
1606	end dive: TARGET_DEPTH_EXCEEDED
state	1606	begin apogee
1611	-0.38	0.0	100.7	6.6	151	1717	1.38	0.00	97.78	0.680	6	0.104	0.000	2993	1920	3218
1718	end apogee: CONTROL_FINISHED_OK
state	1718	begin climb
1720	1.63	122.2	101.5	0.0	160	1826	2.03	2.67	94.93	0.656	4	0.052	0.058	3438	3326	2719
1852	1.63	122.2	90.5	11.4	171	1857	0.00	2.53	0.00	0.000	6	0.000	0.042	3438	1944	2718
2054	1.63	122.2	68.5	10.8	187	2059	0.00	2.75	0.00	0.000	4	0.000	0.075	3438	529	2717
2146	1.63	122.2	58.1	11.4	194	2151	0.00	2.53	0.00	0.000	6	0.000	0.037	3438	1934	2717
2348	1.63	122.2	37.3	10.2	210	2353	0.00	2.70	0.00	0.000	4	0.000	0.071	3438	524	2717
2447	1.63	122.2	26.6	11.2	217	2454	0.00	2.50	0.00	0.000	6	0.000	0.037	3438	1934	2716
2649	1.66	151.4	6.3	8.0	243	2669	0.00	0.00	17.77	0.640	2	0.000	0.000	3439	1934	2619
2669	end climb: SURFACE_DEPTH_REACHED
state	2669	begin surface coast
2728	end surface coast: CONTROL_FINISHED_OK
state	2728	begin surface