Glider dive log

PortSusan 15Jul09 * SG170 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 170 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 165 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 5 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3698 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 480 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 INT_PRESSURE_YINT -0.60000002

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 460 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3418 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 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 -9392.04 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 120 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 139 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3933 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2950 PRESSURE_YINT -62.362949 SEABIRD_T_G 0.0043652086

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063100836

MASS 51437 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5667814e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.9083003e-06

FERRY_MAX 45 PITCH_GAIN 31 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8859177

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1208299

HD_A 0.003 PITCH_AD_RATE 155 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010195741

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016822568

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 155 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 480

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 31 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3933 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 139 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -62.362949 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

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 -9392.04

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

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 4

COMPASS_DEVICE 33 ID 170 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3698 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -0.60000002 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2950 KALMAN_USE 1 ROLL_MIN 165 USE_BATHY -4

C_ROLL_CLIMB 2100 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 51437 R_PORT_OVSHOOT 28 VBD_BLEED_AD_RATE 8

C_VBD 3418 MAX_BUOY 120 R_STBD_OVSHOOT 27 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.8859177 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1208299 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010195741 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016822568 VBD_MIN 460

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043652086 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063100836 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5667814e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.9083003e-06 XPDR_DEVICE 24

DIVE 5 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 225602,4807.895,-12223.075,14,1.4,32,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.106,-0.209

_SM_DEPTHo 1.15 KALMAN_X -246.8,-139.7,-89.3,782.1,-18.7

_SM_ANGLEo -76.8 KALMAN_Y -220.2,16.6,31.6,1413.0,-92.7

GPS2 230050,4807.886,-12223.088,12,1.3,12,18.3 MHEAD_RNG_PITCHd_Wd 134.8,3743,-19.7,-10.000

SPEED_LIMITS 0.173,0.235 D_GRID 105

Post-dive calculations and measurements:

FINISH 3.3,1.018404 XPDR_PINGS 0

SM_CCo 1884,266.15,0.628,0,0,1460,480.05 _24V_AH 24.7,0.996

SM_GC 1.41,0.00,0.00,266.15,0.000,0.000,0.628,134,2107,1460,-8.80,0.20,480.05 _10V_AH 10.8,0.326

IRIDIUM_FIX 4748.51,-12224.57,091098,222238 DATA_FILE_SIZE 12759,383

TT8_MAMPS 0.026078 CAP_FILE_SIZE 41551,0

HUMID 1923 CFSIZE 260165632,256278528

INTERNAL_PRESSURE 9.15623 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,0,0

TCM_TEMP 19.10 GPS 150709,233820,4807.722,-12223.048,11,1.2,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 246 124.60 SBE_CT 254 24 150.93

Roll_motor 36 88 80.10 SBE_O2 190 19 89.52

VBD_pump_during_apogee 170 684 2886.32 nil 0 0 0.00

VBD_pump_during_surface 266 628 4129.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 62.59 nil 0 0 0.00

Iridium_during_connect 22 160 89.38 nil 0 0 0.00

Iridium_during_xfer 162 223 896.45

Transponder_ping 0 420 7.78

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.98

TT8 562 19 120.27

LPSleep 494 2 11.69

TT8_Active 554 19 118.52

TT8_Sampling 577 39 248.26

TT8_CF8 270 45 133.66

TT8_Kalman 33 81 29.44

Analog_circuits 903 12 117.13

GPS_charging 0 0 0.00

Compass 570 8 49.30

RAFOS 0 0 0.00

Transponder 5 30 1.83

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.78 -117.3 0.0 0.0 0 126 0.00 0.00 -109.65 0.000 2 0.000 0.000 134 2115 3284

129 -0.78 -117.3 3.3 -4.3 21 163 10.23 2.30 -15.82 0.000 4 0.247 0.073 2697 675 3898

426 -0.78 -117.3 31.8 -10.8 84 432 0.00 2.33 0.00 0.000 6 0.000 0.075 2696 2093 3901

502 -0.78 -117.3 39.8 -10.4 100 508 0.00 2.22 0.00 0.000 4 0.000 0.058 2696 688 3900

597 -0.78 -117.3 50.4 -11.2 120 603 0.00 2.33 0.00 0.000 6 0.000 0.076 2696 2110 3900

742 -0.78 -117.3 66.5 -11.1 151 748 0.00 2.38 0.00 0.000 4 0.000 0.089 2696 3519 3901

841 -0.78 -117.3 77.7 -10.4 172 847 0.00 2.25 0.00 0.000 6 0.000 0.054 2696 2091 3901

986 -0.78 -117.3 92.7 -10.3 203 992 0.00 2.38 0.00 0.000 4 0.000 0.083 2697 3514 3900

1058 -0.78 -117.3 100.4 -10.9 218 1064 0.00 2.22 0.00 0.000 6 0.000 0.053 2697 2096 3900

1105 end dive: TARGET_DEPTH_EXCEEDED

state 1105 begin apogee

1109 -0.16 0.0 105.4 9.9 228 1200 0.62 0.00 84.68 0.684 6 0.156 0.000 2894 2095 3417

1200 end apogee: CONTROL_FINISHED_OK

state 1201 begin climb

1202 0.78 117.3 107.0 0.0 245 1299 0.85 2.35 86.12 0.673 4 0.087 0.057 3203 703 2938

1317 0.78 117.3 94.5 16.9 267 1323 0.00 2.30 0.00 0.000 6 0.000 0.051 3202 2119 2938

1463 0.78 117.3 67.3 18.0 298 1469 0.00 2.28 0.00 0.000 4 0.000 0.061 3203 3515 2938

1475 0.78 117.3 65.0 17.7 300 1481 0.00 2.22 0.00 0.000 6 0.000 0.045 3214 2104 2937

1621 0.78 117.3 38.7 17.8 331 1626 0.00 0.00 0.00 0.000 6 0.000 0.000 3214 2099 2937

1696 0.78 117.3 25.4 17.2 347 1702 0.00 2.22 0.00 0.000 4 0.000 0.057 3224 693 2936

1720 0.78 117.3 21.3 16.6 352 1726 0.00 2.20 0.00 0.000 6 0.000 0.051 3224 2101 2936

1796 0.78 117.3 9.1 15.7 368 1802 0.00 2.22 0.00 0.000 4 0.000 0.054 3235 690 2936

1833 end climb: SURFACE_DEPTH_REACHED

state 1834 begin surface coast

1866 end surface coast: CONTROL_FINISHED_OK

state 1866 begin surface

ID	170	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	165	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	5	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3698	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	480	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	INT_PRESSURE_YINT	-0.60000002
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	460	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3418	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	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	-9392.04	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	120	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	139	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3933	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2950	PRESSURE_YINT	-62.362949	SEABIRD_T_G	0.0043652086
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063100836
MASS	51437	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5667814e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.9083003e-06
FERRY_MAX	45	PITCH_GAIN	31	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8859177
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1208299
HD_A	0.003	PITCH_AD_RATE	155	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010195741
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016822568
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	225602,4807.895,-12223.075,14,1.4,32,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.106,-0.209
_SM_DEPTHo	1.15	KALMAN_X	-246.8,-139.7,-89.3,782.1,-18.7
_SM_ANGLEo	-76.8	KALMAN_Y	-220.2,16.6,31.6,1413.0,-92.7
GPS2	230050,4807.886,-12223.088,12,1.3,12,18.3	MHEAD_RNG_PITCHd_Wd	134.8,3743,-19.7,-10.000
SPEED_LIMITS	0.173,0.235	D_GRID	105

FINISH	3.3,1.018404	XPDR_PINGS	0
SM_CCo	1884,266.15,0.628,0,0,1460,480.05	_24V_AH	24.7,0.996
SM_GC	1.41,0.00,0.00,266.15,0.000,0.000,0.628,134,2107,1460,-8.80,0.20,480.05	_10V_AH	10.8,0.326
IRIDIUM_FIX	4748.51,-12224.57,091098,222238	DATA_FILE_SIZE	12759,383
TT8_MAMPS	0.026078	CAP_FILE_SIZE	41551,0
HUMID	1923	CFSIZE	260165632,256278528
INTERNAL_PRESSURE	9.15623	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
TCM_TEMP	19.10	GPS	150709,233820,4807.722,-12223.048,11,1.2,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	246	124.60	SBE_CT	254	24	150.93
Roll_motor	36	88	80.10	SBE_O2	190	19	89.52
VBD_pump_during_apogee	170	684	2886.32	nil	0	0	0.00
VBD_pump_during_surface	266	628	4129.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	62.59	nil	0	0	0.00
Iridium_during_connect	22	160	89.38	nil	0	0	0.00
Iridium_during_xfer	162	223	896.45
Transponder_ping	0	420	7.78
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.98
TT8	562	19	120.27
LPSleep	494	2	11.69
TT8_Active	554	19	118.52
TT8_Sampling	577	39	248.26
TT8_CF8	270	45	133.66
TT8_Kalman	33	81	29.44
Analog_circuits	903	12	117.13
GPS_charging	0	0	0.00
Compass	570	8	49.30
RAFOS	0	0	0.00
Transponder	5	30	1.83

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.78	-117.3	0.0	0.0	0	126	0.00	0.00	-109.65	0.000	2	0.000	0.000	134	2115	3284
129	-0.78	-117.3	3.3	-4.3	21	163	10.23	2.30	-15.82	0.000	4	0.247	0.073	2697	675	3898
426	-0.78	-117.3	31.8	-10.8	84	432	0.00	2.33	0.00	0.000	6	0.000	0.075	2696	2093	3901
502	-0.78	-117.3	39.8	-10.4	100	508	0.00	2.22	0.00	0.000	4	0.000	0.058	2696	688	3900
597	-0.78	-117.3	50.4	-11.2	120	603	0.00	2.33	0.00	0.000	6	0.000	0.076	2696	2110	3900
742	-0.78	-117.3	66.5	-11.1	151	748	0.00	2.38	0.00	0.000	4	0.000	0.089	2696	3519	3901
841	-0.78	-117.3	77.7	-10.4	172	847	0.00	2.25	0.00	0.000	6	0.000	0.054	2696	2091	3901
986	-0.78	-117.3	92.7	-10.3	203	992	0.00	2.38	0.00	0.000	4	0.000	0.083	2697	3514	3900
1058	-0.78	-117.3	100.4	-10.9	218	1064	0.00	2.22	0.00	0.000	6	0.000	0.053	2697	2096	3900
1105	end dive: TARGET_DEPTH_EXCEEDED
state	1105	begin apogee
1109	-0.16	0.0	105.4	9.9	228	1200	0.62	0.00	84.68	0.684	6	0.156	0.000	2894	2095	3417
1200	end apogee: CONTROL_FINISHED_OK
state	1201	begin climb
1202	0.78	117.3	107.0	0.0	245	1299	0.85	2.35	86.12	0.673	4	0.087	0.057	3203	703	2938
1317	0.78	117.3	94.5	16.9	267	1323	0.00	2.30	0.00	0.000	6	0.000	0.051	3202	2119	2938
1463	0.78	117.3	67.3	18.0	298	1469	0.00	2.28	0.00	0.000	4	0.000	0.061	3203	3515	2938
1475	0.78	117.3	65.0	17.7	300	1481	0.00	2.22	0.00	0.000	6	0.000	0.045	3214	2104	2937
1621	0.78	117.3	38.7	17.8	331	1626	0.00	0.00	0.00	0.000	6	0.000	0.000	3214	2099	2937
1696	0.78	117.3	25.4	17.2	347	1702	0.00	2.22	0.00	0.000	4	0.000	0.057	3224	693	2936
1720	0.78	117.3	21.3	16.6	352	1726	0.00	2.20	0.00	0.000	6	0.000	0.051	3224	2101	2936
1796	0.78	117.3	9.1	15.7	368	1802	0.00	2.22	0.00	0.000	4	0.000	0.054	3235	690	2936
1833	end climb: SURFACE_DEPTH_REACHED
state	1834	begin surface coast
1866	end surface coast: CONTROL_FINISHED_OK
state	1866	begin surface