Glider dive log

SoCal07 Nov07 * SG106 * Dive index * Mission links * Dive 50 * 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 9 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 50 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 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 200 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 32.75 C_ROLL_DIVE 2125 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -117.48 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 350 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 0 R_PORT_OVSHOOT 25 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 30 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 70 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 120 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 3

USE_BATHY 0 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 -55655.449 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 8 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 175 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 71.400002 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.027 C_PITCH 3135 PRESSURE_YINT -9.2469263 SEABIRD_T_I 2.5114456e-05

MASS 51736 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 0 PITCH_GAIN 10 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 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 3

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 10 SM_CC 350

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 2 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 200 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 -9.2469263 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 32.75

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -117.48

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 70

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 1.027 T_GPS_CHARGE -55655.449

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 120

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 8

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 3135 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 50

C_ROLL_DIVE 2125 KALMAN_USE 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51736 R_PORT_OVSHOOT 25 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 175 R_STBD_OVSHOOT 30 USE_ICE 0

DEEPGLIDERMB 0 MISSION 9 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 50 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 235803,3246.138,-11749.344,11,1.8,11,13.1 TGT_NAME H2

_CALLS 1 TGT_LATLONG 3246.000,-11749.190

_XMS_NAKs 0 TGT_RADIUS 500.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.087,-0.140

_SM_DEPTHo 0.31 KALMAN_X 5239.4,67.5,-149.1,-5702.3,408.2

_SM_ANGLEo -62.2 KALMAN_Y 7608.9,77.5,-149.8,-8554.6,239.2

GPS2 000617,3246.129,-11749.263,12,7.6,31,13.1 MHEAD_RNG_PITCHd_Wd 198.9,264,-27.8,-9.524

SPEED_LIMITS 0.165,0.274 D_GRID 200

Post-dive calculations and measurements:

FINISH 0.0,1.024256 XPDR_PINGS 0

SM_CCo 3540,100.18,0.601,0,0,1790,350.04 ALTIM_BOTTOM_PING 51.8,53.2

SM_GC 0.33,0.00,0.00,100.18,0.000,0.000,0.601,461,2127,1790,-12.30,0.06,350.04 _24V_AH 23.7,29.629

IRIDIUM_FIX 3236.51,-11755.30,171107,020251 _10V_AH 9.9,22.872

TT8_MAMPS 0.088972 DATA_FILE_SIZE 9576,294

HUMID 1869 CFSIZE 260034560,255066112

INTERNAL_PRESSURE 8.48665 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.00 GPS 171107,010907,3246.079,-11749.467,38,1.7,44,13.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 34 213 175.48 SBE_CT 197 24 112.37

Roll_motor 51 71 87.65 nil 0 0 0.00

VBD_pump_during_apogee 161 750 2864.92 nil 0 0 0.00

VBD_pump_during_surface 100 601 1427.64 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 97.18 nil 0 0 0.00

Iridium_during_connect 25 160 96.43 ARS 3805 25 2265.76

Iridium_during_xfer 230 223 1219.01

Transponder_ping 0 420 4.98

Mmodem_TX 9 1000 227.28

Mmodem_RX 4214 6 639.24

GPS 32 50 16.04

TT8 534 19 104.77

LPSleep 2089 2 45.31

TT8_Active 375 19 73.65

TT8_Sampling 660 39 260.11

TT8_CF8 466 45 211.66

TT8_Kalman 33 81 26.99

Analog_circuits 720 12 85.65

GPS_charging 0 0 0.00

Compass 602 8 47.71

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

27 end surface: CONTROL_FINISHED_OK

state 27 begin dive

31 -2.85 -58.6 0.0 0.0 0 104 0.00 0.00 -70.32 0.000 6 0.000 0.000 463 2130 3459

108 -2.88 -82.9 2.6 -6.9 12 132 13.27 2.60 -2.05 0.000 4 0.214 0.065 2500 3524 3559

264 -2.88 -82.9 29.9 -15.1 32 269 0.00 2.45 0.00 0.000 6 0.000 0.031 2500 2104 3560

460 -2.88 -82.9 56.3 -12.5 47 464 0.00 2.58 0.00 0.000 4 0.000 0.050 2500 3533 3563

591 -2.88 -82.9 72.8 -12.5 56 597 0.00 2.45 0.00 0.000 6 0.000 0.030 2500 2125 3564

787 -2.88 -82.9 96.4 -11.9 72 791 0.00 2.53 0.00 0.000 4 0.000 0.050 2500 3526 3564

861 -2.88 -82.9 105.0 -11.8 77 865 0.00 2.42 0.00 0.000 6 0.000 0.031 2500 2117 3564

1056 -2.88 -82.9 127.1 -10.5 92 1060 0.00 2.55 0.00 0.000 4 0.000 0.051 2500 3533 3565

1147 -2.88 -82.9 136.9 -10.8 98 1154 0.00 2.42 0.00 0.000 6 0.000 0.033 2500 2125 3565

1344 -2.88 -82.9 157.1 -9.9 114 1348 0.00 2.53 0.00 0.000 4 0.000 0.057 2500 734 3565

1474 -2.88 -82.9 170.7 -10.6 123 1481 0.00 2.45 0.00 0.000 6 0.000 0.031 2500 2129 3565

1671 -2.88 -82.9 190.3 -10.1 139 1675 0.00 2.53 0.00 0.000 4 0.000 0.054 2499 3528 3565

1748 -2.88 -82.9 199.0 -12.0 144 1755 0.00 2.45 0.00 0.000 6 0.000 0.034 2500 2126 3565

1766 end dive: TARGET_DEPTH_EXCEEDED

state 1766 begin apogee

1773 -0.50 0.0 201.0 10.7 146 1846 2.75 0.00 68.72 0.750 6 0.131 0.000 3021 1744 3218

1854 end apogee: CONTROL_FINISHED_OK

state 1854 begin climb

1857 2.88 82.9 202.9 0.0 152 1928 3.28 0.00 64.88 0.734 6 0.041 0.000 3776 1744 2880

2112 2.88 82.9 168.5 16.9 173 2116 0.00 2.65 0.00 0.000 4 0.000 0.071 3776 338 2878

2369 2.88 82.9 127.4 16.2 192 2373 0.00 2.45 0.00 0.000 6 0.000 0.032 3776 1743 2877

2564 2.88 82.9 99.3 13.2 207 2569 0.00 2.67 0.00 0.000 4 0.000 0.071 3775 335 2876

2822 2.88 82.9 64.4 12.8 226 2826 0.00 2.42 0.00 0.000 6 0.000 0.032 3776 1735 2876

3024 2.88 82.9 42.8 10.0 242 3028 0.00 2.65 0.00 0.000 4 0.000 0.071 3776 339 2875

3282 2.91 109.3 20.5 6.7 261 3306 0.00 2.42 19.20 0.678 6 0.000 0.031 3776 1739 2771

3373 2.93 120.5 13.4 8.3 274 3390 0.00 2.75 8.35 0.686 4 0.000 0.070 3776 338 2725

3487 end climb: SURFACE_DEPTH_REACHED

state 3487 begin surface coast

3501 end surface coast: CONTROL_FINISHED_OK

state 3503 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	9	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	50	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	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	200	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	32.75	C_ROLL_DIVE	2125	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-117.48	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	350	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	0	R_PORT_OVSHOOT	25	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	30	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	70	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	120	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	3
USE_BATHY	0	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	-55655.449	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	8	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	175	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	71.400002	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.027	C_PITCH	3135	PRESSURE_YINT	-9.2469263	SEABIRD_T_I	2.5114456e-05
MASS	51736	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	0	PITCH_GAIN	10	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	235803,3246.138,-11749.344,11,1.8,11,13.1	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	3246.000,-11749.190
_XMS_NAKs	0	TGT_RADIUS	500.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.087,-0.140
_SM_DEPTHo	0.31	KALMAN_X	5239.4,67.5,-149.1,-5702.3,408.2
_SM_ANGLEo	-62.2	KALMAN_Y	7608.9,77.5,-149.8,-8554.6,239.2
GPS2	000617,3246.129,-11749.263,12,7.6,31,13.1	MHEAD_RNG_PITCHd_Wd	198.9,264,-27.8,-9.524
SPEED_LIMITS	0.165,0.274	D_GRID	200

FINISH	0.0,1.024256	XPDR_PINGS	0
SM_CCo	3540,100.18,0.601,0,0,1790,350.04	ALTIM_BOTTOM_PING	51.8,53.2
SM_GC	0.33,0.00,0.00,100.18,0.000,0.000,0.601,461,2127,1790,-12.30,0.06,350.04	_24V_AH	23.7,29.629
IRIDIUM_FIX	3236.51,-11755.30,171107,020251	_10V_AH	9.9,22.872
TT8_MAMPS	0.088972	DATA_FILE_SIZE	9576,294
HUMID	1869	CFSIZE	260034560,255066112
INTERNAL_PRESSURE	8.48665	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.00	GPS	171107,010907,3246.079,-11749.467,38,1.7,44,13.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	34	213	175.48	SBE_CT	197	24	112.37
Roll_motor	51	71	87.65	nil	0	0	0.00
VBD_pump_during_apogee	161	750	2864.92	nil	0	0	0.00
VBD_pump_during_surface	100	601	1427.64	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	97.18	nil	0	0	0.00
Iridium_during_connect	25	160	96.43	ARS	3805	25	2265.76
Iridium_during_xfer	230	223	1219.01
Transponder_ping	0	420	4.98
Mmodem_TX	9	1000	227.28
Mmodem_RX	4214	6	639.24
GPS	32	50	16.04
TT8	534	19	104.77
LPSleep	2089	2	45.31
TT8_Active	375	19	73.65
TT8_Sampling	660	39	260.11
TT8_CF8	466	45	211.66
TT8_Kalman	33	81	26.99
Analog_circuits	720	12	85.65
GPS_charging	0	0	0.00
Compass	602	8	47.71
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
27	end surface: CONTROL_FINISHED_OK
state	27	begin dive
31	-2.85	-58.6	0.0	0.0	0	104	0.00	0.00	-70.32	0.000	6	0.000	0.000	463	2130	3459
108	-2.88	-82.9	2.6	-6.9	12	132	13.27	2.60	-2.05	0.000	4	0.214	0.065	2500	3524	3559
264	-2.88	-82.9	29.9	-15.1	32	269	0.00	2.45	0.00	0.000	6	0.000	0.031	2500	2104	3560
460	-2.88	-82.9	56.3	-12.5	47	464	0.00	2.58	0.00	0.000	4	0.000	0.050	2500	3533	3563
591	-2.88	-82.9	72.8	-12.5	56	597	0.00	2.45	0.00	0.000	6	0.000	0.030	2500	2125	3564
787	-2.88	-82.9	96.4	-11.9	72	791	0.00	2.53	0.00	0.000	4	0.000	0.050	2500	3526	3564
861	-2.88	-82.9	105.0	-11.8	77	865	0.00	2.42	0.00	0.000	6	0.000	0.031	2500	2117	3564
1056	-2.88	-82.9	127.1	-10.5	92	1060	0.00	2.55	0.00	0.000	4	0.000	0.051	2500	3533	3565
1147	-2.88	-82.9	136.9	-10.8	98	1154	0.00	2.42	0.00	0.000	6	0.000	0.033	2500	2125	3565
1344	-2.88	-82.9	157.1	-9.9	114	1348	0.00	2.53	0.00	0.000	4	0.000	0.057	2500	734	3565
1474	-2.88	-82.9	170.7	-10.6	123	1481	0.00	2.45	0.00	0.000	6	0.000	0.031	2500	2129	3565
1671	-2.88	-82.9	190.3	-10.1	139	1675	0.00	2.53	0.00	0.000	4	0.000	0.054	2499	3528	3565
1748	-2.88	-82.9	199.0	-12.0	144	1755	0.00	2.45	0.00	0.000	6	0.000	0.034	2500	2126	3565
1766	end dive: TARGET_DEPTH_EXCEEDED
state	1766	begin apogee
1773	-0.50	0.0	201.0	10.7	146	1846	2.75	0.00	68.72	0.750	6	0.131	0.000	3021	1744	3218
1854	end apogee: CONTROL_FINISHED_OK
state	1854	begin climb
1857	2.88	82.9	202.9	0.0	152	1928	3.28	0.00	64.88	0.734	6	0.041	0.000	3776	1744	2880
2112	2.88	82.9	168.5	16.9	173	2116	0.00	2.65	0.00	0.000	4	0.000	0.071	3776	338	2878
2369	2.88	82.9	127.4	16.2	192	2373	0.00	2.45	0.00	0.000	6	0.000	0.032	3776	1743	2877
2564	2.88	82.9	99.3	13.2	207	2569	0.00	2.67	0.00	0.000	4	0.000	0.071	3775	335	2876
2822	2.88	82.9	64.4	12.8	226	2826	0.00	2.42	0.00	0.000	6	0.000	0.032	3776	1735	2876
3024	2.88	82.9	42.8	10.0	242	3028	0.00	2.65	0.00	0.000	4	0.000	0.071	3776	339	2875
3282	2.91	109.3	20.5	6.7	261	3306	0.00	2.42	19.20	0.678	6	0.000	0.031	3776	1739	2771
3373	2.93	120.5	13.4	8.3	274	3390	0.00	2.75	8.35	0.686	4	0.000	0.070	3776	338	2725
3487	end climb: SURFACE_DEPTH_REACHED
state	3487	begin surface coast
3501	end surface coast: CONTROL_FINISHED_OK
state	3503	begin surface