Glider dive log

PLUS INP Jul09 * SG118 * Dive index * Mission links * Dive 6 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 21 ESCAPE_HEADING 180 ROLL_MIN 311 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 6 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3943 ALTIM_PING_DEPTH 150

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 21.83 C_ROLL_DIVE 2400 ALTIM_FREQUENCY 13

D_TGT 180 TGT_DEFAULT_LON -159.78 C_ROLL_CLIMB 2550 ALTIM_PULSE 5

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 300 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 8 ROLL_TIMEOUT 17 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 38 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 INT_PRESSURE_YINT 1.4

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 60 UPLOAD_DIVES_MAX -1 VBD_MIN 582 DEVICE2 -1

T_MISSION 75 CALL_TRIES 5 VBD_MAX 3956 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 30 C_VBD 2937 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 1

USE_BATHY 0 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 3

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 500 T_GPS_CHARGE -85818.133 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 50 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 0 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE -1

COURSE_BIAS 0 PITCH_MIN 428 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3730 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2970 PRESSURE_YINT -8.3219604 SEABIRD_T_G 0.0043077655

RHO 1.0275 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063814409

MASS 51726 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.4031482e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4698193e-06

FERRY_MAX 45 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826059

KALMAN_USE 1 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1260695

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0021108589

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00021799213

HD_C 9.8541004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 1

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 300

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 500 PITCH_GAIN 10 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3730 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 4 PITCH_MIN 428 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 150 D_TGT 180 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 5 ESCAPE_HEADING 180 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -8.3219604 TGT_DEFAULT_LAT 21.83

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -159.78

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 60

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 30 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -85818.133

CAPMAXSIZE 100000 HD_C 9.8541004e-06 RHO 1.0275 T_MISSION 75

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 118 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3943 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 1.4 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2970 KALMAN_USE 1 ROLL_MIN 311 USE_BATHY 0

C_ROLL_CLIMB 2550 KERMIT 0 ROLL_TIMEOUT 17 USE_ICE 0

C_ROLL_DIVE 2400 MASS 51726 R_PORT_OVSHOOT 38 VBD_BLEED_AD_RATE 8

C_VBD 2937 MAX_BUOY 150 R_STBD_OVSHOOT 33 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 21 SEABIRD_C_G -9.9826059 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1260695 VBD_MAX 3956

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0021108589 VBD_MAXERRORS 1

DEVICE2 -1 N_FILEKB 8 SEABIRD_C_J 0.00021799213 VBD_MIN 582

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043077655 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063814409 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.4031482e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4698193e-06 XPDR_DEVICE -1

DIVE 6 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 3

Pre-dive calculations and measurements:

GPS1 045031,2155.994,-15941.980,45,1.5,45,9.8 TGT_LATLONG 2150.420,-15941.560

_CALLS 1 TGT_RADIUS 500.000

_XMS_NAKs 16 KALMAN_CONTROL 0.044,-0.256

_XMS_TOUTs 1 KALMAN_X -100.3,3.1,31.9,-130.3,-84.2

_SM_DEPTHo 1.14 KALMAN_Y 1770.0,1077.6,138.0,-3177.7,34.8

_SM_ANGLEo -63.2 MHEAD_RNG_PITCHd_Wd 160.4,10353,-18.3,-10.000

GPS2 050201,2155.990,-15942.070,14,1.5,31,9.8 D_GRID 180

SPEED_LIMITS 0.173,0.260 MM_IGNORESAMPLERETURN 0.0

TGT_NAME T2

Post-dive calculations and measurements:

FINISH 0.3,1.009411 MM_CLLLayer 0.03

SM_CCo 3325,0.00,0.000,0,0,1507,350.78 MM_CfgFile 0.30

SM_GC 1.26,13.15,0.00,0.00,0.026,0.000,0.000,417,2392,1507,-11.66,-0.20,350.78 _24V_AH 24.2,16.671

IRIDIUM_FIX 2148.09,-15940.77,231098,030326 _10V_AH 10.1,22.751

TT8_MAMPS 0.06136 DATA_FILE_SIZE 9606,303

HUMID 1798 CAP_FILE_SIZE 118249,0

INTERNAL_PRESSURE 10.1796 CFSIZE -70647808,-80019456

TCM_TEMP 24.30 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

MM_GliderControlLayer 0.41 GPS 290709,055927,2155.572,-15942.048,8,1.8,22,9.8

MM_CommsStack 0.86

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 124 84.34 SBE_CT 202 24 117.88

Roll_motor 24 56 34.06 nil 0 0 0.00

VBD_pump_during_apogee 367 539 4805.47 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 29 103 73.73 nil 0 0 0.00

Iridium_during_connect 26 160 102.55 GUMSTIX 49 1000 1192.02

Iridium_during_xfer 342 223 1846.96

Transponder_ping 0 0 0.00

undefined 0 0 0.00

Mmodem_24V 242 1000 5859.43

GPS 31 50 15.79

TT8 592 18 107.63

LPSleep 1481 0 5.84

TT8_Active 372 18 67.73

TT8_Sampling 578 38 221.97

TT8_CF8 991 44 440.73

TT8_Kalman 33 80 26.92

Analog_circuits 749 12 90.82

GPS_charging 0 0 0.00

Compass 538 8 43.53

RAFOS 0 0 0.00

Transponder 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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

20 -2.00 -146.0 0.0 0.0 0 79 0.00 0.00 -57.03 0.000 2 0.000 0.000 420 2381 3388

86 -2.00 -146.0 3.3 -6.8 8 108 10.85 2.42 -2.20 0.000 4 0.124 0.057 2529 1000 3537

249 -2.00 -146.0 47.1 -19.1 24 256 0.00 2.30 0.00 0.000 6 0.000 0.022 2529 2409 3537

450 -2.00 -146.0 79.4 -15.8 43 454 0.00 2.45 0.00 0.000 4 0.000 0.040 2529 3793 3538

513 -2.00 -146.0 88.4 -15.4 47 520 0.00 2.40 0.00 0.000 6 0.000 0.024 2529 2401 3538

847 -2.00 -146.0 137.6 -13.3 78 851 0.00 2.50 0.00 0.000 4 0.000 0.040 2529 3794 3538

890 -2.00 -146.0 144.1 -13.9 81 894 0.00 2.42 0.00 0.000 6 0.000 0.025 2529 2390 3538

1159 end dive: TARGET_DEPTH_EXCEEDED

state 1159 begin apogee

1172 -0.50 0.0 181.0 11.5 106 1285 1.50 0.00 108.25 0.540 6 0.066 0.000 2856 2564 2937

1291 end apogee: CONTROL_FINISHED_OK

state 1291 begin climb

1297 2.00 146.0 183.2 0.0 117 1414 2.38 0.00 106.95 0.536 6 0.038 0.000 3419 2563 2340

1740 2.10 225.9 156.0 6.3 157 1812 0.00 0.00 59.60 0.520 6 0.000 0.000 3418 2564 2015

2130 2.10 225.9 116.0 10.5 194 2134 0.00 2.45 0.00 0.000 4 0.000 0.046 3419 3912 2011

2211 2.10 225.9 106.5 11.3 200 2218 0.00 2.40 0.00 0.000 6 0.000 0.027 3418 2534 2011

2539 2.10 225.9 71.6 10.8 231 2546 0.00 0.00 0.00 0.000 6 0.000 0.000 3418 2534 2010

2868 2.25 347.7 43.0 4.4 262 2970 0.17 2.58 92.95 0.462 4 0.039 0.043 3478 3908 1519

3133 2.25 347.7 13.7 13.7 287 3140 0.00 2.38 0.00 0.000 6 0.000 0.025 3478 2545 1513

3198 end climb: SURFACE_DEPTH_REACHED

state 3198 begin surface coast

3230 end surface coast: CONTROL_FINISHED_OK

state 3230 begin surface

ID	118	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	21	ESCAPE_HEADING	180	ROLL_MIN	311	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	6	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3943	ALTIM_PING_DEPTH	150
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	21.83	C_ROLL_DIVE	2400	ALTIM_FREQUENCY	13
D_TGT	180	TGT_DEFAULT_LON	-159.78	C_ROLL_CLIMB	2550	ALTIM_PULSE	5
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	300	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	8	ROLL_TIMEOUT	17	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	38	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	INT_PRESSURE_YINT	1.4
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	60	UPLOAD_DIVES_MAX	-1	VBD_MIN	582	DEVICE2	-1
T_MISSION	75	CALL_TRIES	5	VBD_MAX	3956	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	30	C_VBD	2937	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	1
USE_BATHY	0	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	3
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	500	T_GPS_CHARGE	-85818.133	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	50	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	0	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	-1
COURSE_BIAS	0	PITCH_MIN	428	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3730	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2970	PRESSURE_YINT	-8.3219604	SEABIRD_T_G	0.0043077655
RHO	1.0275	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063814409
MASS	51726	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.4031482e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4698193e-06
FERRY_MAX	45	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826059
KALMAN_USE	1	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1260695
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0021108589
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00021799213
HD_C	9.8541004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	045031,2155.994,-15941.980,45,1.5,45,9.8	TGT_LATLONG	2150.420,-15941.560
_CALLS	1	TGT_RADIUS	500.000
_XMS_NAKs	16	KALMAN_CONTROL	0.044,-0.256
_XMS_TOUTs	1	KALMAN_X	-100.3,3.1,31.9,-130.3,-84.2
_SM_DEPTHo	1.14	KALMAN_Y	1770.0,1077.6,138.0,-3177.7,34.8
_SM_ANGLEo	-63.2	MHEAD_RNG_PITCHd_Wd	160.4,10353,-18.3,-10.000
GPS2	050201,2155.990,-15942.070,14,1.5,31,9.8	D_GRID	180
SPEED_LIMITS	0.173,0.260	MM_IGNORESAMPLERETURN	0.0
TGT_NAME	T2

FINISH	0.3,1.009411	MM_CLLLayer	0.03
SM_CCo	3325,0.00,0.000,0,0,1507,350.78	MM_CfgFile	0.30
SM_GC	1.26,13.15,0.00,0.00,0.026,0.000,0.000,417,2392,1507,-11.66,-0.20,350.78	_24V_AH	24.2,16.671
IRIDIUM_FIX	2148.09,-15940.77,231098,030326	_10V_AH	10.1,22.751
TT8_MAMPS	0.06136	DATA_FILE_SIZE	9606,303
HUMID	1798	CAP_FILE_SIZE	118249,0
INTERNAL_PRESSURE	10.1796	CFSIZE	-70647808,-80019456
TCM_TEMP	24.30	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
MM_GliderControlLayer	0.41	GPS	290709,055927,2155.572,-15942.048,8,1.8,22,9.8
MM_CommsStack	0.86

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	124	84.34	SBE_CT	202	24	117.88
Roll_motor	24	56	34.06	nil	0	0	0.00
VBD_pump_during_apogee	367	539	4805.47	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	29	103	73.73	nil	0	0	0.00
Iridium_during_connect	26	160	102.55	GUMSTIX	49	1000	1192.02
Iridium_during_xfer	342	223	1846.96
Transponder_ping	0	0	0.00
undefined	0	0	0.00
Mmodem_24V	242	1000	5859.43
GPS	31	50	15.79
TT8	592	18	107.63
LPSleep	1481	0	5.84
TT8_Active	372	18	67.73
TT8_Sampling	578	38	221.97
TT8_CF8	991	44	440.73
TT8_Kalman	33	80	26.92
Analog_circuits	749	12	90.82
GPS_charging	0	0	0.00
Compass	538	8	43.53
RAFOS	0	0	0.00
Transponder	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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
20	-2.00	-146.0	0.0	0.0	0	79	0.00	0.00	-57.03	0.000	2	0.000	0.000	420	2381	3388
86	-2.00	-146.0	3.3	-6.8	8	108	10.85	2.42	-2.20	0.000	4	0.124	0.057	2529	1000	3537
249	-2.00	-146.0	47.1	-19.1	24	256	0.00	2.30	0.00	0.000	6	0.000	0.022	2529	2409	3537
450	-2.00	-146.0	79.4	-15.8	43	454	0.00	2.45	0.00	0.000	4	0.000	0.040	2529	3793	3538
513	-2.00	-146.0	88.4	-15.4	47	520	0.00	2.40	0.00	0.000	6	0.000	0.024	2529	2401	3538
847	-2.00	-146.0	137.6	-13.3	78	851	0.00	2.50	0.00	0.000	4	0.000	0.040	2529	3794	3538
890	-2.00	-146.0	144.1	-13.9	81	894	0.00	2.42	0.00	0.000	6	0.000	0.025	2529	2390	3538
1159	end dive: TARGET_DEPTH_EXCEEDED
state	1159	begin apogee
1172	-0.50	0.0	181.0	11.5	106	1285	1.50	0.00	108.25	0.540	6	0.066	0.000	2856	2564	2937
1291	end apogee: CONTROL_FINISHED_OK
state	1291	begin climb
1297	2.00	146.0	183.2	0.0	117	1414	2.38	0.00	106.95	0.536	6	0.038	0.000	3419	2563	2340
1740	2.10	225.9	156.0	6.3	157	1812	0.00	0.00	59.60	0.520	6	0.000	0.000	3418	2564	2015
2130	2.10	225.9	116.0	10.5	194	2134	0.00	2.45	0.00	0.000	4	0.000	0.046	3419	3912	2011
2211	2.10	225.9	106.5	11.3	200	2218	0.00	2.40	0.00	0.000	6	0.000	0.027	3418	2534	2011
2539	2.10	225.9	71.6	10.8	231	2546	0.00	0.00	0.00	0.000	6	0.000	0.000	3418	2534	2010
2868	2.25	347.7	43.0	4.4	262	2970	0.17	2.58	92.95	0.462	4	0.039	0.043	3478	3908	1519
3133	2.25	347.7	13.7	13.7	287	3140	0.00	2.38	0.00	0.000	6	0.000	0.025	3478	2545	1513
3198	end climb: SURFACE_DEPTH_REACHED
state	3198	begin surface coast
3230	end surface coast: CONTROL_FINISHED_OK
state	3230	begin surface