Glider dive log

PortSusan 19May09 * SG501 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 501 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 176 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 8 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3805 ALTIM_PING_DEPTH 80

D_SURF 4.5 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2323 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2323 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 1

D_NO_BLEED 500 SM_CC 700 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 25 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 INT_PRESSURE_YINT 0

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 432 DEVICE2 101

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3291 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 720 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -4 T_GPS 5 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 -1319.5569 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 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 113 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3940 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2725 PRESSURE_YINT -77.782471 SEABIRD_T_G 0.0043285219

RHO 1.0233001 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011616675 SEABIRD_T_H 0.00062656443

MASS 51563.898 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.463825e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7343538e-06

FERRY_MAX 45 PITCH_GAIN 30 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9374466

KALMAN_USE 0 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.125646

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010839187

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00017799769

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 700

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 30 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3940 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4.5 PITCH_MIN 113 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011616675 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -77.782471 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 5

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 -1319.5569

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0233001 T_MISSION 70

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 720

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 501 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3805 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2725 KALMAN_USE 0 ROLL_MIN 176 USE_BATHY -4

C_ROLL_CLIMB 2323 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2323 MASS 51563.898 R_PORT_OVSHOOT 25 VBD_BLEED_AD_RATE 8

C_VBD 3291 MAX_BUOY 150 R_STBD_OVSHOOT 20 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.9374466 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.125646 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010839187 VBD_MAXERRORS 1

DEVICE2 101 N_FILEKB 4 SEABIRD_C_J 0.00017799769 VBD_MIN 432

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043285219 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062656443 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.463825e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7343538e-06 XPDR_DEVICE 24

DIVE 8 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 -1

Pre-dive calculations and measurements:

GPS1 032401,4806.604,-12222.641,9,1.3,14,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 6 TGT_RADIUS 200.000

_XMS_TOUTs 1 KALMAN_CONTROL 0.173,-0.194

_SM_DEPTHo 1.69 KALMAN_X -1053.8,-566.6,-162.7,1639.8,-60.1

_SM_ANGLEo -77.3 KALMAN_Y -1221.2,-487.6,-153.9,-2593.1,14.9

GPS2 032932,4806.559,-12222.646,15,1.5,15,18.3 MHEAD_RNG_PITCHd_Wd 120.1,1308,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 105

Post-dive calculations and measurements:

FINISH 4.6,1.019325 XPDR_PINGS 4

SM_CCo 2081,338.17,0.511,0,0,431,701.30 _24V_AH 24.6,1.363

SM_GC 1.96,8.23,0.00,0.00,0.058,0.000,0.000,113,2324,428,-8.12,0.06,702.04 _10V_AH 10.6,1.013

IRIDIUM_FIX 4748.51,-12224.57,140898,020202 DATA_FILE_SIZE 25550,431

TT8_MAMPS 0.026078 CAP_FILE_SIZE 45732,0

HUMID 1827 CFSIZE 260165632,258568192

INTERNAL_PRESSURE 10.5375 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.90 GPS 200509,041314,4806.378,-12222.514,11,1.7,11,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 262 129.87 SBE_CT 287 24 169.66

Roll_motor 27 64 43.23 AA4330 492 33 399.87

VBD_pump_during_apogee 287 591 4189.28 WL_BB2F 427 105 1103.69

VBD_pump_during_surface 338 510 4249.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 31 103 79.07 nil 0 0 0.00

Iridium_during_connect 27 160 108.88 nil 0 0 0.00

Iridium_during_xfer 199 223 1095.92

Transponder_ping 1 420 18.08

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.15

TT8 629 19 132.07

LPSleep 539 2 12.53

TT8_Active 686 19 144.07

TT8_Sampling 707 39 298.28

TT8_CF8 311 45 151.31

TT8_Kalman 33 81 28.89

Analog_circuits 1094 12 139.20

GPS_charging 0 0 0.00

Compass 688 8 58.40

RAFOS 0 0 0.00

Transponder 5 30 1.89

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 13 begin dive

14 -0.76 -146.6 0.0 0.0 0 100 0.00 0.00 -83.68 0.000 2 0.000 0.000 108 2320 2768

102 -0.76 -146.6 3.1 -2.7 15 150 10.23 2.25 -30.27 0.000 4 0.262 0.064 2470 902 3890

402 -0.76 -146.6 48.3 -17.2 80 408 0.00 2.28 0.00 0.000 6 0.000 0.056 2470 2325 3893

546 -0.76 -146.6 74.8 -18.6 111 552 0.00 2.22 0.00 0.000 4 0.000 0.049 2470 912 3892

655 -0.76 -146.6 93.0 -16.6 134 661 0.00 2.25 0.00 0.000 6 0.000 0.054 2470 2333 3893

727 end dive: TARGET_DEPTH_EXCEEDED

state 728 begin apogee

731 -0.17 0.0 105.6 18.0 150 842 0.62 0.00 106.68 0.591 6 0.160 0.000 2660 2333 3291

843 end apogee: CONTROL_FINISHED_OK

state 843 begin climb

844 0.76 146.6 111.3 0.0 170 961 0.93 2.35 107.90 0.571 4 0.109 0.054 2959 916 2693

1012 0.77 151.5 103.2 9.8 202 1024 0.00 2.30 5.50 0.453 6 0.000 0.051 2959 2320 2673

1161 0.77 151.5 86.6 11.0 234 1166 0.00 0.00 0.00 0.000 6 0.000 0.000 2959 2320 2671

1302 0.77 151.5 71.2 10.7 265 1308 0.00 2.28 0.00 0.000 4 0.000 0.054 2959 904 2670

1382 0.78 162.7 63.3 9.5 282 1400 0.00 2.28 9.50 0.524 6 0.000 0.051 2959 2337 2627

1538 0.79 168.5 47.4 9.7 315 1550 0.00 2.28 5.97 0.476 4 0.000 0.054 2959 912 2603

1606 0.81 185.9 40.9 9.2 329 1625 0.00 2.28 14.25 0.535 6 0.000 0.052 2959 2333 2532

1692 0.81 185.9 32.2 10.3 347 1698 0.00 2.28 0.00 0.000 4 0.000 0.055 2960 913 2532

1707 0.81 185.9 30.6 10.5 350 1713 0.00 2.25 0.00 0.000 6 0.000 0.052 2959 2323 2531

1780 0.81 185.9 22.9 10.2 366 1786 0.00 0.00 0.00 0.000 6 0.000 0.000 2960 2323 2531

1850 0.83 198.1 16.1 9.4 382 1863 0.00 0.00 10.20 0.517 6 0.000 0.000 2959 2323 2482

1929 0.87 235.1 9.5 8.3 399 1964 0.12 0.00 27.98 0.534 6 0.084 0.000 3007 2323 2332

1989 end climb: SURFACE_DEPTH_REACHED

state 1989 begin surface coast

2079 end surface coast: CONTROL_FINISHED_OK

state 2079 begin surface

ID	501	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	176	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	8	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3805	ALTIM_PING_DEPTH	80
D_SURF	4.5	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2323	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2323	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	1
D_NO_BLEED	500	SM_CC	700	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	25	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	INT_PRESSURE_YINT	0
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	432	DEVICE2	101
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3291	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	720	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-4	T_GPS	5	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	-1319.5569	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	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	113	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3940	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2725	PRESSURE_YINT	-77.782471	SEABIRD_T_G	0.0043285219
RHO	1.0233001	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011616675	SEABIRD_T_H	0.00062656443
MASS	51563.898	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.463825e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7343538e-06
FERRY_MAX	45	PITCH_GAIN	30	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9374466
KALMAN_USE	0	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.125646
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010839187
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00017799769
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	032401,4806.604,-12222.641,9,1.3,14,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	6	TGT_RADIUS	200.000
_XMS_TOUTs	1	KALMAN_CONTROL	0.173,-0.194
_SM_DEPTHo	1.69	KALMAN_X	-1053.8,-566.6,-162.7,1639.8,-60.1
_SM_ANGLEo	-77.3	KALMAN_Y	-1221.2,-487.6,-153.9,-2593.1,14.9
GPS2	032932,4806.559,-12222.646,15,1.5,15,18.3	MHEAD_RNG_PITCHd_Wd	120.1,1308,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	105

FINISH	4.6,1.019325	XPDR_PINGS	4
SM_CCo	2081,338.17,0.511,0,0,431,701.30	_24V_AH	24.6,1.363
SM_GC	1.96,8.23,0.00,0.00,0.058,0.000,0.000,113,2324,428,-8.12,0.06,702.04	_10V_AH	10.6,1.013
IRIDIUM_FIX	4748.51,-12224.57,140898,020202	DATA_FILE_SIZE	25550,431
TT8_MAMPS	0.026078	CAP_FILE_SIZE	45732,0
HUMID	1827	CFSIZE	260165632,258568192
INTERNAL_PRESSURE	10.5375	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.90	GPS	200509,041314,4806.378,-12222.514,11,1.7,11,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	262	129.87	SBE_CT	287	24	169.66
Roll_motor	27	64	43.23	AA4330	492	33	399.87
VBD_pump_during_apogee	287	591	4189.28	WL_BB2F	427	105	1103.69
VBD_pump_during_surface	338	510	4249.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	31	103	79.07	nil	0	0	0.00
Iridium_during_connect	27	160	108.88	nil	0	0	0.00
Iridium_during_xfer	199	223	1095.92
Transponder_ping	1	420	18.08
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.15
TT8	629	19	132.07
LPSleep	539	2	12.53
TT8_Active	686	19	144.07
TT8_Sampling	707	39	298.28
TT8_CF8	311	45	151.31
TT8_Kalman	33	81	28.89
Analog_circuits	1094	12	139.20
GPS_charging	0	0	0.00
Compass	688	8	58.40
RAFOS	0	0	0.00
Transponder	5	30	1.89

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	13	begin dive
14	-0.76	-146.6	0.0	0.0	0	100	0.00	0.00	-83.68	0.000	2	0.000	0.000	108	2320	2768
102	-0.76	-146.6	3.1	-2.7	15	150	10.23	2.25	-30.27	0.000	4	0.262	0.064	2470	902	3890
402	-0.76	-146.6	48.3	-17.2	80	408	0.00	2.28	0.00	0.000	6	0.000	0.056	2470	2325	3893
546	-0.76	-146.6	74.8	-18.6	111	552	0.00	2.22	0.00	0.000	4	0.000	0.049	2470	912	3892
655	-0.76	-146.6	93.0	-16.6	134	661	0.00	2.25	0.00	0.000	6	0.000	0.054	2470	2333	3893
727	end dive: TARGET_DEPTH_EXCEEDED
state	728	begin apogee
731	-0.17	0.0	105.6	18.0	150	842	0.62	0.00	106.68	0.591	6	0.160	0.000	2660	2333	3291
843	end apogee: CONTROL_FINISHED_OK
state	843	begin climb
844	0.76	146.6	111.3	0.0	170	961	0.93	2.35	107.90	0.571	4	0.109	0.054	2959	916	2693
1012	0.77	151.5	103.2	9.8	202	1024	0.00	2.30	5.50	0.453	6	0.000	0.051	2959	2320	2673
1161	0.77	151.5	86.6	11.0	234	1166	0.00	0.00	0.00	0.000	6	0.000	0.000	2959	2320	2671
1302	0.77	151.5	71.2	10.7	265	1308	0.00	2.28	0.00	0.000	4	0.000	0.054	2959	904	2670
1382	0.78	162.7	63.3	9.5	282	1400	0.00	2.28	9.50	0.524	6	0.000	0.051	2959	2337	2627
1538	0.79	168.5	47.4	9.7	315	1550	0.00	2.28	5.97	0.476	4	0.000	0.054	2959	912	2603
1606	0.81	185.9	40.9	9.2	329	1625	0.00	2.28	14.25	0.535	6	0.000	0.052	2959	2333	2532
1692	0.81	185.9	32.2	10.3	347	1698	0.00	2.28	0.00	0.000	4	0.000	0.055	2960	913	2532
1707	0.81	185.9	30.6	10.5	350	1713	0.00	2.25	0.00	0.000	6	0.000	0.052	2959	2323	2531
1780	0.81	185.9	22.9	10.2	366	1786	0.00	0.00	0.00	0.000	6	0.000	0.000	2960	2323	2531
1850	0.83	198.1	16.1	9.4	382	1863	0.00	0.00	10.20	0.517	6	0.000	0.000	2959	2323	2482
1929	0.87	235.1	9.5	8.3	399	1964	0.12	0.00	27.98	0.534	6	0.084	0.000	3007	2323	2332
1989	end climb: SURFACE_DEPTH_REACHED
state	1989	begin surface coast
2079	end surface coast: CONTROL_FINISHED_OK
state	2079	begin surface