Glider dive log

PN07 DabobBay 26Sep07 * SG106 * Dive index * Mission links * Dive 88 * 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 88 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 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 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 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 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 -44943.246 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 3100 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 -44943.246

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 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 19 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 32 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 88 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 014607,4739.544,-12253.177,13,1.1,29,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.231,-0.048

_SM_DEPTHo 1.09 KALMAN_X 1972.4,-31.9,-81.9,-3069.4,-12.1

_SM_ANGLEo -64.2 KALMAN_Y 1530.4,-119.3,-119.5,-1727.1,46.4

GPS2 015132,4739.528,-12253.173,12,1.3,17,18.3 MHEAD_RNG_PITCHd_Wd 83.5,969,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 116

Post-dive calculations and measurements:

FINISH 2.5,1.020379 XPDR_PINGS 0

SM_CCo 2890,119.55,0.581,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.5,51.4

SM_GC 1.06,0.00,0.00,119.55,0.000,0.000,0.581,461,1812,1586,-12.13,0.34,400.08 _24V_AH 23.8,13.235

IRIDIUM_FIX 4722.92,-12253.53,280907,050545 _10V_AH 10.1,35.053

TT8_MAMPS 0.070564 DATA_FILE_SIZE 6449,262

HUMID 2029 CFSIZE 260034560,254386176

INTERNAL_PRESSURE 8.42806 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.70 GPS 280907,024333,4739.582,-12252.705,12,1.5,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 219 170.46 SBE_CT 175 24 100.25

Roll_motor 41 83 82.03 nil 0 0 0.00

VBD_pump_during_apogee 192 679 3117.46 nil 0 0 0.00

VBD_pump_during_surface 119 581 1654.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.05 nil 0 0 0.00

Iridium_during_connect 44 160 167.77 ARS 0 0 0.00

Iridium_during_xfer 137 223 731.41

Transponder_ping 0 420 5.00

Mmodem_TX 20 1000 476.48

Mmodem_RX 3439 6 523.98

GPS 18 50 9.40

TT8 490 19 98.05

LPSleep 1641 2 36.30

TT8_Active 443 19 88.64

TT8_Sampling 476 39 191.74

TT8_CF8 314 45 145.36

TT8_Kalman 33 81 27.53

Analog_circuits 722 12 87.57

GPS_charging 0 0 0.00

Compass 443 8 35.85

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

23 -1.63 -122.2 0.0 0.0 0 80 0.00 0.00 -55.42 0.000 2 0.000 0.000 464 1805 2813

83 -1.63 -122.2 2.0 -3.4 9 138 15.02 2.70 -32.03 0.000 4 0.219 0.083 2742 387 3720

389 -1.63 -122.2 19.7 -5.2 56 395 0.00 2.47 0.00 0.000 6 0.000 0.035 2742 1805 3722

458 -1.63 -122.2 24.0 -5.9 62 462 0.00 2.67 0.00 0.000 4 0.000 0.071 2743 391 3722

482 -1.63 -122.2 25.6 -6.3 63 490 0.00 2.50 0.00 0.000 6 0.000 0.035 2742 1802 3722

679 -1.63 -122.2 37.2 -5.5 79 683 0.00 2.50 0.00 0.000 4 0.000 0.051 2742 3198 3723

717 -1.63 -122.2 39.3 -5.8 81 725 0.00 2.50 0.00 0.000 6 0.000 0.039 2742 1800 3723

918 -1.63 -122.2 50.5 -5.8 97 919 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1799 3723

1103 -1.63 -122.2 60.9 -5.1 112 1107 0.00 2.53 0.00 0.000 4 0.000 0.051 2742 3195 3723

1188 -1.63 -122.2 65.3 -4.8 118 1192 0.00 2.47 0.00 0.000 6 0.000 0.040 2742 1797 3723

1384 -1.63 -122.2 75.3 -5.4 133 1385 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1797 3723

1574 -1.63 -122.2 85.4 -5.5 148 1575 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1797 3722

1763 -1.63 -122.2 95.7 -5.7 163 1767 0.00 2.53 0.00 0.000 4 0.000 0.050 2742 3197 3724

1840 -1.63 -122.2 100.0 -5.6 168 1848 0.00 2.50 0.00 0.000 6 0.000 0.039 2742 1801 3723

1858 end dive: TARGET_DEPTH_EXCEEDED

state 1858 begin apogee

1863 -0.38 0.0 100.8 5.2 170 1969 1.38 0.00 98.07 0.680 6 0.104 0.000 3015 1728 3216

1970 end apogee: CONTROL_FINISHED_OK

state 1970 begin climb

1972 1.63 122.2 101.5 0.0 179 2078 2.00 2.65 94.68 0.651 4 0.051 0.053 3456 3126 2719

2096 1.63 122.2 91.2 11.1 189 2105 0.00 2.53 0.00 0.000 6 0.000 0.041 3457 1745 2718

2293 1.63 122.2 67.2 12.7 205 2294 0.00 0.00 0.00 0.000 6 0.000 0.000 3457 1745 2717

2483 1.63 122.2 43.9 12.0 220 2488 0.00 2.72 0.00 0.000 4 0.000 0.084 3456 331 2717

2534 1.63 122.2 37.1 12.8 223 2542 0.00 2.47 0.00 0.000 6 0.000 0.035 3456 1728 2717

2732 1.63 122.2 14.3 12.9 242 2737 0.00 0.00 0.00 0.000 6 0.000 0.000 3456 1731 2717

2803 1.63 122.2 6.4 11.3 253 2810 0.00 2.70 0.00 0.000 4 0.000 0.078 3457 326 2716

2820 end climb: SURFACE_DEPTH_REACHED

state 2820 begin surface coast

2861 end surface coast: CONTROL_FINISHED_OK

state 2861 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	88	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	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	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	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	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	-44943.246	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	3100	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	014607,4739.544,-12253.177,13,1.1,29,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.231,-0.048
_SM_DEPTHo	1.09	KALMAN_X	1972.4,-31.9,-81.9,-3069.4,-12.1
_SM_ANGLEo	-64.2	KALMAN_Y	1530.4,-119.3,-119.5,-1727.1,46.4
GPS2	015132,4739.528,-12253.173,12,1.3,17,18.3	MHEAD_RNG_PITCHd_Wd	83.5,969,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	116

FINISH	2.5,1.020379	XPDR_PINGS	0
SM_CCo	2890,119.55,0.581,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.5,51.4
SM_GC	1.06,0.00,0.00,119.55,0.000,0.000,0.581,461,1812,1586,-12.13,0.34,400.08	_24V_AH	23.8,13.235
IRIDIUM_FIX	4722.92,-12253.53,280907,050545	_10V_AH	10.1,35.053
TT8_MAMPS	0.070564	DATA_FILE_SIZE	6449,262
HUMID	2029	CFSIZE	260034560,254386176
INTERNAL_PRESSURE	8.42806	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.70	GPS	280907,024333,4739.582,-12252.705,12,1.5,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	219	170.46	SBE_CT	175	24	100.25
Roll_motor	41	83	82.03	nil	0	0	0.00
VBD_pump_during_apogee	192	679	3117.46	nil	0	0	0.00
VBD_pump_during_surface	119	581	1654.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.05	nil	0	0	0.00
Iridium_during_connect	44	160	167.77	ARS	0	0	0.00
Iridium_during_xfer	137	223	731.41
Transponder_ping	0	420	5.00
Mmodem_TX	20	1000	476.48
Mmodem_RX	3439	6	523.98
GPS	18	50	9.40
TT8	490	19	98.05
LPSleep	1641	2	36.30
TT8_Active	443	19	88.64
TT8_Sampling	476	39	191.74
TT8_CF8	314	45	145.36
TT8_Kalman	33	81	27.53
Analog_circuits	722	12	87.57
GPS_charging	0	0	0.00
Compass	443	8	35.85
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
23	-1.63	-122.2	0.0	0.0	0	80	0.00	0.00	-55.42	0.000	2	0.000	0.000	464	1805	2813
83	-1.63	-122.2	2.0	-3.4	9	138	15.02	2.70	-32.03	0.000	4	0.219	0.083	2742	387	3720
389	-1.63	-122.2	19.7	-5.2	56	395	0.00	2.47	0.00	0.000	6	0.000	0.035	2742	1805	3722
458	-1.63	-122.2	24.0	-5.9	62	462	0.00	2.67	0.00	0.000	4	0.000	0.071	2743	391	3722
482	-1.63	-122.2	25.6	-6.3	63	490	0.00	2.50	0.00	0.000	6	0.000	0.035	2742	1802	3722
679	-1.63	-122.2	37.2	-5.5	79	683	0.00	2.50	0.00	0.000	4	0.000	0.051	2742	3198	3723
717	-1.63	-122.2	39.3	-5.8	81	725	0.00	2.50	0.00	0.000	6	0.000	0.039	2742	1800	3723
918	-1.63	-122.2	50.5	-5.8	97	919	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1799	3723
1103	-1.63	-122.2	60.9	-5.1	112	1107	0.00	2.53	0.00	0.000	4	0.000	0.051	2742	3195	3723
1188	-1.63	-122.2	65.3	-4.8	118	1192	0.00	2.47	0.00	0.000	6	0.000	0.040	2742	1797	3723
1384	-1.63	-122.2	75.3	-5.4	133	1385	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1797	3723
1574	-1.63	-122.2	85.4	-5.5	148	1575	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1797	3722
1763	-1.63	-122.2	95.7	-5.7	163	1767	0.00	2.53	0.00	0.000	4	0.000	0.050	2742	3197	3724
1840	-1.63	-122.2	100.0	-5.6	168	1848	0.00	2.50	0.00	0.000	6	0.000	0.039	2742	1801	3723
1858	end dive: TARGET_DEPTH_EXCEEDED
state	1858	begin apogee
1863	-0.38	0.0	100.8	5.2	170	1969	1.38	0.00	98.07	0.680	6	0.104	0.000	3015	1728	3216
1970	end apogee: CONTROL_FINISHED_OK
state	1970	begin climb
1972	1.63	122.2	101.5	0.0	179	2078	2.00	2.65	94.68	0.651	4	0.051	0.053	3456	3126	2719
2096	1.63	122.2	91.2	11.1	189	2105	0.00	2.53	0.00	0.000	6	0.000	0.041	3457	1745	2718
2293	1.63	122.2	67.2	12.7	205	2294	0.00	0.00	0.00	0.000	6	0.000	0.000	3457	1745	2717
2483	1.63	122.2	43.9	12.0	220	2488	0.00	2.72	0.00	0.000	4	0.000	0.084	3456	331	2717
2534	1.63	122.2	37.1	12.8	223	2542	0.00	2.47	0.00	0.000	6	0.000	0.035	3456	1728	2717
2732	1.63	122.2	14.3	12.9	242	2737	0.00	0.00	0.00	0.000	6	0.000	0.000	3456	1731	2717
2803	1.63	122.2	6.4	11.3	253	2810	0.00	2.70	0.00	0.000	4	0.000	0.078	3457	326	2716
2820	end climb: SURFACE_DEPTH_REACHED
state	2820	begin surface coast
2861	end surface coast: CONTROL_FINISHED_OK
state	2861	begin surface