Glider dive log

PortSusan 10Jul07 * SG112 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 112 HD_B 0.0138418 PITCH_AD_RATE 100 ALTIM_TOP_PING_RANGE 20

MISSION 1 HD_C 4.7289599e-05 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 9 HEADING -1 PITCH_ADJ_GAIN 0.029999999 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 145 PITCH_ADJ_DBAND 0.5 ALTIM_TOP_MIN_OBSTACLE 2

D_FLARE 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 166 ALTIM_PING_DEPTH 400

D_TGT 150 FIX_MISSING_TIMEOUT 1 ROLL_MAX 3791 ALTIM_PING_DELTA 50

D_ABORT 200 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 2060 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1870 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 688.85968 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 2 R_PORT_OVSHOOT 13 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 32 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 250 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 3 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0.029999999 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 486 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3897 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3335 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 540 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.1 N_GPS 20 PITCH_VBD_SHIFT 0.00167 COMPASS_DEVICE 49

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -18084.895 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 0.2 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 135 RAFOS_CORR_THRESH 80 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 5400 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 679 AH0_24V 150 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3252 AH0_10V 80 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2269 PRESSURE_YINT -3.7066903 SEABIRD_T_I 2.5554549e-05

MASS 51440 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.129227e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 64 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 24 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038775599 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 64 D_FINISH 0 PITCH_AD_RATE 100 SMARTDEVICE1 -1

AH0_10V 80 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 150 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 24 SM_CC 688.85968

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3252 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 50 D_SURF 2 PITCH_MIN 679 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 400 D_TGT 150 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 145 PITCH_VBD_SHIFT 0.00167 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 9.129227e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 2 FERRY_MAX 0 PRESSURE_YINT -3.7066903 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 1 RAFOS_CORR_THRESH 80 TGT_DEFAULT_LON -122.3

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 5400 T_DIVE 50

CALL_TRIES 5 HD_A 0.0038775599 RAFOS_PEAK_OFFSET 0.2 T_GPS 15

CALL_WAIT 60 HD_B 0.0138418 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 4.7289599e-05 RHO 1.023 T_GPS_CHARGE -18084.895

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_MISSION 75

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 250 T_RSLEEP 3

COMPASS_DEVICE 49 ICE_FREEZE_MARGIN 0.1 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 112 ROLL_MAX 3791 T_TURN_SAMPINT 5

C_PITCH 2269 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1870 INT_PRESSURE_YINT 0 ROLL_MIN 166 UNCOM_BLEED 20

C_ROLL_DIVE 2060 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3335 MASS 51440 R_PORT_OVSHOOT 13 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 135 R_STBD_OVSHOOT 32 USE_ICE 0

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3897

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 486

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 9 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 200 PITCH_ADJ_DBAND 0.5 SIM_PITCH 0 VBD_TIMEOUT 540

D_CALL 0 PITCH_ADJ_GAIN 0.029999999 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 051245,4806.926,-12223.002,9,1.7,9,18.3 TGT_NAME SEVEN_nb

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.019,0.172

_SM_DEPTHo 1.81 KALMAN_X -37.6,-6.7,-7.6,-436.4,-4.6

_SM_ANGLEo -50.3 KALMAN_Y -652.9,-305.1,-55.3,1414.5,11.8

GPS2 051845,4806.908,-12222.982,10,1.7,10,18.3 MHEAD_RNG_PITCHd_Wd 335.3,171,-26.9,-10.000

SPEED_LIMITS 0.173,0.206 D_GRID 105

Post-dive calculations and measurements:

FINISH 1.0,1.019421 XPDR_PINGS 1

SM_CCo 2225,239.12,0.579,0,0,526,689.05 ALTIM_TOP_PING 19.5,18.5

SM_GC 1.79,0.00,0.00,239.12,0.000,0.000,0.579,675,2067,526,-7.33,0.20,689.05 _24V_AH 20.8,14.535

RAFOS_CLK 107 _10V_AH 10.0,5.949

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 9587,252

IRIDIUM_FIX 4748.51,-12221.84,110707,080846 CFSIZE 260165632,256520192

TT8_MAMPS 0.024544 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 2027 SOUNDSPEED 1486.3

INTERNAL_PRESSURE 10.3422 GPS 110707,060205,4807.117,-12222.959,12,2.2,31,18.3

TCM_TEMP 10.70

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 248 129.48 SBE_CT 176 24 88.21

Roll_motor 52 97 106.57 SBE_O2 172 19 68.12

VBD_pump_during_apogee 320 724 4835.68 nil 0 0 0.00

VBD_pump_during_surface 239 579 2880.25 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 32 103 70.24 nil 0 0 0.00

Iridium_during_connect 47 160 156.62 nil 0 0 0.00

Iridium_during_xfer 151 223 703.56

Transponder_ping 0 420 4.37

GPS 12 50 6.04

TT8 434 19 86.57

LPSleep 1049 2 24.24

TT8_Active 690 19 137.60

TT8_Sampling 283 39 113.17

TT8_CF8 384 45 176.74

TT8_Kalman 33 81 27.30

Analog_circuits 963 12 115.59

GPS_charging 0 0 0.00

Compass 278 20 55.66

RAFOS 0 1 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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.27 -91.9 0.0 0.0 0 103 0.00 0.00 -74.93 0.000 2 0.000 0.000 672 2090 2666

107 -1.27 -132.0 3.2 -6.0 15 163 11.20 3.00 -35.90 0.000 4 0.249 0.071 1985 648 3874

282 -1.34 -132.0 21.5 -14.7 47 286 0.00 2.70 0.00 0.000 6 0.000 0.036 1985 2059 3876

352 -1.27 -132.0 31.8 -14.8 53 356 0.00 2.92 0.00 0.000 4 0.000 0.074 1985 3459 3876

384 -1.22 -132.0 37.0 -14.9 55 390 0.00 2.65 0.00 0.000 6 0.000 0.035 1985 2077 3877

455 -1.17 -132.0 47.2 -14.5 62 460 0.15 2.88 0.00 0.000 4 0.152 0.067 2009 3460 3877

476 -1.14 -132.0 50.6 -14.7 63 482 0.00 2.60 0.00 0.000 6 0.000 0.036 2009 2111 3877

610 -1.14 -132.0 68.1 -13.4 76 612 0.00 0.00 0.00 0.000 6 0.000 0.000 2009 2111 3877

738 -1.20 -132.0 85.0 -13.3 88 742 0.00 2.83 0.00 0.000 4 0.000 0.074 2009 3457 3877

777 -1.26 -132.0 90.3 -13.3 91 782 0.00 2.58 0.00 0.000 6 0.000 0.037 2008 2122 3878

897 end dive: TARGET_DEPTH_EXCEEDED

state 897 begin apogee

904 -0.21 0.0 106.2 13.0 102 1021 1.23 0.00 112.12 0.686 6 0.141 0.000 2216 1858 3335

1022 end apogee: CONTROL_FINISHED_OK

state 1022 begin climb

1025 1.34 132.0 110.5 0.0 114 1147 1.83 3.15 111.70 0.667 4 0.075 0.090 2560 470 2796

1216 1.34 132.0 91.0 17.2 132 1221 0.00 2.83 0.00 0.000 6 0.000 0.045 2560 1867 2796

1350 1.10 132.0 69.7 15.6 144 1356 0.30 3.17 0.00 0.000 4 0.137 0.097 2512 3279 2795

1390 0.90 132.0 64.0 13.7 147 1396 0.30 2.80 0.00 0.000 6 0.133 0.045 2467 1888 2795

1525 0.80 136.5 50.2 9.7 159 1537 0.15 2.92 3.28 0.725 4 0.138 0.065 2442 3282 2778

1576 0.86 148.4 45.6 9.1 163 1592 0.00 2.78 9.85 0.683 6 0.000 0.046 2442 1894 2729

1721 0.99 168.7 33.2 8.5 177 1744 0.17 3.00 16.23 0.669 4 0.058 0.066 2482 3286 2647

1859 1.18 168.7 18.3 11.3 190 1865 0.22 2.72 0.00 0.000 6 0.056 0.048 2528 1931 2646

1934 1.21 168.7 9.0 12.1 203 1939 0.00 0.00 0.00 0.000 6 0.000 0.000 2528 1931 2646

2008 1.15 269.0 2.5 2.5 216 2084 0.00 3.33 67.57 0.634 4 0.000 0.097 2528 458 2237

2115 end climb: SURFACE_DEPTH_REACHED

state 2115 begin surface coast

2200 end surface coast: CONTROL_FINISHED_OK

state 2200 begin surface

ID	112	HD_B	0.0138418	PITCH_AD_RATE	100	ALTIM_TOP_PING_RANGE	20
MISSION	1	HD_C	4.7289599e-05	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	9	HEADING	-1	PITCH_ADJ_GAIN	0.029999999	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	145	PITCH_ADJ_DBAND	0.5	ALTIM_TOP_MIN_OBSTACLE	2
D_FLARE	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	166	ALTIM_PING_DEPTH	400
D_TGT	150	FIX_MISSING_TIMEOUT	1	ROLL_MAX	3791	ALTIM_PING_DELTA	50
D_ABORT	200	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	2060	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1870	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	688.85968	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	2	R_PORT_OVSHOOT	13	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	32	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	250	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	3	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0.029999999	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	486	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3897	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3335	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	540	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.1	N_GPS	20	PITCH_VBD_SHIFT	0.00167	COMPASS_DEVICE	49
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-18084.895	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	0.2	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	135	RAFOS_CORR_THRESH	80	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	5400	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	679	AH0_24V	150	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3252	AH0_10V	80	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2269	PRESSURE_YINT	-3.7066903	SEABIRD_T_I	2.5554549e-05
MASS	51440	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.129227e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	64	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	24	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038775599	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00017379176

GPS1	051245,4806.926,-12223.002,9,1.7,9,18.3	TGT_NAME	SEVEN_nb
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.019,0.172
_SM_DEPTHo	1.81	KALMAN_X	-37.6,-6.7,-7.6,-436.4,-4.6
_SM_ANGLEo	-50.3	KALMAN_Y	-652.9,-305.1,-55.3,1414.5,11.8
GPS2	051845,4806.908,-12222.982,10,1.7,10,18.3	MHEAD_RNG_PITCHd_Wd	335.3,171,-26.9,-10.000
SPEED_LIMITS	0.173,0.206	D_GRID	105

FINISH	1.0,1.019421	XPDR_PINGS	1
SM_CCo	2225,239.12,0.579,0,0,526,689.05	ALTIM_TOP_PING	19.5,18.5
SM_GC	1.79,0.00,0.00,239.12,0.000,0.000,0.579,675,2067,526,-7.33,0.20,689.05	_24V_AH	20.8,14.535
RAFOS_CLK	107	_10V_AH	10.0,5.949
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	9587,252
IRIDIUM_FIX	4748.51,-12221.84,110707,080846	CFSIZE	260165632,256520192
TT8_MAMPS	0.024544	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	2027	SOUNDSPEED	1486.3
INTERNAL_PRESSURE	10.3422	GPS	110707,060205,4807.117,-12222.959,12,2.2,31,18.3
TCM_TEMP	10.70

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	248	129.48	SBE_CT	176	24	88.21
Roll_motor	52	97	106.57	SBE_O2	172	19	68.12
VBD_pump_during_apogee	320	724	4835.68	nil	0	0	0.00
VBD_pump_during_surface	239	579	2880.25	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	32	103	70.24	nil	0	0	0.00
Iridium_during_connect	47	160	156.62	nil	0	0	0.00
Iridium_during_xfer	151	223	703.56
Transponder_ping	0	420	4.37
GPS	12	50	6.04
TT8	434	19	86.57
LPSleep	1049	2	24.24
TT8_Active	690	19	137.60
TT8_Sampling	283	39	113.17
TT8_CF8	384	45	176.74
TT8_Kalman	33	81	27.30
Analog_circuits	963	12	115.59
GPS_charging	0	0	0.00
Compass	278	20	55.66
RAFOS	0	1	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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.27	-91.9	0.0	0.0	0	103	0.00	0.00	-74.93	0.000	2	0.000	0.000	672	2090	2666
107	-1.27	-132.0	3.2	-6.0	15	163	11.20	3.00	-35.90	0.000	4	0.249	0.071	1985	648	3874
282	-1.34	-132.0	21.5	-14.7	47	286	0.00	2.70	0.00	0.000	6	0.000	0.036	1985	2059	3876
352	-1.27	-132.0	31.8	-14.8	53	356	0.00	2.92	0.00	0.000	4	0.000	0.074	1985	3459	3876
384	-1.22	-132.0	37.0	-14.9	55	390	0.00	2.65	0.00	0.000	6	0.000	0.035	1985	2077	3877
455	-1.17	-132.0	47.2	-14.5	62	460	0.15	2.88	0.00	0.000	4	0.152	0.067	2009	3460	3877
476	-1.14	-132.0	50.6	-14.7	63	482	0.00	2.60	0.00	0.000	6	0.000	0.036	2009	2111	3877
610	-1.14	-132.0	68.1	-13.4	76	612	0.00	0.00	0.00	0.000	6	0.000	0.000	2009	2111	3877
738	-1.20	-132.0	85.0	-13.3	88	742	0.00	2.83	0.00	0.000	4	0.000	0.074	2009	3457	3877
777	-1.26	-132.0	90.3	-13.3	91	782	0.00	2.58	0.00	0.000	6	0.000	0.037	2008	2122	3878
897	end dive: TARGET_DEPTH_EXCEEDED
state	897	begin apogee
904	-0.21	0.0	106.2	13.0	102	1021	1.23	0.00	112.12	0.686	6	0.141	0.000	2216	1858	3335
1022	end apogee: CONTROL_FINISHED_OK
state	1022	begin climb
1025	1.34	132.0	110.5	0.0	114	1147	1.83	3.15	111.70	0.667	4	0.075	0.090	2560	470	2796
1216	1.34	132.0	91.0	17.2	132	1221	0.00	2.83	0.00	0.000	6	0.000	0.045	2560	1867	2796
1350	1.10	132.0	69.7	15.6	144	1356	0.30	3.17	0.00	0.000	4	0.137	0.097	2512	3279	2795
1390	0.90	132.0	64.0	13.7	147	1396	0.30	2.80	0.00	0.000	6	0.133	0.045	2467	1888	2795
1525	0.80	136.5	50.2	9.7	159	1537	0.15	2.92	3.28	0.725	4	0.138	0.065	2442	3282	2778
1576	0.86	148.4	45.6	9.1	163	1592	0.00	2.78	9.85	0.683	6	0.000	0.046	2442	1894	2729
1721	0.99	168.7	33.2	8.5	177	1744	0.17	3.00	16.23	0.669	4	0.058	0.066	2482	3286	2647
1859	1.18	168.7	18.3	11.3	190	1865	0.22	2.72	0.00	0.000	6	0.056	0.048	2528	1931	2646
1934	1.21	168.7	9.0	12.1	203	1939	0.00	0.00	0.00	0.000	6	0.000	0.000	2528	1931	2646
2008	1.15	269.0	2.5	2.5	216	2084	0.00	3.33	67.57	0.634	4	0.000	0.097	2528	458	2237
2115	end climb: SURFACE_DEPTH_REACHED
state	2115	begin surface coast
2200	end surface coast: CONTROL_FINISHED_OK
state	2200	begin surface