Glider dive log

PortSusan 16Sep09 * SG502 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 502 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 9 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 2248 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2086 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 380 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 31 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 INT_PRESSURE_YINT 0

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 50 UPLOAD_DIVES_MAX -1 VBD_MIN 420 DEVICE2 101

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 3425 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 120 HEAPDBG 0 VBD_TIMEOUT 720 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 6 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 -2187.2449 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 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 20 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 450 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3012 PRESSURE_YINT -71.419655 SEABIRD_T_G 0.0043373196

RHO 1.0233001 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011650941 SEABIRD_T_H 0.00062598457

MASS 51342 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5066851e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8555498e-06

FERRY_MAX 45 PITCH_GAIN 32 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7998753

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1362277

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00070417771

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00014171835

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

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 380

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 32 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3944 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 3 PITCH_MIN 450 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011650941 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -71.419655 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12223

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 -2187.2449

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0233001 T_MISSION 60

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

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 4

COMPASS_DEVICE 33 ID 502 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3012 KALMAN_USE 1 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2086 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2248 MASS 51342 R_PORT_OVSHOOT 31 VBD_BLEED_AD_RATE 8

C_VBD 3425 MAX_BUOY 150 R_STBD_OVSHOOT 31 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.7998753 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1362277 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00070417771 VBD_MAXERRORS 1

DEVICE2 101 N_FILEKB 4 SEABIRD_C_J 0.00014171835 VBD_MIN 420

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043373196 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062598457 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5066851e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8555498e-06 XPDR_DEVICE 24

DIVE 9 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 044956,4805.956,-12222.222,9,1.6,9,18.3 TGT_NAME FIVENEW

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.211,-0.152

_SM_DEPTHo 1.03 KALMAN_X -1329.6,-222.2,-117.7,1355.8,-141.1

_SM_ANGLEo -73.0 KALMAN_Y 1118.8,252.6,-83.2,-2268.8,-35.0

GPS2 045515,4805.954,-12222.228,11,2.0,18,18.3 MHEAD_RNG_PITCHd_Wd 107.6,2330,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 107

Post-dive calculations and measurements:

FINISH 0.2,1.005171 ALTIM_BOTTOM_PING 85.1,6.3

SM_CCo 1932,39.25,0.566,0,0,1874,380.21 _24V_AH 24.4,5.054

SM_GC 1.29,0.00,0.00,39.25,0.000,0.000,0.566,428,2266,1874,-8.07,0.54,380.21 _10V_AH 10.7,1.912

IRIDIUM_FIX 4748.51,-12224.57,121298,040442 DATA_FILE_SIZE 25472,393

TT8_MAMPS 0.028379 CAP_FILE_SIZE 40647,0

HUMID 2152 CFSIZE 260165632,258535424

INTERNAL_PRESSURE 9.57068 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.10 GPS 170909,053006,4805.771,-12222.055,14,1.4,30,18.3

XPDR_PINGS 42

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 247 113.95 SBE_CT 259 24 152.18

Roll_motor 27 66 44.57 AA4330 465 33 374.95

VBD_pump_during_apogee 309 658 4980.35 WL_BBFL2VMT 403 105 1033.55

VBD_pump_during_surface 39 566 542.10 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 27 103 70.12 nil 0 0 0.00

Iridium_during_connect 25 160 101.32 nil 0 0 0.00

Iridium_during_xfer 182 223 994.91

Transponder_ping 11 420 115.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 18 50 9.92

TT8 562 19 119.15

LPSleep 388 2 9.09

TT8_Active 411 19 87.09

TT8_Sampling 649 39 276.68

TT8_CF8 299 45 146.95

TT8_Kalman 33 81 29.18

Analog_circuits 801 12 102.92

GPS_charging 0 0 0.00

Compass 634 8 54.36

RAFOS 0 0 0.00

Transponder 6 30 2.24

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 12 begin dive

13 -0.73 -146.6 0.0 0.0 0 127 0.00 0.00 -110.80 0.000 2 0.000 0.000 428 2236 3314

129 -0.73 -146.6 3.1 -5.7 20 160 9.45 2.22 -14.57 0.000 4 0.248 0.067 2768 829 3965

356 -0.73 -146.6 38.4 -16.1 70 362 0.00 2.20 0.00 0.000 6 0.000 0.043 2760 2248 3966

431 -0.73 -146.6 50.4 -16.5 86 436 0.00 0.00 0.00 0.000 6 0.000 0.000 2760 2247 3966

574 -0.73 -146.6 73.8 -17.0 117 580 0.00 2.22 0.00 0.000 4 0.000 0.052 2760 832 3966

644 -0.73 -146.6 85.1 -17.1 131 650 0.00 2.20 0.00 0.000 6 0.000 0.043 2749 2252 3966

767 end dive: TARGET_DEPTH_EXCEEDED

state 767 begin apogee

771 -0.16 0.0 107.4 17.4 158 877 0.62 0.00 99.93 0.659 6 0.141 0.000 2951 2070 3424

877 end apogee: CONTROL_FINISHED_OK

state 877 begin climb

879 0.73 146.6 112.5 0.0 177 1001 0.80 2.35 111.78 0.646 4 0.075 0.054 3248 689 2825

1007 0.73 146.6 103.2 12.1 200 1013 0.00 2.25 0.00 0.000 6 0.000 0.041 3248 2086 2825

1151 0.73 146.6 81.7 14.5 231 1157 0.00 2.25 0.00 0.000 4 0.000 0.051 3248 3500 2822

1226 0.73 146.6 69.4 16.7 247 1232 0.00 2.22 0.00 0.000 6 0.000 0.048 3255 2097 2821

1369 0.73 146.6 47.7 15.1 278 1374 0.00 0.00 0.00 0.000 6 0.000 0.000 3255 2096 2821

1508 0.73 146.6 27.1 14.7 309 1513 0.00 0.00 0.00 0.000 6 0.000 0.000 3255 2096 2821

1580 0.73 146.6 16.7 13.8 325 1587 0.00 2.25 0.00 0.000 4 0.000 0.058 3265 677 2820

1598 0.73 146.6 14.4 14.2 328 1605 0.00 2.20 0.00 0.000 6 0.000 0.043 3264 2100 2820

1672 0.73 152.8 4.8 9.7 344 1684 0.00 2.20 5.40 0.474 4 0.000 0.052 3265 3503 2801

1738 1.03 396.1 4.9 -1.2 358 1837 0.20 2.22 92.70 0.591 2 0.057 0.046 3366 2071 2236

1838 end climb: SURFACE_DEPTH_REACHED

state 1838 begin surface coast

1918 end surface coast: CONTROL_FINISHED_OK

state 1918 begin surface

ID	502	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	9	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	2248	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2086	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	380	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	31	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	INT_PRESSURE_YINT	0
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	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	420	DEVICE2	101
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	3425	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	120	HEAPDBG	0	VBD_TIMEOUT	720	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	6	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	-2187.2449	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	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	20	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	450	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3012	PRESSURE_YINT	-71.419655	SEABIRD_T_G	0.0043373196
RHO	1.0233001	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011650941	SEABIRD_T_H	0.00062598457
MASS	51342	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5066851e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8555498e-06
FERRY_MAX	45	PITCH_GAIN	32	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7998753
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1362277
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00070417771
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00014171835
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	044956,4805.956,-12222.222,9,1.6,9,18.3	TGT_NAME	FIVENEW
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.211,-0.152
_SM_DEPTHo	1.03	KALMAN_X	-1329.6,-222.2,-117.7,1355.8,-141.1
_SM_ANGLEo	-73.0	KALMAN_Y	1118.8,252.6,-83.2,-2268.8,-35.0
GPS2	045515,4805.954,-12222.228,11,2.0,18,18.3	MHEAD_RNG_PITCHd_Wd	107.6,2330,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	107

FINISH	0.2,1.005171	ALTIM_BOTTOM_PING	85.1,6.3
SM_CCo	1932,39.25,0.566,0,0,1874,380.21	_24V_AH	24.4,5.054
SM_GC	1.29,0.00,0.00,39.25,0.000,0.000,0.566,428,2266,1874,-8.07,0.54,380.21	_10V_AH	10.7,1.912
IRIDIUM_FIX	4748.51,-12224.57,121298,040442	DATA_FILE_SIZE	25472,393
TT8_MAMPS	0.028379	CAP_FILE_SIZE	40647,0
HUMID	2152	CFSIZE	260165632,258535424
INTERNAL_PRESSURE	9.57068	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.10	GPS	170909,053006,4805.771,-12222.055,14,1.4,30,18.3
XPDR_PINGS	42

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	247	113.95	SBE_CT	259	24	152.18
Roll_motor	27	66	44.57	AA4330	465	33	374.95
VBD_pump_during_apogee	309	658	4980.35	WL_BBFL2VMT	403	105	1033.55
VBD_pump_during_surface	39	566	542.10	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	27	103	70.12	nil	0	0	0.00
Iridium_during_connect	25	160	101.32	nil	0	0	0.00
Iridium_during_xfer	182	223	994.91
Transponder_ping	11	420	115.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	18	50	9.92
TT8	562	19	119.15
LPSleep	388	2	9.09
TT8_Active	411	19	87.09
TT8_Sampling	649	39	276.68
TT8_CF8	299	45	146.95
TT8_Kalman	33	81	29.18
Analog_circuits	801	12	102.92
GPS_charging	0	0	0.00
Compass	634	8	54.36
RAFOS	0	0	0.00
Transponder	6	30	2.24

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	12	begin dive
13	-0.73	-146.6	0.0	0.0	0	127	0.00	0.00	-110.80	0.000	2	0.000	0.000	428	2236	3314
129	-0.73	-146.6	3.1	-5.7	20	160	9.45	2.22	-14.57	0.000	4	0.248	0.067	2768	829	3965
356	-0.73	-146.6	38.4	-16.1	70	362	0.00	2.20	0.00	0.000	6	0.000	0.043	2760	2248	3966
431	-0.73	-146.6	50.4	-16.5	86	436	0.00	0.00	0.00	0.000	6	0.000	0.000	2760	2247	3966
574	-0.73	-146.6	73.8	-17.0	117	580	0.00	2.22	0.00	0.000	4	0.000	0.052	2760	832	3966
644	-0.73	-146.6	85.1	-17.1	131	650	0.00	2.20	0.00	0.000	6	0.000	0.043	2749	2252	3966
767	end dive: TARGET_DEPTH_EXCEEDED
state	767	begin apogee
771	-0.16	0.0	107.4	17.4	158	877	0.62	0.00	99.93	0.659	6	0.141	0.000	2951	2070	3424
877	end apogee: CONTROL_FINISHED_OK
state	877	begin climb
879	0.73	146.6	112.5	0.0	177	1001	0.80	2.35	111.78	0.646	4	0.075	0.054	3248	689	2825
1007	0.73	146.6	103.2	12.1	200	1013	0.00	2.25	0.00	0.000	6	0.000	0.041	3248	2086	2825
1151	0.73	146.6	81.7	14.5	231	1157	0.00	2.25	0.00	0.000	4	0.000	0.051	3248	3500	2822
1226	0.73	146.6	69.4	16.7	247	1232	0.00	2.22	0.00	0.000	6	0.000	0.048	3255	2097	2821
1369	0.73	146.6	47.7	15.1	278	1374	0.00	0.00	0.00	0.000	6	0.000	0.000	3255	2096	2821
1508	0.73	146.6	27.1	14.7	309	1513	0.00	0.00	0.00	0.000	6	0.000	0.000	3255	2096	2821
1580	0.73	146.6	16.7	13.8	325	1587	0.00	2.25	0.00	0.000	4	0.000	0.058	3265	677	2820
1598	0.73	146.6	14.4	14.2	328	1605	0.00	2.20	0.00	0.000	6	0.000	0.043	3264	2100	2820
1672	0.73	152.8	4.8	9.7	344	1684	0.00	2.20	5.40	0.474	4	0.000	0.052	3265	3503	2801
1738	1.03	396.1	4.9	-1.2	358	1837	0.20	2.22	92.70	0.591	2	0.057	0.046	3366	2071	2236
1838	end climb: SURFACE_DEPTH_REACHED
state	1838	begin surface coast
1918	end surface coast: CONTROL_FINISHED_OK
state	1918	begin surface