Glider dive log

PortSusan 15Jul09 * SG169 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 169 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 220 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 10 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3795 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2380 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2380 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 80 SM_CC 480 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT -10 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT -10 INT_PRESSURE_YINT -1.1

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 435 DEVICE2 101

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3345 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -4 T_GPS 15 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 -5619.373 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 120 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 146 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3945 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2718 PRESSURE_YINT -75.823097 SEABIRD_T_G 0.0043354151

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00062527717

MASS 52000 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.379055e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.5466652e-06

FERRY_MAX 45 PITCH_GAIN 39 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9450293

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1242783

HD_A 0.003 PITCH_AD_RATE 165 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0011038103

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00017515429

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 165 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 80 PITCH_DBAND 0.1 SM_CC 480

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 39 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3945 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 146 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 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 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -75.823097 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 15

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 -5619.373

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

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 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 169 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3795 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.1 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2718 KALMAN_USE 1 ROLL_MIN 220 USE_BATHY -4

C_ROLL_CLIMB 2380 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2380 MASS 52000 R_PORT_OVSHOOT -10 VBD_BLEED_AD_RATE 8

C_VBD 3345 MAX_BUOY 120 R_STBD_OVSHOOT -10 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.9450293 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1242783 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0011038103 VBD_MAXERRORS 1

DEVICE2 101 N_FILEKB 4 SEABIRD_C_J 0.00017515429 VBD_MIN 435

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043354151 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062527717 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.379055e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.5466652e-06 XPDR_DEVICE 24

DIVE 10 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 011549,4806.659,-12222.402,11,1.4,28,18.3 TGT_NAME SIX

_CALLS 2 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.105,-0.210

_SM_DEPTHo 0.38 KALMAN_X -822.4,-196.2,-37.6,1346.9,-106.6

_SM_ANGLEo -77.3 KALMAN_Y 1704.4,444.0,74.8,-3835.5,177.2

GPS2 012420,4806.647,-12222.418,14,1.3,14,18.3 MHEAD_RNG_PITCHd_Wd 135.3,1305,-19.7,-10.000

SPEED_LIMITS 0.173,0.235 D_GRID 108

Post-dive calculations and measurements:

FINISH 1.7,1.019222 XPDR_PINGS 2

SM_CCo 1818,182.18,0.562,0,0,1387,480.05 _24V_AH 24.4,1.073

SM_GC 0.77,0.00,0.00,182.18,0.000,0.000,0.562,147,2341,1387,-8.04,-1.10,480.05 _10V_AH 10.7,0.660

IRIDIUM_FIX 4751.72,-12220.85,101098,010144 DATA_FILE_SIZE 25603,381

TT8_MAMPS 0.027612 CAP_FILE_SIZE 43584,0

HUMID 1870 CFSIZE 260165632,257978368

INTERNAL_PRESSURE 9.22266 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,1,0,0

TCM_TEMP 15.50 GPS 160709,015957,4806.575,-12222.217,37,2.1,56,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 19 254 123.33 SBE_CT 256 24 150.01

Roll_motor 31 82 63.08 AA4330 626 33 504.15

VBD_pump_during_apogee 174 627 2676.34 WL_BB2F 565 105 1449.67

VBD_pump_during_surface 182 562 2499.07 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 45 103 114.68 nil 0 0 0.00

Iridium_during_connect 56 160 219.12 nil 0 0 0.00

Iridium_during_xfer 264 223 1438.49

Transponder_ping 1 420 12.81

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.98

TT8 579 19 122.72

LPSleep 263 2 6.18

TT8_Active 426 19 90.35

TT8_Sampling 817 39 348.03

TT8_CF8 436 45 213.69

TT8_Kalman 33 81 29.17

Analog_circuits 801 12 102.95

GPS_charging 0 0 0.00

Compass 809 8 69.29

RAFOS 0 0 0.00

Transponder 6 30 2.01

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 -0.65 -117.3 0.0 0.0 0 110 0.00 0.00 -93.55 0.000 3 0.000 0.000 145 2345 3824

113 -0.65 -117.3 3.2 -5.9 15 127 9.70 2.25 0.00 0.000 4 0.255 0.064 2508 952 3825

366 -0.65 -117.3 43.4 -15.0 74 373 0.00 2.33 0.00 0.000 6 0.000 0.074 2508 2384 3826

506 -0.65 -117.3 66.3 -16.6 105 512 0.00 2.22 0.00 0.000 4 0.000 0.061 2508 956 3826

547 -0.65 -117.3 73.3 -15.6 114 554 0.00 2.30 0.00 0.000 6 0.000 0.071 2508 2380 3826

686 -0.65 -117.3 95.3 -15.4 145 692 0.00 2.33 0.00 0.000 4 0.000 0.082 2508 3810 3826

711 -0.65 -117.3 99.7 -16.6 150 718 0.00 2.30 0.00 0.000 6 0.000 0.061 2508 2373 3827

763 end dive: TARGET_DEPTH_EXCEEDED

state 763 begin apogee

767 -0.13 0.0 108.4 16.1 161 861 0.60 0.00 86.40 0.627 6 0.225 0.000 2663 2373 3346

862 end apogee: CONTROL_FINISHED_OK

state 862 begin climb

863 0.65 117.3 113.2 0.0 177 958 0.90 0.00 88.43 0.608 6 0.187 0.000 2911 2373 2865

1091 0.65 117.3 88.4 13.1 223 1097 0.00 2.28 0.00 0.000 4 0.000 0.051 2911 3809 2864

1120 0.65 117.3 84.0 15.0 229 1126 0.00 2.22 0.00 0.000 6 0.000 0.035 2922 2354 2865

1258 0.65 117.3 64.9 13.3 260 1264 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 2353 2864

1397 0.65 117.3 47.0 12.3 291 1402 0.00 0.00 0.00 0.000 6 0.000 0.000 2922 2353 2863

1532 0.65 117.3 30.6 11.6 322 1539 0.00 2.28 0.00 0.000 4 0.000 0.052 2922 3801 2863

1586 0.65 117.3 23.0 14.6 334 1593 0.00 2.20 0.00 0.000 6 0.000 0.037 2934 2355 2864

1657 0.65 117.3 14.5 11.9 350 1664 0.00 2.12 0.00 0.000 4 0.000 0.044 2944 947 2863

1688 0.65 117.3 11.1 11.8 356 1695 0.00 2.25 0.00 0.000 6 0.000 0.050 2944 2399 2863

1759 0.65 117.3 3.2 10.6 372 1766 0.00 2.20 0.00 0.000 4 0.000 0.055 2945 3808 2862

1771 end climb: SURFACE_DEPTH_REACHED

state 1771 begin surface coast

1800 end surface coast: CONTROL_FINISHED_OK

state 1801 begin surface

ID	169	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	220	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	10	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3795	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2380	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2380	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	80	SM_CC	480	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	-10	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	-10	INT_PRESSURE_YINT	-1.1
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	435	DEVICE2	101
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3345	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-4	T_GPS	15	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	-5619.373	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	120	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	146	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3945	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2718	PRESSURE_YINT	-75.823097	SEABIRD_T_G	0.0043354151
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00062527717
MASS	52000	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.379055e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.5466652e-06
FERRY_MAX	45	PITCH_GAIN	39	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9450293
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1242783
HD_A	0.003	PITCH_AD_RATE	165	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0011038103
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00017515429
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	011549,4806.659,-12222.402,11,1.4,28,18.3	TGT_NAME	SIX
_CALLS	2	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.105,-0.210
_SM_DEPTHo	0.38	KALMAN_X	-822.4,-196.2,-37.6,1346.9,-106.6
_SM_ANGLEo	-77.3	KALMAN_Y	1704.4,444.0,74.8,-3835.5,177.2
GPS2	012420,4806.647,-12222.418,14,1.3,14,18.3	MHEAD_RNG_PITCHd_Wd	135.3,1305,-19.7,-10.000
SPEED_LIMITS	0.173,0.235	D_GRID	108

FINISH	1.7,1.019222	XPDR_PINGS	2
SM_CCo	1818,182.18,0.562,0,0,1387,480.05	_24V_AH	24.4,1.073
SM_GC	0.77,0.00,0.00,182.18,0.000,0.000,0.562,147,2341,1387,-8.04,-1.10,480.05	_10V_AH	10.7,0.660
IRIDIUM_FIX	4751.72,-12220.85,101098,010144	DATA_FILE_SIZE	25603,381
TT8_MAMPS	0.027612	CAP_FILE_SIZE	43584,0
HUMID	1870	CFSIZE	260165632,257978368
INTERNAL_PRESSURE	9.22266	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
TCM_TEMP	15.50	GPS	160709,015957,4806.575,-12222.217,37,2.1,56,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	19	254	123.33	SBE_CT	256	24	150.01
Roll_motor	31	82	63.08	AA4330	626	33	504.15
VBD_pump_during_apogee	174	627	2676.34	WL_BB2F	565	105	1449.67
VBD_pump_during_surface	182	562	2499.07	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	45	103	114.68	nil	0	0	0.00
Iridium_during_connect	56	160	219.12	nil	0	0	0.00
Iridium_during_xfer	264	223	1438.49
Transponder_ping	1	420	12.81
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.98
TT8	579	19	122.72
LPSleep	263	2	6.18
TT8_Active	426	19	90.35
TT8_Sampling	817	39	348.03
TT8_CF8	436	45	213.69
TT8_Kalman	33	81	29.17
Analog_circuits	801	12	102.95
GPS_charging	0	0	0.00
Compass	809	8	69.29
RAFOS	0	0	0.00
Transponder	6	30	2.01

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	-0.65	-117.3	0.0	0.0	0	110	0.00	0.00	-93.55	0.000	3	0.000	0.000	145	2345	3824
113	-0.65	-117.3	3.2	-5.9	15	127	9.70	2.25	0.00	0.000	4	0.255	0.064	2508	952	3825
366	-0.65	-117.3	43.4	-15.0	74	373	0.00	2.33	0.00	0.000	6	0.000	0.074	2508	2384	3826
506	-0.65	-117.3	66.3	-16.6	105	512	0.00	2.22	0.00	0.000	4	0.000	0.061	2508	956	3826
547	-0.65	-117.3	73.3	-15.6	114	554	0.00	2.30	0.00	0.000	6	0.000	0.071	2508	2380	3826
686	-0.65	-117.3	95.3	-15.4	145	692	0.00	2.33	0.00	0.000	4	0.000	0.082	2508	3810	3826
711	-0.65	-117.3	99.7	-16.6	150	718	0.00	2.30	0.00	0.000	6	0.000	0.061	2508	2373	3827
763	end dive: TARGET_DEPTH_EXCEEDED
state	763	begin apogee
767	-0.13	0.0	108.4	16.1	161	861	0.60	0.00	86.40	0.627	6	0.225	0.000	2663	2373	3346
862	end apogee: CONTROL_FINISHED_OK
state	862	begin climb
863	0.65	117.3	113.2	0.0	177	958	0.90	0.00	88.43	0.608	6	0.187	0.000	2911	2373	2865
1091	0.65	117.3	88.4	13.1	223	1097	0.00	2.28	0.00	0.000	4	0.000	0.051	2911	3809	2864
1120	0.65	117.3	84.0	15.0	229	1126	0.00	2.22	0.00	0.000	6	0.000	0.035	2922	2354	2865
1258	0.65	117.3	64.9	13.3	260	1264	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	2353	2864
1397	0.65	117.3	47.0	12.3	291	1402	0.00	0.00	0.00	0.000	6	0.000	0.000	2922	2353	2863
1532	0.65	117.3	30.6	11.6	322	1539	0.00	2.28	0.00	0.000	4	0.000	0.052	2922	3801	2863
1586	0.65	117.3	23.0	14.6	334	1593	0.00	2.20	0.00	0.000	6	0.000	0.037	2934	2355	2864
1657	0.65	117.3	14.5	11.9	350	1664	0.00	2.12	0.00	0.000	4	0.000	0.044	2944	947	2863
1688	0.65	117.3	11.1	11.8	356	1695	0.00	2.25	0.00	0.000	6	0.000	0.050	2944	2399	2863
1759	0.65	117.3	3.2	10.6	372	1766	0.00	2.20	0.00	0.000	4	0.000	0.055	2945	3808	2862
1771	end climb: SURFACE_DEPTH_REACHED
state	1771	begin surface coast
1800	end surface coast: CONTROL_FINISHED_OK
state	1801	begin surface