Glider dive log

PortSusan 16Sep09 * SG503 * Dive index * Mission links * Dive 10 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 503 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 10 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 500 SM_CC 425 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 28 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 445 DEVICE2 101

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3956 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 2800 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 600 HEAPDBG 0 VBD_TIMEOUT 360 SMARTS 0

USE_BATHY -4 T_GPS 12 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 2 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -7370.2798 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 203 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3889 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3343 PRESSURE_YINT -51.755669 SEABIRD_T_G 0.0043281103

RHO 1.0233001 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011732637 SEABIRD_T_H 0.00062152545

MASS 51681 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.1491383e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.0368557e-06

FERRY_MAX 45 PITCH_GAIN 37 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.162479

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1594115

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 4.3937558e-05

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00011023274

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 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 37 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3889 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 203 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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011732637 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -51.755669 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 12

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 -7370.2798

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0233001 T_MISSION 60

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 600

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 503 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3343 KALMAN_USE 1 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2200 MASS 51681 R_PORT_OVSHOOT 28 VBD_BLEED_AD_RATE 8

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 37 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -10.162479 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1594115 VBD_MAX 3956

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I 4.3937558e-05 VBD_MAXERRORS 1

DEVICE2 101 N_FILEKB 4 SEABIRD_C_J 0.00011023274 VBD_MIN 445

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043281103 VBD_PUMP_AD_RATE_APOGEE 2

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062152545 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.1491383e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.0368557e-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 033830,4806.682,-12222.720,39,2.0,39,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.183,-0.185

_SM_DEPTHo 0.68 KALMAN_X -717.0,-306.5,-104.3,751.8,-89.0

_SM_ANGLEo -82.3 KALMAN_Y 511.1,203.9,-5.7,-1066.9,-53.9

GPS2 034320,4806.555,-12222.561,10,1.9,10,18.3 MHEAD_RNG_PITCHd_Wd 116.9,1240,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 107

Post-dive calculations and measurements:

FINISH 2.8,1.019855 ALTIM_BOTTOM_PING 80.7,42.7

SM_CCo 1680,131.55,0.524,0,0,1066,425.10 _24V_AH 24.6,4.065

SM_GC 1.19,0.00,0.00,131.55,0.000,0.000,0.524,196,2219,1066,-9.84,0.54,425.10 _10V_AH 10.6,3.889

IRIDIUM_FIX 4751.72,-12221.84,121298,030350 DATA_FILE_SIZE 25535,362

TT8_MAMPS 0.051389 CAP_FILE_SIZE 39668,0

HUMID 2121 CFSIZE 260165632,256303104

INTERNAL_PRESSURE 9.38513 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 18.90 GPS 170909,041438,4806.360,-12222.353,9,2.0,9,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 237 127.66 SBE_CT 241 24 142.46

Roll_motor 22 92 51.65 AA4330 398 33 323.54

VBD_pump_during_apogee 216 595 3178.05 WL_BBFL2VMT 349 105 902.38

VBD_pump_during_surface 131 523 1695.28 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 24 103 61.12 nil 0 0 0.00

Iridium_during_connect 25 160 100.79 nil 0 0 0.00

Iridium_during_xfer 177 223 976.26

Transponder_ping 0 420 5.17

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 12 50 6.77

TT8 0 19 0.00

LPSleep 696 2 16.18

TT8_Active 410 19 86.19

TT8_Sampling 710 39 299.82

TT8_CF8 284 45 137.88

TT8_Kalman 33 81 28.89

Analog_circuits 733 12 93.24

GPS_charging 0 0 0.00

Compass 572 8 48.53

RAFOS 0 0 0.00

Transponder 5 30 1.75

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

12 -0.65 -146.6 0.0 0.0 0 81 0.00 0.00 -67.47 0.000 2 0.000 0.000 197 2208 2954

83 -0.65 -146.6 3.7 -7.2 12 107 11.55 2.28 -9.02 0.000 4 0.238 0.051 3127 780 3400

276 -0.65 -146.6 32.8 -13.6 55 282 0.00 2.22 0.00 0.000 6 0.000 0.040 3119 2189 3401

346 -0.65 -146.6 42.8 -14.4 71 352 0.00 2.28 0.00 0.000 4 0.000 0.046 3108 3639 3401

373 -0.65 -146.6 47.0 -15.6 77 379 0.00 2.22 0.00 0.000 6 0.000 0.033 3108 2192 3402

508 -0.65 -146.6 68.0 -15.7 108 514 0.00 0.00 0.00 0.000 6 0.000 0.000 3108 2190 3402

643 -0.65 -146.6 88.8 -15.6 139 649 0.00 2.28 0.00 0.000 4 0.000 0.047 3097 3620 3402

696 -0.65 -146.6 97.5 -16.6 151 702 0.08 2.20 0.00 0.000 6 0.133 0.035 3125 2207 3402

765 end dive: TARGET_DEPTH_EXCEEDED

state 765 begin apogee

768 -0.14 0.0 107.4 13.4 167 879 0.50 0.00 106.05 0.596 6 0.120 0.000 3293 2140 2799

879 end apogee: CONTROL_FINISHED_OK

state 879 begin climb

880 0.65 146.6 111.2 0.0 187 996 0.70 0.00 110.72 0.571 6 0.079 0.000 3547 2139 2201

1125 0.65 146.6 82.1 15.0 238 1131 0.00 2.33 0.00 0.000 4 0.000 0.044 3547 3568 2198

1169 0.65 146.6 74.6 17.3 248 1176 0.00 2.25 0.00 0.000 6 0.000 0.037 3558 2159 2198

1305 0.65 146.6 53.1 15.3 279 1310 0.00 0.00 0.00 0.000 6 0.000 0.000 3558 2157 2198

1440 0.65 146.6 32.7 15.0 310 1446 0.00 2.22 0.00 0.000 4 0.000 0.044 3558 3571 2197

1462 0.65 146.6 29.0 16.0 315 1469 0.00 2.22 0.00 0.000 6 0.000 0.038 3568 2157 2197

1533 0.65 146.6 17.7 15.7 331 1538 0.00 0.00 0.00 0.000 6 0.000 0.000 3568 2156 2197

1602 0.65 146.6 7.4 14.7 347 1607 0.00 0.00 0.00 0.000 6 0.000 0.000 3568 2156 2197

1631 end climb: SURFACE_DEPTH_REACHED

state 1631 begin surface coast

1666 end surface coast: CONTROL_FINISHED_OK

state 1666 begin surface

ID	503	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	10	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	500	SM_CC	425	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	28	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	445	DEVICE2	101
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3956	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	2800	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	600	HEAPDBG	0	VBD_TIMEOUT	360	SMARTS	0
USE_BATHY	-4	T_GPS	12	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	2	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-7370.2798	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	203	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3889	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3343	PRESSURE_YINT	-51.755669	SEABIRD_T_G	0.0043281103
RHO	1.0233001	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011732637	SEABIRD_T_H	0.00062152545
MASS	51681	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.1491383e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.0368557e-06
FERRY_MAX	45	PITCH_GAIN	37	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.162479
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1594115
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	4.3937558e-05
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00011023274
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	033830,4806.682,-12222.720,39,2.0,39,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.183,-0.185
_SM_DEPTHo	0.68	KALMAN_X	-717.0,-306.5,-104.3,751.8,-89.0
_SM_ANGLEo	-82.3	KALMAN_Y	511.1,203.9,-5.7,-1066.9,-53.9
GPS2	034320,4806.555,-12222.561,10,1.9,10,18.3	MHEAD_RNG_PITCHd_Wd	116.9,1240,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	107

FINISH	2.8,1.019855	ALTIM_BOTTOM_PING	80.7,42.7
SM_CCo	1680,131.55,0.524,0,0,1066,425.10	_24V_AH	24.6,4.065
SM_GC	1.19,0.00,0.00,131.55,0.000,0.000,0.524,196,2219,1066,-9.84,0.54,425.10	_10V_AH	10.6,3.889
IRIDIUM_FIX	4751.72,-12221.84,121298,030350	DATA_FILE_SIZE	25535,362
TT8_MAMPS	0.051389	CAP_FILE_SIZE	39668,0
HUMID	2121	CFSIZE	260165632,256303104
INTERNAL_PRESSURE	9.38513	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	18.90	GPS	170909,041438,4806.360,-12222.353,9,2.0,9,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	237	127.66	SBE_CT	241	24	142.46
Roll_motor	22	92	51.65	AA4330	398	33	323.54
VBD_pump_during_apogee	216	595	3178.05	WL_BBFL2VMT	349	105	902.38
VBD_pump_during_surface	131	523	1695.28	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	24	103	61.12	nil	0	0	0.00
Iridium_during_connect	25	160	100.79	nil	0	0	0.00
Iridium_during_xfer	177	223	976.26
Transponder_ping	0	420	5.17
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	12	50	6.77
TT8	0	19	0.00
LPSleep	696	2	16.18
TT8_Active	410	19	86.19
TT8_Sampling	710	39	299.82
TT8_CF8	284	45	137.88
TT8_Kalman	33	81	28.89
Analog_circuits	733	12	93.24
GPS_charging	0	0	0.00
Compass	572	8	48.53
RAFOS	0	0	0.00
Transponder	5	30	1.75

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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
12	-0.65	-146.6	0.0	0.0	0	81	0.00	0.00	-67.47	0.000	2	0.000	0.000	197	2208	2954
83	-0.65	-146.6	3.7	-7.2	12	107	11.55	2.28	-9.02	0.000	4	0.238	0.051	3127	780	3400
276	-0.65	-146.6	32.8	-13.6	55	282	0.00	2.22	0.00	0.000	6	0.000	0.040	3119	2189	3401
346	-0.65	-146.6	42.8	-14.4	71	352	0.00	2.28	0.00	0.000	4	0.000	0.046	3108	3639	3401
373	-0.65	-146.6	47.0	-15.6	77	379	0.00	2.22	0.00	0.000	6	0.000	0.033	3108	2192	3402
508	-0.65	-146.6	68.0	-15.7	108	514	0.00	0.00	0.00	0.000	6	0.000	0.000	3108	2190	3402
643	-0.65	-146.6	88.8	-15.6	139	649	0.00	2.28	0.00	0.000	4	0.000	0.047	3097	3620	3402
696	-0.65	-146.6	97.5	-16.6	151	702	0.08	2.20	0.00	0.000	6	0.133	0.035	3125	2207	3402
765	end dive: TARGET_DEPTH_EXCEEDED
state	765	begin apogee
768	-0.14	0.0	107.4	13.4	167	879	0.50	0.00	106.05	0.596	6	0.120	0.000	3293	2140	2799
879	end apogee: CONTROL_FINISHED_OK
state	879	begin climb
880	0.65	146.6	111.2	0.0	187	996	0.70	0.00	110.72	0.571	6	0.079	0.000	3547	2139	2201
1125	0.65	146.6	82.1	15.0	238	1131	0.00	2.33	0.00	0.000	4	0.000	0.044	3547	3568	2198
1169	0.65	146.6	74.6	17.3	248	1176	0.00	2.25	0.00	0.000	6	0.000	0.037	3558	2159	2198
1305	0.65	146.6	53.1	15.3	279	1310	0.00	0.00	0.00	0.000	6	0.000	0.000	3558	2157	2198
1440	0.65	146.6	32.7	15.0	310	1446	0.00	2.22	0.00	0.000	4	0.000	0.044	3558	3571	2197
1462	0.65	146.6	29.0	16.0	315	1469	0.00	2.22	0.00	0.000	6	0.000	0.038	3568	2157	2197
1533	0.65	146.6	17.7	15.7	331	1538	0.00	0.00	0.00	0.000	6	0.000	0.000	3568	2156	2197
1602	0.65	146.6	7.4	14.7	347	1607	0.00	0.00	0.00	0.000	6	0.000	0.000	3568	2156	2197
1631	end climb: SURFACE_DEPTH_REACHED
state	1631	begin surface coast
1666	end surface coast: CONTROL_FINISHED_OK
state	1666	begin surface