Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 116 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 116 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 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2080 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 450 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 33 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 42 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -19261.35 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 450

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 5 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 120 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 -7.1405377 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 45

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 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -19261.35

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2080 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 33 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 42 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 116 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 212153,4739.280,-12253.291,11,9.3,30,18.3 TGT_NAME H3

_CALLS 2 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.105,0.180

_SM_DEPTHo 1.34 KALMAN_X 21860.6,36.6,30.0,-22711.0,-195.3

_SM_ANGLEo -63.6 KALMAN_Y 9857.5,44.7,2.6,-10792.7,-320.2

GPS2 212910,4739.309,-12253.325,32,1.3,34,18.3 MHEAD_RNG_PITCHd_Wd 11.9,331,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 120

Post-dive calculations and measurements:

FINISH 2.0,1.009286 XPDR_PINGS 1

SM_CCo 2799,133.40,0.583,0,0,1367,450.13 ALTIM_BOTTOM_PING 95.6,999.0

SM_GC 1.39,0.00,0.00,133.40,0.000,0.000,0.583,410,2215,1367,-11.45,0.51,450.13 _24V_AH 23.8,27.216

IRIDIUM_FIX 4722.92,-12253.53,270907,000038 _10V_AH 10.1,17.932

TT8_MAMPS 0.074399 DATA_FILE_SIZE 6450,255

HUMID 2223 CFSIZE 260231168,253722624

INTERNAL_PRESSURE 7.98859 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.20 GPS 260907,221957,4739.449,-12253.180,13,1.6,13,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 199 145.11 SBE_CT 180 24 102.83

Roll_motor 45 68 73.76 nil 0 0 0.00

VBD_pump_during_apogee 197 675 3180.28 nil 0 0 0.00

VBD_pump_during_surface 133 582 1850.72 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 63 103 155.68 nil 0 0 0.00

Iridium_during_connect 35 160 136.25 ARS 0 0 0.00

Iridium_during_xfer 145 223 774.81

Transponder_ping 0 420 5.00

Mmodem_TX 33 1000 790.40

Mmodem_RX 3469 6 528.52

GPS 35 50 17.88

TT8 483 19 96.60

LPSleep 1607 2 35.55

TT8_Active 440 19 88.05

TT8_Sampling 501 39 201.57

TT8_CF8 365 45 169.18

TT8_Kalman 33 81 27.55

Analog_circuits 733 12 88.90

GPS_charging 0 0 0.00

Compass 456 8 36.92

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.68 -97.8 0.0 0.0 0 81 0.00 0.00 -54.97 0.000 2 0.000 0.000 411 2189 2558

84 -1.68 -97.8 2.1 -2.6 9 151 13.35 2.58 -44.90 0.000 4 0.199 0.068 2525 3584 3603

225 -1.68 -97.8 12.2 -11.1 31 231 0.00 2.40 0.00 0.000 6 0.000 0.035 2526 2198 3606

297 -1.68 -97.8 19.4 -9.2 42 303 0.00 2.50 0.00 0.000 4 0.000 0.054 2526 3587 3604

335 -1.68 -97.8 23.6 -11.3 46 340 0.00 2.42 0.00 0.000 6 0.000 0.035 2526 2200 3604

537 -1.68 -97.8 43.9 -10.4 62 539 0.00 0.00 0.00 0.000 6 0.000 0.000 2526 2201 3605

728 -1.68 -97.8 65.1 -10.9 77 733 0.00 2.62 0.00 0.000 4 0.000 0.056 2525 3592 3605

773 -1.68 -97.8 70.3 -11.4 80 777 0.00 2.42 0.00 0.000 6 0.000 0.035 2526 2192 3605

975 -1.68 -97.8 91.9 -10.5 96 980 0.00 2.55 0.00 0.000 4 0.000 0.057 2526 3588 3605

1010 -1.68 -97.8 95.6 -11.7 98 1014 0.00 2.42 0.00 0.000 6 0.000 0.035 2526 2192 3605

1205 -1.68 -97.8 117.5 -10.7 113 1206 0.00 0.00 0.00 0.000 6 0.000 0.000 2525 2191 3605

1228 end dive: TARGET_DEPTH_EXCEEDED

state 1228 begin apogee

1234 -0.38 0.0 120.1 10.5 115 1316 1.48 0.00 77.85 0.676 6 0.105 0.000 2811 2069 3202

1317 end apogee: CONTROL_FINISHED_OK

state 1317 begin climb

1319 1.68 97.8 123.0 0.0 122 1404 2.17 2.70 76.03 0.656 4 0.064 0.065 3270 684 2803

1425 1.75 154.6 119.8 5.4 131 1475 0.00 2.47 43.88 0.652 6 0.000 0.035 3271 2077 2571

1663 1.75 154.6 98.9 9.0 150 1667 0.00 2.55 0.00 0.000 4 0.000 0.058 3270 3478 2569

1775 1.75 154.6 87.4 10.6 158 1779 0.00 2.45 0.00 0.000 6 0.000 0.036 3271 2076 2569

1977 1.75 154.6 68.6 9.0 174 1981 0.00 2.55 0.00 0.000 4 0.000 0.055 3270 3480 2568

2062 1.75 154.6 60.5 9.2 180 2066 0.00 2.45 0.00 0.000 6 0.000 0.036 3270 2075 2568

2264 1.75 154.6 41.7 9.3 196 2268 0.00 2.55 0.00 0.000 4 0.000 0.055 3270 3476 2568

2349 1.75 154.6 33.5 9.5 202 2353 0.00 2.42 0.00 0.000 6 0.000 0.036 3270 2079 2568

2549 1.75 154.6 14.5 10.5 221 2555 0.00 2.53 0.00 0.000 4 0.000 0.055 3270 3473 2568

2600 1.75 154.6 9.4 9.4 229 2607 0.00 2.42 0.00 0.000 6 0.000 0.035 3271 2077 2568

2664 end climb: SURFACE_DEPTH_REACHED

state 2664 begin surface coast

2771 end surface coast: CONTROL_FINISHED_OK

state 2771 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	116	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	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2080	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	450	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	33	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	42	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-19261.35	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	212153,4739.280,-12253.291,11,9.3,30,18.3	TGT_NAME	H3
_CALLS	2	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.105,0.180
_SM_DEPTHo	1.34	KALMAN_X	21860.6,36.6,30.0,-22711.0,-195.3
_SM_ANGLEo	-63.6	KALMAN_Y	9857.5,44.7,2.6,-10792.7,-320.2
GPS2	212910,4739.309,-12253.325,32,1.3,34,18.3	MHEAD_RNG_PITCHd_Wd	11.9,331,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	120

FINISH	2.0,1.009286	XPDR_PINGS	1
SM_CCo	2799,133.40,0.583,0,0,1367,450.13	ALTIM_BOTTOM_PING	95.6,999.0
SM_GC	1.39,0.00,0.00,133.40,0.000,0.000,0.583,410,2215,1367,-11.45,0.51,450.13	_24V_AH	23.8,27.216
IRIDIUM_FIX	4722.92,-12253.53,270907,000038	_10V_AH	10.1,17.932
TT8_MAMPS	0.074399	DATA_FILE_SIZE	6450,255
HUMID	2223	CFSIZE	260231168,253722624
INTERNAL_PRESSURE	7.98859	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.20	GPS	260907,221957,4739.449,-12253.180,13,1.6,13,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	199	145.11	SBE_CT	180	24	102.83
Roll_motor	45	68	73.76	nil	0	0	0.00
VBD_pump_during_apogee	197	675	3180.28	nil	0	0	0.00
VBD_pump_during_surface	133	582	1850.72	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	63	103	155.68	nil	0	0	0.00
Iridium_during_connect	35	160	136.25	ARS	0	0	0.00
Iridium_during_xfer	145	223	774.81
Transponder_ping	0	420	5.00
Mmodem_TX	33	1000	790.40
Mmodem_RX	3469	6	528.52
GPS	35	50	17.88
TT8	483	19	96.60
LPSleep	1607	2	35.55
TT8_Active	440	19	88.05
TT8_Sampling	501	39	201.57
TT8_CF8	365	45	169.18
TT8_Kalman	33	81	27.55
Analog_circuits	733	12	88.90
GPS_charging	0	0	0.00
Compass	456	8	36.92
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.68	-97.8	0.0	0.0	0	81	0.00	0.00	-54.97	0.000	2	0.000	0.000	411	2189	2558
84	-1.68	-97.8	2.1	-2.6	9	151	13.35	2.58	-44.90	0.000	4	0.199	0.068	2525	3584	3603
225	-1.68	-97.8	12.2	-11.1	31	231	0.00	2.40	0.00	0.000	6	0.000	0.035	2526	2198	3606
297	-1.68	-97.8	19.4	-9.2	42	303	0.00	2.50	0.00	0.000	4	0.000	0.054	2526	3587	3604
335	-1.68	-97.8	23.6	-11.3	46	340	0.00	2.42	0.00	0.000	6	0.000	0.035	2526	2200	3604
537	-1.68	-97.8	43.9	-10.4	62	539	0.00	0.00	0.00	0.000	6	0.000	0.000	2526	2201	3605
728	-1.68	-97.8	65.1	-10.9	77	733	0.00	2.62	0.00	0.000	4	0.000	0.056	2525	3592	3605
773	-1.68	-97.8	70.3	-11.4	80	777	0.00	2.42	0.00	0.000	6	0.000	0.035	2526	2192	3605
975	-1.68	-97.8	91.9	-10.5	96	980	0.00	2.55	0.00	0.000	4	0.000	0.057	2526	3588	3605
1010	-1.68	-97.8	95.6	-11.7	98	1014	0.00	2.42	0.00	0.000	6	0.000	0.035	2526	2192	3605
1205	-1.68	-97.8	117.5	-10.7	113	1206	0.00	0.00	0.00	0.000	6	0.000	0.000	2525	2191	3605
1228	end dive: TARGET_DEPTH_EXCEEDED
state	1228	begin apogee
1234	-0.38	0.0	120.1	10.5	115	1316	1.48	0.00	77.85	0.676	6	0.105	0.000	2811	2069	3202
1317	end apogee: CONTROL_FINISHED_OK
state	1317	begin climb
1319	1.68	97.8	123.0	0.0	122	1404	2.17	2.70	76.03	0.656	4	0.064	0.065	3270	684	2803
1425	1.75	154.6	119.8	5.4	131	1475	0.00	2.47	43.88	0.652	6	0.000	0.035	3271	2077	2571
1663	1.75	154.6	98.9	9.0	150	1667	0.00	2.55	0.00	0.000	4	0.000	0.058	3270	3478	2569
1775	1.75	154.6	87.4	10.6	158	1779	0.00	2.45	0.00	0.000	6	0.000	0.036	3271	2076	2569
1977	1.75	154.6	68.6	9.0	174	1981	0.00	2.55	0.00	0.000	4	0.000	0.055	3270	3480	2568
2062	1.75	154.6	60.5	9.2	180	2066	0.00	2.45	0.00	0.000	6	0.000	0.036	3270	2075	2568
2264	1.75	154.6	41.7	9.3	196	2268	0.00	2.55	0.00	0.000	4	0.000	0.055	3270	3476	2568
2349	1.75	154.6	33.5	9.5	202	2353	0.00	2.42	0.00	0.000	6	0.000	0.036	3270	2079	2568
2549	1.75	154.6	14.5	10.5	221	2555	0.00	2.53	0.00	0.000	4	0.000	0.055	3270	3473	2568
2600	1.75	154.6	9.4	9.4	229	2607	0.00	2.42	0.00	0.000	6	0.000	0.035	3271	2077	2568
2664	end climb: SURFACE_DEPTH_REACHED
state	2664	begin surface coast
2771	end surface coast: CONTROL_FINISHED_OK
state	2771	begin surface