Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 12 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 12 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 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 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 19 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 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 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -47852.465 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 150 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 20 PITCH_MIN 460 AH0_24V 71.400002 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -8.3042984 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 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 -8.3042984 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 20 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 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -47852.465

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 19 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 37 USE_ICE 0

DEEPGLIDERMB 0 MISSION 8 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 12 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 082459,4739.491,-12253.220,13,3.1,32,18.3 TGT_NAME H3

_CALLS 2 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.100,-0.177

_SM_DEPTHo 0.26 KALMAN_X 716.2,193.5,87.1,-1192.9,84.5

_SM_ANGLEo -56.8 KALMAN_Y 1693.0,469.1,170.7,-2170.9,168.1

GPS2 083308,4739.574,-12253.104,34,1.6,34,18.3 MHEAD_RNG_PITCHd_Wd 191.2,234,-16.7,-7.407

SPEED_LIMITS 0.204,0.235 D_GRID 116

Post-dive calculations and measurements:

FINISH -0.5,1.013662 XPDR_PINGS 0

SM_CCo 2867,108.47,0.584,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.4,52.0

SM_GC 0.25,0.00,0.00,108.47,0.000,0.000,0.584,458,1818,1586,-12.15,0.51,400.08 _24V_AH 23.9,1.133

IRIDIUM_FIX 4719.74,-12254.47,021007,121252 _10V_AH 10.0,0.906

TT8_MAMPS 0.071331 DATA_FILE_SIZE 6450,260

HUMID 2151 CFSIZE 260034560,256765952

INTERNAL_PRESSURE 8.45736 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 021007,092453,4739.420,-12253.280,10,2.2,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 207 152.57 SBE_CT 174 24 99.88

Roll_motor 30 79 58.01 nil 0 0 0.00

VBD_pump_during_apogee 230 679 3743.67 nil 0 0 0.00

VBD_pump_during_surface 108 583 1513.24 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 81 103 200.00 nil 0 0 0.00

Iridium_during_connect 113 160 435.73 ARS 0 0 0.00

Iridium_during_xfer 104 223 559.26

Transponder_ping 0 420 5.02

Mmodem_TX 0 0 0.00

Mmodem_RX 3597 6 550.20

GPS 34 50 17.35

TT8 480 19 95.17

LPSleep 1672 2 36.63

TT8_Active 440 19 87.23

TT8_Sampling 475 39 189.33

TT8_CF8 422 45 193.60

TT8_Kalman 33 81 27.26

Analog_circuits 721 12 86.60

GPS_charging 0 0 0.00

Compass 431 8 34.52

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 -1.41 -105.5 0.0 0.0 0 118 0.00 0.00 -91.12 0.000 2 0.000 0.000 463 1819 3618

122 -1.45 -138.0 2.4 -5.9 15 147 14.75 2.50 -4.00 0.000 4 0.207 0.061 2780 3195 3782

201 -1.46 -146.6 9.7 -6.5 27 208 0.00 2.47 -0.70 0.000 6 0.000 0.038 2780 1796 3818

275 -1.46 -146.6 14.4 -6.6 38 281 0.00 2.65 0.00 0.000 4 0.000 0.074 2780 400 3818

294 -1.46 -146.6 15.8 -6.4 41 300 0.00 2.45 0.00 0.000 6 0.000 0.035 2780 1804 3820

372 -1.46 -146.6 21.1 -6.5 52 373 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1805 3819

564 -1.46 -146.6 32.9 -6.2 67 565 0.00 0.00 0.00 0.000 6 0.000 0.000 2781 1805 3819

752 -1.46 -146.6 44.2 -6.1 82 756 0.00 2.50 0.00 0.000 4 0.000 0.051 2780 3199 3819

798 -1.46 -146.6 47.1 -6.1 85 802 0.00 2.47 0.00 0.000 6 0.000 0.038 2780 1796 3819

993 -1.46 -146.6 58.6 -5.7 100 994 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1795 3819

1184 -1.46 -146.6 68.8 -5.1 115 1185 0.00 0.00 0.00 0.000 6 0.000 0.000 2780 1796 3819

1373 -1.46 -146.6 79.0 -5.5 130 1374 0.00 0.00 0.00 0.000 6 0.000 0.000 2782 1796 3819

1563 -1.46 -146.6 89.5 -5.7 145 1567 0.00 2.53 0.00 0.000 4 0.000 0.050 2780 3194 3819

1600 -1.46 -146.6 91.8 -6.1 147 1608 0.00 2.47 0.00 0.000 6 0.000 0.037 2780 1801 3819

1744 end dive: TARGET_DEPTH_EXCEEDED

state 1744 begin apogee

1750 -0.38 0.0 100.1 5.7 159 1871 1.15 0.00 117.00 0.680 6 0.091 0.000 3016 1727 3218

1872 end apogee: CONTROL_FINISHED_OK

state 1872 begin climb

1875 1.46 146.6 101.6 0.0 169 1999 1.83 2.78 113.50 0.645 4 0.052 0.079 3420 337 2619

2030 1.46 146.6 88.3 12.1 181 2038 0.00 2.50 0.00 0.000 6 0.000 0.035 3420 1731 2618

2227 1.46 146.6 66.8 11.1 197 2231 0.00 2.70 0.00 0.000 4 0.000 0.076 3421 333 2618

2266 1.46 146.6 62.1 12.4 200 2270 0.00 2.47 0.00 0.000 6 0.000 0.036 3420 1739 2618

2468 1.46 146.6 39.1 11.2 216 2469 0.00 0.00 0.00 0.000 6 0.000 0.000 3420 1739 2618

2659 1.46 146.6 17.6 10.4 232 2664 0.00 0.00 0.00 0.000 6 0.000 0.000 3420 1739 2618

2730 1.46 146.6 10.5 10.3 243 2736 0.00 0.00 0.00 0.000 6 0.000 0.000 3420 1739 2618

2787 end climb: SURFACE_DEPTH_REACHED

state 2787 begin surface coast

2841 end surface coast: CONTROL_FINISHED_OK

state 2841 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	12	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	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	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	19	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	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	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-47852.465	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	150	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	20	PITCH_MIN	460	AH0_24V	71.400002	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-8.3042984	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	082459,4739.491,-12253.220,13,3.1,32,18.3	TGT_NAME	H3
_CALLS	2	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.100,-0.177
_SM_DEPTHo	0.26	KALMAN_X	716.2,193.5,87.1,-1192.9,84.5
_SM_ANGLEo	-56.8	KALMAN_Y	1693.0,469.1,170.7,-2170.9,168.1
GPS2	083308,4739.574,-12253.104,34,1.6,34,18.3	MHEAD_RNG_PITCHd_Wd	191.2,234,-16.7,-7.407
SPEED_LIMITS	0.204,0.235	D_GRID	116

FINISH	-0.5,1.013662	XPDR_PINGS	0
SM_CCo	2867,108.47,0.584,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.4,52.0
SM_GC	0.25,0.00,0.00,108.47,0.000,0.000,0.584,458,1818,1586,-12.15,0.51,400.08	_24V_AH	23.9,1.133
IRIDIUM_FIX	4719.74,-12254.47,021007,121252	_10V_AH	10.0,0.906
TT8_MAMPS	0.071331	DATA_FILE_SIZE	6450,260
HUMID	2151	CFSIZE	260034560,256765952
INTERNAL_PRESSURE	8.45736	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	021007,092453,4739.420,-12253.280,10,2.2,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	207	152.57	SBE_CT	174	24	99.88
Roll_motor	30	79	58.01	nil	0	0	0.00
VBD_pump_during_apogee	230	679	3743.67	nil	0	0	0.00
VBD_pump_during_surface	108	583	1513.24	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	81	103	200.00	nil	0	0	0.00
Iridium_during_connect	113	160	435.73	ARS	0	0	0.00
Iridium_during_xfer	104	223	559.26
Transponder_ping	0	420	5.02
Mmodem_TX	0	0	0.00
Mmodem_RX	3597	6	550.20
GPS	34	50	17.35
TT8	480	19	95.17
LPSleep	1672	2	36.63
TT8_Active	440	19	87.23
TT8_Sampling	475	39	189.33
TT8_CF8	422	45	193.60
TT8_Kalman	33	81	27.26
Analog_circuits	721	12	86.60
GPS_charging	0	0	0.00
Compass	431	8	34.52
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	-1.41	-105.5	0.0	0.0	0	118	0.00	0.00	-91.12	0.000	2	0.000	0.000	463	1819	3618
122	-1.45	-138.0	2.4	-5.9	15	147	14.75	2.50	-4.00	0.000	4	0.207	0.061	2780	3195	3782
201	-1.46	-146.6	9.7	-6.5	27	208	0.00	2.47	-0.70	0.000	6	0.000	0.038	2780	1796	3818
275	-1.46	-146.6	14.4	-6.6	38	281	0.00	2.65	0.00	0.000	4	0.000	0.074	2780	400	3818
294	-1.46	-146.6	15.8	-6.4	41	300	0.00	2.45	0.00	0.000	6	0.000	0.035	2780	1804	3820
372	-1.46	-146.6	21.1	-6.5	52	373	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1805	3819
564	-1.46	-146.6	32.9	-6.2	67	565	0.00	0.00	0.00	0.000	6	0.000	0.000	2781	1805	3819
752	-1.46	-146.6	44.2	-6.1	82	756	0.00	2.50	0.00	0.000	4	0.000	0.051	2780	3199	3819
798	-1.46	-146.6	47.1	-6.1	85	802	0.00	2.47	0.00	0.000	6	0.000	0.038	2780	1796	3819
993	-1.46	-146.6	58.6	-5.7	100	994	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1795	3819
1184	-1.46	-146.6	68.8	-5.1	115	1185	0.00	0.00	0.00	0.000	6	0.000	0.000	2780	1796	3819
1373	-1.46	-146.6	79.0	-5.5	130	1374	0.00	0.00	0.00	0.000	6	0.000	0.000	2782	1796	3819
1563	-1.46	-146.6	89.5	-5.7	145	1567	0.00	2.53	0.00	0.000	4	0.000	0.050	2780	3194	3819
1600	-1.46	-146.6	91.8	-6.1	147	1608	0.00	2.47	0.00	0.000	6	0.000	0.037	2780	1801	3819
1744	end dive: TARGET_DEPTH_EXCEEDED
state	1744	begin apogee
1750	-0.38	0.0	100.1	5.7	159	1871	1.15	0.00	117.00	0.680	6	0.091	0.000	3016	1727	3218
1872	end apogee: CONTROL_FINISHED_OK
state	1872	begin climb
1875	1.46	146.6	101.6	0.0	169	1999	1.83	2.78	113.50	0.645	4	0.052	0.079	3420	337	2619
2030	1.46	146.6	88.3	12.1	181	2038	0.00	2.50	0.00	0.000	6	0.000	0.035	3420	1731	2618
2227	1.46	146.6	66.8	11.1	197	2231	0.00	2.70	0.00	0.000	4	0.000	0.076	3421	333	2618
2266	1.46	146.6	62.1	12.4	200	2270	0.00	2.47	0.00	0.000	6	0.000	0.036	3420	1739	2618
2468	1.46	146.6	39.1	11.2	216	2469	0.00	0.00	0.00	0.000	6	0.000	0.000	3420	1739	2618
2659	1.46	146.6	17.6	10.4	232	2664	0.00	0.00	0.00	0.000	6	0.000	0.000	3420	1739	2618
2730	1.46	146.6	10.5	10.3	243	2736	0.00	0.00	0.00	0.000	6	0.000	0.000	3420	1739	2618
2787	end climb: SURFACE_DEPTH_REACHED
state	2787	begin surface coast
2841	end surface coast: CONTROL_FINISHED_OK
state	2841	begin surface