Glider dive log

PN07 DabobBay Oct07 * SG106 * Dive index * Mission links * Dive 122 * 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 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 122 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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 41 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 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 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 -45655.426 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 125 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 30 PITCH_MIN 460 AH0_24V 91.800003 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 -7.4494777 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 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 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 -7.4494777 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 35

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 -45655.426

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

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 21 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 41 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 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 122 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 091914,4739.432,-12252.776,10,2.0,14,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.229,0.058

_SM_DEPTHo 1.06 KALMAN_X 2871.8,10.6,53.1,-3634.4,-89.4

_SM_ANGLEo -62.4 KALMAN_Y 2845.6,244.0,136.4,-3852.4,-52.2

GPS2 092445,4739.423,-12252.765,14,1.7,14,18.3 MHEAD_RNG_PITCHd_Wd 57.6,460,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 123

Post-dive calculations and measurements:

FINISH 0.8,1.020404 XPDR_PINGS 0

SM_CCo 2857,116.43,0.586,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.5,51.4

SM_GC 0.99,0.00,0.00,116.43,0.000,0.000,0.586,462,1797,1586,-12.13,-0.08,400.08 _24V_AH 23.9,15.937

IRIDIUM_FIX 4722.92,-12249.11,290907,121214 _10V_AH 10.1,37.406

TT8_MAMPS 0.069797 DATA_FILE_SIZE 6429,261

HUMID 2036 CFSIZE 260034560,253341696

INTERNAL_PRESSURE 8.42806 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 290907,101637,4739.385,-12252.552,36,1.2,36,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 222 171.44 SBE_CT 174 24 100.28

Roll_motor 45 84 92.20 nil 0 0 0.00

VBD_pump_during_apogee 205 680 3337.34 nil 0 0 0.00

VBD_pump_during_surface 116 585 1630.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 94.21 nil 0 0 0.00

Iridium_during_connect 35 160 134.77 ARS 0 0 0.00

Iridium_during_xfer 144 223 770.10

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3427 6 524.19

GPS 14 50 7.51

TT8 494 19 98.83

LPSleep 1589 2 35.16

TT8_Active 440 19 88.07

TT8_Sampling 480 39 193.09

TT8_CF8 330 45 152.76

TT8_Kalman 33 81 27.54

Analog_circuits 725 12 87.97

GPS_charging 0 0 0.00

Compass 452 8 36.55

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -1.63 -122.2 0.0 0.0 0 86 0.00 0.00 -61.30 0.000 2 0.000 0.000 462 1802 2965

89 -1.63 -122.2 2.3 -4.7 10 138 15.20 2.72 -25.12 0.000 4 0.222 0.084 2742 393 3719

323 -1.63 -122.2 16.5 -6.6 46 329 0.00 2.45 0.00 0.000 6 0.000 0.033 2742 1802 3721

401 -1.63 -122.2 20.8 -5.0 57 405 0.00 2.47 0.00 0.000 4 0.000 0.048 2742 3189 3721

479 -1.63 -122.2 25.1 -5.4 62 486 0.00 2.50 0.00 0.000 6 0.000 0.037 2742 1792 3722

675 -1.63 -122.2 34.9 -5.0 78 676 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1792 3722

866 -1.63 -122.2 45.1 -5.5 93 870 0.00 2.53 0.00 0.000 4 0.000 0.048 2742 3194 3722

970 -1.63 -122.2 51.2 -5.9 100 976 0.00 2.47 0.00 0.000 6 0.000 0.038 2742 1795 3722

1165 -1.63 -122.2 62.8 -6.2 116 1170 0.00 2.62 0.00 0.000 4 0.000 0.074 2742 401 3722

1239 -1.63 -122.2 67.7 -6.9 121 1244 0.00 2.42 0.00 0.000 6 0.000 0.035 2742 1799 3722

1434 -1.63 -122.2 80.0 -6.2 136 1439 0.00 2.50 0.00 0.000 4 0.000 0.050 2742 3199 3722

1507 -1.63 -122.2 84.7 -6.7 141 1511 0.00 2.47 0.00 0.000 6 0.000 0.038 2742 1794 3722

1708 -1.63 -122.2 96.2 -5.4 157 1710 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 1793 3723

1782 end dive: TARGET_DEPTH_EXCEEDED

state 1782 begin apogee

1787 -0.38 0.0 100.1 5.3 163 1893 1.38 0.00 98.03 0.680 6 0.105 0.000 3015 1731 3217

1894 end apogee: CONTROL_FINISHED_OK

state 1894 begin climb

1896 1.63 122.2 101.5 0.0 172 2002 2.00 2.62 95.15 0.653 4 0.052 0.051 3455 3123 2718

2015 1.63 122.2 91.6 11.0 182 2019 0.00 2.50 0.00 0.000 6 0.000 0.040 3455 1739 2718

2217 1.63 122.2 67.2 11.9 198 2218 0.00 0.00 0.00 0.000 6 0.000 0.000 3455 1739 2716

2407 1.63 122.2 45.2 11.5 213 2411 0.00 2.70 0.00 0.000 4 0.000 0.083 3454 333 2716

2452 1.63 122.2 39.2 13.0 216 2457 0.00 2.47 0.00 0.000 6 0.000 0.035 3455 1727 2716

2649 1.63 122.2 17.0 10.9 233 2655 0.00 2.70 0.00 0.000 4 0.000 0.078 3455 326 2716

2674 1.63 122.2 13.9 12.4 237 2681 0.00 2.47 0.00 0.000 6 0.000 0.035 3454 1737 2716

2746 1.65 138.8 6.7 8.7 248 2765 0.00 2.55 12.07 0.657 4 0.000 0.051 3455 3130 2652

2769 end climb: SURFACE_DEPTH_REACHED

state 2769 begin surface coast

2830 end surface coast: CONTROL_FINISHED_OK

state 2830 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	122	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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	41	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	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	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	-45655.426	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	125	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	30	PITCH_MIN	460	AH0_24V	91.800003	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	-7.4494777	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	091914,4739.432,-12252.776,10,2.0,14,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.229,0.058
_SM_DEPTHo	1.06	KALMAN_X	2871.8,10.6,53.1,-3634.4,-89.4
_SM_ANGLEo	-62.4	KALMAN_Y	2845.6,244.0,136.4,-3852.4,-52.2
GPS2	092445,4739.423,-12252.765,14,1.7,14,18.3	MHEAD_RNG_PITCHd_Wd	57.6,460,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	123

FINISH	0.8,1.020404	XPDR_PINGS	0
SM_CCo	2857,116.43,0.586,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.5,51.4
SM_GC	0.99,0.00,0.00,116.43,0.000,0.000,0.586,462,1797,1586,-12.13,-0.08,400.08	_24V_AH	23.9,15.937
IRIDIUM_FIX	4722.92,-12249.11,290907,121214	_10V_AH	10.1,37.406
TT8_MAMPS	0.069797	DATA_FILE_SIZE	6429,261
HUMID	2036	CFSIZE	260034560,253341696
INTERNAL_PRESSURE	8.42806	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	290907,101637,4739.385,-12252.552,36,1.2,36,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	222	171.44	SBE_CT	174	24	100.28
Roll_motor	45	84	92.20	nil	0	0	0.00
VBD_pump_during_apogee	205	680	3337.34	nil	0	0	0.00
VBD_pump_during_surface	116	585	1630.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	94.21	nil	0	0	0.00
Iridium_during_connect	35	160	134.77	ARS	0	0	0.00
Iridium_during_xfer	144	223	770.10
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3427	6	524.19
GPS	14	50	7.51
TT8	494	19	98.83
LPSleep	1589	2	35.16
TT8_Active	440	19	88.07
TT8_Sampling	480	39	193.09
TT8_CF8	330	45	152.76
TT8_Kalman	33	81	27.54
Analog_circuits	725	12	87.97
GPS_charging	0	0	0.00
Compass	452	8	36.55
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-1.63	-122.2	0.0	0.0	0	86	0.00	0.00	-61.30	0.000	2	0.000	0.000	462	1802	2965
89	-1.63	-122.2	2.3	-4.7	10	138	15.20	2.72	-25.12	0.000	4	0.222	0.084	2742	393	3719
323	-1.63	-122.2	16.5	-6.6	46	329	0.00	2.45	0.00	0.000	6	0.000	0.033	2742	1802	3721
401	-1.63	-122.2	20.8	-5.0	57	405	0.00	2.47	0.00	0.000	4	0.000	0.048	2742	3189	3721
479	-1.63	-122.2	25.1	-5.4	62	486	0.00	2.50	0.00	0.000	6	0.000	0.037	2742	1792	3722
675	-1.63	-122.2	34.9	-5.0	78	676	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1792	3722
866	-1.63	-122.2	45.1	-5.5	93	870	0.00	2.53	0.00	0.000	4	0.000	0.048	2742	3194	3722
970	-1.63	-122.2	51.2	-5.9	100	976	0.00	2.47	0.00	0.000	6	0.000	0.038	2742	1795	3722
1165	-1.63	-122.2	62.8	-6.2	116	1170	0.00	2.62	0.00	0.000	4	0.000	0.074	2742	401	3722
1239	-1.63	-122.2	67.7	-6.9	121	1244	0.00	2.42	0.00	0.000	6	0.000	0.035	2742	1799	3722
1434	-1.63	-122.2	80.0	-6.2	136	1439	0.00	2.50	0.00	0.000	4	0.000	0.050	2742	3199	3722
1507	-1.63	-122.2	84.7	-6.7	141	1511	0.00	2.47	0.00	0.000	6	0.000	0.038	2742	1794	3722
1708	-1.63	-122.2	96.2	-5.4	157	1710	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	1793	3723
1782	end dive: TARGET_DEPTH_EXCEEDED
state	1782	begin apogee
1787	-0.38	0.0	100.1	5.3	163	1893	1.38	0.00	98.03	0.680	6	0.105	0.000	3015	1731	3217
1894	end apogee: CONTROL_FINISHED_OK
state	1894	begin climb
1896	1.63	122.2	101.5	0.0	172	2002	2.00	2.62	95.15	0.653	4	0.052	0.051	3455	3123	2718
2015	1.63	122.2	91.6	11.0	182	2019	0.00	2.50	0.00	0.000	6	0.000	0.040	3455	1739	2718
2217	1.63	122.2	67.2	11.9	198	2218	0.00	0.00	0.00	0.000	6	0.000	0.000	3455	1739	2716
2407	1.63	122.2	45.2	11.5	213	2411	0.00	2.70	0.00	0.000	4	0.000	0.083	3454	333	2716
2452	1.63	122.2	39.2	13.0	216	2457	0.00	2.47	0.00	0.000	6	0.000	0.035	3455	1727	2716
2649	1.63	122.2	17.0	10.9	233	2655	0.00	2.70	0.00	0.000	4	0.000	0.078	3455	326	2716
2674	1.63	122.2	13.9	12.4	237	2681	0.00	2.47	0.00	0.000	6	0.000	0.035	3454	1737	2716
2746	1.65	138.8	6.7	8.7	248	2765	0.00	2.55	12.07	0.657	4	0.000	0.051	3455	3130	2652
2769	end climb: SURFACE_DEPTH_REACHED
state	2769	begin surface coast
2830	end surface coast: CONTROL_FINISHED_OK
state	2830	begin surface