Glider dive log

PN07 DabobBay Oct07 * SG106 * Dive index * Mission links * Dive 131 * 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 131 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 23 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 36 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 -45859.871 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 -45859.871

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 23 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 36 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 131 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 173703,4739.495,-12253.226,8,2.0,8,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.211,-0.107

_SM_DEPTHo 1.03 KALMAN_X 2562.6,-110.1,-4.9,-3676.2,66.2

_SM_ANGLEo -58.8 KALMAN_Y 3182.5,47.4,5.6,-3640.9,150.8

GPS2 174239,4739.545,-12253.188,11,1.6,11,18.3 MHEAD_RNG_PITCHd_Wd 98.6,991,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 116

Post-dive calculations and measurements:

FINISH 1.6,1.021116 XPDR_PINGS 0

SM_CCo 2779,120.10,0.583,0,0,1587,400.08 ALTIM_BOTTOM_PING 50.1,51.0

SM_GC 0.94,0.00,0.00,120.10,0.000,0.000,0.583,461,1812,1587,-12.14,0.34,400.08 _24V_AH 23.9,16.623

IRIDIUM_FIX 4719.74,-12251.79,290907,202055 _10V_AH 10.1,38.027

TT8_MAMPS 0.071331 DATA_FILE_SIZE 6442,253

HUMID 2029 CFSIZE 260034560,253063168

INTERNAL_PRESSURE 8.40853 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.50 GPS 290907,183251,4739.497,-12252.776,12,2.0,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 32 207 158.51 SBE_CT 169 24 97.19

Roll_motor 46 82 90.23 nil 0 0 0.00

VBD_pump_during_apogee 193 680 3143.44 nil 0 0 0.00

VBD_pump_during_surface 120 582 1673.21 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 91.98 nil 0 0 0.00

Iridium_during_connect 36 160 139.58 ARS 0 0 0.00

Iridium_during_xfer 150 223 802.60

Transponder_ping 0 420 5.02

Mmodem_TX 0 1000 0.00

Mmodem_RX 3342 6 511.19

GPS 11 50 5.96

TT8 485 19 97.01

LPSleep 1518 2 33.59

TT8_Active 434 19 86.97

TT8_Sampling 489 39 196.77

TT8_CF8 337 45 156.16

TT8_Kalman 33 81 27.53

Analog_circuits 730 12 88.57

GPS_charging 0 0 0.00

Compass 462 8 37.41

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 -1.63 -122.2 0.0 0.0 0 93 0.00 0.00 -67.25 0.000 2 0.000 0.000 460 1805 3093

96 -1.63 -122.2 2.3 -4.8 11 139 14.55 2.53 -20.77 0.000 4 0.207 0.061 2741 3195 3719

344 -1.63 -122.2 15.8 -6.2 49 350 0.00 2.47 0.00 0.000 6 0.000 0.038 2741 1796 3721

416 -1.63 -122.2 19.9 -5.9 60 421 0.00 0.00 0.00 0.000 6 0.000 0.000 2741 1797 3721

485 -1.63 -122.2 23.7 -5.8 66 489 0.00 2.65 0.00 0.000 4 0.000 0.073 2741 393 3722

557 -1.63 -122.2 28.8 -7.1 71 561 0.00 2.45 0.00 0.000 6 0.000 0.034 2741 1804 3722

752 -1.63 -122.2 40.9 -5.7 86 757 0.00 2.47 0.00 0.000 4 0.000 0.049 2741 3191 3722

785 -1.63 -122.2 43.0 -6.1 88 789 0.00 2.47 0.00 0.000 6 0.000 0.038 2741 1791 3722

987 -1.63 -122.2 55.4 -6.2 104 991 0.00 2.62 0.00 0.000 4 0.000 0.073 2741 397 3722

1038 -1.63 -122.2 58.9 -6.8 107 1045 0.00 2.47 0.00 0.000 6 0.000 0.035 2741 1803 3722

1235 -1.63 -122.2 71.3 -5.5 123 1239 0.00 2.50 0.00 0.000 4 0.000 0.050 2741 3199 3722

1361 -1.63 -122.2 79.5 -6.8 132 1365 0.00 2.47 0.00 0.000 6 0.000 0.038 2741 1799 3722

1556 -1.63 -122.2 91.0 -5.9 147 1560 0.00 2.65 0.00 0.000 4 0.000 0.074 2741 391 3722

1634 -1.63 -122.2 95.7 -5.9 152 1641 0.00 2.47 0.00 0.000 6 0.000 0.035 2741 1802 3723

1727 end dive: TARGET_DEPTH_EXCEEDED

state 1727 begin apogee

1732 -0.38 0.0 100.5 4.9 160 1838 1.38 0.00 98.22 0.680 6 0.104 0.000 3014 1722 3217

1839 end apogee: CONTROL_FINISHED_OK

state 1839 begin climb

1841 1.63 122.2 100.6 0.0 169 1946 1.98 2.70 95.10 0.649 4 0.054 0.077 3458 334 2718

1977 1.63 122.2 88.7 11.5 179 1985 0.00 2.50 0.00 0.000 6 0.000 0.035 3458 1727 2718

2174 1.63 122.2 65.6 11.8 195 2178 0.00 2.55 0.00 0.000 4 0.000 0.051 3458 3136 2717

2218 1.63 122.2 60.1 11.6 198 2226 0.00 2.53 0.00 0.000 6 0.000 0.040 3458 1744 2716

2415 1.63 122.2 37.3 11.7 214 2420 0.00 2.72 0.00 0.000 4 0.000 0.082 3458 328 2716

2466 1.63 122.2 31.0 12.5 217 2474 0.00 2.50 0.00 0.000 6 0.000 0.034 3458 1737 2715

2667 1.63 122.2 8.9 11.8 240 2673 0.00 0.00 0.00 0.000 6 0.000 0.000 3458 1741 2716

2704 end climb: SURFACE_DEPTH_REACHED

state 2704 begin surface coast

2753 end surface coast: CONTROL_FINISHED_OK

state 2753 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	131	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	23	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	36	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	-45859.871	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	173703,4739.495,-12253.226,8,2.0,8,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.211,-0.107
_SM_DEPTHo	1.03	KALMAN_X	2562.6,-110.1,-4.9,-3676.2,66.2
_SM_ANGLEo	-58.8	KALMAN_Y	3182.5,47.4,5.6,-3640.9,150.8
GPS2	174239,4739.545,-12253.188,11,1.6,11,18.3	MHEAD_RNG_PITCHd_Wd	98.6,991,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	116

FINISH	1.6,1.021116	XPDR_PINGS	0
SM_CCo	2779,120.10,0.583,0,0,1587,400.08	ALTIM_BOTTOM_PING	50.1,51.0
SM_GC	0.94,0.00,0.00,120.10,0.000,0.000,0.583,461,1812,1587,-12.14,0.34,400.08	_24V_AH	23.9,16.623
IRIDIUM_FIX	4719.74,-12251.79,290907,202055	_10V_AH	10.1,38.027
TT8_MAMPS	0.071331	DATA_FILE_SIZE	6442,253
HUMID	2029	CFSIZE	260034560,253063168
INTERNAL_PRESSURE	8.40853	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.50	GPS	290907,183251,4739.497,-12252.776,12,2.0,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	32	207	158.51	SBE_CT	169	24	97.19
Roll_motor	46	82	90.23	nil	0	0	0.00
VBD_pump_during_apogee	193	680	3143.44	nil	0	0	0.00
VBD_pump_during_surface	120	582	1673.21	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	91.98	nil	0	0	0.00
Iridium_during_connect	36	160	139.58	ARS	0	0	0.00
Iridium_during_xfer	150	223	802.60
Transponder_ping	0	420	5.02
Mmodem_TX	0	1000	0.00
Mmodem_RX	3342	6	511.19
GPS	11	50	5.96
TT8	485	19	97.01
LPSleep	1518	2	33.59
TT8_Active	434	19	86.97
TT8_Sampling	489	39	196.77
TT8_CF8	337	45	156.16
TT8_Kalman	33	81	27.53
Analog_circuits	730	12	88.57
GPS_charging	0	0	0.00
Compass	462	8	37.41
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	-1.63	-122.2	0.0	0.0	0	93	0.00	0.00	-67.25	0.000	2	0.000	0.000	460	1805	3093
96	-1.63	-122.2	2.3	-4.8	11	139	14.55	2.53	-20.77	0.000	4	0.207	0.061	2741	3195	3719
344	-1.63	-122.2	15.8	-6.2	49	350	0.00	2.47	0.00	0.000	6	0.000	0.038	2741	1796	3721
416	-1.63	-122.2	19.9	-5.9	60	421	0.00	0.00	0.00	0.000	6	0.000	0.000	2741	1797	3721
485	-1.63	-122.2	23.7	-5.8	66	489	0.00	2.65	0.00	0.000	4	0.000	0.073	2741	393	3722
557	-1.63	-122.2	28.8	-7.1	71	561	0.00	2.45	0.00	0.000	6	0.000	0.034	2741	1804	3722
752	-1.63	-122.2	40.9	-5.7	86	757	0.00	2.47	0.00	0.000	4	0.000	0.049	2741	3191	3722
785	-1.63	-122.2	43.0	-6.1	88	789	0.00	2.47	0.00	0.000	6	0.000	0.038	2741	1791	3722
987	-1.63	-122.2	55.4	-6.2	104	991	0.00	2.62	0.00	0.000	4	0.000	0.073	2741	397	3722
1038	-1.63	-122.2	58.9	-6.8	107	1045	0.00	2.47	0.00	0.000	6	0.000	0.035	2741	1803	3722
1235	-1.63	-122.2	71.3	-5.5	123	1239	0.00	2.50	0.00	0.000	4	0.000	0.050	2741	3199	3722
1361	-1.63	-122.2	79.5	-6.8	132	1365	0.00	2.47	0.00	0.000	6	0.000	0.038	2741	1799	3722
1556	-1.63	-122.2	91.0	-5.9	147	1560	0.00	2.65	0.00	0.000	4	0.000	0.074	2741	391	3722
1634	-1.63	-122.2	95.7	-5.9	152	1641	0.00	2.47	0.00	0.000	6	0.000	0.035	2741	1802	3723
1727	end dive: TARGET_DEPTH_EXCEEDED
state	1727	begin apogee
1732	-0.38	0.0	100.5	4.9	160	1838	1.38	0.00	98.22	0.680	6	0.104	0.000	3014	1722	3217
1839	end apogee: CONTROL_FINISHED_OK
state	1839	begin climb
1841	1.63	122.2	100.6	0.0	169	1946	1.98	2.70	95.10	0.649	4	0.054	0.077	3458	334	2718
1977	1.63	122.2	88.7	11.5	179	1985	0.00	2.50	0.00	0.000	6	0.000	0.035	3458	1727	2718
2174	1.63	122.2	65.6	11.8	195	2178	0.00	2.55	0.00	0.000	4	0.000	0.051	3458	3136	2717
2218	1.63	122.2	60.1	11.6	198	2226	0.00	2.53	0.00	0.000	6	0.000	0.040	3458	1744	2716
2415	1.63	122.2	37.3	11.7	214	2420	0.00	2.72	0.00	0.000	4	0.000	0.082	3458	328	2716
2466	1.63	122.2	31.0	12.5	217	2474	0.00	2.50	0.00	0.000	6	0.000	0.034	3458	1737	2715
2667	1.63	122.2	8.9	11.8	240	2673	0.00	0.00	0.00	0.000	6	0.000	0.000	3458	1741	2716
2704	end climb: SURFACE_DEPTH_REACHED
state	2704	begin surface coast
2753	end surface coast: CONTROL_FINISHED_OK
state	2753	begin surface