Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 133 * 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 133 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 90 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 350 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 20 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 48 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 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 -50983.879 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 25 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 350

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 90 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 25 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 -50983.879

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 20 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 48 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 133 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 105325,4744.677,-12250.425,39,1.5,39,18.3 TGT_NAME WP1

_CALLS 1 TGT_LATLONG 4743.050,-12250.817

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.022,-0.247

_SM_DEPTHo 0.32 KALMAN_X 5679.5,223.2,-70.8,-2676.7,-57.4

_SM_ANGLEo -56.3 KALMAN_Y 7066.2,1331.2,253.2,1032.8,-121.1

GPS2 105857,4744.716,-12250.418,15,1.7,15,18.3 MHEAD_RNG_PITCHd_Wd 166.7,3127,-15.9,-8.571

SPEED_LIMITS 0.184,0.248 D_GRID 155

Post-dive calculations and measurements:

FINISH 0.8,1.022471 XPDR_PINGS 0

SM_CCo 2674,73.15,0.573,0,0,1790,350.04 ALTIM_BOTTOM_PING 50.2,52.0

SM_GC 0.13,0.00,0.00,73.15,0.000,0.000,0.573,460,1794,1790,-12.14,-0.17,350.04 _24V_AH 23.9,11.775

IRIDIUM_FIX 4726.11,-12248.15,071007,131314 _10V_AH 10.1,10.144

TT8_MAMPS 0.06903 DATA_FILE_SIZE 6466,242

HUMID 2109 CFSIZE 260034560,252821504

INTERNAL_PRESSURE 8.46712 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 071007,114659,4744.527,-12250.499,14,3.1,33,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 214 159.89 SBE_CT 161 24 92.50

Roll_motor 45 82 90.38 nil 0 0 0.00

VBD_pump_during_apogee 253 661 4001.75 nil 0 0 0.00

VBD_pump_during_surface 73 572 1001.68 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 38 103 95.05 nil 0 0 0.00

Iridium_during_connect 33 160 129.50 ARS 0 0 0.00

Iridium_during_xfer 138 223 739.04

Transponder_ping 0 420 5.02

Mmodem_TX 4 1000 99.19

Mmodem_RX 3234 6 494.80

GPS 15 50 8.08

TT8 447 19 89.55

LPSleep 1421 2 31.44

TT8_Active 449 19 89.97

TT8_Sampling 446 39 179.58

TT8_CF8 340 45 157.55

TT8_Kalman 33 81 27.54

Analog_circuits 725 12 87.97

GPS_charging 0 0 0.00

Compass 417 8 33.73

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 -1.40 -146.6 0.0 0.0 0 112 0.00 0.00 -85.03 0.000 2 0.000 0.000 462 1822 3654

115 -1.40 -146.6 2.1 -5.5 14 140 15.12 2.72 -3.97 0.000 4 0.215 0.083 2788 390 3818

213 -1.40 -146.6 12.2 -7.3 29 219 0.00 2.45 0.00 0.000 6 0.000 0.033 2788 1799 3819

285 -1.40 -146.6 17.5 -7.2 40 290 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 1802 3819

355 -1.40 -146.6 21.9 -6.6 49 360 0.00 2.50 0.00 0.000 4 0.000 0.048 2788 3197 3819

394 -1.40 -146.6 24.3 -5.9 51 401 0.00 2.47 0.00 0.000 6 0.000 0.035 2788 1793 3819

590 -1.40 -146.6 35.5 -6.9 67 594 0.00 2.62 0.00 0.000 4 0.000 0.072 2788 398 3819

654 -1.40 -146.6 39.5 -5.6 71 661 0.00 2.45 0.00 0.000 6 0.000 0.032 2788 1795 3820

851 -1.40 -146.6 50.0 -5.3 87 861 0.00 2.50 0.00 0.000 4 0.000 0.048 2788 3197 3819

978 -1.40 -146.6 57.1 -5.8 96 986 0.00 2.47 0.00 0.000 6 0.000 0.036 2788 1803 3820

1175 -1.40 -146.6 68.0 -5.9 112 1176 0.00 0.00 0.00 0.000 6 0.000 0.000 2788 1803 3820

1366 -1.40 -146.6 78.0 -5.5 127 1370 0.00 2.50 0.00 0.000 4 0.000 0.048 2790 3194 3820

1456 -1.40 -146.6 83.5 -6.1 133 1464 0.00 2.47 0.00 0.000 6 0.000 0.035 2788 1798 3819

1575 end dive: TARGET_DEPTH_EXCEEDED

state 1575 begin apogee

1580 -0.38 0.0 90.3 5.6 143 1701 1.12 0.00 115.60 0.661 6 0.095 0.000 3016 1723 3218

1702 end apogee: CONTROL_FINISHED_OK

state 1702 begin climb

1705 1.40 146.6 91.8 0.0 153 1824 1.75 0.00 113.07 0.630 6 0.058 0.000 3406 1723 2619

2009 1.40 146.6 64.1 10.6 178 2013 0.00 2.55 0.00 0.000 4 0.000 0.049 3406 3121 2618

2041 1.40 146.6 60.3 11.1 180 2045 0.00 2.47 0.00 0.000 6 0.000 0.037 3406 1741 2617

2243 1.40 146.6 39.8 10.6 196 2248 0.00 2.70 0.00 0.000 4 0.000 0.079 3406 331 2617

2268 1.40 146.6 36.8 11.7 197 2275 0.00 2.47 0.00 0.000 6 0.000 0.032 3406 1736 2617

2465 1.40 146.6 17.6 11.6 214 2471 0.00 2.67 0.00 0.000 4 0.000 0.074 3406 331 2617

2484 1.40 146.6 15.1 12.5 217 2490 0.00 2.45 0.00 0.000 6 0.000 0.033 3406 1735 2617

2556 1.44 178.6 9.3 7.3 228 2587 0.00 2.55 24.58 0.621 4 0.000 0.048 3406 3134 2487

2598 end climb: SURFACE_DEPTH_REACHED

state 2598 begin surface coast

2645 end surface coast: CONTROL_FINISHED_OK

state 2645 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	133	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	90	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	350	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	20	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	48	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	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	-50983.879	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	25	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	105325,4744.677,-12250.425,39,1.5,39,18.3	TGT_NAME	WP1
_CALLS	1	TGT_LATLONG	4743.050,-12250.817
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.022,-0.247
_SM_DEPTHo	0.32	KALMAN_X	5679.5,223.2,-70.8,-2676.7,-57.4
_SM_ANGLEo	-56.3	KALMAN_Y	7066.2,1331.2,253.2,1032.8,-121.1
GPS2	105857,4744.716,-12250.418,15,1.7,15,18.3	MHEAD_RNG_PITCHd_Wd	166.7,3127,-15.9,-8.571
SPEED_LIMITS	0.184,0.248	D_GRID	155

FINISH	0.8,1.022471	XPDR_PINGS	0
SM_CCo	2674,73.15,0.573,0,0,1790,350.04	ALTIM_BOTTOM_PING	50.2,52.0
SM_GC	0.13,0.00,0.00,73.15,0.000,0.000,0.573,460,1794,1790,-12.14,-0.17,350.04	_24V_AH	23.9,11.775
IRIDIUM_FIX	4726.11,-12248.15,071007,131314	_10V_AH	10.1,10.144
TT8_MAMPS	0.06903	DATA_FILE_SIZE	6466,242
HUMID	2109	CFSIZE	260034560,252821504
INTERNAL_PRESSURE	8.46712	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	071007,114659,4744.527,-12250.499,14,3.1,33,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	214	159.89	SBE_CT	161	24	92.50
Roll_motor	45	82	90.38	nil	0	0	0.00
VBD_pump_during_apogee	253	661	4001.75	nil	0	0	0.00
VBD_pump_during_surface	73	572	1001.68	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	38	103	95.05	nil	0	0	0.00
Iridium_during_connect	33	160	129.50	ARS	0	0	0.00
Iridium_during_xfer	138	223	739.04
Transponder_ping	0	420	5.02
Mmodem_TX	4	1000	99.19
Mmodem_RX	3234	6	494.80
GPS	15	50	8.08
TT8	447	19	89.55
LPSleep	1421	2	31.44
TT8_Active	449	19	89.97
TT8_Sampling	446	39	179.58
TT8_CF8	340	45	157.55
TT8_Kalman	33	81	27.54
Analog_circuits	725	12	87.97
GPS_charging	0	0	0.00
Compass	417	8	33.73
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	-1.40	-146.6	0.0	0.0	0	112	0.00	0.00	-85.03	0.000	2	0.000	0.000	462	1822	3654
115	-1.40	-146.6	2.1	-5.5	14	140	15.12	2.72	-3.97	0.000	4	0.215	0.083	2788	390	3818
213	-1.40	-146.6	12.2	-7.3	29	219	0.00	2.45	0.00	0.000	6	0.000	0.033	2788	1799	3819
285	-1.40	-146.6	17.5	-7.2	40	290	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	1802	3819
355	-1.40	-146.6	21.9	-6.6	49	360	0.00	2.50	0.00	0.000	4	0.000	0.048	2788	3197	3819
394	-1.40	-146.6	24.3	-5.9	51	401	0.00	2.47	0.00	0.000	6	0.000	0.035	2788	1793	3819
590	-1.40	-146.6	35.5	-6.9	67	594	0.00	2.62	0.00	0.000	4	0.000	0.072	2788	398	3819
654	-1.40	-146.6	39.5	-5.6	71	661	0.00	2.45	0.00	0.000	6	0.000	0.032	2788	1795	3820
851	-1.40	-146.6	50.0	-5.3	87	861	0.00	2.50	0.00	0.000	4	0.000	0.048	2788	3197	3819
978	-1.40	-146.6	57.1	-5.8	96	986	0.00	2.47	0.00	0.000	6	0.000	0.036	2788	1803	3820
1175	-1.40	-146.6	68.0	-5.9	112	1176	0.00	0.00	0.00	0.000	6	0.000	0.000	2788	1803	3820
1366	-1.40	-146.6	78.0	-5.5	127	1370	0.00	2.50	0.00	0.000	4	0.000	0.048	2790	3194	3820
1456	-1.40	-146.6	83.5	-6.1	133	1464	0.00	2.47	0.00	0.000	6	0.000	0.035	2788	1798	3819
1575	end dive: TARGET_DEPTH_EXCEEDED
state	1575	begin apogee
1580	-0.38	0.0	90.3	5.6	143	1701	1.12	0.00	115.60	0.661	6	0.095	0.000	3016	1723	3218
1702	end apogee: CONTROL_FINISHED_OK
state	1702	begin climb
1705	1.40	146.6	91.8	0.0	153	1824	1.75	0.00	113.07	0.630	6	0.058	0.000	3406	1723	2619
2009	1.40	146.6	64.1	10.6	178	2013	0.00	2.55	0.00	0.000	4	0.000	0.049	3406	3121	2618
2041	1.40	146.6	60.3	11.1	180	2045	0.00	2.47	0.00	0.000	6	0.000	0.037	3406	1741	2617
2243	1.40	146.6	39.8	10.6	196	2248	0.00	2.70	0.00	0.000	4	0.000	0.079	3406	331	2617
2268	1.40	146.6	36.8	11.7	197	2275	0.00	2.47	0.00	0.000	6	0.000	0.032	3406	1736	2617
2465	1.40	146.6	17.6	11.6	214	2471	0.00	2.67	0.00	0.000	4	0.000	0.074	3406	331	2617
2484	1.40	146.6	15.1	12.5	217	2490	0.00	2.45	0.00	0.000	6	0.000	0.033	3406	1735	2617
2556	1.44	178.6	9.3	7.3	228	2587	0.00	2.55	24.58	0.621	4	0.000	0.048	3406	3134	2487
2598	end climb: SURFACE_DEPTH_REACHED
state	2598	begin surface coast
2645	end surface coast: CONTROL_FINISHED_OK
state	2645	begin surface