Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 140 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_B 0.010078 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 140 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 311 ALTIM_PING_DEPTH 70

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2415 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 17 INT_PRESSURE_YINT 1.4

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 35 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 35 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 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 540 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3800 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3229 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY 0 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17304.551 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

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 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 428 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3730 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 3000 PRESSURE_YINT -6.9690108 SEABIRD_T_I 2.5554549e-05

MASS 51630 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 2 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 10 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3730 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 428 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 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 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -6.9690108 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 16 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 -17304.551

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 118 ROLL_MAX 3943 T_TURN_SAMPINT 6

C_PITCH 3000 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2415 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 UNCOM_BLEED 20

C_ROLL_DIVE 2500 KALMAN_USE 2 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 35 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 35 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3800

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 540

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 140 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 003533,4739.485,-12252.342,13,1.6,13,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.95 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -61.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 004209,4739.492,-12252.324,13,1.7,13,18.3 MHEAD_RNG_PITCHd_Wd 249.3,1096,-18.1,-8.889

SPEED_LIMITS 0.154,0.231 D_GRID 120

Post-dive calculations and measurements:

FINISH 0.1,1.025232 XPDR_PINGS 3

SM_CCo 2621,132.57,0.522,1,0,1598,400.08 ALTIM_BOTTOM_PING 90.0,46.3

SM_GC 0.93,0.00,0.00,132.57,0.000,0.000,0.522,425,2488,1598,-11.84,-0.34,400.08 _24V_AH 24.1,10.168

IRIDIUM_FIX 4726.11,-12117.58,260907,030355 _10V_AH 10.1,6.995

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6440,234

HUMID 1778 CFSIZE 260034560,253218816

INTERNAL_PRESSURE 9.33976 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.90 GPS 260907,012937,4739.544,-12252.659,13,1.3,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 155 110.51 SBE_CT 161 24 93.51

Roll_motor 44 69 74.11 nil 0 0 0.00

VBD_pump_during_apogee 187 614 2780.24 nil 0 0 0.00

VBD_pump_during_surface 132 521 1666.41 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 41 103 102.47 nil 0 0 0.00

Iridium_during_connect 33 160 130.69 ARS 0 0 0.00

Iridium_during_xfer 185 223 995.43

Transponder_ping 1 420 17.71

Mmodem_TX 0 1000 0.00

Mmodem_RX 3247 6 500.82

GPS 13 93 12.63

TT8 451 19 90.21

LPSleep 1402 2 31.02

TT8_Active 425 19 85.17

TT8_Sampling 446 39 179.31

TT8_CF8 440 45 203.99

TT8_Kalman 0 0 0.00

Analog_circuits 714 12 86.61

GPS_charging 0 0 0.00

Compass 443 8 35.81

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

24 end surface: CONTROL_FINISHED_OK

state 24 begin dive

27 -1.96 -122.2 0.0 0.0 0 90 0.00 0.00 -61.05 0.000 2 0.000 0.000 428 2519 3112

94 -1.96 -122.2 2.1 -4.0 10 137 11.90 2.58 -22.50 0.000 4 0.156 0.058 2567 1101 3730

230 -1.96 -122.2 13.1 -9.8 31 237 0.00 2.40 0.00 0.000 6 0.000 0.033 2567 2494 3733

302 -1.96 -122.2 19.7 -9.5 42 309 0.00 2.58 0.00 0.000 4 0.000 0.069 2568 3893 3732

394 -1.96 -122.2 28.5 -9.2 50 399 0.00 2.40 0.00 0.000 6 0.000 0.031 2568 2475 3733

590 -1.96 -122.2 45.5 -8.6 65 594 0.00 2.65 0.00 0.000 4 0.000 0.066 2567 3892 3734

695 -1.96 -122.2 55.5 -8.9 73 700 0.00 2.38 0.00 0.000 6 0.000 0.033 2567 2503 3734

897 -1.96 -122.2 73.1 -8.7 89 898 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2496 3734

1094 -1.96 -122.2 90.0 -8.7 104 1098 0.00 2.58 0.00 0.000 4 0.000 0.066 2567 3894 3734

1166 -1.96 -122.2 97.5 -9.8 109 1170 0.00 2.38 0.00 0.000 6 0.000 0.033 2568 2493 3734

1362 -1.96 -122.2 114.4 -8.4 124 1366 0.00 2.60 0.00 0.000 4 0.000 0.065 2567 3901 3734

1401 -1.96 -122.2 118.1 -9.3 126 1407 0.00 2.38 0.00 0.000 6 0.000 0.033 2567 2495 3734

1430 end dive: TARGET_DEPTH_EXCEEDED

state 1430 begin apogee

1436 -0.50 0.0 120.7 8.6 129 1535 1.58 0.00 95.00 0.614 6 0.095 0.000 2886 2412 3229

1536 end apogee: CONTROL_FINISHED_OK

state 1536 begin climb

1539 1.96 122.2 123.2 0.0 137 1641 2.50 2.55 92.78 0.594 4 0.061 0.052 3426 1037 2729

1721 1.96 122.2 105.1 14.3 151 1728 0.00 2.42 0.00 0.000 6 0.000 0.031 3426 2415 2728

1917 1.96 122.2 79.5 12.9 167 1922 0.00 2.50 0.00 0.000 4 0.000 0.050 3426 1041 2727

1976 1.96 122.2 72.0 12.7 171 1983 0.00 2.38 0.00 0.000 6 0.000 0.031 3426 2418 2728

2172 1.96 122.2 47.3 12.5 187 2173 0.00 0.00 0.00 0.000 6 0.000 0.000 3426 2418 2727

2363 1.96 122.2 23.7 11.9 202 2367 0.00 2.50 0.00 0.000 4 0.000 0.051 3426 1041 2727

2416 1.96 122.2 17.4 11.9 207 2422 0.00 2.38 0.00 0.000 6 0.000 0.032 3426 2422 2728

2488 1.96 122.2 10.0 10.1 218 2493 0.00 0.00 0.00 0.000 6 0.000 0.000 3426 2423 2727

2560 1.96 122.2 2.6 11.4 229 2566 0.00 2.55 0.00 0.000 4 0.000 0.068 3426 3813 2728

2570 end climb: SURFACE_DEPTH_REACHED

state 2570 begin surface coast

2591 end surface coast: CONTROL_FINISHED_OK

state 2591 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	140	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	311	ALTIM_PING_DEPTH	70
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2415	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	17	INT_PRESSURE_YINT	1.4
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	35	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	35	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	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	540	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3800	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3229	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	0	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17304.551	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
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	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	428	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3730	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	3000	PRESSURE_YINT	-6.9690108	SEABIRD_T_I	2.5554549e-05
MASS	51630	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	2	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	003533,4739.485,-12252.342,13,1.6,13,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.95	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-61.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	004209,4739.492,-12252.324,13,1.7,13,18.3	MHEAD_RNG_PITCHd_Wd	249.3,1096,-18.1,-8.889
SPEED_LIMITS	0.154,0.231	D_GRID	120

FINISH	0.1,1.025232	XPDR_PINGS	3
SM_CCo	2621,132.57,0.522,1,0,1598,400.08	ALTIM_BOTTOM_PING	90.0,46.3
SM_GC	0.93,0.00,0.00,132.57,0.000,0.000,0.522,425,2488,1598,-11.84,-0.34,400.08	_24V_AH	24.1,10.168
IRIDIUM_FIX	4726.11,-12117.58,260907,030355	_10V_AH	10.1,6.995
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6440,234
HUMID	1778	CFSIZE	260034560,253218816
INTERNAL_PRESSURE	9.33976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.90	GPS	260907,012937,4739.544,-12252.659,13,1.3,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	155	110.51	SBE_CT	161	24	93.51
Roll_motor	44	69	74.11	nil	0	0	0.00
VBD_pump_during_apogee	187	614	2780.24	nil	0	0	0.00
VBD_pump_during_surface	132	521	1666.41	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	41	103	102.47	nil	0	0	0.00
Iridium_during_connect	33	160	130.69	ARS	0	0	0.00
Iridium_during_xfer	185	223	995.43
Transponder_ping	1	420	17.71
Mmodem_TX	0	1000	0.00
Mmodem_RX	3247	6	500.82
GPS	13	93	12.63
TT8	451	19	90.21
LPSleep	1402	2	31.02
TT8_Active	425	19	85.17
TT8_Sampling	446	39	179.31
TT8_CF8	440	45	203.99
TT8_Kalman	0	0	0.00
Analog_circuits	714	12	86.61
GPS_charging	0	0	0.00
Compass	443	8	35.81
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
24	end surface: CONTROL_FINISHED_OK
state	24	begin dive
27	-1.96	-122.2	0.0	0.0	0	90	0.00	0.00	-61.05	0.000	2	0.000	0.000	428	2519	3112
94	-1.96	-122.2	2.1	-4.0	10	137	11.90	2.58	-22.50	0.000	4	0.156	0.058	2567	1101	3730
230	-1.96	-122.2	13.1	-9.8	31	237	0.00	2.40	0.00	0.000	6	0.000	0.033	2567	2494	3733
302	-1.96	-122.2	19.7	-9.5	42	309	0.00	2.58	0.00	0.000	4	0.000	0.069	2568	3893	3732
394	-1.96	-122.2	28.5	-9.2	50	399	0.00	2.40	0.00	0.000	6	0.000	0.031	2568	2475	3733
590	-1.96	-122.2	45.5	-8.6	65	594	0.00	2.65	0.00	0.000	4	0.000	0.066	2567	3892	3734
695	-1.96	-122.2	55.5	-8.9	73	700	0.00	2.38	0.00	0.000	6	0.000	0.033	2567	2503	3734
897	-1.96	-122.2	73.1	-8.7	89	898	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2496	3734
1094	-1.96	-122.2	90.0	-8.7	104	1098	0.00	2.58	0.00	0.000	4	0.000	0.066	2567	3894	3734
1166	-1.96	-122.2	97.5	-9.8	109	1170	0.00	2.38	0.00	0.000	6	0.000	0.033	2568	2493	3734
1362	-1.96	-122.2	114.4	-8.4	124	1366	0.00	2.60	0.00	0.000	4	0.000	0.065	2567	3901	3734
1401	-1.96	-122.2	118.1	-9.3	126	1407	0.00	2.38	0.00	0.000	6	0.000	0.033	2567	2495	3734
1430	end dive: TARGET_DEPTH_EXCEEDED
state	1430	begin apogee
1436	-0.50	0.0	120.7	8.6	129	1535	1.58	0.00	95.00	0.614	6	0.095	0.000	2886	2412	3229
1536	end apogee: CONTROL_FINISHED_OK
state	1536	begin climb
1539	1.96	122.2	123.2	0.0	137	1641	2.50	2.55	92.78	0.594	4	0.061	0.052	3426	1037	2729
1721	1.96	122.2	105.1	14.3	151	1728	0.00	2.42	0.00	0.000	6	0.000	0.031	3426	2415	2728
1917	1.96	122.2	79.5	12.9	167	1922	0.00	2.50	0.00	0.000	4	0.000	0.050	3426	1041	2727
1976	1.96	122.2	72.0	12.7	171	1983	0.00	2.38	0.00	0.000	6	0.000	0.031	3426	2418	2728
2172	1.96	122.2	47.3	12.5	187	2173	0.00	0.00	0.00	0.000	6	0.000	0.000	3426	2418	2727
2363	1.96	122.2	23.7	11.9	202	2367	0.00	2.50	0.00	0.000	4	0.000	0.051	3426	1041	2727
2416	1.96	122.2	17.4	11.9	207	2422	0.00	2.38	0.00	0.000	6	0.000	0.032	3426	2422	2728
2488	1.96	122.2	10.0	10.1	218	2493	0.00	0.00	0.00	0.000	6	0.000	0.000	3426	2423	2727
2560	1.96	122.2	2.6	11.4	229	2566	0.00	2.55	0.00	0.000	4	0.000	0.068	3426	3813	2728
2570	end climb: SURFACE_DEPTH_REACHED
state	2570	begin surface coast
2591	end surface coast: CONTROL_FINISHED_OK
state	2591	begin surface