Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 150 * 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 150 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 46 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 31 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 -17243.988 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 -17243.988

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 46 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 31 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 150 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 090320,4739.400,-12253.204,13,1.4,13,18.3 TGT_NAME T4

_CALLS 1 TGT_LATLONG 4740.500,-12249.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.08 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 090915,4739.394,-12253.192,14,1.5,14,18.3 MHEAD_RNG_PITCHd_Wd 50.3,5616,-18.1,-8.889

SPEED_LIMITS 0.154,0.231 D_GRID 120

Post-dive calculations and measurements:

FINISH 0.2,1.023588 XPDR_PINGS 3

SM_CCo 2681,104.55,0.518,0,0,1597,400.08 ALTIM_BOTTOM_PING 95.2,43.4

SM_GC 1.07,0.00,0.00,104.55,0.000,0.000,0.518,426,2507,1597,-11.84,0.17,400.08 _24V_AH 24.0,11.521

IRIDIUM_FIX 4726.11,-12339.63,260907,121212 _10V_AH 10.1,7.645

TT8_MAMPS 0.067496 DATA_FILE_SIZE 6431,242

HUMID 1787 CFSIZE 260034560,252903424

INTERNAL_PRESSURE 9.34952 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.70 GPS 260907,095716,4739.348,-12252.841,13,2.2,32,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 158 111.87 SBE_CT 167 24 96.26

Roll_motor 45 69 75.13 nil 0 0 0.00

VBD_pump_during_apogee 226 609 3312.85 nil 0 0 0.00

VBD_pump_during_surface 104 517 1299.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 40 103 99.66 nil 0 0 0.00

Iridium_during_connect 33 160 128.31 ARS 0 0 0.00

Iridium_during_xfer 150 223 806.29

Transponder_ping 2 420 20.16

Mmodem_TX 128 1000 3089.76

Mmodem_RX 3137 6 481.88

GPS 14 93 13.85

TT8 461 19 92.37

LPSleep 1404 2 31.06

TT8_Active 412 19 82.43

TT8_Sampling 466 39 187.38

TT8_CF8 410 45 189.72

TT8_Kalman 0 0 0.00

Analog_circuits 717 12 86.93

GPS_charging 0 0 0.00

Compass 466 8 37.73

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

25 -1.96 -122.2 0.0 0.0 0 76 0.00 0.00 -48.78 0.000 2 0.000 0.000 427 2505 2833

80 -1.96 -122.2 2.1 -4.5 8 129 12.02 2.53 -29.95 0.000 4 0.158 0.059 2568 1107 3729

202 -1.96 -122.2 11.1 -10.3 27 208 0.00 2.42 0.00 0.000 6 0.000 0.032 2568 2502 3732

275 -1.96 -122.2 17.8 -8.4 38 280 0.00 0.00 0.00 0.000 6 0.000 0.000 2568 2502 3732

345 -1.96 -122.2 23.9 -9.1 46 349 0.00 2.60 0.00 0.000 4 0.000 0.068 2568 3904 3732

377 -1.96 -122.2 27.1 -9.6 48 382 0.00 2.40 0.00 0.000 6 0.000 0.032 2568 2489 3733

573 -1.96 -122.2 45.4 -9.3 63 577 0.00 2.70 0.00 0.000 4 0.000 0.065 2568 3900 3733

713 -1.96 -122.2 58.0 -9.6 73 717 0.00 2.40 0.00 0.000 6 0.000 0.032 2568 2494 3733

908 -1.96 -122.2 75.5 -8.9 88 913 0.00 2.62 0.00 0.000 4 0.000 0.065 2568 3891 3734

992 -1.96 -122.2 83.8 -9.3 94 1000 0.00 2.40 0.00 0.000 6 0.000 0.032 2568 2498 3734

1189 -1.96 -122.2 102.0 -8.8 110 1193 0.00 2.60 0.00 0.000 4 0.000 0.065 2568 3898 3734

1318 -1.96 -122.2 114.5 -10.7 119 1323 0.00 2.40 0.00 0.000 6 0.000 0.033 2568 2494 3734

1372 end dive: TARGET_DEPTH_EXCEEDED

state 1373 begin apogee

1379 -0.50 0.0 120.5 9.7 123 1477 1.58 0.00 94.28 0.610 6 0.092 0.000 2886 2406 3229

1478 end apogee: CONTROL_FINISHED_OK

state 1478 begin climb

1481 1.96 122.2 123.6 0.0 131 1582 2.50 2.53 92.75 0.590 4 0.060 0.051 3425 1027 2730

1617 1.96 122.2 113.0 12.5 142 1621 0.00 2.42 0.00 0.000 6 0.000 0.032 3425 2418 2730

1814 1.96 122.2 90.0 11.9 157 1819 0.00 2.58 0.00 0.000 4 0.000 0.064 3425 3821 2730

1847 1.96 122.2 85.7 12.9 159 1852 0.00 2.42 0.00 0.000 6 0.000 0.031 3425 2427 2730

2049 1.96 122.2 61.0 12.4 175 2053 0.00 2.53 0.00 0.000 4 0.000 0.051 3425 1015 2729

2087 1.96 122.2 55.8 13.3 177 2094 0.00 2.45 0.00 0.000 6 0.000 0.031 3425 2411 2729

2286 1.96 122.2 31.7 12.4 193 2287 0.00 0.00 0.00 0.000 6 0.000 0.000 3425 2411 2729

2478 1.96 122.2 9.3 10.3 215 2483 0.00 0.00 0.00 0.000 6 0.000 0.000 3425 2411 2729

2550 2.04 186.8 3.4 5.7 226 2599 0.00 2.60 39.35 0.542 4 0.000 0.051 3425 1016 2466

2603 end climb: SURFACE_DEPTH_REACHED

state 2603 begin surface coast

2651 end surface coast: CONTROL_FINISHED_OK

state 2651 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	150	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	46	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	31	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	-17243.988	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	090320,4739.400,-12253.204,13,1.4,13,18.3	TGT_NAME	T4
_CALLS	1	TGT_LATLONG	4740.500,-12249.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.08	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	090915,4739.394,-12253.192,14,1.5,14,18.3	MHEAD_RNG_PITCHd_Wd	50.3,5616,-18.1,-8.889
SPEED_LIMITS	0.154,0.231	D_GRID	120

FINISH	0.2,1.023588	XPDR_PINGS	3
SM_CCo	2681,104.55,0.518,0,0,1597,400.08	ALTIM_BOTTOM_PING	95.2,43.4
SM_GC	1.07,0.00,0.00,104.55,0.000,0.000,0.518,426,2507,1597,-11.84,0.17,400.08	_24V_AH	24.0,11.521
IRIDIUM_FIX	4726.11,-12339.63,260907,121212	_10V_AH	10.1,7.645
TT8_MAMPS	0.067496	DATA_FILE_SIZE	6431,242
HUMID	1787	CFSIZE	260034560,252903424
INTERNAL_PRESSURE	9.34952	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.70	GPS	260907,095716,4739.348,-12252.841,13,2.2,32,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	158	111.87	SBE_CT	167	24	96.26
Roll_motor	45	69	75.13	nil	0	0	0.00
VBD_pump_during_apogee	226	609	3312.85	nil	0	0	0.00
VBD_pump_during_surface	104	517	1299.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	40	103	99.66	nil	0	0	0.00
Iridium_during_connect	33	160	128.31	ARS	0	0	0.00
Iridium_during_xfer	150	223	806.29
Transponder_ping	2	420	20.16
Mmodem_TX	128	1000	3089.76
Mmodem_RX	3137	6	481.88
GPS	14	93	13.85
TT8	461	19	92.37
LPSleep	1404	2	31.06
TT8_Active	412	19	82.43
TT8_Sampling	466	39	187.38
TT8_CF8	410	45	189.72
TT8_Kalman	0	0	0.00
Analog_circuits	717	12	86.93
GPS_charging	0	0	0.00
Compass	466	8	37.73
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
25	-1.96	-122.2	0.0	0.0	0	76	0.00	0.00	-48.78	0.000	2	0.000	0.000	427	2505	2833
80	-1.96	-122.2	2.1	-4.5	8	129	12.02	2.53	-29.95	0.000	4	0.158	0.059	2568	1107	3729
202	-1.96	-122.2	11.1	-10.3	27	208	0.00	2.42	0.00	0.000	6	0.000	0.032	2568	2502	3732
275	-1.96	-122.2	17.8	-8.4	38	280	0.00	0.00	0.00	0.000	6	0.000	0.000	2568	2502	3732
345	-1.96	-122.2	23.9	-9.1	46	349	0.00	2.60	0.00	0.000	4	0.000	0.068	2568	3904	3732
377	-1.96	-122.2	27.1	-9.6	48	382	0.00	2.40	0.00	0.000	6	0.000	0.032	2568	2489	3733
573	-1.96	-122.2	45.4	-9.3	63	577	0.00	2.70	0.00	0.000	4	0.000	0.065	2568	3900	3733
713	-1.96	-122.2	58.0	-9.6	73	717	0.00	2.40	0.00	0.000	6	0.000	0.032	2568	2494	3733
908	-1.96	-122.2	75.5	-8.9	88	913	0.00	2.62	0.00	0.000	4	0.000	0.065	2568	3891	3734
992	-1.96	-122.2	83.8	-9.3	94	1000	0.00	2.40	0.00	0.000	6	0.000	0.032	2568	2498	3734
1189	-1.96	-122.2	102.0	-8.8	110	1193	0.00	2.60	0.00	0.000	4	0.000	0.065	2568	3898	3734
1318	-1.96	-122.2	114.5	-10.7	119	1323	0.00	2.40	0.00	0.000	6	0.000	0.033	2568	2494	3734
1372	end dive: TARGET_DEPTH_EXCEEDED
state	1373	begin apogee
1379	-0.50	0.0	120.5	9.7	123	1477	1.58	0.00	94.28	0.610	6	0.092	0.000	2886	2406	3229
1478	end apogee: CONTROL_FINISHED_OK
state	1478	begin climb
1481	1.96	122.2	123.6	0.0	131	1582	2.50	2.53	92.75	0.590	4	0.060	0.051	3425	1027	2730
1617	1.96	122.2	113.0	12.5	142	1621	0.00	2.42	0.00	0.000	6	0.000	0.032	3425	2418	2730
1814	1.96	122.2	90.0	11.9	157	1819	0.00	2.58	0.00	0.000	4	0.000	0.064	3425	3821	2730
1847	1.96	122.2	85.7	12.9	159	1852	0.00	2.42	0.00	0.000	6	0.000	0.031	3425	2427	2730
2049	1.96	122.2	61.0	12.4	175	2053	0.00	2.53	0.00	0.000	4	0.000	0.051	3425	1015	2729
2087	1.96	122.2	55.8	13.3	177	2094	0.00	2.45	0.00	0.000	6	0.000	0.031	3425	2411	2729
2286	1.96	122.2	31.7	12.4	193	2287	0.00	0.00	0.00	0.000	6	0.000	0.000	3425	2411	2729
2478	1.96	122.2	9.3	10.3	215	2483	0.00	0.00	0.00	0.000	6	0.000	0.000	3425	2411	2729
2550	2.04	186.8	3.4	5.7	226	2599	0.00	2.60	39.35	0.542	4	0.000	0.051	3425	1016	2466
2603	end climb: SURFACE_DEPTH_REACHED
state	2603	begin surface coast
2651	end surface coast: CONTROL_FINISHED_OK
state	2651	begin surface