Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 164 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 164 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 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2080 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 500 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 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 45 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -20410.49 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

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 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 5 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 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 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1405377 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 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 -20410.49

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2080 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 27 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 45 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 164 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 211814,4739.354,-12252.833,9,1.6,14,18.3 TGT_NAME H2

_CALLS 2 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.192,0.081

_SM_DEPTHo 1.12 KALMAN_X 22006.4,149.9,230.8,-22558.1,-106.3

_SM_ANGLEo -62.3 KALMAN_Y 6892.4,50.1,218.3,-7936.9,-80.3

GPS2 212403,4739.369,-12252.835,12,1.5,12,18.3 MHEAD_RNG_PITCHd_Wd 48.9,571,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 124

Post-dive calculations and measurements:

FINISH 2.4,1.020820 XPDR_PINGS 0

SM_CCo 2952,155.68,0.576,0,0,1163,500.17 ALTIM_BOTTOM_PING 95.4,999.0

SM_GC 1.17,0.00,0.00,155.68,0.000,0.000,0.576,411,2218,1163,-11.45,0.51,500.17 _24V_AH 23.8,31.348

IRIDIUM_FIX 4719.74,-12251.79,290907,000007 _10V_AH 10.2,20.741

TT8_MAMPS 0.028379 DATA_FILE_SIZE 6452,273

HUMID 2193 CFSIZE 260231168,252293120

INTERNAL_PRESSURE 7.95929 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 20.00 GPS 280907,221806,4739.406,-12252.560,31,0.8,34,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 30 195 142.44 SBE_CT 193 24 110.32

Roll_motor 44 69 73.68 nil 0 0 0.00

VBD_pump_during_apogee 200 737 3524.92 nil 0 0 0.00

VBD_pump_during_surface 155 576 2134.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 62 103 152.58 nil 0 0 0.00

Iridium_during_connect 30 160 117.07 ARS 0 18 0.00

Iridium_during_xfer 115 223 611.82

Transponder_ping 0 420 2.50

Mmodem_TX 0 1000 0.00

Mmodem_RX 0 6 0.00

GPS 12 50 6.62

TT8 503 19 101.60

LPSleep 1695 2 37.87

TT8_Active 489 19 98.89

TT8_Sampling 486 39 197.67

TT8_CF8 313 45 146.61

TT8_Kalman 33 81 27.82

Analog_circuits 790 12 96.81

GPS_charging 0 0 0.00

Compass 482 8 39.34

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -1.68 -97.8 0.0 0.0 0 89 0.00 0.00 -66.80 0.000 2 0.000 0.000 410 2214 2555

92 -1.68 -97.8 2.0 -2.8 11 160 13.27 2.47 -47.97 0.000 4 0.196 0.069 2527 3584 3600

371 -1.68 -97.8 24.7 -10.1 51 379 0.00 2.42 0.00 0.000 6 0.000 0.035 2527 2197 3602

568 -1.68 -97.8 45.2 -10.9 67 572 0.00 2.50 0.00 0.000 4 0.000 0.056 2527 3583 3603

594 -1.68 -97.8 48.1 -11.3 69 598 0.00 2.40 0.00 0.000 6 0.000 0.035 2527 2195 3602

796 -1.68 -97.8 68.5 -10.2 85 799 0.00 2.50 0.00 0.000 4 0.000 0.056 2527 3583 3603

835 -1.68 -97.8 72.4 -10.6 88 839 0.00 2.40 0.00 0.000 6 0.000 0.035 2527 2196 3603

1037 -1.68 -97.8 91.8 -9.4 104 1038 0.00 0.00 0.00 0.000 6 0.000 0.000 2527 2196 3603

1226 -1.68 -97.8 110.6 -9.9 119 1230 0.00 2.53 0.00 0.000 4 0.000 0.056 2527 3589 3603

1306 -1.68 -97.8 118.8 -10.0 125 1310 0.00 2.40 0.00 0.000 6 0.000 0.035 2527 2200 3603

1322 end dive: TARGET_DEPTH_EXCEEDED

state 1323 begin apogee

1328 -0.38 0.0 120.8 10.1 126 1410 1.48 0.00 77.28 0.685 6 0.108 0.000 2813 2076 3202

1411 end apogee: CONTROL_FINISHED_OK

state 1411 begin climb

1413 1.68 97.8 123.5 0.0 133 1494 2.17 0.00 76.30 0.663 6 0.064 0.000 3276 2076 2803

1683 1.70 112.3 107.1 8.0 155 1699 0.00 2.58 10.77 0.703 4 0.000 0.054 3276 3455 2744

1832 1.72 126.0 95.1 8.0 166 1852 0.00 2.40 10.43 0.699 6 0.000 0.035 3276 2093 2688

2040 1.72 126.0 76.5 9.5 183 2044 0.00 2.47 0.00 0.000 4 0.000 0.054 3276 3462 2686

2124 1.72 126.0 67.8 10.4 189 2132 0.00 2.42 0.00 0.000 6 0.000 0.035 3276 2086 2686

2321 1.72 126.0 49.5 9.2 205 2324 0.00 2.50 0.00 0.000 4 0.000 0.054 3276 3468 2686

2418 1.72 126.0 40.3 9.7 212 2426 0.00 2.42 0.00 0.000 6 0.000 0.035 3276 2087 2685

2615 1.72 126.0 22.6 9.5 228 2618 0.00 2.50 0.00 0.000 4 0.000 0.054 3276 3470 2686

2680 1.72 126.0 16.4 9.5 235 2687 0.00 2.42 0.00 0.000 6 0.000 0.035 3276 2073 2686

2753 1.76 156.6 11.0 7.0 246 2784 0.00 2.67 23.25 0.647 4 0.000 0.067 3276 682 2562

2831 1.80 193.9 5.3 6.6 258 2838 0.00 2.45 2.70 0.738 2 0.000 0.035 3276 2070 2547

2839 end climb: SURFACE_DEPTH_REACHED

state 2839 begin surface coast

2930 end surface coast: CONTROL_FINISHED_OK

state 2930 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	164	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	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2080	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	500	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	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	45	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-20410.49	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
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	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	211814,4739.354,-12252.833,9,1.6,14,18.3	TGT_NAME	H2
_CALLS	2	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.192,0.081
_SM_DEPTHo	1.12	KALMAN_X	22006.4,149.9,230.8,-22558.1,-106.3
_SM_ANGLEo	-62.3	KALMAN_Y	6892.4,50.1,218.3,-7936.9,-80.3
GPS2	212403,4739.369,-12252.835,12,1.5,12,18.3	MHEAD_RNG_PITCHd_Wd	48.9,571,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	124

FINISH	2.4,1.020820	XPDR_PINGS	0
SM_CCo	2952,155.68,0.576,0,0,1163,500.17	ALTIM_BOTTOM_PING	95.4,999.0
SM_GC	1.17,0.00,0.00,155.68,0.000,0.000,0.576,411,2218,1163,-11.45,0.51,500.17	_24V_AH	23.8,31.348
IRIDIUM_FIX	4719.74,-12251.79,290907,000007	_10V_AH	10.2,20.741
TT8_MAMPS	0.028379	DATA_FILE_SIZE	6452,273
HUMID	2193	CFSIZE	260231168,252293120
INTERNAL_PRESSURE	7.95929	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	20.00	GPS	280907,221806,4739.406,-12252.560,31,0.8,34,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	30	195	142.44	SBE_CT	193	24	110.32
Roll_motor	44	69	73.68	nil	0	0	0.00
VBD_pump_during_apogee	200	737	3524.92	nil	0	0	0.00
VBD_pump_during_surface	155	576	2134.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	62	103	152.58	nil	0	0	0.00
Iridium_during_connect	30	160	117.07	ARS	0	18	0.00
Iridium_during_xfer	115	223	611.82
Transponder_ping	0	420	2.50
Mmodem_TX	0	1000	0.00
Mmodem_RX	0	6	0.00
GPS	12	50	6.62
TT8	503	19	101.60
LPSleep	1695	2	37.87
TT8_Active	489	19	98.89
TT8_Sampling	486	39	197.67
TT8_CF8	313	45	146.61
TT8_Kalman	33	81	27.82
Analog_circuits	790	12	96.81
GPS_charging	0	0	0.00
Compass	482	8	39.34
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-1.68	-97.8	0.0	0.0	0	89	0.00	0.00	-66.80	0.000	2	0.000	0.000	410	2214	2555
92	-1.68	-97.8	2.0	-2.8	11	160	13.27	2.47	-47.97	0.000	4	0.196	0.069	2527	3584	3600
371	-1.68	-97.8	24.7	-10.1	51	379	0.00	2.42	0.00	0.000	6	0.000	0.035	2527	2197	3602
568	-1.68	-97.8	45.2	-10.9	67	572	0.00	2.50	0.00	0.000	4	0.000	0.056	2527	3583	3603
594	-1.68	-97.8	48.1	-11.3	69	598	0.00	2.40	0.00	0.000	6	0.000	0.035	2527	2195	3602
796	-1.68	-97.8	68.5	-10.2	85	799	0.00	2.50	0.00	0.000	4	0.000	0.056	2527	3583	3603
835	-1.68	-97.8	72.4	-10.6	88	839	0.00	2.40	0.00	0.000	6	0.000	0.035	2527	2196	3603
1037	-1.68	-97.8	91.8	-9.4	104	1038	0.00	0.00	0.00	0.000	6	0.000	0.000	2527	2196	3603
1226	-1.68	-97.8	110.6	-9.9	119	1230	0.00	2.53	0.00	0.000	4	0.000	0.056	2527	3589	3603
1306	-1.68	-97.8	118.8	-10.0	125	1310	0.00	2.40	0.00	0.000	6	0.000	0.035	2527	2200	3603
1322	end dive: TARGET_DEPTH_EXCEEDED
state	1323	begin apogee
1328	-0.38	0.0	120.8	10.1	126	1410	1.48	0.00	77.28	0.685	6	0.108	0.000	2813	2076	3202
1411	end apogee: CONTROL_FINISHED_OK
state	1411	begin climb
1413	1.68	97.8	123.5	0.0	133	1494	2.17	0.00	76.30	0.663	6	0.064	0.000	3276	2076	2803
1683	1.70	112.3	107.1	8.0	155	1699	0.00	2.58	10.77	0.703	4	0.000	0.054	3276	3455	2744
1832	1.72	126.0	95.1	8.0	166	1852	0.00	2.40	10.43	0.699	6	0.000	0.035	3276	2093	2688
2040	1.72	126.0	76.5	9.5	183	2044	0.00	2.47	0.00	0.000	4	0.000	0.054	3276	3462	2686
2124	1.72	126.0	67.8	10.4	189	2132	0.00	2.42	0.00	0.000	6	0.000	0.035	3276	2086	2686
2321	1.72	126.0	49.5	9.2	205	2324	0.00	2.50	0.00	0.000	4	0.000	0.054	3276	3468	2686
2418	1.72	126.0	40.3	9.7	212	2426	0.00	2.42	0.00	0.000	6	0.000	0.035	3276	2087	2685
2615	1.72	126.0	22.6	9.5	228	2618	0.00	2.50	0.00	0.000	4	0.000	0.054	3276	3470	2686
2680	1.72	126.0	16.4	9.5	235	2687	0.00	2.42	0.00	0.000	6	0.000	0.035	3276	2073	2686
2753	1.76	156.6	11.0	7.0	246	2784	0.00	2.67	23.25	0.647	4	0.000	0.067	3276	682	2562
2831	1.80	193.9	5.3	6.6	258	2838	0.00	2.45	2.70	0.738	2	0.000	0.035	3276	2070	2547
2839	end climb: SURFACE_DEPTH_REACHED
state	2839	begin surface coast
2930	end surface coast: CONTROL_FINISHED_OK
state	2930	begin surface