Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 166 * 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 166 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 90 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 36 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 -17187.135 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 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 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 -17187.135

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 36 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 27 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 166 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 231707,4739.758,-12251.881,12,1.2,29,18.3 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 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -63.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 232245,4739.728,-12251.865,14,1.4,14,18.3 MHEAD_RNG_PITCHd_Wd 235.5,1737,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.8,1.026279 XPDR_PINGS 5

SM_CCo 2679,139.82,0.519,1,0,1597,400.08 ALTIM_BOTTOM_PING 65.3,999.0

SM_GC 0.87,0.00,0.00,139.82,0.000,0.000,0.519,429,2504,1597,-11.83,0.11,400.08 _24V_AH 24.1,13.232

IRIDIUM_FIX 4722.92,-12249.11,270907,020248 _10V_AH 10.1,8.731

TT8_MAMPS 0.068263 DATA_FILE_SIZE 6449,249

HUMID 1809 CFSIZE 260034560,252428288

INTERNAL_PRESSURE 9.35929 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.90 GPS 270907,001103,4739.661,-12252.287,12,1.4,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 154 108.19 SBE_CT 171 24 99.39

Roll_motor 45 80 88.12 nil 0 0 0.00

VBD_pump_during_apogee 188 588 2677.47 nil 0 0 0.00

VBD_pump_during_surface 139 519 1749.79 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.01 nil 0 0 0.00

Iridium_during_connect 32 160 123.64 ARS 0 0 0.00

Iridium_during_xfer 137 223 739.50

Transponder_ping 2 420 22.77

Mmodem_TX 128 1000 3102.88

Mmodem_RX 3123 6 481.73

GPS 14 93 13.75

TT8 472 19 94.46

LPSleep 1419 2 31.40

TT8_Active 438 19 87.59

TT8_Sampling 457 39 183.90

TT8_CF8 387 45 179.25

TT8_Kalman 0 0 0.00

Analog_circuits 731 12 88.66

GPS_charging 0 0 0.00

Compass 463 8 37.47

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 -1.54 -122.2 0.0 0.0 0 76 0.00 0.00 -48.67 0.000 2 0.000 0.000 429 2500 2834

80 -1.54 -122.2 2.1 -3.1 8 135 12.57 2.65 -33.90 0.000 4 0.155 0.081 2658 3899 3730

254 -1.54 -122.2 12.5 -7.5 35 261 0.00 2.42 0.00 0.000 6 0.000 0.032 2658 2484 3732

327 -1.54 -122.2 16.8 -5.6 46 333 0.00 0.00 0.00 0.000 6 0.000 0.000 2658 2484 3733

398 -1.54 -122.2 21.1 -5.9 56 403 0.00 2.62 0.00 0.000 4 0.000 0.066 2658 3895 3733

484 -1.54 -122.2 26.8 -7.6 62 488 0.00 2.40 0.00 0.000 6 0.000 0.033 2658 2492 3733

679 -1.54 -122.2 40.8 -7.0 77 684 0.00 2.62 0.00 0.000 4 0.000 0.066 2658 3902 3733

783 -1.54 -122.2 48.9 -7.9 84 791 0.00 2.42 0.00 0.000 6 0.000 0.034 2658 2498 3734

981 -1.54 -122.2 62.6 -6.6 100 985 0.00 2.62 0.00 0.000 4 0.000 0.067 2657 3904 3734

1068 -1.54 -122.2 68.6 -7.4 106 1073 0.00 2.40 0.00 0.000 6 0.000 0.034 2658 2505 3734

1264 -1.54 -122.2 81.4 -6.7 121 1268 0.00 2.62 0.00 0.000 4 0.000 0.066 2658 3899 3734

1335 -1.54 -122.2 86.1 -6.3 126 1342 0.00 2.42 0.00 0.000 6 0.000 0.034 2658 2496 3734

1403 end dive: TARGET_DEPTH_EXCEEDED

state 1404 begin apogee

1410 -0.50 0.0 90.2 6.0 132 1513 1.15 0.00 95.50 0.588 6 0.090 0.000 2889 2422 3229

1514 end apogee: CONTROL_FINISHED_OK

state 1514 begin climb

1517 1.54 122.2 91.9 0.0 141 1618 2.05 2.55 93.35 0.568 4 0.065 0.052 3332 1027 2730

1638 1.54 122.2 84.6 8.8 150 1646 0.00 2.45 0.00 0.000 6 0.000 0.033 3332 2414 2729

1835 1.54 122.2 66.3 9.5 166 1836 0.00 0.00 0.00 0.000 6 0.000 0.000 3332 2414 2728

2027 1.54 122.2 49.0 9.0 181 2028 0.00 0.00 0.00 0.000 6 0.000 0.000 3332 2414 2729

2215 1.54 122.2 32.8 8.4 196 2220 0.00 2.58 0.00 0.000 4 0.000 0.066 3332 3815 2728

2248 1.54 122.2 30.0 8.3 198 2252 0.00 2.42 0.00 0.000 6 0.000 0.031 3332 2419 2728

2446 1.54 122.2 14.0 8.4 218 2452 0.00 2.50 0.00 0.000 4 0.000 0.053 3331 1022 2728

2499 1.54 122.2 9.5 8.2 226 2505 0.00 2.42 0.00 0.000 6 0.000 0.034 3332 2417 2727

2571 1.54 122.2 3.8 7.4 237 2577 0.00 2.53 0.00 0.000 4 0.000 0.051 3332 1020 2728

2608 end climb: SURFACE_DEPTH_REACHED

state 2608 begin surface coast

2650 end surface coast: CONTROL_FINISHED_OK

state 2650 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	166	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	90	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	36	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	-17187.135	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	231707,4739.758,-12251.881,12,1.2,29,18.3	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	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-63.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	232245,4739.728,-12251.865,14,1.4,14,18.3	MHEAD_RNG_PITCHd_Wd	235.5,1737,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.8,1.026279	XPDR_PINGS	5
SM_CCo	2679,139.82,0.519,1,0,1597,400.08	ALTIM_BOTTOM_PING	65.3,999.0
SM_GC	0.87,0.00,0.00,139.82,0.000,0.000,0.519,429,2504,1597,-11.83,0.11,400.08	_24V_AH	24.1,13.232
IRIDIUM_FIX	4722.92,-12249.11,270907,020248	_10V_AH	10.1,8.731
TT8_MAMPS	0.068263	DATA_FILE_SIZE	6449,249
HUMID	1809	CFSIZE	260034560,252428288
INTERNAL_PRESSURE	9.35929	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.90	GPS	270907,001103,4739.661,-12252.287,12,1.4,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	154	108.19	SBE_CT	171	24	99.39
Roll_motor	45	80	88.12	nil	0	0	0.00
VBD_pump_during_apogee	188	588	2677.47	nil	0	0	0.00
VBD_pump_during_surface	139	519	1749.79	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.01	nil	0	0	0.00
Iridium_during_connect	32	160	123.64	ARS	0	0	0.00
Iridium_during_xfer	137	223	739.50
Transponder_ping	2	420	22.77
Mmodem_TX	128	1000	3102.88
Mmodem_RX	3123	6	481.73
GPS	14	93	13.75
TT8	472	19	94.46
LPSleep	1419	2	31.40
TT8_Active	438	19	87.59
TT8_Sampling	457	39	183.90
TT8_CF8	387	45	179.25
TT8_Kalman	0	0	0.00
Analog_circuits	731	12	88.66
GPS_charging	0	0	0.00
Compass	463	8	37.47
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	-1.54	-122.2	0.0	0.0	0	76	0.00	0.00	-48.67	0.000	2	0.000	0.000	429	2500	2834
80	-1.54	-122.2	2.1	-3.1	8	135	12.57	2.65	-33.90	0.000	4	0.155	0.081	2658	3899	3730
254	-1.54	-122.2	12.5	-7.5	35	261	0.00	2.42	0.00	0.000	6	0.000	0.032	2658	2484	3732
327	-1.54	-122.2	16.8	-5.6	46	333	0.00	0.00	0.00	0.000	6	0.000	0.000	2658	2484	3733
398	-1.54	-122.2	21.1	-5.9	56	403	0.00	2.62	0.00	0.000	4	0.000	0.066	2658	3895	3733
484	-1.54	-122.2	26.8	-7.6	62	488	0.00	2.40	0.00	0.000	6	0.000	0.033	2658	2492	3733
679	-1.54	-122.2	40.8	-7.0	77	684	0.00	2.62	0.00	0.000	4	0.000	0.066	2658	3902	3733
783	-1.54	-122.2	48.9	-7.9	84	791	0.00	2.42	0.00	0.000	6	0.000	0.034	2658	2498	3734
981	-1.54	-122.2	62.6	-6.6	100	985	0.00	2.62	0.00	0.000	4	0.000	0.067	2657	3904	3734
1068	-1.54	-122.2	68.6	-7.4	106	1073	0.00	2.40	0.00	0.000	6	0.000	0.034	2658	2505	3734
1264	-1.54	-122.2	81.4	-6.7	121	1268	0.00	2.62	0.00	0.000	4	0.000	0.066	2658	3899	3734
1335	-1.54	-122.2	86.1	-6.3	126	1342	0.00	2.42	0.00	0.000	6	0.000	0.034	2658	2496	3734
1403	end dive: TARGET_DEPTH_EXCEEDED
state	1404	begin apogee
1410	-0.50	0.0	90.2	6.0	132	1513	1.15	0.00	95.50	0.588	6	0.090	0.000	2889	2422	3229
1514	end apogee: CONTROL_FINISHED_OK
state	1514	begin climb
1517	1.54	122.2	91.9	0.0	141	1618	2.05	2.55	93.35	0.568	4	0.065	0.052	3332	1027	2730
1638	1.54	122.2	84.6	8.8	150	1646	0.00	2.45	0.00	0.000	6	0.000	0.033	3332	2414	2729
1835	1.54	122.2	66.3	9.5	166	1836	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	2414	2728
2027	1.54	122.2	49.0	9.0	181	2028	0.00	0.00	0.00	0.000	6	0.000	0.000	3332	2414	2729
2215	1.54	122.2	32.8	8.4	196	2220	0.00	2.58	0.00	0.000	4	0.000	0.066	3332	3815	2728
2248	1.54	122.2	30.0	8.3	198	2252	0.00	2.42	0.00	0.000	6	0.000	0.031	3332	2419	2728
2446	1.54	122.2	14.0	8.4	218	2452	0.00	2.50	0.00	0.000	4	0.000	0.053	3331	1022	2728
2499	1.54	122.2	9.5	8.2	226	2505	0.00	2.42	0.00	0.000	6	0.000	0.034	3332	2417	2727
2571	1.54	122.2	3.8	7.4	237	2577	0.00	2.53	0.00	0.000	4	0.000	0.051	3332	1020	2728
2608	end climb: SURFACE_DEPTH_REACHED
state	2608	begin surface coast
2650	end surface coast: CONTROL_FINISHED_OK
state	2650	begin surface