Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 166 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_B 0.013382 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 5.8987e-05 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 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_TGT 95 FIX_MISSING_TIMEOUT 0 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2250 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 42 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 63 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 75 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 204 DEVICE4 -1

T_TURN 270 CALL_WAIT 60 VBD_MAX 3580 DEVICE5 -1

T_TURN_SAMPINT 5 CAPUPLOAD 0 C_VBD 2800 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 360 SMARTDEVICE2 -1

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 -62519.379 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 48

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 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 1 SIM_PITCH 0

GLIDE_SLOPE 45 PITCH_MIN 25 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 4070 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_I 2.5554549e-05

MASS 51503 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 1 PITCH_GAIN 22 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0043390002 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 22 SM_CC 300

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 95 PITCH_TIMEOUT 15 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 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

APOGEE_PITCH -5 GLIDE_SLOPE 45 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 48 RAFOS_HIT_WINDOW 3600 T_DIVE 63

CALL_TRIES 5 HD_A 0.0043390002 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.013382 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 5.8987e-05 RHO 1.023 T_GPS_CHARGE -62519.379

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 75

CF8_MAXERRORS 1 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 270

COURSE_BIAS 0 ID 128 ROLL_MAX 4014 T_TURN_SAMPINT 5

C_PITCH 2820 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2150 INT_PRESSURE_YINT 0 ROLL_MIN 145 UNCOM_BLEED 50

C_ROLL_DIVE 2250 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 2800 MASS 51503 R_PORT_OVSHOOT 42 USE_BATHY -4

DEEPGLIDER 0 MAX_BUOY 150 R_STBD_OVSHOOT 31 USE_ICE 0

DEEPGLIDERMB 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3580

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 204

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 166 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 4

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 VBD_TIMEOUT 360

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0 XPDR_DEVICE 24

Pre-dive calculations and measurements:

GPS1 020026,4808.006,-12224.076,11,1.5,12,18.3 TGT_NAME FIVE

_CALLS 1 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.080,-0.135

_SM_DEPTHo 0.99 KALMAN_X 12425.5,43.8,-106.0,-12569.7,-4.3

_SM_ANGLEo -63.6 KALMAN_Y 6333.7,205.3,240.6,-7636.3,73.9

GPS2 020439,4808.003,-12224.064,14,1.5,14,18.3 MHEAD_RNG_PITCHd_Wd 131.1,6732,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 103

Post-dive calculations and measurements:

FINISH 1.7,1.024545 XPDR_PINGS 1

SM_CCo 3590,63.62,0.676,0,0,1577,300.00 ALTIM_BOTTOM_PING 70.5,52.2

SM_GC 1.10,0.00,0.00,63.62,0.000,0.000,0.676,9,2264,1577,-8.79,0.40,300.00 _24V_AH 24.4,21.706

IRIDIUM_FIX 4748.51,-12229.01,120907,050510 _10V_AH 10.8,9.420

TT8_MAMPS 0.026078 DATA_FILE_SIZE 19124,386

HUMID 1863 CFSIZE 260165632,253063168

INTERNAL_PRESSURE 9.19957 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.90 GPS 120907,030738,4807.938,-12223.980,28,1.2,29,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 218 110.14 SBE_CT 273 24 160.13

Roll_motor 32 65 51.54 SBE_O2 305 19 141.85

VBD_pump_during_apogee 241 800 4716.05 WL_BB2F 651 105 1669.05

VBD_pump_during_surface 63 675 1049.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 93.54 nil 0 0 0.00

Iridium_during_connect 37 160 147.32 nil 0 0 0.00

Iridium_during_xfer 95 223 520.99

Transponder_ping 0 420 5.12

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.77

TT8 626 19 133.92

LPSleep 1863 2 44.08

TT8_Active 391 19 83.74

TT8_Sampling 772 39 332.08

TT8_CF8 277 45 137.36

TT8_Kalman 33 81 29.46

Analog_circuits 787 12 102.05

GPS_charging 0 0 0.00

Compass 788 8 68.14

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

22 -0.66 -146.6 0.0 0.0 0 145 0.00 0.00 -119.90 0.000 2 0.000 0.000 9 2236 3249

147 -0.66 -146.6 3.1 -2.8 22 167 10.65 2.47 -3.10 0.000 4 0.219 0.064 2591 3653 3400

469 -0.66 -146.6 26.7 -5.3 68 476 0.00 2.28 0.00 0.000 6 0.000 0.028 2592 2237 3403

667 -0.66 -146.6 36.8 -5.1 87 671 0.00 2.38 0.00 0.000 4 0.000 0.052 2591 3660 3404

762 -0.66 -146.6 42.1 -5.2 95 766 0.00 2.22 0.00 0.000 6 0.000 0.028 2591 2250 3405

959 -0.66 -146.6 52.7 -5.2 113 960 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2249 3404

1278 -0.66 -146.6 68.9 -4.9 143 1279 0.00 0.00 0.00 0.000 6 0.000 0.000 2591 2249 3404

1596 -0.66 -146.6 85.2 -5.1 173 1600 0.00 2.22 0.00 0.000 4 0.000 0.041 2591 855 3405

1624 -0.66 -146.6 86.8 -5.8 175 1628 0.00 2.25 0.00 0.000 6 0.000 0.038 2591 2256 3405

1787 end dive: TARGET_DEPTH_EXCEEDED

state 1787 begin apogee

1793 -0.23 0.0 95.1 5.0 190 1911 0.47 0.00 112.20 0.774 6 0.104 0.000 2742 2142 2799

1911 end apogee: CONTROL_FINISHED_OK

state 1911 begin climb

1913 0.66 146.6 97.0 0.0 202 2029 0.88 0.00 111.62 0.709 6 0.079 0.000 3031 2142 2202

2343 0.66 146.6 73.2 6.2 243 2347 0.00 2.28 0.00 0.000 4 0.000 0.044 3036 762 2200

2371 0.66 146.6 71.6 5.7 245 2377 0.00 2.28 0.00 0.000 6 0.000 0.036 3036 2156 2199

2696 0.66 146.6 51.6 6.1 276 2700 0.00 2.33 0.00 0.000 4 0.000 0.051 3036 3559 2199

2739 0.66 146.6 48.5 7.2 279 2746 0.00 2.25 0.00 0.000 6 0.000 0.031 3037 2172 2198

2937 0.66 146.6 36.4 6.2 298 2938 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2172 2198

3127 0.66 146.6 25.0 5.5 316 3129 0.00 0.00 0.00 0.000 6 0.000 0.000 3037 2172 2198

3325 0.66 146.6 13.8 5.7 343 3331 0.00 2.30 0.00 0.000 4 0.000 0.051 3037 3553 2198

3348 0.66 146.6 12.4 5.7 347 3354 0.00 2.25 0.00 0.000 6 0.000 0.032 3039 2148 2198

3422 0.66 146.6 8.2 5.7 360 3428 0.00 0.00 0.00 0.000 6 0.000 0.000 3038 2147 2198

3496 0.68 158.2 4.7 4.7 373 3514 0.00 2.33 9.12 0.801 4 0.000 0.044 3038 748 2154

3554 0.71 184.6 2.4 4.2 383 3567 0.00 2.28 8.43 0.800 2 0.000 0.036 3038 2155 2111

3568 end climb: SURFACE_DEPTH_REACHED

state 3568 begin surface coast

3573 end surface coast: CONTROL_FINISHED_OK

state 3573 begin surface

ID	128	HD_B	0.013382	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	5.8987e-05	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	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_TGT	95	FIX_MISSING_TIMEOUT	0	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2250	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	42	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	63	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	75	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	204	DEVICE4	-1
T_TURN	270	CALL_WAIT	60	VBD_MAX	3580	DEVICE5	-1
T_TURN_SAMPINT	5	CAPUPLOAD	0	C_VBD	2800	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	360	SMARTDEVICE2	-1
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	-62519.379	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	48
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	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	1	SIM_PITCH	0
GLIDE_SLOPE	45	PITCH_MIN	25	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	4070	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_I	2.5554549e-05
MASS	51503	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	1	PITCH_GAIN	22	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0043390002	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	020026,4808.006,-12224.076,11,1.5,12,18.3	TGT_NAME	FIVE
_CALLS	1	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.080,-0.135
_SM_DEPTHo	0.99	KALMAN_X	12425.5,43.8,-106.0,-12569.7,-4.3
_SM_ANGLEo	-63.6	KALMAN_Y	6333.7,205.3,240.6,-7636.3,73.9
GPS2	020439,4808.003,-12224.064,14,1.5,14,18.3	MHEAD_RNG_PITCHd_Wd	131.1,6732,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	103

FINISH	1.7,1.024545	XPDR_PINGS	1
SM_CCo	3590,63.62,0.676,0,0,1577,300.00	ALTIM_BOTTOM_PING	70.5,52.2
SM_GC	1.10,0.00,0.00,63.62,0.000,0.000,0.676,9,2264,1577,-8.79,0.40,300.00	_24V_AH	24.4,21.706
IRIDIUM_FIX	4748.51,-12229.01,120907,050510	_10V_AH	10.8,9.420
TT8_MAMPS	0.026078	DATA_FILE_SIZE	19124,386
HUMID	1863	CFSIZE	260165632,253063168
INTERNAL_PRESSURE	9.19957	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.90	GPS	120907,030738,4807.938,-12223.980,28,1.2,29,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	218	110.14	SBE_CT	273	24	160.13
Roll_motor	32	65	51.54	SBE_O2	305	19	141.85
VBD_pump_during_apogee	241	800	4716.05	WL_BB2F	651	105	1669.05
VBD_pump_during_surface	63	675	1049.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	93.54	nil	0	0	0.00
Iridium_during_connect	37	160	147.32	nil	0	0	0.00
Iridium_during_xfer	95	223	520.99
Transponder_ping	0	420	5.12
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.77
TT8	626	19	133.92
LPSleep	1863	2	44.08
TT8_Active	391	19	83.74
TT8_Sampling	772	39	332.08
TT8_CF8	277	45	137.36
TT8_Kalman	33	81	29.46
Analog_circuits	787	12	102.05
GPS_charging	0	0	0.00
Compass	788	8	68.14
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
22	-0.66	-146.6	0.0	0.0	0	145	0.00	0.00	-119.90	0.000	2	0.000	0.000	9	2236	3249
147	-0.66	-146.6	3.1	-2.8	22	167	10.65	2.47	-3.10	0.000	4	0.219	0.064	2591	3653	3400
469	-0.66	-146.6	26.7	-5.3	68	476	0.00	2.28	0.00	0.000	6	0.000	0.028	2592	2237	3403
667	-0.66	-146.6	36.8	-5.1	87	671	0.00	2.38	0.00	0.000	4	0.000	0.052	2591	3660	3404
762	-0.66	-146.6	42.1	-5.2	95	766	0.00	2.22	0.00	0.000	6	0.000	0.028	2591	2250	3405
959	-0.66	-146.6	52.7	-5.2	113	960	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2249	3404
1278	-0.66	-146.6	68.9	-4.9	143	1279	0.00	0.00	0.00	0.000	6	0.000	0.000	2591	2249	3404
1596	-0.66	-146.6	85.2	-5.1	173	1600	0.00	2.22	0.00	0.000	4	0.000	0.041	2591	855	3405
1624	-0.66	-146.6	86.8	-5.8	175	1628	0.00	2.25	0.00	0.000	6	0.000	0.038	2591	2256	3405
1787	end dive: TARGET_DEPTH_EXCEEDED
state	1787	begin apogee
1793	-0.23	0.0	95.1	5.0	190	1911	0.47	0.00	112.20	0.774	6	0.104	0.000	2742	2142	2799
1911	end apogee: CONTROL_FINISHED_OK
state	1911	begin climb
1913	0.66	146.6	97.0	0.0	202	2029	0.88	0.00	111.62	0.709	6	0.079	0.000	3031	2142	2202
2343	0.66	146.6	73.2	6.2	243	2347	0.00	2.28	0.00	0.000	4	0.000	0.044	3036	762	2200
2371	0.66	146.6	71.6	5.7	245	2377	0.00	2.28	0.00	0.000	6	0.000	0.036	3036	2156	2199
2696	0.66	146.6	51.6	6.1	276	2700	0.00	2.33	0.00	0.000	4	0.000	0.051	3036	3559	2199
2739	0.66	146.6	48.5	7.2	279	2746	0.00	2.25	0.00	0.000	6	0.000	0.031	3037	2172	2198
2937	0.66	146.6	36.4	6.2	298	2938	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	2172	2198
3127	0.66	146.6	25.0	5.5	316	3129	0.00	0.00	0.00	0.000	6	0.000	0.000	3037	2172	2198
3325	0.66	146.6	13.8	5.7	343	3331	0.00	2.30	0.00	0.000	4	0.000	0.051	3037	3553	2198
3348	0.66	146.6	12.4	5.7	347	3354	0.00	2.25	0.00	0.000	6	0.000	0.032	3039	2148	2198
3422	0.66	146.6	8.2	5.7	360	3428	0.00	0.00	0.00	0.000	6	0.000	0.000	3038	2147	2198
3496	0.68	158.2	4.7	4.7	373	3514	0.00	2.33	9.12	0.801	4	0.000	0.044	3038	748	2154
3554	0.71	184.6	2.4	4.2	383	3567	0.00	2.28	8.43	0.800	2	0.000	0.036	3038	2155	2111
3568	end climb: SURFACE_DEPTH_REACHED
state	3568	begin surface coast
3573	end surface coast: CONTROL_FINISHED_OK
state	3573	begin surface