Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 174 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 166 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 197 ALTIM_TOP_MIN_OBSTACLE 0

DIVE 174 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3786 ALTIM_PING_DEPTH 200

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 25

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 1500 ALTIM_FREQUENCY 13

D_TGT 990 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 1750 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 100 SM_CC 425 ROLL_CNV 0.028270001 XPDR_VALID 1

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 38 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 78 INT_PRESSURE_YINT 2.7

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 2 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 275 UPLOAD_DIVES_MAX -1 VBD_MIN 455 DEVICE2 53

T_MISSION 330 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 2863 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 4 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 1001 T_GPS_CHARGE -8604.0869 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 UNCOM_BLEED 20 PHONE_DEVICE 48

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 VBD_MAXERRORS 1 GPS_DEVICE 32

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 0 RAFOS_DEVICE -1

MAX_BUOY 250 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 160 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3938 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2739 PRESSURE_YINT -27.273609 SEABIRD_T_G 0.0043153614

RHO 1.0273 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160501 SEABIRD_T_H 0.00063164165

MASS 51956 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.3580644e-05

NAV_MODE 2 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.4654264e-06

FERRY_MAX 45 PITCH_GAIN 24.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9826469

KALMAN_USE 2 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1204658

HD_A 0.0038360001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010752195

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016642714

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0.045000002 ALTIM_BOTTOM_TURN_MARGIN 25

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 425

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 24.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 25 D_PITCH 0 PITCH_MAX 3938 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 25 D_SURF 3 PITCH_MIN 160 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 200 D_TGT 990 PITCH_TIMEOUT 16 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160501 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 0 FERRY_MAX 45 PRESSURE_YINT -27.273609 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 275

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -8604.0869

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0273 T_MISSION 330

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 2 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 166 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3786 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 2.7 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2739 KALMAN_USE 2 ROLL_MIN 197 USE_BATHY -4

C_ROLL_CLIMB 1750 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1500 MASS 51956 R_PORT_OVSHOOT 38 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 250 R_STBD_OVSHOOT 78 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.9826469 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1204658 VBD_MAX 3960

DEVICE1 2 NAV_MODE 2 SEABIRD_C_I -0.0010752195 VBD_MAXERRORS 1

DEVICE2 53 N_FILEKB 4 SEABIRD_C_J 0.00016642714 VBD_MIN 455

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043153614 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063164165 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3580644e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.4654264e-06 XPDR_DEVICE 24

DIVE 174 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 1

D_CALL 0 PITCH_ADJ_GAIN 0.045000002 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 171326,2414.425,12322.751,10,1.8,10,-3.5 TGT_NAME RET_1

_CALLS 2 TGT_LATLONG 2403.100,12322.900

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.6 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 172050,2414.555,12322.835,15,1.8,15,-3.5 MHEAD_RNG_PITCHd_Wd 211.5,21214,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 217

Post-dive calculations and measurements:

FINISH 0.6,1.010001 _24V_AH 24.9,38.919

SM_CCo 3895,0.00,0.000,0,0,486,583.08 _10V_AH 10.9,23.780

SM_GC 1.45,8.10,0.00,0.00,0.039,0.000,0.000,149,1509,486,-8.04,0.25,583.08 DATA_FILE_SIZE 34853,652

IRIDIUM_FIX 2406.29,12325.02,110998,171729 CAP_FILE_SIZE 56754,0

TT8_MAMPS 0.027612 CFSIZE 260165632,221810688

HUMID 1513 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 10.0343 CURRENT 0.208, 49.7,1

TCM_TEMP 25.70 GPS 170609,182706,2414.660,12322.688,12,1.0,28,-3.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 229 130.63 SBE_CT 425 24 254.38

Roll_motor 32 54 44.68 Optode 606 33 498.50

VBD_pump_during_apogee 636 782 12394.32 WL_BB2F 1019 105 2666.30

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 48 103 124.43 nil 0 0 0.00

Iridium_during_connect 69 160 276.67 nil 0 0 0.00

Iridium_during_xfer 169 223 941.89

Transponder_ping 0 420 5.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.51

TT8 961 19 207.57

LPSleep 1139 2 27.20

TT8_Active 603 19 130.28

TT8_Sampling 1242 39 538.94

TT8_CF8 399 45 199.66

TT8_Kalman 0 0 0.00

Analog_circuits 1230 12 160.90

GPS_charging 0 0 0.00

Compass 1241 8 108.25

RAFOS 0 0 0.00

Transponder 5 30 1.86

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.97 -243.4 0.0 0.0 0 103 0.00 0.00 -85.93 0.000 2 0.000 0.000 136 1515 2373

105 -0.97 -243.4 3.1 -5.9 13 158 8.85 2.03 -39.08 0.000 4 0.229 0.054 2415 194 3857

239 -0.14 -243.4 39.8 -35.9 35 247 0.88 1.88 0.00 0.000 6 0.152 0.029 2690 1478 3859

585 -1.09 -243.4 73.3 -12.8 96 592 0.77 2.05 0.00 0.000 4 0.058 0.033 2380 2908 3859

740 -0.41 -243.4 115.7 -28.4 123 748 0.68 2.05 0.00 0.000 6 0.161 0.031 2602 1510 3858

1086 -0.62 -243.4 158.0 -10.3 184 1093 0.17 2.05 0.00 0.000 4 0.054 0.036 2506 2911 3860

1184 -0.52 -243.4 171.9 -14.3 201 1191 0.22 2.03 0.00 0.000 6 0.130 0.031 2575 1502 3860

1529 -0.68 -243.4 202.3 -8.2 262 1536 0.17 2.08 0.00 0.000 4 0.054 0.035 2480 2900 3860

1616 -0.57 -243.4 215.3 -15.6 277 1622 0.25 1.98 0.00 0.000 6 0.134 0.031 2557 1526 3860

1627 end dive: TARGET_DEPTH_EXCEEDED

state 1627 begin apogee

1632 -0.20 0.0 217.4 14.8 279 1820 0.32 0.00 181.45 0.782 6 0.117 0.000 2667 1779 2863

1822 end apogee: CONTROL_FINISHED_OK

state 1822 begin climb

1824 0.97 243.4 225.5 0.0 310 2019 1.08 2.30 182.95 0.767 4 0.090 0.045 3045 343 1869

2065 0.74 244.2 209.8 12.0 350 2072 0.22 2.05 0.00 0.000 6 0.143 0.026 2981 1762 1867

2409 1.00 400.5 186.9 6.8 411 2542 0.20 2.25 123.25 0.753 4 0.053 0.045 3090 355 1229

2798 0.94 417.9 128.4 11.4 477 2820 0.10 1.98 15.40 0.672 6 0.123 0.027 3042 1725 1159

3161 1.14 459.9 91.0 10.6 540 3205 0.17 2.15 34.62 0.691 4 0.053 0.042 3151 340 988

3342 0.93 459.9 56.7 19.7 571 3350 0.30 1.95 0.00 0.000 6 0.129 0.025 3039 1704 987

3689 1.43 581.9 26.0 8.0 632 3797 0.38 2.12 98.57 0.650 4 0.037 0.040 3230 349 489

3802 end climb: SURFACE_DEPTH_REACHED

state 3802 begin surface coast

3817 end surface coast: CONTROL_FINISHED_OK

state 3818 begin surface

ID	166	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	197	ALTIM_TOP_MIN_OBSTACLE	0
DIVE	174	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3786	ALTIM_PING_DEPTH	200
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	25
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	1500	ALTIM_FREQUENCY	13
D_TGT	990	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	1750	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	100	SM_CC	425	ROLL_CNV	0.028270001	XPDR_VALID	1
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	38	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	78	INT_PRESSURE_YINT	2.7
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	2	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	275	UPLOAD_DIVES_MAX	-1	VBD_MIN	455	DEVICE2	53
T_MISSION	330	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	2863	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	4	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	1001	T_GPS_CHARGE	-8604.0869	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	UNCOM_BLEED	20	PHONE_DEVICE	48
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	VBD_MAXERRORS	1	GPS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	0	RAFOS_DEVICE	-1
MAX_BUOY	250	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	160	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3938	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2739	PRESSURE_YINT	-27.273609	SEABIRD_T_G	0.0043153614
RHO	1.0273	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160501	SEABIRD_T_H	0.00063164165
MASS	51956	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.3580644e-05
NAV_MODE	2	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.4654264e-06
FERRY_MAX	45	PITCH_GAIN	24.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9826469
KALMAN_USE	2	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1204658
HD_A	0.0038360001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010752195
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016642714
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0.045000002	ALTIM_BOTTOM_TURN_MARGIN	25

GPS1	171326,2414.425,12322.751,10,1.8,10,-3.5	TGT_NAME	RET_1
_CALLS	2	TGT_LATLONG	2403.100,12322.900
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.6	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	172050,2414.555,12322.835,15,1.8,15,-3.5	MHEAD_RNG_PITCHd_Wd	211.5,21214,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	217

FINISH	0.6,1.010001	_24V_AH	24.9,38.919
SM_CCo	3895,0.00,0.000,0,0,486,583.08	_10V_AH	10.9,23.780
SM_GC	1.45,8.10,0.00,0.00,0.039,0.000,0.000,149,1509,486,-8.04,0.25,583.08	DATA_FILE_SIZE	34853,652
IRIDIUM_FIX	2406.29,12325.02,110998,171729	CAP_FILE_SIZE	56754,0
TT8_MAMPS	0.027612	CFSIZE	260165632,221810688
HUMID	1513	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	10.0343	CURRENT	0.208, 49.7,1
TCM_TEMP	25.70	GPS	170609,182706,2414.660,12322.688,12,1.0,28,-3.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	229	130.63	SBE_CT	425	24	254.38
Roll_motor	32	54	44.68	Optode	606	33	498.50
VBD_pump_during_apogee	636	782	12394.32	WL_BB2F	1019	105	2666.30
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	48	103	124.43	nil	0	0	0.00
Iridium_during_connect	69	160	276.67	nil	0	0	0.00
Iridium_during_xfer	169	223	941.89
Transponder_ping	0	420	5.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.51
TT8	961	19	207.57
LPSleep	1139	2	27.20
TT8_Active	603	19	130.28
TT8_Sampling	1242	39	538.94
TT8_CF8	399	45	199.66
TT8_Kalman	0	0	0.00
Analog_circuits	1230	12	160.90
GPS_charging	0	0	0.00
Compass	1241	8	108.25
RAFOS	0	0	0.00
Transponder	5	30	1.86

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.97	-243.4	0.0	0.0	0	103	0.00	0.00	-85.93	0.000	2	0.000	0.000	136	1515	2373
105	-0.97	-243.4	3.1	-5.9	13	158	8.85	2.03	-39.08	0.000	4	0.229	0.054	2415	194	3857
239	-0.14	-243.4	39.8	-35.9	35	247	0.88	1.88	0.00	0.000	6	0.152	0.029	2690	1478	3859
585	-1.09	-243.4	73.3	-12.8	96	592	0.77	2.05	0.00	0.000	4	0.058	0.033	2380	2908	3859
740	-0.41	-243.4	115.7	-28.4	123	748	0.68	2.05	0.00	0.000	6	0.161	0.031	2602	1510	3858
1086	-0.62	-243.4	158.0	-10.3	184	1093	0.17	2.05	0.00	0.000	4	0.054	0.036	2506	2911	3860
1184	-0.52	-243.4	171.9	-14.3	201	1191	0.22	2.03	0.00	0.000	6	0.130	0.031	2575	1502	3860
1529	-0.68	-243.4	202.3	-8.2	262	1536	0.17	2.08	0.00	0.000	4	0.054	0.035	2480	2900	3860
1616	-0.57	-243.4	215.3	-15.6	277	1622	0.25	1.98	0.00	0.000	6	0.134	0.031	2557	1526	3860
1627	end dive: TARGET_DEPTH_EXCEEDED
state	1627	begin apogee
1632	-0.20	0.0	217.4	14.8	279	1820	0.32	0.00	181.45	0.782	6	0.117	0.000	2667	1779	2863
1822	end apogee: CONTROL_FINISHED_OK
state	1822	begin climb
1824	0.97	243.4	225.5	0.0	310	2019	1.08	2.30	182.95	0.767	4	0.090	0.045	3045	343	1869
2065	0.74	244.2	209.8	12.0	350	2072	0.22	2.05	0.00	0.000	6	0.143	0.026	2981	1762	1867
2409	1.00	400.5	186.9	6.8	411	2542	0.20	2.25	123.25	0.753	4	0.053	0.045	3090	355	1229
2798	0.94	417.9	128.4	11.4	477	2820	0.10	1.98	15.40	0.672	6	0.123	0.027	3042	1725	1159
3161	1.14	459.9	91.0	10.6	540	3205	0.17	2.15	34.62	0.691	4	0.053	0.042	3151	340	988
3342	0.93	459.9	56.7	19.7	571	3350	0.30	1.95	0.00	0.000	6	0.129	0.025	3039	1704	987
3689	1.43	581.9	26.0	8.0	632	3797	0.38	2.12	98.57	0.650	4	0.037	0.040	3230	349	489
3802	end climb: SURFACE_DEPTH_REACHED
state	3802	begin surface coast
3817	end surface coast: CONTROL_FINISHED_OK
state	3818	begin surface