Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 176 * 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 176 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 50 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 82 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 -8638.7559 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 -8638.7559

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 50 VBD_BLEED_AD_RATE 8

C_VBD 2863 MAX_BUOY 250 R_STBD_OVSHOOT 82 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 176 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 193632,2414.689,12322.773,11,1.5,11,-3.5 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2403.100,12322.900

_XMS_NAKs 3 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.38 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 194101,2414.738,12322.863,15,1.5,15,-3.5 MHEAD_RNG_PITCHd_Wd 219.8,21553,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 217

Post-dive calculations and measurements:

FINISH 0.8,1.009135 _24V_AH 24.9,39.203

SM_CCo 3830,0.00,0.000,0,0,573,561.49 _10V_AH 10.9,23.922

SM_GC 1.49,7.93,0.00,0.00,0.036,0.000,0.000,145,1535,573,-8.03,0.99,561.49 DATA_FILE_SIZE 34938,641

IRIDIUM_FIX 2403.92,12321.74,110998,181819 CAP_FILE_SIZE 54324,0

TT8_MAMPS 0.026845 CFSIZE 260165632,221736960

HUMID 1540 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 10.0538 CURRENT 0.198, 97.3,1

TCM_TEMP 25.60 GPS 170609,204613,2414.607,12322.884,13,1.5,30,-3.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 227 126.06 SBE_CT 419 24 250.40

Roll_motor 32 55 45.10 Optode 594 33 488.78

VBD_pump_during_apogee 618 780 12022.00 WL_BB2F 1000 105 2616.77

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 22 103 57.98 nil 0 0 0.00

Iridium_during_connect 35 160 143.31 nil 0 0 0.00

Iridium_during_xfer 122 223 678.03

Transponder_ping 0 420 5.23

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 8.97

TT8 948 19 204.62

LPSleep 1084 2 25.88

TT8_Active 588 19 126.95

TT8_Sampling 1208 39 524.07

TT8_CF8 278 45 139.18

TT8_Kalman 0 0 0.00

Analog_circuits 1201 12 157.14

GPS_charging 0 0 0.00

Compass 1204 8 104.99

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 0 104 0.00 0.00 -86.95 0.000 2 0.000 0.000 168 1511 2403

106 -0.97 -243.4 3.1 -6.2 14 159 8.68 2.00 -38.45 0.000 4 0.228 0.055 2419 204 3858

200 -0.14 -243.4 25.9 -34.7 29 207 0.82 1.85 0.00 0.000 6 0.151 0.028 2689 1481 3859

547 -0.90 -243.4 61.2 -12.7 90 554 0.62 2.05 0.00 0.000 4 0.079 0.035 2453 2910 3859

650 -0.48 -243.4 81.6 -22.5 108 658 0.40 2.03 0.00 0.000 6 0.145 0.031 2578 1495 3859

999 -0.53 -243.4 129.7 -11.3 169 1005 0.00 2.05 0.00 0.000 4 0.000 0.038 2573 2903 3860

1056 -0.72 -243.4 136.1 -9.8 179 1064 0.15 2.00 0.00 0.000 6 0.039 0.030 2483 1527 3860

1402 -0.44 -243.4 196.9 -16.1 240 1411 0.32 2.03 0.00 0.000 4 0.138 0.038 2588 2905 3860

1442 -0.62 -243.4 201.4 -8.7 246 1449 0.15 2.00 0.00 0.000 6 0.054 0.031 2505 1536 3860

1565 end dive: TARGET_DEPTH_EXCEEDED

state 1565 begin apogee

1571 -0.20 0.0 217.6 15.8 268 1758 0.47 0.00 181.82 0.781 6 0.124 0.000 2663 1777 2863

1760 end apogee: CONTROL_FINISHED_OK

state 1760 begin climb

1762 0.97 243.4 229.0 0.0 298 1957 1.08 2.25 183.20 0.772 4 0.081 0.044 3052 339 1869

2058 0.72 243.4 207.9 14.0 347 2065 0.28 2.03 0.00 0.000 6 0.142 0.027 2974 1747 1866

2403 1.02 395.9 180.2 7.0 408 2530 0.22 2.20 119.60 0.752 4 0.048 0.044 3093 340 1248

2705 0.85 395.9 132.1 17.0 459 2711 0.25 2.03 0.00 0.000 6 0.136 0.027 3015 1756 1245

3051 1.23 506.1 104.3 8.4 520 3147 0.28 2.15 89.28 0.708 4 0.042 0.037 3158 3140 798

3284 1.05 506.1 59.1 19.5 559 3291 0.32 2.15 0.00 0.000 6 0.148 0.031 3074 1672 797

3629 1.38 560.7 24.4 10.2 620 3681 0.25 2.00 44.45 0.648 4 0.044 0.041 3210 342 576

3740 end climb: SURFACE_DEPTH_REACHED

state 3740 begin surface coast

3753 end surface coast: CONTROL_FINISHED_OK

state 3753 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	176	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	50	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	82	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	-8638.7559	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	193632,2414.689,12322.773,11,1.5,11,-3.5	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2403.100,12322.900
_XMS_NAKs	3	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.38	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	194101,2414.738,12322.863,15,1.5,15,-3.5	MHEAD_RNG_PITCHd_Wd	219.8,21553,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	217

FINISH	0.8,1.009135	_24V_AH	24.9,39.203
SM_CCo	3830,0.00,0.000,0,0,573,561.49	_10V_AH	10.9,23.922
SM_GC	1.49,7.93,0.00,0.00,0.036,0.000,0.000,145,1535,573,-8.03,0.99,561.49	DATA_FILE_SIZE	34938,641
IRIDIUM_FIX	2403.92,12321.74,110998,181819	CAP_FILE_SIZE	54324,0
TT8_MAMPS	0.026845	CFSIZE	260165632,221736960
HUMID	1540	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	10.0538	CURRENT	0.198, 97.3,1
TCM_TEMP	25.60	GPS	170609,204613,2414.607,12322.884,13,1.5,30,-3.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	227	126.06	SBE_CT	419	24	250.40
Roll_motor	32	55	45.10	Optode	594	33	488.78
VBD_pump_during_apogee	618	780	12022.00	WL_BB2F	1000	105	2616.77
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	22	103	57.98	nil	0	0	0.00
Iridium_during_connect	35	160	143.31	nil	0	0	0.00
Iridium_during_xfer	122	223	678.03
Transponder_ping	0	420	5.23
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	8.97
TT8	948	19	204.62
LPSleep	1084	2	25.88
TT8_Active	588	19	126.95
TT8_Sampling	1208	39	524.07
TT8_CF8	278	45	139.18
TT8_Kalman	0	0	0.00
Analog_circuits	1201	12	157.14
GPS_charging	0	0	0.00
Compass	1204	8	104.99
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	104	0.00	0.00	-86.95	0.000	2	0.000	0.000	168	1511	2403
106	-0.97	-243.4	3.1	-6.2	14	159	8.68	2.00	-38.45	0.000	4	0.228	0.055	2419	204	3858
200	-0.14	-243.4	25.9	-34.7	29	207	0.82	1.85	0.00	0.000	6	0.151	0.028	2689	1481	3859
547	-0.90	-243.4	61.2	-12.7	90	554	0.62	2.05	0.00	0.000	4	0.079	0.035	2453	2910	3859
650	-0.48	-243.4	81.6	-22.5	108	658	0.40	2.03	0.00	0.000	6	0.145	0.031	2578	1495	3859
999	-0.53	-243.4	129.7	-11.3	169	1005	0.00	2.05	0.00	0.000	4	0.000	0.038	2573	2903	3860
1056	-0.72	-243.4	136.1	-9.8	179	1064	0.15	2.00	0.00	0.000	6	0.039	0.030	2483	1527	3860
1402	-0.44	-243.4	196.9	-16.1	240	1411	0.32	2.03	0.00	0.000	4	0.138	0.038	2588	2905	3860
1442	-0.62	-243.4	201.4	-8.7	246	1449	0.15	2.00	0.00	0.000	6	0.054	0.031	2505	1536	3860
1565	end dive: TARGET_DEPTH_EXCEEDED
state	1565	begin apogee
1571	-0.20	0.0	217.6	15.8	268	1758	0.47	0.00	181.82	0.781	6	0.124	0.000	2663	1777	2863
1760	end apogee: CONTROL_FINISHED_OK
state	1760	begin climb
1762	0.97	243.4	229.0	0.0	298	1957	1.08	2.25	183.20	0.772	4	0.081	0.044	3052	339	1869
2058	0.72	243.4	207.9	14.0	347	2065	0.28	2.03	0.00	0.000	6	0.142	0.027	2974	1747	1866
2403	1.02	395.9	180.2	7.0	408	2530	0.22	2.20	119.60	0.752	4	0.048	0.044	3093	340	1248
2705	0.85	395.9	132.1	17.0	459	2711	0.25	2.03	0.00	0.000	6	0.136	0.027	3015	1756	1245
3051	1.23	506.1	104.3	8.4	520	3147	0.28	2.15	89.28	0.708	4	0.042	0.037	3158	3140	798
3284	1.05	506.1	59.1	19.5	559	3291	0.32	2.15	0.00	0.000	6	0.148	0.031	3074	1672	797
3629	1.38	560.7	24.4	10.2	620	3681	0.25	2.00	44.45	0.648	4	0.044	0.041	3210	342	576
3740	end climb: SURFACE_DEPTH_REACHED
state	3740	begin surface coast
3753	end surface coast: CONTROL_FINISHED_OK
state	3753	begin surface