Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 179 * 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 179 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 43 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 37 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 -17172.105 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 -17172.105

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 43 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 37 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 179 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 103533,4739.429,-12252.452,9,1.6,9,18.3 TGT_NAME H3

_CALLS 2 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.93 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -62.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 104414,4739.410,-12252.431,15,1.4,33,18.3 MHEAD_RNG_PITCHd_Wd 258.0,968,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.8,1.026258 XPDR_PINGS 5

SM_CCo 2660,136.18,0.522,1,0,1598,400.08 ALTIM_BOTTOM_PING 90.1,48.9

SM_GC 0.84,0.00,0.00,136.18,0.000,0.000,0.522,424,2509,1598,-11.85,0.25,400.08 _24V_AH 24.1,14.335

IRIDIUM_FIX 4719.74,-12254.47,270907,141439 _10V_AH 10.1,9.598

TT8_MAMPS 0.069797 DATA_FILE_SIZE 6467,247

HUMID 1805 CFSIZE 260034560,252026880

INTERNAL_PRESSURE 9.33976 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.90 GPS 270907,113237,4739.411,-12252.879,31,1.3,41,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 156 108.32 SBE_CT 170 24 98.62

Roll_motor 39 84 80.88 nil 0 0 0.00

VBD_pump_during_apogee 187 592 2668.88 nil 0 0 0.00

VBD_pump_during_surface 136 522 1714.18 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 75 103 187.92 nil 0 0 0.00

Iridium_during_connect 56 160 216.10 ARS 0 0 0.00

Iridium_during_xfer 173 223 930.48

Transponder_ping 2 420 25.30

Mmodem_TX 41 1000 994.13

Mmodem_RX 3343 6 515.74

GPS 33 93 31.09

TT8 471 19 94.31

LPSleep 1472 2 32.57

TT8_Active 423 19 84.72

TT8_Sampling 471 39 189.41

TT8_CF8 495 45 229.40

TT8_Kalman 0 0 0.00

Analog_circuits 714 12 86.58

GPS_charging 0 0 0.00

Compass 460 8 37.20

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

27 -1.54 -122.2 0.0 0.0 0 82 0.00 0.00 -53.00 0.000 2 0.000 0.000 425 2520 2911

86 -1.54 -122.2 2.0 -3.1 9 136 12.45 2.53 -31.08 0.000 4 0.156 0.077 2659 3888 3729

189 -1.54 -122.2 6.8 -7.2 25 195 0.00 2.38 0.00 0.000 6 0.000 0.032 2659 2486 3730

262 -1.54 -122.2 11.2 -6.1 36 268 0.00 2.42 0.00 0.000 4 0.000 0.048 2660 1121 3731

328 -1.54 -122.2 15.9 -7.3 46 334 0.00 2.38 0.00 0.000 6 0.000 0.033 2659 2499 3732

406 -1.54 -122.2 21.0 -6.8 57 410 0.00 2.58 0.00 0.000 4 0.000 0.067 2660 3902 3732

479 -1.54 -122.2 26.0 -6.8 62 483 0.00 2.38 0.00 0.000 6 0.000 0.033 2660 2504 3733

674 -1.54 -122.2 38.0 -6.0 77 678 0.00 2.60 0.00 0.000 4 0.000 0.066 2660 3905 3733

760 -1.54 -122.2 43.5 -6.6 83 764 0.00 2.40 0.00 0.000 6 0.000 0.033 2659 2497 3734

955 -1.54 -122.2 56.4 -6.8 98 956 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2493 3734

1144 -1.54 -122.2 69.4 -6.9 113 1149 0.00 2.60 0.00 0.000 4 0.000 0.064 2660 3901 3734

1217 -1.54 -122.2 74.8 -7.8 118 1221 0.00 2.40 0.00 0.000 6 0.000 0.032 2660 2484 3733

1413 -1.54 -122.2 88.4 -6.8 133 1414 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2481 3734

1439 end dive: TARGET_DEPTH_EXCEEDED

state 1439 begin apogee

1445 -0.50 0.0 90.1 6.9 135 1548 1.10 0.00 94.97 0.592 6 0.091 0.000 2887 2417 3228

1549 end apogee: CONTROL_FINISHED_OK

state 1549 begin climb

1551 1.54 122.2 92.9 0.0 144 1652 2.05 2.62 92.05 0.574 4 0.062 0.051 3333 1031 2730

1679 1.54 122.2 85.1 9.0 154 1687 0.00 2.45 0.00 0.000 6 0.000 0.032 3333 2419 2729

1878 1.54 122.2 66.7 9.4 170 1883 0.00 2.50 0.00 0.000 4 0.000 0.051 3333 1030 2728

1929 1.54 122.2 61.5 9.4 173 1937 0.00 2.42 0.00 0.000 6 0.000 0.033 3333 2412 2728

2126 1.54 122.2 42.8 9.6 189 2127 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 2412 2728

2318 1.54 122.2 25.3 9.1 204 2322 0.00 2.50 0.00 0.000 4 0.000 0.052 3333 1029 2728

2356 1.54 122.2 21.4 10.0 206 2363 0.00 2.42 0.00 0.000 6 0.000 0.033 3333 2426 2728

2560 1.54 122.2 5.0 7.7 236 2565 0.00 0.00 0.00 0.000 6 0.000 0.000 3333 2426 2728

2603 end climb: SURFACE_DEPTH_REACHED

state 2603 begin surface coast

2631 end surface coast: CONTROL_FINISHED_OK

state 2631 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	179	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	43	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	37	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	-17172.105	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	103533,4739.429,-12252.452,9,1.6,9,18.3	TGT_NAME	H3
_CALLS	2	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.93	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-62.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	104414,4739.410,-12252.431,15,1.4,33,18.3	MHEAD_RNG_PITCHd_Wd	258.0,968,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.8,1.026258	XPDR_PINGS	5
SM_CCo	2660,136.18,0.522,1,0,1598,400.08	ALTIM_BOTTOM_PING	90.1,48.9
SM_GC	0.84,0.00,0.00,136.18,0.000,0.000,0.522,424,2509,1598,-11.85,0.25,400.08	_24V_AH	24.1,14.335
IRIDIUM_FIX	4719.74,-12254.47,270907,141439	_10V_AH	10.1,9.598
TT8_MAMPS	0.069797	DATA_FILE_SIZE	6467,247
HUMID	1805	CFSIZE	260034560,252026880
INTERNAL_PRESSURE	9.33976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.90	GPS	270907,113237,4739.411,-12252.879,31,1.3,41,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	156	108.32	SBE_CT	170	24	98.62
Roll_motor	39	84	80.88	nil	0	0	0.00
VBD_pump_during_apogee	187	592	2668.88	nil	0	0	0.00
VBD_pump_during_surface	136	522	1714.18	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	75	103	187.92	nil	0	0	0.00
Iridium_during_connect	56	160	216.10	ARS	0	0	0.00
Iridium_during_xfer	173	223	930.48
Transponder_ping	2	420	25.30
Mmodem_TX	41	1000	994.13
Mmodem_RX	3343	6	515.74
GPS	33	93	31.09
TT8	471	19	94.31
LPSleep	1472	2	32.57
TT8_Active	423	19	84.72
TT8_Sampling	471	39	189.41
TT8_CF8	495	45	229.40
TT8_Kalman	0	0	0.00
Analog_circuits	714	12	86.58
GPS_charging	0	0	0.00
Compass	460	8	37.20
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
27	-1.54	-122.2	0.0	0.0	0	82	0.00	0.00	-53.00	0.000	2	0.000	0.000	425	2520	2911
86	-1.54	-122.2	2.0	-3.1	9	136	12.45	2.53	-31.08	0.000	4	0.156	0.077	2659	3888	3729
189	-1.54	-122.2	6.8	-7.2	25	195	0.00	2.38	0.00	0.000	6	0.000	0.032	2659	2486	3730
262	-1.54	-122.2	11.2	-6.1	36	268	0.00	2.42	0.00	0.000	4	0.000	0.048	2660	1121	3731
328	-1.54	-122.2	15.9	-7.3	46	334	0.00	2.38	0.00	0.000	6	0.000	0.033	2659	2499	3732
406	-1.54	-122.2	21.0	-6.8	57	410	0.00	2.58	0.00	0.000	4	0.000	0.067	2660	3902	3732
479	-1.54	-122.2	26.0	-6.8	62	483	0.00	2.38	0.00	0.000	6	0.000	0.033	2660	2504	3733
674	-1.54	-122.2	38.0	-6.0	77	678	0.00	2.60	0.00	0.000	4	0.000	0.066	2660	3905	3733
760	-1.54	-122.2	43.5	-6.6	83	764	0.00	2.40	0.00	0.000	6	0.000	0.033	2659	2497	3734
955	-1.54	-122.2	56.4	-6.8	98	956	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2493	3734
1144	-1.54	-122.2	69.4	-6.9	113	1149	0.00	2.60	0.00	0.000	4	0.000	0.064	2660	3901	3734
1217	-1.54	-122.2	74.8	-7.8	118	1221	0.00	2.40	0.00	0.000	6	0.000	0.032	2660	2484	3733
1413	-1.54	-122.2	88.4	-6.8	133	1414	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2481	3734
1439	end dive: TARGET_DEPTH_EXCEEDED
state	1439	begin apogee
1445	-0.50	0.0	90.1	6.9	135	1548	1.10	0.00	94.97	0.592	6	0.091	0.000	2887	2417	3228
1549	end apogee: CONTROL_FINISHED_OK
state	1549	begin climb
1551	1.54	122.2	92.9	0.0	144	1652	2.05	2.62	92.05	0.574	4	0.062	0.051	3333	1031	2730
1679	1.54	122.2	85.1	9.0	154	1687	0.00	2.45	0.00	0.000	6	0.000	0.032	3333	2419	2729
1878	1.54	122.2	66.7	9.4	170	1883	0.00	2.50	0.00	0.000	4	0.000	0.051	3333	1030	2728
1929	1.54	122.2	61.5	9.4	173	1937	0.00	2.42	0.00	0.000	6	0.000	0.033	3333	2412	2728
2126	1.54	122.2	42.8	9.6	189	2127	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	2412	2728
2318	1.54	122.2	25.3	9.1	204	2322	0.00	2.50	0.00	0.000	4	0.000	0.052	3333	1029	2728
2356	1.54	122.2	21.4	10.0	206	2363	0.00	2.42	0.00	0.000	6	0.000	0.033	3333	2426	2728
2560	1.54	122.2	5.0	7.7	236	2565	0.00	0.00	0.00	0.000	6	0.000	0.000	3333	2426	2728
2603	end climb: SURFACE_DEPTH_REACHED
state	2603	begin surface coast
2631	end surface coast: CONTROL_FINISHED_OK
state	2631	begin surface