Glider dive log

PN07 DabobBay Sep07 * SG117 * Dive index * Mission links * Dive 186 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 117 HD_B 0.010078 PITCH_AD_RATE 150 ALTIM_TOP_PING_RANGE 0

MISSION 4 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 186 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 243 ALTIM_PING_DEPTH 0

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3920 ALTIM_PING_DELTA 0

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2200 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2080 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 500 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 16 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 26 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 33 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 746 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3936 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3202 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -2 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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -20940.248 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

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 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 409 AH0_24V 91.800003 SEABIRD_T_G 0.00439469

SPEED_FACTOR 1 PITCH_MAX 3715 AH0_10V 61.200001 SEABIRD_T_H 0.00064900791

RHO 1.023 C_PITCH 2900 PRESSURE_YINT -7.1405377 SEABIRD_T_I 2.5454905e-05

MASS 51716 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5957725e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.918622

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1128846

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0018190074

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00019276176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 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 0

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 500

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 0 D_SURF 5 PITCH_MIN 409 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 D_TGT 120 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.1405377 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 32 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 -20940.248

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 117 ROLL_MAX 3920 T_TURN_SAMPINT 6

C_PITCH 2900 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2080 INT_PRESSURE_YINT 0 ROLL_MIN 243 UNCOM_BLEED 20

C_ROLL_DIVE 2200 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3202 MASS 51716 R_PORT_OVSHOOT 26 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 33 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.918622 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1128846 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0018190074 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00019276176 VBD_MAX 3936

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.00439469 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064900791 VBD_MIN 746

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5454905e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 186 PHONE_DEVICE 48 SEABIRD_T_J 2.5957725e-06 VBD_PUMP_AD_RATE_SURFACE 5

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 182945,4739.514,-12252.852,12,1.8,12,18.3 TGT_NAME H3

_CALLS 2 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.177,-0.110

_SM_DEPTHo 1.10 KALMAN_X 22796.5,-41.1,65.8,-22937.8,192.0

_SM_ANGLEo -57.7 KALMAN_Y 8082.8,-101.7,60.6,-8431.0,183.2

GPS2 183623,4739.580,-12252.789,12,2.4,31,18.3 MHEAD_RNG_PITCHd_Wd 219.7,557,-20.3,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 121

Post-dive calculations and measurements:

FINISH 0.5,1.021981 XPDR_PINGS 1

SM_CCo 2960,161.10,0.578,0,0,1162,500.17 ALTIM_BOTTOM_PING 96.1,999.0

SM_GC 1.12,0.00,0.00,161.10,0.000,0.000,0.578,407,2218,1162,-11.47,0.51,500.17 _24V_AH 23.7,33.019

IRIDIUM_FIX 4722.92,-12249.11,290907,212127 _10V_AH 10.2,21.238

TT8_MAMPS 0.028379 DATA_FILE_SIZE 6459,270

HUMID 2200 CFSIZE 260231168,251736064

INTERNAL_PRESSURE 7.93976 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.90 GPS 290907,193034,4739.462,-12253.079,9,2.6,28,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 195 138.37 SBE_CT 191 24 108.68

Roll_motor 35 67 56.67 nil 0 0 0.00

VBD_pump_during_apogee 192 716 3267.87 nil 0 0 0.00

VBD_pump_during_surface 161 577 2205.13 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 62 103 152.79 nil 0 0 0.00

Iridium_during_connect 40 160 153.03 ARS 0 18 0.00

Iridium_during_xfer 134 223 708.58

Transponder_ping 0 420 4.98

Mmodem_TX 0 1000 0.00

Mmodem_RX 0 6 0.00

GPS 32 50 16.53

TT8 499 19 100.96

LPSleep 1723 2 38.50

TT8_Active 471 19 95.30

TT8_Sampling 504 39 204.66

TT8_CF8 348 45 162.90

TT8_Kalman 33 81 27.82

Analog_circuits 770 12 94.36

GPS_charging 0 0 0.00

Compass 478 8 39.03

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

17 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -1.68 -97.8 0.0 0.0 0 95 0.00 0.00 -72.97 0.000 2 0.000 0.000 413 2203 2695

98 -1.68 -97.8 2.3 -3.7 12 153 13.23 0.00 -35.33 0.000 6 0.196 0.000 2525 2203 3602

218 -1.68 -97.8 9.1 -9.1 31 225 0.00 2.62 0.00 0.000 4 0.000 0.064 2524 799 3603

284 -1.68 -97.8 15.9 -10.3 41 290 0.00 2.42 0.00 0.000 6 0.000 0.035 2524 2199 3604

354 -1.68 -97.8 22.9 -9.7 50 359 0.00 2.53 0.00 0.000 4 0.000 0.058 2524 3597 3604

405 -1.68 -97.8 28.4 -10.2 53 413 0.00 2.45 0.00 0.000 6 0.000 0.035 2524 2197 3604

602 -1.68 -97.8 47.1 -9.1 69 603 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2197 3604

794 -1.68 -97.8 65.0 -9.7 84 795 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2197 3604

982 -1.68 -97.8 84.3 -10.8 99 983 0.00 0.00 0.00 0.000 6 0.000 0.000 2524 2197 3604

1170 -1.68 -97.8 103.8 -10.1 114 1174 0.00 2.53 0.00 0.000 4 0.000 0.057 2524 3595 3604

1229 -1.68 -97.8 110.0 -10.1 118 1233 0.00 2.42 0.00 0.000 6 0.000 0.036 2524 2191 3604

1334 end dive: TARGET_DEPTH_EXCEEDED

state 1334 begin apogee

1340 -0.38 0.0 120.4 9.6 126 1422 1.48 0.00 78.15 0.682 6 0.107 0.000 2811 2066 3202

1423 end apogee: CONTROL_FINISHED_OK

state 1423 begin climb

1425 1.68 97.8 123.1 0.0 133 1507 2.15 0.00 76.88 0.661 6 0.064 0.000 3267 2066 2803

1695 1.70 107.8 106.6 8.3 155 1708 0.00 2.58 7.30 0.716 4 0.000 0.054 3267 3475 2761

1845 1.70 107.8 92.0 8.9 166 1853 0.00 2.45 0.00 0.000 6 0.000 0.036 3266 2086 2760

2041 1.70 107.8 75.0 9.1 182 2046 0.00 2.65 0.00 0.000 4 0.000 0.067 3267 677 2760

2101 1.70 107.8 69.6 8.9 186 2105 0.00 2.47 0.00 0.000 6 0.000 0.036 3267 2085 2760

2296 1.70 108.0 52.3 8.9 201 2300 0.00 2.53 0.00 0.000 4 0.000 0.058 3267 3482 2759

2440 1.71 116.0 39.6 8.4 211 2452 0.00 2.45 5.90 0.716 6 0.000 0.035 3267 2089 2729

2649 1.72 125.2 21.7 8.3 228 2662 0.00 2.53 7.03 0.701 4 0.000 0.054 3267 3474 2690

2761 1.72 125.2 11.7 9.6 243 2767 0.00 2.42 0.00 0.000 6 0.000 0.036 3267 2078 2689

2833 1.76 158.9 6.1 6.8 254 2852 0.00 0.00 17.23 0.653 2 0.000 0.000 3267 2078 2597

2853 end climb: SURFACE_DEPTH_REACHED

state 2853 begin surface coast

2937 end surface coast: CONTROL_FINISHED_OK

state 2937 begin surface

ID	117	HD_B	0.010078	PITCH_AD_RATE	150	ALTIM_TOP_PING_RANGE	0
MISSION	4	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	186	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	243	ALTIM_PING_DEPTH	0
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3920	ALTIM_PING_DELTA	0
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2200	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2080	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	500	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	16	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	26	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	33	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	746	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3936	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3202	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-2	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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-20940.248	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
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	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	409	AH0_24V	91.800003	SEABIRD_T_G	0.00439469
SPEED_FACTOR	1	PITCH_MAX	3715	AH0_10V	61.200001	SEABIRD_T_H	0.00064900791
RHO	1.023	C_PITCH	2900	PRESSURE_YINT	-7.1405377	SEABIRD_T_I	2.5454905e-05
MASS	51716	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5957725e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.918622
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1128846
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0018190074
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00019276176

GPS1	182945,4739.514,-12252.852,12,1.8,12,18.3	TGT_NAME	H3
_CALLS	2	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.177,-0.110
_SM_DEPTHo	1.10	KALMAN_X	22796.5,-41.1,65.8,-22937.8,192.0
_SM_ANGLEo	-57.7	KALMAN_Y	8082.8,-101.7,60.6,-8431.0,183.2
GPS2	183623,4739.580,-12252.789,12,2.4,31,18.3	MHEAD_RNG_PITCHd_Wd	219.7,557,-20.3,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	121

FINISH	0.5,1.021981	XPDR_PINGS	1
SM_CCo	2960,161.10,0.578,0,0,1162,500.17	ALTIM_BOTTOM_PING	96.1,999.0
SM_GC	1.12,0.00,0.00,161.10,0.000,0.000,0.578,407,2218,1162,-11.47,0.51,500.17	_24V_AH	23.7,33.019
IRIDIUM_FIX	4722.92,-12249.11,290907,212127	_10V_AH	10.2,21.238
TT8_MAMPS	0.028379	DATA_FILE_SIZE	6459,270
HUMID	2200	CFSIZE	260231168,251736064
INTERNAL_PRESSURE	7.93976	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	290907,193034,4739.462,-12253.079,9,2.6,28,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	195	138.37	SBE_CT	191	24	108.68
Roll_motor	35	67	56.67	nil	0	0	0.00
VBD_pump_during_apogee	192	716	3267.87	nil	0	0	0.00
VBD_pump_during_surface	161	577	2205.13	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	62	103	152.79	nil	0	0	0.00
Iridium_during_connect	40	160	153.03	ARS	0	18	0.00
Iridium_during_xfer	134	223	708.58
Transponder_ping	0	420	4.98
Mmodem_TX	0	1000	0.00
Mmodem_RX	0	6	0.00
GPS	32	50	16.53
TT8	499	19	100.96
LPSleep	1723	2	38.50
TT8_Active	471	19	95.30
TT8_Sampling	504	39	204.66
TT8_CF8	348	45	162.90
TT8_Kalman	33	81	27.82
Analog_circuits	770	12	94.36
GPS_charging	0	0	0.00
Compass	478	8	39.03
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
17	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-1.68	-97.8	0.0	0.0	0	95	0.00	0.00	-72.97	0.000	2	0.000	0.000	413	2203	2695
98	-1.68	-97.8	2.3	-3.7	12	153	13.23	0.00	-35.33	0.000	6	0.196	0.000	2525	2203	3602
218	-1.68	-97.8	9.1	-9.1	31	225	0.00	2.62	0.00	0.000	4	0.000	0.064	2524	799	3603
284	-1.68	-97.8	15.9	-10.3	41	290	0.00	2.42	0.00	0.000	6	0.000	0.035	2524	2199	3604
354	-1.68	-97.8	22.9	-9.7	50	359	0.00	2.53	0.00	0.000	4	0.000	0.058	2524	3597	3604
405	-1.68	-97.8	28.4	-10.2	53	413	0.00	2.45	0.00	0.000	6	0.000	0.035	2524	2197	3604
602	-1.68	-97.8	47.1	-9.1	69	603	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2197	3604
794	-1.68	-97.8	65.0	-9.7	84	795	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2197	3604
982	-1.68	-97.8	84.3	-10.8	99	983	0.00	0.00	0.00	0.000	6	0.000	0.000	2524	2197	3604
1170	-1.68	-97.8	103.8	-10.1	114	1174	0.00	2.53	0.00	0.000	4	0.000	0.057	2524	3595	3604
1229	-1.68	-97.8	110.0	-10.1	118	1233	0.00	2.42	0.00	0.000	6	0.000	0.036	2524	2191	3604
1334	end dive: TARGET_DEPTH_EXCEEDED
state	1334	begin apogee
1340	-0.38	0.0	120.4	9.6	126	1422	1.48	0.00	78.15	0.682	6	0.107	0.000	2811	2066	3202
1423	end apogee: CONTROL_FINISHED_OK
state	1423	begin climb
1425	1.68	97.8	123.1	0.0	133	1507	2.15	0.00	76.88	0.661	6	0.064	0.000	3267	2066	2803
1695	1.70	107.8	106.6	8.3	155	1708	0.00	2.58	7.30	0.716	4	0.000	0.054	3267	3475	2761
1845	1.70	107.8	92.0	8.9	166	1853	0.00	2.45	0.00	0.000	6	0.000	0.036	3266	2086	2760
2041	1.70	107.8	75.0	9.1	182	2046	0.00	2.65	0.00	0.000	4	0.000	0.067	3267	677	2760
2101	1.70	107.8	69.6	8.9	186	2105	0.00	2.47	0.00	0.000	6	0.000	0.036	3267	2085	2760
2296	1.70	108.0	52.3	8.9	201	2300	0.00	2.53	0.00	0.000	4	0.000	0.058	3267	3482	2759
2440	1.71	116.0	39.6	8.4	211	2452	0.00	2.45	5.90	0.716	6	0.000	0.035	3267	2089	2729
2649	1.72	125.2	21.7	8.3	228	2662	0.00	2.53	7.03	0.701	4	0.000	0.054	3267	3474	2690
2761	1.72	125.2	11.7	9.6	243	2767	0.00	2.42	0.00	0.000	6	0.000	0.036	3267	2078	2689
2833	1.76	158.9	6.1	6.8	254	2852	0.00	0.00	17.23	0.653	2	0.000	0.000	3267	2078	2597
2853	end climb: SURFACE_DEPTH_REACHED
state	2853	begin surface coast
2937	end surface coast: CONTROL_FINISHED_OK
state	2937	begin surface