Glider dive log

PortSusan 30Jul08.01 * SG104 * Dive index * Mission links * Dive 21 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 104 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 6 ESCAPE_HEADING 0 ROLL_MIN 176 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 21 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3929 ALTIM_PING_DEPTH 50

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 4 TGT_DEFAULT_LAT 48.130001 C_ROLL_DIVE 2000 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -122.366 C_ROLL_CLIMB 1840 ALTIM_PULSE 4

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 100 SM_CC 657 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 22 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 23 INT_PRESSURE_YINT -1.784981

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 12 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 62.5 UPLOAD_DIVES_MAX -1 VBD_MIN 574 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3908 DEVICE3 35

T_ABORT 1440 CALL_WAIT 60 C_VBD 3296 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 360 SMARTS 0

USE_BATHY -4 T_GPS 5 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_APOGEE 4 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_CHARGE -210583.75 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 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 45 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3331 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2420 PRESSURE_YINT -18.697796 SEABIRD_T_G 0.0043491693

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063843821

MASS 52000 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.3643479e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.3372697e-06

FERRY_MAX 12 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7263737

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1821688

HD_A 0.0038945 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00092709012

HD_B 0.0099684997 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016946776

HD_C 2.5700001e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 10

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 4 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 100 PITCH_DBAND 0.1 SM_CC 657

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 10 D_PITCH 0 PITCH_MAX 3331 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 45 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 50 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 12 PRESSURE_YINT -18.697796 TGT_DEFAULT_LAT 48.130001

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.366

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 62.5

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.0038945 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099684997 RELAUNCH 1 T_GPS_CHARGE -210583.75

CAPMAXSIZE 100000 HD_C 2.5700001e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 104 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3929 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -1.784981 ROLL_MAXERRORS 12 UPLOAD_DIVES_MAX -1

C_PITCH 2420 KALMAN_USE 1 ROLL_MIN 176 USE_BATHY -4

C_ROLL_CLIMB 1840 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2000 MASS 52000 R_PORT_OVSHOOT 22 VBD_BLEED_AD_RATE 8

C_VBD 3296 MAX_BUOY 150 R_STBD_OVSHOOT 23 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 6 SEABIRD_C_G -9.7263737 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1821688 VBD_MAX 3908

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00092709012 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016946776 VBD_MIN 574

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043491693 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063843821 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3643479e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.3372697e-06 XPDR_DEVICE 24

DIVE 21 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 135038,4807.105,-12222.944,31,1.5,31,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.161,0.185

_SM_DEPTHo 0.37 KALMAN_X -377.3,252.6,74.2,579.1,121.9

_SM_ANGLEo -65.1 KALMAN_Y 1579.5,-303.9,-112.8,-1788.3,-103.7

GPS2 135402,4807.099,-12222.933,13,1.5,30,18.3 MHEAD_RNG_PITCHd_Wd 300.6,2128,-14.8,-8.000

SPEED_LIMITS 0.139,0.245 D_GRID 105

Post-dive calculations and measurements:

FINISH 1.9,1.021112 XPDR_PINGS 161

SM_CCo 2685,309.25,0.584,6,0,616,657.16 _24V_AH 23.5,2.415

SM_GC 0.23,0.00,0.00,309.25,0.000,0.000,0.584,40,2015,616,-10.95,0.42,657.16 _10V_AH 10.1,0.828

IRIDIUM_FIX 4748.51,-12219.12,251097,131355 DATA_FILE_SIZE 9668,225

TT8_MAMPS 0.025311 CAP_FILE_SIZE 36056,0

HUMID 1995 CFSIZE 260165632,257867776

INTERNAL_PRESSURE 8.04938 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,6,6,0

TCM_TEMP 17.70 GPS 310708,144626,4807.265,-12223.071,12,1.8,12,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 157 98.38 SBE_CT 150 24 84.87

Roll_motor 35 66 56.37 SBE_O2 163 19 73.05

VBD_pump_during_apogee 231 679 3690.20 WL_BB2F 436 105 1077.48

VBD_pump_during_surface 309 583 4241.87 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 28 103 68.08 nil 0 0 0.00

Iridium_during_connect 27 160 104.35 nil 0 0 0.00

Iridium_during_xfer 67 223 353.69

Transponder_ping 41 420 412.07

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 16.10

TT8 403 19 80.60

LPSleep 1432 2 31.68

TT8_Active 646 19 129.33

TT8_Sampling 612 39 246.11

TT8_CF8 175 45 81.20

TT8_Kalman 33 81 27.55

Analog_circuits 967 12 117.22

GPS_charging 0 0 0.00

Compass 593 8 47.93

RAFOS 0 0 0.00

Transponder 10 30 3.06

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

13 -1.17 -146.6 0.0 0.0 0 132 0.00 0.00 -115.50 0.000 6 0.000 0.000 41 1994 3895

133 -1.17 -146.6 5.2 -9.4 19 153 12.10 2.58 0.00 0.000 4 0.157 0.058 2161 592 3896

342 -1.17 -146.6 25.9 -7.0 48 350 0.00 2.47 0.00 0.000 6 0.000 0.035 2161 2007 3896

542 -1.17 -146.6 39.2 -7.1 67 546 0.00 2.50 0.00 0.000 4 0.000 0.055 2161 3401 3897

573 -1.17 -146.6 41.7 -7.3 69 581 0.00 2.47 0.00 0.000 6 0.000 0.038 2161 2003 3897

780 -1.17 -146.6 55.5 -6.6 85 784 0.00 2.58 0.00 0.000 4 0.000 0.062 2161 587 3898

856 -1.17 -146.6 61.0 -7.1 88 864 0.00 2.47 0.00 0.000 6 0.000 0.038 2161 1998 3897

1172 -1.17 -146.6 79.8 -5.7 104 1173 0.00 0.00 0.00 0.000 6 0.000 0.000 2161 2000 3897

1482 -1.17 -146.6 96.5 -5.5 119 1486 0.00 2.58 0.00 0.000 4 0.000 0.063 2161 592 3897

1535 -1.17 -146.6 99.7 -6.1 121 1544 0.00 2.47 0.00 0.000 6 0.000 0.038 2161 2002 3897

1646 end dive: TARGET_DEPTH_EXCEEDED

state 1646 begin apogee

1650 -0.33 0.0 105.3 5.0 131 1771 0.90 0.00 116.47 0.680 6 0.075 0.000 2347 1838 3296

1771 end apogee: CONTROL_FINISHED_OK

state 1771 begin climb

1773 1.17 146.6 105.7 0.0 143 1897 1.45 2.70 114.60 0.651 4 0.043 0.067 2675 435 2698

1970 1.17 146.6 83.4 15.2 156 1975 0.00 2.45 0.00 0.000 6 0.000 0.037 2675 1841 2698

2287 1.17 146.6 42.0 12.6 174 2292 0.00 2.60 0.00 0.000 4 0.000 0.066 2675 436 2697

2353 1.17 146.6 33.5 12.9 179 2361 0.00 2.45 0.00 0.000 6 0.000 0.038 2675 1832 2697

2556 1.17 146.6 9.7 11.5 206 2563 0.00 2.58 0.00 0.000 4 0.000 0.065 2675 436 2696

2579 1.17 146.6 6.8 11.9 210 2586 0.00 2.47 0.00 0.000 6 0.000 0.038 2675 1837 2697

2624 end climb: SURFACE_DEPTH_REACHED

state 2624 begin surface coast

2666 end surface coast: CONTROL_FINISHED_OK

state 2666 begin surface

ID	104	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	6	ESCAPE_HEADING	0	ROLL_MIN	176	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	21	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3929	ALTIM_PING_DEPTH	50
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	4	TGT_DEFAULT_LAT	48.130001	C_ROLL_DIVE	2000	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-122.366	C_ROLL_CLIMB	1840	ALTIM_PULSE	4
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	100	SM_CC	657	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	22	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	23	INT_PRESSURE_YINT	-1.784981
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	12	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	62.5	UPLOAD_DIVES_MAX	-1	VBD_MIN	574	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3908	DEVICE3	35
T_ABORT	1440	CALL_WAIT	60	C_VBD	3296	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	360	SMARTS	0
USE_BATHY	-4	T_GPS	5	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_APOGEE	4	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_CHARGE	-210583.75	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	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	45	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3331	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2420	PRESSURE_YINT	-18.697796	SEABIRD_T_G	0.0043491693
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063843821
MASS	52000	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.3643479e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.3372697e-06
FERRY_MAX	12	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7263737
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1821688
HD_A	0.0038945	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00092709012
HD_B	0.0099684997	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016946776
HD_C	2.5700001e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	10

GPS1	135038,4807.105,-12222.944,31,1.5,31,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.161,0.185
_SM_DEPTHo	0.37	KALMAN_X	-377.3,252.6,74.2,579.1,121.9
_SM_ANGLEo	-65.1	KALMAN_Y	1579.5,-303.9,-112.8,-1788.3,-103.7
GPS2	135402,4807.099,-12222.933,13,1.5,30,18.3	MHEAD_RNG_PITCHd_Wd	300.6,2128,-14.8,-8.000
SPEED_LIMITS	0.139,0.245	D_GRID	105

FINISH	1.9,1.021112	XPDR_PINGS	161
SM_CCo	2685,309.25,0.584,6,0,616,657.16	_24V_AH	23.5,2.415
SM_GC	0.23,0.00,0.00,309.25,0.000,0.000,0.584,40,2015,616,-10.95,0.42,657.16	_10V_AH	10.1,0.828
IRIDIUM_FIX	4748.51,-12219.12,251097,131355	DATA_FILE_SIZE	9668,225
TT8_MAMPS	0.025311	CAP_FILE_SIZE	36056,0
HUMID	1995	CFSIZE	260165632,257867776
INTERNAL_PRESSURE	8.04938	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,6,6,0
TCM_TEMP	17.70	GPS	310708,144626,4807.265,-12223.071,12,1.8,12,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	157	98.38	SBE_CT	150	24	84.87
Roll_motor	35	66	56.37	SBE_O2	163	19	73.05
VBD_pump_during_apogee	231	679	3690.20	WL_BB2F	436	105	1077.48
VBD_pump_during_surface	309	583	4241.87	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	28	103	68.08	nil	0	0	0.00
Iridium_during_connect	27	160	104.35	nil	0	0	0.00
Iridium_during_xfer	67	223	353.69
Transponder_ping	41	420	412.07
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	16.10
TT8	403	19	80.60
LPSleep	1432	2	31.68
TT8_Active	646	19	129.33
TT8_Sampling	612	39	246.11
TT8_CF8	175	45	81.20
TT8_Kalman	33	81	27.55
Analog_circuits	967	12	117.22
GPS_charging	0	0	0.00
Compass	593	8	47.93
RAFOS	0	0	0.00
Transponder	10	30	3.06

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
13	-1.17	-146.6	0.0	0.0	0	132	0.00	0.00	-115.50	0.000	6	0.000	0.000	41	1994	3895
133	-1.17	-146.6	5.2	-9.4	19	153	12.10	2.58	0.00	0.000	4	0.157	0.058	2161	592	3896
342	-1.17	-146.6	25.9	-7.0	48	350	0.00	2.47	0.00	0.000	6	0.000	0.035	2161	2007	3896
542	-1.17	-146.6	39.2	-7.1	67	546	0.00	2.50	0.00	0.000	4	0.000	0.055	2161	3401	3897
573	-1.17	-146.6	41.7	-7.3	69	581	0.00	2.47	0.00	0.000	6	0.000	0.038	2161	2003	3897
780	-1.17	-146.6	55.5	-6.6	85	784	0.00	2.58	0.00	0.000	4	0.000	0.062	2161	587	3898
856	-1.17	-146.6	61.0	-7.1	88	864	0.00	2.47	0.00	0.000	6	0.000	0.038	2161	1998	3897
1172	-1.17	-146.6	79.8	-5.7	104	1173	0.00	0.00	0.00	0.000	6	0.000	0.000	2161	2000	3897
1482	-1.17	-146.6	96.5	-5.5	119	1486	0.00	2.58	0.00	0.000	4	0.000	0.063	2161	592	3897
1535	-1.17	-146.6	99.7	-6.1	121	1544	0.00	2.47	0.00	0.000	6	0.000	0.038	2161	2002	3897
1646	end dive: TARGET_DEPTH_EXCEEDED
state	1646	begin apogee
1650	-0.33	0.0	105.3	5.0	131	1771	0.90	0.00	116.47	0.680	6	0.075	0.000	2347	1838	3296
1771	end apogee: CONTROL_FINISHED_OK
state	1771	begin climb
1773	1.17	146.6	105.7	0.0	143	1897	1.45	2.70	114.60	0.651	4	0.043	0.067	2675	435	2698
1970	1.17	146.6	83.4	15.2	156	1975	0.00	2.45	0.00	0.000	6	0.000	0.037	2675	1841	2698
2287	1.17	146.6	42.0	12.6	174	2292	0.00	2.60	0.00	0.000	4	0.000	0.066	2675	436	2697
2353	1.17	146.6	33.5	12.9	179	2361	0.00	2.45	0.00	0.000	6	0.000	0.038	2675	1832	2697
2556	1.17	146.6	9.7	11.5	206	2563	0.00	2.58	0.00	0.000	4	0.000	0.065	2675	436	2696
2579	1.17	146.6	6.8	11.9	210	2586	0.00	2.47	0.00	0.000	6	0.000	0.038	2675	1837	2697
2624	end climb: SURFACE_DEPTH_REACHED
state	2624	begin surface coast
2666	end surface coast: CONTROL_FINISHED_OK
state	2666	begin surface