Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 217 * 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 217 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 450 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 51 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 2945 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 -9549.7998 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 450

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 -9549.7998

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 51 VBD_BLEED_AD_RATE 8

C_VBD 2945 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 217 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 001701,2419.987,12328.968,8,1.9,8,-3.5 TGT_NAME RET_1

_CALLS 1 TGT_LATLONG 2403.100,12328.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.42 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 002144,2420.014,12329.015,13,1.8,13,-3.5 MHEAD_RNG_PITCHd_Wd 231.6,31371,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 242

Post-dive calculations and measurements:

FINISH 0.6,1.020037 _24V_AH 24.8,45.319

SM_CCo 4331,0.00,0.000,0,0,630,567.87 _10V_AH 10.9,27.063

SM_GC 1.37,8.12,0.00,0.00,0.043,0.000,0.000,169,1517,630,-8.02,0.48,567.87 DATA_FILE_SIZE 38109,724

IRIDIUM_FIX 2411.01,12329.59,130998,232339 CAP_FILE_SIZE 63056,0

TT8_MAMPS 0.026845 CFSIZE 260165632,220114944

HUMID 1563 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 10.044 CURRENT 0.175, 94.1,1

TCM_TEMP 26.20 GPS 200609,013515,2420.065,12328.952,7,2.4,26,-3.5

XPDR_PINGS 1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 220 116.69 SBE_CT 475 24 283.18

Roll_motor 32 55 45.16 Optode 645 33 528.10

VBD_pump_during_apogee 625 806 12520.21 WL_BB2F 1327 105 3457.67

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 25 103 65.14 nil 0 0 0.00

Iridium_during_connect 33 160 132.60 nil 0 0 0.00

Iridium_during_xfer 124 223 691.27

Transponder_ping 0 420 7.81

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.37

TT8 1077 19 232.62

LPSleep 1060 2 25.32

TT8_Active 576 19 124.42

TT8_Sampling 1595 39 692.09

TT8_CF8 309 45 154.50

TT8_Kalman 0 0 0.00

Analog_circuits 1258 12 164.65

GPS_charging 0 0 0.00

Compass 1600 8 139.56

RAFOS 0 0 0.00

Transponder 4 30 1.42

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

11 end surface: CONTROL_FINISHED_OK

state 11 begin dive

14 -0.97 -243.4 0.0 0.0 0 96 0.00 0.00 -79.57 0.000 2 0.000 0.000 131 1526 2431

99 -0.97 -243.4 3.4 -6.8 13 152 8.70 2.05 -38.08 0.000 4 0.220 0.056 2422 199 3941

183 -0.22 -243.4 22.3 -31.8 26 191 0.73 1.88 0.00 0.000 6 0.145 0.027 2662 1492 3941

532 -0.51 -243.4 58.3 -10.1 87 541 0.22 2.08 0.00 0.000 4 0.047 0.036 2547 2897 3942

726 -0.51 -243.4 86.8 -15.5 120 735 0.00 1.98 0.00 0.000 6 0.000 0.031 2544 1546 3942

1078 -0.51 -243.4 135.3 -13.3 181 1085 0.12 1.98 0.00 0.000 4 0.135 0.037 2585 2895 3943

1144 -0.74 -243.4 141.8 -8.7 192 1151 0.17 1.98 0.00 0.000 6 0.027 0.031 2470 1539 3943

1488 -0.55 -243.4 194.9 -14.2 253 1495 0.28 2.00 0.00 0.000 4 0.131 0.043 2556 209 3944

1541 -0.71 -243.4 200.7 -9.7 262 1550 0.15 1.90 0.00 0.000 6 0.043 0.025 2487 1553 3944

1829 end dive: TARGET_DEPTH_EXCEEDED

state 1829 begin apogee

1834 -0.20 0.0 242.6 14.2 313 2028 0.55 0.00 182.90 0.807 6 0.123 0.000 2669 1761 2944

2030 end apogee: CONTROL_FINISHED_OK

state 2030 begin climb

2032 0.97 243.4 250.7 0.0 345 2225 1.08 2.12 183.62 0.802 4 0.079 0.039 3047 3141 1952

2379 0.74 243.4 220.6 13.3 403 2385 0.28 2.05 0.00 0.000 6 0.143 0.031 2978 1743 1949

2724 0.98 363.6 191.3 8.0 464 2825 0.17 2.17 93.57 0.772 4 0.058 0.046 3075 352 1461

2979 0.94 373.5 159.8 11.7 507 2995 0.12 2.03 9.05 0.646 6 0.143 0.028 3041 1754 1421

3334 1.14 460.4 124.5 9.1 569 3412 0.17 2.25 70.35 0.736 4 0.054 0.044 3146 348 1068

3655 1.03 460.4 74.8 14.2 624 3663 0.20 1.98 0.00 0.000 6 0.119 0.027 3067 1725 1064

4003 1.41 566.6 43.0 8.5 685 4096 0.30 2.17 86.18 0.675 4 0.041 0.042 3220 352 635

4234 end climb: SURFACE_DEPTH_REACHED

state 4234 begin surface coast

4253 end surface coast: CONTROL_FINISHED_OK

state 4253 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	217	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	450	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	51	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	2945	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	-9549.7998	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	001701,2419.987,12328.968,8,1.9,8,-3.5	TGT_NAME	RET_1
_CALLS	1	TGT_LATLONG	2403.100,12328.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.42	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	002144,2420.014,12329.015,13,1.8,13,-3.5	MHEAD_RNG_PITCHd_Wd	231.6,31371,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	242

FINISH	0.6,1.020037	_24V_AH	24.8,45.319
SM_CCo	4331,0.00,0.000,0,0,630,567.87	_10V_AH	10.9,27.063
SM_GC	1.37,8.12,0.00,0.00,0.043,0.000,0.000,169,1517,630,-8.02,0.48,567.87	DATA_FILE_SIZE	38109,724
IRIDIUM_FIX	2411.01,12329.59,130998,232339	CAP_FILE_SIZE	63056,0
TT8_MAMPS	0.026845	CFSIZE	260165632,220114944
HUMID	1563	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	10.044	CURRENT	0.175, 94.1,1
TCM_TEMP	26.20	GPS	200609,013515,2420.065,12328.952,7,2.4,26,-3.5
XPDR_PINGS	1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	220	116.69	SBE_CT	475	24	283.18
Roll_motor	32	55	45.16	Optode	645	33	528.10
VBD_pump_during_apogee	625	806	12520.21	WL_BB2F	1327	105	3457.67
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	25	103	65.14	nil	0	0	0.00
Iridium_during_connect	33	160	132.60	nil	0	0	0.00
Iridium_during_xfer	124	223	691.27
Transponder_ping	0	420	7.81
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.37
TT8	1077	19	232.62
LPSleep	1060	2	25.32
TT8_Active	576	19	124.42
TT8_Sampling	1595	39	692.09
TT8_CF8	309	45	154.50
TT8_Kalman	0	0	0.00
Analog_circuits	1258	12	164.65
GPS_charging	0	0	0.00
Compass	1600	8	139.56
RAFOS	0	0	0.00
Transponder	4	30	1.42

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
11	end surface: CONTROL_FINISHED_OK
state	11	begin dive
14	-0.97	-243.4	0.0	0.0	0	96	0.00	0.00	-79.57	0.000	2	0.000	0.000	131	1526	2431
99	-0.97	-243.4	3.4	-6.8	13	152	8.70	2.05	-38.08	0.000	4	0.220	0.056	2422	199	3941
183	-0.22	-243.4	22.3	-31.8	26	191	0.73	1.88	0.00	0.000	6	0.145	0.027	2662	1492	3941
532	-0.51	-243.4	58.3	-10.1	87	541	0.22	2.08	0.00	0.000	4	0.047	0.036	2547	2897	3942
726	-0.51	-243.4	86.8	-15.5	120	735	0.00	1.98	0.00	0.000	6	0.000	0.031	2544	1546	3942
1078	-0.51	-243.4	135.3	-13.3	181	1085	0.12	1.98	0.00	0.000	4	0.135	0.037	2585	2895	3943
1144	-0.74	-243.4	141.8	-8.7	192	1151	0.17	1.98	0.00	0.000	6	0.027	0.031	2470	1539	3943
1488	-0.55	-243.4	194.9	-14.2	253	1495	0.28	2.00	0.00	0.000	4	0.131	0.043	2556	209	3944
1541	-0.71	-243.4	200.7	-9.7	262	1550	0.15	1.90	0.00	0.000	6	0.043	0.025	2487	1553	3944
1829	end dive: TARGET_DEPTH_EXCEEDED
state	1829	begin apogee
1834	-0.20	0.0	242.6	14.2	313	2028	0.55	0.00	182.90	0.807	6	0.123	0.000	2669	1761	2944
2030	end apogee: CONTROL_FINISHED_OK
state	2030	begin climb
2032	0.97	243.4	250.7	0.0	345	2225	1.08	2.12	183.62	0.802	4	0.079	0.039	3047	3141	1952
2379	0.74	243.4	220.6	13.3	403	2385	0.28	2.05	0.00	0.000	6	0.143	0.031	2978	1743	1949
2724	0.98	363.6	191.3	8.0	464	2825	0.17	2.17	93.57	0.772	4	0.058	0.046	3075	352	1461
2979	0.94	373.5	159.8	11.7	507	2995	0.12	2.03	9.05	0.646	6	0.143	0.028	3041	1754	1421
3334	1.14	460.4	124.5	9.1	569	3412	0.17	2.25	70.35	0.736	4	0.054	0.044	3146	348	1068
3655	1.03	460.4	74.8	14.2	624	3663	0.20	1.98	0.00	0.000	6	0.119	0.027	3067	1725	1064
4003	1.41	566.6	43.0	8.5	685	4096	0.30	2.17	86.18	0.675	4	0.041	0.042	3220	352	635
4234	end climb: SURFACE_DEPTH_REACHED
state	4234	begin surface coast
4253	end surface coast: CONTROL_FINISHED_OK
state	4253	begin surface