Glider dive log

QPE May09 * SG166 * Dive index * Mission links * Dive 218 * 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 218 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 47 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 83 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 -9587.1543 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 -9587.1543

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 47 VBD_BLEED_AD_RATE 8

C_VBD 2945 MAX_BUOY 250 R_STBD_OVSHOOT 83 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 218 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 013515,2420.065,12328.952,7,2.4,26,-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 1.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -68.5 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 014004,2420.076,12329.007,16,99.0,35,-3.5 MHEAD_RNG_PITCHd_Wd 216.8,31486,-16.4,-12.000

SPEED_LIMITS 0.208,0.348 D_GRID 242

Post-dive calculations and measurements:

FINISH 0.7,1.009635 _24V_AH 24.8,45.473

SM_CCo 4239,0.00,0.000,0,0,470,607.12 _10V_AH 10.9,27.148

SM_GC 1.38,8.02,0.00,0.00,0.038,0.000,0.000,170,1524,470,-8.03,0.68,607.12 DATA_FILE_SIZE 38033,709

IRIDIUM_FIX 2411.01,12325.02,140998,000017 CAP_FILE_SIZE 61590,0

TT8_MAMPS 0.027612 CFSIZE 260165632,220073984

HUMID 1589 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 10.0245 CURRENT 0.105, 66.4,1

TCM_TEMP 25.70 GPS 200609,025144,2419.994,12328.745,8,2.0,8,-3.5

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 223 118.86 SBE_CT 465 24 276.95

Roll_motor 32 49 40.15 Optode 616 33 504.54

VBD_pump_during_apogee 660 810 13274.37 WL_BB2F 1250 105 3256.48

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 23 103 60.05 nil 0 0 0.00

Iridium_during_connect 33 160 131.29 nil 0 0 0.00

Iridium_during_xfer 116 223 643.38

Transponder_ping 0 420 5.21

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 36 50 20.02

TT8 1046 19 225.83

LPSleep 1032 2 24.65

TT8_Active 599 19 129.31

TT8_Sampling 1560 39 676.87

TT8_CF8 296 45 147.98

TT8_Kalman 0 0 0.00

Analog_circuits 1272 12 166.43

GPS_charging 0 0 0.00

Compass 1542 8 134.51

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

14 -0.97 -243.4 0.0 0.0 0 92 0.00 0.00 -75.28 0.000 2 0.000 0.000 150 1518 2330

94 -0.97 -243.4 3.3 -7.0 10 150 8.77 2.08 -41.25 0.000 4 0.224 0.050 2428 2888 3940

186 -0.35 -243.4 23.2 -30.1 24 194 0.68 2.03 0.00 0.000 6 0.150 0.030 2623 1485 3941

536 -0.51 -243.4 66.8 -11.3 85 544 0.15 2.08 0.00 0.000 4 0.061 0.035 2547 2877 3942

678 -0.51 -243.4 86.9 -13.6 109 685 0.08 1.95 0.00 0.000 6 0.127 0.031 2569 1541 3943

1023 -0.59 -243.4 128.0 -11.8 170 1029 0.00 1.98 0.00 0.000 4 0.000 0.038 2575 2868 3943

1083 -0.84 -243.4 134.0 -9.4 180 1090 0.22 1.95 0.00 0.000 6 0.035 0.031 2435 1532 3944

1428 -0.51 -243.4 197.1 -15.9 241 1435 0.43 1.98 0.00 0.000 4 0.136 0.038 2577 2876 3944

1459 -0.64 -243.4 200.5 -10.0 246 1466 0.10 1.92 0.00 0.000 6 0.045 0.031 2486 1553 3945

1779 end dive: TARGET_DEPTH_EXCEEDED

state 1779 begin apogee

1784 -0.20 0.0 242.6 13.6 303 1972 0.52 0.00 183.20 0.811 6 0.119 0.000 2664 1740 2945

1974 end apogee: CONTROL_FINISHED_OK

state 1974 begin climb

1976 0.97 243.4 252.4 0.0 334 2172 1.08 2.17 184.27 0.808 4 0.076 0.041 3047 3125 1951

2241 0.74 254.7 238.0 11.6 377 2261 0.28 2.05 10.07 0.676 6 0.146 0.033 2979 1744 1905

2600 1.01 409.1 213.6 6.9 440 2729 0.20 2.25 121.75 0.791 4 0.054 0.047 3088 349 1277

2917 0.89 409.1 169.1 13.1 494 2924 0.20 2.00 0.00 0.000 6 0.135 0.028 3027 1716 1274

3262 1.25 553.8 138.5 7.2 555 3389 0.28 2.17 117.85 0.750 4 0.044 0.046 3165 359 687

3560 1.12 553.8 85.8 16.9 605 3567 0.17 1.90 0.00 0.000 6 0.128 0.028 3094 1673 684

3904 1.41 605.7 50.5 10.3 666 3953 0.22 2.08 43.08 0.678 4 0.046 0.043 3225 352 475

4146 end climb: SURFACE_DEPTH_REACHED

state 4146 begin surface coast

4161 end surface coast: CONTROL_FINISHED_OK

state 4161 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	218	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	47	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	83	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	-9587.1543	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	013515,2420.065,12328.952,7,2.4,26,-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	1.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-68.5	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	014004,2420.076,12329.007,16,99.0,35,-3.5	MHEAD_RNG_PITCHd_Wd	216.8,31486,-16.4,-12.000
SPEED_LIMITS	0.208,0.348	D_GRID	242

FINISH	0.7,1.009635	_24V_AH	24.8,45.473
SM_CCo	4239,0.00,0.000,0,0,470,607.12	_10V_AH	10.9,27.148
SM_GC	1.38,8.02,0.00,0.00,0.038,0.000,0.000,170,1524,470,-8.03,0.68,607.12	DATA_FILE_SIZE	38033,709
IRIDIUM_FIX	2411.01,12325.02,140998,000017	CAP_FILE_SIZE	61590,0
TT8_MAMPS	0.027612	CFSIZE	260165632,220073984
HUMID	1589	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	10.0245	CURRENT	0.105, 66.4,1
TCM_TEMP	25.70	GPS	200609,025144,2419.994,12328.745,8,2.0,8,-3.5
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	223	118.86	SBE_CT	465	24	276.95
Roll_motor	32	49	40.15	Optode	616	33	504.54
VBD_pump_during_apogee	660	810	13274.37	WL_BB2F	1250	105	3256.48
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	23	103	60.05	nil	0	0	0.00
Iridium_during_connect	33	160	131.29	nil	0	0	0.00
Iridium_during_xfer	116	223	643.38
Transponder_ping	0	420	5.21
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	36	50	20.02
TT8	1046	19	225.83
LPSleep	1032	2	24.65
TT8_Active	599	19	129.31
TT8_Sampling	1560	39	676.87
TT8_CF8	296	45	147.98
TT8_Kalman	0	0	0.00
Analog_circuits	1272	12	166.43
GPS_charging	0	0	0.00
Compass	1542	8	134.51
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
14	-0.97	-243.4	0.0	0.0	0	92	0.00	0.00	-75.28	0.000	2	0.000	0.000	150	1518	2330
94	-0.97	-243.4	3.3	-7.0	10	150	8.77	2.08	-41.25	0.000	4	0.224	0.050	2428	2888	3940
186	-0.35	-243.4	23.2	-30.1	24	194	0.68	2.03	0.00	0.000	6	0.150	0.030	2623	1485	3941
536	-0.51	-243.4	66.8	-11.3	85	544	0.15	2.08	0.00	0.000	4	0.061	0.035	2547	2877	3942
678	-0.51	-243.4	86.9	-13.6	109	685	0.08	1.95	0.00	0.000	6	0.127	0.031	2569	1541	3943
1023	-0.59	-243.4	128.0	-11.8	170	1029	0.00	1.98	0.00	0.000	4	0.000	0.038	2575	2868	3943
1083	-0.84	-243.4	134.0	-9.4	180	1090	0.22	1.95	0.00	0.000	6	0.035	0.031	2435	1532	3944
1428	-0.51	-243.4	197.1	-15.9	241	1435	0.43	1.98	0.00	0.000	4	0.136	0.038	2577	2876	3944
1459	-0.64	-243.4	200.5	-10.0	246	1466	0.10	1.92	0.00	0.000	6	0.045	0.031	2486	1553	3945
1779	end dive: TARGET_DEPTH_EXCEEDED
state	1779	begin apogee
1784	-0.20	0.0	242.6	13.6	303	1972	0.52	0.00	183.20	0.811	6	0.119	0.000	2664	1740	2945
1974	end apogee: CONTROL_FINISHED_OK
state	1974	begin climb
1976	0.97	243.4	252.4	0.0	334	2172	1.08	2.17	184.27	0.808	4	0.076	0.041	3047	3125	1951
2241	0.74	254.7	238.0	11.6	377	2261	0.28	2.05	10.07	0.676	6	0.146	0.033	2979	1744	1905
2600	1.01	409.1	213.6	6.9	440	2729	0.20	2.25	121.75	0.791	4	0.054	0.047	3088	349	1277
2917	0.89	409.1	169.1	13.1	494	2924	0.20	2.00	0.00	0.000	6	0.135	0.028	3027	1716	1274
3262	1.25	553.8	138.5	7.2	555	3389	0.28	2.17	117.85	0.750	4	0.044	0.046	3165	359	687
3560	1.12	553.8	85.8	16.9	605	3567	0.17	1.90	0.00	0.000	6	0.128	0.028	3094	1673	684
3904	1.41	605.7	50.5	10.3	666	3953	0.22	2.08	43.08	0.678	4	0.046	0.043	3225	352	475
4146	end climb: SURFACE_DEPTH_REACHED
state	4146	begin surface coast
4161	end surface coast: CONTROL_FINISHED_OK
state	4161	begin surface