Glider dive log

PN07 DabobBay 01Oct07 * SG106 * Dive index * Mission links * Dive 25 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 8 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 25 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 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1800 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1735 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 SM_CC 400 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 30 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 27 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 90 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 VBD_DBAND 2 SMARTS 2

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 4 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -48155.008 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 130 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 20 PITCH_MIN 460 AH0_24V 71.400002 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3100 PRESSURE_YINT -8.3042984 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 SMARTDEVICE1 5

AH0_10V 61.200001 D_FLARE 2 PITCH_CNV 0.0046000001 SMARTDEVICE2 19

AH0_24V 71.400002 D_NO_BLEED 200 PITCH_DBAND 0.1 SMARTS 2

ALTIM_BOTTOM_PING_RANGE 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 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 -8.3042984 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 20 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 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -48155.008

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 90

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3100 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1735 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1800 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 30 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 130 R_STBD_OVSHOOT 27 USE_ICE 0

DEEPGLIDERMB 0 MISSION 8 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 25 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-06 VBD_PUMP_AD_RATE_SURFACE 4

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 221538,4739.633,-12252.057,27,1.9,28,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.179,-0.129

_SM_DEPTHo 0.27 KALMAN_X 2958.0,208.9,237.3,-2186.4,211.4

_SM_ANGLEo -57.2 KALMAN_Y 4759.6,146.3,209.8,-4720.1,130.7

GPS2 222108,4739.699,-12251.972,11,2.0,16,18.3 MHEAD_RNG_PITCHd_Wd 215.9,687,-15.0,-7.407

SPEED_LIMITS 0.204,0.221 D_GRID 123

Post-dive calculations and measurements:

FINISH 1.0,1.021599 XPDR_PINGS 0

SM_CCo 3299,117.28,0.586,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.4,52.0

SM_GC 0.23,0.00,0.00,117.28,0.000,0.000,0.586,462,1804,1586,-12.13,0.11,400.08 _24V_AH 23.9,2.286

IRIDIUM_FIX 4722.92,-12249.11,031007,010102 _10V_AH 10.0,1.931

TT8_MAMPS 0.070564 DATA_FILE_SIZE 6451,290

HUMID 2142 CFSIZE 260034560,256303104

INTERNAL_PRESSURE 8.45736 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 021007,232017,4739.601,-12252.238,13,2.2,32,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 210 159.05 SBE_CT 195 24 112.01

Roll_motor 35 82 70.37 nil 0 0 0.00

VBD_pump_during_apogee 199 681 3249.13 nil 0 0 0.00

VBD_pump_during_surface 117 585 1642.45 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 97.59 nil 0 0 0.00

Iridium_during_connect 39 160 150.60 ARS 0 0 0.00

Iridium_during_xfer 136 223 724.96

Transponder_ping 0 420 5.02

Mmodem_TX 37 1000 892.93

Mmodem_RX 3833 6 586.39

GPS 17 50 8.64

TT8 543 19 107.61

LPSleep 1947 2 42.65

TT8_Active 422 19 83.57

TT8_Sampling 514 39 204.57

TT8_CF8 345 45 158.34

TT8_Kalman 33 81 27.27

Analog_circuits 717 12 86.07

GPS_charging 0 0 0.00

Compass 487 8 38.96

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

21 end surface: CONTROL_FINISHED_OK

state 21 begin dive

24 -1.31 -127.1 0.0 0.0 0 118 0.00 0.00 -90.95 0.000 2 0.000 0.000 460 1802 3624

122 -1.31 -127.1 2.4 -5.5 15 147 15.12 2.67 -2.45 0.000 4 0.211 0.082 2809 401 3741

398 -1.31 -127.1 21.9 -3.9 54 402 0.00 2.47 0.00 0.000 6 0.000 0.035 2809 1815 3742

593 -1.31 -127.1 30.4 -4.7 69 598 0.00 2.67 0.00 0.000 4 0.000 0.071 2809 404 3742

652 -1.31 -127.1 33.4 -5.3 73 657 0.00 2.45 0.00 0.000 6 0.000 0.035 2809 1811 3743

848 -1.31 -127.1 43.7 -5.3 88 849 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 1811 3743

1037 -1.31 -127.1 52.9 -4.9 103 1038 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 1813 3742

1227 -1.31 -127.1 61.4 -4.6 118 1232 0.00 2.50 0.00 0.000 4 0.000 0.051 2809 3198 3743

1273 -1.31 -127.1 63.4 -4.3 121 1277 0.00 2.45 0.00 0.000 6 0.000 0.037 2809 1806 3743

1468 -1.31 -127.1 72.4 -4.6 136 1470 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 1806 3743

1659 -1.31 -127.1 81.8 -4.5 151 1664 0.00 2.67 0.00 0.000 4 0.000 0.074 2809 392 3743

1718 -1.31 -127.1 85.0 -5.2 155 1722 0.00 2.45 0.00 0.000 6 0.000 0.036 2809 1803 3743

1913 -1.31 -127.1 95.2 -5.4 170 1915 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 1806 3743

2012 end dive: TARGET_DEPTH_EXCEEDED

state 2012 begin apogee

2018 -0.38 0.0 100.7 5.2 178 2124 1.00 0.00 101.47 0.681 6 0.086 0.000 3016 1722 3217

2125 end apogee: CONTROL_FINISHED_OK

state 2125 begin climb

2127 1.31 127.1 102.0 0.0 187 2230 1.65 0.00 98.12 0.650 6 0.051 0.000 3386 1722 2699

2413 1.31 127.1 79.6 8.8 210 2417 0.00 2.65 0.00 0.000 4 0.000 0.078 3386 340 2697

2485 1.31 127.1 72.6 9.9 215 2489 0.00 2.45 0.00 0.000 6 0.000 0.036 3385 1731 2697

2680 1.31 127.1 55.3 8.6 230 2681 0.00 0.00 0.00 0.000 6 0.000 0.000 3386 1733 2697

2871 1.31 127.1 38.8 8.7 245 2875 0.00 2.70 0.00 0.000 4 0.000 0.077 3386 334 2697

2916 1.31 127.1 34.3 9.4 248 2920 0.00 2.47 0.00 0.000 6 0.000 0.036 3386 1740 2697

3115 1.31 127.1 16.2 9.5 266 3121 0.00 2.53 0.00 0.000 4 0.000 0.053 3386 3130 2697

3166 1.31 127.1 10.8 10.0 274 3173 0.00 2.47 0.00 0.000 6 0.000 0.039 3386 1744 2697

3223 end climb: SURFACE_DEPTH_REACHED

state 3223 begin surface coast

3271 end surface coast: CONTROL_FINISHED_OK

state 3271 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	8	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	25	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	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1800	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1735	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	SM_CC	400	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	30	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	27	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	90	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	VBD_DBAND	2	SMARTS	2
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	4	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-48155.008	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	130	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	20	PITCH_MIN	460	AH0_24V	71.400002	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3100	PRESSURE_YINT	-8.3042984	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	221538,4739.633,-12252.057,27,1.9,28,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.179,-0.129
_SM_DEPTHo	0.27	KALMAN_X	2958.0,208.9,237.3,-2186.4,211.4
_SM_ANGLEo	-57.2	KALMAN_Y	4759.6,146.3,209.8,-4720.1,130.7
GPS2	222108,4739.699,-12251.972,11,2.0,16,18.3	MHEAD_RNG_PITCHd_Wd	215.9,687,-15.0,-7.407
SPEED_LIMITS	0.204,0.221	D_GRID	123

FINISH	1.0,1.021599	XPDR_PINGS	0
SM_CCo	3299,117.28,0.586,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.4,52.0
SM_GC	0.23,0.00,0.00,117.28,0.000,0.000,0.586,462,1804,1586,-12.13,0.11,400.08	_24V_AH	23.9,2.286
IRIDIUM_FIX	4722.92,-12249.11,031007,010102	_10V_AH	10.0,1.931
TT8_MAMPS	0.070564	DATA_FILE_SIZE	6451,290
HUMID	2142	CFSIZE	260034560,256303104
INTERNAL_PRESSURE	8.45736	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	021007,232017,4739.601,-12252.238,13,2.2,32,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	210	159.05	SBE_CT	195	24	112.01
Roll_motor	35	82	70.37	nil	0	0	0.00
VBD_pump_during_apogee	199	681	3249.13	nil	0	0	0.00
VBD_pump_during_surface	117	585	1642.45	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	97.59	nil	0	0	0.00
Iridium_during_connect	39	160	150.60	ARS	0	0	0.00
Iridium_during_xfer	136	223	724.96
Transponder_ping	0	420	5.02
Mmodem_TX	37	1000	892.93
Mmodem_RX	3833	6	586.39
GPS	17	50	8.64
TT8	543	19	107.61
LPSleep	1947	2	42.65
TT8_Active	422	19	83.57
TT8_Sampling	514	39	204.57
TT8_CF8	345	45	158.34
TT8_Kalman	33	81	27.27
Analog_circuits	717	12	86.07
GPS_charging	0	0	0.00
Compass	487	8	38.96
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
21	end surface: CONTROL_FINISHED_OK
state	21	begin dive
24	-1.31	-127.1	0.0	0.0	0	118	0.00	0.00	-90.95	0.000	2	0.000	0.000	460	1802	3624
122	-1.31	-127.1	2.4	-5.5	15	147	15.12	2.67	-2.45	0.000	4	0.211	0.082	2809	401	3741
398	-1.31	-127.1	21.9	-3.9	54	402	0.00	2.47	0.00	0.000	6	0.000	0.035	2809	1815	3742
593	-1.31	-127.1	30.4	-4.7	69	598	0.00	2.67	0.00	0.000	4	0.000	0.071	2809	404	3742
652	-1.31	-127.1	33.4	-5.3	73	657	0.00	2.45	0.00	0.000	6	0.000	0.035	2809	1811	3743
848	-1.31	-127.1	43.7	-5.3	88	849	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	1811	3743
1037	-1.31	-127.1	52.9	-4.9	103	1038	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	1813	3742
1227	-1.31	-127.1	61.4	-4.6	118	1232	0.00	2.50	0.00	0.000	4	0.000	0.051	2809	3198	3743
1273	-1.31	-127.1	63.4	-4.3	121	1277	0.00	2.45	0.00	0.000	6	0.000	0.037	2809	1806	3743
1468	-1.31	-127.1	72.4	-4.6	136	1470	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	1806	3743
1659	-1.31	-127.1	81.8	-4.5	151	1664	0.00	2.67	0.00	0.000	4	0.000	0.074	2809	392	3743
1718	-1.31	-127.1	85.0	-5.2	155	1722	0.00	2.45	0.00	0.000	6	0.000	0.036	2809	1803	3743
1913	-1.31	-127.1	95.2	-5.4	170	1915	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	1806	3743
2012	end dive: TARGET_DEPTH_EXCEEDED
state	2012	begin apogee
2018	-0.38	0.0	100.7	5.2	178	2124	1.00	0.00	101.47	0.681	6	0.086	0.000	3016	1722	3217
2125	end apogee: CONTROL_FINISHED_OK
state	2125	begin climb
2127	1.31	127.1	102.0	0.0	187	2230	1.65	0.00	98.12	0.650	6	0.051	0.000	3386	1722	2699
2413	1.31	127.1	79.6	8.8	210	2417	0.00	2.65	0.00	0.000	4	0.000	0.078	3386	340	2697
2485	1.31	127.1	72.6	9.9	215	2489	0.00	2.45	0.00	0.000	6	0.000	0.036	3385	1731	2697
2680	1.31	127.1	55.3	8.6	230	2681	0.00	0.00	0.00	0.000	6	0.000	0.000	3386	1733	2697
2871	1.31	127.1	38.8	8.7	245	2875	0.00	2.70	0.00	0.000	4	0.000	0.077	3386	334	2697
2916	1.31	127.1	34.3	9.4	248	2920	0.00	2.47	0.00	0.000	6	0.000	0.036	3386	1740	2697
3115	1.31	127.1	16.2	9.5	266	3121	0.00	2.53	0.00	0.000	4	0.000	0.053	3386	3130	2697
3166	1.31	127.1	10.8	10.0	274	3173	0.00	2.47	0.00	0.000	6	0.000	0.039	3386	1744	2697
3223	end climb: SURFACE_DEPTH_REACHED
state	3223	begin surface coast
3271	end surface coast: CONTROL_FINISHED_OK
state	3271	begin surface