Glider dive log

PortSusan 21Jul08 * SG113 * Dive index * Mission links * Dive 27 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 113 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 3 ESCAPE_HEADING 0 ROLL_MIN 280 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 27 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3944 ALTIM_PING_DEPTH 0

D_SURF 2 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 21 C_ROLL_DIVE 2112 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -158.3 C_ROLL_CLIMB 2112 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 520 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 49 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 29 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 3 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0.029999999 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 144 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3700 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2620 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 15 PITCH_VBD_SHIFT 0.00135 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 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 -20732.801 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 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 171 AH0_10V 61.200001 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 4022 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2605 PRESSURE_YINT -26.366219 SEABIRD_T_G 0.004371644

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001160825 SEABIRD_T_H 0.00064727472

MASS 51398 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.6231954e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8174416e-06

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.9426794

KALMAN_USE 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1390046

HD_A 0.0034169999 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00057758979

HD_B 0.0095870001 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00012778315

HD_C 3.1312e-05 PITCH_ADJ_GAIN 0.059999999 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 520

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 18 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 4022 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 2 PITCH_MIN 171 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00135 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001160825 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -26.366219 TGT_DEFAULT_LAT 21

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -158.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_CHARGE -20732.801

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0.029999999 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 3 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 113 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3944 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2605 KALMAN_USE 2 ROLL_MIN 280 USE_BATHY -4

C_ROLL_CLIMB 2112 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2112 MASS 51398 R_PORT_OVSHOOT 49 VBD_BLEED_AD_RATE 8

C_VBD 2620 MAX_BUOY 150 R_STBD_OVSHOOT 29 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 3 SEABIRD_C_G -9.9426794 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1390046 VBD_MAX 3700

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I -0.00057758979 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00012778315 VBD_MIN 144

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.004371644 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064727472 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.6231954e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8174416e-06 XPDR_DEVICE 24

DIVE 27 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 170829,4806.310,-12222.402,14,5.4,33,18.3 TGT_NAME SIX

_CALLS 1 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.97 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -71.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 171157,4806.338,-12222.412,15,1.9,15,18.3 MHEAD_RNG_PITCHd_Wd 122.6,808,-17.9,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 107

Post-dive calculations and measurements:

FINISH -0.1,1.007505 XPDR_PINGS 4

SM_CCo 2457,91.97,0.723,0,0,500,520.04 _24V_AH 23.9,4.169

SM_GC 0.95,0.00,0.00,91.97,0.000,0.000,0.723,159,2097,500,-11.25,-0.42,520.04 _10V_AH 10.8,1.130

RAFOS_CLK 91 DATA_FILE_SIZE 15868,426

RAFOS_FIX 6727.419434,65947.898438,220708,161646,3,67,0.01 CAP_FILE_SIZE 41183,0

IRIDIUM_FIX 4751.72,-12221.84,161097,161611 CFSIZE 260165632,256487424

TT8_MAMPS 0.026845 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

HUMID 1930 SOUNDSPEED 1482.3

INTERNAL_PRESSURE 8.7601 GPS 220708,175559,4806.133,-12222.192,11,2.3,30,18.3

TCM_TEMP 19.50

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 268 133.13 SBE_CT 301 24 172.67

Roll_motor 26 69 43.76 SBE_O2 296 19 134.61

VBD_pump_during_apogee 376 786 7078.98 nil 0 0 0.00

VBD_pump_during_surface 91 723 1589.92 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.38 nil 0 0 0.00

Iridium_during_connect 30 160 117.45 nil 0 0 0.00

Iridium_during_xfer 71 223 382.91

Transponder_ping 1 420 10.04

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 16 50 9.03

TT8 613 19 131.91

LPSleep 836 2 20.88

TT8_Active 505 19 108.79

TT8_Sampling 642 39 276.81

TT8_CF8 178 45 88.36

TT8_Kalman 0 0 0.00

Analog_circuits 902 12 117.01

GPS_charging 0 0 0.00

Compass 633 8 54.73

RAFOS 0 1 0.00

Transponder 0 30 0.17

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -1.19 -146.6 0.0 0.0 0 101 0.00 0.00 -83.78 0.000 2 0.000 0.000 165 2085 2506

103 -1.19 -146.6 3.2 -7.3 15 135 9.20 2.40 -16.98 0.000 4 0.268 0.069 2344 3531 3219

365 -1.10 -146.6 48.7 -16.6 61 372 0.10 2.15 0.00 0.000 6 0.184 0.035 2366 2119 3224

506 -1.10 -146.6 70.0 -14.9 86 512 0.00 2.17 0.00 0.000 4 0.000 0.045 2367 695 3224

517 -1.03 -146.6 71.6 -13.6 88 524 0.00 2.20 0.00 0.000 6 0.000 0.040 2367 2130 3225

726 -1.03 -146.6 100.7 -14.4 125 732 0.00 2.17 0.00 0.000 4 0.000 0.054 2366 3523 3225

737 -1.03 -146.6 102.1 -14.1 127 743 0.00 2.12 0.00 0.000 6 0.000 0.035 2367 2109 3225

775 end dive: TARGET_DEPTH_EXCEEDED

state 775 begin apogee

779 -0.28 0.0 107.5 14.0 134 898 0.55 0.00 112.22 0.786 6 0.149 0.000 2541 2107 2619

898 end apogee: CONTROL_FINISHED_OK

state 898 begin climb

900 1.19 146.6 112.6 0.0 155 1015 1.00 0.00 111.20 0.752 6 0.105 0.000 2865 2107 2022

1218 0.85 164.0 85.8 9.2 211 1242 0.25 2.38 14.50 0.716 4 0.157 0.053 2793 3534 1950

1496 0.80 199.3 63.7 8.3 260 1530 0.00 2.10 27.38 0.759 6 0.000 0.037 2793 2169 1806

1733 1.00 254.4 46.5 7.4 302 1780 0.12 2.30 41.53 0.761 4 0.085 0.053 2840 3518 1582

1872 0.85 254.4 32.0 12.0 326 1879 0.20 2.08 0.00 0.000 6 0.146 0.038 2785 2196 1580

2014 1.26 333.8 22.1 6.3 351 2084 0.25 2.25 59.53 0.749 4 0.066 0.053 2885 3514 1258

2117 1.08 333.8 9.8 14.3 369 2124 0.17 2.08 0.00 0.000 6 0.148 0.038 2838 2218 1258

2260 2.25 530.4 2.2 0.8 394 2273 0.73 0.00 10.40 0.672 2 0.082 0.000 3094 2215 1206

2274 end climb: SURFACE_DEPTH_REACHED

state 2274 begin surface coast

2442 end surface coast: CONTROL_FINISHED_OK

state 2442 begin surface

ID	113	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	3	ESCAPE_HEADING	0	ROLL_MIN	280	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	27	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3944	ALTIM_PING_DEPTH	0
D_SURF	2	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	21	C_ROLL_DIVE	2112	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-158.3	C_ROLL_CLIMB	2112	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	520	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	49	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	29	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	3	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0.029999999	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	144	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3700	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2620	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	15	PITCH_VBD_SHIFT	0.00135	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	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	-20732.801	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	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	171	AH0_10V	61.200001	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	4022	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2605	PRESSURE_YINT	-26.366219	SEABIRD_T_G	0.004371644
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001160825	SEABIRD_T_H	0.00064727472
MASS	51398	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.6231954e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8174416e-06
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.9426794
KALMAN_USE	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1390046
HD_A	0.0034169999	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00057758979
HD_B	0.0095870001	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00012778315
HD_C	3.1312e-05	PITCH_ADJ_GAIN	0.059999999	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	170829,4806.310,-12222.402,14,5.4,33,18.3	TGT_NAME	SIX
_CALLS	1	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.97	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-71.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	171157,4806.338,-12222.412,15,1.9,15,18.3	MHEAD_RNG_PITCHd_Wd	122.6,808,-17.9,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	107

FINISH	-0.1,1.007505	XPDR_PINGS	4
SM_CCo	2457,91.97,0.723,0,0,500,520.04	_24V_AH	23.9,4.169
SM_GC	0.95,0.00,0.00,91.97,0.000,0.000,0.723,159,2097,500,-11.25,-0.42,520.04	_10V_AH	10.8,1.130
RAFOS_CLK	91	DATA_FILE_SIZE	15868,426
RAFOS_FIX	6727.419434,65947.898438,220708,161646,3,67,0.01	CAP_FILE_SIZE	41183,0
IRIDIUM_FIX	4751.72,-12221.84,161097,161611	CFSIZE	260165632,256487424
TT8_MAMPS	0.026845	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
HUMID	1930	SOUNDSPEED	1482.3
INTERNAL_PRESSURE	8.7601	GPS	220708,175559,4806.133,-12222.192,11,2.3,30,18.3
TCM_TEMP	19.50

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	268	133.13	SBE_CT	301	24	172.67
Roll_motor	26	69	43.76	SBE_O2	296	19	134.61
VBD_pump_during_apogee	376	786	7078.98	nil	0	0	0.00
VBD_pump_during_surface	91	723	1589.92	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.38	nil	0	0	0.00
Iridium_during_connect	30	160	117.45	nil	0	0	0.00
Iridium_during_xfer	71	223	382.91
Transponder_ping	1	420	10.04
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	16	50	9.03
TT8	613	19	131.91
LPSleep	836	2	20.88
TT8_Active	505	19	108.79
TT8_Sampling	642	39	276.81
TT8_CF8	178	45	88.36
TT8_Kalman	0	0	0.00
Analog_circuits	902	12	117.01
GPS_charging	0	0	0.00
Compass	633	8	54.73
RAFOS	0	1	0.00
Transponder	0	30	0.17

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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-1.19	-146.6	0.0	0.0	0	101	0.00	0.00	-83.78	0.000	2	0.000	0.000	165	2085	2506
103	-1.19	-146.6	3.2	-7.3	15	135	9.20	2.40	-16.98	0.000	4	0.268	0.069	2344	3531	3219
365	-1.10	-146.6	48.7	-16.6	61	372	0.10	2.15	0.00	0.000	6	0.184	0.035	2366	2119	3224
506	-1.10	-146.6	70.0	-14.9	86	512	0.00	2.17	0.00	0.000	4	0.000	0.045	2367	695	3224
517	-1.03	-146.6	71.6	-13.6	88	524	0.00	2.20	0.00	0.000	6	0.000	0.040	2367	2130	3225
726	-1.03	-146.6	100.7	-14.4	125	732	0.00	2.17	0.00	0.000	4	0.000	0.054	2366	3523	3225
737	-1.03	-146.6	102.1	-14.1	127	743	0.00	2.12	0.00	0.000	6	0.000	0.035	2367	2109	3225
775	end dive: TARGET_DEPTH_EXCEEDED
state	775	begin apogee
779	-0.28	0.0	107.5	14.0	134	898	0.55	0.00	112.22	0.786	6	0.149	0.000	2541	2107	2619
898	end apogee: CONTROL_FINISHED_OK
state	898	begin climb
900	1.19	146.6	112.6	0.0	155	1015	1.00	0.00	111.20	0.752	6	0.105	0.000	2865	2107	2022
1218	0.85	164.0	85.8	9.2	211	1242	0.25	2.38	14.50	0.716	4	0.157	0.053	2793	3534	1950
1496	0.80	199.3	63.7	8.3	260	1530	0.00	2.10	27.38	0.759	6	0.000	0.037	2793	2169	1806
1733	1.00	254.4	46.5	7.4	302	1780	0.12	2.30	41.53	0.761	4	0.085	0.053	2840	3518	1582
1872	0.85	254.4	32.0	12.0	326	1879	0.20	2.08	0.00	0.000	6	0.146	0.038	2785	2196	1580
2014	1.26	333.8	22.1	6.3	351	2084	0.25	2.25	59.53	0.749	4	0.066	0.053	2885	3514	1258
2117	1.08	333.8	9.8	14.3	369	2124	0.17	2.08	0.00	0.000	6	0.148	0.038	2838	2218	1258
2260	2.25	530.4	2.2	0.8	394	2273	0.73	0.00	10.40	0.672	2	0.082	0.000	3094	2215	1206
2274	end climb: SURFACE_DEPTH_REACHED
state	2274	begin surface coast
2442	end surface coast: CONTROL_FINISHED_OK
state	2442	begin surface