Glider dive log

PN07 DabobBay Oct07 * SG106 * Dive index * Mission links * Dive 35 * 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 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 35 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 1990 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1930 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 27 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 25 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 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 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 -43783.398 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 125 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 30 PITCH_MIN 460 AH0_24V 91.800003 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 3080 PRESSURE_YINT -7.4494777 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 91.800003 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 -7.4494777 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 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 35

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 -43783.398

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

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 3080 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1930 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1990 KALMAN_USE 1 ROLL_TIMEOUT 16 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 27 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 25 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 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 35 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 022823,4739.433,-12252.330,12,2.3,31,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.235,-0.018

_SM_DEPTHo 1.20 KALMAN_X 1854.8,24.4,-53.0,-1924.5,84.7

_SM_ANGLEo -64.3 KALMAN_Y 1791.5,-69.9,-85.9,-2264.5,67.7

GPS2 023337,4739.422,-12252.279,28,1.0,32,18.3 MHEAD_RNG_PITCHd_Wd 247.2,1154,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 125

Post-dive calculations and measurements:

FINISH 0.7,1.020163 XPDR_PINGS 0

SM_CCo 2794,112.95,0.588,0,0,1586,400.08 ALTIM_BOTTOM_PING 50.5,51.3

SM_GC 1.25,0.00,0.00,112.95,0.000,0.000,0.588,464,1986,1586,-12.03,-0.11,400.08 _24V_AH 23.2,8.906

IRIDIUM_FIX 4722.92,-12256.21,260907,050531 _10V_AH 10.1,31.507

TT8_MAMPS 0.069797 DATA_FILE_SIZE 6433,263

HUMID 2039 CFSIZE 260034560,256016384

INTERNAL_PRESSURE 8.41829 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.60 GPS 260907,032357,4739.485,-12252.528,14,1.1,14,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 209 153.39 SBE_CT 176 24 98.16

Roll_motor 51 77 93.14 nil 0 0 0.00

VBD_pump_during_apogee 206 680 3263.66 nil 0 0 0.00

VBD_pump_during_surface 112 588 1541.58 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 90.36 nil 0 0 0.00

Iridium_during_connect 40 160 150.10 ARS 0 0 0.00

Iridium_during_xfer 127 223 659.84

Transponder_ping 0 420 4.87

Mmodem_TX 87 1000 2021.90

Mmodem_RX 3276 6 486.55

GPS 32 50 16.29

TT8 499 19 99.98

LPSleep 1526 2 33.76

TT8_Active 434 19 86.83

TT8_Sampling 514 39 206.64

TT8_CF8 278 45 128.77

TT8_Kalman 33 81 27.54

Analog_circuits 731 12 88.69

GPS_charging 0 0 0.00

Compass 469 8 37.95

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

18 end surface: CONTROL_FINISHED_OK

state 18 begin dive

20 -1.63 -122.2 0.0 0.0 0 78 0.00 0.00 -55.90 0.000 2 0.000 0.000 464 1995 2872

81 -1.63 -122.2 2.1 -3.5 9 136 14.55 2.58 -33.33 0.000 4 0.209 0.069 2722 3396 3717

188 -1.63 -122.2 6.7 -7.5 26 195 0.00 2.50 0.00 0.000 6 0.000 0.041 2722 1989 3719

260 -1.63 -122.2 10.8 -4.4 37 266 0.00 2.58 0.00 0.000 4 0.000 0.054 2722 3398 3719

345 -1.63 -122.2 15.0 -6.0 50 352 0.00 2.50 0.00 0.000 6 0.000 0.040 2722 1989 3719

417 -1.63 -122.2 19.5 -5.7 61 423 0.00 2.62 0.00 0.000 4 0.000 0.070 2722 593 3720

487 -1.63 -122.2 24.0 -6.1 67 495 0.00 2.50 0.00 0.000 6 0.000 0.035 2722 1994 3720

684 -1.63 -122.2 36.8 -6.8 83 688 0.00 2.75 0.00 0.000 4 0.000 0.067 2722 587 3721

723 -1.63 -122.2 39.7 -7.6 86 727 0.00 2.50 0.00 0.000 6 0.000 0.036 2722 1997 3721

925 -1.63 -122.2 52.9 -6.4 102 929 0.00 2.72 0.00 0.000 4 0.000 0.069 2722 593 3721

990 -1.63 -122.2 57.3 -7.2 107 995 0.00 2.47 0.00 0.000 6 0.000 0.037 2722 1991 3721

1192 -1.63 -122.2 70.0 -6.4 123 1194 0.00 0.00 0.00 0.000 6 0.000 0.000 2722 1991 3721

1382 -1.63 -122.2 82.9 -6.6 138 1387 0.00 2.67 0.00 0.000 4 0.000 0.070 2722 588 3721

1441 -1.63 -122.2 87.0 -6.7 142 1445 0.00 2.50 0.00 0.000 6 0.000 0.037 2722 1995 3721

1628 end dive: TARGET_DEPTH_EXCEEDED

state 1629 begin apogee

1632 -0.38 0.0 100.5 7.3 157 1734 1.35 0.00 97.90 0.680 6 0.097 0.000 2991 1928 3219

1735 end apogee: CONTROL_FINISHED_OK

state 1735 begin climb

1737 1.63 122.2 102.5 0.0 165 1841 2.00 2.65 95.12 0.657 4 0.051 0.058 3442 3336 2718

1852 1.63 122.2 94.4 10.4 174 1857 0.00 2.58 0.00 0.000 6 0.000 0.042 3441 1932 2718

2054 1.63 122.2 71.8 10.9 190 2059 0.00 2.72 0.00 0.000 4 0.000 0.077 3442 525 2718

2179 1.63 122.2 57.4 11.7 199 2187 0.00 2.53 0.00 0.000 6 0.000 0.037 3442 1927 2717

2375 1.63 122.2 36.2 10.2 215 2379 0.00 2.72 0.00 0.000 4 0.000 0.074 3442 510 2717

2467 1.63 122.2 26.1 10.9 222 2472 0.00 2.55 0.00 0.000 6 0.000 0.038 3442 1929 2717

2670 1.65 140.2 6.9 8.6 248 2689 0.00 2.60 13.75 0.653 4 0.000 0.057 3442 3334 2645

2693 end climb: SURFACE_DEPTH_REACHED

state 2694 begin surface coast

2767 end surface coast: CONTROL_FINISHED_OK

state 2767 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	35	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	1990	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1930	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	27	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	25	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	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	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	-43783.398	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	125	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	30	PITCH_MIN	460	AH0_24V	91.800003	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	3080	PRESSURE_YINT	-7.4494777	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	022823,4739.433,-12252.330,12,2.3,31,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.235,-0.018
_SM_DEPTHo	1.20	KALMAN_X	1854.8,24.4,-53.0,-1924.5,84.7
_SM_ANGLEo	-64.3	KALMAN_Y	1791.5,-69.9,-85.9,-2264.5,67.7
GPS2	023337,4739.422,-12252.279,28,1.0,32,18.3	MHEAD_RNG_PITCHd_Wd	247.2,1154,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	125

FINISH	0.7,1.020163	XPDR_PINGS	0
SM_CCo	2794,112.95,0.588,0,0,1586,400.08	ALTIM_BOTTOM_PING	50.5,51.3
SM_GC	1.25,0.00,0.00,112.95,0.000,0.000,0.588,464,1986,1586,-12.03,-0.11,400.08	_24V_AH	23.2,8.906
IRIDIUM_FIX	4722.92,-12256.21,260907,050531	_10V_AH	10.1,31.507
TT8_MAMPS	0.069797	DATA_FILE_SIZE	6433,263
HUMID	2039	CFSIZE	260034560,256016384
INTERNAL_PRESSURE	8.41829	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.60	GPS	260907,032357,4739.485,-12252.528,14,1.1,14,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	209	153.39	SBE_CT	176	24	98.16
Roll_motor	51	77	93.14	nil	0	0	0.00
VBD_pump_during_apogee	206	680	3263.66	nil	0	0	0.00
VBD_pump_during_surface	112	588	1541.58	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	90.36	nil	0	0	0.00
Iridium_during_connect	40	160	150.10	ARS	0	0	0.00
Iridium_during_xfer	127	223	659.84
Transponder_ping	0	420	4.87
Mmodem_TX	87	1000	2021.90
Mmodem_RX	3276	6	486.55
GPS	32	50	16.29
TT8	499	19	99.98
LPSleep	1526	2	33.76
TT8_Active	434	19	86.83
TT8_Sampling	514	39	206.64
TT8_CF8	278	45	128.77
TT8_Kalman	33	81	27.54
Analog_circuits	731	12	88.69
GPS_charging	0	0	0.00
Compass	469	8	37.95
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
18	end surface: CONTROL_FINISHED_OK
state	18	begin dive
20	-1.63	-122.2	0.0	0.0	0	78	0.00	0.00	-55.90	0.000	2	0.000	0.000	464	1995	2872
81	-1.63	-122.2	2.1	-3.5	9	136	14.55	2.58	-33.33	0.000	4	0.209	0.069	2722	3396	3717
188	-1.63	-122.2	6.7	-7.5	26	195	0.00	2.50	0.00	0.000	6	0.000	0.041	2722	1989	3719
260	-1.63	-122.2	10.8	-4.4	37	266	0.00	2.58	0.00	0.000	4	0.000	0.054	2722	3398	3719
345	-1.63	-122.2	15.0	-6.0	50	352	0.00	2.50	0.00	0.000	6	0.000	0.040	2722	1989	3719
417	-1.63	-122.2	19.5	-5.7	61	423	0.00	2.62	0.00	0.000	4	0.000	0.070	2722	593	3720
487	-1.63	-122.2	24.0	-6.1	67	495	0.00	2.50	0.00	0.000	6	0.000	0.035	2722	1994	3720
684	-1.63	-122.2	36.8	-6.8	83	688	0.00	2.75	0.00	0.000	4	0.000	0.067	2722	587	3721
723	-1.63	-122.2	39.7	-7.6	86	727	0.00	2.50	0.00	0.000	6	0.000	0.036	2722	1997	3721
925	-1.63	-122.2	52.9	-6.4	102	929	0.00	2.72	0.00	0.000	4	0.000	0.069	2722	593	3721
990	-1.63	-122.2	57.3	-7.2	107	995	0.00	2.47	0.00	0.000	6	0.000	0.037	2722	1991	3721
1192	-1.63	-122.2	70.0	-6.4	123	1194	0.00	0.00	0.00	0.000	6	0.000	0.000	2722	1991	3721
1382	-1.63	-122.2	82.9	-6.6	138	1387	0.00	2.67	0.00	0.000	4	0.000	0.070	2722	588	3721
1441	-1.63	-122.2	87.0	-6.7	142	1445	0.00	2.50	0.00	0.000	6	0.000	0.037	2722	1995	3721
1628	end dive: TARGET_DEPTH_EXCEEDED
state	1629	begin apogee
1632	-0.38	0.0	100.5	7.3	157	1734	1.35	0.00	97.90	0.680	6	0.097	0.000	2991	1928	3219
1735	end apogee: CONTROL_FINISHED_OK
state	1735	begin climb
1737	1.63	122.2	102.5	0.0	165	1841	2.00	2.65	95.12	0.657	4	0.051	0.058	3442	3336	2718
1852	1.63	122.2	94.4	10.4	174	1857	0.00	2.58	0.00	0.000	6	0.000	0.042	3441	1932	2718
2054	1.63	122.2	71.8	10.9	190	2059	0.00	2.72	0.00	0.000	4	0.000	0.077	3442	525	2718
2179	1.63	122.2	57.4	11.7	199	2187	0.00	2.53	0.00	0.000	6	0.000	0.037	3442	1927	2717
2375	1.63	122.2	36.2	10.2	215	2379	0.00	2.72	0.00	0.000	4	0.000	0.074	3442	510	2717
2467	1.63	122.2	26.1	10.9	222	2472	0.00	2.55	0.00	0.000	6	0.000	0.038	3442	1929	2717
2670	1.65	140.2	6.9	8.6	248	2689	0.00	2.60	13.75	0.653	4	0.000	0.057	3442	3334	2645
2693	end climb: SURFACE_DEPTH_REACHED
state	2694	begin surface coast
2767	end surface coast: CONTROL_FINISHED_OK
state	2767	begin surface