Glider dive log

PortSusan 05Sep07 * SG128 * Dive index * Mission links * Dive 364 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 128 HD_C 5.8987e-05 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 364 ESCAPE_HEADING 0 ROLL_MIN 145 ALTIM_PING_DEPTH 80

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 4014 ALTIM_PING_DELTA 10

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 50 ALTIM_FREQUENCY 13

D_TGT 95 TGT_DEFAULT_LAT 48.133301 C_ROLL_DIVE 2250 ALTIM_PULSE 3

D_ABORT 1090 TGT_DEFAULT_LON -122.4 C_ROLL_CLIMB 2150 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_FINISH 0 SM_CC 300 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_PITCH 0 N_FILEKB 4 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_SAFE 0 FILEMGR 0 R_PORT_OVSHOOT 41 DEEPGLIDERMB 0

D_CALL 0 CALL_NDIVES 1 R_STBD_OVSHOOT 48 MOTHERBOARD 4

SURFACE_URGENCY 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEVICE1 2

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE2 20

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE3 35

T_DIVE 63 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE4 -1

T_MISSION 75 CALL_TRIES 5 VBD_MIN 204 DEVICE5 -1

T_ABORT 1440 CALL_WAIT 60 VBD_MAX 3580 DEVICE6 -1

T_TURN 270 CAPUPLOAD 0 C_VBD 2800 SMARTS 0

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTDEVICE1 -1

T_NO_W 120 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE2 -1

USE_BATHY -4 T_GPS 15 VBD_TIMEOUT 360 COMPASS_DEVICE 33

USE_ICE 0 N_GPS 20 PITCH_VBD_SHIFT 0.0012300001 PHONE_DEVICE 48

ICE_FREEZE_MARGIN 0.30000001 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 4 GPS_DEVICE 32

D_OFFGRID 100 T_GPS_CHARGE -68021.047 VBD_PUMP_AD_RATE_APOGEE 3 RAFOS_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 XPDR_DEVICE 24

RELAUNCH 1 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 SIM_W 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_PITCH 0

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 1 SEABIRD_T_G 0.0043805656

COURSE_BIAS 0 PITCH_MIN 25 AH0_24V 150 SEABIRD_T_H 0.00064742006

GLIDE_SLOPE 45 PITCH_MAX 4070 AH0_10V 100 SEABIRD_T_I 2.5554549e-05

SPEED_FACTOR 1 C_PITCH 2820 PRESSURE_YINT -10.508845 SEABIRD_T_J 2.6681391e-06

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_C_G -10.331019

MASS 51503 PITCH_CNV 0.00312576 AD7714Ch0Gain 128 SEABIRD_C_H 1.1763502

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_I -0.0012340198

FERRY_MAX 45 PITCH_GAIN 18 TCM_ROLL_OFFSET 0 SEABIRD_C_J 0.00017379176

KALMAN_USE 1 PITCH_TIMEOUT 15 ALTIM_BOTTOM_PING_RANGE 25

HD_A 0.0043390002 PITCH_AD_RATE 160 ALTIM_TOP_PING_RANGE 0

HD_B 0.013382 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FLARE 3 PITCH_DBAND 0.1 SMARTS 0

AH0_10V 100 D_NO_BLEED 200 PITCH_GAIN 18 SM_CC 300

AH0_24V 150 D_OFFGRID 100 PITCH_MAX 4070 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 25 D_PITCH 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_BOTTOM_TURN_MARGIN 0 D_SAFE 0 PITCH_MIN 25 SURFACE_URGENCY_FORCE 0

ALTIM_FREQUENCY 13 D_SURF 2 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PING_DELTA 10 D_TGT 95 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_PING_DEPTH 80 ESCAPE_HEADING 0 PRESSURE_SLOPE 9.9999997e-05 TCM_ROLL_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING_DELTA 10 PRESSURE_YINT -10.508845 TGT_AUTO_DEFAULT 0

ALTIM_SENSITIVITY 3 FERRY_MAX 45 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.133301

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.4

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 RAFOS_DEVICE -1 T_ABORT 1440

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 45 RAFOS_HIT_WINDOW 3600 T_DIVE 63

APOGEE_PITCH -5 GPS_DEVICE 32 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_NDIVES 1 HD_A 0.0043390002 RELAUNCH 1 T_GPS_ALMANAC 0

CALL_TRIES 5 HD_B 0.013382 RHO 1.023 T_GPS_CHARGE -68021.047

CALL_WAIT 60 HD_C 5.8987e-05 ROLL_ADJ_DBAND 0 T_MISSION 75

CAPMAXSIZE 100000 HEADING -1 ROLL_ADJ_GAIN 0 T_NO_W 120

CAPUPLOAD 0 HEAD_ERRBAND 10 ROLL_AD_RATE 350 T_RSLEEP 3

CF8_MAXERRORS 1 HEAPDBG 0 ROLL_CNV 0.028270001 T_TURN 270

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.30000001 ROLL_DEG 50 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 128 ROLL_MAX 4014 T_WATCHDOG 10

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_PITCH 2820 INT_PRESSURE_YINT 0 ROLL_MIN 145 UPLOAD_DIVES_MAX -1

C_ROLL_CLIMB 2150 KALMAN_USE 1 ROLL_TIMEOUT 15 USE_BATHY -4

C_ROLL_DIVE 2250 MASS 51503 R_PORT_OVSHOOT 41 USE_ICE 0

C_VBD 2800 MAX_BUOY 150 R_STBD_OVSHOOT 48 VBD_BLEED_AD_RATE 8

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -10.331019 VBD_CNV -0.24529999

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_DBAND 2

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_MAX 3580

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAXERRORS 1

DEVICE3 35 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MIN 204

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_PUMP_AD_RATE_APOGEE 3

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_SURFACE 4

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_TIMEOUT 360

DIVE 364 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_ABORT 1090 PITCH_ADJ_GAIN 0 SIM_W 0

D_CALL 0 PITCH_AD_RATE 160 SMARTDEVICE1 -1

D_FINISH 0 PITCH_CNV 0.00312576 SMARTDEVICE2 -1

Pre-dive calculations and measurements:

GPS1 162939,4807.302,-12223.202,13,2.0,13,18.3 TGT_NAME EIGHT

_CALLS 3 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.053,0.148

_SM_DEPTHo 1.13 KALMAN_X -4298.8,132.1,100.5,4450.9,-336.5

_SM_ANGLEo -68.4 KALMAN_Y -4741.6,-5.7,111.0,4115.2,103.0

GPS2 163903,4807.378,-12223.242,14,2.0,14,18.3 MHEAD_RNG_PITCHd_Wd 321.9,1484,-10.6,-5.026

SPEED_LIMITS 0.050,0.157 D_GRID 105

Post-dive calculations and measurements:

FINISH 1.4,1.025311 XPDR_PINGS 3

SM_CCo 2985,67.68,0.709,0,0,1576,300.00 ALTIM_BOTTOM_PING 70.0,41.3

SM_GC 1.07,0.00,0.00,67.68,0.000,0.000,0.709,5,2255,1576,-8.80,0.14,300.00 _24V_AH 24.5,36.109

IRIDIUM_FIX 4751.72,-12223.57,200907,202049 _10V_AH 10.7,18.264

TT8_MAMPS 0.026078 DATA_FILE_SIZE 15965,311

HUMID 1909 CFSIZE 260165632,247115776

INTERNAL_PRESSURE 9.18981 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.70 GPS 200907,173207,4807.732,-12223.619,32,1.1,32,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 207 106.43 SBE_CT 224 24 131.90

Roll_motor 45 61 69.00 SBE_O2 247 19 114.98

VBD_pump_during_apogee 222 760 4146.74 WL_BB2F 524 105 1349.93

VBD_pump_during_surface 67 709 1176.34 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 80 103 203.70 nil 0 0 0.00

Iridium_during_connect 45 160 178.98 nil 0 0 0.00

Iridium_during_xfer 205 223 1120.97

Transponder_ping 1 420 10.29

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 15 50 8.50

TT8 529 19 112.10

LPSleep 1636 2 38.36

TT8_Active 365 19 77.40

TT8_Sampling 618 39 263.56

TT8_CF8 490 45 240.23

TT8_Kalman 33 81 29.16

Analog_circuits 695 12 89.35

GPS_charging 0 0 0.00

Compass 632 8 54.16

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.77 -146.6 0.0 0.0 0 101 0.00 0.00 -74.97 0.000 6 0.000 0.000 9 2265 3399

105 -0.77 -146.6 3.7 -3.5 14 123 10.30 2.92 0.00 0.000 4 0.208 0.049 2552 3982 3403

130 -0.77 -146.6 11.7 -17.9 18 137 0.00 2.83 0.00 0.000 6 0.000 0.028 2552 2223 3404

205 -0.77 -146.6 17.5 -7.0 31 211 0.00 0.00 0.00 0.000 6 0.000 0.000 2552 2220 3404

278 -0.77 -146.6 22.2 -6.3 41 282 0.00 3.00 0.00 0.000 4 0.000 0.050 2549 3995 3405

310 -0.77 -146.6 24.6 -7.0 43 316 0.00 2.80 0.00 0.000 6 0.000 0.028 2549 2233 3405

508 -0.77 -146.6 37.8 -6.7 62 509 0.00 0.00 0.00 0.000 6 0.000 0.000 2549 2232 3405

699 -0.77 -146.6 50.5 -6.3 80 703 0.00 2.80 0.00 0.000 4 0.000 0.039 2548 504 3405

745 -0.77 -146.6 53.6 -7.4 83 752 0.12 2.78 0.00 0.000 6 0.140 0.031 2573 2238 3405

1070 -0.77 -146.6 71.8 -5.2 114 1074 0.00 2.90 0.00 0.000 4 0.000 0.051 2563 3999 3405

1121 -0.77 -146.6 74.8 -6.0 118 1125 0.00 2.75 0.00 0.000 6 0.000 0.028 2563 2248 3405

1449 -0.77 -146.6 94.0 -6.1 148 1455 0.00 0.00 0.00 0.000 6 0.000 0.000 2563 2245 3405

1464 end dive: TARGET_DEPTH_EXCEEDED

state 1464 begin apogee

1470 -0.28 0.0 95.2 6.1 150 1587 0.50 0.00 111.72 0.760 6 0.110 0.000 2723 2154 2799

1588 end apogee: CONTROL_FINISHED_OK

state 1588 begin climb

1591 0.77 146.6 97.7 0.0 162 1708 1.02 0.00 110.95 0.700 6 0.077 0.000 3062 2154 2201

2026 0.77 146.6 68.4 7.6 204 2028 0.00 0.00 0.00 0.000 6 0.000 0.000 3062 2154 2199

2345 0.77 146.6 45.3 6.7 234 2350 0.00 2.92 0.00 0.000 4 0.000 0.047 3062 3915 2199

2385 0.77 146.6 42.1 8.2 237 2389 0.00 2.83 0.00 0.000 6 0.000 0.029 3072 2157 2198

2582 0.77 146.6 27.6 7.4 255 2587 0.00 2.88 0.00 0.000 4 0.000 0.042 3084 393 2198

2611 0.77 146.6 25.5 7.6 257 2615 0.00 2.83 0.00 0.000 6 0.000 0.032 3084 2152 2198

2817 0.77 146.6 10.6 6.8 286 2823 0.00 2.90 0.00 0.000 4 0.000 0.048 3083 3906 2199

2841 0.77 146.6 8.7 7.0 290 2848 0.00 2.83 0.00 0.000 6 0.000 0.029 3095 2139 2198

2916 0.77 146.6 3.3 7.1 303 2923 0.00 2.83 0.00 0.000 4 0.000 0.042 3104 395 2198

2950 end climb: SURFACE_DEPTH_REACHED

state 2950 begin surface coast

2962 end surface coast: CONTROL_FINISHED_OK

state 2962 begin surface

ID	128	HD_C	5.8987e-05	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	364	ESCAPE_HEADING	0	ROLL_MIN	145	ALTIM_PING_DEPTH	80
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	4014	ALTIM_PING_DELTA	10
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	50	ALTIM_FREQUENCY	13
D_TGT	95	TGT_DEFAULT_LAT	48.133301	C_ROLL_DIVE	2250	ALTIM_PULSE	3
D_ABORT	1090	TGT_DEFAULT_LON	-122.4	C_ROLL_CLIMB	2150	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_FINISH	0	SM_CC	300	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_PITCH	0	N_FILEKB	4	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_SAFE	0	FILEMGR	0	R_PORT_OVSHOOT	41	DEEPGLIDERMB	0
D_CALL	0	CALL_NDIVES	1	R_STBD_OVSHOOT	48	MOTHERBOARD	4
SURFACE_URGENCY	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEVICE1	2
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE2	20
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE3	35
T_DIVE	63	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE4	-1
T_MISSION	75	CALL_TRIES	5	VBD_MIN	204	DEVICE5	-1
T_ABORT	1440	CALL_WAIT	60	VBD_MAX	3580	DEVICE6	-1
T_TURN	270	CAPUPLOAD	0	C_VBD	2800	SMARTS	0
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTDEVICE1	-1
T_NO_W	120	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE2	-1
USE_BATHY	-4	T_GPS	15	VBD_TIMEOUT	360	COMPASS_DEVICE	33
USE_ICE	0	N_GPS	20	PITCH_VBD_SHIFT	0.0012300001	PHONE_DEVICE	48
ICE_FREEZE_MARGIN	0.30000001	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	4	GPS_DEVICE	32
D_OFFGRID	100	T_GPS_CHARGE	-68021.047	VBD_PUMP_AD_RATE_APOGEE	3	RAFOS_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	XPDR_DEVICE	24
RELAUNCH	1	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	SIM_W	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_PITCH	0
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	1	SEABIRD_T_G	0.0043805656
COURSE_BIAS	0	PITCH_MIN	25	AH0_24V	150	SEABIRD_T_H	0.00064742006
GLIDE_SLOPE	45	PITCH_MAX	4070	AH0_10V	100	SEABIRD_T_I	2.5554549e-05
SPEED_FACTOR	1	C_PITCH	2820	PRESSURE_YINT	-10.508845	SEABIRD_T_J	2.6681391e-06
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_C_G	-10.331019
MASS	51503	PITCH_CNV	0.00312576	AD7714Ch0Gain	128	SEABIRD_C_H	1.1763502
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_I	-0.0012340198
FERRY_MAX	45	PITCH_GAIN	18	TCM_ROLL_OFFSET	0	SEABIRD_C_J	0.00017379176
KALMAN_USE	1	PITCH_TIMEOUT	15	ALTIM_BOTTOM_PING_RANGE	25
HD_A	0.0043390002	PITCH_AD_RATE	160	ALTIM_TOP_PING_RANGE	0
HD_B	0.013382	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	162939,4807.302,-12223.202,13,2.0,13,18.3	TGT_NAME	EIGHT
_CALLS	3	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.053,0.148
_SM_DEPTHo	1.13	KALMAN_X	-4298.8,132.1,100.5,4450.9,-336.5
_SM_ANGLEo	-68.4	KALMAN_Y	-4741.6,-5.7,111.0,4115.2,103.0
GPS2	163903,4807.378,-12223.242,14,2.0,14,18.3	MHEAD_RNG_PITCHd_Wd	321.9,1484,-10.6,-5.026
SPEED_LIMITS	0.050,0.157	D_GRID	105

FINISH	1.4,1.025311	XPDR_PINGS	3
SM_CCo	2985,67.68,0.709,0,0,1576,300.00	ALTIM_BOTTOM_PING	70.0,41.3
SM_GC	1.07,0.00,0.00,67.68,0.000,0.000,0.709,5,2255,1576,-8.80,0.14,300.00	_24V_AH	24.5,36.109
IRIDIUM_FIX	4751.72,-12223.57,200907,202049	_10V_AH	10.7,18.264
TT8_MAMPS	0.026078	DATA_FILE_SIZE	15965,311
HUMID	1909	CFSIZE	260165632,247115776
INTERNAL_PRESSURE	9.18981	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.70	GPS	200907,173207,4807.732,-12223.619,32,1.1,32,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	207	106.43	SBE_CT	224	24	131.90
Roll_motor	45	61	69.00	SBE_O2	247	19	114.98
VBD_pump_during_apogee	222	760	4146.74	WL_BB2F	524	105	1349.93
VBD_pump_during_surface	67	709	1176.34	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	80	103	203.70	nil	0	0	0.00
Iridium_during_connect	45	160	178.98	nil	0	0	0.00
Iridium_during_xfer	205	223	1120.97
Transponder_ping	1	420	10.29
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	15	50	8.50
TT8	529	19	112.10
LPSleep	1636	2	38.36
TT8_Active	365	19	77.40
TT8_Sampling	618	39	263.56
TT8_CF8	490	45	240.23
TT8_Kalman	33	81	29.16
Analog_circuits	695	12	89.35
GPS_charging	0	0	0.00
Compass	632	8	54.16
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.77	-146.6	0.0	0.0	0	101	0.00	0.00	-74.97	0.000	6	0.000	0.000	9	2265	3399
105	-0.77	-146.6	3.7	-3.5	14	123	10.30	2.92	0.00	0.000	4	0.208	0.049	2552	3982	3403
130	-0.77	-146.6	11.7	-17.9	18	137	0.00	2.83	0.00	0.000	6	0.000	0.028	2552	2223	3404
205	-0.77	-146.6	17.5	-7.0	31	211	0.00	0.00	0.00	0.000	6	0.000	0.000	2552	2220	3404
278	-0.77	-146.6	22.2	-6.3	41	282	0.00	3.00	0.00	0.000	4	0.000	0.050	2549	3995	3405
310	-0.77	-146.6	24.6	-7.0	43	316	0.00	2.80	0.00	0.000	6	0.000	0.028	2549	2233	3405
508	-0.77	-146.6	37.8	-6.7	62	509	0.00	0.00	0.00	0.000	6	0.000	0.000	2549	2232	3405
699	-0.77	-146.6	50.5	-6.3	80	703	0.00	2.80	0.00	0.000	4	0.000	0.039	2548	504	3405
745	-0.77	-146.6	53.6	-7.4	83	752	0.12	2.78	0.00	0.000	6	0.140	0.031	2573	2238	3405
1070	-0.77	-146.6	71.8	-5.2	114	1074	0.00	2.90	0.00	0.000	4	0.000	0.051	2563	3999	3405
1121	-0.77	-146.6	74.8	-6.0	118	1125	0.00	2.75	0.00	0.000	6	0.000	0.028	2563	2248	3405
1449	-0.77	-146.6	94.0	-6.1	148	1455	0.00	0.00	0.00	0.000	6	0.000	0.000	2563	2245	3405
1464	end dive: TARGET_DEPTH_EXCEEDED
state	1464	begin apogee
1470	-0.28	0.0	95.2	6.1	150	1587	0.50	0.00	111.72	0.760	6	0.110	0.000	2723	2154	2799
1588	end apogee: CONTROL_FINISHED_OK
state	1588	begin climb
1591	0.77	146.6	97.7	0.0	162	1708	1.02	0.00	110.95	0.700	6	0.077	0.000	3062	2154	2201
2026	0.77	146.6	68.4	7.6	204	2028	0.00	0.00	0.00	0.000	6	0.000	0.000	3062	2154	2199
2345	0.77	146.6	45.3	6.7	234	2350	0.00	2.92	0.00	0.000	4	0.000	0.047	3062	3915	2199
2385	0.77	146.6	42.1	8.2	237	2389	0.00	2.83	0.00	0.000	6	0.000	0.029	3072	2157	2198
2582	0.77	146.6	27.6	7.4	255	2587	0.00	2.88	0.00	0.000	4	0.000	0.042	3084	393	2198
2611	0.77	146.6	25.5	7.6	257	2615	0.00	2.83	0.00	0.000	6	0.000	0.032	3084	2152	2198
2817	0.77	146.6	10.6	6.8	286	2823	0.00	2.90	0.00	0.000	4	0.000	0.048	3083	3906	2199
2841	0.77	146.6	8.7	7.0	290	2848	0.00	2.83	0.00	0.000	6	0.000	0.029	3095	2139	2198
2916	0.77	146.6	3.3	7.1	303	2923	0.00	2.83	0.00	0.000	4	0.000	0.042	3104	395	2198
2950	end climb: SURFACE_DEPTH_REACHED
state	2950	begin surface coast
2962	end surface coast: CONTROL_FINISHED_OK
state	2962	begin surface