Glider dive log

PortSusan 19Jun08 * SG114 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 114 HD_C 3.1312e-05 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 3 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 160 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3940 ALTIM_PING_DEPTH 80

D_TGT 180 TGT_DEFAULT_LAT 48.150002 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_ABORT 1090 TGT_DEFAULT_LON -122.33 C_ROLL_DIVE 2150 ALTIM_FREQUENCY 13

D_NO_BLEED 80 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2050 ALTIM_PULSE 4

D_FINISH 0 SM_CC 760 HEAD_ERRBAND 15 ALTIM_SENSITIVITY 1

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 28 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 35 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 300 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 40 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 35

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 420 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3949 DEVICE5 -1

T_TURN_SAMPINT 4 CAPUPLOAD 1 C_VBD 3564 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

ICE_FREEZE_MARGIN 0.30000001 N_GPS 20 PITCH_VBD_SHIFT 0.0017500001 COMPASS_DEVICE 33

D_OFFGRID 100 T_GPS_ALMANAC 0 VBD_PUMP_AD_RATE_SURFACE 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -589753.62 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 50 XPDR_DEVICE 24

MAX_BUOY 95 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 50 PITCH_MIN 410 AH0_24V 91.800003 SEABIRD_T_G 0.0044130804

SPEED_FACTOR 1 PITCH_MAX 3699 AH0_10V 61.200001 SEABIRD_T_H 0.00065298093

RHO 1.023 C_PITCH 2522 PRESSURE_YINT -9.99016 SEABIRD_T_I 2.7242255e-05

MASS 51965 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000116376 SEABIRD_T_J 2.9466562e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.002422

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1227361

KALMAN_USE 1 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0011729589

HD_A 0.0034169999 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00016786551

HD_B 0.0095870001 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 15 SM_CC 760

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3699 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 5 D_SURF 2 PITCH_MIN 410 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 180 PITCH_TIMEOUT 15 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 4 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0017500001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000116376 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -9.99016 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 48.150002

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -122.33

APOGEE_PITCH -5 GLIDE_SLOPE 50 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 40

CALL_TRIES 5 HD_A 0.0034169999 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0095870001 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 3.1312e-05 RHO 1.023 T_GPS_CHARGE -589753.62

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 20 HEAD_ERRBAND 15 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 114 ROLL_DEG 40 T_TURN_SAMPINT 4

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3940 T_WATCHDOG 10

C_PITCH 2522 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 50

C_ROLL_CLIMB 2050 KALMAN_USE 1 ROLL_MIN 160 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2150 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -4

C_VBD 3564 MASS 51965 R_PORT_OVSHOOT 28 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 95 R_STBD_OVSHOOT 35 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 3 SEABIRD_C_G -10.002422 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1227361 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0011729589 VBD_MAX 3949

DEVICE3 35 N_FILEKB 4 SEABIRD_C_J 0.00016786551 VBD_MAXERRORS 1

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0044130804 VBD_MIN 420

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00065298093 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7242255e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 5 PHONE_DEVICE 48 SEABIRD_T_J 2.9466562e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 230311,4807.303,-12223.281,9,2.6,28,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.116,-0.204

_SM_DEPTHo 1.29 KALMAN_X -230.7,-116.5,-28.6,-224.6,-32.7

_SM_ANGLEo -68.0 KALMAN_Y 636.8,364.0,180.4,-1543.3,84.8

GPS2 230929,4807.360,-12223.347,10,4.0,29,18.3 MHEAD_RNG_PITCHd_Wd 132.2,793,-30.8,-15.000

SPEED_LIMITS 0.126,0.235 D_GRID 105

Post-dive calculations and measurements:

FINISH 1.8,1.011192 ALTIM_BOTTOM_PING 80.0,40.2

SM_CCo 2341,103.75,0.653,0,0,465,760.18 _24V_AH 23.6,1.981

SM_GC 1.75,0.00,0.00,103.75,0.000,0.000,0.653,415,2136,465,-9.69,-0.40,760.18 _10V_AH 10.1,0.760

IRIDIUM_FIX 4748.51,-12226.29,130997,222230 DATA_FILE_SIZE 25434,465

TT8_MAMPS 0.027612 CAP_FILE_SIZE 48800,0

HUMID 1756 CFSIZE 260165632,257863680

INTERNAL_PRESSURE 7.57842 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.60 GPS 190608,235223,4807.368,-12223.313,13,4.2,32,18.3

XPDR_PINGS 2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 182 125.04 SBE_CT 306 24 173.54

Roll_motor 43 53 55.53 SBE_O2 256 19 114.92

VBD_pump_during_apogee 464 777 8528.01 WL_BB2F 547 105 1357.16

VBD_pump_during_surface 103 653 1600.06 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 25 103 62.34 nil 0 0 0.00

Iridium_during_connect 30 160 113.35 nil 0 0 0.00

Iridium_during_xfer 172 223 909.47

Transponder_ping 1 420 9.91

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 31 50 15.91

TT8 629 19 125.89

LPSleep 380 2 8.42

TT8_Active 549 19 109.84

TT8_Sampling 855 39 343.70

TT8_CF8 424 45 196.28

TT8_Kalman 33 81 27.53

Analog_circuits 1051 12 127.43

GPS_charging 0 0 0.00

Compass 841 8 67.99

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

23 end surface: CONTROL_FINISHED_OK

state 23 begin dive

27 -2.21 -92.9 0.0 0.0 0 77 0.00 0.00 -47.95 0.000 2 0.000 0.000 415 2161 1938

81 -2.21 -92.9 3.1 -4.0 9 154 9.75 2.55 -57.55 0.000 4 0.183 0.054 2036 3559 3944

178 -2.21 -92.9 7.8 -5.5 27 185 0.00 2.47 0.00 0.000 6 0.000 0.031 2036 2134 3944

209 -2.21 -92.9 8.9 -3.7 33 215 0.00 2.47 0.00 0.000 4 0.000 0.047 2036 743 3944

374 -2.21 -92.9 22.4 -11.0 70 381 0.00 2.42 0.00 0.000 6 0.000 0.030 2036 2149 3944

430 -2.21 -92.9 28.7 -11.1 81 435 0.00 2.53 0.00 0.000 4 0.000 0.047 2036 748 3944

524 -2.21 -92.9 40.3 -12.7 101 530 0.00 2.45 0.00 0.000 6 0.000 0.030 2036 2159 3944

669 -2.21 -92.9 58.9 -12.7 132 676 0.00 2.53 0.00 0.000 4 0.000 0.047 2036 748 3944

939 -2.21 -92.9 98.4 -14.7 190 945 0.00 2.42 0.00 0.000 6 0.000 0.032 2036 2148 3944

990 end dive: TARGET_DEPTH_EXCEEDED

state 990 begin apogee

998 -0.33 0.0 105.7 13.5 201 1076 2.15 0.00 70.97 0.778 6 0.135 0.000 2442 2044 3564

1077 end apogee: CONTROL_FINISHED_OK

state 1077 begin climb

1080 2.21 92.9 108.5 0.0 216 1160 2.65 2.60 70.28 0.762 4 0.075 0.046 3003 3455 3184

1181 2.21 92.9 98.6 15.8 235 1187 0.00 2.53 0.00 0.000 6 0.000 0.037 3003 2047 3184

1326 2.21 92.9 74.8 16.0 266 1333 0.00 2.55 0.00 0.000 4 0.000 0.053 3003 644 3184

1349 2.21 92.9 70.5 16.5 270 1355 0.00 2.47 0.00 0.000 6 0.000 0.033 3003 2054 3184

1497 2.23 99.2 48.8 14.3 301 1509 0.00 2.60 5.57 0.749 4 0.000 0.051 3003 640 3158

1702 2.25 115.0 17.4 13.3 345 1720 0.00 2.47 12.23 0.746 6 0.000 0.034 3003 2050 3096

1766 2.29 137.7 9.6 12.5 358 1789 0.00 2.62 17.73 0.751 4 0.000 0.054 3003 636 3002

1880 2.57 297.6 5.7 -2.3 383 2003 0.38 2.50 112.62 0.727 6 0.077 0.033 3079 2067 2349

2028 2.81 434.9 4.0 0.1 410 2122 0.22 0.00 86.00 0.705 6 0.078 0.000 3129 2067 1791

2147 3.06 574.8 3.2 -0.1 432 2242 0.22 1.80 89.22 0.671 3 0.077 0.040 3180 3048 1220

2243 end climb: SURFACE_DEPTH_REACHED

state 2243 begin surface coast

2314 end surface coast: CONTROL_FINISHED_OK

state 2314 begin surface

ID	114	HD_C	3.1312e-05	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	3	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	160	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3940	ALTIM_PING_DEPTH	80
D_TGT	180	TGT_DEFAULT_LAT	48.150002	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_ABORT	1090	TGT_DEFAULT_LON	-122.33	C_ROLL_DIVE	2150	ALTIM_FREQUENCY	13
D_NO_BLEED	80	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2050	ALTIM_PULSE	4
D_FINISH	0	SM_CC	760	HEAD_ERRBAND	15	ALTIM_SENSITIVITY	1
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	28	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	35	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	300	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	40	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	35
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	420	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3949	DEVICE5	-1
T_TURN_SAMPINT	4	CAPUPLOAD	1	C_VBD	3564	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
ICE_FREEZE_MARGIN	0.30000001	N_GPS	20	PITCH_VBD_SHIFT	0.0017500001	COMPASS_DEVICE	33
D_OFFGRID	100	T_GPS_ALMANAC	0	VBD_PUMP_AD_RATE_SURFACE	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-589753.62	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	50	XPDR_DEVICE	24
MAX_BUOY	95	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	50	PITCH_MIN	410	AH0_24V	91.800003	SEABIRD_T_G	0.0044130804
SPEED_FACTOR	1	PITCH_MAX	3699	AH0_10V	61.200001	SEABIRD_T_H	0.00065298093
RHO	1.023	C_PITCH	2522	PRESSURE_YINT	-9.99016	SEABIRD_T_I	2.7242255e-05
MASS	51965	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000116376	SEABIRD_T_J	2.9466562e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.002422
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1227361
KALMAN_USE	1	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0011729589
HD_A	0.0034169999	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00016786551
HD_B	0.0095870001	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	230311,4807.303,-12223.281,9,2.6,28,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.116,-0.204
_SM_DEPTHo	1.29	KALMAN_X	-230.7,-116.5,-28.6,-224.6,-32.7
_SM_ANGLEo	-68.0	KALMAN_Y	636.8,364.0,180.4,-1543.3,84.8
GPS2	230929,4807.360,-12223.347,10,4.0,29,18.3	MHEAD_RNG_PITCHd_Wd	132.2,793,-30.8,-15.000
SPEED_LIMITS	0.126,0.235	D_GRID	105

FINISH	1.8,1.011192	ALTIM_BOTTOM_PING	80.0,40.2
SM_CCo	2341,103.75,0.653,0,0,465,760.18	_24V_AH	23.6,1.981
SM_GC	1.75,0.00,0.00,103.75,0.000,0.000,0.653,415,2136,465,-9.69,-0.40,760.18	_10V_AH	10.1,0.760
IRIDIUM_FIX	4748.51,-12226.29,130997,222230	DATA_FILE_SIZE	25434,465
TT8_MAMPS	0.027612	CAP_FILE_SIZE	48800,0
HUMID	1756	CFSIZE	260165632,257863680
INTERNAL_PRESSURE	7.57842	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.60	GPS	190608,235223,4807.368,-12223.313,13,4.2,32,18.3
XPDR_PINGS	2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	182	125.04	SBE_CT	306	24	173.54
Roll_motor	43	53	55.53	SBE_O2	256	19	114.92
VBD_pump_during_apogee	464	777	8528.01	WL_BB2F	547	105	1357.16
VBD_pump_during_surface	103	653	1600.06	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	25	103	62.34	nil	0	0	0.00
Iridium_during_connect	30	160	113.35	nil	0	0	0.00
Iridium_during_xfer	172	223	909.47
Transponder_ping	1	420	9.91
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	31	50	15.91
TT8	629	19	125.89
LPSleep	380	2	8.42
TT8_Active	549	19	109.84
TT8_Sampling	855	39	343.70
TT8_CF8	424	45	196.28
TT8_Kalman	33	81	27.53
Analog_circuits	1051	12	127.43
GPS_charging	0	0	0.00
Compass	841	8	67.99
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
23	end surface: CONTROL_FINISHED_OK
state	23	begin dive
27	-2.21	-92.9	0.0	0.0	0	77	0.00	0.00	-47.95	0.000	2	0.000	0.000	415	2161	1938
81	-2.21	-92.9	3.1	-4.0	9	154	9.75	2.55	-57.55	0.000	4	0.183	0.054	2036	3559	3944
178	-2.21	-92.9	7.8	-5.5	27	185	0.00	2.47	0.00	0.000	6	0.000	0.031	2036	2134	3944
209	-2.21	-92.9	8.9	-3.7	33	215	0.00	2.47	0.00	0.000	4	0.000	0.047	2036	743	3944
374	-2.21	-92.9	22.4	-11.0	70	381	0.00	2.42	0.00	0.000	6	0.000	0.030	2036	2149	3944
430	-2.21	-92.9	28.7	-11.1	81	435	0.00	2.53	0.00	0.000	4	0.000	0.047	2036	748	3944
524	-2.21	-92.9	40.3	-12.7	101	530	0.00	2.45	0.00	0.000	6	0.000	0.030	2036	2159	3944
669	-2.21	-92.9	58.9	-12.7	132	676	0.00	2.53	0.00	0.000	4	0.000	0.047	2036	748	3944
939	-2.21	-92.9	98.4	-14.7	190	945	0.00	2.42	0.00	0.000	6	0.000	0.032	2036	2148	3944
990	end dive: TARGET_DEPTH_EXCEEDED
state	990	begin apogee
998	-0.33	0.0	105.7	13.5	201	1076	2.15	0.00	70.97	0.778	6	0.135	0.000	2442	2044	3564
1077	end apogee: CONTROL_FINISHED_OK
state	1077	begin climb
1080	2.21	92.9	108.5	0.0	216	1160	2.65	2.60	70.28	0.762	4	0.075	0.046	3003	3455	3184
1181	2.21	92.9	98.6	15.8	235	1187	0.00	2.53	0.00	0.000	6	0.000	0.037	3003	2047	3184
1326	2.21	92.9	74.8	16.0	266	1333	0.00	2.55	0.00	0.000	4	0.000	0.053	3003	644	3184
1349	2.21	92.9	70.5	16.5	270	1355	0.00	2.47	0.00	0.000	6	0.000	0.033	3003	2054	3184
1497	2.23	99.2	48.8	14.3	301	1509	0.00	2.60	5.57	0.749	4	0.000	0.051	3003	640	3158
1702	2.25	115.0	17.4	13.3	345	1720	0.00	2.47	12.23	0.746	6	0.000	0.034	3003	2050	3096
1766	2.29	137.7	9.6	12.5	358	1789	0.00	2.62	17.73	0.751	4	0.000	0.054	3003	636	3002
1880	2.57	297.6	5.7	-2.3	383	2003	0.38	2.50	112.62	0.727	6	0.077	0.033	3079	2067	2349
2028	2.81	434.9	4.0	0.1	410	2122	0.22	0.00	86.00	0.705	6	0.078	0.000	3129	2067	1791
2147	3.06	574.8	3.2	-0.1	432	2242	0.22	1.80	89.22	0.671	3	0.077	0.040	3180	3048	1220
2243	end climb: SURFACE_DEPTH_REACHED
state	2243	begin surface coast
2314	end surface coast: CONTROL_FINISHED_OK
state	2314	begin surface