Glider dive log

PortSusan 16Sep09 * SG502 * Dive index * Mission links * Dive 5 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 502 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 187 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 5 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3764 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 4808 C_ROLL_DIVE 2248 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12223 C_ROLL_CLIMB 2086 ALTIM_PULSE 3

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 380 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 26 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 38 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 350 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 1 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 N_NOCOMM 1 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 ROLL_ADJ_DBAND 0 DEVICE1 2

T_DIVE 50 UPLOAD_DIVES_MAX -1 VBD_MIN 420 DEVICE2 101

T_MISSION 60 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 83

T_ABORT 1440 CALL_WAIT 60 C_VBD 3425 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.245296 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 5 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 6 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 -2106.3662 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 50 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 20 RAFOS_DEVICE -1

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 450 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3944 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 3012 PRESSURE_YINT -71.419655 SEABIRD_T_G 0.0043373196

RHO 1.0233001 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.00011650941 SEABIRD_T_H 0.00062598457

MASS 51342 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5066851e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.8555498e-06

FERRY_MAX 45 PITCH_GAIN 32 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.7998753

KALMAN_USE 1 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_H 1.1362277

HD_A 0.003 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.00070417771

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00014171835

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.003125763 SMARTS 0

AH0_24V 150 D_NO_BLEED 500 PITCH_DBAND 0.1 SM_CC 380

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 32 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3944 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 5 D_SURF 3 PITCH_MIN 450 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.00011650941 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -71.419655 TGT_DEFAULT_LAT 4808

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12223

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 5

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -2106.3662

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.0233001 T_MISSION 60

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 3

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 4

COMPASS_DEVICE 33 ID 502 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3764 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 3012 KALMAN_USE 1 ROLL_MIN 187 USE_BATHY -4

C_ROLL_CLIMB 2086 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2248 MASS 51342 R_PORT_OVSHOOT 26 VBD_BLEED_AD_RATE 8

C_VBD 3425 MAX_BUOY 150 R_STBD_OVSHOOT 38 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.7998753 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1362277 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.00070417771 VBD_MAXERRORS 1

DEVICE2 101 N_FILEKB 4 SEABIRD_C_J 0.00014171835 VBD_MIN 420

DEVICE3 83 N_GPS 20 SEABIRD_T_G 0.0043373196 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00062598457 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5066851e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.8555498e-06 XPDR_DEVICE 24

DIVE 5 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 020614,4806.741,-12222.772,10,1.8,10,18.3 TGT_NAME FIVENEW

_CALLS 2 TGT_LATLONG 4805.000,-12221.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.172,-0.195

_SM_DEPTHo 0.84 KALMAN_X -657.1,-115.4,-51.4,-202.7,-89.7

_SM_ANGLEo -72.0 KALMAN_Y 876.1,286.0,134.5,-825.2,20.7

GPS2 021244,4806.739,-12222.809,12,1.9,12,18.3 MHEAD_RNG_PITCHd_Wd 120.4,3922,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 103

Post-dive calculations and measurements:

FINISH 0.5,1.003872 ALTIM_BOTTOM_PING 80.1,6.2

SM_CCo 1925,46.58,0.567,0,0,1875,380.21 _24V_AH 24.5,4.724

SM_GC 2.79,0.00,0.00,46.58,0.000,0.000,0.567,424,2269,1875,-8.09,0.59,380.21 _10V_AH 10.8,1.752

IRIDIUM_FIX 4751.72,-12223.57,121298,020240 DATA_FILE_SIZE 25580,393

TT8_MAMPS 0.028379 CAP_FILE_SIZE 57874,0

HUMID 2155 CFSIZE 260165632,258633728

INTERNAL_PRESSURE 9.60974 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.30 GPS 170909,024734,4806.539,-12222.676,11,3.4,30,18.3

XPDR_PINGS 49

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 238 105.19 SBE_CT 260 24 152.97

Roll_motor 27 61 40.97 AA4330 465 33 376.11

VBD_pump_during_apogee 295 653 4736.66 WL_BBFL2VMT 406 105 1045.25

VBD_pump_during_surface 46 566 646.78 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 103 0.00 nil 0 0 0.00

Iridium_during_connect 0 160 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 12 420 131.20

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 13 50 7.02

TT8 560 19 119.75

LPSleep 394 2 9.34

TT8_Active 405 19 86.73

TT8_Sampling 645 39 277.43

TT8_CF8 35 45 17.74

TT8_Kalman 33 81 29.44

Analog_circuits 789 12 102.31

GPS_charging 0 0 0.00

Compass 631 8 54.57

RAFOS 0 0 0.00

Transponder 5 30 1.76

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

13 -0.73 -146.6 0.0 0.0 0 133 0.00 0.00 -116.18 0.000 2 0.000 0.000 442 2271 3500

135 -0.73 -146.6 3.7 -8.5 21 160 9.10 2.25 -9.40 0.000 4 0.239 0.061 2772 827 3966

365 -0.73 -146.6 40.3 -15.0 71 371 0.00 2.17 0.00 0.000 6 0.000 0.042 2764 2241 3966

509 -0.73 -146.6 63.0 -16.3 102 514 0.00 0.00 0.00 0.000 6 0.000 0.000 2763 2241 3967

654 -0.73 -146.6 86.7 -15.8 133 661 0.00 2.20 0.00 0.000 4 0.000 0.051 2763 830 3967

706 -0.73 -146.6 95.2 -15.5 144 712 0.00 2.17 0.00 0.000 6 0.000 0.041 2753 2246 3967

756 end dive: TARGET_DEPTH_EXCEEDED

state 757 begin apogee

761 -0.16 0.0 103.7 16.8 155 866 0.62 0.00 99.00 0.653 6 0.140 0.000 2954 2063 3424

866 end apogee: CONTROL_FINISHED_OK

state 867 begin climb

868 0.73 146.6 108.3 0.0 174 985 0.80 0.00 110.88 0.622 6 0.075 0.000 3241 2063 2826

1122 0.73 146.6 80.2 15.0 225 1128 0.00 2.30 0.00 0.000 4 0.000 0.051 3241 3503 2822

1184 0.73 146.6 70.6 15.8 238 1190 0.00 2.22 0.00 0.000 6 0.000 0.047 3248 2094 2821

1327 0.73 146.6 50.5 14.6 269 1333 0.00 2.22 0.00 0.000 4 0.000 0.049 3248 3507 2820

1342 0.73 146.6 48.0 15.0 272 1349 0.00 2.22 0.00 0.000 6 0.000 0.046 3256 2085 2820

1482 0.73 146.6 27.5 13.8 303 1488 0.00 2.22 0.00 0.000 4 0.000 0.050 3256 3506 2820

1498 0.73 146.6 25.2 13.8 306 1504 0.00 2.22 0.00 0.000 6 0.000 0.048 3267 2079 2819

1570 0.73 146.6 15.3 11.1 322 1576 0.00 0.00 0.00 0.000 6 0.000 0.000 3267 2078 2819

1643 0.73 146.6 5.8 10.5 338 1649 0.00 2.22 0.00 0.000 4 0.000 0.049 3267 3510 2819

1677 0.88 271.8 4.3 4.2 345 1769 0.00 2.22 85.97 0.589 6 0.000 0.045 3275 2071 2316

1799 end climb: SURFACE_DEPTH_REACHED

state 1799 begin surface coast

1910 end surface coast: CONTROL_FINISHED_OK

state 1910 begin surface

ID	502	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	187	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	5	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3764	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	4808	C_ROLL_DIVE	2248	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12223	C_ROLL_CLIMB	2086	ALTIM_PULSE	3
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	380	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	26	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	38	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	350	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	1	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	N_NOCOMM	1	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	ROLL_ADJ_DBAND	0	DEVICE1	2
T_DIVE	50	UPLOAD_DIVES_MAX	-1	VBD_MIN	420	DEVICE2	101
T_MISSION	60	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	83
T_ABORT	1440	CALL_WAIT	60	C_VBD	3425	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.245296	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	5	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	6	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	-2106.3662	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	50	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	20	RAFOS_DEVICE	-1
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	450	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3944	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	3012	PRESSURE_YINT	-71.419655	SEABIRD_T_G	0.0043373196
RHO	1.0233001	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.00011650941	SEABIRD_T_H	0.00062598457
MASS	51342	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5066851e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.8555498e-06
FERRY_MAX	45	PITCH_GAIN	32	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.7998753
KALMAN_USE	1	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_H	1.1362277
HD_A	0.003	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.00070417771
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00014171835
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	020614,4806.741,-12222.772,10,1.8,10,18.3	TGT_NAME	FIVENEW
_CALLS	2	TGT_LATLONG	4805.000,-12221.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.172,-0.195
_SM_DEPTHo	0.84	KALMAN_X	-657.1,-115.4,-51.4,-202.7,-89.7
_SM_ANGLEo	-72.0	KALMAN_Y	876.1,286.0,134.5,-825.2,20.7
GPS2	021244,4806.739,-12222.809,12,1.9,12,18.3	MHEAD_RNG_PITCHd_Wd	120.4,3922,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	103

FINISH	0.5,1.003872	ALTIM_BOTTOM_PING	80.1,6.2
SM_CCo	1925,46.58,0.567,0,0,1875,380.21	_24V_AH	24.5,4.724
SM_GC	2.79,0.00,0.00,46.58,0.000,0.000,0.567,424,2269,1875,-8.09,0.59,380.21	_10V_AH	10.8,1.752
IRIDIUM_FIX	4751.72,-12223.57,121298,020240	DATA_FILE_SIZE	25580,393
TT8_MAMPS	0.028379	CAP_FILE_SIZE	57874,0
HUMID	2155	CFSIZE	260165632,258633728
INTERNAL_PRESSURE	9.60974	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.30	GPS	170909,024734,4806.539,-12222.676,11,3.4,30,18.3
XPDR_PINGS	49

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	238	105.19	SBE_CT	260	24	152.97
Roll_motor	27	61	40.97	AA4330	465	33	376.11
VBD_pump_during_apogee	295	653	4736.66	WL_BBFL2VMT	406	105	1045.25
VBD_pump_during_surface	46	566	646.78	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	103	0.00	nil	0	0	0.00
Iridium_during_connect	0	160	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	12	420	131.20
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	13	50	7.02
TT8	560	19	119.75
LPSleep	394	2	9.34
TT8_Active	405	19	86.73
TT8_Sampling	645	39	277.43
TT8_CF8	35	45	17.74
TT8_Kalman	33	81	29.44
Analog_circuits	789	12	102.31
GPS_charging	0	0	0.00
Compass	631	8	54.57
RAFOS	0	0	0.00
Transponder	5	30	1.76

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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
13	-0.73	-146.6	0.0	0.0	0	133	0.00	0.00	-116.18	0.000	2	0.000	0.000	442	2271	3500
135	-0.73	-146.6	3.7	-8.5	21	160	9.10	2.25	-9.40	0.000	4	0.239	0.061	2772	827	3966
365	-0.73	-146.6	40.3	-15.0	71	371	0.00	2.17	0.00	0.000	6	0.000	0.042	2764	2241	3966
509	-0.73	-146.6	63.0	-16.3	102	514	0.00	0.00	0.00	0.000	6	0.000	0.000	2763	2241	3967
654	-0.73	-146.6	86.7	-15.8	133	661	0.00	2.20	0.00	0.000	4	0.000	0.051	2763	830	3967
706	-0.73	-146.6	95.2	-15.5	144	712	0.00	2.17	0.00	0.000	6	0.000	0.041	2753	2246	3967
756	end dive: TARGET_DEPTH_EXCEEDED
state	757	begin apogee
761	-0.16	0.0	103.7	16.8	155	866	0.62	0.00	99.00	0.653	6	0.140	0.000	2954	2063	3424
866	end apogee: CONTROL_FINISHED_OK
state	867	begin climb
868	0.73	146.6	108.3	0.0	174	985	0.80	0.00	110.88	0.622	6	0.075	0.000	3241	2063	2826
1122	0.73	146.6	80.2	15.0	225	1128	0.00	2.30	0.00	0.000	4	0.000	0.051	3241	3503	2822
1184	0.73	146.6	70.6	15.8	238	1190	0.00	2.22	0.00	0.000	6	0.000	0.047	3248	2094	2821
1327	0.73	146.6	50.5	14.6	269	1333	0.00	2.22	0.00	0.000	4	0.000	0.049	3248	3507	2820
1342	0.73	146.6	48.0	15.0	272	1349	0.00	2.22	0.00	0.000	6	0.000	0.046	3256	2085	2820
1482	0.73	146.6	27.5	13.8	303	1488	0.00	2.22	0.00	0.000	4	0.000	0.050	3256	3506	2820
1498	0.73	146.6	25.2	13.8	306	1504	0.00	2.22	0.00	0.000	6	0.000	0.048	3267	2079	2819
1570	0.73	146.6	15.3	11.1	322	1576	0.00	0.00	0.00	0.000	6	0.000	0.000	3267	2078	2819
1643	0.73	146.6	5.8	10.5	338	1649	0.00	2.22	0.00	0.000	4	0.000	0.049	3267	3510	2819
1677	0.88	271.8	4.3	4.2	345	1769	0.00	2.22	85.97	0.589	6	0.000	0.045	3275	2071	2316
1799	end climb: SURFACE_DEPTH_REACHED
state	1799	begin surface coast
1910	end surface coast: CONTROL_FINISHED_OK
state	1910	begin surface