Glider dive log

PN07 DabobBay Sep07 * SG116 * Dive index * Mission links * Dive 65 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 116 HD_B 0.0099999998 PITCH_AD_RATE 140 ALTIM_TOP_PING_RANGE 10

MISSION 4 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 65 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 155 ALTIM_PING_DEPTH 90

D_TGT 120 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3900 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2050 ALTIM_FREQUENCY 12

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2500 ALTIM_PULSE 2

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 15 INT_PRESSURE_YINT 0

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 28 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 20 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 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 582 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3893 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3281 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 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 -26414.461 VBD_PUMP_AD_RATE_APOGEE 3 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 5 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 100 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 10 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 132 AH0_24V 91.800003 SEABIRD_T_G 0.0043755369

SPEED_FACTOR 1 PITCH_MAX 3449 AH0_10V 61.200001 SEABIRD_T_H 0.00063954171

RHO 1.023 C_PITCH 2895 PRESSURE_YINT -0.025896728 SEABIRD_T_I 2.7100008e-05

MASS 51361 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001158926 SEABIRD_T_J 3.135212e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.8677502

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1239791

KALMAN_USE 1 PITCH_GAIN 12 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0015851235

HD_A 0.003 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00021129416

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 140 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 0 D_OFFGRID 100 PITCH_GAIN 12 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3449 SPEED_FACTOR 1

ALTIM_FREQUENCY 12 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 132 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 90 D_TGT 120 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 2 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001158926 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -0.025896728 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 10 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 45

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -26414.461

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 10 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 116 ROLL_MAX 3900 T_TURN_SAMPINT 6

C_PITCH 2895 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2500 INT_PRESSURE_YINT 0 ROLL_MIN 155 UNCOM_BLEED 20

C_ROLL_DIVE 2050 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3281 MASS 51361 R_PORT_OVSHOOT 28 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 100 R_STBD_OVSHOOT 20 USE_ICE 0

DEEPGLIDERMB 0 MISSION 4 SEABIRD_C_G -9.8677502 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1239791 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0015851235 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00021129416 VBD_MAX 3893

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043755369 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063954171 VBD_MIN 582

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.7100008e-05 VBD_PUMP_AD_RATE_APOGEE 3

DIVE 65 PHONE_DEVICE 48 SEABIRD_T_J 3.135212e-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 051717,4738.438,-12253.266,14,2.2,33,18.3 TGT_NAME H6

_CALLS 1 TGT_LATLONG 4738.532,-12252.401

_XMS_NAKs 0 TGT_RADIUS 100.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.207,0.022

_SM_DEPTHo 0.96 KALMAN_X 11861.8,-136.6,233.7,-12271.9,160.1

_SM_ANGLEo -66.3 KALMAN_Y 3558.5,-24.9,231.9,-5502.6,36.5

GPS2 052235,4738.454,-12253.250,15,2.1,34,18.3 MHEAD_RNG_PITCHd_Wd 65.6,1068,-19.6,-8.889

SPEED_LIMITS 0.154,0.208 D_GRID 142

Post-dive calculations and measurements:

FINISH 0.1,1.010517 XPDR_PINGS 207

SM_CCo 3419,91.95,0.577,0,0,1647,400.08 ALTIM_TOP_PING 9.9,999.0

SM_GC 0.90,0.00,0.00,91.95,0.000,0.000,0.577,133,2045,1647,-12.71,-0.14,400.08 _24V_AH 23.9,11.859

IRIDIUM_FIX 4722.92,-12256.21,230907,080801 _10V_AH 10.1,6.541

TT8_MAMPS 0.067496 DATA_FILE_SIZE 9562,314

HUMID 2126 CFSIZE 260034560,255062016

INTERNAL_PRESSURE 10.9379 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 19.70 GPS 230907,062323,4738.540,-12252.883,11,2.1,31,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 33 211 170.00 SBE_CT 208 24 119.35

Roll_motor 32 79 60.99 nil 0 0 0.00

VBD_pump_during_apogee 278 661 4394.42 nil 0 0 0.00

VBD_pump_during_surface 91 576 1267.54 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 97.83 nil 0 0 0.00

Iridium_during_connect 34 160 131.55 ARS 0 0 0.00

Iridium_during_xfer 104 223 558.47

Transponder_ping 53 420 532.01

Mmodem_TX 0 1000 0.00

Mmodem_RX 4025 6 615.66

GPS 35 50 17.70

TT8 572 19 114.40

LPSleep 1891 2 41.84

TT8_Active 448 19 89.60

TT8_Sampling 579 39 232.95

TT8_CF8 364 45 168.75

TT8_Kalman 33 81 27.55

Analog_circuits 782 12 94.83

GPS_charging 0 0 0.00

Compass 540 8 43.71

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

30 -1.75 -97.8 0.0 0.0 0 86 0.00 0.00 -54.50 0.000 2 0.000 0.000 135 2051 2968

90 -1.75 -97.8 2.1 -4.5 9 134 15.32 2.65 -22.23 0.000 4 0.212 0.070 2508 3461 3681

386 -1.75 -97.8 19.3 -6.0 54 392 0.00 2.47 0.00 0.000 6 0.000 0.038 2508 2046 3683

456 -1.75 -97.8 23.7 -6.3 61 460 0.00 2.60 0.00 0.000 4 0.000 0.058 2508 3466 3683

555 -1.75 -97.8 29.5 -6.0 68 560 0.00 2.50 0.00 0.000 6 0.000 0.038 2508 2043 3683

751 -1.75 -97.8 40.9 -5.8 83 752 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2043 3684

943 -1.75 -97.8 52.2 -6.2 98 944 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2043 3684

1132 -1.75 -97.8 63.8 -6.4 113 1133 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2043 3684

1321 -1.75 -97.8 75.0 -5.7 128 1325 0.00 2.58 0.00 0.000 4 0.000 0.067 2508 651 3683

1395 -1.75 -97.8 79.5 -5.9 133 1400 0.00 2.47 0.00 0.000 6 0.000 0.040 2507 2059 3684

1591 -1.75 -97.8 91.8 -6.3 148 1595 0.00 2.60 0.00 0.000 4 0.000 0.063 2508 652 3684

1666 -1.75 -97.8 96.8 -7.4 153 1670 0.00 2.45 0.00 0.000 6 0.000 0.039 2508 2051 3683

1861 -1.75 -97.8 109.4 -6.0 168 1862 0.00 0.00 0.00 0.000 6 0.000 0.000 2508 2052 3683

2052 end dive: TARGET_DEPTH_EXCEEDED

state 2052 begin apogee

2060 -0.42 0.0 120.4 6.0 183 2187 1.48 0.00 116.57 0.661 6 0.113 0.000 2798 2502 3281

2188 end apogee: CONTROL_FINISHED_OK

state 2190 begin climb

2193 1.75 97.8 121.9 0.0 194 2320 2.17 2.75 114.72 0.631 4 0.061 0.079 3273 3889 2882

2412 1.75 97.8 98.3 14.1 211 2419 0.00 2.50 0.00 0.000 6 0.000 0.040 3273 2494 2882

2608 1.75 97.8 73.6 12.7 227 2609 0.00 0.00 0.00 0.000 6 0.000 0.000 3273 2492 2882

2800 1.75 97.8 50.2 12.5 242 2804 0.00 2.62 0.00 0.000 4 0.000 0.071 3273 3887 2881

2890 1.75 97.8 37.2 13.5 248 2898 0.00 2.47 0.00 0.000 6 0.000 0.039 3273 2494 2881

3090 1.75 97.8 13.5 10.7 268 3095 0.00 0.00 0.00 0.000 6 0.000 0.000 3273 2492 2881

3161 1.75 97.8 6.0 10.0 279 3167 0.00 0.00 0.00 0.000 6 0.000 0.000 3273 2492 2881

3233 1.89 210.3 2.7 2.0 290 3283 0.15 0.00 46.80 0.597 2 0.060 0.000 3314 2492 2493

3284 end climb: SURFACE_DEPTH_REACHED

state 3284 begin surface coast

3388 end surface coast: CONTROL_FINISHED_OK

state 3388 begin surface

ID	116	HD_B	0.0099999998	PITCH_AD_RATE	140	ALTIM_TOP_PING_RANGE	10
MISSION	4	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	65	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	155	ALTIM_PING_DEPTH	90
D_TGT	120	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3900	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2050	ALTIM_FREQUENCY	12
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2500	ALTIM_PULSE	2
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	15	INT_PRESSURE_YINT	0
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	28	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	20	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	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	582	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3893	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3281	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	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	-26414.461	VBD_PUMP_AD_RATE_APOGEE	3	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	5	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	100	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	10	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	132	AH0_24V	91.800003	SEABIRD_T_G	0.0043755369
SPEED_FACTOR	1	PITCH_MAX	3449	AH0_10V	61.200001	SEABIRD_T_H	0.00063954171
RHO	1.023	C_PITCH	2895	PRESSURE_YINT	-0.025896728	SEABIRD_T_I	2.7100008e-05
MASS	51361	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001158926	SEABIRD_T_J	3.135212e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.8677502
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1239791
KALMAN_USE	1	PITCH_GAIN	12	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0015851235
HD_A	0.003	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00021129416

GPS1	051717,4738.438,-12253.266,14,2.2,33,18.3	TGT_NAME	H6
_CALLS	1	TGT_LATLONG	4738.532,-12252.401
_XMS_NAKs	0	TGT_RADIUS	100.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.207,0.022
_SM_DEPTHo	0.96	KALMAN_X	11861.8,-136.6,233.7,-12271.9,160.1
_SM_ANGLEo	-66.3	KALMAN_Y	3558.5,-24.9,231.9,-5502.6,36.5
GPS2	052235,4738.454,-12253.250,15,2.1,34,18.3	MHEAD_RNG_PITCHd_Wd	65.6,1068,-19.6,-8.889
SPEED_LIMITS	0.154,0.208	D_GRID	142

FINISH	0.1,1.010517	XPDR_PINGS	207
SM_CCo	3419,91.95,0.577,0,0,1647,400.08	ALTIM_TOP_PING	9.9,999.0
SM_GC	0.90,0.00,0.00,91.95,0.000,0.000,0.577,133,2045,1647,-12.71,-0.14,400.08	_24V_AH	23.9,11.859
IRIDIUM_FIX	4722.92,-12256.21,230907,080801	_10V_AH	10.1,6.541
TT8_MAMPS	0.067496	DATA_FILE_SIZE	9562,314
HUMID	2126	CFSIZE	260034560,255062016
INTERNAL_PRESSURE	10.9379	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	19.70	GPS	230907,062323,4738.540,-12252.883,11,2.1,31,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	33	211	170.00	SBE_CT	208	24	119.35
Roll_motor	32	79	60.99	nil	0	0	0.00
VBD_pump_during_apogee	278	661	4394.42	nil	0	0	0.00
VBD_pump_during_surface	91	576	1267.54	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	97.83	nil	0	0	0.00
Iridium_during_connect	34	160	131.55	ARS	0	0	0.00
Iridium_during_xfer	104	223	558.47
Transponder_ping	53	420	532.01
Mmodem_TX	0	1000	0.00
Mmodem_RX	4025	6	615.66
GPS	35	50	17.70
TT8	572	19	114.40
LPSleep	1891	2	41.84
TT8_Active	448	19	89.60
TT8_Sampling	579	39	232.95
TT8_CF8	364	45	168.75
TT8_Kalman	33	81	27.55
Analog_circuits	782	12	94.83
GPS_charging	0	0	0.00
Compass	540	8	43.71
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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
30	-1.75	-97.8	0.0	0.0	0	86	0.00	0.00	-54.50	0.000	2	0.000	0.000	135	2051	2968
90	-1.75	-97.8	2.1	-4.5	9	134	15.32	2.65	-22.23	0.000	4	0.212	0.070	2508	3461	3681
386	-1.75	-97.8	19.3	-6.0	54	392	0.00	2.47	0.00	0.000	6	0.000	0.038	2508	2046	3683
456	-1.75	-97.8	23.7	-6.3	61	460	0.00	2.60	0.00	0.000	4	0.000	0.058	2508	3466	3683
555	-1.75	-97.8	29.5	-6.0	68	560	0.00	2.50	0.00	0.000	6	0.000	0.038	2508	2043	3683
751	-1.75	-97.8	40.9	-5.8	83	752	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2043	3684
943	-1.75	-97.8	52.2	-6.2	98	944	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2043	3684
1132	-1.75	-97.8	63.8	-6.4	113	1133	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2043	3684
1321	-1.75	-97.8	75.0	-5.7	128	1325	0.00	2.58	0.00	0.000	4	0.000	0.067	2508	651	3683
1395	-1.75	-97.8	79.5	-5.9	133	1400	0.00	2.47	0.00	0.000	6	0.000	0.040	2507	2059	3684
1591	-1.75	-97.8	91.8	-6.3	148	1595	0.00	2.60	0.00	0.000	4	0.000	0.063	2508	652	3684
1666	-1.75	-97.8	96.8	-7.4	153	1670	0.00	2.45	0.00	0.000	6	0.000	0.039	2508	2051	3683
1861	-1.75	-97.8	109.4	-6.0	168	1862	0.00	0.00	0.00	0.000	6	0.000	0.000	2508	2052	3683
2052	end dive: TARGET_DEPTH_EXCEEDED
state	2052	begin apogee
2060	-0.42	0.0	120.4	6.0	183	2187	1.48	0.00	116.57	0.661	6	0.113	0.000	2798	2502	3281
2188	end apogee: CONTROL_FINISHED_OK
state	2190	begin climb
2193	1.75	97.8	121.9	0.0	194	2320	2.17	2.75	114.72	0.631	4	0.061	0.079	3273	3889	2882
2412	1.75	97.8	98.3	14.1	211	2419	0.00	2.50	0.00	0.000	6	0.000	0.040	3273	2494	2882
2608	1.75	97.8	73.6	12.7	227	2609	0.00	0.00	0.00	0.000	6	0.000	0.000	3273	2492	2882
2800	1.75	97.8	50.2	12.5	242	2804	0.00	2.62	0.00	0.000	4	0.000	0.071	3273	3887	2881
2890	1.75	97.8	37.2	13.5	248	2898	0.00	2.47	0.00	0.000	6	0.000	0.039	3273	2494	2881
3090	1.75	97.8	13.5	10.7	268	3095	0.00	0.00	0.00	0.000	6	0.000	0.000	3273	2492	2881
3161	1.75	97.8	6.0	10.0	279	3167	0.00	0.00	0.00	0.000	6	0.000	0.000	3273	2492	2881
3233	1.89	210.3	2.7	2.0	290	3283	0.15	0.00	46.80	0.597	2	0.060	0.000	3314	2492	2493
3284	end climb: SURFACE_DEPTH_REACHED
state	3284	begin surface coast
3388	end surface coast: CONTROL_FINISHED_OK
state	3388	begin surface