Glider dive log

PortSusan 15Jul09 * SG170 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 170 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 1 ESCAPE_HEADING 0 ROLL_MIN 165 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 7 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3698 ALTIM_PING_DEPTH 80

D_SURF 4 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_FLARE 3 TGT_DEFAULT_LAT 4736 C_ROLL_DIVE 2100 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -12218 C_ROLL_CLIMB 2100 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_NO_BLEED 500 SM_CC 480 ROLL_CNV 0.028270001 XPDR_VALID 3

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 27 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 28 INT_PRESSURE_YINT -0.60000002

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 400 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 460 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 3418 DEVICE4 -1

T_TURN 225 CAPUPLOAD 1 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 4 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 720 SMARTS 0

USE_BATHY -4 T_GPS 15 PITCH_VBD_SHIFT 0.0012300001 SMARTDEVICE1 -1

USE_ICE 0 N_GPS 20 VBD_PUMP_AD_RATE_SURFACE 5 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 -9438.8398 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 3 UNCOM_BLEED 20 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 120 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 139 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3933 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2950 PRESSURE_YINT -62.362949 SEABIRD_T_G 0.0043652086

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_H 0.00063100836

MASS 51437 PITCH_CNV 0.003125763 AD7714Ch0Gain 128 SEABIRD_T_I 2.5667814e-05

NAV_MODE 1 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.9083003e-06

FERRY_MAX 45 PITCH_GAIN 31 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8859177

KALMAN_USE 1 PITCH_TIMEOUT 16 COMPASS_USE 0 SEABIRD_C_H 1.1208299

HD_A 0.003 PITCH_AD_RATE 155 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -0.0010195741

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00016822568

HD_C 9.9999997e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 155 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 480

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 31 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3933 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 10 D_SURF 4 PITCH_MIN 139 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 16 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 0.000115925 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -62.362949 TGT_DEFAULT_LAT 4736

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -12218

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 15

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 -9438.8398

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_MISSION 70

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 400 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 170 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3698 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT -0.60000002 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2950 KALMAN_USE 1 ROLL_MIN 165 USE_BATHY -4

C_ROLL_CLIMB 2100 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 2100 MASS 51437 R_PORT_OVSHOOT 27 VBD_BLEED_AD_RATE 8

C_VBD 3418 MAX_BUOY 120 R_STBD_OVSHOOT 28 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 1 SEABIRD_C_G -9.8859177 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1208299 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -0.0010195741 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 0.00016822568 VBD_MIN 460

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043652086 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063100836 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5667814e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.9083003e-06 XPDR_DEVICE 24

DIVE 7 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 3

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 002019,4807.542,-12223.000,8,1.5,13,18.3 TGT_NAME SIX

_CALLS 4 TGT_LATLONG 4806.000,-12222.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.117,-0.204

_SM_DEPTHo 1.33 KALMAN_X -510.5,-203.4,-70.1,1225.8,-66.4

_SM_ANGLEo -78.2 KALMAN_Y -107.2,61.9,10.6,586.4,8.4

GPS2 003336,4807.517,-12222.979,14,2.0,30,18.3 MHEAD_RNG_PITCHd_Wd 131.8,3059,-19.7,-10.000

SPEED_LIMITS 0.173,0.235 D_GRID 107

Post-dive calculations and measurements:

FINISH 2.7,1.018480 XPDR_PINGS 0

SM_CCo 1814,257.75,0.621,1,0,1461,480.05 _24V_AH 24.6,1.196

SM_GC 1.42,0.00,0.00,257.75,0.000,0.000,0.621,130,2114,1461,-8.81,0.40,480.05 _10V_AH 10.8,0.379

IRIDIUM_FIX 4748.51,-12221.84,101098,000051 DATA_FILE_SIZE 12756,368

TT8_MAMPS 0.026078 CAP_FILE_SIZE 44448,0

HUMID 1912 CFSIZE 260165632,256221184

INTERNAL_PRESSURE 9.14647 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,7,1,0

TCM_TEMP 19.20 GPS 160709,010950,4807.359,-12222.925,10,1.1,10,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 248 125.78 SBE_CT 245 24 144.79

Roll_motor 36 84 75.70 SBE_O2 182 19 85.25

VBD_pump_during_apogee 184 681 3091.84 nil 0 0 0.00

VBD_pump_during_surface 257 620 3934.39 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 98 103 248.35 nil 0 0 0.00

Iridium_during_connect 216 160 851.37 nil 0 0 0.00

Iridium_during_xfer 201 223 1103.71

Transponder_ping 0 420 7.75

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 30 50 16.66

TT8 549 19 117.53

LPSleep 654 2 15.49

TT8_Active 533 19 114.11

TT8_Sampling 573 39 246.44

TT8_CF8 582 45 288.04

TT8_Kalman 33 81 29.44

Analog_circuits 870 12 112.83

GPS_charging 0 0 0.00

Compass 549 8 47.49

RAFOS 0 0 0.00

Transponder 5 30 1.83

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

14 -0.78 -117.3 0.0 0.0 0 89 0.00 0.00 -72.78 0.000 2 0.000 0.000 135 2113 3332

91 -0.78 -117.3 3.2 -4.3 14 121 10.25 2.30 -14.23 0.000 4 0.249 0.069 2692 689 3897

384 -0.78 -117.3 33.0 -10.8 76 391 0.00 2.30 0.00 0.000 6 0.000 0.074 2692 2096 3899

460 -0.78 -117.3 41.5 -10.9 92 466 0.00 2.22 0.00 0.000 4 0.000 0.056 2692 685 3899

509 -0.78 -117.3 47.1 -11.7 102 515 0.00 2.30 0.00 0.000 6 0.000 0.073 2692 2100 3898

654 -0.78 -117.3 64.1 -11.6 133 660 0.00 2.38 0.00 0.000 4 0.000 0.084 2692 3518 3899

734 -0.78 -117.3 73.6 -11.6 150 740 0.00 2.25 0.00 0.000 6 0.000 0.053 2692 2087 3899

879 -0.78 -117.3 89.8 -10.8 181 886 0.00 2.38 0.00 0.000 4 0.000 0.081 2692 3514 3898

919 -0.78 -117.3 94.5 -11.4 189 925 0.00 2.22 0.00 0.000 6 0.000 0.052 2692 2100 3898

1031 end dive: TARGET_DEPTH_EXCEEDED

state 1031 begin apogee

1035 -0.16 0.0 107.2 10.6 213 1126 0.62 0.00 84.22 0.682 6 0.153 0.000 2890 2099 3418

1126 end apogee: CONTROL_FINISHED_OK

state 1127 begin climb

1128 0.78 117.3 108.7 0.0 230 1225 0.88 2.38 86.25 0.673 4 0.088 0.055 3207 698 2939

1254 0.78 117.3 93.6 17.1 254 1260 0.00 2.30 0.00 0.000 6 0.000 0.049 3206 2121 2939

1400 0.78 117.3 67.2 15.1 285 1406 0.00 2.30 0.00 0.000 4 0.000 0.054 3217 690 2938

1416 0.80 134.8 65.9 9.0 288 1439 0.00 2.22 13.85 0.617 6 0.000 0.048 3217 2104 2868

1577 0.80 134.8 38.3 18.8 322 1583 0.00 2.25 0.00 0.000 4 0.000 0.054 3228 696 2867

1593 0.80 134.8 35.2 19.5 325 1599 0.00 2.20 0.00 0.000 6 0.000 0.048 3228 2099 2867

1669 0.80 134.8 20.9 18.4 341 1674 0.00 0.00 0.00 0.000 6 0.000 0.000 3228 2098 2866

1744 0.80 134.8 7.6 16.9 357 1750 0.00 2.22 0.00 0.000 4 0.000 0.054 3239 697 2866

1768 end climb: SURFACE_DEPTH_REACHED

state 1768 begin surface coast

1796 end surface coast: CONTROL_FINISHED_OK

state 1796 begin surface

ID	170	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	1	ESCAPE_HEADING	0	ROLL_MIN	165	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	7	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3698	ALTIM_PING_DEPTH	80
D_SURF	4	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_FLARE	3	TGT_DEFAULT_LAT	4736	C_ROLL_DIVE	2100	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-12218	C_ROLL_CLIMB	2100	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_NO_BLEED	500	SM_CC	480	ROLL_CNV	0.028270001	XPDR_VALID	3
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	27	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	28	INT_PRESSURE_YINT	-0.60000002
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	400	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	460	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	3418	DEVICE4	-1
T_TURN	225	CAPUPLOAD	1	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	4	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	720	SMARTS	0
USE_BATHY	-4	T_GPS	15	PITCH_VBD_SHIFT	0.0012300001	SMARTDEVICE1	-1
USE_ICE	0	N_GPS	20	VBD_PUMP_AD_RATE_SURFACE	5	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	-9438.8398	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	3	UNCOM_BLEED	20	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	120	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	139	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3933	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2950	PRESSURE_YINT	-62.362949	SEABIRD_T_G	0.0043652086
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_H	0.00063100836
MASS	51437	PITCH_CNV	0.003125763	AD7714Ch0Gain	128	SEABIRD_T_I	2.5667814e-05
NAV_MODE	1	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.9083003e-06
FERRY_MAX	45	PITCH_GAIN	31	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8859177
KALMAN_USE	1	PITCH_TIMEOUT	16	COMPASS_USE	0	SEABIRD_C_H	1.1208299
HD_A	0.003	PITCH_AD_RATE	155	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-0.0010195741
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00016822568
HD_C	9.9999997e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	002019,4807.542,-12223.000,8,1.5,13,18.3	TGT_NAME	SIX
_CALLS	4	TGT_LATLONG	4806.000,-12222.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.117,-0.204
_SM_DEPTHo	1.33	KALMAN_X	-510.5,-203.4,-70.1,1225.8,-66.4
_SM_ANGLEo	-78.2	KALMAN_Y	-107.2,61.9,10.6,586.4,8.4
GPS2	003336,4807.517,-12222.979,14,2.0,30,18.3	MHEAD_RNG_PITCHd_Wd	131.8,3059,-19.7,-10.000
SPEED_LIMITS	0.173,0.235	D_GRID	107

FINISH	2.7,1.018480	XPDR_PINGS	0
SM_CCo	1814,257.75,0.621,1,0,1461,480.05	_24V_AH	24.6,1.196
SM_GC	1.42,0.00,0.00,257.75,0.000,0.000,0.621,130,2114,1461,-8.81,0.40,480.05	_10V_AH	10.8,0.379
IRIDIUM_FIX	4748.51,-12221.84,101098,000051	DATA_FILE_SIZE	12756,368
TT8_MAMPS	0.026078	CAP_FILE_SIZE	44448,0
HUMID	1912	CFSIZE	260165632,256221184
INTERNAL_PRESSURE	9.14647	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
TCM_TEMP	19.20	GPS	160709,010950,4807.359,-12222.925,10,1.1,10,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	248	125.78	SBE_CT	245	24	144.79
Roll_motor	36	84	75.70	SBE_O2	182	19	85.25
VBD_pump_during_apogee	184	681	3091.84	nil	0	0	0.00
VBD_pump_during_surface	257	620	3934.39	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	98	103	248.35	nil	0	0	0.00
Iridium_during_connect	216	160	851.37	nil	0	0	0.00
Iridium_during_xfer	201	223	1103.71
Transponder_ping	0	420	7.75
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	30	50	16.66
TT8	549	19	117.53
LPSleep	654	2	15.49
TT8_Active	533	19	114.11
TT8_Sampling	573	39	246.44
TT8_CF8	582	45	288.04
TT8_Kalman	33	81	29.44
Analog_circuits	870	12	112.83
GPS_charging	0	0	0.00
Compass	549	8	47.49
RAFOS	0	0	0.00
Transponder	5	30	1.83

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
14	-0.78	-117.3	0.0	0.0	0	89	0.00	0.00	-72.78	0.000	2	0.000	0.000	135	2113	3332
91	-0.78	-117.3	3.2	-4.3	14	121	10.25	2.30	-14.23	0.000	4	0.249	0.069	2692	689	3897
384	-0.78	-117.3	33.0	-10.8	76	391	0.00	2.30	0.00	0.000	6	0.000	0.074	2692	2096	3899
460	-0.78	-117.3	41.5	-10.9	92	466	0.00	2.22	0.00	0.000	4	0.000	0.056	2692	685	3899
509	-0.78	-117.3	47.1	-11.7	102	515	0.00	2.30	0.00	0.000	6	0.000	0.073	2692	2100	3898
654	-0.78	-117.3	64.1	-11.6	133	660	0.00	2.38	0.00	0.000	4	0.000	0.084	2692	3518	3899
734	-0.78	-117.3	73.6	-11.6	150	740	0.00	2.25	0.00	0.000	6	0.000	0.053	2692	2087	3899
879	-0.78	-117.3	89.8	-10.8	181	886	0.00	2.38	0.00	0.000	4	0.000	0.081	2692	3514	3898
919	-0.78	-117.3	94.5	-11.4	189	925	0.00	2.22	0.00	0.000	6	0.000	0.052	2692	2100	3898
1031	end dive: TARGET_DEPTH_EXCEEDED
state	1031	begin apogee
1035	-0.16	0.0	107.2	10.6	213	1126	0.62	0.00	84.22	0.682	6	0.153	0.000	2890	2099	3418
1126	end apogee: CONTROL_FINISHED_OK
state	1127	begin climb
1128	0.78	117.3	108.7	0.0	230	1225	0.88	2.38	86.25	0.673	4	0.088	0.055	3207	698	2939
1254	0.78	117.3	93.6	17.1	254	1260	0.00	2.30	0.00	0.000	6	0.000	0.049	3206	2121	2939
1400	0.78	117.3	67.2	15.1	285	1406	0.00	2.30	0.00	0.000	4	0.000	0.054	3217	690	2938
1416	0.80	134.8	65.9	9.0	288	1439	0.00	2.22	13.85	0.617	6	0.000	0.048	3217	2104	2868
1577	0.80	134.8	38.3	18.8	322	1583	0.00	2.25	0.00	0.000	4	0.000	0.054	3228	696	2867
1593	0.80	134.8	35.2	19.5	325	1599	0.00	2.20	0.00	0.000	6	0.000	0.048	3228	2099	2867
1669	0.80	134.8	20.9	18.4	341	1674	0.00	0.00	0.00	0.000	6	0.000	0.000	3228	2098	2866
1744	0.80	134.8	7.6	16.9	357	1750	0.00	2.22	0.00	0.000	4	0.000	0.054	3239	697	2866
1768	end climb: SURFACE_DEPTH_REACHED
state	1768	begin surface coast
1796	end surface coast: CONTROL_FINISHED_OK
state	1796	begin surface