Glider dive log

DavisStrait Jun07 * SG099 * Dive index * Mission links * Dive 7 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 99 HD_C 4.7289599e-05 PITCH_AD_RATE 180 ALTIM_TOP_MIN_OBSTACLE 3.5

MISSION 1 HEADING -1 PITCH_MAXERRORS 1 ALTIM_PING_DEPTH 0

DIVE 7 ESCAPE_HEADING 180 ROLL_MIN 166 ALTIM_PING_DELTA 10

D_SURF 2 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3791 ALTIM_FREQUENCY 13

D_FLARE 3 FIX_MISSING_TIMEOUT 3 C_ROLL_DIVE 1978 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LAT 47.599998 C_ROLL_CLIMB 1978 ALTIM_SENSITIVITY 2

D_ABORT 1090 TGT_DEFAULT_LON -122.3 HEAD_ERRBAND 10 INT_PRESSURE_SLOPE 0.0097660003

D_NO_BLEED 50 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 INT_PRESSURE_YINT 0

D_FINISH 5 SM_CC 250 ROLL_TIMEOUT 15 DEEPGLIDER 0

D_PITCH 4 N_FILEKB 4 R_PORT_OVSHOOT 5 DEEPGLIDERMB 0

D_SAFE 100 FILEMGR 0 R_STBD_OVSHOOT 5 MOTHERBOARD 4

D_CALL 2 CALL_NDIVES 1 ROLL_AD_RATE 500 DEVICE1 2

SURFACE_URGENCY 1 COMM_SEQ 0 ROLL_MAXERRORS 1 DEVICE2 53

SURFACE_URGENCY_TRY 20 N_NOCOMM 1 VBD_MIN 421 DEVICE3 -1

SURFACE_URGENCY_FORCE 20 N_NOSURFACE 2 VBD_MAX 3792 DEVICE4 -1

T_DIVE 330 UPLOAD_DIVES_MAX -1 C_VBD 2257 DEVICE5 -1

T_MISSION 396 CALL_TRIES 5 VBD_DBAND 2 DEVICE6 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 SMARTS 0

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 SMARTDEVICE1 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.00167 SMARTDEVICE2 -1

T_NO_W 180 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 6 COMPASS_DEVICE 1

USE_BATHY -3 T_GPS 15 VBD_PUMP_AD_RATE_APOGEE 4 PHONE_DEVICE 32

USE_ICE 0 N_GPS 20 VBD_BLEED_AD_RATE 8 GPS_DEVICE 48

ICE_FREEZE_MARGIN -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 RAFOS_DEVICE 16

D_OFFGRID 100 T_GPS_CHARGE -290283.75 VBD_MAXERRORS 20 XPDR_DEVICE 24

T_WATCHDOG 10 T_RSLEEP 1 CF8_MAXERRORS 10 SIM_W 0

RELAUNCH 1 RAFOS_PEAK_OFFSET 0.2 AH0_24V 91.800003 SIM_PITCH 0

APOGEE_PITCH -5 RAFOS_CORR_THRESH 60 AH0_10V 61.200001 SEABIRD_T_G 0.0043664104

MAX_BUOY 150 RAFOS_HIT_WINDOW 5400 PRESSURE_YINT -0.2278 SEABIRD_T_H 0.0006442577

COURSE_BIAS 0 PITCH_MIN 679 PRESSURE_SLOPE 9.9999997e-05 SEABIRD_T_I 0

GLIDE_SLOPE 30 PITCH_MAX 3252 AD7714Ch0Gain 1 SEABIRD_T_J 0

SPEED_FACTOR 1 C_PITCH 2263 TCM_PITCH_OFFSET 0 SEABIRD_C_G -10.008876

RHO 1.02764 PITCH_DBAND 0.1 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1380314

MASS 51747 PITCH_CNV 0.0046000001 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0

KALMAN_USE 2 P_OVSHOOT 0.039999999 ALTIM_TOP_PING_RANGE 20 SEABIRD_C_J 0

HD_A 0.0038775599 PITCH_GAIN 20 ALTIM_BOTTOM_TURN_MARGIN 0

HD_B 0.0138418 PITCH_TIMEOUT 15 ALTIM_TOP_TURN_MARGIN 0

AD7714Ch0Gain 1 D_CALL 2 PITCH_DBAND 0.1 SM_CC 250

AH0_10V 61.200001 D_FINISH 5 PITCH_GAIN 20 SPEED_FACTOR 1

AH0_24V 91.800003 D_FLARE 3 PITCH_MAX 3252 SURFACE_URGENCY 1

ALTIM_BOTTOM_PING_RANGE 0 D_NO_BLEED 50 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 20

ALTIM_BOTTOM_TURN_MARGIN 0 D_OFFGRID 100 PITCH_MIN 679 SURFACE_URGENCY_TRY 20

ALTIM_FREQUENCY 13 D_PITCH 4 PITCH_TIMEOUT 15 TCM_PITCH_OFFSET 0

ALTIM_PING_DELTA 10 D_SAFE 100 PITCH_VBD_SHIFT 0.00167 TCM_ROLL_OFFSET 0

ALTIM_PING_DEPTH 0 D_SURF 2 PRESSURE_SLOPE 9.9999997e-05 TGT_AUTO_DEFAULT 0

ALTIM_PULSE 3 D_TGT 990 PRESSURE_YINT -0.2278 TGT_DEFAULT_LAT 47.599998

ALTIM_SENSITIVITY 2 ESCAPE_HEADING 180 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_MIN_OBSTACLE 3.5 ESCAPE_HEADING_DELTA 10 RAFOS_CORR_THRESH 60 T_ABORT 1440

ALTIM_TOP_PING_RANGE 20 FILEMGR 0 RAFOS_DEVICE 16 T_DIVE 330

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 3 RAFOS_HIT_WINDOW 5400 T_GPS 15

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_PEAK_OFFSET 0.2 T_GPS_ALMANAC 0

CALL_NDIVES 1 GPS_DEVICE 48 RELAUNCH 1 T_GPS_CHARGE -290283.75

CALL_TRIES 5 HD_A 0.0038775599 RHO 1.02764 T_MISSION 396

CALL_WAIT 60 HD_B 0.0138418 ROLL_AD_RATE 500 T_NO_W 180

CAPMAXSIZE 100000 HD_C 4.7289599e-05 ROLL_CNV 0.028270001 T_RSLEEP 1

CAPUPLOAD 0 HEADING -1 ROLL_MAX 3791 T_TURN 225

CF8_MAXERRORS 10 HEAD_ERRBAND 10 ROLL_MAXERRORS 1 T_TURN_SAMPINT 5

COMM_SEQ 0 HEAPDBG 0 ROLL_MIN 166 T_WATCHDOG 10

COMPASS_DEVICE 1 ICE_FREEZE_MARGIN -2 ROLL_TIMEOUT 15 UNCOM_BLEED 20

COURSE_BIAS 0 ID 99 R_PORT_OVSHOOT 5 UPLOAD_DIVES_MAX -1

C_PITCH 2263 INT_PRESSURE_SLOPE 0.0097660003 R_STBD_OVSHOOT 5 USE_BATHY -3

C_ROLL_CLIMB 1978 INT_PRESSURE_YINT 0 SEABIRD_C_G -10.008876 USE_ICE 0

C_ROLL_DIVE 1978 KALMAN_USE 2 SEABIRD_C_H 1.1380314 VBD_BLEED_AD_RATE 8

C_VBD 2257 MASS 51747 SEABIRD_C_I 0 VBD_CNV -0.24529999

DEEPGLIDER 0 MAX_BUOY 150 SEABIRD_C_J 0 VBD_DBAND 2

DEEPGLIDERMB 0 MISSION 1 SEABIRD_T_G 0.0043664104 VBD_MAX 3792

DEVICE1 2 MOTHERBOARD 4 SEABIRD_T_H 0.0006442577 VBD_MAXERRORS 20

DEVICE2 53 N_FILEKB 4 SEABIRD_T_I 0 VBD_MIN 421

DEVICE3 -1 N_GPS 20 SEABIRD_T_J 0 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SIM_PITCH 0 VBD_PUMP_AD_RATE_SURFACE 6

DEVICE5 -1 N_NOSURFACE 2 SIM_W 0 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 32 SMARTDEVICE1 -1 XPDR_DEVICE 24

DIVE 7 PITCH_AD_RATE 180 SMARTDEVICE2 -1

D_ABORT 1090 PITCH_CNV 0.0046000001 SMARTS 0

Pre-dive calculations and measurements:

GPS1 194624,6700.162,-5634.164,20,1.1,21,18.0 TGT_NAME TARGET_E_IN

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 7.70 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -8.7 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 194624,6700.162,-5634.164,20,1.1,21,18.0 MHEAD_RNG_PITCHd_Wd 279.7,11290,-21.2,-10.000

SPEED_LIMITS 0.173,0.215 D_GRID 361

Post-dive calculations and measurements:

FREEZE 1.03,5.865,-1.999 TCM_TEMP 15.00

FINISH 1.0,1.028616 XPDR_PINGS -1

SM_CCo 5166,64.15,0.003,1,0,1244,250.21 ALTIM_TOP_PING 18.8,14.7

SM_GC -0.00,0.00,0.00,64.15,0.000,0.000,0.003,625,1957,1244,-7.63,-0.42,250.21 _24V_AH 23.0,0.916

RAFOS_CLK 0 _10V_AH 9.8,0.339

RAFOS 0,1160341747,21.166666,21.151945,40,0,0,0,0,0,0,0,0,0,0,0 DATA_FILE_SIZE 22202,571

RAFOS_FIX -67555.726562,-156249.812500,081006,202020,2,80,69625.28 CFSIZE 260165632,249618432

IRIDIUM_FIX 0.00,0.00,010170,000000 ERRORS 0,0,0,0,0,0,0,0,0,0,0,34,600,5,0

TT8_MAMPS 0.048321 SOUNDSPEED 1475.9

HUMID 1973 GPS 081006,224144,6700.185,-5636.125,15,1.1,15,18.0

INTERNAL_PRESSURE 11.6606

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 3 1.79 SBE_CT 504 24 278.38

Roll_motor 77 3 5.47 Optode 956 33 725.84

VBD_pump_during_apogee 283 3 24.96 nil 0 0 0.00

VBD_pump_during_surface 64 3 4.53 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 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 223 0.00

Transponder_ping 0 420 2.42

GPS 0 50 0.00

TT8 956 19 186.71

LPSleep 2702 2 61.18

TT8_Active 445 19 86.94

TT8_Sampling 875 39 342.35

TT8_CF8 361 45 162.51

TT8_Kalman 0 0 0.00

Analog_circuits 968 12 113.88

GPS_charging 0 0 0.00

Compass 493 26 125.84

RAFOS 2400 1 35.28

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

state end surface CONTROL_FINISHED_OK

state start dive

29 -1.31 -146.0 0.0 0.0 0 36 0.00 0.00 -4.68 0.000 2 0.000 0.000 2142 3564 2640

40 -1.31 -146.0 10.9 -0.0 1 52 1.08 0.47 -7.65 0.000 4 0.004 0.003 1898 3387 2858

227 -1.31 -146.0 43.8 -17.8 33 234 0.65 3.12 0.00 0.000 6 0.003 0.003 2022 1690 2867

576 -1.31 -146.0 79.9 -9.6 94 583 0.35 3.17 0.00 0.000 4 0.003 0.003 1900 3507 2853

718 -1.31 -146.0 101.1 -15.7 118 729 0.52 3.15 0.00 0.000 6 0.003 0.003 2015 1814 2866

1052 -1.31 -146.0 133.3 -9.0 149 1062 0.35 3.28 0.00 0.000 4 0.004 0.003 1899 3489 2860

1155 -1.31 -146.0 147.8 -14.5 158 1166 0.77 3.15 0.00 0.000 6 0.003 0.003 2082 1850 2859

1485 -1.31 -146.0 171.4 -6.8 189 1496 0.77 3.03 0.00 0.000 4 0.004 0.003 1954 3570 2861

1581 -1.31 -146.0 182.0 -11.8 197 1588 0.00 3.17 0.00 0.000 6 0.000 0.003 1950 1832 2864

1907 -1.31 -146.0 219.6 -11.6 228 1917 0.00 3.53 0.00 0.000 4 0.000 0.003 1951 3670 2861

1998 -1.31 -146.0 230.2 -11.1 236 2004 0.00 3.17 0.00 0.000 6 0.000 0.003 1954 1994 2860

2324 -1.31 -146.0 266.6 -11.3 266 2329 0.00 3.15 0.00 0.000 4 0.000 0.003 1961 3489 2863

2381 -1.31 -146.0 273.2 -11.4 270 2388 0.00 3.05 0.00 0.000 6 0.000 0.003 1947 1781 2860

2707 -1.31 -146.0 308.9 -10.6 301 2716 0.00 3.22 0.00 0.000 4 0.000 0.003 1954 3635 2856

2786 -1.31 -146.0 317.7 -10.1 308 2796 0.00 3.28 0.00 0.000 6 0.000 0.003 1964 1965 2864

3116 -1.31 -146.0 355.3 -10.9 339 3121 0.00 3.08 0.00 0.000 4 0.000 0.003 1953 3533 2866

state end dive TARGET_DEPTH_EXCEEDED

state start apogee

3177 -0.25 0.0 361.5 11.5 343 3324 1.70 0.00 142.25 0.003 6 0.004 0.000 2253 1823 2258

state end apogee CONTROL_FINISHED_OK

state start climb

3332 1.31 146.0 364.3 0.0 358 3502 1.73 3.20 140.75 0.004 4 0.003 0.003 2605 3523 1658

3519 1.31 146.0 323.9 29.7 375 3528 0.50 4.25 0.00 0.000 6 0.003 0.003 2490 1701 1668

3859 1.31 146.0 256.1 18.5 407 3871 0.47 3.55 0.00 0.000 4 0.004 0.003 2612 3543 1666

4034 1.31 146.0 207.9 28.4 422 4043 0.55 4.07 0.00 0.000 6 0.003 0.003 2501 1673 1661

4375 1.31 146.0 149.7 16.2 454 4386 0.43 3.78 0.00 0.000 4 0.003 0.003 2610 3511 1663

4561 1.31 146.0 100.2 27.9 470 4568 0.43 3.05 0.00 0.000 6 0.003 0.003 2493 1830 1668

4910 1.31 146.0 44.6 14.5 531 4917 0.52 3.12 0.00 0.000 4 0.003 0.003 2545 3669 1669

5032 1.31 146.0 21.6 19.2 552 5039 0.00 3.88 0.00 0.000 6 0.000 0.003 2554 1796 1669

state end climb SURFACE_DEPTH_REACHED

state start surface coast

state end surface coast CONTROL_FINISHED_OK

state start surface

ID	99	HD_C	4.7289599e-05	PITCH_AD_RATE	180	ALTIM_TOP_MIN_OBSTACLE	3.5
MISSION	1	HEADING	-1	PITCH_MAXERRORS	1	ALTIM_PING_DEPTH	0
DIVE	7	ESCAPE_HEADING	180	ROLL_MIN	166	ALTIM_PING_DELTA	10
D_SURF	2	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3791	ALTIM_FREQUENCY	13
D_FLARE	3	FIX_MISSING_TIMEOUT	3	C_ROLL_DIVE	1978	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LAT	47.599998	C_ROLL_CLIMB	1978	ALTIM_SENSITIVITY	2
D_ABORT	1090	TGT_DEFAULT_LON	-122.3	HEAD_ERRBAND	10	INT_PRESSURE_SLOPE	0.0097660003
D_NO_BLEED	50	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	INT_PRESSURE_YINT	0
D_FINISH	5	SM_CC	250	ROLL_TIMEOUT	15	DEEPGLIDER	0
D_PITCH	4	N_FILEKB	4	R_PORT_OVSHOOT	5	DEEPGLIDERMB	0
D_SAFE	100	FILEMGR	0	R_STBD_OVSHOOT	5	MOTHERBOARD	4
D_CALL	2	CALL_NDIVES	1	ROLL_AD_RATE	500	DEVICE1	2
SURFACE_URGENCY	1	COMM_SEQ	0	ROLL_MAXERRORS	1	DEVICE2	53
SURFACE_URGENCY_TRY	20	N_NOCOMM	1	VBD_MIN	421	DEVICE3	-1
SURFACE_URGENCY_FORCE	20	N_NOSURFACE	2	VBD_MAX	3792	DEVICE4	-1
T_DIVE	330	UPLOAD_DIVES_MAX	-1	C_VBD	2257	DEVICE5	-1
T_MISSION	396	CALL_TRIES	5	VBD_DBAND	2	DEVICE6	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	SMARTS	0
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	SMARTDEVICE1	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.00167	SMARTDEVICE2	-1
T_NO_W	180	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	6	COMPASS_DEVICE	1
USE_BATHY	-3	T_GPS	15	VBD_PUMP_AD_RATE_APOGEE	4	PHONE_DEVICE	32
USE_ICE	0	N_GPS	20	VBD_BLEED_AD_RATE	8	GPS_DEVICE	48
ICE_FREEZE_MARGIN	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	RAFOS_DEVICE	16
D_OFFGRID	100	T_GPS_CHARGE	-290283.75	VBD_MAXERRORS	20	XPDR_DEVICE	24
T_WATCHDOG	10	T_RSLEEP	1	CF8_MAXERRORS	10	SIM_W	0
RELAUNCH	1	RAFOS_PEAK_OFFSET	0.2	AH0_24V	91.800003	SIM_PITCH	0
APOGEE_PITCH	-5	RAFOS_CORR_THRESH	60	AH0_10V	61.200001	SEABIRD_T_G	0.0043664104
MAX_BUOY	150	RAFOS_HIT_WINDOW	5400	PRESSURE_YINT	-0.2278	SEABIRD_T_H	0.0006442577
COURSE_BIAS	0	PITCH_MIN	679	PRESSURE_SLOPE	9.9999997e-05	SEABIRD_T_I	0
GLIDE_SLOPE	30	PITCH_MAX	3252	AD7714Ch0Gain	1	SEABIRD_T_J	0
SPEED_FACTOR	1	C_PITCH	2263	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-10.008876
RHO	1.02764	PITCH_DBAND	0.1	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1380314
MASS	51747	PITCH_CNV	0.0046000001	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0
KALMAN_USE	2	P_OVSHOOT	0.039999999	ALTIM_TOP_PING_RANGE	20	SEABIRD_C_J	0
HD_A	0.0038775599	PITCH_GAIN	20	ALTIM_BOTTOM_TURN_MARGIN	0
HD_B	0.0138418	PITCH_TIMEOUT	15	ALTIM_TOP_TURN_MARGIN	0

GPS1	194624,6700.162,-5634.164,20,1.1,21,18.0	TGT_NAME	TARGET_E_IN
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	7.70	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-8.7	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	194624,6700.162,-5634.164,20,1.1,21,18.0	MHEAD_RNG_PITCHd_Wd	279.7,11290,-21.2,-10.000
SPEED_LIMITS	0.173,0.215	D_GRID	361

FREEZE	1.03,5.865,-1.999	TCM_TEMP	15.00
FINISH	1.0,1.028616	XPDR_PINGS	-1
SM_CCo	5166,64.15,0.003,1,0,1244,250.21	ALTIM_TOP_PING	18.8,14.7
SM_GC	-0.00,0.00,0.00,64.15,0.000,0.000,0.003,625,1957,1244,-7.63,-0.42,250.21	_24V_AH	23.0,0.916
RAFOS_CLK	0	_10V_AH	9.8,0.339
RAFOS	0,1160341747,21.166666,21.151945,40,0,0,0,0,0,0,0,0,0,0,0	DATA_FILE_SIZE	22202,571
RAFOS_FIX	-67555.726562,-156249.812500,081006,202020,2,80,69625.28	CFSIZE	260165632,249618432
IRIDIUM_FIX	0.00,0.00,010170,000000	ERRORS	0,0,0,0,0,0,0,0,0,0,0,34,600,5,0
TT8_MAMPS	0.048321	SOUNDSPEED	1475.9
HUMID	1973	GPS	081006,224144,6700.185,-5636.125,15,1.1,15,18.0
INTERNAL_PRESSURE	11.6606

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	3	1.79	SBE_CT	504	24	278.38
Roll_motor	77	3	5.47	Optode	956	33	725.84
VBD_pump_during_apogee	283	3	24.96	nil	0	0	0.00
VBD_pump_during_surface	64	3	4.53	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	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	223	0.00
Transponder_ping	0	420	2.42
GPS	0	50	0.00
TT8	956	19	186.71
LPSleep	2702	2	61.18
TT8_Active	445	19	86.94
TT8_Sampling	875	39	342.35
TT8_CF8	361	45	162.51
TT8_Kalman	0	0	0.00
Analog_circuits	968	12	113.88
GPS_charging	0	0	0.00
Compass	493	26	125.84
RAFOS	2400	1	35.28

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
state	end surface	CONTROL_FINISHED_OK
state	start dive
29	-1.31	-146.0	0.0	0.0	0	36	0.00	0.00	-4.68	0.000	2	0.000	0.000	2142	3564	2640
40	-1.31	-146.0	10.9	-0.0	1	52	1.08	0.47	-7.65	0.000	4	0.004	0.003	1898	3387	2858
227	-1.31	-146.0	43.8	-17.8	33	234	0.65	3.12	0.00	0.000	6	0.003	0.003	2022	1690	2867
576	-1.31	-146.0	79.9	-9.6	94	583	0.35	3.17	0.00	0.000	4	0.003	0.003	1900	3507	2853
718	-1.31	-146.0	101.1	-15.7	118	729	0.52	3.15	0.00	0.000	6	0.003	0.003	2015	1814	2866
1052	-1.31	-146.0	133.3	-9.0	149	1062	0.35	3.28	0.00	0.000	4	0.004	0.003	1899	3489	2860
1155	-1.31	-146.0	147.8	-14.5	158	1166	0.77	3.15	0.00	0.000	6	0.003	0.003	2082	1850	2859
1485	-1.31	-146.0	171.4	-6.8	189	1496	0.77	3.03	0.00	0.000	4	0.004	0.003	1954	3570	2861
1581	-1.31	-146.0	182.0	-11.8	197	1588	0.00	3.17	0.00	0.000	6	0.000	0.003	1950	1832	2864
1907	-1.31	-146.0	219.6	-11.6	228	1917	0.00	3.53	0.00	0.000	4	0.000	0.003	1951	3670	2861
1998	-1.31	-146.0	230.2	-11.1	236	2004	0.00	3.17	0.00	0.000	6	0.000	0.003	1954	1994	2860
2324	-1.31	-146.0	266.6	-11.3	266	2329	0.00	3.15	0.00	0.000	4	0.000	0.003	1961	3489	2863
2381	-1.31	-146.0	273.2	-11.4	270	2388	0.00	3.05	0.00	0.000	6	0.000	0.003	1947	1781	2860
2707	-1.31	-146.0	308.9	-10.6	301	2716	0.00	3.22	0.00	0.000	4	0.000	0.003	1954	3635	2856
2786	-1.31	-146.0	317.7	-10.1	308	2796	0.00	3.28	0.00	0.000	6	0.000	0.003	1964	1965	2864
3116	-1.31	-146.0	355.3	-10.9	339	3121	0.00	3.08	0.00	0.000	4	0.000	0.003	1953	3533	2866
state	end dive	TARGET_DEPTH_EXCEEDED
state	start apogee
3177	-0.25	0.0	361.5	11.5	343	3324	1.70	0.00	142.25	0.003	6	0.004	0.000	2253	1823	2258
state	end apogee	CONTROL_FINISHED_OK
state	start climb
3332	1.31	146.0	364.3	0.0	358	3502	1.73	3.20	140.75	0.004	4	0.003	0.003	2605	3523	1658
3519	1.31	146.0	323.9	29.7	375	3528	0.50	4.25	0.00	0.000	6	0.003	0.003	2490	1701	1668
3859	1.31	146.0	256.1	18.5	407	3871	0.47	3.55	0.00	0.000	4	0.004	0.003	2612	3543	1666
4034	1.31	146.0	207.9	28.4	422	4043	0.55	4.07	0.00	0.000	6	0.003	0.003	2501	1673	1661
4375	1.31	146.0	149.7	16.2	454	4386	0.43	3.78	0.00	0.000	4	0.003	0.003	2610	3511	1663
4561	1.31	146.0	100.2	27.9	470	4568	0.43	3.05	0.00	0.000	6	0.003	0.003	2493	1830	1668
4910	1.31	146.0	44.6	14.5	531	4917	0.52	3.12	0.00	0.000	4	0.003	0.003	2545	3669	1669
5032	1.31	146.0	21.6	19.2	552	5039	0.00	3.88	0.00	0.000	6	0.000	0.003	2554	1796	1669
state	end climb	SURFACE_DEPTH_REACHED
state	start surface coast
state	end surface coast	CONTROL_FINISHED_OK
state	start surface