Glider dive log

PN07 DabobBay Oct07 * SG106 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 106 HD_B 0.010078 PITCH_AD_RATE 125 ALTIM_TOP_PING_RANGE 0

MISSION 7 HD_C 9.8541004e-06 PITCH_MAXERRORS 2 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 8 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 5 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 156 ALTIM_PING_DEPTH 50

D_TGT 100 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3859 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 1990 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 1980 ALTIM_PULSE 3

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 21 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 22 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 35 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 70 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 735 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3975 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3218 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 150000 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 -43205.629 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 2 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 125 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 2 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 460 AH0_24V 91.800003 SEABIRD_T_G 0.0043539782

SPEED_FACTOR 1 PITCH_MAX 3783 AH0_10V 61.200001 SEABIRD_T_H 0.00064512313

RHO 1.023 C_PITCH 3080 PRESSURE_YINT -7.4494777 SEABIRD_T_I 2.5114456e-05

MASS 51341 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.5805668e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -9.960248

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1215916

KALMAN_USE 1 PITCH_GAIN 13 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.00087542483

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00015764491

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 125 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 25 D_OFFGRID 100 PITCH_GAIN 13 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3783 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 2 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 5 PITCH_MIN 460 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 50 D_TGT 100 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 2 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -7.4494777 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 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 35

CALL_TRIES 5 HD_A 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 150000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -43205.629

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 70

CF8_MAXERRORS 2 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 2

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 106 ROLL_MAX 3859 T_TURN_SAMPINT 6

C_PITCH 3080 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 1980 INT_PRESSURE_YINT 0 ROLL_MIN 156 UNCOM_BLEED 20

C_ROLL_DIVE 1990 KALMAN_USE 1 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

C_VBD 3218 MASS 51341 R_PORT_OVSHOOT 21 USE_BATHY -2

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 22 USE_ICE 0

DEEPGLIDERMB 0 MISSION 7 SEABIRD_C_G -9.960248 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1215916 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.00087542483 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00015764491 VBD_MAX 3975

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043539782 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064512313 VBD_MIN 735

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5114456e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 8 PHONE_DEVICE 48 SEABIRD_T_J 2.5805668e-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 033415,4739.049,-12252.032,11,1.1,11,18.3 TGT_NAME H2

_CALLS 1 TGT_LATLONG 4739.467,-12252.401

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL -0.186,0.146

_SM_DEPTHo 1.22 KALMAN_X 398.1,72.6,50.2,-279.6,103.4

_SM_ANGLEo -65.7 KALMAN_Y 778.1,246.2,87.0,-2385.8,119.1

GPS2 033847,4739.076,-12252.010,12,4.3,31,18.3 MHEAD_RNG_PITCHd_Wd 289.9,874,-19.2,-9.524

SPEED_LIMITS 0.165,0.236 D_GRID 127

Post-dive calculations and measurements:

FINISH 1.5,1.019090 XPDR_PINGS 0

SM_CCo 2732,120.18,0.594,0,0,1587,400.08 ALTIM_BOTTOM_PING 50.2,51.1

SM_GC 1.10,0.00,0.00,120.18,0.000,0.000,0.594,464,1981,1587,-12.03,-0.25,400.08 _24V_AH 23.7,6.476

IRIDIUM_FIX 4722.92,-12256.21,250907,060636 _10V_AH 10.0,29.786

TT8_MAMPS 0.069797 DATA_FILE_SIZE 6455,254

HUMID 2014 CFSIZE 260034560,256876544

INTERNAL_PRESSURE 8.40853 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,10,0,0

TCM_TEMP 19.60 GPS 250907,042829,4739.386,-12252.176,12,6.0,31,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 31 200 149.69 SBE_CT 170 24 96.80

Roll_motor 46 82 90.74 nil 0 0 0.00

VBD_pump_during_apogee 192 687 3138.17 nil 0 0 0.00

VBD_pump_during_surface 120 594 1693.01 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 39 103 96.37 nil 0 0 0.00

Iridium_during_connect 31 160 118.97 ARS 0 0 0.00

Iridium_during_xfer 98 223 520.58

Transponder_ping 0 420 4.98

Mmodem_TX 24 1000 590.13

Mmodem_RX 3210 6 486.91

GPS 32 50 16.19

TT8 482 19 95.60

LPSleep 1515 2 33.19

TT8_Active 442 19 87.62

TT8_Sampling 483 39 192.36

TT8_CF8 231 45 106.17

TT8_Kalman 33 81 27.26

Analog_circuits 722 12 86.66

GPS_charging 0 0 0.00

Compass 440 8 35.26

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

19 end surface: CONTROL_FINISHED_OK

state 19 begin dive

21 -1.63 -122.2 0.0 0.0 0 67 0.00 0.00 -44.08 0.000 2 0.000 0.000 464 1977 2608

69 -1.63 -122.2 2.1 -3.6 7 137 14.30 2.67 -43.25 0.000 4 0.200 0.082 2723 587 3717

294 -1.63 -122.2 14.1 -7.5 42 301 0.00 2.50 0.00 0.000 6 0.000 0.038 2723 1992 3722

366 -1.63 -122.2 18.1 -5.4 53 373 0.00 2.58 0.00 0.000 4 0.000 0.058 2723 3398 3720

418 -1.63 -122.2 20.8 -5.6 60 423 0.00 2.50 0.00 0.000 6 0.000 0.044 2723 1988 3721

620 -1.63 -122.2 32.1 -6.6 76 624 0.00 2.60 0.00 0.000 4 0.000 0.058 2723 3397 3722

673 -1.63 -122.2 35.9 -7.3 80 677 0.00 2.53 0.00 0.000 6 0.000 0.044 2723 1988 3723

879 -1.63 -122.2 50.2 -6.7 96 883 0.00 2.65 0.00 0.000 4 0.000 0.073 2723 590 3722

937 -1.63 -122.2 54.6 -7.1 100 941 0.00 2.47 0.00 0.000 6 0.000 0.039 2723 1995 3724

1139 -1.63 -122.2 67.8 -6.5 116 1140 0.00 0.00 0.00 0.000 6 0.000 0.000 2723 1995 3727

1328 -1.63 -122.2 81.1 -7.2 131 1333 0.00 2.67 0.00 0.000 4 0.000 0.071 2723 587 3725

1372 -1.63 -122.2 84.6 -7.9 134 1381 0.00 2.50 0.00 0.000 6 0.000 0.039 2724 1989 3726

1569 -1.63 -122.2 98.8 -7.4 150 1570 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 1990 3723

1593 end dive: TARGET_DEPTH_EXCEEDED

state 1593 begin apogee

1596 -0.38 0.0 100.7 7.4 152 1698 1.35 0.00 97.53 0.687 6 0.099 0.000 2991 1990 3218

1699 end apogee: CONTROL_FINISHED_OK

state 1699 begin climb

1700 1.63 122.2 102.5 0.0 160 1804 2.00 2.75 95.15 0.662 4 0.054 0.072 3438 579 2718

1848 1.63 122.2 91.4 11.1 172 1857 0.00 2.55 0.00 0.000 6 0.000 0.039 3438 1982 2717

2046 1.63 122.2 70.1 11.0 188 2051 0.00 2.70 0.00 0.000 4 0.000 0.071 3438 573 2716

2123 1.63 122.2 60.9 11.4 193 2131 0.00 2.55 0.00 0.000 6 0.000 0.038 3438 1985 2716

2319 1.63 122.2 40.0 10.4 209 2324 0.00 2.70 0.00 0.000 4 0.000 0.071 3438 587 2715

2390 1.63 122.2 32.0 11.5 214 2399 0.00 2.53 0.00 0.000 6 0.000 0.039 3438 1986 2715

2591 1.63 122.2 11.5 10.3 236 2598 0.00 2.70 0.00 0.000 4 0.000 0.071 3438 584 2715

2629 1.63 122.2 7.4 10.7 242 2637 0.00 2.50 0.00 0.000 6 0.000 0.040 3438 1978 2715

2654 end climb: SURFACE_DEPTH_REACHED

state 2654 begin surface coast

2709 end surface coast: CONTROL_FINISHED_OK

state 2709 begin surface

ID	106	HD_B	0.010078	PITCH_AD_RATE	125	ALTIM_TOP_PING_RANGE	0
MISSION	7	HD_C	9.8541004e-06	PITCH_MAXERRORS	2	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	8	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	5	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	156	ALTIM_PING_DEPTH	50
D_TGT	100	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3859	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	1990	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	1980	ALTIM_PULSE	3
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	21	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	22	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	35	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	70	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	735	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3975	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3218	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	150000	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	-43205.629	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	2	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	125	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	2	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	460	AH0_24V	91.800003	SEABIRD_T_G	0.0043539782
SPEED_FACTOR	1	PITCH_MAX	3783	AH0_10V	61.200001	SEABIRD_T_H	0.00064512313
RHO	1.023	C_PITCH	3080	PRESSURE_YINT	-7.4494777	SEABIRD_T_I	2.5114456e-05
MASS	51341	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.5805668e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-9.960248
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1215916
KALMAN_USE	1	PITCH_GAIN	13	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.00087542483
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00015764491

GPS1	033415,4739.049,-12252.032,11,1.1,11,18.3	TGT_NAME	H2
_CALLS	1	TGT_LATLONG	4739.467,-12252.401
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	-0.186,0.146
_SM_DEPTHo	1.22	KALMAN_X	398.1,72.6,50.2,-279.6,103.4
_SM_ANGLEo	-65.7	KALMAN_Y	778.1,246.2,87.0,-2385.8,119.1
GPS2	033847,4739.076,-12252.010,12,4.3,31,18.3	MHEAD_RNG_PITCHd_Wd	289.9,874,-19.2,-9.524
SPEED_LIMITS	0.165,0.236	D_GRID	127

FINISH	1.5,1.019090	XPDR_PINGS	0
SM_CCo	2732,120.18,0.594,0,0,1587,400.08	ALTIM_BOTTOM_PING	50.2,51.1
SM_GC	1.10,0.00,0.00,120.18,0.000,0.000,0.594,464,1981,1587,-12.03,-0.25,400.08	_24V_AH	23.7,6.476
IRIDIUM_FIX	4722.92,-12256.21,250907,060636	_10V_AH	10.0,29.786
TT8_MAMPS	0.069797	DATA_FILE_SIZE	6455,254
HUMID	2014	CFSIZE	260034560,256876544
INTERNAL_PRESSURE	8.40853	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
TCM_TEMP	19.60	GPS	250907,042829,4739.386,-12252.176,12,6.0,31,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	31	200	149.69	SBE_CT	170	24	96.80
Roll_motor	46	82	90.74	nil	0	0	0.00
VBD_pump_during_apogee	192	687	3138.17	nil	0	0	0.00
VBD_pump_during_surface	120	594	1693.01	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	39	103	96.37	nil	0	0	0.00
Iridium_during_connect	31	160	118.97	ARS	0	0	0.00
Iridium_during_xfer	98	223	520.58
Transponder_ping	0	420	4.98
Mmodem_TX	24	1000	590.13
Mmodem_RX	3210	6	486.91
GPS	32	50	16.19
TT8	482	19	95.60
LPSleep	1515	2	33.19
TT8_Active	442	19	87.62
TT8_Sampling	483	39	192.36
TT8_CF8	231	45	106.17
TT8_Kalman	33	81	27.26
Analog_circuits	722	12	86.66
GPS_charging	0	0	0.00
Compass	440	8	35.26
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
19	end surface: CONTROL_FINISHED_OK
state	19	begin dive
21	-1.63	-122.2	0.0	0.0	0	67	0.00	0.00	-44.08	0.000	2	0.000	0.000	464	1977	2608
69	-1.63	-122.2	2.1	-3.6	7	137	14.30	2.67	-43.25	0.000	4	0.200	0.082	2723	587	3717
294	-1.63	-122.2	14.1	-7.5	42	301	0.00	2.50	0.00	0.000	6	0.000	0.038	2723	1992	3722
366	-1.63	-122.2	18.1	-5.4	53	373	0.00	2.58	0.00	0.000	4	0.000	0.058	2723	3398	3720
418	-1.63	-122.2	20.8	-5.6	60	423	0.00	2.50	0.00	0.000	6	0.000	0.044	2723	1988	3721
620	-1.63	-122.2	32.1	-6.6	76	624	0.00	2.60	0.00	0.000	4	0.000	0.058	2723	3397	3722
673	-1.63	-122.2	35.9	-7.3	80	677	0.00	2.53	0.00	0.000	6	0.000	0.044	2723	1988	3723
879	-1.63	-122.2	50.2	-6.7	96	883	0.00	2.65	0.00	0.000	4	0.000	0.073	2723	590	3722
937	-1.63	-122.2	54.6	-7.1	100	941	0.00	2.47	0.00	0.000	6	0.000	0.039	2723	1995	3724
1139	-1.63	-122.2	67.8	-6.5	116	1140	0.00	0.00	0.00	0.000	6	0.000	0.000	2723	1995	3727
1328	-1.63	-122.2	81.1	-7.2	131	1333	0.00	2.67	0.00	0.000	4	0.000	0.071	2723	587	3725
1372	-1.63	-122.2	84.6	-7.9	134	1381	0.00	2.50	0.00	0.000	6	0.000	0.039	2724	1989	3726
1569	-1.63	-122.2	98.8	-7.4	150	1570	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	1990	3723
1593	end dive: TARGET_DEPTH_EXCEEDED
state	1593	begin apogee
1596	-0.38	0.0	100.7	7.4	152	1698	1.35	0.00	97.53	0.687	6	0.099	0.000	2991	1990	3218
1699	end apogee: CONTROL_FINISHED_OK
state	1699	begin climb
1700	1.63	122.2	102.5	0.0	160	1804	2.00	2.75	95.15	0.662	4	0.054	0.072	3438	579	2718
1848	1.63	122.2	91.4	11.1	172	1857	0.00	2.55	0.00	0.000	6	0.000	0.039	3438	1982	2717
2046	1.63	122.2	70.1	11.0	188	2051	0.00	2.70	0.00	0.000	4	0.000	0.071	3438	573	2716
2123	1.63	122.2	60.9	11.4	193	2131	0.00	2.55	0.00	0.000	6	0.000	0.038	3438	1985	2716
2319	1.63	122.2	40.0	10.4	209	2324	0.00	2.70	0.00	0.000	4	0.000	0.071	3438	587	2715
2390	1.63	122.2	32.0	11.5	214	2399	0.00	2.53	0.00	0.000	6	0.000	0.039	3438	1986	2715
2591	1.63	122.2	11.5	10.3	236	2598	0.00	2.70	0.00	0.000	4	0.000	0.071	3438	584	2715
2629	1.63	122.2	7.4	10.7	242	2637	0.00	2.50	0.00	0.000	6	0.000	0.040	3438	1978	2715
2654	end climb: SURFACE_DEPTH_REACHED
state	2654	begin surface coast
2709	end surface coast: CONTROL_FINISHED_OK
state	2709	begin surface