Glider dive log

PortSusan 25Aug09 * SG133 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 133 HEADING -1 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

MISSION 2 ESCAPE_HEADING 0 ROLL_MIN 157 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 8 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3825 ALTIM_PING_DEPTH 80

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 5

D_FLARE 3 TGT_DEFAULT_LAT 28 C_ROLL_DIVE 1900 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON 126 C_ROLL_CLIMB 2000 ALTIM_PULSE 4

D_ABORT 1090 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 200 SM_CC 350 ROLL_CNV 0.028270001 XPDR_VALID 0

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 30 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 49 INT_PRESSURE_YINT 4.9000001

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 470 DEVICE2 35

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3960 DEVICE3 -1

T_ABORT 720 CALL_WAIT 60 C_VBD 3370 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 15 PITCH_VBD_SHIFT 0.00167 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 1001 T_GPS_CHARGE -78345.141 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 100 RAFOS_HIT_WINDOW 3600 AH0_24V 91.800003 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 401 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3715 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2760 PRESSURE_YINT -20.515852 SEABIRD_T_G 0.0043775016

RHO 1.0275 PITCH_DBAND 0.050000001 PRESSURE_SLOPE 0.0001156489 SEABIRD_T_H 0.00063627085

MASS 51845 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.5270951e-05

NAV_MODE 1 P_OVSHOOT 0.050000001 TCM_PITCH_OFFSET 0 SEABIRD_T_J 2.7297233e-06

FERRY_MAX 45 PITCH_GAIN 15 TCM_ROLL_OFFSET 0 SEABIRD_C_G -9.8534336

KALMAN_USE 1 PITCH_TIMEOUT 17 COMPASS_USE 0 SEABIRD_C_H 1.093644

HD_A 0.0038360001 PITCH_AD_RATE 160 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I -4.1897227e-05

HD_B 0.010078 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 0.00011108216

HD_C 9.8500004e-06 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 160 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 91.800003 D_NO_BLEED 200 PITCH_DBAND 0.050000001 SM_CC 350

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 1001 PITCH_GAIN 15 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3715 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 401 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 17 TCM_PITCH_OFFSET 0

ALTIM_PULSE 4 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.00167 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001156489 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -20.515852 TGT_DEFAULT_LAT 28

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.050000001 TGT_DEFAULT_LON 126

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 T_ABORT 720

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 0.0038360001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.010078 RELAUNCH 1 T_GPS_CHARGE -78345.141

CAPMAXSIZE 100000 HD_C 9.8500004e-06 RHO 1.0275 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 350 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 4

COMPASS_DEVICE 33 ID 133 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3825 UNCOM_BLEED 50

COURSE_BIAS 0 INT_PRESSURE_YINT 4.9000001 ROLL_MAXERRORS 1 UPLOAD_DIVES_MAX -1

C_PITCH 2760 KALMAN_USE 1 ROLL_MIN 157 USE_BATHY -4

C_ROLL_CLIMB 2000 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1900 MASS 51845 R_PORT_OVSHOOT 30 VBD_BLEED_AD_RATE 8

C_VBD 3370 MAX_BUOY 100 R_STBD_OVSHOOT 49 VBD_CNV -0.245296

DEEPGLIDER 0 MISSION 2 SEABIRD_C_G -9.8534336 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.093644 VBD_MAX 3960

DEVICE1 2 NAV_MODE 1 SEABIRD_C_I -4.1897227e-05 VBD_MAXERRORS 1

DEVICE2 35 N_FILEKB 4 SEABIRD_C_J 0.00011108216 VBD_MIN 470

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043775016 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.00063627085 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5270951e-05 VBD_TIMEOUT 720

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 2.7297233e-06 XPDR_DEVICE 24

DIVE 8 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_W 0 XPDR_VALID 0

D_CALL 0 PITCH_ADJ_GAIN 0 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 003808,4807.321,-12223.251,11,1.2,11,18.3 TGT_NAME SEVEN

_CALLS 1 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 2 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.105,-0.188

_SM_DEPTHo 0.84 KALMAN_X -751.1,-379.0,-47.3,497.5,6.9

_SM_ANGLEo -71.3 KALMAN_Y 1371.1,602.3,7.9,-2418.3,18.6

GPS2 004438,4807.341,-12223.314,12,1.5,12,18.3 MHEAD_RNG_PITCHd_Wd 132.4,742,-22.4,-10.000

SPEED_LIMITS 0.173,0.215 D_GRID 103

Post-dive calculations and measurements:

FINISH -0.1,1.019754 ALTIM_BOTTOM_PING 85.7,35.5

SM_CCo 2124,67.38,0.755,0,0,1942,350.04 _24V_AH 23.4,2.871

SM_GC 1.88,0.00,0.00,67.38,0.000,0.000,0.755,397,1921,1942,-10.87,0.59,350.04 _10V_AH 10.7,0.898

IRIDIUM_FIX 4751.72,-12340.51,201198,000025 DATA_FILE_SIZE 19121,435

TT8_MAMPS 0.026845 CAP_FILE_SIZE 44323,0

HUMID 2157 CFSIZE 260165632,257867776

INTERNAL_PRESSURE 9.15798 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 16.20 GPS 260809,012255,4807.237,-12223.325,7,1.7,12,18.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 146 91.70 SBE_CT 298 24 167.55

Roll_motor 34 58 47.57 WL_BB2F 661 105 1626.52

VBD_pump_during_apogee 256 820 4929.22 nil 0 0 0.00

VBD_pump_during_surface 67 754 1189.89 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 22 103 53.80 nil 0 0 0.00

Iridium_during_connect 34 160 130.94 nil 0 0 0.00

Iridium_during_xfer 208 223 1090.56

Transponder_ping 1 420 9.83

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 14 50 7.66

TT8 652 19 138.28

LPSleep 240 2 5.65

TT8_Active 345 19 73.20

TT8_Sampling 934 39 397.94

TT8_CF8 420 45 206.19

TT8_Kalman 33 81 29.17

Analog_circuits 765 12 98.28

GPS_charging 0 0 0.00

Compass 932 8 79.82

RAFOS 0 0 0.00

Transponder 10 30 3.29

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

16 -1.66 -97.3 0.0 0.0 0 73 0.00 0.00 -55.42 0.000 2 0.000 0.000 398 1881 3414

77 -1.66 -97.3 3.6 -7.1 9 99 11.02 2.53 -5.88 0.000 4 0.146 0.051 2392 3289 3769

344 -1.66 -97.3 47.3 -15.1 69 350 0.00 2.40 0.00 0.000 6 0.000 0.034 2392 1902 3769

483 -1.66 -97.3 68.1 -14.8 100 490 0.00 2.45 0.00 0.000 4 0.000 0.041 2392 3280 3769

546 -1.66 -97.3 77.4 -14.4 113 552 0.00 2.40 0.00 0.000 6 0.000 0.035 2392 1899 3769

694 -1.66 -97.3 98.8 -14.5 144 701 0.00 2.53 0.00 0.000 4 0.000 0.058 2393 488 3768

719 end dive: TARGET_DEPTH_EXCEEDED

state 719 begin apogee

729 -0.33 0.0 103.2 15.5 149 817 1.38 0.00 82.47 0.821 6 0.090 0.000 2676 1988 3370

817 end apogee: CONTROL_FINISHED_OK

state 817 begin climb

820 1.66 97.3 107.8 0.0 164 914 1.98 2.58 82.32 0.805 4 0.046 0.044 3120 3403 2973

994 1.70 121.1 98.4 8.4 198 1025 0.00 2.47 21.42 0.753 6 0.000 0.036 3120 1988 2875

1164 1.70 121.1 81.2 10.3 233 1169 0.00 0.00 0.00 0.000 6 0.000 0.000 3120 1988 2875

1301 1.70 121.1 66.6 10.8 264 1308 0.00 2.50 0.00 0.000 4 0.000 0.058 3120 591 2874

1398 1.70 121.1 55.8 11.2 285 1405 0.00 2.42 0.00 0.000 6 0.000 0.031 3120 2015 2874

1544 1.73 138.0 42.0 8.8 316 1563 0.00 0.00 15.38 0.729 6 0.000 0.000 3120 2017 2807

1694 1.74 149.5 28.2 9.2 349 1715 0.08 2.65 11.25 0.693 4 0.075 0.057 3143 588 2760

1764 1.74 149.5 19.4 13.7 363 1771 0.00 2.45 0.00 0.000 6 0.000 0.032 3143 2001 2760

1837 1.75 155.3 11.1 9.6 379 1849 0.00 0.00 6.82 0.620 6 0.000 0.000 3143 2003 2735

1917 1.84 208.8 4.3 6.3 396 1962 0.05 2.62 37.00 0.746 4 0.093 0.057 3163 594 2517

1988 end climb: SURFACE_DEPTH_REACHED

state 1988 begin surface coast

2099 end surface coast: CONTROL_FINISHED_OK

state 2099 begin surface

ID	133	HEADING	-1	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
MISSION	2	ESCAPE_HEADING	0	ROLL_MIN	157	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	8	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3825	ALTIM_PING_DEPTH	80
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	5
D_FLARE	3	TGT_DEFAULT_LAT	28	C_ROLL_DIVE	1900	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	126	C_ROLL_CLIMB	2000	ALTIM_PULSE	4
D_ABORT	1090	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	200	SM_CC	350	ROLL_CNV	0.028270001	XPDR_VALID	0
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	30	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	49	INT_PRESSURE_YINT	4.9000001
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	470	DEVICE2	35
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3960	DEVICE3	-1
T_ABORT	720	CALL_WAIT	60	C_VBD	3370	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	15	PITCH_VBD_SHIFT	0.00167	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	1001	T_GPS_CHARGE	-78345.141	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	100	RAFOS_HIT_WINDOW	3600	AH0_24V	91.800003	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	401	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3715	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2760	PRESSURE_YINT	-20.515852	SEABIRD_T_G	0.0043775016
RHO	1.0275	PITCH_DBAND	0.050000001	PRESSURE_SLOPE	0.0001156489	SEABIRD_T_H	0.00063627085
MASS	51845	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.5270951e-05
NAV_MODE	1	P_OVSHOOT	0.050000001	TCM_PITCH_OFFSET	0	SEABIRD_T_J	2.7297233e-06
FERRY_MAX	45	PITCH_GAIN	15	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-9.8534336
KALMAN_USE	1	PITCH_TIMEOUT	17	COMPASS_USE	0	SEABIRD_C_H	1.093644
HD_A	0.0038360001	PITCH_AD_RATE	160	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	-4.1897227e-05
HD_B	0.010078	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	0.00011108216
HD_C	9.8500004e-06	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	003808,4807.321,-12223.251,11,1.2,11,18.3	TGT_NAME	SEVEN
_CALLS	1	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	2	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.105,-0.188
_SM_DEPTHo	0.84	KALMAN_X	-751.1,-379.0,-47.3,497.5,6.9
_SM_ANGLEo	-71.3	KALMAN_Y	1371.1,602.3,7.9,-2418.3,18.6
GPS2	004438,4807.341,-12223.314,12,1.5,12,18.3	MHEAD_RNG_PITCHd_Wd	132.4,742,-22.4,-10.000
SPEED_LIMITS	0.173,0.215	D_GRID	103

FINISH	-0.1,1.019754	ALTIM_BOTTOM_PING	85.7,35.5
SM_CCo	2124,67.38,0.755,0,0,1942,350.04	_24V_AH	23.4,2.871
SM_GC	1.88,0.00,0.00,67.38,0.000,0.000,0.755,397,1921,1942,-10.87,0.59,350.04	_10V_AH	10.7,0.898
IRIDIUM_FIX	4751.72,-12340.51,201198,000025	DATA_FILE_SIZE	19121,435
TT8_MAMPS	0.026845	CAP_FILE_SIZE	44323,0
HUMID	2157	CFSIZE	260165632,257867776
INTERNAL_PRESSURE	9.15798	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	16.20	GPS	260809,012255,4807.237,-12223.325,7,1.7,12,18.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	146	91.70	SBE_CT	298	24	167.55
Roll_motor	34	58	47.57	WL_BB2F	661	105	1626.52
VBD_pump_during_apogee	256	820	4929.22	nil	0	0	0.00
VBD_pump_during_surface	67	754	1189.89	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	22	103	53.80	nil	0	0	0.00
Iridium_during_connect	34	160	130.94	nil	0	0	0.00
Iridium_during_xfer	208	223	1090.56
Transponder_ping	1	420	9.83
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	14	50	7.66
TT8	652	19	138.28
LPSleep	240	2	5.65
TT8_Active	345	19	73.20
TT8_Sampling	934	39	397.94
TT8_CF8	420	45	206.19
TT8_Kalman	33	81	29.17
Analog_circuits	765	12	98.28
GPS_charging	0	0	0.00
Compass	932	8	79.82
RAFOS	0	0	0.00
Transponder	10	30	3.29

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
16	-1.66	-97.3	0.0	0.0	0	73	0.00	0.00	-55.42	0.000	2	0.000	0.000	398	1881	3414
77	-1.66	-97.3	3.6	-7.1	9	99	11.02	2.53	-5.88	0.000	4	0.146	0.051	2392	3289	3769
344	-1.66	-97.3	47.3	-15.1	69	350	0.00	2.40	0.00	0.000	6	0.000	0.034	2392	1902	3769
483	-1.66	-97.3	68.1	-14.8	100	490	0.00	2.45	0.00	0.000	4	0.000	0.041	2392	3280	3769
546	-1.66	-97.3	77.4	-14.4	113	552	0.00	2.40	0.00	0.000	6	0.000	0.035	2392	1899	3769
694	-1.66	-97.3	98.8	-14.5	144	701	0.00	2.53	0.00	0.000	4	0.000	0.058	2393	488	3768
719	end dive: TARGET_DEPTH_EXCEEDED
state	719	begin apogee
729	-0.33	0.0	103.2	15.5	149	817	1.38	0.00	82.47	0.821	6	0.090	0.000	2676	1988	3370
817	end apogee: CONTROL_FINISHED_OK
state	817	begin climb
820	1.66	97.3	107.8	0.0	164	914	1.98	2.58	82.32	0.805	4	0.046	0.044	3120	3403	2973
994	1.70	121.1	98.4	8.4	198	1025	0.00	2.47	21.42	0.753	6	0.000	0.036	3120	1988	2875
1164	1.70	121.1	81.2	10.3	233	1169	0.00	0.00	0.00	0.000	6	0.000	0.000	3120	1988	2875
1301	1.70	121.1	66.6	10.8	264	1308	0.00	2.50	0.00	0.000	4	0.000	0.058	3120	591	2874
1398	1.70	121.1	55.8	11.2	285	1405	0.00	2.42	0.00	0.000	6	0.000	0.031	3120	2015	2874
1544	1.73	138.0	42.0	8.8	316	1563	0.00	0.00	15.38	0.729	6	0.000	0.000	3120	2017	2807
1694	1.74	149.5	28.2	9.2	349	1715	0.08	2.65	11.25	0.693	4	0.075	0.057	3143	588	2760
1764	1.74	149.5	19.4	13.7	363	1771	0.00	2.45	0.00	0.000	6	0.000	0.032	3143	2001	2760
1837	1.75	155.3	11.1	9.6	379	1849	0.00	0.00	6.82	0.620	6	0.000	0.000	3143	2003	2735
1917	1.84	208.8	4.3	6.3	396	1962	0.05	2.62	37.00	0.746	4	0.093	0.057	3163	594	2517
1988	end climb: SURFACE_DEPTH_REACHED
state	1988	begin surface coast
2099	end surface coast: CONTROL_FINISHED_OK
state	2099	begin surface