Glider dive log

PortSusan 21Jul08 * SG108 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 108 HEADING -1 PITCH_ADJ_DBAND 1 ALTIM_TOP_TURN_MARGIN 0

MISSION 7 ESCAPE_HEADING 0 ROLL_MIN 294 ALTIM_TOP_MIN_OBSTACLE 1

DIVE 9 ESCAPE_HEADING_DELTA 10 ROLL_MAX 3598 ALTIM_PING_DEPTH 0

D_SURF 3 FIX_MISSING_TIMEOUT 0 ROLL_DEG 40 ALTIM_PING_DELTA 0

D_FLARE 3 TGT_DEFAULT_LAT 47.599998 C_ROLL_DIVE 1976 ALTIM_FREQUENCY 13

D_TGT 150 TGT_DEFAULT_LON -122.3 C_ROLL_CLIMB 1976 ALTIM_PULSE 3

D_ABORT 200 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_NO_BLEED 50 SM_CC 500 ROLL_CNV 0.028270001 XPDR_VALID 4

D_FINISH 0 N_FILEKB 4 ROLL_TIMEOUT 15 XPDR_INHIBIT 90

D_PITCH 0 FILEMGR 0 R_PORT_OVSHOOT 45 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 INT_PRESSURE_YINT 0

D_CALL 0 COMM_SEQ 0 ROLL_AD_RATE 300 DEEPGLIDER 0

SURFACE_URGENCY 0 KERMIT 0 ROLL_MAXERRORS 0 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 588 DEVICE2 20

T_MISSION 70 CALL_TRIES 5 VBD_MAX 3951 DEVICE3 -1

T_ABORT 1440 CALL_WAIT 60 C_VBD 2970 DEVICE4 -1

T_TURN 225 CAPUPLOAD 0 VBD_DBAND 2 DEVICE5 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 VBD_CNV -0.24529999 DEVICE6 -1

T_NO_W 120 HEAPDBG 0 VBD_TIMEOUT 360 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 -107924.04 VBD_BLEED_AD_RATE 8 COMPASS2_DEVICE -1

T_WATCHDOG 10 T_RSLEEP 2 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 70 CF8_MAXERRORS 0 RAFOS_DEVICE 32

MAX_BUOY 150 RAFOS_HIT_WINDOW 3600 AH0_24V 150 XPDR_DEVICE 24

COURSE_BIAS 0 PITCH_MIN 350 AH0_10V 100 SIM_W 0

GLIDE_SLOPE 30 PITCH_MAX 3700 PHONE_SUPPLY 2 SIM_PITCH 0

SPEED_FACTOR 1 C_PITCH 2860 PRESSURE_YINT -23.283716 SEABIRD_T_G 0.0043498399

RHO 1.023 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.0001161151 SEABIRD_T_H 0.0006493734

MASS 51347 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_T_I 2.8112627e-05

NAV_MODE 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_T_J 3.1957888e-06

FERRY_MAX 45 PITCH_GAIN 21.5 TCM_ROLL_OFFSET 0 SEABIRD_C_G -10.106751

KALMAN_USE 2 PITCH_TIMEOUT 20 COMPASS_USE 0 SEABIRD_C_H 1.1366181

HD_A 0.0038000001 PITCH_AD_RATE 150 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_I 0.00038917549

HD_B 0.0099999998 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0 SEABIRD_C_J 7.9540005e-05

HD_C 2.7999999e-06 PITCH_ADJ_GAIN 0.059999999 ALTIM_BOTTOM_TURN_MARGIN 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 150 SMARTDEVICE2 -1

AH0_10V 100 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTS 0

AH0_24V 150 D_NO_BLEED 50 PITCH_DBAND 0.1 SM_CC 500

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 21.5 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3700 SURFACE_URGENCY 0

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DELTA 0 D_SURF 3 PITCH_MIN 350 SURFACE_URGENCY_TRY 0

ALTIM_PING_DEPTH 0 D_TGT 150 PITCH_TIMEOUT 20 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.0001161151 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 45 PRESSURE_YINT -23.283716 TGT_DEFAULT_LAT 47.599998

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LON -122.3

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 70 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE 32 T_DIVE 50

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_GPS 15

CALL_TRIES 5 HD_A 0.0038000001 RAFOS_PEAK_OFFSET 1.5 T_GPS_ALMANAC 0

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_CHARGE -107924.04

CAPMAXSIZE 100000 HD_C 2.7999999e-06 RHO 1.023 T_MISSION 70

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_NO_W 120

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_RSLEEP 2

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 300 T_TURN 225

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN_SAMPINT 5

COMPASS_DEVICE 33 ID 108 ROLL_DEG 40 T_WATCHDOG 10

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3598 UNCOM_BLEED 20

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 0 UPLOAD_DIVES_MAX -1

C_PITCH 2860 KALMAN_USE 2 ROLL_MIN 294 USE_BATHY -4

C_ROLL_CLIMB 1976 KERMIT 0 ROLL_TIMEOUT 15 USE_ICE 0

C_ROLL_DIVE 1976 MASS 51347 R_PORT_OVSHOOT 45 VBD_BLEED_AD_RATE 8

C_VBD 2970 MAX_BUOY 150 R_STBD_OVSHOOT 39 VBD_CNV -0.24529999

DEEPGLIDER 0 MISSION 7 SEABIRD_C_G -10.106751 VBD_DBAND 2

DEEPGLIDERMB 0 MOTHERBOARD 4 SEABIRD_C_H 1.1366181 VBD_MAX 3951

DEVICE1 2 NAV_MODE 0 SEABIRD_C_I 0.00038917549 VBD_MAXERRORS 1

DEVICE2 20 N_FILEKB 4 SEABIRD_C_J 7.9540005e-05 VBD_MIN 588

DEVICE3 -1 N_GPS 20 SEABIRD_T_G 0.0043498399 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE4 -1 N_NOCOMM 1 SEABIRD_T_H 0.0006493734 VBD_PUMP_AD_RATE_SURFACE 5

DEVICE5 -1 N_NOSURFACE 0 SEABIRD_T_I 2.8112627e-05 VBD_TIMEOUT 360

DEVICE6 -1 PHONE_DEVICE 48 SEABIRD_T_J 3.1957888e-06 XPDR_DEVICE 24

DIVE 9 PHONE_SUPPLY 2 SIM_PITCH 0 XPDR_INHIBIT 90

D_ABORT 200 PITCH_ADJ_DBAND 1 SIM_W 0 XPDR_VALID 4

D_CALL 0 PITCH_ADJ_GAIN 0.059999999 SMARTDEVICE1 -1

Pre-dive calculations and measurements:

GPS1 032937,4807.457,-12223.766,41,2.0,45,18.3 TGT_NAME EIGHT

_CALLS 1 TGT_LATLONG 4808.000,-12224.000

_XMS_NAKs 19 TGT_RADIUS 100.000

_XMS_TOUTs 3 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.29 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.1 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 033502,4807.442,-12223.793,33,2.0,33,18.3 MHEAD_RNG_PITCHd_Wd 327.8,1065,-18.0,-10.000

SPEED_LIMITS 0.173,0.263 D_GRID 101

Post-dive calculations and measurements:

FINISH 3.6,1.018453 TCM_TEMP 19.30

SM_CCo 2478,252.35,0.659,1,0,588,584.30 XPDR_PINGS 63

SM_GC 1.20,7.45,0.00,0.00,0.036,0.000,0.000,332,1986,583,-11.50,0.28,585.53 _24V_AH 24.6,2.089

RAFOS_CLK 67 _10V_AH 10.8,0.589

RAFOS 0,1216699444,4.083333,4.067778,57,56,56,54,52,44,176,215,225,120,201,99 DATA_FILE_SIZE 12707,432

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CAP_FILE_SIZE 41557,0

IRIDIUM_FIX 4748.51,-12224.57,161097,020208 CFSIZE 260165632,257982464

TT8_MAMPS 0.027612 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 1925 SOUNDSPEED 1482.3

INTERNAL_PRESSURE 11.0649 GPS 220708,042423,4807.699,-12223.882,44,2.9,63,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 18 243 112.65 SBE_CT 300 24 177.49

Roll_motor 21 66 35.70 SBE_O2 287 19 134.48

VBD_pump_during_apogee 255 743 4668.18 nil 0 0 0.00

VBD_pump_during_surface 252 658 4090.03 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 23 103 60.22 nil 0 0 0.00

Iridium_during_connect 33 160 133.71 nil 0 0 0.00

Iridium_during_xfer 171 223 938.46

Transponder_ping 15 420 162.73

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 34 50 18.88

TT8 655 19 140.97

LPSleep 1014 2 25.32

TT8_Active 564 19 121.44

TT8_Sampling 672 39 290.11

TT8_CF8 270 45 134.03

TT8_Kalman 0 0 0.00

Analog_circuits 935 12 121.24

GPS_charging 0 0 0.00

Compass 641 8 55.41

RAFOS 720 1 11.66

Transponder 0 30 0.17

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 -1.02 -146.6 0.0 0.0 0 80 0.00 0.00 -63.85 0.000 2 0.000 0.000 340 1991 2900

82 -1.02 -146.6 3.2 -4.8 11 114 9.02 2.20 -16.80 0.000 4 0.244 0.067 2628 3383 3570

367 -0.78 -146.6 28.0 -9.4 61 374 0.20 2.12 0.00 0.000 6 0.151 0.035 2691 1956 3572

510 -0.96 -146.6 38.0 -5.7 86 516 0.15 2.20 0.00 0.000 4 0.069 0.051 2613 3380 3573

769 -0.82 -146.6 63.0 -9.6 132 776 0.25 2.10 0.00 0.000 6 0.145 0.035 2687 1959 3573

979 -1.07 -146.6 77.2 -6.4 169 986 0.20 2.20 0.00 0.000 4 0.062 0.052 2584 3393 3573

1209 end dive: TARGET_DEPTH_EXCEEDED

state 1209 begin apogee

1214 -0.23 0.0 101.7 10.5 210 1329 0.70 0.00 107.75 0.743 6 0.146 0.000 2809 1970 2969

1330 end apogee: CONTROL_FINISHED_OK

state 1330 begin climb

1332 1.02 146.6 103.5 0.0 230 1447 0.80 0.00 109.55 0.707 6 0.094 0.000 3079 1970 2372

1649 1.02 146.6 72.9 10.4 286 1654 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1970 2370

1856 1.02 146.6 51.9 10.0 323 1862 0.00 0.00 0.00 0.000 6 0.000 0.000 3079 1970 2369

2064 1.03 157.5 31.8 9.5 360 2082 0.00 2.25 9.18 0.636 4 0.000 0.054 3079 3381 2326

2087 1.04 165.5 29.5 9.6 364 2101 0.00 2.12 7.30 0.594 6 0.000 0.038 3089 1972 2295

2236 1.05 175.1 15.1 9.6 390 2250 0.00 2.22 8.38 0.617 4 0.000 0.052 3100 571 2256

2272 1.17 190.4 11.8 9.3 396 2291 0.00 2.20 13.18 0.654 6 0.000 0.042 3099 1985 2193

2379 end climb: SURFACE_DEPTH_REACHED

state 2379 begin surface coast

2476 end surface coast: CONTROL_FINISHED_OK

state 2476 begin surface

ID	108	HEADING	-1	PITCH_ADJ_DBAND	1	ALTIM_TOP_TURN_MARGIN	0
MISSION	7	ESCAPE_HEADING	0	ROLL_MIN	294	ALTIM_TOP_MIN_OBSTACLE	1
DIVE	9	ESCAPE_HEADING_DELTA	10	ROLL_MAX	3598	ALTIM_PING_DEPTH	0
D_SURF	3	FIX_MISSING_TIMEOUT	0	ROLL_DEG	40	ALTIM_PING_DELTA	0
D_FLARE	3	TGT_DEFAULT_LAT	47.599998	C_ROLL_DIVE	1976	ALTIM_FREQUENCY	13
D_TGT	150	TGT_DEFAULT_LON	-122.3	C_ROLL_CLIMB	1976	ALTIM_PULSE	3
D_ABORT	200	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_NO_BLEED	50	SM_CC	500	ROLL_CNV	0.028270001	XPDR_VALID	4
D_FINISH	0	N_FILEKB	4	ROLL_TIMEOUT	15	XPDR_INHIBIT	90
D_PITCH	0	FILEMGR	0	R_PORT_OVSHOOT	45	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	INT_PRESSURE_YINT	0
D_CALL	0	COMM_SEQ	0	ROLL_AD_RATE	300	DEEPGLIDER	0
SURFACE_URGENCY	0	KERMIT	0	ROLL_MAXERRORS	0	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	588	DEVICE2	20
T_MISSION	70	CALL_TRIES	5	VBD_MAX	3951	DEVICE3	-1
T_ABORT	1440	CALL_WAIT	60	C_VBD	2970	DEVICE4	-1
T_TURN	225	CAPUPLOAD	0	VBD_DBAND	2	DEVICE5	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	VBD_CNV	-0.24529999	DEVICE6	-1
T_NO_W	120	HEAPDBG	0	VBD_TIMEOUT	360	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	-107924.04	VBD_BLEED_AD_RATE	8	COMPASS2_DEVICE	-1
T_WATCHDOG	10	T_RSLEEP	2	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	70	CF8_MAXERRORS	0	RAFOS_DEVICE	32
MAX_BUOY	150	RAFOS_HIT_WINDOW	3600	AH0_24V	150	XPDR_DEVICE	24
COURSE_BIAS	0	PITCH_MIN	350	AH0_10V	100	SIM_W	0
GLIDE_SLOPE	30	PITCH_MAX	3700	PHONE_SUPPLY	2	SIM_PITCH	0
SPEED_FACTOR	1	C_PITCH	2860	PRESSURE_YINT	-23.283716	SEABIRD_T_G	0.0043498399
RHO	1.023	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.0001161151	SEABIRD_T_H	0.0006493734
MASS	51347	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_T_I	2.8112627e-05
NAV_MODE	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_T_J	3.1957888e-06
FERRY_MAX	45	PITCH_GAIN	21.5	TCM_ROLL_OFFSET	0	SEABIRD_C_G	-10.106751
KALMAN_USE	2	PITCH_TIMEOUT	20	COMPASS_USE	0	SEABIRD_C_H	1.1366181
HD_A	0.0038000001	PITCH_AD_RATE	150	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_I	0.00038917549
HD_B	0.0099999998	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0	SEABIRD_C_J	7.9540005e-05
HD_C	2.7999999e-06	PITCH_ADJ_GAIN	0.059999999	ALTIM_BOTTOM_TURN_MARGIN	0

GPS1	032937,4807.457,-12223.766,41,2.0,45,18.3	TGT_NAME	EIGHT
_CALLS	1	TGT_LATLONG	4808.000,-12224.000
_XMS_NAKs	19	TGT_RADIUS	100.000
_XMS_TOUTs	3	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.29	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.1	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	033502,4807.442,-12223.793,33,2.0,33,18.3	MHEAD_RNG_PITCHd_Wd	327.8,1065,-18.0,-10.000
SPEED_LIMITS	0.173,0.263	D_GRID	101

FINISH	3.6,1.018453	TCM_TEMP	19.30
SM_CCo	2478,252.35,0.659,1,0,588,584.30	XPDR_PINGS	63
SM_GC	1.20,7.45,0.00,0.00,0.036,0.000,0.000,332,1986,583,-11.50,0.28,585.53	_24V_AH	24.6,2.089
RAFOS_CLK	67	_10V_AH	10.8,0.589
RAFOS	0,1216699444,4.083333,4.067778,57,56,56,54,52,44,176,215,225,120,201,99	DATA_FILE_SIZE	12707,432
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CAP_FILE_SIZE	41557,0
IRIDIUM_FIX	4748.51,-12224.57,161097,020208	CFSIZE	260165632,257982464
TT8_MAMPS	0.027612	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	1925	SOUNDSPEED	1482.3
INTERNAL_PRESSURE	11.0649	GPS	220708,042423,4807.699,-12223.882,44,2.9,63,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	18	243	112.65	SBE_CT	300	24	177.49
Roll_motor	21	66	35.70	SBE_O2	287	19	134.48
VBD_pump_during_apogee	255	743	4668.18	nil	0	0	0.00
VBD_pump_during_surface	252	658	4090.03	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	23	103	60.22	nil	0	0	0.00
Iridium_during_connect	33	160	133.71	nil	0	0	0.00
Iridium_during_xfer	171	223	938.46
Transponder_ping	15	420	162.73
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	34	50	18.88
TT8	655	19	140.97
LPSleep	1014	2	25.32
TT8_Active	564	19	121.44
TT8_Sampling	672	39	290.11
TT8_CF8	270	45	134.03
TT8_Kalman	0	0	0.00
Analog_circuits	935	12	121.24
GPS_charging	0	0	0.00
Compass	641	8	55.41
RAFOS	720	1	11.66
Transponder	0	30	0.17

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	-1.02	-146.6	0.0	0.0	0	80	0.00	0.00	-63.85	0.000	2	0.000	0.000	340	1991	2900
82	-1.02	-146.6	3.2	-4.8	11	114	9.02	2.20	-16.80	0.000	4	0.244	0.067	2628	3383	3570
367	-0.78	-146.6	28.0	-9.4	61	374	0.20	2.12	0.00	0.000	6	0.151	0.035	2691	1956	3572
510	-0.96	-146.6	38.0	-5.7	86	516	0.15	2.20	0.00	0.000	4	0.069	0.051	2613	3380	3573
769	-0.82	-146.6	63.0	-9.6	132	776	0.25	2.10	0.00	0.000	6	0.145	0.035	2687	1959	3573
979	-1.07	-146.6	77.2	-6.4	169	986	0.20	2.20	0.00	0.000	4	0.062	0.052	2584	3393	3573
1209	end dive: TARGET_DEPTH_EXCEEDED
state	1209	begin apogee
1214	-0.23	0.0	101.7	10.5	210	1329	0.70	0.00	107.75	0.743	6	0.146	0.000	2809	1970	2969
1330	end apogee: CONTROL_FINISHED_OK
state	1330	begin climb
1332	1.02	146.6	103.5	0.0	230	1447	0.80	0.00	109.55	0.707	6	0.094	0.000	3079	1970	2372
1649	1.02	146.6	72.9	10.4	286	1654	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	1970	2370
1856	1.02	146.6	51.9	10.0	323	1862	0.00	0.00	0.00	0.000	6	0.000	0.000	3079	1970	2369
2064	1.03	157.5	31.8	9.5	360	2082	0.00	2.25	9.18	0.636	4	0.000	0.054	3079	3381	2326
2087	1.04	165.5	29.5	9.6	364	2101	0.00	2.12	7.30	0.594	6	0.000	0.038	3089	1972	2295
2236	1.05	175.1	15.1	9.6	390	2250	0.00	2.22	8.38	0.617	4	0.000	0.052	3100	571	2256
2272	1.17	190.4	11.8	9.3	396	2291	0.00	2.20	13.18	0.654	6	0.000	0.042	3099	1985	2193
2379	end climb: SURFACE_DEPTH_REACHED
state	2379	begin surface coast
2476	end surface coast: CONTROL_FINISHED_OK
state	2476	begin surface