Glider dive log

PortSusan 11Feb08 * SG146 * Dive index * Mission links * Dive 9 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 146 HD_C 9.9999997e-06 PITCH_MAXERRORS 1 ALTIM_TOP_PING_RANGE 0

MISSION 1 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 9 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_MIN 193 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 3 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3941 ALTIM_PING_DEPTH 80

D_TGT 150 TGT_DEFAULT_LAT 4736 ROLL_DEG 40 ALTIM_PING_DELTA 10

D_ABORT 1090 TGT_DEFAULT_LON -12218 C_ROLL_DIVE 2145 ALTIM_FREQUENCY 13

D_NO_BLEED 80 TGT_AUTO_DEFAULT 0 C_ROLL_CLIMB 2145 ALTIM_PULSE 3

D_FINISH 0 SM_CC 600 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 2

D_PITCH 0 N_FILEKB 4 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 FILEMGR 0 ROLL_TIMEOUT 15 INT_PRESSURE_YINT 0

D_CALL 0 CALL_NDIVES 1 R_PORT_OVSHOOT 24 DEEPGLIDER 0

SURFACE_URGENCY 0 COMM_SEQ 0 R_STBD_OVSHOOT 26 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 KERMIT 0 ROLL_AD_RATE 400 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 50 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 20

T_MISSION 60 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 53

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 471 DEVICE4 35

T_TURN 225 CALL_WAIT 60 VBD_MAX 3950 DEVICE5 87

T_TURN_SAMPINT 5 CAPUPLOAD 1 C_VBD 3393 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 0

USE_BATHY -4 HEAPDBG 0 VBD_CNV -0.24529999 SMARTDEVICE1 -1

USE_ICE 0 T_GPS 15 VBD_TIMEOUT 720 SMARTDEVICE2 -1

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 5 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -3380.344 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 32

RELAUNCH 1 T_RSLEEP 3 VBD_BLEED_AD_RATE 8 RAFOS_DEVICE -1

APOGEE_PITCH -5 RAFOS_PEAK_OFFSET 1.5 UNCOM_BLEED 20 XPDR_DEVICE 24

MAX_BUOY 200 RAFOS_CORR_THRESH 60 VBD_MAXERRORS 1 SIM_W 0

COURSE_BIAS 0 RAFOS_HIT_WINDOW 3600 CF8_MAXERRORS 20 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 436 AH0_24V 91.800003 SEABIRD_T_G 0.0042943107

SPEED_FACTOR 1 PITCH_MAX 3705 AH0_10V 61.200001 SEABIRD_T_H 0.00062841887

RHO 1.023 C_PITCH 3055 PRESSURE_YINT -28.32539 SEABIRD_T_I 2.3281167e-05

MASS 52000 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.4418403e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.095174

FERRY_MAX 45 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1317128

KALMAN_USE 2 PITCH_GAIN 16 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0020966067

HD_A 0.003 PITCH_TIMEOUT 15 COMPASS_USE 0 SEABIRD_C_J 0.00024836216

HD_B 0.0099999998 PITCH_AD_RATE 175 ALTIM_BOTTOM_PING_RANGE 0

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 SMARTDEVICE1 -1

AH0_10V 61.200001 D_FLARE 3 PITCH_CNV 0.0046000001 SMARTDEVICE2 -1

AH0_24V 91.800003 D_NO_BLEED 80 PITCH_DBAND 0.1 SMARTS 0

ALTIM_BOTTOM_PING_RANGE 0 D_OFFGRID 100 PITCH_GAIN 16 SM_CC 600

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3705 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 3 PITCH_MIN 436 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 80 D_TGT 150 PITCH_TIMEOUT 15 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 45 PRESSURE_YINT -28.32539 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 P_OVSHOOT 0.039999999 TGT_DEFAULT_LAT 4736

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0 RAFOS_CORR_THRESH 60 TGT_DEFAULT_LON -12218

APOGEE_PITCH -5 GLIDE_SLOPE 30 RAFOS_DEVICE -1 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 RAFOS_HIT_WINDOW 3600 T_DIVE 50

CALL_TRIES 5 HD_A 0.003 RAFOS_PEAK_OFFSET 1.5 T_GPS 15

CALL_WAIT 60 HD_B 0.0099999998 RELAUNCH 1 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RHO 1.023 T_GPS_CHARGE -3380.344

CAPUPLOAD 1 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 60

CF8_MAXERRORS 20 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 400 T_RSLEEP 3

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COMPASS_USE 0 ID 146 ROLL_DEG 40 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAX 3941 T_WATCHDOG 10

C_PITCH 3055 INT_PRESSURE_YINT 0 ROLL_MAXERRORS 1 UNCOM_BLEED 20

C_ROLL_CLIMB 2145 KALMAN_USE 2 ROLL_MIN 193 UPLOAD_DIVES_MAX -1

C_ROLL_DIVE 2145 KERMIT 0 ROLL_TIMEOUT 15 USE_BATHY -4

C_VBD 3393 MASS 52000 R_PORT_OVSHOOT 24 USE_ICE 0

DEEPGLIDER 0 MAX_BUOY 200 R_STBD_OVSHOOT 26 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 MISSION 1 SEABIRD_C_G -10.095174 VBD_CNV -0.24529999

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1317128 VBD_DBAND 2

DEVICE2 20 NAV_MODE 1 SEABIRD_C_I -0.0020966067 VBD_MAX 3950

DEVICE3 53 N_FILEKB 4 SEABIRD_C_J 0.00024836216 VBD_MAXERRORS 1

DEVICE4 35 N_GPS 20 SEABIRD_T_G 0.0042943107 VBD_MIN 471

DEVICE5 87 N_NOCOMM 1 SEABIRD_T_H 0.00062841887 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.3281167e-05 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 9 PHONE_DEVICE 48 SEABIRD_T_J 2.4418403e-06 VBD_TIMEOUT 720

D_ABORT 1090 PITCH_ADJ_DBAND 0 SIM_PITCH 0 XPDR_DEVICE 24

D_CALL 0 PITCH_ADJ_GAIN 0 SIM_W 0

Pre-dive calculations and measurements:

GPS1 054909,4807.036,-12223.021,7,1.7,7,18.3 TGT_NAME SEVEN

_CALLS 4 TGT_LATLONG 4807.000,-12223.000

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.07 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -69.9 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 060557,4807.178,-12223.095,15,1.8,15,18.3 MHEAD_RNG_PITCHd_Wd 142.1,350,-27.2,-10.000

SPEED_LIMITS 0.173,0.295 D_GRID 105

Post-dive calculations and measurements:

FINISH 0.7,1.017768 ALTIM_BOTTOM_PING 80.7,40.0

SM_CCo 2206,212.32,0.606,7,0,947,600.00 _24V_AH 23.6,2.053

SM_GC 1.10,0.00,0.00,212.32,0.000,0.000,0.606,432,2143,947,-12.07,-0.06,600.00 _10V_AH 10.1,1.099

IRIDIUM_FIX 4748.51,-12224.57,080597,060622 DATA_FILE_SIZE 28625,361

TT8_MAMPS 0.026845 CAP_FILE_SIZE 44360,0

HUMID 1484 CFSIZE 260165632,257515520

INTERNAL_PRESSURE 8.848 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,7,0

TCM_TEMP 11.80 GPS 120208,064823,4806.993,-12222.981,12,2.5,31,18.3

XPDR_PINGS 279

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 29 161 111.33 SBE_CT 252 24 142.80

Roll_motor 38 98 89.90 SBE_O2 181 19 81.18

VBD_pump_during_apogee 374 733 6473.27 Optode 264 33 206.37

VBD_pump_during_surface 212 605 3036.24 WL_BB2F 447 105 1109.19

VBD_valve 0 0 0.00 WL_BBFL2VMT 943 105 2336.92

Iridium_during_init 101 103 246.49 nil 0 0 0.00

Iridium_during_connect 422 160 1597.00 nil 0 0 0.00

Iridium_during_xfer 214 223 1129.44

Transponder_ping 70 420 696.32

Mmodem_TX 0 0 0.00

Mmodem_RX 0 0 0.00

GPS 17 50 8.63

TT8 533 19 106.71

LPSleep 383 2 8.49

TT8_Active 581 19 116.28

TT8_Sampling 1159 39 466.15

TT8_CF8 824 45 381.44

TT8_Kalman 0 0 0.00

Analog_circuits 1096 12 132.89

GPS_charging 0 0 0.00

Compass 1165 8 94.16

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

15 end surface: CONTROL_FINISHED_OK

state 15 begin dive

17 -1.78 -63.1 0.0 0.0 0 110 0.00 0.00 -91.18 0.000 2 0.000 0.000 429 2152 2898

113 -1.86 -130.1 3.1 -2.9 12 160 11.82 2.58 -28.38 0.000 4 0.162 0.099 2643 745 3924

195 -1.86 -130.1 12.5 -11.8 24 203 0.00 2.45 0.00 0.000 6 0.000 0.067 2643 2137 3925

270 -1.86 -130.1 21.9 -11.9 37 278 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2137 3925

342 -1.86 -130.1 30.7 -12.1 50 351 0.00 2.42 0.00 0.000 4 0.000 0.056 2643 3546 3925

400 -1.86 -130.1 39.1 -14.5 60 409 0.00 2.35 0.00 0.000 6 0.000 0.044 2643 2142 3925

543 -1.86 -130.1 59.6 -15.2 85 549 0.00 2.40 0.00 0.000 4 0.000 0.056 2643 3555 3925

615 -1.86 -130.1 71.1 -16.0 98 623 0.00 2.35 0.00 0.000 6 0.000 0.046 2643 2148 3925

762 -1.86 -130.1 92.6 -14.7 123 768 0.00 2.38 0.00 0.000 4 0.000 0.062 2643 3551 3925

797 -1.86 -130.1 98.0 -14.9 129 803 0.00 2.30 0.00 0.000 6 0.000 0.038 2643 2142 3925

845 end dive: TARGET_DEPTH_EXCEEDED

state 845 begin apogee

849 -0.31 0.0 105.6 14.4 138 958 1.65 0.00 103.12 0.733 6 0.120 0.000 2980 2142 3393

959 end apogee: CONTROL_FINISHED_OK

state 959 begin climb

960 1.86 130.1 109.2 0.0 155 1074 2.15 0.00 102.15 0.704 6 0.076 0.000 3460 2142 2861

1209 1.86 130.1 78.5 14.8 197 1215 0.00 2.40 0.00 0.000 4 0.000 0.055 3460 3550 2861

1259 1.86 130.1 70.4 15.7 206 1267 0.00 2.35 0.00 0.000 6 0.000 0.043 3460 2150 2860

1401 1.86 130.1 49.3 15.4 231 1407 0.00 2.40 0.00 0.000 4 0.000 0.061 3460 3560 2861

1505 1.86 130.1 33.6 15.6 249 1511 0.00 2.35 0.00 0.000 6 0.000 0.042 3460 2143 2861

1644 1.86 130.1 13.6 13.2 274 1652 0.00 2.42 0.00 0.000 4 0.000 0.055 3460 3549 2861

1725 1.91 166.5 5.8 6.1 288 1764 0.00 2.35 29.42 0.638 6 0.000 0.039 3460 2139 2713

1832 2.02 255.2 5.0 0.6 305 1908 0.15 2.58 69.18 0.637 4 0.063 0.097 3505 751 2351

2042 2.14 353.1 4.4 -0.4 339 2118 0.00 2.42 70.20 0.637 2 0.000 0.062 3505 2143 1988

2119 end climb: SURFACE_DEPTH_REACHED

state 2119 begin surface coast

2186 end surface coast: CONTROL_FINISHED_OK

state 2186 begin surface

ID	146	HD_C	9.9999997e-06	PITCH_MAXERRORS	1	ALTIM_TOP_PING_RANGE	0
MISSION	1	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	9	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_MIN	193	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	3	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3941	ALTIM_PING_DEPTH	80
D_TGT	150	TGT_DEFAULT_LAT	4736	ROLL_DEG	40	ALTIM_PING_DELTA	10
D_ABORT	1090	TGT_DEFAULT_LON	-12218	C_ROLL_DIVE	2145	ALTIM_FREQUENCY	13
D_NO_BLEED	80	TGT_AUTO_DEFAULT	0	C_ROLL_CLIMB	2145	ALTIM_PULSE	3
D_FINISH	0	SM_CC	600	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	2
D_PITCH	0	N_FILEKB	4	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	FILEMGR	0	ROLL_TIMEOUT	15	INT_PRESSURE_YINT	0
D_CALL	0	CALL_NDIVES	1	R_PORT_OVSHOOT	24	DEEPGLIDER	0
SURFACE_URGENCY	0	COMM_SEQ	0	R_STBD_OVSHOOT	26	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	KERMIT	0	ROLL_AD_RATE	400	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	50	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	20
T_MISSION	60	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	53
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	471	DEVICE4	35
T_TURN	225	CALL_WAIT	60	VBD_MAX	3950	DEVICE5	87
T_TURN_SAMPINT	5	CAPUPLOAD	1	C_VBD	3393	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	0
USE_BATHY	-4	HEAPDBG	0	VBD_CNV	-0.24529999	SMARTDEVICE1	-1
USE_ICE	0	T_GPS	15	VBD_TIMEOUT	720	SMARTDEVICE2	-1
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	5	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-3380.344	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	32
RELAUNCH	1	T_RSLEEP	3	VBD_BLEED_AD_RATE	8	RAFOS_DEVICE	-1
APOGEE_PITCH	-5	RAFOS_PEAK_OFFSET	1.5	UNCOM_BLEED	20	XPDR_DEVICE	24
MAX_BUOY	200	RAFOS_CORR_THRESH	60	VBD_MAXERRORS	1	SIM_W	0
COURSE_BIAS	0	RAFOS_HIT_WINDOW	3600	CF8_MAXERRORS	20	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	436	AH0_24V	91.800003	SEABIRD_T_G	0.0042943107
SPEED_FACTOR	1	PITCH_MAX	3705	AH0_10V	61.200001	SEABIRD_T_H	0.00062841887
RHO	1.023	C_PITCH	3055	PRESSURE_YINT	-28.32539	SEABIRD_T_I	2.3281167e-05
MASS	52000	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.4418403e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.095174
FERRY_MAX	45	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1317128
KALMAN_USE	2	PITCH_GAIN	16	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0020966067
HD_A	0.003	PITCH_TIMEOUT	15	COMPASS_USE	0	SEABIRD_C_J	0.00024836216
HD_B	0.0099999998	PITCH_AD_RATE	175	ALTIM_BOTTOM_PING_RANGE	0

GPS1	054909,4807.036,-12223.021,7,1.7,7,18.3	TGT_NAME	SEVEN
_CALLS	4	TGT_LATLONG	4807.000,-12223.000
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.07	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-69.9	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	060557,4807.178,-12223.095,15,1.8,15,18.3	MHEAD_RNG_PITCHd_Wd	142.1,350,-27.2,-10.000
SPEED_LIMITS	0.173,0.295	D_GRID	105

FINISH	0.7,1.017768	ALTIM_BOTTOM_PING	80.7,40.0
SM_CCo	2206,212.32,0.606,7,0,947,600.00	_24V_AH	23.6,2.053
SM_GC	1.10,0.00,0.00,212.32,0.000,0.000,0.606,432,2143,947,-12.07,-0.06,600.00	_10V_AH	10.1,1.099
IRIDIUM_FIX	4748.51,-12224.57,080597,060622	DATA_FILE_SIZE	28625,361
TT8_MAMPS	0.026845	CAP_FILE_SIZE	44360,0
HUMID	1484	CFSIZE	260165632,257515520
INTERNAL_PRESSURE	8.848	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,7,0
TCM_TEMP	11.80	GPS	120208,064823,4806.993,-12222.981,12,2.5,31,18.3
XPDR_PINGS	279

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	29	161	111.33	SBE_CT	252	24	142.80
Roll_motor	38	98	89.90	SBE_O2	181	19	81.18
VBD_pump_during_apogee	374	733	6473.27	Optode	264	33	206.37
VBD_pump_during_surface	212	605	3036.24	WL_BB2F	447	105	1109.19
VBD_valve	0	0	0.00	WL_BBFL2VMT	943	105	2336.92
Iridium_during_init	101	103	246.49	nil	0	0	0.00
Iridium_during_connect	422	160	1597.00	nil	0	0	0.00
Iridium_during_xfer	214	223	1129.44
Transponder_ping	70	420	696.32
Mmodem_TX	0	0	0.00
Mmodem_RX	0	0	0.00
GPS	17	50	8.63
TT8	533	19	106.71
LPSleep	383	2	8.49
TT8_Active	581	19	116.28
TT8_Sampling	1159	39	466.15
TT8_CF8	824	45	381.44
TT8_Kalman	0	0	0.00
Analog_circuits	1096	12	132.89
GPS_charging	0	0	0.00
Compass	1165	8	94.16
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
15	end surface: CONTROL_FINISHED_OK
state	15	begin dive
17	-1.78	-63.1	0.0	0.0	0	110	0.00	0.00	-91.18	0.000	2	0.000	0.000	429	2152	2898
113	-1.86	-130.1	3.1	-2.9	12	160	11.82	2.58	-28.38	0.000	4	0.162	0.099	2643	745	3924
195	-1.86	-130.1	12.5	-11.8	24	203	0.00	2.45	0.00	0.000	6	0.000	0.067	2643	2137	3925
270	-1.86	-130.1	21.9	-11.9	37	278	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2137	3925
342	-1.86	-130.1	30.7	-12.1	50	351	0.00	2.42	0.00	0.000	4	0.000	0.056	2643	3546	3925
400	-1.86	-130.1	39.1	-14.5	60	409	0.00	2.35	0.00	0.000	6	0.000	0.044	2643	2142	3925
543	-1.86	-130.1	59.6	-15.2	85	549	0.00	2.40	0.00	0.000	4	0.000	0.056	2643	3555	3925
615	-1.86	-130.1	71.1	-16.0	98	623	0.00	2.35	0.00	0.000	6	0.000	0.046	2643	2148	3925
762	-1.86	-130.1	92.6	-14.7	123	768	0.00	2.38	0.00	0.000	4	0.000	0.062	2643	3551	3925
797	-1.86	-130.1	98.0	-14.9	129	803	0.00	2.30	0.00	0.000	6	0.000	0.038	2643	2142	3925
845	end dive: TARGET_DEPTH_EXCEEDED
state	845	begin apogee
849	-0.31	0.0	105.6	14.4	138	958	1.65	0.00	103.12	0.733	6	0.120	0.000	2980	2142	3393
959	end apogee: CONTROL_FINISHED_OK
state	959	begin climb
960	1.86	130.1	109.2	0.0	155	1074	2.15	0.00	102.15	0.704	6	0.076	0.000	3460	2142	2861
1209	1.86	130.1	78.5	14.8	197	1215	0.00	2.40	0.00	0.000	4	0.000	0.055	3460	3550	2861
1259	1.86	130.1	70.4	15.7	206	1267	0.00	2.35	0.00	0.000	6	0.000	0.043	3460	2150	2860
1401	1.86	130.1	49.3	15.4	231	1407	0.00	2.40	0.00	0.000	4	0.000	0.061	3460	3560	2861
1505	1.86	130.1	33.6	15.6	249	1511	0.00	2.35	0.00	0.000	6	0.000	0.042	3460	2143	2861
1644	1.86	130.1	13.6	13.2	274	1652	0.00	2.42	0.00	0.000	4	0.000	0.055	3460	3549	2861
1725	1.91	166.5	5.8	6.1	288	1764	0.00	2.35	29.42	0.638	6	0.000	0.039	3460	2139	2713
1832	2.02	255.2	5.0	0.6	305	1908	0.15	2.58	69.18	0.637	4	0.063	0.097	3505	751	2351
2042	2.14	353.1	4.4	-0.4	339	2118	0.00	2.42	70.20	0.637	2	0.000	0.062	3505	2143	1988
2119	end climb: SURFACE_DEPTH_REACHED
state	2119	begin surface coast
2186	end surface coast: CONTROL_FINISHED_OK
state	2186	begin surface