Glider dive log

PN07 DabobBay 22Sep07 * SG118 * Dive index * Mission links * Dive 304 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 118 HD_B 0.010078 PITCH_AD_RATE 175 ALTIM_TOP_PING_RANGE 0

MISSION 6 HD_C 9.8541004e-06 PITCH_MAXERRORS 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 304 HEADING -1 PITCH_ADJ_GAIN 0 ALTIM_TOP_TURN_MARGIN 0

D_SURF 2 ESCAPE_HEADING 0 PITCH_ADJ_DBAND 0 ALTIM_TOP_MIN_OBSTACLE 1

D_FLARE 2 ESCAPE_HEADING_DELTA 10 ROLL_MIN 311 ALTIM_PING_DEPTH 70

D_TGT 90 FIX_MISSING_TIMEOUT 0 ROLL_MAX 3943 ALTIM_PING_DELTA 10

D_ABORT 1050 TGT_DEFAULT_LAT 47.650002 C_ROLL_DIVE 2500 ALTIM_FREQUENCY 13

D_NO_BLEED 200 TGT_DEFAULT_LON -122.8667 C_ROLL_CLIMB 2415 ALTIM_PULSE 3

D_FINISH 0 TGT_AUTO_DEFAULT 0 HEAD_ERRBAND 10 ALTIM_SENSITIVITY 3

D_PITCH 0 SM_CC 400 ROLL_CNV 0.028270001 INT_PRESSURE_SLOPE 0.0097660003

D_SAFE 0 N_FILEKB 4 ROLL_TIMEOUT 17 INT_PRESSURE_YINT 1.4

D_CALL 0 FILEMGR 0 R_PORT_OVSHOOT 43 DEEPGLIDER 0

SURFACE_URGENCY 0 CALL_NDIVES 1 R_STBD_OVSHOOT 39 DEEPGLIDERMB 0

SURFACE_URGENCY_TRY 0 COMM_SEQ 0 ROLL_AD_RATE 350 MOTHERBOARD 4

SURFACE_URGENCY_FORCE 0 N_NOCOMM 1 ROLL_MAXERRORS 1 DEVICE1 2

T_DIVE 45 N_NOSURFACE 0 ROLL_ADJ_GAIN 0 DEVICE2 -1

T_MISSION 80 UPLOAD_DIVES_MAX -1 ROLL_ADJ_DBAND 0 DEVICE3 -1

T_ABORT 1440 CALL_TRIES 5 VBD_MIN 540 DEVICE4 -1

T_TURN 225 CALL_WAIT 60 VBD_MAX 3800 DEVICE5 -1

T_TURN_SAMPINT 6 CAPUPLOAD 0 C_VBD 3229 DEVICE6 -1

T_NO_W 120 CAPMAXSIZE 100000 VBD_DBAND 2 SMARTS 2

USE_BATHY 0 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 6 PHONE_DEVICE 48

T_WATCHDOG 10 T_GPS_CHARGE -17147.158 VBD_PUMP_AD_RATE_APOGEE 4 GPS_DEVICE 16

RELAUNCH 1 T_RSLEEP 5 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 0 SIM_PITCH 0

GLIDE_SLOPE 30 PITCH_MIN 428 AH0_24V 91.800003 SEABIRD_T_G 0.0043805656

SPEED_FACTOR 1 PITCH_MAX 3730 AH0_10V 61.200001 SEABIRD_T_H 0.00064742006

RHO 1.023 C_PITCH 3000 PRESSURE_YINT -6.9690108 SEABIRD_T_I 2.5554549e-05

MASS 51630 PITCH_DBAND 0.1 PRESSURE_SLOPE 0.000115925 SEABIRD_T_J 2.6681391e-06

NAV_MODE 1 PITCH_CNV 0.0046000001 AD7714Ch0Gain 128 SEABIRD_C_G -10.331019

FERRY_MAX 0 P_OVSHOOT 0.039999999 TCM_PITCH_OFFSET 0 SEABIRD_C_H 1.1763502

KALMAN_USE 2 PITCH_GAIN 10 TCM_ROLL_OFFSET 0 SEABIRD_C_I -0.0012340198

HD_A 0.0038360001 PITCH_TIMEOUT 20 ALTIM_BOTTOM_PING_RANGE 25 SEABIRD_C_J 0.00017379176

AD7714Ch0Gain 128 D_FINISH 0 PITCH_AD_RATE 175 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 10 SM_CC 400

ALTIM_BOTTOM_TURN_MARGIN 0 D_PITCH 0 PITCH_MAX 3730 SPEED_FACTOR 1

ALTIM_FREQUENCY 13 D_SAFE 0 PITCH_MAXERRORS 1 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 D_SURF 2 PITCH_MIN 428 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 70 D_TGT 90 PITCH_TIMEOUT 20 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 3 ESCAPE_HEADING 0 PITCH_VBD_SHIFT 0.0012300001 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 3 ESCAPE_HEADING_DELTA 10 PRESSURE_SLOPE 0.000115925 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FERRY_MAX 0 PRESSURE_YINT -6.9690108 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 16 RAFOS_HIT_WINDOW 3600 T_DIVE 45

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 100000 HD_C 9.8541004e-06 RHO 1.023 T_GPS_CHARGE -17147.158

CAPUPLOAD 0 HEADING -1 ROLL_ADJ_DBAND 0 T_MISSION 80

CF8_MAXERRORS 0 HEAD_ERRBAND 10 ROLL_ADJ_GAIN 0 T_NO_W 120

COMM_SEQ 0 HEAPDBG 0 ROLL_AD_RATE 350 T_RSLEEP 5

COMPASS_DEVICE 33 ICE_FREEZE_MARGIN 0.30000001 ROLL_CNV 0.028270001 T_TURN 225

COURSE_BIAS 0 ID 118 ROLL_MAX 3943 T_TURN_SAMPINT 6

C_PITCH 3000 INT_PRESSURE_SLOPE 0.0097660003 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_CLIMB 2415 INT_PRESSURE_YINT 1.4 ROLL_MIN 311 UNCOM_BLEED 20

C_ROLL_DIVE 2500 KALMAN_USE 2 ROLL_TIMEOUT 17 UPLOAD_DIVES_MAX -1

C_VBD 3229 MASS 51630 R_PORT_OVSHOOT 43 USE_BATHY 0

DEEPGLIDER 0 MAX_BUOY 125 R_STBD_OVSHOOT 39 USE_ICE 0

DEEPGLIDERMB 0 MISSION 6 SEABIRD_C_G -10.331019 VBD_BLEED_AD_RATE 8

DEVICE1 2 MOTHERBOARD 4 SEABIRD_C_H 1.1763502 VBD_CNV -0.24529999

DEVICE2 -1 NAV_MODE 1 SEABIRD_C_I -0.0012340198 VBD_DBAND 2

DEVICE3 -1 N_FILEKB 4 SEABIRD_C_J 0.00017379176 VBD_MAX 3800

DEVICE4 -1 N_GPS 20 SEABIRD_T_G 0.0043805656 VBD_MAXERRORS 1

DEVICE5 -1 N_NOCOMM 1 SEABIRD_T_H 0.00064742006 VBD_MIN 540

DEVICE6 -1 N_NOSURFACE 0 SEABIRD_T_I 2.5554549e-05 VBD_PUMP_AD_RATE_APOGEE 4

DIVE 304 PHONE_DEVICE 48 SEABIRD_T_J 2.6681391e-06 VBD_PUMP_AD_RATE_SURFACE 6

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 014129,4739.364,-12252.574,13,5.8,32,18.3 TGT_NAME H3

_CALLS 1 TGT_LATLONG 4739.467,-12253.202

_XMS_NAKs 0 TGT_RADIUS 200.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 0.91 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -58.8 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 014747,4739.413,-12252.515,15,5.0,34,18.3 MHEAD_RNG_PITCHd_Wd 258.3,863,-13.9,-6.667

SPEED_LIMITS 0.115,0.209 D_GRID 90

Post-dive calculations and measurements:

FINISH 0.7,1.027315 XPDR_PINGS 7

SM_CCo 2679,134.02,0.525,0,0,1597,400.08 ALTIM_BOTTOM_PING 90.5,48.4

SM_GC 0.72,0.00,0.00,134.02,0.000,0.000,0.525,429,2507,1597,-11.82,0.20,400.08 _24V_AH 24.1,24.022

IRIDIUM_FIX 4722.92,-12256.21,021007,040416 _10V_AH 10.1,18.149

TT8_MAMPS 0.067496 DATA_FILE_SIZE 6461,247

HUMID 1786 CFSIZE 260034560,248295424

INTERNAL_PRESSURE 9.32999 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 19.90 GPS 021007,023626,4739.485,-12252.913,41,1.3,41,18.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 28 156 107.19 SBE_CT 170 24 98.87

Roll_motor 44 70 76.40 nil 0 0 0.00

VBD_pump_during_apogee 188 635 2877.40 nil 0 0 0.00

VBD_pump_during_surface 134 524 1694.55 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 37 103 92.94 nil 0 0 0.00

Iridium_during_connect 31 160 122.95 ARS 0 0 0.00

Iridium_during_xfer 143 223 770.15

Transponder_ping 3 420 30.37

Mmodem_TX 0 1000 0.00

Mmodem_RX 3283 6 506.37

GPS 35 93 33.47

TT8 470 19 93.99

LPSleep 1409 2 31.19

TT8_Active 424 19 84.81

TT8_Sampling 480 39 193.33

TT8_CF8 419 45 194.03

TT8_Kalman 0 0 0.00

Analog_circuits 719 12 87.16

GPS_charging 0 0 0.00

Compass 466 8 37.70

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

22 end surface: CONTROL_FINISHED_OK

state 22 begin dive

26 -1.54 -122.2 0.0 0.0 0 88 0.00 0.00 -60.40 0.000 2 0.000 0.000 425 2509 3072

92 -1.54 -122.2 2.1 -3.4 10 131 12.43 2.58 -20.98 0.000 4 0.156 0.060 2659 1105 3730

190 -1.54 -122.2 8.3 -7.1 25 197 0.00 2.40 0.00 0.000 6 0.000 0.033 2659 2492 3732

263 -1.54 -122.2 14.0 -8.1 36 269 0.00 2.58 0.00 0.000 4 0.000 0.070 2659 3892 3732

329 -1.54 -122.2 19.6 -8.6 46 335 0.00 2.38 0.00 0.000 6 0.000 0.032 2659 2488 3732

398 -1.54 -122.2 24.9 -7.7 52 402 0.00 2.60 0.00 0.000 4 0.000 0.067 2659 3897 3733

502 -1.54 -122.2 33.0 -7.2 59 509 0.00 2.40 0.00 0.000 6 0.000 0.033 2659 2497 3732

700 -1.54 -122.2 44.6 -6.6 75 704 0.00 2.58 0.00 0.000 4 0.000 0.067 2659 3893 3733

791 -1.54 -122.2 51.7 -7.9 81 799 0.00 2.38 0.00 0.000 6 0.000 0.034 2659 2506 3734

988 -1.54 -122.2 64.7 -6.3 97 993 0.00 2.58 0.00 0.000 4 0.000 0.067 2658 3902 3732

1073 -1.54 -122.2 70.5 -6.5 103 1080 0.00 2.38 0.00 0.000 6 0.000 0.034 2659 2498 3734

1269 -1.54 -122.2 83.0 -6.4 119 1274 0.00 2.45 0.00 0.000 4 0.000 0.050 2658 1120 3733

1308 -1.54 -122.2 85.5 -6.8 121 1315 0.00 2.40 0.00 0.000 6 0.000 0.033 2659 2497 3732

1391 end dive: TARGET_DEPTH_EXCEEDED

state 1391 begin apogee

1398 -0.50 0.0 90.5 6.3 128 1500 1.10 0.00 93.88 0.598 6 0.094 0.000 2885 2427 3228

1501 end apogee: CONTROL_FINISHED_OK

state 1501 begin climb

1504 1.54 122.2 92.9 0.0 137 1605 2.05 2.60 91.57 0.581 4 0.061 0.051 3330 1026 2729

1633 1.54 122.2 85.4 8.8 147 1640 0.00 2.45 0.00 0.000 6 0.000 0.033 3330 2416 2728

1832 1.54 122.2 67.6 9.1 163 1836 0.00 2.50 0.00 0.000 4 0.000 0.051 3330 1025 2728

1918 1.54 122.2 59.2 9.1 169 1922 0.00 2.40 0.00 0.000 6 0.000 0.033 3330 2414 2728

2114 1.54 122.2 41.4 8.7 184 2115 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 2414 2728

2305 1.54 122.2 25.3 8.3 199 2306 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 2413 2728

2498 1.54 122.2 9.1 7.8 224 2504 0.00 0.00 0.00 0.000 6 0.000 0.000 3330 2413 2728

2571 1.54 126.4 4.7 6.5 235 2578 0.00 2.58 2.55 0.635 4 0.000 0.051 3330 1017 2713

2615 end climb: SURFACE_DEPTH_REACHED

state 2615 begin surface coast

2649 end surface coast: CONTROL_FINISHED_OK

state 2649 begin surface

ID	118	HD_B	0.010078	PITCH_AD_RATE	175	ALTIM_TOP_PING_RANGE	0
MISSION	6	HD_C	9.8541004e-06	PITCH_MAXERRORS	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	304	HEADING	-1	PITCH_ADJ_GAIN	0	ALTIM_TOP_TURN_MARGIN	0
D_SURF	2	ESCAPE_HEADING	0	PITCH_ADJ_DBAND	0	ALTIM_TOP_MIN_OBSTACLE	1
D_FLARE	2	ESCAPE_HEADING_DELTA	10	ROLL_MIN	311	ALTIM_PING_DEPTH	70
D_TGT	90	FIX_MISSING_TIMEOUT	0	ROLL_MAX	3943	ALTIM_PING_DELTA	10
D_ABORT	1050	TGT_DEFAULT_LAT	47.650002	C_ROLL_DIVE	2500	ALTIM_FREQUENCY	13
D_NO_BLEED	200	TGT_DEFAULT_LON	-122.8667	C_ROLL_CLIMB	2415	ALTIM_PULSE	3
D_FINISH	0	TGT_AUTO_DEFAULT	0	HEAD_ERRBAND	10	ALTIM_SENSITIVITY	3
D_PITCH	0	SM_CC	400	ROLL_CNV	0.028270001	INT_PRESSURE_SLOPE	0.0097660003
D_SAFE	0	N_FILEKB	4	ROLL_TIMEOUT	17	INT_PRESSURE_YINT	1.4
D_CALL	0	FILEMGR	0	R_PORT_OVSHOOT	43	DEEPGLIDER	0
SURFACE_URGENCY	0	CALL_NDIVES	1	R_STBD_OVSHOOT	39	DEEPGLIDERMB	0
SURFACE_URGENCY_TRY	0	COMM_SEQ	0	ROLL_AD_RATE	350	MOTHERBOARD	4
SURFACE_URGENCY_FORCE	0	N_NOCOMM	1	ROLL_MAXERRORS	1	DEVICE1	2
T_DIVE	45	N_NOSURFACE	0	ROLL_ADJ_GAIN	0	DEVICE2	-1
T_MISSION	80	UPLOAD_DIVES_MAX	-1	ROLL_ADJ_DBAND	0	DEVICE3	-1
T_ABORT	1440	CALL_TRIES	5	VBD_MIN	540	DEVICE4	-1
T_TURN	225	CALL_WAIT	60	VBD_MAX	3800	DEVICE5	-1
T_TURN_SAMPINT	6	CAPUPLOAD	0	C_VBD	3229	DEVICE6	-1
T_NO_W	120	CAPMAXSIZE	100000	VBD_DBAND	2	SMARTS	2
USE_BATHY	0	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	6	PHONE_DEVICE	48
T_WATCHDOG	10	T_GPS_CHARGE	-17147.158	VBD_PUMP_AD_RATE_APOGEE	4	GPS_DEVICE	16
RELAUNCH	1	T_RSLEEP	5	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	0	SIM_PITCH	0
GLIDE_SLOPE	30	PITCH_MIN	428	AH0_24V	91.800003	SEABIRD_T_G	0.0043805656
SPEED_FACTOR	1	PITCH_MAX	3730	AH0_10V	61.200001	SEABIRD_T_H	0.00064742006
RHO	1.023	C_PITCH	3000	PRESSURE_YINT	-6.9690108	SEABIRD_T_I	2.5554549e-05
MASS	51630	PITCH_DBAND	0.1	PRESSURE_SLOPE	0.000115925	SEABIRD_T_J	2.6681391e-06
NAV_MODE	1	PITCH_CNV	0.0046000001	AD7714Ch0Gain	128	SEABIRD_C_G	-10.331019
FERRY_MAX	0	P_OVSHOOT	0.039999999	TCM_PITCH_OFFSET	0	SEABIRD_C_H	1.1763502
KALMAN_USE	2	PITCH_GAIN	10	TCM_ROLL_OFFSET	0	SEABIRD_C_I	-0.0012340198
HD_A	0.0038360001	PITCH_TIMEOUT	20	ALTIM_BOTTOM_PING_RANGE	25	SEABIRD_C_J	0.00017379176

GPS1	014129,4739.364,-12252.574,13,5.8,32,18.3	TGT_NAME	H3
_CALLS	1	TGT_LATLONG	4739.467,-12253.202
_XMS_NAKs	0	TGT_RADIUS	200.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	0.91	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-58.8	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	014747,4739.413,-12252.515,15,5.0,34,18.3	MHEAD_RNG_PITCHd_Wd	258.3,863,-13.9,-6.667
SPEED_LIMITS	0.115,0.209	D_GRID	90

FINISH	0.7,1.027315	XPDR_PINGS	7
SM_CCo	2679,134.02,0.525,0,0,1597,400.08	ALTIM_BOTTOM_PING	90.5,48.4
SM_GC	0.72,0.00,0.00,134.02,0.000,0.000,0.525,429,2507,1597,-11.82,0.20,400.08	_24V_AH	24.1,24.022
IRIDIUM_FIX	4722.92,-12256.21,021007,040416	_10V_AH	10.1,18.149
TT8_MAMPS	0.067496	DATA_FILE_SIZE	6461,247
HUMID	1786	CFSIZE	260034560,248295424
INTERNAL_PRESSURE	9.32999	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	19.90	GPS	021007,023626,4739.485,-12252.913,41,1.3,41,18.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	28	156	107.19	SBE_CT	170	24	98.87
Roll_motor	44	70	76.40	nil	0	0	0.00
VBD_pump_during_apogee	188	635	2877.40	nil	0	0	0.00
VBD_pump_during_surface	134	524	1694.55	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	37	103	92.94	nil	0	0	0.00
Iridium_during_connect	31	160	122.95	ARS	0	0	0.00
Iridium_during_xfer	143	223	770.15
Transponder_ping	3	420	30.37
Mmodem_TX	0	1000	0.00
Mmodem_RX	3283	6	506.37
GPS	35	93	33.47
TT8	470	19	93.99
LPSleep	1409	2	31.19
TT8_Active	424	19	84.81
TT8_Sampling	480	39	193.33
TT8_CF8	419	45	194.03
TT8_Kalman	0	0	0.00
Analog_circuits	719	12	87.16
GPS_charging	0	0	0.00
Compass	466	8	37.70
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
22	end surface: CONTROL_FINISHED_OK
state	22	begin dive
26	-1.54	-122.2	0.0	0.0	0	88	0.00	0.00	-60.40	0.000	2	0.000	0.000	425	2509	3072
92	-1.54	-122.2	2.1	-3.4	10	131	12.43	2.58	-20.98	0.000	4	0.156	0.060	2659	1105	3730
190	-1.54	-122.2	8.3	-7.1	25	197	0.00	2.40	0.00	0.000	6	0.000	0.033	2659	2492	3732
263	-1.54	-122.2	14.0	-8.1	36	269	0.00	2.58	0.00	0.000	4	0.000	0.070	2659	3892	3732
329	-1.54	-122.2	19.6	-8.6	46	335	0.00	2.38	0.00	0.000	6	0.000	0.032	2659	2488	3732
398	-1.54	-122.2	24.9	-7.7	52	402	0.00	2.60	0.00	0.000	4	0.000	0.067	2659	3897	3733
502	-1.54	-122.2	33.0	-7.2	59	509	0.00	2.40	0.00	0.000	6	0.000	0.033	2659	2497	3732
700	-1.54	-122.2	44.6	-6.6	75	704	0.00	2.58	0.00	0.000	4	0.000	0.067	2659	3893	3733
791	-1.54	-122.2	51.7	-7.9	81	799	0.00	2.38	0.00	0.000	6	0.000	0.034	2659	2506	3734
988	-1.54	-122.2	64.7	-6.3	97	993	0.00	2.58	0.00	0.000	4	0.000	0.067	2658	3902	3732
1073	-1.54	-122.2	70.5	-6.5	103	1080	0.00	2.38	0.00	0.000	6	0.000	0.034	2659	2498	3734
1269	-1.54	-122.2	83.0	-6.4	119	1274	0.00	2.45	0.00	0.000	4	0.000	0.050	2658	1120	3733
1308	-1.54	-122.2	85.5	-6.8	121	1315	0.00	2.40	0.00	0.000	6	0.000	0.033	2659	2497	3732
1391	end dive: TARGET_DEPTH_EXCEEDED
state	1391	begin apogee
1398	-0.50	0.0	90.5	6.3	128	1500	1.10	0.00	93.88	0.598	6	0.094	0.000	2885	2427	3228
1501	end apogee: CONTROL_FINISHED_OK
state	1501	begin climb
1504	1.54	122.2	92.9	0.0	137	1605	2.05	2.60	91.57	0.581	4	0.061	0.051	3330	1026	2729
1633	1.54	122.2	85.4	8.8	147	1640	0.00	2.45	0.00	0.000	6	0.000	0.033	3330	2416	2728
1832	1.54	122.2	67.6	9.1	163	1836	0.00	2.50	0.00	0.000	4	0.000	0.051	3330	1025	2728
1918	1.54	122.2	59.2	9.1	169	1922	0.00	2.40	0.00	0.000	6	0.000	0.033	3330	2414	2728
2114	1.54	122.2	41.4	8.7	184	2115	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	2414	2728
2305	1.54	122.2	25.3	8.3	199	2306	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	2413	2728
2498	1.54	122.2	9.1	7.8	224	2504	0.00	0.00	0.00	0.000	6	0.000	0.000	3330	2413	2728
2571	1.54	126.4	4.7	6.5	235	2578	0.00	2.58	2.55	0.635	4	0.000	0.051	3330	1017	2713
2615	end climb: SURFACE_DEPTH_REACHED
state	2615	begin surface coast
2649	end surface coast: CONTROL_FINISHED_OK
state	2649	begin surface