EXPORTS Apr21 * SG219 * Dive index * Mission links * Dive 171 * Raw log
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• Previous call tries 2 • 136.89 of 350.00 AH used of 24V (60.89% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -39.2 deg, depth 0.87 m • Intended pitch -17.6 deg, speed -11.786 cm/s
• VBD pumped to 375.04 (SM_CC=375)
• GPS1 time: 40 s
• GPS2 time: 4 s • Transponder ping count: 322
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
7 end surface: CONTROL_FINISHED_OK
7 begin dive
11 - - - 128 VBD -0.69 - - 210 - - - 2815 - -214.1 -114.12 0.004 3806 - - - - - - - - 14.64 - 14.67
133 4.1 -9.6 19 147 roll -0.69 5.97 0.354 1525 220.3 1.80 0.100 3833 565.6 -214.1 -0.35 0.230 3822 -45.7 0.158 - - - - - - 14.12 13.60 14.50
303 37.5 -15.1 51 309 done -0.64 - - 1525 - 1.58 0.037 2829 -635.4 -214.1 - - 3823 - - - - - - - - 14.67 14.61 14.66
497 68.5 -16.5 88 503 done -0.57 0.17 0.252 1568 252.9 - - 2826 - -214.1 - - 3822 - - - - - - - - 14.31 14.54 14.45
689 92.6 -12.2 125 696 done -0.57 - - 1568 - - - 2826 - -214.1 - - 3823 - - - - - - - - 14.85 14.88 14.85
880 115.9 -12.2 149 888 done -0.57 - - 1568 - - - 2826 - -214.1 - - 3823 - - - - - - - - 14.80 14.83 14.82
1070 138.6 -11.8 168 1075 roll -0.57 - - 1563 - 1.80 0.092 3835 560.6 -214.1 - - 3822 - - - - - - - - 14.81 14.54 14.83
1105 142.7 -12.5 174 1110 done -0.57 - - 1563 - 1.58 0.039 2824 -639.9 -214.1 - - 3823 - - - - - - - - 14.73 14.69 14.74
1299 166.5 -12.3 194 1305 roll -0.57 - - 1562 - 2.35 0.034 1432 -592.3 -214.1 - - 3822 - - - - - - - - 14.85 14.65 14.84
1324 169.4 -11.3 198 1330 done -0.57 - - 1553 - 2.58 0.068 2829 541.5 -214.1 - - 3823 - - - - - - - - 14.66 14.54 14.69
1520 194.2 -13.1 218 1526 roll -0.54 0.12 0.261 1574 175.0 1.75 0.090 3825 569.1 -214.1 - - 3822 - - - - - - - - 14.39 14.54 14.55
1579 201.3 -11.6 229 1587 done -0.58 - - 1573 - 1.62 0.039 2814 -624.1 -214.1 - - 3823 - - - - - - - - 14.67 14.65 14.69
1766 222.5 -11.4 248 1772 roll -0.58 - - 1573 - 2.33 0.034 1431 -593.6 -214.1 - - 3823 - - - - - - - - 14.88 14.66 14.90
1791 224.8 -10.5 252 1797 done -0.61 - - 1564 - 2.60 0.070 2834 539.6 -214.1 - - 3823 - - - - - - - - 14.69 14.55 14.75
1985 248.2 -12.1 272 1991 roll -0.61 - - 1556 - 1.77 0.093 3838 567.2 -214.1 - - 3823 - - - - - - - - 14.88 14.57 14.90
2044 255.1 -11.4 283 2051 done -0.63 - - 1556 - 1.60 0.040 2815 -639.4 -214.1 - - 3826 - - - - - - - - 14.74 14.72 14.76
2231 278.4 -12.9 302 2238 done -0.63 - - 1556 - - - 2813 - -214.1 - - 3823 - - - - - - - - 14.89 14.92 14.92
2421 302.9 -12.9 321 2428 done -0.63 - - 1556 - - - 2813 - -214.1 - - 3823 - - - - - - - - 14.88 14.91 14.90
2611 327.6 -12.9 340 2616 roll -0.63 - - 1549 - 1.83 0.092 3828 554.6 -214.1 - - 3823 - - - - - - - - 14.90 14.54 14.92
2645 332.0 -13.1 346 2651 done -0.63 - - 1548 - 1.58 0.038 2818 -639.2 -214.1 - - 3823 - - - - - - - - 14.76 14.71 14.77
2841 357.6 -13.3 366 2846 roll -0.61 - - 1549 - 2.33 0.034 1435 -593.6 -214.1 - - 3823 - - - - - - - - 14.88 14.66 14.91
2869 361.5 -13.3 371 2875 done -0.61 - - 1535 - 2.60 0.072 2830 536.5 -214.1 - - 3822 - - - - - - - - 14.69 14.54 14.72
3056 387.3 -14.0 390 3062 roll -0.58 0.12 0.274 1561 216.7 1.77 0.089 3834 567.2 -214.1 - - 3823 - - - - - - - - 14.38 14.52 14.56
3112 393.8 -10.4 400 3118 done -0.61 - - 1556 - 1.58 0.038 2824 -639.2 -214.1 - - 3822 - - - - - - - - 14.76 14.71 14.77
3306 416.7 -11.4 420 3312 roll -0.61 - - 1561 - 2.38 0.036 1430 -585.7 -214.1 - - 3823 - - - - - - - - 14.90 14.66 14.92
3345 421.5 -10.0 427 3352 done -0.67 - - 1552 - 2.62 0.075 2838 537.4 -214.1 - - 3822 - - - - - - - - 14.57 14.45 14.60
3532 444.1 -12.7 446 3537 roll -0.67 - - 1543 - 1.75 0.092 3823 562.9 -214.1 - - 3823 - - - - - - - - 14.89 14.56 14.92
3570 449.2 -13.8 453 3578 done -0.67 - - 1545 - 1.58 0.040 2814 -638.6 -214.1 - - 3820 - - - - - - - - 14.75 14.70 14.76
3757 474.3 -13.2 472 3763 roll -0.64 - - 1545 - 2.33 0.035 1440 -589.7 -214.1 - - 3822 - - - - - - - - 14.90 14.66 14.92
3785 478.3 -13.7 477 3793 done -0.64 - - 1531 - 2.58 0.075 2819 534.5 -214.1 - - 3822 - - - - - - - - 14.68 14.54 14.71
3972 504.3 -14.4 496 3978 roll -0.60 - - 1528 - 1.77 0.092 3824 567.8 -214.1 - - 3822 - - - - - - - - 14.88 14.54 14.92
4017 511.4 -16.6 504 4023 done -0.57 0.17 0.229 1572 258.8 1.58 0.041 2819 -636.1 -214.1 - - 3822 - - - - - - - - 14.38 14.70 14.62
4215 534.0 -11.6 524 4221 roll -0.59 - - 1569 - 2.35 0.035 1435 -588.9 -214.1 - - 3826 - - - - - - - - 14.90 14.57 14.92
4254 538.7 -10.1 531 4261 done -0.67 - - 1561 - 2.60 0.071 2833 537.7 -214.1 - - 3822 - - - - - - - - 14.67 14.55 14.71
4441 560.5 -12.1 550 4446 roll -0.67 - - 1554 - 1.75 0.093 3834 572.0 -214.1 - - 3819 - - - - - - - - 14.90 14.52 14.92
4496 567.4 -10.8 560 4501 done -0.69 - - 1554 - 1.58 0.041 2823 -639.9 -214.1 - - 3825 - - - - - - - - 14.76 14.70 14.77
4690 591.4 -12.5 580 4697 done -0.69 - - 1554 - - - 2821 - -214.1 - - 3822 - - - - - - - - 14.90 14.92 14.92
4880 615.0 -12.4 599 4886 roll -0.69 - - 1554 - 2.38 0.036 1429 -584.9 -214.1 - - 3822 - - - - - - - - 14.85 14.66 14.88
4904 617.9 -12.3 603 4910 done -0.71 - - 1544 - 2.60 0.073 2825 536.9 -214.1 - - 3822 - - - - - - - - 14.68 14.55 14.72
5099 642.9 -13.5 623 5105 roll -0.69 - - 1533 - 1.77 0.093 3828 566.7 -214.1 - - 3822 - - - - - - - - 14.90 14.51 14.92
5154 650.4 -13.3 633 5160 done -0.69 - - 1537 - 1.58 0.041 2821 -637.3 -214.1 - - 3819 - - - - - - - - 14.73 14.71 14.77
5350 677.1 -14.1 653 5356 roll -0.67 - - 1537 - 2.35 0.035 1433 -590.6 -214.1 - - 3822 - - - - - - - - 14.90 14.66 14.92
5375 680.6 -13.5 657 5382 done -0.67 - - 1523 - 2.60 0.072 2830 537.3 -214.1 - - 3821 - - - - - - - - 14.63 14.50 14.67
5571 708.2 -14.2 677 5578 roll -0.63 0.12 0.267 1546 191.7 1.77 0.089 3834 567.2 -214.1 - - 3821 - - - - - - - - 14.38 14.54 14.54
5617 714.1 -12.1 685 5623 done -0.63 - - 1547 - 1.60 0.041 2815 -636.9 -214.1 - - 3824 - - - - - - - - 14.75 14.70 14.76
5812 738.2 -12.3 705 5819 roll -0.63 - - 1547 - 2.35 0.035 1432 -588.5 -214.1 - - 3819 - - - - - - - - 14.90 14.66 14.92
5843 741.9 -12.1 710 5850 done -0.65 - - 1538 - 2.60 0.072 2827 536.5 -214.1 - - 3822 - - - - - - - - 14.68 14.53 14.71
6029 765.0 -12.5 729 6035 roll -0.63 - - 1530 - 1.77 0.093 3833 568.4 -214.1 - - 3820 - - - - - - - - 14.88 14.54 14.91
6088 772.6 -12.2 740 6095 done -0.63 - - 1532 - 1.62 0.041 2829 -619.8 -214.1 - - 3821 - - - - - - - - 14.68 14.66 14.70
6275 796.7 -13.2 759 6281 roll -0.60 0.12 0.267 1565 275.0 2.38 0.033 1432 -587.0 -214.1 - - 3820 - - - - - - - - 14.34 14.57 14.48
6310 800.8 -10.3 765 6317 done -0.67 - - 1555 - 2.60 0.071 2823 535.0 -214.1 - - 3820 - - - - - - - - 14.69 14.54 14.71
6507 822.0 -11.3 785 6513 roll -0.68 - - 1548 - 1.77 0.094 3826 566.7 -214.1 - - 3820 - - - - - - - - 14.90 14.52 14.92
6592 830.8 -10.3 801 6599 done -0.71 - - 1548 - 1.62 0.041 2827 -616.7 -214.1 - - 3820 - - - - - - - - 14.69 14.65 14.71
6788 851.3 -10.4 821 6796 done -0.71 - - 1548 - - - 2820 - -214.1 - - 3820 - - - - - - - - 14.91 14.95 14.94
6978 871.3 -10.4 840 6983 roll -0.71 - - 1548 - 2.38 0.035 1426 -585.7 -214.1 - - 3821 - - - - - - - - 14.90 14.66 14.92
7013 874.7 -9.9 846 7019 done -0.75 - - 1540 - 2.62 0.070 2833 537.0 -214.1 - - 3820 - - - - - - - - 14.68 14.54 14.71
7208 896.7 -11.7 866 7214 roll -0.75 - - 1532 - 1.75 0.092 3823 565.7 -214.1 - - 3819 - - - - - - - - 14.86 14.53 14.89
7247 901.5 -11.9 873 7255 done -0.75 - - 1531 - 1.60 0.043 2816 -629.4 -214.1 - - 3820 - - - - - - - - 14.59 14.54 14.60
7433 923.2 -11.7 892 7440 done -0.75 - - 1532 - - - 2815 - -214.1 - - 3819 - - - - - - - - 14.89 14.92 14.92
7623 944.6 -11.3 911 7630 done -0.75 - - 1532 - - - 2815 - -214.1 - - 3819 - - - - - - - - 14.89 14.92 14.92
7814 965.2 -10.7 930 7819 roll -0.75 - - 1524 - 1.83 0.096 3826 552.5 -214.1 - - 3819 - - - - - - - - 14.89 14.52 14.92
7839 968.0 -11.0 934 7844 done -0.75 - - 1526 - 1.60 0.044 2814 -632.5 -214.1 - - 3819 - - - - - - - - 14.74 14.69 14.76
8030 end dive: TARGET_DEPTH_EXCEEDED
8030 begin apogee
8038 990.2 -11.6 954 8252 done -0.12 0.68 0.196 1715 277.9 - - 2812 - - 204.50 2.138 2971 -4.1 0.372 - - - - - - 14.35 13.94 13.13
8256 end apogee: CONTROL_FINISHED_OK
8257 begin climb
8260 996.7 - 976 8479 roll 0.69 0.85 0.112 1974 304.7 2.00 0.106 3837 512.5 214.1 208.60 2.080 2115 -4.1 0.381 - - - - - - 13.97 13.69 12.97
8499 973.4 15.0 1017 8506 done 0.60 - - 1983 - 1.73 0.037 2806 -596.0 214.1 - - 2113 - - - - - - - - 13.98 13.92 13.98
8695 943.2 15.2 1037 8702 roll 0.53 0.20 0.266 1952 -155.0 2.45 0.037 1405 -571.8 214.1 - - 2109 - - - - - - - - 14.16 14.38 14.31
8721 939.8 12.2 1041 8728 done 0.51 - - 1945 - 2.62 0.068 2801 532.8 214.1 - - 2108 - - - - - - - - 14.47 14.35 14.48
8917 916.9 12.2 1061 8923 roll 0.49 - - 1945 - 1.85 0.094 3839 561.1 214.1 - - 2108 - - - - - - - - 14.73 14.48 14.76
8977 909.0 13.3 1072 8984 done 0.44 0.15 0.233 1904 -273.3 1.70 0.038 2794 -614.7 214.1 - - 2107 - - - - - - - - 14.31 14.58 14.55
9167 892.1 8.8 1091 9249 roll 0.58 0.12 0.113 1967 525.0 2.53 0.039 1409 -547.4 294.0 75.35 1.982 1798 -4.1 0.357 - - - - - - 14.64 14.14 13.40
9284 876.8 13.2 1112 9290 done 0.58 - - 1965 - 2.65 0.067 2806 527.2 294.0 - - 1797 - - - - - - - - 14.33 14.24 14.35
9471 849.1 15.2 1131 9477 done 0.56 - - 1973 - - - 2807 - 294.0 - - 1792 - - - - - - - - 14.66 14.69 14.69
9661 819.5 15.5 1150 9668 done 0.54 0.17 0.213 1925 -282.4 - - 2807 - 294.0 - - 1793 - - - - - - - - 14.42 14.64 14.60
9851 795.5 12.3 1169 9858 done 0.57 - - 1925 - - - 2807 - 294.0 - - 1792 - - - - - - - - 14.82 14.85 14.84
10041 772.0 12.5 1188 10046 roll 0.61 - - 1934 - 2.40 0.037 1401 -585.8 294.0 - - 1791 - - - - - - - - 14.82 14.66 14.85
10096 765.4 12.3 1198 10102 done 0.67 0.12 0.125 1989 458.3 2.60 0.064 2807 540.8 294.0 - - 1791 - - - - - - - - 14.59 14.49 14.67
10295 732.1 17.6 1218 10301 roll 0.63 - - 1989 - 1.80 0.090 3830 568.3 294.0 - - 1791 - - - - - - - - 14.88 14.59 14.90
10341 723.0 18.9 1226 10347 done 0.57 0.15 0.213 1945 -293.3 1.67 0.040 2793 -621.0 294.0 - - 1791 - - - - - - - - 14.44 14.69 14.66
10540 695.2 13.1 1246 10545 roll 0.59 - - 1953 - 2.33 0.037 1414 -591.8 294.0 - - 1791 - - - - - - - - 14.89 14.68 14.91
10586 688.4 12.9 1254 10591 done 0.62 - - 1953 - 2.58 0.064 2810 541.1 294.0 - - 1792 - - - - - - - - 14.67 14.59 14.70
10780 660.9 14.1 1274 10787 done 0.62 - - 1953 - - - 2810 - 294.0 - - 1790 - - - - - - - - 14.88 14.91 14.91
10970 634.7 13.6 1293 10976 roll 0.62 - - 1962 - 2.40 0.037 1413 -582.1 294.0 - - 1790 - - - - - - - - 14.83 14.68 14.88
11000 630.7 14.9 1298 11007 done 0.65 - - 1962 - 2.58 0.066 2804 539.1 294.0 - - 1789 - - - - - - - - 14.71 14.59 14.74
11186 605.1 14.0 1317 11192 roll 0.65 - - 1962 - 1.80 0.091 3839 575.0 294.0 - - 1788 - - - - - - - - 14.89 14.59 14.92
11211 601.3 14.6 1321 11217 done 0.65 - - 1968 - 1.62 0.041 2796 -643.8 294.0 - - 1790 - - - - - - - - 14.75 14.73 14.78
11406 572.9 15.4 1341 11412 roll 0.65 - - 1979 - 2.33 0.037 1417 -591.8 294.0 - - 1790 - - - - - - - - 14.90 14.64 14.92
11461 564.8 13.8 1351 11467 done 0.65 - - 1979 - 2.58 0.065 2808 539.1 294.0 - - 1790 - - - - - - - - 14.71 14.59 14.74
11659 536.2 14.7 1371 11665 roll 0.62 - - 1979 - 1.80 0.090 3827 566.1 294.0 - - 1790 - - - - - - - - 14.91 14.58 14.91
11688 530.8 17.8 1376 11695 done 0.59 0.15 0.234 1952 -180.0 1.62 0.040 2798 -635.2 294.0 - - 1790 - - - - - - - - 14.38 14.66 14.59
11874 507.0 12.4 1395 11880 roll 0.59 - - 1960 - 2.35 0.037 1408 -591.5 294.0 - - 1790 - - - - - - - - 14.90 14.67 14.92
11939 499.2 11.8 1407 11945 done 0.61 - - 1960 - 2.60 0.066 2807 538.1 294.0 - - 1790 - - - - - - - - 14.71 14.59 14.75
12134 474.7 12.5 1427 12139 roll 0.61 - - 1960 - 1.77 0.090 3825 575.1 294.0 - - 1794 - - - - - - - - 14.90 14.58 14.92
12158 471.4 13.2 1431 12164 done 0.61 - - 1968 - 1.65 0.040 2804 -618.8 294.0 - - 1791 - - - - - - - - 14.71 14.69 14.74
12353 446.0 13.0 1451 12359 roll 0.61 - - 1976 - 2.38 0.037 1408 -586.6 294.0 - - 1789 - - - - - - - - 14.90 14.67 14.92
12411 438.7 13.4 1462 12418 done 0.61 - - 1974 - 2.58 0.066 2802 540.3 294.0 - - 1791 - - - - - - - - 14.66 14.54 14.69
12598 414.2 13.2 1481 12604 roll 0.59 - - 1978 - 1.80 0.091 3830 571.1 294.0 - - 1787 - - - - - - - - 14.89 14.57 14.92
12628 409.9 12.7 1486 12635 done 0.55 0.17 0.223 1943 -205.9 1.62 0.039 2794 -639.5 294.0 - - 1790 - - - - - - - - 14.42 14.71 14.63
12817 388.8 10.7 1505 12823 roll 0.58 - - 1951 - 2.33 0.036 1419 -590.1 294.0 - - 1790 - - - - - - - - 14.90 14.66 14.92
12876 382.2 9.9 1516 12883 done 0.63 - - 1950 - 2.58 0.065 2806 537.6 294.0 - - 1789 - - - - - - - - 14.65 14.52 14.67
13063 361.3 11.7 1535 13069 done 0.65 - - 1951 - - - 2803 - 294.0 - - 1788 - - - - - - - - 14.89 14.92 14.92
13253 339.5 11.5 1554 13259 roll 0.67 - - 1955 - 2.38 0.036 1418 -581.9 294.0 - - 1790 - - - - - - - - 14.86 14.66 14.90
13282 336.1 12.2 1559 13289 done 0.71 - - 1960 - 2.58 0.066 2798 534.9 294.0 - - 1790 - - - - - - - - 14.65 14.52 14.68
13468 314.1 11.8 1578 13474 roll 0.71 - - 1960 - 1.83 0.091 3834 566.1 294.0 - - 1791 - - - - - - - - 14.88 14.56 14.91
13493 310.9 13.3 1582 13499 done 0.71 - - 1967 - 1.67 0.040 2801 -618.6 294.0 - - 1790 - - - - - - - - 14.69 14.66 14.71
13689 286.0 13.0 1602 13694 roll 0.71 - - 1978 - 2.35 0.036 1415 -589.8 294.0 - - 1790 - - - - - - - - 14.88 14.66 14.90
13744 279.0 12.3 1612 13749 done 0.71 - - 1978 - 2.58 0.066 2801 537.2 294.0 - - 1790 - - - - - - - - 14.73 14.54 14.72
13938 252.0 14.1 1632 13944 roll 0.71 - - 1978 - 1.83 0.090 3823 558.5 294.0 - - 1790 - - - - - - - - 14.91 14.52 14.93
13974 246.8 16.3 1638 13979 done 0.68 - - 1985 - 1.62 0.039 2791 -637.0 294.0 - - 1789 - - - - - - - - 14.76 14.71 14.77
14172 218.1 14.8 1658 14177 roll 0.65 - - 1995 - 2.33 0.036 1418 -589.3 294.0 - - 1790 - - - - - - - - 14.89 14.66 14.92
14226 209.9 14.1 1668 14232 done 0.65 - - 1994 - 2.58 0.066 2805 537.6 294.0 - - 1790 - - - - - - - - 14.69 14.55 14.72
14421 180.3 15.7 1688 14429 done 0.61 0.15 0.233 1961 -220.0 - - 2806 - 294.0 - - 1790 - - - - - - - - 14.39 14.69 14.64
14611 155.2 12.7 1707 14617 roll 0.61 - - 1970 - 2.40 0.037 1412 -580.8 294.0 - - 1790 - - - - - - - - 14.86 14.60 14.88
14640 151.6 10.5 1712 14647 done 0.64 - - 1969 - 2.58 0.066 2801 538.4 294.0 - - 1790 - - - - - - - - 14.64 14.52 14.67
14826 127.7 12.8 1731 14831 roll 0.64 - - 1970 - 1.83 0.093 3832 563.4 294.0 - - 1790 - - - - - - - - 14.89 14.53 14.89
14861 122.6 13.5 1737 14867 done 0.62 - - 1981 - 1.62 0.039 2796 -639.5 294.0 - - 1791 - - - - - - - - 14.72 14.69 14.75
15053 97.1 13.4 1758 15060 roll 0.62 - - 1987 - 2.35 0.036 1414 -588.1 294.0 - - 1790 - - - - - - - - 14.84 14.62 14.87
15114 88.8 12.8 1769 15121 done 0.62 - - 1993 - 2.58 0.066 2805 539.1 294.0 - - 1790 - - - - - - - - 14.65 14.52 14.69
15309 62.3 13.4 1806 15316 roll 0.60 0.12 0.228 1959 -283.3 1.83 0.088 3832 561.2 294.0 - - 1791 - - - - - - - - 14.29 14.46 14.42
15340 57.7 14.7 1811 15346 done 0.60 - - 1962 - 1.67 0.037 2794 -621.6 294.0 - - 1791 - - - - - - - - 14.66 14.64 14.68
15532 35.2 12.8 1848 15539 roll 0.60 - - 1976 - 2.35 0.036 1411 -588.5 294.0 - - 1791 - - - - - - - - 14.88 14.58 14.88
15589 28.1 13.0 1858 15596 done 0.62 - - 1975 - 2.60 0.066 2806 536.5 294.0 - - 1790 - - - - - - - - 14.64 14.52 14.67
15783 3.9 11.6 1895 15789 roll 0.62 - - 1976 - 1.83 0.095 3833 561.2 294.0 - - 1790 - - - - - - - - 14.85 14.45 14.87
15800 end climb: SURFACE_DEPTH_REACHED
15800 begin surface coast
15817 end surface coast: CONTROL_FINISHED_OK
15817 begin surface
SM 0.80 - - - - -4.70 5.12 0.061 227 44.3 1.62 0.040 2837 1590.7 375.04 61.42 0.998 1474 24.0 -0.002 - - - - - -