EXPORTS Apr21 * SG219 * Dive index * Mission links * Dive 76 * Raw log
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• Previous call tries 1 • 60.02 of 350.00 AH used of 24V (82.85% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -45.1 deg, depth 1.01 m • Intended pitch -18.5 deg, speed -11.000 cm/s
• VBD pumped to 375.29 (SM_CC=375)
• GPS1 time: 28 s
• GPS2 time: 5 s • Transponder ping count: 251
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
22 - - - 134 done -0.66 - - 202 - - - 2820 - -175.2 -105.55 0.005 3660 - - - - - - - - 14.70 13.43 14.73
139 4.2 -8.3 18 152 roll -0.66 6.00 0.359 1542 223.3 2.38 0.034 1419 -588.7 -175.2 - - 3665 - - - - - - - - 14.30 14.59 14.55
339 33.9 -8.9 56 346 done -0.66 - - 1533 - 2.60 0.073 2832 543.5 -175.2 - - 3666 - - - - - - - - 14.67 14.56 14.69
533 58.8 -13.0 93 541 roll -0.60 0.12 0.282 1558 208.3 2.42 0.038 1419 -583.9 -175.2 - - 3663 - - - - - - - - 14.48 14.64 14.64
587 64.9 -10.4 102 593 done -0.63 - - 1550 - 2.58 0.072 2830 546.9 -175.2 - - 3667 - - - - - - - - 14.64 14.54 14.66
779 88.3 -12.6 139 785 done -0.60 - - 1549 - - - 2830 - -175.2 - - 3666 - - - - - - - - 14.83 14.85 14.88
973 113.5 -13.4 166 979 done -0.56 - - 1550 - - - 2830 - -175.2 - - 3665 - - - - - - - - 14.86 14.90 14.89
1160 138.6 -13.2 185 1168 done -0.53 0.17 0.255 1589 229.4 - - 2830 - -175.2 - - 3666 - - - - - - - - 14.51 14.71 14.69
1350 157.6 -9.4 204 1355 roll -0.56 - - 1589 - 2.40 0.039 1420 -587.5 -175.2 - - 3666 - - - - - - - - 14.85 14.71 14.88
1389 161.3 -8.8 211 1396 done -0.63 - - 1581 - 2.58 0.073 2834 548.1 -175.2 - - 3666 - - - - - - - - 14.73 14.65 14.76
1576 180.0 -10.6 230 1581 roll -0.65 - - 1575 - 1.75 0.094 3829 568.6 -175.2 - - 3666 - - - - - - - - 14.89 14.63 14.92
1610 184.0 -11.3 236 1615 done -0.65 - - 1574 - 1.60 0.036 2807 -638.8 -175.2 - - 3666 - - - - - - - - 14.80 14.74 14.82
1804 204.9 -10.7 256 1811 done -0.65 - - 1570 - - - 2804 - -175.2 - - 3666 - - - - - - - - 14.88 14.94 14.90
1994 224.7 -10.5 275 2001 done -0.65 - - 1574 - - - 2804 - -175.2 - - 3664 - - - - - - - - 14.88 14.94 14.92
2185 244.9 -10.8 294 2192 done -0.65 - - 1574 - - - 2804 - -175.2 - - 3666 - - - - - - - - 14.91 14.94 14.93
2374 266.0 -11.2 313 2382 done -0.65 - - 1575 - - - 2804 - -175.2 - - 3663 - - - - - - - - 14.88 14.94 14.94
2564 287.9 -11.6 332 2571 done -0.65 - - 1575 - - - 2803 - -175.2 - - 3666 - - - - - - - - 14.92 14.95 14.95
2754 310.0 -11.7 351 2761 done -0.65 - - 1579 - - - 2804 - -175.2 - - 3669 - - - - - - - - 14.92 14.95 14.95
2945 332.6 -11.9 370 2950 roll -0.65 - - 1574 - 2.30 0.037 1437 -594.3 -175.2 - - 3666 - - - - - - - - 14.93 14.76 14.96
2973 336.0 -11.1 375 2981 done -0.69 - - 1565 - 2.53 0.074 2820 546.6 -175.2 - - 3666 - - - - - - - - 14.73 14.62 14.77
3160 357.8 -11.9 394 3165 roll -0.69 - - 1557 - 1.75 0.094 3826 574.9 -175.2 - - 3665 - - - - - - - - 14.95 14.69 14.97
3194 362.1 -12.7 400 3200 done -0.69 - - 1557 - 1.58 0.035 2816 -639.2 -175.2 - - 3665 - - - - - - - - 14.82 14.78 14.83
3389 385.7 -12.2 420 3394 roll -0.69 - - 1557 - 2.30 0.037 1440 -598.3 -175.2 - - 3665 - - - - - - - - 14.95 14.76 14.97
3427 390.4 -11.3 427 3434 done -0.72 - - 1549 - 2.53 0.074 2838 552.6 -175.2 - - 3666 - - - - - - - - 14.80 14.69 14.82
3614 414.1 -13.1 446 3621 done -0.70 - - 1552 - - - 2831 - -175.2 - - 3665 - - - - - - - - 14.93 14.96 14.95
3804 438.1 -12.5 465 3811 done -0.68 - - 1548 - - - 2831 - -175.2 - - 3665 - - - - - - - - 14.93 14.97 14.97
3994 462.0 -12.5 484 3999 roll -0.67 - - 1548 - 2.35 0.037 1435 -594.0 -175.2 - - 3664 - - - - - - - - 14.94 14.74 14.96
4042 468.0 -11.3 493 4050 done -0.69 - - 1538 - 2.53 0.074 2822 548.2 -175.2 - - 3665 - - - - - - - - 14.79 14.69 14.80
4230 492.6 -13.5 512 4235 roll -0.66 - - 1531 - 1.75 0.094 3828 574.9 -175.2 - - 3665 - - - - - - - - 14.95 14.69 14.97
4268 498.0 -14.2 519 4274 done -0.62 - - 1530 - 1.58 0.038 2817 -639.9 -175.2 - - 3666 - - - - - - - - 14.83 14.80 14.85
4455 523.8 -14.2 538 4462 done -0.58 0.17 0.264 1570 235.3 - - 2815 - -175.2 - - 3665 - - - - - - - - 14.54 14.80 14.76
4644 545.4 -10.7 557 4650 roll -0.58 - - 1570 - 2.30 0.037 1445 -595.7 -175.2 - - 3670 - - - - - - - - 14.93 14.76 14.96
4694 550.4 -9.3 566 4701 done -0.65 - - 1562 - 2.50 0.074 2821 550.4 -175.2 - - 3664 - - - - - - - - 14.77 14.66 14.80
4880 570.3 -11.0 585 4887 done -0.65 - - 1562 - - - 2823 - -175.2 - - 3664 - - - - - - - - 14.90 14.93 14.92
5070 590.9 -10.6 604 5075 roll -0.65 - - 1555 - 1.75 0.094 3831 576.0 -175.2 - - 3664 - - - - - - - - 14.95 14.68 14.97
5107 595.1 -11.1 611 5114 done -0.65 - - 1555 - 1.58 0.038 2824 -637.3 -175.2 - - 3664 - - - - - - - - 14.83 14.80 14.85
5295 615.4 -11.1 630 5300 roll -0.65 - - 1555 - 2.33 0.037 1440 -594.0 -175.2 - - 3664 - - - - - - - - 14.93 14.73 14.96
5350 621.2 -10.0 640 5355 done -0.69 - - 1545 - 2.53 0.076 2827 548.2 -175.2 - - 3664 - - - - - - - - 14.81 14.70 14.83
5545 642.5 -11.2 660 5552 done -0.68 - - 1545 - - - 2827 - -175.2 - - 3664 - - - - - - - - 14.93 14.98 14.96
5734 663.4 -10.8 679 5740 roll -0.68 - - 1545 - 2.38 0.037 1434 -585.3 -175.2 - - 3664 - - - - - - - - 14.92 14.73 14.95
5763 666.5 -10.4 684 5770 done -0.68 - - 1536 - 2.58 0.079 2837 543.8 -175.2 - - 3663 - - - - - - - - 14.79 14.69 14.82
5949 686.1 -10.6 703 5955 roll -0.65 - - 1536 - 2.35 0.036 1436 -596.2 -175.2 - - 3663 - - - - - - - - 14.95 14.76 14.98
5964 687.6 -10.5 705 5971 done -0.63 0.12 0.259 1554 150.0 2.53 0.076 2829 550.6 -175.2 - - 3663 - - - - - - - - 14.57 14.69 14.75
6160 707.0 -10.2 725 6166 roll -0.63 - - 1546 - 1.75 0.094 3831 572.6 -175.2 - - 3660 - - - - - - - - 14.94 14.69 14.97
6210 712.3 -10.6 734 6216 done -0.63 - - 1546 - 1.58 0.040 2824 -637.3 -175.2 - - 3663 - - - - - - - - 14.81 14.79 14.84
6395 731.8 -10.6 753 6401 roll -0.63 - - 1551 - 2.33 0.036 1440 -594.0 -175.2 - - 3663 - - - - - - - - 14.93 14.73 14.95
6430 735.3 -10.0 759 6436 done -0.65 - - 1539 - 2.53 0.075 2825 547.4 -175.2 - - 3663 - - - - - - - - 14.80 14.68 14.82
6625 757.1 -11.8 779 6631 roll -0.63 - - 1532 - 2.35 0.037 1433 -592.3 -175.2 - - 3663 - - - - - - - - 14.93 14.75 14.95
6670 762.2 -10.8 787 6676 done -0.66 - - 1527 - 2.55 0.076 2831 548.2 -175.2 - - 3662 - - - - - - - - 14.79 14.68 14.80
6865 785.6 -11.9 807 6872 done -0.63 - - 1528 - - - 2831 - -175.2 - - 3662 - - - - - - - - 14.93 14.96 14.95
7055 809.2 -12.8 826 7063 done -0.60 0.15 0.278 1559 206.7 - - 2832 - -175.2 - - 3658 - - - - - - - - 14.49 14.76 14.74
7245 829.7 -10.2 845 7251 roll -0.62 - - 1559 - 2.38 0.037 1435 -587.0 -175.2 - - 3661 - - - - - - - - 14.93 14.75 14.95
7275 832.6 -9.5 850 7282 done -0.67 - - 1552 - 2.55 0.076 2833 548.2 -175.2 - - 3664 - - - - - - - - 14.76 14.65 14.79
7461 851.4 -10.0 869 7467 roll -0.67 - - 1544 - 1.75 0.094 3824 566.3 -175.2 - - 3660 - - - - - - - - 14.88 14.67 14.92
7505 855.7 -10.1 877 7512 done -0.67 - - 1544 - 1.58 0.041 2824 -632.9 -175.2 - - 3661 - - - - - - - - 14.83 14.78 14.82
7701 875.6 -10.0 897 7707 roll -0.67 - - 1544 - 2.35 0.037 1433 -591.9 -175.2 - - 3661 - - - - - - - - 14.90 14.74 14.92
7740 879.5 -10.0 904 7747 done -0.70 - - 1535 - 2.55 0.076 2826 546.3 -175.2 - - 3661 - - - - - - - - 14.77 14.66 14.80
7926 899.1 -10.5 923 7933 done -0.70 - - 1538 - - - 2826 - -175.2 - - 3661 - - - - - - - - 14.92 14.96 14.95
8117 920.7 -11.6 942 8123 done -0.70 - - 1535 - - - 2826 - -175.2 - - 3660 - - - - - - - - 14.90 14.93 14.92
8306 943.2 -12.3 961 8314 done -0.70 - - 1535 - - - 2826 - -175.2 - - 3660 - - - - - - - - 14.92 14.96 14.95
8496 963.7 -10.7 980 8502 roll -0.70 - - 1528 - 1.75 0.094 3829 573.1 -175.2 - - 3660 - - - - - - - - 14.92 14.68 14.95
8555 970.3 -11.4 991 8561 done -0.68 - - 1526 - 1.62 0.041 2829 -617.3 -175.2 - - 3660 - - - - - - - - 14.72 14.67 14.73
8727 end dive: TARGET_DEPTH_EXCEEDED
8727 begin apogee
8735 990.3 -11.2 1009 8908 done -0.12 0.68 0.210 1717 280.9 - - 2825 - - 163.77 2.192 2970 -4.2 0.363 - - - - - - 14.45 13.97 13.25
8960 end apogee: CONTROL_FINISHED_OK
8960 begin climb
8963 992.9 - 1027 9141 roll 0.66 0.80 0.124 1964 308.8 1.92 0.098 3822 519.3 175.2 165.82 2.112 2271 -4.2 0.378 - - - - - - 14.20 13.87 13.16
9173 972.6 15.2 1062 9179 done 0.58 - - 1971 - 1.73 0.037 2797 -592.5 175.2 - - 2272 - - - - - - - - 14.14 14.11 14.16
9359 946.3 13.7 1081 9367 done 0.54 0.15 0.262 1940 -206.7 - - 2789 - 175.2 - - 2265 - - - - - - - - 14.26 14.45 14.42
9548 926.1 9.2 1100 9554 roll 0.54 - - 1936 - 1.88 0.093 3832 554.8 175.2 - - 2262 - - - - - - - - 14.64 14.45 14.69
9617 917.7 11.8 1113 9625 done 0.50 - - 1946 - 1.73 0.038 2797 -598.3 175.2 - - 2262 - - - - - - - - 14.57 14.54 14.59
9804 896.5 11.3 1132 9810 roll 0.50 - - 1957 - 2.40 0.045 1401 -581.7 175.2 - - 2268 - - - - - - - - 14.73 14.57 14.76
9862 890.0 11.3 1143 9870 done 0.50 0.15 0.226 1917 -266.7 2.58 0.075 2802 543.0 175.2 - - 2265 - - - - - - - - 14.48 14.50 14.60
10052 871.4 10.4 1162 10058 done 0.52 - - 1928 - - - 2803 - 175.2 - - 2265 - - - - - - - - 14.73 14.77 14.76
10239 851.6 10.2 1181 10246 roll 0.54 - - 1922 - 1.83 0.093 3831 561.7 175.2 - - 2260 - - - - - - - - 14.76 14.54 14.80
10288 845.3 13.9 1190 10295 done 0.54 - - 1925 - 1.67 0.040 2788 -624.6 175.2 - - 2259 - - - - - - - - 14.76 14.63 14.66
10474 824.9 11.0 1209 10481 roll 0.54 - - 1941 - 2.35 0.039 1407 -587.7 175.2 - - 2260 - - - - - - - - 14.77 14.62 14.81
10514 820.6 9.9 1216 10521 done 0.58 - - 1933 - 2.55 0.069 2803 547.5 175.2 - - 2260 - - - - - - - - 14.65 14.55 14.68
10700 799.9 11.2 1235 10705 roll 0.58 - - 1938 - 1.83 0.092 3825 558.5 175.2 - - 2259 - - - - - - - - 14.78 14.55 14.81
10745 794.4 12.6 1243 10750 done 0.55 - - 1946 - 1.65 0.039 2790 -627.3 175.2 - - 2262 - - - - - - - - 14.67 14.60 14.69
10939 773.1 11.3 1263 10945 roll 0.55 - - 1956 - 2.38 0.038 1400 -584.0 175.2 - - 2262 - - - - - - - - 14.77 14.62 14.81
10974 769.3 10.8 1269 10980 done 0.55 - - 1956 - 2.55 0.067 2800 549.0 175.2 - - 2260 - - - - - - - - 14.65 14.55 14.68
11170 747.5 11.4 1289 11178 done 0.53 - - 1956 - - - 2801 - 175.2 - - 2258 - - - - - - - - 14.77 14.81 14.79
11360 725.3 11.7 1308 11367 done 0.50 - - 1956 - - - 2801 - 175.2 - - 2257 - - - - - - - - 14.78 14.81 14.84
11550 704.4 10.8 1327 11557 done 0.48 0.17 0.217 1914 -247.1 - - 2800 - 175.2 - - 2258 - - - - - - - - 14.47 14.67 14.64
11743 689.4 7.2 1346 11830 done 0.64 0.15 0.109 1977 420.0 - - 2800 - 264.4 78.85 1.859 1916 -4.3 0.307 - - - - - - 14.58 14.01 13.48
12008 656.2 12.2 1380 12016 done 0.64 - - 1977 - - - 2807 - 264.4 - - 1910 - - - - - - - - 14.58 14.61 14.60
12199 631.7 12.9 1399 12205 roll 0.62 - - 1988 - 2.40 0.038 1414 -580.4 264.4 - - 1909 - - - - - - - - 14.71 14.54 14.72
12218 629.3 13.8 1402 12225 done 0.62 - - 1989 - 2.55 0.067 2800 543.5 264.4 - - 1909 - - - - - - - - 14.60 14.48 14.59
12404 603.8 13.8 1421 12411 roll 0.59 0.15 0.226 1949 -266.7 1.83 0.087 3824 559.6 264.4 - - 1908 - - - - - - - - 14.45 14.52 14.55
12434 599.7 13.2 1426 12441 done 0.59 - - 1955 - 1.65 0.040 2794 -624.2 264.4 - - 1906 - - - - - - - - 14.66 14.60 14.66
12621 577.5 12.1 1445 12627 roll 0.61 - - 1965 - 2.35 0.039 1411 -588.5 264.4 - - 1906 - - - - - - - - 14.76 14.59 14.78
12670 571.7 11.4 1454 12677 done 0.65 - - 1962 - 2.55 0.068 2804 546.3 264.4 - - 1905 - - - - - - - - 14.64 14.54 14.66
12856 548.1 12.9 1473 12862 roll 0.65 - - 1964 - 1.83 0.092 3827 559.0 264.4 - - 1902 - - - - - - - - 14.78 14.55 14.80
12905 540.9 14.7 1482 12912 done 0.65 - - 1973 - 1.65 0.038 2799 -623.0 264.4 - - 1907 - - - - - - - - 14.62 14.60 14.64
13091 515.2 13.8 1501 13099 done 0.65 - - 1973 - - - 2796 - 264.4 - - 1907 - - - - - - - - 14.78 14.80 14.80
13281 489.2 13.6 1520 13286 roll 0.65 - - 1984 - 2.38 0.039 1405 -584.5 264.4 - - 1903 - - - - - - - - 14.73 14.62 14.75
13316 484.7 12.9 1526 13322 done 0.66 - - 1983 - 2.58 0.068 2810 544.6 264.4 - - 1907 - - - - - - - - 14.67 14.61 14.69
13515 456.7 14.5 1546 13520 roll 0.65 - - 1983 - 1.83 0.092 3831 557.9 264.4 - - 1907 - - - - - - - - 14.78 14.57 14.81
13543 451.9 13.9 1551 13551 done 0.61 0.15 0.249 1958 -166.7 1.65 0.039 2797 -626.7 264.4 - - 1905 - - - - - - - - 14.45 14.65 14.64
13733 427.7 12.9 1570 13739 roll 0.64 - - 1967 - 2.38 0.039 1412 -581.9 264.4 - - 1904 - - - - - - - - 14.78 14.61 14.83
13772 422.3 13.7 1577 13781 done 0.68 - - 1973 - 2.55 0.067 2806 546.7 264.4 - - 1906 - - - - - - - - 14.62 14.54 14.66
13961 398.1 13.3 1596 13966 roll 0.68 - - 1966 - 1.85 0.093 3836 556.8 264.4 - - 1904 - - - - - - - - 14.76 14.55 14.79
13999 391.5 15.5 1603 14006 done 0.66 - - 1974 - 1.70 0.038 2792 -614.1 264.4 - - 1907 - - - - - - - - 14.62 14.62 14.66
14186 364.7 14.5 1622 14192 roll 0.66 - - 1984 - 2.38 0.038 1413 -579.4 264.4 - - 1906 - - - - - - - - 14.78 14.60 14.80
14232 358.3 13.8 1630 14237 done 0.68 - - 1984 - 2.55 0.068 2809 547.5 264.4 - - 1906 - - - - - - - - 14.66 14.56 14.69
14427 329.3 15.1 1650 14433 roll 0.67 - - 1984 - 1.83 0.093 3822 553.6 264.4 - - 1906 - - - - - - - - 14.73 14.55 14.76
14473 322.2 15.6 1658 14479 done 0.63 - - 1999 - 1.67 0.037 2809 -606.6 264.4 - - 1906 - - - - - - - - 14.66 14.63 14.67
14672 292.1 15.5 1678 14678 roll 0.61 0.15 0.236 1965 -226.7 2.40 0.037 1398 -587.9 264.4 - - 1906 - - - - - - - - 14.39 14.59 14.54
14711 285.9 11.3 1685 14719 done 0.65 - - 1964 - 2.58 0.068 2807 546.1 264.4 - - 1905 - - - - - - - - 14.65 14.54 14.68
14898 261.1 13.9 1704 14904 roll 0.65 - - 1964 - 1.83 0.093 3828 557.9 264.4 - - 1904 - - - - - - - - 14.78 14.53 14.81
14943 254.3 17.7 1712 14948 done 0.65 - - 1972 - 1.65 0.038 2794 -626.7 264.4 - - 1904 - - - - - - - - 14.67 14.65 14.68
15137 227.0 14.3 1732 15143 roll 0.65 - - 1982 - 2.38 0.037 1414 -579.8 264.4 - - 1901 - - - - - - - - 14.82 14.61 14.81
15182 220.9 14.0 1740 15188 done 0.68 - - 1981 - 2.53 0.068 2797 546.6 264.4 - - 1903 - - - - - - - - 14.64 14.54 14.66
15377 191.3 15.3 1760 15383 roll 0.68 - - 1977 - 1.88 0.093 3833 551.1 264.4 - - 1905 - - - - - - - - 14.71 14.55 14.76
15422 184.1 16.4 1768 15428 done 0.65 - - 1989 - 1.70 0.037 2802 -606.5 264.4 - - 1904 - - - - - - - - 14.65 14.63 14.64
15620 154.2 14.9 1788 15625 roll 0.63 - - 1999 - 2.40 0.039 1398 -585.0 264.4 - - 1902 - - - - - - - - 14.77 14.57 14.78
15655 149.0 15.0 1794 15662 done 0.63 0.15 0.215 1965 -226.7 2.58 0.070 2802 544.2 264.4 - - 1904 - - - - - - - - 14.47 14.54 14.63
15854 124.1 12.0 1814 15860 roll 0.65 - - 1964 - 1.83 0.093 3823 557.9 264.4 - - 1904 - - - - - - - - 14.76 14.52 14.77
15893 118.7 14.1 1821 15900 done 0.65 - - 1970 - 1.65 0.037 2788 -627.3 264.4 - - 1904 - - - - - - - - 14.69 14.61 14.68
16081 95.8 12.6 1843 16088 roll 0.65 - - 1980 - 2.38 0.038 1408 -579.8 264.4 - - 1908 - - - - - - - - 14.73 14.59 14.81
16123 90.4 11.6 1850 16130 done 0.68 - - 1980 - 2.55 0.067 2802 546.7 264.4 - - 1903 - - - - - - - - 14.59 14.48 14.62
16316 64.6 13.0 1887 16322 roll 0.68 - - 1977 - 1.85 0.092 3837 559.5 264.4 - - 1904 - - - - - - - - 14.73 14.52 14.76
16351 59.5 15.2 1893 16359 done 0.65 - - 1988 - 1.67 0.036 2792 -625.7 264.4 - - 1902 - - - - - - - - 14.65 14.62 14.67
16546 32.2 14.6 1930 16553 roll 0.63 - - 1998 - 2.38 0.038 1410 -580.7 264.4 - - 1905 - - - - - - - - 14.71 14.58 14.77
16617 21.8 14.4 1943 16624 done 0.63 0.15 0.221 1963 -233.3 2.58 0.070 2815 544.6 264.4 - - 1902 - - - - - - - - 14.41 14.52 14.61
16793 end climb: SURFACE_DEPTH_REACHED
16793 begin surface coast
16815 end surface coast: CONTROL_FINISHED_OK
16815 begin surface
SM 0.89 - - - - -4.69 5.12 0.073 217 42.4 - - 2820 - 375.29 81.32 1.040 1476 18.1 -0.002 - - - - - -