EXPORTS Apr21 * SG219 * Dive index * Mission links * Dive 196 * Raw log
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• Previous call tries 1 • 148.02 of 350.00 AH used of 24V (57.71% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -47.1 deg, depth 0.78 m • Intended pitch -17.6 deg, speed -11.786 cm/s
• VBD pumped to 375.04 (SM_CC=375)
• GPS1 time: 25 s
• GPS2 time: 5 s • Transponder ping count: 312
• 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
12 - - - 128 VBD -0.69 - - 209 - - - 2856 - -214.1 -113.97 0.004 3730 - - - - - - - - 14.66 - 14.73
132 4.0 -10.1 19 146 roll -0.69 6.00 0.358 1522 218.8 1.77 0.119 3811 539.5 -214.1 -2.10 0.052 3822 -43.8 0.653 - - - - - - 14.09 13.28 14.30
170 15.8 -23.6 25 179 done -0.46 0.32 0.222 1604 256.2 1.55 0.035 2824 -636.8 -214.1 - - 3823 - - - - - - - - 14.32 14.59 14.52
367 34.4 -8.4 62 373 roll -0.51 - - 1599 - 1.77 0.093 3806 554.8 -214.1 - - 3824 - - - - - - - - 14.80 14.35 14.83
434 39.8 -7.2 74 441 done -0.60 - - 1599 - 1.55 0.042 2829 -630.3 -214.1 - - 3828 - - - - - - - - 14.66 14.62 14.66
628 56.6 -8.8 111 635 roll -0.65 0.15 0.112 1516 -553.3 2.40 0.031 1425 -585.0 -214.1 - - 3824 - - - - - - - - 14.50 14.54 14.52
700 64.7 -12.4 124 707 done -0.65 0.17 0.228 1547 182.4 2.60 0.068 2820 536.5 -214.1 - - 3824 - - - - - - - - 14.33 14.50 14.56
894 88.2 -12.2 161 902 roll -0.62 - - 1542 - 1.77 0.093 3832 571.8 -214.1 - - 3824 - - - - - - - - 14.84 14.51 14.86
947 95.5 -15.4 170 953 done -0.60 - - 1542 - 1.60 0.039 2809 -639.4 -214.1 - - 3820 - - - - - - - - 14.59 14.55 14.60
1140 121.3 -13.8 192 1147 done -0.56 0.12 0.269 1574 266.7 - - 2807 - -214.1 - - 3824 - - - - - - - - 14.33 14.53 14.50
1327 143.5 -11.4 211 1333 roll -0.56 - - 1568 - 1.85 0.092 3827 551.4 -214.1 - - 3824 - - - - - - - - 14.87 14.40 14.89
1366 148.0 -10.7 218 1373 done -0.58 - - 1568 - 1.62 0.040 2820 -621.6 -214.1 - - 3824 - - - - - - - - 14.66 14.62 14.68
1552 169.8 -12.1 237 1558 roll -0.58 - - 1569 - 2.38 0.034 1427 -585.3 -214.1 - - 3824 - - - - - - - - 14.86 14.63 14.89
1578 173.3 -13.1 241 1585 done -0.61 - - 1558 - 2.60 0.070 2824 537.3 -214.1 - - 3824 - - - - - - - - 14.66 14.52 14.69
1774 197.3 -13.1 261 1780 roll -0.61 - - 1551 - 1.77 0.093 3825 565.5 -214.1 - - 3824 - - - - - - - - 14.85 14.51 14.88
1839 205.9 -12.7 273 1845 done -0.61 - - 1549 - 1.58 0.038 2819 -636.7 -214.1 - - 3824 - - - - - - - - 14.71 14.69 14.75
2034 231.6 -13.2 293 2041 roll -0.59 - - 1551 - 2.35 0.035 1433 -589.8 -214.1 - - 3823 - - - - - - - - 14.87 14.64 14.89
2080 237.2 -11.2 301 2087 done -0.64 - - 1540 - 2.60 0.072 2831 537.7 -214.1 - - 3823 - - - - - - - - 14.66 14.53 14.70
2276 263.3 -13.7 321 2282 roll -0.60 - - 1533 - 1.73 0.091 3823 573.4 -214.1 - - 3823 - - - - - - - - 14.88 14.53 14.91
2326 270.3 -13.5 330 2333 done -0.58 0.15 0.234 1567 226.7 1.58 0.037 2813 -639.2 -214.1 - - 3824 - - - - - - - - 14.35 14.68 14.58
2512 291.5 -11.3 349 2518 roll -0.58 - - 1568 - 2.35 0.037 1431 -588.1 -214.1 - - 3824 - - - - - - - - 14.89 14.64 14.92
2548 295.3 -8.1 355 2554 done -0.65 - - 1560 - 2.62 0.080 2823 531.3 -214.1 - - 3824 - - - - - - - - 14.66 14.53 14.70
2742 317.7 -11.9 375 2748 roll -0.65 - - 1553 - 1.77 0.093 3833 570.6 -214.1 - - 3824 - - - - - - - - 14.89 14.53 14.92
2802 324.7 -12.6 386 2809 done -0.65 - - 1553 - 1.62 0.038 2823 -623.5 -214.1 - - 3824 - - - - - - - - 14.63 14.59 14.65
2987 347.3 -11.8 405 2994 roll -0.65 - - 1553 - 2.38 0.036 1428 -586.1 -214.1 - - 3824 - - - - - - - - 14.89 14.64 14.92
3023 351.5 -11.0 411 3029 done -0.68 - - 1543 - 2.60 0.073 2834 540.8 -214.1 - - 3824 - - - - - - - - 14.66 14.53 14.71
3218 375.8 -13.0 431 3224 roll -0.66 - - 1537 - 1.77 0.092 3840 568.4 -214.1 - - 3824 - - - - - - - - 14.89 14.50 14.92
3273 383.1 -12.8 441 3280 done -0.66 - - 1536 - 1.60 0.040 2814 -641.2 -214.1 - - 3823 - - - - - - - - 14.74 14.70 14.76
3469 409.5 -13.7 461 3476 done -0.62 - - 1533 - - - 2812 - -214.1 - - 3826 - - - - - - - - 14.89 14.95 14.92
3659 435.7 -13.8 480 3666 done -0.58 0.15 0.262 1568 233.3 - - 2811 - -214.1 - - 3823 - - - - - - - - 14.21 14.51 14.45
3849 457.1 -11.0 499 3856 done -0.60 - - 1568 - - - 2811 - -214.1 - - 3823 - - - - - - - - 14.90 14.92 14.92
4039 477.7 -10.8 518 4045 roll -0.61 - - 1562 - 1.83 0.096 3830 556.8 -214.1 - - 3824 - - - - - - - - 14.90 14.52 14.92
4085 482.7 -11.0 526 4090 done -0.65 - - 1562 - 1.58 0.041 2827 -634.8 -214.1 - - 3823 - - - - - - - - 14.74 14.69 14.76
4280 504.5 -11.3 546 4286 roll -0.65 - - 1562 - 2.38 0.036 1437 -584.0 -214.1 - - 3822 - - - - - - - - 14.90 14.64 14.92
4306 507.3 -11.3 550 4312 done -0.68 - - 1554 - 2.60 0.076 2830 535.8 -214.1 - - 3824 - - - - - - - - 14.66 14.52 14.73
4501 530.3 -11.8 570 4507 roll -0.68 - - 1546 - 1.77 0.092 3834 567.2 -214.1 - - 3823 - - - - - - - - 14.88 14.49 14.90
4580 539.6 -11.7 585 4588 done -0.69 - - 1546 - 1.60 0.040 2810 -640.0 -214.1 - - 3823 - - - - - - - - 14.73 14.68 14.74
4767 561.8 -12.3 604 4774 done -0.68 - - 1546 - - - 2811 - -214.1 - - 3823 - - - - - - - - 14.89 14.92 14.92
4957 585.9 -12.8 623 4962 roll -0.66 - - 1539 - 1.83 0.093 3829 556.3 -214.1 - - 3825 - - - - - - - - 14.89 14.50 14.92
4992 589.9 -12.2 629 4998 done -0.64 - - 1539 - 1.58 0.041 2821 -638.0 -214.1 - - 3823 - - - - - - - - 14.73 14.64 14.71
5187 615.1 -13.2 649 5194 roll -0.61 - - 1539 - 2.35 0.035 1441 -587.2 -214.1 - - 3822 - - - - - - - - 14.89 14.57 14.92
5233 620.5 -10.9 657 5240 done -0.67 - - 1530 - 2.58 0.073 2821 534.9 -214.1 - - 3826 - - - - - - - - 14.66 14.51 14.69
5430 646.6 -13.8 677 5436 roll -0.63 - - 1522 - 1.77 0.093 3827 568.4 -214.1 - - 3822 - - - - - - - - 14.86 14.50 14.86
5525 659.8 -13.6 695 5531 done -0.60 0.17 0.228 1563 241.2 1.58 0.041 2826 -633.5 -214.1 - - 3822 - - - - - - - - 14.32 14.69 14.57
5723 681.9 -11.1 715 5730 done -0.62 - - 1563 - - - 2831 - -214.1 - - 3822 - - - - - - - - 14.90 14.93 14.92
5911 702.7 -10.9 734 5918 done -0.64 - - 1563 - - - 2824 - -214.1 - - 3823 - - - - - - - - 14.88 14.90 14.91
6101 723.4 -10.9 753 6107 roll -0.66 - - 1563 - 2.38 0.035 1434 -584.0 -214.1 - - 3822 - - - - - - - - 14.89 14.62 14.92
6127 726.5 -11.7 757 6134 done -0.70 - - 1555 - 2.60 0.071 2831 537.3 -214.1 - - 3822 - - - - - - - - 14.66 14.52 14.70
6322 748.1 -11.4 777 6329 roll -0.70 - - 1548 - 1.77 0.093 3835 567.2 -214.1 - - 3822 - - - - - - - - 14.89 14.48 14.92
6372 753.9 -11.4 786 6379 done -0.72 - - 1547 - 1.65 0.041 2820 -615.2 -214.1 - - 3821 - - - - - - - - 14.66 14.62 14.67
6558 776.0 -12.0 805 6564 roll -0.72 - - 1548 - 2.35 0.035 1431 -591.1 -214.1 - - 3822 - - - - - - - - 14.89 14.64 14.92
6588 779.4 -11.5 810 6595 done -0.75 - - 1543 - 2.58 0.073 2827 541.1 -214.1 - - 3821 - - - - - - - - 14.64 14.50 14.68
6774 801.6 -12.3 829 6780 roll -0.75 - - 1532 - 1.75 0.093 3835 576.0 -214.1 - - 3821 - - - - - - - - 14.86 14.50 14.92
6809 806.0 -13.0 835 6815 done -0.74 - - 1532 - 1.60 0.042 2816 -636.9 -214.1 - - 3821 - - - - - - - - 14.73 14.66 14.76
7004 829.9 -11.8 855 7010 roll -0.71 - - 1531 - 2.35 0.034 1424 -592.3 -214.1 - - 3825 - - - - - - - - 14.88 14.63 14.90
7029 832.7 -11.5 859 7035 done -0.71 - - 1523 - 2.60 0.073 2830 540.8 -214.1 - - 3822 - - - - - - - - 14.66 14.52 14.69
7224 855.9 -12.1 879 7229 roll -0.68 - - 1515 - 1.73 0.092 3826 575.7 -214.1 - - 3821 - - - - - - - - 14.86 14.54 14.88
7252 859.7 -13.1 884 7259 done -0.64 0.12 0.242 1542 225.0 1.58 0.042 2826 -632.9 -214.1 - - 3821 - - - - - - - - 14.33 14.62 14.57
7438 879.9 -10.4 903 7444 roll -0.64 - - 1543 - 2.38 0.035 1425 -588.7 -214.1 - - 3821 - - - - - - - - 14.88 14.64 14.90
7479 883.8 -9.4 910 7485 done -0.70 - - 1535 - 2.60 0.071 2826 538.8 -214.1 - - 3823 - - - - - - - - 14.64 14.50 14.67
7664 904.1 -11.6 929 7671 roll -0.70 - - 1529 - 1.75 0.093 3827 572.0 -214.1 - - 3821 - - - - - - - - 14.87 14.50 14.90
7774 916.9 -10.9 950 7781 done -0.70 - - 1527 - 1.60 0.041 2809 -636.2 -214.1 - - 3821 - - - - - - - - 14.71 14.66 14.73
7960 938.5 -12.0 969 7966 roll -0.68 - - 1531 - 2.33 0.035 1441 -587.1 -214.1 - - 3822 - - - - - - - - 14.88 14.63 14.90
7979 941.1 -12.1 972 7986 done -0.68 - - 1517 - 2.60 0.071 2832 535.0 -214.1 - - 3822 - - - - - - - - 14.64 14.50 14.68
8166 965.7 -13.8 991 8172 roll -0.65 0.12 0.262 1538 175.0 1.75 0.090 3825 567.4 -214.1 - - 3821 - - - - - - - - 14.34 14.50 14.50
8245 975.2 -11.1 1006 8252 done -0.67 - - 1538 - 1.58 0.042 2827 -631.6 -214.1 - - 3821 - - - - - - - - 14.71 14.66 14.71
8377 end dive: TARGET_DEPTH_EXCEEDED
8377 begin apogee
8385 990.4 -11.0 1020 8600 done -0.12 0.62 0.190 1715 285.5 - - 2824 - - 206.52 2.136 2967 -4.1 0.372 - - - - - - 14.33 13.74 13.09
8604 end apogee: CONTROL_FINISHED_OK
8604 begin climb
8608 997.5 - 1042 8829 roll 0.69 0.85 0.113 1976 307.1 2.00 0.103 3824 500.0 214.1 210.88 2.072 2117 -4.0 0.376 - - - - - - 13.95 13.71 12.96
8853 973.3 15.8 1077 8859 done 0.61 - - 1984 - 1.70 0.037 2803 -600.6 214.1 - - 2113 - - - - - - - - 14.01 13.97 14.02
9049 943.6 14.9 1097 9057 done 0.54 0.20 0.251 1938 -230.0 - - 2798 - 214.1 - - 2109 - - - - - - - - 14.22 14.47 14.42
9238 920.2 12.0 1116 9245 done 0.54 - - 1938 - - - 2797 - 214.1 - - 2111 - - - - - - - - 14.73 14.77 14.76
9428 898.0 11.4 1135 9434 roll 0.54 - - 1947 - 2.38 0.037 1412 -581.9 214.1 - - 2108 - - - - - - - - 14.78 14.61 14.81
9477 892.7 10.7 1144 9484 done 0.54 - - 1947 - 2.58 0.067 2811 542.2 214.1 - - 2108 - - - - - - - - 14.66 14.54 14.69
9663 871.1 11.6 1163 9669 roll 0.52 - - 1954 - 1.77 0.092 3819 569.5 214.1 - - 2107 - - - - - - - - 14.85 14.57 14.87
9738 861.2 13.9 1177 9745 done 0.48 0.15 0.249 1922 -213.3 1.62 0.039 2788 -636.4 214.1 - - 2107 - - - - - - - - 14.42 14.70 14.65
9938 841.7 9.5 1197 10003 roll 0.59 - - 1930 - 2.42 0.036 1410 -569.4 276.5 58.33 1.945 1869 -4.1 0.342 - - - - - - 14.86 14.11 13.50
10079 827.3 9.7 1223 10140 done 0.72 0.20 0.099 2018 440.0 2.60 0.065 2799 534.2 332.1 54.33 1.899 1646 -4.1 0.347 - - - - - - 14.42 14.35 13.39
10330 782.2 18.4 1253 10338 done 0.64 0.20 0.237 1972 -230.0 - - 2802 - 332.1 - - 1642 - - - - - - - - 14.28 14.54 14.50
10519 755.1 13.8 1272 10525 roll 0.64 - - 1981 - 2.40 0.037 1412 -579.2 332.1 - - 1641 - - - - - - - - 14.78 14.59 14.81
10578 747.2 12.3 1283 10585 done 0.64 - - 1981 - 2.58 0.066 2807 540.7 332.1 - - 1640 - - - - - - - - 14.64 14.53 14.67
10765 720.0 15.0 1302 10771 done 0.62 - - 1981 - - - 2807 - 332.1 - - 1640 - - - - - - - - 14.83 14.85 14.86
10955 691.8 14.8 1321 10961 roll 0.60 - - 1991 - 2.40 0.037 1410 -582.1 332.1 - - 1639 - - - - - - - - 14.86 14.59 14.88
11005 684.5 14.4 1330 11012 done 0.60 0.15 0.197 1955 -240.0 2.58 0.066 2808 541.9 332.1 - - 1639 - - - - - - - - 14.50 14.58 14.66
11194 660.8 12.6 1349 11201 done 0.62 - - 1951 - - - 2810 - 332.1 - - 1639 - - - - - - - - 14.89 14.92 14.91
11382 636.5 12.9 1368 11387 roll 0.64 - - 1962 - 2.40 0.037 1412 -582.5 332.1 - - 1636 - - - - - - - - 14.88 14.68 14.90
11407 633.4 12.7 1372 11412 done 0.67 - - 1962 - 2.55 0.065 2802 545.1 332.1 - - 1638 - - - - - - - - 14.69 14.59 14.75
11602 606.8 13.7 1392 11609 done 0.67 - - 1962 - - - 2803 - 332.1 - - 1639 - - - - - - - - 14.90 14.92 14.92
11791 581.3 13.3 1411 11797 roll 0.67 - - 1964 - 2.38 0.037 1416 -582.8 332.1 - - 1639 - - - - - - - - 14.90 14.68 14.90
11840 574.9 12.8 1420 11847 done 0.71 - - 1973 - 2.58 0.066 2809 539.9 332.1 - - 1639 - - - - - - - - 14.71 14.59 14.73
12026 549.5 13.7 1439 12033 done 0.71 - - 1969 - - - 2809 - 332.1 - - 1640 - - - - - - - - 14.87 14.95 14.92
12217 523.4 13.8 1458 12223 roll 0.71 - - 1978 - 2.38 0.037 1419 -584.0 332.1 - - 1639 - - - - - - - - 14.86 14.68 14.88
12263 517.4 13.3 1466 12268 done 0.73 - - 1978 - 2.55 0.065 2807 544.3 332.1 - - 1639 - - - - - - - - 14.71 14.62 14.74
12458 489.4 14.5 1486 12464 done 0.73 - - 1977 - - - 2807 - 332.1 - - 1639 - - - - - - - - 14.85 14.88 14.88
12647 462.8 12.7 1505 12654 roll 0.73 - - 1986 - 2.40 0.036 1404 -584.6 332.1 - - 1639 - - - - - - - - 14.89 14.68 14.92
12706 455.1 12.8 1516 12713 done 0.73 - - 1986 - 2.60 0.067 2813 541.9 332.1 - - 1639 - - - - - - - - 14.69 14.57 14.73
12893 428.8 14.9 1535 12899 roll 0.71 - - 1995 - 2.40 0.037 1410 -584.6 332.1 - - 1636 - - - - - - - - 14.86 14.67 14.88
12932 423.1 14.1 1542 12939 done 0.71 - - 1996 - 2.58 0.066 2803 539.9 332.1 - - 1639 - - - - - - - - 14.69 14.56 14.73
13118 394.0 15.7 1561 13125 roll 0.68 - - 2005 - 2.40 0.037 1411 -580.0 332.1 - - 1635 - - - - - - - - 14.88 14.66 14.90
13144 390.4 13.9 1565 13152 done 0.66 0.12 0.219 1977 -233.3 2.58 0.064 2808 541.5 332.1 - - 1639 - - - - - - - - 14.35 14.45 14.59
13343 362.4 13.7 1585 13350 done 0.66 - - 1977 - - - 2809 - 332.1 - - 1639 - - - - - - - - 14.87 14.90 14.88
13531 336.5 13.3 1604 13536 roll 0.66 - - 1994 - 2.38 0.038 1418 -584.5 332.1 - - 1639 - - - - - - - - 14.89 14.66 14.95
13579 329.6 13.6 1613 13586 done 0.66 - - 1986 - 2.55 0.066 2801 542.4 332.1 - - 1638 - - - - - - - - 14.64 14.52 14.67
13766 302.7 15.0 1632 13772 done 0.64 - - 1986 - - - 2803 - 332.1 - - 1639 - - - - - - - - 14.92 14.94 14.91
13955 274.9 14.6 1651 13961 roll 0.64 - - 1996 - 2.40 0.036 1413 -579.2 332.1 - - 1638 - - - - - - - - 14.89 14.58 14.95
14004 267.8 14.2 1660 14011 done 0.64 0.12 0.216 1967 -241.7 2.58 0.066 2804 539.1 332.1 - - 1639 - - - - - - - - 14.40 14.50 14.61
14190 243.5 12.9 1679 14197 done 0.64 - - 1968 - - - 2806 - 332.1 - - 1639 - - - - - - - - 14.89 14.92 14.90
14381 217.9 13.7 1698 14387 roll 0.64 - - 1976 - 2.38 0.037 1413 -585.3 332.1 - - 1639 - - - - - - - - 14.89 14.65 14.91
14420 212.6 14.0 1705 14428 done 0.67 - - 1976 - 2.58 0.066 2809 541.1 332.1 - - 1639 - - - - - - - - 14.63 14.50 14.66
14607 186.7 13.8 1724 14613 roll 0.67 - - 1986 - 2.40 0.037 1415 -580.8 332.1 - - 1639 - - - - - - - - 14.83 14.64 14.86
14631 183.3 14.4 1728 14637 done 0.67 - - 1986 - 2.58 0.065 2807 539.5 332.1 - - 1640 - - - - - - - - 14.67 14.54 14.71
14826 154.2 15.4 1748 14833 done 0.67 - - 1986 - - - 2807 - 332.1 - - 1640 - - - - - - - - 14.87 14.90 14.89
15016 125.5 15.2 1767 15022 roll 0.67 - - 1995 - 2.40 0.036 1419 -578.3 332.1 - - 1638 - - - - - - - - 14.87 14.62 14.89
15055 120.4 14.3 1774 15061 done 0.67 - - 1996 - 2.60 0.066 2808 534.2 332.1 - - 1636 - - - - - - - - 14.58 14.45 14.62
15244 91.4 15.3 1798 15250 done 0.65 - - 1995 - - - 2809 - 332.1 - - 1639 - - - - - - - - 14.87 14.90 14.89
15437 60.6 15.4 1835 15444 roll 0.63 0.15 0.227 1966 -193.3 2.42 0.035 1418 -574.8 332.1 - - 1638 - - - - - - - - 14.26 14.48 14.38
15480 55.9 11.5 1842 15487 done 0.68 - - 1965 - 2.60 0.067 2805 533.5 332.1 - - 1637 - - - - - - - - 14.60 14.45 14.63
15674 32.6 11.4 1879 15680 roll 0.71 - - 1966 - 1.80 0.093 3828 568.3 332.1 - - 1642 - - - - - - - - 14.83 14.49 14.85
15719 27.3 12.0 1887 15725 done 0.71 - - 1973 - 1.62 0.039 2793 -638.9 332.1 - - 1638 - - - - - - - - 14.70 14.64 14.71
15913 3.2 10.9 1924 15920 roll 0.71 - - 1983 - 2.38 0.042 1425 -574.8 332.1 - - 1639 - - - - - - - - 14.81 14.52 14.84
15925 end climb: SURFACE_DEPTH_REACHED
15926 begin surface coast
15941 end surface coast: CONTROL_FINISHED_OK
15941 begin surface
SM 0.68 - - - - -4.70 5.15 0.065 221 42.9 2.67 0.072 2826 865.2 375.04 33.03 1.029 1475 44.7 -0.003 - - - - - -