EXPORTS Apr21 * SG219 * Dive index * Mission links * Dive 304 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 208.28 of 350.00 AH used of 24V (40.49% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -35.1 deg, depth 0.65 m • Intended pitch -21.0 deg, speed -12.692 cm/s
• VBD pumped to 375.04 (SM_CC=375)
• GPS1 time: 93 s
• GPS2 time: 5 s • Transponder ping count: 188
• 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 - - - 127 done -0.72 - - 203 - - - 2820 - -175.2 -109.97 0.004 3663 - - - - - - - - 14.71 12.87 14.72
131 4.8 -8.9 19 145 roll -0.72 6.10 0.363 1510 214.3 1.77 0.073 3830 570.6 -175.2 - - 3669 - - - - - - - - 14.06 14.35 14.39
378 49.3 -15.9 66 385 done -0.68 - - 1512 - 1.62 0.035 2806 -632.1 -175.2 - - 3669 - - - - - - - - 14.62 14.57 14.64
571 81.4 -18.2 103 579 roll -0.65 0.15 0.236 1549 246.7 2.42 0.038 1441 -564.0 -175.2 - - 3669 - - - - - - - - 14.21 14.38 14.34
634 88.6 -11.7 114 640 done -0.73 - - 1540 - 2.62 0.067 2833 531.3 -175.2 - - 3669 - - - - - - - - 14.58 14.45 14.61
831 113.6 -13.3 142 836 roll -0.73 - - 1532 - 1.75 0.093 3824 566.3 -175.2 - - 3669 - - - - - - - - 14.85 14.44 14.89
1069 142.8 -12.6 188 1075 done -0.73 - - 1532 - 1.58 0.037 2816 -638.0 -175.2 - - 3673 - - - - - - - - 14.59 14.55 14.61
1264 165.4 -11.9 208 1269 roll -0.73 - - 1525 - 1.83 0.090 3826 551.9 -175.2 - - 3669 - - - - - - - - 14.85 14.47 14.88
1299 170.2 -12.3 214 1304 done -0.73 - - 1525 - 1.58 0.037 2824 -634.2 -175.2 - - 3669 - - - - - - - - 14.60 14.55 14.62
1494 192.9 -11.9 234 1499 roll -0.73 - - 1525 - 2.40 0.034 1432 -580.0 -175.2 - - 3669 - - - - - - - - 14.85 14.61 14.88
1532 197.5 -10.8 241 1541 done -0.78 - - 1515 - 2.62 0.070 2823 530.9 -175.2 - - 3670 - - - - - - - - 14.59 14.45 14.63
1721 221.2 -13.4 260 1727 roll -0.76 - - 1507 - 1.80 0.090 3842 566.1 -175.2 - - 3669 - - - - - - - - 14.89 14.48 14.91
1769 227.4 -13.4 269 1777 done -0.76 - - 1507 - 1.65 0.037 2819 -620.0 -175.2 - - 3670 - - - - - - - - 14.54 14.52 14.54
1957 253.1 -13.7 288 1963 done -0.74 - - 1507 - - - 2819 - -175.2 - - 3670 - - - - - - - - 14.90 14.93 14.92
2146 279.2 -13.8 307 2153 done -0.71 - - 1507 - - - 2818 - -175.2 - - 3669 - - - - - - - - 14.88 14.91 14.91
2337 306.2 -14.4 326 2344 done -0.69 0.12 0.259 1533 216.7 - - 2817 - -175.2 - - 3669 - - - - - - - - 14.34 14.62 14.56
2526 330.0 -12.3 345 2534 done -0.71 - - 1533 - - - 2817 - -175.2 - - 3667 - - - - - - - - 14.89 14.92 14.92
2717 353.6 -12.2 364 2722 roll -0.72 - - 1527 - 1.85 0.106 3826 545.4 -175.2 - - 3669 - - - - - - - - 14.90 14.36 14.95
2752 357.6 -12.7 370 2757 done -0.72 - - 1527 - 1.58 0.041 2829 -631.0 -175.2 - - 3669 - - - - - - - - 14.70 14.65 14.73
2946 382.4 -12.5 390 2952 roll -0.72 - - 1527 - 2.40 0.034 1429 -583.3 -175.2 - - 3669 - - - - - - - - 14.89 14.59 14.92
2975 386.0 -13.9 395 2982 done -0.76 - - 1517 - 2.62 0.067 2830 534.7 -175.2 - - 3672 - - - - - - - - 14.60 14.46 14.64
3162 409.3 -13.1 414 3167 roll -0.76 - - 1510 - 1.75 0.091 3827 569.7 -175.2 - - 3669 - - - - - - - - 14.88 14.47 14.92
3207 415.8 -13.5 422 3212 done -0.76 - - 1510 - 1.58 0.040 2823 -635.4 -175.2 - - 3666 - - - - - - - - 14.56 14.52 14.57
3402 441.6 -13.6 442 3408 roll -0.76 - - 1510 - 2.38 0.034 1433 -584.0 -175.2 - - 3669 - - - - - - - - 14.88 14.62 14.91
3441 446.9 -12.3 449 3449 done -0.79 - - 1499 - 2.62 0.068 2837 535.9 -175.2 - - 3668 - - - - - - - - 14.61 14.44 14.62
3629 473.1 -14.4 468 3634 roll -0.77 - - 1492 - 1.75 0.090 3833 569.1 -175.2 - - 3669 - - - - - - - - 14.90 14.35 14.92
3684 481.1 -14.2 478 3690 done -0.74 - - 1492 - 1.58 0.040 2824 -638.6 -175.2 - - 3669 - - - - - - - - 14.73 14.64 14.71
3879 510.1 -15.2 498 3886 roll -0.71 0.15 0.245 1528 240.0 2.40 0.031 1435 -578.8 -175.2 - - 3668 - - - - - - - - 14.24 14.47 14.37
3915 514.2 -13.0 504 3921 done -0.76 - - 1520 - 2.62 0.068 2833 533.6 -175.2 - - 3669 - - - - - - - - 14.60 14.46 14.64
4110 538.9 -13.0 524 4117 done -0.76 - - 1520 - - - 2833 - -175.2 - - 3668 - - - - - - - - 14.87 14.92 14.89
4300 563.4 -13.1 543 4307 done -0.76 - - 1519 - - - 2833 - -175.2 - - 3669 - - - - - - - - 14.89 14.92 14.92
4491 588.3 -13.2 562 4496 roll -0.76 - - 1520 - 2.42 0.033 1438 -576.4 -175.2 - - 3668 - - - - - - - - 14.90 14.59 14.93
4517 591.7 -12.8 566 4522 done -0.78 - - 1514 - 2.62 0.070 2832 532.1 -175.2 - - 3671 - - - - - - - - 14.57 14.42 14.59
4712 618.2 -13.8 586 4717 roll -0.78 - - 1502 - 1.77 0.092 3833 565.5 -175.2 - - 3668 - - - - - - - - 14.80 14.40 14.82
4800 630.7 -13.7 603 4806 done -0.78 - - 1503 - 1.60 0.039 2824 -630.6 -175.2 - - 3672 - - - - - - - - 14.58 14.52 14.59
4987 656.9 -15.2 622 4993 roll -0.78 - - 1502 - 2.38 0.034 1438 -582.4 -175.2 - - 3668 - - - - - - - - 14.88 14.58 14.90
5033 662.4 -12.1 630 5038 done -0.82 - - 1493 - 2.60 0.068 2824 533.1 -175.2 - - 3668 - - - - - - - - 14.59 14.45 14.64
5228 690.5 -14.6 650 5234 roll -0.79 - - 1485 - 1.77 0.091 3829 567.8 -175.2 - - 3668 - - - - - - - - 14.90 14.38 14.94
5283 698.7 -14.6 660 5289 done -0.77 - - 1483 - 1.58 0.039 2821 -638.0 -175.2 - - 3666 - - - - - - - - 14.68 14.62 14.69
5478 727.8 -14.4 680 5485 roll -0.73 0.15 0.253 1526 286.7 2.40 0.033 1434 -577.9 -175.2 - - 3665 - - - - - - - - 14.17 14.40 14.30
5518 732.8 -9.0 687 5525 done -0.79 - - 1512 - 2.65 0.069 2830 526.8 -175.2 - - 3673 - - - - - - - - 14.49 14.35 14.53
5704 756.5 -13.0 706 5710 roll -0.79 - - 1505 - 1.75 0.093 3826 569.1 -175.2 - - 3668 - - - - - - - - 14.87 14.43 14.90
5780 766.6 -13.4 720 5785 done -0.79 - - 1505 - 1.58 0.040 2826 -632.9 -175.2 - - 3667 - - - - - - - - 14.71 14.62 14.69
5974 792.5 -13.2 740 5980 roll -0.79 - - 1505 - 2.38 0.034 1437 -583.6 -175.2 - - 3668 - - - - - - - - 14.86 14.59 14.87
6003 796.2 -12.8 745 6011 done -0.81 - - 1494 - 2.62 0.069 2833 532.8 -175.2 - - 3666 - - - - - - - - 14.57 14.42 14.61
6190 822.6 -14.5 764 6195 roll -0.79 - - 1487 - 1.75 0.091 3829 569.1 -175.2 - - 3668 - - - - - - - - 14.90 14.42 14.90
6245 830.0 -14.5 774 6251 done -0.77 - - 1488 - 1.60 0.039 2814 -634.4 -175.2 - - 3668 - - - - - - - - 14.67 14.62 14.69
6441 859.3 -14.4 794 6447 roll -0.75 0.12 0.259 1513 208.3 2.40 0.032 1431 -576.2 -175.2 - - 3668 - - - - - - - - 14.28 14.47 14.38
6500 867.1 -10.8 805 6508 done -0.80 - - 1505 - 2.65 0.068 2837 530.6 -175.2 - - 3668 - - - - - - - - 14.56 14.42 14.60
6687 892.2 -13.9 824 6694 done -0.80 - - 1505 - - - 2837 - -175.2 - - 3668 - - - - - - - - 14.89 14.92 14.91
6877 916.8 -13.0 843 6882 roll -0.80 - - 1505 - 2.42 0.033 1438 -578.1 -175.2 - - 3667 - - - - - - - - 14.88 14.56 14.90
6926 922.8 -10.4 852 6933 done -0.86 - - 1494 - 2.62 0.069 2828 530.5 -175.2 - - 3667 - - - - - - - - 14.49 14.35 14.54
7112 945.6 -12.4 871 7117 roll -0.86 - - 1488 - 1.75 0.091 3820 566.9 -175.2 - - 3667 - - - - - - - - 14.78 14.40 14.81
7166 952.9 -11.2 881 7172 done -0.86 - - 1488 - 1.58 0.041 2820 -632.9 -175.2 - - 3667 - - - - - - - - 14.69 14.62 14.69
7362 975.9 -12.2 901 7368 roll -0.84 - - 1480 - 1.83 0.089 3832 553.0 -175.2 - - 3667 - - - - - - - - 14.86 14.41 14.88
7461 989.3 -13.4 920 7468 done -0.81 - - 1483 - 1.65 0.039 2818 -614.5 -175.2 - - 3671 - - - - - - - - 14.57 14.54 14.59
7473 end dive: TARGET_DEPTH_EXCEEDED
7473 begin apogee
7481 991.4 -13.5 922 7657 done -0.12 0.85 0.204 1714 271.8 - - 2820 - - 171.27 2.111 2970 -4.1 0.375 - - - - - - 14.17 13.95 13.03
7658 end apogee: CONTROL_FINISHED_OK
7659 begin climb
7662 995.3 - 940 7850 roll 0.72 0.88 0.109 1985 308.0 1.92 0.095 3830 526.0 175.2 175.27 2.062 2270 -4.0 0.376 - - - - - - 13.97 13.78 12.90
7879 975.0 14.0 975 7885 done 0.66 - - 1993 - 1.70 0.035 2802 -604.7 175.2 - - 2266 - - - - - - - - 14.07 14.03 14.08
8075 947.8 13.6 995 8082 roll 0.63 0.15 0.258 1958 -233.3 1.85 0.091 3832 556.8 175.2 - - 2262 - - - - - - - - 14.29 14.42 14.40
8193 933.1 12.4 1017 8199 done 0.63 - - 1964 - 1.70 0.037 2782 -617.6 175.2 - - 2261 - - - - - - - - 14.60 14.57 14.62
8388 909.5 12.0 1037 8394 roll 0.63 - - 1964 - 1.85 0.091 3827 564.9 175.2 - - 2261 - - - - - - - - 14.81 14.53 14.87
8433 903.4 14.6 1045 8439 done 0.61 - - 1972 - 1.62 0.038 2794 -637.7 175.2 - - 2262 - - - - - - - - 14.73 14.66 14.73
8628 879.0 12.4 1065 8633 roll 0.61 - - 1981 - 2.38 0.037 1414 -579.8 175.2 - - 2260 - - - - - - - - 14.86 14.64 14.89
8733 867.0 11.4 1085 8738 done 0.63 - - 1982 - 2.55 0.066 2802 544.3 175.2 - - 2260 - - - - - - - - 14.69 14.53 14.72
8927 842.0 12.6 1105 8934 done 0.63 - - 1982 - - - 2802 - 175.2 - - 2260 - - - - - - - - 14.88 14.90 14.91
9118 816.7 13.3 1124 9124 done 0.63 - - 1982 - - - 2802 - 175.2 - - 2262 - - - - - - - - 14.89 14.92 14.92
9307 792.1 13.0 1143 9315 done 0.63 - - 1982 - - - 2802 - 175.2 - - 2259 - - - - - - - - 14.89 14.92 14.92
9497 767.6 12.9 1162 9504 done 0.63 - - 1984 - - - 2802 - 175.2 - - 2258 - - - - - - - - 14.90 14.92 14.94
9688 743.2 12.7 1181 9695 done 0.63 - - 1982 - - - 2802 - 175.2 - - 2259 - - - - - - - - 14.90 14.93 14.92
9878 719.0 12.8 1200 9884 roll 0.63 - - 1993 - 2.40 0.036 1413 -578.8 175.2 - - 2259 - - - - - - - - 14.90 14.66 14.93
9903 715.9 12.4 1204 9909 done 0.63 - - 1993 - 2.55 0.063 2798 543.1 175.2 - - 2258 - - - - - - - - 14.67 14.52 14.72
10102 690.5 13.0 1224 10108 roll 0.61 0.15 0.210 1952 -273.3 1.80 0.086 3834 575.6 175.2 - - 2258 - - - - - - - - 14.35 14.50 14.45
10148 684.3 12.4 1232 10153 done 0.61 - - 1959 - 1.65 0.041 2807 -622.4 175.2 - - 2257 - - - - - - - - 14.68 14.65 14.70
10346 662.9 10.9 1252 10352 roll 0.64 - - 1970 - 2.40 0.036 1412 -581.2 175.2 - - 2258 - - - - - - - - 14.92 14.64 14.95
10406 656.2 10.4 1263 10455 done 0.75 - - 1969 - 2.60 0.066 2809 537.3 222.5 41.95 1.726 2082 -4.2 0.311 - - - - - - 14.64 14.52 13.57
10647 628.0 12.0 1290 10653 roll 0.77 0.12 0.109 2040 591.7 1.80 0.088 3830 567.2 222.5 - - 2078 - - - - - - - - 14.59 14.46 14.61
10672 623.7 14.7 1294 10679 done 0.73 0.22 0.258 1995 -204.5 1.65 0.038 2789 -630.9 222.5 - - 2077 - - - - - - - - 14.26 14.60 14.51
10872 595.7 14.0 1314 10877 roll 0.73 - - 2004 - 2.35 0.036 1416 -584.3 222.5 - - 2073 - - - - - - - - 14.84 14.60 14.87
10937 586.5 13.3 1326 10943 done 0.75 - - 2004 - 2.58 0.064 2801 536.8 222.5 - - 2076 - - - - - - - - 14.64 14.51 14.66
11131 558.4 14.4 1346 11137 roll 0.75 - - 2004 - 1.77 0.088 3827 579.7 222.5 - - 2077 - - - - - - - - 14.82 14.51 14.84
11170 552.1 16.0 1353 11176 done 0.71 - - 2012 - 1.62 0.040 2794 -637.7 222.5 - - 2076 - - - - - - - - 14.70 14.65 14.72
11357 523.8 15.1 1372 11362 roll 0.69 - - 2022 - 2.38 0.035 1404 -584.0 222.5 - - 2076 - - - - - - - - 14.86 14.64 14.91
11405 516.6 13.5 1381 11413 done 0.69 0.17 0.207 1980 -247.1 2.60 0.064 2802 537.7 222.5 - - 2076 - - - - - - - - 14.36 14.52 14.57
11595 492.7 12.7 1400 11602 done 0.71 - - 1982 - - - 2803 - 222.5 - - 2076 - - - - - - - - 14.88 14.95 14.91
11782 468.9 12.4 1419 11789 roll 0.73 - - 1990 - 2.42 0.035 1412 -574.8 222.5 - - 2075 - - - - - - - - 14.83 14.64 14.85
11808 465.8 12.9 1423 11815 done 0.76 - - 1990 - 2.60 0.065 2808 536.9 222.5 - - 2075 - - - - - - - - 14.50 14.39 14.52
12004 440.8 13.1 1443 12012 done 0.76 - - 1990 - - - 2809 - 222.5 - - 2079 - - - - - - - - 14.90 14.93 14.92
12194 416.7 12.7 1462 12200 roll 0.76 - - 2002 - 2.42 0.036 1416 -575.6 222.5 - - 2075 - - - - - - - - 14.90 14.56 14.92
12239 411.6 11.6 1470 12245 done 0.79 - - 2001 - 2.60 0.065 2812 536.9 222.5 - - 2075 - - - - - - - - 14.62 14.50 14.67
12434 385.1 13.5 1490 12441 done 0.79 - - 2002 - - - 2807 - 222.5 - - 2075 - - - - - - - - 14.88 14.90 14.90
12624 359.7 13.2 1509 12630 roll 0.79 - - 2013 - 2.42 0.035 1417 -574.4 222.5 - - 2075 - - - - - - - - 14.86 14.62 14.89
12663 354.1 11.9 1516 12670 done 0.81 - - 2012 - 2.60 0.063 2806 534.2 222.5 - - 2076 - - - - - - - - 14.63 14.50 14.66
12849 328.1 14.5 1535 12857 done 0.80 - - 2012 - - - 2806 - 222.5 - - 2076 - - - - - - - - 14.89 14.92 14.91
13039 300.6 14.4 1554 13045 roll 0.78 - - 2023 - 2.45 0.035 1414 -568.2 222.5 - - 2075 - - - - - - - - 14.88 14.45 14.91
13078 295.3 11.4 1561 13085 done 0.79 - - 2023 - 2.60 0.066 2802 533.8 222.5 - - 2075 - - - - - - - - 14.61 14.47 14.64
13265 267.1 15.6 1580 13270 roll 0.76 - - 2023 - 1.80 0.089 3832 572.2 222.5 - - 2075 - - - - - - - - 14.90 14.47 14.89
13300 261.4 19.1 1586 13306 done 0.71 0.17 0.252 1990 -194.1 1.62 0.039 2802 -635.8 222.5 - - 2074 - - - - - - - - 14.22 14.64 14.52
13498 235.5 12.7 1606 13504 roll 0.71 - - 2001 - 2.40 0.037 1416 -577.5 222.5 - - 2075 - - - - - - - - 14.89 14.61 14.91
13554 228.7 11.3 1616 13560 done 0.74 - - 2000 - 2.60 0.065 2797 531.2 222.5 - - 2075 - - - - - - - - 14.62 14.48 14.66
13750 202.3 14.0 1636 13756 done 0.74 - - 2001 - - - 2798 - 222.5 - - 2072 - - - - - - - - 14.90 14.95 14.94
13939 175.1 14.1 1655 13946 done 0.74 - - 2001 - - - 2798 - 222.5 - - 2075 - - - - - - - - 14.87 14.90 14.89
14129 146.8 15.4 1674 14136 done 0.74 - - 2000 - - - 2798 - 222.5 - - 2075 - - - - - - - - 14.86 14.89 14.88
14319 118.3 14.5 1693 14324 roll 0.74 - - 2012 - 2.45 0.037 1407 -567.8 222.5 - - 2075 - - - - - - - - 14.85 14.35 14.88
14358 112.6 15.0 1700 14365 done 0.77 - - 2011 - 2.65 0.065 2818 532.5 222.5 - - 2076 - - - - - - - - 14.58 14.45 14.64
14546 86.7 15.6 1727 14553 roll 0.77 - - 2022 - 2.47 0.038 1414 -568.4 222.5 - - 2075 - - - - - - - - 14.83 14.54 14.86
14623 76.8 12.9 1741 14630 done 0.79 - - 2020 - 2.60 0.067 2796 531.5 222.5 - - 2075 - - - - - - - - 14.54 14.41 14.56
14818 49.2 14.4 1778 14825 roll 0.75 - - 2043 - 2.42 0.036 1406 -574.4 222.5 - - 2072 - - - - - - - - 14.87 14.42 14.90
14864 43.9 11.4 1786 14871 done 0.75 0.12 0.233 2006 -308.3 2.65 0.066 2802 526.8 222.5 - - 2074 - - - - - - - - 14.14 14.32 14.37
15059 17.8 14.9 1823 15067 roll 0.75 - - 2014 - 2.45 0.035 1420 -564.1 222.5 - - 2075 - - - - - - - - 14.80 14.36 14.83
15081 15.3 11.5 1826 15088 done 0.77 - - 2016 - 2.62 0.063 2811 530.9 222.5 - - 2074 - - - - - - - - 14.54 14.40 14.59
15195 end climb: SURFACE_DEPTH_REACHED
15195 begin surface coast
15210 end surface coast: CONTROL_FINISHED_OK
15210 begin surface
SM 0.91 - - - - -4.69 5.22 0.057 226 43.3 - - 2812 - 375.04 113.68 0.959 1473 13.0 -0.001 - - - - - -