SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 281 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 46.28 of 146.00 AH used of 24V (68.30% remains)
• Previous NAKs 0, Timeouts 0 • 35.63 of 100.00 AH used of 10V (64.37% remains)
• Surface angle -69.5 deg, depth 3.36 m • Intended pitch -13.7 deg, speed -6.875 cm/s
• No surface pump (final VBD was 288.23, SM_CC=225)
• GPS1 time: 34 s
• GPS2 time: 10 s • Transponder ping count: 0
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
15 - - - 25 VBD -0.77 - - 132 - - - 2205 - -116.7 -8.25 - 2228 - - - - - - - - - - -
28 3.4 - 1 115 roll -0.77 8.15 0.196 2367 274.2 2.30 0.060 3586 600.4 -116.7 -70.25 - 3522 -18.4 - - - - - - - - - -
301 20.8 -10.2 47 308 done -0.56 0.22 0.121 2436 313.6 2.20 0.032 2185 -636.8 -116.7 - - 3524 - - - - - - - - - - -
646 45.5 -7.1 108 653 done -0.56 - - 2436 - - - 2185 - -116.7 - - 3524 - - - - - - - - - - -
992 67.6 -6.4 169 997 done -0.62 - - 2436 - - - 2185 - -116.7 - - 3525 - - - - - - - - - - -
1335 90.5 -6.9 230 1342 done -0.68 0.12 0.073 2380 -466.7 - - 2185 - -116.7 - - 3525 - - - - - - - - - - -
1679 122.3 -9.7 291 1684 done -0.52 0.20 0.120 2443 315.0 - - 2184 - -116.7 - - 3525 - - - - - - - - - - -
2023 146.2 -6.8 352 2031 roll -0.62 - - 2443 - 2.30 0.048 3590 611.3 -116.7 - - 3525 - - - - - - - - - - -
2083 150.1 -6.7 362 2088 done -0.77 0.22 0.051 2348 -431.8 2.20 0.033 2171 -645.0 -116.7 - - 3525 - - - - - - - - - - -
2403 184.3 -11.0 382 2408 roll -0.48 0.32 0.122 2455 334.4 2.20 0.043 774 -635.0 -116.7 - - 3525 - - - - - - - - - - -
2475 190.1 -6.7 386 2482 done -0.62 0.12 0.064 2398 -475.0 2.17 0.035 2192 653.5 -116.7 - - 3525 - - - - - - - - - - -
2792 217.1 -8.3 404 2797 roll -0.55 0.12 0.124 2435 308.3 2.20 0.048 3578 630.0 -116.7 - - 3525 - - - - - - - - - - -
2836 220.2 -6.6 406 2841 done -0.69 0.15 0.061 2371 -426.7 2.15 0.032 2179 -650.7 -116.7 - - 3525 - - - - - - - - - - -
3157 250.4 -9.6 422 3162 roll -0.51 0.22 0.123 2446 340.9 2.22 0.045 767 -636.0 -116.7 - - 3525 - - - - - - - - - - -
3207 254.3 -7.1 424 3211 done -0.62 0.10 0.072 2400 -460.0 2.20 0.036 2189 646.4 -116.7 - - 3525 - - - - - - - - - - -
3527 280.2 -8.1 440 3531 roll -0.62 - - 2396 - 2.22 0.049 3580 626.6 -116.7 - - 3526 - - - - - - - - - - -
3566 283.3 -7.9 441 3572 done -0.62 - - 2396 - 2.17 0.033 2175 -647.5 -116.7 - - 3525 - - - - - - - - - - -
3882 309.1 -8.3 457 3887 roll -0.55 0.15 0.126 2443 313.3 2.22 0.044 762 -636.5 -116.7 - - 3525 - - - - - - - - - - -
3922 312.1 -6.8 459 3927 done -0.65 0.12 0.064 2386 -475.0 2.20 0.035 2190 649.1 -116.7 - - 3525 - - - - - - - - - - -
4248 339.9 -8.9 475 4250 done -0.55 0.17 0.118 2441 323.5 - - 2192 - -116.7 - - 3525 - - - - - - - - - - -
4560 360.8 -6.7 490 4562 done -0.66 0.12 0.066 2382 -491.7 - - 2192 - -116.7 - - 3525 - - - - - - - - - - -
4868 388.6 -9.1 505 4870 done -0.54 0.17 0.119 2437 323.5 - - 2192 - -116.7 - - 3525 - - - - - - - - - - -
5177 407.9 -6.0 520 5178 done -0.65 0.12 0.069 2378 -491.7 - - 2192 - -116.7 - - 3526 - - - - - - - - - - -
5486 433.0 -8.5 535 5488 done -0.53 0.20 0.117 2442 320.0 - - 2192 - -116.7 - - 3525 - - - - - - - - - - -
5795 450.3 -5.3 550 5797 done -0.67 0.15 0.061 2375 -446.7 - - 2192 - -116.7 - - 3526 - - - - - - - - - - -
6104 472.9 -7.3 565 6106 done -0.54 0.20 0.117 2438 315.0 - - 2192 - -116.7 - - 3525 - - - - - - - - - - -
6414 489.0 -5.5 580 6419 roll -0.68 0.12 0.068 2380 -483.3 2.28 0.045 769 -624.1 -116.7 - - 3526 - - - - - - - - - - -
6447 491.6 -8.1 581 6454 done -0.51 0.22 0.126 2447 304.5 2.20 0.037 2190 645.9 -116.7 - - 3525 - - - - - - - - - - -
6765 508.8 -5.1 597 6767 done -0.70 0.17 0.058 2371 -447.1 - - 2190 - -116.7 - - 3525 - - - - - - - - - - -
7072 534.7 -8.6 612 7073 done -0.57 0.20 0.118 2434 315.0 - - 2191 - -116.7 - - 3525 - - - - - - - - - - -
7382 552.7 -5.6 627 7384 done -0.70 0.15 0.062 2366 -453.3 - - 2192 - -116.7 - - 3525 - - - - - - - - - - -
7691 578.3 -8.6 642 7695 roll -0.54 0.20 0.118 2433 335.0 2.30 0.046 761 -622.2 -116.7 - - 3525 - - - - - - - - - - -
7785 585.2 -7.2 646 7789 done -0.63 - - 2433 - 2.20 0.035 2184 646.8 -116.7 - - 3525 - - - - - - - - - - -
8107 604.7 -6.1 661 8109 done -0.78 0.20 0.056 2349 -420.0 - - 2185 - -116.7 - - 3524 - - - - - - - - - - -
8413 630.9 -8.4 671 8415 done -0.55 0.28 0.121 2435 307.1 - - 2185 - -116.7 - - 3524 - - - - - - - - - - -
8720 646.0 -4.9 681 8722 done -0.70 0.15 0.066 2371 -426.7 - - 2185 - -116.7 - - 3522 - - - - - - - - - - -
9026 668.3 -7.4 691 9028 done -0.58 0.17 0.122 2426 323.5 - - 2185 - -116.7 - - 3522 - - - - - - - - - - -
9332 686.9 -6.3 701 9336 roll -0.69 - - 2425 - 2.30 0.056 3589 610.4 -116.7 - - 3520 - - - - - - - - - - -
9367 689.4 -6.6 702 9372 done -0.82 0.22 0.058 2336 -404.5 2.22 0.041 2175 -636.9 -116.7 - - 3520 - - - - - - - - - - -
9708 721.7 -9.4 713 9713 roll -0.55 0.30 0.130 2434 326.7 2.28 0.051 760 -620.6 -116.7 - - 3519 - - - - - - - - - - -
9804 727.9 -6.4 716 9808 done -0.65 - - 2434 - 2.22 0.039 2177 638.3 -116.7 - - 3518 - - - - - - - - - - -
10147 746.5 -5.4 727 10152 roll -0.81 0.20 0.058 2340 -470.0 2.30 0.054 3591 614.8 -116.7 - - 3517 - - - - - - - - - - -
10185 749.8 -9.1 728 10190 done -0.55 0.30 0.125 2432 306.7 2.25 0.040 2170 -631.6 -116.7 - - 3517 - - - - - - - - - - -
10510 767.8 -5.5 739 10511 done -0.71 0.15 0.070 2368 -426.7 - - 2170 - -116.7 - - 3516 - - - - - - - - - - -
10816 790.6 -7.5 749 10820 roll -0.59 0.17 0.123 2422 317.6 2.25 0.051 768 -623.1 -116.7 - - 3515 - - - - - - - - - - -
10865 794.0 -6.3 750 10869 done -0.66 - - 2422 - 2.22 0.042 2173 632.9 -116.7 - - 3515 - - - - - - - - - - -
11185 812.3 -5.8 761 11190 roll -0.77 0.17 0.065 2350 -423.5 2.30 0.053 3598 619.6 -116.7 - - 3514 - - - - - - - - - - -
11223 815.6 -9.2 762 11228 done -0.56 0.28 0.123 2434 300.0 2.25 0.038 2169 -635.1 -116.7 - - 3514 - - - - - - - - - - -
11547 832.6 -5.2 773 11552 roll -0.72 0.17 0.064 2362 -423.5 2.25 0.050 759 -626.7 -116.7 - - 3513 - - - - - - - - - - -
11592 836.1 -8.2 774 11597 done -0.52 0.28 0.128 2445 296.4 2.25 0.041 2187 634.7 -116.7 - - 3512 - - - - - - - - - - -
11910 852.6 -5.1 785 11915 roll -0.73 0.20 0.059 2354 -455.0 2.28 0.057 3588 614.5 -116.7 - - 3512 - - - - - - - - - - -
11949 855.6 -8.8 786 11954 done -0.54 0.28 0.123 2438 300.0 2.25 0.041 2171 -629.8 -116.7 - - 3512 - - - - - - - - - - -
12281 874.2 -5.5 797 12285 roll -0.73 0.17 0.065 2366 -423.5 2.25 0.051 765 -624.9 -116.7 - - 3511 - - - - - - - - - - -
12320 877.4 -9.2 798 12325 done -0.53 0.25 0.127 2441 300.0 2.25 0.043 2188 632.4 -116.7 - - 3511 - - - - - - - - - - -
12645 895.0 -5.3 809 12650 roll -0.73 0.20 0.062 2352 -445.0 2.28 0.057 3584 612.3 -116.7 - - 3510 - - - - - - - - - - -
12683 898.1 -8.6 810 12688 done -0.53 0.30 0.121 2444 306.7 2.25 0.041 2170 -628.4 -116.7 - - 3510 - - - - - - - - - - -
13008 914.7 -5.1 821 13013 roll -0.75 0.20 0.061 2355 -445.0 2.25 0.051 768 -623.1 -116.7 - - 3510 - - - - - - - - - - -
13057 918.9 -8.1 822 13062 done -0.53 0.30 0.127 2444 296.7 2.25 0.044 2179 627.1 -116.7 - - 3509 - - - - - - - - - - -
13370 935.3 -5.2 832 13375 roll -0.75 0.20 0.061 2356 -440.0 2.30 0.057 3588 612.6 -116.7 - - 3509 - - - - - - - - - - -
13400 937.2 -7.2 833 13405 done -0.65 0.17 0.130 2407 300.0 2.28 0.041 2156 -628.1 -116.7 - - 3509 - - - - - - - - - - -
13736 958.3 -6.3 844 13737 done -0.65 - - 2407 - - - 2155 - -116.7 - - 3509 - - - - - - - - - - -
14042 978.2 -6.6 854 14043 done -0.65 - - 2407 - - - 2155 - -116.7 - - 3508 - - - - - - - - - - -
14221 end dive: TARGET_DEPTH_EXCEEDED
14221 begin apogee
14227 990.7 6.8 860 14329 done -0.23 0.40 0.117 2537 325.0 - - 2270 - - 98.75 1.404 3046 -4.7 0.370 - - - - - - - - -
14330 end apogee: CONTROL_FINISHED_OK
14330 begin climb
14332 994.1 - 863 14446 roll 0.77 1.00 0.077 2863 326.0 2.60 0.050 3680 542.3 116.7 106.95 1.360 2569 -4.5 0.365 - - - - - - - - -
14460 993.0 5.6 867 14496 done 0.45 0.40 0.139 2761 -255.0 2.45 0.033 2262 -578.8 148.2 30.12 1.322 2441 -4.2 0.358 - - - - - - - - -
14805 976.0 4.9 878 14855 roll 0.65 0.20 0.062 2850 445.0 2.40 0.050 870 -580.0 198.2 44.10 1.359 2237 -4.6 0.372 - - - - - - - - -
14930 965.9 8.9 881 14937 done 0.53 0.22 0.123 2786 -290.9 2.28 0.035 2266 612.3 198.2 - - 2232 - - - - - - - - - - -
15243 947.1 5.8 892 15277 roll 0.70 0.15 0.067 2847 406.7 2.38 0.051 3690 598.3 226.3 24.88 1.329 2122 -4.4 0.353 - - - - - - - - -
15294 943.0 8.8 893 15299 done 0.54 0.22 0.130 2785 -281.8 2.30 0.034 2254 -624.3 226.3 - - 2121 - - - - - - - - - - -
15612 923.8 6.1 904 15647 roll 0.74 0.20 0.059 2878 465.0 2.25 0.045 864 -617.8 246.5 20.48 1.207 2040 -4.0 0.339 - - - - - - - - -
15675 917.9 9.7 905 15682 done 0.57 0.28 0.121 2794 -300.0 2.22 0.036 2259 628.4 246.5 - - 2038 - - - - - - - - - - -
15988 896.6 6.7 916 15998 roll 0.73 0.17 0.064 2866 423.5 2.33 0.053 3685 612.0 250.5 4.75 0.972 2023 -3.2 0.326 - - - - - - - - -
16032 892.0 11.0 917 16037 done 0.52 0.30 0.123 2775 -303.3 2.25 0.035 2253 -636.4 250.5 - - 2023 - - - - - - - - - - -
16350 871.5 6.4 928 16370 roll 0.78 0.22 0.058 2878 468.2 2.25 0.045 867 -616.0 263.0 12.57 1.253 1972 -4.1 0.316 - - - - - - - - -
16392 867.3 11.2 929 16397 done 0.63 0.20 0.123 2817 -305.0 2.20 0.035 2258 632.3 263.0 - - 1970 - - - - - - - - - - -
16716 840.7 8.1 940 16720 roll 0.72 - - 2817 - 2.30 0.051 3680 618.3 263.0 - - 1967 - - - - - - - - - - -
16750 837.7 8.5 941 16754 done 0.72 - - 2817 - 2.25 0.036 2252 -634.7 263.0 - - 1967 - - - - - - - - - - -
17093 811.0 7.7 952 17097 roll 0.80 0.15 0.066 2881 426.7 2.22 0.047 850 -631.5 263.0 - - 1967 - - - - - - - - - - -
17155 804.6 11.6 954 17160 done 0.68 0.17 0.130 2829 -305.9 2.20 0.035 2264 642.7 263.0 - - 1966 - - - - - - - - - - -
17489 775.5 8.8 965 17490 done 0.68 - - 2829 - - - 2263 - 263.0 - - 1966 - - - - - - - - - - -
17795 746.8 9.6 975 17796 done 0.68 - - 2829 - - - 2263 - 263.0 - - 1966 - - - - - - - - - - -
18102 718.4 9.2 985 18104 done 0.68 - - 2829 - - - 2264 - 263.0 - - 1965 - - - - - - - - - - -
18407 691.5 8.8 995 18409 done 0.68 - - 2829 - - - 2264 - 263.0 - - 1965 - - - - - - - - - - -
18715 663.5 9.1 1005 18716 done 0.74 - - 2829 - - - 2263 - 263.0 - - 1965 - - - - - - - - - - -
19022 636.7 8.5 1015 19024 done 0.80 0.12 0.070 2881 433.3 - - 2264 - 263.0 - - 1964 - - - - - - - - - - -
19329 605.0 10.2 1025 19334 roll 0.67 0.17 0.127 2829 -305.9 2.25 0.044 859 -624.4 263.0 - - 1964 - - - - - - - - - - -
19373 601.1 7.7 1026 19378 done 0.78 0.10 0.077 2870 410.0 2.17 0.035 2258 644.7 263.0 - - 1963 - - - - - - - - - - -
19701 569.3 10.2 1042 19703 done 0.69 0.12 0.130 2834 -300.0 - - 2260 - 263.0 - - 1963 - - - - - - - - - - -
20008 540.1 9.7 1057 20010 done 0.69 - - 2834 - - - 2259 - 263.0 - - 1963 - - - - - - - - - - -
20318 511.0 9.2 1072 20321 roll 0.69 - - 2837 - 2.22 0.044 856 -632.0 263.0 - - 1963 - - - - - - - - - - -
20364 506.8 10.1 1074 20367 done 0.76 - - 2837 - 2.17 0.036 2250 642.4 263.0 - - 1963 - - - - - - - - - - -
20696 477.2 8.1 1090 20699 roll 0.76 - - 2838 - 2.30 0.051 3684 623.5 263.0 - - 1963 - - - - - - - - - - -
20728 474.2 10.2 1091 20733 done 0.76 - - 2837 - 2.28 0.034 2236 -635.1 263.0 - - 1963 - - - - - - - - - - -
21050 447.1 8.2 1107 21054 roll 0.76 - - 2838 - 2.15 0.045 869 -635.8 263.0 - - 1963 - - - - - - - - - - -
21119 441.3 8.1 1110 21123 done 0.83 0.12 0.071 2894 466.7 2.12 0.033 2243 648.1 263.0 - - 1963 - - - - - - - - - - -
21451 403.6 11.5 1126 21455 roll 0.66 0.20 0.119 2827 -335.0 2.30 0.047 3685 627.0 263.0 - - 1963 - - - - - - - - - - -
21506 398.0 9.5 1128 21510 done 0.66 - - 2827 - 2.22 0.031 2238 -651.8 263.0 - - 1963 - - - - - - - - - - -
21827 372.0 8.0 1144 21831 roll 0.77 - - 2827 - 2.15 0.046 869 -636.7 263.0 - - 1963 - - - - - - - - - - -
21896 366.4 7.8 1147 21900 done 0.89 0.20 0.056 2911 420.0 2.12 0.032 2242 647.6 263.0 - - 1963 - - - - - - - - - - -
22222 324.9 13.2 1163 22227 roll 0.66 0.25 0.120 2826 -340.0 2.30 0.046 3682 626.1 263.0 - - 1963 - - - - - - - - - - -
22243 322.3 11.2 1164 22247 done 0.58 - - 2827 - 2.25 0.031 2227 -646.7 263.0 - - 1964 - - - - - - - - - - -
22571 295.8 8.0 1180 22575 roll 0.69 - - 2827 - 2.15 0.044 861 -635.3 263.0 - - 1964 - - - - - - - - - - -
22621 291.7 7.9 1182 22625 done 0.82 0.15 0.060 2895 453.3 2.12 0.035 2236 648.6 263.0 - - 1964 - - - - - - - - - - -
22948 255.4 11.3 1198 22953 roll 0.65 0.20 0.116 2827 -340.0 2.33 0.045 3685 621.9 263.0 - - 1965 - - - - - - - - - - -
22997 250.7 8.5 1200 23001 done 0.72 - - 2827 - 2.25 0.030 2224 -649.3 263.0 - - 1965 - - - - - - - - - - -
23319 227.4 6.6 1216 23330 roll 0.85 0.17 0.058 2905 458.8 2.15 0.044 866 -631.6 269.2 5.88 0.686 1949 -2.7 0.101 - - - - - - - - -
23375 221.5 10.9 1218 23382 done 0.69 0.25 0.119 2828 -308.0 2.10 0.032 2237 652.9 269.2 - - 1949 - - - - - - - - - - -
23702 195.9 7.9 1235 23707 roll 0.82 0.15 0.063 2894 440.0 2.30 0.047 3668 622.2 269.2 - - 1949 - - - - - - - - - - -
23757 189.4 12.6 1238 23765 done 0.58 0.32 0.117 2795 -309.4 2.22 0.031 2222 -651.4 269.2 - - 1949 - - - - - - - - - - -
24078 168.1 6.2 1259 24101 roll 0.87 0.25 0.054 2906 444.0 2.20 0.044 866 -616.4 286.6 16.77 0.749 1875 -4.4 0.111 - - - - - - - - -
24176 157.2 14.4 1265 24180 done 0.73 0.20 0.120 2843 -315.0 2.10 0.031 2224 646.7 286.6 - - 1873 - - - - - - - - - - -
24513 126.0 9.1 1316 24521 roll 0.82 - - 2844 - 2.33 0.046 3682 625.8 286.6 - - 1872 - - - - - - - - - - -
24555 121.7 9.9 1323 24561 done 0.82 - - 2844 - 2.28 0.030 2208 -646.5 286.6 - - 1872 - - - - - - - - - - -
24899 90.1 9.3 1384 24907 roll 0.91 0.17 0.058 2919 441.2 2.12 0.040 868 -632.1 286.6 - - 1872 - - - - - - - - - - -
24948 84.0 13.5 1392 24956 done 0.74 0.20 0.118 2850 -345.0 2.10 0.030 2221 644.3 286.6 - - 1872 - - - - - - - - - - -
25296 49.3 9.7 1453 25302 roll 0.80 - - 2851 - 2.30 0.045 3671 630.4 286.6 - - 1872 - - - - - - - - - - -
25336 44.9 10.5 1460 25344 done 0.80 - - 2851 - 2.25 0.031 2210 -649.3 286.6 - - 1872 - - - - - - - - - - -
25682 10.9 9.7 1521 25688 roll 0.80 - - 2851 - 2.08 0.040 869 -644.7 286.6 - - 1872 - - - - - - - - - - -
25707 8.7 9.3 1525 25714 done 0.86 0.12 0.067 2911 500.0 2.08 0.031 2221 650.0 286.6 - - 1872 - - - - - - - - - - -
25752 end climb: SURFACE_DEPTH_REACHED
25752 begin surface coast
25776 end surface coast: CONTROL_FINISHED_OK
25776 begin surface
SM 3.45 - - - - -7.65 7.38 0.046 137 -375.9 - - 2225 - 288.23 - - 1870 - - - - - - - -