SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 579 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 90.88 of 146.00 AH used of 24V (37.75% remains)
• Previous NAKs 2, Timeouts 0 • 63.89 of 100.00 AH used of 10V (36.11% remains)
• Surface angle -63.1 deg, depth 3.87 m • Intended pitch -13.7 deg, speed -6.875 cm/s
• No surface pump (final VBD was 334.10, SM_CC=225)
• GPS1 time: 39 s
• GPS2 time: 14 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
16 - - - 25 VBD -0.77 - - 122 - - - 2157 - -116.7 -7.53 - 2045 - - - - - - - - - - -
29 4.0 - 1 129 roll -0.77 8.27 0.199 2363 271.0 2.42 0.066 3581 588.4 -116.7 -83.35 - 3521 -17.7 - - - - - - - - - -
350 30.8 -13.4 55 357 done -0.41 0.38 0.120 2479 305.3 2.25 0.034 2175 -624.9 -116.7 - - 3523 - - - - - - - - - - -
699 58.5 -9.3 116 707 roll -0.64 0.20 0.057 2389 -450.0 2.28 0.043 773 -614.9 -116.7 - - 3524 - - - - - - - - - - -
742 64.0 -12.8 119 748 done -0.40 0.30 0.121 2480 303.3 2.25 0.035 2185 627.6 -116.7 - - 3524 - - - - - - - - - - -
1060 86.4 -4.6 135 1064 roll -0.63 0.20 0.055 2393 -435.0 2.35 0.048 3596 600.4 -116.7 - - 3525 - - - - - - - - - - -
1088 88.2 -6.3 136 1093 done -0.56 0.12 0.128 2429 300.0 2.28 0.031 2172 -624.6 -116.7 - - 3525 - - - - - - - - - - -
1411 99.8 -2.9 152 1415 roll -0.56 - - 2429 - 2.28 0.046 760 -619.3 -116.7 - - 3526 - - - - - - - - - - -
1463 101.8 -4.3 154 1467 done -0.56 - - 2429 - 2.25 0.036 2178 630.2 -116.7 - - 3526 - - - - - - - - - - -
1790 120.3 -7.4 170 1791 done -0.56 - - 2429 - - - 2178 - -116.7 - - 3526 - - - - - - - - - - -
2100 148.5 -9.3 185 2101 done -0.56 - - 2429 - - - 2178 - -116.7 - - 3526 - - - - - - - - - - -
2409 173.4 -7.3 200 2411 done -0.56 - - 2429 - - - 2178 - -116.7 - - 3526 - - - - - - - - - - -
2718 196.2 -7.6 215 2722 roll -0.56 - - 2429 - 2.38 0.051 3587 592.0 -116.7 - - 3527 - - - - - - - - - - -
2760 199.4 -7.9 217 2764 done -0.56 - - 2430 - 2.30 0.036 2169 -616.5 -116.7 - - 3526 - - - - - - - - - - -
3087 226.8 -8.4 233 3091 roll -0.56 - - 2429 - 2.30 0.048 761 -612.2 -116.7 - - 3527 - - - - - - - - - - -
3134 230.9 -9.2 235 3138 done -0.56 - - 2430 - 2.28 0.041 2182 623.2 -116.7 - - 3527 - - - - - - - - - - -
3467 256.7 -7.1 251 3470 roll -0.56 - - 2429 - 2.33 0.048 774 -604.3 -116.7 - - 3526 - - - - - - - - - - -
3501 259.3 -7.6 252 3505 done -0.56 - - 2429 - 2.25 0.037 2182 625.8 -116.7 - - 3526 - - - - - - - - - - -
3824 279.8 -6.0 268 3825 done -0.56 - - 2429 - - - 2182 - -116.7 - - 3525 - - - - - - - - - - -
4133 297.4 -5.5 283 4137 roll -0.56 - - 2429 - 2.33 0.048 775 -603.9 -116.7 - - 3525 - - - - - - - - - - -
4169 299.4 -6.2 284 4176 done -0.56 - - 2429 - 2.25 0.038 2182 625.3 -116.7 - - 3525 - - - - - - - - - - -
4503 317.8 -5.4 296 4505 done -0.56 - - 2430 - - - 2182 - -116.7 - - 3524 - - - - - - - - - - -
4809 334.0 -5.2 306 4810 done -0.56 - - 2429 - - - 2182 - -116.7 - - 3523 - - - - - - - - - - -
5116 350.7 -5.6 316 5119 roll -0.56 - - 2429 - 2.35 0.049 773 -599.6 -116.7 - - 3523 - - - - - - - - - - -
5173 354.5 -6.7 317 5177 done -0.56 - - 2429 - 2.25 0.037 2167 619.6 -116.7 - - 3522 - - - - - - - - - - -
5492 374.8 -6.6 328 5494 done -0.56 - - 2429 - - - 2167 - -116.7 - - 3521 - - - - - - - - - - -
5799 395.5 -6.7 338 5800 done -0.56 - - 2430 - - - 2167 - -116.7 - - 3521 - - - - - - - - - - -
6107 416.2 -6.8 348 6111 roll -0.56 - - 2429 - 2.42 0.053 3596 590.5 -116.7 - - 3520 - - - - - - - - - - -
6138 418.4 -7.1 349 6142 done -0.63 - - 2429 - 2.33 0.036 2154 -618.9 -116.7 - - 3520 - - - - - - - - - - -
6479 441.9 -6.9 360 6483 roll -0.63 - - 2430 - 2.25 0.048 769 -615.6 -116.7 - - 3519 - - - - - - - - - - -
6553 447.5 -7.9 362 6557 done -0.63 - - 2429 - 2.25 0.039 2170 622.7 -116.7 - - 3519 - - - - - - - - - - -
6889 471.2 -7.0 373 6890 done -0.63 - - 2429 - - - 2170 - -116.7 - - 3518 - - - - - - - - - - -
7195 493.7 -7.6 383 7196 done -0.63 - - 2429 - - - 2170 - -116.7 - - 3518 - - - - - - - - - - -
7529 520.2 -8.0 390 7533 roll -0.63 - - 2428 - 2.33 0.051 772 -600.0 -116.7 - - 3517 - - - - - - - - - - -
7575 524.1 -8.8 390 7579 done -0.63 - - 2429 - 2.25 0.039 2165 619.1 -116.7 - - 3517 - - - - - - - - - - -
7902 551.0 -8.3 396 7903 done -0.63 - - 2429 - - - 2165 - -116.7 - - 3517 - - - - - - - - - - -
8205 576.3 -8.3 401 8206 done -0.63 - - 2429 - - - 2165 - -116.7 - - 3516 - - - - - - - - - - -
8508 600.0 -7.8 406 8509 done -0.63 - - 2429 - - - 2165 - -116.7 - - 3515 - - - - - - - - - - -
8812 621.7 -7.1 411 8813 done -0.63 - - 2429 - - - 2165 - -116.7 - - 3515 - - - - - - - - - - -
9115 641.7 -6.5 416 9117 done -0.70 0.12 0.071 2375 -450.0 - - 2165 - -116.7 - - 3515 - - - - - - - - - - -
9418 667.0 -8.5 421 9423 roll -0.52 0.20 0.123 2442 335.0 2.33 0.048 772 -597.9 -116.7 - - 3514 - - - - - - - - - - -
9464 670.3 -6.3 421 9468 done -0.61 - - 2442 - 2.25 0.039 2157 615.6 -116.7 - - 3514 - - - - - - - - - - -
9787 688.9 -5.8 427 9792 roll -0.75 0.20 0.060 2350 -460.0 2.45 0.055 3579 580.4 -116.7 - - 3513 - - - - - - - - - - -
9826 692.4 -9.3 427 9832 done -0.48 0.35 0.116 2456 302.9 2.35 0.038 2134 -614.9 -116.7 - - 3513 - - - - - - - - - - -
10150 711.4 -5.8 433 10155 roll -0.68 0.20 0.059 2366 -450.0 2.25 0.049 770 -606.2 -116.7 - - 3513 - - - - - - - - - - -
10184 714.5 -10.3 433 10189 done -0.43 0.35 0.121 2470 297.1 2.25 0.041 2153 614.7 -116.7 - - 3513 - - - - - - - - - - -
10511 733.9 -5.9 439 10516 roll -0.70 0.20 0.060 2379 -455.0 2.45 0.058 3580 582.4 -116.7 - - 3512 - - - - - - - - - - -
10575 739.2 -8.3 440 10580 done -0.58 0.17 0.124 2431 305.9 2.30 0.038 2156 -619.1 -116.7 - - 3512 - - - - - - - - - - -
10942 766.2 -7.3 446 10945 roll -0.67 - - 2431 - 2.28 0.051 772 -607.0 -116.7 - - 3512 - - - - - - - - - - -
10987 769.6 -8.4 446 10991 done -0.67 - - 2430 - 2.28 0.041 2166 611.4 -116.7 - - 3512 - - - - - - - - - - -
11315 793.6 -7.3 452 11320 roll -0.76 0.20 0.058 2340 -450.0 2.40 0.053 3592 594.2 -116.7 - - 3511 - - - - - - - - - - -
11355 797.6 -10.3 452 11360 done -0.45 0.43 0.120 2468 297.7 2.33 0.039 2161 -614.2 -116.7 - - 3511 - - - - - - - - - - -
11677 817.5 -6.0 458 11682 roll -0.73 0.22 0.062 2372 -436.4 2.30 0.051 773 -603.5 -116.7 - - 3511 - - - - - - - - - - -
11718 820.9 -9.7 458 11723 done -0.50 0.28 0.123 2453 289.3 2.28 0.041 2171 613.2 -116.7 - - 3511 - - - - - - - - - - -
12040 842.0 -6.4 464 12045 roll -0.71 0.20 0.063 2365 -440.0 2.42 0.058 3596 588.8 -116.7 - - 3511 - - - - - - - - - - -
12097 847.1 -9.1 464 12102 done -0.54 0.25 0.120 2440 300.0 2.30 0.038 2177 -617.0 -116.7 - - 3511 - - - - - - - - - - -
12409 868.0 -6.6 469 12414 roll -0.69 0.15 0.072 2379 -406.7 2.30 0.049 773 -610.4 -116.7 - - 3511 - - - - - - - - - - -
12437 870.5 -8.9 469 12442 done -0.56 0.17 0.128 2429 294.1 2.25 0.041 2176 623.6 -116.7 - - 3511 - - - - - - - - - - -
12771 893.6 -6.9 475 12775 roll -0.66 - - 2429 - 2.45 0.060 3596 579.6 -116.7 - - 3511 - - - - - - - - - - -
12823 897.3 -6.0 475 12828 done -0.78 0.20 0.058 2350 -395.0 2.35 0.038 2163 -609.8 -116.7 - - 3510 - - - - - - - - - - -
13133 927.1 -9.7 480 13138 roll -0.52 0.28 0.121 2441 325.0 2.33 0.051 775 -595.7 -116.7 - - 3510 - - - - - - - - - - -
13241 934.9 -7.2 481 13245 done -0.62 - - 2441 - 2.25 0.040 2180 624.4 -116.7 - - 3510 - - - - - - - - - - -
13569 955.7 -6.3 487 13574 roll -0.79 0.20 0.064 2351 -450.0 2.42 0.057 3577 577.3 -116.7 - - 3510 - - - - - - - - - - -
13615 959.8 -9.4 487 13620 done -0.54 0.30 0.119 2442 303.3 2.33 0.038 2156 -609.9 -116.7 - - 3509 - - - - - - - - - - -
13932 980.4 -6.4 493 13937 roll -0.71 0.17 0.067 2371 -417.6 2.28 0.050 775 -605.7 -116.7 - - 3509 - - - - - - - - - - -
13966 983.2 -8.7 493 13971 done -0.50 0.28 0.125 2449 278.6 2.28 0.041 2174 613.6 -116.7 - - 3509 - - - - - - - - - - -
14113 end dive: TARGET_DEPTH_EXCEEDED
14113 begin apogee
14121 992.2 5.8 496 14225 done -0.23 0.28 0.116 2537 314.3 - - 2280 - - 100.68 1.412 3046 -4.6 0.389 - - - - - - - - -
14225 end apogee: CONTROL_FINISHED_OK
14226 begin climb
14229 994.5 - 497 14440 roll 0.77 0.98 0.080 2853 322.4 2.72 0.051 3676 513.2 116.7 136.52 1.189 2570 -3.5 0.351 - - - - - - - - -
14491 991.8 7.1 501 14497 done 0.47 0.32 0.130 2770 -259.4 2.53 0.035 2270 -555.7 116.7 - - 2568 - - - - - - - - - - -
14847 976.9 4.1 507 14917 roll 0.71 0.20 0.060 2864 470.0 2.47 0.047 865 -568.8 187.0 62.35 1.380 2282 -4.6 0.390 - - - - - - - - -
14992 965.8 9.3 509 14997 done 0.60 0.20 0.122 2805 -295.0 2.28 0.036 2264 613.6 187.0 - - 2277 - - - - - - - - - - -
15342 943.1 6.5 515 15356 roll 0.73 0.12 0.074 2860 458.3 2.42 0.056 3668 580.2 196.3 8.20 1.184 2245 -3.9 0.374 - - - - - - - - -
15392 938.6 9.2 515 15397 done 0.53 0.28 0.129 2782 -278.6 2.28 0.035 2246 -623.7 196.3 - - 2244 - - - - - - - - - - -
15709 919.1 6.0 521 15735 roll 0.79 0.20 0.061 2878 480.0 2.28 0.046 860 -607.9 217.9 20.52 1.311 2156 -4.3 0.362 - - - - - - - - -
15776 913.1 9.6 522 15781 done 0.65 0.20 0.122 2818 -300.0 2.25 0.036 2255 620.0 217.9 - - 2153 - - - - - - - - - - -
16137 884.6 7.9 528 16142 roll 0.76 0.12 0.073 2871 441.7 2.40 0.051 3684 595.4 217.9 - - 2152 - - - - - - - - - - -
16210 876.7 11.4 529 16215 done 0.55 0.30 0.127 2787 -280.0 2.30 0.035 2247 -624.8 217.9 - - 2151 - - - - - - - - - - -
16572 850.5 7.2 535 16577 roll 0.80 0.20 0.058 2879 460.0 2.25 0.046 862 -615.6 217.9 - - 2151 - - - - - - - - - - -
16594 848.3 8.4 535 16598 done 0.80 - - 2879 - 2.25 0.035 2271 626.2 217.9 - - 2150 - - - - - - - - - - -
16939 811.2 10.9 541 16944 roll 0.66 0.17 0.127 2826 -311.8 2.38 0.051 3673 589.1 217.9 - - 2150 - - - - - - - - - - -
16990 806.0 9.7 541 16993 done 0.66 - - 2826 - 2.28 0.035 2264 -618.0 217.9 - - 2150 - - - - - - - - - - -
17306 778.8 8.6 547 17309 roll 0.74 - - 2826 - 2.28 0.046 859 -616.2 217.9 - - 2150 - - - - - - - - - - -
17340 775.9 8.2 547 17345 done 0.85 0.17 0.060 2897 417.6 2.25 0.038 2268 626.2 217.9 - - 2149 - - - - - - - - - - -
17674 739.1 11.2 553 17679 roll 0.64 0.22 0.125 2823 -336.4 2.40 0.051 3683 589.6 217.9 - - 2149 - - - - - - - - - - -
17719 734.5 8.7 553 17723 done 0.64 - - 2823 - 2.30 0.035 2253 -621.7 217.9 - - 2149 - - - - - - - - - - -
18035 710.6 7.6 559 18039 roll 0.74 - - 2822 - 2.28 0.048 862 -610.1 217.9 - - 2149 - - - - - - - - - - -
18058 708.6 7.2 559 18063 done 0.86 0.20 0.058 2908 430.0 2.25 0.036 2265 623.6 217.9 - - 2149 - - - - - - - - - - -
18403 672.2 10.7 565 18408 roll 0.63 0.28 0.123 2816 -328.6 2.38 0.050 3680 594.5 217.9 - - 2149 - - - - - - - - - - -
18425 670.0 9.5 565 18429 done 0.63 - - 2816 - 2.30 0.035 2254 -620.0 217.9 - - 2149 - - - - - - - - - - -
18764 647.3 6.6 571 18775 roll 0.78 0.15 0.065 2886 466.7 2.28 0.049 862 -610.5 223.6 5.32 0.954 2133 -3.0 0.245 - - - - - - - - -
18798 644.2 9.1 571 18803 done 0.65 0.22 0.124 2819 -304.5 2.25 0.036 2272 626.7 223.6 - - 2133 - - - - - - - - - - -
19127 622.2 6.7 577 19141 roll 0.80 0.15 0.066 2882 420.0 2.40 0.052 3686 589.2 229.1 6.50 1.003 2111 -3.4 0.252 - - - - - - - - -
19194 615.9 11.1 578 19199 done 0.59 0.28 0.126 2798 -300.0 2.28 0.034 2256 -627.2 229.1 - - 2110 - - - - - - - - - - -
19562 593.4 6.0 584 19588 roll 0.86 0.22 0.056 2905 486.4 2.30 0.048 854 -609.6 251.6 21.17 1.127 2020 -4.3 0.269 - - - - - - - - -
19625 587.4 10.0 585 19630 done 0.69 0.25 0.121 2830 -300.0 2.28 0.038 2275 623.2 251.6 - - 2017 - - - - - - - - - - -
19992 560.7 7.0 591 19997 roll 0.82 0.15 0.065 2892 413.3 2.33 0.050 3676 601.3 251.6 - - 2015 - - - - - - - - - - -
20033 556.7 10.0 591 20038 done 0.61 0.28 0.127 2811 -289.3 2.28 0.034 2261 -620.6 251.6 - - 2015 - - - - - - - - - - -
20356 536.2 6.1 597 20380 roll 0.86 0.20 0.058 2905 470.0 2.35 0.046 864 -594.5 270.3 17.05 1.085 1942 -4.3 0.254 - - - - - - - - -
20410 531.1 11.1 597 20415 done 0.72 0.20 0.122 2844 -305.0 2.25 0.035 2276 627.6 270.3 - - 1940 - - - - - - - - - - -
20721 506.1 7.9 602 20724 roll 0.81 - - 2845 - 2.33 0.051 3684 604.3 270.3 - - 1939 - - - - - - - - - - -
20755 503.0 8.5 602 20759 done 0.81 - - 2850 - 2.28 0.035 2264 -622.8 270.3 - - 1939 - - - - - - - - - - -
21097 474.4 8.4 612 21101 roll 0.88 0.15 0.064 2919 460.0 2.28 0.045 858 -616.7 270.3 - - 1937 - - - - - - - - - - -
21175 465.7 12.2 614 21180 done 0.70 0.28 0.121 2836 -296.4 2.20 0.035 2261 637.7 270.3 - - 1937 - - - - - - - - - - -
21495 442.2 7.1 625 21500 roll 0.84 0.15 0.066 2897 406.7 2.40 0.051 3683 592.5 270.3 - - 1937 - - - - - - - - - - -
21525 439.4 10.4 626 21530 done 0.73 0.20 0.133 2845 -260.0 2.30 0.033 2249 -623.5 270.3 - - 1937 - - - - - - - - - - -
21863 414.3 7.3 637 21867 roll 0.83 - - 2851 - 2.25 0.046 862 -616.4 270.3 - - 1937 - - - - - - - - - - -
21933 409.0 7.4 639 21938 done 0.93 0.17 0.062 2926 441.2 2.22 0.037 2255 627.5 270.3 - - 1936 - - - - - - - - - - -
22269 372.3 11.3 650 22274 roll 0.72 0.25 0.125 2843 -332.0 2.38 0.048 3682 599.6 270.3 - - 1936 - - - - - - - - - - -
22291 369.9 10.8 650 22298 done 0.72 - - 2843 - 2.30 0.034 2247 -623.9 270.3 - - 1936 - - - - - - - - - - -
22607 346.1 7.8 661 22611 roll 0.83 0.12 0.067 2905 516.7 2.25 0.044 856 -618.2 270.3 - - 1936 - - - - - - - - - - -
22663 340.1 10.8 662 22670 done 0.72 0.20 0.122 2845 -300.0 2.22 0.036 2252 628.8 270.3 - - 1935 - - - - - - - - - - -
22977 314.9 7.9 673 22982 roll 0.85 0.12 0.070 2897 433.3 2.38 0.049 3681 600.4 270.3 - - 1935 - - - - - - - - - - -
23011 311.4 10.3 674 23016 done 0.68 0.25 0.125 2830 -268.0 2.30 0.031 2237 -627.8 270.3 - - 1936 - - - - - - - - - - -
23333 290.8 5.8 687 23363 roll 0.90 0.20 0.058 2923 465.0 2.33 0.046 861 -590.6 296.4 22.98 0.931 1835 -4.4 0.165 - - - - - - - - -
23422 282.1 9.4 691 23427 done 0.77 0.22 0.120 2855 -309.1 2.20 0.035 2253 632.7 296.4 - - 1832 - - - - - - - - - - -
23756 255.8 8.3 707 23757 done 0.89 0.12 0.070 2909 450.0 - - 2253 - 296.4 - - 1830 - - - - - - - - - - -
24066 220.2 11.9 722 24067 done 0.78 0.15 0.127 2863 -306.7 - - 2253 - 296.4 - - 1830 - - - - - - - - - - -
24375 189.0 9.7 737 24379 roll 0.88 - - 2863 - 2.35 0.049 3676 605.5 296.4 - - 1829 - - - - - - - - - - -
24403 185.9 10.9 738 24407 done 0.88 - - 2866 - 2.33 0.033 2229 -621.0 296.4 - - 1829 - - - - - - - - - - -
24721 154.2 10.4 753 24726 roll 0.95 0.15 0.064 2938 480.0 2.22 0.047 866 -614.0 296.4 - - 1829 - - - - - - - - - - -
24762 148.6 12.3 755 24767 done 0.76 0.28 0.123 2855 -296.4 2.15 0.033 2233 635.8 296.4 - - 1828 - - - - - - - - - - -
25091 115.6 9.3 771 25096 roll 0.90 0.15 0.064 2921 440.0 2.40 0.048 3681 603.3 296.4 - - 1828 - - - - - - - - - - -
25153 107.4 13.8 773 25160 done 0.67 0.32 0.120 2825 -300.0 2.33 0.030 2222 -626.2 296.4 - - 1828 - - - - - - - - - - -
25471 84.8 6.3 789 25493 roll 0.96 0.22 0.053 2933 490.9 2.22 0.041 871 -608.6 311.8 13.27 0.756 1772 -4.2 0.057 - - - - - - - - -
25568 74.2 12.7 793 25573 done 0.80 0.22 0.122 2865 -309.1 2.12 0.034 2226 639.2 311.8 - - 1770 - - - - - - - - - - -
25897 48.4 8.5 826 25904 roll 0.92 0.12 0.067 2924 491.7 2.38 0.048 3676 609.2 311.8 - - 1769 - - - - - - - - - - -
25957 40.8 13.7 836 25965 done 0.70 0.30 0.123 2839 -283.3 2.30 0.030 2217 -634.3 311.8 - - 1769 - - - - - - - - - - -
26307 14.1 6.1 897 26336 roll 1.05 0.28 0.050 2965 450.0 2.22 0.043 865 -609.0 331.9 17.40 0.693 1691 -4.5 0.011 - - - - - - - - -
26390 end climb: SURFACE_DEPTH_REACHED
26391 begin surface coast
26421 end surface coast: CONTROL_FINISHED_OK
26421 begin surface
SM 4.09 - - - - -7.65 7.47 0.037 132 -379.3 - - 2185 - 334.10 - - 1685 - - - - - - - -