EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 221 * Raw log
prev dive * next dive * dive
• Previous call tries 3 • 96.62 of 510.00 AH used of 24V (81.05% remains)
• Surface angle -52.0 deg, depth 0.97 m • Intended pitch -16.6 deg, speed -12.692 cm/s
VBD pumped to 499.82 (SM_CC=500)
• GPS1 time: 31 s
• GPS2 time: 3 s • Transponder ping count: 2
• 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.55 - - - 125.03 VBD -1.12 - - 173.50 - - - 1950.56 - -243.31 118.12 0.005 3308.12 - - - - - - - - - - 15.04
125.32 3.30 -2.06 23 165.84 -1.12 12.02 0.297 1527.88 112.7 3.89 0.120 535.62 -363.7 -243.31 18.64 0.006 3960.19 35.0 -3.294 - - - - - - 15.14 14.96 15.16
233.41 20.83 -15.66 45 239.09 roll -1.05 - - 1527.38 - 3.46 0.031 2028.25 431.4 -243.31 - - 3961.38 - - - - - - - - - 15.61 -
418.44 50.92 -18.17 82 424.33 roll back -0.99 0.22 0.170 1562.19 158.2 4.02 0.110 536.12 -371.2 -243.31 - - 3960.84 - - - - - - - - 15.65 15.56 -
633.51 83.01 -14.16 125 639.24 roll -0.99 - - 1561.81 - 3.45 0.029 2031.19 433.4 -243.31 - - 3961.38 - - - - - - - - - 15.67 -
823.55 108.30 -12.96 157 828.88 roll -0.99 - - 1562.00 - 3.02 0.111 3186.62 382.6 -243.31 - - 3962.31 - - - - - - - - - 15.42 -
863.58 113.40 -12.23 165 868.84 roll -0.99 - - 1561.12 - 2.79 0.035 1974.00 -434.6 -243.31 - - 3961.28 - - - - - - - - - 15.67 -
1173.64 153.63 -13.19 197 1174.97 no move -0.99 - - 1561.50 - - - 1974.00 - -243.31 - - 3960.28 - - - - - - - - - - -
1473.76 193.48 -12.54 227 1475.09 no move -0.99 - - 1561.44 - - - 1974.06 - -243.31 - - 3960.41 - - - - - - - - - - -
1773.80 233.23 -13.35 257 1779.07 roll -0.99 - - 1562.06 - 3.17 0.109 3186.38 382.4 -243.31 - - 3961.50 - - - - - - - - - 15.47 -
1823.75 239.54 -12.68 267 1829.00 roll -0.99 - - 1561.00 - 2.79 0.036 1972.06 -435.2 -243.31 - - 3961.91 - - - - - - - - - 15.85 -
2133.83 279.59 -12.86 299 2135.16 no move -0.99 - - 1561.62 - - - 1972.31 - -243.31 - - 3960.62 - - - - - - - - - - -
2434.06 318.39 -12.98 329 2435.39 no move -0.99 - - 1561.88 - - - 1971.44 - -243.31 - - 3960.66 - - - - - - - - - - -
2733.98 355.76 -12.34 359 2739.25 roll -0.99 - - 1561.75 - 3.15 0.110 3186.94 385.9 -243.31 - - 3960.81 - - - - - - - - - 15.48 -
2773.93 360.64 -12.31 367 2779.19 roll -0.99 - - 1561.88 - 2.79 0.036 1972.88 -435.1 -243.31 - - 3961.28 - - - - - - - - - 15.87 -
3084.04 400.23 -12.56 399 3085.37 no move -0.99 - - 1561.12 - - - 1972.69 - -243.31 - - 3960.72 - - - - - - - - - - -
3384.06 437.29 -12.29 429 3389.33 roll -0.99 - - 1561.69 - 3.14 0.113 3185.19 386.1 -243.31 - - 3962.16 - - - - - - - - - 15.62 -
3414.01 440.91 -12.08 435 3419.26 roll -0.99 - - 1561.38 - 2.80 0.039 1975.25 -432.1 -243.31 - - 3961.22 - - - - - - - - - 15.86 -
3724.09 477.98 -12.25 467 3725.42 no move -0.99 - - 1561.75 - - - 1974.75 - -243.31 - - 3960.34 - - - - - - - - - - -
4024.12 514.67 -12.07 497 4025.45 no move -0.99 - - 1561.88 - - - 1974.69 - -243.31 - - 3959.97 - - - - - - - - - - -
4324.14 552.40 -12.54 527 4329.40 roll -0.99 - - 1561.69 - 3.18 0.119 3182.88 379.9 -243.31 - - 3961.09 - - - - - - - - - 15.46 -
4364.09 557.15 -11.92 535 4369.38 roll -0.99 - - 1561.69 - 2.81 0.045 1977.00 -429.1 -243.31 - - 3961.09 - - - - - - - - - 15.86 -
4674.18 594.86 -12.05 567 4679.57 roll -0.99 - - 1561.50 - 3.91 0.132 535.94 -368.6 -243.31 - - 3960.94 - - - - - - - - - 15.65 -
4704.10 598.71 -12.83 573 4709.49 roll -0.99 - - 1561.44 - 3.39 0.032 2024.25 439.0 -243.31 - - 3960.00 - - - - - - - - - 15.91 -
5014.13 635.62 -11.27 605 5015.46 no move -0.99 - - 1562.19 - - - 2024.69 - -243.31 - - 3960.12 - - - - - - - - - - -
5314.22 668.58 -11.16 635 5319.64 roll -0.99 - - 1561.31 - 4.07 0.131 537.62 -365.4 -243.31 - - 3960.56 - - - - - - - - - 15.55 -
5358.82 674.20 -12.83 644 5364.86 roll -0.99 - - 1561.50 - 3.38 0.034 2025.25 440.1 -243.31 - - 3960.78 - - - - - - - - - 15.91 -
5664.18 708.62 -10.89 675 5665.51 no move -0.99 - - 1561.69 - - - 2025.19 - -243.31 - - 3959.09 - - - - - - - - - - -
5964.28 740.96 -10.86 705 5969.69 roll -0.99 - - 1561.31 - 4.09 0.134 536.62 -364.0 -243.31 - - 3959.69 - - - - - - - - - 15.61 -
5998.89 745.05 -11.96 712 6004.93 roll -0.99 - - 1561.25 - 3.41 0.036 2023.56 436.1 -243.31 - - 3960.25 - - - - - - - - - 15.91 -
6304.27 778.48 -11.09 743 6309.76 roll -0.99 - - 1561.31 - 4.13 0.135 537.12 -359.9 -243.31 - - 3959.38 - - - - - - - - - 15.52 -
6334.28 781.92 -12.03 749 6339.66 roll -0.99 - - 1560.62 - 3.43 0.037 2023.06 433.2 -243.31 - - 3960.06 - - - - - - - - - 15.83 -
6644.33 814.89 -10.16 781 6649.83 roll -1.02 - - 1561.75 - 4.12 0.137 536.75 -360.8 -243.31 - - 3957.69 - - - - - - - - - 15.59 -
6674.35 818.37 -10.72 787 6679.72 roll -1.02 - - 1561.25 - 3.43 0.039 2020.88 432.7 -243.31 - - 3958.75 - - - - - - - - - 15.91 -
6984.39 849.90 -10.18 819 6985.72 no move -1.06 - - 1562.00 - - - 2021.31 - -243.31 - - 3957.97 - - - - - - - - - - -
7284.51 881.72 -10.68 849 7291.02 roll back -1.09 0.26 0.078 1517.62 -170.7 4.16 0.141 537.56 -356.7 -243.31 - - 3956.84 - - - - - - - - 15.87 15.58 -
7344.11 890.98 -16.27 861 7350.24 roll back -1.04 0.30 0.181 1549.00 104.6 3.43 0.040 2019.75 432.1 -243.31 - - 3957.78 - - - - - - - - 15.62 15.90 -
7649.50 927.74 -11.59 892 7650.83 no move -1.04 - - 1549.06 - - - 2019.56 - -243.31 - - 3956.47 - - - - - - - - - - -
7949.62 961.97 -11.49 922 7955.08 roll -1.04 - - 1548.81 - 4.16 0.144 536.31 -356.6 -243.31 - - 3957.38 - - - - - - - - - 15.56 -
8009.56 969.70 -13.20 934 8014.97 roll -1.04 - - 1548.94 - 3.45 0.041 2018.56 429.6 -243.31 - - 3956.38 - - - - - - - - - 15.89 -
8199 end dive: TARGET_DEPTH_EXCEEDED
8199 begin apogee
8202.65 991.02 -10.91 954 8410.11 -0.23 1.42 0.144 1746.50 139.1 0.05 0.337 1480.38 -10763.6 - 204.49 2.046 2964.53 -4.9 0.402 - - - - - - 15.73 15.08 10.67
8411 end apogee: CONTROL_FINISHED_OK
8411 begin climb
8411.61 999.16 - 974 8631.53 1.12 2.28 0.096 2074.50 143.9 3.09 0.170 460.00 -330.2 243.31 212.23 2.002 1976.56 -4.7 0.398 - - - - - - 15.18 14.98 11.95
8853.77 960.15 12.61 1062 8859.55 roll 1.09 - - 2075.19 - 2.35 0.027 1491.31 438.9 245.59 - - 1966.22 - - - - - - - - - 15.57 -
9159.13 929.90 9.81 1093 9241.33 done 1.21 - - 2075.94 - 3.05 0.161 460.00 -338.1 327.11 75.99 1.905 1634.09 -4.4 0.365 - - - - - - - 15.26 11.58
9259.15 919.77 10.31 1113 9326.69 1.34 0.32 0.070 2135.50 186.1 2.38 0.027 1497.81 436.1 394.47 62.97 1.869 1359.66 -4.4 0.367 - - - - - - 15.38 15.33 11.96
9624.16 867.28 14.29 1156 9625.49 no move 1.34 - - 2135.25 - - - 1497.88 - 394.47 - - 1354.19 - - - - - - - - - - -
9924.37 823.70 14.42 1186 9925.70 no move 1.34 - - 2135.25 - - - 1498.19 - 394.47 - - 1352.75 - - - - - - - - - - -
10224.26 779.91 14.04 1216 10225.59 no move 1.34 - - 2136.06 - - - 1498.44 - 394.47 - - 1352.16 - - - - - - - - - - -
10524.28 736.38 14.45 1246 10529.52 roll 1.34 - - 2136.12 - 2.95 0.151 457.81 -352.8 394.47 - - 1352.75 - - - - - - - - - 15.64 -
10544.22 733.20 15.24 1250 10549.42 done 1.34 - - 2135.19 - 2.32 0.027 1511.00 454.0 394.47 - - 1352.75 - - - - - - - - - 15.81 -
10854.27 690.10 13.19 1282 10859.67 done 1.34 - - 2136.88 - 3.54 0.091 2912.69 396.0 394.47 - - 1351.41 - - - - - - - - - 15.72 -
10868.94 688.25 12.71 1285 10875.03 done 1.34 - - 2136.12 - 3.64 0.073 1436.38 -405.6 394.47 - - 1352.69 - - - - - - - - - 15.77 -
11174.31 647.90 13.24 1316 11175.64 VBD 1.34 - - 2135.69 - - - 1436.50 - 394.47 - - 1350.81 - - - - - - - - - - -
11474.43 607.36 13.59 1346 11479.81 done 1.34 - - 2136.50 - 3.66 0.082 2913.12 403.4 394.47 - - 1351.56 - - - - - - - - - 15.73 -
11504.49 603.58 12.60 1352 11509.80 roll 1.39 - - 2136.56 - 3.63 0.069 1435.38 -407.1 397.05 - - 1352.25 - - - - - - - - - 15.82 -
11814.41 562.90 13.20 1384 11819.85 roll 1.39 - - 2136.75 - 3.66 0.080 2914.06 404.0 397.05 - - 1352.19 - - - - - - - - - 15.74 -
11829.09 561.07 12.97 1387 11835.17 roll 1.39 - - 2136.25 - 3.59 0.066 1436.56 -411.6 397.05 - - 1350.69 - - - - - - - - - 15.82 -
12134.47 521.63 13.06 1418 12135.80 no move 1.39 - - 2137.00 - - - 1436.38 - 397.05 - - 1350.19 - - - - - - - - - - -
12434.61 483.47 12.60 1448 12445.42 done 1.39 - - 2136.62 - 3.63 0.080 2913.56 406.9 399.71 5.66 0.907 1338.56 -2.1 0.187 - - - - - - - 15.45 11.04
12479.29 478.34 11.12 1457 12527.27 1.51 0.17 0.089 2178.00 243.4 3.58 0.065 1434.56 -413.1 444.13 42.12 1.428 1157.38 -4.3 0.247 - - - - - - 15.71 15.82 11.82
12829.83 421.97 16.94 1497 12831.15 no move 1.51 - - 2178.19 - - - 1435.31 - 444.13 - - 1154.53 - - - - - - - - - - -
13129.99 370.88 16.68 1527 13135.31 roll 1.51 - - 2178.00 - 3.65 0.078 2912.44 404.7 444.13 - - 1155.06 - - - - - - - - - 15.66 -
13144.56 368.37 16.70 1530 13150.63 roll 1.51 - - 2178.31 - 3.59 0.065 1433.75 -411.9 444.13 - - 1154.28 - - - - - - - - - 15.76 -
13449.94 317.40 16.60 1561 13455.19 roll 1.51 - - 2178.06 - 2.67 0.142 457.81 -365.5 444.13 - - 1155.06 - - - - - - - - - 15.66 -
13469.96 313.84 16.79 1565 13475.06 roll 1.47 - - 2178.06 - 2.29 0.027 1529.94 468.2 444.13 - - 1154.22 - - - - - - - - - 15.84 -
13780.01 264.34 15.55 1597 13785.30 roll 1.47 - - 2177.94 - 2.93 0.135 457.06 -366.2 444.13 - - 1154.94 - - - - - - - - - 15.66 -
13810.01 258.96 18.02 1603 13815.27 roll back 1.42 0.37 0.190 2138.50 -106.6 2.30 0.029 1526.69 465.1 444.13 - - 1155.00 - - - - - - - - 15.67 15.85 -
14120.12 221.99 11.38 1635 14153.80 1.53 0.27 0.077 2181.19 158.1 - - 1527.12 - 481.13 32.72 1.129 1006.69 -4.5 0.153 - - - - - - 15.71 - 11.19
14450.04 171.27 15.55 1668 14455.35 roll 1.53 - - 2181.88 - 2.94 0.134 458.12 -363.6 481.13 - - 1005.44 - - - - - - - - - 15.64 -
14490.07 163.92 18.86 1676 14495.18 roll 1.49 - - 2182.19 - 2.32 0.030 1524.38 459.6 481.13 - - 1004.53 - - - - - - - - - 15.69 -
14800.10 116.11 15.17 1708 14805.39 roll 1.49 - - 2181.81 - 2.95 0.134 456.81 -361.9 481.13 - - 1005.19 - - - - - - - - - 15.64 -
14824.75 112.17 15.76 1713 14830.57 roll 1.49 - - 2182.00 - 2.33 0.031 1521.62 457.0 481.13 - - 1004.12 - - - - - - - - - 15.76 -
15130.16 65.13 16.71 1766 15135.80 roll 1.49 - - 2181.81 - 2.94 0.134 457.00 -362.1 481.13 - - 1004.84 - - - - - - - - - 15.64 -
15165.17 58.80 18.38 1773 15170.61 roll 1.49 - - 2182.00 - 2.32 0.030 1517.25 457.0 481.13 - - 1004.75 - - - - - - - - - 15.78 -
15350.27 31.14 14.38 1810 15351.60 no move 1.49 - - 2182.50 - - - 1516.62 - 481.13 - - 1003.94 - - - - - - - - - - -
15530 end climb: SURFACE_DEPTH_REACHED
15530 begin surface coast
15540 end surface coast: CONTROL_FINISHED_OK
15540 begin surface
SM 0.04 - - - - 180.9 17.42 0.857 930.4 53.4 12.65 0.072 876.6 69.3 - 1.11 0.031 984.2 886.7 -0.117 - - 11.33 15.79 15.85 -