SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 251 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 42.14 of 146.00 AH used of 24V (71.14% remains)
• Previous NAKs 0, Timeouts 0 • 32.19 of 100.00 AH used of 10V (67.81% remains)
• Surface angle -62.7 deg, depth 3.20 m • Intended pitch -13.7 deg, speed -6.875 cm/s
• No surface pump (final VBD was 275.23, SM_CC=225)
• GPS1 time: 26 s
• GPS2 time: 11 s, HDOP was 5.1 m • 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 - - - 24 VBD -0.77 - - 123 - - - 2169 - -116.7 -7.47 - 2119 - - - - - - - - - - -
27 3.1 - 1 125 roll -0.77 8.43 0.206 2362 265.6 2.25 0.058 775 -619.6 -116.7 -82.62 - 3521 -17.0 - - - - - - - - - -
133 2.7 -0.1 17 140 done -1.27 0.45 0.054 2191 -380.0 2.22 0.036 2191 637.8 -116.7 - - 3521 - - - - - - - - - - -
479 64.3 -17.8 78 487 roll -0.33 1.00 0.152 2495 304.0 2.25 0.043 782 -626.2 -116.7 - - 3522 - - - - - - - - - - -
521 67.7 -7.3 85 529 done -0.33 - - 2496 - 2.15 0.035 2170 645.6 -116.7 - - 3523 - - - - - - - - - - -
870 78.0 -3.2 146 876 done -0.68 0.25 0.055 2384 -448.0 - - 2171 - -116.7 - - 3523 - - - - - - - - - - -
1215 105.7 -8.5 207 1221 done -0.53 0.20 0.118 2452 340.0 - - 2171 - -116.7 - - 3523 - - - - - - - - - - -
1560 124.7 -5.7 268 1567 roll -0.67 0.17 0.059 2375 -452.9 2.25 0.046 3586 628.9 -116.7 - - 3523 - - - - - - - - - - -
1591 127.1 -7.0 273 1599 done -0.67 - - 2375 - 2.17 0.032 2186 -645.2 -116.7 - - 3523 - - - - - - - - - - -
1937 160.9 -10.8 325 1939 done -0.49 0.25 0.121 2455 320.0 - - 2184 - -116.7 - - 3523 - - - - - - - - - - -
2256 184.2 -6.9 355 2258 done -0.65 0.15 0.061 2388 -446.7 - - 2184 - -116.7 - - 3523 - - - - - - - - - - -
2582 215.8 -9.9 381 2584 done -0.54 0.17 0.119 2443 323.5 - - 2184 - -116.7 - - 3523 - - - - - - - - - - -
2894 238.9 -6.9 401 2896 done -0.66 0.15 0.062 2375 -453.3 - - 2184 - -116.7 - - 3524 - - - - - - - - - - -
3205 268.9 -9.7 421 3210 roll -0.49 0.22 0.118 2449 336.4 2.28 0.048 3581 612.7 -116.7 - - 3524 - - - - - - - - - - -
3234 271.2 -7.7 423 3238 done -0.60 - - 2449 - 2.20 0.034 2166 -643.2 -116.7 - - 3524 - - - - - - - - - - -
3563 293.9 -7.3 444 3565 done -0.75 0.22 0.054 2351 -445.5 - - 2165 - -116.7 - - 3524 - - - - - - - - - - -
3874 328.2 -11.2 460 3876 done -0.48 0.32 0.119 2454 321.9 - - 2164 - -116.7 - - 3524 - - - - - - - - - - -
4183 348.3 -6.2 475 4185 done -0.66 0.17 0.058 2377 -452.9 - - 2164 - -116.7 - - 3524 - - - - - - - - - - -
4492 376.9 -9.3 490 4497 roll -0.51 0.20 0.119 2445 340.0 2.30 0.048 3585 617.8 -116.7 - - 3524 - - - - - - - - - - -
4526 379.3 -6.5 491 4532 done -0.69 0.17 0.057 2370 -441.2 2.20 0.034 2168 -644.1 -116.7 - - 3523 - - - - - - - - - - -
4843 407.0 -8.9 507 4848 roll -0.52 0.22 0.120 2446 345.5 2.20 0.043 765 -637.7 -116.7 - - 3524 - - - - - - - - - - -
4907 411.3 -6.4 510 4911 done -0.64 0.12 0.068 2389 -475.0 2.20 0.036 2173 640.0 -116.7 - - 3524 - - - - - - - - - - -
5233 435.6 -7.3 526 5235 done -0.57 0.15 0.120 2436 313.3 - - 2175 - -116.7 - - 3524 - - - - - - - - - - -
5543 454.9 -6.4 541 5545 done -0.68 0.12 0.071 2378 -483.3 - - 2175 - -116.7 - - 3524 - - - - - - - - - - -
5851 482.5 -8.7 556 5853 done -0.55 0.17 0.119 2433 323.5 - - 2175 - -116.7 - - 3523 - - - - - - - - - - -
6161 502.6 -6.2 571 6165 roll -0.66 - - 2433 - 2.22 0.045 772 -632.0 -116.7 - - 3524 - - - - - - - - - - -
6200 505.2 -6.6 572 6207 done -0.74 0.17 0.061 2358 -441.2 2.20 0.037 2188 643.6 -116.7 - - 3524 - - - - - - - - - - -
6516 533.0 -8.7 588 6520 roll -0.54 0.22 0.120 2434 345.5 2.28 0.046 762 -625.4 -116.7 - - 3523 - - - - - - - - - - -
6578 537.3 -6.2 591 6582 done -0.63 - - 2434 - 2.20 0.037 2170 640.0 -116.7 - - 3524 - - - - - - - - - - -
6910 558.4 -6.5 607 6912 done -0.77 0.20 0.058 2349 -425.0 - - 2171 - -116.7 - - 3523 - - - - - - - - - - -
7219 585.5 -8.1 622 7221 done -0.53 0.30 0.123 2442 310.0 - - 2171 - -116.7 - - 3523 - - - - - - - - - - -
7539 602.6 -5.5 637 7541 done -0.70 0.17 0.061 2367 -441.2 - - 2171 - -116.7 - - 3521 - - - - - - - - - - -
7844 627.5 -8.2 647 7846 done -0.53 0.25 0.117 2446 316.0 - - 2171 - -116.7 - - 3521 - - - - - - - - - - -
8151 644.7 -5.7 657 8153 done -0.73 0.20 0.059 2362 -420.0 - - 2172 - -116.7 - - 3520 - - - - - - - - - - -
8457 671.9 -8.9 667 8459 done -0.55 0.25 0.120 2442 320.0 - - 2172 - -116.7 - - 3519 - - - - - - - - - - -
8763 690.3 -5.9 677 8765 done -0.73 0.17 0.063 2366 -447.1 - - 2172 - -116.7 - - 3518 - - - - - - - - - - -
9071 716.9 -8.9 687 9073 done -0.57 0.20 0.120 2429 315.0 - - 2172 - -116.7 - - 3517 - - - - - - - - - - -
9377 737.1 -6.4 697 9379 done -0.70 0.12 0.070 2375 -450.0 - - 2172 - -116.7 - - 3516 - - - - - - - - - - -
9683 761.7 -8.1 707 9685 done -0.59 0.15 0.126 2421 306.7 - - 2172 - -116.7 - - 3516 - - - - - - - - - - -
9990 781.3 -6.3 717 9991 done -0.68 - - 2421 - - - 2172 - -116.7 - - 3514 - - - - - - - - - - -
10296 801.3 -6.5 727 10298 done -0.77 0.17 0.063 2349 -423.5 - - 2172 - -116.7 - - 3513 - - - - - - - - - - -
10602 828.8 -9.1 737 10604 done -0.55 0.28 0.126 2434 303.6 - - 2172 - -116.7 - - 3513 - - - - - - - - - - -
10909 848.0 -6.2 747 10911 done -0.71 0.15 0.067 2371 -420.0 - - 2172 - -116.7 - - 3512 - - - - - - - - - - -
11214 873.0 -8.2 757 11219 roll -0.59 0.17 0.126 2424 311.8 2.28 0.047 774 -613.2 -116.7 - - 3511 - - - - - - - - - - -
11254 876.0 -6.9 758 11258 done -0.68 - - 2424 - 2.22 0.041 2172 629.7 -116.7 - - 3511 - - - - - - - - - - -
11584 896.1 -6.1 769 11586 done -0.80 0.20 0.064 2342 -410.0 - - 2172 - -116.7 - - 3511 - - - - - - - - - - -
11889 923.6 -9.1 779 11891 done -0.55 0.30 0.129 2434 306.7 - - 2171 - -116.7 - - 3510 - - - - - - - - - - -
12196 939.8 -5.0 789 12200 roll -0.72 0.15 0.067 2369 -433.3 2.30 0.052 3592 617.8 -116.7 - - 3510 - - - - - - - - - - -
12225 941.6 -7.3 790 12230 done -0.66 0.12 0.140 2404 291.7 2.25 0.039 2167 -633.3 -116.7 - - 3509 - - - - - - - - - - -
12565 962.0 -6.0 801 12568 roll -0.66 - - 2404 - 2.22 0.050 771 -628.8 -116.7 - - 3509 - - - - - - - - - - -
12609 965.0 -6.8 802 12613 done -0.66 - - 2404 - 2.22 0.042 2173 631.5 -116.7 - - 3509 - - - - - - - - - - -
12939 985.0 -6.2 813 12940 done -0.66 - - 2404 - - - 2172 - -116.7 - - 3509 - - - - - - - - - - -
13027 end dive: TARGET_DEPTH_EXCEEDED
13027 begin apogee
13033 990.8 6.3 816 13134 done -0.23 0.43 0.115 2542 320.9 - - 2278 - - 97.88 1.415 3046 -4.7 0.369 - - - - - - - - -
13135 end apogee: CONTROL_FINISHED_OK
13135 begin climb
13137 993.6 - 819 13252 roll 0.77 0.93 0.074 2853 334.4 2.55 0.050 3669 545.5 116.7 106.25 1.388 2570 -4.5 0.358 - - - - - - - - -
13291 989.1 7.9 823 13298 done 0.33 0.50 0.135 2721 -264.0 2.38 0.031 2257 -593.3 116.7 - - 2566 - - - - - - - - - - -
13605 976.5 3.9 834 13677 roll 0.70 0.30 0.053 2850 430.0 2.38 0.045 863 -585.7 192.4 65.80 1.381 2261 -4.6 0.365 - - - - - - - - -
13777 961.8 9.7 839 13782 done 0.57 0.20 0.123 2792 -290.0 2.28 0.035 2257 611.4 192.4 - - 2254 - - - - - - - - - - -
14103 937.4 7.5 850 14108 roll 0.68 0.12 0.070 2847 458.3 2.30 0.051 3680 618.7 192.4 - - 2252 - - - - - - - - - - -
14169 930.1 11.6 852 14174 done 0.46 0.30 0.130 2760 -290.0 2.22 0.035 2256 -641.4 192.4 - - 2252 - - - - - - - - - - -
14500 909.0 6.1 863 14524 roll 0.72 0.20 0.060 2854 470.0 2.30 0.046 859 -607.4 212.1 16.83 1.301 2180 -4.3 0.333 - - - - - - - - -
14588 901.1 9.4 865 14593 done 0.60 0.17 0.123 2802 -305.9 2.22 0.036 2259 630.6 212.1 - - 2177 - - - - - - - - - - -
14900 876.9 7.5 875 14904 roll 0.68 - - 2802 - 2.28 0.051 3681 623.7 212.1 - - 2176 - - - - - - - - - - -
14978 870.1 8.0 877 14982 done 0.68 - - 2802 - 2.22 0.035 2254 -642.8 212.1 - - 2176 - - - - - - - - - - -
15309 844.9 7.7 888 15314 roll 0.76 0.17 0.060 2878 447.1 2.20 0.045 856 -635.5 212.1 - - 2175 - - - - - - - - - - -
15372 838.6 10.9 890 15377 done 0.56 0.28 0.123 2793 -303.6 2.22 0.038 2279 641.0 212.1 - - 2175 - - - - - - - - - - -
15707 814.3 7.2 901 15711 roll 0.69 0.12 0.071 2849 466.7 2.25 0.052 3681 623.1 212.1 - - 2175 - - - - - - - - - - -
15784 806.4 10.3 903 15789 done 0.51 0.25 0.127 2775 -296.0 2.22 0.036 2254 -642.8 212.1 - - 2174 - - - - - - - - - - -
16109 784.2 6.6 914 16123 roll 0.73 0.20 0.058 2867 460.0 2.25 0.046 859 -620.0 219.9 7.18 1.121 2149 -3.5 0.272 - - - - - - - - -
16179 777.3 11.0 916 16184 done 0.58 0.22 0.123 2798 -313.6 2.20 0.036 2262 637.7 219.9 - - 2148 - - - - - - - - - - -
16514 751.3 7.6 927 16519 roll 0.69 0.12 0.070 2854 466.7 2.28 0.049 3683 623.2 219.9 - - 2147 - - - - - - - - - - -
16599 742.4 10.9 929 16604 done 0.51 0.25 0.127 2779 -300.0 2.22 0.034 2256 -642.8 219.9 - - 2147 - - - - - - - - - - -
16912 721.6 6.4 939 16927 done 0.73 0.20 0.058 2864 425.0 - - 2254 - 232.1 12.32 1.191 2099 -3.9 0.263 - - - - - - - - -
17217 691.1 10.2 949 17219 done 0.61 0.20 0.118 2803 -305.0 - - 2254 - 232.1 - - 2096 - - - - - - - - - - -
17523 667.5 7.6 959 17525 done 0.73 0.15 0.064 2867 426.7 - - 2254 - 232.1 - - 2095 - - - - - - - - - - -
17830 635.9 10.4 969 17832 done 0.61 0.20 0.120 2804 -315.0 - - 2254 - 232.1 - - 2095 - - - - - - - - - - -
18136 611.8 7.6 979 18140 roll 0.73 0.15 0.066 2869 433.3 2.33 0.051 3684 613.7 232.1 - - 2095 - - - - - - - - - - -
18207 604.0 10.2 981 18212 done 0.52 0.32 0.125 2774 -296.9 2.20 0.034 2265 -645.0 232.1 - - 2095 - - - - - - - - - - -
18534 585.0 5.3 996 18579 roll 0.82 0.25 0.052 2891 468.0 2.28 0.048 862 -615.4 272.8 35.70 1.160 1932 -4.6 0.257 - - - - - - - - -
18612 577.4 10.7 999 18617 done 0.68 0.20 0.125 2832 -295.0 2.28 0.038 2278 621.1 272.8 - - 1929 - - - - - - - - - - -
18929 550.8 8.6 1014 18932 roll 0.76 - - 2832 - 2.28 0.052 3684 616.7 272.8 - - 1925 - - - - - - - - - - -
18974 546.5 10.2 1016 18977 done 0.76 - - 2835 - 2.22 0.035 2259 -641.9 272.8 - - 1926 - - - - - - - - - - -
19306 516.1 8.9 1032 19310 roll 0.82 0.12 0.068 2891 466.7 2.20 0.047 872 -630.5 272.8 - - 1924 - - - - - - - - - - -
19453 499.7 11.2 1038 19460 done 0.70 0.20 0.125 2831 -300.0 2.17 0.035 2264 641.5 272.8 - - 1923 - - - - - - - - - - -
19770 471.3 9.2 1054 19775 roll 0.79 0.12 0.069 2884 441.7 2.28 0.050 3684 622.8 272.8 - - 1923 - - - - - - - - - - -
19811 466.4 12.2 1056 19816 done 0.59 0.28 0.125 2804 -285.7 2.22 0.032 2245 -648.2 272.8 - - 1923 - - - - - - - - - - -
20139 439.2 7.9 1072 20144 roll 0.79 0.20 0.057 2894 450.0 2.20 0.048 853 -632.7 272.8 - - 1922 - - - - - - - - - - -
20280 422.1 13.3 1078 20285 done 0.67 0.22 0.121 2825 -313.6 2.17 0.035 2253 645.2 272.8 - - 1922 - - - - - - - - - - -
20595 394.0 8.2 1093 20600 roll 0.79 0.12 0.069 2880 458.3 2.28 0.051 3671 621.9 272.8 - - 1921 - - - - - - - - - - -
20635 389.9 12.1 1095 20640 done 0.61 0.25 0.121 2803 -308.0 2.22 0.035 2235 -646.8 272.8 - - 1921 - - - - - - - - - - -
20961 365.0 8.0 1111 20966 roll 0.83 0.20 0.057 2894 455.0 2.15 0.044 859 -640.0 272.8 - - 1921 - - - - - - - - - - -
21017 358.6 12.5 1113 21025 done 0.69 0.20 0.121 2833 -305.0 2.15 0.034 2243 643.7 272.8 - - 1921 - - - - - - - - - - -
21332 329.3 8.9 1129 21337 roll 0.79 0.10 0.077 2879 460.0 2.30 0.049 3684 626.5 272.8 - - 1921 - - - - - - - - - - -
21381 323.4 12.4 1131 21386 done 0.62 0.22 0.120 2811 -309.1 2.22 0.031 2233 -653.6 272.8 - - 1922 - - - - - - - - - - -
21698 297.4 8.1 1147 21702 roll 0.81 0.17 0.058 2891 470.6 2.15 0.042 862 -637.7 272.8 - - 1921 - - - - - - - - - - -
21775 288.3 13.1 1151 21782 done 0.71 0.17 0.123 2839 -305.9 2.15 0.033 2240 640.9 272.8 - - 1921 - - - - - - - - - - -
22096 257.9 9.3 1172 22100 roll 0.79 - - 2839 - 2.30 0.047 3685 628.3 272.8 - - 1922 - - - - - - - - - - -
22151 252.1 10.6 1175 22155 done 0.79 - - 2838 - 2.22 0.030 2230 -655.4 272.8 - - 1922 - - - - - - - - - - -
22478 222.9 8.9 1196 22482 roll 0.88 0.17 0.057 2910 423.5 2.12 0.041 859 -646.7 272.8 - - 1922 - - - - - - - - - - -
22538 215.1 12.6 1199 22545 done 0.70 0.25 0.122 2834 -304.0 2.15 0.031 2259 651.2 272.8 - - 1923 - - - - - - - - - - -
22868 185.8 8.8 1225 22872 roll 0.81 0.12 0.068 2889 458.3 2.25 0.045 3683 632.9 272.8 - - 1923 - - - - - - - - - - -
22923 178.7 13.2 1229 22931 done 0.62 0.25 0.120 2813 -304.0 2.22 0.030 2227 -655.9 272.8 - - 1924 - - - - - - - - - - -
23248 151.2 8.4 1260 23252 roll 0.82 0.17 0.057 2891 458.8 2.12 0.043 863 -643.4 272.8 - - 1924 - - - - - - - - - - -
23326 141.9 11.6 1272 23334 done 0.72 0.12 0.116 2846 -375.0 2.15 0.033 2229 635.3 272.8 - - 1924 - - - - - - - - - - -
23672 107.4 9.0 1333 23680 roll 0.78 - - 2846 - 2.33 0.048 3682 623.6 272.8 - - 1925 - - - - - - - - - - -
23738 100.7 10.3 1344 23744 done 0.78 - - 2850 - 2.25 0.031 2216 -651.6 272.8 - - 1925 - - - - - - - - - - -
24082 63.3 12.3 1405 24089 roll 0.78 - - 2850 - 2.10 0.042 861 -645.2 272.8 - - 1925 - - - - - - - - - - -
24142 56.9 10.4 1415 24149 done 0.87 0.12 0.065 2909 491.7 2.12 0.034 2236 648.6 272.8 - - 1925 - - - - - - - - - - -
24487 10.0 16.3 1476 24494 roll 0.59 0.30 0.113 2805 -346.7 2.30 0.045 3684 629.6 272.8 - - 1926 - - - - - - - - - - -
24554 end climb: SURFACE_DEPTH_REACHED
24555 begin surface coast
24597 end surface coast: CONTROL_FINISHED_OK
24597 begin surface
SM 3.08 - - - - -7.64 7.03 0.042 145 -378.4 - - 2163 - 275.23 - - 1923 - - - - - - - -