SvinoySection Sep09 * SG140 * Dive index * Mission links * Dive 304 * Raw log
prev dive * next dive * dive
• Previous call tries 5 • 49.98 of 150.00 AH used of 24V (66.68% remains)
• Previous NAKs 0, Timeouts 0 • 33.87 of 110.00 AH used of 10V (69.21% remains)
• Surface angle -62.6 deg, depth 3.17 m • Intended pitch -13.7 deg, speed -6.875 cm/s
VBD pumped to 602.46 (SM_CC=602.45679)
• GPS1 time: 901 s, HDOP was 99.0 m
• GPS2 time: 901 s, HDOP was 99.0 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
15 - - - 25 VBD -0.80 - - 219 - - - 2287 - -116.7 -7.43 - 709 - - - - - - - - - - -
27 3.1 - 1 187 roll -0.80 8.48 0.218 2501 269.1 2.03 0.053 899 -683.7 -116.7 -141.85 - 3481 -19.5 - - - - - - - - - -
426 30.6 -10.9 73 433 done -0.46 0.40 0.193 2610 272.5 2.10 0.029 2314 673.8 -116.7 - - 3482 - - - - - - - - - - -
763 50.4 -6.3 134 769 roll -0.43 - - 2610 - 2.10 0.041 3693 656.7 -116.7 - - 3483 - - - - - - - - - - -
776 51.3 -6.3 136 783 done -0.39 - - 2610 - 2.05 0.023 2290 -684.4 -116.7 - - 3482 - - - - - - - - - - -
1119 73.4 -6.3 197 1125 roll -0.36 0.12 0.193 2644 283.3 2.15 0.040 3700 655.8 -116.7 - - 3482 - - - - - - - - - - -
1143 74.9 -6.0 201 1149 done -0.36 - - 2645 - 2.00 0.023 2297 -701.5 -116.7 - - 3482 - - - - - - - - - - -
1485 95.3 -5.5 262 1491 roll -0.56 0.17 0.111 2579 -388.2 2.12 0.040 3697 660.4 -116.7 - - 3482 - - - - - - - - - - -
1581 101.3 -6.2 279 1587 done -0.56 - - 2579 - 2.00 0.023 2291 -703.0 -116.7 - - 3482 - - - - - - - - - - -
1926 120.3 -5.7 340 1930 roll -0.62 - - 2579 - 2.12 0.040 3706 667.5 -116.7 - - 3482 - - - - - - - - - - -
1990 123.9 -6.2 343 1993 done -0.62 - - 2580 - 2.00 0.023 2301 -702.5 -116.7 - - 3482 - - - - - - - - - - -
2323 144.4 -6.3 359 2327 roll -0.68 - - 2580 - 2.12 0.039 3706 662.7 -116.7 - - 3482 - - - - - - - - - - -
2379 147.7 -5.4 361 2385 done -0.72 0.15 0.129 2530 -333.3 2.00 0.023 2286 -710.0 -116.7 - - 3482 - - - - - - - - - - -
2695 171.2 -7.7 377 2699 roll -0.66 - - 2530 - 1.98 0.035 931 -684.3 -116.7 - - 3482 - - - - - - - - - - -
2764 176.8 -7.8 380 2768 done -0.43 0.32 0.187 2619 278.1 2.00 0.028 2301 685.0 -116.7 - - 3482 - - - - - - - - - - -
3091 196.2 -5.9 396 3096 roll -0.58 0.12 0.121 2573 -383.3 2.10 0.041 3706 669.0 -116.7 - - 3482 - - - - - - - - - - -
3226 205.0 -6.5 402 3230 done -0.58 - - 2573 - 1.98 0.022 2301 -709.6 -116.7 - - 3482 - - - - - - - - - - -
3553 228.4 -7.7 418 3557 roll -0.63 - - 2573 - 2.10 0.039 3700 666.2 -116.7 - - 3482 - - - - - - - - - - -
3608 232.9 -7.9 420 3614 done -0.63 - - 2573 - 2.03 0.022 2269 -704.9 -116.7 - - 3482 - - - - - - - - - - -
3924 259.5 -8.6 436 3928 roll -0.70 - - 2573 - 2.15 0.038 3702 666.5 -116.7 - - 3482 - - - - - - - - - - -
4001 266.0 -7.7 439 4008 done -0.70 - - 2573 - 2.03 0.022 2299 -691.1 -116.7 - - 3482 - - - - - - - - - - -
4317 291.9 -8.1 455 4322 roll -0.76 0.15 0.123 2520 -353.3 2.12 0.040 3700 660.8 -116.7 - - 3481 - - - - - - - - - - -
4411 300.4 -9.1 459 4416 done -0.55 0.17 0.182 2583 370.6 2.03 0.022 2273 -703.0 -116.7 - - 3481 - - - - - - - - - - -
4735 323.2 -6.8 470 4740 roll -0.47 0.10 0.210 2608 250.0 2.17 0.040 3703 659.0 -116.7 - - 3481 - - - - - - - - - - -
4797 327.0 -6.0 472 4801 done -0.47 - - 2608 - 1.95 0.022 2322 -708.2 -116.7 - - 3481 - - - - - - - - - - -
5138 347.0 -5.9 483 5142 roll -0.60 0.12 0.122 2560 -400.0 2.10 0.040 3704 658.1 -116.7 - - 3481 - - - - - - - - - - -
5148 347.7 -5.6 483 5151 done -0.71 - - 2560 - 2.00 0.023 2294 -705.0 -116.7 - - 3481 - - - - - - - - - - -
5470 371.8 -7.8 494 5474 roll -0.71 - - 2560 - 2.03 0.035 915 -679.3 -116.7 - - 3481 - - - - - - - - - - -
5520 376.0 -8.0 495 5524 done -0.66 - - 2560 - 2.03 0.028 2299 681.8 -116.7 - - 3481 - - - - - - - - - - -
5844 404.3 -8.7 506 5848 roll -0.70 - - 2560 - 2.05 0.040 3698 682.4 -116.7 - - 3481 - - - - - - - - - - -
5921 410.6 -8.3 508 5925 done -0.70 - - 2560 - 2.03 0.022 2290 -693.6 -116.7 - - 3481 - - - - - - - - - - -
6246 433.7 -6.6 519 6250 roll -0.74 0.10 0.146 2526 -340.0 2.15 0.040 3708 659.5 -116.7 - - 3481 - - - - - - - - - - -
6312 438.4 -7.2 521 6316 done -0.64 0.12 0.198 2556 250.0 2.00 0.022 2284 -712.0 -116.7 - - 3481 - - - - - - - - - - -
6647 461.9 -7.2 532 6651 roll -0.68 - - 2556 - 2.12 0.039 3697 666.5 -116.7 - - 3481 - - - - - - - - - - -
6723 468.0 -7.9 534 6728 done -0.68 - - 2556 - 2.00 0.022 2312 -692.5 -116.7 - - 3481 - - - - - - - - - - -
7048 489.8 -6.4 545 7052 roll -0.59 - - 2556 - 2.10 0.040 3707 664.3 -116.7 - - 3481 - - - - - - - - - - -
7081 492.0 -6.4 546 7086 done -0.47 0.20 0.184 2610 270.0 2.00 0.023 2286 -710.5 -116.7 - - 3481 - - - - - - - - - - -
7439 510.6 -5.3 555 7443 roll -0.63 0.15 0.116 2557 -353.3 2.00 0.035 930 -678.0 -116.7 - - 3480 - - - - - - - - - - -
7568 517.7 -5.5 556 7573 done -0.63 - - 2557 - 2.00 0.028 2305 687.5 -116.7 - - 3480 - - - - - - - - - - -
7877 535.4 -5.8 562 7881 roll -0.68 - - 2557 - 2.05 0.041 3697 679.0 -116.7 - - 3479 - - - - - - - - - - -
7977 541.9 -6.5 563 7981 done -0.68 - - 2557 - 1.98 0.023 2297 -707.1 -116.7 - - 3478 - - - - - - - - - - -
8314 565.9 -7.3 569 8318 roll -0.74 - - 2557 - 2.12 0.041 3704 663.7 -116.7 - - 3478 - - - - - - - - - - -
8396 572.2 -7.6 570 8401 done -0.74 - - 2556 - 2.03 0.023 2310 -686.7 -116.7 - - 3478 - - - - - - - - - - -
8747 599.0 -7.7 576 8751 roll -0.80 0.15 0.122 2504 -346.7 2.08 0.036 914 -671.2 -116.7 - - 3476 - - - - - - - - - - -
8882 611.1 -9.2 578 8886 done -0.56 0.28 0.192 2577 260.7 2.03 0.029 2302 683.7 -116.7 - - 3476 - - - - - - - - - - -
9248 634.9 -6.7 584 9252 roll -0.66 - - 2577 - 2.08 0.041 3698 671.2 -116.7 - - 3475 - - - - - - - - - - -
9372 642.6 -5.7 585 9378 done -0.74 0.15 0.119 2526 -340.0 2.00 0.024 2287 -705.5 -116.7 - - 3475 - - - - - - - - - - -
9681 664.6 -7.2 591 9685 roll -0.74 - - 2526 - 2.15 0.041 3705 659.5 -116.7 - - 3473 - - - - - - - - - - -
9708 666.5 -7.2 591 9712 done -0.68 - - 2525 - 2.03 0.025 2317 -683.7 -116.7 - - 3473 - - - - - - - - - - -
10045 690.4 -7.0 597 10049 roll -0.68 - - 2525 - 2.10 0.041 3698 657.6 -116.7 - - 3472 - - - - - - - - - - -
10067 692.0 -7.4 597 10071 done -0.64 0.12 0.189 2556 258.3 2.03 0.025 2286 -695.6 -116.7 - - 3472 - - - - - - - - - - -
10404 714.1 -6.7 603 10407 roll -0.69 - - 2556 - 2.15 0.041 3702 658.6 -116.7 - - 3471 - - - - - - - - - - -
10521 722.2 -6.9 604 10525 done -0.73 - - 2556 - 2.03 0.025 2298 -691.6 -116.7 - - 3470 - - - - - - - - - - -
10835 744.9 -7.4 610 10840 roll -0.80 0.15 0.122 2504 -346.7 2.15 0.042 3702 653.0 -116.7 - - 3469 - - - - - - - - - - -
10966 755.7 -8.3 612 10971 done -0.64 0.20 0.192 2556 260.0 2.03 0.025 2279 -701.0 -116.7 - - 3468 - - - - - - - - - - -
11330 781.5 -7.1 618 11334 roll -0.64 - - 2556 - 2.15 0.042 3696 659.1 -116.7 - - 3468 - - - - - - - - - - -
11414 787.4 -7.1 619 11418 done -0.68 - - 2556 - 2.00 0.025 2309 -693.5 -116.7 - - 3467 - - - - - - - - - - -
11762 812.4 -7.2 625 11767 roll -0.76 0.10 0.142 2521 -350.0 2.15 0.043 3704 648.8 -116.7 - - 3466 - - - - - - - - - - -
11862 820.0 -7.9 626 11866 done -0.69 - - 2521 - 2.05 0.025 2286 -691.7 -116.7 - - 3466 - - - - - - - - - - -
12200 845.5 -7.7 632 12204 roll -0.69 - - 2521 - 2.15 0.042 3696 655.8 -116.7 - - 3465 - - - - - - - - - - -
12222 847.2 -7.0 632 12226 done -0.64 0.08 0.170 2556 437.5 2.05 0.025 2301 -680.5 -116.7 - - 3465 - - - - - - - - - - -
12565 871.9 -7.3 638 12569 roll -0.70 - - 2556 - 2.12 0.043 3694 657.1 -116.7 - - 3464 - - - - - - - - - - -
12696 881.0 -7.2 640 12700 done -0.75 0.12 0.135 2517 -325.0 2.03 0.026 2287 -693.1 -116.7 - - 3463 - - - - - - - - - - -
13060 911.0 -8.3 646 13064 roll -0.75 - - 2516 - 2.15 0.043 3698 656.3 -116.7 - - 3463 - - - - - - - - - - -
13070 911.9 -8.3 646 13074 done -0.75 - - 2516 - 2.05 0.026 2312 -676.1 -116.7 - - 3463 - - - - - - - - - - -
13425 940.4 -8.0 652 13429 roll -0.75 - - 2516 - 2.12 0.043 3703 656.1 -116.7 - - 3462 - - - - - - - - - - -
13446 942.2 -8.2 652 13450 done -0.70 - - 2516 - 2.05 0.026 2294 -687.3 -116.7 - - 3462 - - - - - - - - - - -
13794 968.4 -7.5 658 13798 roll -0.70 - - 2516 - 2.15 0.043 3699 653.5 -116.7 - - 3462 - - - - - - - - - - -
13843 972.0 -7.8 658 13848 done -0.64 0.08 0.156 2554 475.0 2.08 0.026 2294 -675.5 -116.7 - - 3462 - - - - - - - - - - -
14157 end dive: TARGET_DEPTH_EXCEEDED
14157 begin apogee
14162 992.2 6.4 664 14264 done -0.24 0.43 0.160 2682 297.7 - - 2650 - - 99.18 1.545 3006 -4.6 0.325 - - - - - - - - -
14265 end apogee: CONTROL_FINISHED_OK
14265 begin climb
14267 995.1 - 665 14384 roll 0.80 1.08 0.122 3024 316.7 2.35 0.037 1271 -586.8 116.7 107.90 1.452 2529 -4.4 0.333 - - - - - - - - -
14484 988.3 7.0 668 14489 done 0.80 - - 3020 - 2.25 0.033 2639 608.0 116.7 - - 2522 - - - - - - - - - - -
14828 965.6 6.7 674 14832 roll 0.80 - - 3020 - 2.20 0.046 4054 643.2 121.1 - - 2518 - - - - - - - - - - -
15030 952.4 6.7 677 15045 done 0.72 0.12 0.195 2999 -175.0 2.08 0.027 2639 -680.3 125.6 7.40 1.314 2492 -3.5 0.280 - - - - - - - - -
15401 929.5 6.3 683 15420 roll 0.78 - - 2994 - 2.25 0.047 4058 630.7 140.7 14.70 1.411 2432 -4.1 0.296 - - - - - - - - -
15465 925.4 6.3 684 15485 done 0.80 - - 3002 - 2.12 0.026 2656 -661.3 155.2 14.52 1.364 2372 -4.1 0.308 - - - - - - - - -
15830 903.0 6.2 690 15852 roll 0.90 0.15 0.100 3069 446.7 2.15 0.037 1258 -650.2 172.1 16.17 1.404 2302 -4.3 0.306 - - - - - - - - -
15947 894.7 7.2 691 15951 done 0.87 - - 3069 - 2.15 0.034 2663 653.5 172.1 - - 2299 - - - - - - - - - - -
16262 872.2 7.2 697 16263 done 0.87 - - 3069 - - - 2663 - 172.1 - - 2297 - - - - - - - - - - -
16565 850.0 7.3 702 16569 roll 0.87 - - 3079 - 2.15 0.038 1256 -654.4 172.1 - - 2296 - - - - - - - - - - -
16620 846.1 7.4 702 16626 done 0.80 0.17 0.172 3026 -311.8 2.10 0.034 2654 665.7 172.1 - - 2295 - - - - - - - - - - -
16931 825.6 6.8 708 16935 roll 0.87 - - 3021 - 2.12 0.047 4050 658.5 174.7 - - 2294 - - - - - - - - - - -
17061 816.8 6.6 710 17075 done 0.83 - - 3030 - 2.05 0.027 2649 -683.4 182.7 9.73 1.361 2260 -3.5 0.231 - - - - - - - - -
17432 790.9 7.2 716 17436 roll 0.91 - - 3038 - 2.08 0.038 1263 -666.3 182.7 - - 2258 - - - - - - - - - - -
17475 787.4 7.4 716 17480 done 0.94 - - 3037 - 2.12 0.034 2672 664.6 182.7 - - 2257 - - - - - - - - - - -
17796 764.0 7.5 722 17798 done 1.00 0.15 0.112 3092 366.7 - - 2672 - 182.7 - - 2257 - - - - - - - - - - -
18100 738.4 8.5 727 18104 roll 0.96 - - 3102 - 2.12 0.038 1264 -664.2 182.7 - - 2256 - - - - - - - - - - -
18177 731.7 8.4 728 18182 done 0.87 0.20 0.170 3046 -280.0 2.12 0.034 2673 664.6 182.7 - - 2256 - - - - - - - - - - -
18531 703.7 8.1 734 18532 done 0.92 - - 3046 - - - 2673 - 182.7 - - 2256 - - - - - - - - - - -
18835 679.0 8.1 739 18838 roll 0.97 - - 3046 - 2.12 0.038 1266 -663.7 182.7 - - 2256 - - - - - - - - - - -
18884 675.1 7.8 739 18888 done 0.97 - - 3046 - 2.12 0.035 2643 649.5 182.7 - - 2255 - - - - - - - - - - -
19199 651.6 7.5 745 19204 roll 1.01 0.12 0.119 3091 375.0 2.17 0.047 4054 650.2 182.7 - - 2255 - - - - - - - - - - -
19456 630.8 8.2 748 19461 done 0.89 0.10 0.150 3052 -390.0 2.10 0.027 2638 -674.3 182.7 - - 2255 - - - - - - - - - - -
19771 611.4 6.3 754 19790 roll 0.91 - - 3052 - 2.25 0.048 4045 625.3 197.9 14.12 1.282 2198 -4.0 0.212 - - - - - - - - -
19813 608.5 6.4 754 19833 done 0.88 - - 3057 - 2.05 0.027 2659 -676.1 209.4 12.20 1.180 2152 -3.8 0.214 - - - - - - - - -
20137 585.8 7.2 760 20141 roll 0.95 - - 3057 - 2.12 0.040 1253 -663.2 209.4 - - 2146 - - - - - - - - - - -
20181 582.6 7.0 760 20185 done 0.98 - - 3051 - 2.15 0.034 2661 654.9 209.4 - - 2146 - - - - - - - - - - -
20495 557.9 8.0 766 20499 roll 1.06 0.15 0.107 3105 360.0 2.12 0.046 4043 651.9 209.4 - - 2146 - - - - - - - - - - -
20651 542.4 8.7 768 20655 done 0.95 0.08 0.156 3075 -375.0 2.08 0.027 2650 -669.7 209.4 - - 2146 - - - - - - - - - - -
20999 519.4 6.3 774 21014 done 0.97 - - 3075 - - - 2649 - 223.6 13.18 1.198 2094 -3.9 0.188 - - - - - - - - -
21302 496.2 8.0 779 21306 roll 1.02 - - 3075 - 2.10 0.038 1254 -664.3 223.6 - - 2091 - - - - - - - - - - -
21351 492.3 8.1 780 21355 done 1.02 - - 3075 - 2.12 0.033 2654 660.4 223.6 - - 2091 - - - - - - - - - - -
21669 467.0 7.9 791 21674 roll 1.08 0.12 0.121 3128 441.7 2.12 0.037 1265 -655.2 223.6 - - 2090 - - - - - - - - - - -
21702 464.2 9.2 792 21706 done 1.00 0.12 0.189 3087 -341.7 2.10 0.033 2651 660.0 223.6 - - 2090 - - - - - - - - - - -
22029 435.9 8.8 803 22033 roll 1.00 - - 3086 - 2.12 0.045 4052 660.8 223.6 - - 2090 - - - - - - - - - - -
22067 432.4 8.4 804 22071 done 0.91 - - 3087 - 2.05 0.027 2654 -682.0 223.6 - - 2089 - - - - - - - - - - -
22397 407.6 7.2 815 22400 roll 0.91 - - 3087 - 2.08 0.038 1260 -670.2 223.6 - - 2089 - - - - - - - - - - -
22531 397.8 7.3 819 22535 done 0.91 - - 3087 - 2.10 0.032 2653 663.3 223.6 - - 2090 - - - - - - - - - - -
22859 372.0 8.3 830 22860 done 0.91 - - 3087 - - - 2652 - 223.6 - - 2090 - - - - - - - - - - -
23165 348.2 7.7 840 23167 done 0.91 - - 3087 - - - 2653 - 223.6 - - 2089 - - - - - - - - - - -
23471 323.4 8.4 850 23475 roll 0.91 - - 3087 - 2.12 0.038 1255 -659.4 223.6 - - 2091 - - - - - - - - - - -
23549 316.6 8.6 852 23553 done 0.91 - - 3087 - 2.08 0.031 2651 671.2 223.6 - - 2092 - - - - - - - - - - -
23879 288.6 8.0 865 23880 done 0.91 - - 3087 - - - 2652 - 223.6 - - 2091 - - - - - - - - - - -
24189 266.4 7.1 880 24190 done 0.91 - - 3087 - - - 2651 - 223.6 - - 2092 - - - - - - - - - - -
24498 243.8 7.6 895 24499 done 0.91 - - 3087 - - - 2651 - 223.6 - - 2092 - - - - - - - - - - -
24807 220.8 7.6 910 24811 roll 0.91 - - 3087 - 2.10 0.036 1249 -667.6 223.6 - - 2093 - - - - - - - - - - -
24850 217.4 9.6 912 24855 done 0.91 0.08 0.157 3062 -312.5 2.12 0.031 2662 666.5 223.6 - - 2093 - - - - - - - - - - -
25179 193.3 7.2 928 25180 done 0.94 - - 3062 - - - 2661 - 223.6 - - 2093 - - - - - - - - - - -
25488 173.1 5.8 943 25517 roll 1.01 - - 3061 - 2.17 0.036 1264 -643.8 250.0 23.98 0.877 1986 -4.5 0.097 - - - - - - - - -
25569 167.3 7.5 946 25575 done 1.07 0.10 0.081 3107 460.0 2.12 0.031 2648 652.8 250.0 - - 1982 - - - - - - - - - - -
25883 140.7 7.3 962 25887 roll 1.07 - - 3107 - 2.10 0.043 4037 661.4 250.0 - - 1981 - - - - - - - - - - -
25939 136.4 8.5 964 25947 done 1.01 - - 3111 - 2.05 0.024 2649 -677.1 250.0 - - 1981 - - - - - - - - - - -
26265 105.0 8.9 998 26269 done 1.01 - - 3111 - - - 2647 - 250.0 - - 1981 - - - - - - - - - - -
26604 72.1 9.9 1059 26610 done 1.01 - - 3111 - - - 2647 - 250.0 - - 1980 - - - - - - - - - - -
26941 37.9 13.3 1120 26948 roll 1.01 - - 3110 - 2.15 0.043 4032 644.2 250.0 - - 1981 - - - - - - - - - - -
27017 29.5 11.0 1133 27023 done 0.93 0.17 0.186 3063 -276.5 2.00 0.025 2638 -697.0 250.0 - - 1981 - - - - - - - - - - -
27324 end climb: SURFACE_DEPTH_REACHED
27324 begin surface coast
27414 end surface coast: CONTROL_FINISHED_OK
27414 begin surface
SM 3.39 - - - - -7.95 - - 222 - - - 2298 - 602.46 277.20 0.718 549 -5.2 0.002 - - - - - -