ARCTERX May23 * SG141 * Dive index * Mission links * Dive 321 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 84.77 of 350.00 AH used of 24V (75.78% remains)
• Surface angle -71.4 deg, depth 1.07 m • Intended pitch -18.4 deg, speed -9.167 cm/s
VBD pumped to 524.83 (SM_CC=525)
• GPS1 time: 17 s
• GPS2 time: 2 s • Transponder ping count: 40
• 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
4.42 - - - 69.07 VBD -0.60 - - 226.00 - - - 2722.38 - -116.79 60.96 0.005 3282.75 - - - - - - - - - - 15.36
69.53 3.72 -4.82 12 98.68 -0.60 6.42 0.349 1845.31 252.2 2.10 0.058 3961.62 590.1 -116.79 10.60 0.007 3877.16 56.1 -5.028 - - - - - - 15.42 15.36 15.46
181.56 30.02 -13.46 34 188.06 roll -0.62 - - 1845.69 - 1.97 0.025 2752.94 -613.5 -116.79 - - 3881.88 - - - - - - - - - 15.87 -
371.65 79.52 -27.29 72 380.58 roll back -0.46 0.06 0.323 1883.00 621.8 4.11 0.040 261.44 -606.2 -116.79 - - 3881.34 - - - - - - - - 15.65 15.69 -
403.52 87.15 -23.64 78 412.94 roll -0.45 - - 1882.06 - 4.31 0.061 2781.75 584.8 -116.79 - - 3881.94 - - - - - - - - - 15.86 -
595.89 122.73 -18.09 116 602.58 roll back -0.36 0.14 0.254 1931.44 352.7 1.98 0.063 3960.12 595.1 -116.79 - - 3882.78 - - - - - - - - 15.71 15.69 -
635.75 128.45 -13.44 124 642.33 roll -0.36 - - 1929.06 - 1.95 0.024 2751.50 -619.8 -116.79 - - 3883.75 - - - - - - - - - 15.97 -
945.93 152.73 -8.93 186 955.10 roll -0.38 - - 1926.94 - 4.06 0.036 257.44 -614.3 -116.79 - - 3886.72 - - - - - - - - - 15.99 -
1183.09 172.18 -8.34 233 1192.69 roll back -0.61 0.16 0.094 1840.88 -537.9 4.26 0.057 2776.75 591.4 -116.79 - - 3886.22 - - - - - - - - 15.89 15.96 -
1495.77 202.34 -11.00 295 1505.26 roll -0.58 - - 1840.75 - 4.13 0.036 258.50 -609.7 -116.79 - - 3886.38 - - - - - - - - - 16.02 -
1623.35 213.34 -8.53 320 1632.92 roll -0.69 - - 1841.06 - 4.30 0.064 2781.50 586.7 -116.79 - - 3886.62 - - - - - - - - - 15.97 -
1935.97 248.96 -11.40 382 1945.46 roll -0.68 - - 1841.38 - 4.11 0.034 256.69 -614.3 -116.79 - - 3886.38 - - - - - - - - - 16.04 -
1958.49 251.19 -10.36 386 1968.17 roll -0.72 - - 1841.12 - 4.30 0.065 2780.00 586.8 -116.79 - - 3887.00 - - - - - - - - - 15.97 -
2271.14 275.66 -7.88 418 2277.70 roll -0.72 - - 1840.88 - 1.97 0.068 3956.88 597.4 -116.79 - - 3886.31 - - - - - - - - - 16.02 -
2311.19 278.75 -7.80 426 2317.91 roll back -0.77 0.09 0.107 1799.62 -458.4 1.93 0.023 2765.94 -617.1 -116.79 - - 3887.06 - - - - - - - - 15.93 16.06 -
2621.25 321.52 -14.40 458 2630.82 roll back -0.72 0.09 0.246 1825.19 284.1 4.07 0.036 256.94 -616.5 -116.79 - - 3886.53 - - - - - - - - 15.85 15.84 -
2678.90 326.56 -8.56 469 2688.73 roll back -0.83 0.09 0.093 1782.38 -475.7 4.31 0.066 2778.50 585.0 -116.79 - - 3885.78 - - - - - - - - 15.89 16.01 -
2993.94 368.48 -12.96 501 3000.73 roll back -0.78 0.10 0.258 1811.12 287.4 1.98 0.068 3959.81 596.6 -116.79 - - 3883.91 - - - - - - - - 15.80 15.79 -
3063.95 374.56 -7.48 515 3070.47 roll -0.84 - - 1811.12 - 1.94 0.024 2750.06 -623.6 -116.79 - - 3883.47 - - - - - - - - - 16.07 -
3373.84 402.84 -9.74 547 3382.31 roll -0.84 - - 1810.88 - 4.07 0.037 259.50 -611.9 -116.79 - - 3881.50 - - - - - - - - - 16.06 -
3420.34 406.73 -8.49 556 3430.30 roll back -0.95 0.12 0.078 1759.69 -426.6 4.32 0.067 2778.75 583.2 -116.79 - - 3879.81 - - - - - - - - 15.89 15.97 -
3733.33 445.82 -12.32 588 3740.02 roll back -0.88 0.09 0.252 1781.69 244.4 1.99 0.067 3959.69 593.4 -116.79 - - 3878.47 - - - - - - - - 15.81 15.78 -
3768.16 449.17 -10.47 595 3774.88 roll -0.88 - - 1782.06 - 1.95 0.025 2753.00 -618.8 -116.79 - - 3878.06 - - - - - - - - - 16.06 -
4083.39 481.39 -12.09 627 4092.78 roll -0.86 - - 1780.88 - 4.10 0.040 256.88 -608.8 -116.79 - - 3875.09 - - - - - - - - - 16.04 -
4100.67 483.57 -12.28 630 4110.53 roll -0.86 - - 1781.31 - 4.34 0.068 2777.94 580.9 -116.79 - - 3875.69 - - - - - - - - - 15.98 -
4415.89 519.31 -11.00 662 4422.41 roll -0.84 - - 1781.81 - 2.00 0.071 3956.44 589.2 -116.79 - - 3871.28 - - - - - - - - - 16.00 -
4450.88 522.53 -9.69 669 4457.45 roll -0.85 - - 1782.00 - 1.96 0.026 2752.06 -614.5 -116.79 - - 3871.47 - - - - - - - - - 16.07 -
4765.95 552.64 -9.46 701 4775.42 roll -0.84 - - 1781.88 - 4.11 0.040 259.75 -606.4 -116.79 - - 3868.69 - - - - - - - - - 16.04 -
4778.44 553.90 -9.59 703 4788.11 roll -0.82 - - 1780.56 - 4.35 0.068 2781.75 579.8 -116.79 - - 3865.97 - - - - - - - - - 15.96 -
5091.12 583.48 -9.88 735 5097.74 roll -0.81 - - 1781.62 - 2.01 0.073 3958.38 585.4 -116.79 - - 3864.78 - - - - - - - - - 15.97 -
5126.11 586.62 -9.37 742 5132.67 roll -0.84 - - 1781.75 - 1.97 0.027 2752.62 -612.1 -116.79 - - 3863.94 - - - - - - - - - 16.04 -
5441.16 618.42 -10.70 774 5450.78 roll -0.83 - - 1780.44 - 4.14 0.042 258.69 -602.4 -116.79 - - 3859.25 - - - - - - - - - 16.01 -
5483.83 622.52 -9.82 782 5493.52 roll -0.91 - - 1781.56 - 4.39 0.073 2782.25 574.8 -116.79 - - 3858.50 - - - - - - - - - 15.92 -
5796.40 656.49 -11.37 814 5798.36 no move -0.91 - - 1781.56 - - - 2782.94 - -116.79 - - 3855.38 - - - - - - - - - - -
6106.47 691.44 -10.62 845 6113.25 roll -0.91 - - 1781.31 - 2.02 0.076 3958.12 581.8 -116.79 - - 3855.56 - - - - - - - - - 15.94 -
6146.63 695.35 -9.76 853 6153.15 roll -0.95 - - 1781.88 - 1.97 0.028 2754.38 -611.0 -116.79 - - 3852.28 - - - - - - - - - 16.05 -
6456.54 726.98 -9.71 885 6466.19 roll -0.95 - - 1780.56 - 4.15 0.043 258.50 -601.4 -116.79 - - 3851.09 - - - - - - - - - 15.99 -
6484.23 729.43 -9.38 890 6494.15 roll back -1.00 0.09 0.104 1745.38 -390.9 4.41 0.075 2779.69 571.7 -116.79 - - 3848.88 - - - - - - - - 15.79 15.90 -
6799.29 764.81 -11.32 922 6805.90 roll -0.96 - - 1744.44 - 2.02 0.076 3957.56 583.1 -116.79 - - 3846.62 - - - - - - - - - 15.91 -
6864.29 771.35 -9.23 935 6871.00 roll -0.98 - - 1744.38 - 1.98 0.029 2753.81 -608.0 -116.79 - - 3846.16 - - - - - - - - - 16.03 -
7179.37 805.87 -11.14 967 7186.33 roll back -0.93 0.11 0.255 1774.12 270.4 2.11 0.073 3958.19 570.8 -116.79 - - 3844.44 - - - - - - - - 15.67 15.64 -
7199.37 807.86 -10.65 971 7205.89 roll -0.91 - - 1774.44 - 1.98 0.029 2755.75 -607.3 -116.79 - - 3843.78 - - - - - - - - - 16.03 -
7509.27 834.23 -8.75 1003 7518.90 roll -0.91 - - 1772.94 - 4.17 0.045 259.94 -598.5 -116.79 - - 3842.28 - - - - - - - - - 15.95 -
7561.94 838.36 -8.02 1013 7571.71 roll -0.99 - - 1774.06 - 4.43 0.075 2780.81 569.0 -116.79 - - 3840.31 - - - - - - - - - 15.87 -
7874.60 865.17 -8.64 1045 7881.35 roll -0.99 - - 1773.81 - 2.03 0.077 3958.38 580.1 -116.79 - - 3839.81 - - - - - - - - - 15.88 -
7929.74 869.32 -7.41 1056 7936.48 roll back -1.05 0.09 0.105 1734.44 -437.4 1.98 0.030 2768.25 -601.1 -116.79 - - 3839.75 - - - - - - - - 15.83 16.02 -
8244.83 904.80 -11.48 1088 8254.49 roll back -0.99 0.09 0.262 1759.00 272.9 4.19 0.043 259.94 -598.6 -116.79 - - 3836.72 - - - - - - - - 15.66 15.65 -
8292.55 908.77 -8.57 1097 8302.28 roll -1.06 - - 1758.94 - 4.45 0.077 2781.00 566.5 -116.79 - - 3836.69 - - - - - - - - - 15.84 -
8607.61 935.14 -8.69 1129 8614.22 roll -1.04 - - 1758.81 - 2.04 0.079 3956.56 576.3 -116.79 - - 3837.59 - - - - - - - - - 15.85 -
8652.61 938.64 -7.77 1138 8659.24 roll -1.07 - - 1759.00 - 1.98 0.030 2757.19 -605.7 -116.79 - - 3835.97 - - - - - - - - - 16.01 -
8967.68 965.25 -8.11 1170 8977.20 roll -1.06 - - 1758.81 - 4.18 0.045 260.12 -597.4 -116.79 - - 3833.97 - - - - - - - - - 15.91 -
9000.24 967.56 -7.75 1176 9010.19 roll back -1.10 0.09 0.098 1719.81 -433.3 4.45 0.077 2777.31 565.7 -116.79 - - 3835.59 - - - - - - - - 15.66 15.78 -
9223 end dive: TARGET_DEPTH_EXCEEDED
9223 begin apogee
9224.75 990.67 -11.03 1199 9323.98 -0.12 0.72 0.219 1942.12 308.8 0.06 0.281 2708.38 -1148.8 - 90.25 1.950 3399.66 -4.8 0.414 - - - - - - 15.47 15.25 10.47
9325 end apogee: CONTROL_FINISHED_OK
9325 begin climb
9325.89 990.33 - 1208 9447.72 0.60 0.53 0.039 2174.25 438.0 4.39 0.053 260.06 -557.7 116.79 102.06 1.875 2918.47 -4.7 0.420 - - - - - - 15.42 15.11 12.00
9490.75 977.29 12.52 1239 9500.79 0.57 0.14 0.217 2132.75 -296.4 4.46 0.079 2702.69 547.7 116.79 - - 2907.97 - - - - - - - - 15.33 15.45 -
9803.84 933.17 13.59 1271 9810.53 done 0.47 - - 2133.00 - 2.19 0.077 3956.88 572.7 116.79 - - 2906.22 - - - - - - - - - 15.74 -
9838.82 927.90 15.29 1278 9845.91 0.35 0.22 0.265 2079.38 -243.7 2.16 0.043 2692.38 -585.4 116.79 - - 2907.38 - - - - - - - - 15.47 15.80 -
10153.92 895.31 10.08 1310 10163.39 done 0.31 - - 2089.88 - 4.14 0.054 259.88 -587.6 116.79 - - 2901.25 - - - - - - - - - 15.86 -
10191.44 892.04 9.14 1317 10201.09 done 0.34 - - 2091.06 - 4.34 0.080 2702.62 562.8 116.79 - - 2896.91 - - - - - - - - - 15.81 -
10506.51 860.21 9.99 1349 10513.19 done 0.29 - - 2090.00 - 2.17 0.077 3954.62 577.0 116.79 - - 2901.25 - - - - - - - - - 15.85 -
10556.51 854.54 11.41 1359 10563.47 0.23 0.18 0.244 2049.50 -225.0 2.14 0.044 2693.06 -589.5 116.79 - - 2900.94 - - - - - - - - 15.59 15.93 -
10866.43 831.24 7.28 1391 10876.08 done 0.23 - - 2079.88 - 4.12 0.054 258.44 -590.9 116.79 - - 2899.31 - - - - - - - - - 15.89 -
10919.21 827.85 6.46 1401 10972.43 done 0.37 - - 2078.50 - 4.34 0.079 2703.44 563.4 167.57 40.87 1.707 2716.28 -4.5 0.366 - - - - - - - 15.84 11.29
11275.31 797.03 8.82 1441 11277.27 VBD 0.37 - - 2078.88 - - - 2703.69 - 167.57 - - 2705.69 - - - - - - - - - - -
11585.37 770.20 8.80 1472 11595.01 done 0.37 - - 2081.50 - 4.18 0.052 260.00 -584.6 167.57 - - 2704.53 - - - - - - - - - 15.85 -
11613.07 768.00 8.51 1477 11622.74 done 0.42 - - 2082.12 - 4.34 0.079 2702.56 562.8 167.57 - - 2698.41 - - - - - - - - - 15.81 -
11928.10 736.45 10.19 1509 11934.79 done 0.39 - - 2082.94 - 2.17 0.077 3957.19 578.2 167.57 - - 2700.69 - - - - - - - - - 15.84 -
11963.08 732.52 11.24 1516 11969.82 done 0.37 - - 2087.69 - 2.15 0.044 2684.50 -591.9 167.57 - - 2700.78 - - - - - - - - - 15.92 -
12278.12 700.05 10.13 1548 12287.63 done 0.35 - - 2090.25 - 4.12 0.056 259.44 -588.6 167.57 - - 2698.88 - - - - - - - - - 15.88 -
12330.67 695.72 8.19 1558 12340.36 done 0.42 - - 2090.50 - 4.34 0.079 2703.88 563.2 167.57 - - 2696.41 - - - - - - - - - 15.79 -
12643.42 664.75 10.01 1590 12650.10 done 0.40 - - 2090.12 - 2.17 0.077 3958.12 578.0 167.57 - - 2697.78 - - - - - - - - - 15.85 -
12708.41 657.49 10.96 1603 12715.14 done 0.38 - - 2097.00 - 2.15 0.045 2686.56 -591.4 167.57 - - 2700.38 - - - - - - - - - 15.95 -
13023.49 623.42 11.35 1635 13032.99 done 0.35 - - 2104.56 - 4.13 0.056 258.88 -587.8 167.57 - - 2696.38 - - - - - - - - - 15.88 -
13106.02 616.05 8.42 1651 13115.73 done 0.42 - - 2106.06 - 4.34 0.079 2703.31 563.2 167.57 - - 2694.81 - - - - - - - - - 15.83 -
13418.76 581.73 10.88 1683 13428.27 done 0.38 - - 2119.88 - 4.18 0.054 261.81 -584.1 167.57 - - 2694.91 - - - - - - - - - 15.89 -
13441.15 579.52 10.37 1687 13451.25 0.38 0.12 0.193 2085.56 -286.0 4.34 0.082 2702.62 562.4 167.57 - - 2693.44 - - - - - - - - 15.64 15.81 -
13754.28 551.57 8.60 1719 13760.98 done 0.36 - - 2086.12 - 2.17 0.078 3955.00 577.1 167.57 - - 2696.25 - - - - - - - - - 15.83 -
13834.30 544.10 9.10 1735 13841.00 done 0.35 - - 2086.69 - 2.14 0.044 2686.25 -592.9 167.57 - - 2699.59 - - - - - - - - - 15.94 -
14144.37 517.05 9.17 1767 14151.14 done 0.33 - - 2087.19 - 2.24 0.077 3956.12 566.9 167.57 - - 2696.25 - - - - - - - - - 15.83 -
14169.35 514.42 9.61 1772 14176.10 done 0.31 - - 2086.31 - 2.15 0.046 2685.12 -591.2 167.57 - - 2698.47 - - - - - - - - - 15.93 -
14484.43 483.51 9.89 1804 14494.07 done 0.29 - - 2090.00 - 4.12 0.055 260.12 -588.6 167.57 - - 2697.34 - - - - - - - - - 15.86 -
14537.10 479.22 8.03 1814 14546.83 done 0.37 - - 2089.81 - 4.34 0.079 2705.19 563.4 167.57 - - 2692.19 - - - - - - - - - 15.76 -
14849.85 450.77 9.07 1846 14856.56 done 0.35 - - 2090.38 - 2.17 0.077 3956.25 576.5 167.57 - - 2695.81 - - - - - - - - - 15.82 -
14899.86 445.85 9.92 1856 14906.57 done 0.33 - - 2095.31 - 2.15 0.046 2687.69 -590.0 167.57 - - 2695.84 - - - - - - - - - 15.92 -
15209.92 416.78 9.85 1888 15219.41 done 0.31 - - 2102.81 - 4.12 0.055 258.50 -589.6 167.57 - - 2694.03 - - - - - - - - - 15.86 -
15287.48 410.66 7.58 1903 15297.23 done 0.39 - - 2103.62 - 4.34 0.079 2704.00 563.5 167.57 - - 2692.44 - - - - - - - - - 15.79 -
15602.59 379.89 10.35 1935 15604.61 VBD 0.37 - - 2103.25 - - - 2705.38 - 167.57 - - 2693.75 - - - - - - - - - - -
15912.66 350.79 8.15 1966 15922.36 done 0.34 - - 2102.88 - 4.18 0.052 258.81 -585.3 167.57 - - 2695.94 - - - - - - - - - 15.86 -
15935.46 349.29 7.54 1970 15945.39 done 0.35 - - 2103.88 - 4.34 0.078 2705.44 563.7 167.57 - - 2692.03 - - - - - - - - - 15.74 -
16248.48 328.40 7.31 2002 16250.78 0.32 0.12 0.239 2103.00 - - - 2706.56 - 167.57 - - 2693.78 - - - - - - - - 15.58 - -
16558.63 308.58 6.79 2033 16606.77 done 0.40 - - 2071.25 - 4.18 0.051 259.75 -585.4 212.23 36.04 1.127 2534.94 -4.4 0.204 - - - - - - - 15.75 10.94
16629.97 303.92 6.37 2046 16688.23 0.55 0.16 0.077 2137.88 416.4 4.32 0.074 2705.00 566.0 264.65 44.71 1.111 2318.84 -4.8 0.223 - - - - - - 15.71 15.82 12.16
16991.32 260.02 11.91 2087 17001.13 done 0.53 - - 2152.69 - 4.21 0.052 261.50 -580.4 264.65 - - 2306.56 - - - - - - - - - 15.75 -
17074.24 252.61 8.34 2103 17084.19 done 0.63 - - 2151.75 - 4.33 0.074 2704.50 564.2 264.65 - - 2302.78 - - - - - - - - - 15.74 -
17387.33 210.05 13.85 2163 17397.06 done 0.59 - - 2160.69 - 4.20 0.053 261.56 -581.7 264.65 - - 2301.66 - - - - - - - - - 15.79 -
17440.17 204.78 9.06 2173 17450.12 done 0.69 - - 2160.69 - 4.31 0.074 2700.88 566.0 264.65 - - 2299.38 - - - - - - - - - 15.76 -
17753.21 169.09 11.36 2235 17757.41 VBD 0.65 - - 2160.81 - - - 2702.50 - 264.65 - - 2301.91 - - - - - - - - - - -
18058.32 140.68 9.29 2296 18068.06 done 0.63 - - 2166.81 - 4.14 0.048 258.31 -590.4 264.65 - - 2300.78 - - - - - - - - - 15.86 -
18141.26 134.56 6.94 2312 18188.04 done 0.78 - - 2167.12 - 4.26 0.069 2701.69 573.6 306.54 32.64 0.818 2148.00 -4.7 0.130 - - - - - - - 15.81 11.57
18490.98 104.21 7.86 2381 18497.96 roll 0.78 - - 2167.00 - 2.13 0.064 3958.25 589.9 306.54 - - 2145.56 - - - - - - - - - 15.86 -
18536.14 100.37 8.60 2390 18543.17 roll back 0.79 0.05 0.159 2190.44 468.8 2.12 0.035 2690.38 -598.1 306.54 - - 2144.44 - - - - - - - - 15.76 15.92 -
18846.25 75.77 8.43 2452 18856.06 roll 0.79 - - 2197.56 - 4.05 0.046 257.00 -600.8 306.54 - - 2143.75 - - - - - - - - - 15.88 -
19009.28 64.67 6.44 2484 19063.18 0.98 0.10 0.089 2245.38 478.2 4.22 0.064 2703.88 579.8 357.81 40.51 0.696 1939.56 -5.0 0.079 - - - - - - 15.74 15.86 11.70
19246.29 40.67 10.79 2530 19256.01 roll 0.96 - - 2248.56 - 4.12 0.045 258.50 -593.5 357.81 - - 1935.66 - - - - - - - - - 15.86 -
19289.12 37.07 8.51 2538 19298.96 done 1.03 - - 2249.19 - 4.22 0.064 2705.00 579.7 357.81 - - 1928.16 - - - - - - - - - 15.83 -
19482.04 18.25 10.06 2576 19486.23 VBD 1.01 - - 2249.56 - - - 2705.69 - 357.81 - - 1929.66 - - - - - - - - - - -
19637 end climb: SURFACE_DEPTH_REACHED
19637 begin surface coast
19662 end surface coast: CONTROL_FINISHED_OK
19662 begin surface
SM 1.08 - - - - 226.1 112.97 0.664 1260.4 11.2 5.07 0.060 1250.0 246.5 - 0.12 0.093 1270.9 10590.8 -12.570 - - 11.68 15.87 15.93 -