SvinoySection Jan09 * SG160 * Dive index * Mission links * Dive 81 * Raw log
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• Previous call tries 3 • 18.64 of 146.00 AH used of 24V (87.23% remains)
• Previous NAKs 0, Timeouts 0 • 11.81 of 100.00 AH used of 10V (88.19% remains)
• Surface angle -68.1 deg, depth 3.61 m • Intended pitch -13.7 deg, speed -6.875 cm/s
• No surface pump (final VBD was 246.28, SM_CC=225)
• GPS1 time: 38 s
• GPS2 time: 11 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
14 - - - 23 VBD -0.77 - - 121 - - - 2269 - -116.7 -7.57 - 2239 - - - - - - - - - - -
25 3.5 - 1 115 roll -0.77 8.68 0.229 2360 257.9 2.42 0.065 3718 598.8 -116.7 -74.05 - 3523 -17.3 - - - - - - - - - -
238 14.7 -9.9 36 245 done -0.45 0.35 0.127 2470 314.3 2.25 0.035 2282 -638.2 -116.7 - - 3524 - - - - - - - - - - -
583 34.5 -6.1 97 589 roll -0.61 0.17 0.061 2396 -435.3 2.17 0.046 898 -637.8 -116.7 - - 3525 - - - - - - - - - - -
645 39.6 -8.7 108 652 done -0.42 0.20 0.120 2478 410.0 2.22 0.041 2294 628.8 -116.7 - - 3525 - - - - - - - - - - -
990 59.6 -7.0 169 996 roll -0.63 0.20 0.058 2391 -435.0 2.22 0.047 888 -633.3 -116.7 - - 3526 - - - - - - - - - - -
1041 64.9 -10.8 178 1050 done -0.40 0.30 0.123 2486 316.7 2.20 0.041 2301 642.3 -116.7 - - 3526 - - - - - - - - - - -
1390 82.8 -5.0 239 1396 roll -0.65 0.22 0.056 2388 -445.5 2.22 0.045 886 -637.4 -116.7 - - 3526 - - - - - - - - - - -
1430 86.0 -7.7 246 1439 done -0.53 0.17 0.133 2441 311.8 2.17 0.041 2281 642.9 -116.7 - - 3526 - - - - - - - - - - -
1775 109.6 -7.1 307 1781 roll -0.53 - - 2442 - 2.15 0.043 896 -644.2 -116.7 - - 3527 - - - - - - - - - - -
1843 114.7 -7.7 319 1849 done -0.53 - - 2442 - 2.17 0.040 2302 647.9 -116.7 - - 3527 - - - - - - - - - - -
2187 138.0 -6.8 380 2193 roll -0.53 - - 2442 - 2.20 0.045 890 -641.8 -116.7 - - 3527 - - - - - - - - - - -
2250 142.5 -7.5 391 2257 done -0.53 - - 2442 - 2.15 0.039 2283 647.9 -116.7 - - 3527 - - - - - - - - - - -
2587 165.6 -7.6 432 2591 roll -0.53 - - 2441 - 2.15 0.043 894 -646.0 -116.7 - - 3528 - - - - - - - - - - -
2646 170.0 -7.9 437 2649 done -0.53 - - 2441 - 2.15 0.039 2287 647.9 -116.7 - - 3528 - - - - - - - - - - -
2975 193.4 -7.0 468 2979 roll -0.59 - - 2441 - 2.17 0.044 888 -644.7 -116.7 - - 3528 - - - - - - - - - - -
2996 195.0 -7.2 470 3000 done -0.59 - - 2442 - 2.17 0.041 2297 649.3 -116.7 - - 3528 - - - - - - - - - - -
3318 215.1 -6.0 493 3323 roll -0.66 0.12 0.071 2389 -441.7 2.20 0.047 891 -639.1 -116.7 - - 3528 - - - - - - - - - - -
3356 218.4 -8.8 495 3364 done -0.45 0.25 0.127 2467 312.0 2.15 0.040 2284 647.9 -116.7 - - 3528 - - - - - - - - - - -
3676 236.4 -5.7 516 3680 roll -0.64 0.17 0.064 2393 -435.3 2.17 0.043 883 -645.6 -116.7 - - 3528 - - - - - - - - - - -
3720 239.9 -8.7 519 3725 done -0.46 0.22 0.129 2463 318.2 2.17 0.042 2285 646.1 -116.7 - - 3528 - - - - - - - - - - -
4045 258.4 -5.5 540 4049 roll -0.64 0.17 0.063 2391 -423.5 2.17 0.044 887 -644.2 -116.7 - - 3528 - - - - - - - - - - -
4093 262.4 -8.9 543 4098 done -0.46 0.20 0.121 2472 405.0 2.17 0.041 2277 640.6 -116.7 - - 3528 - - - - - - - - - - -
4419 279.4 -5.2 564 4424 roll -0.69 0.20 0.061 2382 -450.0 2.17 0.049 891 -638.7 -116.7 - - 3528 - - - - - - - - - - -
4456 282.5 -8.1 566 4461 done -0.44 0.22 0.123 2461 359.1 2.15 0.041 2262 637.7 -116.7 - - 3528 - - - - - - - - - - -
4782 300.9 -5.5 587 4787 roll -0.62 0.15 0.064 2396 -433.3 2.12 0.044 895 -644.8 -116.7 - - 3528 - - - - - - - - - - -
4826 304.5 -8.3 589 4830 done -0.45 0.22 0.128 2466 318.2 2.15 0.041 2285 646.5 -116.7 - - 3528 - - - - - - - - - - -
5153 322.8 -5.5 605 5157 roll -0.66 0.20 0.061 2378 -440.0 2.17 0.045 889 -643.3 -116.7 - - 3528 - - - - - - - - - - -
5196 326.6 -9.3 607 5201 done -0.42 0.32 0.127 2481 321.9 2.15 0.041 2260 637.7 -116.7 - - 3528 - - - - - - - - - - -
5523 344.3 -5.3 623 5527 roll -0.69 0.22 0.061 2382 -450.0 2.12 0.045 894 -644.3 -116.7 - - 3527 - - - - - - - - - - -
5566 348.2 -9.6 625 5571 done -0.47 0.22 0.123 2460 354.5 2.12 0.041 2248 638.7 -116.7 - - 3527 - - - - - - - - - - -
5893 368.1 -5.8 641 5895 done -0.64 0.17 0.062 2388 -423.5 - - 2249 - -116.7 - - 3526 - - - - - - - - - - -
6202 394.1 -8.4 656 6207 roll -0.50 0.20 0.130 2456 340.0 2.12 0.048 897 -637.7 -116.7 - - 3525 - - - - - - - - - - -
6268 398.9 -6.6 659 6273 done -0.63 0.15 0.066 2393 -420.0 2.10 0.044 2247 642.9 -116.7 - - 3525 - - - - - - - - - - -
6595 426.1 -8.4 675 6597 done -0.50 0.20 0.130 2454 305.0 - - 2247 - -116.7 - - 3525 - - - - - - - - - - -
6904 445.9 -6.4 690 6906 done -0.65 0.15 0.067 2391 -420.0 - - 2248 - -116.7 - - 3524 - - - - - - - - - - -
7213 472.3 -8.8 705 7217 roll -0.53 0.17 0.130 2445 317.6 2.12 0.049 892 -639.6 -116.7 - - 3524 - - - - - - - - - - -
7279 477.2 -7.6 708 7283 done -0.62 - - 2445 - 2.10 0.044 2242 642.9 -116.7 - - 3523 - - - - - - - - - - -
7612 499.1 -6.6 724 7614 done -0.75 0.22 0.061 2352 -422.7 - - 2242 - -116.7 - - 3523 - - - - - - - - - - -
7921 530.1 -10.2 739 7926 roll -0.46 0.32 0.134 2460 337.5 2.10 0.047 896 -641.0 -116.7 - - 3522 - - - - - - - - - - -
7964 533.4 -6.8 741 7969 done -0.63 0.15 0.069 2395 -433.3 2.10 0.045 2243 641.4 -116.7 - - 3522 - - - - - - - - - - -
8290 558.9 -7.8 757 8292 done -0.54 0.15 0.133 2440 300.0 - - 2244 - -116.7 - - 3522 - - - - - - - - - - -
8600 577.6 -6.1 772 8604 roll -0.64 0.12 0.075 2388 -433.3 2.10 0.048 897 -641.4 -116.7 - - 3521 - - - - - - - - - - -
8654 582.0 -8.6 774 8659 done -0.50 0.22 0.135 2458 318.2 2.12 0.046 2236 631.6 -116.7 - - 3521 - - - - - - - - - - -
8975 599.4 -5.2 790 8977 done -0.69 0.20 0.061 2376 -410.0 - - 2238 - -116.7 - - 3520 - - - - - - - - - - -
9302 624.8 -7.8 801 9306 roll -0.51 0.20 0.133 2444 340.0 2.10 0.050 901 -636.7 -116.7 - - 3520 - - - - - - - - - - -
9407 631.2 -6.1 804 9411 done -0.59 - - 2443 - 2.10 0.048 2242 638.6 -116.7 - - 3520 - - - - - - - - - - -
9738 648.0 -5.1 815 9740 done -0.72 0.17 0.067 2372 -417.6 - - 2242 - -116.7 - - 3519 - - - - - - - - - - -
10044 671.3 -7.6 825 10048 roll -0.53 0.20 0.135 2438 330.0 2.12 0.049 887 -639.2 -116.7 - - 3519 - - - - - - - - - - -
10077 673.5 -5.7 826 10081 done -0.60 - - 2438 - 2.10 0.047 2241 644.8 -116.7 - - 3519 - - - - - - - - - - -
10418 690.4 -4.9 837 10419 done -0.71 0.15 0.071 2377 -406.7 - - 2242 - -116.7 - - 3518 - - - - - - - - - - -
10724 712.4 -7.4 847 10726 done -0.55 0.20 0.132 2439 310.0 - - 2242 - -116.7 - - 3518 - - - - - - - - - - -
11031 727.9 -4.8 857 11033 done -0.65 0.12 0.077 2388 -425.0 - - 2242 - -116.7 - - 3518 - - - - - - - - - - -
11338 748.4 -6.8 867 11343 roll -0.54 0.17 0.133 2442 317.6 2.12 0.048 887 -639.2 -116.7 - - 3518 - - - - - - - - - - -
11422 753.3 -5.4 869 11426 done -0.63 - - 2442 - 2.10 0.048 2227 638.1 -116.7 - - 3517 - - - - - - - - - - -
11747 768.6 -4.8 880 11749 done -0.76 0.22 0.064 2350 -418.2 - - 2228 - -116.7 - - 3517 - - - - - - - - - - -
12053 794.0 -8.6 890 12058 roll -0.49 0.30 0.138 2449 330.0 2.10 0.052 897 -633.8 -116.7 - - 3517 - - - - - - - - - - -
12141 799.2 -5.2 892 12148 done -0.61 - - 2449 - 2.08 0.048 2219 635.6 -116.7 - - 3517 - - - - - - - - - - -
12456 813.7 -4.6 903 12458 done -0.78 0.25 0.063 2349 -400.0 - - 2219 - -116.7 - - 3517 - - - - - - - - - - -
12761 839.1 -8.3 913 12766 roll -0.50 0.30 0.138 2447 326.7 2.08 0.049 897 -635.6 -116.7 - - 3516 - - - - - - - - - - -
12827 842.9 -5.1 915 12832 done -0.62 0.12 0.077 2394 -441.7 2.10 0.049 2230 634.8 -116.7 - - 3516 - - - - - - - - - - -
13164 864.6 -6.7 926 13166 done -0.56 0.12 0.137 2430 300.0 - - 2231 - -116.7 - - 3516 - - - - - - - - - - -
13470 882.0 -5.6 936 13473 roll -0.66 - - 2431 - 2.12 0.055 893 -631.1 -116.7 - - 3516 - - - - - - - - - - -
13503 884.0 -6.1 937 13507 done -0.66 - - 2430 - 2.10 0.051 2224 633.8 -116.7 - - 3516 - - - - - - - - - - -
13843 903.0 -5.5 948 13845 done -0.75 0.17 0.068 2360 -411.8 - - 2225 - -116.7 - - 3516 - - - - - - - - - - -
14150 927.0 -7.9 958 14152 done -0.53 0.28 0.134 2445 303.6 - - 2225 - -116.7 - - 3515 - - - - - - - - - - -
14457 942.2 -4.8 968 14462 roll -0.69 0.17 0.067 2375 -411.8 2.10 0.053 900 -631.0 -116.7 - - 3515 - - - - - - - - - - -
14518 947.0 -7.9 969 14525 done -0.52 0.20 0.132 2444 345.0 2.10 0.051 2211 624.3 -116.7 - - 3515 - - - - - - - - - - -
14831 962.6 -5.0 980 14832 done -0.68 0.15 0.069 2381 -420.0 - - 2211 - -116.7 - - 3514 - - - - - - - - - - -
15137 984.0 -7.2 990 15139 done -0.57 0.17 0.135 2433 305.9 - - 2211 - -116.7 - - 3514 - - - - - - - - - - -
15257 end dive: TARGET_DEPTH_EXCEEDED
15257 begin apogee
15262 990.9 5.6 994 15361 done -0.23 0.32 0.120 2539 331.2 - - 2305 - - 96.25 1.433 3046 -4.9 0.370 - - - - - - - - -
15361 end apogee: CONTROL_FINISHED_OK
15361 begin climb
15363 993.6 - 997 15474 roll 0.77 0.95 0.085 2854 331.6 2.55 0.053 3707 549.8 116.7 103.65 1.407 2570 -4.6 0.357 - - - - - - - - -
15523 987.0 9.3 1002 15529 done 0.32 0.45 0.143 2718 -302.2 2.40 0.033 2304 -584.6 116.7 - - 2567 - - - - - - - - - - -
15859 972.3 4.3 1013 15925 roll 0.65 0.28 0.060 2827 389.3 2.50 0.050 890 -565.6 182.2 56.88 1.398 2301 -4.7 0.358 - - - - - - - - -
16042 956.9 9.2 1018 16047 done 0.57 0.08 0.134 2802 -312.5 2.33 0.038 2285 598.7 182.2 - - 2296 - - - - - - - - - - -
16365 931.9 7.6 1029 16369 roll 0.57 - - 2801 - 2.33 0.056 3707 610.3 182.2 - - 2293 - - - - - - - - - - -
16419 927.0 9.4 1030 16428 done 0.49 - - 2802 - 2.28 0.037 2298 -618.0 182.2 - - 2293 - - - - - - - - - - -
16732 902.4 7.8 1041 16735 roll 0.49 - - 2802 - 2.25 0.049 885 -628.0 182.2 - - 2292 - - - - - - - - - - -
16826 895.0 7.5 1043 16832 done 0.49 - - 2802 - 2.25 0.039 2289 624.0 182.2 - - 2292 - - - - - - - - - - -
17138 870.3 8.0 1054 17142 roll 0.49 - - 2802 - 2.30 0.058 3714 619.6 182.2 - - 2292 - - - - - - - - - - -
17182 866.4 8.6 1055 17187 done 0.42 0.17 0.143 2750 -305.9 2.25 0.038 2277 -638.7 182.2 - - 2292 - - - - - - - - - - -
17511 846.1 6.2 1066 17531 roll 0.67 0.20 0.064 2837 435.0 2.22 0.049 894 -623.0 199.8 14.40 1.285 2230 -4.3 0.312 - - - - - - - - -
17626 835.3 9.3 1069 17631 done 0.58 0.15 0.136 2795 -280.0 2.20 0.038 2284 631.8 199.8 - - 2228 - - - - - - - - - - -
17949 809.2 8.0 1080 17953 roll 0.64 - - 2796 - 2.30 0.056 3711 620.4 199.8 - - 2227 - - - - - - - - - - -
17998 804.7 7.8 1081 18003 done 0.64 - - 2795 - 2.28 0.038 2281 -627.2 199.8 - - 2227 - - - - - - - - - - -
18323 778.4 8.1 1092 18327 roll 0.64 - - 2795 - 2.20 0.052 892 -631.4 199.8 - - 2227 - - - - - - - - - - -
18395 772.5 7.7 1094 18400 done 0.73 0.15 0.067 2856 406.7 2.20 0.040 2302 640.9 199.8 - - 2226 - - - - - - - - - - -
18731 738.2 10.3 1105 18733 done 0.55 0.22 0.132 2788 -309.1 - - 2304 - 199.8 - - 2227 - - - - - - - - - - -
19038 715.4 7.1 1115 19039 done 0.66 0.12 0.071 2840 433.3 - - 2304 - 199.8 - - 2226 - - - - - - - - - - -
19343 688.1 9.1 1125 19345 done 0.56 0.15 0.135 2796 -293.3 - - 2304 - 199.8 - - 2226 - - - - - - - - - - -
19650 665.5 7.2 1135 19651 done 0.64 - - 2796 - - - 2304 - 199.8 - - 2226 - - - - - - - - - - -
19954 643.0 7.5 1145 19956 done 0.73 0.15 0.069 2857 406.7 - - 2304 - 199.8 - - 2225 - - - - - - - - - - -
20261 611.8 10.4 1155 20266 roll 0.56 0.20 0.133 2797 -300.0 2.22 0.048 892 -636.0 199.8 - - 2225 - - - - - - - - - - -
20315 606.9 7.2 1156 20322 done 0.66 - - 2797 - 2.17 0.040 2274 636.9 199.8 - - 2225 - - - - - - - - - - -
20641 581.7 7.7 1171 20643 done 0.75 0.17 0.062 2869 423.5 - - 2275 - 199.8 - - 2225 - - - - - - - - - - -
20950 548.6 10.7 1186 20952 done 0.54 0.28 0.130 2784 -303.6 - - 2275 - 199.8 - - 2225 - - - - - - - - - - -
21259 525.8 7.2 1201 21261 done 0.69 0.15 0.067 2847 420.0 - - 2275 - 199.8 - - 2225 - - - - - - - - - - -
21568 496.2 9.8 1216 21570 done 0.58 0.17 0.131 2795 -305.9 - - 2275 - 199.8 - - 2225 - - - - - - - - - - -
21878 472.5 7.6 1231 21880 done 0.69 0.12 0.074 2848 441.7 - - 2275 - 199.8 - - 2225 - - - - - - - - - - -
22187 442.5 9.7 1246 22189 done 0.58 0.17 0.132 2796 -305.9 - - 2275 - 199.8 - - 2225 - - - - - - - - - - -
22496 419.2 7.5 1261 22498 done 0.69 0.12 0.074 2850 450.0 - - 2275 - 199.8 - - 2225 - - - - - - - - - - -
22806 389.7 9.6 1276 22808 done 0.58 0.17 0.132 2797 -311.8 - - 2275 - 199.8 - - 2225 - - - - - - - - - - -
23115 366.3 7.3 1291 23117 done 0.68 0.12 0.073 2851 450.0 - - 2275 - 199.8 - - 2225 - - - - - - - - - - -
23424 338.6 8.7 1306 23428 roll 0.56 0.20 0.129 2785 -330.0 2.20 0.052 891 -629.1 199.8 - - 2225 - - - - - - - - - - -
23473 335.3 5.1 1308 23514 done 0.80 0.25 0.055 2888 412.0 2.15 0.041 2279 645.6 243.4 35.70 1.002 2053 -4.8 0.177 - - - - - - - - -
23831 297.4 10.9 1326 23833 done 0.61 0.28 0.130 2803 -303.6 - - 2279 - 243.4 - - 2045 - - - - - - - - - - -
24143 273.1 7.8 1346 24145 done 0.76 0.15 0.066 2866 420.0 - - 2279 - 243.4 - - 2044 - - - - - - - - - - -
24456 240.5 10.4 1366 24461 roll 0.66 0.15 0.131 2822 -293.3 2.20 0.049 896 -628.6 243.4 - - 2043 - - - - - - - - - - -
24500 236.5 7.6 1369 24505 done 0.78 0.12 0.071 2876 450.0 2.15 0.039 2277 642.3 243.4 - - 2042 - - - - - - - - - - -
24830 200.9 11.2 1390 24832 done 0.66 0.17 0.132 2824 -305.9 - - 2278 - 243.4 - - 2042 - - - - - - - - - - -
25154 172.9 7.9 1420 25158 roll 0.74 - - 2823 - 2.30 0.057 3715 624.8 243.4 - - 2042 - - - - - - - - - - -
25188 169.7 8.1 1423 25192 done 0.74 - - 2823 - 2.25 0.038 2271 -641.8 243.4 - - 2042 - - - - - - - - - - -
25516 142.3 8.4 1461 25523 roll 0.82 0.15 0.066 2888 433.3 2.17 0.048 878 -641.9 243.4 - - 2042 - - - - - - - - - - -
25642 128.5 11.2 1483 25650 done 0.66 0.20 0.136 2828 -300.0 2.15 0.038 2270 647.4 243.4 - - 2041 - - - - - - - - - - -
25987 96.5 8.9 1544 25993 done 0.74 - - 2828 - - - 2270 - 243.4 - - 2041 - - - - - - - - - - -
26331 68.0 7.9 1605 26338 roll 0.81 0.15 0.065 2891 420.0 2.28 0.054 3705 629.4 243.4 - - 2042 - - - - - - - - - - -
26438 54.6 12.7 1624 26446 done 0.56 0.35 0.134 2788 -294.3 2.22 0.035 2256 -652.7 243.4 - - 2042 - - - - - - - - - - -
26784 31.5 6.8 1685 26790 roll 0.79 0.20 0.059 2878 450.0 2.12 0.048 890 -644.3 244.9 - - 2043 - - - - - - - - - - -
26869 22.3 11.7 1700 26876 done 0.69 0.15 0.133 2833 -300.0 2.10 0.036 2262 653.3 244.9 - - 2042 - - - - - - - - - - -
27077 end climb: SURFACE_DEPTH_REACHED
27077 begin surface coast
27118 end surface coast: CONTROL_FINISHED_OK
27118 begin surface
SM 3.85 - - - - -7.66 7.10 0.049 137 -379.7 - - 2265 - 246.28 - - 2041 - - - - - - - -