EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 55 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 24.80 of 510.00 AH used of 24V (95.14% remains)
• Surface angle -48.2 deg, depth 1.11 m • Intended pitch -17.6 deg, speed -10.000 cm/s
VBD pumped to 499.88 (SM_CC=500)
• GPS1 time: 41 s, HDOP was 5.7 m
• GPS2 time: 4 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
11.06 - - - 124.77 VBD -1.02 - - 178.44 - - - 1851.81 - -145.99 113.38 0.005 3233.72 - - - - - - - - - - 15.21
125.05 3.25 -2.10 22 155.93 -1.02 11.93 0.295 1553.00 115.2 3.39 0.113 3186.00 393.6 -145.99 10.31 0.007 3562.38 31.9 -2.512 - - - - - - 15.23 15.19 15.34
168.40 8.64 -11.68 31 174.07 roll -0.98 - - 1552.38 - 3.09 0.047 1875.75 -424.0 -145.99 - - 3563.47 - - - - - - - - - 15.55 -
353.43 30.69 -12.36 68 359.25 roll back -0.91 0.19 0.195 1579.88 144.7 3.74 0.137 457.75 -379.1 -145.99 - - 3564.22 - - - - - - - - 15.56 15.47 -
383.46 35.62 -16.85 74 389.13 roll -0.84 - - 1580.81 - 3.38 0.036 1925.88 434.4 -145.99 - - 3562.25 - - - - - - - - - 15.64 -
568.46 58.11 -11.43 111 574.20 roll back -0.80 0.18 0.186 1606.88 144.8 3.20 0.115 3186.50 393.9 -145.99 - - 3564.19 - - - - - - - - 15.59 15.46 -
653.47 69.75 -14.58 128 659.11 roll -0.80 - - 1605.88 - 3.09 0.048 1877.00 -423.8 -145.99 - - 3564.31 - - - - - - - - - 15.65 -
838.48 91.76 -10.95 165 839.80 no move -0.80 - - 1606.56 - - - 1876.94 - -145.99 - - 3562.47 - - - - - - - - - - -
1023.52 110.02 -10.47 192 1028.88 roll -0.80 - - 1607.06 - 3.32 0.111 3187.00 394.6 -145.99 - - 3562.56 - - - - - - - - - 15.52 -
1048.18 112.48 -10.34 197 1054.15 roll -0.80 - - 1606.62 - 3.07 0.048 1876.25 -427.0 -145.99 - - 3564.22 - - - - - - - - - 15.60 -
1353.58 144.29 -10.74 228 1358.91 roll -0.80 - - 1607.62 - 3.33 0.112 3186.00 393.3 -145.99 - - 3563.06 - - - - - - - - - 15.54 -
1423.55 151.70 -10.52 242 1428.87 roll -0.80 - - 1607.06 - 3.07 0.048 1876.69 -426.5 -145.99 - - 3562.31 - - - - - - - - - 15.70 -
1733.65 185.07 -12.21 274 1738.96 roll -0.80 - - 1606.81 - 3.32 0.113 3185.69 394.3 -145.99 - - 3564.09 - - - - - - - - - 15.54 -
1773.60 190.16 -12.48 282 1778.92 roll -0.80 - - 1607.06 - 3.07 0.049 1877.25 -426.2 -145.99 - - 3562.78 - - - - - - - - - 15.71 -
2083.80 221.78 -9.91 314 2089.01 roll -0.80 - - 1607.44 - 3.30 0.113 3186.00 396.6 -145.99 - - 3562.75 - - - - - - - - - 15.56 -
2123.67 225.89 -10.33 322 2128.98 roll -0.80 - - 1607.38 - 3.05 0.050 1878.81 -428.6 -145.99 - - 3563.25 - - - - - - - - - 15.79 -
2433.79 260.07 -11.17 354 2435.11 no move -0.80 - - 1607.44 - - - 1878.81 - -145.99 - - 3561.88 - - - - - - - - - - -
2733.82 293.78 -11.32 384 2739.14 roll -0.80 - - 1607.50 - 3.34 0.114 3187.56 391.8 -145.99 - - 3562.88 - - - - - - - - - 15.56 -
2783.78 299.43 -11.16 394 2789.09 roll -0.80 - - 1607.94 - 3.06 0.051 1879.12 -427.6 -145.99 - - 3563.00 - - - - - - - - - 15.80 -
3093.88 332.96 -11.09 426 3099.28 roll -0.80 - - 1607.38 - 3.77 0.146 458.94 -376.7 -145.99 - - 3562.84 - - - - - - - - - 15.54 -
3133.84 337.78 -12.35 434 3139.20 roll -0.80 - - 1607.12 - 3.33 0.037 1925.81 440.5 -145.99 - - 3563.78 - - - - - - - - - 15.81 -
3443.88 371.43 -11.08 466 3445.21 no move -0.80 - - 1607.69 - - - 1925.88 - -145.99 - - 3561.62 - - - - - - - - - - -
3743.99 404.98 -11.02 496 3749.27 roll -0.80 - - 1607.12 - 3.19 0.124 3186.06 395.0 -145.99 - - 3562.56 - - - - - - - - - 15.54 -
3778.61 408.97 -11.42 503 3784.58 roll -0.80 - - 1607.06 - 3.06 0.053 1878.75 -427.2 -145.99 - - 3563.94 - - - - - - - - - 15.81 -
4084.05 441.84 -10.54 534 4085.38 no move -0.80 - - 1607.50 - - - 1878.75 - -145.99 - - 3561.38 - - - - - - - - - - -
4384.08 473.68 -10.61 564 4389.40 roll -0.80 - - 1607.38 - 3.37 0.122 3185.19 387.7 -145.99 - - 3562.94 - - - - - - - - - 15.52 -
4458.72 481.75 -10.82 579 4464.69 roll -0.80 - - 1606.56 - 3.06 0.056 1882.31 -425.8 -145.99 - - 3564.03 - - - - - - - - - 15.79 -
4764.16 514.03 -10.70 610 4765.49 no move -0.80 - - 1607.56 - - - 1882.00 - -145.99 - - 3562.19 - - - - - - - - - - -
5064.19 546.04 -10.77 640 5069.51 roll -0.80 - - 1606.94 - 3.36 0.126 3184.94 387.8 -145.99 - - 3563.53 - - - - - - - - - 15.51 -
5124.18 552.57 -10.82 652 5129.47 roll -0.80 - - 1607.25 - 3.08 0.059 1882.25 -423.0 -145.99 - - 3562.34 - - - - - - - - - 15.78 -
5434.27 584.21 -10.01 684 5435.60 no move -0.80 - - 1607.56 - - - 1881.88 - -145.99 - - 3561.66 - - - - - - - - - - -
5734.32 613.94 -9.64 714 5739.63 roll -0.80 - - 1607.25 - 3.38 0.127 3186.12 385.9 -145.99 - - 3562.47 - - - - - - - - - 15.49 -
5774.28 617.82 -9.71 722 5779.59 roll -0.80 - - 1607.69 - 3.07 0.062 1883.69 -424.2 -145.99 - - 3562.03 - - - - - - - - - 15.73 -
6084.38 648.23 -9.77 754 6085.71 no move -0.80 - - 1607.81 - - - 1883.38 - -145.99 - - 3560.72 - - - - - - - - - - -
6384.40 677.03 -9.58 784 6385.73 no move -0.80 - - 1607.19 - - - 1883.31 - -145.99 - - 3560.34 - - - - - - - - - - -
6684.42 706.00 -9.67 814 6689.72 roll -0.80 - - 1607.44 - 3.42 0.133 3185.62 380.8 -145.99 - - 3562.28 - - - - - - - - - 15.46 -
6724.37 709.95 -9.85 822 6729.69 roll -0.80 - - 1607.19 - 3.11 0.066 1883.06 -418.8 -145.99 - - 3560.69 - - - - - - - - - 15.66 -
7034.36 740.28 -10.04 854 7039.82 roll -0.80 - - 1607.25 - 3.86 0.165 458.50 -369.1 -145.99 - - 3560.38 - - - - - - - - - 15.48 -
7064.38 743.78 -11.67 860 7069.76 roll -0.80 - - 1606.88 - 3.37 0.044 1921.06 434.0 -145.99 - - 3561.22 - - - - - - - - - 15.74 -
7374.40 773.89 -9.83 892 7375.73 no move -0.80 - - 1607.25 - - - 1921.25 - -145.99 - - 3559.84 - - - - - - - - - - -
7674.49 801.86 -9.12 922 7679.78 roll -0.80 - - 1606.44 - 3.35 0.142 3187.31 377.9 -145.99 - - 3561.62 - - - - - - - - - 15.44 -
7714.43 805.62 -9.42 930 7719.75 roll -0.80 - - 1607.56 - 3.16 0.070 1883.50 -412.6 -145.99 - - 3560.47 - - - - - - - - - 15.62 -
8024.44 834.07 -9.46 962 8025.77 no move -0.80 - - 1607.38 - - - 1883.50 - -145.99 - - 3559.47 - - - - - - - - - - -
8324.54 862.74 -9.45 992 8329.84 roll -0.80 - - 1607.12 - 3.48 0.142 3184.62 373.9 -145.99 - - 3559.75 - - - - - - - - - 15.41 -
8369.17 867.15 -9.64 1001 8375.13 roll -0.83 - - 1607.62 - 3.15 0.074 1884.19 -412.8 -145.99 - - 3559.81 - - - - - - - - - 15.63 -
8674.50 894.53 -9.15 1032 8675.83 no move -0.87 - - 1607.25 - - - 1884.44 - -145.99 - - 3558.34 - - - - - - - - - - -
8974.59 922.12 -9.34 1062 8979.98 roll back -0.90 0.26 0.077 1567.75 -151.9 3.53 0.145 3185.12 368.5 -145.99 - - 3558.34 - - - - - - - - 15.50 15.40 -
9019.18 927.19 -11.56 1071 9025.17 roll -0.90 - - 1567.00 - 3.16 0.078 1885.19 -411.4 -145.99 - - 3560.22 - - - - - - - - - 15.67 -
9324.52 961.93 -10.84 1102 9325.85 no move -0.90 - - 1567.75 - - - 1885.12 - -145.99 - - 3557.84 - - - - - - - - - - -
9605 end dive: TARGET_DEPTH_EXCEEDED
9605 begin apogee
9607.01 990.56 -9.78 1130 9733.40 -0.23 1.37 0.165 1745.44 129.7 0.04 0.432 1468.56 -10414.0 - 123.75 2.079 2965.50 -4.8 0.387 - - - - - - 15.57 15.21 10.98
9736 end apogee: CONTROL_FINISHED_OK
9737 begin climb
9736.40 994.09 - 1142 9874.41 1.02 2.11 0.120 2048.88 143.8 2.97 0.190 459.88 -339.6 145.99 130.60 2.026 2368.84 -4.6 0.381 - - - - - - 15.26 14.95 12.22
10021.60 972.98 10.36 1198 10027.48 done 0.99 - - 2049.19 - 2.40 0.039 1482.56 426.1 145.99 - - 2362.19 - - - - - - - - - 15.31 -
10327.05 949.99 6.94 1229 10388.19 VBD 1.09 - - 2047.88 - - - 1482.69 - 211.83 59.33 1.959 2105.62 -4.3 0.356 - - - - - - - - 11.65
10687.05 921.17 8.09 1265 10727.87 1.20 0.26 0.086 2099.00 196.6 - - 1482.56 - 252.99 37.97 1.903 1936.69 -4.4 0.366 - - - - - - 15.53 - 11.76
11027.08 883.38 11.27 1299 11028.41 no move 1.20 - - 2098.81 - - - 1483.06 - 252.99 - - 1927.72 - - - - - - - - - - -
11327.19 849.19 11.30 1329 11328.52 VBD 1.20 - - 2099.31 - - - 1483.00 - 252.99 - - 1926.84 - - - - - - - - - - -
11627.24 816.68 10.77 1359 11628.58 VBD 1.20 - - 2099.50 - - - 1483.56 - 252.99 - - 1926.94 - - - - - - - - - - -
11927.29 783.43 11.12 1389 11928.62 VBD 1.20 - - 2099.50 - - - 1484.06 - 252.99 - - 1926.34 - - - - - - - - - - -
12227.34 751.26 10.27 1419 12228.68 VBD 1.20 - - 2099.38 - - - 1484.94 - 252.99 - - 1925.09 - - - - - - - - - - -
12527.39 721.63 9.79 1449 12532.90 VBD 1.21 - - 2098.06 - - - 1485.38 - 257.56 4.97 0.938 1919.34 -1.2 0.151 - - - - - - - - 11.54
12827.33 691.47 10.27 1479 12828.66 no move 1.21 - - 2099.12 - - - 1485.31 - 257.56 - - 1914.97 - - - - - - - - - - -
13127.44 661.20 9.95 1509 13128.77 no move 1.21 - - 2098.75 - - - 1485.62 - 258.62 - - 1915.44 - - - - - - - - - - -
13427.44 631.09 10.31 1539 13428.77 no move 1.21 - - 2098.88 - - - 1486.31 - 258.62 - - 1914.94 - - - - - - - - - - -
13727.46 600.12 10.23 1569 13732.68 roll 1.21 - - 2098.50 - 2.82 0.163 458.69 -364.4 258.62 - - 1917.25 - - - - - - - - - 15.50 -
13777.42 593.80 13.19 1579 13782.54 roll 1.21 - - 2099.38 - 2.33 0.038 1506.25 449.6 258.62 - - 1916.41 - - - - - - - - - 15.81 -
14087.44 560.92 10.57 1611 14088.77 no move 1.21 - - 2099.75 - - - 1505.81 - 258.62 - - 1914.69 - - - - - - - - - - -
14387.51 529.66 10.32 1641 14388.84 no move 1.21 - - 2098.88 - - - 1506.06 - 258.62 - - 1914.62 - - - - - - - - - - -
14687.53 499.00 10.25 1671 14692.75 roll 1.21 - - 2099.12 - 2.87 0.157 458.69 -364.9 258.62 - - 1915.69 - - - - - - - - - 15.48 -
14727.47 494.23 12.23 1679 14732.60 roll 1.21 - - 2099.50 - 2.33 0.038 1511.75 452.0 258.62 - - 1915.50 - - - - - - - - - 15.74 -
15037.50 462.74 10.10 1711 15038.83 no move 1.21 - - 2099.19 - - - 1511.25 - 258.62 - - 1913.91 - - - - - - - - - - -
15337.58 431.56 10.33 1741 15342.81 roll 1.21 - - 2099.00 - 2.86 0.156 457.62 -368.4 258.62 - - 1915.47 - - - - - - - - - 15.56 -
15372.19 427.38 12.15 1748 15377.99 roll 1.21 - - 2099.38 - 2.31 0.038 1508.69 455.0 258.62 - - 1915.72 - - - - - - - - - 15.74 -
15677.57 395.95 10.01 1779 15678.90 no move 1.21 - - 2099.38 - - - 1509.19 - 258.62 - - 1914.06 - - - - - - - - - - -
15977.66 365.95 10.05 1809 15978.99 no move 1.21 - - 2099.25 - - - 1509.19 - 258.62 - - 1914.00 - - - - - - - - - - -
16277.73 336.71 9.70 1839 16293.11 done 1.22 - - 2099.44 - 2.79 0.155 456.81 -377.2 265.03 9.56 1.092 1885.62 -3.0 0.155 - - - - - - - 15.73 11.39
16332.33 330.31 12.57 1850 16338.12 roll 1.22 - - 2098.38 - 2.31 0.039 1503.69 453.2 265.03 - - 1885.59 - - - - - - - - - 15.78 -
16637.76 299.62 10.20 1881 16639.09 no move 1.22 - - 2098.25 - - - 1503.38 - 265.03 - - 1886.12 - - - - - - - - - - -
16937.83 269.54 9.84 1911 16944.37 VBD 1.22 - - 2098.50 - - - 1503.88 - 268.54 5.65 0.794 1871.62 -2.6 0.148 - - - - - - - - 11.85
17237.83 240.48 9.63 1941 17253.26 done 1.27 - - 2099.00 - 2.79 0.151 457.81 -374.9 276.47 9.57 1.010 1840.62 -3.2 0.131 - - - - - - - 15.73 12.01
17277.82 236.25 10.61 1949 17282.95 roll 1.27 - - 2099.12 - 2.31 0.039 1503.38 452.6 276.47 - - 1838.19 - - - - - - - - - 15.83 -
17587.96 206.29 9.21 1981 17607.46 VBD 1.33 - - 2099.50 - - - 1503.94 - 293.43 16.78 1.100 1770.28 -4.0 0.129 - - - - - - - - 12.02
17907.94 175.29 10.22 2013 17909.41 pitch 1.37 0.20 0.091 2142.88 216.9 - - 1502.94 - 293.43 - - 1765.97 - - - - - - - - 15.66 - -
18207.97 135.27 13.53 2043 18213.24 roll 1.37 - - 2143.50 - 2.83 0.147 456.69 -369.7 293.43 - - 1767.06 - - - - - - - - - 15.55 -
18267.99 125.99 15.61 2055 18273.26 roll back 1.31 0.31 0.218 2112.75 -99.2 2.33 0.038 1503.62 449.3 293.43 - - 1767.53 - - - - - - - - 15.56 15.68 -
18573.05 96.18 8.66 2090 18604.23 1.40 0.23 0.087 2149.38 159.3 2.79 0.149 457.69 -374.9 322.26 25.41 1.033 1653.78 -4.5 0.071 - - - - - - 15.66 15.69 11.85
18643.06 86.75 15.63 2104 18648.65 roll back 1.34 0.28 0.212 2120.12 -104.5 2.32 0.038 1505.94 451.8 322.26 - - 1653.19 - - - - - - - - 15.63 15.69 -
18828.11 66.42 11.07 2141 18829.44 no move 1.39 - - 2121.00 - - - 1506.25 - 322.26 - - 1647.94 - - - - - - - - - - -
19008.17 46.81 10.64 2177 19009.64 pitch 1.44 0.25 0.087 2159.88 155.5 - - 1506.25 - 322.26 - - 1647.97 - - - - - - - - 15.62 - -
19188.22 23.02 13.26 2213 19193.97 roll 1.44 - - 2159.88 - 2.84 0.148 457.75 -369.2 322.26 - - 1650.06 - - - - - - - - - 15.54 -
19253.25 12.66 15.75 2226 19258.85 roll back 1.38 0.30 0.218 2128.88 -103.3 2.33 0.038 1507.88 450.7 322.26 - - 1647.72 - - - - - - - - 15.57 15.65 -
19343 end climb: SURFACE_DEPTH_REACHED
19344 begin surface coast
19354 end surface coast: CONTROL_FINISHED_OK
19354 begin surface
SM 1.12 - - - - 177.2 137.03 0.949 930.2 6.8 12.23 0.067 894.6 73.1 - 0.90 0.043 965.7 1070.4 -2.850 - - 11.96 15.70 15.78 -