EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 60 * Raw log
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• Previous call tries 1 • 26.70 of 510.00 AH used of 24V (94.76% remains)
• Surface angle -44.6 deg, depth 1.05 m • Intended pitch -17.6 deg, speed -10.000 cm/s
VBD pumped to 500.04 (SM_CC=500)
• GPS1 time: 28 s
• 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
11.10 - - - 134.97 VBD -1.02 - - 177.25 - - - 1855.38 - -145.99 123.38 0.005 3412.62 - - - - - - - - - - 15.17
135.25 3.58 -2.23 24 155.34 -1.02 11.91 0.299 1553.56 115.6 - - 1856.12 - -145.99 4.28 0.010 3561.72 34.8 -2.122 - - - - - - 15.17 - 15.30
332.96 35.47 -13.26 64 338.71 roll -0.96 - - 1552.75 - 3.75 0.131 456.69 -373.2 -145.99 - - 3564.47 - - - - - - - - - 15.42 -
373.01 41.65 -15.38 72 378.76 roll back -0.87 0.26 0.195 1590.19 144.0 3.41 0.035 1929.69 432.0 -145.99 - - 3564.50 - - - - - - - - 15.40 15.62 -
558.03 61.17 -12.65 109 563.71 roll -0.87 - - 1590.50 - 3.21 0.114 3186.81 391.6 -145.99 - - 3564.62 - - - - - - - - - 15.49 -
593.04 65.62 -12.74 116 598.69 roll -0.87 - - 1591.25 - 3.08 0.048 1876.62 -425.4 -145.99 - - 3563.78 - - - - - - - - - 15.59 -
778.09 85.91 -10.03 153 779.42 no move -0.87 - - 1591.19 - - - 1876.94 - -145.99 - - 3562.78 - - - - - - - - - - -
963.21 107.33 -12.16 184 968.52 roll -0.87 - - 1592.25 - 3.39 0.111 3186.50 386.3 -145.99 - - 3563.53 - - - - - - - - - 15.46 -
1027.84 115.17 -11.86 197 1033.81 roll -0.87 - - 1592.25 - 3.06 0.049 1877.38 -427.8 -145.99 - - 3564.03 - - - - - - - - - 15.55 -
1333.26 151.26 -11.52 228 1338.58 roll -0.87 - - 1591.38 - 3.39 0.109 3184.69 385.6 -145.99 - - 3565.19 - - - - - - - - - 15.48 -
1377.89 156.72 -11.80 237 1383.87 roll -0.87 - - 1592.19 - 3.04 0.048 1877.56 -430.0 -145.99 - - 3563.56 - - - - - - - - - 15.74 -
1683.32 190.43 -10.78 268 1688.65 roll -0.87 - - 1591.38 - 3.39 0.109 3186.38 386.1 -145.99 - - 3564.88 - - - - - - - - - 15.49 -
1753.28 198.07 -11.06 282 1758.59 roll -0.87 - - 1592.06 - 3.07 0.049 1876.88 -426.5 -145.99 - - 3563.53 - - - - - - - - - 15.66 -
2063.36 232.47 -11.24 314 2068.67 roll -0.87 - - 1592.31 - 3.38 0.109 3185.12 387.1 -145.99 - - 3563.38 - - - - - - - - - 15.53 -
2103.30 236.95 -11.37 322 2108.62 roll -0.87 - - 1592.00 - 3.06 0.050 1877.00 -427.5 -145.99 - - 3564.16 - - - - - - - - - 15.66 -
2413.39 270.12 -10.65 354 2418.70 roll -0.87 - - 1592.12 - 3.38 0.110 3185.81 387.2 -145.99 - - 3563.59 - - - - - - - - - 15.54 -
2473.34 276.43 -10.32 366 2478.66 roll -0.87 - - 1592.12 - 3.04 0.050 1877.38 -430.4 -145.99 - - 3563.56 - - - - - - - - - 15.78 -
2783.42 309.06 -10.66 398 2788.72 roll -0.87 - - 1592.12 - 3.38 0.111 3185.12 386.9 -145.99 - - 3563.69 - - - - - - - - - 15.54 -
2843.36 315.61 -10.89 410 2848.68 roll -0.87 - - 1592.06 - 3.04 0.050 1877.38 -430.2 -145.99 - - 3563.56 - - - - - - - - - 15.79 -
3153.44 349.97 -11.20 442 3154.77 no move -0.87 - - 1591.94 - - - 1878.06 - -145.99 - - 3562.41 - - - - - - - - - - -
3453.49 383.68 -11.34 472 3458.76 roll -0.87 - - 1591.81 - 3.37 0.115 3185.62 388.0 -145.99 - - 3565.16 - - - - - - - - - 15.50 -
3538.09 393.41 -11.38 489 3544.07 roll -0.87 - - 1591.81 - 3.05 0.052 1879.44 -428.3 -145.99 - - 3563.62 - - - - - - - - - 15.79 -
3843.50 427.91 -11.81 520 3848.82 roll -0.87 - - 1591.94 - 3.40 0.115 3186.12 384.3 -145.99 - - 3564.25 - - - - - - - - - 15.51 -
3898.11 434.43 -11.96 531 3904.11 roll -0.87 - - 1592.19 - 3.05 0.054 1879.81 -428.3 -145.99 - - 3563.78 - - - - - - - - - 15.78 -
4203.53 470.01 -11.68 562 4208.85 roll -0.87 - - 1591.31 - 3.41 0.117 3186.31 383.1 -145.99 - - 3564.75 - - - - - - - - - 15.50 -
4238.14 474.24 -12.03 569 4244.11 roll -0.87 - - 1591.94 - 3.05 0.055 1879.44 -428.5 -145.99 - - 3563.72 - - - - - - - - - 15.79 -
4543.56 509.73 -11.51 600 4548.87 roll -0.87 - - 1591.81 - 3.40 0.119 3184.25 383.8 -145.99 - - 3562.66 - - - - - - - - - 15.50 -
4588.18 515.04 -11.81 609 4594.16 roll -0.87 - - 1591.62 - 3.06 0.055 1880.06 -426.2 -145.99 - - 3562.75 - - - - - - - - - 15.61 -
4893.61 549.71 -11.24 640 4898.96 roll -0.87 - - 1592.50 - 3.44 0.119 3186.06 379.7 -145.99 - - 3562.28 - - - - - - - - - 15.50 -
4923.56 553.16 -11.42 646 4928.89 roll -0.87 - - 1591.88 - 3.07 0.057 1880.88 -425.1 -145.99 - - 3563.44 - - - - - - - - - 15.68 -
5233.68 587.91 -11.55 678 5235.01 no move -0.87 - - 1592.25 - - - 1880.19 - -145.99 - - 3562.22 - - - - - - - - - - -
5533.72 621.98 -11.44 708 5539.05 roll -0.87 - - 1591.81 - 3.43 0.123 3183.88 380.1 -145.99 - - 3562.97 - - - - - - - - - 15.48 -
5573.67 626.72 -11.90 716 5578.99 roll -0.87 - - 1591.88 - 3.06 0.060 1881.00 -425.8 -145.99 - - 3563.41 - - - - - - - - - 15.77 -
5883.77 661.15 -10.93 748 5889.12 roll -0.87 - - 1592.69 - 3.42 0.126 3184.81 381.2 -145.99 - - 3561.97 - - - - - - - - - 15.47 -
5933.73 666.58 -10.99 758 5939.05 roll -0.87 - - 1592.06 - 3.08 0.061 1881.44 -423.2 -145.99 - - 3562.88 - - - - - - - - - 15.76 -
6243.87 697.85 -9.76 790 6245.20 no move -0.87 - - 1592.00 - - - 1880.56 - -145.99 - - 3560.75 - - - - - - - - - - -
6543.90 726.70 -9.50 820 6549.22 roll -0.87 - - 1592.12 - 3.49 0.130 3186.00 374.1 -145.99 - - 3562.06 - - - - - - - - - 15.44 -
6593.85 731.51 -9.66 830 6599.19 roll -0.87 - - 1592.00 - 3.09 0.064 1881.50 -422.2 -145.99 - - 3563.34 - - - - - - - - - 15.74 -
6903.96 759.89 -9.24 862 6905.29 no move -0.87 - - 1592.25 - - - 1881.69 - -145.99 - - 3560.72 - - - - - - - - - - -
7204.01 788.99 -9.47 892 7205.34 no move -0.87 - - 1592.19 - - - 1881.81 - -145.99 - - 3561.12 - - - - - - - - - - -
7504.06 817.05 -9.14 922 7509.39 roll -0.87 - - 1591.94 - 3.53 0.134 3185.69 369.4 -145.99 - - 3561.69 - - - - - - - - - 15.42 -
7568.69 823.34 -9.56 935 7574.66 roll -0.87 - - 1591.06 - 3.11 0.069 1884.31 -418.5 -145.99 - - 3562.69 - - - - - - - - - 15.59 -
7874.05 850.80 -9.56 966 7875.38 no move -0.87 - - 1592.00 - - - 1885.19 - -145.99 - - 3560.44 - - - - - - - - - - -
8174.17 878.76 -9.13 996 8179.50 roll -0.87 - - 1591.81 - 3.51 0.138 3183.88 370.0 -145.99 - - 3562.75 - - - - - - - - - 15.40 -
8224.13 883.70 -9.82 1006 8229.45 roll -0.87 - - 1591.69 - 3.13 0.073 1883.88 -415.3 -145.99 - - 3561.31 - - - - - - - - - 15.68 -
8534.16 913.20 -9.60 1038 8539.63 roll -0.87 - - 1591.31 - 3.91 0.172 460.06 -364.1 -145.99 - - 3561.34 - - - - - - - - - 15.41 -
8584.18 919.03 -12.07 1048 8589.55 roll -0.87 - - 1592.06 - 3.43 0.046 1919.25 425.4 -145.99 - - 3560.34 - - - - - - - - - 15.77 -
8894.22 949.56 -9.69 1080 8899.60 roll -0.87 - - 1591.94 - 3.42 0.145 3183.38 369.6 -145.99 - - 3561.19 - - - - - - - - - 15.37 -
8944.24 954.73 -10.57 1090 8949.57 roll -0.87 - - 1591.56 - 3.16 0.077 1884.44 -411.1 -145.99 - - 3561.31 - - - - - - - - - 15.66 -
9254.27 983.08 -8.99 1122 9255.60 no move -0.87 - - 1592.12 - - - 1883.88 - -145.99 - - 3558.88 - - - - - - - - - - -
9335 end dive: TARGET_DEPTH_EXCEEDED
9335 begin apogee
9336.67 990.34 -9.09 1130 9462.07 -0.23 1.10 0.154 1746.00 139.9 0.05 0.376 1473.69 -8203.8 - 123.49 2.106 2965.00 -4.8 0.385 - - - - - - 15.58 15.20 11.00
9465 end apogee: CONTROL_FINISHED_OK
9465 begin climb
9465.08 994.80 - 1142 9602.07 1.02 2.07 0.115 2050.38 147.0 3.01 0.187 459.25 -337.0 145.99 129.96 2.057 2371.25 -4.6 0.376 - - - - - - 15.25 14.93 12.24
9704.29 978.54 10.48 1189 9710.05 done 0.99 - - 2049.19 - 2.40 0.037 1485.06 427.4 145.99 - - 2366.28 - - - - - - - - - 15.29 -
10009.66 952.09 8.54 1220 10040.26 VBD 1.03 - - 2049.94 - - - 1486.31 - 177.36 28.93 1.897 2244.06 -4.2 0.361 - - - - - - - - 11.69
10339.71 922.99 8.92 1253 10367.62 done 1.10 - - 2049.94 - 3.69 0.112 2912.75 386.6 200.63 22.47 1.840 2146.41 -4.3 0.371 - - - - - - - 15.44 11.70
10399.81 917.66 8.59 1265 10436.56 1.20 0.26 0.076 2104.31 209.1 3.70 0.094 1438.38 -398.5 230.97 29.75 1.873 2026.06 -4.0 0.337 - - - - - - 15.45 15.53 12.19
10735.16 877.48 12.30 1302 10740.43 roll 1.20 - - 2104.50 - 2.73 0.180 459.19 -358.7 230.97 - - 2019.09 - - - - - - - - - 15.38 -
10815.21 865.56 15.79 1318 10820.47 1.14 0.34 0.207 2071.50 -97.1 2.35 0.037 1490.38 438.8 230.97 - - 2017.50 - - - - - - - - 15.43 15.60 -
11125.25 836.43 9.03 1350 11151.08 done 1.22 - - 2072.25 - 3.65 0.108 2911.38 389.3 251.90 19.94 1.772 1940.16 -3.9 0.311 - - - - - - - 15.55 11.64
11175.27 832.01 9.11 1360 11201.18 1.32 0.38 0.070 2132.38 158.2 3.65 0.090 1436.38 -404.1 270.97 19.95 1.737 1864.62 -3.8 0.309 - - - - - - 15.54 15.60 12.24
11505.26 789.37 13.10 1396 11506.59 no move 1.32 - - 2133.50 - - - 1437.00 - 270.97 - - 1855.62 - - - - - - - - - - -
11805.36 749.86 13.43 1426 11810.55 roll 1.32 - - 2135.12 - 2.66 0.168 457.56 -368.2 270.97 - - 1856.97 - - - - - - - - - 15.57 -
11855.32 741.64 16.84 1436 11860.60 1.25 0.34 0.219 2098.00 -109.2 2.36 0.037 1499.81 441.6 270.97 - - 1856.03 - - - - - - - - 15.50 15.68 -
12165.33 708.00 10.28 1468 12170.61 done 1.29 - - 2098.06 - 2.86 0.168 459.19 -363.9 270.97 - - 1854.44 - - - - - - - - - 15.58 -
12195.31 704.41 11.99 1474 12200.45 done 1.29 - - 2096.62 - 2.33 0.037 1507.19 449.8 270.97 - - 1855.09 - - - - - - - - - 15.71 -
12505.38 671.78 10.69 1506 12506.85 1.33 0.22 0.089 2131.75 159.7 - - 1507.81 - 270.97 - - 1853.25 - - - - - - - - 15.72 - -
12805.36 632.36 13.14 1536 12806.69 VBD 1.33 - - 2132.25 - - - 1508.25 - 270.97 - - 1853.44 - - - - - - - - - - -
13105.44 593.23 12.98 1566 13110.67 done 1.33 - - 2132.50 - 2.86 0.159 457.38 -367.4 270.97 - - 1854.09 - - - - - - - - - 15.59 -
13180.08 581.31 16.34 1581 13186.08 1.26 0.31 0.219 2099.75 -105.6 2.32 0.038 1506.00 452.0 270.97 - - 1854.78 - - - - - - - - 15.60 15.79 -
13485.50 548.73 10.23 1612 13486.83 VBD 1.30 - - 2100.38 - - - 1506.62 - 270.97 - - 1852.44 - - - - - - - - - - -
13785.52 517.46 10.41 1642 13786.99 1.34 0.22 0.089 2133.62 151.1 - - 1506.62 - 270.97 - - 1853.84 - - - - - - - - 15.77 - -
14085.44 478.41 12.86 1672 14086.78 VBD 1.34 - - 2134.25 - - - 1507.12 - 270.97 - - 1852.81 - - - - - - - - - - -
14385.53 440.09 12.82 1702 14390.76 done 1.34 - - 2133.12 - 2.84 0.155 457.69 -369.5 270.97 - - 1854.38 - - - - - - - - - 15.58 -
14435.50 432.31 16.56 1712 14440.76 1.27 0.29 0.215 2104.50 -98.7 2.31 0.038 1508.62 454.9 270.97 - - 1854.50 - - - - - - - - 15.54 15.70 -
14745.52 400.19 9.93 1744 14746.86 no move 1.32 - - 2104.62 - - - 1509.38 - 272.57 - - 1852.78 - - - - - - - - - - -
15045.65 370.49 9.96 1774 15046.99 no move 1.36 - - 2103.94 - - - 1508.88 - 273.40 - - 1853.16 - - - - - - - - - - -
15345.71 340.61 9.90 1804 15352.33 1.40 0.29 0.081 2149.38 156.7 - - 1508.94 - 275.54 5.22 0.795 1845.25 -1.5 0.110 - - - - - - 15.80 - 11.33
15645.66 301.61 12.97 1834 15650.94 roll 1.40 - - 2150.31 - 2.83 0.150 456.69 -371.8 275.54 - - 1843.91 - - - - - - - - - 15.64 -
15675.68 297.16 15.22 1840 15680.96 roll back 1.33 0.31 0.218 2115.38 -112.7 2.31 0.038 1506.00 454.2 275.54 - - 1845.69 - - - - - - - - 15.57 15.77 -
15985.71 264.65 10.31 1872 15987.04 no move 1.33 - - 2116.44 - - - 1506.44 - 275.54 - - 1842.50 - - - - - - - - - - -
16285.83 233.08 10.60 1902 16287.16 no move 1.33 - - 2116.38 - - - 1506.12 - 275.54 - - 1842.38 - - - - - - - - - - -
16585.88 202.69 10.23 1932 16591.10 roll 1.33 - - 2115.75 - 2.83 0.149 457.62 -370.5 275.54 - - 1844.62 - - - - - - - - - 15.59 -
16620.49 198.54 12.26 1939 16626.29 roll 1.33 - - 2116.56 - 2.31 0.039 1506.06 453.9 275.54 - - 1844.03 - - - - - - - - - 15.75 -
16925.97 167.85 9.90 1970 16927.29 no move 1.36 - - 2116.25 - - - 1506.06 - 277.61 - - 1842.47 - - - - - - - - - - -
17226.00 137.37 10.03 2000 17227.33 no move 1.39 - - 2116.38 - - - 1506.94 - 277.61 - - 1842.53 - - - - - - - - - - -
17526.06 106.93 10.34 2030 17527.53 pitch 1.42 0.25 0.085 2156.88 162.0 - - 1506.69 - 277.61 - - 1843.66 - - - - - - - - 15.70 - -
17826.08 66.12 13.54 2084 17831.68 roll 1.42 - - 2155.94 - 2.83 0.147 456.81 -371.0 277.61 - - 1844.66 - - - - - - - - - 15.57 -
17901.12 53.90 16.86 2099 17906.78 roll back 1.34 0.34 0.216 2120.06 -105.5 2.33 0.039 1508.06 451.2 277.61 - - 1843.66 - - - - - - - - 15.54 15.57 -
18086.15 34.30 9.58 2136 18101.41 VBD 1.35 - - 2120.00 - - - 1508.12 - 286.64 12.13 0.916 1798.34 -3.7 0.024 - - - - - - - - 11.57
18281.21 14.33 11.02 2175 18286.92 roll 1.35 - - 2119.50 - 3.45 0.082 2914.50 407.6 286.64 - - 1796.72 - - - - - - - - - 15.62 -
18306.23 11.71 10.70 2180 18311.96 roll 1.39 - - 2119.12 - 3.54 0.065 1434.69 -418.0 286.64 - - 1796.38 - - - - - - - - - 15.73 -
18407 end climb: SURFACE_DEPTH_REACHED
18407 begin surface coast
18432 end surface coast: CONTROL_FINISHED_OK
18432 begin surface
SM 0.99 - - - - 173.2 165.65 0.964 929.5 5.6 11.99 0.055 893.5 74.5 - 1.07 0.037 965.5 899.0 -2.459 - - 12.10 15.75 15.81 -