EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 17 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 11.45 of 510.00 AH used of 24V (97.75% remains)
• Surface angle -52.0 deg, depth 1.37 m • Intended pitch -17.6 deg, speed -10.000 cm/s
VBD pumped to 499.88 (SM_CC=500)
• GPS1 time: 35 s
• GPS2 time: 3 s • Transponder ping count: 5
• 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
10.90 - - - 134.86 VBD -1.02 - - 177.12 - - - 1964.12 - -145.99 123.36 0.005 3401.38 - - - - - - - - - - 15.20
135.14 3.22 -1.63 24 160.90 -1.02 12.11 0.309 1551.88 113.5 3.12 0.122 3186.69 391.8 -145.99 4.91 0.009 3563.34 33.0 -2.016 - - - - - - 15.20 15.17 15.30
383.44 37.48 -14.06 74 389.15 roll -0.95 - - 1551.94 - 2.90 0.052 1977.31 -417.0 -145.99 - - 3563.72 - - - - - - - - - 15.56 -
568.50 63.49 -14.14 111 574.16 roll back -0.89 0.24 0.203 1586.00 141.9 3.11 0.123 3185.44 388.5 -145.99 - - 3562.56 - - - - - - - - 15.48 15.36 -
603.46 68.01 -12.99 118 609.06 roll -0.85 - - 1585.81 - 2.90 0.052 1976.94 -416.7 -145.99 - - 3562.56 - - - - - - - - - 15.58 -
788.45 90.20 -12.07 155 794.24 roll -0.85 - - 1585.75 - 3.87 0.145 535.44 -372.5 -145.99 - - 3562.56 - - - - - - - - - 15.36 -
823.49 95.09 -14.25 162 829.19 roll -0.80 - - 1585.69 - 3.51 0.045 2026.19 424.7 -145.99 - - 3562.81 - - - - - - - - - 15.59 -
1013.54 117.95 -11.87 185 1014.87 no move -0.80 - - 1585.75 - - - 2026.69 - -145.99 - - 3561.78 - - - - - - - - - - -
1313.56 153.84 -11.87 215 1314.89 no move -0.80 - - 1585.50 - - - 2026.19 - -145.99 - - 3561.97 - - - - - - - - - - -
1613.59 189.25 -12.19 245 1619.02 roll -0.80 - - 1585.31 - 4.05 0.137 536.50 -367.8 -145.99 - - 3563.03 - - - - - - - - - 15.46 -
1643.56 193.45 -14.01 251 1649.03 roll back -0.75 0.23 0.199 1618.62 144.8 3.51 0.047 2022.81 423.5 -145.99 - - 3562.78 - - - - - - - - 15.47 15.61 -
1953.60 225.23 -9.96 283 1954.93 no move -0.75 - - 1618.69 - - - 2023.38 - -145.99 - - 3562.22 - - - - - - - - - - -
2253.70 256.04 -10.44 313 2259.13 roll -0.75 - - 1619.06 - 4.03 0.142 536.44 -369.0 -145.99 - - 3562.53 - - - - - - - - - 15.45 -
2303.66 262.13 -12.52 323 2309.04 roll -0.75 - - 1618.81 - 3.49 0.047 2024.19 426.3 -145.99 - - 3563.62 - - - - - - - - - 15.63 -
2613.69 294.18 -10.35 355 2615.01 no move -0.75 - - 1618.56 - - - 2024.62 - -145.99 - - 3562.91 - - - - - - - - - - -
2913.82 324.87 -9.99 385 2919.24 roll -0.75 - - 1618.56 - 4.03 0.147 536.50 -369.3 -145.99 - - 3562.56 - - - - - - - - - 15.43 -
2973.77 331.90 -12.16 397 2979.16 roll -0.75 - - 1618.75 - 3.46 0.048 2020.88 429.0 -145.99 - - 3563.09 - - - - - - - - - 15.76 -
3283.80 363.91 -10.35 429 3289.30 roll -0.75 - - 1618.25 - 4.01 0.148 536.88 -370.1 -145.99 - - 3563.69 - - - - - - - - - 15.43 -
3313.82 367.39 -11.59 435 3319.20 roll -0.75 - - 1618.31 - 3.46 0.047 2022.50 429.4 -145.99 - - 3563.62 - - - - - - - - - 15.76 -
3623.86 399.13 -10.96 467 3629.38 roll -0.75 - - 1618.62 - 4.06 0.150 536.12 -366.1 -145.99 - - 3563.06 - - - - - - - - - 15.43 -
3648.56 402.12 -11.18 472 3654.59 roll -0.75 - - 1618.56 - 3.47 0.048 2021.88 428.2 -145.99 - - 3563.12 - - - - - - - - - 15.64 -
3953.91 435.75 -10.78 503 3959.41 roll -0.75 - - 1618.94 - 4.09 0.151 535.75 -363.4 -145.99 - - 3563.97 - - - - - - - - - 15.41 -
3988.61 440.07 -12.59 510 3994.64 roll -0.75 - - 1618.69 - 3.46 0.049 2020.38 429.1 -145.99 - - 3563.34 - - - - - - - - - 15.63 -
4293.98 472.14 -9.86 541 4299.47 roll -0.75 - - 1618.50 - 4.05 0.155 536.62 -366.4 -145.99 - - 3563.62 - - - - - - - - - 15.41 -
4328.67 476.03 -11.11 548 4334.70 roll -0.75 - - 1618.88 - 3.46 0.049 2020.44 428.8 -145.99 - - 3562.69 - - - - - - - - - 15.64 -
4634.05 505.94 -9.42 579 4639.53 roll -0.75 - - 1619.50 - 4.03 0.157 537.69 -367.9 -145.99 - - 3563.12 - - - - - - - - - 15.39 -
4668.72 509.70 -10.73 586 4674.76 roll -0.75 - - 1619.12 - 3.46 0.050 2020.31 428.5 -145.99 - - 3563.03 - - - - - - - - - 15.64 -
4974.10 540.30 -9.56 617 4979.60 roll -0.75 - - 1618.38 - 4.08 0.157 537.62 -363.4 -145.99 - - 3563.22 - - - - - - - - - 15.38 -
5008.78 544.23 -11.24 624 5014.82 roll -0.75 - - 1619.06 - 3.46 0.050 2018.50 428.0 -145.99 - - 3562.94 - - - - - - - - - 15.63 -
5314.16 575.57 -9.95 655 5319.66 roll -0.75 - - 1619.06 - 4.11 0.159 537.38 -360.4 -145.99 - - 3564.19 - - - - - - - - - 15.37 -
5344.17 579.03 -10.73 661 5349.54 roll -0.75 - - 1618.62 - 3.45 0.050 2018.69 429.4 -145.99 - - 3564.16 - - - - - - - - - 15.68 -
5654.22 609.50 -9.66 693 5659.72 roll -0.75 - - 1618.75 - 4.11 0.160 537.56 -360.4 -145.99 - - 3563.28 - - - - - - - - - 15.36 -
5688.90 613.40 -11.14 700 5694.93 roll -0.75 - - 1618.56 - 3.46 0.050 2018.19 427.9 -145.99 - - 3564.44 - - - - - - - - - 15.63 -
5994.27 642.07 -9.03 731 5999.77 roll -0.75 - - 1618.75 - 4.12 0.163 537.44 -359.4 -145.99 - - 3564.22 - - - - - - - - - 15.36 -
6034.28 646.32 -10.94 739 6039.67 roll -0.75 - - 1618.81 - 3.45 0.051 2018.12 429.2 -145.99 - - 3563.00 - - - - - - - - - 15.68 -
6344.33 672.97 -8.48 771 6349.81 roll -0.78 - - 1619.00 - 4.12 0.165 535.62 -359.8 -145.99 - - 3562.19 - - - - - - - - - 15.35 -
6388.98 677.67 -10.68 780 6395.02 roll -0.78 - - 1618.81 - 3.47 0.053 2017.88 427.2 -145.99 - - 3562.72 - - - - - - - - - 15.61 -
6694.35 704.89 -8.47 811 6699.84 roll -0.82 - - 1618.50 - 4.13 0.166 537.38 -358.5 -145.99 - - 3564.00 - - - - - - - - - 15.34 -
6739.02 709.40 -10.41 820 6745.06 roll -0.82 - - 1618.38 - 3.45 0.052 2017.25 428.9 -145.99 - - 3562.84 - - - - - - - - - 15.71 -
7044.38 737.77 -9.75 851 7050.95 roll back -0.85 0.26 0.084 1579.44 -149.8 4.17 0.166 537.88 -354.8 -145.99 - - 3563.47 - - - - - - - - 15.44 15.32 -
7079.44 742.50 -14.00 858 7084.83 roll back -0.80 0.26 0.202 1606.06 102.4 3.45 0.055 2016.06 428.5 -145.99 - - 3562.69 - - - - - - - - 15.42 15.69 -
7389.40 774.14 -9.34 890 7394.89 roll -0.80 - - 1606.31 - 4.18 0.168 536.56 -353.9 -145.99 - - 3564.06 - - - - - - - - - 15.30 -
7419.39 777.32 -10.32 896 7424.80 roll -0.80 - - 1605.88 - 3.46 0.056 2015.12 427.3 -145.99 - - 3563.66 - - - - - - - - - 15.69 -
7729.40 807.73 -10.06 928 7730.73 no move -0.80 - - 1605.81 - - - 2015.62 - -145.99 - - 3561.16 - - - - - - - - - - -
8029.52 836.61 -9.42 958 8034.95 roll -0.80 - - 1606.06 - 4.22 0.173 537.19 -350.3 -145.99 - - 3562.81 - - - - - - - - - 15.30 -
8064.11 840.67 -11.59 965 8070.17 roll -0.80 - - 1605.81 - 3.50 0.057 2015.75 422.4 -145.99 - - 3561.53 - - - - - - - - - 15.52 -
8369.46 868.93 -8.90 996 8374.98 roll -0.80 - - 1606.31 - 4.22 0.174 538.50 -350.1 -145.99 - - 3561.78 - - - - - - - - - 15.29 -
8419.46 874.12 -10.72 1006 8424.85 roll -0.80 - - 1606.50 - 3.47 0.059 2014.38 425.3 -145.99 - - 3561.66 - - - - - - - - - 15.66 -
8729.49 901.62 -8.78 1038 8735.01 roll -0.80 - - 1606.19 - 4.22 0.177 538.12 -349.8 -145.99 - - 3561.84 - - - - - - - - - 15.28 -
8769.49 905.66 -10.23 1046 8774.88 roll -0.80 - - 1605.81 - 3.49 0.060 2014.69 423.1 -145.99 - - 3561.47 - - - - - - - - - 15.62 -
9079.54 933.17 -8.81 1078 9085.03 roll -0.83 - - 1605.62 - 4.20 0.178 537.44 -351.7 -145.99 - - 3561.56 - - - - - - - - - 15.32 -
9144.24 940.26 -11.18 1091 9150.26 roll -0.83 - - 1605.94 - 3.52 0.062 2014.62 419.7 -145.99 - - 3561.47 - - - - - - - - - 15.52 -
9449.59 968.63 -8.75 1122 9455.09 roll -0.86 - - 1606.19 - 4.24 0.183 537.38 -348.4 -145.99 - - 3562.50 - - - - - - - - - 15.29 -
9514.32 975.24 -10.44 1135 9520.32 roll -0.86 - - 1605.94 - 3.51 0.065 2013.06 420.4 -145.99 - - 3561.75 - - - - - - - - - 15.62 -
9690 end dive: TARGET_DEPTH_EXCEEDED
9690 begin apogee
9692.64 990.18 -8.13 1153 9821.65 -0.23 1.03 0.159 1746.38 136.3 0.04 0.473 1421.88 -14779.5 - 124.64 2.112 2966.75 -4.8 0.382 - - - - - - 15.52 15.12 11.34
9825 end apogee: CONTROL_FINISHED_OK
9825 begin climb
9824.55 993.95 - 1166 9966.37 1.02 2.16 0.126 2048.62 139.9 2.93 0.209 459.75 -328.4 145.99 133.07 2.063 2371.41 -4.5 0.368 - - - - - - 15.21 14.84 12.29
9998.90 984.22 9.51 1200 10014.29 done 1.00 - - 2048.75 - 2.31 0.045 1434.12 421.8 156.57 11.65 1.650 2328.19 -3.7 0.378 - - - - - - - 15.13 11.95
10318.92 960.29 6.88 1234 10386.58 done 1.10 - - 2048.31 - 3.71 0.126 2863.44 385.3 223.66 62.33 1.988 2053.47 -4.4 0.364 - - - - - - - 15.09 11.65
10414.17 953.46 7.23 1253 10477.17 1.25 0.35 0.076 2113.62 186.6 3.88 0.113 1390.50 -379.6 283.10 56.58 1.964 1812.28 -4.3 0.354 - - - - - - 15.22 15.23 12.16
10779.77 908.56 13.01 1296 10781.11 VBD 1.25 - - 2113.06 - - - 1390.38 - 283.10 - - 1803.59 - - - - - - - - - - -
11079.88 869.25 13.12 1326 11085.26 done 1.25 - - 2114.25 - 3.72 0.118 2862.69 395.8 283.10 - - 1804.94 - - - - - - - - - 15.48 -
11104.50 866.14 12.64 1331 11110.59 done 1.25 - - 2114.50 - 3.80 0.110 1389.62 -387.7 283.10 - - 1804.09 - - - - - - - - - 15.51 -
11409.86 825.98 13.12 1362 11411.20 VBD 1.25 - - 2114.44 - - - 1390.50 - 283.10 - - 1801.84 - - - - - - - - - - -
11709.97 787.52 12.33 1392 11715.35 done 1.25 - - 2113.88 - 3.68 0.114 2863.38 400.2 283.10 - - 1802.88 - - - - - - - - - 15.54 -
11759.95 781.83 10.97 1402 11765.38 done 1.29 - - 2114.50 - 3.75 0.105 1388.94 -393.2 283.10 - - 1802.19 - - - - - - - - - 15.58 -
12069.97 744.43 11.96 1434 12071.30 VBD 1.29 - - 2114.50 - - - 1389.44 - 283.10 - - 1800.66 - - - - - - - - - - -
12370.08 706.72 12.47 1464 12375.45 done 1.29 - - 2114.56 - 3.66 0.106 2862.62 402.5 283.10 - - 1802.31 - - - - - - - - - 15.58 -
12400.05 703.10 12.37 1470 12405.47 done 1.29 - - 2114.25 - 3.73 0.099 1387.94 -395.4 283.10 - - 1803.72 - - - - - - - - - 15.61 -
12710.08 664.27 12.37 1502 12715.51 done 1.29 - - 2113.31 - 3.68 0.104 2864.12 401.1 283.10 - - 1802.56 - - - - - - - - - 15.54 -
12734.77 661.29 12.36 1507 12740.86 done 1.29 - - 2114.38 - 3.71 0.097 1388.81 -397.7 283.10 - - 1802.19 - - - - - - - - - 15.57 -
13040.14 623.51 12.66 1538 13045.56 done 1.29 - - 2115.00 - 3.67 0.101 2863.62 401.9 283.10 - - 1801.88 - - - - - - - - - 15.59 -
13064.82 620.50 12.44 1543 13070.90 done 1.29 - - 2114.00 - 3.69 0.094 1389.31 -399.5 283.10 - - 1801.03 - - - - - - - - - 15.62 -
13370.19 582.77 12.40 1574 13371.52 VBD 1.29 - - 2114.50 - - - 1389.62 - 283.10 - - 1800.19 - - - - - - - - - - -
13670.30 545.35 12.21 1604 13675.67 done 1.29 - - 2114.62 - 3.65 0.095 2863.12 403.7 283.10 - - 1801.97 - - - - - - - - - 15.54 -
13710.27 540.77 11.24 1612 13715.67 done 1.33 - - 2113.81 - 3.66 0.090 1387.38 -403.2 283.10 - - 1801.41 - - - - - - - - - 15.63 -
14020.30 504.41 11.96 1644 14021.63 VBD 1.33 - - 2114.81 - - - 1387.69 - 283.10 - - 1800.97 - - - - - - - - - - -
14320.36 469.57 11.46 1674 14325.73 done 1.33 - - 2114.31 - 3.64 0.091 2864.00 405.6 283.10 - - 1800.69 - - - - - - - - - 15.60 -
14350.31 466.39 11.13 1680 14355.75 done 1.33 - - 2114.44 - 3.67 0.087 1388.44 -402.1 283.10 - - 1803.03 - - - - - - - - - 15.64 -
14660.33 431.20 11.56 1712 14665.77 done 1.33 - - 2114.62 - 3.66 0.089 2863.62 403.1 283.10 - - 1803.06 - - - - - - - - - 15.48 -
14690.34 427.85 11.46 1718 14695.78 done 1.33 - - 2114.62 - 3.70 0.086 1387.25 -399.0 283.10 - - 1800.84 - - - - - - - - - 15.48 -
15000.36 391.46 11.93 1750 15005.78 done 1.33 - - 2114.25 - 3.63 0.088 2864.25 406.9 283.10 - - 1801.94 - - - - - - - - - 15.59 -
15025.04 388.64 11.73 1755 15031.12 done 1.33 - - 2114.62 - 3.67 0.085 1387.94 -402.3 283.10 - - 1802.91 - - - - - - - - - 15.63 -
15330.39 352.40 11.79 1786 15335.80 done 1.33 - - 2114.00 - 3.63 0.086 2864.06 406.6 283.10 - - 1801.75 - - - - - - - - - 15.60 -
15370.42 348.03 10.85 1794 15375.83 done 1.37 - - 2114.50 - 3.65 0.084 1388.31 -404.3 283.10 - - 1801.41 - - - - - - - - - 15.63 -
15680.41 311.07 11.85 1826 15685.83 done 1.37 - - 2114.75 - 3.66 0.085 2865.00 403.5 283.10 - - 1802.25 - - - - - - - - - 15.47 -
15715.11 307.27 10.86 1833 15721.25 1.40 0.16 0.102 2150.50 223.4 3.67 0.083 1386.62 -402.8 283.10 - - 1801.12 - - - - - - - - 15.48 15.59 -
16020.46 265.39 14.06 1864 16021.79 VBD 1.37 - - 2150.31 - - - 1386.88 - 283.10 - - 1799.59 - - - - - - - - - - -
16320.52 222.84 13.87 1894 16325.89 done 1.37 - - 2150.19 - 3.64 0.085 2866.12 406.4 283.10 - - 1801.44 - - - - - - - - - 15.59 -
16355.14 218.12 13.32 1901 16361.22 done 1.37 - - 2150.38 - 3.69 0.081 1386.31 -401.0 283.10 - - 1802.69 - - - - - - - - - 15.59 -
16660.47 174.38 14.19 1932 16661.81 VBD 1.37 - - 2150.38 - - - 1386.88 - 283.10 - - 1800.38 - - - - - - - - - - -
16960.56 131.93 14.09 1962 16965.92 done 1.37 - - 2150.00 - 3.66 0.082 2863.50 403.4 283.10 - - 1801.41 - - - - - - - - - 15.48 -
17010.51 125.36 12.76 1972 17015.92 done 1.37 - - 2150.25 - 3.68 0.078 1386.94 -401.2 283.10 - - 1802.19 - - - - - - - - - 15.47 -
17315.58 83.86 13.56 2015 17321.33 done 1.37 - - 2151.06 - 3.65 0.080 2864.94 404.9 283.10 - - 1801.09 - - - - - - - - - 15.61 -
17340.59 80.56 13.21 2020 17346.34 done 1.37 - - 2150.88 - 3.67 0.077 1385.81 -403.0 283.10 - - 1800.72 - - - - - - - - - 15.47 -
17525.63 57.09 12.99 2057 17526.97 VBD 1.37 - - 2151.00 - - - 1385.88 - 283.10 - - 1799.91 - - - - - - - - - - -
17705.69 32.14 14.38 2093 17707.03 VBD 1.37 - - 2150.81 - - - 1386.12 - 283.10 - - 1799.78 - - - - - - - - - - -
17885.75 7.92 12.11 2129 17891.51 done 1.37 - - 2151.56 - 3.63 0.079 2864.94 407.4 283.10 - - 1801.34 - - - - - - - - - 15.60 -
17915.78 4.01 13.03 2135 17921.52 done 1.37 - - 2150.00 - 3.68 0.075 1387.31 -401.5 283.10 - - 1801.78 - - - - - - - - - 15.64 -
17931 end climb: SURFACE_DEPTH_REACHED
17931 begin surface coast
17946 end surface coast: CONTROL_FINISHED_OK
17946 begin surface
SM 1.19 - - - - 175.7 169.02 0.983 930.2 5.5 12.65 0.078 899.6 71.1 - 1.45 0.053 960.8 660.1 -1.515 - - 11.79 15.71 15.78 -