EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 179 * Raw log
prev dive * next dive * dive
• Previous call tries 4 • 76.72 of 510.00 AH used of 24V (84.96% remains)
• Surface angle -49.6 deg, depth 0.88 m • Intended pitch -16.6 deg, speed -12.692 cm/s
VBD pumped to 499.85 (SM_CC=500)
• GPS1 time: 14 s
• GPS2 time: 2 s • Transponder ping count: 4
• 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.58 - - - 140.43 VBD -1.12 - - 173.81 - - - 1955.06 - -243.31 133.41 0.005 3241.47 - - - - - - - - - - 15.23
140.70 3.39 -1.93 26 181.91 -1.12 11.94 0.303 1527.88 113.4 3.85 0.120 533.56 -369.2 -243.31 19.58 0.006 3960.56 36.7 -3.547 - - - - - - 15.24 15.11 15.29
364.45 42.21 -17.86 71 370.19 roll -1.04 - - 1528.44 - 3.53 0.034 2026.69 423.0 -243.31 - - 3961.53 - - - - - - - - - 15.72 -
549.52 71.87 -15.85 108 555.22 roll back -0.98 0.23 0.174 1562.81 149.4 3.09 0.116 3187.12 375.5 -243.31 - - 3962.09 - - - - - - - - 15.69 15.58 -
579.52 76.11 -14.13 114 585.13 roll -0.98 - - 1562.81 - 2.83 0.035 1972.44 -429.2 -243.31 - - 3961.53 - - - - - - - - - 15.78 -
769.56 101.39 -13.29 151 770.89 no move -0.98 - - 1562.69 - - - 1972.19 - -243.31 - - 3961.19 - - - - - - - - - - -
1069.66 141.99 -12.93 181 1074.98 roll -0.98 - - 1562.94 - 3.21 0.110 3185.56 378.0 -243.31 - - 3961.16 - - - - - - - - - 15.60 -
1104.32 146.47 -12.59 188 1110.24 roll -0.98 - - 1563.12 - 2.80 0.035 1973.25 -433.0 -243.31 - - 3962.19 - - - - - - - - - 15.72 -
1409.69 185.68 -13.13 219 1411.02 no move -0.98 - - 1563.25 - - - 1973.25 - -243.31 - - 3961.59 - - - - - - - - - - -
1709.79 225.99 -13.66 249 1711.12 no move -0.98 - - 1563.75 - - - 1973.75 - -243.31 - - 3961.97 - - - - - - - - - - -
2009.84 268.34 -14.26 279 2015.26 roll -0.98 - - 1562.88 - 3.19 0.112 3186.25 380.1 -243.31 - - 3962.25 - - - - - - - - - 15.63 -
2039.81 272.59 -14.18 285 2045.06 roll -0.98 - - 1563.19 - 2.79 0.038 1973.69 -434.6 -243.31 - - 3961.88 - - - - - - - - - 15.87 -
2349.89 314.81 -13.83 317 2355.29 roll -0.98 - - 1563.44 - 3.82 0.124 533.62 -377.0 -243.31 - - 3961.47 - - - - - - - - - 15.67 -
2379.85 319.27 -15.13 323 2385.23 roll -0.98 - - 1563.44 - 3.44 0.031 2025.75 433.8 -243.31 - - 3962.06 - - - - - - - - - 15.88 -
2689.88 360.45 -13.04 355 2691.21 no move -0.98 - - 1563.31 - - - 2026.56 - -243.31 - - 3961.06 - - - - - - - - - - -
2990.02 398.95 -12.45 385 2995.42 roll -0.98 - - 1562.62 - 3.95 0.123 535.38 -377.5 -243.31 - - 3962.28 - - - - - - - - - 15.66 -
3014.62 402.55 -13.34 390 3020.67 roll -0.98 - - 1563.31 - 3.44 0.032 2025.75 433.2 -243.31 - - 3961.12 - - - - - - - - - 15.90 -
3320.01 440.77 -12.27 421 3321.34 no move -0.98 - - 1563.31 - - - 2025.12 - -243.31 - - 3960.81 - - - - - - - - - - -
3620.11 477.44 -12.28 451 3625.53 roll -0.98 - - 1562.94 - 4.01 0.125 535.50 -371.5 -243.31 - - 3960.78 - - - - - - - - - 15.65 -
3644.72 480.71 -13.14 456 3650.77 roll -0.98 - - 1563.44 - 3.45 0.033 2023.06 431.2 -243.31 - - 3960.72 - - - - - - - - - 15.91 -
3950.10 518.62 -12.32 487 3951.43 no move -0.98 - - 1563.31 - - - 2023.31 - -243.31 - - 3960.22 - - - - - - - - - - -
4250.19 556.67 -12.86 517 4255.62 roll -0.98 - - 1563.00 - 4.05 0.129 534.75 -367.5 -243.31 - - 3960.16 - - - - - - - - - 15.64 -
4280.15 560.83 -13.86 523 4285.52 roll -0.98 - - 1563.19 - 3.46 0.036 2021.88 429.8 -243.31 - - 3959.75 - - - - - - - - - 15.91 -
4590.15 600.23 -13.02 555 4591.48 no move -0.98 - - 1563.12 - - - 2021.62 - -243.31 - - 3959.25 - - - - - - - - - - -
4890.24 639.07 -13.14 585 4895.67 roll -0.98 - - 1562.88 - 4.03 0.135 535.88 -368.7 -243.31 - - 3959.81 - - - - - - - - - 15.62 -
4924.86 644.04 -14.53 592 4930.89 roll -0.98 - - 1563.12 - 3.49 0.039 2019.56 425.1 -243.31 - - 3959.97 - - - - - - - - - 15.91 -
5230.19 684.78 -13.35 623 5235.69 roll -0.98 - - 1563.38 - 4.05 0.135 535.38 -366.5 -243.31 - - 3959.25 - - - - - - - - - 15.62 -
5244.89 686.92 -13.38 626 5250.93 roll -0.98 - - 1563.38 - 3.48 0.037 2021.19 427.0 -243.31 - - 3959.41 - - - - - - - - - 15.85 -
5550.23 726.43 -12.11 657 5555.72 roll -0.98 - - 1564.00 - 4.06 0.138 535.50 -365.9 -243.31 - - 3959.97 - - - - - - - - - 15.61 -
5604.93 733.82 -13.38 668 5610.95 roll -0.98 - - 1562.69 - 3.50 0.040 2017.88 423.5 -243.31 - - 3959.53 - - - - - - - - - 15.84 -
5910.26 770.72 -12.02 699 5911.59 no move -0.98 - - 1563.38 - - - 2018.31 - -243.31 - - 3958.88 - - - - - - - - - - -
6210.35 805.06 -11.35 729 6215.76 roll -0.98 - - 1563.12 - 4.09 0.143 536.19 -362.4 -243.31 - - 3958.94 - - - - - - - - - 15.59 -
6250.30 810.07 -12.47 737 6255.67 roll -0.98 - - 1563.12 - 3.50 0.041 2020.25 424.0 -243.31 - - 3959.06 - - - - - - - - - 15.91 -
6560.31 843.83 -10.40 769 6565.78 roll -0.98 - - 1563.12 - 4.10 0.145 536.06 -362.0 -243.31 - - 3958.97 - - - - - - - - - 15.58 -
6580.32 846.09 -10.78 773 6585.69 roll -0.98 - - 1563.25 - 3.49 0.041 2017.94 424.6 -243.31 - - 3958.81 - - - - - - - - - 15.90 -
6890.32 878.62 -9.90 805 6895.82 roll -0.98 - - 1563.38 - 4.12 0.148 536.56 -359.6 -243.31 - - 3959.12 - - - - - - - - - 15.56 -
6935.01 883.69 -11.39 814 6941.03 roll -0.98 - - 1562.88 - 3.49 0.043 2017.44 424.3 -243.31 - - 3958.53 - - - - - - - - - 15.88 -
7240.35 915.71 -10.24 845 7245.84 roll -0.98 - - 1563.19 - 4.11 0.151 535.50 -360.6 -243.31 - - 3958.22 - - - - - - - - - 15.55 -
7270.36 919.14 -11.02 851 7275.75 roll -0.98 - - 1563.88 - 3.53 0.045 2015.75 419.3 -243.31 - - 3957.34 - - - - - - - - - 15.88 -
7580.38 950.01 -9.87 883 7585.89 roll -0.98 - - 1563.25 - 4.18 0.153 536.50 -353.9 -243.31 - - 3956.31 - - - - - - - - - 15.55 -
7605.07 952.68 -9.94 888 7611.12 roll -0.98 - - 1563.31 - 3.51 0.045 2015.94 421.5 -243.31 - - 3956.72 - - - - - - - - - 15.86 -
7910.44 983.03 -10.04 919 7915.94 roll -0.98 - - 1563.69 - 4.19 0.156 536.00 -353.2 -243.31 - - 3957.38 - - - - - - - - - 15.53 -
7930.46 985.26 -10.34 923 7935.85 roll -0.98 - - 1563.69 - 3.52 0.046 2014.94 420.2 -243.31 - - 3956.06 - - - - - - - - - 15.85 -
7980 end dive: TARGET_DEPTH_EXCEEDED
7980 begin apogee
7982.91 990.38 -10.19 929 8195.07 -0.23 1.29 0.145 1747.06 142.1 0.05 0.341 1474.75 -10803.8 - 208.15 2.044 2967.06 -4.8 0.394 - - - - - - 15.73 15.06 10.66
8196 end apogee: CONTROL_FINISHED_OK
8196 begin climb
8196.47 997.82 - 950 8420.79 1.12 2.27 0.106 2074.88 144.4 3.09 0.180 460.12 -328.4 243.31 217.26 1.990 1974.91 -4.6 0.391 - - - - - - 15.17 14.97 11.99
8423.07 985.98 9.24 995 8517.34 1.26 0.20 0.085 2113.62 193.7 2.45 0.029 1486.31 418.9 340.79 89.74 1.927 1578.12 -4.4 0.387 - - - - - - 15.13 15.14 11.96
8813.32 935.22 12.68 1043 8818.60 roll 1.27 - - 2114.38 - 2.97 0.171 460.25 -345.5 341.08 - - 1572.03 - - - - - - - - - 15.49 -
9043.34 899.85 15.91 1089 9048.47 roll 1.22 - - 2114.69 - 2.37 0.030 1486.88 433.2 341.08 - - 1570.69 - - - - - - - - - 15.68 -
9353.38 860.20 12.56 1121 9358.66 roll 1.23 - - 2114.31 - 2.92 0.162 459.00 -352.0 344.82 - - 1571.19 - - - - - - - - - 15.62 -
9413.39 851.43 14.86 1133 9418.67 roll back 1.19 0.32 0.198 2083.31 -96.9 2.35 0.030 1490.19 438.8 344.82 - - 1569.72 - - - - - - - - 15.61 15.77 -
9723.64 823.58 8.72 1165 9831.75 1.43 0.47 0.063 2159.81 162.8 - - 1493.00 - 457.03 106.87 1.824 1105.06 -4.3 0.336 - - - - - - 15.70 - 11.44
10124.31 764.48 14.78 1205 10129.56 roll 1.43 - - 2160.06 - 2.95 0.158 458.19 -350.8 457.03 - - 1099.91 - - - - - - - - - 15.48 -
10154.25 759.48 17.28 1211 10159.39 roll 1.43 - - 2160.81 - 2.38 0.030 1497.56 436.7 457.03 - - 1100.06 - - - - - - - - - 15.55 -
10464.29 713.28 14.69 1243 10469.69 roll 1.43 - - 2160.44 - 3.63 0.097 2912.44 389.8 457.03 - - 1099.31 - - - - - - - - - 15.64 -
10484.28 710.51 14.70 1247 10489.70 roll 1.43 - - 2160.81 - 3.69 0.076 1437.19 -399.8 457.03 - - 1098.75 - - - - - - - - - 15.58 -
10794.28 664.86 15.30 1279 10795.62 no move 1.43 - - 2161.06 - - - 1436.75 - 457.03 - - 1097.91 - - - - - - - - - - -
11094.38 619.22 15.24 1309 11099.75 roll 1.43 - - 2161.12 - 3.75 0.086 2912.50 393.5 457.03 - - 1098.00 - - - - - - - - - 15.70 -
11109.00 617.07 15.14 1312 11115.07 roll 1.43 - - 2161.25 - 3.63 0.072 1437.25 -406.4 457.03 - - 1097.31 - - - - - - - - - 15.77 -
11414.33 571.41 15.13 1343 11415.67 no move 1.43 - - 2160.62 - - - 1436.75 - 457.03 - - 1096.91 - - - - - - - - - - -
11714.43 527.46 14.79 1373 11719.82 roll 1.43 - - 2159.75 - 3.75 0.081 2913.69 393.9 457.03 - - 1097.75 - - - - - - - - - 15.73 -
11744.41 523.47 13.32 1379 11749.81 roll 1.46 - - 2160.62 - 3.62 0.069 1436.56 -408.0 457.03 - - 1097.34 - - - - - - - - - 15.66 -
12054.42 478.76 14.37 1411 12055.75 no move 1.46 - - 2160.69 - - - 1436.44 - 457.03 - - 1097.09 - - - - - - - - - - -
12354.55 434.96 14.38 1441 12355.88 no move 1.46 - - 2161.00 - - - 1436.75 - 457.03 - - 1097.16 - - - - - - - - - - -
12654.59 391.30 14.73 1471 12659.96 roll 1.46 - - 2160.62 - 3.72 0.077 2915.25 397.4 457.03 - - 1097.53 - - - - - - - - - 15.74 -
12689.23 386.64 13.26 1478 12695.27 roll 1.51 - - 2160.25 - 3.57 0.065 1436.00 -414.4 457.03 - - 1097.75 - - - - - - - - - 15.81 -
12994.58 342.83 14.66 1509 12995.91 no move 1.51 - - 2161.50 - - - 1436.50 - 457.03 - - 1096.69 - - - - - - - - - - -
13294.70 299.07 14.53 1539 13300.08 roll 1.51 - - 2160.62 - 3.73 0.076 2914.56 396.3 457.03 - - 1097.06 - - - - - - - - - 15.74 -
13319.32 295.72 13.99 1544 13325.41 roll 1.51 - - 2160.38 - 3.58 0.064 1434.06 -413.5 457.03 - - 1097.78 - - - - - - - - - 15.82 -
13624.69 251.22 14.46 1575 13626.02 no move 1.51 - - 2161.19 - - - 1434.62 - 457.03 - - 1096.72 - - - - - - - - - - -
13924.80 208.09 14.34 1605 13930.19 roll 1.51 - - 2160.62 - 3.71 0.075 2914.62 398.9 457.03 - - 1097.19 - - - - - - - - - 15.74 -
13949.44 204.75 13.80 1610 13955.48 roll 1.54 - - 2160.75 - 3.58 0.064 1435.12 -413.3 457.03 - - 1097.16 - - - - - - - - - 15.82 -
14254.79 160.70 14.65 1641 14256.12 no move 1.54 - - 2161.25 - - - 1435.38 - 457.03 - - 1097.19 - - - - - - - - - - -
14554.91 116.86 14.91 1671 14560.29 roll 1.54 - - 2160.75 - 3.72 0.073 2913.56 397.4 457.03 - - 1097.97 - - - - - - - - - 15.71 -
14579.54 113.47 14.17 1676 14585.59 roll 1.57 - - 2160.88 - 3.57 0.063 1434.75 -414.2 457.03 - - 1097.47 - - - - - - - - - 15.80 -
14884.94 71.41 14.42 1727 14886.27 no move 1.57 - - 2160.94 - - - 1434.38 - 457.03 - - 1097.38 - - - - - - - - - - -
15064.99 45.87 14.25 1763 15066.31 no move 1.57 - - 2161.19 - - - 1434.62 - 457.03 - - 1097.69 - - - - - - - - - - -
15245.05 22.74 12.55 1799 15255.74 done 1.58 - - 2160.94 - 2.66 0.150 458.06 -367.1 461.07 4.98 0.575 1088.41 -1.9 0.013 - - - - - - - 15.45 11.06
15275.08 18.68 13.52 1805 15280.51 roll 1.58 - - 2160.12 - 2.33 0.030 1514.94 453.6 461.07 - - 1089.12 - - - - - - - - - 15.73 -
15420 end climb: SURFACE_DEPTH_REACHED
15420 begin surface coast
15440 end surface coast: CONTROL_FINISHED_OK
15440 begin surface
SM 0.94 - - - - 179.8 33.10 0.893 930.3 28.1 12.19 0.055 880.3 72.2 - 1.12 0.031 980.2 873.1 -2.706 - - 11.74 15.81 15.88 -