ARCTERX May23 * SG141 * Dive index * Mission links * Dive 251 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 68.28 of 350.00 AH used of 24V (80.49% remains)
• Surface angle -67.0 deg, depth 1.11 m • Intended pitch -18.4 deg, speed -9.167 cm/s
VBD pumped to 524.58 (SM_CC=525)
• GPS1 time: 17 s
• GPS2 time: 5 s • Transponder ping count: 39
• 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
2 end surface: CONTROL_FINISHED_OK
3 begin dive
4.32 - - - 69.13 VBD -0.60 - - 219.06 - - - 2728.19 - -116.79 61.06 0.005 3280.50 - - - - - - - - - - 15.51
69.58 3.61 -4.40 12 98.63 -0.60 6.35 0.354 1843.81 255.9 2.07 0.058 3961.25 595.7 -116.79 10.84 0.007 3877.94 55.1 -4.762 - - - - - - 15.54 15.51 15.58
106.47 18.06 -38.42 19 113.00 roll back -0.31 0.21 0.267 1927.62 399.1 1.95 0.022 2769.19 -611.3 -116.79 - - 3879.97 - - - - - - - - 15.66 15.88 -
296.55 67.94 -21.98 57 305.48 roll back -0.21 0.10 0.276 1952.19 245.7 4.09 0.035 258.50 -613.9 -116.79 - - 3880.00 - - - - - - - - 15.75 15.80 -
533.49 93.51 -11.14 104 543.05 roll back -0.36 0.12 0.171 1892.81 -494.8 4.24 0.055 2780.00 594.7 -116.79 - - 3883.12 - - - - - - - - 15.85 15.97 -
725.98 107.70 -7.31 142 732.41 roll -0.49 - - 1893.00 - 1.95 0.061 3958.38 604.3 -116.79 - - 3884.00 - - - - - - - - - 15.99 -
810.99 115.14 -9.32 159 817.65 roll back -0.59 0.12 0.087 1839.81 -443.3 1.91 0.018 2769.50 -622.5 -116.79 - - 3884.62 - - - - - - - - 15.93 16.04 -
1121.03 179.28 -15.32 221 1130.36 roll back -0.52 0.05 0.294 1876.88 741.4 4.03 0.035 257.12 -623.4 -116.79 - - 3884.28 - - - - - - - - 15.90 15.92 -
1203.37 187.41 -7.75 237 1212.88 roll back -0.62 0.04 0.184 1832.38 -1112.5 4.26 0.063 2784.75 593.3 -116.79 - - 3884.56 - - - - - - - - 15.96 16.02 -
1515.93 231.95 -13.91 299 1522.65 roll back -0.57 0.08 0.289 1876.31 549.1 1.93 0.064 3959.69 608.8 -116.79 - - 3886.53 - - - - - - - - 15.88 15.89 -
1570.94 237.12 -8.78 310 1577.63 roll back -0.63 0.04 0.185 1832.19 -1103.0 1.90 0.020 2769.06 -626.6 -116.79 - - 3887.84 - - - - - - - - 15.98 16.07 -
1880.96 275.90 -11.27 352 1890.35 roll -0.60 - - 1832.12 - 4.03 0.034 257.50 -623.2 -116.79 - - 3887.47 - - - - - - - - - 16.09 -
1928.40 280.18 -9.29 361 1937.95 roll -0.68 - - 1831.94 - 4.24 0.062 2779.88 594.9 -116.79 - - 3886.91 - - - - - - - - - 16.07 -
2243.46 311.62 -10.18 393 2249.97 roll -0.66 - - 1831.56 - 1.94 0.063 3956.88 606.7 -116.79 - - 3887.34 - - - - - - - - - 16.06 -
2258.30 313.26 -10.57 396 2264.99 roll -0.66 - - 1832.06 - 1.91 0.020 2749.56 -632.1 -116.79 - - 3887.50 - - - - - - - - - 16.10 -
2573.35 347.37 -10.56 428 2575.31 no move -0.66 - - 1831.88 - - - 2744.56 - -116.79 - - 3885.22 - - - - - - - - - - -
2883.41 377.67 -9.74 459 2891.86 roll -0.66 - - 1831.88 - 4.01 0.034 258.38 -620.0 -116.79 - - 3886.00 - - - - - - - - - 16.10 -
2919.88 380.80 -9.24 466 2929.61 roll -0.75 - - 1831.88 - 4.27 0.065 2781.31 590.9 -116.79 - - 3883.47 - - - - - - - - - 16.05 -
3232.64 408.42 -8.69 498 3239.15 roll -0.77 - - 1832.19 - 1.95 0.065 3959.44 604.2 -116.79 - - 3881.88 - - - - - - - - - 16.07 -
3337.72 416.13 -7.08 519 3344.44 roll back -0.84 0.10 0.099 1785.62 -465.7 1.92 0.022 2769.19 -619.9 -116.79 - - 3881.03 - - - - - - - - 16.00 16.11 -
3652.71 453.59 -12.63 551 3662.10 roll -0.79 - - 1785.19 - 4.05 0.035 258.06 -620.0 -116.79 - - 3878.31 - - - - - - - - - 16.11 -
3705.13 458.72 -9.70 561 3714.72 roll -0.87 - - 1783.81 - 4.28 0.065 2782.00 589.7 -116.79 - - 3876.81 - - - - - - - - - 16.07 -
4017.74 493.28 -11.17 593 4024.25 roll -0.83 - - 1783.19 - 1.96 0.066 3956.31 599.1 -116.79 - - 3875.50 - - - - - - - - - 16.07 -
4077.75 498.55 -8.33 605 4084.26 roll -0.85 - - 1782.88 - 1.92 0.022 2749.50 -628.5 -116.79 - - 3875.03 - - - - - - - - - 16.10 -
4387.80 532.46 -11.65 637 4394.38 roll -0.82 - - 1782.81 - 2.06 0.064 3959.88 587.6 -116.79 - - 3873.19 - - - - - - - - - 16.08 -
4427.66 536.83 -10.87 645 4434.32 roll -0.82 - - 1782.88 - 1.93 0.023 2754.38 -624.6 -116.79 - - 3871.97 - - - - - - - - - 16.09 -
4737.86 573.27 -12.16 677 4747.42 roll back -0.80 0.09 0.270 1806.38 261.1 4.07 0.039 259.88 -612.9 -116.79 - - 3867.84 - - - - - - - - 15.87 15.90 -
4790.45 578.06 -9.06 687 4800.31 roll back -0.90 0.09 0.102 1769.44 -410.4 4.32 0.068 2781.75 583.8 -116.79 - - 3867.25 - - - - - - - - 15.91 16.05 -
5103.32 615.06 -12.10 719 5109.83 roll -0.87 - - 1769.44 - 1.97 0.069 3958.12 597.1 -116.79 - - 3864.34 - - - - - - - - - 16.05 -
5128.30 617.98 -11.85 724 5135.03 roll back -0.85 0.09 0.206 1796.12 296.4 1.93 0.025 2768.69 -616.3 -116.79 - - 3865.09 - - - - - - - - 15.90 16.08 -
5443.22 646.38 -8.96 756 5452.76 roll -0.85 - - 1796.44 - 4.09 0.038 260.12 -613.3 -116.79 - - 3861.44 - - - - - - - - - 16.09 -
5515.80 652.06 -7.50 770 5525.66 roll back -0.95 0.09 0.095 1758.00 -427.1 4.32 0.069 2778.38 582.9 -116.79 - - 3858.88 - - - - - - - - 15.93 16.01 -
5828.67 687.70 -11.89 802 5835.20 roll -0.90 - - 1755.81 - 1.98 0.070 3956.12 594.8 -116.79 - - 3856.03 - - - - - - - - - 16.04 -
5873.67 692.67 -10.81 811 5880.22 roll -0.92 - - 1756.44 - 1.94 0.026 2753.69 -619.8 -116.79 - - 3855.59 - - - - - - - - - 16.08 -
6188.74 731.93 -12.65 843 6190.97 pitch -0.87 0.12 0.259 1789.62 276.5 - - 2747.88 - -116.79 - - 3852.97 - - - - - - - - 15.81 - -
6498.77 762.29 -9.39 874 6505.37 roll -0.87 - - 1789.50 - 2.07 0.070 3956.38 583.8 -116.79 - - 3852.06 - - - - - - - - - 16.03 -
6523.77 764.51 -9.17 879 6530.31 roll -0.90 - - 1789.31 - 1.95 0.026 2754.44 -616.4 -116.79 - - 3850.22 - - - - - - - - - 16.08 -
6838.68 792.94 -8.92 911 6848.23 roll -0.90 - - 1788.94 - 4.10 0.042 259.75 -608.5 -116.79 - - 3847.75 - - - - - - - - - 16.06 -
6881.26 796.26 -8.23 919 6891.11 roll back -0.99 0.10 0.096 1748.69 -402.5 4.36 0.073 2778.12 577.6 -116.79 - - 3846.44 - - - - - - - - 15.86 16.00 -
7194.10 831.43 -11.32 951 7200.62 roll -0.94 - - 1747.06 - 2.00 0.073 3958.12 590.0 -116.79 - - 3844.78 - - - - - - - - - 16.00 -
7269.09 839.14 -9.60 966 7275.63 roll -0.95 - - 1747.12 - 1.95 0.028 2753.62 -617.7 -116.79 - - 3843.75 - - - - - - - - - 16.06 -
7584.13 875.45 -11.82 998 7593.87 roll back -0.91 0.12 0.252 1779.00 265.7 4.11 0.043 259.69 -606.8 -116.79 - - 3840.88 - - - - - - - - 15.78 15.78 -
7596.90 876.93 -11.75 1000 7606.57 roll -0.87 - - 1777.38 - 4.35 0.070 2779.19 579.2 -116.79 - - 3843.41 - - - - - - - - - 15.95 -
7909.44 903.44 -8.57 1032 7916.10 roll -0.87 - - 1778.81 - 2.00 0.075 3956.50 588.7 -116.79 - - 3839.72 - - - - - - - - - 15.98 -
7964.58 907.65 -7.58 1043 7971.19 roll -0.92 - - 1779.06 - 1.96 0.028 2753.81 -613.6 -116.79 - - 3839.19 - - - - - - - - - 16.06 -
8279.50 934.88 -9.14 1075 8289.11 roll -0.92 - - 1779.44 - 4.12 0.044 261.25 -605.0 -116.79 - - 3839.09 - - - - - - - - - 16.02 -
8297.15 936.57 -9.35 1078 8306.80 roll -0.95 - - 1779.00 - 4.38 0.074 2779.00 574.8 -116.79 - - 3836.69 - - - - - - - - - 15.95 -
8612.04 965.88 -9.64 1110 8618.79 roll -0.95 - - 1778.69 - 2.01 0.076 3957.44 586.3 -116.79 - - 3837.34 - - - - - - - - - 15.96 -
8677.19 971.73 -8.58 1123 8683.91 roll back -1.02 0.09 0.111 1743.12 -395.2 1.96 0.029 2766.44 -607.7 -116.79 - - 3836.31 - - - - - - - - 15.89 16.05 -
8832 end dive: TARGET_DEPTH_EXCEEDED
8832 begin apogee
8833.75 990.57 -12.82 1139 8932.87 -0.12 0.63 0.211 1944.81 320.1 0.09 0.210 2714.62 -575.8 - 90.71 1.951 3400.97 -4.8 0.408 - - - - - - 15.69 15.31 11.04
8934 end apogee: CONTROL_FINISHED_OK
8934 begin climb
8934.57 992.95 - 1148 9049.48 0.60 0.52 0.050 2172.56 438.0 2.22 0.074 3956.19 559.3 116.79 101.56 1.882 2922.88 -4.7 0.416 - - - - - - 14.96 15.16 12.15
9052.52 988.22 11.43 1169 9059.66 roll back 0.38 0.28 0.276 2087.81 -302.7 2.20 0.038 2689.75 -575.7 116.79 - - 2919.94 - - - - - - - - 15.25 15.38 -
9362.75 958.51 9.47 1201 9372.44 done 0.33 - - 2106.06 - 4.11 0.050 258.50 -591.5 116.79 - - 2904.06 - - - - - - - - - 15.80 -
9420.55 953.79 7.92 1212 9430.42 done 0.36 - - 2105.56 - 4.32 0.077 2703.69 566.0 116.79 - - 2896.12 - - - - - - - - - 15.79 -
9735.61 919.80 11.30 1244 9737.90 0.29 0.18 0.269 2055.19 -279.8 - - 2705.38 - 116.79 - - 2895.75 - - - - - - - - 14.86 - -
10045.51 895.62 7.49 1275 10055.36 done 0.29 - - 2093.56 - 4.11 0.048 260.00 -595.0 116.79 - - 2898.91 - - - - - - - - - 15.95 -
10078.45 893.36 7.31 1281 10088.25 done 0.33 - - 2071.25 - 4.27 0.077 2702.44 572.0 116.79 - - 2892.59 - - - - - - - - - 15.92 -
10391.34 866.68 9.01 1313 10398.13 done 0.30 - - 2070.94 - 2.13 0.075 3956.38 588.7 116.79 - - 2896.94 - - - - - - - - - 15.94 -
10421.35 863.59 9.75 1319 10428.13 done 0.26 - - 2075.44 - 2.12 0.044 2685.81 -599.3 116.79 - - 2894.84 - - - - - - - - - 15.99 -
10731.41 834.18 9.45 1351 10741.00 done 0.22 - - 2090.19 - 4.06 0.053 258.44 -597.9 116.79 - - 2891.00 - - - - - - - - - 15.98 -
10774.09 830.66 8.29 1359 10784.18 0.26 0.12 0.192 2055.38 -290.1 4.27 0.077 2703.50 572.6 116.79 - - 2887.81 - - - - - - - - 15.78 15.93 -
11087.11 807.26 7.29 1391 11094.05 done 0.26 - - 2053.75 - 2.14 0.077 3957.19 585.8 116.79 - - 2893.28 - - - - - - - - - 15.95 -
11127.28 803.87 8.47 1399 11134.06 done 0.24 - - 2077.94 - 2.12 0.042 2684.56 -600.3 116.79 - - 2893.59 - - - - - - - - - 16.01 -
11437.34 780.59 7.37 1431 11446.94 done 0.23 - - 2082.06 - 4.06 0.054 258.19 -597.6 116.79 - - 2888.34 - - - - - - - - - 15.98 -
11500.11 776.63 6.31 1443 11557.04 done 0.37 - - 2081.44 - 4.27 0.077 2703.69 572.7 170.47 42.05 1.667 2703.56 -4.4 0.343 - - - - - - - 15.94 11.60
11859.95 746.59 8.31 1484 11861.96 VBD 0.37 - - 2081.12 - - - 2704.38 - 170.47 - - 2696.16 - - - - - - - - - - -
12169.97 721.57 8.16 1515 12179.83 done 0.37 - - 2082.31 - 4.14 0.051 259.62 -590.5 170.47 - - 2692.62 - - - - - - - - - 15.91 -
12207.94 718.82 7.70 1522 12217.74 done 0.43 - - 2082.75 - 4.29 0.077 2705.25 570.1 170.47 - - 2689.28 - - - - - - - - - 15.89 -
12522.97 687.82 10.39 1554 12529.75 done 0.42 - - 2081.88 - 2.13 0.076 3955.69 587.1 170.47 - - 2690.84 - - - - - - - - - 15.91 -
12577.79 681.51 11.23 1565 12584.80 done 0.42 - - 2087.12 - 2.12 0.044 2686.88 -598.5 170.47 - - 2692.66 - - - - - - - - - 15.97 -
12893.01 647.89 10.56 1597 12902.61 done 0.40 - - 2091.88 - 4.07 0.056 259.00 -596.5 170.47 - - 2690.31 - - - - - - - - - 15.95 -
12985.72 640.50 7.53 1615 12995.53 done 0.48 - - 2093.69 - 4.26 0.076 2703.56 573.8 170.47 - - 2684.53 - - - - - - - - - 15.93 -
13298.61 610.40 9.23 1647 13308.30 done 0.45 - - 2110.31 - 4.13 0.053 260.12 -591.6 170.47 - - 2686.66 - - - - - - - - - 15.97 -
13316.24 608.85 9.04 1650 13326.20 done 0.45 - - 2111.00 - 4.27 0.078 2704.06 572.4 170.47 - - 2684.16 - - - - - - - - - 15.92 -
13631.47 575.63 10.62 1682 13633.49 VBD 0.41 - - 2110.88 - - - 2705.75 - 170.47 - - 2685.84 - - - - - - - - - - -
13941.55 541.91 10.98 1713 13951.26 done 0.36 - - 2129.38 - 4.11 0.052 260.81 -594.9 170.47 - - 2685.25 - - - - - - - - - 15.97 -
13964.37 539.51 10.92 1717 13974.47 0.34 0.17 0.189 2078.31 -300.4 4.26 0.079 2702.06 573.1 170.47 - - 2682.97 - - - - - - - - 15.74 15.92 -
14277.48 513.87 7.14 1749 14318.56 done 0.39 - - 2078.31 - 2.14 0.078 3956.31 586.1 208.53 32.65 1.380 2547.25 -4.2 0.259 - - - - - - - 15.78 11.48
14346.68 508.42 8.36 1762 14353.47 roll 0.41 - - 2082.00 - 2.13 0.042 2686.12 -596.3 208.53 - - 2546.88 - - - - - - - - - 15.88 -
14656.57 484.90 7.58 1794 14666.36 roll 0.41 - - 2088.00 - 4.08 0.053 259.88 -594.7 208.53 - - 2541.53 - - - - - - - - - 15.90 -
14709.54 481.36 6.71 1804 14763.43 0.57 0.13 0.079 2144.94 438.0 4.26 0.073 2704.94 574.0 254.66 40.56 1.340 2359.88 -4.5 0.270 - - - - - - 15.76 15.85 12.09
15066.53 430.49 14.87 1844 15076.23 done 0.53 - - 2173.19 - 4.17 0.053 263.19 -585.6 254.66 - - 2349.50 - - - - - - - - - 15.84 -
15094.35 426.91 13.50 1849 15104.34 0.55 0.09 0.167 2126.31 -520.9 4.30 0.077 2703.06 567.4 254.66 - - 2344.84 - - - - - - - - 15.72 15.81 -
15409.41 388.44 11.92 1881 15411.42 VBD 0.54 - - 2127.06 - - - 2704.31 - 254.66 - - 2346.25 - - - - - - - - - - -
15719.31 356.56 9.54 1912 15729.07 done 0.54 - - 2134.50 - 4.09 0.048 262.88 -596.9 254.66 - - 2347.91 - - - - - - - - - 15.94 -
15757.18 353.83 8.34 1919 15766.98 done 0.61 - - 2134.69 - 4.24 0.074 2703.75 575.7 254.66 - - 2340.91 - - - - - - - - - 15.90 -
16072.21 321.44 10.62 1951 16079.01 done 0.59 - - 2134.56 - 2.11 0.069 3954.88 593.0 254.66 - - 2346.66 - - - - - - - - - 15.95 -
16097.20 318.42 11.44 1956 16104.02 done 0.57 - - 2134.38 - 2.12 0.043 2686.06 -598.5 254.66 - - 2344.47 - - - - - - - - - 15.98 -
16412.27 280.06 12.87 1988 16421.88 done 0.54 - - 2134.62 - 4.05 0.054 260.31 -599.0 254.66 - - 2342.94 - - - - - - - - - 15.98 -
16570.01 265.44 8.29 2019 16579.93 0.66 0.06 0.140 2166.38 529.3 4.19 0.067 2703.50 583.1 254.66 - - 2341.75 - - - - - - - - 15.83 15.95 -
16885.06 229.61 10.17 2069 16891.78 done 0.61 - - 2166.44 - 2.10 0.065 3956.44 596.6 254.66 - - 2346.03 - - - - - - - - - 15.98 -
16915.07 226.27 10.94 2075 16922.17 0.56 0.12 0.227 2131.62 -290.2 2.11 0.042 2691.00 -599.7 254.66 - - 2343.03 - - - - - - - - 15.74 16.01 -
17225.17 201.71 7.27 2137 17234.98 done 0.56 - - 2133.19 - 4.02 0.048 261.44 -604.4 254.66 - - 2344.75 - - - - - - - - - 15.96 -
17288.17 198.37 5.43 2149 17357.24 0.77 0.07 0.131 2169.38 517.0 4.19 0.068 2704.38 583.0 324.74 55.40 0.928 2075.72 -4.9 0.174 - - - - - - 15.84 15.94 11.75
17660.40 157.34 10.99 2222 17664.60 VBD 0.76 - - 2169.69 - - - 2704.88 - 324.74 - - 2066.38 - - - - - - - - - - -
17965.53 125.26 9.50 2283 17975.16 done 0.77 - - 2169.00 - 4.05 0.041 258.50 -604.0 324.74 - - 2066.38 - - - - - - - - - 15.94 -
17983.27 123.77 8.87 2286 17993.17 0.81 0.04 0.212 2189.44 511.0 4.18 0.067 2698.62 583.8 324.74 - - 2058.78 - - - - - - - - 15.79 15.90 -
18296.14 97.25 8.24 2348 18303.01 done 0.81 - - 2188.50 - 2.08 0.060 3956.31 604.7 324.74 - - 2062.91 - - - - - - - - - 15.95 -
18336.32 93.62 9.07 2356 18343.05 done 0.83 - - 2194.31 - 2.08 0.034 2685.25 -611.1 324.74 - - 2063.03 - - - - - - - - - 15.99 -
18526.40 77.29 8.32 2394 18535.93 done 0.84 - - 2196.69 - 3.97 0.044 258.56 -611.3 324.74 - - 2060.09 - - - - - - - - - 15.98 -
18614.15 71.62 6.42 2411 18666.85 1.05 0.15 0.080 2258.12 409.5 4.14 0.063 2705.56 591.1 376.25 40.06 0.692 1865.53 -4.9 0.084 - - - - - - 15.86 15.96 11.90
18849.96 39.93 12.63 2457 18859.56 roll 1.02 - - 2260.44 - 4.05 0.042 258.19 -604.3 376.25 - - 1859.53 - - - - - - - - - 15.94 -
18922.70 33.15 8.57 2471 18932.42 done 1.13 - - 2260.44 - 4.14 0.061 2704.75 591.0 376.25 - - 1850.91 - - - - - - - - - 15.92 -
19115.53 8.46 13.89 2509 19119.72 VBD 1.09 - - 2260.56 - - - 2706.19 - 376.25 - - 1852.62 - - - - - - - - - - -
19165 end climb: SURFACE_DEPTH_REACHED
19165 begin surface coast
19185 end surface coast: CONTROL_FINISHED_OK
19186 begin surface
SM 1.06 - - - - 224.9 99.38 0.656 1261.5 12.7 5.12 0.066 1250.4 244.2 - 0.12 0.087 1272.5 10604.2 -13.205 - - 12.07 15.94 15.99 -