ARCTERX May23 * SG141 * Dive index * Mission links * Dive 420 * Raw log
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• Previous call tries 1 • 108.72 of 350.00 AH used of 24V (68.94% remains)
• Surface angle -64.2 deg, depth 1.02 m • Intended pitch -20.5 deg, speed -9.167 cm/s
VBD pumped to 525.00 (SM_CC=525)
• GPS1 time: 37 s
• GPS2 time: 3 s • Transponder ping count: 44
• 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
3 end surface: CONTROL_FINISHED_OK
3 begin dive
4.60 - - - 69.17 VBD -0.63 - - 204.00 - - - 2734.94 - -95.87 60.83 0.005 3270.47 - - - - - - - - - - 15.13
69.63 3.55 -4.63 12 101.00 -0.66 6.47 0.344 1839.75 252.8 4.09 0.033 258.44 -605.5 -116.79 10.86 0.007 3877.09 55.9 -4.829 - - - - - - 15.30 15.19 15.29
128.89 21.18 -18.52 23 137.88 roll -0.73 - - 1839.19 - 4.36 0.061 2780.06 578.4 -116.79 - - 3879.84 - - - - - - - - - 15.74 -
320.70 73.86 -28.73 61 330.06 roll -0.58 - - 1839.75 - 4.18 0.034 258.00 -603.4 -116.79 - - 3880.34 - - - - - - - - - 15.86 -
333.04 77.75 -30.62 63 342.76 roll back -0.42 0.10 0.234 1869.69 299.4 4.30 0.055 2781.38 586.8 -116.79 - - 3879.88 - - - - - - - - 15.61 15.82 -
525.73 114.09 -16.09 101 532.38 roll back -0.39 0.03 0.384 1870.50 - 1.98 0.060 3958.50 594.5 -116.79 - - 3883.03 - - - - - - - - 15.77 15.70 -
560.73 118.33 -12.12 108 567.23 roll -0.44 - - 1870.69 - 1.95 0.023 2752.69 -618.4 -116.79 - - 3882.50 - - - - - - - - - 15.94 -
870.82 158.72 -11.72 170 880.03 roll -0.45 - - 1870.81 - 4.08 0.037 260.75 -610.8 -116.79 - - 3883.97 - - - - - - - - - 15.94 -
913.04 162.34 -8.88 178 922.54 roll -0.58 - - 1870.88 - 4.30 0.063 2778.69 585.6 -116.79 - - 3884.22 - - - - - - - - - 15.90 -
1225.64 188.97 -8.16 240 1235.19 roll -0.63 - - 1871.06 - 4.14 0.034 256.94 -609.1 -116.79 - - 3884.66 - - - - - - - - - 15.99 -
1258.25 191.41 -7.81 246 1268.24 roll back -0.74 0.14 0.084 1810.50 -432.6 4.32 0.064 2778.81 583.8 -116.79 - - 3885.38 - - - - - - - - 15.80 15.92 -
1571.34 229.16 -11.58 308 1577.93 roll -0.72 - - 1810.62 - 1.98 0.062 3959.56 596.3 -116.79 - - 3885.75 - - - - - - - - - 15.98 -
1666.37 238.24 -8.32 327 1672.97 roll -0.80 - - 1810.50 - 1.95 0.024 2754.69 -617.9 -116.79 - - 3886.41 - - - - - - - - - 16.03 -
1981.31 271.47 -10.03 370 1990.90 roll -0.80 - - 1809.88 - 4.07 0.036 260.00 -612.9 -116.79 - - 3886.75 - - - - - - - - - 16.02 -
2028.97 275.44 -8.56 379 2038.86 roll back -0.89 0.09 0.097 1767.12 -475.1 4.32 0.065 2779.69 583.3 -116.79 - - 3886.25 - - - - - - - - 15.84 15.95 -
2344.01 316.87 -13.77 411 2350.78 roll back -0.86 0.10 0.265 1793.81 266.9 1.98 0.064 3958.19 595.2 -116.79 - - 3884.41 - - - - - - - - 15.74 15.72 -
2368.84 319.91 -12.83 416 2375.62 roll -0.86 - - 1793.69 - 1.95 0.024 2753.50 -617.8 -116.79 - - 3884.12 - - - - - - - - - 16.03 -
2683.92 354.48 -10.52 448 2693.52 roll -0.86 - - 1793.44 - 4.09 0.037 257.50 -610.3 -116.79 - - 3881.62 - - - - - - - - - 16.02 -
2731.61 358.44 -8.53 457 2741.50 roll back -0.96 0.09 0.091 1752.81 -451.4 4.33 0.065 2778.50 582.2 -116.79 - - 3881.91 - - - - - - - - 15.84 15.96 -
3046.66 399.78 -13.30 489 3048.62 no move -0.92 - - 1752.81 - - - 2779.31 - -116.79 - - 3877.81 - - - - - - - - - - -
3356.71 441.66 -13.70 520 3366.53 roll back -0.89 0.11 0.238 1783.12 275.5 4.18 0.037 259.94 -602.7 -116.79 - - 3874.94 - - - - - - - - 15.75 15.75 -
3399.59 445.97 -10.39 528 3409.34 roll -0.99 - - 1783.31 - 4.36 0.067 2782.81 578.6 -116.79 - - 3875.50 - - - - - - - - - 15.91 -
3712.39 476.89 -9.25 560 3719.14 roll back -1.00 0.09 0.110 1751.56 -352.8 2.00 0.068 3956.19 586.7 -116.79 - - 3871.84 - - - - - - - - 16.00 15.89 -
3762.40 481.73 -9.73 570 3768.99 roll -1.03 - - 1751.81 - 1.97 0.026 2753.25 -610.6 -116.79 - - 3871.03 - - - - - - - - - 16.04 -
4072.46 517.87 -12.03 602 4081.99 roll -1.01 - - 1750.19 - 4.13 0.040 261.50 -603.3 -116.79 - - 3868.38 - - - - - - - - - 16.00 -
4145.07 524.79 -8.58 616 4154.82 roll -1.09 - - 1751.56 - 4.36 0.068 2778.19 577.2 -116.79 - - 3866.03 - - - - - - - - - 15.90 -
4457.83 561.32 -12.53 648 4464.52 roll -1.07 - - 1749.75 - 2.02 0.070 3959.25 584.7 -116.79 - - 3863.00 - - - - - - - - - 15.93 -
4472.82 563.30 -12.93 651 4479.43 roll -1.05 - - 1749.69 - 1.97 0.026 2754.00 -611.8 -116.79 - - 3862.72 - - - - - - - - - 16.03 -
4787.87 606.11 -13.41 683 4797.39 roll -1.03 - - 1749.19 - 4.14 0.042 261.75 -602.0 -116.79 - - 3858.09 - - - - - - - - - 15.97 -
4805.31 608.44 -13.34 686 4815.16 roll -1.03 - - 1749.12 - 4.38 0.068 2780.00 574.9 -116.79 - - 3856.94 - - - - - - - - - 15.89 -
5120.51 647.06 -11.98 718 5122.47 no move -1.02 - - 1749.44 - - - 2780.38 - -116.79 - - 3854.78 - - - - - - - - - - -
5430.58 684.13 -12.28 749 5440.17 roll -1.01 - - 1748.38 - 4.22 0.039 261.62 -596.9 -116.79 - - 3855.44 - - - - - - - - - 15.97 -
5443.06 685.76 -12.40 751 5452.98 roll -1.01 - - 1749.94 - 4.39 0.070 2781.44 574.0 -116.79 - - 3851.56 - - - - - - - - - 15.86 -
5756.03 721.93 -11.66 783 5762.69 roll -1.00 - - 1748.12 - 2.02 0.072 3956.31 581.6 -116.79 - - 3850.28 - - - - - - - - - 15.89 -
5775.93 724.25 -11.61 787 5782.61 roll -1.00 - - 1747.94 - 1.98 0.028 2754.00 -607.2 -116.79 - - 3847.81 - - - - - - - - - 16.02 -
6086.09 759.34 -10.68 819 6095.62 roll -0.98 - - 1748.00 - 4.16 0.042 262.88 -598.8 -116.79 - - 3845.22 - - - - - - - - - 15.93 -
6118.66 762.42 -10.04 825 6128.48 roll -1.04 - - 1747.50 - 4.42 0.073 2779.44 569.4 -116.79 - - 3844.81 - - - - - - - - - 15.84 -
6431.36 793.16 -9.72 857 6438.18 roll -1.04 - - 1748.25 - 2.03 0.073 3956.31 579.7 -116.79 - - 3842.69 - - - - - - - - - 15.86 -
6471.53 796.72 -8.90 865 6478.11 roll -1.07 - - 1748.00 - 1.98 0.028 2755.94 -606.2 -116.79 - - 3843.09 - - - - - - - - - 16.02 -
6781.43 826.59 -9.94 897 6791.10 roll -1.07 - - 1747.69 - 4.18 0.043 258.06 -597.6 -116.79 - - 3840.72 - - - - - - - - - 15.91 -
6854.16 832.53 -7.45 911 6864.16 roll back -1.16 0.09 0.106 1707.94 -441.7 4.45 0.074 2780.81 566.9 -116.79 - - 3838.81 - - - - - - - - 15.68 15.81 -
7167.20 871.36 -12.72 943 7173.86 roll -1.11 - - 1726.75 - 2.03 0.073 3954.88 578.4 -116.79 - - 3836.94 - - - - - - - - - 15.84 -
7222.05 877.91 -11.34 954 7228.81 roll -1.11 - - 1725.12 - 1.99 0.029 2754.06 -603.4 -116.79 - - 3836.88 - - - - - - - - - 16.00 -
7537.28 917.42 -12.53 986 7546.85 roll -1.05 - - 1723.12 - 4.20 0.046 259.75 -593.9 -116.79 - - 3834.22 - - - - - - - - - 15.88 -
7569.89 921.08 -11.47 992 7579.71 roll -1.06 - - 1723.19 - 4.45 0.077 2776.38 565.5 -116.79 - - 3834.06 - - - - - - - - - 15.75 -
7882.73 959.49 -12.69 1024 7889.67 roll back -1.01 0.19 0.255 1749.19 136.8 2.06 0.075 3958.69 573.9 -116.79 - - 3833.97 - - - - - - - - 15.46 15.47 -
7937.72 964.42 -8.27 1035 7944.33 roll -1.06 - - 1749.50 - 2.00 0.030 2757.19 -600.8 -116.79 - - 3833.81 - - - - - - - - - 15.99 -
8233 end dive: TARGET_DEPTH_EXCEEDED
8233 begin apogee
8234.35 990.61 -9.10 1065 8336.74 -0.12 0.67 0.198 1960.62 315.1 0.09 0.205 2715.19 -466.7 - 93.58 1.977 3401.16 -4.6 0.395 - - - - - - 15.46 15.16 10.25
8338 end apogee: CONTROL_FINISHED_OK
8338 begin climb
8338.94 991.23 - 1074 8459.19 0.66 0.52 0.052 2167.75 398.3 2.24 0.068 3956.44 554.1 116.79 104.19 1.878 2922.62 -4.6 0.413 - - - - - - 14.67 15.05 11.84
8467.26 984.77 14.03 1094 8474.44 roll back 0.45 0.26 0.267 2104.69 -242.5 2.23 0.039 2694.12 -566.1 116.79 - - 2918.81 - - - - - - - - 15.15 15.35 -
8777.50 949.92 10.92 1126 8787.04 done 0.41 - - 2120.12 - 4.17 0.051 258.25 -584.1 116.79 - - 2899.53 - - - - - - - - - 15.75 -
8820.10 945.78 9.79 1134 8829.85 done 0.44 - - 2120.38 - 4.38 0.079 2705.25 558.7 116.79 - - 2896.25 - - - - - - - - - 15.68 -
9132.88 909.45 11.36 1166 9135.17 0.38 0.13 0.315 2086.94 -257.2 - - 2708.50 - 116.79 - - 2895.53 - - - - - - - - 14.73 - -
9442.91 880.49 9.33 1197 9452.44 done 0.36 - - 2102.94 - 4.20 0.052 258.38 -583.4 116.79 - - 2894.19 - - - - - - - - - 15.86 -
9475.49 877.77 8.85 1203 9485.23 done 0.39 - - 2103.69 - 4.34 0.079 2702.00 563.0 116.79 - - 2890.47 - - - - - - - - - 15.81 -
9788.28 845.47 10.48 1235 9795.03 done 0.35 - - 2102.12 - 2.17 0.075 3958.00 578.8 116.79 - - 2895.50 - - - - - - - - - 15.83 -
9858.31 837.13 11.88 1249 9865.31 0.29 0.20 0.257 2056.31 -229.0 2.16 0.044 2692.12 -586.1 116.79 - - 2895.03 - - - - - - - - 15.49 15.92 -
10168.46 813.61 7.08 1281 10204.36 0.35 0.04 0.228 2082.00 642.3 4.16 0.054 259.69 -584.7 149.08 25.03 1.636 2790.41 -4.2 0.354 - - - - - - 15.91 15.65 11.01
10237.42 808.55 7.22 1294 10247.15 done 0.42 - - 2082.00 - 4.36 0.076 2705.38 560.9 149.08 - - 2781.41 - - - - - - - - - 15.73 -
10550.04 780.67 9.07 1326 10559.83 done 0.42 - - 2099.81 - 4.21 0.051 260.06 -580.8 149.08 - - 2782.31 - - - - - - - - - 15.82 -
10587.90 777.68 8.49 1333 10597.61 done 0.48 - - 2100.25 - 4.36 0.080 2701.69 560.0 149.08 - - 2778.09 - - - - - - - - - 15.77 -
10902.93 746.16 10.07 1365 10904.90 VBD 0.45 - - 2100.56 - - - 2703.31 - 149.08 - - 2779.53 - - - - - - - - - - -
11212.96 714.66 10.06 1396 11214.92 VBD 0.42 - - 2100.12 - - - 2703.62 - 149.08 - - 2780.41 - - - - - - - - - - -
11522.99 682.95 9.59 1427 11532.54 done 0.40 - - 2115.69 - 4.18 0.050 261.19 -584.3 149.08 - - 2779.38 - - - - - - - - - 15.87 -
11540.44 681.38 9.34 1430 11550.38 done 0.40 - - 2115.94 - 4.35 0.080 2705.56 561.9 149.08 - - 2778.88 - - - - - - - - - 15.78 -
11855.66 646.99 10.91 1462 11862.66 0.36 0.13 0.276 2081.56 -264.5 2.17 0.075 3957.69 577.0 149.08 - - 2780.50 - - - - - - - - 15.48 15.50 -
11880.71 644.34 10.82 1467 11887.50 done 0.33 - - 2087.19 - 2.14 0.041 2686.75 -593.9 149.08 - - 2781.59 - - - - - - - - - 15.92 -
12195.60 615.43 9.38 1499 12205.31 done 0.33 - - 2090.38 - 4.12 0.053 258.31 -589.4 149.08 - - 2779.72 - - - - - - - - - 15.85 -
12343.42 603.89 7.70 1528 12353.14 done 0.42 - - 2091.19 - 4.34 0.077 2703.94 563.5 149.08 - - 2776.06 - - - - - - - - - 15.78 -
12658.49 573.58 10.04 1560 12668.02 done 0.41 - - 2107.81 - 4.18 0.050 259.44 -584.8 149.08 - - 2778.50 - - - - - - - - - 15.85 -
12681.07 571.44 9.87 1564 12690.82 done 0.43 - - 2106.00 - 4.36 0.079 2704.88 560.9 149.08 - - 2776.69 - - - - - - - - - 15.72 -
12993.85 537.05 10.80 1596 13003.38 done 0.40 - - 2122.81 - 4.18 0.050 261.31 -584.6 149.08 - - 2778.47 - - - - - - - - - 15.84 -
13016.28 534.86 10.26 1600 13026.46 0.40 0.11 0.194 2092.38 -276.6 4.35 0.079 2704.62 561.7 149.08 - - 2775.84 - - - - - - - - 15.55 15.71 -
13329.35 506.07 9.05 1632 13336.31 done 0.40 - - 2093.00 - 2.17 0.075 3958.06 577.6 149.08 - - 2778.00 - - - - - - - - - 15.78 -
13349.51 503.96 9.38 1636 13356.26 done 0.39 - - 2091.88 - 2.16 0.045 2685.94 -588.9 149.08 - - 2779.03 - - - - - - - - - 15.88 -
13659.42 478.46 7.67 1668 13669.11 done 0.39 - - 2094.75 - 4.13 0.054 258.25 -587.8 149.08 - - 2775.94 - - - - - - - - - 15.81 -
13752.26 473.39 5.26 1686 13820.02 0.55 0.10 0.097 2140.31 455.6 4.34 0.077 2703.25 563.4 209.49 52.04 1.364 2544.53 -4.4 0.263 - - - - - - 15.62 15.70 10.96
14123.07 429.47 13.64 1729 14132.68 done 0.52 - - 2158.12 - 4.22 0.052 261.31 -578.7 209.49 - - 2533.47 - - - - - - - - - 15.72 -
14185.75 422.56 9.96 1741 14195.49 done 0.62 - - 2157.81 - 4.37 0.077 2704.31 559.0 209.49 - - 2528.03 - - - - - - - - - 15.68 -
14498.54 379.62 13.15 1773 14505.29 done 0.57 - - 2158.38 - 2.17 0.071 3956.81 577.2 209.49 - - 2529.53 - - - - - - - - - 15.75 -
14513.52 377.41 13.74 1776 14520.57 0.51 0.17 0.245 2118.69 -233.5 2.16 0.042 2691.31 -585.9 209.49 - - 2531.31 - - - - - - - - 15.37 15.83 -
14828.44 344.68 9.89 1808 14838.28 done 0.51 - - 2121.25 - 4.15 0.054 258.44 -586.2 209.49 - - 2527.78 - - - - - - - - - 15.78 -
14916.38 337.80 7.51 1825 14926.29 0.61 0.08 0.112 2181.50 753.1 4.33 0.074 2701.62 564.2 209.49 - - 2525.53 - - - - - - - - 15.61 15.74 -
15231.46 297.41 13.42 1857 15238.36 0.57 0.09 0.274 2134.19 -525.7 2.17 0.070 3957.69 578.8 209.49 - - 2527.12 - - - - - - - - 15.54 15.51 -
15271.44 292.15 13.03 1865 15278.21 done 0.55 - - 2134.88 - 2.15 0.044 2688.94 -590.1 209.49 - - 2526.88 - - - - - - - - - 15.86 -
15581.51 261.58 8.95 1897 15591.06 done 0.53 - - 2136.19 - 4.11 0.050 258.44 -591.4 209.49 - - 2525.00 - - - - - - - - - 15.82 -
15634.11 257.60 7.61 1907 15643.85 done 0.61 - - 2135.69 - 4.31 0.072 2705.75 567.8 209.49 - - 2523.69 - - - - - - - - - 15.75 -
15946.73 228.51 8.91 1961 15956.44 done 0.61 - - 2136.31 - 4.17 0.047 260.31 -586.4 209.49 - - 2523.28 - - - - - - - - - 15.80 -
15984.51 225.79 7.57 1968 15994.44 0.68 0.06 0.127 2168.31 533.3 4.31 0.072 2703.56 566.9 209.49 - - 2521.12 - - - - - - - - 15.60 15.72 -
16297.54 193.82 10.17 2030 16307.12 done 0.64 - - 2205.31 - 4.16 0.047 258.19 -587.8 209.49 - - 2523.78 - - - - - - - - - 15.81 -
16380.21 187.15 7.68 2046 16390.14 0.70 0.08 0.212 2166.94 -479.6 4.30 0.073 2702.25 568.4 209.49 - - 2522.22 - - - - - - - - 15.53 15.72 -
16693.24 156.09 9.90 2108 16702.80 done 0.68 - - 2176.62 - 4.14 0.044 257.44 -590.5 209.49 - - 2526.91 - - - - - - - - - 15.82 -
16790.87 148.57 7.25 2127 16800.52 done 0.74 - - 2177.50 - 4.28 0.069 2703.62 571.5 209.49 - - 2525.94 - - - - - - - - - 15.74 -
17103.72 125.26 6.48 2189 17141.35 VBD 0.77 - - 2177.81 - - - 2704.81 - 250.95 32.76 0.798 2377.09 -4.5 0.122 - - - - - - - - 11.03
17444.30 96.88 8.16 2257 17454.00 roll 0.77 - - 2188.31 - 4.13 0.045 259.88 -592.0 250.95 - - 2371.22 - - - - - - - - - 15.81 -
17607.21 88.07 4.68 2289 17675.70 0.96 0.12 0.084 2241.06 439.6 4.26 0.066 2705.44 574.1 320.20 53.89 0.753 2093.25 -5.2 0.103 - - - - - - 15.67 15.77 11.47
17858.73 62.68 11.85 2338 17865.53 roll 0.93 - - 2241.25 - 2.12 0.060 3958.31 591.0 320.20 - - 2090.31 - - - - - - - - - 15.79 -
17908.74 56.68 11.74 2348 17915.51 roll 0.95 - - 2240.69 - 2.14 0.042 2686.44 -594.3 320.20 - - 2090.72 - - - - - - - - - 15.84 -
18098.77 35.94 10.08 2386 18108.24 roll 0.93 - - 2248.88 - 4.07 0.047 258.62 -596.5 320.20 - - 2087.72 - - - - - - - - - 15.81 -
18251.44 25.89 5.35 2416 18309.06 done 1.13 - - 2248.50 - 4.25 0.067 2709.56 576.7 379.09 44.78 0.657 1853.84 -5.2 0.035 - - - - - - - 15.78 11.42
18492.11 4.34 10.03 2463 18501.87 roll back 1.15 0.08 0.120 2278.94 380.5 4.13 0.044 260.12 -593.1 379.09 - - 1847.25 - - - - - - - - 15.83 15.77 -
18515 end climb: SURFACE_DEPTH_REACHED
18515 begin surface coast
18525 end surface coast: CONTROL_FINISHED_OK
18525 begin surface
SM 1.02 - - - - 224.6 99.19 0.686 1259.8 12.7 5.16 0.055 1254.1 243.0 - 4.32 0.060 1265.5 292.0 -0.507 - - 11.51 15.81 15.82 -