EXPORTS Apr21 * SG237 * Dive index * Mission links * Dive 71 * Raw log
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• Previous call tries 3 • 30.95 of 510.00 AH used of 24V (93.93% remains)
• Surface angle -48.5 deg, depth 1.06 m • Intended pitch -17.6 deg, speed -10.000 cm/s
VBD pumped to 499.77 (SM_CC=500)
• GPS1 time: 23 s
• GPS2 time: 2 s • Transponder ping count: 3
• 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
11.22 - - - 135.06 VBD -1.02 - - 177.00 - - - 1865.44 - -145.99 123.28 0.005 3363.62 - - - - - - - - - - 15.18
135.34 3.08 -1.79 24 156.46 -1.02 11.99 0.302 1551.88 114.7 - - 1866.50 - -145.99 5.84 0.008 3561.53 33.9 -2.219 - - - - - - 15.23 - 15.31
334.00 33.55 -14.92 64 335.32 no move -0.95 - - 1552.31 - - - 1866.25 - -145.99 - - 3562.00 - - - - - - - - - - -
514.15 62.06 -15.52 100 515.62 pitch -0.89 0.22 0.194 1584.56 146.6 - - 1865.75 - -145.99 - - 3564.22 - - - - - - - - 15.36 - -
694.11 86.22 -13.22 136 699.83 roll -0.89 - - 1584.88 - 3.43 0.110 3185.75 384.8 -145.99 - - 3563.09 - - - - - - - - - 15.53 -
749.13 93.32 -12.63 147 754.77 roll -0.89 - - 1584.75 - 3.07 0.042 1876.75 -426.4 -145.99 - - 3562.88 - - - - - - - - - 15.65 -
939.18 116.19 -12.30 172 940.51 no move -0.89 - - 1584.81 - - - 1877.12 - -145.99 - - 3562.56 - - - - - - - - - - -
1239.28 150.63 -11.16 202 1244.60 roll -0.89 - - 1585.12 - 3.40 0.109 3186.94 385.2 -145.99 - - 3563.69 - - - - - - - - - 15.56 -
1323.91 160.09 -11.04 219 1329.88 roll -0.89 - - 1585.81 - 3.06 0.046 1876.56 -428.2 -145.99 - - 3563.06 - - - - - - - - - 15.73 -
1629.39 195.45 -11.75 250 1634.67 roll -0.89 - - 1585.94 - 3.42 0.107 3185.94 382.9 -145.99 - - 3563.66 - - - - - - - - - 15.57 -
1679.31 201.56 -12.23 260 1684.62 roll -0.89 - - 1585.81 - 3.05 0.045 1877.06 -429.1 -145.99 - - 3562.84 - - - - - - - - - 15.69 -
1989.38 238.06 -12.01 292 1994.86 roll -0.89 - - 1585.44 - 3.42 0.108 3186.31 382.8 -145.99 - - 3563.28 - - - - - - - - - 15.58 -
2014.02 241.27 -12.93 297 2019.98 roll -0.89 - - 1585.44 - 3.05 0.046 1877.31 -429.2 -145.99 - - 3563.72 - - - - - - - - - 15.79 -
2319.42 278.03 -12.12 328 2324.74 roll -0.89 - - 1585.25 - 3.40 0.108 3186.56 385.1 -145.99 - - 3562.94 - - - - - - - - - 15.58 -
2374.03 284.68 -11.90 339 2380.01 roll -0.89 - - 1585.25 - 3.05 0.047 1878.81 -428.8 -145.99 - - 3564.97 - - - - - - - - - 15.80 -
2679.44 320.30 -11.89 370 2684.76 roll -0.89 - - 1585.38 - 3.41 0.108 3185.62 383.2 -145.99 - - 3564.00 - - - - - - - - - 15.58 -
2714.06 324.43 -11.82 377 2720.03 roll -0.89 - - 1585.38 - 3.04 0.047 1877.62 -430.3 -145.99 - - 3563.50 - - - - - - - - - 15.80 -
3019.46 360.01 -11.90 408 3024.79 roll -0.89 - - 1585.12 - 3.41 0.110 3185.56 383.6 -145.99 - - 3564.94 - - - - - - - - - 15.57 -
3064.08 365.50 -12.18 417 3070.05 roll -0.89 - - 1585.69 - 3.04 0.047 1878.88 -429.8 -145.99 - - 3562.81 - - - - - - - - - 15.81 -
3369.48 401.51 -11.88 448 3374.80 roll -0.89 - - 1585.81 - 3.38 0.111 3184.19 386.2 -145.99 - - 3562.97 - - - - - - - - - 15.56 -
3404.11 405.71 -11.98 455 3410.10 roll -0.89 - - 1585.69 - 3.04 0.049 1878.88 -429.4 -145.99 - - 3563.44 - - - - - - - - - 15.82 -
3709.51 442.33 -12.06 486 3714.83 roll -0.89 - - 1585.88 - 3.41 0.112 3184.44 382.9 -145.99 - - 3563.03 - - - - - - - - - 15.57 -
3749.45 447.32 -12.53 494 3754.77 roll -0.89 - - 1585.69 - 3.05 0.050 1879.25 -427.9 -145.99 - - 3563.53 - - - - - - - - - 15.75 -
4059.53 486.67 -12.42 526 4064.86 roll -0.89 - - 1585.44 - 3.41 0.114 3185.12 383.0 -145.99 - - 3562.41 - - - - - - - - - 15.56 -
4124.15 494.70 -12.30 539 4130.13 roll -0.89 - - 1585.44 - 3.05 0.051 1879.31 -428.1 -145.99 - - 3563.03 - - - - - - - - - 15.81 -
4429.56 530.94 -11.93 570 4434.89 roll -0.89 - - 1585.75 - 3.44 0.116 3185.19 379.6 -145.99 - - 3562.31 - - - - - - - - - 15.55 -
4489.51 537.78 -11.26 582 4494.84 roll -0.89 - - 1585.75 - 3.06 0.053 1879.50 -426.7 -145.99 - - 3563.34 - - - - - - - - - 15.75 -
4799.60 571.03 -10.55 614 4800.93 no move -0.89 - - 1585.88 - - - 1879.19 - -145.99 - - 3562.12 - - - - - - - - - - -
5099.61 603.29 -10.80 644 5100.94 no move -0.89 - - 1585.12 - - - 1879.19 - -145.99 - - 3563.62 - - - - - - - - - - -
5399.67 635.44 -10.44 674 5405.02 roll -0.89 - - 1585.69 - 3.47 0.123 3185.00 376.3 -145.99 - - 3562.88 - - - - - - - - - 15.52 -
5459.64 642.07 -11.02 686 5464.95 roll -0.89 - - 1585.38 - 3.08 0.057 1880.88 -423.4 -145.99 - - 3563.75 - - - - - - - - - 15.77 -
5769.73 676.35 -11.27 718 5775.06 roll -0.89 - - 1585.81 - 3.48 0.122 3185.38 374.9 -145.99 - - 3562.78 - - - - - - - - - 15.52 -
5809.69 680.86 -11.20 726 5815.01 roll -0.89 - - 1585.56 - 3.08 0.059 1881.81 -423.2 -145.99 - - 3562.56 - - - - - - - - - 15.74 -
6119.79 714.20 -10.56 758 6121.12 no move -0.89 - - 1585.69 - - - 1882.94 - -145.99 - - 3561.88 - - - - - - - - - - -
6419.86 744.87 -9.33 788 6425.17 roll -0.89 - - 1585.06 - 3.41 0.128 3184.81 381.8 -145.99 - - 3563.41 - - - - - - - - - 15.50 -
6499.82 752.61 -9.78 804 6505.12 roll -0.89 - - 1585.62 - 3.09 0.063 1883.69 -421.1 -145.99 - - 3561.56 - - - - - - - - - 15.76 -
6809.92 783.92 -10.68 836 6811.25 no move -0.89 - - 1585.69 - - - 1883.38 - -145.99 - - 3560.56 - - - - - - - - - - -
7109.95 817.32 -10.66 866 7115.35 roll -0.89 - - 1585.69 - 3.88 0.165 458.56 -367.2 -145.99 - - 3560.59 - - - - - - - - - 15.49 -
7129.90 819.71 -11.37 870 7135.27 roll -0.89 - - 1585.62 - 3.39 0.043 1923.06 432.0 -145.99 - - 3560.75 - - - - - - - - - 15.70 -
7439.94 853.22 -10.30 902 7441.27 no move -0.89 - - 1585.56 - - - 1923.75 - -145.99 - - 3559.16 - - - - - - - - - - -
7740.05 885.86 -11.03 932 7745.36 roll -0.89 - - 1585.31 - 3.38 0.141 3184.62 373.0 -145.99 - - 3559.84 - - - - - - - - - 15.46 -
7900.01 903.49 -10.71 964 7905.37 roll -0.89 - - 1585.06 - 3.14 0.069 1883.50 -414.4 -145.99 - - 3559.06 - - - - - - - - - 15.73 -
8210.07 935.30 -10.14 996 8215.49 roll -0.89 - - 1584.81 - 3.52 0.137 3183.75 369.4 -145.99 - - 3560.69 - - - - - - - - - 15.45 -
8254.77 940.11 -10.80 1005 8260.75 roll -0.89 - - 1585.62 - 3.13 0.072 1884.50 -415.1 -145.99 - - 3558.91 - - - - - - - - - 15.72 -
8560.17 971.30 -9.77 1036 8561.50 no move -0.89 - - 1585.56 - - - 1884.44 - -145.99 - - 3558.00 - - - - - - - - - - -
8750 end dive: TARGET_DEPTH_EXCEEDED
8750 begin apogee
8752.57 990.03 -9.92 1055 8877.98 -0.23 1.15 0.159 1746.88 140.3 0.05 0.317 1475.44 -8180.0 - 122.97 2.108 2965.53 -4.8 0.385 - - - - - - 15.62 15.20 10.88
8881 end apogee: CONTROL_FINISHED_OK
8881 begin climb
8881.02 994.07 - 1067 9018.98 1.02 2.09 0.118 2049.38 144.7 3.04 0.186 459.12 -334.3 145.99 130.66 2.046 2371.00 -4.6 0.376 - - - - - - 15.26 14.93 12.10
9066.18 983.53 9.95 1103 9071.95 roll 0.98 - - 2049.50 - 2.44 0.034 1486.94 421.2 147.08 - - 2365.38 - - - - - - - - - 15.13 -
9371.52 955.87 8.88 1134 9396.03 VBD 1.01 - - 2049.00 - - - 1487.19 - 171.21 23.54 1.866 2266.56 -4.2 0.366 - - - - - - - - 11.61
9691.62 928.38 8.74 1166 9722.71 done 1.09 - - 2048.50 - 2.94 0.177 459.19 -349.7 198.25 26.05 1.876 2160.22 -4.1 0.344 - - - - - - - 15.42 11.71
9756.22 921.80 11.09 1179 9761.98 roll 1.09 - - 2048.50 - 2.39 0.035 1489.69 431.2 198.25 - - 2157.47 - - - - - - - - - 15.44 -
10061.59 894.53 8.99 1210 10084.14 1.17 0.21 0.093 2090.94 202.1 - - 1489.94 - 219.88 21.24 1.811 2069.84 -4.1 0.347 - - - - - - 15.58 - 11.68
10381.69 862.21 9.45 1242 10396.54 VBD 1.18 - - 2090.69 - - - 1490.69 - 231.81 12.80 1.646 2022.25 -3.7 0.331 - - - - - - - - 11.70
10701.67 831.30 9.57 1275 10718.30 done 1.20 - - 2091.38 - 3.67 0.106 2914.06 387.8 241.07 10.90 1.566 1982.97 -3.6 0.325 - - - - - - - 15.56 11.71
10766.69 825.57 8.40 1288 10808.00 done 1.29 - - 2091.00 - 3.66 0.087 1437.75 -403.4 275.50 33.47 1.828 1845.41 -4.1 0.316 - - - - - - - 15.62 12.03
11106.72 790.41 11.30 1326 11111.98 roll 1.29 - - 2091.19 - 2.71 0.174 460.44 -360.6 275.50 - - 1839.28 - - - - - - - - - 15.44 -
11186.74 779.23 14.13 1342 11191.87 roll 1.29 - - 2091.62 - 2.36 0.036 1495.19 438.5 275.50 - - 1836.69 - - - - - - - - - 15.61 -
11496.82 741.44 12.09 1374 11502.31 1.32 0.18 0.091 2130.88 218.1 3.62 0.097 2912.88 391.6 275.50 - - 1835.88 - - - - - - - - 15.58 15.59 -
11541.48 735.43 13.49 1383 11547.56 done 1.32 - - 2131.19 - 3.64 0.082 1436.44 -405.6 275.50 - - 1835.78 - - - - - - - - - 15.67 -
11846.85 690.00 15.29 1414 11848.18 VBD 1.32 - - 2130.31 - - - 1436.81 - 275.50 - - 1834.81 - - - - - - - - - - -
12146.97 647.49 13.61 1444 12148.30 VBD 1.32 - - 2130.81 - - - 1436.81 - 275.50 - - 1834.38 - - - - - - - - - - -
12447.01 608.94 12.18 1474 12452.21 done 1.32 - - 2131.38 - 2.65 0.162 459.06 -369.0 275.50 - - 1834.91 - - - - - - - - - 15.62 -
12511.66 599.09 15.79 1487 12517.59 1.25 0.33 0.223 2099.12 -97.8 2.36 0.035 1510.12 445.4 275.50 - - 1834.97 - - - - - - - - 15.58 15.74 -
12817.04 569.36 9.32 1518 12838.10 done 1.32 - - 2099.00 - 3.54 0.090 2913.62 396.5 290.02 14.38 1.449 1784.94 -3.5 0.233 - - - - - - - 15.70 11.52
12851.72 566.24 9.09 1525 12878.29 1.41 0.34 0.074 2153.56 160.5 3.60 0.075 1436.19 -410.4 309.53 19.89 1.504 1707.09 -3.9 0.251 - - - - - - 15.69 15.77 12.36
13177.09 523.02 13.67 1560 13182.32 roll 1.41 - - 2154.19 - 2.66 0.158 457.88 -367.8 309.53 - - 1702.88 - - - - - - - - - 15.61 -
13207.10 518.37 15.70 1566 13212.38 roll back 1.34 0.31 0.221 2120.81 -107.7 2.36 0.035 1505.94 444.1 309.53 - - 1700.34 - - - - - - - - 15.57 15.60 -
13517.14 483.55 10.81 1598 13518.47 no move 1.38 - - 2120.19 - - - 1506.19 - 309.53 - - 1698.84 - - - - - - - - - - -
13817.26 450.47 11.45 1628 13818.59 no move 1.41 - - 2120.00 - - - 1505.88 - 309.53 - - 1698.78 - - - - - - - - - - -
14117.30 415.74 11.65 1658 14122.58 roll back 1.44 0.25 0.085 2160.88 163.5 2.90 0.154 458.00 -361.3 309.53 - - 1700.28 - - - - - - - - 15.76 15.61 -
14167.26 407.52 18.06 1668 14172.52 roll back 1.36 0.34 0.222 2122.50 -112.9 2.34 0.037 1507.50 448.5 309.53 - - 1700.91 - - - - - - - - 15.60 15.62 -
14477.29 370.29 11.33 1700 14478.62 no move 1.39 - - 2123.25 - - - 1507.69 - 309.53 - - 1698.22 - - - - - - - - - - -
14777.41 334.61 12.07 1730 14782.60 roll 1.42 - - 2123.25 - 2.88 0.151 457.94 -364.5 309.53 - - 1700.12 - - - - - - - - - 15.61 -
14811.99 329.59 14.69 1737 14817.79 roll 1.42 - - 2123.75 - 2.35 0.037 1506.12 446.0 309.53 - - 1699.84 - - - - - - - - - 15.74 -
15117.37 292.51 12.13 1768 15118.84 pitch 1.45 0.25 0.086 2160.12 145.5 - - 1506.94 - 309.53 - - 1700.88 - - - - - - - - 15.73 - -
15417.37 246.82 15.15 1798 15422.64 roll 1.45 - - 2162.00 - 2.86 0.146 458.00 -366.8 309.53 - - 1698.84 - - - - - - - - - 15.62 -
15467.39 238.02 18.57 1808 15472.66 roll back 1.37 0.32 0.222 2126.50 -110.9 2.33 0.037 1510.44 451.7 309.53 - - 1699.38 - - - - - - - - 15.59 15.81 -
15777.40 202.07 10.66 1840 15778.73 no move 1.40 - - 2126.31 - - - 1510.25 - 309.53 - - 1698.41 - - - - - - - - - - -
16077.49 171.07 10.27 1870 16078.82 no move 1.43 - - 2127.00 - - - 1510.44 - 309.53 - - 1698.34 - - - - - - - - - - -
16377.50 140.17 10.31 1900 16382.79 roll back 1.46 0.24 0.086 2163.75 153.1 2.88 0.150 459.25 -365.0 309.53 - - 1700.19 - - - - - - - - 15.62 15.56 -
16422.12 133.43 16.25 1909 16428.05 roll back 1.38 0.32 0.220 2129.12 -108.2 2.32 0.037 1509.00 452.5 309.53 - - 1699.53 - - - - - - - - 15.59 15.81 -
16727.54 100.06 10.87 1940 16728.87 no move 1.41 - - 2129.25 - - - 1508.62 - 309.53 - - 1698.25 - - - - - - - - - - -
17027.52 66.37 11.28 1999 17033.11 roll 1.44 - - 2129.00 - 2.88 0.148 458.19 -364.7 309.53 - - 1699.94 - - - - - - - - - 15.58 -
17057.50 62.48 12.98 2005 17062.96 roll 1.44 - - 2127.62 - 2.33 0.037 1506.31 449.8 309.53 - - 1701.28 - - - - - - - - - 15.62 -
17242.61 41.03 11.58 2042 17248.36 roll back 1.48 0.25 0.086 2167.00 157.5 3.47 0.080 2914.62 405.9 309.53 - - 1699.50 - - - - - - - - 15.77 15.46 -
17267.54 37.86 12.33 2047 17273.27 roll 1.48 - - 2167.31 - 3.56 0.064 1432.94 -416.2 309.53 - - 1699.38 - - - - - - - - - 15.64 -
17452.56 12.22 14.14 2084 17453.89 no move 1.48 - - 2167.12 - - - 1433.12 - 309.53 - - 1698.66 - - - - - - - - - - -
17523 end climb: SURFACE_DEPTH_REACHED
17523 begin surface coast
17533 end surface coast: CONTROL_FINISHED_OK
17533 begin surface
SM 0.73 - - - - 178.6 148.01 0.973 930.6 6.3 12.40 0.058 894.3 72.1 - 1.10 0.039 966.9 879.0 -1.682 - - 11.46 15.74 15.81 -