SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 104 * Raw log
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• Previous call tries 1 • 30.20 of 310.00 AH used of 24V (90.26% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.3 deg, depth 1.14 m • Intended pitch -18.2 deg, speed -9.929 cm/s
• No surface pump (final VBD was 390.02, SM_CC=320) • surface range 18.5 m at 19.7 m depth, ceiling 1.2 m
• GPS1 time: 42 s • bottom range 6.8 m at 372.1 m, depth 379 m (700 m grid)
• GPS2 time: 16 s • Transponder ping count: 0
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 81 VBD -0.78 - - 72 - - - 2155 - -146.0 -61.47 - 3024 - - - - - - - - 15.03 - 15.04
83 3.9 -9.7 11 107 roll -0.78 12.32 0.303 2219 174.3 2.35 0.087 3525 583.0 -146.0 -6.53 - 3409 -59.0 - - - - - - - 14.69 14.01 14.81
120 18.7 -31.8 18 128 done -0.78 0.05 0.270 2229 200.0 2.33 0.041 2117 -604.3 -146.0 - - 3410 - - - - - - - - 14.75 14.88 14.87
187 33.0 -21.7 31 192 done -0.78 - - 2229 - - - 2115 - -146.0 - - 3410 - - - - - - - - 15.08 15.09 15.09
252 46.4 -19.8 44 259 roll -0.78 - - 2229 - 2.35 0.067 733 -588.1 -146.0 - - 3410 - - - - - - - - 15.11 14.90 15.11
298 55.6 -18.7 53 305 done -0.78 - - 2221 - 2.28 0.048 2109 603.5 -146.0 - - 3410 - - - - - - - - 14.93 14.87 14.96
364 67.7 -18.6 66 370 done -0.78 0.03 0.518 2229 266.7 - - 2109 - -146.0 - - 3410 - - - - - - - - 14.84 15.03 15.00
429 79.4 -17.4 79 436 roll -0.78 - - 2230 - 2.35 0.065 730 -586.8 -146.0 - - 3410 - - - - - - - - 15.16 14.92 15.16
460 84.3 -15.7 85 466 done -0.78 - - 2224 - 2.30 0.048 2125 606.5 -146.0 - - 3410 - - - - - - - - 15.01 14.96 15.03
526 94.9 -16.8 98 532 roll -0.78 - - 2214 - 2.40 0.072 3532 586.2 -146.0 - - 3409 - - - - - - - - 15.16 14.96 15.16
541 97.6 -16.7 101 549 done -0.78 0.08 0.220 2230 200.0 2.30 0.038 2129 -610.0 -146.0 - - 3410 - - - - - - - - 14.89 14.99 14.98
607 108.6 -16.4 114 608 done -0.78 - - 2230 - - - 2129 - -146.0 - - 3410 - - - - - - - - 15.18 15.19 15.19
668 118.3 -15.4 126 668 done -0.78 - - 2230 - - - 2129 - -146.0 - - 3410 - - - - - - - - 15.19 15.19 15.19
728 127.2 -14.9 138 734 roll -0.78 - - 2222 - 2.40 0.071 3531 584.2 -146.0 - - 3410 - - - - - - - - 15.19 14.93 15.19
758 131.7 -14.8 144 765 done -0.78 - - 2222 - 2.28 0.037 2137 -611.4 -146.0 - - 3411 - - - - - - - - 15.01 14.97 15.02
825 141.3 -14.5 157 831 roll -0.78 - - 2222 - 2.35 0.064 713 -606.0 -146.0 - - 3410 - - - - - - - - 15.20 15.00 15.20
865 147.1 -14.6 165 872 done -0.78 - - 2221 - 2.33 0.049 2124 605.6 -146.0 - - 3411 - - - - - - - - 15.04 15.00 15.04
931 156.6 -14.7 178 938 roll -0.78 0.05 0.355 2222 - 2.35 0.070 3547 605.5 -146.0 - - 3411 - - - - - - - - 14.89 15.00 15.04
982 163.8 -14.0 188 989 done -0.78 - - 2222 - 2.33 0.037 2124 -610.7 -146.0 - - 3411 - - - - - - - - 15.07 15.02 15.06
1048 173.4 -13.4 201 1054 done -0.78 - - 2223 - - - 2124 - -146.0 - - 3411 - - - - - - - - 15.21 15.21 15.21
1113 182.8 -14.3 214 1120 roll -0.78 - - 2213 - 2.42 0.070 3540 585.1 -146.0 - - 3411 - - - - - - - - 15.21 14.96 15.21
1159 189.0 -13.2 223 1166 done -0.78 0.08 0.213 2230 212.5 2.30 0.037 2130 -613.0 -146.0 - - 3411 - - - - - - - - 14.92 15.02 15.01
1225 197.4 -13.0 236 1225 done -0.78 - - 2230 - - - 2130 - -146.0 - - 3410 - - - - - - - - 15.21 15.21 15.21
1285 205.0 -12.7 248 1285 done -0.78 - - 2230 - - - 2130 - -146.0 - - 3410 - - - - - - - - 15.22 15.22 15.22
1345 212.8 -13.5 260 1351 roll -0.78 - - 2222 - 2.40 0.070 3536 585.8 -146.0 - - 3411 - - - - - - - - 15.22 15.01 15.23
1365 215.6 -13.9 264 1372 done -0.78 - - 2222 - 2.28 0.036 2134 -614.9 -146.0 - - 3410 - - - - - - - - 15.07 15.03 15.09
1432 224.5 -15.0 277 1437 done -0.78 - - 2222 - - - 2134 - -146.0 - - 3410 - - - - - - - - 15.23 15.23 15.23
1496 233.8 -14.2 290 1503 roll -0.78 - - 2212 - 2.40 0.070 3540 585.8 -146.0 - - 3410 - - - - - - - - 15.23 15.02 15.24
1522 237.4 -14.2 295 1529 done -0.78 0.08 0.207 2231 237.5 2.30 0.037 2124 -615.7 -146.0 - - 3411 - - - - - - - - 14.96 15.04 15.04
1588 246.1 -13.3 308 1589 done -0.78 - - 2231 - - - 2125 - -146.0 - - 3411 - - - - - - - - 15.24 15.25 15.25
1648 253.9 -12.9 320 1649 done -0.78 - - 2231 - - - 2124 - -146.0 - - 3411 - - - - - - - - 15.25 15.26 15.26
1709 261.9 -13.4 332 1715 roll -0.78 - - 2223 - 2.38 0.070 3541 595.4 -146.0 - - 3410 - - - - - - - - 15.25 15.02 15.25
1734 265.6 -13.8 337 1741 done -0.78 - - 2223 - 2.30 0.037 2127 -614.8 -146.0 - - 3410 - - - - - - - - 15.09 15.05 15.11
1800 274.6 -14.3 350 1806 done -0.78 - - 2223 - - - 2126 - -146.0 - - 3410 - - - - - - - - 15.24 15.25 15.24
1865 283.4 -13.0 363 1866 done -0.78 - - 2223 - - - 2127 - -146.0 - - 3410 - - - - - - - - 15.25 15.25 15.25
1925 291.1 -12.8 375 1932 roll -0.78 - - 2221 - 2.42 0.071 3544 585.5 -146.0 - - 3410 - - - - - - - - 15.24 15.01 15.25
1951 294.4 -12.4 380 1958 done -0.78 - - 2221 - 2.30 0.037 2132 -613.9 -146.0 - - 3410 - - - - - - - - 15.09 15.07 15.11
2017 302.7 -13.2 390 2018 done -0.78 0.05 0.332 2231 200.0 - - 2130 - -146.0 - - 3410 - - - - - - - - 14.97 15.14 15.11
2137 316.7 -11.2 396 2142 roll -0.78 - - 2223 - 2.40 0.071 3538 586.7 -146.0 - - 3409 - - - - - - - - 15.28 15.05 15.28
2157 318.9 -11.0 397 2162 done -0.78 - - 2223 - 2.30 0.037 2126 -613.9 -146.0 - - 3409 - - - - - - - - 15.10 15.07 15.13
2297 335.2 -11.9 404 2302 roll -0.78 - - 2223 - 2.35 0.066 720 -598.3 -146.0 - - 3409 - - - - - - - - 15.30 15.04 15.30
2316 337.6 -12.1 405 2322 done -0.78 0.03 0.363 2227 133.3 2.33 0.049 2135 607.3 -146.0 - - 3409 - - - - - - - - 14.92 15.07 15.09
2457 354.8 -12.3 412 2458 done -0.78 - - 2227 - - - 2136 - -146.0 - - 3409 - - - - - - - - 15.30 15.30 15.30
2577 369.5 -12.1 418 2582 roll -0.78 - - 2219 - 2.38 0.073 3535 587.8 -146.0 - - 3408 - - - - - - - - 15.30 15.07 15.30
2598 end dive: BOTTOM_OBSTACLE_DETECTED
2598 begin apogee
2604 372.1 -12.3 419 2719 done -0.17 1.05 0.158 2431 201.9 - - 1945 - - 110.95 1.448 2811 -5.4 0.244 - - - - - - 15.03 14.56 14.01
2720 end apogee: CONTROL_FINISHED_OK
2720 begin climb
2721 377.5 - 425 2844 roll 0.78 1.38 0.086 2739 223.2 2.45 0.072 554 -567.8 146.0 113.05 1.429 2214 -5.3 0.247 - - - - - - 14.54 14.39 13.88
2998 367.8 7.4 439 3049 done 0.85 - - 2739 - 2.33 0.044 1960 603.4 202.4 44.58 1.392 1987 -5.1 0.238 - - - - - - 14.84 14.81 14.06
3178 351.7 9.7 448 3189 roll 0.86 - - 2739 - 2.35 0.067 3355 593.6 207.8 5.78 1.093 1963 -4.2 0.236 - - - - - - 15.01 14.78 14.26
3218 347.7 9.7 450 3229 done 0.87 - - 2739 - 2.35 0.044 1955 -595.7 212.3 5.38 1.053 1945 -3.3 0.195 - - - - - - 14.86 14.81 14.27
3358 333.8 10.1 457 3363 roll 0.87 - - 2739 - 2.42 0.076 548 -581.4 212.3 - - 1943 - - - - - - - - 15.09 14.87 15.11
3398 329.9 10.1 459 3403 done 0.87 - - 2739 - 2.30 0.044 1947 608.3 212.3 - - 1943 - - - - - - - - 14.97 14.92 14.98
3538 317.3 8.6 466 3569 roll 0.90 0.10 0.147 2793 540.0 2.40 0.067 3353 585.8 240.8 23.77 1.327 1829 -4.8 0.203 - - - - - - 15.00 14.81 14.31
3613 311.0 10.0 469 3620 done 0.90 - - 2794 - 2.35 0.047 1947 -598.3 240.8 - - 1828 - - - - - - - - 14.90 14.87 14.92
3738 294.4 11.6 482 3745 roll 0.90 - - 2793 - 2.35 0.076 549 -594.9 240.8 - - 1827 - - - - - - - - 15.13 14.89 15.14
3764 291.6 11.0 487 3771 done 0.90 0.03 0.336 2788 -166.7 2.33 0.044 1964 607.3 240.8 - - 1826 - - - - - - - - 14.81 14.93 14.93
3830 283.4 12.2 500 3837 roll 0.90 - - 2788 - 2.35 0.066 3340 585.5 240.8 - - 1826 - - - - - - - - 15.16 14.92 15.16
3876 277.4 13.4 509 3883 done 0.90 - - 2788 - 2.30 0.046 1954 -602.6 240.8 - - 1826 - - - - - - - - 15.01 14.97 15.02
3942 269.1 12.8 522 3948 done 0.90 - - 2788 - - - 1954 - 240.8 - - 1825 - - - - - - - - 15.17 15.17 15.17
4007 260.9 12.7 535 4012 done 0.90 - - 2788 - - - 1954 - 240.8 - - 1825 - - - - - - - - 15.19 15.19 15.19
4072 253.1 11.5 548 4078 roll 0.90 - - 2788 - 2.38 0.065 3344 584.0 240.8 - - 1825 - - - - - - - - 15.20 14.98 15.21
4092 250.7 12.4 552 4100 done 0.90 - - 2790 - 2.30 0.046 1951 -605.7 240.8 - - 1825 - - - - - - - - 15.04 15.00 15.06
4159 243.4 10.7 565 4165 roll 0.90 - - 2791 - 2.35 0.076 547 -597.4 240.8 - - 1825 - - - - - - - - 15.21 14.96 15.21
4184 240.9 9.7 570 4197 done 0.91 - - 2791 - 2.30 0.043 1954 611.7 245.0 4.20 0.750 1813 -2.9 0.162 - - - - - - 15.05 15.03 14.39
4256 233.1 11.0 584 4263 roll 0.91 - - 2791 - 2.38 0.067 3347 585.3 245.0 - - 1813 - - - - - - - - 15.19 14.97 15.20
4297 228.4 11.7 592 4304 done 0.91 0.08 0.241 2785 -75.0 2.30 0.046 1951 -607.0 245.0 - - 1813 - - - - - - - - 14.90 15.00 15.00
4363 221.2 11.1 605 4369 done 0.91 - - 2785 - - - 1951 - 245.0 - - 1813 - - - - - - - - 15.20 15.20 15.21
4428 214.1 11.1 618 4433 done 0.91 - - 2785 - - - 1951 - 245.0 - - 1812 - - - - - - - - 15.21 15.21 15.21
4493 207.0 10.5 631 4498 done 0.91 - - 2785 - - - 1951 - 245.0 - - 1812 - - - - - - - - 15.21 15.21 15.21
4558 200.2 10.3 644 4564 roll 0.91 - - 2784 - 2.38 0.067 3337 582.4 245.0 - - 1812 - - - - - - - - 15.22 15.00 15.22
4619 194.3 9.5 656 4637 done 0.92 - - 2788 - 2.25 0.046 1949 -616.9 254.4 9.30 1.072 1775 -4.0 0.127 - - - - - - 15.08 15.00 14.42
4696 186.9 9.5 671 4714 roll 0.93 - - 2787 - 2.38 0.067 3336 582.8 264.6 10.10 1.082 1731 -4.4 0.133 - - - - - - 15.16 14.91 14.40
4768 179.5 10.8 685 4775 done 0.93 - - 2787 - 2.30 0.046 1955 -600.4 264.6 - - 1730 - - - - - - - - 14.99 14.95 15.00
4835 173.7 9.2 698 4852 done 0.95 - - 2787 - - - 1955 - 279.8 13.73 1.179 1670 -4.4 0.114 - - - - - - 15.14 14.90 14.38
4912 165.6 10.1 713 4917 done 0.95 - - 2787 - - - 1955 - 279.8 - - 1669 - - - - - - - - 15.09 15.09 15.09
4976 159.1 10.1 726 4977 done 0.95 - - 2787 - - - 1955 - 279.8 - - 1669 - - - - - - - - 15.12 15.12 15.12
5036 153.1 10.1 738 5037 done 0.95 - - 2787 - - - 1955 - 279.8 - - 1668 - - - - - - - - 15.14 15.14 15.14
5096 146.8 10.5 750 5103 roll 0.95 - - 2788 - 2.42 0.076 549 -581.0 279.8 - - 1668 - - - - - - - - 15.14 14.92 15.15
5127 143.7 9.9 756 5134 done 0.95 - - 2787 - 2.30 0.043 1949 608.7 280.8 - - 1667 - - - - - - - - 15.03 14.96 15.02
5193 137.4 9.8 769 5200 done 0.95 - - 2788 - - - 1949 - 283.6 4.15 0.832 1654 -3.1 0.091 - - - - - - 15.15 14.96 14.42
5259 131.2 9.7 782 5271 roll 0.96 - - 2787 - 2.33 0.067 3346 599.6 287.9 5.03 0.917 1638 -3.2 0.080 - - - - - - 15.16 14.91 14.42
5285 128.3 9.8 787 5298 done 0.96 - - 2787 - 2.33 0.047 1950 -599.1 291.8 5.22 0.923 1621 -3.3 0.080 - - - - - - 14.98 14.94 14.40
5357 121.8 8.3 801 5392 roll 1.01 - - 2793 - 2.47 0.077 542 -570.0 326.5 29.50 1.163 1480 -4.8 0.088 - - - - - - 15.11 14.77 14.31
5421 116.2 9.3 813 5439 done 1.02 - - 2793 - 2.30 0.044 1957 615.2 340.1 12.68 1.021 1424 -4.4 0.089 - - - - - - 14.90 14.83 14.28
5498 108.3 10.4 828 5505 roll 1.02 - - 2793 - 2.40 0.068 3344 577.9 340.1 - - 1422 - - - - - - - - 15.00 14.76 15.00
5534 104.8 10.8 835 5541 done 1.02 - - 2793 - 2.35 0.046 1944 -595.7 340.1 - - 1421 - - - - - - - - 14.84 14.81 14.85
5600 98.1 10.0 848 5607 roll 1.02 - - 2793 - 2.38 0.077 549 -586.1 340.1 - - 1421 - - - - - - - - 15.08 14.86 15.08
5641 93.8 10.4 856 5647 done 1.02 - - 2794 - 2.30 0.043 1943 606.1 340.1 - - 1421 - - - - - - - - 14.94 14.90 14.96
5707 87.0 10.4 869 5713 roll 1.02 - - 2793 - 2.35 0.065 3347 597.4 340.1 - - 1421 - - - - - - - - 15.10 14.91 15.10
5742 83.0 11.2 876 5749 done 1.02 - - 2793 - 2.33 0.046 1952 -598.7 340.1 - - 1421 - - - - - - - - 14.97 14.90 14.99
5809 76.8 9.1 889 5832 roll 1.04 0.05 0.261 2836 860.0 2.40 0.076 550 -584.2 357.2 14.73 1.004 1355 -4.5 0.061 - - - - - - 14.90 14.81 14.40
5891 67.5 12.0 905 5898 done 1.04 - - 2836 - 2.30 0.044 1946 607.0 357.2 - - 1354 - - - - - - - - 14.92 14.90 14.96
5957 59.9 11.2 918 5963 done 1.04 - - 2836 - - - 1946 - 357.2 - - 1354 - - - - - - - - 15.09 15.10 15.10
6022 52.9 10.4 931 6023 done 1.04 - - 2836 - - - 1946 - 357.2 - - 1354 - - - - - - - - 15.11 15.12 15.12
6082 46.6 9.8 943 6090 roll 1.05 - - 2836 - 2.42 0.076 549 -577.3 359.7 3.65 0.526 1344 -2.7 0.043 - - - - - - 15.13 14.92 14.48
6139 41.0 10.6 954 6146 done 1.05 - - 2836 - 2.25 0.043 1952 623.6 359.7 - - 1343 - - - - - - - - 15.01 14.94 15.01
6205 34.3 10.6 967 6211 done 1.05 - - 2836 - - - 1953 - 359.7 - - 1343 - - - - - - - - 15.15 15.18 15.16
6269 27.0 11.9 980 6270 done 1.05 - - 2836 - - - 1953 - 359.7 - - 1343 - - - - - - - - 15.16 15.17 15.16
6330 21.0 8.6 992 6351 done 1.08 - - 2836 - - - 1953 - 387.8 17.77 0.958 1230 -6.4 0.025 - - - - - - 15.16 14.92 14.47
6410 13.1 10.4 1007 6416 roll 1.08 - - 2837 - 2.42 0.077 550 -579.8 387.8 - - 1228 - - - - - - - - 15.10 14.86 15.11
6430 10.7 12.8 1011 6437 done 1.08 - - 2836 - 2.30 0.041 1953 610.0 387.8 - - 1227 - - - - - - - - 14.97 14.92 14.98
6497 3.8 11.4 1024 6502 done 1.08 - - 2836 - - - 1953 - 387.8 - - 1226 - - - - - - - - 15.11 15.12 15.12
6505 end climb: SURFACE_DEPTH_REACHED
6505 begin surface coast
6530 end surface coast: CONTROL_FINISHED_OK
6530 begin surface
SM 0.91 - - - - -7.26 12.35 0.053 148 12.0 0.25 0.073 2145 8556.0 390.02 - - 1223 - - - - - - - -