SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 106 * Raw log
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• Previous call tries 1 • 30.76 of 310.00 AH used of 24V (90.08% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.8 deg, depth 1.21 m • Intended pitch -18.2 deg, speed -9.929 cm/s
• No surface pump (final VBD was 438.34, SM_CC=320) • surface range 19.7 m at 20.0 m depth, ceiling 0.3 m
• GPS1 time: 38 s • bottom range 6.8 m at 360.9 m, depth 368 m (700 m grid)
• GPS2 time: 25 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 - - - 70 VBD -0.78 - - 73 - - - 2137 - -146.0 -50.72 - 2882 - - - - - - - - 15.04 - 15.05
72 3.0 -5.8 9 100 roll -0.78 12.25 0.296 2228 175.9 2.35 0.083 720 -603.0 -146.0 -9.60 - 3408 -54.8 - - - - - - - 14.73 14.30 14.86
139 21.8 -21.0 22 146 done -0.78 - - 2220 - 2.33 0.048 2116 599.1 -146.0 - - 3408 - - - - - - - - 14.92 14.88 14.94
206 36.0 -22.2 35 212 roll -0.78 0.05 0.369 2221 - 2.38 0.070 3541 598.7 -146.0 - - 3408 - - - - - - - - 14.80 14.92 14.95
236 42.7 -21.7 41 244 done -0.78 0.03 0.351 2227 200.0 2.33 0.039 2124 -608.2 -146.0 - - 3408 - - - - - - - - 14.77 14.92 14.90
303 58.0 -22.3 54 309 roll -0.78 - - 2226 - 2.33 0.066 720 -602.6 -146.0 - - 3409 - - - - - - - - 15.14 14.90 15.14
333 64.2 -20.5 60 340 done -0.78 - - 2218 - 2.33 0.047 2129 604.7 -146.0 - - 3412 - - - - - - - - 14.96 14.95 14.97
400 75.7 -17.0 73 405 done -0.78 0.08 0.295 2233 187.5 - - 2129 - -146.0 - - 3409 - - - - - - - - 14.84 15.00 14.97
465 87.7 -18.6 86 470 done -0.78 - - 2234 - - - 2129 - -146.0 - - 3409 - - - - - - - - 15.17 15.17 15.17
529 98.7 -16.2 99 535 done -0.78 - - 2234 - - - 2129 - -146.0 - - 3409 - - - - - - - - 15.18 15.19 15.19
595 109.4 -15.4 112 601 done -0.78 - - 2234 - - - 2129 - -146.0 - - 3409 - - - - - - - - 15.19 15.19 15.19
661 120.0 -17.4 125 667 roll -0.78 - - 2225 - 2.33 0.070 3538 604.7 -146.0 - - 3409 - - - - - - - - 15.15 15.00 15.15
681 123.6 -16.9 129 688 done -0.78 - - 2225 - 2.30 0.037 2132 -611.3 -146.0 - - 3409 - - - - - - - - 15.04 15.00 15.05
747 134.1 -16.2 142 753 done -0.78 - - 2224 - - - 2132 - -146.0 - - 3409 - - - - - - - - 15.19 15.19 15.19
812 144.4 -15.5 155 812 done -0.78 - - 2225 - - - 2132 - -146.0 - - 3409 - - - - - - - - 15.19 15.19 15.19
872 153.2 -14.2 167 872 done -0.78 - - 2225 - - - 2132 - -146.0 - - 3409 - - - - - - - - 15.20 15.21 15.20
932 161.4 -13.6 179 938 roll -0.78 - - 2225 - 2.40 0.070 3533 583.8 -146.0 - - 3409 - - - - - - - - 15.20 15.00 15.21
982 168.6 -13.3 189 990 done -0.78 - - 2224 - 2.30 0.037 2127 -611.3 -146.0 - - 3409 - - - - - - - - 15.02 14.98 15.04
1049 177.5 -13.7 202 1054 done -0.78 - - 2225 - - - 2126 - -146.0 - - 3410 - - - - - - - - 15.21 15.22 15.21
1113 186.1 -13.1 215 1114 done -0.78 - - 2224 - - - 2126 - -146.0 - - 3409 - - - - - - - - 15.22 15.23 15.22
1174 194.4 -14.3 227 1180 roll -0.78 - - 2216 - 2.40 0.070 3529 584.6 -146.0 - - 3409 - - - - - - - - 15.22 14.98 15.22
1229 201.6 -12.4 238 1237 done -0.78 0.08 0.210 2233 212.5 2.30 0.037 2123 -611.3 -146.0 - - 3409 - - - - - - - - 14.93 15.01 15.03
1296 210.6 -13.7 251 1302 done -0.78 - - 2233 - - - 2123 - -146.0 - - 3409 - - - - - - - - 15.21 15.21 15.21
1361 218.7 -12.1 264 1361 done -0.78 - - 2232 - - - 2122 - -146.0 - - 3409 - - - - - - - - 15.23 15.23 15.23
1421 226.1 -12.9 276 1421 done -0.78 - - 2233 - - - 2122 - -146.0 - - 3409 - - - - - - - - 15.23 15.23 15.23
1481 234.1 -13.1 288 1486 done -0.78 - - 2233 - - - 2121 - -146.0 - - 3409 - - - - - - - - 15.23 15.24 15.24
1546 242.5 -12.7 301 1552 roll -0.78 - - 2233 - 2.33 0.065 732 -596.1 -146.0 - - 3409 - - - - - - - - 15.24 15.02 15.24
1571 245.9 -14.0 306 1578 done -0.78 - - 2228 - 2.30 0.047 2127 606.5 -146.0 - - 3409 - - - - - - - - 15.09 15.05 15.10
1638 254.1 -12.5 319 1644 roll -0.78 - - 2227 - 2.40 0.073 3539 588.3 -146.0 - - 3409 - - - - - - - - 15.25 15.00 15.25
1693 261.0 -11.6 330 1700 done -0.78 - - 2227 - 2.30 0.037 2127 -613.9 -146.0 - - 3409 - - - - - - - - 15.10 15.06 15.11
1760 269.1 -12.5 343 1765 done -0.78 - - 2228 - - - 2127 - -146.0 - - 3409 - - - - - - - - 15.25 15.25 15.25
1824 277.5 -13.0 356 1831 roll -0.78 - - 2218 - 2.38 0.070 3544 595.4 -146.0 - - 3409 - - - - - - - - 15.25 15.04 15.25
1865 282.8 -13.1 364 1872 done -0.78 0.05 0.236 2231 260.0 2.30 0.037 2129 -615.2 -146.0 - - 3409 - - - - - - - - 14.95 15.06 15.05
1931 291.0 -12.1 377 1932 done -0.78 - - 2230 - - - 2129 - -146.0 - - 3409 - - - - - - - - 15.24 15.25 15.24
1991 298.3 -12.6 389 1996 done -0.78 - - 2231 - - - 2129 - -146.0 - - 3408 - - - - - - - - 15.24 15.25 15.25
2066 308.0 -12.9 395 2072 roll -0.78 - - 2223 - 2.40 0.070 3531 584.2 -146.0 - - 3405 - - - - - - - - 15.27 15.04 15.27
2090 310.7 -13.0 396 2096 done -0.78 - - 2223 - 2.28 0.038 2134 -612.7 -146.0 - - 3408 - - - - - - - - 15.11 15.08 15.13
2226 329.3 -13.0 403 2227 done -0.78 - - 2223 - - - 2134 - -146.0 - - 3407 - - - - - - - - 15.28 15.28 15.28
2346 344.5 -12.7 409 2347 done -0.78 - - 2223 - - - 2134 - -146.0 - - 3407 - - - - - - - - 15.30 15.30 15.30
2466 358.7 -11.6 415 2467 done -0.78 - - 2223 - - - 2134 - -146.0 - - 3406 - - - - - - - - 15.30 15.30 15.30
2487 end dive: BOTTOM_OBSTACLE_DETECTED
2487 begin apogee
2491 360.9 -11.3 416 2608 done -0.17 1.02 0.158 2431 203.9 - - 1928 - - 110.43 1.441 2812 -5.4 0.238 - - - - - - 15.03 14.45 14.02
2609 end apogee: CONTROL_FINISHED_OK
2609 begin climb
2610 365.6 - 422 2733 roll 0.78 1.38 0.091 2736 221.0 2.40 0.071 567 -567.1 146.0 113.10 1.413 2214 -5.3 0.241 - - - - - - 14.54 14.39 13.90
2892 357.4 6.3 436 2962 done 0.88 0.05 0.160 2778 840.0 2.30 0.044 1963 607.0 224.6 62.62 1.395 1895 -5.1 0.230 - - - - - - 14.76 14.81 14.02
3087 337.4 10.7 446 3092 roll 0.88 - - 2778 - 2.38 0.067 3338 577.7 224.6 - - 1891 - - - - - - - - 14.98 14.77 14.98
3122 335.1 10.8 447 3129 done 0.88 0.05 0.281 2777 - 2.28 0.044 1971 -599.6 224.6 - - 1891 - - - - - - - - 14.71 14.82 14.82
3247 319.7 11.1 454 3252 roll 0.88 - - 2785 - 2.42 0.073 555 -585.1 224.6 - - 1891 - - - - - - - - 15.11 14.88 15.11
3322 312.4 11.9 457 3329 done 0.88 - - 2785 - 2.28 0.044 1937 606.1 224.6 - - 1889 - - - - - - - - 14.98 14.95 15.00
3447 295.7 12.7 467 3454 roll 0.88 - - 2785 - 2.40 0.068 3348 587.9 224.6 - - 1889 - - - - - - - - 15.18 14.95 15.18
3493 289.8 13.3 476 3500 done 0.88 0.05 0.273 2777 -160.0 2.30 0.046 1954 -606.1 224.6 - - 1888 - - - - - - - - 14.88 14.98 14.98
3559 281.4 12.2 489 3560 done 0.88 - - 2777 - - - 1953 - 224.6 - - 1888 - - - - - - - - 15.19 15.19 15.20
3619 273.9 12.8 501 3625 done 0.88 - - 2777 - - - 1954 - 224.6 - - 1888 - - - - - - - - 15.21 15.20 15.21
3684 266.3 11.5 514 3691 roll 0.88 - - 2776 - 2.35 0.065 3343 591.1 224.6 - - 1888 - - - - - - - - 15.21 14.98 15.21
3725 261.2 12.5 522 3731 done 0.88 - - 2784 - 2.30 0.045 1951 -605.2 224.6 - - 1888 - - - - - - - - 15.05 15.01 15.07
3791 253.2 11.9 535 3796 done 0.88 - - 2784 - - - 1951 - 224.6 - - 1888 - - - - - - - - 15.21 15.21 15.21
3856 245.3 12.2 548 3862 roll 0.88 - - 2784 - 2.35 0.067 3361 600.0 224.6 - - 1887 - - - - - - - - 15.21 15.00 15.21
3891 240.7 13.0 555 3899 done 0.88 0.05 0.273 2776 -160.0 2.33 0.046 1951 -605.2 224.6 - - 1887 - - - - - - - - 14.90 15.02 15.03
3958 232.6 11.8 568 3965 roll 0.88 - - 2784 - 2.33 0.075 549 -601.7 224.6 - - 1887 - - - - - - - - 15.23 14.97 15.23
4003 227.4 11.8 577 4010 done 0.88 - - 2784 - 2.28 0.044 1948 613.6 224.6 - - 1887 - - - - - - - - 15.08 15.03 15.09
4070 219.4 12.0 590 4076 done 0.88 - - 2784 - - - 1948 - 224.6 - - 1886 - - - - - - - - 15.23 15.23 15.23
4135 211.1 13.2 603 4135 done 0.88 - - 2784 - - - 1948 - 224.6 - - 1886 - - - - - - - - 15.23 15.23 15.23
4195 204.1 11.0 615 4195 done 0.88 - - 2784 - - - 1948 - 224.6 - - 1886 - - - - - - - - 15.26 15.23 15.23
4255 197.8 9.9 627 4255 done 0.88 - - 2784 - - - 1948 - 225.7 - - 1886 - - - - - - - - 15.23 15.23 15.23
4315 191.9 9.6 639 4327 done 0.89 - - 2784 - - - 1948 - 232.8 6.88 0.988 1860 -3.8 0.130 - - - - - - 15.23 14.89 14.45
4387 185.0 9.0 653 4410 roll 0.92 - - 2784 - 2.40 0.069 3344 581.7 252.9 17.95 1.182 1779 -4.5 0.125 - - - - - - 15.18 14.90 14.38
4473 176.2 10.8 670 4480 done 0.92 - - 2787 - 2.33 0.046 1949 -598.7 252.9 - - 1777 - - - - - - - - 14.94 14.90 14.97
4540 169.7 9.3 683 4558 roll 0.93 - - 2787 - 2.35 0.065 3343 593.2 265.6 11.43 1.088 1728 -4.3 0.118 - - - - - - 15.13 14.80 14.38
4587 164.6 10.7 692 4594 done 0.93 - - 2787 - 2.33 0.047 1948 -598.7 265.6 - - 1728 - - - - - - - - 14.94 14.90 14.96
4653 158.0 10.9 705 4659 done 0.93 - - 2787 - - - 1949 - 265.6 - - 1726 - - - - - - - - 15.11 15.12 15.11
4718 151.0 10.4 718 4724 roll 0.93 - - 2787 - 2.38 0.066 3340 584.5 265.6 - - 1727 - - - - - - - - 15.13 14.88 15.14
4769 145.4 10.9 728 4775 done 0.93 - - 2787 - 2.33 0.046 1945 -598.7 265.6 - - 1727 - - - - - - - - 14.97 14.92 14.99
4835 138.8 9.6 741 4847 done 0.94 - - 2787 - - - 1944 - 273.4 7.80 0.959 1694 -4.2 0.108 - - - - - - 15.16 14.95 14.40
4907 132.0 9.4 755 4919 done 0.95 - - 2787 - - - 1944 - 284.2 10.32 1.021 1653 -4.0 0.091 - - - - - - 15.12 14.92 14.39
4978 124.7 10.6 769 4985 roll 0.95 - - 2786 - 2.38 0.067 3347 589.5 284.2 - - 1651 - - - - - - - - 15.11 14.89 15.11
5004 122.1 8.8 774 5033 done 0.99 - - 2787 - 2.33 0.046 1952 -598.7 309.3 21.62 1.147 1551 -4.6 0.087 - - - - - - 14.95 14.90 14.33
5092 113.6 9.5 791 5105 roll 1.00 - - 2787 - 2.45 0.076 541 -575.9 317.7 8.52 0.947 1516 -4.1 0.087 - - - - - - 15.04 14.81 14.31
5124 110.6 8.9 797 5153 done 1.02 - - 2787 - 2.33 0.043 1946 603.0 340.6 20.35 1.117 1422 -4.6 0.081 - - - - - - 14.87 14.83 14.27
5212 101.2 10.5 814 5218 done 1.02 0.05 0.258 2826 780.0 - - 1947 - 340.6 - - 1420 - - - - - - - - 14.78 14.90 14.88
5277 93.3 12.7 827 5283 done 1.02 - - 2826 - - - 1947 - 340.6 - - 1420 - - - - - - - - 15.04 15.04 15.04
5342 85.2 12.2 840 5349 roll 1.02 - - 2837 - 2.42 0.076 551 -576.9 340.6 - - 1420 - - - - - - - - 15.07 14.86 15.07
5402 78.0 12.2 852 5410 done 1.02 0.05 0.243 2824 -260.0 2.33 0.045 1957 603.4 340.6 - - 1419 - - - - - - - - 14.79 14.88 14.87
5469 70.4 11.7 865 5475 done 1.02 - - 2824 - - - 1957 - 340.6 - - 1418 - - - - - - - - 15.11 15.12 15.12
5534 62.8 11.4 878 5541 roll 1.02 - - 2833 - 2.45 0.076 546 -575.9 340.6 - - 1417 - - - - - - - - 15.14 14.89 15.14
5595 56.0 10.7 890 5602 done 1.02 0.03 0.325 2825 -266.7 2.33 0.045 1957 605.6 340.6 - - 1418 - - - - - - - - 14.81 14.95 14.94
5662 49.6 8.9 903 5685 roll 1.05 - - 2825 - 2.40 0.067 3352 581.2 364.0 19.60 1.004 1327 -4.6 0.040 - - - - - - 15.14 14.86 14.42
5699 46.3 8.7 910 5728 done 1.09 - - 2824 - 2.35 0.045 1952 -595.7 391.5 23.30 1.035 1215 -4.8 0.038 - - - - - - 14.90 14.86 14.31
5788 38.1 9.8 927 5794 roll 1.09 - - 2825 - 2.40 0.077 546 -585.8 393.4 - - 1212 - - - - - - - - 15.02 14.77 15.02
5818 35.2 10.8 933 5825 done 1.09 - - 2825 - 2.33 0.042 1952 603.4 393.4 - - 1212 - - - - - - - - 14.85 14.81 14.88
5885 27.9 10.8 946 5890 done 1.09 - - 2825 - - - 1953 - 393.4 - - 1211 - - - - - - - - 15.08 15.08 15.08
5949 21.1 10.7 959 5950 done 1.09 - - 2825 - - - 1953 - 393.4 - - 1209 - - - - - - - - 15.10 15.11 15.11
6010 15.6 8.3 971 6038 done 1.13 - - 2826 - - - 1953 - 429.0 23.10 0.917 1057 -6.6 0.020 - - - - - - 15.12 14.76 14.41
6097 7.5 9.6 988 6105 roll 1.14 0.05 0.258 2866 800.0 2.45 0.077 547 -573.9 436.8 3.72 0.578 1030 -7.3 0.017 - - - - - - 14.83 14.84 14.42
6129 3.4 14.5 994 6136 done 1.14 - - 2866 - 2.30 0.040 1949 609.6 436.8 - - 1028 - - - - - - - - 14.90 14.86 14.92
6138 end climb: SURFACE_DEPTH_REACHED
6138 begin surface coast
6159 end surface coast: CONTROL_FINISHED_OK
6159 begin surface
SM 1.00 - - - - -7.31 12.57 0.047 133 10.6 0.25 0.072 2153 -11892.0 438.34 - - 1025 - - - - - - - -