SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 132 * Raw log
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• Previous call tries 1 • 38.16 of 310.00 AH used of 24V (87.69% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -70.6 deg, depth 1.26 m • Intended pitch -18.2 deg, speed -9.980 cm/s
• No surface pump (final VBD was 350.53, SM_CC=290) • surface range 19.4 m at 19.6 m depth, ceiling 0.2 m
• GPS1 time: 101 s • bottom range 49.5 m at 170.2 m, depth 220 m (500 m grid)
• GPS2 time: 26 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
19 - - - 66 VBD -0.85 - - 100 - - - 2135 - -146.0 -45.55 - 2915 - - - - - - - - 15.09 - 15.08
67 3.2 -6.9 8 91 done -0.85 11.70 0.276 2207 180.1 - - 2135 - -146.0 -9.20 - 3410 -53.8 - - - - - - - 14.75 14.02 14.90
150 25.3 -21.9 24 157 roll -0.85 - - 2195 - 2.38 0.067 3546 592.9 -146.0 - - 3411 - - - - - - - - 15.11 14.91 15.12
191 33.6 -20.3 32 198 done -0.85 0.05 0.268 2207 240.0 2.35 0.038 2113 -609.8 -146.0 - - 3411 - - - - - - - - 14.81 14.93 14.92
257 46.8 -18.7 45 264 roll -0.85 - - 2207 - 2.30 0.064 723 -604.3 -146.0 - - 3411 - - - - - - - - 15.14 14.94 15.14
283 51.8 -20.0 50 289 done -0.85 - - 2201 - 2.30 0.047 2120 607.4 -146.0 - - 3411 - - - - - - - - 15.00 14.96 15.02
349 64.5 -18.9 63 355 roll -0.85 - - 2190 - 2.38 0.071 3536 595.0 -146.0 - - 3411 - - - - - - - - 15.17 14.95 15.17
389 71.8 -18.1 71 396 done -0.85 0.08 0.220 2208 225.0 2.30 0.038 2138 -607.8 -146.0 - - 3411 - - - - - - - - 14.87 14.95 14.96
456 83.2 -17.6 84 462 roll -0.85 - - 2208 - 2.35 0.065 716 -605.1 -146.0 - - 3411 - - - - - - - - 15.17 14.97 15.18
481 87.7 -16.6 89 488 done -0.85 - - 2200 - 2.33 0.047 2128 606.0 -146.0 - - 3411 - - - - - - - - 15.02 14.98 15.04
547 99.2 -17.4 102 552 done -0.85 - - 2200 - - - 2126 - -146.0 - - 3411 - - - - - - - - 15.18 15.18 15.18
613 110.5 -17.2 115 619 roll -0.85 0.03 0.510 2209 300.0 2.33 0.063 722 -602.6 -146.0 - - 3411 - - - - - - - - 14.89 14.95 15.05
643 115.8 -16.6 121 650 done -0.85 - - 2204 - 2.33 0.047 2130 604.3 -146.0 - - 3411 - - - - - - - - 15.00 14.95 15.02
710 125.2 -15.2 134 716 roll -0.85 - - 2204 - 2.35 0.072 3536 598.3 -146.0 - - 3410 - - - - - - - - 15.21 15.00 15.20
776 134.8 -14.0 147 782 done -0.85 - - 2204 - 2.25 0.037 2130 -624.9 -146.0 - - 3411 - - - - - - - - 15.11 15.03 15.11
842 143.9 -13.9 160 847 done -0.85 - - 2204 - - - 2130 - -146.0 - - 3411 - - - - - - - - 15.19 15.21 15.20
906 152.9 -13.8 173 907 done -0.85 - - 2204 - - - 2130 - -146.0 - - 3411 - - - - - - - - 15.20 15.21 15.21
966 161.9 -15.0 185 973 roll -0.85 - - 2195 - 2.40 0.070 3531 583.8 -146.0 - - 3411 - - - - - - - - 15.21 15.00 15.21
1002 166.8 -13.4 192 1009 done -0.85 0.08 0.210 2213 225.0 2.28 0.037 2131 -614.0 -146.0 - - 3411 - - - - - - - - 14.93 15.02 15.02
1068 175.2 -13.1 205 1069 done -0.85 - - 2213 - - - 2131 - -146.0 - - 3411 - - - - - - - - 15.21 15.21 15.21
1128 183.0 -12.2 217 1129 done -0.85 - - 2213 - - - 2130 - -146.0 - - 3411 - - - - - - - - 15.21 15.22 15.21
1188 190.2 -13.4 229 1195 roll -0.85 - - 2205 - 2.40 0.070 3535 585.4 -146.0 - - 3411 - - - - - - - - 15.22 14.96 15.22
1214 193.7 -14.2 234 1220 done -0.85 - - 2205 - 2.30 0.036 2125 -613.0 -146.0 - - 3411 - - - - - - - - 15.02 14.97 15.03
1280 201.7 -12.0 247 1286 roll -0.85 - - 2200 - 2.38 0.070 3541 595.0 -146.0 - - 3411 - - - - - - - - 15.23 15.02 15.22
1320 207.1 -12.5 255 1327 done -0.85 - - 2200 - 2.33 0.037 2122 -609.0 -146.0 - - 3412 - - - - - - - - 15.07 15.02 15.09
1340 end dive: BOTTOM_OBSTACLE_DETECTED
1340 begin apogee
1343 209.7 -12.3 259 1454 done -0.19 1.08 0.151 2422 205.6 - - 1892 - - 106.75 1.210 2811 -5.6 0.171 - - - - - - 14.95 14.61 14.12
1455 end apogee: CONTROL_FINISHED_OK
1455 begin climb
1457 214.8 - 279 1573 roll 0.85 1.50 0.082 2756 222.7 2.35 0.071 515 -586.0 146.0 107.60 1.200 2213 -5.6 0.174 - - - - - - 14.59 14.46 14.02
1637 210.1 7.9 312 1677 done 0.91 - - 2756 - 2.33 0.041 1918 602.1 190.8 34.85 1.156 2033 -5.2 0.164 - - - - - - 14.73 14.69 14.13
1736 200.6 9.5 331 1754 roll 0.92 - - 2757 - 2.38 0.062 3308 584.0 202.0 10.05 1.056 1986 -4.7 0.155 - - - - - - 14.90 14.64 14.22
1803 194.0 10.8 344 1810 done 0.92 - - 2764 - 2.33 0.044 1926 -593.1 202.0 - - 1984 - - - - - - - - 14.79 14.76 14.81
1870 187.4 9.7 357 1881 done 0.93 - - 2765 - - - 1926 - 208.1 6.00 0.947 1963 -3.5 0.121 - - - - - - 15.02 14.73 14.32
1941 179.6 11.6 371 1947 roll 0.93 - - 2765 - 2.33 0.063 3309 593.6 208.1 - - 1961 - - - - - - - - 15.04 14.81 15.04
2017 170.7 11.4 386 2023 done 0.93 - - 2773 - 2.28 0.043 1911 -613.2 208.1 - - 1960 - - - - - - - - 14.95 14.86 14.95
2083 164.3 10.4 399 2089 roll 0.93 - - 2773 - 2.38 0.075 500 -592.9 208.1 - - 1960 - - - - - - - - 15.12 14.90 15.13
2118 160.3 10.9 406 2125 done 0.93 - - 2773 - 2.30 0.041 1905 610.9 208.1 - - 1961 - - - - - - - - 14.97 14.92 14.98
2185 153.5 9.4 419 2202 roll 0.95 - - 2772 - 2.33 0.064 3311 603.4 219.8 10.68 1.021 1914 -4.4 0.116 - - - - - - 15.14 14.89 14.40
2261 145.6 10.3 434 2268 done 0.95 - - 2773 - 2.33 0.044 1912 -600.4 219.8 - - 1913 - - - - - - - - 14.96 14.92 14.97
2328 139.6 9.7 447 2339 done 0.95 - - 2773 - - - 1912 - 226.4 6.95 0.980 1886 -3.9 0.097 - - - - - - 15.14 14.80 14.39
2399 132.2 9.9 461 2404 done 0.96 - - 2773 - - - 1912 - 228.5 - - 1885 - - - - - - - - 15.13 15.13 15.13
2464 126.1 9.1 474 2487 done 0.98 0.05 0.255 2823 1000.0 - - 1912 - 247.2 17.88 1.079 1801 -4.7 0.096 - - - - - - 14.90 14.78 14.39
2546 117.0 11.4 490 2552 done 0.98 0.08 0.265 2807 -200.0 - - 1911 - 247.2 - - 1799 - - - - - - - - 14.83 14.98 14.96
2612 110.0 10.1 503 2617 done 0.98 - - 2807 - - - 1911 - 247.2 - - 1798 - - - - - - - - 15.11 15.11 15.11
2676 103.7 9.7 516 2689 roll 0.99 - - 2816 - 2.35 0.073 504 -598.7 252.9 5.70 0.829 1779 -3.3 0.073 - - - - - - 15.13 14.88 14.42
2748 97.2 9.1 530 2771 done 1.01 - - 2816 - 2.30 0.043 1905 609.1 272.0 16.98 1.046 1700 -4.7 0.076 - - - - - - 14.97 14.92 14.40
2830 88.8 9.8 546 2837 done 1.01 - - 2816 - - - 1905 - 275.9 4.15 0.673 1686 -3.4 0.078 - - - - - - 15.07 14.88 14.38
2897 82.3 9.9 559 2903 roll 1.02 - - 2822 - 2.35 0.076 503 -596.6 277.9 - - 1684 - - - - - - - - 15.11 14.86 15.11
2937 78.3 10.5 567 2944 done 1.02 - - 2822 - 2.30 0.043 1908 610.9 277.9 - - 1684 - - - - - - - - 14.92 14.90 14.95
3004 71.3 10.4 580 3010 roll 1.02 - - 2822 - 2.35 0.066 3310 596.6 277.9 - - 1684 - - - - - - - - 15.14 14.93 15.14
3054 65.5 11.3 590 3061 done 1.02 0.03 0.366 2823 - 2.33 0.045 1913 -599.6 277.9 - - 1683 - - - - - - - - 14.81 14.95 14.94
3121 58.8 10.1 603 3127 roll 1.02 - - 2823 - 2.38 0.076 500 -593.7 277.9 - - 1683 - - - - - - - - 15.14 14.95 15.15
3146 56.3 10.2 608 3152 done 1.02 - - 2824 - 2.30 0.041 1911 613.5 277.9 - - 1683 - - - - - - - - 15.02 14.97 15.03
3212 49.8 9.4 621 3229 done 1.03 - - 2823 - - - 1912 - 289.8 12.57 0.959 1628 -4.4 0.040 - - - - - - 15.17 14.93 14.45
3289 42.7 9.7 636 3300 done 1.04 - - 2823 - - - 1912 - 296.5 6.60 0.893 1603 -3.8 0.032 - - - - - - 15.13 14.83 14.45
3360 36.0 9.4 650 3378 roll 1.06 - - 2823 - 2.38 0.063 3304 584.9 309.5 12.32 0.937 1549 -4.4 0.029 - - - - - - 15.12 14.85 14.44
3402 32.1 9.2 658 3425 done 1.08 - - 2824 - 2.33 0.046 1916 -595.7 326.8 15.62 0.952 1477 -4.6 0.027 - - - - - - 14.90 14.85 14.39
3485 23.8 9.7 674 3491 done 1.08 - - 2824 - - - 1916 - 331.9 3.38 0.643 1457 -5.9 0.038 - - - - - - 15.05 14.89 14.40
3551 17.5 10.4 687 3556 done 1.08 - - 2824 - - - 1916 - 331.9 - - 1454 - - - - - - - - 15.09 15.09 15.09
3615 11.0 9.9 700 3622 roll 1.08 - - 2824 - 2.45 0.077 470 -590.2 332.9 - - 1454 - - - - - - - - 15.11 14.91 15.11
3677 4.9 9.3 712 3689 done 1.10 - - 2824 - 2.35 0.044 1915 614.9 347.8 8.70 0.130 1392 -7.1 0.047 - - - - - - 14.99 14.92 14.90
3697 end climb: SURFACE_DEPTH_REACHED
3697 begin surface coast
3723 end surface coast: CONTROL_FINISHED_OK
3723 begin surface
SM 1.07 - - - - -7.28 12.23 0.044 141 11.5 0.32 0.061 2155 -28484.4 350.53 - - 1384 - - - - - - - -