Cuddy Oct13 * SG194 * Dive index * Mission links * Dive 136 * Raw log
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• Previous call tries 1 • 20.11 of 150.00 AH used of 24V (86.59% remains)
• Previous NAKs 0, Timeouts 0 • 14.22 of 97.00 AH used of 10V (85.34% remains)
• Surface angle -64.1 deg, depth 2.23 m • Intended pitch -9.9 deg, speed -6.000 cm/s
• No surface pump (final VBD was 463.13, SM_CC=250)
• GPS1 time: 39 s • bottom range 52.8 m at 672.4 m, depth 725 m (990 m grid)
• GPS2 time: 18 s • Transponder ping count: 1
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
15 - - - 70 VBD -0.43 - - 111 - - - 2282 - -146.6 -53.35 - 2137 - - - - - - - - - - -
73 3.1 -2.1 5 119 roll -0.43 9.32 0.196 2642 271.6 2.25 0.050 860 -632.0 -146.6 -26.58 - 2998 -32.4 - - - - - - - 25.44 25.98 26.43
202 14.4 -11.9 18 213 done -0.29 0.20 0.117 2696 270.0 2.17 0.036 2259 644.7 -146.6 - - 2999 - - - - - - - - 25.79 26.04 -
513 43.0 -8.3 49 522 roll -0.23 - - 2689 - 2.22 0.046 3671 636.0 -146.6 - - 2999 - - - - - - - - - 26.08 -
689 58.2 -8.4 66 698 done -0.17 0.10 0.090 2727 380.0 2.17 0.028 2249 -655.3 -146.6 - - 2999 - - - - - - - - 26.06 26.30 -
1008 81.5 -6.1 97 1013 roll -0.17 - - 2727 - 2.12 0.038 874 -648.6 -146.6 - - 3000 - - - - - - - - - 26.25 -
1107 87.5 -5.9 102 1111 done -0.17 - - 2724 - 2.15 0.036 2271 649.8 -146.6 - - 3000 - - - - - - - - - 26.29 -
1423 104.4 -5.4 118 1429 roll -0.17 - - 2718 - 2.17 0.045 3662 641.0 -146.6 - - 2999 - - - - - - - - - 26.23 -
1557 110.3 -4.7 124 1564 done -0.17 - - 2718 - 2.12 0.028 2263 -659.9 -146.6 - - 3000 - - - - - - - - - 26.45 -
1864 123.6 -4.7 140 1868 roll -0.17 - - 2718 - 2.15 0.038 868 -648.8 -146.6 - - 3000 - - - - - - - - - 26.34 -
1903 125.6 -5.0 142 1907 done -0.17 - - 2717 - 2.17 0.037 2260 641.5 -146.6 - - 3000 - - - - - - - - - 26.37 -
2220 143.6 -5.4 158 2226 roll -0.17 - - 2718 - 2.20 0.046 3673 642.3 -146.6 - - 2999 - - - - - - - - - 26.29 -
2274 145.7 -5.3 160 2282 done -0.22 - - 2718 - 2.15 0.028 2257 -658.6 -146.6 - - 3000 - - - - - - - - - 26.49 -
2602 162.4 -4.9 173 2603 done -0.28 - - 2718 - - - 2258 - -146.6 - - 2999 - - - - - - - - - - -
2901 174.9 -3.6 183 2903 done -0.34 0.12 0.077 2623 -791.7 - - 2257 - -146.6 - - 2999 - - - - - - - - 26.68 - -
3201 193.6 -6.3 193 3203 done -0.28 0.22 0.106 2697 336.4 - - 2258 - -146.6 - - 2999 - - - - - - - - 26.34 - -
3500 205.6 -4.0 203 3501 done -0.28 - - 2697 - - - 2257 - -146.6 - - 2999 - - - - - - - - - - -
3801 216.7 -3.4 213 3807 roll -0.28 - - 2694 - 2.22 0.047 3666 634.7 -146.6 - - 2998 - - - - - - - - - 26.32 -
3893 219.7 -3.4 216 3897 done -0.28 - - 2694 - 2.10 0.028 2256 -671.4 -146.6 - - 2998 - - - - - - - - - 26.54 -
4220 232.9 -4.4 227 4221 done -0.28 - - 2695 - - - 2256 - -146.6 - - 2998 - - - - - - - - - - -
4521 244.5 -3.8 237 4527 roll -0.28 - - 2692 - 2.22 0.047 3665 634.7 -146.6 - - 2997 - - - - - - - - - 26.32 -
4569 245.7 -3.8 238 4573 done -0.28 - - 2692 - 2.10 0.029 2253 -672.4 -146.6 - - 2997 - - - - - - - - - 26.54 -
4875 261.4 -5.3 248 4876 done -0.28 - - 2692 - - - 2253 - -146.6 - - 2997 - - - - - - - - - - -
5176 277.0 -5.1 258 5177 done -0.33 - - 2692 - - - 2253 - -146.6 - - 2997 - - - - - - - - - - -
5476 293.0 -5.5 268 5481 roll -0.39 - - 2692 - 2.22 0.047 3663 635.1 -146.6 - - 2997 - - - - - - - - - 26.32 -
5529 294.8 -5.7 269 5536 done -0.44 0.15 0.066 2587 -700.0 2.10 0.029 2256 -670.0 -146.6 - - 2997 - - - - - - - - 26.50 26.55 -
5836 325.8 -10.0 276 5838 done -0.35 0.25 0.105 2669 328.0 - - 2256 - -146.6 - - 2996 - - - - - - - - 26.31 - -
6136 346.4 -6.7 281 6137 done -0.35 - - 2669 - - - 2256 - -146.6 - - 2996 - - - - - - - - - - -
6435 364.0 -5.7 286 6437 done -0.35 - - 2669 - - - 2256 - -146.6 - - 2996 - - - - - - - - - - -
6735 378.0 -4.6 291 6737 done -0.35 - - 2669 - - - 2256 - -146.6 - - 2996 - - - - - - - - - - -
7035 393.1 -5.1 296 7041 roll -0.35 - - 2667 - 2.22 0.047 3663 633.8 -146.6 - - 2995 - - - - - - - - - 26.30 -
7083 393.1 -5.1 296 7087 done -0.35 - - 2667 - 2.10 0.030 2260 -668.1 -146.6 - - 2995 - - - - - - - - - 26.53 -
7395 410.9 -4.9 302 7397 done -0.35 - - 2667 - - - 2259 - -146.6 - - 2995 - - - - - - - - - - -
7695 426.4 -5.2 307 7702 roll -0.35 - - 2666 - 2.22 0.047 3665 633.3 -146.6 - - 2995 - - - - - - - - - 26.29 -
7779 429.5 -5.2 308 7783 done -0.35 - - 2665 - 2.10 0.029 2261 -668.6 -146.6 - - 2995 - - - - - - - - - 26.53 -
8110 448.3 -5.3 314 8112 done -0.35 - - 2666 - - - 2262 - -146.6 - - 2994 - - - - - - - - - - -
8410 462.9 -4.7 319 8412 done -0.35 - - 2666 - - - 2262 - -146.6 - - 2994 - - - - - - - - - - -
8711 475.1 -4.0 324 8712 done -0.41 - - 2666 - - - 2262 - -146.6 - - 2994 - - - - - - - - - - -
9012 485.7 -3.5 329 9017 roll -0.46 - - 2666 - 2.22 0.048 3669 633.8 -146.6 - - 2994 - - - - - - - - - 26.28 -
9071 487.7 -3.4 330 9077 done -0.51 0.15 0.066 2563 -686.7 2.12 0.030 2257 -666.0 -146.6 - - 2994 - - - - - - - - 26.48 26.52 -
9431 511.8 -7.0 336 9437 roll -0.43 0.22 0.110 2641 354.5 2.17 0.039 861 -643.3 -146.6 - - 2993 - - - - - - - - 26.32 26.36 -
9492 515.2 -6.8 337 9497 done -0.37 - - 2639 - 2.17 0.038 2268 648.4 -146.6 - - 2993 - - - - - - - - - 26.39 -
9850 534.5 -5.4 343 9856 roll -0.37 - - 2636 - 2.20 0.048 3673 638.6 -146.6 - - 2993 - - - - - - - - - 26.26 -
9893 534.5 -5.4 343 9897 done -0.37 - - 2636 - 2.12 0.030 2255 -668.9 -146.6 - - 2993 - - - - - - - - - 26.51 -
10210 552.2 -4.8 349 10212 done -0.37 - - 2636 - - - 2255 - -146.6 - - 2993 - - - - - - - - - - -
10510 567.5 -5.2 354 10516 roll -0.37 - - 2627 - 2.25 0.047 3672 629.8 -146.6 - - 2993 - - - - - - - - - 26.25 -
10573 571.1 -5.4 355 10578 done -0.37 0.10 0.086 2669 420.0 2.17 0.030 2255 -653.0 -146.6 - - 2992 - - - - - - - - 26.26 26.51 -
10934 588.4 -4.8 361 10935 done -0.45 - - 2669 - - - 2255 - -146.6 - - 2993 - - - - - - - - - - -
11231 603.2 -4.9 366 11233 done -0.53 0.17 0.062 2558 -652.9 - - 2255 - -146.6 - - 2993 - - - - - - - - 26.73 - -
11531 629.1 -8.8 371 11537 roll -0.46 0.22 0.109 2629 322.7 2.25 0.047 3664 626.2 -146.6 - - 2992 - - - - - - - - 26.31 26.24 -
11591 632.9 -8.3 372 11597 done -0.46 - - 2629 - 2.12 0.031 2256 -664.2 -146.6 - - 2992 - - - - - - - - - 26.49 -
11955 652.8 -5.6 378 11957 done -0.46 - - 2629 - - - 2256 - -146.6 - - 2992 - - - - - - - - - - -
12250 669.6 -5.6 383 12252 done -0.46 - - 2629 - - - 2256 - -146.6 - - 2992 - - - - - - - - - - -
12550 684.1 -4.9 388 12556 roll -0.46 - - 2622 - 2.25 0.048 3668 627.6 -146.6 - - 2991 - - - - - - - - - 26.22 -
12623 686.9 -4.8 389 12627 done -0.46 - - 2622 - 2.12 0.031 2259 -664.6 -146.6 - - 2991 - - - - - - - - - 26.48 -
12971 706.6 -5.7 395 12972 done -0.46 - - 2622 - - - 2258 - -146.6 - - 2991 - - - - - - - - - - -
13149 end dive: BOTTOM_OBSTACLE_DETECTED
13149 begin apogee
13153 717.5 -6.0 398 13271 done -0.22 0.25 0.092 2713 364.0 - - 2175 - - 113.12 1.076 2399 -5.2 0.374 - - - - - - 26.34 - 23.80
13273 end apogee: CONTROL_FINISHED_OK
13273 begin climb
13274 719.8 - 400 13404 roll 0.43 0.57 0.061 2933 386.0 2.50 0.042 784 -556.4 146.6 120.80 1.043 1800 -5.0 0.367 - - - - - - 24.85 23.83 22.92
13444 716.1 4.5 402 13451 done 0.43 - - 2933 - 2.38 0.035 2167 581.1 146.6 - - 1796 - - - - - - - - - 24.40 -
13751 695.2 5.7 408 13765 roll 0.43 - - 2933 - 2.33 0.044 3584 608.2 157.7 8.93 0.875 1758 -4.3 0.362 - - - - - - - 25.35 24.23
13881 688.0 6.1 410 13886 done 0.38 0.12 0.122 2905 -233.3 2.20 0.031 2180 -638.2 157.7 - - 1757 - - - - - - - - 25.46 25.63 -
14223 669.9 5.2 416 14249 done 0.38 - - 2905 - - - 2181 - 186.2 24.85 0.996 1640 -4.7 0.339 - - - - - - - - 24.51
14523 652.8 5.7 421 14534 done 0.38 - - 2904 - - - 2180 - 196.6 9.57 0.881 1597 -4.5 0.357 - - - - - - - - 24.67
14822 634.6 6.1 426 14824 done 0.38 - - 2905 - - - 2180 - 196.6 - - 1596 - - - - - - - - - - -
15123 616.9 5.8 431 15135 roll 0.38 - - 2911 - 2.30 0.044 747 -623.0 204.3 7.28 0.783 1567 -4.0 0.336 - - - - - - - 26.09 24.94
15166 616.9 5.8 431 15183 done 0.38 - - 2911 - 2.25 0.037 2186 639.6 212.1 8.18 0.809 1533 -4.2 0.340 - - - - - - - 26.10 24.91
15482 595.3 6.1 437 15487 roll 0.38 - - 2911 - 2.22 0.047 3587 631.1 212.1 - - 1532 - - - - - - - - - 26.06 -
15556 591.7 6.2 438 15561 done 0.38 - - 2917 - 2.22 0.031 2169 -638.7 212.1 - - 1532 - - - - - - - - - 26.19 -
15899 569.7 6.0 444 15900 done 0.38 - - 2917 - - - 2169 - 212.7 - - 1532 - - - - - - - - - - -
16199 553.6 5.3 449 16227 roll 0.38 - - 2917 - 2.30 0.045 3588 617.0 239.0 22.75 0.934 1424 -4.7 0.301 - - - - - - - 25.87 24.93
16262 550.4 5.2 450 16292 done 0.38 - - 2917 - 2.20 0.031 2176 -641.8 267.7 24.38 0.936 1307 -4.8 0.302 - - - - - - - 25.96 24.56
16615 532.1 4.9 456 16652 roll 0.38 - - 2917 - 2.30 0.044 774 -609.6 307.6 32.60 0.930 1146 -4.9 0.303 - - - - - - - 25.39 24.48
16678 529.4 4.8 457 16717 done 0.38 - - 2917 - 2.25 0.036 2172 621.3 349.0 34.78 0.925 977 -4.9 0.298 - - - - - - - 25.56 24.19
17030 510.2 5.3 463 17052 done 0.44 - - 2917 - - - 2172 - 372.9 20.12 0.888 878 -4.9 0.303 - - - - - - - - 24.56
17330 495.1 5.1 468 17364 roll 0.52 0.10 0.098 3016 990.0 2.33 0.043 767 -603.0 406.7 28.12 0.892 740 -4.9 0.292 - - - - - - 26.08 25.44 24.53
17387 490.2 5.8 469 17400 done 0.57 0.15 0.111 2970 -306.7 2.28 0.036 2165 613.2 413.8 7.18 0.735 713 -3.8 0.269 - - - - - - 25.49 25.58 24.52
17743 460.9 8.2 475 17749 roll 0.57 - - 2973 - 2.25 0.044 770 -620.0 413.8 - - 709 - - - - - - - - - 25.96 -
17781 460.9 8.2 475 17785 done 0.57 - - 2973 - 2.22 0.037 2184 636.9 413.8 - - 708 - - - - - - - - - 26.04 -
18100 429.6 8.8 481 18101 done 0.57 - - 2973 - - - 2184 - 413.8 - - 707 - - - - - - - - - - -
18397 404.4 8.4 486 18401 roll 0.57 - - 2973 - 2.25 0.045 774 -626.7 413.8 - - 707 - - - - - - - - - 26.21 -
18446 404.4 8.4 486 18454 done 0.57 - - 2973 - 2.25 0.036 2214 640.0 413.8 - - 707 - - - - - - - - - 26.28 -
18753 374.1 8.4 492 18757 roll 0.57 - - 2973 - 2.30 0.044 769 -628.3 413.8 - - 707 - - - - - - - - - 26.27 -
18787 374.1 8.4 492 18792 done 0.57 - - 2973 - 2.22 0.036 2166 629.3 413.8 - - 707 - - - - - - - - - 26.34 -
19109 347.5 7.2 498 19113 roll 0.57 - - 2973 - 2.22 0.044 765 -631.1 413.8 - - 707 - - - - - - - - - 26.30 -
19138 347.5 7.2 498 19142 done 0.57 - - 2973 - 2.17 0.036 2176 650.2 413.8 - - 707 - - - - - - - - - 26.38 -
19465 322.1 7.0 504 19466 done 0.57 - - 2972 - - - 2175 - 413.8 - - 707 - - - - - - - - - - -
19765 301.2 7.1 509 19769 roll 0.57 - - 2973 - 2.22 0.044 771 -632.4 413.8 - - 706 - - - - - - - - - 26.34 -
19814 301.2 7.1 509 19821 done 0.57 - - 2973 - 2.17 0.035 2178 648.4 413.8 - - 707 - - - - - - - - - 26.43 -
20121 275.8 7.2 520 20122 done 0.57 - - 2973 - - - 2179 - 413.8 - - 706 - - - - - - - - - - -
20421 253.1 7.8 530 20425 roll 0.57 - - 2973 - 2.22 0.044 774 -632.9 413.8 - - 707 - - - - - - - - - 26.36 -
20470 251.3 7.7 531 20477 done 0.57 - - 2973 - 2.17 0.036 2178 647.0 413.8 - - 707 - - - - - - - - - 26.44 -
20777 227.6 6.8 542 20779 done 0.63 - - 2973 - - - 2178 - 413.8 - - 707 - - - - - - - - - - -
21077 207.3 6.5 552 21084 roll 0.69 0.10 0.098 3069 960.0 2.22 0.043 772 -633.3 413.8 - - 706 - - - - - - - - 26.67 26.37 -
21115 204.6 7.0 553 21120 done 0.69 0.20 0.103 3003 -330.0 2.17 0.036 2178 647.9 413.8 - - 706 - - - - - - - - 26.25 26.45 -
21437 177.5 7.9 564 21441 roll 0.69 - - 3003 - 2.22 0.044 768 -635.1 413.8 - - 706 - - - - - - - - - 26.37 -
21471 175.5 7.8 565 21475 done 0.69 - - 3003 - 2.20 0.035 2191 646.8 413.8 - - 706 - - - - - - - - - 26.46 -
21793 149.5 7.7 576 21797 roll 0.69 - - 3002 - 2.22 0.044 773 -638.7 413.8 - - 706 - - - - - - - - - 26.37 -
21823 148.4 7.6 577 21830 done 0.69 - - 3002 - 2.17 0.035 2180 648.4 413.8 - - 707 - - - - - - - - - 26.46 -
22130 124.1 7.3 593 22132 done 0.69 - - 3002 - - - 2180 - 413.8 - - 706 - - - - - - - - - - -
22430 105.3 5.5 608 22452 roll 0.69 - - 3002 - 2.25 0.043 773 -625.3 432.0 14.93 0.625 637 -4.6 0.083 - - - - - - - 26.34 25.41
22477 103.0 5.3 610 22506 done 0.74 - - 3002 - 2.17 0.034 2178 647.5 458.2 21.83 0.650 531 -4.9 0.082 - - - - - - - 26.36 25.20
22816 82.8 6.4 627 22822 roll 0.81 0.12 0.083 3110 900.0 2.20 0.044 3584 639.1 458.2 - - 528 - - - - - - - - 26.33 26.10 -
22842 80.9 6.9 628 22847 done 0.81 0.20 0.091 3043 -335.0 2.20 0.029 2175 -640.5 458.2 - - 528 - - - - - - - - 25.96 26.22 -
23155 53.6 7.2 659 23164 roll 0.81 - - 3044 - 2.22 0.044 763 -636.0 458.2 - - 527 - - - - - - - - - 26.19 -
23277 45.2 6.9 671 23286 done 0.81 - - 3044 - 2.20 0.034 2185 646.4 458.2 - - 526 - - - - - - - - - 26.29 -
23586 24.1 6.4 702 23587 done 0.87 - - 3044 - - - 2185 - 458.2 - - 526 - - - - - - - - - - -
23887 4.7 5.9 732 23898 roll 0.94 0.12 0.082 3153 908.3 2.22 0.041 774 -635.6 462.5 1.30 0.082 513 -10.0 0.061 - - - - - - 26.57 26.29 26.18
23909 end climb: SURFACE_DEPTH_REACHED
23909 begin surface coast
23951 end surface coast: CONTROL_FINISHED_OK
23951 begin surface
SM 2.15 - - - - -8.06 7.57 0.021 147 19.4 2.35 0.034 2269 -3611.5 463.13 - - 512 - - - - - - - -