SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 140 * Raw log
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• Previous call tries 1 • 40.04 of 310.00 AH used of 24V (87.08% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.3 deg, depth 1.13 m • Intended pitch -18.2 deg, speed -9.980 cm/s
• No surface pump (final VBD was 336.06, SM_CC=290) • surface range 19.0 m at 19.0 m depth, ceiling 0.0 m
• GPS1 time: 16 s • bottom range 65.1 m at 240.3 m, depth 305 m (500 m grid)
• GPS2 time: 31 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 - - - 76 VBD -0.85 - - 72 - - - 2103 - -146.0 -56.10 - 2982 - - - - - - - - 15.04 - 15.04
78 3.4 -8.1 10 106 roll -0.85 12.05 0.288 2195 176.2 2.45 0.090 3528 581.6 -146.0 -7.82 - 3409 -54.6 - - - - - - - 14.68 13.95 14.81
260 44.4 -19.4 46 267 done -0.85 0.05 0.251 2207 240.0 2.30 0.039 2132 -607.0 -146.0 - - 3411 - - - - - - - - 14.82 14.92 14.91
327 57.6 -19.8 59 332 done -0.85 - - 2207 - - - 2131 - -146.0 - - 3412 - - - - - - - - 15.14 15.14 15.14
392 69.9 -18.7 72 392 done -0.85 - - 2207 - - - 2132 - -146.0 - - 3411 - - - - - - - - 15.15 15.16 15.15
452 81.0 -18.5 84 458 roll -0.85 - - 2207 - 2.42 0.071 3534 579.3 -146.0 - - 3410 - - - - - - - - 15.15 14.94 15.16
472 84.7 -18.8 88 479 done -0.85 - - 2207 - 2.30 0.038 2133 -609.1 -146.0 - - 3410 - - - - - - - - 14.99 14.93 14.98
539 96.9 -19.4 101 545 roll -0.85 - - 2207 - 2.35 0.064 719 -601.7 -146.0 - - 3411 - - - - - - - - 15.17 14.94 15.17
560 100.7 -18.7 105 566 done -0.85 0.05 0.359 2209 - 2.30 0.049 2129 613.0 -146.0 - - 3411 - - - - - - - - 14.86 14.99 15.02
625 112.0 -17.9 118 632 roll -0.85 - - 2199 - 2.38 0.073 3540 592.9 -146.0 - - 3411 - - - - - - - - 15.17 14.97 15.17
697 122.4 -13.0 132 703 done -0.85 0.05 0.330 2211 240.0 2.28 0.038 2130 -618.4 -146.0 - - 3411 - - - - - - - - 14.88 15.02 15.04
762 131.2 -13.5 145 763 done -0.85 - - 2211 - - - 2130 - -146.0 - - 3411 - - - - - - - - 15.19 15.19 15.19
822 139.7 -14.2 157 830 roll -0.85 - - 2211 - 2.38 0.067 724 -590.8 -146.0 - - 3411 - - - - - - - - 15.19 14.92 15.19
844 143.0 -15.2 161 851 done -0.85 - - 2207 - 2.33 0.047 2132 604.3 -146.0 - - 3410 - - - - - - - - 15.01 14.95 15.03
910 152.2 -14.1 174 916 done -0.85 - - 2207 - - - 2132 - -146.0 - - 3411 - - - - - - - - 15.18 15.19 15.19
975 161.0 -13.0 187 982 roll -0.85 - - 2207 - 2.38 0.073 3544 593.3 -146.0 - - 3411 - - - - - - - - 15.18 14.99 15.19
1001 164.4 -12.5 192 1008 done -0.85 - - 2207 - 2.33 0.037 2126 -608.6 -146.0 - - 3411 - - - - - - - - 15.04 15.01 15.06
1067 172.8 -12.7 205 1073 done -0.85 - - 2207 - - - 2126 - -146.0 - - 3411 - - - - - - - - 15.19 15.19 15.19
1132 181.5 -13.1 218 1138 roll -0.85 - - 2207 - 2.35 0.065 734 -592.3 -146.0 - - 3411 - - - - - - - - 15.19 14.97 15.19
1177 188.1 -13.6 227 1184 done -0.85 - - 2204 - 2.30 0.048 2123 603.9 -146.0 - - 3411 - - - - - - - - 14.99 14.95 15.01
1244 196.9 -13.3 240 1250 roll -0.85 - - 2204 - 2.38 0.073 3540 595.4 -146.0 - - 3411 - - - - - - - - 15.22 14.97 15.21
1270 200.2 -12.4 245 1276 done -0.85 - - 2204 - 2.28 0.036 2119 -623.2 -146.0 - - 3411 - - - - - - - - 15.11 15.03 15.11
1336 209.0 -14.0 258 1342 roll -0.85 - - 2204 - 2.30 0.063 721 -607.8 -146.0 - - 3411 - - - - - - - - 15.21 15.00 15.21
1356 212.0 -14.3 262 1363 done -0.85 - - 2200 - 2.33 0.047 2133 606.0 -146.0 - - 3411 - - - - - - - - 15.05 15.01 15.07
1422 221.5 -14.6 275 1429 roll -0.85 - - 2200 - 2.35 0.072 3537 597.4 -146.0 - - 3411 - - - - - - - - 15.21 15.01 15.21
1448 225.3 -14.9 280 1455 done -0.85 - - 2200 - 2.30 0.036 2132 -610.9 -146.0 - - 3411 - - - - - - - - 15.02 14.97 15.03
1514 234.9 -15.0 293 1520 done -0.85 - - 2200 - - - 2132 - -146.0 - - 3410 - - - - - - - - 15.22 15.22 15.22
1580 245.0 -15.7 306 1586 roll -0.85 - - 2200 - 2.33 0.065 725 -603.9 -146.0 - - 3411 - - - - - - - - 15.23 15.01 15.23
1600 248.3 -15.2 310 1607 done -0.85 0.08 0.231 2211 137.5 2.33 0.050 2132 603.9 -146.0 - - 3411 - - - - - - - - 14.92 15.02 15.03
1667 257.4 -13.8 323 1673 roll -0.85 - - 2207 - 2.35 0.073 3537 597.9 -146.0 - - 3411 - - - - - - - - 15.22 15.01 15.22
1687 260.2 -13.5 327 1694 done -0.85 - - 2207 - 2.30 0.037 2126 -613.5 -146.0 - - 3411 - - - - - - - - 15.07 15.03 15.09
1754 269.6 -14.0 340 1759 done -0.85 - - 2207 - - - 2126 - -146.0 - - 3411 - - - - - - - - 15.23 15.23 15.23
1818 277.4 -12.3 353 1819 done -0.85 - - 2207 - - - 2126 - -146.0 - - 3411 - - - - - - - - 15.23 15.23 15.23
1878 284.9 -12.8 365 1885 roll -0.85 - - 2208 - 2.30 0.066 730 -607.0 -146.0 - - 3411 - - - - - - - - 15.23 14.99 15.24
1904 288.6 -14.2 370 1910 done -0.85 - - 2207 - 2.30 0.049 2127 607.4 -146.0 - - 3410 - - - - - - - - 15.07 15.02 15.09
1958 end dive: BOTTOM_OBSTACLE_DETECTED
1958 begin apogee
1963 295.4 -12.6 381 2078 done -0.19 1.05 0.156 2423 205.7 - - 1892 - - 109.45 1.345 2812 -5.5 0.211 - - - - - - 14.95 14.44 14.03
2079 end apogee: CONTROL_FINISHED_OK
2079 begin climb
2080 300.6 - 401 2198 roll 0.85 1.52 0.089 2757 219.7 2.42 0.072 516 -568.6 146.0 110.60 1.330 2215 -5.4 0.215 - - - - - - 14.54 14.41 13.94
2388 284.5 9.8 442 2400 done 0.86 - - 2757 - 2.30 0.043 1933 616.1 150.9 4.62 0.945 2196 -4.1 0.218 - - - - - - 14.85 14.79 14.25
2459 278.1 8.5 456 2488 done 0.90 - - 2757 - - - 1933 - 183.5 26.88 1.284 2062 -5.0 0.190 - - - - - - 15.04 14.72 14.19
2547 269.7 9.7 473 2554 done 0.91 - - 2757 - - - 1933 - 189.0 5.50 0.916 2041 -3.8 0.198 - - - - - - 14.97 14.78 14.23
2614 263.2 10.1 486 2620 roll 0.91 - - 2767 - 2.42 0.075 514 -586.4 189.0 - - 2039 - - - - - - - - 15.01 14.81 15.02
2664 257.5 11.2 496 2671 done 0.91 - - 2767 - 2.30 0.044 1901 603.0 189.0 - - 2038 - - - - - - - - 14.90 14.85 14.92
2731 249.6 11.5 509 2736 done 0.91 - - 2767 - - - 1901 - 189.0 - - 2038 - - - - - - - - 15.08 15.08 15.08
2796 242.5 10.7 522 2802 roll 0.91 - - 2767 - 2.35 0.067 3304 597.0 189.0 - - 2038 - - - - - - - - 15.11 14.90 15.11
2831 238.4 11.8 529 2838 done 0.91 - - 2776 - 2.30 0.045 1923 -600.4 189.0 - - 2038 - - - - - - - - 14.96 14.92 14.98
2898 230.8 11.7 542 2904 roll 0.91 - - 2784 - 2.38 0.076 510 -593.7 189.0 - - 2037 - - - - - - - - 15.14 14.88 15.14
2928 227.1 12.5 548 2935 done 0.91 - - 2784 - 2.30 0.044 1907 607.4 189.0 - - 2037 - - - - - - - - 14.95 14.91 14.97
2994 219.3 11.3 561 3001 roll 0.91 - - 2784 - 2.35 0.067 3309 596.6 189.0 - - 2037 - - - - - - - - 15.16 14.94 15.16
3035 214.3 11.8 569 3042 done 0.91 - - 2793 - 2.33 0.045 1913 -599.1 189.0 - - 2037 - - - - - - - - 15.01 14.97 15.02
3102 206.7 11.5 582 3107 done 0.91 - - 2793 - - - 1912 - 189.0 - - 2036 - - - - - - - - 15.16 15.17 15.17
3166 199.5 11.0 595 3173 roll 0.91 - - 2803 - 2.42 0.074 498 -584.3 189.0 - - 2033 - - - - - - - - 15.18 14.95 15.18
3202 195.3 11.9 602 3209 done 0.91 0.08 0.223 2787 -200.0 2.33 0.044 1921 610.7 189.0 - - 2035 - - - - - - - - 14.90 14.98 14.98
3268 188.6 10.5 615 3275 roll 0.91 - - 2795 - 2.45 0.074 501 -579.6 189.0 - - 2035 - - - - - - - - 15.18 14.91 15.19
3304 184.7 10.3 622 3311 done 0.91 - - 2795 - 2.30 0.044 1901 608.7 189.0 - - 2035 - - - - - - - - 15.00 14.97 15.02
3370 178.6 8.6 635 3399 roll 0.95 - - 2806 - 2.42 0.075 504 -577.3 219.3 24.25 1.215 1916 -4.9 0.127 - - - - - - 15.16 14.83 14.33
3443 172.2 9.6 649 3456 done 0.95 - - 2806 - 2.33 0.044 1908 602.6 227.1 7.78 1.077 1885 -4.0 0.112 - - - - - - 14.90 14.85 14.32
3516 165.2 9.5 663 3528 done 0.97 - - 2806 - - - 1908 - 237.8 10.00 1.066 1842 -4.3 0.117 - - - - - - 15.05 14.84 14.31
3588 158.4 9.8 677 3594 done 0.97 - - 2806 - - - 1908 - 240.9 3.78 0.651 1829 -3.4 0.147 - - - - - - 15.04 14.88 14.32
3654 151.6 11.1 690 3660 roll 0.97 - - 2806 - 2.38 0.068 3313 590.3 240.9 - - 1828 - - - - - - - - 15.07 14.86 15.07
3694 146.5 12.0 698 3701 done 0.97 - - 2808 - 2.35 0.047 1917 -594.0 240.9 - - 1829 - - - - - - - - 14.94 14.90 14.96
3761 139.4 10.2 711 3766 done 0.97 - - 2807 - - - 1917 - 240.9 - - 1828 - - - - - - - - 15.10 15.10 15.10
3825 132.7 10.5 724 3826 done 0.97 - - 2807 - - - 1917 - 240.9 - - 1828 - - - - - - - - 15.11 15.12 15.12
3885 126.4 10.7 736 3892 roll 0.97 - - 2807 - 2.45 0.079 502 -577.6 240.9 - - 1828 - - - - - - - - 15.13 14.90 15.13
3911 123.6 11.0 741 3918 done 0.97 - - 2808 - 2.33 0.044 1914 606.0 240.9 - - 1827 - - - - - - - - 14.99 14.95 15.00
3978 117.5 8.9 754 4006 roll 1.00 - - 2804 - 2.33 0.066 3301 595.3 265.1 20.77 1.126 1729 -4.7 0.087 - - - - - - 15.14 14.82 14.36
4025 113.0 11.4 763 4032 done 1.00 - - 2807 - 2.35 0.046 1908 -592.8 265.1 - - 1729 - - - - - - - - 14.88 14.85 14.91
4091 107.4 8.7 776 4120 roll 1.04 - - 2808 - 2.45 0.078 504 -573.1 294.0 24.35 1.115 1612 -4.8 0.081 - - - - - - 15.07 14.78 14.29
4150 102.1 9.4 787 4168 done 1.05 - - 2807 - 2.30 0.043 1917 614.3 306.8 12.07 1.026 1559 -4.4 0.077 - - - - - - 14.90 14.82 14.26
4227 94.6 9.7 802 4239 roll 1.06 - - 2808 - 2.35 0.063 3304 590.2 313.8 7.10 0.887 1531 -3.9 0.074 - - - - - - 14.99 14.71 14.30
4259 91.6 9.1 808 4282 done 1.09 - - 2808 - 2.35 0.047 1915 -591.1 333.5 17.42 1.095 1452 -4.5 0.067 - - - - - - 14.82 14.78 14.27
4341 82.7 10.5 824 4347 done 1.09 - - 2811 - - - 1912 - 333.5 - - 1449 - - - - - - - - 14.97 14.97 14.97
4406 75.7 10.7 837 4412 done 1.09 0.05 0.256 2848 740.0 - - 1916 - 333.5 - - 1448 - - - - - - - - 14.78 14.90 14.88
4472 67.6 12.9 850 4477 done 1.09 - - 2848 - - - 1916 - 333.5 - - 1448 - - - - - - - - 15.07 15.05 15.04
4536 58.8 13.2 863 4537 done 1.09 - - 2848 - - - 1915 - 333.5 - - 1447 - - - - - - - - 15.07 15.07 15.07
4596 50.9 13.0 875 4602 done 1.09 - - 2847 - - - 1915 - 333.5 - - 1447 - - - - - - - - 15.09 15.09 15.09
4661 42.3 12.9 888 4667 done 1.09 - - 2848 - - - 1916 - 333.5 - - 1447 - - - - - - - - 15.10 15.10 15.11
4726 34.2 12.7 901 4733 roll 1.09 - - 2848 - 2.40 0.064 3307 579.6 333.5 - - 1447 - - - - - - - - 15.11 14.90 15.11
4747 31.5 12.9 905 4754 done 1.09 - - 2849 - 2.35 0.047 1907 -595.7 333.5 - - 1446 - - - - - - - - 14.97 14.92 15.00
4813 22.8 14.2 918 4820 roll 1.09 - - 2849 - 2.40 0.080 498 -587.1 333.5 - - 1446 - - - - - - - - 15.14 14.90 15.15
4829 20.5 14.5 921 4835 done 1.09 - - 2848 - 2.33 0.042 1912 606.9 333.5 - - 1447 - - - - - - - - 14.97 14.93 14.98
4896 11.8 12.6 934 4902 roll 1.09 - - 2849 - 2.33 0.065 3300 595.7 333.5 - - 1446 - - - - - - - - 15.14 14.94 15.14
4941 5.8 12.0 943 4947 done 1.09 - - 2849 - 2.33 0.046 1909 -597.0 333.5 - - 1446 - - - - - - - - 15.00 14.95 15.02
4965 end climb: SURFACE_DEPTH_REACHED
4965 begin surface coast
4991 end surface coast: CONTROL_FINISHED_OK
4991 begin surface
SM 1.19 - - - - -7.27 12.43 0.050 146 11.7 0.32 0.060 2142 -9325.0 336.06 - - 1442 - - - - - - - -