SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 142 * Raw log
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• Previous call tries 1 • 40.55 of 310.00 AH used of 24V (86.92% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -68.4 deg, depth 1.14 m • Intended pitch -18.2 deg, speed -9.980 cm/s
• No surface pump (final VBD was 327.47, SM_CC=290) • surface range 20.0 m at 19.9 m depth, ceiling -0.1 m
• GPS1 time: 17 s • bottom range 66.1 m at 280.4 m, depth 346 m (500 m grid)
• GPS2 time: 17 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
16 end surface: CONTROL_FINISHED_OK
17 begin dive
18 - - - 70 VBD -0.85 - - 72 - - - 2145 - -146.0 -50.45 - 2949 - - - - - - - - 15.02 - 15.02
72 3.3 -6.6 9 101 roll -0.85 12.07 0.288 2197 176.1 2.35 0.090 3511 581.3 -146.0 -8.40 - 3410 -54.9 - - - - - - - 14.69 13.92 14.83
215 36.0 -18.2 37 222 done -0.85 0.05 0.249 2208 220.0 2.33 0.040 2109 -601.7 -146.0 - - 3411 - - - - - - - - 14.78 14.90 14.90
281 47.9 -18.7 50 287 done -0.85 - - 2209 - - - 2109 - -146.0 - - 3411 - - - - - - - - 15.10 15.11 15.11
346 60.2 -18.9 63 347 done -0.85 - - 2209 - - - 2109 - -146.0 - - 3411 - - - - - - - - 15.12 15.13 15.13
406 71.0 -17.7 75 407 done -0.85 - - 2209 - - - 2109 - -146.0 - - 3411 - - - - - - - - 15.14 15.13 15.14
466 82.1 -18.2 87 467 done -0.85 - - 2209 - - - 2109 - -146.0 - - 3411 - - - - - - - - 15.14 15.15 15.14
526 92.8 -17.2 99 531 done -0.85 - - 2209 - - - 2109 - -146.0 - - 3411 - - - - - - - - 15.15 15.15 15.15
591 103.8 -16.6 112 598 roll -0.85 - - 2207 - 2.42 0.072 3511 579.3 -146.0 - - 3411 - - - - - - - - 15.16 14.94 15.16
622 108.7 -15.9 118 628 done -0.85 - - 2207 - 2.28 0.039 2130 -605.7 -146.0 - - 3412 - - - - - - - - 15.02 14.97 15.03
688 117.8 -13.6 131 694 roll -0.85 - - 2207 - 2.33 0.067 724 -603.4 -146.0 - - 3411 - - - - - - - - 15.17 14.92 15.18
718 122.4 -14.3 137 725 done -0.85 - - 2205 - 2.30 0.049 2114 604.3 -146.0 - - 3412 - - - - - - - - 14.97 14.93 14.99
785 131.3 -14.1 150 790 done -0.85 - - 2206 - - - 2114 - -146.0 - - 3411 - - - - - - - - 15.18 15.18 15.18
849 139.9 -12.7 163 850 done -0.85 - - 2206 - - - 2114 - -146.0 - - 3411 - - - - - - - - 15.16 15.19 15.19
909 147.8 -13.6 175 910 done -0.85 - - 2206 - - - 2114 - -146.0 - - 3412 - - - - - - - - 15.19 15.19 15.19
969 155.6 -13.2 187 976 roll -0.85 - - 2206 - 2.35 0.066 732 -588.1 -146.0 - - 3412 - - - - - - - - 15.19 14.94 15.19
990 158.4 -12.8 191 997 done -0.85 - - 2200 - 2.30 0.047 2122 604.3 -146.0 - - 3413 - - - - - - - - 15.03 14.99 15.04
1057 167.7 -14.8 204 1062 done -0.85 - - 2200 - - - 2123 - -146.0 - - 3411 - - - - - - - - 15.17 15.18 15.18
1121 177.0 -14.2 217 1127 done -0.85 - - 2200 - - - 2123 - -146.0 - - 3412 - - - - - - - - 15.18 15.18 15.18
1186 186.6 -15.1 230 1187 done -0.85 - - 2200 - - - 2123 - -146.0 - - 3412 - - - - - - - - 15.18 15.19 15.19
1246 195.7 -15.4 242 1252 done -0.85 - - 2200 - - - 2123 - -146.0 - - 3412 - - - - - - - - 15.19 15.21 15.19
1311 205.8 -15.3 255 1312 done -0.85 - - 2200 - - - 2123 - -146.0 - - 3412 - - - - - - - - 15.20 15.20 15.20
1371 214.9 -15.1 267 1372 done -0.85 - - 2200 - - - 2123 - -146.0 - - 3412 - - - - - - - - 15.21 15.21 15.21
1431 223.7 -14.5 279 1432 done -0.85 - - 2200 - - - 2123 - -146.0 - - 3412 - - - - - - - - 15.21 15.21 15.21
1491 232.5 -14.4 291 1498 roll -0.85 - - 2191 - 2.40 0.072 3530 586.2 -146.0 - - 3412 - - - - - - - - 15.21 14.98 15.21
1527 237.7 -14.4 298 1534 done -0.85 0.08 0.205 2209 225.0 2.30 0.038 2123 -611.7 -146.0 - - 3412 - - - - - - - - 14.92 15.01 15.01
1593 246.5 -13.1 311 1600 roll -0.85 - - 2210 - 2.30 0.066 730 -605.7 -146.0 - - 3411 - - - - - - - - 15.22 14.96 15.22
1619 250.2 -15.3 316 1626 done -0.85 - - 2210 - 2.30 0.049 2137 611.7 -146.0 - - 3412 - - - - - - - - 15.11 15.03 15.13
1686 259.0 -14.1 329 1692 roll -0.85 - - 2204 - 2.35 0.074 3535 594.9 -146.0 - - 3412 - - - - - - - - 15.21 15.00 15.21
1716 263.5 -14.4 335 1723 done -0.85 - - 2204 - 2.30 0.037 2136 -608.3 -146.0 - - 3412 - - - - - - - - 15.06 15.02 15.07
1783 273.6 -15.6 348 1788 done -0.85 - - 2203 - - - 2136 - -146.0 - - 3412 - - - - - - - - 15.22 15.22 15.22
1848 283.3 -14.4 361 1853 done -0.85 - - 2204 - - - 2136 - -146.0 - - 3412 - - - - - - - - 15.22 15.23 15.23
1912 292.0 -13.2 374 1919 roll -0.85 - - 2194 - 2.42 0.072 3540 580.2 -146.0 - - 3411 - - - - - - - - 15.23 14.94 15.23
1933 294.7 -13.6 378 1940 done -0.85 0.05 0.243 2208 280.0 2.33 0.038 2123 -608.2 -146.0 - - 3412 - - - - - - - - 14.85 14.97 14.97
1999 303.0 -12.6 388 2000 done -0.85 - - 2207 - - - 2123 - -146.0 - - 3410 - - - - - - - - 15.24 15.24 15.24
2119 318.0 -12.6 394 2124 roll -0.85 - - 2207 - 2.42 0.074 3531 581.8 -146.0 - - 3411 - - - - - - - - 15.27 15.01 15.27
2144 320.7 -12.8 395 2150 done -0.85 - - 2207 - 2.30 0.038 2125 -611.3 -146.0 - - 3411 - - - - - - - - 15.08 15.04 15.11
2278 end dive: BOTTOM_OBSTACLE_DETECTED
2278 begin apogee
2282 338.2 -12.7 402 2401 done -0.19 1.08 0.155 2426 202.8 - - 1896 - - 110.88 1.423 2812 -5.4 0.227 - - - - - - 15.00 14.54 14.01
2402 end apogee: CONTROL_FINISHED_OK
2402 begin climb
2403 343.1 - 408 2523 roll 0.85 1.52 0.088 2762 221.1 2.45 0.074 521 -561.2 146.0 111.32 1.398 2214 -5.4 0.233 - - - - - - 14.54 14.39 13.89
2677 331.8 9.0 421 2703 done 0.88 - - 2762 - 2.33 0.043 1922 601.3 168.3 18.20 1.294 2124 -4.9 0.224 - - - - - - 14.81 14.76 14.16
2823 316.6 9.9 429 2827 roll 0.88 - - 2772 - 2.40 0.075 517 -585.4 169.3 - - 2121 - - - - - - - - 15.03 14.81 15.03
2852 314.6 10.0 430 2857 done 0.88 - - 2772 - 2.30 0.043 1908 604.8 169.7 - - 2121 - - - - - - - - 14.89 14.85 14.91
2982 301.0 9.6 437 2997 roll 0.89 - - 2772 - 2.40 0.067 3302 580.8 177.6 8.20 1.134 2089 -3.9 0.183 - - - - - - 15.12 14.85 14.31
3057 293.4 10.4 449 3064 done 0.89 - - 2782 - 2.30 0.045 1928 -597.4 177.6 - - 2086 - - - - - - - - 14.95 14.91 14.97
3123 286.3 10.7 462 3129 roll 0.89 - - 2782 - 2.33 0.067 3301 589.3 177.6 - - 2086 - - - - - - - - 15.12 14.91 15.12
3168 281.1 11.4 471 3176 done 0.89 0.05 0.278 2781 - 2.33 0.046 1912 -596.1 177.6 - - 2086 - - - - - - - - 14.81 14.93 14.93
3235 274.2 10.1 484 3240 done 0.89 - - 2781 - - - 1909 - 177.6 - - 2085 - - - - - - - - 15.14 15.14 15.14
3300 267.8 10.0 497 3300 done 0.89 - - 2781 - - - 1909 - 177.6 - - 2084 - - - - - - - - 15.16 15.16 15.16
3360 261.7 10.4 509 3360 done 0.89 - - 2781 - - - 1908 - 177.6 - - 2085 - - - - - - - - 15.16 15.17 15.16
3420 255.3 10.6 521 3420 done 0.89 - - 2781 - - - 1909 - 177.6 - - 2085 - - - - - - - - 15.18 15.18 15.18
3480 248.9 10.7 533 3485 done 0.89 - - 2781 - - - 1909 - 177.6 - - 2084 - - - - - - - - 15.19 15.19 15.19
3545 242.3 9.8 546 3552 done 0.90 - - 2781 - - - 1909 - 182.5 5.20 0.928 2067 -3.3 0.151 - - - - - - 15.18 14.99 14.38
3612 235.8 9.7 559 3624 roll 0.91 - - 2789 - 2.38 0.074 498 -592.9 187.6 6.10 0.998 2044 -3.8 0.157 - - - - - - 15.17 14.84 14.37
3663 230.6 10.3 569 3669 done 0.91 - - 2789 - 2.35 0.045 1914 602.6 187.6 - - 2044 - - - - - - - - 14.97 14.94 15.00
3729 223.9 10.3 582 3735 roll 0.91 - - 2790 - 2.35 0.068 3315 596.2 187.6 - - 2043 - - - - - - - - 15.16 14.95 15.16
3749 221.6 10.9 586 3757 done 0.91 0.05 0.278 2788 - 2.35 0.044 1902 -601.3 187.6 - - 2043 - - - - - - - - 14.85 14.95 14.96
3816 215.1 9.6 599 3828 done 0.92 - - 2788 - - - 1902 - 196.8 8.57 1.115 2008 -4.1 0.139 - - - - - - 15.17 14.94 14.38
3888 207.7 11.3 613 3894 roll 0.92 - - 2788 - 2.38 0.067 3305 589.5 196.8 - - 2007 - - - - - - - - 15.14 14.93 15.14
3943 200.9 11.5 624 3950 done 0.92 - - 2788 - 2.35 0.048 1907 -594.9 196.8 - - 2007 - - - - - - - - 15.00 14.95 15.01
4009 193.8 10.7 637 4015 roll 0.92 - - 2788 - 2.38 0.079 503 -589.9 196.8 - - 2006 - - - - - - - - 15.15 14.94 15.15
4044 190.0 10.7 644 4051 done 0.92 - - 2788 - 2.30 0.043 1909 611.3 196.8 - - 2005 - - - - - - - - 15.03 14.97 15.02
4111 183.6 9.5 657 4124 roll 0.93 - - 2788 - 2.38 0.066 3299 584.0 206.5 8.93 1.096 1968 -4.1 0.123 - - - - - - 15.16 14.92 14.39
4158 178.6 11.4 666 4165 done 0.93 - - 2788 - 2.35 0.047 1904 -593.6 206.5 - - 1968 - - - - - - - - 14.97 14.92 14.99
4225 171.1 10.9 679 4230 roll 0.93 - - 2788 - 2.35 0.078 503 -596.2 206.5 - - 1967 - - - - - - - - 15.11 14.92 15.12
4264 166.8 10.3 687 4271 done 0.93 - - 2788 - 2.30 0.044 1904 609.1 206.5 - - 1967 - - - - - - - - 14.98 14.94 15.01
4331 160.0 10.3 700 4336 done 0.93 - - 2788 - - - 1904 - 206.5 - - 1966 - - - - - - - - 15.14 15.15 15.15
4395 153.1 10.5 713 4402 roll 0.93 - - 2788 - 2.38 0.067 3300 586.6 206.5 - - 1966 - - - - - - - - 15.15 14.88 15.14
4436 148.9 11.4 721 4443 done 0.93 - - 2788 - 2.33 0.047 1913 -595.3 206.5 - - 1966 - - - - - - - - 14.95 14.92 14.97
4503 142.2 9.9 734 4508 done 0.93 - - 2788 - - - 1913 - 208.6 - - 1966 - - - - - - - - 15.16 15.16 15.16
4567 136.2 8.6 747 4602 roll 0.97 - - 2788 - 2.40 0.078 496 -590.4 239.5 27.33 1.200 1833 -4.9 0.098 - - - - - - 15.17 14.81 14.33
4636 130.4 8.3 760 4671 done 1.01 - - 2788 - 2.35 0.044 1910 601.7 275.2 29.80 1.180 1690 -4.8 0.094 - - - - - - 14.85 14.81 14.22
4730 122.9 7.8 778 4775 done 1.07 0.12 0.125 2839 425.0 - - 1911 - 323.8 40.90 1.173 1489 -4.9 0.091 - - - - - - 14.81 14.66 14.14
4834 112.8 10.3 798 4841 roll 1.07 - - 2849 - 2.45 0.078 503 -574.7 323.8 - - 1486 - - - - - - - - 14.88 14.69 14.89
4895 106.4 10.6 810 4902 done 1.07 - - 2849 - 2.35 0.045 1908 597.9 323.8 - - 1486 - - - - - - - - 14.88 14.78 14.88
4961 99.2 11.4 823 4968 roll 1.07 0.05 0.340 2838 -220.0 2.40 0.067 3316 586.7 323.8 - - 1485 - - - - - - - - 14.73 14.76 14.88
5018 93.1 11.1 834 5024 done 1.07 - - 2838 - 2.35 0.047 1906 -600.0 323.8 - - 1484 - - - - - - - - 14.93 14.83 14.95
5084 85.9 10.8 847 5090 roll 1.07 - - 2848 - 2.40 0.079 502 -585.0 323.8 - - 1484 - - - - - - - - 15.06 14.85 15.07
5134 79.9 11.5 857 5141 done 1.07 0.03 0.334 2841 -233.3 2.33 0.044 1912 605.2 323.8 - - 1484 - - - - - - - - 14.74 14.88 14.86
5201 72.7 10.5 870 5207 roll 1.07 - - 2841 - 2.33 0.066 3299 595.3 323.8 - - 1484 - - - - - - - - 15.09 14.84 15.09
5226 69.9 10.4 875 5233 done 1.07 - - 2842 - 2.35 0.047 1904 -593.6 323.8 - - 1483 - - - - - - - - 14.90 14.85 14.92
5293 62.5 12.1 888 5298 done 1.07 - - 2843 - - - 1904 - 323.8 - - 1483 - - - - - - - - 15.11 15.12 15.12
5357 54.7 11.7 901 5363 done 1.07 - - 2842 - - - 1904 - 323.8 - - 1483 - - - - - - - - 15.13 15.13 15.13
5422 47.7 10.7 914 5427 done 1.07 - - 2842 - - - 1904 - 323.8 - - 1483 - - - - - - - - 15.13 15.14 15.14
5487 40.7 10.6 927 5488 done 1.07 - - 2842 - - - 1904 - 323.8 - - 1483 - - - - - - - - 15.14 15.14 15.16
5547 34.3 10.0 939 5554 roll 1.07 - - 2845 - 2.40 0.080 498 -585.8 324.3 - - 1483 - - - - - - - - 15.15 14.91 15.15
5614 26.9 11.2 952 5620 done 1.07 - - 2845 - 2.28 0.043 1911 619.7 324.3 - - 1482 - - - - - - - - 15.05 14.97 15.07
5681 19.9 10.0 965 5686 roll 1.07 - - 2848 - 2.42 0.080 493 -586.0 324.3 - - 1482 - - - - - - - - 15.13 14.90 15.13
5726 14.8 11.2 974 5732 done 1.07 - - 2848 - 2.33 0.041 1912 609.0 324.3 - - 1482 - - - - - - - - 15.00 14.96 15.04
5792 8.0 10.7 987 5798 roll 1.07 - - 2858 - 2.40 0.076 500 -588.3 324.3 - - 1482 - - - - - - - - 15.16 14.92 15.16
5836 end climb: SURFACE_DEPTH_REACHED
5836 begin surface coast
5861 end surface coast: CONTROL_FINISHED_OK
5861 begin surface
SM 1.34 - - - - -7.27 12.48 0.050 147 11.8 2.70 0.048 2126 -920.7 327.47 - - 1477 - - - - - - - -