SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 143 * Raw log
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• Previous call tries 1 • 40.84 of 310.00 AH used of 24V (86.83% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.7 deg, depth 1.16 m • Intended pitch -18.2 deg, speed -9.980 cm/s
• No surface pump (final VBD was 337.77, SM_CC=290) • surface range 20.0 m at 20.0 m depth, ceiling 0.0 m
• GPS1 time: 30 s • bottom range 64.5 m at 310.9 m, depth 375 m (500 m grid)
• GPS2 time: 19 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 -0.85 - - 72 - - - 2134 - -146.0 -50.55 - 2929 - - - - - - - - 15.01 - 15.02
72 3.3 -7.3 9 101 roll -0.85 12.15 0.292 2196 174.8 2.40 0.087 3534 583.3 -146.0 -8.55 - 3408 -56.0 - - - - - - - 14.64 13.91 14.78
195 34.7 -18.4 33 202 done -0.85 0.05 0.250 2208 240.0 2.35 0.041 2118 -602.6 -146.0 - - 3409 - - - - - - - - 14.77 14.88 14.88
262 46.5 -18.2 46 268 roll -0.85 - - 2208 - 2.33 0.066 726 -597.4 -146.0 - - 3409 - - - - - - - - 15.09 14.90 15.09
292 52.3 -18.6 52 299 done -0.85 - - 2199 - 2.33 0.049 2120 598.3 -146.0 - - 3409 - - - - - - - - 14.95 14.90 14.97
359 65.1 -19.2 65 365 roll -0.85 - - 2190 - 2.40 0.072 3539 591.2 -146.0 - - 3409 - - - - - - - - 15.12 14.90 15.12
389 71.0 -19.2 71 396 done -0.85 0.08 0.223 2207 212.5 2.33 0.038 2133 -603.4 -146.0 - - 3409 - - - - - - - - 14.81 14.90 14.90
455 83.4 -18.5 84 462 roll -0.85 - - 2207 - 2.35 0.065 720 -601.3 -146.0 - - 3409 - - - - - - - - 15.13 14.92 15.14
481 88.2 -17.6 89 487 done -0.85 - - 2207 - 2.35 0.050 2132 600.9 -146.0 - - 3409 - - - - - - - - 14.98 14.94 15.00
546 99.6 -17.7 102 547 done -0.85 - - 2207 - - - 2132 - -146.0 - - 3409 - - - - - - - - 15.14 15.14 15.14
607 109.9 -16.8 114 614 roll -0.85 - - 2201 - 2.38 0.073 3545 593.7 -146.0 - - 3409 - - - - - - - - 15.15 14.95 15.14
628 113.9 -18.1 118 635 done -0.85 - - 2201 - 2.33 0.039 2126 -609.0 -146.0 - - 3410 - - - - - - - - 14.97 14.92 14.98
695 124.6 -16.1 131 701 roll -0.85 - - 2201 - 2.33 0.065 725 -601.3 -146.0 - - 3410 - - - - - - - - 15.16 14.95 15.17
745 132.1 -14.9 141 752 done -0.85 0.08 0.233 2209 100.0 2.33 0.048 2127 601.7 -146.0 - - 3410 - - - - - - - - 14.86 14.97 14.96
811 141.3 -13.2 154 812 done -0.85 - - 2209 - - - 2127 - -146.0 - - 3410 - - - - - - - - 15.16 15.16 15.16
871 149.1 -12.7 166 878 roll -0.85 - - 2200 - 2.40 0.072 3538 587.9 -146.0 - - 3409 - - - - - - - - 15.16 14.95 15.16
897 152.4 -12.8 171 904 done -0.85 - - 2200 - 2.30 0.038 2134 -610.4 -146.0 - - 3410 - - - - - - - - 15.01 14.98 15.04
963 161.4 -13.4 184 969 done -0.85 - - 2200 - - - 2134 - -146.0 - - 3410 - - - - - - - - 15.19 15.19 15.19
1028 169.9 -12.7 197 1035 roll -0.85 - - 2200 - 2.33 0.064 725 -604.7 -146.0 - - 3410 - - - - - - - - 15.19 14.92 15.19
1044 171.9 -12.4 200 1052 done -0.85 0.08 0.233 2209 112.5 2.33 0.047 2133 604.3 -146.0 - - 3410 - - - - - - - - 14.87 15.02 14.97
1111 180.0 -12.1 213 1117 done -0.85 - - 2208 - - - 2133 - -146.0 - - 3410 - - - - - - - - 15.17 15.17 15.17
1176 188.5 -13.6 226 1177 done -0.85 - - 2208 - - - 2133 - -146.0 - - 3410 - - - - - - - - 15.17 15.18 15.17
1236 196.9 -14.2 238 1237 done -0.85 - - 2208 - - - 2133 - -146.0 - - 3410 - - - - - - - - 15.17 15.17 15.17
1296 204.8 -13.2 250 1303 roll -0.85 - - 2199 - 2.35 0.073 3536 597.0 -146.0 - - 3410 - - - - - - - - 15.19 14.98 15.19
1358 212.9 -13.1 262 1364 done -0.85 0.05 0.328 2212 260.0 2.28 0.037 2120 -621.1 -146.0 - - 3410 - - - - - - - - 14.85 14.97 15.00
1423 221.8 -13.3 275 1424 done -0.85 - - 2211 - - - 2119 - -146.0 - - 3410 - - - - - - - - 15.21 15.21 15.21
1483 229.5 -12.7 287 1490 roll -0.85 - - 2207 - 2.42 0.072 3529 582.6 -146.0 - - 3410 - - - - - - - - 15.21 14.98 15.21
1524 234.5 -12.5 295 1531 done -0.85 - - 2208 - 2.30 0.038 2128 -609.1 -146.0 - - 3410 - - - - - - - - 15.05 15.01 15.07
1591 243.2 -13.5 308 1596 done -0.85 - - 2207 - - - 2128 - -146.0 - - 3410 - - - - - - - - 15.21 15.21 15.21
1655 251.9 -13.2 321 1662 roll -0.85 - - 2203 - 2.35 0.067 730 -594.9 -146.0 - - 3410 - - - - - - - - 15.22 14.98 15.22
1676 254.7 -13.2 325 1683 done -0.85 - - 2207 - 2.33 0.049 2134 602.6 -146.0 - - 3410 - - - - - - - - 15.05 15.04 15.07
1742 263.1 -13.1 338 1749 roll -0.85 - - 2199 - 2.35 0.073 3536 596.6 -146.0 - - 3410 - - - - - - - - 15.21 15.00 15.21
1763 266.3 -14.5 342 1769 done -0.85 - - 2198 - 2.30 0.037 2130 -611.3 -146.0 - - 3410 - - - - - - - - 15.06 15.02 15.07
1829 274.9 -14.0 355 1835 done -0.85 0.05 0.337 2210 240.0 - - 2129 - -146.0 - - 3410 - - - - - - - - 14.92 15.10 15.07
1894 283.3 -12.3 368 1901 roll -0.85 - - 2210 - 2.33 0.067 723 -603.4 -146.0 - - 3410 - - - - - - - - 15.22 15.00 15.23
1925 287.2 -12.3 374 1932 done -0.85 - - 2210 - 2.33 0.048 2130 603.9 -146.0 - - 3409 - - - - - - - - 15.06 15.02 15.07
1991 295.5 -12.7 387 1997 done -0.85 - - 2210 - - - 2130 - -146.0 - - 3412 - - - - - - - - 15.21 15.22 15.22
2071 305.7 -12.8 397 2072 done -0.85 - - 2210 - - - 2130 - -146.0 - - 3409 - - - - - - - - 15.25 15.25 15.25
2191 320.8 -12.4 403 2196 roll -0.85 - - 2201 - 2.40 0.073 3534 585.0 -146.0 - - 3408 - - - - - - - - 15.26 15.02 15.26
2216 323.3 -12.4 404 2221 done -0.85 - - 2201 - 2.30 0.038 2130 -610.4 -146.0 - - 3408 - - - - - - - - 15.09 15.04 15.10
2351 341.4 -13.2 411 2356 roll -0.85 - - 2201 - 2.38 0.069 721 -592.0 -146.0 - - 3408 - - - - - - - - 15.27 15.02 15.27
2376 344.1 -13.2 412 2381 done -0.85 0.05 0.271 2209 160.0 2.33 0.049 2127 603.4 -146.0 - - 3408 - - - - - - - - 14.92 15.04 15.04
2511 361.5 -12.2 419 2512 done -0.85 - - 2209 - - - 2127 - -146.0 - - 3407 - - - - - - - - 15.27 15.27 15.27
2550 end dive: BOTTOM_OBSTACLE_DETECTED
2550 begin apogee
2553 366.4 -12.5 421 2667 done -0.19 1.05 0.157 2423 203.8 - - 1893 - - 110.72 1.467 2812 -5.4 0.238 - - - - - - 15.00 14.52 13.98
2668 end apogee: CONTROL_FINISHED_OK
2668 begin climb
2669 370.8 - 426 2790 roll 0.85 1.52 0.090 2756 219.1 2.40 0.071 522 -571.2 146.0 112.22 1.443 2214 -5.3 0.242 - - - - - - 14.50 14.30 13.86
2914 363.6 8.7 439 2944 done 0.89 - - 2756 - 2.33 0.044 1912 596.6 174.9 22.98 1.382 2100 -5.0 0.231 - - - - - - 14.76 14.73 14.09
3075 348.7 9.5 447 3085 done 0.90 - - 2756 - - - 1912 - 184.5 9.65 1.265 2058 -4.4 0.212 - - - - - - 15.00 14.78 14.22
3194 337.0 9.7 453 3205 roll 0.91 - - 2763 - 2.38 0.075 523 -583.6 191.6 6.85 1.104 2030 -4.1 0.221 - - - - - - 15.05 14.73 14.26
3229 335.1 9.6 454 3244 done 0.92 - - 2763 - 2.30 0.044 1906 601.3 199.7 8.12 1.220 1997 -4.1 0.198 - - - - - - 14.88 14.84 14.26
3375 319.4 9.9 462 3376 done 0.92 - - 2763 - - - 1906 - 200.6 - - 1995 - - - - - - - - 15.09 15.08 15.09
3494 307.4 10.2 468 3495 done 0.92 - - 2763 - - - 1906 - 200.6 - - 1995 - - - - - - - - 15.15 15.16 15.16
3615 294.6 10.6 480 3620 done 0.92 - - 2763 - - - 1906 - 200.6 - - 1994 - - - - - - - - 15.16 15.16 15.16
3679 287.4 11.4 493 3680 done 0.92 - - 2763 - - - 1907 - 200.6 - - 1993 - - - - - - - - 15.18 15.18 15.18
3739 280.9 10.4 505 3746 roll 0.92 - - 2773 - 2.40 0.076 519 -578.3 200.6 - - 1992 - - - - - - - - 15.19 14.95 15.19
3811 273.4 10.5 519 3817 done 0.92 - - 2774 - 2.30 0.046 1911 605.2 200.6 - - 1992 - - - - - - - - 15.04 15.00 15.05
3877 266.7 10.2 532 3883 roll 0.92 - - 2773 - 2.35 0.070 3312 596.2 200.6 - - 1992 - - - - - - - - 15.19 14.94 15.19
3922 261.6 11.9 541 3929 done 0.92 - - 2777 - 2.33 0.048 1918 -598.3 200.6 - - 1992 - - - - - - - - 15.03 14.98 15.05
3989 254.2 10.6 554 3994 done 0.92 - - 2777 - - - 1919 - 200.6 - - 1991 - - - - - - - - 15.19 15.20 15.20
4053 247.5 10.6 567 4059 done 0.92 - - 2777 - - - 1919 - 200.6 - - 1991 - - - - - - - - 15.20 15.20 15.20
4118 240.8 9.9 580 4124 done 0.92 - - 2778 - - - 1918 - 202.3 - - 1991 - - - - - - - - 15.21 15.21 15.23
4183 234.5 9.7 593 4196 roll 0.93 - - 2777 - 2.35 0.066 3310 592.3 207.8 7.03 1.085 1965 -3.7 0.141 - - - - - - 15.20 14.86 14.38
4230 229.3 11.4 602 4237 done 0.93 - - 2787 - 2.35 0.047 1908 -596.6 207.8 - - 1965 - - - - - - - - 15.01 14.97 15.02
4297 221.9 11.3 615 4302 done 0.93 - - 2787 - - - 1908 - 207.8 - - 1965 - - - - - - - - 15.17 15.18 15.18
4361 214.6 10.7 628 4368 roll 0.93 - - 2787 - 2.38 0.067 3297 583.6 207.8 - - 1964 - - - - - - - - 15.17 14.95 15.17
4392 211.5 9.8 634 4404 done 0.94 - - 2787 - 2.33 0.047 1907 -596.6 212.2 5.40 0.949 1946 -3.3 0.131 - - - - - - 15.02 14.97 14.35
4463 203.8 10.0 648 4469 done 0.94 - - 2787 - - - 1908 - 212.2 - - 1946 - - - - - - - - 15.16 15.16 15.19
4528 197.5 9.0 661 4552 roll 0.96 - - 2787 - 2.42 0.066 3304 576.9 233.6 18.80 1.256 1856 -4.8 0.133 - - - - - - 15.17 14.84 14.35
4606 189.1 10.9 676 4613 done 0.96 - - 2787 - 2.35 0.048 1914 -591.5 233.6 - - 1857 - - - - - - - - 14.88 14.85 14.90
4673 182.5 10.5 689 4679 roll 0.96 - - 2787 - 2.42 0.080 496 -586.0 233.6 - - 1856 - - - - - - - - 15.10 14.86 15.11
4749 174.6 10.2 704 4755 done 0.96 - - 2787 - 2.30 0.044 1912 615.7 233.6 - - 1855 - - - - - - - - 15.02 14.93 15.03
4815 167.7 10.1 717 4821 roll 0.96 - - 2787 - 2.35 0.067 3304 592.3 233.6 - - 1855 - - - - - - - - 15.12 14.92 15.12
4840 165.0 11.0 722 4847 done 0.96 - - 2787 - 2.35 0.049 1907 -594.5 233.6 - - 1854 - - - - - - - - 14.97 14.93 15.00
4907 158.4 10.0 735 4913 roll 0.96 - - 2787 - 2.40 0.080 499 -586.7 233.6 - - 1854 - - - - - - - - 15.13 14.89 15.14
4932 156.0 8.9 740 4956 done 0.99 - - 2787 - 2.33 0.044 1907 604.3 257.3 20.00 1.208 1765 -4.5 0.102 - - - - - - 14.95 14.90 14.31
5015 146.9 10.6 756 5020 done 0.99 - - 2787 - - - 1907 - 257.3 - - 1761 - - - - - - - - 15.04 15.04 15.04
5080 140.0 11.1 769 5086 roll 0.99 - - 2787 - 2.42 0.080 497 -582.6 257.3 - - 1760 - - - - - - - - 15.07 14.86 15.07
5131 134.3 10.8 779 5137 done 0.99 - - 2787 - 2.33 0.044 1904 603.9 257.3 - - 1759 - - - - - - - - 14.95 14.90 14.96
5197 127.4 10.2 792 5203 roll 0.99 - - 2787 - 2.38 0.067 3311 591.2 257.3 - - 1760 - - - - - - - - 15.11 14.88 15.11
5257 121.2 10.8 804 5264 done 0.99 - - 2787 - 2.35 0.048 1914 -594.5 257.3 - - 1759 - - - - - - - - 14.92 14.88 14.95
5324 114.1 11.2 817 5330 roll 0.99 - - 2787 - 2.40 0.079 503 -587.9 257.3 - - 1759 - - - - - - - - 15.13 14.90 15.13
5379 108.7 9.0 828 5403 done 1.02 - - 2787 - 2.33 0.044 1913 605.2 278.6 18.50 1.138 1674 -4.6 0.078 - - - - - - 14.98 14.93 14.34
5462 101.8 8.1 844 5502 done 1.07 0.10 0.149 2835 480.0 - - 1914 - 318.6 34.05 1.156 1511 -4.8 0.075 - - - - - - 14.89 14.62 14.23
5562 90.4 11.9 863 5568 roll 1.07 - - 2835 - 2.45 0.081 506 -574.7 318.6 - - 1509 - - - - - - - - 14.96 14.71 14.96
5592 86.9 12.5 869 5599 done 1.07 - - 2836 - 2.35 0.044 1912 598.3 318.6 - - 1509 - - - - - - - - 14.80 14.76 14.82
5659 79.1 11.1 882 5664 done 1.07 - - 2835 - - - 1912 - 318.6 - - 1509 - - - - - - - - 15.02 15.02 15.02
5723 71.8 11.0 895 5730 roll 1.07 - - 2835 - 2.47 0.080 507 -568.8 318.6 - - 1508 - - - - - - - - 15.05 14.81 15.05
5769 66.7 10.8 904 5776 done 1.07 - - 2835 - 2.33 0.044 1911 602.6 318.6 - - 1508 - - - - - - - - 14.92 14.87 14.94
5836 59.1 12.0 917 5841 done 1.07 - - 2835 - - - 1911 - 318.6 - - 1507 - - - - - - - - 15.07 15.07 15.09
5900 51.4 11.8 930 5907 roll 1.07 - - 2835 - 2.40 0.067 3299 578.3 318.6 - - 1507 - - - - - - - - 15.09 14.87 15.09
5931 47.6 12.9 936 5938 done 1.07 - - 2835 - 2.33 0.049 1919 -592.3 318.6 - - 1507 - - - - - - - - 14.95 14.90 14.97
5997 40.4 10.9 949 6004 roll 1.07 - - 2835 - 2.42 0.081 500 -586.4 318.6 - - 1507 - - - - - - - - 15.11 14.88 15.12
6074 31.9 11.3 964 6080 done 1.07 - - 2835 - 2.30 0.044 1916 615.7 318.6 - - 1507 - - - - - - - - 15.04 14.95 15.04
6139 24.7 10.4 977 6145 roll 1.07 - - 2835 - 2.33 0.066 3302 594.8 318.6 - - 1507 - - - - - - - - 15.13 14.92 15.14
6154 23.1 11.0 980 6161 done 1.07 - - 2835 - 2.35 0.047 1908 -593.2 318.6 - - 1507 - - - - - - - - 14.97 14.93 15.00
6221 16.7 9.2 993 6239 roll 1.09 - - 2835 - 2.42 0.077 493 -584.7 335.6 12.30 0.895 1442 -5.3 0.017 - - - - - - 15.13 14.79 14.42
6343 5.5 10.3 1017 6350 done 1.09 - - 2834 - 2.33 0.041 1908 607.3 335.6 - - 1440 - - - - - - - - 14.94 14.90 14.95
6367 end climb: SURFACE_DEPTH_REACHED
6367 begin surface coast
6393 end surface coast: CONTROL_FINISHED_OK
6393 begin surface
SM 1.29 - - - - -7.27 12.52 0.060 153 12.2 0.35 0.070 2140 3171.4 337.77 - - 1434 - - - - - - - -