SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 151 * Raw log
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• Previous call tries 1 • 43.42 of 310.00 AH used of 24V (85.99% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.2 deg, depth 0.96 m • Intended pitch -18.2 deg, speed -9.972 cm/s
• No surface pump (final VBD was 353.72, SM_CC=290) • surface range 19.0 m at 20.0 m depth, ceiling 1.0 m
• GPS1 time: 22 s • bottom range 52.7 m at 401.0 m, depth 454 m (700 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 - - - 81 VBD -0.85 - - 72 - - - 2125 - -146.0 -61.03 - 2928 - - - - - - - - 14.96 - 14.97
83 3.2 -7.7 11 112 roll -0.85 12.15 0.291 2201 175.2 2.45 0.086 3543 578.8 -146.0 -8.70 - 3409 -55.3 - - - - - - - 14.61 13.89 14.73
201 28.7 -16.7 34 208 done -0.85 0.05 0.252 2207 120.0 2.38 0.039 2113 -600.8 -146.0 - - 3410 - - - - - - - - 14.73 14.84 14.83
268 41.2 -20.4 47 274 roll -0.85 - - 2204 - 2.33 0.067 730 -593.6 -146.0 - - 3409 - - - - - - - - 15.05 14.81 15.06
288 45.6 -21.4 51 294 done -0.85 - - 2201 - 2.35 0.049 2127 594.5 -146.0 - - 3410 - - - - - - - - 14.87 14.82 14.88
354 57.6 -16.7 64 360 roll -0.85 - - 2200 - 2.42 0.075 3548 587.2 -146.0 - - 3410 - - - - - - - - 15.09 14.88 15.09
419 68.0 -16.8 77 426 done -0.85 - - 2200 - 2.35 0.039 2129 -603.8 -146.0 - - 3410 - - - - - - - - 14.92 14.88 14.94
486 79.7 -18.2 90 491 done -0.85 - - 2200 - - - 2129 - -146.0 - - 3409 - - - - - - - - 15.09 15.13 15.10
551 91.5 -17.3 103 557 roll -0.85 - - 2191 - 2.45 0.070 3537 574.7 -146.0 - - 3409 - - - - - - - - 15.11 14.88 15.11
601 99.6 -15.4 113 609 done -0.85 0.08 0.214 2208 212.5 2.33 0.038 2122 -607.3 -146.0 - - 3410 - - - - - - - - 14.83 14.91 14.93
669 110.0 -14.8 126 674 done -0.85 - - 2208 - - - 2121 - -146.0 - - 3410 - - - - - - - - 15.12 15.12 15.12
734 119.6 -15.4 139 740 roll -0.85 - - 2207 - 2.47 0.072 3541 574.9 -146.0 - - 3410 - - - - - - - - 15.14 14.88 15.14
774 125.4 -14.2 147 781 done -0.85 - - 2207 - 2.33 0.038 2132 -604.7 -146.0 - - 3410 - - - - - - - - 14.96 14.90 14.97
841 134.8 -15.0 160 846 done -0.85 - - 2208 - - - 2132 - -146.0 - - 3410 - - - - - - - - 15.14 15.14 15.14
906 144.4 -14.5 173 912 roll -0.85 - - 2207 - 2.38 0.065 702 -600.8 -146.0 - - 3411 - - - - - - - - 15.14 14.94 15.14
936 149.1 -15.8 179 943 done -0.85 - - 2200 - 2.38 0.047 2128 599.2 -146.0 - - 3410 - - - - - - - - 14.99 14.95 15.02
1003 158.7 -14.4 192 1009 roll -0.85 - - 2200 - 2.40 0.074 3538 587.5 -146.0 - - 3411 - - - - - - - - 15.14 14.90 15.15
1038 164.0 -13.5 199 1045 done -0.85 - - 2200 - 2.30 0.037 2147 -604.8 -146.0 - - 3411 - - - - - - - - 14.95 14.91 14.97
1105 172.7 -13.6 212 1110 done -0.85 - - 2200 - - - 2146 - -146.0 - - 3411 - - - - - - - - 15.16 15.16 15.16
1169 181.3 -13.1 225 1176 roll -0.85 - - 2200 - 2.42 0.071 3541 576.4 -146.0 - - 3411 - - - - - - - - 15.16 14.94 15.17
1195 184.5 -11.6 230 1202 done -0.85 - - 2200 - 2.33 0.037 2126 -607.3 -146.0 - - 3410 - - - - - - - - 15.00 14.95 15.02
1262 192.8 -13.0 243 1267 done -0.85 - - 2200 - - - 2126 - -146.0 - - 3411 - - - - - - - - 15.14 15.15 15.15
1326 201.3 -13.3 256 1332 done -0.85 - - 2200 - - - 2126 - -146.0 - - 3411 - - - - - - - - 15.16 15.17 15.17
1391 210.0 -13.5 269 1401 roll -0.85 - - 2200 - 2.38 0.065 725 -588.7 -146.0 - - 3411 - - - - - - - - 15.17 14.95 15.18
1415 213.3 -14.0 273 1422 done -0.85 0.08 0.230 2209 112.5 2.33 0.047 2134 604.7 -146.0 - - 3410 - - - - - - - - 14.88 14.97 14.97
1481 222.0 -12.9 286 1482 done -0.85 - - 2209 - - - 2134 - -146.0 - - 3410 - - - - - - - - 15.17 15.18 15.18
1541 229.5 -12.5 298 1547 done -0.85 - - 2209 - - - 2134 - -146.0 - - 3411 - - - - - - - - 15.18 15.19 15.18
1606 237.6 -12.4 311 1613 roll -0.85 - - 2207 - 2.40 0.073 3529 581.2 -146.0 - - 3410 - - - - - - - - 15.19 14.95 15.19
1637 241.1 -11.4 317 1644 done -0.85 - - 2207 - 2.30 0.037 2132 -607.4 -146.0 - - 3410 - - - - - - - - 15.03 15.00 15.05
1704 248.8 -11.4 330 1710 roll -0.85 - - 2207 - 2.35 0.067 725 -598.7 -146.0 - - 3410 - - - - - - - - 15.19 14.97 15.19
1739 252.8 -12.1 337 1746 done -0.85 - - 2207 - 2.33 0.048 2124 600.4 -146.0 - - 3410 - - - - - - - - 15.01 14.96 15.03
1806 260.0 -11.1 350 1812 roll -0.85 - - 2198 - 2.38 0.073 3534 592.4 -146.0 - - 3410 - - - - - - - - 15.18 14.98 15.19
1846 264.6 -10.9 358 1853 done -0.85 0.05 0.241 2211 260.0 2.33 0.037 2121 -606.4 -146.0 - - 3410 - - - - - - - - 14.88 15.00 14.98
1912 271.7 -11.0 371 1913 done -0.85 - - 2211 - - - 2120 - -146.0 - - 3410 - - - - - - - - 15.20 15.20 15.20
1972 278.7 -11.8 383 1979 roll -0.85 - - 2211 - 2.35 0.066 731 -591.1 -146.0 - - 3409 - - - - - - - - 15.20 14.97 15.21
2003 283.0 -13.4 389 2010 done -0.85 - - 2207 - 2.33 0.049 2130 600.4 -146.0 - - 3409 - - - - - - - - 15.03 15.00 15.06
2070 291.0 -12.5 402 2076 roll -0.85 - - 2206 - 2.38 0.075 3538 591.6 -146.0 - - 3409 - - - - - - - - 15.20 14.99 15.20
2105 295.5 -12.2 409 2112 done -0.85 - - 2208 - 2.30 0.037 2138 -608.7 -146.0 - - 3409 - - - - - - - - 15.03 15.00 15.06
2181 305.5 -13.2 418 2182 done -0.85 - - 2207 - - - 2139 - -146.0 - - 3408 - - - - - - - - 15.22 15.22 15.22
2302 321.1 -12.9 424 2307 roll -0.85 - - 2199 - 2.40 0.071 3544 585.4 -146.0 - - 3407 - - - - - - - - 15.21 15.02 15.21
2351 326.2 -12.4 426 2357 done -0.85 0.03 0.331 2206 233.3 2.33 0.037 2125 -609.0 -146.0 - - 3408 - - - - - - - - 14.88 15.03 15.00
2481 342.9 -12.2 433 2487 roll -0.85 - - 2206 - 2.35 0.067 736 -591.1 -146.0 - - 3407 - - - - - - - - 15.26 15.00 15.26
2521 348.4 -13.1 435 2527 done -0.85 - - 2207 - 2.33 0.050 2137 601.3 -146.0 - - 3407 - - - - - - - - 15.08 15.03 15.09
2661 367.1 -13.5 442 2667 roll -0.85 - - 2206 - 2.40 0.076 3532 581.2 -146.0 - - 3406 - - - - - - - - 15.26 15.02 15.26
2706 372.3 -13.3 444 2712 done -0.85 - - 2206 - 2.30 0.038 2135 -607.4 -146.0 - - 3406 - - - - - - - - 15.09 15.05 15.10
2842 390.4 -13.0 451 2847 roll -0.85 - - 2206 - 2.35 0.068 723 -600.9 -146.0 - - 3406 - - - - - - - - 15.23 15.04 15.24
2856 390.4 -13.0 451 2863 done -0.85 - - 2201 - 2.33 0.049 2126 602.1 -146.0 - - 3406 - - - - - - - - 15.09 15.04 15.11
2981 408.8 -13.1 458 2987 roll -0.85 - - 2200 - 2.45 0.076 3545 579.2 -146.0 - - 3405 - - - - - - - - 15.27 15.02 15.28
3001 411.4 -13.0 459 3007 done -0.85 - - 2200 - 2.33 0.039 2133 -606.0 -146.0 - - 3405 - - - - - - - - 15.09 15.05 15.11
3141 429.0 -12.6 466 3142 done -0.85 - - 2200 - - - 2133 - -146.0 - - 3405 - - - - - - - - 15.27 15.28 15.28
3260 end dive: BOTTOM_OBSTACLE_DETECTED
3260 begin apogee
3264 443.8 -12.5 472 3384 done -0.19 1.12 0.159 2428 203.6 - - 1886 - - 112.82 1.588 2812 -5.3 0.261 - - - - - - 15.00 14.35 13.89
3385 end apogee: CONTROL_FINISHED_OK
3385 begin climb
3386 448.9 - 478 3513 roll 0.85 1.52 0.084 2759 217.8 2.45 0.075 526 -555.1 146.0 115.62 1.562 2214 -5.2 0.265 - - - - - - 14.46 14.31 13.78
3597 443.3 8.4 488 3633 done 0.90 - - 2759 - 2.38 0.044 1929 589.5 180.6 28.88 1.503 2073 -4.9 0.256 - - - - - - 14.66 14.62 13.94
3763 425.3 10.8 497 3767 roll 0.90 - - 2759 - 2.38 0.070 3312 581.1 180.6 - - 2070 - - - - - - - - 14.92 14.71 14.92
3857 415.9 11.8 501 3864 done 0.90 - - 2766 - 2.35 0.047 1928 -588.9 180.6 - - 2069 - - - - - - - - 14.85 14.81 14.87
3982 400.7 10.7 508 3987 roll 0.90 - - 2773 - 2.47 0.079 506 -575.7 180.6 - - 2068 - - - - - - - - 15.07 14.84 15.08
4012 398.5 10.7 509 4017 done 0.90 - - 2774 - 2.33 0.045 1905 600.4 180.6 - - 2068 - - - - - - - - 14.93 14.88 14.95
4142 383.9 10.5 516 4147 roll 0.90 - - 2773 - 2.42 0.078 507 -577.7 180.6 - - 2067 - - - - - - - - 15.14 14.90 15.14
4167 381.7 10.7 517 4172 done 0.90 - - 2773 - 2.33 0.046 1910 602.1 180.6 - - 2067 - - - - - - - - 14.97 14.92 15.00
4302 367.3 10.2 524 4307 roll 0.90 - - 2773 - 2.38 0.070 3301 584.5 180.6 - - 2067 - - - - - - - - 15.17 14.93 15.17
4327 365.1 10.3 525 4332 done 0.90 - - 2773 - 2.33 0.048 1911 -596.6 180.6 - - 2067 - - - - - - - - 15.01 14.96 15.03
4462 350.7 10.1 532 4467 roll 0.90 - - 2773 - 2.42 0.080 503 -581.8 180.6 - - 2065 - - - - - - - - 15.19 14.95 15.19
4482 348.7 10.0 533 4488 done 0.90 - - 2773 - 2.33 0.044 1918 607.3 180.6 - - 2066 - - - - - - - - 15.03 15.00 15.04
4622 334.9 9.9 540 4623 done 0.90 - - 2773 - - - 1918 - 182.1 - - 2066 - - - - - - - - 15.21 15.22 15.22
4742 322.2 10.8 546 4743 done 0.90 - - 2773 - - - 1918 - 182.1 - - 2065 - - - - - - - - 15.22 15.23 15.23
4862 310.5 9.7 552 4873 roll 0.91 - - 2773 - 2.30 0.069 3301 601.3 187.4 5.40 1.024 2046 -3.5 0.190 - - - - - - 15.23 14.99 14.37
4943 302.5 9.9 556 4948 done 0.91 - - 2773 - 2.30 0.050 1905 -607.0 188.0 - - 2046 - - - - - - - - 15.10 15.01 15.11
5067 290.7 9.7 575 5079 done 0.91 - - 2773 - - - 1905 - 194.7 7.50 1.255 2017 -3.9 0.159 - - - - - - 15.20 14.86 14.36
5139 284.0 9.3 589 5156 done 0.93 - - 2773 - - - 1905 - 208.7 13.05 1.362 1959 -4.4 0.165 - - - - - - 15.16 14.90 14.33
5216 276.3 10.4 604 5222 roll 0.93 - - 2773 - 2.40 0.081 506 -582.9 208.7 - - 1957 - - - - - - - - 15.09 14.88 15.09
5236 274.0 11.2 608 5243 done 0.93 - - 2773 - 2.33 0.044 1904 600.0 208.7 - - 1958 - - - - - - - - 14.94 14.90 14.96
5303 266.9 10.9 621 5309 roll 0.93 - - 2773 - 2.38 0.068 3310 590.8 208.7 - - 1956 - - - - - - - - 15.11 14.90 15.11
5333 263.3 11.6 627 5340 done 0.93 - - 2780 - 2.35 0.048 1917 -592.8 208.7 - - 1956 - - - - - - - - 14.96 14.92 14.98
5400 255.8 11.7 640 5405 done 0.93 - - 2780 - - - 1917 - 208.7 - - 1956 - - - - - - - - 15.12 15.13 15.13
5464 247.8 11.9 653 5471 roll 0.93 - - 2780 - 2.45 0.080 507 -575.5 208.7 - - 1955 - - - - - - - - 15.15 14.86 15.14
5480 246.1 12.0 656 5487 done 0.93 - - 2783 - 2.33 0.044 1915 604.3 208.7 - - 1956 - - - - - - - - 14.99 14.95 15.00
5547 238.7 10.7 669 5552 done 0.93 - - 2780 - - - 1915 - 208.7 - - 1955 - - - - - - - - 15.14 15.15 15.15
5611 232.0 10.2 682 5618 roll 0.93 - - 2779 - 2.47 0.080 499 -573.3 208.7 - - 1955 - - - - - - - - 15.15 14.92 15.15
5632 229.9 9.9 686 5639 done 0.93 - - 2780 - 2.35 0.044 1920 604.7 209.9 - - 1955 - - - - - - - - 15.00 14.95 15.02
5699 223.2 10.4 699 5704 done 0.93 - - 2780 - - - 1921 - 209.9 - - 1954 - - - - - - - - 15.16 15.16 15.16
5763 216.3 10.7 712 5770 roll 0.93 - - 2780 - 2.33 0.067 3304 593.6 209.9 - - 1955 - - - - - - - - 15.16 14.89 15.16
5794 212.9 10.5 718 5801 done 0.93 - - 2780 - 2.35 0.049 1911 -592.8 209.9 - - 1955 - - - - - - - - 14.95 14.89 14.97
5861 206.6 9.9 731 5866 done 0.94 - - 2780 - - - 1911 - 211.6 - - 1954 - - - - - - - - 15.16 15.17 15.17
5925 200.0 9.3 744 5943 done 0.95 - - 2780 - - - 1911 - 225.7 14.40 1.246 1891 -4.4 0.125 - - - - - - 15.18 14.90 14.35
6003 192.6 9.9 759 6009 roll 0.96 - - 2780 - 2.42 0.080 495 -585.1 228.1 - - 1889 - - - - - - - - 15.08 14.84 15.08
6028 190.0 10.2 764 6035 done 0.96 - - 2780 - 2.35 0.044 1911 602.6 228.1 - - 1888 - - - - - - - - 14.94 14.90 14.95
6095 183.8 10.0 777 6101 done 0.96 - - 2780 - - - 1911 - 228.1 - - 1888 - - - - - - - - 15.11 15.11 15.11
6160 177.2 9.8 790 6172 roll 0.96 - - 2781 - 2.42 0.078 502 -582.2 232.3 6.47 0.992 1865 -3.6 0.113 - - - - - - 15.11 14.78 14.31
6186 174.3 10.6 795 6193 done 0.96 - - 2779 - 2.35 0.044 1913 600.4 232.3 - - 1865 - - - - - - - - 14.93 14.88 14.95
6253 167.7 10.1 808 6259 roll 0.96 - - 2780 - 2.35 0.067 3303 591.5 232.3 - - 1864 - - - - - - - - 15.08 14.88 15.08
6288 163.9 10.8 815 6295 done 0.96 - - 2784 - 2.35 0.048 1910 -592.8 232.3 - - 1864 - - - - - - - - 14.94 14.90 14.96
6355 157.3 10.3 828 6360 done 0.96 - - 2784 - - - 1911 - 232.3 - - 1863 - - - - - - - - 15.11 15.11 15.11
6419 150.9 9.7 841 6432 roll 0.97 - - 2787 - 2.40 0.079 503 -586.7 239.1 7.40 1.014 1836 -3.6 0.097 - - - - - - 15.12 14.78 14.33
6456 147.0 10.6 848 6463 done 0.97 - - 2787 - 2.35 0.044 1915 600.9 239.1 - - 1839 - - - - - - - - 14.93 14.89 14.95
6523 141.0 8.9 861 6546 done 1.00 - - 2787 - - - 1915 - 263.5 21.25 1.199 1736 -4.8 0.101 - - - - - - 15.07 14.81 14.28
6605 133.4 9.8 877 6617 roll 1.00 - - 2787 - 2.40 0.068 3295 575.0 267.7 4.80 0.799 1720 -3.3 0.099 - - - - - - 15.01 14.76 14.26
6627 130.9 12.4 881 6633 done 1.00 - - 2786 - 2.38 0.050 1902 -585.3 267.7 - - 1719 - - - - - - - - 14.85 14.80 14.86
6693 124.3 9.7 894 6704 done 1.01 - - 2787 - - - 1903 - 272.7 5.55 0.860 1698 -3.8 0.097 - - - - - - 15.02 14.83 14.28
6765 117.6 9.1 908 6787 done 1.03 0.08 0.187 2830 537.5 - - 1902 - 292.6 18.05 1.179 1617 -4.5 0.080 - - - - - - 14.85 14.77 14.26
6846 108.6 11.8 924 6852 done 1.03 - - 2830 - - - 1902 - 292.6 - - 1616 - - - - - - - - 14.97 14.98 14.98
6911 100.5 12.2 937 6918 roll 1.03 - - 2830 - 2.45 0.068 3321 579.2 292.6 - - 1614 - - - - - - - - 15.01 14.80 15.01
6932 97.8 13.4 941 6939 done 1.03 - - 2831 - 2.40 0.050 1913 -586.7 292.6 - - 1615 - - - - - - - - 14.86 14.82 14.88
6998 90.3 11.2 954 7004 roll 1.03 - - 2831 - 2.38 0.066 3301 583.2 292.6 - - 1614 - - - - - - - - 15.03 14.79 15.03
7123 75.7 11.2 979 7130 done 1.03 - - 2832 - 2.38 0.050 1909 -584.9 292.6 - - 1614 - - - - - - - - 14.88 14.83 14.88
7190 69.0 10.7 992 7196 roll 1.03 - - 2832 - 2.38 0.065 3302 585.3 292.6 - - 1613 - - - - - - - - 15.09 14.85 15.09
7235 63.9 10.9 1001 7242 done 1.03 - - 2837 - 2.38 0.047 1899 -589.5 292.6 - - 1614 - - - - - - - - 14.91 14.86 14.93
7302 57.0 10.2 1014 7308 done 1.03 0.05 0.357 2827 -200.0 - - 1899 - 292.6 - - 1613 - - - - - - - - 14.78 14.95 14.94
7368 50.7 9.1 1027 7391 roll 1.06 - - 2827 - 2.42 0.066 3309 582.6 310.9 15.90 1.033 1543 -4.4 0.038 - - - - - - 15.09 14.78 14.35
7425 45.3 10.3 1038 7432 done 1.06 - - 2828 - 2.33 0.047 1914 -598.7 310.9 - - 1542 - - - - - - - - 14.92 14.83 14.92
7492 38.3 10.6 1051 7497 done 1.06 - - 2828 - - - 1914 - 310.9 - - 1541 - - - - - - - - 15.04 15.06 15.05
7557 31.3 10.0 1064 7562 done 1.06 - - 2828 - - - 1914 - 310.9 - - 1541 - - - - - - - - 15.06 15.07 15.07
7621 25.1 9.0 1077 7640 roll 1.08 - - 2828 - 2.47 0.079 500 -572.5 331.4 14.43 1.012 1458 -5.8 0.025 - - - - - - 15.08 14.81 14.35
7669 21.2 9.1 1086 7690 done 1.11 - - 2828 - 2.35 0.042 1913 601.3 351.0 12.85 0.961 1377 -6.3 0.025 - - - - - - 14.84 14.81 14.35
7750 13.3 10.1 1101 7756 roll 1.11 - - 2828 - 2.38 0.063 3307 585.7 351.0 - - 1375 - - - - - - - - 15.01 14.78 15.01
7765 11.0 13.8 1104 7772 done 1.11 - - 2828 - 2.38 0.046 1915 -584.9 351.0 - - 1375 - - - - - - - - 14.85 14.80 14.86
7832 4.0 11.0 1117 7838 roll 1.11 - - 2828 - 2.38 0.064 3306 584.5 351.0 - - 1375 - - - - - - - - 15.02 14.83 15.07
7841 end climb: SURFACE_DEPTH_REACHED
7841 begin surface coast
7846 end surface coast: CONTROL_FINISHED_OK
7846 begin surface
SM 1.07 - - - - -7.27 12.68 0.075 149 11.8 2.00 0.046 2127 -90.5 353.72 - - 1370 - - - - - - - -