SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 153 * Raw log
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• Previous call tries 3 • 44.05 of 310.00 AH used of 24V (85.79% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.6 deg, depth 0.91 m • Intended pitch -18.2 deg, speed -9.972 cm/s
• No surface pump (final VBD was 395.91, SM_CC=290) • surface range 18.9 m at 19.5 m depth, ceiling 0.6 m
• GPS1 time: 22 s • bottom range 48.5 m at 381.0 m, depth 430 m (700 m grid)
• GPS2 time: 17 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 - - - 87 VBD -0.85 - - 72 - - - 2083 - -146.0 -66.55 - 3116 - - - - - - - - 15.00 - 15.01
88 4.2 -11.8 12 112 roll -0.85 12.10 0.288 2194 175.4 2.45 0.087 3522 587.3 -146.0 -5.03 - 3407 -57.9 - - - - - - - 14.64 14.19 14.78
176 27.8 -19.2 29 183 done -0.85 0.08 0.226 2210 200.0 2.28 0.038 2156 -599.1 -146.0 - - 3408 - - - - - - - - 14.76 14.86 14.85
243 40.1 -19.0 42 249 roll -0.85 - - 2210 - 2.40 0.065 723 -597.1 -146.0 - - 3408 - - - - - - - - 15.07 14.82 15.07
288 49.1 -19.0 51 295 done -0.85 - - 2207 - 2.33 0.048 2115 597.4 -146.0 - - 3408 - - - - - - - - 14.88 14.83 14.90
355 61.2 -18.0 64 360 roll -0.85 - - 2197 - 2.42 0.071 3541 589.3 -146.0 - - 3408 - - - - - - - - 15.10 14.90 15.11
409 70.8 -17.3 75 417 done -0.85 0.05 0.256 2208 220.0 2.35 0.038 2116 -606.4 -146.0 - - 3408 - - - - - - - - 14.78 14.90 14.90
476 81.7 -15.3 88 482 roll -0.85 - - 2202 - 2.42 0.071 3545 590.5 -146.0 - - 3408 - - - - - - - - 15.11 14.92 15.11
496 84.8 -14.9 92 503 done -0.85 - - 2202 - 2.33 0.036 2143 -601.7 -146.0 - - 3410 - - - - - - - - 14.96 14.93 14.99
563 95.5 -17.2 105 569 roll -0.85 - - 2200 - 2.38 0.072 3537 585.7 -146.0 - - 3408 - - - - - - - - 15.13 14.88 15.14
618 104.8 -14.6 116 625 done -0.85 - - 2200 - 2.33 0.036 2124 -606.4 -146.0 - - 3408 - - - - - - - - 14.94 14.89 14.95
685 114.0 -14.4 129 691 roll -0.85 - - 2200 - 2.33 0.064 726 -600.0 -146.0 - - 3408 - - - - - - - - 15.14 14.93 15.14
705 117.1 -14.0 133 712 done -0.85 0.08 0.228 2209 112.5 2.33 0.047 2127 601.3 -146.0 - - 3408 - - - - - - - - 14.85 14.94 15.00
771 126.3 -13.9 146 778 roll -0.85 - - 2199 - 2.42 0.071 3538 583.1 -146.0 - - 3408 - - - - - - - - 15.14 14.92 15.14
838 135.7 -13.5 159 844 done -0.85 - - 2199 - 2.28 0.037 2127 -618.9 -146.0 - - 3408 - - - - - - - - 14.99 14.92 15.00
904 145.4 -14.1 172 910 roll -0.85 - - 2199 - 2.33 0.063 722 -603.0 -146.0 - - 3408 - - - - - - - - 15.16 14.92 15.16
924 148.2 -14.1 176 931 done -0.85 0.08 0.228 2208 112.5 2.33 0.046 2126 602.6 -146.0 - - 3409 - - - - - - - - 14.83 14.93 14.94
990 156.5 -13.0 189 997 roll -0.85 - - 2199 - 2.42 0.071 3538 583.5 -146.0 - - 3408 - - - - - - - - 15.16 14.93 15.16
1031 161.8 -12.8 197 1037 done -0.85 - - 2199 - 2.30 0.036 2134 -610.4 -146.0 - - 3408 - - - - - - - - 15.01 14.97 15.02
1098 170.4 -13.7 210 1103 done -0.85 0.05 0.341 2210 220.0 - - 2133 - -146.0 - - 3408 - - - - - - - - 14.86 15.02 15.00
1163 179.0 -12.9 223 1169 roll -0.85 - - 2210 - 2.35 0.063 726 -598.7 -146.0 - - 3408 - - - - - - - - 15.16 14.92 15.16
1199 184.1 -13.5 230 1206 done -0.85 - - 2203 - 2.33 0.047 2134 604.3 -146.0 - - 3408 - - - - - - - - 14.98 14.94 15.00
1265 192.7 -12.9 243 1271 roll -0.85 - - 2203 - 2.38 0.072 3539 590.3 -146.0 - - 3408 - - - - - - - - 15.16 14.96 15.16
1336 201.5 -12.7 257 1342 done -0.85 - - 2204 - 2.28 0.036 2130 -618.0 -146.0 - - 3408 - - - - - - - - 15.07 15.00 15.09
1403 210.1 -12.7 270 1408 done -0.85 - - 2204 - - - 2130 - -146.0 - - 3408 - - - - - - - - 15.17 15.17 15.17
1467 218.6 -13.6 283 1473 done -0.85 - - 2204 - - - 2130 - -146.0 - - 3408 - - - - - - - - 15.19 15.19 15.19
1532 227.3 -13.4 296 1539 roll -0.85 - - 2204 - 2.42 0.070 3532 579.3 -146.0 - - 3408 - - - - - - - - 15.20 14.92 15.20
1558 231.1 -14.6 301 1565 done -0.85 - - 2204 - 2.30 0.037 2131 -609.1 -146.0 - - 3408 - - - - - - - - 15.03 14.97 15.04
1625 239.5 -13.5 314 1632 roll -0.85 - - 2204 - 2.33 0.064 729 -601.7 -146.0 - - 3408 - - - - - - - - 15.19 14.98 15.19
1656 244.3 -15.3 320 1663 done -0.85 0.05 0.260 2209 100.0 2.30 0.047 2124 606.5 -146.0 - - 3407 - - - - - - - - 14.86 15.00 14.98
1722 253.0 -13.0 333 1728 roll -0.85 - - 2201 - 2.38 0.071 3538 594.1 -146.0 - - 3408 - - - - - - - - 15.20 14.98 15.20
1763 258.1 -12.5 341 1769 done -0.85 - - 2201 - 2.30 0.037 2137 -609.1 -146.0 - - 3407 - - - - - - - - 14.98 14.95 15.00
1829 266.9 -13.1 354 1834 done -0.85 - - 2201 - - - 2137 - -146.0 - - 3408 - - - - - - - - 15.21 15.21 15.21
1893 275.5 -13.8 367 1900 roll -0.85 - - 2201 - 2.38 0.064 728 -592.0 -146.0 - - 3408 - - - - - - - - 15.21 14.95 15.21
1914 278.4 -14.5 371 1921 done -0.85 0.05 0.259 2209 160.0 2.33 0.047 2134 603.4 -146.0 - - 3407 - - - - - - - - 14.87 15.00 14.98
1981 287.2 -13.1 384 1987 roll -0.85 - - 2207 - 2.40 0.073 3534 583.3 -146.0 - - 3407 - - - - - - - - 15.20 14.95 15.21
2007 290.5 -12.6 389 2013 done -0.85 - - 2207 - 2.28 0.036 2120 -620.2 -146.0 - - 3406 - - - - - - - - 15.11 15.03 15.11
2073 298.7 -12.5 402 2078 done -0.85 - - 2207 - - - 2120 - -146.0 - - 3407 - - - - - - - - 15.21 15.21 15.21
2147 307.9 -12.4 408 2153 roll -0.85 - - 2207 - 2.45 0.070 3538 578.8 -146.0 - - 3405 - - - - - - - - 15.23 14.98 15.23
2172 310.3 -12.2 409 2178 done -0.85 - - 2207 - 2.33 0.037 2121 -608.2 -146.0 - - 3407 - - - - - - - - 15.05 15.01 15.07
2307 327.3 -12.2 416 2313 roll -0.85 - - 2207 - 2.35 0.064 726 -593.6 -146.0 - - 3406 - - - - - - - - 15.23 15.00 15.24
2327 329.8 -12.3 417 2333 done -0.85 - - 2199 - 2.33 0.047 2131 603.0 -146.0 - - 3406 - - - - - - - - 15.07 15.02 15.09
2467 347.9 -13.2 424 2473 roll -0.85 0.05 0.343 2202 60.0 2.40 0.073 3541 587.5 -146.0 - - 3405 - - - - - - - - 14.94 15.01 15.09
2522 352.9 -12.9 426 2529 done -0.85 - - 2202 - 2.30 0.037 2138 -610.0 -146.0 - - 3406 - - - - - - - - 15.08 15.04 15.10
2650 370.1 -12.6 433 2655 roll -0.85 - - 2201 - 2.35 0.067 722 -602.6 -146.0 - - 3405 - - - - - - - - 15.24 15.04 15.24
2679 373.2 -13.0 434 2684 done -0.85 0.05 0.264 2209 160.0 2.33 0.048 2127 603.0 -146.0 - - 3405 - - - - - - - - 14.91 15.04 15.04
2809 391.2 -12.9 441 2814 roll -0.85 - - 2202 - 2.38 0.074 3535 591.6 -146.0 - - 3404 - - - - - - - - 15.26 15.04 15.26
2844 393.8 -13.0 442 2850 done -0.85 - - 2201 - 2.33 0.038 2127 -604.3 -146.0 - - 3404 - - - - - - - - 15.07 15.01 15.08
2969 411.5 -12.7 449 2974 roll -0.85 - - 2201 - 2.38 0.067 723 -589.9 -146.0 - - 3403 - - - - - - - - 15.26 15.02 15.27
2983 411.5 -12.7 449 2991 done -0.85 0.05 0.271 2209 160.0 2.33 0.049 2126 602.1 -146.0 - - 3403 - - - - - - - - 14.92 15.04 15.04
3048 end dive: BOTTOM_OBSTACLE_DETECTED
3048 begin apogee
3051 421.1 -12.1 453 3171 done -0.19 1.05 0.157 2423 203.8 - - 1891 - - 111.97 1.549 2812 -5.3 0.255 - - - - - - 14.99 14.48 13.92
3172 end apogee: CONTROL_FINISHED_OK
3172 begin climb
3173 426.5 - 459 3296 roll 0.85 1.55 0.090 2759 216.8 2.40 0.070 522 -570.4 146.0 114.38 1.525 2214 -5.2 0.260 - - - - - - 14.48 14.25 13.81
3480 409.7 9.5 474 3493 done 0.87 - - 2759 - 2.33 0.044 1917 598.7 155.5 8.40 1.294 2176 -4.5 0.254 - - - - - - 14.80 14.75 14.15
3610 397.0 9.1 481 3633 roll 0.89 - - 2759 - 2.38 0.067 3308 584.5 173.7 15.98 1.420 2101 -4.7 0.233 - - - - - - 15.03 14.64 14.16
3647 395.2 9.1 482 3667 done 0.91 - - 2768 - 2.35 0.044 1918 -591.5 191.8 15.95 1.408 2029 -4.5 0.225 - - - - - - 14.79 14.75 14.10
3792 378.8 10.3 490 3793 done 0.91 - - 2768 - - - 1918 - 191.8 - - 2026 - - - - - - - - 15.01 15.01 15.01
3912 365.9 10.8 496 3912 done 0.91 - - 2768 - - - 1918 - 191.8 - - 2025 - - - - - - - - 15.09 15.09 15.09
4032 352.8 10.9 502 4037 roll 0.91 - - 2779 - 2.45 0.075 502 -578.0 191.8 - - 2024 - - - - - - - - 15.14 14.88 15.14
4052 350.6 10.9 503 4057 done 0.91 - - 2779 - 2.33 0.045 1908 603.4 191.8 - - 2024 - - - - - - - - 14.97 14.93 15.00
4192 335.4 10.8 510 4197 roll 0.91 - - 2779 - 2.38 0.070 3324 595.0 191.8 - - 2023 - - - - - - - - 15.16 14.95 15.17
4212 333.2 10.8 511 4217 done 0.91 - - 2789 - 2.38 0.046 1904 -596.6 191.8 - - 2023 - - - - - - - - 14.99 14.94 15.02
4352 317.8 11.1 518 4357 roll 0.91 - - 2789 - 2.42 0.067 3306 579.3 191.8 - - 2022 - - - - - - - - 15.20 14.96 15.20
4381 315.5 11.2 519 4387 done 0.91 0.05 0.275 2788 - 2.33 0.046 1916 -596.6 191.8 - - 2022 - - - - - - - - 14.85 14.99 14.99
4512 299.6 11.2 526 4518 roll 0.91 - - 2796 - 2.40 0.076 509 -586.2 191.8 - - 2021 - - - - - - - - 15.21 14.96 15.22
4528 298.0 10.8 529 4534 done 0.91 0.03 0.344 2790 -200.0 2.30 0.045 1909 608.7 191.8 - - 2021 - - - - - - - - 14.85 15.00 14.97
4593 290.5 10.9 542 4600 roll 0.91 - - 2790 - 2.38 0.070 3295 582.4 191.8 - - 2021 - - - - - - - - 15.20 14.97 15.20
4644 284.6 11.7 552 4651 done 0.91 0.05 0.277 2787 -60.0 2.33 0.047 1902 -597.9 191.8 - - 2021 - - - - - - - - 14.88 14.99 15.00
4711 277.5 10.6 565 4717 done 0.91 - - 2787 - - - 1902 - 191.8 - - 2020 - - - - - - - - 15.20 15.21 15.21
4776 271.1 10.2 578 4781 done 0.91 - - 2787 - - - 1902 - 191.8 - - 2020 - - - - - - - - 15.20 15.21 15.21
4841 264.3 9.8 591 4848 done 0.92 - - 2787 - - - 1902 - 196.5 3.90 0.773 2011 -2.3 0.140 - - - - - - 15.21 15.00 14.34
4908 257.5 10.7 604 4914 roll 0.92 - - 2787 - 2.38 0.067 3299 587.0 196.5 - - 2010 - - - - - - - - 15.19 14.97 15.19
4968 250.4 11.4 616 4975 done 0.92 - - 2787 - 2.33 0.047 1914 -594.4 196.5 - - 2010 - - - - - - - - 15.02 15.00 15.04
5034 243.5 10.4 629 5040 roll 0.92 - - 2787 - 2.40 0.078 499 -589.6 196.5 - - 2009 - - - - - - - - 15.18 14.97 15.19
5050 241.9 10.2 632 5056 done 0.92 - - 2787 - 2.33 0.043 1912 606.4 196.5 - - 2009 - - - - - - - - 15.03 14.98 15.04
5116 235.3 9.8 645 5123 done 0.92 - - 2787 - - - 1912 - 200.6 4.97 0.923 1993 -3.2 0.146 - - - - - - 15.19 14.99 14.37
5183 228.4 10.8 658 5188 done 0.92 - - 2787 - - - 1912 - 200.6 - - 1994 - - - - - - - - 15.16 15.17 15.17
5247 221.5 10.5 671 5254 roll 0.92 - - 2787 - 2.35 0.067 3317 597.9 200.6 - - 1993 - - - - - - - - 15.17 14.95 15.18
5263 219.7 10.9 674 5270 done 0.92 - - 2787 - 2.38 0.047 1905 -593.3 200.6 - - 1993 - - - - - - - - 15.01 14.97 15.03
5330 212.8 10.4 687 5335 done 0.92 - - 2787 - - - 1905 - 200.6 - - 1993 - - - - - - - - 15.16 15.17 15.17
5394 205.8 11.0 700 5401 roll 0.92 - - 2787 - 2.38 0.065 3293 583.2 200.6 - - 1992 - - - - - - - - 15.17 14.95 15.19
5466 197.8 11.2 714 5472 done 0.92 - - 2787 - 2.30 0.047 1899 -606.1 200.6 - - 1992 - - - - - - - - 15.02 14.94 15.03
5532 191.1 10.8 727 5538 roll 0.92 - - 2787 - 2.35 0.077 502 -594.5 200.6 - - 1991 - - - - - - - - 15.16 14.95 15.17
5567 187.1 10.4 734 5574 done 0.92 - - 2787 - 2.33 0.043 1909 603.9 200.6 - - 1991 - - - - - - - - 15.00 14.95 15.01
5634 180.5 9.6 747 5646 roll 0.93 - - 2787 - 2.40 0.067 3300 579.6 208.6 8.05 1.075 1960 -3.9 0.115 - - - - - - 15.15 14.90 14.37
5696 174.1 10.4 759 5702 done 0.93 - - 2787 - 2.30 0.047 1908 -605.2 208.6 - - 1958 - - - - - - - - 14.97 14.91 14.99
5763 168.1 9.4 772 5780 roll 0.95 - - 2787 - 2.45 0.079 501 -574.3 222.1 12.27 1.164 1905 -4.3 0.111 - - - - - - 15.14 14.82 14.34
5799 164.2 10.4 779 5806 done 0.95 - - 2787 - 2.33 0.044 1904 602.1 222.1 - - 1904 - - - - - - - - 14.91 14.88 14.94
5866 157.4 10.4 792 5872 roll 0.95 - - 2787 - 2.42 0.080 499 -580.6 222.1 - - 1904 - - - - - - - - 15.08 14.83 15.08
5916 152.2 10.9 802 5922 done 0.95 - - 2787 - 2.35 0.044 1914 602.1 222.1 - - 1903 - - - - - - - - 14.90 14.85 14.91
5983 145.5 9.9 815 5988 roll 0.95 - - 2787 - 2.35 0.067 3303 591.1 222.8 - - 1903 - - - - - - - - 15.11 14.89 15.11
6032 140.0 10.5 825 6039 done 0.95 - - 2788 - 2.35 0.048 1915 -590.6 222.8 - - 1903 - - - - - - - - 14.96 14.90 14.96
6099 133.7 8.9 838 6122 done 0.98 - - 2787 - - - 1915 - 246.4 20.80 1.186 1806 -4.7 0.093 - - - - - - 15.11 14.83 14.31
6182 126.6 9.1 854 6205 roll 1.00 - - 2787 - 2.38 0.067 3303 583.2 264.6 16.00 1.136 1731 -4.7 0.093 - - - - - - 15.04 14.75 14.25
6229 121.8 9.6 863 6242 done 1.01 - - 2787 - 2.38 0.048 1912 -584.5 272.2 7.55 0.962 1701 -4.0 0.089 - - - - - - 14.83 14.78 14.25
6301 115.0 9.9 877 6306 done 1.01 - - 2787 - - - 1912 - 274.1 - - 1700 - - - - - - - - 14.99 15.00 14.99
6366 108.6 9.8 890 6373 done 1.02 - - 2787 - - - 1912 - 277.0 5.12 0.806 1682 -3.5 0.084 - - - - - - 15.02 14.83 14.28
6433 101.9 9.9 903 6439 roll 1.02 - - 2788 - 2.40 0.067 3309 582.1 277.7 - - 1682 - - - - - - - - 15.02 14.82 15.03
6453 99.5 11.6 907 6460 done 1.02 - - 2790 - 2.38 0.047 1913 -586.6 277.7 - - 1681 - - - - - - - - 14.88 14.83 14.90
6520 93.1 9.6 920 6537 roll 1.03 - - 2790 - 2.45 0.079 500 -576.7 285.9 8.73 0.978 1645 -4.1 0.070 - - - - - - 15.04 14.80 14.29
6541 91.3 8.4 924 6576 done 1.07 0.08 0.119 2834 550.0 2.35 0.044 1919 603.8 319.7 29.30 1.128 1507 -4.7 0.068 - - - - - - 14.78 14.80 14.20
6636 79.8 12.7 942 6642 roll 1.07 - - 2834 - 2.38 0.067 3299 579.8 319.7 - - 1504 - - - - - - - - 14.93 14.70 14.94
6702 70.2 15.5 955 6708 done 1.07 - - 2835 - 2.35 0.050 1901 -594.9 319.7 - - 1503 - - - - - - - - 14.88 14.77 14.89
6768 61.0 13.2 968 6774 roll 1.07 - - 2836 - 2.42 0.064 3306 580.6 319.7 - - 1503 - - - - - - - - 15.02 14.81 15.02
6789 58.0 14.6 972 6795 done 1.07 - - 2835 - 2.38 0.048 1913 -585.3 319.7 - - 1502 - - - - - - - - 14.87 14.83 14.89
6856 50.2 11.3 985 6861 roll 1.07 - - 2835 - 2.38 0.066 3298 581.9 319.7 - - 1502 - - - - - - - - 15.04 14.79 15.04
6896 45.6 11.6 993 6902 done 1.07 - - 2835 - 2.35 0.047 1912 -589.8 319.7 - - 1502 - - - - - - - - 14.92 14.82 14.93
6962 39.2 9.2 1006 6985 roll 1.09 - - 2835 - 2.45 0.081 507 -573.5 337.4 15.12 1.001 1435 -4.4 0.031 - - - - - - 15.08 14.77 14.32
7025 32.8 10.1 1018 7031 done 1.09 - - 2835 - 2.28 0.044 1906 613.6 337.4 - - 1434 - - - - - - - - 14.92 14.85 14.94
7091 26.1 10.5 1031 7097 done 1.09 - - 2835 - - - 1906 - 337.4 - - 1433 - - - - - - - - 15.04 15.05 15.05
7157 19.5 11.0 1044 7163 roll 1.09 - - 2835 - 2.38 0.066 3302 586.6 337.4 - - 1433 - - - - - - - - 15.06 14.86 15.07
7172 17.6 11.8 1047 7179 done 1.09 - - 2835 - 2.38 0.045 1901 -588.7 337.4 - - 1433 - - - - - - - - 14.91 14.86 14.92
7239 10.6 8.8 1060 7262 roll 1.12 - - 2835 - 2.42 0.066 3299 577.7 362.8 15.43 0.902 1329 -6.7 0.014 - - - - - - 15.07 14.79 14.39
7292 5.9 8.5 1070 7315 done 1.16 - - 2835 - 2.33 0.048 1906 -597.9 393.9 18.12 0.854 1204 -6.9 0.008 - - - - - - 14.91 14.83 14.35
7318 end climb: SURFACE_DEPTH_REACHED
7318 begin surface coast
7344 end surface coast: CONTROL_FINISHED_OK
7344 begin surface
SM 0.74 - - - - -7.30 12.57 0.050 125 9.9 0.35 0.060 2146 -26068.6 395.91 - - 1197 - - - - - - - -