SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 43 * Raw log
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• Previous call tries 2 • 16.11 of 310.00 AH used of 24V (94.80% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.9 deg, depth 1.01 m • Intended pitch -27.9 deg, speed -22.388 cm/s
• No surface pump (final VBD was 389.28, SM_CC=270) • surface range 19.6 m at 19.5 m depth, ceiling -0.1 m
• GPS1 time: 28 s • bottom range 6.5 m at 710.4 m, depth 717 m (900 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
17 - - - 75 VBD -1.09 - - 73 - - - 2001 - -126.5 -56.38 - 3044 - - - - - - - - 15.00 - 15.02
77 3.3 -7.6 10 100 roll -1.09 11.77 0.304 2124 174.3 2.38 0.092 3391 584.0 -126.5 -6.10 - 3386 -56.1 - - - - - - - 14.70 14.29 14.83
284 55.3 -22.5 51 291 done -1.09 0.05 0.273 2134 200.0 2.35 0.043 1973 -603.4 -126.5 - - 3386 - - - - - - - - 14.79 14.89 14.88
350 68.9 -20.1 64 357 roll -1.09 - - 2126 - 2.42 0.070 3380 581.4 -126.5 - - 3386 - - - - - - - - 15.10 14.90 15.11
416 82.0 -20.9 77 423 done -1.09 - - 2126 - 2.30 0.043 1992 -603.5 -126.5 - - 3387 - - - - - - - - 14.97 14.92 14.98
482 95.6 -20.9 90 487 done -1.09 - - 2126 - - - 1991 - -126.5 - - 3387 - - - - - - - - 15.11 15.12 15.11
547 109.4 -21.1 103 553 done -1.09 - - 2125 - - - 1991 - -126.5 - - 3387 - - - - - - - - 15.12 15.13 15.13
613 123.0 -20.2 116 618 done -1.09 - - 2126 - - - 1991 - -126.5 - - 3387 - - - - - - - - 15.14 15.14 15.14
677 136.1 -20.4 129 684 roll -1.09 - - 2117 - 2.40 0.071 3384 580.4 -126.5 - - 3387 - - - - - - - - 15.14 14.90 15.15
734 147.1 -19.1 140 740 done -1.09 0.08 0.227 2137 250.0 2.30 0.043 1987 -607.4 -126.5 - - 3388 - - - - - - - - 14.88 14.93 15.00
799 159.0 -18.0 153 806 roll -1.09 - - 2138 - 2.38 0.070 589 -587.4 -126.5 - - 3387 - - - - - - - - 15.16 14.92 15.16
840 166.5 -18.8 161 847 done -1.09 - - 2130 - 2.30 0.048 1983 606.1 -126.5 - - 3387 - - - - - - - - 15.01 14.97 15.03
906 178.5 -18.0 174 913 roll -1.09 - - 2120 - 2.40 0.073 3391 586.7 -126.5 - - 3387 - - - - - - - - 15.15 14.95 15.16
932 183.2 -17.9 179 939 done -1.09 0.05 0.265 2129 180.0 2.33 0.042 1975 -607.7 -126.5 - - 3391 - - - - - - - - 14.88 14.98 14.97
998 195.1 -17.5 192 1005 roll -1.09 - - 2123 - 2.42 0.070 3387 583.5 -126.5 - - 3387 - - - - - - - - 15.16 14.92 15.16
1029 200.3 -16.9 198 1036 done -1.09 0.08 0.285 2138 187.5 2.25 0.042 1988 -621.8 -126.5 - - 3387 - - - - - - - - 14.89 14.97 15.02
1096 210.9 -16.4 211 1102 roll -1.09 - - 2130 - 2.38 0.071 3396 591.6 -126.5 - - 3387 - - - - - - - - 15.16 14.97 15.16
1151 220.0 -16.4 222 1158 done -1.09 - - 2129 - 2.30 0.041 1995 -609.1 -126.5 - - 3387 - - - - - - - - 15.03 15.00 15.05
1218 230.7 -15.9 235 1224 done -1.09 - - 2130 - - - 1994 - -126.5 - - 3387 - - - - - - - - 15.17 15.17 15.17
1283 242.1 -16.7 248 1288 done -1.09 - - 2129 - - - 1995 - -126.5 - - 3388 - - - - - - - - 15.19 15.20 15.19
1348 252.7 -16.1 261 1355 roll -1.09 - - 2121 - 2.35 0.071 3399 597.4 -126.5 - - 3387 - - - - - - - - 15.20 14.96 15.20
1398 260.5 -15.1 271 1406 done -1.09 0.05 0.260 2131 200.0 2.33 0.042 1977 -610.3 -126.5 - - 3387 - - - - - - - - 14.88 14.99 14.98
1465 270.6 -15.0 284 1471 done -1.09 - - 2132 - - - 1977 - -126.5 - - 3388 - - - - - - - - 15.19 15.19 15.19
1531 280.3 -15.4 297 1537 roll -1.09 - - 2123 - 2.40 0.071 3403 594.2 -126.5 - - 3388 - - - - - - - - 15.18 15.01 15.18
1565 285.9 -15.7 304 1573 done -1.09 0.05 0.258 2134 220.0 2.33 0.042 1991 -606.0 -126.5 - - 3387 - - - - - - - - 14.92 15.02 15.02
1632 296.7 -16.0 317 1638 roll -1.09 - - 2127 - 2.42 0.073 3394 579.8 -126.5 - - 3387 - - - - - - - - 15.20 14.99 15.21
1677 303.2 -16.4 322 1683 done -1.09 - - 2127 - 2.33 0.042 1979 -607.3 -126.5 - - 3387 - - - - - - - - 15.06 15.02 15.06
1812 325.5 -15.7 329 1818 roll -1.09 - - 2118 - 2.42 0.071 3393 584.3 -126.5 - - 3387 - - - - - - - - 15.25 15.02 15.25
1857 331.8 -15.6 331 1863 done -1.09 0.08 0.228 2134 200.0 2.33 0.043 1976 -608.2 -126.5 - - 3387 - - - - - - - - 14.96 15.04 15.04
1993 351.9 -13.9 338 1998 roll -1.09 - - 2126 - 2.40 0.072 3400 593.3 -126.5 - - 3387 - - - - - - - - 15.23 15.04 15.23
2078 363.4 -14.3 342 2083 done -1.09 - - 2126 - 2.33 0.042 1991 -604.7 -126.5 - - 3386 - - - - - - - - 15.07 15.02 15.08
2212 384.6 -15.6 349 2218 roll -1.09 - - 2117 - 2.40 0.073 3391 583.3 -126.5 - - 3385 - - - - - - - - 15.28 15.04 15.28
2267 390.6 -15.2 351 2275 done -1.09 0.08 0.233 2132 187.5 2.30 0.043 1988 -610.0 -126.5 - - 3385 - - - - - - - - 14.99 15.07 15.08
2393 411.3 -15.2 358 2398 roll -1.09 - - 2125 - 2.38 0.074 3396 591.6 -126.5 - - 3385 - - - - - - - - 15.25 15.07 15.26
2427 414.2 -14.9 359 2434 done -1.09 0.05 0.260 2135 200.0 2.33 0.044 1980 -607.7 -126.5 - - 3385 - - - - - - - - 14.99 15.09 15.08
2552 434.2 -14.4 366 2558 roll -1.09 - - 2128 - 2.42 0.074 3393 583.9 -126.5 - - 3384 - - - - - - - - 15.29 15.06 15.30
2602 440.0 -14.5 368 2608 done -1.09 - - 2128 - 2.33 0.044 1985 -604.3 -126.5 - - 3384 - - - - - - - - 15.13 15.09 15.14
2733 461.0 -15.3 375 2738 roll -1.09 - - 2120 - 2.38 0.074 3394 592.0 -126.5 - - 3384 - - - - - - - - 15.26 15.08 15.26
2792 469.8 -14.7 378 2798 done -1.09 0.08 0.228 2135 187.5 2.33 0.044 1984 -605.2 -126.5 - - 3384 - - - - - - - - 15.02 15.09 15.09
2933 488.5 -13.1 385 2938 roll -1.09 - - 2128 - 2.38 0.075 3391 591.2 -126.5 - - 3383 - - - - - - - - 15.30 15.07 15.30
3002 496.7 -13.5 388 3008 done -1.09 - - 2128 - 2.30 0.044 1992 -608.3 -126.5 - - 3382 - - - - - - - - 15.14 15.09 15.15
3133 516.6 -14.5 395 3138 roll -1.09 - - 2120 - 2.42 0.076 3396 580.2 -126.5 - - 3382 - - - - - - - - 15.30 15.06 15.30
3167 519.6 -14.6 396 3176 done -1.09 0.08 0.240 2135 187.5 2.33 0.044 1983 -606.4 -126.5 - - 3382 - - - - - - - - 15.01 15.09 15.11
3293 539.6 -14.5 403 3298 roll -1.09 - - 2128 - 2.42 0.076 3387 580.2 -126.5 - - 3381 - - - - - - - - 15.30 15.06 15.30
3327 542.6 -14.7 404 3334 done -1.09 - - 2127 - 2.30 0.045 1991 -607.0 -126.5 - - 3381 - - - - - - - - 15.14 15.10 15.16
3452 564.5 -16.0 411 3458 roll -1.09 - - 2119 - 2.42 0.077 3392 578.9 -126.5 - - 3381 - - - - - - - - 15.30 15.07 15.30
3577 584.4 -16.7 417 3583 done -1.09 0.08 0.226 2135 200.0 2.33 0.045 1987 -603.0 -126.5 - - 3379 - - - - - - - - 15.01 15.09 15.11
3713 606.1 -15.3 424 3718 roll -1.09 - - 2134 - 2.42 0.079 3384 577.3 -126.5 - - 3379 - - - - - - - - 15.29 15.07 15.30
3792 617.8 -14.6 428 3798 done -1.09 - - 2129 - 2.30 0.046 1992 -605.2 -126.5 - - 3378 - - - - - - - - 15.13 15.09 15.15
3932 637.3 -13.7 435 3938 roll -1.09 - - 2121 - 2.42 0.079 3391 578.1 -126.5 - - 3377 - - - - - - - - 15.30 15.07 15.30
3997 646.0 -14.5 438 4003 done -1.09 0.05 0.256 2132 220.0 2.33 0.047 1988 -602.1 -126.5 - - 3377 - - - - - - - - 15.00 15.09 15.09
4133 665.8 -13.9 445 4138 roll -1.09 - - 2126 - 2.42 0.079 3388 578.5 -126.5 - - 3376 - - - - - - - - 15.30 15.05 15.30
4202 674.2 -14.1 448 4208 done -1.09 - - 2126 - 2.33 0.047 1986 -601.7 -126.5 - - 3376 - - - - - - - - 15.14 15.09 15.16
4332 693.9 -14.1 455 4338 roll -1.09 - - 2120 - 2.42 0.079 3385 578.1 -126.5 - - 3376 - - - - - - - - 15.30 15.07 15.30
4412 705.1 -14.1 459 4418 done -1.09 0.05 0.257 2131 220.0 2.33 0.047 1982 -602.1 -126.5 - - 3374 - - - - - - - - 15.00 15.08 15.10
4454 end dive: BOTTOM_OBSTACLE_DETECTED
4454 begin apogee
4456 710.4 -13.4 461 4561 done -0.17 1.50 0.175 2432 200.7 - - 1980 - - 101.43 2.004 2867 -5.0 0.321 - - - - - - 15.03 14.37 13.69
4562 end apogee: CONTROL_FINISHED_OK
4562 begin climb
4563 713.5 - 466 4676 roll 1.09 1.85 0.055 2858 230.3 2.60 0.070 3398 545.4 126.5 105.18 1.975 2351 -4.9 0.321 - - - - - - 14.40 14.17 13.54
4865 699.5 12.2 481 5002 done 1.27 - - 2868 - 2.40 0.047 1991 -586.2 276.8 129.93 1.943 1737 -4.7 0.308 - - - - - - 14.75 14.70 13.55
5136 647.4 21.9 495 5147 roll 1.28 0.05 0.257 2897 580.0 2.45 0.071 3391 571.4 283.4 6.57 1.369 1710 -4.1 0.352 - - - - - - 14.59 14.52 13.95
5236 623.6 24.0 500 5242 done 1.28 - - 2906 - 2.40 0.052 1996 -581.2 283.4 - - 1709 - - - - - - - - 14.76 14.70 14.76
5376 588.6 25.5 507 5382 roll 1.28 - - 2907 - 2.45 0.071 3390 569.0 283.4 - - 1708 - - - - - - - - 15.01 14.79 15.02
5496 558.2 25.1 513 5502 done 1.28 0.05 0.318 2908 - 2.40 0.054 1987 -584.6 283.4 - - 1707 - - - - - - - - 14.76 14.86 14.88
5636 525.5 23.2 520 5642 roll 1.28 - - 2908 - 2.45 0.073 3391 573.1 283.4 - - 1706 - - - - - - - - 15.12 14.90 15.12
5676 515.7 23.7 522 5682 done 1.28 0.05 0.317 2908 - 2.40 0.055 1981 -587.5 283.4 - - 1706 - - - - - - - - 14.81 14.92 14.92
5816 483.4 23.6 529 5817 done 1.28 - - 2908 - - - 1980 - 283.4 - - 1706 - - - - - - - - 15.16 15.16 15.16
5936 454.2 24.3 535 5942 roll 1.28 - - 2908 - 2.45 0.070 3394 577.1 283.4 - - 1705 - - - - - - - - 15.18 14.95 15.18
5976 444.3 24.2 537 5982 done 1.28 0.05 0.316 2907 - 2.40 0.054 1982 -588.3 283.4 - - 1705 - - - - - - - - 14.85 14.97 14.98
6116 411.8 23.2 544 6117 done 1.28 - - 2906 - - - 1981 - 283.4 - - 1705 - - - - - - - - 15.21 15.21 15.21
6236 383.8 23.3 550 6242 roll 1.28 - - 2907 - 2.42 0.070 3390 582.2 283.4 - - 1705 - - - - - - - - 15.21 15.00 15.21
6256 378.7 23.4 551 6262 done 1.28 0.05 0.318 2906 - 2.38 0.055 1985 -590.3 283.4 - - 1705 - - - - - - - - 14.90 15.00 15.02
6396 347.0 22.7 558 6402 roll 1.28 - - 2906 - 2.42 0.071 3393 581.8 283.4 - - 1705 - - - - - - - - 15.23 14.99 15.23
6426 342.6 22.6 559 6432 done 1.28 - - 2914 - 2.38 0.054 1986 -591.2 283.4 - - 1705 - - - - - - - - 15.07 15.02 15.09
6556 309.0 23.9 566 6562 roll 1.28 - - 2915 - 2.40 0.070 3388 584.2 283.4 - - 1704 - - - - - - - - 15.23 15.01 15.23
6576 304.2 23.6 567 6582 done 1.28 0.10 0.269 2906 -90.0 2.38 0.054 1983 -590.3 283.4 - - 1704 - - - - - - - - 14.93 15.02 15.04
6701 275.7 22.0 589 6714 roll 1.29 - - 2906 - 2.38 0.070 3398 594.5 289.8 5.82 1.019 1685 -3.3 0.160 - - - - - - 15.23 15.00 14.45
6743 265.9 23.5 597 6750 done 1.29 - - 2914 - 2.40 0.054 1983 -589.6 289.8 - - 1685 - - - - - - - - 15.03 14.99 15.04
6809 250.7 24.2 610 6809 done 1.29 - - 2914 - - - 1982 - 289.8 - - 1684 - - - - - - - - 15.18 15.19 15.19
6869 236.1 23.6 622 6874 done 1.29 - - 2915 - - - 1983 - 289.8 - - 1685 - - - - - - - - 15.19 15.19 15.19
6933 220.9 23.1 635 6934 done 1.29 - - 2915 - - - 1983 - 289.8 - - 1684 - - - - - - - - 15.19 15.19 15.19
6993 206.5 23.3 647 6994 done 1.29 - - 2915 - - - 1983 - 289.8 - - 1685 - - - - - - - - 15.19 15.19 15.19
7053 192.9 22.7 659 7060 roll 1.29 - - 2915 - 2.42 0.070 3386 579.8 289.8 - - 1684 - - - - - - - - 15.18 14.97 15.18
7079 186.9 24.3 664 7086 done 1.29 0.08 0.281 2911 -50.0 2.38 0.055 1982 -589.9 289.8 - - 1685 - - - - - - - - 14.90 15.00 15.00
7146 172.8 21.3 677 7163 done 1.31 - - 2911 - - - 1982 - 305.3 14.68 1.239 1621 -4.4 0.110 - - - - - - 15.18 14.92 14.38
7223 156.9 20.4 692 7256 roll 1.34 - - 2919 - 2.45 0.082 581 -571.8 335.1 26.23 1.278 1500 -4.6 0.103 - - - - - - 15.09 14.72 14.25
7305 138.6 23.0 708 7312 done 1.34 - - 2919 - 2.38 0.050 1984 589.5 335.1 - - 1499 - - - - - - - - 14.79 14.75 14.82
7372 124.1 21.6 721 7389 roll 1.36 - - 2930 - 2.42 0.080 579 -580.6 346.2 10.80 1.088 1454 -4.2 0.086 - - - - - - 15.01 14.75 14.26
7393 118.9 23.5 725 7400 done 1.36 - - 2928 - 2.38 0.047 1986 591.2 346.2 - - 1454 - - - - - - - - 14.81 14.78 14.84
7459 103.8 23.2 738 7466 roll 1.36 - - 2930 - 2.45 0.072 3395 575.1 346.2 - - 1454 - - - - - - - - 14.98 14.78 14.98
7475 100.3 22.6 741 7482 done 1.36 0.05 0.312 2931 - 2.40 0.052 1984 -587.9 346.2 - - 1454 - - - - - - - - 14.69 14.81 14.81
7541 86.4 20.3 754 7575 roll 1.39 - - 2945 - 2.47 0.081 576 -570.0 377.1 26.48 1.158 1328 -4.8 0.064 - - - - - - 15.03 14.67 14.22
7639 63.9 21.7 773 7652 done 1.41 - - 2939 - 2.38 0.047 1986 592.4 387.5 9.55 0.970 1287 -4.3 0.051 - - - - - - 14.80 14.77 14.26
7711 47.5 23.8 787 7718 roll 1.41 - - 2950 - 2.45 0.080 589 -570.2 387.5 - - 1286 - - - - - - - - 14.95 14.72 14.95
7727 43.5 25.2 790 7734 done 1.41 - - 2949 - 2.35 0.047 1984 593.6 387.5 - - 1290 - - - - - - - - 14.82 14.77 14.81
7793 27.2 24.4 803 7800 roll 1.41 - - 2950 - 2.40 0.069 3396 588.3 387.5 - - 1286 - - - - - - - - 14.99 14.80 14.99
7808 23.4 25.8 806 7816 done 1.41 0.05 0.314 2950 - 2.40 0.051 1986 -587.5 387.5 - - 1286 - - - - - - - - 14.69 14.81 14.81
7874 7.0 25.0 819 7881 roll 1.41 - - 2950 - 2.45 0.068 3397 575.9 387.5 - - 1285 - - - - - - - - 15.02 14.82 15.02
7894 end climb: SURFACE_DEPTH_REACHED
7894 begin surface coast
7904 end surface coast: CONTROL_FINISHED_OK
7904 begin surface
SM 0.82 - - - - -7.27 13.02 0.055 149 11.4 2.38 0.040 1973 -1001.3 389.28 - - 1281 - - - - - - - -