GINA2017 Jun17 * SG574 * Dive index * Mission links * Dive 648 * Raw log
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• Previous call tries 1 • 60.17 of 145.00 AH used of 24V (58.50% remains)
• Previous NAKs 0, Timeouts 0 • 31.93 of 96.25 AH used of 10V (66.82% remains)
• Surface angle -73.8 deg, depth 1.77 m • Intended pitch -13.3 deg, speed -10.010 cm/s
• No surface pump (final VBD was 362.06, SM_CC=270)
• GPS1 time: 52 s • bottom range 66.7 m at 620.6 m, depth 687 m (1000 m grid)
• GPS2 time: 25 s • Transponder ping count: 2
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
16 - - - 88 VBD -0.45 - - 126 - - - 1929 - -175.2 -69.72 - 3089 - - - - - - - - 26.58 - 26.60
92 4.2 -6.4 9 110 roll -0.45 10.18 0.223 2658 248.7 2.05 0.044 610 -643.4 -175.2 -1.73 - 3184 -54.9 - - - - - - - 25.11 24.14 25.33
209 24.7 -8.7 27 217 done -0.45 - - 2649 - 2.12 0.028 1977 644.8 -175.2 - - 3184 - - - - - - - - 26.10 26.07 26.13
269 30.1 -8.9 36 277 roll -0.45 - - 2638 - 2.15 0.033 3387 655.8 -175.2 - - 3184 - - - - - - - - 26.56 26.01 26.58
335 36.6 -9.5 46 343 done -0.45 - - 2638 - 2.08 0.025 2021 -656.7 -175.2 - - 3184 - - - - - - - - 26.13 26.09 26.15
391 42.3 -10.2 55 398 roll -0.45 - - 2638 - 2.17 0.029 574 -666.8 -175.2 - - 3184 - - - - - - - - 26.57 26.03 26.58
459 49.6 -10.8 67 466 done -0.45 0.10 0.145 2660 220.0 2.15 0.030 1978 653.0 -175.2 - - 3184 - - - - - - - - 25.81 26.05 25.92
511 55.0 -8.9 76 519 roll -0.45 - - 2650 - 2.15 0.033 3390 656.7 -175.2 - - 3185 - - - - - - - - 26.58 26.02 26.59
558 59.5 -9.4 84 567 done -0.45 - - 2650 - 2.15 0.024 1973 -659.1 -175.2 - - 3185 - - - - - - - - 26.13 26.10 26.17
612 65.0 -9.6 93 619 roll -0.45 - - 2650 - 2.10 0.031 579 -663.8 -175.2 - - 3186 - - - - - - - - 26.58 26.03 26.60
672 71.0 -10.7 103 678 done -0.45 - - 2640 - 2.15 0.028 1987 654.9 -175.2 - - 3186 - - - - - - - - 26.16 26.07 26.19
722 76.4 -9.8 112 730 roll -0.45 - - 2629 - 2.12 0.032 3391 662.3 -175.2 - - 3186 - - - - - - - - 26.60 26.03 26.60
776 81.8 -10.7 121 784 done -0.45 0.10 0.141 2661 320.0 2.10 0.024 1975 -674.3 -175.2 - - 3186 - - - - - - - - 25.82 26.10 25.94
828 86.9 -8.5 130 834 roll -0.45 - - 2661 - 2.10 0.030 575 -666.7 -175.2 - - 3186 - - - - - - - - 26.60 26.03 26.61
873 90.8 -9.0 138 882 done -0.45 - - 2653 - 2.17 0.028 1979 647.0 -175.2 - - 3186 - - - - - - - - 26.13 26.09 26.16
926 95.2 -8.0 147 933 roll -0.45 - - 2643 - 2.12 0.034 3397 668.9 -175.2 - - 3186 - - - - - - - - 26.60 26.02 26.61
973 99.1 -8.8 155 979 done -0.45 - - 2643 - 2.10 0.024 1980 -674.8 -175.2 - - 3186 - - - - - - - - 26.19 26.11 26.22
1028 103.5 -8.0 161 1036 roll -0.45 - - 2643 - 2.10 0.029 563 -674.8 -175.2 - - 3187 - - - - - - - - 26.60 26.05 26.61
1081 107.9 -8.4 166 1090 done -0.45 0.08 0.137 2658 187.5 2.15 0.029 1983 660.5 -175.2 - - 3187 - - - - - - - - 25.79 26.07 25.86
1271 120.8 -6.7 185 1277 done -0.45 - - 2658 - - - 1983 - -175.2 - - 3188 - - - - - - - - 26.61 26.63 26.63
1461 134.4 -7.6 204 1469 roll -0.45 - - 2658 - 2.12 0.030 575 -664.2 -175.2 - - 3188 - - - - - - - - 26.63 26.04 26.64
1534 140.7 -9.0 211 1542 done -0.45 - - 2649 - 2.12 0.028 1986 665.6 -175.2 - - 3188 - - - - - - - - 26.13 26.10 26.17
1723 158.1 -9.2 230 1731 roll -0.45 - - 2649 - 2.10 0.028 582 -668.6 -175.2 - - 3188 - - - - - - - - 26.63 26.06 26.65
1764 162.4 -10.4 234 1773 done -0.45 - - 2640 - 2.15 0.029 1990 654.9 -175.2 - - 3188 - - - - - - - - 26.17 26.08 26.22
1954 183.0 -10.7 253 1956 done -0.45 - - 2640 - - - 1989 - -175.2 - - 3188 - - - - - - - - 26.64 26.65 26.65
2144 202.9 -10.3 271 2148 roll -0.45 - - 2640 - 2.15 0.029 581 -654.9 -175.2 - - 3188 - - - - - - - - 26.64 26.06 26.65
2240 212.0 -11.1 275 2248 done -0.45 0.10 0.158 2662 220.0 2.15 0.028 1989 654.9 -175.2 - - 3188 - - - - - - - - 25.79 26.09 25.94
2429 230.1 -8.3 285 2434 roll -0.45 - - 2662 - 2.12 0.030 581 -664.2 -175.2 - - 3188 - - - - - - - - 26.62 26.05 26.63
2448 231.8 -8.2 286 2454 done -0.45 - - 2656 - 2.15 0.028 1986 653.5 -175.2 - - 3188 - - - - - - - - 26.17 26.09 26.22
2648 247.2 -7.4 296 2649 done -0.45 - - 2655 - - - 1986 - -175.2 - - 3188 - - - - - - - - 26.65 26.66 26.65
2830 260.2 -7.2 305 2836 roll -0.45 - - 2656 - 2.12 0.030 578 -664.2 -175.2 - - 3188 - - - - - - - - 26.63 26.04 26.64
2909 266.9 -8.2 309 2914 done -0.45 - - 2646 - 2.15 0.028 1989 656.3 -175.2 - - 3188 - - - - - - - - 26.17 26.09 26.22
3109 283.6 -8.3 319 3114 roll -0.45 - - 2646 - 2.12 0.029 581 -664.2 -175.2 - - 3188 - - - - - - - - 26.65 26.05 26.66
3137 285.4 -8.5 320 3141 done -0.45 - - 2638 - 2.12 0.027 1985 662.3 -175.2 - - 3188 - - - - - - - - 26.18 26.10 26.22
3324 302.7 -8.9 329 3325 done -0.45 - - 2638 - - - 1985 - -175.2 - - 3187 - - - - - - - - 26.65 26.66 26.66
3504 318.9 -8.9 338 3509 roll -0.45 - - 2638 - 2.12 0.028 581 -662.3 -175.2 - - 3187 - - - - - - - - 26.65 26.05 26.66
3598 326.7 -9.6 342 3606 done -0.45 0.10 0.141 2659 210.0 2.15 0.029 1982 651.6 -175.2 - - 3187 - - - - - - - - 25.83 26.07 25.94
3786 343.7 -8.3 352 3791 roll -0.45 - - 2650 - 2.15 0.035 3398 658.6 -175.2 - - 3187 - - - - - - - - 26.65 26.00 26.66
3814 345.3 -8.1 353 3818 done -0.45 - - 2650 - 2.10 0.024 1977 -676.7 -175.2 - - 3186 - - - - - - - - 26.20 26.12 26.22
4001 362.9 -9.2 362 4006 roll -0.45 - - 2650 - 2.10 0.031 578 -666.2 -175.2 - - 3186 - - - - - - - - 26.65 26.02 26.66
4069 368.7 -9.7 365 4073 done -0.45 - - 2641 - 2.12 0.028 1981 661.8 -175.2 - - 3186 - - - - - - - - 26.17 26.08 26.20
4256 386.8 -8.8 374 4261 roll -0.45 - - 2641 - 2.10 0.029 584 -665.2 -175.2 - - 3186 - - - - - - - - 26.65 26.03 26.66
4284 388.6 -9.1 375 4289 done -0.45 0.10 0.160 2664 230.0 2.12 0.028 1981 659.0 -175.2 - - 3186 - - - - - - - - 25.75 26.07 25.87
4471 405.2 -7.9 384 4476 roll -0.45 - - 2654 - 2.12 0.036 3387 663.2 -175.2 - - 3186 - - - - - - - - 26.65 25.98 26.66
4499 406.8 -8.1 385 4503 done -0.45 - - 2654 - 2.10 0.026 1974 -672.9 -175.2 - - 3186 - - - - - - - - 26.16 26.08 26.20
4685 427.1 -10.7 394 4691 roll -0.45 - - 2654 - 2.10 0.031 576 -665.7 -175.2 - - 3186 - - - - - - - - 26.65 26.01 26.66
4778 437.0 -12.4 398 4785 done -0.45 - - 2645 - 2.15 0.029 1983 654.4 -175.2 - - 3185 - - - - - - - - 26.14 26.05 26.17
4966 461.0 -12.1 408 4971 roll -0.45 - - 2635 - 2.08 0.035 3385 674.0 -175.2 - - 3185 - - - - - - - - 26.62 25.98 26.63
5046 471.7 -13.5 412 5051 done -0.45 - - 2634 - 2.08 0.025 1980 -675.5 -175.2 - - 3184 - - - - - - - - 26.11 26.08 26.15
5245 499.3 -13.9 422 5252 roll -0.45 0.08 0.187 2670 450.0 2.15 0.030 573 -654.4 -175.2 - - 3184 - - - - - - - - 26.08 25.98 26.09
5318 506.3 -12.2 425 5325 done -0.45 - - 2661 - 2.17 0.031 1987 651.6 -175.2 - - 3184 - - - - - - - - 26.12 26.02 26.15
5505 529.8 -11.2 435 5511 roll -0.45 - - 2661 - 2.15 0.031 577 -655.8 -175.2 - - 3184 - - - - - - - - 26.65 25.98 26.67
5549 534.7 -11.8 437 5554 done -0.45 - - 2653 - 2.15 0.029 1982 653.5 -175.2 - - 3183 - - - - - - - - 26.13 26.04 26.16
5742 555.8 -10.2 447 5748 roll -0.45 - - 2653 - 2.12 0.030 578 -662.3 -175.2 - - 3183 - - - - - - - - 26.65 25.98 26.67
5770 557.5 -9.7 448 5774 done -0.45 - - 2645 - 2.15 0.028 1989 656.3 -175.2 - - 3183 - - - - - - - - 26.13 26.03 26.16
5959 576.1 -9.6 457 5964 roll -0.45 - - 2645 - 2.12 0.030 582 -663.7 -175.2 - - 3183 - - - - - - - - 26.65 25.98 26.66
5998 580.5 -10.3 459 6003 done -0.45 - - 2635 - 2.12 0.029 1975 657.1 -175.2 - - 3182 - - - - - - - - 26.06 26.01 26.09
6197 602.3 -11.1 469 6203 roll -0.45 - - 2635 - 2.12 0.029 575 -660.4 -175.2 - - 3182 - - - - - - - - 26.65 25.98 26.66
6282 612.7 -12.7 473 6287 done -0.45 0.12 0.157 2663 233.3 2.15 0.030 1981 654.0 -175.2 - - 3182 - - - - - - - - 25.63 26.01 25.77
6475 630.8 -9.0 483 6476 done -0.45 - - 2663 - - - 1981 - -175.2 - - 3181 - - - - - - - - 26.65 26.67 26.66
6655 644.6 -7.2 492 6660 roll -0.45 - - 2663 - 2.12 0.031 575 -663.2 -175.2 - - 3181 - - - - - - - - 26.65 25.95 26.67
6723 649.4 -8.0 495 6727 done -0.45 - - 2656 - 2.15 0.030 1981 654.0 -175.2 - - 3181 - - - - - - - - 26.10 26.00 26.13
6909 667.0 -10.0 504 6915 roll -0.45 - - 2656 - 2.15 0.031 572 -655.3 -175.2 - - 3180 - - - - - - - - 26.65 25.95 26.67
6958 671.1 -10.2 506 6962 done -0.45 - - 2646 - 2.15 0.028 1983 656.3 -175.2 - - 3180 - - - - - - - - 26.11 26.02 26.15
6982 end dive: BOTTOM_OBSTACLE_DETECTED
6982 begin apogee
6989 674.9 -10.4 507 7135 done - 0.50 0.112 2805 318.0 0.15 0.057 1922 -406.7 - 142.38 1.095 2465 -5.0 0.332 - - - - - - 25.50 24.39 23.50
7136 end apogee: CONTROL_FINISHED_OK
7136 begin climb
7139 687.1 - 514 7295 done 0.45 0.38 0.049 2966 423.7 - - 1923 - 175.2 149.88 1.086 1749 -4.8 0.325 - - - - - - 24.70 23.68 22.84
7466 668.5 9.8 531 7484 roll 0.46 - - 2977 - 2.40 0.037 465 -607.5 184.1 8.43 0.885 1711 -4.5 0.366 - - - - - - 25.58 24.92 23.84
7527 661.7 10.6 534 7533 done 0.46 - - 2977 - 2.22 0.028 1861 628.8 184.1 - - 1709 - - - - - - - - 25.44 25.37 25.47
7727 643.0 8.8 544 7774 roll 0.52 - - 2986 - 2.30 0.037 465 -607.0 229.7 40.22 1.021 1527 -4.5 0.306 - - - - - - 26.09 24.94 24.01
7790 636.9 9.9 547 7801 done 0.52 - - 2987 - 2.20 0.026 1861 634.5 235.0 5.72 0.765 1506 -3.7 0.328 - - - - - - 25.33 25.26 23.96
7984 613.6 12.9 556 7989 roll 0.52 - - 2997 - 2.17 0.037 468 -641.9 235.0 - - 1504 - - - - - - - - 26.03 25.59 26.05
8004 610.9 12.8 557 8008 done 0.52 - - 2997 - 2.17 0.028 1860 641.5 235.0 - - 1501 - - - - - - - - 25.77 25.69 25.80
8202 578.5 16.9 567 8208 roll 0.52 - - 3007 - 2.17 0.036 462 -644.2 235.0 - - 1501 - - - - - - - - 26.25 25.75 26.25
8230 575.3 16.8 568 8234 done 0.52 - - 3007 - 2.15 0.028 1858 649.3 235.0 - - 1499 - - - - - - - - 25.93 25.84 25.96
8417 540.1 18.4 577 8423 roll 0.52 - - 3007 - 2.12 0.031 3279 670.3 235.0 - - 1500 - - - - - - - - 26.34 25.90 26.36
8460 532.9 18.3 579 8465 done 0.52 0.12 0.192 2982 -208.3 2.15 0.031 1866 -657.2 235.0 - - 1500 - - - - - - - - 25.49 25.89 25.68
8653 503.5 13.9 589 8658 roll 0.52 - - 2982 - 2.10 0.029 3274 670.5 235.0 - - 1500 - - - - - - - - 26.42 25.96 26.43
8733 492.1 14.2 593 8738 done 0.52 - - 2991 - 2.15 0.031 1859 -658.1 235.0 - - 1500 - - - - - - - - 26.06 25.95 26.08
8935 462.8 13.7 603 8940 roll 0.52 - - 2991 - 2.08 0.028 3270 678.4 235.0 - - 1500 - - - - - - - - 26.48 26.01 26.49
9016 453.1 12.0 607 9020 done 0.52 - - 3001 - 2.15 0.031 1858 -656.7 235.0 - - 1499 - - - - - - - - 26.08 25.97 26.11
9208 427.3 13.0 617 9214 roll 0.52 - - 3001 - 2.10 0.028 3275 674.8 235.0 - - 1499 - - - - - - - - 26.52 26.02 26.53
9311 416.9 9.3 622 9340 done 0.56 - - 3011 - 2.15 0.032 1858 -659.1 261.7 23.98 0.890 1397 -4.3 0.214 - - - - - - 26.10 25.99 24.58
9524 389.8 12.7 632 9530 roll 0.56 - - 3011 - 2.10 0.028 3267 671.0 261.7 - - 1394 - - - - - - - - 26.27 25.82 26.28
9576 384.8 12.8 634 9583 done 0.56 0.10 0.184 2993 -180.0 2.15 0.031 1859 -654.9 261.7 - - 1393 - - - - - - - - 25.50 25.83 25.66
9764 359.3 13.2 644 9770 roll 0.56 - - 2993 - 2.10 0.029 3276 674.8 261.7 - - 1393 - - - - - - - - 26.38 25.90 26.39
9863 347.4 11.7 649 9868 done 0.56 - - 3002 - 2.17 0.030 1849 -657.6 261.7 - - 1393 - - - - - - - - 26.01 25.91 26.05
10063 316.7 16.4 659 10068 roll 0.56 - - 3002 - 2.12 0.028 3276 673.1 261.7 - - 1392 - - - - - - - - 26.46 25.96 26.48
10131 307.5 15.7 662 10135 done 0.56 - - 3012 - 2.15 0.031 1858 -659.5 261.7 - - 1392 - - - - - - - - 26.04 25.94 26.08
10318 273.0 18.2 671 10323 roll 0.56 - - 3012 - 2.12 0.030 3279 670.3 261.7 - - 1392 - - - - - - - - 26.51 25.97 26.52
10426 256.4 16.2 676 10431 done 0.56 0.10 0.194 2995 -170.0 2.15 0.031 1859 -660.5 261.7 - - 1392 - - - - - - - - 25.59 25.97 25.75
10613 223.6 16.5 685 10618 roll 0.56 - - 2994 - 2.10 0.027 3278 675.7 261.7 - - 1392 - - - - - - - - 26.54 26.02 26.55
10681 214.6 15.4 688 10685 done 0.56 - - 3003 - 2.15 0.031 1855 -661.9 261.7 - - 1392 - - - - - - - - 26.09 25.99 26.13
10868 182.1 17.2 702 10877 roll 0.56 - - 3003 - 2.10 0.028 3274 675.7 261.7 - - 1391 - - - - - - - - 26.56 26.01 26.58
10940 170.6 15.3 709 10948 done 0.56 - - 3013 - 2.17 0.031 1849 -656.7 261.7 - - 1391 - - - - - - - - 26.10 25.99 26.13
11131 138.5 16.6 728 11140 roll 0.56 - - 3013 - 2.10 0.030 3267 675.2 261.7 - - 1392 - - - - - - - - 26.58 26.01 26.60
11223 124.4 14.2 737 11232 done 0.56 0.10 0.195 2995 -180.0 2.15 0.031 1852 -658.1 261.7 - - 1391 - - - - - - - - 25.59 25.99 25.75
11416 99.5 13.0 756 11424 roll 0.56 - - 2994 - 2.15 0.028 3275 661.9 261.7 - - 1392 - - - - - - - - 26.60 26.06 26.60
11491 90.8 10.7 769 11498 done 0.56 - - 3003 - 2.15 0.030 1855 -660.5 261.7 - - 1392 - - - - - - - - 26.10 26.01 26.14
11541 84.2 12.6 778 11548 roll 0.56 - - 3014 - 2.15 0.037 455 -651.2 261.7 - - 1391 - - - - - - - - 26.60 25.89 26.61
11583 79.1 12.0 785 11590 done 0.56 - - 3014 - 2.15 0.027 1868 657.2 261.7 - - 1388 - - - - - - - - 26.14 26.06 26.18
11635 71.6 14.0 794 11641 roll 0.56 - - 3014 - 2.10 0.031 3269 667.1 261.7 - - 1388 - - - - - - - - 26.60 25.98 26.60
11666 66.8 16.6 799 11674 done 0.56 0.12 0.178 2988 -216.7 2.15 0.031 1851 -659.5 261.7 - - 1388 - - - - - - - - 25.56 25.99 25.75
11720 58.8 14.5 808 11727 roll 0.56 - - 2998 - 2.22 0.039 450 -631.1 261.7 - - 1388 - - - - - - - - 26.60 25.91 26.61
11783 50.1 12.2 819 11790 done 0.56 - - 2998 - 2.17 0.027 1871 654.8 261.7 - - 1387 - - - - - - - - 26.14 26.06 26.18
11834 44.0 11.3 828 11843 roll 0.56 - - 2998 - 2.12 0.031 3265 657.5 261.7 - - 1387 - - - - - - - - 26.60 26.01 26.61
11856 41.5 11.3 831 11862 done 0.56 - - 3008 - 2.15 0.031 1852 -657.2 261.7 - - 1387 - - - - - - - - 26.10 25.99 26.14
11911 36.5 9.3 840 11944 roll 0.59 - - 3019 - 2.22 0.038 460 -627.0 289.2 23.85 0.675 1284 -4.3 0.025 - - - - - - 26.60 25.32 24.82
11995 29.0 8.2 852 12043 done 0.67 - - 3019 - 2.20 0.026 1866 639.1 358.9 37.92 0.660 999 -7.5 0.035 - - - - - - 25.91 25.89 24.58
12093 17.8 12.4 866 12102 roll 0.67 - - 3019 - 2.17 0.031 3265 644.7 358.9 - - 995 - - - - - - - - 25.97 25.56 25.98
12165 9.0 12.6 877 12174 done 0.67 - - 3026 - 2.20 0.027 1857 -640.0 358.9 - - 993 - - - - - - - - 25.72 25.65 25.73
12216 end climb: SURFACE_DEPTH_REACHED
12217 begin surface coast
12236 end surface coast: CONTROL_FINISHED_OK
12236 begin surface
SM 1.89 - - - - -8.29 7.62 0.028 126 16.5 0.17 0.047 2075 6147.1 362.06 - - 989 - - - - - - - -