SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 83 * Raw log
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• Previous call tries 2 • 25.22 of 310.00 AH used of 24V (91.87% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.0 deg, depth 1.01 m • Intended pitch -18.2 deg, speed -9.972 cm/s
• No surface pump (final VBD was 366.96, SM_CC=320) • surface range 999.0 m at 19.1 m depth, ceiling -979.9 m
• GPS1 time: 30 s • bottom range 48.8 m at 470.5 m, depth 519 m (700 m grid)
• GPS2 time: 15 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 - - - 76 VBD -0.79 - - 72 - - - 2167 - -146.0 -56.40 - 2977 - - - - - - - - 14.99 - 15.00
78 3.4 -7.6 10 106 roll -0.79 12.38 0.301 2230 174.3 2.45 0.086 722 -589.8 -146.0 -7.75 - 3410 -55.9 - - - - - - - 14.65 14.01 14.78
230 36.8 -19.4 40 237 done -0.79 - - 2222 - 2.30 0.050 2098 598.3 -146.0 - - 3411 - - - - - - - - 14.90 14.85 14.92
296 49.3 -19.0 53 303 roll -0.79 - - 2212 - 2.45 0.074 3543 589.8 -146.0 - - 3411 - - - - - - - - 15.06 14.87 15.07
341 58.3 -19.8 62 349 done -0.79 0.08 0.220 2229 212.5 2.35 0.041 2127 -602.6 -146.0 - - 3411 - - - - - - - - 14.81 14.89 14.89
408 70.2 -16.9 75 414 roll -0.79 - - 2221 - 2.40 0.073 3535 586.7 -146.0 - - 3411 - - - - - - - - 15.09 14.86 15.09
453 77.6 -15.8 84 460 done -0.79 - - 2221 - 2.35 0.040 2124 -600.4 -146.0 - - 3411 - - - - - - - - 14.92 14.88 14.94
519 88.0 -16.1 97 520 done -0.79 0.05 0.351 2232 220.0 - - 2123 - -146.0 - - 3411 - - - - - - - - 14.83 15.00 14.97
579 97.7 -16.1 109 586 roll -0.79 - - 2223 - 2.45 0.073 3537 577.1 -146.0 - - 3411 - - - - - - - - 15.12 14.89 15.13
600 100.9 -14.9 113 607 done -0.79 - - 2225 - 2.33 0.040 2136 -601.3 -146.0 - - 3411 - - - - - - - - 14.97 14.93 14.99
666 111.6 -16.1 126 673 roll -0.79 - - 2223 - 2.40 0.067 722 -589.2 -146.0 - - 3411 - - - - - - - - 15.11 14.91 15.11
686 115.1 -16.9 130 694 done -0.79 0.05 0.270 2229 120.0 2.35 0.050 2132 600.0 -146.0 - - 3411 - - - - - - - - 14.82 14.93 14.93
753 125.5 -14.8 143 760 roll -0.79 - - 2229 - 2.42 0.075 3538 581.0 -146.0 - - 3411 - - - - - - - - 15.13 14.88 15.13
808 133.3 -12.9 154 815 done -0.79 - - 2229 - 2.33 0.038 2127 -605.6 -146.0 - - 3411 - - - - - - - - 14.95 14.92 14.97
875 142.2 -14.3 167 880 done -0.79 - - 2229 - - - 2127 - -146.0 - - 3411 - - - - - - - - 15.14 15.15 15.15
939 151.4 -14.2 180 940 done -0.79 - - 2229 - - - 2127 - -146.0 - - 3411 - - - - - - - - 15.15 15.15 15.15
999 160.0 -14.2 192 1000 done -0.79 - - 2229 - - - 2127 - -146.0 - - 3409 - - - - - - - - 15.15 15.16 15.16
1059 168.7 -14.5 204 1060 done -0.79 - - 2229 - - - 2127 - -146.0 - - 3411 - - - - - - - - 15.16 15.16 15.16
1119 177.0 -13.3 216 1126 roll -0.79 - - 2222 - 2.42 0.073 3560 592.1 -146.0 - - 3411 - - - - - - - - 15.16 14.96 15.16
1175 184.1 -12.4 227 1182 done -0.79 - - 2222 - 2.35 0.039 2133 -607.2 -146.0 - - 3411 - - - - - - - - 15.01 14.97 15.02
1241 192.5 -12.9 240 1247 done -0.79 - - 2222 - - - 2133 - -146.0 - - 3411 - - - - - - - - 15.15 15.16 15.16
1306 200.8 -12.5 253 1313 roll -0.79 - - 2222 - 2.38 0.067 725 -591.6 -146.0 - - 3411 - - - - - - - - 15.16 14.95 15.16
1336 204.9 -14.0 259 1344 done -0.79 0.03 0.362 2228 200.0 2.33 0.051 2131 603.4 -146.0 - - 3411 - - - - - - - - 14.83 14.97 14.96
1403 214.1 -13.5 272 1410 roll -0.79 - - 2219 - 2.40 0.073 3534 584.6 -146.0 - - 3412 - - - - - - - - 15.17 14.96 15.18
1429 217.2 -14.1 277 1436 done -0.79 0.05 0.237 2229 200.0 2.33 0.039 2116 -608.6 -146.0 - - 3411 - - - - - - - - 14.87 14.96 14.97
1495 225.8 -13.1 290 1502 roll -0.79 - - 2231 - 2.35 0.066 725 -591.9 -146.0 - - 3411 - - - - - - - - 15.18 14.97 15.18
1516 228.6 -14.1 294 1522 done -0.79 - - 2231 - 2.33 0.050 2133 604.3 -146.0 - - 3411 - - - - - - - - 15.04 14.99 15.04
1582 237.1 -13.0 307 1588 roll -0.79 - - 2231 - 2.35 0.074 3537 597.4 -146.0 - - 3411 - - - - - - - - 15.18 15.02 15.19
1612 240.9 -12.4 313 1619 done -0.79 - - 2231 - 2.30 0.037 2130 -611.7 -146.0 - - 3411 - - - - - - - - 15.04 15.00 15.05
1678 249.1 -12.6 326 1685 roll -0.79 - - 2231 - 2.33 0.067 728 -601.7 -146.0 - - 3411 - - - - - - - - 15.19 14.95 15.19
1699 251.6 -13.4 330 1706 done -0.79 - - 2231 - 2.33 0.049 2132 602.6 -146.0 - - 3410 - - - - - - - - 15.01 14.97 15.02
1765 259.4 -11.9 343 1771 roll -0.79 - - 2231 - 2.38 0.074 3544 593.3 -146.0 - - 3411 - - - - - - - - 15.19 14.99 15.19
1795 262.9 -11.7 349 1802 done -0.79 - - 2231 - 2.33 0.038 2127 -608.2 -146.0 - - 3411 - - - - - - - - 15.04 15.00 15.09
1862 270.6 -12.1 362 1868 roll -0.79 - - 2231 - 2.35 0.068 716 -600.4 -146.0 - - 3410 - - - - - - - - 15.17 15.00 15.17
1882 273.2 -12.5 366 1889 done -0.79 - - 2231 - 2.33 0.049 2126 605.2 -146.0 - - 3410 - - - - - - - - 15.04 15.02 15.07
1948 280.7 -11.4 379 1955 roll -0.79 - - 2231 - 2.38 0.074 3541 594.5 -146.0 - - 3410 - - - - - - - - 15.21 14.97 15.21
1964 282.7 -10.7 382 1971 done -0.79 - - 2231 - 2.33 0.037 2122 -609.0 -146.0 - - 3411 - - - - - - - - 15.04 15.00 15.07
2030 289.9 -11.3 395 2038 roll -0.79 - - 2231 - 2.40 0.073 3541 591.2 -146.0 - - 3410 - - - - - - - - 15.20 15.00 15.20
2057 293.0 -11.5 400 2064 done -0.79 - - 2230 - 2.30 0.038 2134 -611.7 -146.0 - - 3410 - - - - - - - - 15.06 15.02 15.07
2138 302.5 -11.4 413 2143 roll -0.79 - - 2231 - 2.38 0.073 3542 591.6 -146.0 - - 3410 - - - - - - - - 15.22 15.01 15.23
2172 305.0 -11.9 414 2180 done -0.79 - - 2230 - 2.33 0.038 2126 -607.7 -146.0 - - 3410 - - - - - - - - 15.06 15.04 15.07
2298 321.1 -11.3 421 2303 roll -0.79 - - 2231 - 2.33 0.068 722 -602.6 -146.0 - - 3410 - - - - - - - - 15.21 15.00 15.21
2332 323.4 -11.3 422 2340 done -0.79 - - 2230 - 2.33 0.050 2129 603.9 -146.0 - - 3409 - - - - - - - - 15.07 15.03 15.09
2458 341.0 -12.9 429 2463 roll -0.79 - - 2229 - 2.35 0.075 3537 599.1 -146.0 - - 3409 - - - - - - - - 15.22 15.04 15.23
2482 343.4 -12.8 430 2488 done -0.79 - - 2230 - 2.30 0.038 2129 -612.2 -146.0 - - 3409 - - - - - - - - 15.09 15.05 15.11
2618 360.0 -11.7 437 2618 done -0.79 - - 2230 - - - 2129 - -146.0 - - 3409 - - - - - - - - 15.26 15.26 15.26
2738 374.0 -11.8 443 2743 roll -0.79 - - 2228 - 2.42 0.074 3538 582.2 -146.0 - - 3408 - - - - - - - - 15.28 15.04 15.28
2762 376.4 -11.8 444 2768 done -0.79 - - 2228 - 2.33 0.039 2124 -606.9 -146.0 - - 3408 - - - - - - - - 15.11 15.07 15.12
2898 392.4 -11.4 451 2903 roll -0.79 - - 2228 - 2.42 0.073 3534 582.6 -146.0 - - 3408 - - - - - - - - 15.28 15.02 15.28
2958 399.2 -11.3 454 2963 done -0.79 - - 2228 - 2.33 0.040 2122 -606.0 -146.0 - - 3408 - - - - - - - - 15.07 15.04 15.09
3098 415.2 -11.4 461 3098 done -0.79 - - 2228 - - - 2121 - -146.0 - - 3407 - - - - - - - - 15.28 15.28 15.28
3218 428.9 -11.3 467 3223 roll -0.79 - - 2228 - 2.45 0.074 3542 580.0 -146.0 - - 3406 - - - - - - - - 15.28 15.05 15.29
3247 431.2 -11.4 468 3253 done -0.79 - - 2228 - 2.33 0.040 2126 -607.7 -146.0 - - 3406 - - - - - - - - 15.13 15.07 15.14
3378 447.9 -12.0 475 3379 done -0.79 - - 2228 - - - 2126 - -146.0 - - 3406 - - - - - - - - 15.28 15.29 15.29
3500 461.5 -11.3 481 3501 done -0.79 - - 2228 - - - 2126 - -146.0 - - 3406 - - - - - - - - 15.26 15.26 15.26
3618 475.0 -11.2 487 3623 roll -0.79 - - 2224 - 2.42 0.076 3532 581.0 -146.0 - - 3405 - - - - - - - - 15.29 15.03 15.29
3642 477.3 -11.3 488 3648 done -0.79 - - 2224 - 2.30 0.041 2132 -608.7 -146.0 - - 3405 - - - - - - - - 15.13 15.09 15.15
3778 494.4 -12.3 495 3779 done -0.79 - - 2224 - - - 2132 - -146.0 - - 3405 - - - - - - - - 15.29 15.29 15.28
3898 508.5 -11.8 501 3899 done -0.79 - - 2224 - - - 2132 - -146.0 - - 3404 - - - - - - - - 15.29 15.29 15.29
3917 end dive: BOTTOM_OBSTACLE_DETECTED
3917 begin apogee
3920 510.8 -11.7 502 4040 done -0.17 1.02 0.154 2433 204.9 - - 1928 - - 113.47 1.711 2812 -5.2 0.280 - - - - - - 15.02 14.31 13.82
4041 end apogee: CONTROL_FINISHED_OK
4041 begin climb
4042 513.8 - 508 4169 roll 0.79 1.40 0.047 2757 231.4 2.58 0.070 3360 555.0 146.0 116.65 1.672 2215 -5.1 0.282 - - - - - - 14.46 14.26 13.69
4193 512.2 1.7 515 4355 done 1.01 0.12 0.089 2815 483.3 2.40 0.046 1973 -577.9 326.7 152.23 1.643 1479 -4.8 0.271 - - - - - - 14.47 14.42 13.66
4479 468.0 18.0 530 4484 roll 1.01 - - 2826 - 2.50 0.080 552 -568.4 326.7 - - 1474 - - - - - - - - 14.82 14.61 14.86
4519 460.5 18.5 532 4524 done 1.01 - - 2826 - 2.35 0.045 1943 591.9 326.7 - - 1474 - - - - - - - - 14.73 14.69 14.75
4659 434.3 19.0 539 4660 done 1.01 - - 2826 - - - 1944 - 326.7 - - 1474 - - - - - - - - 15.01 15.01 15.01
4779 412.2 18.3 545 4784 roll 1.01 - - 2826 - 2.42 0.070 3345 578.9 326.7 - - 1473 - - - - - - - - 15.07 14.86 15.08
4793 412.2 18.3 545 4801 done 1.01 0.08 0.252 2819 -87.5 2.38 0.052 1946 -587.8 326.7 - - 1473 - - - - - - - - 14.81 14.87 14.89
4919 387.7 17.1 552 4920 done 1.01 - - 2819 - - - 1946 - 326.7 - - 1473 - - - - - - - - 15.12 15.13 15.13
5039 367.5 16.7 558 5045 roll 1.01 - - 2819 - 2.42 0.069 3343 577.3 326.7 - - 1472 - - - - - - - - 15.16 14.93 15.16
5064 363.9 16.8 559 5069 done 1.01 - - 2825 - 2.35 0.053 1956 -590.2 326.7 - - 1471 - - - - - - - - 15.00 14.95 15.02
5199 340.7 16.5 566 5204 roll 1.01 - - 2834 - 2.45 0.082 536 -579.6 326.7 - - 1471 - - - - - - - - 15.19 14.95 15.19
5234 337.5 16.2 567 5241 done 1.01 0.08 0.234 2819 -187.5 2.35 0.047 1953 603.0 326.7 - - 1470 - - - - - - - - 14.90 14.99 15.00
5359 314.6 16.1 574 5364 roll 1.01 - - 2828 - 2.45 0.082 539 -577.1 326.7 - - 1471 - - - - - - - - 15.20 14.97 15.20
5399 307.4 17.1 576 5405 done 1.01 0.03 0.337 2821 -233.3 2.33 0.047 1949 605.2 326.7 - - 1471 - - - - - - - - 14.88 15.00 15.00
5524 286.7 16.1 592 5525 done 1.01 - - 2821 - - - 1949 - 326.7 - - 1471 - - - - - - - - 15.20 15.20 15.20
5584 276.8 16.9 604 5585 done 1.01 - - 2819 - - - 1949 - 326.7 - - 1470 - - - - - - - - 15.20 15.20 15.20
5644 266.6 16.8 616 5645 done 1.01 - - 2821 - - - 1949 - 326.7 - - 1470 - - - - - - - - 15.20 15.20 15.20
5704 256.5 16.7 628 5705 done 1.01 - - 2821 - - - 1948 - 326.7 - - 1470 - - - - - - - - 15.20 15.20 15.20
5764 246.4 16.9 640 5771 roll 1.01 - - 2831 - 2.45 0.083 537 -575.9 326.7 - - 1470 - - - - - - - - 15.19 14.97 15.20
5784 242.9 17.3 644 5792 done 1.01 0.05 0.254 2819 -240.0 2.33 0.048 1949 606.0 326.7 - - 1470 - - - - - - - - 14.91 15.01 15.02
5851 232.6 15.5 657 5857 done 1.01 - - 2819 - - - 1948 - 326.7 - - 1470 - - - - - - - - 15.20 15.21 15.20
5916 222.7 15.1 670 5921 done 1.01 - - 2819 - - - 1949 - 326.7 - - 1471 - - - - - - - - 15.20 15.20 15.20
5981 212.5 15.0 683 5982 done 1.01 - - 2819 - - - 1948 - 326.7 - - 1470 - - - - - - - - 15.21 15.21 15.21
6041 202.9 15.4 695 6048 roll 1.01 - - 2828 - 2.45 0.083 540 -574.7 326.7 - - 1470 - - - - - - - - 15.21 14.94 15.21
6057 200.7 16.0 698 6064 done 1.01 0.05 0.250 2817 -220.0 2.33 0.049 1946 603.4 326.7 - - 1470 - - - - - - - - 14.91 15.01 15.02
6122 190.8 14.5 711 6129 roll 1.01 - - 2826 - 2.45 0.083 537 -575.1 326.7 - - 1470 - - - - - - - - 15.19 14.97 15.19
6153 186.3 14.8 717 6160 done 1.01 - - 2826 - 2.33 0.048 1941 602.6 326.7 - - 1470 - - - - - - - - 15.04 15.00 15.06
6220 176.8 14.5 730 6225 done 1.01 - - 2827 - - - 1942 - 326.7 - - 1470 - - - - - - - - 15.17 15.18 15.18
6284 167.6 14.1 743 6290 done 1.01 - - 2825 - - - 1941 - 326.7 - - 1470 - - - - - - - - 15.18 15.18 15.19
6349 158.4 14.0 756 6356 roll 1.01 - - 2826 - 2.40 0.073 3344 584.6 326.7 - - 1469 - - - - - - - - 15.18 14.97 15.18
6380 154.3 12.5 762 6387 done 1.01 0.05 0.278 2820 -120.0 2.35 0.052 1946 -594.9 326.7 - - 1469 - - - - - - - - 14.85 14.95 14.96
6446 145.6 13.3 775 6447 done 1.01 - - 2820 - - - 1946 - 326.7 - - 1469 - - - - - - - - 15.18 15.19 15.19
6506 137.5 13.3 787 6507 done 1.01 - - 2820 - - - 1946 - 326.7 - - 1469 - - - - - - - - 15.18 15.19 15.19
6566 129.4 12.8 799 6573 roll 1.01 - - 2828 - 2.42 0.083 546 -578.5 326.7 - - 1469 - - - - - - - - 15.19 14.93 15.19
6592 125.9 13.3 804 6599 done 1.01 0.05 0.247 2816 -240.0 2.33 0.047 1951 603.0 326.7 - - 1469 - - - - - - - - 14.87 14.97 14.97
6658 117.5 12.2 817 6665 roll 1.01 - - 2816 - 2.35 0.073 3348 594.5 326.7 - - 1469 - - - - - - - - 15.16 14.97 15.16
6679 114.8 12.8 821 6686 done 1.01 - - 2821 - 2.35 0.051 1953 -593.6 326.7 - - 1469 - - - - - - - - 15.02 14.97 15.04
6745 106.6 12.6 834 6751 roll 1.01 - - 2821 - 2.38 0.084 547 -590.8 326.7 - - 1469 - - - - - - - - 15.17 14.92 15.17
6760 105.0 10.3 837 6767 done 1.01 - - 2821 - 2.33 0.047 1947 600.9 326.7 - - 1469 - - - - - - - - 14.98 14.94 15.00
6827 96.7 12.1 850 6833 roll 1.01 - - 2821 - 2.35 0.072 3350 597.0 326.7 - - 1469 - - - - - - - - 15.17 14.95 15.17
6842 94.6 13.4 853 6849 done 1.01 - - 2822 - 2.35 0.051 1957 -592.8 326.7 - - 1469 - - - - - - - - 15.00 14.95 15.03
6908 86.4 12.1 866 6915 roll 1.01 - - 2821 - 2.40 0.083 543 -589.2 326.7 - - 1470 - - - - - - - - 15.15 14.95 15.16
6923 84.4 13.0 869 6930 done 1.01 - - 2822 - 2.33 0.047 1946 602.1 326.7 - - 1469 - - - - - - - - 15.02 14.97 15.04
6990 76.5 11.4 882 6996 roll 1.01 - - 2821 - 2.35 0.070 3349 597.0 326.7 - - 1469 - - - - - - - - 15.16 14.92 15.16
7075 66.6 11.6 899 7082 done 1.01 - - 2822 - 2.35 0.050 1951 -594.9 326.7 - - 1469 - - - - - - - - 14.98 14.93 15.00
7142 59.7 9.9 912 7147 done 1.01 - - 2822 - - - 1952 - 327.3 - - 1469 - - - - - - - - 15.16 15.17 15.17
7206 52.9 10.8 925 7213 roll 1.01 - - 2822 - 2.40 0.068 3345 580.4 327.3 - - 1469 - - - - - - - - 15.16 14.94 15.16
7222 50.9 12.2 928 7229 done 1.01 - - 2822 - 2.35 0.050 1948 -594.5 327.3 - - 1470 - - - - - - - - 14.99 14.95 15.01
7288 44.1 10.0 941 7294 done 1.01 - - 2821 - - - 1948 - 327.3 - - 1469 - - - - - - - - 15.16 15.16 15.16
7353 37.7 9.4 954 7365 done 1.03 - - 2822 - - - 1949 - 339.7 10.90 0.973 1425 -4.0 0.028 - - - - - - 15.16 14.93 14.45
7425 31.2 9.1 968 7447 done 1.05 - - 2822 - - - 1948 - 358.3 16.92 1.015 1349 -4.5 0.025 - - - - - - 15.11 14.73 14.38
7506 23.0 11.4 984 7513 roll 1.05 - - 2822 - 2.45 0.083 554 -569.0 358.3 - - 1348 - - - - - - - - 15.06 14.83 15.07
7527 20.4 12.7 988 7534 done 1.05 - - 2822 - 2.33 0.046 1943 596.1 358.3 - - 1348 - - - - - - - - 14.90 14.86 14.92
7593 12.5 12.5 1001 7599 done 1.05 - - 2826 - - - 1943 - 358.3 - - 1347 - - - - - - - - 15.07 15.07 15.07
7658 5.4 9.7 1014 7665 done 1.06 - - 2822 - - - 1944 - 365.2 3.97 0.633 1322 -6.3 0.010 - - - - - - 15.09 14.92 14.47
7683 end climb: SURFACE_DEPTH_REACHED
7683 begin surface coast
7708 end surface coast: CONTROL_FINISHED_OK
7708 begin surface
SM 1.11 - - - - -7.27 12.43 0.058 149 11.9 0.30 0.063 2181 -26883.3 366.96 - - 1316 - - - - - - - -