SOSCEx 06Sep18 * SG573 * Dive index * Mission links * Dive 85 * Raw log
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• Previous call tries 2 • 25.77 of 310.00 AH used of 24V (91.69% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -67.6 deg, depth 1.07 m • Intended pitch -18.2 deg, speed -9.980 cm/s
• No surface pump (final VBD was 363.04, SM_CC=320) • surface range 18.3 m at 19.8 m depth, ceiling 1.5 m
• GPS1 time: 30 s • bottom range 42.9 m at 240.3 m, depth 283 m (500 m grid)
• GPS2 time: 20 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 - - - 2171 - -146.0 -56.45 - 2962 - - - - - - - - 15.01 - 15.02
78 3.8 -8.6 10 106 roll -0.79 12.35 0.304 2226 174.4 2.47 0.086 715 -589.5 -146.0 -7.90 - 3409 -56.6 - - - - - - - 14.68 14.05 14.81
300 49.0 -15.2 54 307 done -0.79 0.03 0.375 2227 - 2.30 0.050 2096 600.4 -146.0 - - 3410 - - - - - - - - 14.78 14.92 14.91
367 58.3 -13.7 67 373 roll -0.79 - - 2219 - 2.47 0.074 3537 583.4 -146.0 - - 3410 - - - - - - - - 15.11 14.92 15.11
417 65.4 -13.6 77 424 done -0.79 0.05 0.249 2230 220.0 2.33 0.040 2122 -607.3 -146.0 - - 3410 - - - - - - - - 14.85 14.95 14.95
484 75.6 -15.1 90 489 done -0.79 - - 2230 - - - 2122 - -146.0 - - 3410 - - - - - - - - 15.15 15.15 15.15
548 85.1 -14.2 103 549 done -0.79 - - 2230 - - - 2122 - -146.0 - - 3410 - - - - - - - - 15.16 15.16 15.16
608 94.0 -15.5 115 609 done -0.79 - - 2230 - - - 2121 - -146.0 - - 3410 - - - - - - - - 15.16 15.16 15.16
668 103.3 -15.3 127 669 done -0.79 - - 2230 - - - 2121 - -146.0 - - 3410 - - - - - - - - 15.16 15.17 15.17
728 112.6 -15.9 139 735 roll -0.79 - - 2222 - 2.42 0.073 3532 583.1 -146.0 - - 3410 - - - - - - - - 15.18 14.93 15.19
754 116.4 -14.6 144 761 done -0.79 - - 2222 - 2.33 0.040 2126 -603.4 -146.0 - - 3410 - - - - - - - - 15.01 14.97 15.02
820 126.2 -15.8 157 827 roll -0.79 - - 2222 - 2.33 0.067 721 -603.0 -146.0 - - 3410 - - - - - - - - 15.17 14.97 15.17
841 129.4 -15.1 161 848 done -0.79 0.03 0.370 2228 200.0 2.33 0.050 2131 605.2 -146.0 - - 3410 - - - - - - - - 14.84 14.98 14.97
907 138.4 -13.3 174 914 roll -0.79 - - 2227 - 2.40 0.067 720 -587.9 -146.0 - - 3410 - - - - - - - - 15.16 14.97 15.17
928 141.7 -15.8 178 935 done -0.79 - - 2224 - 2.33 0.050 2124 602.6 -146.0 - - 3410 - - - - - - - - 14.99 14.94 15.00
995 150.7 -13.7 191 1001 roll -0.79 - - 2224 - 2.38 0.075 3538 594.1 -146.0 - - 3411 - - - - - - - - 15.17 14.98 15.17
1019 154.1 -13.0 196 1027 done -0.79 - - 2224 - 2.33 0.037 2120 -608.6 -146.0 - - 3411 - - - - - - - - 15.04 15.00 15.05
1086 163.0 -13.8 209 1091 done -0.79 - - 2224 - - - 2119 - -146.0 - - 3410 - - - - - - - - 15.17 15.18 15.18
1151 171.6 -12.6 222 1157 roll -0.79 - - 2217 - 2.42 0.072 3534 584.7 -146.0 - - 3411 - - - - - - - - 15.18 14.97 15.18
1222 180.2 -11.7 236 1229 done -0.79 0.08 0.266 2233 200.0 2.25 0.039 2130 -624.0 -146.0 - - 3410 - - - - - - - - 14.91 14.99 15.02
1288 187.8 -11.1 249 1294 roll -0.79 - - 2233 - 2.33 0.067 725 -603.0 -146.0 - - 3411 - - - - - - - - 15.19 14.96 15.19
1313 190.9 -13.5 254 1320 done -0.79 - - 2233 - 2.33 0.050 2133 604.3 -146.0 - - 3411 - - - - - - - - 15.02 14.98 15.02
1379 198.8 -12.6 267 1386 roll -0.79 - - 2234 - 2.40 0.073 3534 583.8 -146.0 - - 3410 - - - - - - - - 15.19 14.99 15.19
1435 205.9 -13.5 278 1442 done -0.79 - - 2233 - 2.30 0.038 2128 -611.3 -146.0 - - 3410 - - - - - - - - 15.04 15.00 15.07
1501 214.6 -13.2 291 1508 roll -0.79 - - 2234 - 2.33 0.067 718 -605.2 -146.0 - - 3411 - - - - - - - - 15.20 15.00 15.21
1521 217.4 -13.9 295 1528 done -0.79 - - 2231 - 2.33 0.048 2129 605.6 -146.0 - - 3410 - - - - - - - - 15.04 15.01 15.07
1588 225.2 -12.4 308 1594 roll -0.79 - - 2231 - 2.38 0.073 3546 595.4 -146.0 - - 3410 - - - - - - - - 15.21 14.97 15.20
1623 230.0 -12.1 315 1631 done -0.79 - - 2231 - 2.33 0.037 2127 -609.0 -146.0 - - 3410 - - - - - - - - 15.07 15.03 15.09
1690 238.3 -13.2 328 1696 done -0.79 - - 2231 - - - 2127 - -146.0 - - 3410 - - - - - - - - 15.21 15.22 15.22
1755 246.9 -13.3 341 1760 done -0.79 - - 2231 - - - 2127 - -146.0 - - 3411 - - - - - - - - 15.22 15.22 15.22
1820 255.8 -13.9 354 1827 roll -0.79 - - 2231 - 2.42 0.073 3540 583.9 -146.0 - - 3410 - - - - - - - - 15.23 15.01 15.23
1840 258.8 -14.4 358 1847 done -0.79 - - 2231 - 2.30 0.037 2137 -610.0 -146.0 - - 3410 - - - - - - - - 15.07 15.03 15.09
1907 267.9 -14.0 371 1912 done -0.79 - - 2231 - - - 2133 - -146.0 - - 3410 - - - - - - - - 15.23 15.23 15.23
1950 end dive: BOTTOM_OBSTACLE_DETECTED
1950 begin apogee
1954 273.3 -9.9 380 2069 done -0.17 0.90 0.094 2433 224.4 - - 1922 - - 108.88 1.317 2811 -5.5 0.201 - - - - - - 15.01 14.54 14.02
2070 end apogee: CONTROL_FINISHED_OK
2070 begin climb
2071 273.2 - 401 2191 roll 0.79 1.40 0.058 2750 226.4 2.50 0.064 3353 572.4 146.0 111.05 1.290 2214 -5.4 0.201 - - - - - - 14.54 14.38 13.90
2245 269.2 6.8 433 2307 done 0.87 - - 2760 - 2.35 0.042 1967 -589.8 215.9 56.03 1.262 1929 -5.1 0.191 - - - - - - 14.64 14.59 13.96
2366 259.5 9.1 456 2390 roll 0.90 - - 2760 - 2.38 0.067 3350 581.1 235.6 16.85 1.174 1849 -4.7 0.185 - - - - - - 14.81 14.56 14.08
2404 255.8 10.8 463 2410 done 0.90 - - 2768 - 2.38 0.044 1949 -588.7 235.6 - - 1847 - - - - - - - - 14.66 14.61 14.67
2470 249.4 9.9 476 2476 roll 0.90 - - 2780 - 2.40 0.075 546 -584.6 237.6 - - 1846 - - - - - - - - 14.90 14.71 14.90
2505 245.7 10.1 483 2512 done 0.90 - - 2779 - 2.35 0.044 1957 600.4 237.6 - - 1845 - - - - - - - - 14.81 14.77 14.83
2572 239.9 9.9 496 2578 done 0.90 - - 2779 - - - 1958 - 239.5 4.00 0.844 1835 -2.5 0.125 - - - - - - 15.00 14.83 14.30
2638 232.9 10.6 509 2643 done 0.90 - - 2779 - - - 1958 - 239.5 - - 1834 - - - - - - - - 15.03 15.04 15.04
2702 225.4 12.4 522 2709 roll 0.90 - - 2779 - 2.35 0.064 3346 590.6 239.5 - - 1834 - - - - - - - - 15.07 14.86 15.07
2718 223.3 12.2 525 2725 done 0.90 - - 2786 - 2.33 0.044 1951 -598.7 239.5 - - 1834 - - - - - - - - 14.93 14.88 14.95
2785 216.5 8.3 538 2819 roll 0.95 - - 2786 - 2.47 0.077 545 -569.2 275.2 30.30 1.213 1689 -4.8 0.151 - - - - - - 15.10 14.71 14.26
2838 211.4 10.0 548 2845 done 0.95 - - 2787 - 2.35 0.044 1950 597.9 275.2 - - 1688 - - - - - - - - 14.82 14.78 14.83
2905 204.0 11.3 561 2910 done 0.95 - - 2787 - - - 1950 - 275.2 - - 1687 - - - - - - - - 15.02 15.02 15.02
2970 197.0 10.5 574 2975 done 0.95 - - 2787 - - - 1950 - 275.2 - - 1686 - - - - - - - - 15.04 15.05 15.04
3034 190.2 10.5 587 3035 done 0.95 - - 2787 - - - 1949 - 275.2 - - 1686 - - - - - - - - 15.07 15.08 15.08
3094 184.3 10.0 599 3101 roll 0.95 - - 2787 - 2.40 0.067 3350 583.8 275.2 - - 1682 - - - - - - - - 15.10 14.89 15.10
3120 181.6 10.4 604 3127 done 0.95 - - 2787 - 2.35 0.047 1946 -597.4 275.2 - - 1685 - - - - - - - - 14.97 14.92 14.98
3186 174.5 12.1 617 3193 roll 0.95 - - 2787 - 2.38 0.078 545 -588.7 275.2 - - 1684 - - - - - - - - 15.12 14.89 15.12
3231 169.1 11.5 626 3238 done 0.95 - - 2787 - 2.33 0.044 1958 606.4 275.2 - - 1684 - - - - - - - - 14.95 14.92 14.97
3298 162.2 10.2 639 3304 roll 0.95 - - 2787 - 2.33 0.067 3346 595.7 275.2 - - 1684 - - - - - - - - 15.14 14.95 15.14
3333 158.3 10.6 646 3340 done 0.95 - - 2786 - 2.33 0.046 1949 -599.6 275.2 - - 1685 - - - - - - - - 14.99 14.96 15.02
3400 151.9 10.2 659 3406 roll 0.95 - - 2786 - 2.35 0.066 3348 595.3 275.2 - - 1683 - - - - - - - - 15.15 14.95 15.15
3430 148.5 11.1 665 3437 done 0.95 - - 2787 - 2.33 0.047 1950 -600.0 275.2 - - 1684 - - - - - - - - 15.01 15.00 15.03
3496 141.7 11.0 678 3502 done 0.95 - - 2786 - - - 1950 - 275.2 - - 1683 - - - - - - - - 15.16 15.17 15.17
3561 134.3 11.4 691 3568 roll 0.95 - - 2787 - 2.40 0.077 550 -583.3 275.2 - - 1683 - - - - - - - - 15.17 14.91 15.17
3581 132.0 10.6 695 3588 done 0.95 - - 2787 - 2.30 0.044 1949 608.3 275.2 - - 1683 - - - - - - - - 15.00 14.95 15.01
3648 125.4 10.1 708 3653 done 0.95 - - 2786 - - - 1949 - 275.2 - - 1683 - - - - - - - - 15.18 15.19 15.18
3712 119.0 9.7 721 3725 roll 0.95 - - 2787 - 2.40 0.076 550 -582.9 280.7 5.22 0.799 1666 -3.3 0.086 - - - - - - 15.18 14.95 14.48
3749 115.2 9.9 728 3757 done 0.96 - - 2787 - 2.30 0.044 1952 609.6 282.9 3.62 0.753 1657 -2.5 0.067 - - - - - - 15.00 14.98 14.46
3817 109.2 9.7 741 3828 done 0.96 - - 2787 - - - 1953 - 288.5 6.35 0.863 1635 -3.5 0.077 - - - - - - 15.15 14.83 14.42
3888 101.8 10.4 755 3893 done 0.96 - - 2787 - - - 1953 - 288.5 - - 1634 - - - - - - - - 15.14 15.14 15.14
3952 95.1 10.2 768 3953 done 0.96 - - 2787 - - - 1953 - 288.5 - - 1634 - - - - - - - - 15.16 15.16 15.16
4012 88.9 10.3 780 4013 done 0.96 - - 2787 - - - 1953 - 288.5 - - 1633 - - - - - - - - 15.16 15.17 15.16
4072 82.8 10.1 792 4079 roll 0.96 - - 2787 - 2.38 0.068 3342 583.6 288.5 - - 1633 - - - - - - - - 15.17 14.95 15.18
4088 81.0 11.0 795 4095 done 0.96 - - 2787 - 2.33 0.047 1946 -599.1 288.5 - - 1633 - - - - - - - - 15.02 14.97 15.04
4154 74.7 9.7 808 4166 roll 0.97 - - 2787 - 2.35 0.076 548 -594.9 294.8 6.78 0.948 1608 -3.7 0.051 - - - - - - 15.16 14.88 14.48
4195 70.6 9.8 816 4203 done 0.97 - - 2787 - 2.30 0.044 1948 608.7 298.0 4.07 0.627 1597 -2.7 0.054 - - - - - - 14.99 15.00 14.45
4263 64.5 9.6 829 4275 done 0.99 - - 2787 - - - 1949 - 306.8 8.90 0.916 1560 -4.2 0.052 - - - - - - 15.15 14.94 14.45
4334 56.4 11.3 843 4340 done 0.99 - - 2787 - - - 1949 - 306.8 - - 1559 - - - - - - - - 15.11 15.11 15.11
4398 49.3 11.1 856 4405 roll 0.99 - - 2787 - 2.40 0.067 3353 585.0 306.8 - - 1559 - - - - - - - - 15.14 14.92 15.14
4444 44.0 11.4 865 4451 done 0.99 - - 2787 - 2.33 0.047 1956 -599.6 306.8 - - 1559 - - - - - - - - 15.00 14.95 15.02
4511 37.3 9.8 878 4523 roll 0.99 - - 2787 - 2.40 0.076 546 -587.5 310.2 4.18 0.610 1547 -2.9 0.031 - - - - - - 15.16 14.93 14.49
4547 33.9 10.1 885 4554 done 0.99 - - 2787 - 2.30 0.044 1942 607.0 310.2 - - 1546 - - - - - - - - 14.99 14.94 15.00
4613 28.5 7.7 898 4659 roll 1.05 0.10 0.147 2841 540.0 2.42 0.063 3351 582.2 360.4 40.33 1.038 1340 -5.1 0.025 - - - - - - 14.96 14.77 14.34
4713 18.7 11.5 917 4720 done 1.05 0.05 0.265 2834 -140.0 2.35 0.047 1953 -594.9 360.4 - - 1337 - - - - - - - - 14.72 14.83 14.83
4780 11.1 12.7 930 4786 roll 1.05 - - 2842 - 2.38 0.073 549 -589.9 360.4 - - 1336 - - - - - - - - 15.04 14.85 15.04
4810 6.9 12.9 936 4817 done 1.05 0.03 0.326 2835 -233.3 2.33 0.045 1960 605.6 360.4 - - 1335 - - - - - - - - 14.76 14.89 14.88
4845 end climb: SURFACE_DEPTH_REACHED
4845 begin surface coast
4865 end surface coast: CONTROL_FINISHED_OK
4865 begin surface
SM 1.18 - - - - -7.26 12.45 0.058 152 12.2 0.25 0.074 2147 -11916.0 363.04 - - 1333 - - - - - - - -