AMOS Sep19 * SG197 * Dive index * Mission links * Dive 38 * Raw log
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• Previous call tries 1 • 25.18 of 347.00 AH used of 24V (92.74% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -62.9 deg, depth 0.59 m • Intended pitch -18.7 deg, speed -7.857 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 33 s
• GPS2 time: 4 s • Transponder ping count: 1
• 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7 - - - 94 VBD -0.77 - - 168 - - - 1878 - -97.3 -85.25 0.002 2598 - - - - - - - - 14.31 - 14.35
96 4.3 -7.6 8 132 roll -0.77 10.23 0.447 2146 193.4 2.60 0.139 3281 539.6 -97.3 -20.23 0.005 3498 -44.5 7.344 - - - - - - 13.97 13.58 14.21
356 72.4 -19.6 59 367 done -0.77 - - 2146 - 2.42 0.073 1885 -576.9 -97.3 - - 3498 - - - - - - - - 14.33 14.27 14.35
541 102.9 -15.5 78 543 done -0.77 - - 2146 - - - 1885 - -97.3 - - 3498 - - - - - - - - 14.54 14.57 14.57
721 128.9 -14.4 96 723 done -0.77 - - 2145 - - - 1885 - -97.3 - - 3498 - - - - - - - - 14.61 14.64 14.64
901 153.7 -13.5 114 903 done -0.77 - - 2146 - - - 1885 - -97.3 - - 3498 - - - - - - - - 14.65 14.69 14.68
1081 176.8 -12.6 132 1087 roll -0.77 - - 2146 - 2.53 0.107 465 -561.3 -97.3 - - 3498 - - - - - - - - 14.69 14.45 14.71
1151 186.2 -13.5 146 1157 done -0.77 - - 2137 - 2.45 0.085 1872 574.3 -97.3 - - 3498 - - - - - - - - 14.53 14.47 14.56
1341 209.6 -12.1 166 1343 done -0.77 - - 2137 - - - 1872 - -97.3 - - 3498 - - - - - - - - 14.72 14.76 14.75
1521 231.7 -12.3 184 1527 roll -0.77 - - 2137 - 2.50 0.108 465 -562.8 -97.3 - - 3498 - - - - - - - - 14.74 14.51 14.77
1606 242.4 -12.4 201 1618 done -0.77 0.10 0.266 2155 180.0 2.45 0.085 1877 576.3 -97.3 - - 3499 - - - - - - - - 14.45 14.51 14.56
1802 261.7 -9.7 213 1808 roll -0.77 - - 2155 - 2.50 0.107 467 -564.0 -97.3 - - 3498 - - - - - - - - 14.76 14.53 14.79
1867 268.3 -10.0 226 1873 done -0.77 - - 2149 - 2.45 0.086 1877 575.5 -97.3 - - 3498 - - - - - - - - 14.60 14.54 14.64
2192 297.2 -8.4 241 2194 done -0.77 - - 2149 - - - 1877 - -97.3 - - 3498 - - - - - - - - 14.78 14.82 14.81
2492 321.2 -7.7 251 2499 roll -0.77 - - 2149 - 2.50 0.109 466 -564.4 -97.3 - - 3497 - - - - - - - - 14.82 14.59 14.85
2527 324.1 -8.1 258 2533 done -0.77 - - 2140 - 2.42 0.086 1871 580.6 -97.3 - - 3498 - - - - - - - - 14.64 14.57 14.66
2852 349.9 -7.9 273 2854 done -0.77 - - 2140 - - - 1871 - -97.3 - - 3498 - - - - - - - - 14.83 14.86 14.85
3152 372.6 -7.4 283 3154 done -0.77 - - 2140 - - - 1871 - -97.3 - - 3498 - - - - - - - - 14.84 14.88 14.87
3452 394.4 -7.2 293 3459 roll -0.77 - - 2140 - 2.47 0.107 468 -568.0 -97.3 - - 3498 - - - - - - - - 14.85 14.62 14.88
3518 399.6 -8.1 306 3524 done -0.77 0.10 0.262 2158 180.0 2.42 0.085 1874 581.0 -97.3 - - 3498 - - - - - - - - 14.55 14.62 14.66
3843 421.6 -6.6 321 3850 roll -0.77 - - 2158 - 2.47 0.107 471 -568.0 -97.3 - - 3497 - - - - - - - - 14.80 14.59 14.83
3898 425.5 -7.2 332 3909 done -0.77 - - 2152 - 2.42 0.083 1875 580.2 -97.3 - - 3498 - - - - - - - - 14.64 14.57 14.67
4204 445.9 -6.6 343 4205 done -0.77 - - 2152 - - - 1875 - -97.3 - - 3498 - - - - - - - - 14.75 14.78 14.77
4504 465.8 -6.7 353 4505 done -0.77 - - 2152 - - - 1875 - -97.3 - - 3498 - - - - - - - - 14.73 14.76 14.76
4804 485.4 -6.5 363 4805 done -0.77 - - 2152 - - - 1875 - -97.3 - - 3498 - - - - - - - - 14.71 14.74 14.73
5104 504.8 -6.4 373 5105 done -0.77 - - 2152 - - - 1875 - -97.3 - - 3498 - - - - - - - - 14.70 14.73 14.73
5404 523.8 -6.3 383 5410 roll -0.77 - - 2152 - 2.50 0.106 468 -562.8 -97.3 - - 3498 - - - - - - - - 14.69 14.48 14.72
5473 528.7 -7.1 397 5480 done -0.77 - - 2144 - 2.42 0.083 1868 578.5 -97.3 - - 3498 - - - - - - - - 14.54 14.47 14.57
5794 549.9 -6.7 411 5796 done -0.77 - - 2144 - - - 1868 - -97.3 - - 3498 - - - - - - - - 14.68 14.71 14.71
6094 570.0 -6.6 421 6101 roll -0.77 - - 2144 - 2.47 0.106 471 -565.6 -97.3 - - 3498 - - - - - - - - 14.73 14.51 14.77
6159 574.7 -7.2 434 6166 done -0.77 - - 2135 - 2.42 0.082 1872 578.9 -97.3 - - 3498 - - - - - - - - 14.58 14.52 14.62
6485 596.8 -6.9 449 6492 roll -0.77 - - 2135 - 2.47 0.106 471 -567.2 -97.3 - - 3498 - - - - - - - - 14.78 14.55 14.81
6545 601.4 -7.6 461 6552 done -0.77 0.10 0.253 2153 180.0 2.42 0.082 1875 580.2 -97.3 - - 3498 - - - - - - - - 14.48 14.55 14.59
6876 622.2 -6.3 477 6878 done -0.77 - - 2153 - - - 1875 - -97.3 - - 3498 - - - - - - - - 14.81 14.85 14.84
7176 641.0 -6.3 487 7178 done -0.77 - - 2153 - - - 1875 - -97.3 - - 3498 - - - - - - - - 14.83 14.86 14.85
7476 659.8 -6.2 497 7483 roll -0.77 - - 2153 - 2.47 0.106 467 -570.0 -97.3 - - 3498 - - - - - - - - 14.85 14.62 14.88
7557 665.3 -6.8 513 7564 done -0.77 - - 2147 - 2.42 0.083 1877 582.6 -97.3 - - 3498 - - - - - - - - 14.68 14.62 14.71
7867 685.2 -6.4 525 7869 done -0.77 - - 2147 - - - 1877 - -97.3 - - 3498 - - - - - - - - 14.86 14.90 14.90
8167 704.0 -6.3 535 8169 done -0.77 - - 2148 - - - 1877 - -97.3 - - 3499 - - - - - - - - 14.88 14.91 14.91
8468 722.6 -6.2 545 8469 done -0.77 - - 2147 - - - 1876 - -97.3 - - 3499 - - - - - - - - 14.89 14.92 14.92
8767 740.8 -6.1 555 8773 roll -0.77 - - 2147 - 2.47 0.106 459 -573.7 -97.3 - - 3498 - - - - - - - - 14.90 14.66 14.93
8862 747.3 -6.8 574 8868 done -0.77 - - 2138 - 2.42 0.083 1875 585.1 -97.3 - - 3499 - - - - - - - - 14.73 14.66 14.76
9188 767.8 -6.4 589 9189 done -0.77 - - 2138 - - - 1875 - -97.3 - - 3499 - - - - - - - - 14.90 14.94 14.93
9487 787.2 -6.5 599 9493 roll -0.77 - - 2138 - 2.45 0.106 469 -573.9 -97.3 - - 3499 - - - - - - - - 14.91 14.67 14.94
9552 792.0 -7.1 612 9559 done -0.77 0.10 0.254 2157 190.0 2.40 0.083 1873 585.0 -97.3 - - 3499 - - - - - - - - 14.61 14.68 14.71
9877 811.1 -5.9 627 9879 done -0.77 - - 2157 - - - 1872 - -97.3 - - 3499 - - - - - - - - 14.92 14.95 14.94
10178 828.6 -5.9 637 10179 done -0.77 - - 2157 - - - 1872 - -97.3 - - 3499 - - - - - - - - 14.92 14.96 14.95
10477 846.2 -5.9 647 10483 roll -0.77 - - 2157 - 2.45 0.105 468 -573.1 -97.3 - - 3498 - - - - - - - - 14.92 14.68 14.95
10557 851.0 -6.6 663 10564 done -0.77 - - 2151 - 2.40 0.083 1875 586.2 -97.3 - - 3499 - - - - - - - - 14.76 14.69 14.78
10868 870.2 -6.1 675 10869 done -0.77 - - 2151 - - - 1875 - -97.3 - - 3499 - - - - - - - - 14.92 14.95 14.95
11168 888.5 -6.1 685 11169 done -0.77 - - 2151 - - - 1875 - -97.3 - - 3499 - - - - - - - - 14.93 14.96 14.96
11468 906.6 -6.0 695 11474 roll -0.77 - - 2151 - 2.45 0.106 471 -573.1 -97.3 - - 3499 - - - - - - - - 14.93 14.70 14.96
11547 911.6 -6.5 711 11554 done -0.77 - - 2143 - 2.40 0.083 1877 585.8 -97.3 - - 3499 - - - - - - - - 14.76 14.69 14.79
11858 930.1 -5.9 723 11859 done -0.77 - - 2143 - - - 1877 - -97.3 - - 3499 - - - - - - - - 14.93 14.96 14.96
12158 948.1 -6.1 733 12164 roll -0.77 - - 2143 - 2.45 0.106 471 -573.9 -97.3 - - 3499 - - - - - - - - 14.93 14.69 14.96
12183 949.8 -5.8 738 12194 done -0.77 - - 2133 - 2.40 0.084 1874 584.6 -97.3 - - 3499 - - - - - - - - 14.76 14.69 14.79
12488 968.6 -6.1 749 12490 done -0.77 0.12 0.292 2159 216.7 - - 1874 - -97.3 - - 3499 - - - - - - - - 14.64 14.82 14.79
12788 984.4 -5.2 759 12794 roll -0.77 - - 2160 - 2.45 0.106 471 -572.7 -97.3 - - 3499 - - - - - - - - 14.94 14.70 14.97
12853 988.9 -5.9 772 12859 done -0.77 - - 2154 - 2.40 0.083 1875 585.0 -97.3 - - 3499 - - - - - - - - 14.76 14.70 14.80
12872 end dive: TARGET_DEPTH_EXCEEDED
12872 begin apogee
12875 990.0 -5.5 776 12972 done -0.18 0.68 0.216 2347 283.8 - - 2152 - - 93.72 2.368 3100 -4.3 0.342 - - - - - - 14.65 13.85 13.01
12973 end apogee: CONTROL_FINISHED_OK
12973 begin climb
12974 990.9 - 779 13100 roll 0.77 0.98 0.129 2651 310.2 2.62 0.117 3564 538.9 97.3 100.43 2.287 2700 -4.0 0.331 - - - - - - 13.83 13.46 12.78
13107 981.6 8.3 786 13113 done 0.77 - - 2661 - 2.50 0.067 2136 -571.2 97.3 - - 2700 - - - - - - - - 13.84 13.78 13.85
13429 950.1 9.8 801 13430 done 0.77 - - 2661 - - - 2135 - 97.3 - - 2695 - - - - - - - - 14.40 14.43 14.42
13728 920.7 9.8 811 13730 done 0.77 - - 2661 - - - 2135 - 97.3 - - 2694 - - - - - - - - 14.55 14.59 14.58
14028 891.2 9.9 821 14035 roll 0.77 - - 2661 - 2.58 0.119 3557 551.2 97.3 - - 2693 - - - - - - - - 14.65 14.41 14.68
14074 886.1 10.9 830 14080 done 0.77 - - 2671 - 2.38 0.069 2145 -593.3 97.3 - - 2693 - - - - - - - - 14.51 14.47 14.53
14389 854.0 10.3 843 14391 done 0.77 - - 2671 - - - 2145 - 97.3 - - 2692 - - - - - - - - 14.71 14.74 14.74
14689 823.3 10.2 853 14696 roll 0.77 - - 2671 - 2.53 0.119 3551 555.7 97.3 - - 2692 - - - - - - - - 14.76 14.52 14.79
14729 818.7 11.3 861 14737 done 0.77 - - 2683 - 2.35 0.070 2152 -595.3 97.3 - - 2692 - - - - - - - - 14.62 14.57 14.64
15050 784.5 10.8 875 15052 done 0.77 - - 2682 - - - 2151 - 97.3 - - 2692 - - - - - - - - 14.78 14.82 14.81
15350 752.9 10.5 885 15352 done 0.77 - - 2682 - - - 2151 - 97.3 - - 2691 - - - - - - - - 14.81 14.85 14.84
15651 721.6 10.5 895 15656 roll 0.77 - - 2682 - 2.50 0.119 3557 562.4 97.3 - - 2691 - - - - - - - - 14.84 14.60 14.88
15695 716.5 11.7 904 15702 done 0.77 0.12 0.260 2660 -183.3 2.35 0.069 2146 -600.4 97.3 - - 2691 - - - - - - - - 14.54 14.65 14.65
16011 686.9 9.2 917 16012 done 0.77 - - 2660 - - - 2146 - 97.3 - - 2691 - - - - - - - - 14.85 14.88 14.88
16311 659.0 9.2 927 16312 done 0.77 - - 2660 - - - 2146 - 97.3 - - 2691 - - - - - - - - 14.86 14.90 14.89
16611 631.4 9.2 937 16612 done 0.77 - - 2660 - - - 2146 - 97.3 - - 2691 - - - - - - - - 14.88 14.91 14.91
16911 604.3 8.9 947 16917 roll 0.77 - - 2660 - 2.50 0.118 3554 563.2 97.3 - - 2691 - - - - - - - - 14.88 14.65 14.91
16971 598.4 10.1 959 16977 done 0.77 - - 2668 - 2.33 0.069 2153 -601.3 97.3 - - 2690 - - - - - - - - 14.73 14.70 14.76
17301 568.5 9.0 975 17303 done 0.77 - - 2667 - - - 2152 - 97.3 - - 2690 - - - - - - - - 14.88 14.92 14.92
17601 541.8 8.9 985 17602 done 0.77 - - 2668 - - - 2153 - 97.3 - - 2690 - - - - - - - - 14.89 14.92 14.92
17901 515.2 8.8 995 17902 done 0.77 - - 2668 - - - 2153 - 97.3 - - 2690 - - - - - - - - 14.91 14.94 14.94
18201 488.6 8.9 1005 18202 done 0.77 - - 2667 - - - 2152 - 97.3 - - 2690 - - - - - - - - 14.84 14.88 14.87
18501 461.9 8.9 1015 18507 roll 0.77 - - 2668 - 2.50 0.117 3555 561.2 97.3 - - 2690 - - - - - - - - 14.79 14.59 14.83
18561 456.0 10.1 1027 18567 done 0.77 - - 2678 - 2.35 0.068 2145 -600.0 97.3 - - 2690 - - - - - - - - 14.66 14.62 14.69
18891 425.3 9.3 1043 18892 done 0.77 - - 2678 - - - 2144 - 97.3 - - 2690 - - - - - - - - 14.74 14.78 14.77
19191 397.9 9.0 1053 19198 roll 0.77 - - 2678 - 2.53 0.117 3553 556.9 97.3 - - 2690 - - - - - - - - 14.71 14.51 14.75
19251 391.8 10.1 1065 19259 done 0.77 0.10 0.265 2662 -160.0 2.35 0.069 2154 -595.3 97.3 - - 2690 - - - - - - - - 14.44 14.54 14.55
19582 364.0 8.3 1081 19584 done 0.77 - - 2662 - - - 2153 - 97.3 - - 2690 - - - - - - - - 14.69 14.72 14.73
19882 339.6 8.1 1091 19888 roll 0.77 - - 2670 - 2.47 0.099 751 -567.6 97.3 - - 2690 - - - - - - - - 14.68 14.50 14.71
19912 337.2 7.8 1097 19919 done 0.77 - - 2671 - 2.42 0.083 2147 576.9 97.3 - - 2689 - - - - - - - - 14.54 14.49 14.58
20243 311.2 7.7 1113 20250 roll 0.77 - - 2671 - 2.53 0.116 3555 556.5 97.3 - - 2689 - - - - - - - - 14.68 14.47 14.71
20298 306.5 8.4 1124 20309 done 0.77 - - 2681 - 2.38 0.068 2145 -592.4 97.3 - - 2689 - - - - - - - - 14.52 14.47 14.54
20604 283.9 7.3 1135 20606 done 0.78 - - 2681 - - - 2145 - 97.3 - - 2689 - - - - - - - - 14.73 14.77 14.77
20904 265.1 5.8 1145 20940 done 0.82 - - 2681 - - - 2145 - 135.6 33.17 1.554 2545 -4.3 0.142 - - - - - - 14.78 14.22 13.71
21234 243.5 6.3 1162 21236 done 0.85 - - 2681 - - - 2145 - 135.6 - - 2541 - - - - - - - - 14.63 14.66 14.66
21414 232.6 5.9 1180 21420 roll 0.89 - - 2681 - 2.53 0.118 3553 556.5 135.6 - - 2541 - - - - - - - - 14.66 14.45 14.69
21448 230.3 6.6 1187 21459 done 0.91 - - 2692 - 2.38 0.068 2149 -589.9 135.6 - - 2541 - - - - - - - - 14.52 14.48 14.54
21634 219.4 5.6 1206 21680 done 0.95 - - 2691 - - - 2149 - 176.4 37.10 1.504 2378 -4.4 0.123 - - - - - - 14.69 14.12 13.63
21854 205.6 6.5 1228 21860 roll 0.98 - - 2691 - 2.55 0.117 3554 551.0 176.4 - - 2374 - - - - - - - - 14.52 14.31 14.55
21888 203.0 7.4 1235 21899 done 0.98 - - 2702 - 2.40 0.070 2142 -588.3 176.4 - - 2374 - - - - - - - - 14.39 14.35 14.41
22074 190.6 6.6 1254 22080 roll 1.00 - - 2713 - 2.42 0.103 751 -574.8 176.4 - - 2372 - - - - - - - - 14.58 14.37 14.61
22118 187.5 6.9 1263 22129 done 1.02 - - 2713 - 2.45 0.084 2149 570.6 176.4 - - 2372 - - - - - - - - 14.44 14.38 14.47
22304 175.0 6.8 1282 22310 roll 1.04 - - 2713 - 2.50 0.119 3557 563.2 176.4 - - 2372 - - - - - - - - 14.62 14.39 14.65
22374 169.6 7.8 1296 22380 done 1.04 - - 2723 - 2.38 0.070 2151 -590.8 176.4 - - 2372 - - - - - - - - 14.50 14.46 14.52
22564 156.5 6.4 1316 22566 done 1.07 - - 2723 - - - 2151 - 176.4 - - 2372 - - - - - - - - 14.65 14.68 14.68
22744 145.5 6.1 1334 22746 done 1.11 0.12 0.146 2776 441.7 - - 2151 - 176.4 - - 2371 - - - - - - - - 14.50 14.58 14.57
22924 133.1 6.2 1352 22930 roll 1.14 - - 2777 - 2.53 0.119 3551 553.4 176.4 - - 2371 - - - - - - - - 14.68 14.46 14.71
23014 125.9 8.2 1370 23020 done 1.14 - - 2787 - 2.35 0.070 2155 -594.0 176.4 - - 2371 - - - - - - - - 14.56 14.51 14.58
23204 113.3 6.4 1390 23210 roll 1.17 - - 2798 - 2.47 0.103 753 -567.6 176.4 - - 2370 - - - - - - - - 14.68 14.47 14.71
23306 107.2 6.0 1410 23311 done 1.21 - - 2798 - 2.40 0.085 2158 585.4 176.4 - - 2369 - - - - - - - - 14.58 14.48 14.60
23495 97.0 5.0 1430 23554 roll 1.26 - - 2809 - 2.55 0.103 757 -549.4 229.1 47.42 1.395 2163 -4.3 0.058 - - - - - - 14.68 14.15 13.62
23603 90.0 7.5 1448 23609 done 1.26 - - 2809 - 2.47 0.085 2148 563.2 229.1 - - 2159 - - - - - - - - 14.27 14.21 14.29
23793 76.6 6.2 1468 23799 roll 1.29 - - 2809 - 2.55 0.117 3554 551.4 229.1 - - 2158 - - - - - - - - 14.50 14.28 14.52
24023 65.1 3.6 1514 24109 done 1.37 - - 2820 - 2.38 0.067 2153 -588.7 308.5 77.00 1.314 1840 -4.1 0.039 - - - - - - 14.43 14.39 13.43
24283 50.4 5.4 1546 24335 roll 1.42 0.15 0.129 2880 400.0 2.62 0.116 3555 535.1 353.1 44.45 1.261 1658 -4.1 0.031 - - - - - - 14.21 13.88 13.45
24559 29.9 6.7 1599 24570 done 1.44 - - 2890 - 2.42 0.070 2152 -579.8 353.1 - - 1651 - - - - - - - - 14.25 14.21 14.27
24745 24.5 1.6 1618 24877 roll 1.55 - - 2901 - 2.62 0.100 749 -535.5 467.8 125.60 1.222 1191 -3.7 0.014 - - - - - - 14.45 13.71 13.30
24970 9.5 8.8 1658 24981 done 1.55 - - 2901 - 2.53 0.083 2144 551.4 467.8 - - 1187 - - - - - - - - 14.04 13.98 14.06
25075 end climb: SURFACE_DEPTH_REACHED
25075 begin surface coast
25095 end surface coast: CONTROL_FINISHED_OK
25095 begin surface
SM 0.64 - - - - -6.85 7.93 0.066 199 25.1 0.47 0.094 1879 1806.4 500.17 81.03 0.632 1061 13.1 -0.001 - - - - 1 -