AMOS Sep19 * SG197 * Dive index * Mission links * Dive 14 * Raw log
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• Previous call tries 1 • 13.12 of 347.00 AH used of 24V (96.22% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.3 deg, depth 0.65 m • Intended pitch -18.1 deg, speed -8.462 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 28 s
• GPS2 time: 3 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
7 - - - 95 VBD -0.76 - - 134 - - - 1966 - -116.8 -86.43 0.002 2552 - - - - - - - - 14.32 - 14.35
97 4.0 -7.2 8 145 roll -0.76 10.45 0.447 2162 194.1 2.70 0.162 3381 524.1 -116.8 -26.02 0.005 3741 -45.7 7.066 - - - - - - 14.00 13.37 14.23
308 62.7 -22.2 49 319 done -0.76 - - 2162 - 2.47 0.086 1983 -566.0 -116.8 - - 3741 - - - - - - - - 14.31 14.25 14.35
493 95.1 -16.6 68 495 done -0.76 - - 2162 - - - 1983 - -116.8 - - 3741 - - - - - - - - 14.54 14.57 14.56
673 122.4 -14.6 86 680 roll -0.76 - - 2162 - 2.58 0.122 568 -548.4 -116.8 - - 3741 - - - - - - - - 14.59 14.35 14.62
793 140.6 -14.9 110 800 done -0.76 - - 2153 - 2.50 0.103 1970 560.8 -116.8 - - 3741 - - - - - - - - 14.46 14.40 14.50
983 167.2 -13.6 130 990 roll -0.76 - - 2154 - 2.55 0.122 564 -551.4 -116.8 - - 3741 - - - - - - - - 14.66 14.42 14.69
1038 175.0 -14.1 141 1049 done -0.76 0.10 0.268 2171 170.0 2.53 0.102 1978 558.9 -116.8 - - 3741 - - - - - - - - 14.38 14.45 14.48
1224 196.9 -11.5 160 1230 roll -0.76 - - 2171 - 2.55 0.122 570 -552.2 -116.8 - - 3741 - - - - - - - - 14.69 14.45 14.72
1278 203.7 -12.3 171 1290 done -0.76 - - 2164 - 2.50 0.103 1976 562.4 -116.8 - - 3741 - - - - - - - - 14.54 14.47 14.57
1464 225.4 -11.6 190 1465 done -0.76 - - 2164 - - - 1976 - -116.8 - - 3741 - - - - - - - - 14.72 14.75 14.74
1644 245.6 -10.9 208 1650 roll -0.76 - - 2164 - 2.55 0.122 565 -553.3 -116.8 - - 3741 - - - - - - - - 14.73 14.50 14.77
1734 255.9 -10.9 226 1740 done -0.76 - - 2156 - 2.50 0.104 1973 563.2 -116.8 - - 3741 - - - - - - - - 14.58 14.52 14.62
2064 289.2 -9.5 242 2066 done -0.76 - - 2156 - - - 1973 - -116.8 - - 3741 - - - - - - - - 14.78 14.82 14.81
2364 316.1 -8.9 252 2370 roll -0.76 - - 2156 - 2.53 0.122 567 -555.7 -116.8 - - 3741 - - - - - - - - 14.81 14.57 14.84
2474 327.0 -9.9 274 2480 done -0.76 0.10 0.250 2175 190.0 2.47 0.104 1970 568.0 -116.8 - - 3741 - - - - - - - - 14.52 14.58 14.63
2784 351.6 -7.7 286 2790 roll -0.76 - - 2175 - 2.50 0.121 572 -559.2 -116.8 - - 3741 - - - - - - - - 14.83 14.59 14.86
2854 357.6 -8.6 300 2860 done -0.76 - - 2171 - 2.47 0.104 1974 567.6 -116.8 - - 3741 - - - - - - - - 14.67 14.60 14.70
3174 383.4 -8.0 314 3180 roll -0.76 - - 2171 - 2.53 0.121 563 -557.7 -116.8 - - 3741 - - - - - - - - 14.85 14.61 14.88
3234 388.6 -8.7 326 3240 done -0.76 - - 2162 - 2.47 0.102 1972 570.4 -116.8 - - 3741 - - - - - - - - 14.69 14.62 14.71
3564 414.7 -7.8 342 3570 roll -0.76 - - 2162 - 2.50 0.120 568 -561.6 -116.8 - - 3741 - - - - - - - - 14.86 14.62 14.89
3639 421.0 -8.5 357 3646 done -0.76 - - 2154 - 2.47 0.103 1976 570.0 -116.8 - - 3741 - - - - - - - - 14.69 14.62 14.73
3954 446.7 -8.2 370 3960 roll -0.76 - - 2154 - 2.50 0.119 569 -562.8 -116.8 - - 3740 - - - - - - - - 14.87 14.62 14.90
3984 449.4 -8.8 376 3991 done -0.76 0.10 0.244 2173 190.0 2.47 0.102 1976 569.6 -116.8 - - 3741 - - - - - - - - 14.58 14.64 14.68
4315 473.5 -7.3 392 4321 roll -0.76 - - 2173 - 2.50 0.119 567 -563.6 -116.8 - - 3740 - - - - - - - - 14.88 14.63 14.90
4375 478.2 -8.0 404 4381 done -0.76 - - 2168 - 2.47 0.102 1982 572.9 -116.8 - - 3741 - - - - - - - - 14.71 14.64 14.73
4705 502.8 -7.3 420 4711 roll -0.76 - - 2168 - 2.53 0.119 564 -560.5 -116.8 - - 3740 - - - - - - - - 14.88 14.64 14.91
4769 508.0 -8.2 433 4776 done -0.76 - - 2160 - 2.47 0.100 1976 571.7 -116.8 - - 3741 - - - - - - - - 14.71 14.64 14.73
5095 532.8 -7.6 448 5101 roll -0.76 - - 2159 - 2.50 0.119 565 -564.4 -116.8 - - 3741 - - - - - - - - 14.88 14.64 14.91
5134 536.1 -8.3 456 5141 done -0.76 - - 2152 - 2.47 0.101 1979 572.5 -116.8 - - 3740 - - - - - - - - 14.72 14.65 14.75
5455 561.3 -7.9 470 5461 roll -0.76 - - 2151 - 2.50 0.117 568 -564.4 -116.8 - - 3741 - - - - - - - - 14.89 14.65 14.92
5519 566.8 -8.5 483 5527 done -0.76 0.10 0.254 2171 200.0 2.47 0.100 1981 572.1 -116.8 - - 3741 - - - - - - - - 14.59 14.64 14.69
5846 589.2 -6.8 498 5852 roll -0.76 - - 2171 - 2.53 0.118 560 -561.7 -116.8 - - 3740 - - - - - - - - 14.89 14.65 14.92
5910 594.0 -7.6 511 5918 done -0.76 - - 2165 - 2.47 0.100 1974 572.5 -116.8 - - 3741 - - - - - - - - 14.72 14.66 14.76
6236 617.2 -7.1 526 6243 roll -0.76 - - 2165 - 2.50 0.118 565 -563.6 -116.8 - - 3741 - - - - - - - - 14.90 14.66 14.92
6301 622.2 -7.9 539 6308 done -0.76 - - 2158 - 2.47 0.100 1980 572.9 -116.8 - - 3741 - - - - - - - - 14.73 14.66 14.76
6627 646.8 -7.6 554 6633 roll -0.76 - - 2158 - 2.50 0.117 568 -564.8 -116.8 - - 3740 - - - - - - - - 14.90 14.66 14.93
6687 651.8 -8.4 566 6693 done -0.76 - - 2149 - 2.45 0.099 1971 572.7 -116.8 - - 3741 - - - - - - - - 14.73 14.66 14.76
7017 678.2 -8.0 582 7023 roll -0.76 - - 2149 - 2.50 0.117 561 -564.0 -116.8 - - 3741 - - - - - - - - 14.90 14.66 14.94
7067 682.6 -8.8 592 7073 done -0.76 0.10 0.246 2170 210.0 2.47 0.099 1978 573.7 -116.8 - - 3741 - - - - - - - - 14.62 14.67 14.71
7377 704.7 -7.1 604 7383 roll -0.76 - - 2170 - 2.50 0.117 566 -564.8 -116.8 - - 3741 - - - - - - - - 14.90 14.66 14.93
7437 709.5 -7.9 616 7443 done -0.76 - - 2164 - 2.45 0.099 1972 573.9 -116.8 - - 3741 - - - - - - - - 14.74 14.67 14.77
7767 733.6 -7.3 632 7773 roll -0.76 - - 2164 - 2.50 0.117 562 -564.0 -116.8 - - 3741 - - - - - - - - 14.91 14.67 14.94
7822 738.1 -8.1 643 7834 done -0.76 - - 2157 - 2.47 0.099 1979 573.7 -116.8 - - 3741 - - - - - - - - 14.74 14.67 14.77
8127 761.1 -7.5 654 8133 roll -0.76 - - 2157 - 2.50 0.117 567 -564.8 -116.8 - - 3741 - - - - - - - - 14.91 14.66 14.94
8202 767.2 -8.1 669 8209 done -0.76 - - 2148 - 2.45 0.099 1972 573.5 -116.8 - - 3741 - - - - - - - - 14.74 14.67 14.77
8517 791.1 -7.6 682 8524 roll -0.76 0.12 0.289 2175 225.0 2.50 0.117 562 -564.0 -116.8 - - 3741 - - - - - - - - 14.60 14.64 14.74
8592 796.9 -7.4 697 8598 done -0.76 - - 2171 - 2.47 0.099 1977 572.9 -116.8 - - 3741 - - - - - - - - 14.70 14.63 14.73
8907 818.6 -6.9 710 8913 roll -0.76 - - 2171 - 2.53 0.117 562 -559.3 -116.8 - - 3740 - - - - - - - - 14.79 14.58 14.83
8942 821.3 -7.6 717 8948 done -0.76 - - 2162 - 2.47 0.099 1974 571.7 -116.8 - - 3740 - - - - - - - - 14.65 14.59 14.68
9267 844.6 -7.2 732 9273 roll -0.76 - - 2162 - 2.53 0.118 561 -558.5 -116.8 - - 3741 - - - - - - - - 14.76 14.54 14.78
9337 849.7 -8.3 746 9343 done -0.76 - - 2155 - 2.50 0.100 1978 566.8 -116.8 - - 3741 - - - - - - - - 14.61 14.54 14.64
9657 873.9 -7.5 760 9663 roll -0.76 - - 2154 - 2.55 0.119 560 -556.1 -116.8 - - 3741 - - - - - - - - 14.73 14.51 14.76
9737 880.1 -8.3 776 9744 done -0.76 0.10 0.238 2175 210.0 2.50 0.100 1973 565.2 -116.8 - - 3740 - - - - - - - - 14.46 14.52 14.56
10048 900.8 -6.5 788 10049 done -0.76 - - 2174 - - - 1973 - -116.8 - - 3741 - - - - - - - - 14.71 14.74 14.74
10348 920.3 -6.5 798 10354 roll -0.76 - - 2175 - 2.55 0.119 561 -553.7 -116.8 - - 3741 - - - - - - - - 14.71 14.49 14.73
10388 923.2 -7.4 806 10394 done -0.76 - - 2172 - 2.50 0.100 1975 565.6 -116.8 - - 3741 - - - - - - - - 14.56 14.50 14.59
10708 944.9 -6.8 820 10709 done -0.76 - - 2171 - - - 1975 - -116.8 - - 3741 - - - - - - - - 14.69 14.73 14.72
11008 964.8 -6.6 830 11014 roll -0.76 - - 2171 - 2.53 0.119 570 -555.3 -116.8 - - 3741 - - - - - - - - 14.73 14.50 14.76
11047 967.7 -7.4 838 11054 done -0.76 - - 2163 - 2.47 0.100 1970 566.8 -116.8 - - 3741 - - - - - - - - 14.58 14.51 14.61
11368 989.8 -6.9 852 11369 done -0.76 - - 2164 - - - 1970 - -116.8 - - 3741 - - - - - - - - 14.78 14.82 14.81
11397 end dive: TARGET_DEPTH_EXCEEDED
11397 begin apogee
11400 992.0 -6.9 853 11524 done -0.18 0.70 0.207 2365 287.1 - - 2105 - - 113.40 2.391 3262 -4.2 0.339 - - - - - - 14.53 13.69 12.85
11525 end apogee: CONTROL_FINISHED_OK
11525 begin climb
11526 994.6 - 857 11652 roll 0.76 0.95 0.119 2666 316.8 2.75 0.133 3511 511.3 116.8 119.15 2.333 2784 -4.0 0.331 - - - - - - 13.75 13.38 12.69
11722 982.5 10.2 877 11728 done 0.76 - - 2676 - 2.58 0.083 2092 -550.0 116.8 - - 2780 - - - - - - - - 13.88 13.83 13.91
12042 951.9 9.6 891 12043 done 0.76 - - 2676 - - - 2092 - 116.8 - - 2776 - - - - - - - - 14.40 14.43 14.43
12342 923.3 9.5 901 12343 done 0.76 - - 2677 - - - 2092 - 116.8 - - 2775 - - - - - - - - 14.54 14.58 14.57
12642 894.9 9.5 911 12648 roll 0.76 - - 2677 - 2.60 0.135 3501 541.9 116.8 - - 2775 - - - - - - - - 14.64 14.40 14.66
12711 887.2 10.7 925 12718 done 0.76 - - 2687 - 2.42 0.083 2094 -581.4 116.8 - - 2775 - - - - - - - - 14.50 14.45 14.52
13032 855.8 9.8 939 13033 done 0.76 - - 2687 - - - 2094 - 116.8 - - 2774 - - - - - - - - 14.71 14.74 14.74
13332 826.5 9.9 949 13333 done 0.76 - - 2687 - - - 2094 - 116.8 - - 2774 - - - - - - - - 14.76 14.79 14.78
13632 796.9 9.8 959 13638 roll 0.76 - - 2687 - 2.58 0.135 3503 546.1 116.8 - - 2774 - - - - - - - - 14.79 14.55 14.83
13701 789.2 10.8 973 13708 done 0.76 - - 2698 - 2.40 0.083 2096 -586.2 116.8 - - 2774 - - - - - - - - 14.64 14.59 14.67
14022 757.7 9.7 987 14023 done 0.76 - - 2698 - - - 2095 - 116.8 - - 2773 - - - - - - - - 14.82 14.85 14.85
14322 729.0 9.5 997 14328 roll 0.76 - - 2698 - 2.58 0.135 3510 548.4 116.8 - - 2773 - - - - - - - - 14.84 14.59 14.88
14356 725.5 10.2 1004 14364 done 0.76 0.12 0.260 2676 -183.3 2.40 0.083 2100 -587.5 116.8 - - 2773 - - - - - - - - 14.53 14.63 14.65
14683 696.8 8.7 1019 14684 done 0.76 - - 2676 - - - 2100 - 116.8 - - 2773 - - - - - - - - 14.85 14.89 14.89
14983 670.4 8.8 1029 14984 done 0.76 - - 2676 - - - 2100 - 116.8 - - 2773 - - - - - - - - 14.88 14.90 14.90
15283 644.2 8.8 1039 15289 roll 0.76 - - 2676 - 2.55 0.135 3503 550.2 116.8 - - 2773 - - - - - - - - 14.88 14.64 14.92
15347 638.0 9.7 1052 15355 done 0.76 - - 2684 - 2.38 0.083 2096 -591.2 116.8 - - 2773 - - - - - - - - 14.73 14.68 14.76
15674 608.5 9.0 1067 15675 done 0.76 - - 2684 - - - 2096 - 116.8 - - 2773 - - - - - - - - 14.88 14.92 14.92
15974 581.6 9.0 1077 15975 done 0.76 - - 2684 - - - 2096 - 116.8 - - 2773 - - - - - - - - 14.90 14.94 14.93
16274 554.9 8.9 1087 16280 roll 0.76 - - 2684 - 2.55 0.135 3504 552.2 116.8 - - 2773 - - - - - - - - 14.91 14.67 14.94
16328 549.4 10.0 1098 16339 done 0.76 - - 2695 - 2.38 0.083 2097 -591.2 116.8 - - 2773 - - - - - - - - 14.76 14.71 14.78
16634 521.1 9.3 1109 16635 done 0.76 - - 2695 - - - 2097 - 116.8 - - 2773 - - - - - - - - 14.91 14.95 14.94
16934 493.3 9.3 1119 16935 done 0.76 - - 2695 - - - 2097 - 116.8 - - 2773 - - - - - - - - 14.91 14.95 14.94
17234 466.0 9.0 1129 17235 done 0.76 - - 2695 - - - 2097 - 116.8 - - 2772 - - - - - - - - 14.91 14.95 14.94
17534 439.6 8.7 1139 17535 done 0.76 - - 2695 - - - 2097 - 116.8 - - 2773 - - - - - - - - 14.91 14.95 14.94
17834 413.4 8.8 1149 17840 roll 0.76 - - 2695 - 2.55 0.135 3505 552.2 116.8 - - 2773 - - - - - - - - 14.91 14.68 14.94
17894 407.6 9.9 1161 17900 done 0.76 0.10 0.263 2679 -160.0 2.38 0.083 2100 -590.3 116.8 - - 2773 - - - - - - - - 14.61 14.71 14.73
18224 379.8 8.3 1177 18225 done 0.76 - - 2679 - - - 2100 - 116.8 - - 2773 - - - - - - - - 14.90 14.93 14.93
18524 355.7 7.8 1187 18526 done 0.78 - - 2679 - - - 2100 - 116.8 - - 2773 - - - - - - - - 14.90 14.93 14.93
18824 332.4 7.8 1197 18830 roll 0.79 - - 2680 - 2.55 0.135 3510 552.9 116.8 - - 2773 - - - - - - - - 14.90 14.66 14.93
18878 327.7 8.7 1208 18890 done 0.79 - - 2687 - 2.38 0.083 2104 -590.8 116.8 - - 2773 - - - - - - - - 14.76 14.71 14.78
19184 304.5 7.4 1219 19186 done 0.81 - - 2687 - - - 2104 - 116.8 - - 2773 - - - - - - - - 14.90 14.93 14.92
19484 283.9 6.6 1229 19490 roll 0.85 - - 2687 - 2.53 0.135 3501 552.2 116.8 - - 2773 - - - - - - - - 14.89 14.66 14.92
19559 279.2 6.1 1244 19611 done 0.90 - - 2698 - 2.38 0.082 2092 -592.0 164.9 40.62 1.596 2588 -4.6 0.154 - - - - - - 14.75 14.71 13.76
19904 253.4 7.5 1263 19910 roll 0.92 - - 2709 - 2.50 0.118 703 -555.6 164.9 - - 2583 - - - - - - - - 14.67 14.46 14.70
20019 245.1 6.9 1286 20029 done 0.95 - - 2708 - 2.47 0.099 2102 566.4 164.9 - - 2583 - - - - - - - - 14.54 14.47 14.57
20204 233.5 6.0 1305 20259 done 1.00 0.12 0.149 2759 425.0 - - 2102 - 215.4 44.62 1.526 2382 -4.5 0.133 - - - - - - 14.54 14.22 13.62
20434 213.0 9.5 1329 20435 done 1.00 - - 2758 - - - 2102 - 215.4 - - 2378 - - - - - - - - 14.52 14.55 14.55
20614 197.4 8.4 1347 20615 done 1.00 - - 2758 - - - 2102 - 215.4 - - 2377 - - - - - - - - 14.59 14.62 14.61
20794 182.1 8.2 1365 20796 done 1.00 - - 2758 - - - 2102 - 215.4 - - 2376 - - - - - - - - 14.62 14.66 14.65
20974 167.7 7.7 1383 20976 done 1.01 - - 2759 - - - 2102 - 215.4 - - 2376 - - - - - - - - 14.65 14.69 14.69
21154 153.9 7.2 1401 21156 done 1.04 - - 2759 - - - 2102 - 215.4 - - 2375 - - - - - - - - 14.68 14.71 14.71
21334 141.1 7.0 1419 21340 roll 1.07 - - 2769 - 2.47 0.118 704 -566.0 215.4 - - 2375 - - - - - - - - 14.69 14.48 14.71
21359 139.4 6.8 1424 21371 done 1.10 - - 2769 - 2.47 0.100 2098 564.4 215.4 - - 2374 - - - - - - - - 14.54 14.47 14.57
21545 126.9 6.4 1443 21587 roll 1.14 - - 2769 - 2.65 0.139 3504 530.6 257.2 36.58 1.431 2212 -4.4 0.076 - - - - - - 14.69 14.20 13.70
21741 110.1 9.0 1481 21747 done 1.14 - - 2780 - 2.45 0.086 2099 -573.5 257.2 - - 2208 - - - - - - - - 14.35 14.31 14.38
21931 95.4 7.2 1501 21933 done 1.17 - - 2780 - - - 2098 - 257.2 - - 2207 - - - - - - - - 14.56 14.59 14.59
22111 83.7 5.6 1519 22175 roll 1.23 0.12 0.148 2836 466.7 2.60 0.117 702 -536.9 315.2 53.97 1.360 1975 -4.3 0.051 - - - - - - 14.43 14.00 13.56
22223 75.6 8.3 1539 22230 done 1.23 - - 2836 - 2.55 0.103 2099 547.8 315.2 - - 1972 - - - - - - - - 14.18 14.11 14.20
22414 62.4 4.9 1559 22490 roll 1.30 - - 2836 - 2.72 0.138 3509 518.4 388.7 69.88 1.298 1676 -4.2 0.039 - - - - - - 14.44 13.86 13.42
22544 53.1 8.3 1581 22550 done 1.30 - - 2847 - 2.53 0.083 2095 -558.9 388.7 - - 1672 - - - - - - - - 14.08 14.03 14.10
22734 41.5 6.1 1601 22788 roll 1.35 - - 2847 - 2.72 0.136 3502 517.3 436.4 48.40 1.261 1481 -3.9 0.025 - - - - - - 14.38 13.92 13.46
22952 26.4 6.2 1642 23008 done 1.39 - - 2856 - 2.50 0.083 2093 -563.6 482.4 52.42 1.242 1295 -3.5 0.015 - - - - - - 14.16 14.11 13.40
23182 13.0 7.2 1669 23184 done 1.42 - - 2856 - - - 2092 - 482.4 - - 1289 - - - - - - - - 14.26 14.30 14.29
23331 end climb: SURFACE_DEPTH_REACHED
23331 begin surface coast
23352 end surface coast: CONTROL_FINISHED_OK
23352 begin surface
SM 0.56 - - - - -6.91 8.10 0.100 197 24.3 0.20 0.146 1977 9535.0 500.17 64.45 0.490 1223 19.0 -0.002 - - - - 1 -