AMOS Sep19 * SG197 * Dive index * Mission links * Dive 39 * Raw log
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• Previous call tries 1 • 25.66 of 347.00 AH used of 24V (92.60% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -65.4 deg, depth 0.62 m • Intended pitch -18.7 deg, speed -7.857 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 21 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7 - - - 94 VBD -0.77 - - 173 - - - 1877 - -97.3 -85.32 0.002 2648 - - - - - - - - 14.32 - 14.35
96 5.1 -9.6 8 131 roll -0.77 10.40 0.456 2146 189.7 2.60 0.136 3285 541.5 -97.3 -17.80 0.006 3498 -47.8 7.797 - - - - - - 13.97 13.58 14.22
345 71.8 -19.1 57 355 done -0.77 - - 2146 - 2.45 0.073 1875 -575.5 -97.3 - - 3498 - - - - - - - - 14.33 14.28 14.36
530 102.8 -15.8 76 536 roll -0.77 - - 2146 - 2.53 0.106 468 -556.1 -97.3 - - 3498 - - - - - - - - 14.54 14.32 14.57
590 112.3 -15.7 88 596 done -0.77 - - 2136 - 2.47 0.083 1875 569.6 -97.3 - - 3498 - - - - - - - - 14.41 14.34 14.44
780 139.6 -14.3 108 786 roll -0.77 - - 2136 - 2.53 0.106 466 -556.9 -97.3 - - 3498 - - - - - - - - 14.62 14.39 14.65
825 146.3 -14.9 117 836 done -0.77 0.10 0.276 2153 170.0 2.47 0.084 1878 571.7 -97.3 - - 3498 - - - - - - - - 14.32 14.40 14.44
1010 169.6 -12.0 136 1016 roll -0.77 - - 2153 - 2.53 0.106 465 -558.5 -97.3 - - 3498 - - - - - - - - 14.66 14.43 14.69
1065 176.7 -12.9 147 1076 done -0.77 - - 2147 - 2.45 0.084 1870 573.5 -97.3 - - 3498 - - - - - - - - 14.51 14.45 14.54
1250 199.8 -12.4 166 1257 roll -0.77 - - 2146 - 2.50 0.106 468 -560.8 -97.3 - - 3498 - - - - - - - - 14.70 14.47 14.73
1315 208.2 -12.8 179 1326 done -0.77 - - 2137 - 2.45 0.084 1875 574.3 -97.3 - - 3498 - - - - - - - - 14.54 14.47 14.57
1501 230.8 -11.9 198 1502 done -0.77 - - 2137 - - - 1875 - -97.3 - - 3498 - - - - - - - - 14.72 14.76 14.75
1701 253.5 -11.1 216 1702 done -0.77 - - 2137 - - - 1875 - -97.3 - - 3498 - - - - - - - - 14.75 14.78 14.78
2001 283.3 -9.3 226 2008 roll -0.77 - - 2137 - 2.50 0.108 463 -564.8 -97.3 - - 3498 - - - - - - - - 14.78 14.55 14.82
2056 288.7 -9.9 237 2067 done -0.77 0.10 0.267 2155 180.0 2.42 0.086 1868 580.6 -97.3 - - 3498 - - - - - - - - 14.48 14.56 14.59
2361 312.9 -7.7 248 2363 done -0.77 - - 2155 - - - 1868 - -97.3 - - 3498 - - - - - - - - 14.81 14.85 14.84
2661 335.4 -7.2 258 2668 roll -0.77 - - 2155 - 2.47 0.109 469 -566.4 -97.3 - - 3498 - - - - - - - - 14.83 14.60 14.86
2707 338.9 -7.6 267 2713 done -0.77 - - 2149 - 2.42 0.085 1874 580.6 -97.3 - - 3498 - - - - - - - - 14.66 14.60 14.69
3022 361.6 -7.0 280 3024 done -0.77 - - 2149 - - - 1874 - -97.3 - - 3498 - - - - - - - - 14.85 14.88 14.88
3322 383.0 -7.2 290 3329 roll -0.77 - - 2149 - 2.47 0.107 465 -570.4 -97.3 - - 3498 - - - - - - - - 14.87 14.63 14.90
3387 387.9 -7.4 303 3394 done -0.77 - - 2140 - 2.42 0.085 1874 582.2 -97.3 - - 3497 - - - - - - - - 14.69 14.62 14.72
3713 411.2 -7.2 318 3714 done -0.77 - - 2140 - - - 1874 - -97.3 - - 3498 - - - - - - - - 14.87 14.90 14.90
4013 432.9 -7.2 328 4014 done -0.77 - - 2141 - - - 1874 - -97.3 - - 3497 - - - - - - - - 14.87 14.90 14.90
4313 454.2 -7.1 338 4319 roll -0.77 - - 2140 - 2.47 0.106 463 -571.3 -97.3 - - 3497 - - - - - - - - 14.88 14.65 14.91
4418 462.4 -7.9 359 4425 done -0.77 0.10 0.259 2158 180.0 2.42 0.085 1874 583.1 -97.3 - - 3498 - - - - - - - - 14.57 14.64 14.68
4733 482.8 -6.3 372 4735 done -0.77 - - 2158 - - - 1874 - -97.3 - - 3498 - - - - - - - - 14.87 14.90 14.90
5033 501.9 -6.4 382 5035 done -0.77 - - 2158 - - - 1874 - -97.3 - - 3498 - - - - - - - - 14.88 14.91 14.91
5333 520.6 -6.2 392 5339 roll -0.77 - - 2159 - 2.45 0.106 472 -572.2 -97.3 - - 3498 - - - - - - - - 14.88 14.66 14.91
5418 526.5 -6.9 409 5429 done -0.77 - - 2153 - 2.40 0.083 1872 583.3 -97.3 - - 3498 - - - - - - - - 14.72 14.66 14.76
5723 546.0 -6.3 420 5725 done -0.77 - - 2153 - - - 1872 - -97.3 - - 3498 - - - - - - - - 14.88 14.92 14.91
6023 564.9 -6.3 430 6030 roll -0.77 - - 2153 - 2.45 0.106 469 -572.7 -97.3 - - 3498 - - - - - - - - 14.90 14.66 14.92
6074 568.4 -7.0 440 6080 done -0.77 - - 2145 - 2.40 0.082 1875 585.8 -97.3 - - 3498 - - - - - - - - 14.73 14.66 14.76
6384 588.8 -6.6 452 6386 done -0.77 - - 2145 - - - 1875 - -97.3 - - 3498 - - - - - - - - 14.90 14.94 14.93
6684 608.0 -6.3 462 6686 done -0.77 - - 2145 - - - 1875 - -97.3 - - 3498 - - - - - - - - 14.90 14.95 14.94
6984 627.0 -6.3 472 6990 roll -0.77 - - 2145 - 2.47 0.104 466 -570.4 -97.3 - - 3498 - - - - - - - - 14.83 14.62 14.85
7039 630.9 -7.2 483 7049 done -0.77 - - 2135 - 2.42 0.082 1878 583.5 -97.3 - - 3498 - - - - - - - - 14.66 14.60 14.69
7344 651.3 -6.7 494 7346 done -0.77 - - 2136 - - - 1878 - -97.3 - - 3498 - - - - - - - - 14.78 14.81 14.80
7644 671.4 -6.7 504 7650 roll -0.77 - - 2135 - 2.50 0.106 462 -566.4 -97.3 - - 3498 - - - - - - - - 14.75 14.54 14.78
7704 675.8 -7.3 516 7710 done -0.77 0.10 0.254 2154 190.0 2.42 0.082 1867 580.6 -97.3 - - 3498 - - - - - - - - 14.47 14.54 14.57
8034 695.7 -5.9 532 8036 done -0.77 - - 2154 - - - 1867 - -97.3 - - 3498 - - - - - - - - 14.72 14.76 14.75
8334 713.4 -5.9 542 8341 roll -0.77 - - 2154 - 2.47 0.106 471 -565.2 -97.3 - - 3499 - - - - - - - - 14.71 14.50 14.74
8385 716.6 -6.5 552 8391 done -0.77 - - 2148 - 2.42 0.081 1872 578.9 -97.3 - - 3498 - - - - - - - - 14.56 14.50 14.59
8695 735.6 -6.1 564 8696 done -0.77 - - 2148 - - - 1872 - -97.3 - - 3499 - - - - - - - - 14.69 14.73 14.72
8995 753.7 -6.0 574 8996 done -0.77 - - 2148 - - - 1872 - -97.3 - - 3499 - - - - - - - - 14.73 14.76 14.76
9295 771.7 -6.0 584 9301 roll -0.77 - - 2148 - 2.47 0.105 471 -567.2 -97.3 - - 3499 - - - - - - - - 14.78 14.54 14.80
9364 776.2 -6.8 598 9371 done -0.77 - - 2139 - 2.42 0.081 1877 581.0 -97.3 - - 3499 - - - - - - - - 14.62 14.55 14.65
9685 796.7 -6.2 612 9687 done -0.77 - - 2139 - - - 1877 - -97.3 - - 3499 - - - - - - - - 14.81 14.84 14.83
9985 815.4 -6.3 622 9992 roll -0.77 - - 2139 - 2.47 0.105 471 -569.2 -97.3 - - 3499 - - - - - - - - 14.83 14.60 14.85
10040 819.3 -7.1 633 10052 done -0.77 0.10 0.253 2158 190.0 2.40 0.083 1866 581.2 -97.3 - - 3499 - - - - - - - - 14.53 14.60 14.64
10346 837.0 -5.7 644 10347 done -0.77 - - 2158 - - - 1866 - -97.3 - - 3499 - - - - - - - - 14.84 14.87 14.86
10646 853.6 -5.7 654 10653 roll -0.77 - - 2158 - 2.45 0.107 473 -568.6 -97.3 - - 3499 - - - - - - - - 14.86 14.62 14.89
10737 859.3 -6.2 672 10743 done -0.77 - - 2152 - 2.40 0.083 1871 582.5 -97.3 - - 3499 - - - - - - - - 14.69 14.63 14.72
11067 878.7 -5.9 688 11068 done -0.77 - - 2152 - - - 1871 - -97.3 - - 3499 - - - - - - - - 14.88 14.90 14.90
11367 896.5 -5.9 698 11368 done -0.77 - - 2152 - - - 1871 - -97.3 - - 3499 - - - - - - - - 14.89 14.92 14.92
11667 914.6 -6.1 708 11673 roll -0.77 - - 2152 - 2.45 0.106 472 -571.0 -97.3 - - 3499 - - - - - - - - 14.90 14.66 14.93
11711 917.6 -6.7 717 11718 done -0.77 - - 2144 - 2.40 0.083 1874 584.2 -97.3 - - 3499 - - - - - - - - 14.73 14.66 14.76
12027 936.7 -6.0 730 12028 done -0.77 - - 2144 - - - 1874 - -97.3 - - 3499 - - - - - - - - 14.90 14.93 14.93
12327 954.8 -6.0 740 12328 done -0.77 - - 2144 - - - 1874 - -97.3 - - 3499 - - - - - - - - 14.91 14.94 14.94
12627 972.3 -5.9 750 12633 roll -0.77 - - 2144 - 2.47 0.106 462 -571.7 -97.3 - - 3499 - - - - - - - - 14.92 14.69 14.95
12677 975.6 -6.5 760 12683 done -0.77 - - 2134 - 2.42 0.083 1876 584.3 -97.3 - - 3499 - - - - - - - - 14.75 14.68 14.78
12926 end dive: TARGET_DEPTH_EXCEEDED
12927 begin apogee
12929 990.7 -6.1 770 13026 done -0.18 0.75 0.223 2347 284.0 - - 2153 - - 93.90 2.377 3100 -4.2 0.340 - - - - - - 14.64 13.84 13.00
13027 end apogee: CONTROL_FINISHED_OK
13027 begin climb
13028 992.6 - 773 13155 roll 0.77 0.98 0.130 2651 310.2 2.65 0.118 3553 528.3 97.3 100.18 2.305 2700 -4.0 0.330 - - - - - - 13.83 13.45 12.77
13163 983.6 8.9 781 13168 done 0.77 - - 2661 - 2.53 0.067 2138 -559.3 97.3 - - 2700 - - - - - - - - 13.81 13.77 13.83
13484 952.5 9.7 795 13485 done 0.77 - - 2661 - - - 2137 - 97.3 - - 2695 - - - - - - - - 14.39 14.42 14.42
13783 924.0 9.5 805 13790 roll 0.77 - - 2661 - 2.60 0.119 3560 547.3 97.3 - - 2694 - - - - - - - - 14.54 14.31 14.57
13843 917.6 10.8 817 13850 done 0.77 - - 2672 - 2.40 0.069 2150 -587.5 97.3 - - 2694 - - - - - - - - 14.41 14.37 14.44
14173 884.4 9.8 833 14175 done 0.77 - - 2672 - - - 2150 - 97.3 - - 2693 - - - - - - - - 14.65 14.69 14.69
14474 855.2 9.7 843 14475 done 0.77 - - 2672 - - - 2150 - 97.3 - - 2692 - - - - - - - - 14.71 14.74 14.73
14773 826.5 9.7 853 14780 roll 0.77 - - 2672 - 2.53 0.119 3554 554.9 97.3 - - 2692 - - - - - - - - 14.76 14.52 14.79
14828 820.6 10.8 864 14839 done 0.77 - - 2682 - 2.35 0.069 2153 -596.2 97.3 - - 2692 - - - - - - - - 14.61 14.57 14.63
15134 789.9 10.1 875 15135 done 0.77 - - 2682 - - - 2152 - 97.3 - - 2692 - - - - - - - - 14.79 14.82 14.82
15434 759.8 10.0 885 15435 done 0.77 - - 2683 - - - 2152 - 97.3 - - 2691 - - - - - - - - 14.82 14.85 14.85
15734 729.3 10.2 895 15735 done 0.77 - - 2683 - - - 2152 - 97.3 - - 2691 - - - - - - - - 14.83 14.88 14.87
16034 699.2 10.0 905 16040 roll 0.77 - - 2682 - 2.50 0.117 3560 563.2 97.3 - - 2691 - - - - - - - - 14.85 14.62 14.88
16073 694.8 11.1 913 16080 done 0.77 0.12 0.260 2660 -183.3 2.35 0.069 2148 -600.9 97.3 - - 2691 - - - - - - - - 14.54 14.66 14.66
16394 666.0 8.9 927 16396 done 0.77 - - 2660 - - - 2147 - 97.3 - - 2691 - - - - - - - - 14.86 14.90 14.89
16694 639.1 9.0 937 16695 done 0.77 - - 2660 - - - 2147 - 97.3 - - 2691 - - - - - - - - 14.87 14.90 14.90
16994 612.1 9.0 947 17000 roll 0.77 - - 2660 - 2.50 0.117 3556 563.6 97.3 - - 2690 - - - - - - - - 14.88 14.65 14.92
17054 606.2 10.1 959 17060 done 0.77 - - 2668 - 2.35 0.068 2138 -603.4 97.3 - - 2690 - - - - - - - - 14.73 14.69 14.76
17384 576.0 9.1 975 17385 done 0.77 - - 2668 - - - 2138 - 97.3 - - 2690 - - - - - - - - 14.88 14.91 14.91
17684 548.7 9.2 985 17690 roll 0.77 - - 2668 - 2.50 0.117 3554 566.4 97.3 - - 2690 - - - - - - - - 14.90 14.66 14.92
17754 541.5 10.4 999 17760 done 0.77 - - 2678 - 2.33 0.068 2153 -601.3 97.3 - - 2690 - - - - - - - - 14.74 14.70 14.76
18074 511.0 9.5 1013 18076 done 0.77 - - 2678 - - - 2153 - 97.3 - - 2690 - - - - - - - - 14.88 14.92 14.92
18374 482.5 9.5 1023 18380 roll 0.77 - - 2678 - 2.47 0.117 3554 567.2 97.3 - - 2690 - - - - - - - - 14.88 14.66 14.92
18409 478.9 10.5 1030 18416 done 0.77 0.10 0.269 2662 -160.0 2.33 0.069 2151 -602.1 97.3 - - 2690 - - - - - - - - 14.59 14.70 14.70
18735 450.8 8.5 1045 18736 done 0.77 - - 2662 - - - 2151 - 97.3 - - 2690 - - - - - - - - 14.88 14.92 14.92
19035 425.4 8.5 1055 19037 done 0.77 - - 2662 - - - 2151 - 97.3 - - 2690 - - - - - - - - 14.88 14.92 14.91
19335 399.8 8.6 1065 19337 done 0.77 - - 2662 - - - 2151 - 97.3 - - 2690 - - - - - - - - 14.88 14.92 14.91
19635 374.9 8.1 1075 19636 done 0.77 - - 2662 - - - 2151 - 97.3 - - 2690 - - - - - - - - 14.88 14.91 14.90
19935 351.0 7.9 1085 19936 done 0.77 - - 2662 - - - 2151 - 97.3 - - 2690 - - - - - - - - 14.88 14.91 14.91
20235 327.7 7.6 1095 20241 roll 0.77 - - 2662 - 2.47 0.116 3553 567.6 97.3 - - 2690 - - - - - - - - 14.88 14.65 14.90
20300 322.1 8.4 1108 20306 done 0.77 - - 2670 - 2.33 0.068 2152 -601.3 97.3 - - 2690 - - - - - - - - 14.73 14.69 14.76
20625 298.6 7.0 1123 20627 done 0.78 - - 2670 - - - 2151 - 97.3 - - 2690 - - - - - - - - 14.88 14.91 14.90
20925 279.2 6.3 1133 20931 roll 0.82 - - 2671 - 2.47 0.116 3552 567.2 97.3 - - 2690 - - - - - - - - 14.87 14.64 14.90
20940 278.2 6.3 1136 20946 done 0.85 - - 2681 - 2.33 0.067 2152 -600.9 97.3 - - 2690 - - - - - - - - 14.73 14.69 14.76
21255 259.7 5.6 1149 21292 done 0.89 - - 2681 - - - 2152 - 138.4 35.10 1.555 2534 -4.4 0.143 - - - - - - 14.81 14.38 13.76
21585 238.9 5.9 1170 21592 roll 0.93 - - 2692 - 2.47 0.099 754 -566.0 138.4 - - 2530 - - - - - - - - 14.58 14.39 14.61
21621 236.7 6.0 1177 21631 done 0.96 - - 2692 - 2.42 0.083 2145 574.8 138.4 - - 2529 - - - - - - - - 14.45 14.39 14.47
21806 226.0 5.7 1196 21849 roll 1.00 0.12 0.144 2742 416.7 2.55 0.116 3557 553.7 178.7 36.42 1.508 2370 -4.4 0.126 - - - - - - 14.44 14.14 13.57
21923 216.1 9.7 1218 21929 done 1.00 - - 2753 - 2.42 0.068 2148 -582.2 178.7 - - 2368 - - - - - - - - 14.27 14.23 14.29
22113 199.3 8.3 1238 22115 done 1.00 - - 2753 - - - 2148 - 178.7 - - 2366 - - - - - - - - 14.47 14.51 14.50
22293 184.2 8.2 1256 22299 roll 1.00 - - 2753 - 2.55 0.116 3552 550.6 178.7 - - 2365 - - - - - - - - 14.51 14.31 14.54
22333 180.5 9.3 1264 22339 done 1.00 0.10 0.267 2738 -150.0 2.40 0.069 2143 -587.1 178.7 - - 2365 - - - - - - - - 14.23 14.35 14.35
22523 166.4 7.1 1284 22525 done 1.02 - - 2738 - - - 2143 - 178.7 - - 2365 - - - - - - - - 14.54 14.57 14.57
22703 154.0 6.7 1302 22705 done 1.04 - - 2738 - - - 2143 - 178.7 - - 2364 - - - - - - - - 14.56 14.59 14.59
22883 142.4 6.1 1320 22885 done 1.08 - - 2738 - - - 2143 - 178.7 - - 2364 - - - - - - - - 14.57 14.60 14.59
23063 130.8 6.6 1338 23065 done 1.10 - - 2738 - - - 2143 - 178.7 - - 2364 - - - - - - - - 14.57 14.61 14.61
23243 119.6 6.0 1356 23249 roll 1.14 0.12 0.145 2788 416.7 2.53 0.119 3559 559.7 178.7 - - 2363 - - - - - - - - 14.41 14.38 14.47
23303 115.1 7.3 1368 23309 done 1.15 - - 2799 - 2.40 0.070 2151 -586.7 178.7 - - 2363 - - - - - - - - 14.46 14.42 14.48
23493 104.1 5.6 1388 23544 roll 1.19 - - 2799 - 2.53 0.116 3555 554.9 220.7 38.33 1.406 2198 -4.3 0.061 - - - - - - 14.63 14.09 13.62
23627 93.6 8.9 1412 23638 done 1.19 - - 2810 - 2.42 0.068 2144 -583.1 220.7 - - 2195 - - - - - - - - 14.30 14.26 14.33
23813 80.5 6.0 1431 23815 done 1.23 - - 2810 - - - 2144 - 220.7 - - 2193 - - - - - - - - 14.50 14.53 14.53
23993 71.0 4.6 1449 24056 roll 1.29 - - 2820 - 2.53 0.100 752 -550.2 280.9 58.55 1.339 1952 -4.1 0.042 - - - - - - 14.54 13.93 13.49
24145 62.5 6.3 1477 24151 done 1.32 - - 2821 - 2.50 0.083 2150 559.2 280.9 - - 1947 - - - - - - - - 14.18 14.12 14.21
24335 53.1 4.1 1497 24412 done 1.39 0.12 0.142 2874 441.7 - - 2150 - 350.5 68.57 1.291 1669 -4.1 0.032 - - - - - - 14.28 13.82 13.39
24586 37.3 6.6 1525 24588 done 1.41 - - 2875 - - - 2150 - 350.5 - - 1662 - - - - - - - - 14.33 14.37 14.36
24766 28.0 2.3 1543 24888 roll 1.51 - - 2884 - 2.55 0.099 754 -547.5 452.5 108.88 1.242 1253 -3.8 0.016 - - - - - - 14.43 13.72 13.31
24922 21.5 7.0 1570 24934 done 1.53 - - 2884 - 2.53 0.082 2143 549.0 452.5 - - 1252 - - - - - - - - 13.97 13.91 14.00
25107 8.5 7.9 1589 25113 roll 1.53 - - 2884 - 2.60 0.115 3560 545.0 452.5 - - 1249 - - - - - - - - 14.31 14.12 14.33
25127 6.9 7.9 1593 25134 done 1.53 - - 2894 - 2.45 0.069 2142 -578.8 452.5 - - 1249 - - - - - - - - 14.21 14.16 14.23
25197 end climb: SURFACE_DEPTH_REACHED
25197 begin surface coast
25217 end surface coast: CONTROL_FINISHED_OK
25217 begin surface
SM 0.77 - - - - -6.87 8.02 0.080 188 23.4 0.45 0.099 1884 1897.8 500.17 99.35 0.747 1061 10.7 -0.001 - - - - 1 -