Shilshole 21Jun17 * SG185 * Dive index * Mission links * Dive 14 * Raw log
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• Previous call tries 5 • 13.87 of 150.00 AH used of 24V (90.76% remains)
• 6.03 of 100.00 AH used of 10V (93.97% remains)
• Surface angle -4.0 deg, depth -0.22 m • Intended pitch -18.2 deg, speed -10.000 cm/s
VBD pumped to 625.76 (SM_CC=625.51501)
• GPS1 time: 30 s
• GPS2 time: 4 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
6.75 - - - 32.74 VBD -0.91 - - 248.56 - - - 2026.69 - -146.63 25.18 0.005 1231.31 - - - - - - - - - - 25.70
33.35 3.04 -9.85 5 147.03 -0.91 7.84 0.080 2558.25 294.6 3.28 0.035 604.12 -433.7 -146.63 97.00 0.005 3696.53 25.4 -1.443 - - - - - - 27.05 25.77 25.91
415.08 41.47 -9.98 81 419.54 roll -0.86 - - 2557.56 - 3.23 0.031 2030.62 441.6 -146.63 - - 3697.28 - - - - - - - - - 27.46 -
600.08 59.96 -9.88 118 605.61 roll back -0.80 0.14 0.075 2591.12 239.7 3.22 0.031 603.81 -443.1 -146.63 - - 3694.28 - - - - - - - - 27.84 27.48 -
874.48 87.04 -10.27 173 879.52 roll -0.75 - - 2590.88 - 3.20 0.031 2027.25 444.8 -146.63 - - 3696.25 - - - - - - - - - 27.49 -
1060.06 105.61 -9.90 210 1064.61 roll back -0.69 0.14 0.078 2626.19 252.2 3.23 0.031 603.50 -440.8 -146.63 - - 3695.78 - - - - - - - - 27.94 27.50 -
1334.51 133.06 -10.00 265 1339.55 roll -0.64 - - 2625.06 - 3.21 0.030 2030.00 444.4 -146.63 - - 3695.69 - - - - - - - - - 27.50 -
1519.47 151.47 -9.92 302 1524.61 roll back -0.59 0.14 0.078 2659.38 245.1 3.21 0.031 604.94 -443.9 -146.63 - - 3695.62 - - - - - - - - 27.98 27.51 -
1794.61 179.09 -9.74 357 1799.55 roll -0.53 - - 2659.94 - 3.21 0.031 2029.44 443.8 -146.63 - - 3694.84 - - - - - - - - - 27.48 -
1979.16 197.44 -9.56 394 1984.62 roll back -0.48 0.14 0.077 2695.44 253.6 3.22 0.031 603.44 -442.9 -146.63 - - 3694.09 - - - - - - - - - 27.50 -
2254.58 224.80 -9.93 449 2259.54 roll -0.43 - - 2694.81 - 3.20 0.031 2028.69 445.4 -146.63 - - 3694.03 - - - - - - - - - 27.46 -
2440.03 243.14 -9.94 486 2444.61 roll back -0.37 0.14 0.079 2728.62 241.5 3.22 0.031 602.56 -442.9 -146.63 - - 3693.09 - - - - - - - - - 27.49 -
2714.70 270.48 -9.88 541 2719.54 roll -0.32 - - 2726.25 - 3.21 0.031 2030.69 444.9 -146.63 - - 3695.44 - - - - - - - - - 27.45 -
2899.30 288.96 -10.04 578 2904.61 roll back -0.27 0.14 0.080 2763.06 262.9 3.22 0.031 603.69 -443.2 -146.63 - - 3694.56 - - - - - - - - - 27.47 -
3174.49 316.69 -10.10 633 3179.55 roll -0.21 - - 2763.06 - 3.21 0.031 2031.00 444.6 -146.63 - - 3693.75 - - - - - - - - - 27.43 -
3360.12 335.19 -9.90 670 3365.62 roll back -0.16 0.14 0.078 2795.06 228.6 3.21 0.031 603.81 -444.6 -146.63 - - 3693.25 - - - - - - - - - 27.45 -
3634.61 362.68 -9.85 725 3639.53 roll -0.11 - - 2794.25 - 3.21 0.031 2028.88 443.9 -146.63 - - 3695.41 - - - - - - - - - 27.42 -
3834.92 383.14 -10.28 735 3839.60 roll back -0.05 0.14 0.080 2830.56 259.4 3.22 0.031 604.88 -442.2 -146.63 - - 3694.44 - - - - - - - - - 27.44 -
4109.34 410.50 -10.04 790 4114.53 roll - - - 2829.25 - 3.21 0.030 2029.88 443.9 -146.63 - - 3695.44 - - - - - - - - - 27.40 -
4314.49 430.69 -9.76 801 4319.60 roll back 0.05 0.14 0.080 2864.00 248.2 3.22 0.031 603.50 -443.0 -146.63 - - 3695.12 - - - - - - - - - 27.42 -
4589.86 458.18 -9.84 856 4594.53 roll 0.11 - - 2864.75 - 3.20 0.030 2028.75 445.4 -146.63 - - 3695.22 - - - - - - - - - 27.38 -
4794.27 479.42 -10.11 867 4799.60 roll back 0.16 0.14 0.078 2899.81 250.4 3.22 0.031 604.62 -442.3 -146.63 - - 3693.25 - - - - - - - - - 27.40 -
5069.82 507.00 -10.45 922 5074.51 roll 0.22 - - 2899.25 - 3.19 0.031 2029.62 446.7 -146.63 - - 3694.69 - - - - - - - - - 27.36 -
5274.20 527.47 -10.00 933 5279.60 roll back 0.27 0.14 0.079 2935.50 258.9 3.22 0.031 605.06 -442.4 -146.63 - - 3693.97 - - - - - - - - - 27.39 -
5549.65 555.00 -10.10 988 5554.54 roll 0.32 - - 2935.12 - 3.21 0.031 2029.94 443.9 -146.63 - - 3694.84 - - - - - - - - - 27.34 -
5754.38 575.14 -9.93 999 5759.60 roll back 0.38 0.14 0.078 2970.19 250.5 3.24 0.031 603.56 -440.2 -146.63 - - 3694.59 - - - - - - - - - 27.36 -
6029.96 602.79 -10.11 1054 6034.53 roll 0.43 - - 2969.75 - 3.20 0.031 2029.44 445.6 -146.63 - - 3694.09 - - - - - - - - - 27.32 -
6234.21 623.32 -10.10 1065 6239.59 roll back 0.48 0.13 0.078 3002.06 248.5 3.23 0.031 603.44 -441.5 -146.63 - - 3694.19 - - - - - - - - - 27.35 -
6509.82 650.86 -10.06 1120 6514.53 roll 0.54 - - 3000.75 - 3.22 0.031 2029.94 443.0 -146.63 - - 3695.06 - - - - - - - - - 27.31 -
6714.26 670.80 -9.75 1131 6719.59 roll back 0.59 0.15 0.078 3037.25 243.3 3.21 0.030 603.12 -444.5 -146.63 - - 3695.44 - - - - - - - - - 27.34 -
6989.11 698.33 -9.77 1186 6994.53 roll 0.64 - - 3037.12 - 3.21 0.031 2029.62 444.4 -146.63 - - 3694.75 - - - - - - - - - 27.30 -
7194.33 718.95 -10.09 1197 7199.60 roll back 0.70 0.14 0.078 3070.19 236.2 3.23 0.030 604.88 -441.1 -146.63 - - 3696.41 - - - - - - - - - 27.33 -
7469.97 746.28 -10.03 1252 7474.51 roll 0.75 - - 3069.81 - 3.19 0.031 2030.06 446.8 -146.63 - - 3697.22 - - - - - - - - - 27.28 -
7674.23 766.77 -9.95 1263 7679.59 roll back 0.80 0.14 0.078 3107.56 269.6 3.23 0.030 603.69 -441.6 -146.63 - - 3698.34 - - - - - - - - - 27.33 -
7949.81 793.98 -9.94 1318 7954.53 roll 0.86 - - 3107.75 - 3.20 0.031 2030.19 445.8 -146.63 - - 3698.31 - - - - - - - - - 27.27 -
8154.27 814.89 -10.22 1329 8159.60 roll back 0.91 0.13 0.078 3139.25 242.3 3.22 0.030 605.12 -442.6 -146.63 - - 3698.09 - - - - - - - - - 27.33 -
8409 end dive: TARGET_DEPTH_EXCEEDED
8409 begin apogee
8414.38 840.38 9.97 1380 8534.30 -0.20 1.42 0.045 2780.94 -252.3 0.04 0.123 2012.50 35184.5 - 115.78 0.430 3094.91 -5.2 0.951 - - - - - - 27.17 26.74 22.79
8535 end apogee: CONTROL_FINISHED_OK
8535 begin climb
8535.23 829.61 - 1386 8665.70 0.91 1.59 0.069 3138.75 225.0 3.57 0.049 3441.00 400.1 146.63 121.65 0.447 2492.22 -5.0 0.859 - - - - - - 27.25 26.30 23.34
8932.19 788.19 9.72 1465 8938.19 roll 0.86 - - 3140.25 - 3.20 0.029 2013.75 -446.0 152.66 - - 2476.66 - - - - - - - - - 27.36 -
9132.49 768.01 10.13 1475 9138.25 roll 0.81 - - 3138.88 - 3.46 0.048 3442.62 413.0 152.66 - - 2478.41 - - - - - - - - - 27.24 -
9407.54 740.74 10.03 1530 9413.25 roll back 0.76 0.19 0.050 3083.00 -294.1 3.19 0.030 2015.62 -447.3 152.66 - - 2479.50 - - - - - - - - 27.45 27.55 -
9612.98 720.39 9.72 1541 9620.35 done 0.71 - - 3084.00 - 3.41 0.047 3441.50 418.1 158.87 2.69 0.146 2443.25 -13.5 6.211 - - - - - - - 27.26 24.87
9887.58 693.09 9.70 1596 9895.29 done 0.66 - - 3084.44 - 3.17 0.030 2012.62 -450.8 165.36 2.86 0.147 2418.56 -8.6 3.802 - - - - - - - 27.63 24.56
10082.52 673.72 10.08 1605 10088.31 roll back 0.61 0.16 0.054 3039.12 -283.3 3.41 0.047 3443.19 419.5 165.36 - - 2426.50 - - - - - - - - - 27.46 -
10357.68 646.30 10.43 1660 10363.19 roll 0.56 - - 3038.62 - 3.16 0.030 2014.81 -452.0 165.36 - - 2426.19 - - - - - - - - - 27.68 -
10562.97 625.70 9.97 1671 10568.25 roll 0.50 - - 3038.69 - 3.42 0.047 3441.75 417.2 165.95 - - 2427.91 - - - - - - - - - 27.36 -
10837.67 598.19 9.98 1726 10843.26 roll back 0.45 0.19 0.053 2987.81 -267.8 3.15 0.029 2017.75 -452.1 166.46 - - 2426.59 - - - - - - - - 27.56 27.68 -
11042.98 577.61 10.03 1737 11048.25 roll 0.40 - - 2986.12 - 3.40 0.047 3443.94 419.5 166.46 - - 2427.94 - - - - - - - - - 27.32 -
11317.56 550.37 10.20 1792 11323.19 roll 0.34 - - 2987.69 - 3.16 0.029 2013.75 -452.6 166.46 - - 2426.28 - - - - - - - - - 27.68 -
11523.16 529.96 9.97 1803 11528.32 roll back 0.29 0.17 0.053 2937.44 -295.6 3.43 0.047 3441.25 416.2 167.21 - - 2427.62 - - - - - - - - - 27.31 -
11797.70 502.88 9.62 1858 11808.31 done 0.25 - - 2937.25 - 3.15 0.029 2013.88 -453.1 175.56 4.35 0.207 2383.78 -10.1 2.287 - - - - - - - 27.68 23.37
12002.65 482.72 9.78 1869 12010.33 done 0.20 - - 2938.19 - 3.36 0.047 3443.75 425.6 180.43 2.11 0.154 2356.03 -13.2 3.851 - - - - - - - 27.60 25.14
12277.14 455.20 10.07 1924 12283.26 roll back 0.15 0.16 0.056 2890.94 -295.3 3.13 0.029 2018.50 -455.4 180.43 - - 2364.03 - - - - - - - - 27.78 27.88 -
12477.73 435.51 9.76 1934 12485.34 done 0.10 - - 2890.56 - 3.34 0.047 3442.81 426.4 185.77 2.37 0.151 2333.69 -12.8 3.449 - - - - - - - 27.62 25.12
12752.75 408.27 10.37 1989 12758.38 roll 0.05 - - 2889.50 - 3.12 0.029 2015.00 -457.6 185.77 - - 2344.34 - - - - - - - - - 27.88 -
12952.99 388.13 9.95 1999 12958.30 roll back -0.01 0.16 0.054 2844.69 -280.1 3.39 0.046 3442.50 421.1 186.87 - - 2342.16 - - - - - - - - - 27.60 -
13227.56 360.77 9.92 2054 13233.26 done -0.06 - - 2844.38 - 3.12 0.029 2014.38 -457.7 188.72 1.37 0.174 2329.31 -9.4 1.817 - - - - - - - 27.84 24.69
13412.75 342.50 9.98 2076 13418.32 roll -0.11 - - 2842.94 - 3.38 0.046 3441.88 422.3 189.07 - - 2333.69 - - - - - - - - - 27.68 -
13687.24 315.18 9.98 2131 13693.27 roll back -0.16 0.18 0.054 2791.44 -286.1 3.12 0.029 2015.75 -457.1 189.56 - - 2331.06 - - - - - - - - 27.75 27.87 -
13872.86 296.72 10.14 2168 13878.25 roll -0.22 - - 2790.62 - 3.40 0.046 3442.25 419.6 189.56 - - 2331.50 - - - - - - - - - 27.56 -
14147.44 269.01 9.98 2223 14153.28 roll -0.27 - - 2791.75 - 3.13 0.029 2013.50 -456.5 189.96 - - 2332.06 - - - - - - - - - 27.83 -
14333.07 250.61 9.91 2260 14340.39 -0.32 0.17 0.053 2738.38 -313.9 3.36 0.046 3440.94 424.8 192.00 1.66 0.160 2311.62 -12.3 1.802 - - - - - - - 27.56 24.79
14607.28 223.42 9.89 2315 14613.28 done -0.37 - - 2740.62 - 3.12 0.029 2014.56 -457.2 194.43 1.28 0.178 2303.44 -6.4 0.749 - - - - - - - 27.89 24.84
14792.93 204.87 9.84 2352 14799.32 done -0.42 - - 2739.88 - 3.35 0.046 3444.38 426.8 197.83 1.57 0.165 2286.72 -10.6 1.235 - - - - - - - 27.66 25.25
15067.27 177.20 10.10 2407 15073.27 roll back -0.47 0.16 0.056 2691.44 -302.8 3.13 0.029 2017.94 -455.7 197.83 - - 2293.38 - - - - - - - - 27.83 27.95 -
15252.27 158.87 9.81 2444 15259.33 done -0.52 - - 2692.62 - 3.34 0.046 3442.88 426.6 201.89 1.76 0.159 2269.78 -13.4 1.252 - - - - - - - 27.68 25.20
15527.78 131.60 10.07 2499 15533.20 roll -0.58 - - 2691.50 - 3.13 0.029 2013.44 -456.7 201.89 - - 2277.53 - - - - - - - - - 27.95 -
15713.03 113.07 9.83 2536 15720.39 -0.63 0.16 0.053 2643.31 -301.2 3.34 0.046 3446.00 428.9 205.52 1.60 0.163 2253.94 -14.7 0.955 - - - - - - - 27.70 24.89
15987.36 85.43 9.91 2591 15993.28 done -0.68 - - 2643.81 - 3.12 0.029 2013.19 -459.2 207.54 1.02 0.191 2250.75 -3.1 0.131 - - - - - - - 27.97 24.84
16172.86 66.88 10.15 2628 16178.24 roll -0.73 - - 2643.25 - 3.37 0.046 3444.12 424.6 207.54 - - 2254.19 - - - - - - - - - 27.79 -
16447.52 39.49 10.14 2683 16453.27 roll back -0.78 0.17 0.055 2594.00 -289.7 3.11 0.029 2016.56 -459.0 207.54 - - 2253.69 - - - - - - - - 27.84 27.97 -
16633.12 21.01 9.87 2720 16639.33 done -0.83 - - 2592.88 - 3.33 0.046 3443.06 428.4 210.44 1.38 0.170 2236.09 -12.8 0.147 - - - - - - - 27.64 25.19
16828 end climb: SURFACE_DEPTH_REACHED
16828 begin surface coast
16848 end surface coast: CONTROL_FINISHED_OK
16848 begin surface
SM 0.20 - - - - 248.5 0.10 0.150 549.0 5476.2 7.41 0.049 566.6 76.5 - 3.09 0.029 531.4 170.9 -0.120 - - 26.79 27.80 27.99 -