Shilshole 21Jun17 * SG185 * Dive index * Mission links * Dive 4 * Raw log
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• Previous call tries 4 • 13.31 of 150.00 AH used of 24V (91.13% remains)
• 5.49 of 100.00 AH used of 10V (94.51% remains)
• Surface angle -4.1 deg, depth -0.29 m • Intended pitch -18.2 deg, speed -10.000 cm/s
VBD pumped to 625.58 (SM_CC=625.51501)
• GPS1 time: 31 s
• GPS2 time: 2 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
6.40 - - - 32.60 VBD -0.91 - - 248.94 - - - 2024.94 - -146.63 25.41 0.005 1242.66 - - - - - - - - - - 25.80
33.00 3.14 -9.96 5 146.87 -0.91 7.78 0.078 2559.62 297.0 3.30 0.037 603.75 -430.7 -146.63 97.33 0.005 3695.38 25.2 -1.494 - - - - - - 27.05 25.70 25.81
413.74 41.10 -9.99 81 419.38 roll -0.86 - - 2558.25 - 3.26 0.033 2028.94 437.2 -146.63 - - 3694.12 - - - - - - - - - 27.38 -
598.12 59.62 -9.81 118 604.44 roll back -0.80 0.14 0.076 2592.12 241.9 3.27 0.033 605.19 -435.4 -146.63 - - 3693.84 - - - - - - - - 27.80 27.44 -
873.17 87.27 -10.15 173 879.38 roll -0.75 - - 2591.94 - 3.26 0.033 2029.88 437.0 -146.63 - - 3692.94 - - - - - - - - - 27.43 -
1058.65 105.62 -9.97 210 1064.44 roll back -0.69 0.14 0.078 2625.06 236.6 3.26 0.033 605.19 -437.0 -146.63 - - 3695.00 - - - - - - - - 27.90 27.45 -
1333.14 133.34 -10.30 265 1339.38 roll -0.64 - - 2626.88 - 3.25 0.033 2027.75 437.7 -146.63 - - 3692.62 - - - - - - - - - 27.42 -
1518.88 151.77 -10.10 302 1524.44 roll back -0.59 0.14 0.079 2657.31 217.4 3.27 0.033 603.62 -435.5 -146.63 - - 3695.22 - - - - - - - - 27.99 27.43 -
1793.15 179.67 -10.25 357 1799.38 roll -0.53 - - 2660.50 - 3.24 0.033 2026.75 439.2 -146.63 - - 3692.50 - - - - - - - - - 27.40 -
1978.77 198.26 -9.96 394 1984.44 roll back -0.48 0.14 0.077 2693.44 235.3 3.26 0.033 603.69 -436.5 -146.63 - - 3694.66 - - - - - - - - - 27.41 -
2253.12 225.94 -9.96 449 2259.38 roll -0.43 - - 2694.88 - 3.25 0.033 2029.19 438.6 -146.63 - - 3693.47 - - - - - - - - - 27.37 -
2438.61 244.40 -9.97 486 2444.44 roll back -0.37 0.14 0.079 2728.44 239.7 3.26 0.033 604.81 -436.9 -146.63 - - 3693.69 - - - - - - - - - 27.39 -
2713.28 271.92 -9.80 541 2719.38 roll -0.32 - - 2728.62 - 3.24 0.033 2028.62 439.4 -146.63 - - 3692.84 - - - - - - - - - 27.34 -
2898.88 290.46 -10.07 578 2904.44 roll back -0.27 0.14 0.081 2762.81 244.2 3.27 0.033 605.44 -435.2 -146.63 - - 3693.88 - - - - - - - - - 27.36 -
3173.12 317.75 -10.07 633 3179.38 roll -0.21 - - 2762.62 - 3.24 0.033 2029.38 439.5 -146.63 - - 3692.09 - - - - - - - - - 27.32 -
3358.68 336.46 -10.32 670 3364.44 roll back -0.16 0.14 0.078 2797.19 246.9 3.28 0.033 603.56 -434.7 -146.63 - - 3692.47 - - - - - - - - - 27.33 -
3633.76 363.93 -9.84 725 3639.36 roll -0.11 - - 2797.50 - 3.25 0.033 2027.50 438.1 -146.63 - - 3692.31 - - - - - - - - - 27.28 -
3838.88 384.32 -9.91 736 3844.43 roll back -0.05 0.14 0.080 2830.81 237.9 3.28 0.033 603.56 -434.1 -146.63 - - 3694.56 - - - - - - - - - 27.31 -
4114.01 411.81 -10.14 791 4119.36 roll - - - 2830.38 - 3.25 0.033 2030.25 439.0 -146.63 - - 3693.06 - - - - - - - - - 27.26 -
4318.94 432.62 -10.19 802 4324.43 roll back 0.05 0.14 0.080 2865.12 248.1 3.27 0.033 603.81 -436.2 -146.63 - - 3694.00 - - - - - - - - - 27.29 -
4593.61 460.12 -10.18 857 4599.36 roll 0.11 - - 2865.69 - 3.28 0.033 2029.38 434.6 -146.63 - - 3692.78 - - - - - - - - - 27.24 -
4798.83 480.47 -10.10 868 4804.43 roll back 0.16 0.14 0.080 2898.50 234.4 3.27 0.033 605.00 -435.6 -146.63 - - 3693.91 - - - - - - - - - 27.27 -
5073.44 508.12 -9.87 923 5079.36 roll 0.22 - - 2899.06 - 3.26 0.033 2027.25 436.3 -146.63 - - 3692.06 - - - - - - - - - 27.22 -
5278.88 527.97 -9.69 934 5284.43 roll back 0.27 0.14 0.082 2934.88 255.9 3.27 0.033 605.06 -434.9 -146.63 - - 3691.84 - - - - - - - - - 27.25 -
5553.76 554.74 -9.39 989 5559.36 roll 0.32 - - 2933.31 - 3.25 0.033 2028.31 437.9 -146.63 - - 3693.22 - - - - - - - - - 27.21 -
5759.02 575.73 -10.38 1000 5764.43 roll back 0.38 0.14 0.082 2968.38 250.5 3.27 0.033 605.19 -435.2 -146.63 - - 3692.44 - - - - - - - - - 27.25 -
6033.51 603.38 -9.99 1055 6039.36 roll 0.43 - - 2967.94 - 3.26 0.034 2029.25 436.8 -146.63 - - 3692.00 - - - - - - - - - 27.19 -
6238.88 623.31 -9.69 1066 6244.43 roll back 0.48 0.14 0.080 3001.81 241.9 3.28 0.033 605.00 -434.2 -146.63 - - 3693.09 - - - - - - - - - 27.23 -
6513.43 650.89 -10.10 1121 6519.36 roll 0.54 - - 3001.38 - 3.26 0.034 2030.25 437.2 -146.63 - - 3693.28 - - - - - - - - - 27.18 -
6718.89 671.62 -10.24 1132 6724.43 roll back 0.59 0.14 0.080 3035.06 240.6 3.29 0.033 605.25 -433.1 -146.63 - - 3693.03 - - - - - - - - - 27.23 -
6993.66 699.29 -10.28 1187 6999.36 roll 0.64 - - 3036.06 - 3.26 0.034 2026.81 436.1 -146.63 - - 3693.03 - - - - - - - - - 27.18 -
7198.98 718.97 -9.67 1198 7204.43 roll back 0.70 0.14 0.080 3070.56 246.4 3.27 0.034 604.81 -434.9 -146.63 - - 3693.00 - - - - - - - - - 27.23 -
7473.49 746.52 -10.40 1253 7479.37 roll 0.75 - - 3071.25 - 3.26 0.033 2028.56 436.7 -146.63 - - 3693.03 - - - - - - - - - 27.18 -
7678.88 766.86 -9.83 1264 7684.43 roll back 0.80 0.13 0.080 3104.50 255.8 3.27 0.033 605.38 -435.2 -146.63 - - 3693.75 - - - - - - - - - 27.23 -
7953.56 794.01 -10.41 1319 7959.36 roll 0.86 - - 3104.25 - 3.27 0.034 2029.12 435.4 -146.63 - - 3693.47 - - - - - - - - - 27.18 -
8158.95 813.58 -9.51 1330 8164.43 roll back 0.91 0.14 0.079 3137.81 239.7 3.28 0.034 604.69 -434.3 -146.63 - - 3694.12 - - - - - - - - - 27.24 -
8424 end dive: TARGET_DEPTH_EXCEEDED
8424 begin apogee
8428.80 840.11 10.14 1383 8563.05 -0.20 1.42 0.046 2779.88 -252.1 0.04 0.131 2013.50 35220.2 - 130.09 0.483 3095.94 -4.6 0.755 - - - - - - 27.23 26.53 22.76
8564 end apogee: CONTROL_FINISHED_OK
8564 begin climb
8563.73 828.29 - 1388 8713.81 0.91 1.60 0.068 3139.81 225.0 3.64 0.052 3442.38 392.5 146.63 140.72 0.486 2488.44 -4.3 0.694 - - - - - - 27.03 26.11 23.21
8980.85 785.65 10.02 1471 8986.32 done 0.86 - - 3140.38 - 3.27 0.033 2016.25 -436.1 146.63 - - 2473.66 - - - - - - - - - 27.31 -
9165.28 767.18 9.99 1478 9171.42 0.80 0.14 0.055 3101.50 -277.7 3.50 0.050 3440.50 406.9 146.76 - - 2472.03 - - - - - - - - 27.72 27.21 -
9440.45 739.45 10.07 1533 9446.31 done 0.75 - - 3100.06 - 3.23 0.033 2013.31 -441.9 146.76 - - 2471.09 - - - - - - - - - 27.49 -
9645.77 719.14 10.09 1544 9651.37 done 0.69 - - 3100.56 - 3.51 0.050 3443.94 407.6 146.76 - - 2471.31 - - - - - - - - - 27.26 -
9920.25 691.53 10.10 1599 9926.56 0.64 0.19 0.055 3049.19 -270.4 3.23 0.033 2017.25 -441.7 146.76 - - 2470.44 - - - - - - - - 27.43 27.53 -
10125.37 671.20 9.95 1610 10131.36 done 0.59 - - 3048.25 - 3.48 0.050 3442.94 409.7 147.79 - - 2471.62 - - - - - - - - - 27.24 -
10400.36 643.71 10.02 1665 10406.32 done 0.54 - - 3048.31 - 3.22 0.033 2014.50 -443.6 147.79 - - 2471.25 - - - - - - - - - 27.54 -
10605.90 621.93 10.59 1676 10611.42 0.48 0.18 0.057 2999.06 -273.6 3.49 0.050 3442.00 409.0 147.79 - - 2470.53 - - - - - - - - - 27.22 -
10880.51 594.22 9.72 1731 10886.31 roll 0.44 - - 2999.25 - 3.21 0.033 2013.38 -445.1 153.92 - - 2470.28 - - - - - - - - - 27.55 -
11085.85 573.58 10.15 1742 11091.35 roll 0.38 - - 2997.75 - 3.49 0.050 3442.00 409.3 153.92 - - 2473.25 - - - - - - - - - 27.19 -
11360.63 546.03 9.84 1797 11368.54 0.33 0.17 0.056 2950.38 -278.6 3.20 0.033 2017.38 -445.2 157.39 2.90 0.144 2453.03 -7.0 2.495 - - - - - - 27.41 27.54 24.18
11560.78 526.14 10.18 1807 11566.35 roll 0.28 - - 2949.19 - 3.45 0.049 3441.00 412.6 157.39 - - 2461.03 - - - - - - - - - 27.45 -
11835.38 498.83 9.85 1862 11842.39 done 0.23 - - 2949.56 - 3.18 0.032 2016.38 -448.0 160.66 2.27 0.161 2440.12 -9.2 2.694 - - - - - - - 27.60 24.58
12035.51 478.81 10.04 1872 12041.43 roll back 0.18 0.17 0.058 2900.06 -291.2 3.45 0.049 3442.44 413.4 160.66 - - 2445.97 - - - - - - - - - 27.52 -
12310.77 451.37 9.84 1927 12317.40 done 0.13 - - 2900.62 - 3.19 0.032 2014.44 -447.6 164.10 2.06 0.166 2427.72 -8.9 2.274 - - - - - - - 27.65 24.68
12510.66 431.82 9.89 1937 12517.42 done 0.08 - - 2900.69 - 3.39 0.050 3443.19 421.5 166.45 1.49 0.179 2414.97 -8.6 1.948 - - - - - - - 27.48 25.11
12785.73 404.27 10.03 1992 12791.36 roll back 0.02 0.17 0.056 2850.50 -295.2 3.19 0.033 2018.62 -446.6 166.45 - - 2423.25 - - - - - - - - 27.65 27.73 -
12985.63 384.81 9.68 2002 12993.46 done -0.02 - - 2850.44 - 3.38 0.050 3443.81 421.7 173.49 3.17 0.154 2387.91 -11.1 2.629 - - - - - - - 27.57 25.12
13260.49 357.32 10.17 2057 13266.35 roll -0.08 - - 2851.38 - 3.18 0.033 2015.00 -449.3 173.49 - - 2394.72 - - - - - - - - - 27.74 -
13445.46 338.39 10.06 2084 13451.43 roll back -0.13 0.17 0.056 2802.44 -287.9 3.44 0.049 3443.62 415.3 173.49 - - 2395.22 - - - - - - - - - 27.51 -
13720.54 310.80 9.97 2139 13726.30 roll -0.18 - - 2800.94 - 3.19 0.032 2013.88 -448.2 174.09 - - 2396.62 - - - - - - - - - 27.69 -
13905.77 292.22 10.28 2176 13911.55 roll -0.24 - - 2803.12 - 3.45 0.049 3442.38 414.1 174.09 - - 2394.59 - - - - - - - - - 27.41 -
14180.68 264.94 9.99 2231 14186.37 roll back -0.29 0.19 0.055 2750.12 -278.9 3.19 0.032 2016.88 -446.9 174.26 - - 2395.22 - - - - - - - - 27.56 27.65 -
14365.72 246.38 10.02 2268 14371.37 roll -0.34 - - 2750.38 - 3.45 0.049 3442.19 413.1 174.26 - - 2395.28 - - - - - - - - - 27.38 -
14640.08 218.60 10.04 2323 14646.30 roll -0.40 - - 2750.25 - 3.20 0.032 2013.56 -446.4 174.26 - - 2395.88 - - - - - - - - - 27.60 -
14825.56 200.02 10.19 2360 14831.43 roll back -0.45 0.17 0.056 2701.31 -287.9 3.46 0.049 3443.56 413.3 174.26 - - 2394.34 - - - - - - - - - 27.37 -
15100.13 172.55 10.07 2415 15106.49 roll -0.50 - - 2699.25 - 3.19 0.032 2014.69 -447.9 174.26 - - 2396.94 - - - - - - - - - 27.60 -
15286.05 154.08 10.02 2452 15291.37 roll -0.56 - - 2700.38 - 3.45 0.049 3440.06 413.2 174.26 - - 2396.22 - - - - - - - - - 27.34 -
15560.06 126.72 10.10 2507 15566.39 roll back -0.61 0.19 0.055 2647.56 -278.0 3.20 0.032 2017.12 -444.7 174.26 - - 2394.47 - - - - - - - - 27.51 27.59 -
15745.72 108.32 9.76 2544 15753.47 done -0.66 - - 2647.19 - 3.39 0.050 3442.19 420.4 179.40 3.02 0.154 2361.38 -11.0 0.727 - - - - - - - 27.49 25.08
16020.20 81.10 10.02 2599 16026.31 roll -0.71 - - 2647.38 - 3.18 0.032 2015.12 -448.8 179.40 - - 2370.81 - - - - - - - - - 27.67 -
16205.65 62.76 9.53 2636 16216.77 -0.75 0.15 0.058 2601.62 -305.1 3.36 0.050 3443.38 425.1 189.78 4.65 0.260 2321.31 -10.6 0.243 - - - - - - - 26.90 23.32
16485.64 34.77 10.01 2692 16491.30 roll -0.81 - - 2603.00 - 3.17 0.032 2014.00 -450.9 189.78 - - 2325.62 - - - - - - - - - 27.88 -
16670.61 16.13 9.99 2729 16676.36 roll -0.86 - - 2601.75 - 3.43 0.049 3441.44 416.2 189.95 - - 2326.78 - - - - - - - - - 27.64 -
16815 end climb: SURFACE_DEPTH_REACHED
16815 begin surface coast
16836 end surface coast: CONTROL_FINISHED_OK
16836 begin surface
SM -0.21 - - - - 248.0 185.79 0.133 549.7 3.0 7.47 0.054 571.9 76.6 - 3.15 0.032 527.5 166.4 0.112 - - 25.44 27.66 27.81 -