Shilshole 23Mar11 * SG166 * Dive index * Mission links * Dive 9 * Raw log
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• Previous call tries 1 • 1.39 of 147.00 AH used of 24V (99.06% remains)
• Previous NAKs 0, Timeouts 0 • 0.77 of 109.00 AH used of 10V (99.29% remains)
• Surface angle -75.7 deg, depth 1.55 m • Intended pitch -15.0 deg, speed -8.000 cm/s
• VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 10 s • bottom range 59.7 m at 130.2 m, depth 190 m (216 m grid)
• GPS2 time: 10 s, HDOP was 2.3 m • Transponder ping count: 106
• 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
17 - - - 138 done -0.65 - - 151 - - - 2164 - -146.0 -115.75 - 3596 - - - - - - - - - - -
142 6.1 -9.5 17 158 roll -0.65 9.73 0.252 2558 247.4 2.20 0.042 734 -650.0 -146.0 - - 3597 - - - - - - - - - - -
372 56.6 -16.4 59 380 done -0.53 0.17 0.190 2595 217.6 2.25 0.054 2150 629.3 -146.0 - - 3597 - - - - - - - - - - -
513 74.2 -11.4 84 521 roll -0.47 - - 2595 - 2.20 0.050 746 -638.2 -146.0 - - 3597 - - - - - - - - - - -
589 83.2 -11.3 97 597 done -0.40 0.20 0.168 2641 230.0 2.20 0.055 2135 631.4 -146.0 - - 3597 - - - - - - - - - - -
731 96.1 -8.3 122 739 roll -0.40 - - 2642 - 2.17 0.047 736 -644.7 -146.0 - - 3597 - - - - - - - - - - -
752 98.1 -8.4 125 758 done -0.40 - - 2634 - 2.17 0.054 2118 636.9 -146.0 - - 3597 - - - - - - - - - - -
892 110.3 -9.2 150 901 roll -0.38 - - 2623 - 2.30 0.065 3558 626.1 -146.0 - - 3597 - - - - - - - - - - -
951 116.6 -9.8 160 959 done -0.38 - - 2623 - 2.20 0.041 2127 -650.5 -146.0 - - 3597 - - - - - - - - - - -
1095 129.1 -9.4 185 1107 roll -0.36 0.12 0.187 2657 283.3 2.12 0.051 735 -656.6 -146.0 - - 3597 - - - - - - - - - - -
1169 135.7 -8.3 197 1176 done -0.41 - - 2649 - 2.20 0.055 2133 635.5 -146.0 - - 3597 - - - - - - - - - - -
1309 147.4 -7.9 222 1316 done -0.44 - - 2649 - - - 2134 - -146.0 - - 3598 - - - - - - - - - - -
1450 158.4 -7.5 247 1457 done -0.47 - - 2648 - - - 2134 - -146.0 - - 3597 - - - - - - - - - - -
1590 168.4 -7.1 272 1598 roll -0.49 - - 2649 - 2.15 0.050 747 -645.1 -146.0 - - 3597 - - - - - - - - - - -
1629 171.3 -6.8 278 1638 done -0.53 0.08 0.067 2598 -637.5 2.17 0.056 2116 630.9 -146.0 - - 3597 - - - - - - - - - - -
1716 end dive: BOTTOM_OBSTACLE_DETECTED
1716 begin apogee
1723 180.2 10.1 294 1840 roll -0.16 0.38 0.162 2716 310.5 - - 2116 - - 112.22 0.896 2999 -5.3 0.110 - - - - - - - - -
1842 end apogee: CONTROL_FINISHED_OK
1842 begin climb
1845 185.1 - 311 1975 roll 0.65 0.90 0.134 2978 291.1 2.42 0.064 3561 597.1 146.0 119.22 0.853 2403 -5.0 0.112 - - - - - - - - -
2176 143.6 16.0 366 2185 done 0.52 0.15 0.197 2948 -200.0 2.22 0.044 2158 -632.0 146.0 - - 2398 - - - - - - - - - - -
2324 125.3 11.8 391 2330 roll 0.45 - - 2947 - 2.28 0.063 3567 618.0 146.0 - - 2398 - - - - - - - - - - -
2572 94.7 11.0 435 2582 done 0.35 0.25 0.196 2891 -224.0 2.20 0.042 2139 -649.1 146.0 - - 2395 - - - - - - - - - - -
2718 83.4 6.8 460 2753 roll 0.43 - - 2899 - 2.25 0.051 738 -622.7 177.5 26.30 0.804 2273 -4.6 0.050 - - - - - - - - -
2803 77.5 7.0 473 2833 done 0.52 0.12 0.104 2950 425.0 2.20 0.050 2134 634.5 203.9 23.25 0.780 2166 -4.6 0.047 - - - - - - - - -
2970 60.0 10.5 501 2976 done 0.50 - - 2950 - - - 2134 - 203.9 - - 2164 - - - - - - - - - - -
3110 45.3 10.1 526 3118 roll 0.47 - - 2950 - 2.30 0.064 3559 619.6 203.9 - - 2163 - - - - - - - - - - -
3154 40.8 10.0 533 3162 done 0.45 0.12 0.190 2926 -200.0 2.22 0.042 2136 -641.0 203.9 - - 2162 - - - - - - - - - - -
3234 34.7 7.4 546 3258 roll 0.50 - - 2935 - 2.22 0.051 739 -629.3 220.0 14.60 0.748 2101 -4.2 0.020 - - - - - - - - -
3277 30.9 8.1 552 3286 done 0.53 - - 2934 - 2.22 0.052 2124 623.9 220.0 - - 2100 - - - - - - - - - - -
3351 24.6 8.5 565 3359 roll 0.53 - - 2944 - 2.20 0.051 737 -630.5 220.0 - - 2100 - - - - - - - - - - -
3381 22.5 8.2 569 3389 done 0.53 - - 2944 - 2.15 0.050 2084 626.5 220.0 - - 2099 - - - - - - - - - - -
3455 16.7 7.4 582 3479 roll 0.57 - - 2954 - 2.12 0.050 738 -634.9 235.6 14.70 0.739 2036 -4.3 0.010 - - - - - - - - -
3493 13.9 7.5 587 3516 done 0.62 - - 2953 - 2.12 0.050 2060 623.6 249.4 12.82 0.718 1982 -4.2 0.008 - - - - - - - - -
3583 5.9 9.4 602 3592 done 0.64 - - 2954 - - - 2061 - 249.4 - - 1980 - - - - - - - - - - -
3615 end climb: SURFACE_DEPTH_REACHED
3615 begin surface coast
3646 end surface coast: CONTROL_FINISHED_OK
3646 begin surface
SM 1.56 - - - - -8.20 - - 152 - - - 2170 - 400.08 129.88 0.702 1368 -4.7 0.001 - - - - 1 -