Shilshole 11Jul17 * SG169 * Dive index * Mission links * Dive 8 * Raw log
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• Previous call tries 1 • 8.97 of 350.00 AH used of 24V (97.44% remains)
• Surface angle -2.5 deg, depth -0.14 m • Intended pitch -16.5 deg, speed -10.000 cm/s
• VBD pumped to 450.76 (SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 9 s • Transponder ping count: 952
• 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
5.58 - - - 37.09 VBD -0.70 - - 275.06 - - - 2375.12 - -146.63 30.61 0.006 2069.59 - - - - - - - - - - 15.70
37.40 3.42 -10.04 6 146.28 -0.70 8.10 0.081 2708.81 300.5 4.62 0.095 3801.31 308.7 -146.63 91.42 0.005 3785.19 18.8 -2.091 - - - - - - 15.86 15.69 15.72
368.18 36.26 -9.98 72 373.63 done -0.66 - - 2708.88 - 3.09 0.054 2378.69 -460.4 -146.63 - - 3786.97 - - - - - - - - - 15.98 -
552.86 54.62 -10.24 109 558.92 roll -0.63 - - 2709.06 - 4.47 0.091 3800.12 318.0 -146.63 - - 3786.41 - - - - - - - - - 16.01 -
782.83 77.63 -9.94 155 788.80 roll -0.59 - - 2709.31 - 3.08 0.054 2378.50 -461.6 -146.63 - - 3787.75 - - - - - - - - - 16.06 -
967.99 96.27 -9.91 192 975.04 roll back -0.56 0.14 0.095 2757.56 344.6 4.49 0.092 3799.69 316.5 -146.63 - - 3787.03 - - - - - - - - 16.09 16.03 -
1197.94 119.22 -9.64 238 1203.63 roll -0.52 - - 2758.31 - 3.07 0.054 2376.69 -463.5 -146.63 - - 3787.03 - - - - - - - - - 16.10 -
1382.75 137.34 -9.65 275 1388.92 roll -0.49 - - 2758.56 - 4.43 0.091 3801.12 321.5 -146.63 - - 3786.56 - - - - - - - - - 16.07 -
1612.96 160.57 -9.96 321 1618.63 roll -0.45 - - 2758.38 - 3.04 0.054 2376.38 -468.7 -146.63 - - 3787.06 - - - - - - - - - 16.12 -
1797.88 178.98 -9.97 358 1804.04 roll back -0.42 0.14 0.093 2799.00 290.1 4.49 0.093 3799.69 317.0 -146.63 - - 3787.84 - - - - - - - - 16.16 16.07 -
2027.86 201.62 -10.18 404 2033.63 roll -0.38 - - 2799.00 - 3.06 0.054 2378.88 -464.3 -146.63 - - 3787.56 - - - - - - - - - 16.14 -
2212.77 220.08 -10.12 441 2218.91 roll -0.35 - - 2799.25 - 4.38 0.091 3801.62 324.8 -146.63 - - 3787.22 - - - - - - - - - 16.12 -
2442.86 243.03 -9.93 487 2448.63 roll -0.32 - - 2798.94 - 3.05 0.053 2377.38 -467.0 -146.63 - - 3787.75 - - - - - - - - - 16.15 -
2627.78 261.64 -9.85 524 2634.13 roll back -0.28 0.14 0.093 2844.38 324.6 4.45 0.093 3801.69 320.1 -146.63 - - 3787.09 - - - - - - - - 16.17 16.10 -
2857.94 284.63 -9.76 570 2863.64 roll -0.25 - - 2844.75 - 3.04 0.053 2377.00 -468.6 -146.63 - - 3788.47 - - - - - - - - - 16.16 -
3042.81 303.19 -10.40 607 3048.90 roll -0.21 - - 2845.12 - 4.38 0.091 3800.31 325.0 -146.63 - - 3786.97 - - - - - - - - - 16.13 -
3272.78 326.11 -10.27 653 3278.64 roll -0.18 - - 2844.50 - 3.03 0.053 2377.81 -469.5 -146.63 - - 3787.88 - - - - - - - - - 16.17 -
3457.84 344.59 -10.16 690 3464.04 roll back -0.14 0.14 0.098 2890.94 331.7 4.46 0.093 3801.00 319.1 -146.63 - - 3788.06 - - - - - - - - 16.17 16.10 -
3687.47 367.60 -10.03 736 3693.62 roll -0.11 - - 2891.38 - 3.03 0.053 2376.44 -470.2 -146.63 - - 3788.53 - - - - - - - - - 16.18 -
3877.85 385.89 -9.48 744 3883.89 roll -0.07 - - 2892.12 - 4.34 0.090 3800.62 328.2 -146.63 - - 3789.75 - - - - - - - - - 16.13 -
4108.25 408.91 -10.18 790 4113.60 roll -0.04 - - 2891.50 - 3.00 0.052 2377.75 -474.3 -146.63 - - 3790.91 - - - - - - - - - 16.19 -
4297.85 427.88 -10.00 798 4304.01 roll back - 0.14 0.093 2933.31 298.6 4.38 0.091 3800.62 324.9 -146.63 - - 3790.97 - - - - - - - - 16.21 16.11 -
4527.28 450.94 -10.40 844 4532.74 roll 0.03 - - 2933.31 - 2.95 0.050 2374.75 -483.3 -146.63 - - 3793.38 - - - - - - - - - 16.18 -
4717.95 469.96 -9.74 852 4723.86 roll 0.07 - - 2933.56 - 4.24 0.088 3803.38 336.9 -146.63 - - 3794.03 - - - - - - - - - 16.14 -
4948.25 493.46 -10.18 898 4953.59 roll 0.10 - - 2934.50 - 2.90 0.048 2373.69 -493.0 -146.63 - - 3794.34 - - - - - - - - - 16.19 -
5137.78 512.75 -10.20 906 5143.98 roll back 0.14 0.14 0.094 2980.06 325.4 4.27 0.088 3800.88 334.2 -146.63 - - 3795.91 - - - - - - - - 16.20 16.13 -
5368.27 535.52 -9.97 952 5373.58 roll 0.17 - - 2980.62 - 2.88 0.046 2374.50 -495.3 -146.63 - - 3798.31 - - - - - - - - - 16.19 -
5557.89 554.28 -9.86 960 5563.85 roll 0.21 - - 2980.44 - 4.14 0.085 3803.00 345.0 -146.63 - - 3799.16 - - - - - - - - - 16.15 -
5788.17 577.08 -9.52 1006 5793.58 roll 0.24 - - 2980.62 - 2.84 0.045 2374.12 -503.1 -146.63 - - 3800.44 - - - - - - - - - 16.20 -
5977.79 596.18 -10.12 1014 5983.97 roll back 0.27 0.14 0.094 3022.56 299.6 4.16 0.086 3800.38 342.9 -146.63 - - 3802.50 - - - - - - - - 16.22 16.14 -
6207.29 619.23 -9.93 1060 6212.75 roll 0.31 - - 3022.81 - 2.83 0.044 2373.69 -504.1 -146.63 - - 3804.38 - - - - - - - - - 16.21 -
6397.96 638.06 -9.89 1068 6403.83 roll 0.34 - - 3022.69 - 4.05 0.083 3803.06 352.9 -146.63 - - 3805.72 - - - - - - - - - 16.16 -
6628.16 661.19 -9.82 1114 6633.56 roll 0.38 - - 3022.69 - 2.78 0.042 2373.62 -514.2 -146.63 - - 3808.53 - - - - - - - - - 16.22 -
6817.78 680.39 -10.10 1122 6823.96 roll back 0.41 0.14 0.094 3067.19 317.9 4.11 0.084 3802.56 347.7 -146.63 - - 3809.47 - - - - - - - - 16.22 16.14 -
7047.29 703.50 -10.09 1168 7052.71 roll 0.45 - - 3067.50 - 2.76 0.042 2373.94 -517.6 -146.63 - - 3811.94 - - - - - - - - - 16.22 -
7237.91 722.47 -10.04 1176 7243.83 roll 0.48 - - 3066.88 - 4.07 0.083 3804.88 351.6 -146.63 - - 3813.19 - - - - - - - - - 16.17 -
7468.16 745.55 -9.99 1222 7473.58 roll 0.52 - - 3067.50 - 2.76 0.041 2372.88 -518.8 -146.63 - - 3813.66 - - - - - - - - - 16.23 -
7538 end dive: TARGET_DEPTH_EXCEEDED
7538 begin apogee
7539.30 752.45 9.85 1226 7607.72 -0.17 0.62 0.047 2839.50 -367.7 0.17 0.112 2232.06 -828.4 - 65.10 0.794 3374.31 -6.7 1.042 - - - - - - 16.22 15.92 12.34
7608 end apogee: CONTROL_FINISHED_OK
7608 begin climb
7608.39 746.46 - 1228 7707.94 0.70 1.29 0.075 3157.00 246.1 4.19 0.067 780.88 -346.3 146.63 90.74 0.759 2770.19 -6.7 1.067 - - - - - - 15.63 15.67 12.42
7930.26 713.51 10.06 1292 7935.34 done 0.66 - - 3157.31 - 3.22 0.040 2221.94 447.5 146.63 - - 2764.72 - - - - - - - - - 15.95 -
8115.12 694.36 10.41 1299 8120.49 done 0.63 - - 3156.56 - 3.98 0.065 776.31 -363.2 146.63 - - 2767.50 - - - - - - - - - 16.07 -
8344.86 671.35 10.00 1345 8350.39 0.59 0.14 0.075 3087.38 -494.1 3.20 0.040 2221.25 451.5 146.69 - - 2764.72 - - - - - - - - 16.11 16.08 -
8534.63 652.44 10.18 1353 8540.47 done 0.56 - - 3087.44 - 3.93 0.064 776.69 -367.6 146.69 - - 2764.66 - - - - - - - - - 16.15 -
8764.77 629.36 10.32 1399 8770.31 done 0.52 - - 3086.50 - 3.17 0.040 2225.75 457.1 146.69 - - 2765.22 - - - - - - - - - 16.14 -
8954.51 611.07 9.95 1407 8960.46 done 0.49 - - 3087.25 - 3.90 0.063 776.62 -371.6 147.89 - - 2767.62 - - - - - - - - - 16.19 -
9184.83 587.93 10.29 1453 9190.31 done 0.46 - - 3087.31 - 3.14 0.039 2224.31 461.0 147.89 - - 2764.84 - - - - - - - - - 16.17 -
9374.51 568.59 10.11 1461 9380.45 done 0.42 - - 3087.38 - 3.88 0.063 776.81 -373.1 147.89 - - 2764.97 - - - - - - - - - 16.22 -
9604.77 545.69 10.26 1507 9610.37 0.39 0.14 0.081 3016.88 -503.6 3.14 0.039 2224.75 461.1 147.89 - - 2764.72 - - - - - - - - 16.22 16.19 -
9794.61 526.85 9.92 1515 9800.46 roll 0.35 - - 3016.75 - 3.90 0.064 775.62 -371.6 149.67 - - 2767.34 - - - - - - - - - 16.23 -
10024.82 503.94 9.75 1561 10031.41 done 0.32 - - 3016.88 - 3.12 0.039 2225.56 464.7 155.13 2.17 0.421 2747.31 -9.2 1.800 - - - - - - - 16.21 12.40
10210.25 485.59 9.86 1568 10217.53 done 0.29 - - 3017.12 - 3.88 0.063 775.31 -373.8 158.18 1.64 0.233 2734.53 -7.8 2.645 - - - - - - - 16.20 15.20
10439.85 462.42 10.04 1614 10445.32 roll 0.26 - - 3016.50 - 3.12 0.038 2224.12 464.4 158.18 - - 2735.59 - - - - - - - - - 16.22 -
10625.17 444.28 9.76 1621 10634.96 done 0.23 - - 3016.94 - 3.86 0.064 775.25 -375.4 163.52 2.39 0.482 2711.72 -10.0 1.499 - - - - - - - 16.18 12.41
10859.31 420.72 10.00 1668 10865.32 roll 0.19 - - 3016.81 - 3.12 0.038 2224.62 464.5 163.52 - - 2713.34 - - - - - - - - - 16.22 -
11045.11 401.98 10.15 1675 11050.52 roll back 0.16 0.14 0.074 2949.75 -479.0 3.81 0.061 775.12 -380.4 163.52 - - 2715.28 - - - - - - - - 16.27 16.24 -
11274.91 379.00 9.82 1721 11281.39 done 0.13 - - 2948.81 - 3.11 0.037 2225.06 466.2 167.43 1.98 0.220 2696.38 -9.5 2.678 - - - - - - - 16.24 15.20
11460.22 360.82 9.76 1728 11469.95 done 0.10 - - 2949.12 - 3.82 0.063 776.31 -379.3 172.59 2.26 0.445 2673.91 -9.9 1.313 - - - - - - - 16.17 12.37
11694.56 337.47 9.99 1775 11700.30 roll 0.06 - - 2947.94 - 3.10 0.037 2224.44 467.1 172.88 - - 2676.62 - - - - - - - - - 16.23 -
11879.50 318.99 9.88 1812 11885.46 roll 0.03 - - 2948.25 - 3.80 0.060 775.00 -381.4 175.40 - - 2676.66 - - - - - - - - - 16.26 -
12109.35 296.09 9.82 1858 12117.41 done - - - 2948.69 - 3.10 0.037 2222.44 466.9 179.29 2.96 0.598 2648.72 -9.4 0.761 - - - - - - - 16.24 12.40
12294.61 277.63 10.05 1895 12300.45 roll -0.03 - - 2948.75 - 3.80 0.061 775.88 -380.7 179.29 - - 2647.72 - - - - - - - - - 16.27 -
12525.24 254.63 10.20 1941 12530.37 roll back -0.07 0.16 0.070 2869.06 -498.1 3.09 0.037 2224.94 469.0 179.29 - - 2647.69 - - - - - - - - 16.27 16.24 -
12709.57 236.30 9.93 1978 12715.46 roll -0.10 - - 2869.69 - 3.87 0.062 775.00 -374.7 180.74 - - 2649.12 - - - - - - - - - 16.27 -
12939.36 213.55 9.97 2024 12945.30 roll -0.14 - - 2869.06 - 3.09 0.036 2225.62 469.5 181.47 - - 2648.47 - - - - - - - - - 16.24 -
13124.43 194.90 10.06 2061 13130.44 roll -0.17 - - 2868.75 - 3.79 0.060 776.81 -382.3 181.47 - - 2650.66 - - - - - - - - - 16.26 -
13354.38 171.69 10.14 2107 13360.30 roll -0.21 - - 2869.31 - 3.07 0.037 2225.06 471.7 181.47 - - 2648.81 - - - - - - - - - 16.24 -
13539.52 153.17 9.98 2144 13545.47 roll -0.24 - - 2869.19 - 3.79 0.060 776.69 -382.2 181.86 - - 2650.97 - - - - - - - - - 16.27 -
13769.45 130.22 9.83 2190 13777.41 done -0.27 - - 2869.12 - 3.07 0.036 2223.62 471.3 185.51 2.92 0.578 2626.81 -8.3 0.304 - - - - - - - 16.25 12.48
13954.54 111.78 10.10 2227 13960.52 roll back -0.31 0.14 0.074 2785.38 -598.1 3.80 0.060 774.81 -381.3 185.51 - - 2621.88 - - - - - - - - 16.29 16.26 -
14184.51 88.51 10.20 2273 14190.36 roll back -0.34 0.14 0.094 2828.75 309.8 3.05 0.036 2225.00 475.5 185.51 - - 2622.34 - - - - - - - - 16.30 16.25 -
14369.47 70.38 9.80 2310 14377.62 done -0.37 - - 2828.12 - 3.82 0.067 776.56 -379.2 189.83 2.05 0.318 2601.53 -10.2 0.366 - - - - - - - 16.07 12.46
14599.54 47.47 9.77 2356 14606.40 done -0.40 - - 2828.50 - 3.06 0.036 2223.06 472.7 194.90 2.23 0.431 2583.72 -8.0 0.143 - - - - - - - 16.25 12.51
14784.58 29.13 9.94 2393 14790.53 roll back -0.43 0.14 0.073 2750.25 -558.9 3.83 0.061 774.56 -378.2 196.23 - - 2582.97 - - - - - - - - 16.29 16.26 -
15014.32 5.91 10.07 2439 15020.30 roll -0.47 - - 2747.38 - 3.05 0.035 2225.25 475.6 196.23 - - 2584.62 - - - - - - - - - 16.27 -
15044 end climb: SURFACE_DEPTH_REACHED
15044 begin surface coast
15075 end surface coast: CONTROL_FINISHED_OK
15075 begin surface
SM 0.62 - - - - 270.1 0.69 0.034 1544.4 2238.3 6.85 0.038 1739.3 253.9 - 0.44 0.066 1349.5 3060.1 -2.938 - - 15.80 16.29 16.23 -