Shilshole 21Jun17 * SG185 * Dive index * Mission links * Dive 21 * Raw log
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• Previous call tries 2 • 13.00 of 150.00 AH used of 24V (91.33% remains)
• 5.22 of 100.00 AH used of 10V (94.78% remains)
• Surface angle -3.6 deg, depth -0.20 m • Intended pitch -18.2 deg, speed -10.000 cm/s
VBD pumped to 625.66 (SM_CC=625.51501)
• GPS1 time: 45 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
6.74 - - - 32.60 VBD -0.91 - - 248.56 - - - 2026.12 - -146.63 25.04 0.005 1237.88 - - - - - - - - - - 25.83
33.33 3.10 -10.13 5 146.67 -0.91 7.74 0.075 2559.19 298.5 3.28 0.037 603.88 -433.6 -146.63 96.38 0.005 3695.97 25.5 -1.491 - - - - - - 27.10 25.74 25.82
413.85 41.60 -10.00 81 419.06 roll -0.86 - - 2558.94 - 3.26 0.033 2028.94 437.1 -146.63 - - 3697.28 - - - - - - - - - 27.43 -
598.78 60.00 -9.96 118 604.13 roll back -0.80 0.14 0.074 2592.56 240.1 3.26 0.034 604.88 -436.8 -146.63 - - 3696.31 - - - - - - - - 27.84 27.46 -
874.12 87.53 -10.46 173 879.06 roll -0.75 - - 2590.62 - 3.24 0.034 2026.62 438.8 -146.63 - - 3697.06 - - - - - - - - - 27.47 -
1058.73 105.97 -10.01 210 1064.13 roll back -0.69 0.14 0.076 2626.69 257.6 3.27 0.034 605.00 -434.7 -146.63 - - 3695.94 - - - - - - - - 27.94 27.48 -
1333.19 133.27 -9.91 265 1339.07 roll -0.64 - - 2625.75 - 3.25 0.034 2028.75 438.1 -146.63 - - 3695.59 - - - - - - - - - 27.46 -
1518.78 151.93 -9.99 302 1524.32 roll back -0.59 0.14 0.076 2661.00 251.8 3.26 0.034 603.62 -437.2 -146.63 - - 3695.78 - - - - - - - - - 27.48 -
1793.59 179.87 -10.02 357 1799.07 roll -0.53 - - 2659.69 - 3.24 0.034 2028.00 439.6 -146.63 - - 3695.47 - - - - - - - - - 27.45 -
1978.68 198.33 -10.23 394 1984.13 roll back -0.48 0.14 0.076 2694.12 245.9 3.24 0.034 603.75 -439.6 -146.63 - - 3696.81 - - - - - - - - - 27.46 -
2253.25 226.03 -10.18 449 2259.07 roll -0.43 - - 2695.69 - 3.24 0.034 2029.88 440.2 -146.63 - - 3695.91 - - - - - - - - - 27.42 -
2438.84 244.45 -10.03 486 2444.13 roll back -0.37 0.13 0.078 2728.25 250.5 3.26 0.034 604.94 -437.1 -146.63 - - 3696.50 - - - - - - - - - 27.44 -
2713.21 271.72 -9.91 541 2719.07 roll -0.32 - - 2727.50 - 3.24 0.034 2028.75 439.4 -146.63 - - 3695.25 - - - - - - - - - 27.41 -
2899.23 290.29 -10.19 578 2904.13 roll back -0.27 0.14 0.078 2762.56 250.4 3.26 0.034 605.44 -436.6 -146.63 - - 3696.19 - - - - - - - - - 27.42 -
3173.34 317.67 -10.04 633 3179.06 roll -0.21 - - 2762.38 - 3.25 0.034 2030.25 438.4 -146.63 - - 3696.44 - - - - - - - - - 27.39 -
3358.78 336.18 -9.95 670 3364.13 roll back -0.16 0.14 0.076 2798.44 257.6 3.27 0.034 604.88 -435.9 -146.63 - - 3697.12 - - - - - - - - - 27.40 -
3633.91 363.77 -10.20 725 3639.05 roll -0.11 - - 2798.81 - 3.25 0.034 2030.00 438.5 -146.63 - - 3695.41 - - - - - - - - - 27.35 -
3838.87 384.40 -10.19 736 3844.12 roll back -0.05 0.14 0.076 2831.31 232.1 3.27 0.034 605.12 -435.7 -146.63 - - 3695.38 - - - - - - - - - 27.37 -
4113.73 411.68 -10.15 791 4119.11 roll - - - 2831.69 - 3.27 0.034 2030.19 435.8 -146.63 - - 3695.47 - - - - - - - - - 27.33 -
4319.10 432.00 -9.90 802 4324.12 roll back 0.05 0.14 0.079 2865.50 241.5 3.27 0.034 605.06 -435.8 -146.63 - - 3696.91 - - - - - - - - - 27.35 -
4593.94 459.29 -9.91 857 4599.05 roll 0.11 - - 2865.00 - 3.25 0.034 2031.00 438.8 -146.63 - - 3697.47 - - - - - - - - - 27.31 -
4798.91 479.64 -9.85 868 4804.12 roll back 0.16 0.14 0.077 2900.81 255.8 3.26 0.034 605.12 -437.4 -146.63 - - 3697.97 - - - - - - - - - 27.34 -
5073.49 507.26 -10.00 923 5079.05 roll 0.22 - - 2900.88 - 3.26 0.034 2027.62 436.3 -146.63 - - 3698.03 - - - - - - - - - 27.30 -
5278.86 527.90 -10.08 934 5284.12 roll back 0.27 0.14 0.076 2934.88 242.9 3.27 0.034 605.31 -435.0 -146.63 - - 3697.06 - - - - - - - - - 27.31 -
5553.94 555.28 -9.53 989 5559.06 roll 0.32 - - 2934.50 - 3.25 0.034 2028.00 437.8 -146.63 - - 3696.47 - - - - - - - - - 27.26 -
5759.04 575.58 -9.92 1000 5764.12 roll back 0.38 0.14 0.078 2968.25 241.1 3.27 0.034 605.06 -435.1 -146.63 - - 3697.91 - - - - - - - - - 27.30 -
6004 end dive: TARGET_DEPTH_EXCEEDED
6004 begin apogee
6008.96 600.01 9.99 1049 6133.84 -0.20 0.73 0.046 2778.62 -259.8 0.04 0.128 2012.62 35189.0 - 121.61 0.458 3095.44 -5.0 0.612 - - - - - - 27.49 26.63 22.97
6135 end apogee: CONTROL_FINISHED_OK
6135 begin climb
6134.90 588.25 - 1057 6274.54 0.91 1.57 0.065 3139.00 229.5 3.64 0.052 3442.56 392.8 146.63 129.74 0.467 2488.88 -4.7 0.555 - - - - - - 27.14 26.10 23.33
6542.07 545.60 10.36 1138 6547.05 done 0.86 - - 3137.94 - 3.27 0.033 2015.25 -436.5 146.63 - - 2478.41 - - - - - - - - - 27.31 -
6737.08 525.73 10.30 1147 6742.17 0.80 0.14 0.054 3099.19 -276.8 3.51 0.051 3442.69 406.7 146.63 - - 2479.75 - - - - - - - - 27.74 27.22 -
7011.54 498.59 9.84 1202 7017.05 done 0.75 - - 3100.62 - 3.22 0.033 2015.62 -443.2 150.16 - - 2476.41 - - - - - - - - - 27.51 -
7216.87 477.78 10.26 1213 7222.27 done 0.70 - - 3100.81 - 3.49 0.050 3440.81 408.4 150.16 - - 2477.22 - - - - - - - - - 27.27 -
7491.98 450.41 9.75 1268 7498.19 0.65 0.17 0.056 3051.69 -288.9 3.23 0.033 2018.38 -440.4 155.63 1.20 0.188 2462.41 -12.3 2.787 - - - - - - 27.45 27.56 24.22
7691.68 430.98 9.72 1278 7699.19 done 0.61 - - 3051.50 - 3.43 0.051 3444.06 415.7 161.85 2.60 0.156 2433.81 -11.0 2.865 - - - - - - - 27.28 24.89
7966.63 403.70 9.99 1333 7972.04 roll 0.55 - - 3050.56 - 3.21 0.034 2016.38 -444.8 162.12 - - 2442.03 - - - - - - - - - 27.64 -
8166.51 383.84 9.87 1343 8173.24 0.50 0.16 0.058 3001.88 -304.2 3.42 0.051 3441.69 416.8 164.86 1.40 0.179 2420.06 -15.7 3.172 - - - - - - - 27.34 24.58
8441.60 356.33 10.06 1398 8447.02 roll 0.45 - - 3000.88 - 3.20 0.033 2013.75 -446.2 164.86 - - 2431.66 - - - - - - - - - 27.67 -
8626.73 337.90 10.07 1425 8632.16 roll 0.40 - - 3002.25 - 3.45 0.050 3441.06 413.7 164.86 - - 2429.31 - - - - - - - - - 27.40 -
8901.22 310.14 9.94 1480 8907.10 roll back 0.34 0.17 0.056 2952.88 -290.4 3.18 0.033 2018.62 -447.3 166.15 - - 2429.94 - - - - - - - - 27.54 27.64 -
9086.75 291.65 9.75 1517 9096.59 done 0.30 - - 2953.06 - 3.40 0.051 3441.31 418.4 171.54 2.98 0.147 2395.34 -11.6 2.172 - - - - - - - 27.45 24.93
9366.59 263.58 9.62 1573 9376.57 done 0.25 - - 2953.38 - 3.18 0.033 2014.94 -448.5 179.82 3.48 0.142 2360.00 -10.2 1.777 - - - - - - - 27.71 24.72
9556.34 244.73 9.80 1611 9563.25 0.21 0.14 0.060 2908.44 -321.0 3.41 0.050 3443.44 418.9 184.08 1.64 0.167 2343.69 -9.9 1.374 - - - - - - - 27.54 24.79
9831.51 217.55 9.78 1666 9838.20 done 0.16 - - 2909.12 - 3.19 0.033 2014.38 -448.0 188.88 2.13 0.156 2326.03 -8.3 1.090 - - - - - - - 27.79 24.77
10016.98 199.15 9.97 1703 10022.10 roll 0.11 - - 2908.69 - 3.44 0.050 3442.06 415.0 189.59 - - 2330.19 - - - - - - - - - 27.63 -
10291.16 171.99 10.09 1758 10297.10 roll back 0.05 0.17 0.057 2860.81 -281.6 3.18 0.033 2017.56 -448.0 189.59 - - 2332.34 - - - - - - - - 27.68 27.79 -
10476.77 153.83 9.56 1795 10487.21 done 0.01 - - 2861.38 - 3.38 0.051 3441.88 421.4 199.12 4.14 0.185 2283.31 -11.8 0.928 - - - - - - - 26.83 23.62
10756.21 125.47 10.22 1851 10762.04 roll -0.04 - - 2861.31 - 3.16 0.032 2015.56 -451.4 199.12 - - 2287.88 - - - - - - - - - 27.88 -
10942.30 107.09 9.86 1888 10949.25 -0.09 0.15 0.057 2812.88 -322.9 3.38 0.050 3443.62 422.5 202.14 1.38 0.174 2271.59 -11.8 0.685 - - - - - - - 27.61 24.78
11216.47 79.61 10.06 1943 11222.04 roll -0.15 - - 2813.88 - 3.17 0.032 2013.88 -451.0 202.14 - - 2276.50 - - - - - - - - - 27.87 -
11401.72 61.27 9.76 1980 11409.18 done -0.19 - - 2813.25 - 3.38 0.050 3442.50 422.7 207.39 2.31 0.148 2248.00 -12.3 0.482 - - - - - - - 27.60 25.09
11677.01 33.94 9.93 2035 11682.10 roll back -0.25 0.16 0.058 2764.25 -306.2 3.17 0.032 2016.56 -449.8 208.89 - - 2254.00 - - - - - - - - 27.76 27.87 -
11862.09 15.52 10.04 2072 11867.10 roll -0.30 - - 2764.31 - 3.42 0.049 3443.50 417.2 208.89 - - 2254.66 - - - - - - - - - 27.59 -
12002 end climb: SURFACE_DEPTH_REACHED
12002 begin surface coast
12022 end surface coast: CONTROL_FINISHED_OK
12022 begin surface
SM 0.14 - - - - 248.9 146.28 0.119 549.4 3.8 7.76 0.050 583.5 75.2 - 3.13 0.032 515.3 163.5 -0.073 - - 25.30 27.65 27.83 -