Shilshole 21Jun17 * SG185 * Dive index * Mission links * Dive 5 * Raw log
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• Previous call tries 1 • 13.37 of 150.00 AH used of 24V (91.09% remains)
• 5.54 of 100.00 AH used of 10V (94.45% remains)
• Surface angle -4.0 deg, depth -0.21 m • Intended pitch -18.2 deg, speed -10.000 cm/s
VBD pumped to 625.69 (SM_CC=625.51501)
• GPS1 time: 39 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
6.53 - - - 32.60 VBD -0.91 - - 248.12 - - - 2029.50 - -146.63 25.24 0.005 1252.38 - - - - - - - - - - 25.82
33.00 3.28 -10.04 5 142.63 -0.91 7.80 0.078 2556.69 296.0 3.30 0.035 605.25 -431.6 -146.63 94.11 0.005 3696.31 26.0 -1.591 - - - - - - 27.06 25.76 25.83
409.45 41.34 -9.78 80 415.02 roll -0.86 - - 2556.81 - 3.24 0.032 2027.94 439.1 -146.63 - - 3696.72 - - - - - - - - - 27.40 -
594.54 59.76 -9.95 117 600.09 roll back -0.80 0.14 0.075 2591.06 244.6 3.24 0.033 601.88 -440.1 -146.63 - - 3696.66 - - - - - - - - 27.79 27.45 -
869.68 87.40 -10.00 172 875.03 roll -0.75 - - 2591.31 - 3.24 0.033 2030.56 441.0 -146.63 - - 3695.53 - - - - - - - - - 27.45 -
1054.33 105.62 -9.97 209 1060.09 roll back -0.69 0.14 0.077 2624.94 240.2 3.25 0.032 603.88 -439.0 -146.63 - - 3695.91 - - - - - - - - 27.92 27.48 -
1329.75 133.10 -9.87 264 1335.03 roll -0.64 - - 2626.06 - 3.22 0.032 2030.00 442.9 -146.63 - - 3694.72 - - - - - - - - - 27.45 -
1514.29 151.59 -10.05 301 1520.28 roll back -0.59 0.14 0.079 2659.00 235.3 3.23 0.032 603.69 -441.6 -146.63 - - 3694.78 - - - - - - - - - 27.48 -
1789.26 178.49 -9.91 356 1795.03 roll -0.53 - - 2657.19 - 3.23 0.032 2028.75 441.2 -146.63 - - 3696.22 - - - - - - - - - 27.45 -
1974.45 196.84 -9.86 393 1980.10 roll back -0.48 0.14 0.076 2694.12 263.8 3.23 0.032 603.69 -441.2 -146.63 - - 3694.47 - - - - - - - - - 27.48 -
2249.68 224.62 -10.31 448 2255.03 roll -0.43 - - 2694.62 - 3.21 0.032 2028.25 443.8 -146.63 - - 3694.00 - - - - - - - - - 27.43 -
2434.25 243.16 -9.95 485 2440.09 roll back -0.37 0.14 0.078 2725.69 221.9 3.22 0.032 604.75 -442.1 -146.63 - - 3695.94 - - - - - - - - - 27.46 -
2709.78 270.65 -9.99 540 2715.04 roll -0.32 - - 2727.75 - 3.24 0.032 2029.56 439.8 -146.63 - - 3694.53 - - - - - - - - - 27.43 -
2894.74 289.37 -10.02 577 2900.10 roll back -0.27 0.14 0.082 2762.88 250.9 3.23 0.032 603.81 -441.4 -146.63 - - 3694.06 - - - - - - - - - 27.45 -
3169.89 317.07 -10.07 632 3175.03 roll -0.21 - - 2762.44 - 3.21 0.032 2029.94 444.3 -146.63 - - 3694.62 - - - - - - - - - 27.42 -
3354.39 335.80 -9.96 669 3360.09 roll back -0.16 0.14 0.080 2796.38 242.4 3.24 0.032 605.00 -439.8 -146.63 - - 3695.62 - - - - - - - - - 27.44 -
3629.50 363.25 -10.01 724 3635.02 roll -0.11 - - 2796.69 - 3.21 0.032 2027.62 443.2 -146.63 - - 3695.91 - - - - - - - - - 27.39 -
3834.50 383.78 -10.08 735 3840.08 roll back -0.05 0.14 0.078 2832.75 257.6 3.23 0.032 605.00 -440.4 -146.63 - - 3694.94 - - - - - - - - - 27.42 -
4110.14 410.99 -9.93 790 4115.20 roll - - - 2831.19 - 3.22 0.032 2029.62 442.4 -146.63 - - 3696.59 - - - - - - - - - 27.38 -
4315.02 431.13 -9.86 801 4320.09 roll back 0.05 0.14 0.078 2866.06 249.1 3.20 0.032 602.25 -446.1 -146.63 - - 3695.44 - - - - - - - - - 27.42 -
4589.31 458.59 -9.63 856 4595.02 roll 0.11 - - 2866.38 - 3.24 0.032 2030.19 440.7 -146.63 - - 3695.00 - - - - - - - - - 27.36 -
4794.55 478.68 -9.71 867 4800.08 roll back 0.16 0.14 0.078 2900.75 245.5 3.22 0.032 604.88 -442.6 -146.63 - - 3695.78 - - - - - - - - - 27.40 -
5070.12 506.42 -10.02 922 5075.02 roll 0.22 - - 2899.44 - 3.21 0.032 2029.19 443.7 -146.63 - - 3697.22 - - - - - - - - - 27.36 -
5274.50 527.38 -10.35 933 5280.09 roll back 0.27 0.14 0.079 2933.62 244.1 3.22 0.032 605.19 -442.2 -146.63 - - 3695.97 - - - - - - - - - 27.39 -
5549.41 554.95 -9.98 988 5555.02 roll 0.32 - - 2933.25 - 3.21 0.032 2029.31 443.7 -146.63 - - 3697.28 - - - - - - - - - 27.35 -
5754.68 575.20 -9.77 999 5760.08 roll back 0.38 0.14 0.078 2969.44 258.5 3.24 0.032 603.75 -440.0 -146.63 - - 3696.72 - - - - - - - - - 27.38 -
6030.16 602.76 -10.16 1054 6035.02 roll 0.43 - - 2969.25 - 3.21 0.032 2028.19 443.8 -146.63 - - 3695.78 - - - - - - - - - 27.33 -
6234.56 622.75 -9.71 1065 6240.09 roll back 0.48 0.14 0.077 3003.38 243.8 3.21 0.032 604.75 -443.4 -146.63 - - 3697.72 - - - - - - - - - 27.37 -
6510.08 650.39 -10.22 1120 6515.02 roll 0.54 - - 3003.56 - 3.22 0.032 2030.25 442.7 -146.63 - - 3698.34 - - - - - - - - - 27.33 -
6714.55 670.39 -9.73 1131 6720.14 roll back 0.59 0.14 0.077 3037.62 243.3 3.22 0.032 604.81 -442.7 -146.63 - - 3698.00 - - - - - - - - - 27.37 -
6989.60 697.93 -10.10 1186 6995.02 roll 0.64 - - 3036.06 - 3.21 0.032 2029.81 443.9 -146.63 - - 3699.03 - - - - - - - - - 27.32 -
7194.68 718.05 -9.99 1197 7200.09 roll back 0.70 0.13 0.081 3070.25 263.0 3.21 0.032 605.00 -443.9 -146.63 - - 3697.91 - - - - - - - - - 27.36 -
7470.16 745.82 -10.01 1252 7475.02 roll 0.75 - - 3070.19 - 3.21 0.032 2030.00 443.9 -146.63 - - 3698.22 - - - - - - - - - 27.32 -
7674.55 765.57 -9.54 1263 7680.08 roll back 0.80 0.14 0.077 3105.25 250.4 3.22 0.032 604.94 -442.6 -146.63 - - 3699.78 - - - - - - - - - 27.36 -
7950.09 793.13 -9.77 1318 7955.02 roll 0.86 - - 3105.12 - 3.20 0.032 2028.06 444.7 -146.63 - - 3700.03 - - - - - - - - - 27.31 -
8154.64 813.38 -9.82 1329 8160.08 roll back 0.91 0.13 0.079 3139.81 266.8 3.21 0.032 605.06 -443.3 -146.63 - - 3699.16 - - - - - - - - - 27.35 -
8419 end dive: TARGET_DEPTH_EXCEEDED
8419 begin apogee
8424.59 840.13 10.05 1382 8543.48 -0.20 1.42 0.044 2778.81 -254.2 0.04 0.119 2011.62 35164.0 - 115.05 0.420 3102.16 -5.2 0.969 - - - - - - 27.27 26.84 22.85
8544 end apogee: CONTROL_FINISHED_OK
8544 begin climb
8544.21 830.39 - 1386 8676.12 0.91 1.57 0.066 3139.00 229.4 3.57 0.050 3446.38 401.9 146.63 123.12 0.445 2487.91 -5.0 0.869 - - - - - - 27.30 26.32 23.44
8942.41 787.91 9.77 1465 8948.63 roll 0.86 - - 3137.88 - 3.22 0.031 2014.75 -444.6 151.68 - - 2476.75 - - - - - - - - - 27.42 -
9142.76 767.84 10.13 1475 9148.67 roll 0.81 - - 3138.69 - 3.46 0.048 3441.44 412.3 151.68 - - 2474.62 - - - - - - - - - 27.31 -
9418.11 740.29 10.21 1530 9423.67 roll back 0.75 0.19 0.051 3084.62 -284.6 3.17 0.031 2014.56 -450.1 151.68 - - 2474.38 - - - - - - - - 27.50 27.60 -
9623.21 720.26 9.80 1541 9629.75 done 0.71 - - 3083.06 - 3.41 0.048 3442.44 418.7 156.05 1.64 0.160 2458.75 -9.5 4.006 - - - - - - - 27.22 24.89
9897.75 692.85 10.04 1596 9903.60 roll 0.65 - - 3083.25 - 3.16 0.031 2014.00 -452.0 156.05 - - 2468.00 - - - - - - - - - 27.66 -
10097.77 672.97 9.90 1606 10104.80 0.60 0.16 0.055 3035.25 -300.0 3.40 0.048 3444.19 420.6 158.32 1.61 0.164 2449.66 -11.4 4.365 - - - - - - - 27.37 24.66
10372.32 645.90 9.92 1661 10378.68 done 0.55 - - 3034.75 - 3.18 0.031 2013.94 -449.8 160.07 1.31 0.178 2446.19 -2.6 0.898 - - - - - - - 27.72 24.63
10572.85 625.86 10.05 1671 10578.67 roll 0.50 - - 3035.38 - 3.42 0.048 3442.12 417.6 160.07 - - 2451.81 - - - - - - - - - 27.55 -
10847.76 598.51 9.81 1726 10854.77 0.45 0.17 0.055 2986.12 -289.8 3.17 0.031 2018.00 -449.2 164.30 2.18 0.155 2431.25 -9.4 3.401 - - - - - - 27.63 27.75 24.51
11047.91 578.56 10.01 1736 11053.65 roll 0.40 - - 2986.81 - 3.40 0.048 3441.00 418.5 164.30 - - 2430.22 - - - - - - - - - 27.59 -
11322.76 551.17 9.54 1791 11333.14 done 0.35 - - 2987.69 - 3.17 0.031 2014.06 -450.1 174.32 4.34 0.207 2386.75 -10.0 2.490 - - - - - - - 27.79 23.61
11527.47 530.94 9.69 1802 11535.88 0.31 0.15 0.056 2941.56 -307.5 3.38 0.048 3443.12 422.8 181.03 2.82 0.145 2356.16 -10.8 3.709 - - - - - - - 27.65 24.92
11803.05 503.40 10.08 1857 11808.61 roll 0.26 - - 2941.75 - 3.14 0.031 2015.38 -454.7 181.03 - - 2360.81 - - - - - - - - - 27.93 -
12002.71 482.96 10.32 1867 12008.66 roll 0.20 - - 2941.94 - 3.39 0.047 3442.12 420.9 181.03 - - 2360.88 - - - - - - - - - 27.64 -
12278.00 455.56 10.04 1922 12283.68 roll back 0.15 0.17 0.056 2891.38 -297.4 3.14 0.031 2016.69 -454.0 181.03 - - 2362.34 - - - - - - - - 27.74 27.87 -
12482.32 434.84 10.22 1933 12488.65 roll 0.09 - - 2890.81 - 3.40 0.047 3443.75 419.7 181.03 - - 2361.84 - - - - - - - - - 27.55 -
12757.76 407.23 10.26 1988 12763.60 roll 0.04 - - 2889.12 - 3.15 0.030 2014.25 -453.8 181.03 - - 2363.81 - - - - - - - - - 27.84 -
12963.30 386.24 10.27 1999 12968.79 roll back -0.01 0.17 0.054 2838.94 -295.2 3.43 0.047 3441.75 416.2 181.03 - - 2363.97 - - - - - - - - - 27.50 -
13238.04 358.95 10.09 2054 13243.61 roll -0.07 - - 2840.75 - 3.14 0.030 2015.44 -454.2 181.03 - - 2363.31 - - - - - - - - - 27.83 -
13422.75 340.90 9.81 2076 13429.78 done -0.11 - - 2839.81 - 3.37 0.048 3442.75 423.5 185.27 2.13 0.149 2339.31 -11.3 2.407 - - - - - - - 27.43 25.09
13697.41 313.13 10.16 2131 13703.70 roll back -0.17 0.17 0.055 2789.12 -298.2 3.15 0.030 2017.38 -452.5 185.27 - - 2345.00 - - - - - - - - 27.75 27.86 -
13883.04 294.43 9.95 2168 13888.67 roll -0.22 - - 2789.81 - 3.39 0.047 3446.19 421.5 186.44 - - 2345.34 - - - - - - - - - 27.56 -
14157.37 267.22 10.20 2223 14163.82 roll -0.27 - - 2789.88 - 3.13 0.030 2014.94 -457.3 186.44 - - 2344.94 - - - - - - - - - 27.84 -
14342.43 248.98 8.96 2260 14366.22 -0.30 0.14 0.057 2746.56 -309.4 3.32 0.048 3443.50 430.3 209.25 18.68 0.370 2237.38 -5.8 0.362 - - - - - - - 27.59 23.39
14632.37 219.61 10.20 2318 14638.62 done -0.35 - - 2746.12 - 3.11 0.030 2015.44 -459.2 209.25 - - 2232.12 - - - - - - - - - 27.94 -
14818.08 201.16 9.97 2355 14823.67 done -0.41 - - 2747.25 - 3.38 0.047 3442.81 422.3 209.97 - - 2230.62 - - - - - - - - - 27.68 -
15092.39 173.38 10.00 2410 15098.69 -0.46 0.17 0.053 2694.31 -311.4 3.12 0.030 2018.50 -456.5 209.97 - - 2231.94 - - - - - - - - 27.78 27.89 -
15278.04 154.90 9.88 2447 15283.85 roll -0.51 - - 2695.94 - 3.36 0.047 3442.50 423.8 212.65 - - 2229.78 - - - - - - - - - 27.59 -
15552.80 127.69 9.81 2502 15558.70 done -0.56 - - 2696.88 - 3.12 0.030 2014.25 -457.8 216.80 1.50 0.166 2214.81 -10.0 0.717 - - - - - - - 27.87 24.64
15737.96 109.04 9.75 2539 15745.83 -0.60 0.15 0.054 2649.12 -318.4 3.33 0.047 3442.31 428.8 222.27 2.37 0.145 2188.44 -11.1 0.781 - - - - - - - 27.71 24.93
16012.66 81.62 9.97 2594 16018.62 roll -0.66 - - 2650.50 - 3.12 0.030 2014.62 -457.6 222.86 - - 2192.62 - - - - - - - - - 27.96 -
16197.98 63.03 10.04 2631 16203.66 roll -0.71 - - 2649.06 - 3.38 0.047 3442.06 422.3 222.86 - - 2191.78 - - - - - - - - - 27.67 -
16472.35 35.64 10.05 2686 16478.89 roll back -0.76 0.17 0.052 2598.38 -298.1 3.11 0.029 2017.44 -458.1 222.86 - - 2191.66 - - - - - - - - 27.80 27.91 -
16657.53 17.29 10.00 2723 16663.67 roll -0.82 - - 2597.94 - 3.36 0.046 3440.00 423.4 222.86 - - 2191.78 - - - - - - - - - 27.58 -
16812 end climb: SURFACE_DEPTH_REACHED
16812 begin surface coast
16833 end surface coast: CONTROL_FINISHED_OK
16833 begin surface
SM 0.23 - - - - 248.3 0.11 0.146 549.3 4993.6 7.39 0.048 573.2 77.6 - 3.08 0.030 525.3 169.5 -0.133 - - 26.70 27.68 27.90 -