Shilshole 21Jun17 * SG185 * Dive index * Mission links * Dive 9 * Raw log
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• Previous call tries 1 • 13.58 of 150.00 AH used of 24V (90.95% remains)
• 5.76 of 100.00 AH used of 10V (94.24% remains)
• Surface angle -4.0 deg, depth -0.29 m • Intended pitch -18.2 deg, speed -10.000 cm/s
VBD pumped to 625.86 (SM_CC=625.51501)
• GPS1 time: 28 s
• GPS2 time: 6 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
6.50 - - - 32.61 VBD -0.91 - - 248.88 - - - 2025.44 - -146.63 25.32 0.005 1240.25 - - - - - - - - - - 25.87
33.07 3.33 -10.06 5 146.73 -0.91 7.82 0.078 2557.19 295.2 3.29 0.036 603.50 -432.2 -146.63 97.34 0.005 3695.78 25.2 -1.580 - - - - - - 27.11 25.79 25.89
413.63 41.38 -10.14 81 419.12 roll -0.86 - - 2557.25 - 3.22 0.032 2029.25 442.8 -146.63 - - 3695.19 - - - - - - - - - 27.49 -
598.66 59.75 -10.13 118 604.19 roll back -0.80 0.14 0.076 2592.00 248.2 3.22 0.032 605.12 -442.3 -146.63 - - 3695.97 - - - - - - - - 27.84 27.53 -
873.93 87.30 -9.77 173 879.12 roll -0.75 - - 2592.69 - 3.22 0.032 2030.12 442.5 -146.63 - - 3694.59 - - - - - - - - - 27.53 -
1058.45 105.63 -10.15 210 1064.19 roll back -0.69 0.14 0.077 2625.69 235.7 3.22 0.032 604.88 -442.6 -146.63 - - 3695.19 - - - - - - - - 27.97 27.56 -
1334.14 133.14 -10.04 265 1339.12 roll -0.64 - - 2624.69 - 3.20 0.031 2030.50 445.5 -146.63 - - 3695.53 - - - - - - - - - 27.55 -
1518.46 151.65 -10.04 302 1524.38 roll back -0.59 0.14 0.079 2660.12 253.1 3.24 0.032 604.44 -440.1 -146.63 - - 3694.19 - - - - - - - - - 27.55 -
1793.37 179.23 -9.95 357 1799.12 roll -0.53 - - 2660.19 - 3.21 0.032 2028.38 443.6 -146.63 - - 3693.78 - - - - - - - - - 27.52 -
1978.54 197.57 -9.82 394 1984.19 roll back -0.48 0.14 0.076 2695.38 251.4 3.23 0.032 603.31 -441.2 -146.63 - - 3693.72 - - - - - - - - - 27.54 -
2253.90 225.20 -9.96 449 2259.12 roll -0.43 - - 2694.00 - 3.22 0.032 2028.44 442.6 -146.63 - - 3695.00 - - - - - - - - - 27.50 -
2438.45 243.57 -9.79 486 2444.19 roll back -0.37 0.14 0.080 2728.25 244.6 3.21 0.032 603.38 -443.9 -146.63 - - 3694.34 - - - - - - - - - 27.52 -
2713.89 271.24 -10.02 541 2719.12 roll -0.32 - - 2727.75 - 3.22 0.032 2029.44 442.9 -146.63 - - 3695.50 - - - - - - - - - 27.48 -
2898.92 290.02 -10.08 578 2904.19 roll back -0.27 0.14 0.081 2761.81 243.3 3.23 0.032 604.94 -441.0 -146.63 - - 3694.28 - - - - - - - - - 27.50 -
3174.07 317.39 -10.02 633 3179.13 roll -0.21 - - 2762.81 - 3.21 0.032 2030.94 444.2 -146.63 - - 3693.44 - - - - - - - - - 27.46 -
3358.51 336.00 -10.02 670 3364.19 roll back -0.16 0.14 0.078 2795.50 233.5 3.23 0.031 605.00 -441.5 -146.63 - - 3695.06 - - - - - - - - - 27.48 -
3633.71 363.68 -10.06 725 3639.11 roll -0.11 - - 2795.31 - 3.22 0.032 2030.19 442.6 -146.63 - - 3695.31 - - - - - - - - - 27.44 -
3838.81 384.09 -9.90 736 3844.18 roll back -0.05 0.14 0.081 2830.88 254.1 3.22 0.032 605.12 -442.6 -146.63 - - 3694.47 - - - - - - - - - 27.45 -
4113.33 411.56 -10.08 791 4119.30 roll - - - 2831.31 - 3.21 0.032 2029.19 443.6 -146.63 - - 3693.47 - - - - - - - - - 27.41 -
4319.18 431.80 -9.74 802 4324.18 roll back 0.05 0.14 0.081 2866.44 250.9 3.23 0.032 604.94 -440.9 -146.63 - - 3694.06 - - - - - - - - - 27.43 -
4593.40 459.14 -10.23 857 4599.11 roll 0.11 - - 2863.12 - 3.22 0.032 2030.00 442.6 -146.63 - - 3695.53 - - - - - - - - - 27.38 -
4798.71 479.21 -9.72 868 4804.18 roll back 0.16 0.14 0.080 2899.25 258.1 3.23 0.032 606.31 -440.8 -146.63 - - 3693.84 - - - - - - - - - 27.40 -
5074.25 506.84 -9.88 923 5079.11 roll 0.22 - - 2897.62 - 3.21 0.032 2029.31 443.3 -146.63 - - 3694.53 - - - - - - - - - 27.35 -
5278.73 527.10 -9.87 934 5284.18 roll back 0.27 0.15 0.079 2934.44 245.5 3.23 0.032 604.88 -441.0 -146.63 - - 3692.84 - - - - - - - - - 27.38 -
5553.78 554.75 -10.31 989 5559.13 roll 0.32 - - 2935.19 - 3.23 0.032 2029.19 441.0 -146.63 - - 3693.56 - - - - - - - - - 27.33 -
5758.95 575.65 -10.22 1000 5764.18 roll back 0.38 0.14 0.078 2967.12 228.1 3.23 0.032 605.00 -440.9 -146.63 - - 3693.97 - - - - - - - - - 27.36 -
6033.44 603.36 -9.90 1055 6039.11 roll 0.43 - - 2967.50 - 3.23 0.032 2029.62 441.1 -146.63 - - 3693.53 - - - - - - - - - 27.31 -
6238.65 623.84 -10.03 1066 6244.18 roll back 0.48 0.14 0.079 3000.25 233.9 3.25 0.032 603.56 -438.8 -146.63 - - 3695.19 - - - - - - - - - 27.33 -
6513.26 651.06 -10.20 1121 6519.11 roll 0.54 - - 3000.44 - 3.23 0.032 2028.69 441.2 -146.63 - - 3694.97 - - - - - - - - - 27.29 -
6718.68 671.84 -10.17 1132 6724.18 roll back 0.59 0.15 0.078 3037.25 245.4 3.25 0.032 602.00 -439.0 -146.63 - - 3694.34 - - - - - - - - - 27.32 -
6993.75 699.15 -9.93 1187 6999.12 roll 0.64 - - 3037.12 - 3.24 0.032 2028.81 440.4 -146.63 - - 3693.69 - - - - - - - - - 27.26 -
7198.78 720.01 -10.29 1198 7204.18 roll back 0.70 0.14 0.078 3070.12 235.7 3.24 0.032 604.88 -439.5 -146.63 - - 3694.75 - - - - - - - - - 27.30 -
7473.44 747.61 -9.94 1253 7479.11 roll 0.75 - - 3071.25 - 3.23 0.033 2027.38 440.4 -146.63 - - 3694.31 - - - - - - - - - 27.24 -
7678.67 768.78 -10.45 1264 7684.18 roll back 0.80 0.14 0.079 3105.19 242.4 3.24 0.032 603.44 -439.5 -146.63 - - 3694.69 - - - - - - - - - 27.28 -
7954.27 796.67 -9.91 1319 7959.11 roll 0.86 - - 3104.44 - 3.22 0.032 2027.56 442.3 -146.63 - - 3695.69 - - - - - - - - - 27.25 -
8158.75 816.95 -9.84 1330 8164.18 roll back 0.91 0.13 0.079 3138.62 262.9 3.23 0.032 603.81 -440.8 -146.63 - - 3693.69 - - - - - - - - - 27.28 -
8388 end dive: TARGET_DEPTH_EXCEEDED
8388 begin apogee
8393.24 840.08 10.08 1376 8520.33 -0.20 1.42 0.045 2780.06 -252.5 0.03 0.142 2013.69 46996.0 - 122.61 0.472 3093.62 -4.9 0.819 - - - - - - 27.18 26.61 22.97
8521 end apogee: CONTROL_FINISHED_OK
8521 begin climb
8521.20 830.12 - 1381 8662.06 0.91 1.59 0.067 3139.06 225.8 3.61 0.050 3442.12 395.7 146.63 132.10 0.477 2491.44 -4.6 0.746 - - - - - - 27.13 26.19 23.29
8928.57 786.37 10.02 1462 8934.57 done 0.86 - - 3140.19 - 3.22 0.031 2015.50 -443.0 146.63 - - 2474.91 - - - - - - - - - 27.36 -
9118.96 767.63 9.81 1470 9124.67 0.81 0.13 0.052 3102.75 -288.0 3.47 0.049 3442.31 411.2 150.75 - - 2473.66 - - - - - - - - 27.77 27.25 -
9393.80 739.97 9.85 1525 9399.56 roll 0.76 - - 3102.56 - 3.21 0.031 2015.06 -444.6 153.96 - - 2473.91 - - - - - - - - - 27.55 -
9599.11 719.54 10.07 1536 9604.60 roll 0.70 - - 3102.88 - 3.46 0.048 3442.81 412.6 153.96 - - 2474.03 - - - - - - - - - 27.30 -
9873.68 692.09 9.96 1591 9879.61 roll back 0.65 0.19 0.055 3050.44 -276.0 3.19 0.031 2018.38 -446.5 154.72 - - 2474.09 - - - - - - - - 27.48 27.60 -
10079.27 671.06 10.31 1602 10084.80 roll 0.60 - - 3050.38 - 3.45 0.048 3441.94 412.6 154.72 - - 2473.72 - - - - - - - - - 27.29 -
10354.18 643.72 9.89 1657 10360.63 done 0.55 - - 3050.38 - 3.19 0.031 2013.38 -447.8 157.13 1.99 0.160 2455.31 -9.3 3.501 - - - - - - - 27.61 24.39
10553.84 623.77 9.97 1667 10559.68 roll back 0.49 0.17 0.055 3002.31 -282.8 3.46 0.048 3442.38 413.0 157.71 - - 2459.84 - - - - - - - - - 27.45 -
10828.93 596.27 10.10 1722 10834.54 roll 0.44 - - 3001.94 - 3.19 0.031 2014.94 -447.5 157.71 - - 2461.47 - - - - - - - - - 27.65 -
11034.16 575.99 9.83 1733 11041.71 done 0.39 - - 3001.50 - 3.41 0.049 3444.00 419.1 161.49 2.49 0.156 2436.47 -10.0 3.487 - - - - - - - 27.40 25.01
11308.88 548.72 9.69 1788 11319.13 0.35 0.16 0.056 2955.88 -285.1 3.19 0.031 2017.69 -447.1 168.23 3.39 0.150 2408.34 -8.3 2.855 - - - - - - 27.60 27.69 24.65
11509.29 528.59 10.03 1798 11514.61 roll 0.29 - - 2954.06 - 3.41 0.048 3443.38 418.1 168.23 - - 2413.56 - - - - - - - - - 27.54 -
11783.81 501.08 10.30 1853 11789.55 roll 0.24 - - 2955.06 - 3.17 0.031 2014.81 -450.7 168.23 - - 2412.19 - - - - - - - - - 27.72 -
11989.11 480.20 10.23 1864 11994.68 roll back 0.19 0.17 0.055 2904.88 -295.2 3.46 0.048 3443.44 412.9 168.23 - - 2412.69 - - - - - - - - - 27.42 -
12263.32 452.97 9.79 1919 12270.65 done 0.14 - - 2904.25 - 3.17 0.031 2013.69 -451.0 172.74 2.07 0.165 2387.69 -12.1 3.118 - - - - - - - 27.67 24.54
12463.98 433.00 9.86 1929 12470.67 done 0.09 - - 2903.25 - 3.39 0.049 3444.50 422.1 175.84 1.50 0.180 2377.06 -7.1 1.603 - - - - - - - 27.48 25.06
12738.96 405.28 10.22 1984 12744.61 roll back 0.03 0.17 0.055 2852.38 -299.2 3.17 0.031 2019.00 -449.7 175.84 - - 2386.50 - - - - - - - - 27.68 27.78 -
12939.08 385.72 9.87 1994 12945.67 done -0.02 - - 2853.69 - 3.38 0.048 3444.06 421.6 178.61 1.48 0.181 2364.62 -14.8 2.963 - - - - - - - 27.49 25.06
13213.91 358.26 9.98 2049 13219.54 roll -0.07 - - 2853.00 - 3.16 0.031 2015.88 -452.0 178.95 - - 2373.41 - - - - - - - - - 27.79 -
13398.87 339.78 10.00 2071 13404.69 roll back -0.12 0.17 0.055 2805.56 -279.1 3.42 0.048 3443.06 417.3 179.05 - - 2372.97 - - - - - - - - - 27.52 -
13673.60 312.21 9.90 2126 13679.63 done -0.17 - - 2804.88 - 3.16 0.031 2014.38 -452.1 181.18 1.39 0.183 2359.97 -9.4 1.501 - - - - - - - 27.73 24.65
13859.05 293.75 9.94 2163 13864.62 roll -0.23 - - 2805.12 - 3.42 0.048 3443.00 417.7 182.39 - - 2361.03 - - - - - - - - - 27.62 -
14133.72 266.39 9.93 2218 14139.70 -0.28 0.17 0.056 2754.31 -298.9 3.17 0.031 2017.88 -449.6 183.84 1.39 0.185 2346.25 -10.6 1.440 - - - - - - 27.66 27.77 24.63
14318.81 247.79 10.07 2255 14324.60 roll -0.33 - - 2753.56 - 3.38 0.048 3442.44 421.5 183.84 - - 2353.88 - - - - - - - - - 27.65 -
14593.59 220.21 10.04 2310 14599.56 roll -0.38 - - 2754.69 - 3.15 0.031 2014.19 -453.4 183.84 - - 2352.09 - - - - - - - - - 27.79 -
14779.02 201.78 9.90 2347 14785.75 -0.43 0.17 0.055 2703.94 -298.5 3.38 0.048 3445.19 423.4 186.10 1.33 0.185 2334.59 -13.2 1.350 - - - - - - - 27.53 24.76
15053.50 174.80 9.83 2402 15060.64 done -0.48 - - 2703.50 - 3.16 0.031 2015.50 -452.4 189.86 1.89 0.170 2321.50 -6.9 0.670 - - - - - - - 27.82 24.84
15239.24 156.28 9.89 2439 15245.74 done -0.53 - - 2702.62 - 3.37 0.048 3442.56 423.5 192.30 1.07 0.202 2312.75 -8.2 0.595 - - - - - - - 27.58 25.20
15513.86 128.91 9.94 2494 15519.62 roll back -0.59 0.16 0.057 2655.50 -294.5 3.15 0.031 2017.75 -452.3 193.59 - - 2319.66 - - - - - - - - 27.77 27.87 -
15699.29 110.20 10.10 2531 15704.62 roll -0.64 - - 2654.94 - 3.40 0.048 3441.38 418.7 193.59 - - 2319.56 - - - - - - - - - 27.58 -
15973.48 82.76 10.02 2586 15979.56 roll -0.69 - - 2655.88 - 3.16 0.031 2013.62 -451.8 193.59 - - 2316.66 - - - - - - - - - 27.79 -
16158.98 64.33 9.89 2623 16165.75 -0.74 0.17 0.054 2605.31 -297.5 3.36 0.048 3442.31 425.2 195.95 1.94 0.169 2294.06 -11.6 0.417 - - - - - - - 27.57 24.81
16433.66 37.06 10.11 2678 16439.62 roll -0.80 - - 2605.62 - 3.14 0.031 2013.19 -455.1 195.95 - - 2300.59 - - - - - - - - - 27.83 -
16619.23 18.47 10.11 2715 16624.62 roll -0.85 - - 2606.44 - 3.43 0.048 3443.31 416.9 195.95 - - 2301.94 - - - - - - - - - 27.55 -
16783 end climb: SURFACE_DEPTH_REACHED
16783 begin surface coast
16804 end surface coast: CONTROL_FINISHED_OK
16804 begin surface
SM -0.19 - - - - 248.9 0.14 0.119 548.6 3918.6 7.47 0.052 568.1 76.1 - 3.13 0.031 529.1 167.9 0.105 - - 26.49 27.61 27.79 -