WA coast Jun12 * SG178 * Dive index * Mission links * Dive 107 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 39.62 of 91.80 AH used of 24V (56.84% remains)
• Previous NAKs 0, Timeouts 0 • 33.15 of 61.20 AH used of 10V (45.84% remains)
• Surface angle -74.8 deg, depth 0.44 m • Intended pitch -25.8 deg, speed -7.857 cm/s
VBD pumped to 567.38 (beyond SM_CC=350)
• GPS1 time: 98 s, HDOP was 99.0 m
• GPS2 time: 21 s, HDOP was 99.0 m • Transponder ping count: 64
• 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
11 end surface: CONTROL_FINISHED_OK
11 begin dive
13 - - - 60 VBD -0.92 - - 157 - - - 2501 - -50.7 -45.70 - 2226 - - - - - - - - - - -
62 3.1 -9.8 8 92 roll -0.92 10.40 0.264 2334 209.3 2.30 0.050 1105 -607.0 -50.7 -15.45 - 2946 -46.6 - - - - - - - 24.57 25.37 25.66
316 43.9 -15.2 58 323 done -0.92 - - 2326 - 2.30 0.048 2501 607.0 -50.7 - - 2951 - - - - - - - - - 25.30 -
622 84.7 -14.7 119 629 roll -0.92 - - 2317 - 2.12 0.054 3781 603.8 -50.7 - - 2953 - - - - - - - - - 25.53 -
638 86.9 -14.4 122 645 done -0.92 - - 2313 - 2.00 0.031 2495 -643.0 -50.7 - - 2953 - - - - - - - - - 25.75 -
944 126.7 -14.1 183 951 roll -0.92 - - 2307 - 2.12 0.055 3771 601.9 -50.7 - - 2953 - - - - - - - - - 25.55 -
1035 140.1 -15.0 201 1043 done -0.92 0.10 0.175 2334 270.0 1.98 0.032 2503 -640.4 -50.7 - - 2951 - - - - - - - - 25.32 25.79 -
1343 175.7 -10.0 262 1349 roll -0.97 - - 2334 - 2.22 0.037 1097 -633.3 -50.7 - - 2955 - - - - - - - - - 25.47 -
1383 180.0 -10.7 270 1390 done -1.01 - - 2326 - 2.30 0.041 2505 612.2 -50.7 - - 2953 - - - - - - - - - 25.28 -
1689 213.2 -10.4 319 1690 done -1.05 - - 2326 - - - 2505 - -50.7 - - 2953 - - - - - - - - - - -
1989 248.6 -11.6 349 1993 roll -1.09 0.12 0.094 2266 -500.0 2.10 0.063 3770 602.4 -50.7 - - 2953 - - - - - - - - 25.75 25.53 -
2009 251.2 -12.4 351 2013 done -1.09 - - 2266 - 2.00 0.038 2493 -638.5 -50.7 - - 2953 - - - - - - - - - 24.79 -
2319 295.2 -13.3 382 2323 roll -1.07 - - 2266 - 2.20 0.036 1102 -632.3 -50.7 - - 2952 - - - - - - - - - 25.66 -
2339 297.9 -13.5 384 2343 done -1.05 0.15 0.187 2295 193.3 2.28 0.041 2500 613.2 -50.7 - - 2952 - - - - - - - - 25.09 25.63 -
2649 332.8 -10.8 415 2649 done -1.05 - - 2295 - - - 2501 - -50.7 - - 2951 - - - - - - - - - - -
2950 364.9 -10.9 445 2951 done -1.07 - - 2296 - - - 2501 - -50.7 - - 2951 - - - - - - - - - - -
3249 399.0 -11.8 475 3250 done -1.09 - - 2295 - - - 2500 - -50.7 - - 2950 - - - - - - - - - - -
3550 433.7 -11.3 505 3553 roll -1.11 - - 2296 - 2.22 0.037 1098 -631.5 -50.7 - - 2948 - - - - - - - - - 25.62 -
3594 438.1 -11.2 509 3602 done -1.13 - - 2288 - 2.30 0.041 2505 611.7 -50.7 - - 2948 - - - - - - - - - 25.60 -
3899 471.7 -10.4 540 3903 roll -1.13 - - 2288 - 2.25 0.036 1096 -626.2 -50.7 - - 2948 - - - - - - - - - 25.60 -
3923 474.0 -11.0 542 3931 done -1.13 - - 2277 - 2.30 0.041 2503 611.7 -50.7 - - 2948 - - - - - - - - - 25.58 -
4229 509.0 -11.4 573 4233 roll -1.13 - - 2277 - 2.25 0.037 1100 -623.6 -50.7 - - 2946 - - - - - - - - - 25.60 -
4259 512.5 -11.8 576 4263 done -1.13 - - 2267 - 2.28 0.041 2493 611.0 -50.7 - - 2946 - - - - - - - - - 25.58 -
4569 550.2 -12.7 607 4569 done -1.13 - - 2267 - - - 2493 - -50.7 - - 2944 - - - - - - - - - - -
4870 589.3 -12.7 637 4873 roll -1.13 - - 2267 - 2.22 0.037 1096 -629.3 -50.7 - - 2945 - - - - - - - - - 25.59 -
4889 592.0 -12.9 639 4893 done -1.13 - - 2256 - 2.30 0.042 2501 610.9 -50.7 - - 2944 - - - - - - - - - 25.56 -
5199 631.9 -12.5 658 5200 done -1.13 - - 2257 - - - 2501 - -50.7 - - 2944 - - - - - - - - - - -
5499 666.2 -10.5 673 5500 done -1.13 - - 2256 - - - 2501 - -50.7 - - 2944 - - - - - - - - - - -
5799 700.5 -11.8 688 5800 done -1.13 - - 2257 - - - 2501 - -50.7 - - 2943 - - - - - - - - - - -
6099 735.9 -11.6 703 6100 done -1.13 - - 2257 - - - 2502 - -50.7 - - 2941 - - - - - - - - - - -
6399 768.6 -10.9 718 6403 roll -1.13 - - 2246 - 2.15 0.057 3780 594.4 -50.7 - - 2941 - - - - - - - - - 25.40 -
6444 773.4 -11.5 720 6448 done -1.11 0.10 0.194 2274 280.0 2.03 0.034 2504 -628.6 -50.7 - - 2941 - - - - - - - - 25.13 25.67 -
6760 805.5 -9.7 736 6761 done -1.13 - - 2274 - - - 2504 - -50.7 - - 2941 - - - - - - - - - - -
7059 835.0 -9.9 751 7063 roll -1.13 - - 2267 - 2.15 0.059 3776 591.6 -50.7 - - 2941 - - - - - - - - - 25.37 -
7114 839.3 -10.2 753 7122 done -1.13 - - 2267 - 2.05 0.042 2496 -624.4 -50.7 - - 2940 - - - - - - - - - 25.48 -
7419 871.1 -9.7 769 7420 done -1.13 - - 2267 - - - 2497 - -50.7 - - 2940 - - - - - - - - - - -
7719 901.1 -10.0 784 7723 roll -1.13 - - 2267 - 2.25 0.039 1105 -618.7 -50.7 - - 2939 - - - - - - - - - 25.48 -
7759 905.3 -10.2 786 7763 done -1.13 - - 2257 - 2.30 0.044 2497 605.2 -50.7 - - 2939 - - - - - - - - - 25.46 -
8079 938.9 -10.7 802 8083 roll -1.13 - - 2257 - 2.25 0.040 1108 -617.3 -50.7 - - 2938 - - - - - - - - - 25.47 -
8179 950.0 -11.2 807 8183 done -1.13 - - 2246 - 2.30 0.044 2498 604.3 -50.7 - - 2938 - - - - - - - - - 25.44 -
8499 984.8 -10.8 823 8500 done -1.13 0.12 0.210 2270 200.0 - - 2499 - -50.7 - - 2938 - - - - - - - - 25.22 - -
8558 end dive: TARGET_DEPTH_EXCEEDED
8558 begin apogee
8561 990.8 -10.1 826 8612 done -0.17 1.10 0.164 2576 278.2 - - 2207 - - 46.92 1.260 2737 -4.3 0.364 - - - - - - 24.62 - 23.20
8613 end apogee: CONTROL_FINISHED_OK
8613 begin climb
8614 991.9 - 828 8674 roll 0.92 1.02 0.067 2946 362.7 2.42 0.042 805 -579.3 50.7 51.95 1.239 2529 -4.0 0.346 - - - - - - 23.60 24.24 22.77
8734 988.7 3.3 834 8782 done 0.94 - - 2946 - 2.35 0.037 2202 594.5 94.1 43.53 1.229 2353 -4.0 0.351 - - - - - - - 24.75 22.69
9080 953.1 11.1 852 9083 roll 0.94 - - 2946 - 2.35 0.054 3615 601.3 94.1 - - 2343 - - - - - - - - - 25.29 -
9154 945.9 11.8 855 9161 done 0.92 - - 2958 - 2.28 0.032 2188 -625.9 94.1 - - 2342 - - - - - - - - - 25.50 -
9459 910.9 10.8 871 9463 roll 0.90 - - 2967 - 2.25 0.043 812 -611.6 94.1 - - 2341 - - - - - - - - - 25.53 -
9679 887.5 10.5 882 9683 done 0.88 0.15 0.177 2933 -226.7 2.28 0.038 2207 611.8 94.1 - - 2339 - - - - - - - - 25.10 25.58 -
10000 856.8 9.9 898 10003 roll 0.90 - - 2935 - 2.25 0.043 807 -622.2 94.1 - - 2339 - - - - - - - - - 25.58 -
10043 853.7 9.2 900 10048 done 0.90 - - 2936 - 2.28 0.038 2204 612.7 94.1 - - 2339 - - - - - - - - - 25.60 -
10354 821.0 10.7 916 10358 roll 0.90 - - 2936 - 2.33 0.055 3597 597.9 94.1 - - 2338 - - - - - - - - - 25.49 -
10439 811.2 12.1 920 10443 done 0.88 - - 2946 - 2.22 0.034 2196 -631.1 94.1 - - 2339 - - - - - - - - - 25.70 -
10754 775.5 10.5 936 10758 roll 0.88 - - 2957 - 2.28 0.044 802 -611.4 94.1 - - 2337 - - - - - - - - - 25.53 -
10889 763.0 10.3 942 10896 done 0.88 0.12 0.173 2924 -275.0 2.28 0.038 2200 613.2 94.1 - - 2336 - - - - - - - - 25.13 25.58 -
11194 734.6 8.9 958 11198 roll 0.90 - - 2924 - 2.35 0.057 3600 595.7 94.1 - - 2336 - - - - - - - - - 25.44 -
11423 712.5 10.0 969 11428 done 0.90 - - 2932 - 2.22 0.034 2197 -632.0 94.1 - - 2336 - - - - - - - - - 25.66 -
11734 684.5 8.3 985 11738 roll 0.90 - - 2942 - 2.28 0.044 806 -610.1 94.1 - - 2336 - - - - - - - - - 25.51 -
11854 674.7 8.5 991 11858 done 0.90 - - 2942 - 2.25 0.039 2192 616.0 94.1 - - 2335 - - - - - - - - - 25.56 -
12174 647.5 8.8 1007 12175 done 0.90 - - 2942 - - - 2192 - 94.1 - - 2335 - - - - - - - - - - -
12474 622.9 8.0 1022 12475 done 0.90 - - 2942 - - - 2192 - 94.1 - - 2335 - - - - - - - - - - -
12774 596.8 9.4 1038 12778 roll 0.90 - - 2942 - 2.35 0.056 3610 603.4 94.1 - - 2335 - - - - - - - - - 25.38 -
12854 588.8 10.1 1046 12858 done 0.87 0.10 0.184 2926 -160.0 2.22 0.034 2211 -630.2 94.1 - - 2335 - - - - - - - - 25.08 25.61 -
13164 563.6 8.3 1077 13168 roll 0.89 - - 2935 - 2.30 0.043 799 -613.9 94.1 - - 2335 - - - - - - - - - 25.47 -
13269 555.2 8.5 1087 13276 done 0.91 - - 2935 - 2.30 0.039 2205 611.3 94.1 - - 2335 - - - - - - - - - 25.49 -
13575 530.3 7.3 1118 13575 done 0.94 - - 2935 - - - 2205 - 99.9 - - 2334 - - - - - - - - - - -
13875 510.0 6.0 1148 13898 roll 0.97 - - 2945 - 2.35 0.043 798 -598.7 117.2 19.58 0.930 2258 -3.9 0.230 - - - - - - - 25.40 23.88
13963 504.0 7.7 1156 13969 done 0.99 - - 2945 - 2.28 0.040 2216 621.9 118.8 - - 2256 - - - - - - - - - 25.37 -
14267 478.1 8.3 1187 14268 done 1.01 - - 2946 - - - 2211 - 118.8 - - 2255 - - - - - - - - - - -
14567 451.6 8.7 1217 14571 roll 1.03 - - 2956 - 2.28 0.043 802 -618.0 118.8 - - 2254 - - - - - - - - - 25.47 -
14651 444.9 8.3 1225 14660 done 1.03 - - 2956 - 2.28 0.038 2197 611.8 118.8 - - 2253 - - - - - - - - - 25.51 -
14957 418.1 9.0 1256 14961 roll 1.03 - - 2966 - 2.28 0.042 806 -610.1 118.8 - - 2254 - - - - - - - - - 25.48 -
15062 408.9 9.2 1266 15069 done 1.03 - - 2966 - 2.28 0.038 2201 611.8 118.8 - - 2253 - - - - - - - - - 25.51 -
15367 381.5 8.3 1297 15367 done 1.03 - - 2967 - - - 2203 - 118.8 - - 2253 - - - - - - - - - - -
15668 356.4 8.1 1327 15671 roll 1.03 - - 2966 - 2.33 0.055 3609 603.4 118.8 - - 2255 - - - - - - - - - 25.39 -
15702 353.5 9.3 1330 15709 done 1.00 - - 2976 - 2.25 0.033 2192 -629.8 118.8 - - 2252 - - - - - - - - - 25.61 -
16007 324.0 10.1 1361 16011 roll 1.00 - - 2987 - 2.25 0.043 808 -615.1 118.8 - - 2252 - - - - - - - - - 25.49 -
16107 314.0 9.9 1371 16111 done 1.00 - - 2987 - 2.28 0.037 2207 613.6 118.8 - - 2252 - - - - - - - - - 25.48 -
16417 282.4 9.7 1402 16421 roll 0.99 - - 2998 - 2.30 0.042 803 -610.4 118.8 - - 2252 - - - - - - - - - 25.46 -
16648 259.6 9.7 1425 16651 done 0.96 0.20 0.186 2953 -225.0 2.25 0.041 2203 622.2 118.8 - - 2252 - - - - - - - - 24.78 24.96 -
16957 234.6 8.1 1456 16961 roll 0.98 - - 2961 - 2.28 0.041 809 -611.4 118.8 - - 2252 - - - - - - - - - 25.46 -
17177 215.0 9.5 1478 17181 done 1.00 - - 2961 - 2.28 0.038 2205 612.3 118.8 - - 2252 - - - - - - - - - 25.48 -
17482 188.1 8.0 1522 17489 roll 1.00 - - 2962 - 2.33 0.054 3601 599.1 118.8 - - 2252 - - - - - - - - - 25.34 -
17558 181.6 8.7 1537 17566 done 0.97 - - 2972 - 2.22 0.033 2197 -632.4 118.8 - - 2252 - - - - - - - - - 25.58 -
17865 158.4 6.5 1598 17884 roll 0.99 - - 2982 - 2.30 0.044 803 -606.1 131.6 13.77 0.708 2200 -3.8 0.091 - - - - - - - 25.56 24.13
18107 140.5 8.7 1646 18114 done 0.99 - - 2983 - 2.28 0.042 2197 611.4 131.6 - - 2197 - - - - - - - - - 25.32 -
18413 112.8 7.6 1707 18421 roll 0.99 - - 2993 - 2.30 0.041 805 -605.2 134.5 4.00 0.498 2188 -2.2 0.055 - - - - - - - 25.59 23.97
18645 95.7 6.1 1753 18670 done 1.01 - - 2993 - 2.28 0.044 2202 612.7 151.2 16.60 0.683 2120 -4.1 0.062 - - - - - - - 25.52 24.20
18969 71.8 7.1 1817 18983 roll 1.02 - - 2993 - 2.35 0.060 3606 597.4 158.0 7.07 0.598 2093 -3.8 0.050 - - - - - - - 25.50 24.07
19102 63.5 6.4 1843 19123 done 1.01 0.12 0.178 2970 -191.7 2.22 0.034 2203 -632.0 171.7 14.25 0.653 2036 -4.0 0.042 - - - - - - 25.06 25.56 24.15
19422 43.0 5.8 1906 19447 roll 1.10 - - 2971 - 2.33 0.060 3613 605.2 191.0 17.70 0.649 1958 -4.4 0.032 - - - - - - - 25.39 24.18
19672 25.4 7.9 1955 19678 done 1.14 - - 2979 - 2.22 0.038 2192 -640.1 191.0 - - 1954 - - - - - - - - - 25.58 -
19978 14.9 -3.0 2016 20072 roll 1.35 0.28 0.070 3096 417.9 2.35 0.041 805 -590.2 294.6 89.05 0.648 1534 -4.7 0.012 - - - - - - 25.56 24.85 23.82
20297 3.7 -0.6 2077 20322 VBD 1.53 0.10 0.110 3136 400.0 2.25 0.037 2207 623.1 375.1 20.23 0.609 1439 -4.7 0.003 - - - - - - 25.32 25.39 -
20323 end climb: NO_VERTICAL_VELOCITY
20323 begin surface
SM 0.29 - - - - -7.69 8.55 0.054 165 -347.5 0.47 0.055 2488 597.9 567.87 - - 421 - - - - - - - -