Shilshole 27Jun12 * SG193 * Dive index * Mission links * Dive 22 * Raw log
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• Previous call tries 3 • 2.88 of 350.00 AH used of 24V (99.18% remains)
• Previous NAKs 0, Timeouts 0 • 0.91 of 50.00 AH used of 10V (98.19% remains)
• Surface angle -70.2 deg, depth 1.29 m • Intended pitch -10.8 deg, speed -7.491 cm/s
• VBD pumped to 350.04 (SM_CC=350)
• GPS1 time: 13 s • bottom range 63.2 m at 115.1 m, depth 178 m (200 m grid)
• GPS2 time: 12 s • Transponder ping count: 1
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
15 - - - 80 VBD -1.07 - - 138 - - - 2098 - -195.5 -63.17 - 2146 - - - - - - - - - - -
82 3.3 -6.5 11 114 roll -1.07 11.50 0.422 2615 215.4 2.78 0.194 3509 507.6 -195.5 -13.32 - 2763 -46.3 - - - - - - - 14.55 14.64 14.89
339 30.9 -8.6 61 346 done -1.07 - - 2615 - 2.58 0.126 2083 -552.7 -195.5 - - 2765 - - - - - - - - - 14.73 -
408 36.9 -9.1 74 414 done -1.07 - - 2615 - - - 2083 - -195.5 - - 2765 - - - - - - - - - - -
475 43.4 -9.8 87 482 roll -1.07 - - 2615 - 2.65 0.177 666 -534.7 -195.5 - - 2765 - - - - - - - - - 14.73 -
513 47.3 -10.5 94 520 done -1.07 - - 2608 - 2.70 0.177 2089 527.0 -195.5 - - 2765 - - - - - - - - - 14.75 -
643 59.4 -9.9 119 649 roll -1.07 - - 2598 - 2.70 0.183 3506 524.8 -195.5 - - 2765 - - - - - - - - - 14.77 -
691 64.4 -10.8 128 698 done -1.07 0.12 0.243 2629 258.3 2.58 0.130 2088 -549.6 -195.5 - - 2765 - - - - - - - - 14.77 14.78 -
820 74.5 -7.2 153 827 roll -1.07 - - 2629 - 2.65 0.180 672 -534.3 -195.5 - - 2764 - - - - - - - - - 14.78 -
874 78.5 -7.4 163 881 done -1.07 - - 2623 - 2.70 0.177 2090 525.2 -195.5 - - 2765 - - - - - - - - - 14.79 -
1002 88.3 -8.0 188 1009 roll -1.07 - - 2623 - 2.65 0.174 671 -535.5 -195.5 - - 2765 - - - - - - - - - 14.80 -
1045 92.0 -8.8 196 1052 done -1.07 - - 2615 - 2.67 0.175 2090 531.5 -195.5 - - 2765 - - - - - - - - - 14.81 -
1174 103.0 -9.0 221 1180 roll -1.07 - - 2615 - 2.65 0.174 670 -535.8 -195.5 - - 2765 - - - - - - - - - 14.81 -
1214 106.7 -9.4 228 1221 done -1.07 - - 2608 - 2.70 0.179 2096 528.1 -195.5 - - 2765 - - - - - - - - - 14.81 -
1344 118.1 -8.7 253 1350 done -1.07 - - 2608 - - - 2096 - -195.5 - - 2765 - - - - - - - - - - -
1473 129.2 -8.6 278 1479 done -1.07 - - 2609 - - - 2096 - -195.5 - - 2765 - - - - - - - - - - -
1600 139.2 -7.1 303 1606 done -1.07 - - 2608 - - - 2096 - -195.5 - - 2764 - - - - - - - - - - -
1728 148.5 -7.4 328 1735 roll -1.07 - - 2608 - 2.65 0.171 674 -536.6 -195.5 - - 2764 - - - - - - - - - 14.84 -
1771 151.9 -7.8 336 1779 done -1.07 0.10 0.282 2624 160.0 2.67 0.174 2099 533.7 -195.5 - - 2764 - - - - - - - - 14.83 14.84 -
1902 161.4 -8.7 361 1909 roll -1.07 - - 2624 - 2.65 0.174 678 -536.2 -195.5 - - 2764 - - - - - - - - - 14.84 -
1940 164.8 -8.8 368 1947 done -1.07 - - 2618 - 2.70 0.178 2099 526.3 -195.5 - - 2763 - - - - - - - - - 14.84 -
1963 end dive: BOTTOM_OBSTACLE_DETECTED
1963 begin apogee
1966 166.5 -6.8 372 2153 done -0.38 0.50 0.207 2771 306.0 - - 1995 - - 178.27 1.781 1967 -4.5 0.076 - - - - - - 14.82 - 13.45
2154 end apogee: CONTROL_FINISHED_OK
2154 begin climb
2155 171.7 - 405 2348 done 1.07 1.02 0.151 3090 312.7 - - 1995 - 195.5 186.43 1.746 1168 -4.3 0.077 - - - - - - 14.02 - 13.43
2471 145.7 10.9 463 2477 roll 1.07 - - 3100 - 2.75 0.181 588 -511.6 195.5 - - 1168 - - - - - - - - - 14.34 -
2493 143.2 10.5 467 2500 done 1.07 - - 3100 - 2.78 0.171 2000 507.9 195.5 - - 1167 - - - - - - - - - 14.38 -
2623 131.0 9.7 492 2630 roll 1.07 - - 3110 - 2.72 0.177 589 -518.8 195.5 - - 1166 - - - - - - - - - 14.50 -
2646 128.6 9.6 496 2653 done 1.07 - - 3110 - 2.70 0.169 2000 522.6 195.5 - - 1166 - - - - - - - - - 14.53 -
2774 116.1 9.6 521 2781 roll 1.07 - - 3110 - 2.72 0.178 3422 522.8 195.5 - - 1166 - - - - - - - - - 14.60 -
2803 113.0 11.0 526 2810 done 1.07 0.12 0.270 3092 -150.0 2.62 0.135 1994 -545.0 195.5 - - 1166 - - - - - - - - 14.59 14.62 -
2933 100.6 9.0 551 2940 roll 1.07 - - 3101 - 2.67 0.181 584 -528.1 195.5 - - 1165 - - - - - - - - - 14.66 -
2991 94.4 9.8 562 2998 done 1.07 - - 3101 - 2.70 0.169 2000 524.4 195.5 - - 1165 - - - - - - - - - 14.68 -
3120 81.0 10.8 587 3126 done 1.07 - - 3100 - - - 2000 - 195.5 - - 1165 - - - - - - - - - - -
3247 68.2 10.0 612 3253 done 1.07 - - 3101 - - - 2000 - 195.5 - - 1165 - - - - - - - - - - -
3374 55.8 8.7 637 3380 done 1.07 - - 3100 - - - 2000 - 195.5 - - 1165 - - - - - - - - - - -
3503 44.2 9.1 662 3510 roll 1.07 - - 3110 - 2.65 0.174 586 -533.6 195.5 - - 1164 - - - - - - - - - 14.77 -
3551 39.8 8.4 671 3557 done 1.07 - - 3110 - 2.65 0.165 2001 534.0 195.5 - - 1164 - - - - - - - - - 14.78 -
3619 34.6 8.1 684 3626 roll 1.07 - - 3111 - 2.67 0.177 3417 530.3 195.5 - - 1164 - - - - - - - - - 14.78 -
3671 29.7 9.7 694 3679 done 1.07 0.12 0.272 3091 -166.7 2.58 0.135 1997 -550.4 195.5 - - 1164 - - - - - - - - 14.77 14.78 -
3740 23.9 8.4 707 3747 roll 1.07 - - 3099 - 2.65 0.179 581 -534.3 195.5 - - 1163 - - - - - - - - - 14.78 -
3819 17.6 7.5 722 3825 done 1.07 - - 3100 - 2.67 0.168 2000 531.5 195.5 - - 1165 - - - - - - - - - 14.80 -
3886 12.9 6.2 735 3922 roll 1.13 - - 3099 - 2.75 0.180 3417 515.3 245.6 25.55 0.204 963 -7.9 0.092 - - - - - - - 14.76 14.76
3934 9.3 7.7 743 3940 done 1.13 - - 3109 - 2.58 0.135 1999 -549.6 245.6 - - 963 - - - - - - - - - 14.78 -
4002 4.1 7.3 756 4015 roll 1.14 - - 3118 - 2.70 0.179 591 -521.5 252.3 3.25 0.197 935 -8.6 0.033 - - - - - - - 14.76 14.77
4020 end climb: SURFACE_DEPTH_REACHED
4020 begin surface coast
4046 end surface coast: CONTROL_FINISHED_OK
4047 begin surface
SM 1.51 - - - - -12.42 8.68 0.107 142 -342.9 2.88 0.168 2090 520.5 350.04 50.35 0.167 537 -7.9 0.007 - - - - - -