BayOfBengal Aug15 * SG141 * Dive index * Mission links * Dive 26 * Raw log
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• Previous call tries 1 • 13.67 of 350.00 AH used of 24V (96.09% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.2 deg, depth 2.75 m • Intended pitch -14.5 deg, speed -9.167 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 133 s, HDOP was 2.2 m
• GPS2 time: 12 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
27 - - - 138 VBD -0.60 - - 9 - - - 2639 - -175.2 -109.28 - 3635 - - - - - - - - 14.85 - 14.89
144 6.4 -8.0 11 167 roll -0.60 12.05 0.425 2512 207.7 2.30 0.084 1248 -604.8 -175.2 -2.25 - 3804 -75.1 - - - - - - - 14.48 13.83 14.73
177 25.7 -54.8 16 183 done -0.60 - - 2503 - 2.35 0.086 2646 594.9 -175.2 - - 3804 - - - - - - - - 14.77 14.66 14.79
483 105.2 -17.8 36 489 roll -0.60 - - 2492 - 2.40 0.103 4056 587.5 -175.2 - - 3804 - - - - - - - - 15.02 14.77 15.04
543 116.2 -17.9 47 550 done -0.60 - - 2492 - 2.22 0.042 2644 -636.0 -175.2 - - 3804 - - - - - - - - 14.91 14.85 14.92
849 163.7 -15.3 63 854 roll -0.60 - - 2489 - 2.25 0.067 1245 -621.8 -175.2 - - 3806 - - - - - - - - 15.07 14.85 15.11
915 172.9 -13.3 75 921 done -0.60 0.15 0.265 2517 186.7 2.33 0.080 2657 606.0 -175.2 - - 3806 - - - - - - - - 14.78 14.85 14.94
1242 205.7 -8.7 94 1248 roll -0.60 - - 2517 - 2.28 0.063 1233 -624.6 -175.2 - - 3805 - - - - - - - - 15.11 14.91 15.14
1263 207.4 -8.1 97 1270 done -0.60 - - 2512 - 2.35 0.083 2657 606.0 -175.2 - - 3806 - - - - - - - - 14.99 14.90 15.01
1568 235.0 -9.5 113 1569 done -0.60 - - 2512 - - - 2657 - -175.2 - - 3804 - - - - - - - - 15.13 15.16 15.16
1872 261.3 -8.7 126 1873 done -0.60 - - 2512 - - - 2657 - -175.2 - - 3802 - - - - - - - - 15.14 15.18 15.17
2168 287.7 -8.9 136 2174 roll -0.60 - - 2502 - 2.35 0.101 4046 591.1 -175.2 - - 3798 - - - - - - - - 15.16 14.92 15.19
2219 292.7 -9.8 145 2225 done -0.60 - - 2502 - 2.17 0.040 2645 -645.6 -175.2 - - 3798 - - - - - - - - 15.05 15.00 15.07
2544 322.6 -9.3 158 2545 done -0.60 - - 2502 - - - 2646 - -175.2 - - 3795 - - - - - - - - 15.16 15.20 15.19
2841 349.6 -8.9 168 2846 roll -0.60 - - 2502 - 2.22 0.064 1247 -630.2 -175.2 - - 3792 - - - - - - - - 15.17 14.95 15.20
2901 355.2 -9.0 179 2908 done -0.60 - - 2498 - 2.30 0.079 2653 611.3 -175.2 - - 3791 - - - - - - - - 15.04 14.95 15.07
3211 383.0 -9.2 190 3212 done -0.60 - - 2498 - - - 2653 - -175.2 - - 3789 - - - - - - - - 15.16 15.21 15.20
3507 407.1 -7.5 200 3513 roll -0.60 - - 2487 - 2.35 0.099 4055 596.6 -175.2 - - 3786 - - - - - - - - 15.18 14.94 15.21
3567 411.9 -7.7 211 3575 done -0.60 0.12 0.248 2517 250.0 2.20 0.041 2639 -643.6 -175.2 - - 3785 - - - - - - - - 14.90 15.00 15.04
3877 430.3 -6.2 222 3878 done -0.60 - - 2516 - - - 2638 - -175.2 - - 3783 - - - - - - - - 15.16 15.21 15.20
4173 451.8 -7.3 232 4174 done -0.60 - - 2516 - - - 2636 - -175.2 - - 3780 - - - - - - - - 15.17 15.21 15.21
4474 473.6 -7.2 242 4475 done -0.60 - - 2516 - - - 2638 - -175.2 - - 3779 - - - - - - - - 15.19 15.22 15.22
4773 494.9 -6.9 252 4774 done -0.60 - - 2517 - - - 2638 - -175.2 - - 3777 - - - - - - - - 15.19 15.23 15.22
5075 516.5 -7.4 262 5081 roll -0.60 - - 2514 - 2.40 0.103 4049 587.9 -175.2 - - 3774 - - - - - - - - 15.18 14.94 15.21
5130 521.1 -8.5 272 5136 done -0.60 - - 2514 - 2.20 0.044 2641 -640.0 -175.2 - - 3774 - - - - - - - - 15.07 15.00 15.08
5450 544.5 -7.4 284 5455 roll -0.60 - - 2514 - 2.22 0.069 1251 -626.1 -175.2 - - 3771 - - - - - - - - 15.17 14.97 15.21
5487 547.7 -8.1 290 5492 done -0.60 - - 2514 - 2.30 0.078 2650 608.3 -175.2 - - 3772 - - - - - - - - 15.05 14.95 15.07
5826 571.6 -7.2 306 5832 roll -0.60 - - 2503 - 2.35 0.098 4047 594.5 -175.2 - - 3770 - - - - - - - - 15.16 14.93 15.20
5863 574.6 -7.7 312 5868 done -0.60 - - 2503 - 2.20 0.046 2654 -633.2 -175.2 - - 3769 - - - - - - - - 15.06 15.00 15.07
6202 599.5 -7.3 328 6207 roll -0.60 - - 2503 - 2.28 0.070 1248 -616.7 -175.2 - - 3768 - - - - - - - - 15.16 14.95 15.19
6278 605.9 -8.6 342 6284 done -0.60 - - 2501 - 2.35 0.080 2656 599.1 -175.2 - - 3767 - - - - - - - - 15.04 14.93 15.06
6608 632.9 -8.6 356 6613 roll -0.60 - - 2490 - 2.38 0.101 4052 586.6 -175.2 - - 3766 - - - - - - - - 15.16 14.92 15.19
6647 637.0 -9.2 363 6653 done -0.60 0.12 0.246 2519 241.7 2.20 0.046 2648 -638.2 -175.2 - - 3766 - - - - - - - - 14.87 14.98 15.02
6980 664.3 -8.6 378 6985 roll -0.60 - - 2519 - 2.25 0.072 1249 -621.8 -175.2 - - 3764 - - - - - - - - 15.16 14.94 15.19
7035 669.4 -9.1 388 7040 done -0.60 - - 2520 - 2.30 0.076 2651 609.6 -175.2 - - 3763 - - - - - - - - 15.04 14.93 15.05
7354 696.9 -8.7 400 7360 roll -0.60 - - 2512 - 2.38 0.104 4052 588.7 -175.2 - - 3762 - - - - - - - - 15.15 14.90 15.19
7404 701.9 -9.2 409 7410 done -0.60 - - 2512 - 2.22 0.047 2641 -635.6 -175.2 - - 3762 - - - - - - - - 15.02 14.96 15.04
7730 728.6 -8.0 422 7735 roll -0.60 - - 2512 - 2.25 0.073 1248 -619.1 -175.2 - - 3761 - - - - - - - - 15.15 14.93 15.19
7755 731.1 -8.5 426 7761 done -0.60 - - 2512 - 2.33 0.082 2652 602.6 -175.2 - - 3761 - - - - - - - - 15.03 14.91 15.05
8076 754.0 -6.9 438 8077 done -0.60 - - 2512 - - - 2654 - -175.2 - - 3760 - - - - - - - - 15.15 15.19 15.18
8372 773.6 -6.5 448 8373 done -0.60 - - 2513 - - - 2653 - -175.2 - - 3760 - - - - - - - - 15.16 15.19 15.19
8672 791.5 -6.0 458 8678 roll -0.60 - - 2503 - 2.38 0.107 4048 586.1 -175.2 - - 3758 - - - - - - - - 15.15 14.90 15.19
8708 793.9 -6.9 464 8714 done -0.60 - - 2503 - 2.22 0.050 2651 -629.3 -175.2 - - 3757 - - - - - - - - 15.04 14.97 15.05
9048 816.4 -6.7 480 9054 roll -0.60 - - 2503 - 2.28 0.076 1248 -615.4 -175.2 - - 3757 - - - - - - - - 15.14 14.92 15.19
9114 821.6 -7.3 492 9120 done -0.60 - - 2500 - 2.35 0.084 2654 598.3 -175.2 - - 3757 - - - - - - - - 15.02 14.90 15.04
9454 846.8 -7.7 508 9459 roll -0.60 - - 2490 - 2.38 0.108 4047 585.3 -175.2 - - 3755 - - - - - - - - 15.15 14.89 15.19
9524 853.2 -8.9 521 9531 done -0.60 0.12 0.243 2519 241.7 2.22 0.052 2650 -629.3 -175.2 - - 3755 - - - - - - - - 14.84 14.95 15.00
9861 878.0 -7.5 536 9866 roll -0.60 - - 2519 - 2.30 0.078 1242 -612.2 -175.2 - - 3755 - - - - - - - - 15.14 14.91 15.17
9897 881.2 -8.2 542 9903 done -0.60 - - 2519 - 2.38 0.086 2655 593.7 -175.2 - - 3754 - - - - - - - - 15.00 14.90 15.03
10239 907.5 -7.8 558 10244 roll -0.60 - - 2512 - 2.40 0.112 4052 582.1 -175.2 - - 3754 - - - - - - - - 15.13 14.87 15.16
10276 910.7 -7.8 564 10282 done -0.60 - - 2512 - 2.22 0.052 2652 -630.6 -175.2 - - 3753 - - - - - - - - 15.02 14.94 15.03
10616 936.5 -7.3 580 10622 roll -0.60 - - 2512 - 2.30 0.080 1246 -611.3 -175.2 - - 3752 - - - - - - - - 15.13 14.90 15.16
10642 938.6 -7.1 584 10647 done -0.60 - - 2512 - 2.35 0.088 2650 597.4 -175.2 - - 3752 - - - - - - - - 15.00 14.88 15.02
10961 961.0 -6.8 596 10967 roll -0.60 - - 2503 - 2.40 0.115 4046 581.7 -175.2 - - 3751 - - - - - - - - 15.12 14.85 15.16
10998 963.9 -7.3 602 11004 done -0.60 - - 2503 - 2.22 0.054 2650 -628.8 -175.2 - - 3751 - - - - - - - - 15.01 14.92 15.02
11338 986.4 -6.5 618 11343 roll -0.60 - - 2503 - 2.30 0.080 1247 -610.0 -175.2 - - 3751 - - - - - - - - 15.12 14.89 15.19
11364 988.4 -6.5 622 11371 done -0.60 - - 2500 - 2.35 0.089 2655 599.1 -175.2 - - 3751 - - - - - - - - 14.92 14.85 14.96
11407 end dive: TARGET_DEPTH_EXCEEDED
11407 begin apogee
11417 991.4 -6.6 625 11550 done -0.20 0.50 0.197 2646 292.0 - - 2461 - - 129.12 2.221 3086 -5.2 0.422 - - - - - - 14.81 14.08 13.35
11552 end apogee: CONTROL_FINISHED_OK
11552 begin loiter
11831 984.9 3.6 639 11837 roll -0.20 - - 2647 - 2.33 0.084 1084 -591.0 - - - 3082 - - - - - - - - 14.80 14.58 14.83
12068 975.9 3.5 685 12074 done -0.20 - - 2647 - 2.35 0.074 2491 598.7 - - - 3081 - - - - - - - - 14.77 14.69 14.79
12384 965.9 3.0 697 12390 roll -0.20 - - 2647 - 2.38 0.083 1082 -592.0 - - - 3080 - - - - - - - - 14.98 14.76 15.02
12556 961.4 2.5 730 12562 done -0.20 - - 2647 - 2.33 0.081 2468 594.8 - - - 3080 - - - - - - - - 14.87 14.77 14.89
12877 954.5 2.0 743 12883 roll -0.20 - - 2646 - 2.45 0.113 3888 579.6 - - - 3079 - - - - - - - - 15.05 14.78 15.08
13114 950.2 1.9 789 13120 done -0.20 - - 2647 - 2.28 0.059 2478 -618.4 - - - 3078 - - - - - - - - 14.93 14.86 14.95
13431 945.2 1.7 801 13436 roll -0.20 - - 2647 - 2.33 0.086 1073 -603.0 - - - 3079 - - - - - - - - 15.09 14.85 15.12
13652 941.8 1.7 844 13657 done -0.20 - - 2647 - 2.35 0.085 2475 596.6 - - - 3078 - - - - - - - - 14.95 14.85 14.98
13982 938.0 1.2 859 13988 roll -0.20 - - 2646 - 2.42 0.117 3881 581.0 - - - 3076 - - - - - - - - 15.11 14.83 15.15
14219 935.0 1.2 905 14225 done -0.20 - - 2646 - 2.28 0.060 2470 -618.9 - - - 3077 - - - - - - - - 14.98 14.90 15.00
14535 929.7 1.9 917 14540 roll -0.20 - - 2646 - 2.45 0.107 3887 578.4 - - - 3077 - - - - - - - - 15.13 14.86 15.16
14772 924.3 2.2 963 14778 done -0.20 - - 2645 - 2.28 0.061 2477 -618.4 - - - 3076 - - - - - - - - 14.99 14.92 15.02
15088 915.9 2.9 975 15094 roll -0.20 - - 2646 - 2.47 0.116 3886 570.4 - - - 3077 - - - - - - - - 15.14 14.85 15.17
15130 end loiter: LOITER_COMPLETE
15130 begin climb
15134 914.5 - 983 15278 done 0.60 0.77 0.120 2909 341.6 2.28 0.060 2473 -619.7 175.2 131.75 1.964 2369 -5.4 0.460 - - - - - - 14.84 14.92 13.40
15574 862.9 13.6 1021 15580 roll 0.60 - - 2917 - 2.40 0.095 1076 -582.1 175.2 - - 2366 - - - - - - - - 14.76 14.54 14.80
15773 836.5 13.5 1059 15778 done 0.60 - - 2917 - 2.38 0.083 2472 586.6 175.2 - - 2365 - - - - - - - - 14.73 14.62 14.75
16102 793.5 13.0 1073 16107 roll 0.60 - - 2917 - 2.47 0.112 3892 574.9 175.2 - - 2364 - - - - - - - - 14.92 14.69 14.96
16187 780.8 13.9 1089 16192 done 0.60 - - 2918 - 2.35 0.070 2479 -601.3 175.2 - - 2364 - - - - - - - - 14.83 14.73 14.85
16506 742.0 11.9 1101 16507 done 0.60 - - 2918 - - - 2476 - 175.2 - - 2364 - - - - - - - - 14.98 15.02 15.02
16803 707.3 11.3 1111 16809 roll 0.60 - - 2918 - 2.47 0.109 3895 574.5 175.2 - - 2364 - - - - - - - - 15.01 14.76 15.04
16849 701.6 13.1 1119 16854 done 0.60 - - 2919 - 2.35 0.070 2473 -605.1 175.2 - - 2364 - - - - - - - - 14.90 14.81 14.92
17178 665.2 11.0 1133 17183 roll 0.60 - - 2928 - 2.38 0.094 1066 -591.2 175.2 - - 2364 - - - - - - - - 15.04 14.81 15.07
17228 659.2 11.2 1142 17234 done 0.60 - - 2929 - 2.38 0.085 2481 594.5 175.2 - - 2364 - - - - - - - - 14.91 14.81 14.94
17553 619.9 12.6 1155 17559 roll 0.60 - - 2928 - 2.42 0.110 3884 579.8 175.2 - - 2364 - - - - - - - - 15.04 14.81 15.08
17603 612.3 14.3 1164 17610 done 0.60 - - 2932 - 2.30 0.069 2478 -611.3 175.2 - - 2364 - - - - - - - - 14.89 14.84 14.92
17929 570.0 12.9 1177 17930 done 0.60 - - 2932 - - - 2478 - 175.2 - - 2364 - - - - - - - - 15.04 15.09 15.09
18226 529.6 13.6 1187 18232 roll 0.60 - - 2932 - 2.47 0.109 3893 572.9 175.2 - - 2364 - - - - - - - - 15.07 14.81 15.11
18263 524.2 15.6 1193 18269 done 0.60 0.15 0.306 2910 -146.7 2.33 0.067 2469 -611.2 175.2 - - 2364 - - - - - - - - 14.73 14.86 14.93
18599 484.4 11.6 1209 18605 roll 0.60 - - 2910 - 2.47 0.111 3890 575.3 175.2 - - 2364 - - - - - - - - 15.09 14.82 15.12
18655 477.3 12.8 1219 18660 done 0.60 - - 2911 - 2.33 0.067 2470 -609.4 175.2 - - 2364 - - - - - - - - 14.95 14.87 15.00
18971 440.8 11.7 1231 18976 roll 0.60 - - 2911 - 2.45 0.112 3882 576.3 175.2 - - 2365 - - - - - - - - 15.08 14.82 15.11
19011 435.5 13.0 1238 19017 done 0.60 - - 2920 - 2.30 0.066 2475 -611.7 175.2 - - 2366 - - - - - - - - 14.96 14.88 14.97
19345 397.3 11.0 1253 19351 roll 0.60 - - 2920 - 2.45 0.111 3887 576.3 175.2 - - 2365 - - - - - - - - 15.09 14.83 15.12
19385 392.2 11.9 1260 19390 done 0.60 - - 2924 - 2.30 0.067 2478 -612.6 175.2 - - 2365 - - - - - - - - 14.97 14.86 14.99
19720 356.1 10.8 1275 19725 roll 0.60 - - 2926 - 2.38 0.094 1059 -596.2 175.2 - - 2366 - - - - - - - - 15.09 14.85 15.11
19749 352.4 10.9 1280 19756 done 0.60 - - 2927 - 2.38 0.080 2484 598.7 175.2 - - 2366 - - - - - - - - 14.96 14.85 14.97
20057 316.2 12.5 1291 20062 roll 0.60 - - 2926 - 2.40 0.107 3887 584.6 175.2 - - 2366 - - - - - - - - 15.10 14.84 15.13
20106 308.8 14.6 1300 20112 done 0.60 - - 2937 - 2.30 0.064 2473 -614.8 175.2 - - 2365 - - - - - - - - 14.97 14.89 14.99
20431 266.0 13.3 1313 20436 roll 0.60 - - 2936 - 2.45 0.109 3890 578.4 175.2 - - 2366 - - - - - - - - 15.09 14.83 15.12
20486 257.2 15.5 1323 20492 done 0.60 0.15 0.297 2907 -193.3 2.30 0.064 2475 -615.2 175.2 - - 2366 - - - - - - - - 14.74 14.89 14.94
20803 222.8 10.1 1339 20809 roll 0.60 - - 2916 - 2.35 0.088 1068 -598.7 175.2 - - 2367 - - - - - - - - 15.09 14.85 15.12
20833 219.6 10.3 1344 20838 done 0.60 - - 2916 - 2.35 0.077 2486 603.4 175.2 - - 2368 - - - - - - - - 14.96 14.85 14.98
21154 187.6 8.9 1362 21166 roll 0.60 - - 2916 - 2.47 0.106 3892 569.2 183.0 6.75 0.983 2338 -4.4 0.156 - - - - - - 15.09 14.81 14.35
21221 181.2 9.8 1374 21227 done 0.60 - - 2925 - 2.30 0.059 2470 -618.3 183.0 - - 2338 - - - - - - - - 14.94 14.87 14.96
21548 153.3 8.9 1393 21564 roll 0.60 - - 2931 - 2.38 0.085 1076 -585.7 191.9 7.75 0.987 2302 -4.6 0.133 - - - - - - 15.07 14.80 14.34
21618 146.5 9.4 1406 21625 done 0.60 - - 2931 - 2.33 0.073 2484 604.3 191.9 - - 2302 - - - - - - - - 14.91 14.81 14.93
21941 119.3 8.3 1424 21962 done 0.60 - - 2931 - - - 2484 - 217.4 18.85 1.017 2199 -5.5 0.118 - - - - - - 15.05 14.78 14.31
22260 97.1 7.0 1440 22308 roll 0.61 - - 2931 - 2.42 0.098 3889 580.6 278.2 41.88 0.993 1949 -6.0 0.107 - - - - - - 15.00 14.52 14.19
22401 88.2 5.7 1467 22474 done 0.62 - - 2932 - 2.30 0.054 2476 -614.3 377.4 66.40 0.961 1545 -6.1 0.103 - - - - - - 14.74 14.66 13.99
22790 63.5 6.7 1499 22849 roll 0.63 - - 2932 - 2.35 0.075 1073 -597.0 448.2 47.65 0.935 1256 -6.1 0.076 - - - - - - 14.87 14.41 14.08
22916 54.8 8.2 1523 22943 done 0.63 - - 2932 - 2.33 0.057 2484 605.6 475.5 19.38 0.925 1145 -5.7 0.062 - - - - - - 14.64 14.56 14.08
23253 21.1 9.8 1559 23259 roll 0.63 - - 2932 - 2.38 0.090 3884 588.2 475.5 - - 1147 - - - - - - - - 14.88 14.66 14.91
23357 11.0 9.3 1578 23364 done 0.63 - - 2932 - 2.25 0.041 2464 -631.1 475.5 - - 1147 - - - - - - - - 14.81 14.75 14.83
23431 end climb: SURFACE_DEPTH_REACHED
23431 begin surface coast
23466 end surface coast: CONTROL_FINISHED_OK
23466 begin surface
SM 2.69 - - - - -8.29 8.07 0.063 42 5.2 0.32 0.086 2672 5131.2 500.17 9.80 0.055 1047 106.8 -0.534 - - - - - -