BayOfBengal Aug15 * SG141 * Dive index * Mission links * Dive 27 * Raw log
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• Previous call tries 2 • 13.97 of 350.00 AH used of 24V (96.01% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -73.3 deg, depth 2.86 m • Intended pitch -14.9 deg, speed -8.462 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 196 s, HDOP was 99.0 m
• GPS2 time: 35 s, HDOP was 2.7 m • Transponder ping count: 8
• 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
26 - - - 119 VBD -0.61 - - 8 - - - 2676 - -146.0 -90.05 - 3660 - - - - - - - - 14.86 - 14.90
125 6.8 -8.3 9 143 roll -0.61 12.35 0.436 2499 201.7 2.33 0.103 4029 580.7 -146.0 -0.35 - 3686 -74.3 - - - - - - - 14.45 13.83 14.74
225 51.6 -31.5 27 232 done -0.61 - - 2504 - 2.20 0.045 2656 -624.1 -146.0 - - 3688 - - - - - - - - 14.81 14.75 14.83
542 116.8 -16.1 44 548 roll -0.61 - - 2488 - 2.35 0.102 4029 584.3 -146.0 - - 3689 - - - - - - - - 15.02 14.79 15.06
592 124.9 -16.3 53 597 done -0.61 - - 2488 - 2.17 0.043 2647 -636.9 -146.0 - - 3689 - - - - - - - - 14.92 14.86 14.94
912 162.3 -10.8 71 919 roll -0.61 - - 2488 - 2.25 0.067 1246 -622.7 -146.0 - - 3690 - - - - - - - - 15.08 14.86 15.11
983 170.2 -11.3 84 990 done -0.61 0.12 0.233 2514 216.7 2.25 0.080 2626 613.3 -146.0 - - 3690 - - - - - - - - 14.76 14.85 14.88
1306 206.3 -10.6 102 1311 roll -0.61 - - 2505 - 2.40 0.099 4047 592.1 -146.0 - - 3693 - - - - - - - - 15.11 14.88 15.14
1355 211.8 -11.1 111 1362 done -0.61 - - 2505 - 2.17 0.041 2645 -646.1 -146.0 - - 3690 - - - - - - - - 15.01 14.95 15.02
1677 244.1 -9.1 129 1683 roll -0.61 - - 2505 - 2.25 0.063 1244 -622.7 -146.0 - - 3687 - - - - - - - - 15.13 14.93 15.16
1718 247.5 -7.9 136 1725 done -0.61 - - 2497 - 2.33 0.080 2660 607.7 -146.0 - - 3687 - - - - - - - - 15.01 14.91 15.03
2037 273.6 -8.7 148 2042 roll -0.61 - - 2486 - 2.33 0.099 4045 594.4 -146.0 - - 3685 - - - - - - - - 15.15 14.91 15.19
2107 281.3 -11.2 161 2113 done -0.61 0.12 0.261 2514 233.3 2.17 0.041 2646 -644.7 -146.0 - - 3684 - - - - - - - - 14.85 14.98 15.01
2441 314.5 -10.3 176 2447 roll -0.61 - - 2514 - 2.22 0.063 1246 -630.6 -146.0 - - 3681 - - - - - - - - 15.15 14.95 15.19
2527 323.6 -9.8 192 2533 done -0.61 - - 2513 - 2.30 0.078 2652 611.3 -146.0 - - 3680 - - - - - - - - 15.03 14.93 15.05
2843 352.4 -9.1 204 2844 done -0.61 - - 2514 - - - 2652 - -146.0 - - 3677 - - - - - - - - 15.16 15.21 15.20
3143 378.4 -8.4 214 3149 roll -0.61 - - 2514 - 2.25 0.062 1241 -627.1 -146.0 - - 3675 - - - - - - - - 15.17 14.97 15.21
3183 381.7 -7.7 221 3188 done -0.61 - - 2509 - 2.28 0.063 2665 624.6 -146.0 - - 3674 - - - - - - - - 15.05 14.97 15.07
3518 405.6 -7.2 236 3523 roll -0.61 - - 2499 - 2.30 0.097 4039 597.4 -146.0 - - 3671 - - - - - - - - 15.16 14.93 15.20
3568 409.9 -8.0 245 3574 done -0.61 - - 2499 - 2.17 0.040 2637 -646.1 -146.0 - - 3671 - - - - - - - - 15.06 15.00 15.07
3892 435.8 -8.2 258 3894 done -0.61 - - 2499 - - - 2636 - -146.0 - - 3669 - - - - - - - - 15.16 15.21 15.20
4189 461.5 -8.5 268 4195 roll -0.61 - - 2490 - 2.38 0.101 4036 588.2 -146.0 - - 3666 - - - - - - - - 15.17 14.93 15.21
4249 467.2 -9.2 279 4257 done -0.61 - - 2490 - 2.17 0.041 2639 -643.8 -146.0 - - 3666 - - - - - - - - 15.06 15.00 15.08
4555 494.7 -9.0 290 4561 roll -0.61 - - 2490 - 2.22 0.066 1245 -627.9 -146.0 - - 3664 - - - - - - - - 15.17 14.97 15.20
4606 499.3 -8.5 299 4613 done -0.61 0.12 0.265 2511 175.0 2.25 0.064 2650 624.4 -146.0 - - 3664 - - - - - - - - 14.88 14.97 15.03
4932 523.1 -7.2 312 4937 roll -0.61 - - 2503 - 2.33 0.096 4039 596.1 -146.0 - - 3661 - - - - - - - - 15.17 14.96 15.21
5012 529.9 -8.2 327 5019 done -0.61 - - 2503 - 2.20 0.043 2642 -635.0 -146.0 - - 3662 - - - - - - - - 15.05 14.99 15.07
5338 553.6 -7.1 340 5343 roll -0.61 - - 2503 - 2.22 0.067 1249 -627.5 -146.0 - - 3660 - - - - - - - - 15.16 14.95 15.19
5358 555.4 -7.3 343 5364 done -0.61 - - 2498 - 2.28 0.078 2642 611.0 -146.0 - - 3659 - - - - - - - - 15.02 14.92 15.04
5684 579.3 -7.3 356 5685 done -0.61 - - 2498 - - - 2642 - -146.0 - - 3658 - - - - - - - - 15.16 15.21 15.20
5980 601.4 -7.5 366 5985 roll -0.61 - - 2487 - 2.38 0.102 4049 591.2 -146.0 - - 3656 - - - - - - - - 15.17 14.92 15.20
6016 604.3 -9.0 372 6022 done -0.61 0.12 0.249 2515 233.3 2.20 0.045 2646 -637.7 -146.0 - - 3655 - - - - - - - - 14.87 14.98 15.02
6353 626.0 -6.3 388 6359 roll -0.61 - - 2516 - 2.25 0.070 1245 -622.7 -146.0 - - 3654 - - - - - - - - 15.16 14.95 15.20
6435 631.7 -7.2 403 6441 done -0.61 - - 2512 - 2.33 0.080 2657 606.0 -146.0 - - 3652 - - - - - - - - 15.03 14.93 15.05
6760 653.9 -7.0 416 6766 roll -0.61 - - 2502 - 2.35 0.101 4049 592.3 -146.0 - - 3653 - - - - - - - - 15.16 14.92 15.19
6806 657.8 -8.0 424 6812 done -0.61 - - 2502 - 2.20 0.046 2649 -636.4 -146.0 - - 3653 - - - - - - - - 15.04 14.98 15.06
7136 681.9 -7.3 438 7141 roll -0.61 - - 2502 - 2.25 0.071 1247 -623.1 -146.0 - - 3651 - - - - - - - - 15.15 14.94 15.19
7174 684.8 -7.9 444 7179 done -0.61 - - 2498 - 2.33 0.080 2652 603.0 -146.0 - - 3652 - - - - - - - - 15.03 14.92 15.05
7514 708.1 -6.8 460 7519 roll -0.61 - - 2487 - 2.35 0.103 4045 592.8 -146.0 - - 3650 - - - - - - - - 15.16 14.90 15.19
7574 713.0 -8.0 471 7581 done -0.61 - - 2487 - 2.20 0.047 2648 -635.0 -146.0 - - 3649 - - - - - - - - 15.03 14.97 15.05
7880 736.3 -8.0 482 7881 done -0.61 - - 2487 - - - 2648 - -146.0 - - 3648 - - - - - - - - 15.15 15.19 15.19
8180 760.9 -8.2 492 8186 roll -0.61 0.12 0.263 2521 283.3 2.28 0.071 1244 -615.8 -146.0 - - 3647 - - - - - - - - 14.81 14.93 14.92
8211 763.3 -7.3 497 8218 done -0.61 - - 2520 - 2.30 0.073 2657 614.3 -146.0 - - 3647 - - - - - - - - 15.03 14.93 15.05
8521 784.7 -7.1 508 8526 roll -0.61 - - 2513 - 2.35 0.107 4037 587.2 -146.0 - - 3646 - - - - - - - - 15.15 14.90 15.19
8567 788.3 -6.6 516 8572 done -0.61 - - 2513 - 2.20 0.049 2648 -631.4 -146.0 - - 3646 - - - - - - - - 15.03 14.96 15.04
8896 810.6 -6.8 530 8897 done -0.61 - - 2513 - - - 2648 - -146.0 - - 3646 - - - - - - - - 15.14 15.18 15.17
9193 829.9 -6.4 540 9198 roll -0.61 - - 2512 - 2.28 0.075 1246 -614.9 -146.0 - - 3645 - - - - - - - - 15.14 14.92 15.18
9253 834.1 -6.9 551 9261 done -0.61 - - 2510 - 2.33 0.084 2646 600.9 -146.0 - - 3644 - - - - - - - - 15.01 14.90 15.03
9562 854.2 -6.7 562 9564 done -0.61 - - 2510 - - - 2646 - -146.0 - - 3643 - - - - - - - - 15.13 15.17 15.16
9860 873.8 -6.6 572 9861 done -0.61 - - 2510 - - - 2646 - -146.0 - - 3643 - - - - - - - - 15.14 15.18 15.18
10159 893.8 -6.8 582 10165 roll -0.61 - - 2499 - 2.40 0.110 4049 584.6 -146.0 - - 3642 - - - - - - - - 15.15 14.88 15.19
10204 897.2 -7.4 590 10210 done -0.61 - - 2499 - 2.22 0.053 2652 -629.3 -146.0 - - 3642 - - - - - - - - 15.02 14.95 15.04
10534 920.5 -7.2 604 10540 roll -0.61 - - 2499 - 2.30 0.079 1245 -611.7 -146.0 - - 3641 - - - - - - - - 15.13 14.90 15.16
10595 925.6 -7.8 615 10602 done -0.61 - - 2496 - 2.35 0.085 2655 600.0 -146.0 - - 3641 - - - - - - - - 15.00 14.88 15.02
10904 948.1 -7.4 626 10909 roll -0.61 - - 2492 - 2.38 0.110 4046 584.5 -146.0 - - 3640 - - - - - - - - 15.13 14.87 15.16
10940 951.3 -8.3 632 10946 done -0.61 0.12 0.247 2515 191.7 2.22 0.054 2651 -628.4 -146.0 - - 3640 - - - - - - - - 14.81 14.93 14.97
11277 974.1 -6.6 648 11283 roll -0.61 - - 2515 - 2.30 0.080 1246 -610.9 -146.0 - - 3640 - - - - - - - - 15.12 14.88 15.16
11317 976.9 -6.9 655 11323 done -0.61 - - 2512 - 2.35 0.087 2649 597.0 -146.0 - - 3639 - - - - - - - - 14.99 14.87 15.01
11525 end dive: TARGET_DEPTH_EXCEEDED
11525 begin apogee
11535 991.2 -6.7 666 11647 done -0.20 0.47 0.204 2649 291.5 - - 2468 - - 105.40 2.074 3086 -5.2 0.458 - - - - - - 14.81 14.02 13.43
11649 end apogee: CONTROL_FINISHED_OK
11649 begin loiter
11952 989.3 2.1 680 11957 roll -0.20 - - 2649 - 2.35 0.083 1072 -594.0 - - - 3084 - - - - - - - - 14.83 14.60 14.85
12123 984.9 2.5 713 12129 done -0.20 - - 2649 - 2.38 0.076 2487 594.5 - - - 3082 - - - - - - - - 14.76 14.67 14.79
12444 976.5 2.9 726 12450 roll -0.20 - - 2648 - 2.42 0.110 3889 579.3 - - - 3081 - - - - - - - - 14.98 14.72 15.02
12683 969.4 3.2 772 12688 done -0.20 - - 2648 - 2.28 0.058 2482 -617.1 - - - 3081 - - - - - - - - 14.89 14.82 14.90
12999 960.0 3.0 784 13004 roll -0.20 - - 2648 - 2.45 0.112 3882 571.4 - - - 3081 - - - - - - - - 15.05 14.78 15.09
13236 953.1 3.0 830 13241 done -0.20 - - 2648 - 2.28 0.059 2473 -618.0 - - - 3081 - - - - - - - - 14.94 14.86 14.95
13551 943.9 2.9 842 13557 roll -0.20 - - 2648 - 2.45 0.112 3882 575.1 - - - 3080 - - - - - - - - 15.09 14.81 15.12
13788 936.7 2.8 888 13794 done -0.20 - - 2648 - 2.28 0.059 2471 -618.9 - - - 3080 - - - - - - - - 14.97 14.89 14.98
14106 927.9 2.8 900 14111 roll -0.20 - - 2648 - 2.45 0.116 3879 574.7 - - - 3080 - - - - - - - - 15.11 14.83 15.14
14283 923.2 2.4 934 14288 done -0.20 - - 2648 - 2.28 0.060 2469 -618.4 - - - 3080 - - - - - - - - 14.98 14.90 14.99
14598 916.7 1.9 946 14604 roll -0.20 - - 2648 - 2.47 0.116 3886 573.7 - - - 3079 - - - - - - - - 15.13 14.83 15.16
14836 912.4 1.6 992 14842 done -0.20 - - 2648 - 2.25 0.060 2475 -627.1 - - - 3079 - - - - - - - - 14.95 14.90 14.97
15153 907.0 1.8 1004 15158 roll -0.20 - - 2648 - 2.45 0.114 3883 574.7 - - - 3078 - - - - - - - - 15.14 14.84 15.16
15389 901.9 1.9 1050 15395 done -0.20 - - 2648 - 2.28 0.060 2473 -618.4 - - - 3078 - - - - - - - - 15.00 14.92 15.02
15705 893.8 2.8 1062 15710 roll -0.20 - - 2648 - 2.45 0.114 3878 573.5 - - - 3078 - - - - - - - - 15.14 14.85 15.17
15943 886.8 3.2 1108 15949 done -0.20 - - 2648 - 2.28 0.060 2469 -618.0 - - - 3078 - - - - - - - - 15.00 14.92 15.02
16259 878.3 2.6 1120 16265 roll -0.20 - - 2648 - 2.50 0.116 3885 566.4 - - - 3078 - - - - - - - - 15.14 14.85 15.18
16496 872.8 1.7 1166 16501 done -0.20 - - 2648 - 2.28 0.060 2474 -618.9 - - - 3078 - - - - - - - - 15.00 14.92 15.02
16812 868.1 1.3 1178 16817 roll -0.20 - - 2648 - 2.45 0.113 3878 573.1 - - - 3078 - - - - - - - - 15.14 14.85 15.19
17049 865.6 0.9 1224 17054 done -0.20 - - 2648 - 2.28 0.060 2468 -618.4 -24.2 - - 3078 - - - - - - - - 15.00 14.92 15.02
17366 863.4 0.7 1236 17371 roll -0.20 - - 2648 - 2.33 0.088 1072 -599.1 -42.1 - - 3078 - - - - - - - - 15.14 14.88 15.18
17558 862.0 0.5 1273 17565 done -0.21 - - 2648 - 2.30 0.081 2466 606.1 -55.3 - - 3078 - - - - - - - - 14.94 14.87 14.97
17890 857.7 1.6 1288 17896 roll -0.21 - - 2647 - 2.45 0.112 3886 579.6 -55.3 - - 3077 - - - - - - - - 15.15 14.85 15.18
18127 853.2 2.2 1334 18132 done -0.21 - - 2647 - 2.28 0.060 2473 -619.7 -55.3 - - 3077 - - - - - - - - 15.00 14.92 15.02
18443 845.7 2.6 1346 18448 roll -0.21 - - 2647 - 2.47 0.114 3891 574.1 -55.3 - - 3077 - - - - - - - - 15.15 14.84 15.19
18681 838.8 3.4 1392 18686 done -0.21 - - 2647 - 2.28 0.060 2474 -621.5 -55.3 - - 3078 - - - - - - - - 15.00 14.92 15.02
18873 end loiter: LOITER_COMPLETE
18873 begin climb
18877 833.3 - 1400 19000 roll 0.61 0.77 0.128 2909 340.3 2.62 0.116 3883 537.8 146.0 108.00 1.823 2489 -5.5 0.455 - - - - - - 14.86 14.11 13.50
19232 792.2 13.7 1469 19237 done 0.61 - - 2916 - 2.38 0.070 2478 -590.3 146.0 - - 2486 - - - - - - - - 14.62 14.53 14.63
19556 752.7 12.2 1482 19561 roll 0.61 - - 2916 - 2.50 0.117 3881 561.2 146.0 - - 2486 - - - - - - - - 14.86 14.61 14.90
19616 744.3 13.3 1493 19622 done 0.61 - - 2925 - 2.35 0.070 2475 -598.3 146.0 - - 2486 - - - - - - - - 14.76 14.67 14.78
19922 706.5 11.9 1504 19928 roll 0.61 - - 2925 - 2.50 0.115 3892 566.8 146.0 - - 2484 - - - - - - - - 14.93 14.66 14.96
19988 697.5 14.0 1516 19994 done 0.61 - - 2936 - 2.35 0.069 2475 -603.0 146.0 - - 2485 - - - - - - - - 14.81 14.72 14.83
20328 656.1 11.9 1532 20333 roll 0.61 - - 2936 - 2.47 0.112 3884 570.4 146.0 - - 2486 - - - - - - - - 14.98 14.71 15.01
20364 651.0 13.8 1538 20370 done 0.61 0.15 0.311 2915 -140.0 2.35 0.070 2468 -602.6 146.0 - - 2486 - - - - - - - - 14.64 14.77 14.83
20700 615.4 10.5 1554 20701 done 0.61 - - 2916 - - - 2468 - 146.0 - - 2486 - - - - - - - - 15.02 15.05 15.04
21001 582.6 10.8 1564 21002 done 0.61 - - 2915 - - - 2467 - 146.0 - - 2486 - - - - - - - - 15.03 15.07 15.06
21300 549.8 10.9 1574 21306 roll 0.61 - - 2915 - 2.47 0.114 3883 573.3 146.0 - - 2487 - - - - - - - - 15.05 14.78 15.09
21345 544.4 12.2 1582 21351 done 0.61 - - 2921 - 2.33 0.067 2470 -606.4 146.0 - - 2486 - - - - - - - - 14.92 14.83 14.94
21675 507.9 11.1 1596 21676 done 0.61 - - 2922 - - - 2470 - 146.0 - - 2487 - - - - - - - - 15.04 15.07 15.07
21971 475.0 10.6 1606 21976 roll 0.61 - - 2923 - 2.47 0.113 3886 573.3 146.0 - - 2487 - - - - - - - - 15.06 14.79 15.09
22095 461.0 11.9 1629 22101 done 0.61 - - 2933 - 2.33 0.066 2467 -609.0 146.0 - - 2486 - - - - - - - - 14.93 14.85 14.95
22398 427.2 11.6 1640 22399 done 0.61 - - 2931 - - - 2467 - 146.0 - - 2487 - - - - - - - - 15.07 15.11 15.10
22697 389.5 13.1 1650 22703 roll 0.61 - - 2933 - 2.47 0.108 3893 577.3 146.0 - - 2488 - - - - - - - - 15.07 14.81 15.11
22840 367.9 14.8 1677 22847 done 0.61 0.15 0.301 2916 -113.3 2.33 0.064 2470 -610.7 146.0 - - 2487 - - - - - - - - 14.71 14.85 14.91
23165 332.5 10.3 1690 23166 done 0.61 - - 2912 - - - 2470 - 146.0 - - 2488 - - - - - - - - 15.07 15.11 15.11
23462 304.4 9.6 1700 23464 done 0.61 - - 2912 - - - 2469 - 146.0 - - 2488 - - - - - - - - 15.08 15.12 15.11
23762 274.3 10.1 1710 23768 roll 0.61 - - 2918 - 2.33 0.090 1070 -600.4 146.0 - - 2490 - - - - - - - - 15.09 14.84 15.12
23782 272.2 9.8 1713 23788 done 0.61 - - 2918 - 2.38 0.080 2484 594.1 146.0 - - 2489 - - - - - - - - 14.95 14.84 14.98
24098 239.3 10.4 1727 24104 roll 0.61 - - 2918 - 2.40 0.105 3890 585.8 146.0 - - 2489 - - - - - - - - 15.09 14.81 15.12
24220 225.7 11.1 1750 24226 done 0.61 - - 2927 - 2.30 0.062 2474 -615.7 146.0 - - 2489 - - - - - - - - 14.95 14.88 14.98
24527 196.0 9.0 1766 24532 roll 0.61 - - 2928 - 2.42 0.105 3883 582.2 146.0 - - 2489 - - - - - - - - 15.08 14.83 15.11
24602 189.4 8.5 1780 24608 done 0.61 - - 2940 - 2.30 0.059 2471 -613.9 146.0 - - 2489 - - - - - - - - 14.96 14.88 14.98
24919 158.0 11.6 1797 24924 roll 0.61 - - 2946 - 2.33 0.086 1068 -602.1 146.0 - - 2490 - - - - - - - - 15.09 14.85 15.12
25051 147.0 5.8 1822 25107 done 0.62 0.15 0.269 2913 -220.0 2.33 0.072 2478 605.2 214.6 46.97 1.003 2207 -6.0 0.161 - - - - - - 14.73 14.85 14.22
25407 122.7 7.6 1848 25432 roll 0.62 - - 2913 - 2.47 0.100 3881 568.0 237.8 16.75 0.970 2114 -5.6 0.128 - - - - - - 14.94 14.62 14.23
25477 118.5 5.9 1861 25532 done 0.63 - - 2915 - 2.30 0.054 2469 -613.9 303.1 44.80 0.972 1850 -5.9 0.131 - - - - - - 14.76 14.69 14.07
25833 95.0 7.9 1887 25854 roll 0.63 - - 2915 - 2.53 0.101 3885 559.7 318.0 11.75 0.946 1787 -5.4 0.098 - - - - - - 14.88 14.57 14.19
25909 90.3 6.0 1901 25959 done 0.63 - - 2915 - 2.30 0.053 2472 -614.3 381.9 43.38 0.948 1527 -6.0 0.104 - - - - - - 14.73 14.66 14.05
26260 71.6 6.4 1926 26304 roll 0.64 - - 2915 - 2.40 0.077 1076 -581.7 434.4 36.15 0.932 1312 -5.9 0.083 - - - - - - 14.86 14.50 14.12
26451 51.5 10.9 1963 26457 done 0.64 - - 2915 - 2.30 0.059 2478 609.6 434.4 - - 1312 - - - - - - - - 14.71 14.62 14.72
26762 24.3 9.8 1995 26768 done 0.64 - - 2915 - - - 2478 - 434.4 - - 1317 - - - - - - - - 14.92 14.97 14.96
26998 end climb: SURFACE_DEPTH_REACHED
26998 begin surface coast
27029 end surface coast: CONTROL_FINISHED_OK
27029 begin surface
SM 2.98 - - - - -8.30 8.02 0.064 42 5.2 0.30 0.103 2677 8903.3 500.17 26.02 0.054 1047 40.2 -0.227 - - - - - -