DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 31 * Raw log
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• Previous call tries 1 • 7.03 of 150.00 AH used of 24V (95.31% remains)
• Previous NAKs 0, Timeouts 0 • 8.33 of 100.00 AH used of 10V (91.67% remains)
• Surface angle -76.9 deg, depth 2.36 m • Intended pitch -16.3 deg, speed -9.167 cm/s
• VBD pumped to 400.08 (SM_CC=400) • surface range 18.5 m at 19.9 m depth, ceiling 1.4 m
• GPS1 time: 25 s • bottom range 20.3 m at 851.5 m, depth 872 m (870 m grid)
• GPS2 time: 15 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 89 VBD -0.72 - - 342 - - - 2101 - -146.6 -68.10 - 2963 - - - - - - - - - - -
93 3.1 -1.4 12 125 done -0.72 10.05 0.258 2892 253.7 - - 2102 - -146.6 -18.38 - 3629 -36.2 - - - - - - - 26.23 - 26.75
429 47.8 -11.2 77 436 roll -0.72 - - 2884 - 2.20 0.063 3514 641.8 -146.6 - - 3634 - - - - - - - - - 26.48 -
576 66.2 -12.1 105 583 done -0.72 - - 2886 - 2.15 0.044 2097 -659.1 -146.6 - - 3634 - - - - - - - - - 26.55 -
895 101.4 -9.7 166 896 done -0.72 - - 2886 - - - 2093 - -146.6 - - 3634 - - - - - - - - - - -
1195 130.0 -9.3 196 1204 roll -0.72 - - 2878 - 2.20 0.062 3503 640.9 -146.6 - - 3633 - - - - - - - - - 26.56 -
1328 143.6 -10.3 209 1337 done -0.72 - - 2877 - 2.10 0.044 2099 -668.6 -146.6 - - 3633 - - - - - - - - - 26.62 -
1637 176.0 -10.0 240 1645 roll -0.72 - - 2867 - 2.22 0.062 3514 637.4 -146.6 - - 3632 - - - - - - - - - 26.58 -
1738 187.4 -11.4 250 1748 done -0.72 - - 2868 - 2.15 0.044 2091 -661.9 -146.6 - - 3632 - - - - - - - - - 26.64 -
2048 222.5 -11.9 281 2057 roll -0.72 - - 2856 - 2.22 0.060 3511 639.6 -146.6 - - 3632 - - - - - - - - - 26.60 -
2144 234.2 -12.7 290 2152 done -0.72 0.15 0.171 2896 266.7 2.12 0.043 2098 -666.5 -146.6 - - 3632 - - - - - - - - 26.51 26.66 -
2452 263.7 -8.9 321 2461 roll -0.72 - - 2888 - 2.20 0.060 3516 644.5 -146.6 - - 3633 - - - - - - - - - 26.63 -
2557 273.1 -9.2 331 2564 done -0.72 - - 2888 - 2.12 0.042 2099 -668.4 -146.6 - - 3632 - - - - - - - - - 26.67 -
2868 300.2 -8.6 362 2877 roll -0.72 - - 2877 - 2.17 0.059 3501 646.1 -146.6 - - 3633 - - - - - - - - - 26.65 -
2960 309.1 -9.6 371 2969 done -0.72 - - 2876 - 2.08 0.041 2100 -673.6 -146.6 - - 3634 - - - - - - - - - 26.70 -
3270 337.6 -9.4 402 3274 roll -0.72 - - 2867 - 2.17 0.059 3505 647.5 -146.6 - - 3635 - - - - - - - - - 26.65 -
3344 344.9 -10.3 409 3351 done -0.72 - - 2866 - 2.12 0.041 2084 -670.3 -146.6 - - 3635 - - - - - - - - - 26.70 -
3652 375.2 -9.6 440 3660 roll -0.72 - - 2856 - 2.22 0.058 3517 645.5 -146.6 - - 3635 - - - - - - - - - 26.66 -
3746 384.6 -10.5 449 3754 done -0.72 0.15 0.164 2896 266.7 2.12 0.041 2094 -671.2 -146.6 - - 3636 - - - - - - - - 26.56 26.71 -
4054 409.7 -7.7 480 4063 roll -0.72 - - 2888 - 2.15 0.057 3500 654.0 -146.6 - - 3636 - - - - - - - - - 26.67 -
4129 415.9 -8.7 487 4136 done -0.72 - - 2888 - 2.10 0.040 2093 -670.0 -146.6 - - 3637 - - - - - - - - - 26.72 -
4436 441.1 -8.0 518 4446 roll -0.72 - - 2878 - 2.17 0.057 3503 649.8 -146.6 - - 3637 - - - - - - - - - 26.68 -
4512 447.3 -8.9 525 4519 done -0.72 - - 2878 - 2.10 0.040 2094 -671.0 -146.6 - - 3637 - - - - - - - - - 26.73 -
4819 475.2 -9.3 556 4828 roll -0.72 - - 2867 - 2.20 0.057 3514 645.5 -146.6 - - 3638 - - - - - - - - - 26.69 -
4901 483.4 -10.2 564 4910 done -0.72 - - 2867 - 2.12 0.041 2086 -673.6 -146.6 - - 3638 - - - - - - - - - 26.74 -
5211 513.9 -9.8 595 5220 roll -0.72 - - 2856 - 2.17 0.057 3499 651.2 -146.6 - - 3638 - - - - - - - - - 26.70 -
5313 524.7 -10.6 605 5323 done -0.72 0.10 0.145 2891 350.0 2.10 0.041 2091 -670.5 -146.6 - - 3638 - - - - - - - - 26.60 26.74 -
5623 551.9 -8.4 636 5632 roll -0.72 - - 2882 - 2.17 0.057 3502 650.2 -146.6 - - 3638 - - - - - - - - - 26.70 -
5708 559.5 -9.3 644 5715 done -0.72 - - 2882 - 2.10 0.041 2093 -671.0 -146.6 - - 3638 - - - - - - - - - 26.75 -
6016 586.5 -8.4 675 6024 roll -0.72 - - 2871 - 2.17 0.057 3511 653.5 -146.6 - - 3639 - - - - - - - - - 26.71 -
6081 592.0 -9.2 681 6087 done -0.72 - - 2872 - 2.10 0.041 2096 -673.8 -146.6 - - 3639 - - - - - - - - - 26.76 -
6388 618.3 -8.4 698 6393 roll -0.72 - - 2861 - 2.17 0.057 3508 650.7 -146.6 - - 3639 - - - - - - - - - 26.72 -
6471 623.6 -8.5 700 6479 done -0.72 0.12 0.167 2893 266.7 2.10 0.041 2096 -672.4 -146.6 - - 3639 - - - - - - - - 26.62 26.76 -
6778 647.3 -7.1 711 6784 roll -0.72 - - 2885 - 2.17 0.057 3506 649.8 -146.6 - - 3639 - - - - - - - - - 26.72 -
6868 654.3 -7.5 714 6874 done -0.72 - - 2885 - 2.10 0.041 2099 -670.0 -146.6 - - 3639 - - - - - - - - - 26.76 -
7200 679.0 -7.3 725 7205 roll -0.72 - - 2874 - 2.17 0.057 3507 648.8 -146.6 - - 3639 - - - - - - - - - 26.72 -
7282 683.9 -7.7 727 7289 done -0.72 - - 2874 - 2.10 0.041 2098 -671.0 -146.6 - - 3639 - - - - - - - - - 26.77 -
7590 709.8 -7.8 738 7595 roll -0.72 - - 2864 - 2.17 0.058 3506 648.8 -146.6 - - 3640 - - - - - - - - - 26.72 -
7702 717.6 -8.5 741 7710 done -0.72 0.12 0.168 2896 266.7 2.10 0.041 2095 -671.9 -146.6 - - 3640 - - - - - - - - 26.63 26.77 -
8010 741.3 -7.1 752 8013 roll -0.72 - - 2887 - 2.20 0.058 3517 646.4 -146.6 - - 3640 - - - - - - - - - 26.73 -
8072 746.3 -7.5 754 8078 done -0.72 - - 2887 - 2.08 0.041 2111 -676.0 -146.6 - - 3640 - - - - - - - - - 26.77 -
8402 772.1 -7.8 765 8406 roll -0.72 - - 2877 - 2.15 0.058 3504 647.9 -146.6 - - 3640 - - - - - - - - - 26.73 -
8454 774.8 -7.9 766 8464 done -0.72 - - 2877 - 2.12 0.041 2079 -672.2 -146.6 - - 3640 - - - - - - - - - 26.77 -
8765 801.5 -7.9 777 8771 roll -0.72 - - 2866 - 2.17 0.059 3503 656.2 -146.6 - - 3640 - - - - - - - - - 26.73 -
8878 809.3 -8.5 780 8885 done -0.72 - - 2866 - 2.10 0.042 2099 -668.6 -146.6 - - 3640 - - - - - - - - - 26.77 -
9185 837.5 -8.5 791 9191 roll -0.72 0.12 0.181 2895 241.7 2.15 0.058 3503 653.0 -146.6 - - 3640 - - - - - - - - 26.65 26.73 -
9308 846.9 -7.7 795 9314 done -0.72 - - 2894 - 2.08 0.042 2099 -675.0 -146.6 - - 3640 - - - - - - - - - 26.78 -
9454 end dive: BOTTOM_OBSTACLE_DETECTED
9454 begin apogee
9462 858.2 -7.4 800 9593 done -0.17 0.55 0.136 3074 327.3 - - 1885 - - 126.03 1.405 3028 -4.9 0.312 - - - - - - 26.64 - 23.61
9596 end apogee: CONTROL_FINISHED_OK
9596 begin climb
9599 861.2 - 804 9738 roll 0.72 0.85 0.085 3370 348.2 2.38 0.047 520 -573.5 146.6 128.95 1.362 2430 -4.6 0.309 - - - - - - 24.68 24.18 23.26
9839 839.1 13.1 812 9846 done 0.72 - - 3370 - 2.33 0.044 1905 594.4 146.6 - - 2423 - - - - - - - - - 25.05 -
10147 793.0 13.9 823 10152 roll 0.72 - - 3370 - 2.22 0.056 3304 630.2 146.6 - - 2419 - - - - - - - - - 25.64 -
10169 793.0 13.9 823 10176 done 0.72 - - 3379 - 2.20 0.042 1915 -631.4 146.6 - - 2418 - - - - - - - - - 25.70 -
10476 744.3 14.7 834 10482 roll 0.72 - - 3390 - 2.28 0.051 485 -627.2 146.6 - - 2417 - - - - - - - - - 25.94 -
10616 726.2 15.1 838 10626 done 0.72 - - 3390 - 2.28 0.044 1904 622.4 146.6 - - 2417 - - - - - - - - - 26.04 -
10926 676.3 14.8 849 10930 roll 0.72 - - 3390 - 2.20 0.057 3311 639.5 146.6 - - 2416 - - - - - - - - - 26.15 -
10952 676.3 14.8 849 10959 done 0.72 0.15 0.181 3363 -180.0 2.20 0.043 1889 -646.4 146.6 - - 2415 - - - - - - - - 26.06 26.19 -
11258 631.8 13.0 860 11262 roll 0.72 - - 3371 - 2.20 0.050 502 -630.5 146.6 - - 2415 - - - - - - - - - 26.26 -
11343 623.6 12.9 862 11351 done 0.72 - - 3371 - 2.25 0.044 1915 628.0 146.6 - - 2414 - - - - - - - - - 26.29 -
11651 580.0 13.2 883 11652 done 0.72 - - 3371 - - - 1914 - 146.6 - - 2415 - - - - - - - - - - -
11953 540.3 13.4 913 11959 done 0.72 - - 3371 - - - 1915 - 146.6 - - 2414 - - - - - - - - - - -
12264 498.6 13.4 944 12270 done 0.72 - - 3371 - - - 1915 - 146.6 - - 2414 - - - - - - - - - - -
12573 457.5 12.9 975 12582 roll 0.72 - - 3381 - 2.25 0.050 494 -631.6 146.6 - - 2414 - - - - - - - - - 26.49 -
12618 451.6 13.3 979 12625 done 0.72 - - 3380 - 2.22 0.044 1904 635.1 146.6 - - 2414 - - - - - - - - - 26.51 -
12925 409.7 13.6 1010 12926 done 0.72 - - 3381 - - - 1904 - 146.6 - - 2414 - - - - - - - - - - -
13227 368.3 13.7 1040 13236 roll 0.72 - - 3380 - 2.15 0.056 3310 654.0 146.6 - - 2414 - - - - - - - - - 26.54 -
13260 363.2 14.7 1043 13268 done 0.72 - - 3390 - 2.12 0.042 1897 -666.5 146.6 - - 2414 - - - - - - - - - 26.58 -
13569 316.9 15.0 1074 13579 roll 0.72 - - 3400 - 2.17 0.050 500 -643.8 146.6 - - 2413 - - - - - - - - - 26.57 -
13675 301.2 15.4 1084 13683 done 0.72 0.15 0.173 3363 -246.7 2.20 0.044 1904 638.2 146.6 - - 2414 - - - - - - - - 26.46 26.59 -
13983 259.6 13.2 1115 13987 roll 0.72 - - 3370 - 2.22 0.049 501 -632.0 146.6 - - 2414 - - - - - - - - - 26.60 -
14027 253.9 13.2 1119 14036 done 0.72 - - 3369 - 2.17 0.043 1902 645.6 146.6 - - 2414 - - - - - - - - - 26.61 -
14335 213.1 12.9 1150 14345 roll 0.72 - - 3369 - 2.15 0.054 3307 653.5 146.6 - - 2414 - - - - - - - - - 26.60 -
14362 209.9 13.2 1152 14369 done 0.72 - - 3377 - 2.12 0.041 1898 -664.6 146.6 - - 2414 - - - - - - - - - 26.63 -
14671 169.9 12.1 1183 14680 roll 0.72 - - 3388 - 2.15 0.050 504 -648.4 146.6 - - 2414 - - - - - - - - - 26.62 -
14756 159.0 13.0 1191 14763 done 0.72 - - 3387 - 2.20 0.043 1909 638.6 146.6 - - 2414 - - - - - - - - - 26.64 -
15063 121.7 12.2 1222 15067 roll 0.72 - - 3387 - 2.12 0.054 3302 657.1 146.6 - - 2414 - - - - - - - - - 26.63 -
15088 119.0 12.2 1224 15096 done 0.72 0.12 0.183 3366 -175.0 2.12 0.041 1891 -665.6 146.6 - - 2414 - - - - - - - - 26.53 26.66 -
15398 83.4 11.8 1269 15404 roll 0.72 - - 3375 - 2.15 0.050 504 -645.1 146.6 - - 2414 - - - - - - - - - 26.65 -
15437 78.9 12.3 1276 15443 done 0.72 - - 3375 - 2.17 0.042 1900 643.3 146.6 - - 2414 - - - - - - - - - 26.67 -
15752 46.0 9.3 1337 15758 roll 0.72 - - 3375 - 2.15 0.055 3303 652.6 146.6 - - 2414 - - - - - - - - - 26.65 -
15797 41.3 10.8 1345 15803 done 0.72 - - 3384 - 2.12 0.042 1896 -663.7 146.6 - - 2414 - - - - - - - - - 26.68 -
16113 17.8 6.0 1406 16157 roll 0.82 - - 3394 - 2.20 0.051 493 -637.7 221.3 35.12 0.105 2124 -8.3 0.147 - - - - - - - 26.59 26.52
16227 8.2 9.2 1426 16235 done 0.82 - - 3394 - 2.22 0.044 1914 640.1 221.3 - - 2120 - - - - - - - - - 26.62 -
16271 end climb: SURFACE_DEPTH_REACHED
16271 begin surface coast
16312 end surface coast: FINISH_DEPTH_REACHED
16312 begin surface
SM 2.33 - - - - -8.66 8.18 0.059 340 -373.3 0.28 0.071 2108 692.9 400.08 76.25 0.070 1397 -9.5 0.032 - - - - - -