BayOfBengal Aug15 * SG141 * Dive index * Mission links * Dive 31 * Raw log
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• Previous call tries 1 • 15.13 of 350.00 AH used of 24V (95.68% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.5 deg, depth 2.94 m • Intended pitch -27.0 deg, speed -8.462 cm/s
• VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 301 s, HDOP was 99.0 m
• GPS2 time: 106 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
26 - - - 110 done -1.08 - - - - - - 2683 - -49.1 -81.35 - 3289 - - - - - - - - 14.88 13.81 14.92
116 4.2 -2.6 8 139 roll -1.09 11.55 0.431 2358 204.2 2.35 0.075 1234 -616.6 -100.1 -3.40 - 3497 -61.2 - - - - - - - 14.47 14.06 14.74
165 23.6 -34.7 16 170 done -1.09 - - 2351 - 2.30 0.077 2620 602.6 -100.1 - - 3498 - - - - - - - - 14.78 14.69 14.81
481 125.4 -26.0 36 487 roll -1.09 - - 2340 - 2.40 0.091 4050 595.8 -100.1 - - 3499 - - - - - - - - 15.02 14.78 15.04
501 131.1 -25.1 39 509 done -1.09 - - 2340 - 2.20 0.043 2651 -635.9 -100.1 - - 3499 - - - - - - - - 14.90 14.84 14.92
810 187.5 -14.2 55 816 roll -1.09 - - 2340 - 2.25 0.060 1233 -630.2 -100.1 - - 3500 - - - - - - - - 15.07 14.87 15.10
929 205.5 -15.9 77 935 done -1.09 0.15 0.324 2359 126.7 2.33 0.077 2649 607.7 -100.1 - - 3500 - - - - - - - - 14.72 14.85 14.92
1256 256.0 -16.1 94 1257 done -1.09 - - 2359 - - - 2651 - -100.1 - - 3500 - - - - - - - - 15.11 15.15 15.14
1556 303.7 -16.0 104 1562 roll -1.09 - - 2350 - 2.33 0.091 4052 601.3 -100.1 - - 3498 - - - - - - - - 15.13 14.89 15.16
1662 320.2 -15.7 124 1667 done -1.09 - - 2350 - 2.17 0.039 2645 -648.4 -100.1 - - 3498 - - - - - - - - 15.02 14.96 15.04
1991 364.2 -13.0 138 1992 done -1.09 - - 2350 - - - 2645 - -100.1 - - 3495 - - - - - - - - 15.14 15.17 15.16
2288 403.6 -13.1 148 2293 roll -1.09 - - 2350 - 2.20 0.060 1246 -635.9 -100.1 - - 3492 - - - - - - - - 15.15 14.95 15.19
2338 410.7 -14.2 157 2343 done -1.09 - - 2339 - 2.25 0.060 2665 630.7 -100.1 - - 3491 - - - - - - - - 15.03 14.96 15.05
2662 454.8 -13.5 170 2663 done -1.09 - - 2340 - - - 2664 - -100.1 - - 3488 - - - - - - - - 15.15 15.20 15.19
2960 495.6 -13.7 180 2965 roll -1.09 - - 2340 - 2.25 0.060 1246 -630.2 -100.1 - - 3485 - - - - - - - - 15.16 14.96 15.19
2995 501.0 -14.5 186 3002 done -1.09 0.15 0.303 2360 133.3 2.25 0.060 2658 627.6 -100.1 - - 3485 - - - - - - - - 14.81 14.97 15.01
3332 548.2 -14.4 202 3338 roll -1.09 - - 2361 - 2.25 0.060 1243 -628.9 -100.1 - - 3482 - - - - - - - - 15.17 14.96 15.20
3387 556.4 -14.7 212 3393 done -1.09 - - 2353 - 2.28 0.074 2641 613.2 -100.1 - - 3480 - - - - - - - - 15.04 14.95 15.06
3704 602.5 -14.5 224 3710 roll -1.09 - - 2342 - 2.33 0.089 4046 603.0 -100.1 - - 3478 - - - - - - - - 15.16 14.93 15.19
3784 615.4 -15.6 239 3790 done -1.09 - - 2343 - 2.17 0.042 2646 -645.2 -100.1 - - 3477 - - - - - - - - 15.05 14.99 15.07
4109 659.8 -13.3 252 4115 roll -1.09 - - 2342 - 2.22 0.065 1249 -629.3 -100.1 - - 3475 - - - - - - - - 15.16 14.95 15.19
4140 664.4 -13.6 257 4147 done -1.09 0.15 0.306 2363 140.0 2.30 0.075 2659 613.0 -100.1 - - 3475 - - - - - - - - 14.84 14.94 15.01
4450 701.1 -11.8 268 4456 roll -1.09 - - 2363 - 2.25 0.064 1254 -624.4 -100.1 - - 3473 - - - - - - - - 15.16 14.95 15.19
4476 704.8 -12.4 272 4481 done -1.09 - - 2355 - 2.28 0.071 2653 613.6 -100.1 - - 3473 - - - - - - - - 15.04 14.94 15.07
4792 742.7 -11.8 284 4797 roll -1.09 - - 2344 - 2.33 0.094 4046 597.9 -100.1 - - 3470 - - - - - - - - 15.16 14.92 15.19
4924 759.8 -12.5 309 4930 done -1.09 - - 2344 - 2.20 0.046 2646 -636.4 -100.1 - - 3469 - - - - - - - - 15.04 14.97 15.05
5259 797.2 -11.2 324 5260 done -1.09 - - 2344 - - - 2645 - -100.1 - - 3466 - - - - - - - - 15.15 15.19 15.19
5556 830.7 -11.0 334 5557 done -1.09 - - 2344 - - - 2645 - -100.1 - - 3465 - - - - - - - - 15.16 15.19 15.19
5856 865.6 -11.8 344 5861 roll -1.09 - - 2344 - 2.25 0.070 1242 -623.6 -100.1 - - 3463 - - - - - - - - 15.15 14.94 15.19
5881 868.8 -12.7 348 5887 done -1.09 0.12 0.314 2358 116.7 2.30 0.075 2648 611.3 -100.1 - - 3463 - - - - - - - - 14.80 14.92 15.00
6202 904.3 -11.0 360 6207 roll -1.09 - - 2349 - 2.35 0.099 4047 595.3 -100.1 - - 3461 - - - - - - - - 15.14 14.90 15.18
6251 910.7 -12.1 369 6257 done -1.09 - - 2349 - 2.20 0.048 2652 -634.1 -100.1 - - 3461 - - - - - - - - 15.03 14.96 15.04
6576 946.8 -11.1 382 6577 done -1.09 - - 2350 - - - 2651 - -100.1 - - 3460 - - - - - - - - 15.14 15.18 15.17
6873 980.4 -11.2 392 6878 roll -1.09 - - 2349 - 2.28 0.073 1246 -616.2 -100.1 - - 3461 - - - - - - - - 15.15 14.92 15.19
6922 986.2 -11.1 401 6928 done -1.09 - - 2339 - 2.33 0.079 2658 606.0 -100.1 - - 3458 - - - - - - - - 15.02 14.91 15.04
6969 end dive: TARGET_DEPTH_EXCEEDED
6969 begin apogee
6979 991.9 -11.6 405 7053 done -0.20 1.10 0.260 2642 275.5 - - 2458 - - 70.47 2.067 3086 -5.3 0.456 - - - - - - 14.77 14.35 13.62
7056 end apogee: CONTROL_FINISHED_OK
7056 begin loiter
7338 990.7 2.1 417 7343 roll -0.20 - - 2643 - 2.30 0.077 1076 -600.9 - - - 3082 - - - - - - - - 14.87 14.66 14.90
7393 989.2 3.1 427 7399 done -0.20 - - 2643 - 2.33 0.068 2484 604.3 - - - 3082 - - - - - - - - 14.78 14.69 14.79
7709 981.2 2.8 439 7714 roll -0.20 - - 2643 - 2.33 0.076 1081 -602.1 - - - 3081 - - - - - - - - 15.00 14.78 15.03
7946 974.1 3.2 485 7952 done -0.20 - - 2643 - 2.30 0.070 2480 608.3 - - - 3080 - - - - - - - - 14.90 14.81 14.92
8262 962.9 3.6 497 8268 roll -0.20 - - 2643 - 2.33 0.078 1083 -599.6 - - - 3078 - - - - - - - - 15.07 14.84 15.11
8390 958.4 3.5 521 8396 done -0.20 - - 2643 - 2.28 0.072 2471 608.8 - - - 3078 - - - - - - - - 14.95 14.85 14.97
8727 946.3 3.5 537 8732 roll -0.20 - - 2643 - 2.40 0.106 3879 586.7 - - - 3077 - - - - - - - - 15.10 14.85 15.14
8965 938.7 2.6 583 8971 done -0.20 - - 2643 - 2.22 0.055 2485 -627.9 - - - 3077 - - - - - - - - 14.98 14.91 15.00
9281 930.0 2.6 595 9286 roll -0.20 - - 2642 - 2.42 0.109 3878 575.6 - - - 3076 - - - - - - - - 15.13 14.85 15.17
9306 929.4 2.5 599 9311 done -0.20 - - 2643 - 2.25 0.056 2470 -625.8 - - - 3076 - - - - - - - - 15.00 14.92 15.02
9622 922.7 2.1 611 9627 roll -0.20 - - 2643 - 2.30 0.083 1076 -606.1 - - - 3076 - - - - - - - - 15.14 14.90 15.17
9658 922.0 1.1 617 9663 done -0.20 - - 2643 - 2.33 0.074 2484 604.3 - - - 3076 - - - - - - - - 15.00 14.90 15.02
9994 916.6 1.6 633 9999 roll -0.20 - - 2641 - 2.38 0.106 3879 586.1 - - - 3074 - - - - - - - - 15.15 14.88 15.19
10230 912.6 2.2 679 10236 done -0.20 - - 2641 - 2.25 0.056 2470 -626.2 - - - 3074 - - - - - - - - 15.01 14.94 15.03
10546 906.3 2.2 691 10552 roll -0.20 - - 2641 - 2.45 0.111 3881 575.9 - - - 3073 - - - - - - - - 15.15 14.86 15.19
10748 901.4 2.3 730 10753 done -0.20 - - 2641 - 2.25 0.057 2474 -625.3 - - - 3073 - - - - - - - - 15.01 14.94 15.04
11069 893.5 2.6 743 11075 roll -0.20 - - 2640 - 2.45 0.109 3886 576.3 - - - 3073 - - - - - - - - 15.16 14.87 15.19
11149 891.3 2.6 758 11154 done -0.20 - - 2640 - 2.28 0.057 2466 -622.8 - - - 3073 - - - - - - - - 15.02 14.95 15.04
11470 883.6 2.4 771 11475 roll -0.20 - - 2639 - 2.45 0.111 3878 576.3 - - - 3072 - - - - - - - - 15.16 14.88 15.19
11628 879.6 2.4 801 11633 done -0.20 - - 2640 - 2.25 0.057 2477 -622.7 - - - 3072 - - - - - - - - 15.02 14.94 15.04
11964 870.3 2.8 817 11969 roll -0.20 - - 2639 - 2.45 0.112 3886 575.1 - - - 3072 - - - - - - - - 15.16 14.86 15.19
12079 867.0 3.6 839 12084 done -0.20 - - 2639 - 2.28 0.057 2467 -622.4 - - - 3072 - - - - - - - - 15.02 14.94 15.04
12394 856.9 3.3 851 12400 roll -0.20 - - 2639 - 2.30 0.084 1074 -605.7 - - - 3072 - - - - - - - - 15.16 14.90 15.20
12632 848.9 3.7 897 12637 done -0.20 - - 2640 - 2.33 0.079 2478 602.6 - - - 3072 - - - - - - - - 15.00 14.90 15.03
12948 838.5 3.2 909 12954 roll -0.20 - - 2640 - 2.35 0.083 1069 -599.6 - - - 3072 - - - - - - - - 15.16 14.90 15.19
13109 833.6 3.1 940 13115 done -0.20 - - 2640 - 2.33 0.079 2475 603.4 - - - 3071 - - - - - - - - 15.00 14.89 15.02
13441 825.7 2.1 955 13446 roll -0.20 - - 2640 - 2.40 0.110 3883 586.7 - - - 3071 - - - - - - - - 15.16 14.87 15.19
13678 821.8 1.2 1001 13683 done -0.20 - - 2639 - 2.28 0.057 2465 -621.9 - - - 3071 - - - - - - - - 15.01 14.93 15.03
13994 817.4 1.3 1013 13999 roll -0.20 - - 2640 - 2.45 0.109 3881 578.0 - - - 3071 - - - - - - - - 15.16 14.85 15.19
14231 814.8 1.0 1059 14236 done -0.20 - - 2639 - 2.28 0.058 2464 -621.5 -8.4 - - 3071 - - - - - - - - 15.01 14.93 15.03
14546 811.4 1.2 1071 14552 roll -0.20 - - 2640 - 2.33 0.085 1071 -597.9 -8.4 - - 3071 - - - - - - - - 15.16 14.89 15.19
14718 809.1 1.8 1104 14724 done -0.20 - - 2640 - 2.33 0.079 2477 603.4 -8.4 - - 3071 - - - - - - - - 15.00 14.88 15.02
15040 802.8 2.3 1117 15045 roll -0.20 - - 2640 - 2.42 0.110 3888 583.1 -8.4 - - 3070 - - - - - - - - 15.16 14.85 15.19
15277 796.5 3.1 1163 15282 done -0.20 - - 2640 - 2.28 0.057 2470 -621.9 -8.4 - - 3070 - - - - - - - - 15.00 14.92 15.02
15593 787.9 2.7 1175 15598 roll -0.20 - - 2640 - 2.45 0.112 3878 574.7 -8.4 - - 3071 - - - - - - - - 15.16 14.84 15.19
15832 781.7 3.5 1221 15837 done -0.20 - - 2639 - 2.25 0.058 2475 -623.6 -8.4 - - 3070 - - - - - - - - 15.00 14.92 15.02
16147 775.0 2.1 1233 16153 roll -0.20 - - 2639 - 2.33 0.084 1074 -601.3 -8.4 - - 3071 - - - - - - - - 15.15 14.88 15.19
16384 771.0 2.0 1279 16389 done -0.20 - - 2639 - 2.33 0.078 2478 602.6 -8.4 - - 3070 - - - - - - - - 14.98 14.88 15.01
16700 766.4 1.5 1291 16705 roll -0.20 - - 2639 - 2.42 0.111 3886 581.8 -8.4 - - 3071 - - - - - - - - 15.15 14.85 15.19
16937 763.2 1.4 1337 16943 done -0.20 - - 2640 - 2.28 0.058 2471 -620.6 -8.4 - - 3070 - - - - - - - - 15.00 14.91 15.02
17255 758.3 1.7 1349 17261 roll -0.20 - - 2639 - 2.47 0.114 3886 572.9 -8.4 - - 3071 - - - - - - - - 15.14 14.83 15.18
17462 754.4 2.0 1389 17467 done -0.20 - - 2639 - 2.28 0.058 2471 -620.6 -8.4 - - 3070 - - - - - - - - 15.00 14.91 15.02
17778 747.6 2.3 1401 17784 roll -0.20 - - 2640 - 2.33 0.085 1069 -601.7 -8.4 - - 3071 - - - - - - - - 15.14 14.87 15.18
17804 747.1 1.7 1405 17809 done -0.20 - - 2639 - 2.33 0.077 2476 603.9 -8.4 - - 3071 - - - - - - - - 14.98 14.88 15.02
18120 740.6 2.1 1417 18126 roll -0.20 - - 2639 - 2.42 0.111 3881 580.6 -8.4 - - 3071 - - - - - - - - 15.15 14.85 15.19
18358 736.0 1.4 1463 18364 done -0.20 - - 2639 - 2.28 0.058 2466 -620.6 -8.4 - - 3071 - - - - - - - - 14.99 14.91 15.02
18674 731.3 1.3 1475 18680 roll -0.20 - - 2639 - 2.47 0.116 3878 571.7 -8.4 - - 3070 - - - - - - - - 15.15 14.83 15.18
18912 728.8 1.3 1521 18917 done -0.20 - - 2639 - 2.28 0.058 2465 -619.7 -8.4 - - 3071 - - - - - - - - 14.99 14.91 15.02
19229 725.3 1.3 1533 19235 roll -0.20 - - 2639 - 2.33 0.085 1064 -601.3 -8.4 - - 3071 - - - - - - - - 15.14 14.87 15.18
19468 721.5 2.0 1579 19473 done -0.20 - - 2640 - 2.35 0.082 2473 599.6 -8.4 - - 3071 - - - - - - - - 14.97 14.85 15.00
19783 714.8 2.4 1591 19789 roll -0.20 - - 2639 - 2.45 0.113 3891 578.8 -8.4 - - 3071 - - - - - - - - 15.14 14.82 15.18
20022 710.0 2.3 1637 20027 done -0.20 - - 2639 - 2.28 0.057 2474 -621.5 -8.4 - - 3071 - - - - - - - - 14.99 14.90 15.01
20338 706.1 1.0 1649 20343 roll -0.20 - - 2639 - 2.33 0.085 1074 -600.9 -16.6 - - 3071 - - - - - - - - 15.14 14.87 15.17
20575 704.3 0.7 1695 20581 done -0.20 - - 2639 - 2.33 0.079 2477 602.1 -22.7 - - 3071 - - - - - - - - 14.97 14.85 15.00
20892 702.3 0.8 1707 20897 roll -0.20 - - 2639 - 2.35 0.082 1073 -597.4 -29.5 - - 3071 - - - - - - - - 15.14 14.86 15.18
21044 701.0 1.1 1736 21051 done -0.20 - - 2639 - 2.33 0.079 2473 600.9 -29.5 - - 3071 - - - - - - - - 14.97 14.86 15.00
21350 698.4 1.1 1747 21356 roll -0.20 - - 2639 - 2.42 0.111 3882 582.2 -29.5 - - 3071 - - - - - - - - 15.14 14.83 15.18
21431 end loiter: LOITER_COMPLETE
21431 begin climb
21436 697.2 - 1763 21515 done 1.09 1.27 0.129 3064 334.6 2.28 0.057 2474 -617.5 100.1 71.00 1.679 2676 -5.6 0.416 - - - - - - 14.82 14.90 13.74
21844 639.1 16.5 1793 21850 roll 1.09 - - 3064 - 2.47 0.108 3877 568.0 100.1 - - 2673 - - - - - - - - 14.82 14.57 14.85
21994 611.0 19.3 1821 21999 done 1.09 - - 3075 - 2.33 0.067 2481 -599.1 100.1 - - 2673 - - - - - - - - 14.73 14.65 14.76
22313 557.9 16.6 1833 22319 roll 1.09 - - 3075 - 2.47 0.107 3885 568.4 100.1 - - 2673 - - - - - - - - 14.92 14.66 14.94
22380 545.5 18.2 1845 22386 done 1.09 - - 3085 - 2.35 0.066 2472 -601.3 100.1 - - 2672 - - - - - - - - 14.81 14.72 14.83
22720 488.7 16.7 1861 22721 done 1.09 - - 3085 - - - 2472 - 100.1 - - 2672 - - - - - - - - 14.97 15.01 15.00
23016 439.0 16.8 1871 23017 done 1.09 - - 3085 - - - 2472 - 100.1 - - 2672 - - - - - - - - 15.00 15.04 15.03
23317 388.3 16.5 1881 23318 done 1.09 - - 3085 - - - 2472 - 100.1 - - 2672 - - - - - - - - 15.03 15.07 15.06
23616 339.7 15.8 1891 23621 roll 1.09 - - 3085 - 2.45 0.106 3886 577.1 100.1 - - 2673 - - - - - - - - 15.04 14.76 15.07
23696 325.6 17.9 1906 23702 done 1.09 - - 3095 - 2.33 0.063 2468 -608.6 100.1 - - 2673 - - - - - - - - 14.90 14.81 14.92
24020 275.9 15.2 1919 24026 roll 1.09 - - 3109 - 2.35 0.087 1068 -595.7 100.1 - - 2673 - - - - - - - - 15.04 14.79 15.07
24150 256.4 14.1 1943 24156 done 1.09 0.17 0.334 3071 -223.5 2.35 0.079 2474 598.3 100.1 - - 2673 - - - - - - - - 14.62 14.80 14.86
24476 210.8 13.6 1963 24482 roll 1.09 - - 3071 - 2.40 0.103 3883 587.1 100.1 - - 2674 - - - - - - - - 15.05 14.79 15.09
24645 189.1 11.3 1995 24650 done 1.09 - - 3079 - 2.30 0.060 2466 -616.1 100.1 - - 2674 - - - - - - - - 14.92 14.84 14.93
24971 153.8 12.2 2014 24976 roll 1.09 - - 3088 - 2.33 0.083 1073 -597.9 100.1 - - 2674 - - - - - - - - 15.06 14.81 15.09
25174 141.4 2.1 2053 25219 done 1.10 - - 3088 - 2.33 0.070 2484 605.6 155.2 37.67 1.028 2451 -5.9 0.147 - - - - - - 14.91 14.81 14.21
25519 115.4 9.3 2077 25525 roll 1.10 - - 3098 - 2.38 0.078 1062 -597.5 155.2 - - 2450 - - - - - - - - 14.93 14.71 14.97
25618 107.3 8.1 2095 25631 done 1.10 0.15 0.308 3069 -193.3 2.35 0.073 2473 600.4 158.1 2.62 0.488 2443 -2.7 0.106 - - - - - - 14.57 14.72 14.16
25925 88.2 3.4 2112 25965 roll 1.10 - - 3068 - 2.42 0.096 3885 583.5 201.5 31.23 0.958 2262 -5.8 0.096 - - - - - - 14.98 14.60 14.21
26199 70.1 6.8 2165 26215 done 1.10 - - 3077 - 2.28 0.049 2469 -621.1 215.8 10.93 0.920 2207 -5.0 0.069 - - - - - - 14.79 14.73 14.23
26515 47.7 6.3 2184 26537 roll 1.10 - - 3087 - 2.33 0.076 1073 -599.1 234.8 14.65 0.921 2126 -5.5 0.052 - - - - - - 14.94 14.67 14.23
26743 31.6 8.0 2227 26751 done 1.10 - - 3087 - 2.33 0.066 2485 606.0 238.8 1.83 0.151 2113 -7.1 0.268 - - - - - - 14.81 14.72 14.66
27055 3.8 7.9 2258 27062 1.10 - - 3087 - 2.17 0.087 3752 583.9 243.4 2.30 0.053 2094 -8.3 0.107 - - - - - - 14.98 14.89 14.83
27064 end climb: SURFACE_DEPTH_REACHED
27064 begin surface coast
27100 end surface coast: CONTROL_FINISHED_OK
27100 begin surface
SM 3.21 - - - - -8.30 8.45 0.059 40 4.7 1.80 0.041 2641 -3227.8 500.17 102.20 0.053 1047 10.2 -0.063 - - - - - -