DavisStrait Jun12 * SG108 * Dive index * Mission links * Dive 33 * Raw log
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• Previous call tries 1 • 7.25 of 150.00 AH used of 24V (95.17% remains)
• Previous NAKs 3, Timeouts 0 • 8.57 of 100.00 AH used of 10V (91.43% remains)
• Surface angle -77.0 deg, depth 2.41 m • Intended pitch -16.3 deg, speed -9.167 cm/s
• VBD pumped to 400.08 (SM_CC=400) • surface range 17.9 m at 19.8 m depth, ceiling 1.9 m
• GPS1 time: 41 s • bottom range 23.0 m at 850.2 m, depth 873 m (885 m grid)
• GPS2 time: 14 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
16 - - - 86 VBD -0.72 - - 347 - - - 2108 - -146.6 -67.60 - 2942 - - - - - - - - - - -
90 3.0 -0.8 12 128 roll -0.72 10.10 0.259 2884 251.2 2.20 0.075 3514 639.1 -146.6 -19.55 - 3629 -35.1 - - - - - - - 26.14 26.34 26.65
233 22.5 -14.2 38 240 done -0.72 - - 2889 - 2.15 0.043 2102 -656.7 -146.6 - - 3632 - - - - - - - - - 26.41 -
546 60.5 -11.9 99 552 done -0.72 - - 2889 - - - 2101 - -146.6 - - 3632 - - - - - - - - - - -
856 97.1 -11.4 160 863 roll -0.72 - - 2881 - 2.22 0.062 3505 632.4 -146.6 - - 3632 - - - - - - - - - 26.47 -
963 110.2 -12.4 172 971 done -0.72 - - 2881 - 2.12 0.044 2091 -667.0 -146.6 - - 3632 - - - - - - - - - 26.53 -
1272 145.9 -11.6 203 1275 roll -0.72 - - 2871 - 2.22 0.060 3507 637.8 -146.6 - - 3632 - - - - - - - - - 26.51 -
1354 155.6 -12.0 211 1358 done -0.72 - - 2871 - 2.15 0.044 2091 -658.6 -146.6 - - 3632 - - - - - - - - - 26.56 -
1666 188.4 -10.1 242 1675 roll -0.72 - - 2860 - 2.22 0.060 3504 636.5 -146.6 - - 3631 - - - - - - - - - 26.54 -
1761 199.0 -11.5 251 1769 done -0.72 0.12 0.178 2891 258.3 2.15 0.044 2085 -660.0 -146.6 - - 3631 - - - - - - - - 26.45 26.60 -
2068 228.7 -9.4 282 2078 roll -0.72 - - 2883 - 2.20 0.060 3503 644.5 -146.6 - - 3631 - - - - - - - - - 26.57 -
2104 231.9 -9.4 285 2112 done -0.72 - - 2883 - 2.12 0.042 2090 -666.5 -146.6 - - 3631 - - - - - - - - - 26.62 -
2411 259.4 -8.2 316 2420 roll -0.72 - - 2872 - 2.20 0.058 3511 645.9 -146.6 - - 3631 - - - - - - - - - 26.60 -
2533 270.5 -9.2 328 2542 done -0.72 - - 2872 - 2.12 0.041 2095 -667.9 -146.6 - - 3631 - - - - - - - - - 26.65 -
2845 298.0 -8.7 359 2853 roll -0.72 - - 2862 - 2.17 0.058 3501 647.9 -146.6 - - 3632 - - - - - - - - - 26.61 -
2961 308.1 -9.0 370 2970 done -0.72 0.12 0.171 2894 266.7 2.10 0.041 2096 -669.0 -146.6 - - 3632 - - - - - - - - 26.52 26.66 -
3268 331.0 -7.5 401 3276 roll -0.72 - - 2885 - 2.17 0.057 3507 650.2 -146.6 - - 3633 - - - - - - - - - 26.63 -
3332 336.1 -8.4 407 3339 done -0.72 - - 2885 - 2.10 0.038 2095 -672.4 -146.6 - - 3633 - - - - - - - - - 26.67 -
3640 362.2 -8.5 438 3649 roll -0.72 - - 2875 - 2.15 0.057 3504 655.3 -146.6 - - 3634 - - - - - - - - - 26.65 -
3716 368.9 -9.1 445 3722 done -0.72 - - 2875 - 2.10 0.041 2097 -670.0 -146.6 - - 3634 - - - - - - - - - 26.69 -
4023 395.7 -8.4 476 4032 roll -0.72 - - 2865 - 2.17 0.057 3513 652.5 -146.6 - - 3634 - - - - - - - - - 26.65 -
4109 403.2 -9.1 484 4116 done -0.72 0.12 0.168 2896 258.3 2.10 0.040 2100 -672.9 -146.6 - - 3635 - - - - - - - - 26.56 26.70 -
4416 425.8 -7.1 515 4424 roll -0.72 - - 2888 - 2.15 0.057 3510 655.8 -146.6 - - 3635 - - - - - - - - - 26.67 -
4521 433.7 -7.8 525 4527 done -0.72 - - 2888 - 2.10 0.040 2099 -671.9 -146.6 - - 3636 - - - - - - - - - 26.71 -
4828 457.5 -7.8 556 4836 roll -0.72 - - 2878 - 2.17 0.057 3513 651.6 -146.6 - - 3636 - - - - - - - - - 26.67 -
4913 464.5 -8.9 564 4920 done -0.72 - - 2878 - 2.10 0.040 2100 -672.9 -146.6 - - 3636 - - - - - - - - - 26.72 -
5220 491.2 -8.9 595 5229 roll -0.72 - - 2868 - 2.17 0.057 3514 651.6 -146.6 - - 3637 - - - - - - - - - 26.68 -
5305 499.2 -9.9 603 5315 done -0.72 - - 2868 - 2.10 0.040 2100 -673.3 -146.6 - - 3637 - - - - - - - - - 26.73 -
5613 528.0 -8.9 634 5623 roll -0.72 - - 2857 - 2.12 0.057 3504 662.3 -146.6 - - 3637 - - - - - - - - - 26.69 -
5686 534.8 -9.4 641 5695 done -0.72 0.10 0.145 2891 340.0 2.10 0.040 2094 -671.4 -146.6 - - 3638 - - - - - - - - 26.60 26.74 -
5996 557.7 -7.9 672 6005 roll -0.72 - - 2883 - 2.17 0.057 3509 652.1 -146.6 - - 3638 - - - - - - - - - 26.70 -
6052 562.0 -8.6 677 6058 done -0.72 - - 2883 - 2.10 0.039 2095 -673.3 -146.6 - - 3638 - - - - - - - - - 26.74 -
6358 586.8 -8.0 708 6367 roll -0.72 - - 2872 - 2.15 0.057 3499 653.0 -146.6 - - 3638 - - - - - - - - - 26.71 -
6444 594.0 -8.7 716 6450 done -0.72 - - 2872 - 2.10 0.040 2088 -671.9 -146.6 - - 3638 - - - - - - - - - 26.74 -
6751 621.5 -8.8 731 6756 roll -0.72 - - 2862 - 2.17 0.057 3508 654.4 -146.6 - - 3638 - - - - - - - - - 26.71 -
6873 632.8 -9.4 735 6878 done -0.72 0.12 0.166 2893 258.3 2.10 0.040 2098 -671.4 -146.6 - - 3638 - - - - - - - - 26.61 26.75 -
7196 659.3 -8.2 746 7202 roll -0.72 - - 2886 - 2.15 0.057 3499 651.6 -146.6 - - 3639 - - - - - - - - - 26.72 -
7287 667.4 -9.0 749 7292 done -0.72 - - 2885 - 2.08 0.040 2102 -671.6 -146.6 - - 3639 - - - - - - - - - 26.77 -
7618 695.7 -8.4 760 7623 roll -0.72 - - 2875 - 2.15 0.057 3499 649.8 -146.6 - - 3639 - - - - - - - - - 26.72 -
7726 703.5 -8.6 763 7729 done -0.72 - - 2875 - 2.10 0.040 2093 -669.5 -146.6 - - 3639 - - - - - - - - - 26.77 -
8032 730.9 -8.4 773 8038 roll -0.72 - - 2865 - 2.15 0.057 3503 655.8 -146.6 - - 3639 - - - - - - - - - 26.72 -
8075 733.5 -8.4 774 8080 done -0.72 0.12 0.168 2896 258.3 2.10 0.040 2094 -671.0 -146.6 - - 3639 - - - - - - - - 26.63 26.77 -
8389 757.5 -6.9 785 8394 roll -0.72 - - 2889 - 2.17 0.057 3506 650.7 -146.6 - - 3639 - - - - - - - - - 26.72 -
8456 761.8 -7.1 787 8460 done -0.72 - - 2888 - 2.10 0.041 2099 -670.0 -146.6 - - 3639 - - - - - - - - - 26.77 -
8776 785.9 -7.4 798 8781 roll -0.72 - - 2878 - 2.17 0.058 3511 650.7 -146.6 - - 3639 - - - - - - - - - 26.73 -
8835 790.7 -7.7 800 8840 done -0.72 - - 2878 - 2.12 0.041 2088 -671.2 -146.6 - - 3639 - - - - - - - - - 26.77 -
9165 817.2 -8.1 811 9171 roll -0.72 - - 2868 - 2.20 0.058 3513 647.7 -146.6 - - 3639 - - - - - - - - - 26.73 -
9255 825.2 -8.7 814 9260 done -0.72 - - 2867 - 2.10 0.041 2100 -672.9 -146.6 - - 3639 - - - - - - - - - 26.78 -
9587 852.5 -7.9 825 9592 roll -0.72 - - 2857 - 2.17 0.059 3510 649.8 -146.6 - - 3639 - - - - - - - - - 26.73 -
9654 857.1 -7.7 827 9659 done -0.72 0.15 0.165 2896 260.0 2.12 0.041 2084 -672.6 -146.6 - - 3639 - - - - - - - - 26.63 26.77 -
9670 end dive: BOTTOM_OBSTACLE_DETECTED
9670 begin apogee
9677 859.0 -7.5 828 9809 done -0.17 0.52 0.139 3070 334.6 - - 1880 - - 125.75 1.398 3028 -4.9 0.314 - - - - - - 26.64 - 23.63
9812 end apogee: CONTROL_FINISHED_OK
9812 begin climb
9815 860.6 - 832 9955 roll 0.72 0.85 0.086 3367 349.4 2.42 0.049 521 -561.6 146.6 128.98 1.363 2430 -4.6 0.308 - - - - - - 24.71 24.18 23.26
9997 844.1 12.0 838 10005 done 0.72 - - 3367 - 2.35 0.042 1908 590.2 146.6 - - 2426 - - - - - - - - - 24.76 -
10304 798.5 13.0 849 10309 roll 0.72 - - 3376 - 2.28 0.049 521 -608.3 146.6 - - 2420 - - - - - - - - - 25.58 -
10364 790.4 13.2 851 10370 done 0.72 - - 3376 - 2.25 0.043 1907 616.0 146.6 - - 2419 - - - - - - - - - 25.67 -
10695 743.6 14.7 862 10701 roll 0.72 - - 3385 - 2.25 0.049 519 -616.9 146.6 - - 2418 - - - - - - - - - 25.95 -
10754 734.5 15.0 864 10759 done 0.72 - - 3385 - 2.22 0.044 1902 623.0 146.6 - - 2417 - - - - - - - - - 25.99 -
11084 685.7 14.2 875 11086 done 0.72 - - 3385 - - - 1902 - 146.6 - - 2416 - - - - - - - - - - -
11386 642.4 14.6 885 11391 roll 0.72 - - 3385 - 2.17 0.057 3301 644.7 146.6 - - 2416 - - - - - - - - - 26.24 -
11407 642.4 14.6 885 11415 done 0.72 0.12 0.186 3365 -166.7 2.15 0.042 1908 -647.9 146.6 - - 2415 - - - - - - - - 26.14 26.27 -
11714 595.1 14.3 898 11724 roll 0.72 - - 3374 - 2.22 0.050 496 -636.0 146.6 - - 2415 - - - - - - - - - 26.33 -
11790 584.6 14.5 905 11797 done 0.72 - - 3374 - 2.25 0.044 1913 629.8 146.6 - - 2415 - - - - - - - - - 26.36 -
12097 539.0 14.4 936 12106 roll 0.72 - - 3383 - 2.25 0.050 500 -628.0 146.6 - - 2414 - - - - - - - - - 26.40 -
12123 535.9 14.5 938 12131 done 0.72 - - 3383 - 2.22 0.044 1907 633.8 146.6 - - 2415 - - - - - - - - - 26.41 -
12429 490.3 14.7 969 12430 done 0.72 - - 3383 - - - 1907 - 146.6 - - 2415 - - - - - - - - - - -
12732 446.1 14.3 999 12737 done 0.72 - - 3383 - - - 1907 - 146.6 - - 2414 - - - - - - - - - - -
13043 400.3 14.6 1030 13052 roll 0.72 - - 3392 - 2.22 0.049 493 -636.9 146.6 - - 2414 - - - - - - - - - 26.52 -
13068 396.3 15.0 1032 13075 done 0.72 - - 3392 - 2.22 0.044 1908 637.4 146.6 - - 2414 - - - - - - - - - 26.53 -
13376 348.6 15.3 1063 13377 done 0.72 - - 3392 - - - 1908 - 146.6 - - 2414 - - - - - - - - - - -
13678 304.0 14.3 1093 13686 roll 0.72 - - 3401 - 2.22 0.049 491 -638.3 146.6 - - 2414 - - - - - - - - - 26.57 -
13719 297.5 14.7 1097 13729 done 0.72 0.15 0.169 3363 -253.3 2.22 0.044 1913 640.5 146.6 - - 2414 - - - - - - - - 26.45 26.58 -
14029 256.8 13.0 1128 14030 done 0.72 - - 3363 - - - 1912 - 146.6 - - 2414 - - - - - - - - - - -
14331 218.5 13.0 1158 14338 done 0.72 - - 3363 - - - 1912 - 146.6 - - 2414 - - - - - - - - - - -
14642 178.5 12.6 1189 14650 roll 0.72 - - 3364 - 2.12 0.054 3301 655.2 146.6 - - 2414 - - - - - - - - - 26.62 -
14676 173.9 13.2 1192 14683 done 0.72 - - 3370 - 2.12 0.041 1890 -665.6 146.6 - - 2414 - - - - - - - - - 26.64 -
14984 134.2 12.0 1223 14992 roll 0.72 - - 3381 - 2.12 0.049 504 -653.8 146.6 - - 2414 - - - - - - - - - 26.64 -
15127 115.6 12.5 1237 15136 done 0.72 - - 3381 - 2.15 0.043 1892 645.6 146.6 - - 2414 - - - - - - - - - 26.66 -
15437 77.2 12.0 1286 15445 roll 0.72 - - 3390 - 2.20 0.048 496 -634.5 146.6 - - 2414 - - - - - - - - - 26.65 -
15463 74.0 11.9 1290 15471 done 0.72 - - 3390 - 2.20 0.042 1908 641.8 146.6 - - 2414 - - - - - - - - - 26.67 -
15776 39.8 9.9 1351 15783 roll 0.72 - - 3390 - 2.15 0.054 3317 655.3 146.6 - - 2414 - - - - - - - - - 26.65 -
15816 35.3 12.2 1358 15824 done 0.72 0.15 0.172 3360 -200.0 2.15 0.041 1890 -663.7 146.6 - - 2414 - - - - - - - - 26.55 26.69 -
16132 10.0 7.5 1419 16157 done 0.77 - - 3360 - - - 1890 - 185.4 16.92 0.087 2271 -8.5 0.102 - - - - - - - - 26.59
16221 end climb: SURFACE_DEPTH_REACHED
16221 begin surface coast
16292 end surface coast: CONTROL_FINISHED_OK
16292 begin surface
SM 3.03 - - - - -8.65 8.05 0.059 339 -375.3 0.35 0.062 2109 625.7 400.08 92.82 0.072 1397 -9.4 0.041 - - - - - -