Shilshole 23May17 * SG402 * Dive index * Mission links * Dive 44 * Raw log
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• Previous call tries 1 • 7.39 of 150.00 AH used of 24V (95.07% remains)
• Previous NAKs 0, Timeouts 0 • 4.01 of 100.00 AH used of 10V (95.99% remains)
• Surface angle -52.4 deg, depth 1.06 m • Intended pitch -7.8 deg, speed -6.977 cm/s
• VBD pumped to 1229.52 (beyond SM_CC=450)
• GPS1 time: 8 s • bottom range 8.0 m at 125.2 m, depth 133 m (180 m grid)
• GPS2 time: 5 s • Transponder ping count: 5
• 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
7 - - - 15 VBD -1.28 - - 501 - - - 2282 - -488.8 -6.57 - 2850 - - - - - - - - 26.45 - 26.46
17 1.1 - 1 48 roll -1.28 19.62 0.130 2140 83.5 4.47 1.281 759 -340.7 -488.8 -1.45 - 3207 -246.2 - - - - - - - 26.07 24.99 26.20
114 20.3 -13.1 22 122 done -1.28 - - 2141 - 3.97 0.042 2276 382.1 -488.8 - - 3209 - - - - - - - - 26.19 26.08 26.22
156 25.0 -11.6 31 163 roll -1.28 - - 2140 - 4.22 0.090 3743 347.6 -488.8 - - 3210 - - - - - - - - 26.44 26.06 26.46
213 31.9 -11.3 44 220 done -1.28 - - 2140 - 3.75 0.038 2287 -388.3 -488.8 - - 3211 - - - - - - - - 26.32 26.25 26.34
254 35.9 -9.4 53 261 roll -1.28 - - 2141 - 4.25 0.075 756 -360.2 -488.8 - - 3212 - - - - - - - - 26.54 26.17 26.55
299 39.8 -9.4 63 306 done -1.28 - - 2140 - 3.95 0.041 2271 383.5 -488.8 - - 3213 - - - - - - - - 26.37 26.27 26.40
340 43.3 -8.4 72 347 roll -1.28 - - 2140 - 4.22 0.089 3747 349.8 -488.8 - - 3213 - - - - - - - - 26.60 26.22 26.63
393 48.3 -9.8 84 400 done -1.28 - - 2139 - 3.78 0.037 2273 -389.9 -488.8 - - 3214 - - - - - - - - 26.45 26.38 26.47
434 52.0 -8.6 93 440 done -1.28 - - 2140 - - - 2272 - -488.8 - - 3215 - - - - - - - - 26.67 26.68 26.68
474 55.4 -8.7 102 480 done -1.28 - - 2140 - - - 2272 - -488.8 - - 3216 - - - - - - - - 26.69 26.70 26.70
514 59.1 -9.5 111 520 done -1.28 - - 2140 - - - 2272 - -488.8 - - 3216 - - - - - - - - 26.71 26.73 26.73
554 62.9 -9.4 120 560 done -1.28 - - 2141 - - - 2272 - -488.8 - - 3217 - - - - - - - - 26.73 26.75 26.74
594 66.5 -8.6 129 600 done -1.28 - - 2141 - - - 2272 - -488.8 - - 3218 - - - - - - - - 26.75 26.77 26.77
634 69.6 -7.3 138 640 done -1.28 - - 2140 - - - 2271 - -488.8 - - 3218 - - - - - - - - 26.77 26.79 26.78
675 72.5 -6.9 147 680 done -1.28 - - 2141 - - - 2272 - -488.8 - - 3219 - - - - - - - - 26.79 26.81 26.80
715 75.1 -6.2 156 720 done -1.28 - - 2141 - - - 2272 - -488.8 - - 3219 - - - - - - - - 26.81 26.82 26.82
755 77.6 -6.1 165 760 done -1.28 - - 2140 - - - 2272 - -488.8 - - 3219 - - - - - - - - 26.82 26.84 26.84
795 79.9 -5.6 174 800 done -1.28 - - 2140 - - - 2272 - -488.8 - - 3220 - - - - - - - - 26.84 26.85 26.84
835 82.2 -5.9 183 840 done -1.28 - - 2141 - - - 2272 - -488.8 - - 3220 - - - - - - - - 26.85 26.86 26.86
875 84.7 -6.4 192 881 done -1.28 - - 2140 - - - 2272 - -488.8 - - 3221 - - - - - - - - 26.86 26.88 26.87
914 87.5 -7.1 201 920 done -1.28 - - 2141 - - - 2272 - -488.8 - - 3221 - - - - - - - - 26.87 26.89 26.89
954 90.4 -7.4 210 960 done -1.28 - - 2141 - - - 2272 - -488.8 - - 3221 - - - - - - - - 26.89 26.90 26.90
994 93.4 -7.6 219 1000 done -1.28 - - 2140 - - - 2272 - -488.8 - - 3222 - - - - - - - - 26.89 26.91 26.91
1034 96.6 -8.1 228 1040 done -1.28 - - 2140 - - - 2272 - -488.8 - - 3223 - - - - - - - - 26.91 26.92 26.92
1074 99.4 -6.6 237 1081 roll -1.28 - - 2140 - 4.18 0.088 3748 353.1 -488.8 - - 3223 - - - - - - - - 26.91 26.52 26.93
1103 101.7 -8.5 243 1110 done -1.28 - - 2141 - 3.72 0.038 2276 -395.7 -488.8 - - 3224 - - - - - - - - 26.72 26.65 26.74
1144 105.2 -8.4 252 1150 done -1.28 - - 2141 - - - 2276 - -488.8 - - 3224 - - - - - - - - 26.92 26.94 26.94
1184 108.7 -9.0 261 1190 done -1.28 - - 2141 - - - 2276 - -488.8 - - 3225 - - - - - - - - 26.93 26.95 26.94
1228 112.4 -7.2 270 1234 done -1.28 - - 2141 - - - 2275 - -488.8 - - 3225 - - - - - - - - 26.94 26.95 26.96
1272 116.5 -10.9 279 1279 roll -1.28 - - 2141 - 4.15 0.073 757 -365.8 -488.8 - - 3227 - - - - - - - - 26.94 26.55 26.96
1297 119.8 -12.9 284 1305 done -1.28 - - 2140 - 3.88 0.043 2272 390.5 -488.8 - - 3227 - - - - - - - - 26.73 26.62 26.75
1339 123.8 -9.1 293 1346 roll -1.28 - - 2141 - 4.18 0.090 3748 353.1 -488.8 - - 3227 - - - - - - - - 26.95 26.55 26.96
1355 end dive: BOTTOM_OBSTACLE_DETECTED
1355 begin apogee
1363 125.2 -9.7 295 1403 roll -0.38 2.90 0.061 2428 99.0 - - 2235 - - 30.25 1.831 2625 -19.9 0.496 - - - - - - 26.64 25.08 24.15
1404 end apogee: CONTROL_FINISHED_OK
1404 begin climb
1405 129.5 - 302 1446 done 1.28 5.45 0.049 2950 95.8 - - 2235 - 488.8 29.48 1.831 2056 -19.3 0.497 - - - - - - 25.63 25.83 23.57
1481 129.0 2.7 317 1516 done 1.89 1.98 0.042 3146 99.0 - - 2235 - 926.3 26.50 1.786 1547 -19.2 0.506 - - - - - - 25.47 24.43 23.56
1550 121.8 10.3 331 1555 done 1.89 - - 3147 - - - 2234 - 926.3 - - 1547 - - - - - - - - 25.65 25.67 25.67
1589 116.1 13.6 340 1595 done 1.89 - - 3147 - - - 2235 - 926.3 - - 1546 - - - - - - - - 25.89 25.91 25.91
1629 110.5 13.5 349 1635 done 1.89 - - 3147 - - - 2235 - 926.3 - - 1545 - - - - - - - - 26.05 26.06 26.06
1669 105.5 12.3 358 1674 done 1.89 - - 3146 - - - 2234 - 926.3 - - 1544 - - - - - - - - 26.17 26.17 26.17
1708 100.1 13.3 367 1714 done 1.89 - - 3146 - - - 2234 - 926.3 - - 1543 - - - - - - - - 26.25 26.27 26.26
1748 95.6 11.1 376 1755 roll 1.89 - - 3146 - 4.35 0.086 3747 347.8 926.3 - - 1542 - - - - - - - - 26.32 25.96 26.34
1773 92.4 12.9 381 1780 done 1.89 - - 3147 - 3.95 0.038 2232 -383.5 926.3 - - 1540 - - - - - - - - 26.17 26.08 26.20
1814 87.7 11.3 390 1821 roll 1.89 - - 3147 - 4.32 0.080 699 -354.9 926.3 - - 1540 - - - - - - - - 26.41 26.03 26.43
1835 85.5 10.5 394 1842 done 1.89 - - 3147 - 4.05 0.042 2235 379.3 926.3 - - 1539 - - - - - - - - 26.23 26.12 26.25
1876 81.7 9.2 403 1883 roll 1.89 - - 3147 - 4.32 0.088 3746 349.8 926.3 - - 1538 - - - - - - - - 26.48 26.10 26.49
1909 78.0 12.3 410 1916 done 1.89 - - 3146 - 3.92 0.039 2233 -386.0 926.3 - - 1537 - - - - - - - - 26.31 26.22 26.33
1950 73.4 11.4 419 1957 roll 1.89 - - 3147 - 4.30 0.079 702 -356.0 926.3 - - 1536 - - - - - - - - 26.54 26.15 26.55
1971 70.8 12.1 423 1978 done 1.89 - - 3147 - 4.00 0.042 2236 383.5 926.3 - - 1536 - - - - - - - - 26.34 26.24 26.37
2012 66.1 11.7 432 2019 roll 1.89 - - 3147 - 4.30 0.088 3747 351.4 926.3 - - 1534 - - - - - - - - 26.59 26.21 26.60
2037 62.7 14.3 437 2044 done 1.89 - - 3146 - 3.90 0.039 2236 -387.4 926.3 - - 1533 - - - - - - - - 26.40 26.32 26.43
2078 57.1 13.2 446 2084 done 1.89 - - 3147 - - - 2236 - 926.3 - - 1532 - - - - - - - - 26.63 26.64 26.64
2118 51.9 12.4 455 2124 done 1.89 - - 3147 - - - 2236 - 926.3 - - 1530 - - - - - - - - 26.65 26.67 26.67
2158 47.2 11.3 464 2164 done 1.89 - - 3147 - - - 2236 - 926.3 - - 1529 - - - - - - - - 26.67 26.70 26.70
2198 43.0 10.2 473 2204 done 1.89 - - 3146 - - - 2236 - 926.3 - - 1528 - - - - - - - - 26.70 26.72 26.72
2238 39.1 9.2 482 2244 done 1.89 - - 3146 - - - 2235 - 926.3 - - 1527 - - - - - - - - 26.72 26.74 26.74
2278 35.7 8.4 491 2284 done 1.89 - - 3147 - - - 2235 - 926.3 - - 1526 - - - - - - - - 26.74 26.76 26.76
2318 32.3 8.7 500 2323 done 1.89 - - 3147 - - - 2236 - 926.3 - - 1525 - - - - - - - - 26.77 26.78 26.77
2357 28.4 10.1 509 2363 done 1.89 - - 3147 - - - 2236 - 926.3 - - 1525 - - - - - - - - 26.79 26.79 26.79
2397 24.1 10.8 518 2404 roll 1.89 - - 3147 - 4.30 0.089 3749 351.9 926.3 - - 1523 - - - - - - - - 26.79 26.41 26.81
2422 21.3 11.6 523 2429 done 1.89 - - 3147 - 3.88 0.039 2233 -390.7 926.3 - - 1522 - - - - - - - - 26.60 26.53 26.63
2463 17.7 8.2 532 2470 roll 1.89 - - 3147 - 4.22 0.080 707 -361.6 926.3 - - 1521 - - - - - - - - 26.82 26.42 26.82
2484 15.9 8.6 536 2491 done 1.89 - - 3147 - 3.97 0.045 2240 386.1 926.3 - - 1521 - - - - - - - - 26.60 26.50 26.63
2525 12.3 8.6 545 2532 roll 1.89 - - 3147 - 4.25 0.094 3746 354.4 926.3 - - 1520 - - - - - - - - 26.82 26.44 26.84
2554 9.7 8.3 551 2561 done 1.89 - - 3147 - 3.88 0.039 2229 -391.0 926.3 - - 1519 - - - - - - - - 26.63 26.55 26.65
2596 7.4 5.5 560 2615 roll 2.10 0.65 0.052 3214 103.1 4.25 0.080 703 -359.1 1076.5 7.95 0.533 1370 -18.7 0.095 - - - - - - 26.58 26.35 25.85
2626 5.8 5.5 565 2645 done 2.31 0.75 0.055 3292 104.0 3.97 0.044 2247 388.9 1223.8 8.85 0.533 1197 -19.5 0.078 - - - - - - 26.47 26.45 25.77
2666 end climb: SURFACE_DEPTH_REACHED
2666 begin surface coast
2700 end surface coast: CONTROL_FINISHED_OK
2700 begin surface
SM 0.67 - - - - -6.42 28.15 0.038 499 17.7 0.08 0.131 2275 -112437.5 1229.52 - - 1196 - - - - - - - -