HoodCanal Jan18 * SG194 * Dive index * Mission links * Dive 641 * Raw log
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• Previous call tries 1 • 55.10 of 142.00 AH used of 24V (61.20% remains)
• Previous NAKs 0, Timeouts 0 • 19.50 of 95.00 AH used of 10V (79.47% remains)
• Surface angle -71.0 deg, depth 16.93 m • Intended pitch -13.0 deg, speed -10.000 cm/s
• No surface pump (final VBD was 415.54, SM_CC=410) • surface range 999.0 m at 19.4 m depth, ceiling -979.6 m
• GPS1 time: 8 s • bottom range 85.5 m at 100.1 m, depth 186 m (180 m grid)
• GPS2 time: 5 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
6 end surface: CONTROL_FINISHED_OK
6 begin dive
9 - - - 17 VBD -0.81 - - 212 - - - 2087 - -244.4 -5.55 - 514 - - - - - - - - 26.42 - 26.43
20 17.0 - 1 143 roll -0.81 10.75 0.225 2885 248.7 2.20 0.055 3456 622.3 -244.4 -104.72 - 3064 -24.4 - - - - - - - 25.41 23.96 25.71
164 24.8 -15.0 23 169 done -0.59 0.22 0.148 2955 318.2 2.08 0.023 2072 -665.4 -244.4 - - 3064 - - - - - - - - 25.58 26.10 25.79
298 46.1 -14.8 36 306 roll -0.52 - - 2955 - 2.15 0.039 688 -643.7 -244.4 - - 3065 - - - - - - - - 26.54 26.05 26.54
340 51.9 -13.5 40 349 done -0.45 0.12 0.135 2999 366.7 2.05 0.025 2055 666.8 -244.4 - - 3065 - - - - - - - - 25.80 26.12 25.88
470 65.8 -9.9 53 474 roll -0.45 - - 2999 - 2.25 0.041 3490 637.8 -244.4 - - 3065 - - - - - - - - 26.59 26.04 26.60
555 73.2 -8.5 61 562 done -0.45 - - 2998 - 2.10 0.022 2071 -675.7 -244.4 - - 3065 - - - - - - - - 26.31 26.25 26.34
683 85.1 -9.4 74 691 roll -0.45 - - 2998 - 2.15 0.039 689 -642.8 -244.4 - - 3065 - - - - - - - - 26.65 26.14 26.65
737 90.4 -10.2 79 744 done -0.45 - - 2998 - 2.10 0.025 2098 671.0 -244.4 - - 3065 - - - - - - - - 26.32 26.24 26.34
865 103.0 -9.5 92 866 done -0.45 - - 2998 - - - 2098 - -244.4 - - 3064 - - - - - - - - 26.68 26.69 26.69
1045 119.0 -8.9 110 1049 roll -0.45 - - 2998 - 2.15 0.041 3482 643.7 -244.4 - - 3065 - - - - - - - - 26.71 26.14 26.71
1080 121.8 -8.5 113 1087 done -0.45 - - 2999 - 2.08 0.023 2074 -676.9 -244.4 - - 3065 - - - - - - - - 26.40 26.33 26.42
1267 138.8 -8.8 132 1276 roll -0.45 - - 2998 - 2.15 0.039 687 -645.1 -244.4 - - 3064 - - - - - - - - 26.73 26.21 26.74
1293 140.8 -8.8 134 1299 done -0.45 - - 2999 - 2.08 0.024 2084 671.6 -244.4 - - 3065 - - - - - - - - 26.39 26.32 26.41
1479 157.8 -9.2 153 1483 roll -0.45 - - 2998 - 2.15 0.041 3482 650.2 -244.4 - - 3065 - - - - - - - - 26.75 26.17 26.76
1542 163.1 -8.4 159 1550 done -0.51 - - 2999 - 2.05 0.023 2081 -683.4 -244.4 - - 3065 - - - - - - - - 26.39 26.37 26.42
1629 end dive: BOTTOM_OBSTACLE_DETECTED
1629 begin apogee
1635 170.9 -8.8 168 1843 done -0.22 0.20 0.118 3077 390.0 - - 2081 - - 199.77 0.751 2064 -5.0 0.118 - - - - - - 26.08 24.69 23.96
1844 end apogee: CONTROL_FINISHED_OK
1844 begin climb
1848 181.5 - 189 2063 roll 0.81 0.93 0.095 3387 333.3 2.33 0.037 3483 601.7 244.4 201.48 0.725 1066 -5.0 0.128 - - - - - - 24.86 24.41 23.69
2077 171.0 6.5 212 2190 done 1.00 0.15 0.041 3482 633.3 2.20 0.021 2089 -633.6 369.5 104.88 0.703 557 -4.9 0.122 - - - - - - 24.86 24.86 23.71
2381 132.9 13.3 242 2390 roll 1.00 - - 3482 - 2.20 0.037 3482 633.2 369.5 - - 557 - - - - - - - - 26.01 25.63 26.02
2464 122.0 13.1 250 2468 done 1.00 - - 3485 - 2.12 0.024 2067 -667.5 369.5 - - 557 - - - - - - - - 25.91 25.84 25.94
2656 97.0 12.6 269 2660 roll 1.00 - - 3485 - 2.17 0.042 690 -634.6 369.5 - - 557 - - - - - - - - 26.39 25.94 26.39
2821 76.9 12.2 285 2828 done 1.00 - - 3486 - 2.08 0.024 2089 672.6 369.5 - - 557 - - - - - - - - 26.21 26.14 26.23
2949 61.3 11.8 298 2958 roll 1.00 - - 3485 - 2.20 0.041 692 -635.0 369.5 - - 557 - - - - - - - - 26.53 26.08 26.55
3004 55.2 11.5 303 3011 done 1.00 - - 3485 - 2.08 0.024 2093 673.6 369.5 - - 557 - - - - - - - - 26.28 26.20 26.30
3132 40.3 11.0 316 3141 roll 1.00 - - 3485 - 2.20 0.041 688 -638.6 369.5 - - 558 - - - - - - - - 26.60 26.13 26.60
3157 37.8 10.6 318 3165 done 1.00 - - 3485 - 2.05 0.024 2081 679.5 369.5 - - 557 - - - - - - - - 26.32 26.25 26.34
3285 24.9 9.8 331 3294 roll 1.00 - - 3485 - 2.17 0.041 690 -641.0 369.5 - - 557 - - - - - - - - 26.63 26.16 26.64
3445 16.1 -0.3 356 3477 done 1.58 0.40 0.055 3650 412.5 2.05 0.024 2088 682.0 740.3 23.92 0.519 372 -7.7 0.025 - - - - - - 26.22 26.29 24.98
3528 end climb: NO_VERTICAL_VELOCITY
3528 begin surface
SM 16.99 - - - - -9.12 9.15 0.043 214 23.3 - - 2090 - 415.54 - - 370 - - - - - - - -