WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 193 * Raw log
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• Previous call tries 2 • 30.10 of 127.50 AH used of 24V (76.39% remains)
• Previous NAKs 0, Timeouts 0 • 16.29 of 100.00 AH used of 10V (83.71% remains)
• Surface angle -63.8 deg, depth 0.58 m • Intended pitch -25.9 deg, speed -10.145 cm/s
• VBD pumped to 551.92 (SM_CC=603.25)
• GPS1 time: 17 s • bottom range 36.9 m at 202.2 m, depth 239 m (264 m grid)
• GPS2 time: 4 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
5 end surface: CONTROL_FINISHED_OK
5 begin dive
8 - - - 109 VBD -1.00 - - 169 - - - 2031 - -64.7 -98.32 0.004 2906 - - - - - - - - 26.39 - 26.45
112 4.0 -8.0 14 129 roll -1.03 8.00 0.207 2243 259.2 1.00 0.069 2679 648.0 -85.3 -5.28 0.015 3149 -46.0 1.242 - - - - - - 25.67 24.58 25.86
296 38.2 -16.2 48 303 done -1.03 - - 2247 - 1.00 0.026 1984 -695.0 -85.3 - - 3152 - - - - - - - - 26.42 26.39 26.45
434 58.5 -14.2 73 441 roll -1.03 - - 2252 - 0.98 0.033 1317 -680.6 -85.3 - - 3152 - - - - - - - - 26.70 26.46 26.75
674 87.2 -9.9 119 682 done -1.03 - - 2248 - 1.00 0.029 1990 673.0 -87.4 - - 3154 - - - - - - - - 26.58 26.55 26.60
816 101.5 -10.9 144 820 roll -1.03 - - 2252 - 1.00 0.033 1314 -676.0 -87.4 - - 3153 - - - - - - - - 26.84 26.56 26.90
1061 130.9 -12.8 190 1064 done -1.03 - - 2248 - 1.02 0.030 2003 675.5 -87.4 - - 3154 - - - - - - - - 26.67 26.64 26.70
1193 147.1 -12.1 204 1197 roll -1.03 - - 2252 - 1.02 0.033 1308 -681.4 -87.4 - - 3153 - - - - - - - - 26.94 26.64 26.98
1435 176.1 -12.0 250 1440 done -1.03 - - 2249 - 1.02 0.029 2004 682.4 -87.4 - - 3154 - - - - - - - - 26.73 26.70 26.77
1572 192.1 -12.1 264 1577 roll -1.03 - - 2252 - 1.02 0.032 1307 -683.3 -87.4 - - 3153 - - - - - - - - 26.97 26.70 27.03
1685 206.3 -12.2 284 1690 done -1.03 - - 2249 - 1.02 0.029 2006 685.3 -87.4 - - 3153 - - - - - - - - 26.77 26.74 26.79
1797 end dive: BOTTOM_OBSTACLE_DETECTED
1797 begin apogee
1803 219.8 -12.1 296 1959 done -0.18 0.90 0.155 2518 298.9 - - 1765 - - 142.50 0.559 2806 -2.4 0.097 - - - - 1 - 26.14 25.09 24.44
1960 end apogee: CONTROL_FINISHED_OK
1960 begin climb
1962 224.8 - 312 2125 roll 1.03 1.25 0.114 2904 308.8 1.15 0.036 2487 627.8 87.4 152.90 0.558 2434 -2.4 0.099 - - - - - - 25.45 25.15 24.63
2197 208.6 11.1 352 2205 done 1.03 - - 2906 - 0.98 0.030 1837 -663.3 87.4 - - 2414 - - - - - - - - 25.74 25.70 25.76
2325 195.0 10.3 365 2329 roll 1.03 - - 2913 - 1.15 0.039 1094 -646.1 87.4 - - 2413 - - - - - - - - 26.26 26.01 26.32
2430 184.2 10.4 385 2433 done 1.03 - - 2910 - 1.05 0.029 1788 661.0 87.4 - - 2412 - - - - - - - - 26.20 26.19 26.23
2562 170.8 10.1 399 2566 roll 1.03 - - 2905 - 1.05 0.039 2486 664.8 88.0 - - 2410 - - - - - - - - 26.55 26.27 26.60
2638 162.9 10.1 414 2646 done 1.03 - - 2907 - 1.02 0.029 1789 -683.3 88.3 - - 2409 - - - - - - - - 26.40 26.37 26.42
2766 150.2 10.2 427 2771 roll 1.03 - - 2913 - 1.05 0.040 1098 -658.1 88.3 - - 2410 - - - - - - - - 26.68 26.40 26.74
2810 145.7 10.0 435 2815 done 1.03 - - 2909 - 1.05 0.030 1797 665.7 89.2 - - 2410 - - - - - - - - 26.49 26.46 26.51
2943 132.0 10.2 449 2947 roll 1.03 - - 2905 - 1.02 0.037 2490 679.4 89.2 - - 2409 - - - - - - - - 26.76 26.48 26.82
3057 120.4 10.2 471 3062 done 1.03 - - 2908 - 1.00 0.030 1805 -685.0 89.2 - - 2408 - - - - - - - - 26.58 26.55 26.60
3192 107.1 10.5 485 3196 roll 1.03 - - 2914 - 1.08 0.041 1097 -655.6 89.2 - - 2408 - - - - - - - - 26.84 26.55 26.90
3214 104.6 10.1 489 3219 done 1.03 - - 2910 - 1.05 0.030 1798 667.6 89.5 - - 2408 - - - - - - - - 26.62 26.59 26.65
3345 93.0 8.6 510 3354 roll 1.05 - - 2905 - 1.08 0.037 2509 658.3 104.6 4.10 0.698 2376 -7.8 0.105 - - - - - - 26.89 26.32 25.51
3387 89.4 8.2 517 3426 done 1.07 0.03 0.153 2920 500.0 1.05 0.029 1788 -686.7 122.7 33.42 0.547 2298 -2.3 0.039 - - - - - - 26.44 26.58 25.53
3552 74.0 10.0 546 3560 roll 1.07 - - 2925 - 1.05 0.040 1101 -654.3 124.0 - - 2275 - - - - - - - - 26.60 26.32 26.65
3798 48.6 11.7 592 3805 done 1.07 - - 2922 - 1.05 0.031 1797 662.9 124.0 - - 2273 - - - - - - - - 26.51 26.48 26.55
3933 36.0 8.0 617 3962 roll 1.10 - - 2925 - 1.02 0.035 1109 -674.5 144.0 22.35 0.535 2208 -2.9 0.020 - - - - - - 26.79 25.94 25.58
4169 17.4 8.3 661 4192 done 1.12 0.05 0.162 2938 260.0 1.05 0.031 1801 659.0 161.9 16.67 0.529 2137 -4.3 0.014 - - - - - - 26.19 26.45 25.52
4318 9.6 1.6 688 4461 roll 1.22 0.12 0.170 2976 316.7 1.08 0.032 2495 642.6 242.9 131.82 0.478 1797 -2.6 0.005 - - - - - - 26.16 25.25 24.94
4478 end climb: SURFACE_DEPTH_REACHED
4478 begin surface coast
4500 end surface coast: CONTROL_FINISHED_OK
4500 begin surface
SM 0.66 - - - - -7.39 7.90 0.057 178 22.5 0.75 0.030 2004 -11370.7 551.92 - - 550 - - - - - - - -