WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 138 * Raw log
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• Previous call tries 1 • 23.21 of 127.50 AH used of 24V (81.79% remains)
• Previous NAKs 0, Timeouts 0 • 12.90 of 100.00 AH used of 10V (87.10% remains)
• Surface angle -61.0 deg, depth 0.41 m • Intended pitch -24.7 deg, speed -10.145 cm/s
• VBD pumped to 551.92 (SM_CC=603.25)
• GPS1 time: 4 s
• 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
65 end surface: CONTROL_FINISHED_OK
65 begin dive
67 - - - 175 VBD -0.97 - - 174 - - - 2018 - -70.0 -104.95 0.012 3027 - - - - - - - - 26.17 - 26.25
178 4.3 -9.3 15 195 roll -0.98 8.07 0.221 2262 258.7 1.05 0.080 2696 645.7 -78.6 -2.05 0.042 3125 -47.8 0.495 - - - - - - 25.74 24.63 25.90
208 13.5 -27.0 19 215 done -0.98 - - 2266 - 1.02 0.037 1977 -704.9 -78.6 - - 3126 - - - - - - - - 26.24 26.22 26.25
346 38.7 -17.2 44 355 roll -0.98 - - 2271 - 0.98 0.044 1317 -673.5 -78.6 - - 3127 - - - - - - - - 26.34 26.26 26.39
452 51.9 -10.9 63 459 done -0.98 - - 2268 - 1.02 0.030 1997 666.7 -78.6 - - 3127 - - - - - - - - 26.41 26.39 26.44
588 69.7 -15.0 88 596 roll -0.98 - - 2262 - 1.02 0.037 2697 686.3 -78.6 - - 3128 - - - - - - - - 26.62 26.43 26.65
768 94.0 -13.5 121 776 done -0.98 - - 2265 - 0.98 0.029 2017 -693.9 -78.6 - - 3128 - - - - - - - - 26.55 26.55 26.60
906 112.4 -13.1 138 910 roll -0.98 - - 2270 - 1.02 0.035 1320 -683.3 -78.6 - - 3128 - - - - - - - - 26.74 26.54 26.77
1084 134.9 -11.6 173 1091 done -0.98 - - 2268 - 1.02 0.030 2006 672.5 -78.6 - - 3129 - - - - - - - - 26.63 26.60 26.65
1214 150.7 -12.8 186 1218 roll -0.98 - - 2270 - 1.02 0.034 1315 -677.5 -78.6 - - 3128 - - - - - - - - 26.81 26.62 26.89
1380 172.7 -12.8 218 1384 done -0.98 - - 2267 - 1.02 0.031 2002 673.5 -78.6 - - 3128 - - - - - - - - 26.69 26.66 26.71
1512 189.2 -12.1 232 1517 roll -0.98 - - 2262 - 1.00 0.038 2692 690.0 -78.6 - - 3129 - - - - - - - - 26.86 26.66 26.91
1571 197.0 -12.1 243 1579 done -0.98 - - 2265 - 1.00 0.027 1988 -704.0 -78.6 - - 3128 - - - - - - - - 26.73 26.72 26.76
1700 212.7 -12.5 256 1708 done -0.98 - - 2265 - - - 1988 - -78.6 - - 3129 - - - - - - - - 26.89 26.95 26.95
1830 228.4 -11.7 269 1835 roll -0.98 - - 2270 - 0.98 0.035 1321 -680.6 -78.6 - - 3128 - - - - - - - - 26.90 26.71 26.96
1941 241.6 -11.7 290 1949 done -0.98 - - 2267 - 1.02 0.031 2010 675.5 -78.6 - - 3128 - - - - - - - - 26.75 26.72 26.78
2069 256.3 -11.9 303 2073 roll -0.98 - - 2270 - 1.02 0.034 1320 -676.5 -78.6 - - 3128 - - - - - - - - 26.92 26.72 26.98
2121 end dive: TARGET_DEPTH_EXCEEDED
2121 begin apogee
2127 262.5 -11.9 313 2273 done -0.18 0.85 0.154 2523 297.6 - - 1814 - - 141.70 0.566 2802 -2.3 0.108 - - - - - - 26.26 25.41 24.92
2277 end apogee: CONTROL_FINISHED_OK
2277 begin loiter
2444 270.1 -2.2 340 2466 done -0.16 - - 2523 - - - 1815 - 16.9 19.55 0.672 2729 -3.7 0.152 - - - - - - 26.06 25.63 25.10
2584 270.7 0.4 354 2586 done -0.16 - - 2523 - - - 1815 - 16.9 - - 2705 - - - - - - - - 26.08 26.17 26.16
2704 269.8 0.9 366 2706 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2705 - - - - - - - - 26.36 26.43 26.42
2827 268.7 0.8 378 2834 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2704 - - - - - - - - 26.48 26.56 26.53
2954 267.7 0.7 391 2956 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2704 - - - - - - - - 26.56 26.63 26.64
3074 267.1 0.3 403 3076 done -0.16 - - 2524 - - - 1815 - 16.9 - - 2704 - - - - - - - - 26.63 26.69 26.68
3194 266.8 0.2 415 3196 done -0.16 - - 2523 - - - 1815 - 16.9 - - 2703 - - - - - - - - 26.67 26.74 26.73
3314 266.5 0.1 427 3316 done -0.16 - - 2524 - - - 1815 - 16.9 - - 2703 - - - - - - - - 26.72 26.77 26.77
3434 266.2 0.3 439 3436 done -0.16 - - 2523 - - - 1815 - 16.9 - - 2703 - - - - - - - - 26.75 26.82 26.82
3555 265.8 0.2 451 3557 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2703 - - - - - - - - 26.79 26.85 26.84
3674 265.4 0.3 463 3676 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2703 - - - - - - - - 26.81 26.86 26.86
3794 265.2 0.2 475 3796 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2702 - - - - - - - - 26.83 26.91 26.89
3915 264.8 0.5 487 3917 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2703 - - - - - - - - 26.85 26.92 26.91
4034 264.2 0.5 499 4036 done -0.16 - - 2523 - - - 1815 - 16.9 - - 2703 - - - - - - - - 26.86 26.94 26.93
4154 263.5 0.7 511 4156 done -0.16 - - 2524 - - - 1815 - 16.9 - - 2702 - - - - - - - - 26.89 26.96 26.95
4275 262.6 0.8 523 4277 done -0.16 - - 2523 - - - 1815 - 16.9 - - 2702 - - - - - - - - 26.91 26.97 26.96
4394 261.4 1.2 535 4396 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2702 - - - - - - - - 26.89 26.98 26.97
4514 259.7 1.6 547 4516 done -0.16 - - 2524 - - - 1814 - 16.9 - - 2702 - - - - - - - - 26.93 26.99 26.99
4635 257.7 1.6 559 4637 done -0.16 - - 2523 - - - 1815 - 16.9 - - 2702 - - - - - - - - 26.94 27.01 27.00
4757 255.9 1.4 571 4764 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2702 - - - - - - - - 26.95 27.02 27.01
4885 254.3 1.2 584 4886 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2702 - - - - - - - - 26.96 27.03 27.02
5005 252.9 1.3 596 5007 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2702 - - - - - - - - 27.00 27.03 27.03
5125 251.0 1.8 608 5127 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2702 - - - - - - - - 26.98 27.04 27.03
5245 248.7 2.0 620 5247 done -0.16 - - 2524 - - - 1814 - 16.9 - - 2702 - - - - - - - - 26.98 27.05 27.05
5365 246.3 1.9 632 5367 done -0.16 - - 2523 - - - 1815 - 16.9 - - 2701 - - - - - - - - 26.99 27.05 27.05
5485 244.1 1.8 644 5487 done -0.16 - - 2523 - - - 1815 - 16.9 - - 2701 - - - - - - - - 27.00 27.07 27.06
5605 241.8 1.8 656 5607 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2702 - - - - - - - - 27.00 27.07 27.06
5725 239.6 1.9 668 5727 done -0.16 - - 2524 - - - 1814 - 16.9 - - 2700 - - - - - - - - 27.01 27.08 27.07
5845 237.2 2.0 680 5847 done -0.16 - - 2523 - - - 1814 - 16.9 - - 2701 - - - - - - - - 27.00 27.08 27.08
5873 end loiter: LOITER_COMPLETE
5873 begin climb
5875 236.7 - 683 5988 roll 0.98 1.15 0.119 2893 321.7 1.05 0.039 2491 644.8 78.6 100.95 0.588 2464 -2.3 0.096 - - - - - - 26.47 25.67 25.13
6227 206.4 9.9 750 6235 done 0.98 - - 2896 - 1.02 0.031 1809 -668.6 80.7 - - 2448 - - - - - - - - 26.27 26.22 26.27
6358 194.4 9.6 763 6362 roll 0.99 - - 2893 - 1.02 0.038 2488 665.7 85.9 - - 2448 - - - - - - - - 26.51 26.29 26.55
6464 184.1 8.9 783 6496 done 1.00 - - 2896 - 1.02 0.032 1797 -677.5 98.4 22.08 0.644 2389 -2.7 0.077 - - - - - - 26.43 26.40 25.46
6615 168.9 11.6 801 6623 done 1.00 - - 2896 - - - 1796 - 98.4 - - 2379 - - - - - - - - 26.43 26.49 26.49
6744 154.7 10.9 814 6748 roll 1.00 - - 2901 - 1.08 0.043 1099 -645.4 98.4 - - 2378 - - - - - - - - 26.53 26.32 26.58
6789 150.0 10.9 822 6793 done 1.00 - - 2898 - 1.05 0.032 1791 659.0 98.4 - - 2378 - - - - - - - - 26.41 26.39 26.44
6922 135.3 10.6 836 6926 roll 1.00 - - 2902 - 1.08 0.042 1105 -635.2 98.4 - - 2378 - - - - - - - - 26.63 26.40 26.69
7018 124.6 10.6 855 7026 done 1.00 - - 2898 - 1.05 0.033 1796 658.1 98.4 - - 2378 - - - - - - - - 26.49 26.48 26.59
7146 111.3 11.3 868 7151 roll 1.00 - - 2893 - 1.05 0.040 2499 669.5 98.4 - - 2377 - - - - - - - - 26.71 26.49 26.77
7163 109.9 9.8 871 7170 done 1.01 - - 2896 - 1.02 0.031 1804 -681.4 102.4 - - 2377 - - - - - - - - 26.56 26.53 26.58
7290 99.0 7.3 885 7340 roll 1.04 0.10 0.142 2932 360.0 1.12 0.042 1102 -626.8 131.8 44.92 0.562 2260 -2.6 0.046 - - - - - - 26.48 25.99 25.46
7542 71.8 10.7 931 7549 done 1.04 - - 2929 - 1.08 0.033 1802 648.1 131.8 - - 2240 - - - - - - - - 26.36 26.30 26.36
7674 58.1 11.5 956 7682 roll 1.04 - - 2924 - 1.05 0.041 2501 665.7 131.8 - - 2239 - - - - - - - - 26.57 26.36 26.63
7833 40.5 10.6 985 7840 done 1.04 - - 2927 - 1.05 0.034 1796 -671.4 131.8 - - 2239 - - - - - - - - 26.49 26.46 26.52
7972 28.6 6.9 1010 8022 roll 1.08 - - 2932 - 1.12 0.044 1095 -625.9 165.1 46.17 0.521 2125 -2.5 0.014 - - - - - - 26.70 25.96 25.45
8040 24.6 4.8 1020 8133 done 1.15 0.05 0.153 2944 240.0 1.10 0.031 1813 652.7 220.3 87.68 0.491 1902 -2.5 0.013 - - - - - - 25.93 26.11 25.01
8259 8.0 6.8 1057 8316 roll 1.19 0.10 0.190 2973 290.0 1.17 0.042 1105 -605.1 254.4 46.10 0.481 1749 -3.3 0.006 - - - - - - 25.79 25.57 25.08
8327 end climb: SURFACE_DEPTH_REACHED
8327 begin surface coast
8335 end surface coast: CONTROL_FINISHED_OK
8335 begin surface
SM 0.47 - - - - -7.39 7.95 0.063 185 23.2 1.42 0.031 2002 -6187.3 551.92 - - 550 - - - - - - - -