WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 51 * Raw log
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• Previous call tries 2 • 12.08 of 127.50 AH used of 24V (90.52% remains)
• Previous NAKs 0, Timeouts 0 • 6.82 of 100.00 AH used of 10V (93.18% remains)
• Surface angle -59.0 deg, depth 0.56 m • Intended pitch -17.2 deg, speed -9.524 cm/s
• VBD pumped to 551.92 (SM_CC=603.25)
• GPS1 time: 1 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
64 end surface: CONTROL_FINISHED_OK
64 begin dive
66 - - - 179 VBD -0.75 - - 192 - - - 1997 - -116.8 -109.95 0.004 3207 - - - - - - - - 26.54 - 26.60
182 4.0 -7.1 16 199 roll -0.75 8.18 0.212 2326 260.9 1.08 0.064 2705 655.6 -116.8 -1.42 0.047 3279 -50.7 0.436 - - - - - - 26.02 25.04 26.18
277 27.9 -14.8 33 286 done -0.75 - - 2329 - 1.05 0.027 1974 -696.2 -116.8 - - 3282 - - - - - - - - 26.50 26.46 26.51
410 43.2 -9.7 58 418 roll -0.75 - - 2334 - 0.95 0.034 1324 -684.2 -116.8 - - 3283 - - - - - - - - 26.72 26.50 26.79
591 65.6 -13.3 91 598 done -0.75 - - 2331 - 1.00 0.031 1997 673.0 -116.8 - - 3284 - - - - - - - - 26.62 26.58 26.63
727 84.2 -13.4 116 734 roll -0.75 - - 2325 - 1.02 0.037 2698 687.3 -116.8 - - 3284 - - - - - - - - 26.84 26.61 26.90
779 90.7 -12.1 125 787 done -0.75 - - 2329 - 1.00 0.027 1994 -704.0 -116.8 - - 3284 - - - - - - - - 26.68 26.66 26.70
914 105.3 -10.6 145 919 roll -0.75 - - 2334 - 0.98 0.034 1324 -683.7 -116.8 - - 3284 - - - - - - - - 26.89 26.65 26.94
1061 119.7 -9.5 173 1066 done -0.75 - - 2331 - 1.00 0.031 2002 678.0 -116.8 - - 3283 - - - - - - - - 26.74 26.70 26.76
1196 131.3 -8.8 187 1200 roll -0.75 - - 2325 - 1.00 0.037 2692 690.0 -116.8 - - 3283 - - - - - - - - 26.95 26.72 27.02
1260 137.7 -10.2 199 1263 done -0.75 - - 2328 - 0.98 0.027 1997 -709.2 -116.8 - - 3283 - - - - - - - - 26.78 26.76 26.80
1392 150.2 -9.7 213 1396 roll -0.75 - - 2333 - 0.98 0.034 1324 -686.7 -116.8 - - 3282 - - - - - - - - 26.96 26.75 27.03
1466 157.6 -10.1 227 1469 done -0.75 - - 2330 - 1.00 0.031 2003 679.0 -116.8 - - 3281 - - - - - - - - 26.80 26.77 26.80
1597 171.2 -10.7 241 1602 roll -0.75 - - 2333 - 1.00 0.034 1324 -679.0 -116.8 - - 3282 - - - - - - - - 27.01 26.77 27.06
1661 177.8 -10.2 253 1666 done -0.75 - - 2330 - 1.00 0.031 2003 679.0 -116.8 - - 3282 - - - - - - - - 26.82 26.79 26.82
1794 190.8 -9.5 267 1798 roll -0.75 - - 2324 - 1.00 0.039 2691 688.0 -116.8 - - 3282 - - - - - - - - 27.03 26.79 27.08
1867 197.7 -9.1 281 1872 done -0.75 - - 2328 - 0.98 0.027 1996 -709.2 -116.8 - - 3281 - - - - - - - - 26.86 26.83 26.89
1898 end dive: TARGET_DEPTH_EXCEEDED
1898 begin apogee
1903 200.6 -8.8 285 2020 done -0.18 0.62 0.150 2523 314.5 - - 1787 - - 102.82 1.018 2805 -4.6 0.092 - - - - 1 - 26.52 25.07 24.30
2021 end apogee: CONTROL_FINISHED_OK
2021 begin loiter
2147 204.8 -1.0 309 2149 done -0.18 - - 2523 - - - 1787 - - - - 2810 - - - - - - - - 25.94 26.01 25.99
2267 206.0 -0.9 321 2269 done -0.18 - - 2523 - - - 1786 - - - - 2809 - - - - - - - - 26.15 26.22 26.20
2388 207.1 -0.8 333 2390 done -0.18 - - 2523 - - - 1786 - - - - 2809 - - - - - - - - 26.32 26.36 26.34
2507 208.0 -0.8 345 2509 done -0.18 - - 2522 - - - 1787 - - - - 2809 - - - - - - - - 26.36 26.44 26.42
2627 208.9 -0.7 357 2629 done -0.18 - - 2523 - - - 1787 - - - - 2808 - - - - - - - - 26.44 26.51 26.49
2748 209.7 -0.6 369 2750 done -0.18 - - 2523 - - - 1787 - - - - 2808 - - - - - - - - 26.51 26.57 26.56
2867 210.2 -0.3 381 2869 done -0.18 - - 2523 - - - 1787 - - - - 2808 - - - - - - - - 26.53 26.60 26.59
2987 210.3 - 393 2989 done -0.18 - - 2523 - - - 1787 - - - - 2807 - - - - - - - - 26.57 26.64 26.60
3108 209.9 0.4 405 3110 done -0.18 - - 2523 - - - 1787 - - - - 2807 - - - - - - - - 26.61 26.68 26.67
3227 209.2 0.7 417 3229 done -0.18 - - 2523 - - - 1787 - - - - 2806 - - - - - - - - 26.61 26.69 26.67
3347 208.2 0.9 429 3349 done -0.18 - - 2523 - - - 1787 - - - - 2806 - - - - - - - - 26.65 26.72 26.70
3468 207.1 0.8 441 3470 done -0.18 - - 2523 - - - 1787 - - - - 2806 - - - - - - - - 26.67 26.74 26.73
3587 206.2 0.6 453 3589 done -0.18 - - 2522 - - - 1787 - - - - 2806 - - - - - - - - 26.67 26.74 26.73
3707 205.6 0.3 465 3709 done -0.18 - - 2523 - - - 1786 - - - - 2806 - - - - - - - - 26.68 26.75 26.74
3826 end loiter: LOITER_COMPLETE
3826 begin climb
3828 205.6 - 477 4024 roll 0.75 0.93 0.122 2822 321.5 1.15 0.044 2495 616.5 116.8 188.15 0.558 2318 -2.6 0.096 - - - - - - 26.48 25.30 24.85
4189 177.7 10.3 545 4193 done 0.75 - - 2826 - 1.00 0.046 1832 -663.0 116.8 - - 2286 - - - - - - - - 26.01 25.98 26.03
4321 164.5 9.5 559 4325 roll 0.75 - - 2822 - 1.00 0.044 2486 654.0 117.0 - - 2285 - - - - - - - - 26.12 26.14 26.19
4354 161.4 9.1 565 4358 done 0.76 - - 2826 - 1.02 0.036 1796 -676.5 124.9 - - 2284 - - - - - - - - 26.20 26.19 26.27
4487 149.1 9.5 579 4491 roll 0.77 - - 2831 - 1.05 0.047 1110 -653.3 125.6 - - 2284 - - - - - - - - 26.33 26.27 26.39
4552 142.4 10.6 591 4555 done 0.77 - - 2828 - 1.05 0.036 1798 655.2 125.6 - - 2284 - - - - - - - - 26.36 26.34 26.39
4686 127.9 11.3 605 4689 roll 0.77 - - 2822 - 1.05 0.044 2508 676.2 125.6 - - 2283 - - - - - - - - 26.48 26.37 26.53
4760 119.7 10.4 619 4764 done 0.77 - - 2826 - 1.05 0.037 1796 -678.1 125.6 - - 2282 - - - - - - - - 26.46 26.44 26.48
4895 106.8 9.4 633 4899 roll 0.77 - - 2823 - 1.05 0.044 2497 667.6 127.3 - - 2282 - - - - - - - - 26.55 26.46 26.63
4971 99.7 9.0 647 4980 done 0.78 - - 2826 - 1.02 0.036 1802 -681.4 136.5 4.28 0.723 2245 -8.6 0.120 - - - - - - 26.53 26.51 25.66
5107 87.5 9.3 672 5116 roll 0.78 - - 2831 - 1.10 0.048 1103 -635.5 140.2 3.35 0.636 2229 -4.8 0.066 - - - - - - 26.51 26.27 25.33
5150 83.6 9.1 679 5167 done 0.79 - - 2828 - 1.05 0.036 1798 661.9 147.0 11.38 0.643 2201 -2.5 0.032 - - - - - - 26.48 26.45 25.67
5295 70.9 8.4 705 5325 roll 0.81 0.08 0.208 2836 100.0 1.08 0.042 2498 648.1 167.1 24.25 0.575 2112 -3.7 0.046 - - - - - - 26.23 26.02 25.51
5354 65.3 9.5 714 5362 done 0.82 - - 2840 - 1.05 0.037 1796 -668.6 168.3 - - 2091 - - - - - - - - 26.19 26.16 26.21
5488 54.0 8.1 739 5525 roll 0.85 - - 2845 - 1.12 0.054 1095 -625.9 194.8 31.75 0.545 2003 -2.8 0.028 - - - - - - 26.34 25.88 25.38
5615 42.7 9.9 761 5622 done 0.85 - - 2842 - 1.08 0.035 1799 651.9 194.8 - - 1976 - - - - - - - - 26.15 26.14 26.19
5748 31.5 7.7 786 5793 roll 0.89 0.12 0.174 2886 366.7 1.12 0.046 1108 -617.0 228.0 39.67 0.523 1868 -2.7 0.017 - - - - - - 26.09 25.79 25.28
5857 21.0 9.8 804 5865 done 0.89 - - 2882 - 1.05 0.043 1789 648.6 228.0 - - 1845 - - - - - - - - 26.07 26.00 26.07
5994 9.3 6.3 829 6093 roll 0.96 - - 2877 - 1.10 0.049 2505 650.9 286.0 89.55 0.483 1625 -2.5 0.005 - - - - - - 26.26 25.35 25.06
6099 end climb: SURFACE_DEPTH_REACHED
6099 begin surface coast
6121 end surface coast: CONTROL_FINISHED_OK
6121 begin surface
SM 0.46 - - - - -7.40 7.68 0.060 166 21.6 0.77 0.031 2004 -8415.6 551.92 -0.03 0.773 550 - - - - - - - -