WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 52 * Raw log
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• Previous call tries 1 • 12.22 of 127.50 AH used of 24V (90.42% remains)
• Previous NAKs 0, Timeouts 0 • 6.91 of 100.00 AH used of 10V (93.09% remains)
• Surface angle -62.4 deg, depth 0.49 m • Intended pitch -18.1 deg, speed -10.000 cm/s
• VBD pumped to 576.46 (SM_CC=603.25)
• GPS1 time: 2 s
• GPS2 time: 3 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
25 - - - 139 VBD -0.79 - - 188 - - - 2051 - -116.8 -111.45 0.010 3183 - - - - - - - - 26.32 - 26.37
142 4.3 -8.5 16 159 roll -0.79 8.25 0.229 2320 258.4 0.95 0.085 2658 638.9 -116.8 -3.85 0.023 3378 -50.6 0.961 - - - - - - 25.98 24.96 26.15
347 44.1 -15.3 54 355 done -0.79 - - 2320 - 0.95 0.033 1990 -703.2 -116.8 - - 3381 - - - - - - - - 26.48 26.45 26.50
486 63.9 -15.2 79 493 roll -0.79 - - 2320 - 0.98 0.040 1328 -675.5 -116.8 - - 3381 - - - - - - - - 26.56 26.46 26.62
549 73.7 -15.6 90 556 done -0.79 - - 2316 - 0.95 0.038 1961 666.3 -116.8 - - 3382 - - - - - - - - 26.53 26.49 26.54
680 91.3 -11.1 115 688 roll -0.79 0.08 0.239 2323 87.5 1.08 0.042 2694 678.7 -116.8 - - 3382 - - - - - - - - 26.31 26.51 26.46
726 96.7 -11.3 123 734 done -0.79 - - 2327 - 0.98 0.034 2004 -704.1 -116.8 - - 3382 - - - - - - - - 26.58 26.54 26.56
858 111.6 -11.3 138 866 done -0.79 - - 2326 - - - 2004 - -116.8 - - 3382 - - - - - - - - 26.65 26.70 26.70
989 126.4 -10.9 151 996 done -0.79 - - 2326 - - - 2004 - -116.8 - - 3383 - - - - - - - - 26.65 26.66 26.67
1117 140.1 -10.8 164 1119 done -0.79 - - 2326 - - - 2004 - -116.8 - - 3382 - - - - - - - - 26.68 26.75 26.76
1237 152.8 -10.2 176 1241 roll -0.79 - - 2332 - 1.00 0.040 1321 -683.0 -116.8 - - 3381 - - - - - - - - 26.65 26.55 26.67
1280 157.2 -10.7 184 1284 done -0.79 - - 2328 - 1.02 0.037 2009 674.5 -116.8 - - 3383 - - - - - - - - 26.60 26.58 26.64
1412 171.7 -10.9 198 1420 done -0.79 - - 2328 - - - 2009 - -116.8 - - 3382 - - - - - - - - 26.70 26.77 26.78
1544 185.3 -10.3 211 1551 done -0.79 - - 2328 - - - 2009 - -116.8 - - 3382 - - - - - - - - 26.67 26.74 26.73
1672 198.7 -10.3 224 1676 roll -0.79 - - 2332 - 1.02 0.039 1321 -674.5 -116.8 - - 3382 - - - - - - - - 26.74 26.63 26.80
1791 211.7 -10.6 247 1799 done -0.79 - - 2328 - 1.02 0.037 2006 671.6 -116.8 - - 3381 - - - - - - - - 26.70 26.66 26.74
1919 225.1 -10.7 260 1921 done -0.79 - - 2328 - - - 2006 - -116.8 - - 3381 - - - - - - - - 26.70 26.79 26.76
2041 238.0 -10.7 272 2045 roll -0.79 - - 2331 - 1.02 0.039 1317 -675.5 -116.8 - - 3381 - - - - - - - - 26.69 26.65 26.76
2107 245.7 -10.9 285 2116 done -0.79 - - 2329 - 1.02 0.037 2002 671.6 -116.8 - - 3380 - - - - - - - - 26.69 26.65 26.72
2236 259.7 -11.4 298 2240 roll -0.79 - - 2330 - 1.00 0.043 1326 -676.0 -116.8 - - 3380 - - - - - - - - 26.78 26.62 26.84
2279 264.7 -11.0 306 2283 done -0.79 - - 2328 - 1.00 0.042 1998 672.0 -116.8 - - 3380 - - - - - - - - 26.63 26.61 26.65
2412 279.2 -11.1 320 2415 roll -0.79 - - 2323 - 1.02 0.052 2698 686.3 -116.8 - - 3379 - - - - - - - - 26.77 26.67 26.82
2455 284.3 -11.9 328 2458 done -0.79 - - 2327 - 1.00 0.033 1991 -707.0 -116.8 - - 3379 - - - - - - - - 26.73 26.71 26.75
2587 299.4 -11.2 342 2590 roll -0.79 - - 2332 - 0.98 0.040 1323 -681.6 -116.8 - - 3378 - - - - - - - - 26.77 26.66 26.84
2596 end dive: TARGET_DEPTH_EXCEEDED
2596 begin apogee
2601 300.7 -11.3 344 2719 done -0.18 0.68 0.154 2528 288.2 - - 1818 - - 103.22 1.096 2904 -4.6 0.128 - - - - 1 - 26.39 24.98 24.17
2724 end apogee: CONTROL_FINISHED_OK
2724 begin loiter
2841 308.3 -2.1 356 2878 done -0.16 - - 2528 - - - 1818 - 16.5 32.15 0.656 2826 -2.4 0.116 - - - - - - 25.91 25.29 24.98
2999 309.9 -0.9 364 3001 done -0.15 - - 2528 - - - 1818 - 23.4 - - 2805 - - - - - - - - 26.00 26.07 26.06
3119 310.6 -0.6 370 3122 done -0.15 - - 2528 - - - 1817 - 27.7 1.67 0.237 2786 -11.4 1.513 - - - - - - 26.19 26.01 25.72
3239 311.2 -0.5 376 3251 done -0.14 - - 2528 - - - 1818 - 31.7 10.65 0.773 2774 -1.1 0.046 - - - - - - 26.28 25.93 25.39
3359 309.8 1.6 382 3361 done -0.14 - - 2528 - - - 1818 - 31.7 - - 2760 - - - - - - - - 26.23 26.27 26.26
3479 307.6 1.9 388 3481 done -0.14 - - 2528 - - - 1818 - 31.7 - - 2759 - - - - - - - - 26.32 26.37 26.36
3599 305.6 1.7 394 3601 done -0.14 - - 2528 - - - 1818 - 31.7 - - 2759 - - - - - - - - 26.39 26.44 26.40
3719 303.8 1.4 400 3721 done -0.14 - - 2528 - - - 1818 - 31.7 - - 2759 - - - - - - - - 26.44 26.53 26.51
3839 302.2 1.3 406 3841 done -0.14 - - 2528 - - - 1818 - 31.7 - - 2759 - - - - - - - - 26.54 26.53 26.55
3959 301.0 1.0 412 3961 done -0.14 - - 2528 - - - 1818 - 31.7 - - 2759 - - - - - - - - 26.51 26.58 26.55
4079 299.7 1.0 419 4081 done -0.14 - - 2528 - - - 1818 - 31.7 - - 2758 - - - - - - - - 26.54 26.60 26.58
4199 298.4 1.1 431 4201 done -0.14 - - 2528 - - - 1818 - 31.7 - - 2758 - - - - - - - - 26.58 26.66 26.65
4319 297.2 0.8 443 4321 done -0.14 - - 2528 - - - 1818 - 31.7 - - 2758 - - - - - - - - 26.59 26.65 26.63
4439 296.1 0.9 455 4441 done -0.14 - - 2528 - - - 1818 - 31.7 - - 2757 - - - - - - - - 26.62 26.66 26.65
4517 end loiter: LOITER_COMPLETE
4517 begin climb
4519 295.2 - 463 4684 roll 0.79 0.93 0.125 2835 330.1 1.15 0.044 1123 -604.3 116.8 155.85 0.594 2421 -2.2 0.109 - - - - - - 26.42 25.32 24.84
4834 272.1 9.4 523 4850 done 0.80 - - 2832 - 1.02 0.036 1792 655.9 127.3 10.57 0.739 2380 -3.9 0.145 - - - - - - 25.98 25.96 25.24
4978 257.3 10.3 539 4980 done 0.80 - - 2830 - - - 1792 - 127.3 - - 2371 - - - - - - - - 26.15 26.22 26.22
5098 245.1 10.3 551 5102 roll 0.80 - - 2835 - 1.05 0.103 1121 -639.0 127.3 - - 2371 - - - - - - - - 26.27 26.13 26.34
5131 241.8 10.2 557 5134 done 0.80 - - 2831 - 1.02 0.036 1797 662.7 127.3 - - 2371 - - - - - - - - 26.26 26.23 26.29
5263 228.8 9.6 571 5265 done 0.81 - - 2832 - - - 1797 - 133.6 - - 2370 - - - - - - - - 26.34 26.41 26.40
5383 216.9 9.8 583 5403 done 0.81 - - 2831 - - - 1797 - 137.7 12.48 0.732 2333 -3.0 0.089 - - - - - - 26.45 25.91 25.56
5523 203.7 9.4 597 5546 roll 0.82 0.08 0.210 2839 100.0 1.00 0.042 2490 693.0 148.2 14.60 0.705 2287 -3.2 0.092 - - - - - - 26.13 25.83 25.47
5583 197.3 10.5 608 5591 done 0.82 - - 2842 - 1.00 0.037 1820 -670.0 148.2 - - 2283 - - - - - - - - 26.19 26.17 26.21
5711 184.1 10.4 621 5719 done 0.82 - - 2842 - - - 1820 - 148.2 - - 2283 - - - - - - - - 26.36 26.42 26.41
5843 171.1 9.8 634 5846 roll 0.83 - - 2848 - 1.10 0.048 1101 -653.6 151.2 - - 2282 - - - - - - - - 26.44 26.34 26.49
5937 162.1 8.9 652 5978 done 0.85 - - 2844 - 1.05 0.037 1796 661.9 169.4 32.22 0.619 2204 -2.4 0.064 - - - - - - 26.43 26.41 25.39
6100 147.0 9.6 672 6111 roll 0.86 - - 2839 - 1.08 0.044 2490 642.6 176.3 5.82 0.840 2181 -4.0 0.070 - - - - - - 26.28 26.01 25.46
6196 136.5 10.8 690 6201 done 0.86 0.03 0.203 2851 400.0 1.02 0.039 1799 -677.5 176.3 - - 2177 - - - - - - - - 26.05 26.20 26.12
6329 121.3 11.4 704 6334 roll 0.86 - - 2848 - 1.05 0.046 2491 659.0 176.3 - - 2177 - - - - - - - - 26.39 26.23 26.44
6364 117.1 10.8 711 6372 done 0.86 - - 2851 - 1.02 0.038 1799 -678.4 176.3 - - 2177 - - - - - - - - 26.35 26.32 26.38
6495 104.0 9.9 724 6503 done 0.86 - - 2851 - - - 1799 - 178.7 - - 2176 - - - - - - - - 26.47 26.54 26.53
6624 90.9 10.3 745 6632 roll 0.86 - - 2848 - 1.05 0.050 2498 665.7 178.7 - - 2176 - - - - - - - - 26.45 26.36 26.51
6695 83.3 10.6 758 6702 done 0.86 - - 2851 - 1.02 0.039 1806 -678.4 178.7 - - 2176 - - - - - - - - 26.50 26.46 26.52
6832 68.9 10.3 783 6839 roll 0.86 - - 2857 - 1.08 0.047 1099 -654.6 178.7 - - 2176 - - - - - - - - 26.58 26.47 26.63
6879 63.9 10.7 791 6886 done 0.86 - - 2853 - 1.05 0.036 1798 665.7 178.7 - - 2176 - - - - - - - - 26.53 26.51 26.56
7014 51.5 8.6 816 7059 roll 0.89 0.08 0.197 2878 312.5 1.12 0.050 1105 -618.7 203.5 38.20 0.554 2065 -2.9 0.027 - - - - - - 26.39 26.01 25.53
7098 42.9 10.0 829 7106 done 0.89 - - 2874 - 1.05 0.037 1796 658.1 203.8 - - 2061 - - - - - - - - 26.17 26.14 26.20
7234 30.5 9.8 854 7241 roll 0.90 - - 2870 - 1.02 0.044 2485 675.5 207.9 - - 2058 - - - - - - - - 26.38 26.27 26.44
7305 23.7 9.0 867 7335 done 0.92 - - 2873 - 1.02 0.039 1797 -674.5 225.2 24.15 0.539 1979 -3.3 0.015 - - - - - - 26.34 26.33 25.47
7461 10.1 7.9 895 7525 roll 0.96 0.08 0.172 2899 325.0 1.10 0.050 1106 -628.2 262.3 54.38 0.509 1823 -2.9 0.006 - - - - - - 26.10 25.66 25.20
7560 3.4 7.3 910 7584 VBD 1.02 - - 2896 - 1.08 0.036 1798 640.7 309.3 20.60 0.506 1750 -3.5 0.002 - - - - - - 25.94 25.91 25.95
7585 end climb: SURFACE_DEPTH_REACHED
7585 begin surface coast
7611 end surface coast: CONTROL_FINISHED_OK
7612 begin surface
SM 0.45 - - - - -7.38 7.72 0.065 178 23.0 0.30 0.047 2022 -24093.3 576.46 -0.03 0.738 549 - - - - - - - -