WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 53 * Raw log
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• Previous call tries 1 • 12.37 of 127.50 AH used of 24V (90.30% remains)
• Previous NAKs 0, Timeouts 0 • 7.00 of 100.00 AH used of 10V (93.00% remains)
• Surface angle -63.5 deg, depth 0.51 m • Intended pitch -18.1 deg, speed -10.000 cm/s
• VBD pumped to 576.46 (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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
25 - - - 137 VBD -0.79 - - 193 - - - 2029 - -116.8 -108.88 0.011 3123 - - - - - - - - 26.27 - 26.32
140 4.1 -8.1 16 156 done -0.79 8.23 0.220 2325 259.1 - - 2030 - -116.8 -5.20 0.031 3379 -49.2 0.662 - - - - - - 25.94 25.03 26.08
284 33.9 -15.9 42 291 roll -0.79 - - 2325 - 1.08 0.038 1318 -659.3 -116.8 - - 3382 - - - - - - - - 26.45 26.36 26.50
449 57.7 -14.0 73 457 done -0.79 - - 2322 - 0.98 0.037 1966 661.2 -116.8 - - 3383 - - - - - - - - 26.46 26.44 26.48
581 74.7 -12.1 98 588 roll -0.79 - - 2317 - 1.08 0.043 2695 675.0 -116.8 - - 3383 - - - - - - - - 26.57 26.46 26.62
693 87.9 -11.5 118 701 done -0.79 0.05 0.193 2330 260.0 0.98 0.032 2000 -709.2 -116.8 - - 3383 - - - - - - - - 26.28 26.53 26.37
827 102.7 -11.0 141 831 roll -0.79 - - 2335 - 1.00 0.041 1322 -678.0 -116.8 - - 3384 - - - - - - - - 26.61 26.53 26.67
923 114.2 -11.7 160 931 done -0.79 - - 2332 - 1.02 0.036 2006 670.6 -116.8 - - 3384 - - - - - - - - 26.58 26.55 26.60
1053 129.2 -11.8 173 1061 done -0.79 - - 2332 - - - 2006 - -116.8 - - 3383 - - - - - - - - 26.63 26.71 26.70
1182 143.4 -10.9 186 1185 roll -0.79 - - 2335 - 1.00 0.038 1331 -675.0 -116.8 - - 3383 - - - - - - - - 26.67 26.58 26.73
1290 155.3 -10.4 207 1298 done -0.79 - - 2332 - 1.00 0.037 1998 667.0 -116.8 - - 3383 - - - - - - - - 26.65 26.60 26.65
1419 168.7 -10.7 220 1422 roll -0.79 - - 2326 - 1.02 0.044 2698 686.3 -116.8 - - 3383 - - - - - - - - 26.70 26.60 26.76
1472 174.6 -10.9 230 1476 done -0.79 - - 2330 - 0.98 0.031 2004 -708.2 -116.8 - - 3384 - - - - - - - - 26.67 26.65 26.68
1604 188.9 -10.7 244 1606 done -0.79 - - 2330 - - - 2004 - -116.8 - - 3383 - - - - - - - - 26.72 26.79 26.79
1726 201.8 -10.7 256 1733 done -0.79 - - 2330 - - - 2004 - -116.8 - - 3383 - - - - - - - - 26.74 26.80 26.79
1854 215.9 -10.9 269 1856 done -0.79 - - 2330 - - - 2003 - -116.8 - - 3382 - - - - - - - - 26.74 26.81 26.79
1974 229.1 -10.9 281 1976 done -0.79 - - 2330 - - - 2003 - -116.8 - - 3383 - - - - - - - - 26.76 26.82 26.81
2096 241.9 -10.6 293 2104 done -0.79 - - 2330 - - - 2003 - -116.8 - - 3383 - - - - - - - - 26.77 26.83 26.82
2224 255.9 -11.0 306 2228 roll -0.79 - - 2335 - 1.00 0.041 1320 -683.0 -116.8 - - 3382 - - - - - - - - 26.72 26.65 26.79
2289 263.0 -10.8 318 2292 done -0.79 - - 2332 - 1.02 0.037 2009 675.5 -116.8 - - 3382 - - - - - - - - 26.70 26.67 26.72
2420 277.3 -10.8 332 2422 done -0.79 - - 2332 - - - 2009 - -116.8 - - 3381 - - - - - - - - 26.71 26.76 26.75
2540 290.6 -11.2 344 2544 roll -0.79 - - 2326 - 1.00 0.044 2694 685.0 -116.8 - - 3381 - - - - - - - - 26.71 26.63 26.75
2573 294.1 -11.1 350 2576 done -0.79 - - 2330 - 0.98 0.033 2000 -708.2 -116.8 - - 3381 - - - - - - - - 26.72 26.70 26.74
2632 end dive: TARGET_DEPTH_EXCEEDED
2632 begin apogee
2637 300.9 -11.1 357 2755 done -0.18 0.65 0.153 2524 298.5 - - 1793 - - 103.88 1.116 2902 -4.6 0.126 - - - - 1 - 26.37 24.72 24.13
2759 end apogee: CONTROL_FINISHED_OK
2759 begin loiter
2876 308.5 -2.3 369 2914 done -0.16 - - 2524 - - - 1793 - 18.2 32.88 0.650 2820 -2.5 0.120 - - - - - - 25.87 25.41 24.96
3034 310.9 -1.2 377 3036 done -0.15 - - 2524 - - - 1793 - 27.5 - - 2804 - - - - - - - - 25.67 25.89 25.82
3155 312.4 -1.1 383 3178 done -0.13 0.08 0.194 2539 187.5 - - 1793 - 36.3 20.30 0.689 2751 -2.6 0.120 - - - - - - 25.94 25.72 25.22
3294 311.5 1.3 390 3296 done -0.13 - - 2539 - - - 1793 - 36.3 - - 2735 - - - - - - - - 26.17 26.23 26.22
3414 309.2 1.9 396 3416 done -0.13 - - 2539 - - - 1793 - 36.3 - - 2735 - - - - - - - - 26.28 26.36 26.35
3534 306.7 2.1 402 3536 done -0.13 - - 2539 - - - 1793 - 36.3 - - 2734 - - - - - - - - 26.39 26.39 26.43
3654 304.2 2.1 408 3656 done -0.13 - - 2539 - - - 1793 - 36.3 - - 2734 - - - - - - - - 26.45 26.52 26.51
3774 301.7 2.0 414 3776 done -0.13 - - 2539 - - - 1793 - 36.3 - - 2734 - - - - - - - - 26.51 26.57 26.56
3894 299.1 2.2 422 3896 done -0.16 - - 2539 - - - 1793 - 19.0 - - 2734 - - - - - - - - 26.51 26.59 26.58
4015 296.4 2.2 434 4016 done -0.18 - - 2539 - - - 1793 - 1.6 - - 2734 - - - - - - - - 26.57 26.64 26.63
4135 293.7 2.3 446 4137 done -0.20 - - 2539 - - - 1792 - -16.0 - - 2733 - - - - - - - - 26.60 26.66 26.65
4255 291.1 2.2 458 4257 done -0.22 - - 2539 - - - 1793 - -33.0 - - 2733 - - - - - - - - 26.63 26.70 26.69
4375 288.7 2.0 470 4377 done -0.24 - - 2539 - - - 1793 - -48.3 - - 2733 - - - - - - - - 26.65 26.72 26.72
4495 286.2 2.0 482 4497 done -0.26 - - 2539 - - - 1793 - -64.1 - - 2733 - - - - - - - - 26.70 26.74 26.73
4615 283.9 1.8 494 4617 done -0.27 - - 2539 - - - 1793 - -78.0 - - 2733 - - - - - - - - 26.68 26.74 26.74
4735 282.0 1.5 506 4737 done -0.29 - - 2539 - - - 1793 - -89.5 - - 2733 - - - - - - - - 26.70 26.77 26.77
4857 280.3 1.4 518 4864 done -0.30 0.10 0.181 2505 -340.0 - - 1794 - -100.4 - - 2732 - - - - - - - - 26.46 26.64 26.60
4985 278.9 1.0 531 4987 done -0.31 - - 2505 - - - 1793 - -108.4 - - 2732 - - - - - - - - 26.73 26.72 26.74
5105 277.8 0.9 543 5107 done -0.32 - - 2505 - - - 1793 - -115.8 - - 2732 - - - - - - - - 26.74 26.72 26.75
5225 276.9 0.8 555 5227 done -0.32 - - 2505 - - - 1793 - -121.8 - - 2731 - - - - - - - - 26.74 26.73 26.75
5345 276.0 0.8 567 5347 done -0.33 - - 2505 - - - 1793 - -127.7 - - 2732 - - - - - - - - 26.72 26.79 26.78
5468 275.3 0.6 579 5475 done -0.34 - - 2505 - - - 1793 - -132.7 - - 2731 - - - - - - - - 26.76 26.77 26.82
5595 274.7 0.4 592 5597 done -0.34 - - 2505 - - - 1793 - -135.6 - - 2732 - - - - - - - - 26.73 26.81 26.79
5716 274.2 0.5 604 5718 done -0.35 - - 2505 - - - 1793 - -139.6 - - 2731 - - - - - - - - 26.75 26.82 26.82
5836 273.6 0.5 616 5838 done -0.35 - - 2505 - - - 1794 - -143.5 - - 2731 - - - - - - - - 26.76 26.83 26.82
5956 273.2 0.4 628 5958 done -0.35 - - 2505 - - - 1793 - -146.5 - - 2731 - - - - - - - - 26.77 26.84 26.83
6076 272.7 0.5 640 6078 done -0.36 - - 2505 - - - 1793 - -150.0 - - 2731 - - - - - - - - 26.78 26.84 26.84
6196 272.1 0.6 652 6198 done -0.36 - - 2505 - - - 1793 - -154.7 - - 2731 - - - - - - - - 26.78 26.85 26.84
6316 271.3 0.8 664 6318 done -0.37 - - 2505 - - - 1793 - -160.6 - - 2731 - - - - - - - - 26.78 26.86 26.85
6354 end loiter: LOITER_COMPLETE
6354 begin climb
6356 271.3 - 668 6500 roll 0.79 1.00 0.116 2828 323.0 1.10 0.044 2484 628.2 116.8 131.35 0.604 2411 -2.4 0.111 - - - - - - 26.51 25.40 24.91
6737 242.8 9.6 741 6745 done 0.80 - - 2831 - 0.98 0.037 1833 -664.3 123.3 - - 2396 - - - - - - - - 26.15 26.13 26.17
6866 230.4 9.8 754 6871 roll 0.80 - - 2828 - 1.00 0.051 2494 661.0 126.9 - - 2396 - - - - - - - - 26.29 26.21 26.35
7033 214.0 9.7 785 7052 done 0.81 - - 2832 - 1.02 0.044 1801 -679.4 132.4 14.90 0.687 2361 -2.3 0.074 - - - - - - 26.32 26.25 25.51
7174 200.7 9.8 800 7181 done 0.81 - - 2832 - - - 1801 - 136.4 - - 2351 - - - - - - - - 26.34 26.41 26.38
7302 187.8 10.0 813 7306 roll 0.81 - - 2828 - 1.05 0.044 2496 661.9 136.4 - - 2350 - - - - - - - - 26.42 26.32 26.47
7379 180.1 9.9 828 7386 done 0.81 - - 2831 - 1.05 0.039 1792 -670.5 138.7 - - 2349 - - - - - - - - 26.44 26.38 26.41
7506 168.1 9.4 841 7539 roll 0.83 0.08 0.210 2841 125.0 1.05 0.041 2506 680.0 149.1 25.05 0.642 2287 -2.5 0.066 - - - - - - 26.27 25.84 25.51
7638 154.4 10.5 866 7646 done 0.83 - - 2845 - 1.05 0.041 1802 -670.5 149.1 - - 2281 - - - - - - - - 26.26 26.22 26.27
7765 140.8 11.0 879 7769 roll 0.83 - - 2841 - 1.05 0.049 2493 658.1 149.1 - - 2280 - - - - - - - - 26.32 26.25 26.37
7828 134.0 10.9 891 7832 done 0.83 - - 2845 - 1.02 0.038 1804 -675.5 149.1 - - 2278 - - - - - - - - 26.36 26.35 26.40
7960 120.4 9.8 905 7965 roll 0.83 - - 2850 - 1.08 0.047 1101 -650.9 153.1 - - 2278 - - - - - - - - 26.48 26.37 26.54
8065 110.2 9.5 925 8078 done 0.84 - - 2846 - 1.05 0.044 1797 662.9 161.2 4.40 0.807 2244 -7.7 0.107 - - - - - - 26.44 26.39 25.62
8196 97.9 9.0 941 8227 roll 0.86 - - 2842 - 1.00 0.041 2491 694.0 178.6 23.95 0.605 2166 -3.3 0.054 - - - - - - 26.48 25.87 25.53
8362 82.1 8.9 971 8387 done 0.88 0.05 0.167 2863 420.0 1.02 0.039 1799 -678.4 197.7 19.52 0.596 2094 -3.7 0.052 - - - - - - 26.05 26.25 25.44
8513 67.7 9.3 998 8527 roll 0.90 - - 2868 - 1.08 0.044 1111 -637.0 210.4 7.18 0.661 2040 -7.5 0.078 - - - - - - 26.29 25.84 25.46
8561 62.8 10.5 1006 8568 done 0.90 - - 2865 - 1.05 0.036 1798 654.3 210.4 - - 2036 - - - - - - - - 26.20 26.15 26.21
8701 47.8 11.5 1031 8707 done 0.90 - - 2865 - - - 1798 - 210.4 - - 2035 - - - - - - - - 26.35 26.42 26.41
8831 33.9 11.1 1056 8839 roll 0.90 - - 2868 - 1.08 0.047 1106 -640.7 210.4 - - 2034 - - - - - - - - 26.41 26.33 26.46
9009 15.0 10.2 1090 9016 done 0.90 - - 2865 - 1.05 0.037 1800 661.0 210.4 - - 2033 - - - - - - - - 26.41 26.41 26.43
9149 4.7 3.9 1115 9220 VBD 1.03 0.15 0.147 2911 306.7 - - 1800 - 316.7 67.78 0.508 1865 -2.5 0.002 - - - - - - 26.27 - 26.34
9221 end climb: SURFACE_DEPTH_REACHED
9221 begin surface coast
9264 end surface coast: CONTROL_FINISHED_OK
9264 begin surface
SM 0.46 - - - - -7.39 7.75 0.065 177 22.8 0.28 0.050 2009 -30432.1 576.46 -0.38 0.125 550 - - - - - - - -