WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 60 * Raw log
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• Previous call tries 1 • 13.33 of 127.50 AH used of 24V (89.55% remains)
• Previous NAKs 0, Timeouts 0 • 7.53 of 100.00 AH used of 10V (92.47% remains)
• Surface angle -51.5 deg, depth 0.30 m • Intended pitch -17.2 deg, speed -9.524 cm/s
• VBD pumped to 551.92 (SM_CC=603.25)
• GPS1 time: 13 s • bottom range 19.5 m at 180.9 m, depth 200 m (222 m grid)
• 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 -0.75 - - 164 - - - 1989 - -116.8 -111.88 0.010 3139 - - - - - - - - 26.10 - 26.17
142 4.3 -9.4 16 159 roll -0.75 8.30 0.221 2339 262.0 1.08 0.071 1303 -635.2 -116.8 -2.88 0.030 3279 -48.6 0.702 - - - - - - 25.81 24.82 26.10
346 39.5 -11.5 54 353 done -0.75 - - 2336 - 1.05 0.037 1998 661.9 -116.8 - - 3282 - - - - - - - - 26.35 26.34 26.37
481 59.1 -15.0 79 489 roll -0.75 - - 2331 - 1.02 0.044 2694 682.4 -116.8 - - 3283 - - - - - - - - 26.45 26.35 26.51
678 80.7 -9.7 115 685 done -0.75 - - 2334 - 1.02 0.032 1977 -702.9 -116.8 - - 3284 - - - - - - - - 26.51 26.49 26.51
811 94.1 -9.8 140 819 roll -0.75 - - 2339 - 0.98 0.040 1316 -674.5 -116.8 - - 3284 - - - - - - - - 26.59 26.48 26.66
882 101.5 -9.8 153 890 done -0.75 - - 2335 - 1.02 0.036 2003 673.5 -116.8 - - 3284 - - - - - - - - 26.54 26.51 26.55
1009 114.5 -11.0 166 1013 roll -0.75 - - 2331 - 1.00 0.044 2690 687.0 -116.8 - - 3284 - - - - - - - - 26.59 26.53 26.66
1103 125.1 -11.0 184 1108 done -0.75 - - 2333 - 0.98 0.031 2001 -703.1 -116.8 - - 3284 - - - - - - - - 26.60 26.58 26.61
1236 139.2 -10.6 198 1240 roll -0.75 - - 2339 - 1.00 0.048 1321 -680.0 -116.8 - - 3284 - - - - - - - - 26.67 26.56 26.72
1309 147.2 -11.0 212 1314 done -0.75 - - 2336 - 1.02 0.037 2007 672.5 -116.8 - - 3284 - - - - - - - - 26.61 26.58 26.64
1442 161.4 -10.7 226 1445 roll -0.75 - - 2339 - 1.02 0.040 1321 -672.5 -116.8 - - 3283 - - - - - - - - 26.68 26.58 26.72
1498 167.8 -10.6 237 1505 done -0.75 - - 2336 - 1.02 0.037 2007 672.5 -116.8 - - 3283 - - - - - - - - 26.67 26.60 26.66
1629 180.9 -10.4 250 1633 roll -0.75 - - 2339 - 1.02 0.039 1321 -672.5 -116.8 - - 3283 - - - - - - - - 26.67 26.60 26.74
1672 185.8 -10.1 258 1676 done -0.75 - - 2336 - 1.02 0.036 2009 674.5 -116.8 - - 3283 - - - - - - - - 26.65 26.62 26.67
1772 end dive: BOTTOM_OBSTACLE_DETECTED
1773 begin apogee
1778 196.0 -9.5 269 1984 done -0.18 0.60 0.153 2519 305.0 - - 1782 - - 200.93 0.545 2798 -2.4 0.087 - - - - - - 26.29 25.22 24.80
1990 end apogee: CONTROL_FINISHED_OK
1990 begin loiter
2115 204.5 -0.8 302 2117 done -0.18 - - 2519 - - - 1782 - - - - 2780 - - - - - - - - 25.96 26.03 26.01
2235 205.3 -0.3 314 2237 done -0.18 - - 2519 - - - 1782 - - - - 2780 - - - - - - - - 26.16 26.22 26.22
2355 205.3 0.1 326 2357 done -0.18 - - 2519 - - - 1782 - - - - 2779 - - - - - - - - 26.27 26.36 26.35
2475 205.4 -0.1 338 2477 done -0.18 - - 2519 - - - 1782 - - - - 2779 - - - - - - - - 26.37 26.44 26.44
2595 205.4 - 350 2597 done -0.18 - - 2518 - - - 1782 - - - - 2779 - - - - - - - - 26.44 26.51 26.50
2715 205.4 -0.1 362 2717 done -0.18 - - 2519 - - - 1782 - - - - 2778 - - - - - - - - 26.50 26.57 26.56
2835 205.3 - 374 2837 done -0.18 - - 2519 - - - 1782 - - - - 2778 - - - - - - - - 26.53 26.59 26.60
2955 205.4 0.1 386 2957 done -0.18 - - 2519 - - - 1782 - - - - 2778 - - - - - - - - 26.57 26.64 26.63
3075 205.3 0.1 398 3077 done -0.18 - - 2519 - - - 1782 - - - - 2778 - - - - - - - - 26.61 26.67 26.67
3195 205.4 - 410 3197 done -0.18 - - 2519 - - - 1782 - - - - 2778 - - - - - - - - 26.63 26.70 26.69
3315 205.4 -0.1 422 3317 done -0.18 - - 2519 - - - 1782 - - - - 2777 - - - - - - - - 26.67 26.72 26.70
3435 205.3 - 434 3437 done -0.18 - - 2518 - - - 1782 - - - - 2777 - - - - - - - - 26.67 26.77 26.73
3555 205.3 -0.2 446 3557 done -0.18 - - 2519 - - - 1782 - - - - 2777 - - - - - - - - 26.68 26.74 26.74
3675 205.3 0.1 458 3677 done -0.18 - - 2519 - - - 1782 - - - - 2777 - - - - - - - - 26.70 26.74 26.74
3783 end loiter: LOITER_COMPLETE
3783 begin climb
3785 205.4 - 469 3987 done 0.75 0.93 0.121 2820 323.7 - - 1782 - 116.8 194.27 0.549 2320 -2.4 0.089 - - - - - - 26.45 25.25 24.84
4108 187.8 8.5 516 4128 roll 0.78 - - 2817 - 1.15 0.044 2503 627.0 135.4 15.60 0.639 2245 -4.8 0.142 - - - - - - 25.89 25.63 25.15
4259 174.1 8.6 545 4287 done 0.80 0.05 0.134 2836 380.0 1.02 0.036 1813 -676.5 151.7 20.05 0.623 2174 -3.5 0.100 - - - - - - 25.86 26.03 25.22
4409 159.3 10.6 562 4417 done 0.80 - - 2836 - - - 1813 - 151.7 - - 2161 - - - - - - - - 26.15 26.21 26.20
4536 145.5 10.8 575 4544 done 0.80 - - 2836 - - - 1813 - 151.7 - - 2160 - - - - - - - - 26.22 26.30 26.29
4668 132.2 9.8 588 4672 roll 0.80 - - 2833 - 1.02 0.044 2485 658.8 151.7 - - 2159 - - - - - - - - 26.39 26.27 26.44
4721 127.0 9.5 598 4726 done 0.80 - - 2836 - 1.00 0.037 1810 -675.0 152.3 - - 2158 - - - - - - - - 26.36 26.34 26.37
4854 114.1 9.8 612 4856 done 0.80 - - 2836 - - - 1809 - 152.3 - - 2157 - - - - - - - - 26.47 26.54 26.53
4974 102.6 10.0 624 4977 roll 0.80 - - 2833 - 1.02 0.043 2487 664.7 152.3 - - 2157 - - - - - - - - 26.52 26.41 26.58
5073 92.4 10.1 643 5080 done 0.80 - - 2836 - 1.02 0.037 1792 -681.4 152.3 - - 2156 - - - - - - - - 26.50 26.47 26.52
5212 78.1 11.1 668 5220 roll 0.80 - - 2841 - 1.05 0.047 1109 -650.5 152.3 - - 2157 - - - - - - - - 26.56 26.47 26.63
5453 59.0 4.6 713 5609 done 0.90 0.10 0.151 2873 320.0 1.02 0.035 1795 672.5 241.6 149.80 0.504 1816 -2.3 0.027 - - - - - - 26.30 26.51 24.98
5736 33.6 9.8 759 5743 roll 0.90 - - 2870 - 1.08 0.046 2496 649.1 241.6 - - 1786 - - - - - - - - 26.02 25.87 26.08
5876 18.8 9.2 784 5884 done 0.91 - - 2873 - 1.02 0.038 1811 -671.6 248.2 - - 1783 - - - - - - - - 26.12 26.08 26.15
6014 7.6 6.9 809 6086 VBD 0.97 0.10 0.142 2902 290.0 - - 1810 - 295.9 69.15 0.484 1621 -2.3 0.004 - - - - - - 26.15 - 26.20
6087 end climb: SURFACE_DEPTH_REACHED
6087 begin surface coast
6104 end surface coast: CONTROL_FINISHED_OK
6104 begin surface
SM 0.31 - - - - -7.40 7.68 0.057 165 21.4 0.28 0.049 1998 -31385.7 551.92 -0.20 0.233 550 - - - - - - - -