IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 77 * Raw log
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• Previous call tries 2 • 13.67 of 144.90 AH used of 24V (90.56% remains)
• Previous NAKs 0, Timeouts 0 • 11.49 of 100.00 AH used of 10V (88.51% remains)
• Surface angle -57.7 deg, depth 0.69 m • Intended pitch -27.3 deg, speed -9.804 cm/s
VBD pumped to 605.40 (beyond SM_CC=500)
• GPS1 time: 21 s
• GPS2 time: 2 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
10 end surface: CONTROL_FINISHED_OK
10 begin dive
13 - - - 111 VBD -0.71 - - 158 - - - 2213 - -98.7 -95.53 0.005 3357 - - - - - - - - 26.02 - 26.01
115 4.0 -7.5 14 132 roll -0.74 8.57 0.210 2355 256.4 1.67 0.065 3258 625.7 -133.1 -2.78 0.025 3512 -55.8 0.921 - - - - - - 25.72 25.23 25.91
162 13.9 -8.2 21 171 done -0.58 0.22 0.165 2417 281.8 1.60 0.028 2191 -666.9 -146.0 -0.82 0.060 3567 -67.1 1.604 - - - - - - 25.82 26.00 26.02
237 20.5 -10.9 34 244 roll -0.58 - - 2424 - 1.58 0.034 1158 -653.8 -146.0 - - 3569 - - - - - - - - 26.10 26.03 26.10
283 25.4 -10.3 42 291 done -0.71 - - 2418 - 1.67 0.041 2190 618.0 -146.0 - - 3570 - - - - - - - - 26.08 26.04 26.10
358 33.1 -10.3 55 366 roll -0.81 0.12 0.096 2358 -500.0 1.73 0.047 3258 617.3 -146.0 - - 3570 - - - - - - - - 26.05 26.03 26.09
529 54.5 -11.2 87 536 done -0.85 - - 2364 - 1.60 0.030 2209 -655.6 -146.0 - - 3572 - - - - - - - - 26.13 26.08 26.13
603 63.3 -12.3 100 611 roll -0.89 - - 2373 - 1.62 0.034 1138 -661.1 -146.0 - - 3570 - - - - - - - - 26.14 26.08 26.14
678 72.0 -11.9 113 686 done -0.99 0.15 0.106 2302 -473.3 1.70 0.040 2217 634.7 -146.0 - - 3572 - - - - - - - - 26.02 26.07 26.11
752 82.2 -14.4 126 758 done -0.93 - - 2302 - - - 2217 - -146.0 - - 3572 - - - - - - - - 26.13 26.15 26.14
825 92.4 -14.9 139 832 done -0.89 0.10 0.221 2319 170.0 - - 2217 - -146.0 - - 3572 - - - - - - - - 25.86 26.11 26.07
897 103.1 -13.5 152 905 roll -0.89 - - 2312 - 1.62 0.046 3263 645.7 -146.0 - - 3572 - - - - - - - - 26.15 26.08 26.15
966 112.1 -13.0 164 974 done -0.89 - - 2318 - 1.62 0.028 2186 -664.8 -146.0 - - 3572 - - - - - - - - 26.15 26.10 26.16
1041 121.1 -12.2 177 1048 roll -0.89 - - 2320 - 1.58 0.036 1146 -658.2 -146.0 - - 3572 - - - - - - - - 26.15 26.08 26.15
1110 129.8 -12.8 189 1117 done -0.93 - - 2313 - 1.65 0.039 2195 635.8 -146.0 - - 3572 - - - - - - - - 26.13 26.08 26.13
1182 139.4 -13.0 202 1189 roll -0.93 - - 2306 - 1.65 0.047 3258 644.2 -146.0 - - 3572 - - - - - - - - 26.16 26.07 26.15
1240 147.2 -13.0 212 1248 done -0.93 - - 2311 - 1.60 0.029 2203 -659.4 -146.0 - - 3572 - - - - - - - - 26.13 26.08 26.15
1316 156.7 -12.6 225 1323 done -0.95 - - 2312 - - - 2199 - -146.0 - - 3572 - - - - - - - - 26.13 26.14 26.14
1390 166.4 -13.2 238 1396 done -0.98 - - 2312 - - - 2200 - -146.0 - - 3572 - - - - - - - - 26.15 26.16 26.15
1462 175.6 -13.1 251 1468 done -1.01 - - 2311 - - - 2199 - -146.0 - - 3572 - - - - - - - - 26.15 26.15 26.14
1534 184.8 -13.1 264 1541 done -1.03 - - 2312 - - - 2199 - -146.0 - - 3572 - - - - - - - - 26.15 26.17 26.15
1608 194.4 -12.3 277 1615 done -1.07 - - 2311 - - - 2199 - -146.0 - - 3572 - - - - - - - - 26.15 26.17 26.16
1682 203.4 -12.2 290 1689 roll -1.11 0.10 0.126 2266 -450.0 1.67 0.044 3261 635.9 -146.0 - - 3572 - - - - - - - - 26.05 26.06 26.13
1724 209.4 -14.0 297 1731 done -1.07 - - 2270 - 1.62 0.029 2188 -662.3 -146.0 - - 3571 - - - - - - - - 26.13 26.09 26.15
1799 220.1 -14.6 310 1805 done -1.03 - - 2271 - - - 2184 - -146.0 - - 3571 - - - - - - - - 26.14 26.15 26.15
1873 231.1 -14.7 323 1880 done -1.00 0.08 0.205 2284 162.5 - - 2183 - -146.0 - - 3571 - - - - - - - - 25.91 26.11 26.08
1946 241.5 -13.6 336 1954 done -1.00 - - 2284 - - - 2183 - -146.0 - - 3571 - - - - - - - - 26.15 26.14 26.14
2020 251.8 -14.1 349 2027 roll -1.00 - - 2278 - 1.70 0.047 3263 635.3 -146.0 - - 3571 - - - - - - - - 26.15 26.07 26.15
2067 258.5 -14.0 357 2075 done -1.00 - - 2284 - 1.65 0.031 2208 -639.4 -146.0 - - 3570 - - - - - - - - 26.13 26.08 26.13
2140 268.5 -13.3 370 2148 roll -1.00 - - 2291 - 1.65 0.035 1150 -641.2 -146.0 - - 3572 - - - - - - - - 26.15 26.08 26.15
2204 277.1 -12.8 381 2212 done -1.05 - - 2286 - 1.67 0.041 2213 636.5 -146.0 - - 3570 - - - - - - - - 26.11 26.06 26.12
2277 286.6 -13.5 394 2284 roll -1.05 - - 2277 - 1.65 0.048 3268 639.4 -146.0 - - 3569 - - - - - - - - 26.13 26.05 26.14
2340 295.2 -13.3 405 2347 done -1.05 - - 2284 - 1.62 0.031 2205 -656.2 -146.0 - - 3570 - - - - - - - - 26.12 26.10 26.13
2413 305.0 -14.0 418 2420 roll -1.05 - - 2291 - 1.62 0.036 1138 -658.6 -146.0 - - 3569 - - - - - - - - 26.13 26.08 26.13
2476 313.4 -12.3 429 2483 done -1.10 - - 2285 - 1.67 0.039 2205 638.9 -146.0 - - 3568 - - - - - - - - 26.12 26.06 26.13
2549 323.6 -14.2 442 2556 done -1.10 - - 2285 - - - 2205 - -146.0 - - 3568 - - - - - - - - 26.13 26.14 26.14
2622 333.8 -14.0 455 2628 done -1.10 - - 2285 - - - 2205 - -146.0 - - 3568 - - - - - - - - 26.14 26.15 26.13
2694 343.9 -13.7 468 2702 roll -1.10 - - 2277 - 1.65 0.047 3259 638.8 -146.0 - - 3567 - - - - - - - - 26.15 26.03 26.15
2727 348.5 -14.4 473 2735 done -1.10 - - 2283 - 1.62 0.030 2196 -656.2 -146.0 - - 3567 - - - - - - - - 26.14 26.08 26.15
2802 359.0 -13.7 486 2808 done -1.10 - - 2283 - - - 2192 - -146.0 - - 3567 - - - - - - - - 26.11 26.13 26.12
2874 369.0 -13.7 499 2880 done -1.10 - - 2283 - - - 2190 - -146.0 - - 3567 - - - - - - - - 26.14 26.15 26.14
2946 379.0 -13.9 512 2954 roll -1.10 - - 2277 - 1.67 0.047 3257 638.9 -146.0 - - 3566 - - - - - - - - 26.13 26.03 26.13
2967 382.1 -14.0 515 2976 done -1.10 - - 2282 - 1.67 0.030 2195 -635.9 -146.0 - - 3567 - - - - - - - - 26.08 26.07 26.12
3040 391.9 -13.5 528 3049 done -1.10 - - 2283 - - - 2191 - -146.0 - - 3566 - - - - - - - - 26.13 26.15 26.14
3115 402.1 -13.7 541 3121 done -1.10 - - 2283 - - - 2191 - -146.0 - - 3566 - - - - - - - - 26.13 26.14 26.14
3187 412.2 -14.2 554 3193 done -1.10 - - 2282 - - - 2191 - -146.0 - - 3566 - - - - - - - - 26.12 26.14 26.14
3259 422.2 -13.0 567 3266 done -1.10 - - 2282 - - - 2191 - -146.0 - - 3566 - - - - - - - - 26.13 26.13 26.13
3333 432.0 -13.3 580 3341 roll -1.10 - - 2276 - 1.70 0.048 3266 632.4 -146.0 - - 3568 - - - - - - - - 26.13 26.03 26.13
3369 437.3 -14.4 586 3377 done -1.10 - - 2282 - 1.65 0.030 2184 -655.8 -146.0 - - 3565 - - - - - - - - 26.10 26.06 26.12
3443 447.0 -12.9 599 3450 done -1.10 - - 2282 - - - 2180 - -146.0 - - 3565 - - - - - - - - 26.12 26.14 26.13
3516 456.3 -12.5 612 3523 done -1.10 - - 2282 - - - 2180 - -146.0 - - 3564 - - - - - - - - 26.13 26.13 26.13
3590 465.6 -13.2 625 3596 done -1.10 - - 2282 - - - 2180 - -146.0 - - 3564 - - - - - - - - 26.13 26.14 26.15
3662 474.7 -11.9 638 3669 done -1.19 0.08 0.168 2260 -275.0 - - 2180 - -146.0 - - 3563 - - - - - - - - 25.94 26.10 26.06
3738 475.1 -0.1 651 3746 roll -1.47 0.28 0.091 2171 -317.9 1.60 0.031 1134 -653.8 -146.0 - - 3563 - - - - - - - - 26.02 26.07 26.08
3821 end dive: NO_VERTICAL_VELOCITY
3821 begin apogee
3827 475.2 - 666 3952 done -0.11 1.27 0.110 2570 314.2 - - 2009 - - 117.30 1.102 2966 -5.1 0.226 - - - - - - 25.90 24.84 24.25
3955 end apogee: CONTROL_FINISHED_OK
3955 begin climb
3957 475.1 - 684 4092 roll 0.75 0.90 0.107 2840 300.0 1.75 0.044 3048 593.7 146.0 120.95 1.063 2369 -4.9 0.228 - - - - - - 25.03 24.45 23.77
4285 438.9 13.1 738 4292 done 0.75 - - 2848 - 1.62 0.028 1992 -651.9 146.0 - - 2361 - - - - - - - - 25.75 25.71 25.77
4359 429.6 14.3 751 4365 done 0.75 - - 2846 - - - 1987 - 146.0 - - 2362 - - - - - - - - 25.90 25.91 25.90
4432 420.1 11.8 764 4440 roll 0.75 - - 2840 - 1.70 0.042 3051 625.9 146.0 - - 2361 - - - - - - - - 25.98 25.93 25.98
4478 414.0 12.4 772 4486 done 0.75 - - 2846 - 1.60 0.031 2002 -655.6 146.0 - - 2361 - - - - - - - - 26.01 25.97 26.02
4551 404.6 13.2 785 4559 roll 0.75 - - 2854 - 1.62 0.038 949 -650.0 146.0 - - 2361 - - - - - - - - 26.07 26.02 26.07
4589 399.4 13.4 791 4596 done 0.75 - - 2848 - 1.65 0.036 2003 638.8 146.0 - - 2361 - - - - - - - - 26.08 26.03 26.08
4663 389.4 14.4 804 4670 roll 0.75 - - 2839 - 1.62 0.042 3056 650.0 146.0 - - 2361 - - - - - - - - 26.10 26.03 26.11
4709 382.3 15.5 812 4717 done 0.75 - - 2846 - 1.60 0.029 1998 -661.2 146.0 - - 2360 - - - - - - - - 26.09 26.06 26.10
4782 372.1 14.2 825 4790 done 0.75 - - 2845 - - - 1993 - 146.0 - - 2361 - - - - - - - - 26.12 26.13 26.12
4856 361.4 14.4 838 4863 done 0.75 - - 2851 - - - 1993 - 146.0 - - 2360 - - - - - - - - 26.13 26.13 26.12
4929 351.0 14.3 851 4936 roll 0.75 - - 2840 - 1.65 0.043 3054 643.0 146.0 - - 2360 - - - - - - - - 26.14 26.08 26.15
4964 345.7 14.7 857 4972 done 0.75 - - 2846 - 1.60 0.029 1999 -659.4 146.0 - - 2359 - - - - - - - - 26.13 26.08 26.13
5039 335.4 14.5 870 5045 done 0.75 - - 2846 - - - 1995 - 146.0 - - 2359 - - - - - - - - 26.13 26.15 26.14
5112 324.7 14.9 883 5119 roll 0.75 - - 2840 - 1.65 0.043 3051 640.0 146.0 - - 2359 - - - - - - - - 26.16 26.08 26.16
5137 320.7 15.3 887 5144 done 0.75 - - 2846 - 1.60 0.029 1996 -659.4 146.0 - - 2359 - - - - - - - - 26.14 26.09 26.12
5210 310.1 14.2 900 5217 roll 0.75 - - 2854 - 1.62 0.039 939 -652.5 146.0 - - 2359 - - - - - - - - 26.13 26.08 26.14
5242 305.7 14.1 905 5250 done 0.75 - - 2848 - 1.67 0.037 2007 639.5 146.0 - - 2359 - - - - - - - - 26.13 26.07 26.15
5317 295.4 13.8 918 5323 done 0.75 - - 2848 - - - 2007 - 146.0 - - 2359 - - - - - - - - 26.15 26.15 26.15
5390 285.6 13.2 931 5396 done 0.75 - - 2848 - - - 2007 - 146.0 - - 2359 - - - - - - - - 26.16 26.14 26.16
5463 276.0 13.3 944 5470 done 0.75 - - 2848 - - - 2007 - 146.0 - - 2359 - - - - - - - - 26.13 26.15 26.13
5536 266.6 13.0 957 5544 roll 0.75 - - 2840 - 1.62 0.044 3057 648.1 146.0 - - 2358 - - - - - - - - 26.13 26.06 26.14
5605 257.6 12.8 969 5613 done 0.75 - - 2846 - 1.60 0.028 1997 -662.5 146.0 - - 2357 - - - - - - - - 26.13 26.08 26.13
5680 248.0 12.9 982 5687 roll 0.75 - - 2854 - 1.62 0.038 941 -651.9 146.0 - - 2358 - - - - - - - - 26.15 26.08 26.16
5732 241.1 13.2 991 5739 done 0.77 - - 2848 - 1.67 0.037 2006 637.7 146.0 - - 2358 - - - - - - - - 26.10 26.06 26.13
5806 231.6 12.9 1004 5813 roll 0.77 - - 2840 - 1.62 0.044 3056 648.1 146.0 - - 2358 - - - - - - - - 26.13 26.06 26.14
5864 223.4 13.6 1014 5871 done 0.77 - - 2846 - 1.60 0.029 2003 -658.1 146.0 - - 2357 - - - - - - - - 26.13 26.08 26.14
5936 213.8 13.0 1027 5943 done 0.77 - - 2846 - - - 1996 - 146.0 - - 2358 - - - - - - - - 26.14 26.14 26.15
6008 204.8 12.6 1040 6016 roll 0.77 - - 2840 - 1.65 0.043 3055 641.8 146.0 - - 2357 - - - - - - - - 26.11 26.05 26.11
6055 198.4 14.0 1048 6063 done 0.77 - - 2846 - 1.65 0.028 2000 -639.4 146.0 - - 2356 - - - - - - - - 26.12 26.10 26.14
6128 189.1 12.9 1061 6136 done 0.77 - - 2846 - - - 1995 - 146.0 - - 2356 - - - - - - - - 26.14 26.17 26.15
6203 179.5 12.5 1074 6210 roll 0.77 - - 2854 - 1.62 0.039 947 -646.9 146.0 - - 2357 - - - - - - - - 26.15 26.07 26.15
6234 175.5 12.3 1079 6241 done 0.77 - - 2848 - 1.65 0.036 2002 639.4 146.0 - - 2357 - - - - - - - - 26.11 26.05 26.13
6307 166.1 12.5 1092 6314 roll 0.77 - - 2840 - 1.62 0.044 3052 648.1 146.0 - - 2357 - - - - - - - - 26.15 26.04 26.15
6381 156.9 12.9 1105 6389 done 0.77 - - 2846 - 1.60 0.029 1997 -659.4 146.0 - - 2356 - - - - - - - - 26.13 26.08 26.14
6456 147.8 12.3 1118 6463 roll 0.77 - - 2854 - 1.62 0.038 951 -645.7 146.0 - - 2356 - - - - - - - - 26.15 26.08 26.15
6498 142.3 12.2 1125 6507 done 0.81 0.10 0.189 2880 260.0 1.65 0.037 2007 640.0 146.0 - - 2356 - - - - - - - - 25.94 26.06 26.08
6575 132.0 14.1 1138 6582 roll 0.76 - - 2874 - 1.62 0.043 3051 644.4 146.0 - - 2356 - - - - - - - - 26.13 26.04 26.13
6631 123.9 14.9 1148 6638 done 0.70 - - 2881 - 1.60 0.028 1995 -660.0 146.0 - - 2356 - - - - - - - - 26.13 26.08 26.14
6705 114.0 13.5 1161 6713 done 0.65 0.12 0.191 2855 -216.7 - - 1990 - 146.0 - - 2356 - - - - - - - - 25.86 26.07 26.03
6781 104.6 12.0 1174 6787 done 0.65 - - 2854 - - - 1990 - 146.0 - - 2355 - - - - - - - - 26.11 26.13 26.13
6854 96.2 10.8 1187 6861 roll 0.65 - - 2847 - 1.65 0.043 3049 641.8 146.0 - - 2358 - - - - - - - - 26.12 26.04 26.13
6899 90.5 12.5 1195 6906 done 0.65 - - 2853 - 1.60 0.030 1995 -658.8 146.0 - - 2355 - - - - - - - - 26.13 26.08 26.13
6973 81.4 11.6 1208 6980 roll 0.67 - - 2847 - 1.65 0.043 3048 638.2 146.0 - - 2355 - - - - - - - - 26.13 26.03 26.13
7035 74.4 10.8 1219 7042 done 0.67 - - 2853 - 1.60 0.028 1994 -658.8 146.0 - - 2355 - - - - - - - - 26.09 26.06 26.11
7108 66.8 10.1 1232 7115 roll 0.67 - - 2861 - 1.62 0.037 945 -647.5 146.0 - - 2355 - - - - - - - - 26.12 26.06 26.12
7171 59.6 11.6 1243 7178 done 0.71 - - 2855 - 1.65 0.037 1996 637.0 146.0 - - 2355 - - - - - - - - 26.12 26.05 26.13
7246 52.5 8.6 1256 7268 roll 0.76 - - 2847 - 1.65 0.042 3054 641.2 163.6 13.57 0.761 2298 -4.2 0.030 - - - - - - 26.13 25.71 25.18
7298 48.0 9.1 1264 7314 done 0.80 - - 2853 - 1.60 0.028 1999 -659.4 174.9 10.73 0.728 2251 -4.4 0.030 - - - - - - 25.98 25.95 25.10
7381 40.6 8.7 1278 7404 roll 0.87 0.12 0.122 2901 400.0 1.73 0.037 942 -611.0 191.4 15.43 0.737 2183 -4.4 0.025 - - - - - - 25.90 25.74 25.07
7419 36.4 10.8 1283 7426 done 0.87 - - 2895 - 1.67 0.037 2003 635.3 191.4 - - 2182 - - - - - - - - 25.87 25.82 25.88
7493 28.4 10.5 1296 7500 roll 0.87 - - 2887 - 1.65 0.044 3062 641.8 191.4 - - 2179 - - - - - - - - 26.00 25.94 26.01
7576 20.9 9.1 1311 7592 done 0.88 - - 2889 - 1.62 0.029 1992 -660.5 202.7 9.95 0.693 2139 -4.0 0.013 - - - - - - 26.05 26.01 25.15
7660 13.9 9.5 1325 7677 roll 0.92 - - 2887 - 1.73 0.042 3054 613.9 208.0 5.80 0.617 2117 -3.8 0.009 - - - - - - 26.02 25.89 25.15
7871 end climb: NO_VERTICAL_VELOCITY
7871 begin surface
SM 0.71 - - - - -7.46 7.75 0.047 172 22.1 1.40 0.035 2209 -4573.6 601.97 - - 511 - - - - - - - -