IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 78 * Raw log
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• Previous call tries 1 • 13.82 of 144.90 AH used of 24V (90.46% remains)
• Previous NAKs 0, Timeouts 0 • 11.60 of 100.00 AH used of 10V (88.40% remains)
• Surface angle -56.8 deg, depth 0.74 m • Intended pitch -23.2 deg, speed -10.256 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 27 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 - - - 126 VBD -0.66 - - 160 - - - 2203 - -146.0 -109.70 0.005 3283 - - - - - - - - 26.01 - 26.02
129 3.8 -7.9 16 152 roll -0.66 8.62 0.208 2396 259.4 1.65 0.044 1118 -657.6 -146.0 -5.12 0.015 3568 -55.7 1.447 - - - - - - 25.78 25.29 25.94
228 24.3 -15.0 33 236 done -0.66 - - 2392 - 1.75 0.040 2198 617.1 -146.0 - - 3568 - - - - - - - - 26.08 26.04 26.10
301 34.6 -13.9 46 310 roll -0.64 - - 2382 - 1.70 0.046 3261 625.3 -146.0 - - 3569 - - - - - - - - 26.15 26.08 26.15
348 41.0 -12.8 54 357 done -0.64 0.08 0.200 2402 250.0 1.62 0.029 2187 -663.0 -146.0 - - 3570 - - - - - - - - 25.96 26.11 26.11
425 50.2 -11.1 67 431 done -0.66 - - 2402 - - - 2184 - -146.0 - - 3570 - - - - - - - - 26.17 26.17 26.17
497 58.1 -10.6 80 504 roll -0.70 - - 2396 - 1.70 0.047 3268 637.6 -146.0 - - 3571 - - - - - - - - 26.16 26.11 26.16
543 63.0 -10.0 88 551 done -0.77 - - 2402 - 1.62 0.030 2198 -660.5 -146.0 - - 3572 - - - - - - - - 26.18 26.13 26.17
617 70.5 -10.9 101 625 roll -0.82 0.10 0.112 2376 -260.0 1.60 0.032 1139 -661.9 -146.0 - - 3572 - - - - - - - - 26.10 26.12 26.17
650 74.4 -12.7 106 658 done -0.86 - - 2367 - 1.67 0.040 2209 640.7 -146.0 - - 3572 - - - - - - - - 26.17 26.11 26.17
724 83.1 -11.6 119 730 done -0.86 - - 2371 - - - 2210 - -146.0 - - 3572 - - - - - - - - 26.19 26.20 26.19
795 91.2 -11.0 132 802 roll -0.86 - - 2377 - 1.65 0.034 1134 -652.1 -146.0 - - 3572 - - - - - - - - 26.17 26.12 26.18
863 98.4 -10.4 144 871 done -0.94 0.12 0.116 2331 -383.3 1.67 0.040 2204 640.7 -146.0 - - 3572 - - - - - - - - 26.06 26.11 26.15
936 107.8 -13.9 157 943 roll -0.90 - - 2323 - 1.62 0.046 3254 648.1 -146.0 - - 3571 - - - - - - - - 26.17 26.10 26.18
968 112.1 -14.5 162 976 done -0.86 - - 2329 - 1.60 0.029 2200 -658.8 -146.0 - - 3571 - - - - - - - - 26.17 26.13 26.17
1042 122.0 -13.6 175 1048 done -0.83 - - 2329 - - - 2195 - -146.0 - - 3571 - - - - - - - - 26.19 26.20 26.20
1115 132.0 -13.9 188 1122 done -0.80 0.10 0.211 2350 210.0 - - 2195 - -146.0 - - 3571 - - - - - - - - 25.94 26.16 26.13
1188 141.2 -12.3 201 1194 done -0.80 - - 2350 - - - 2194 - -146.0 - - 3572 - - - - - - - - 26.17 26.18 26.18
1260 149.8 -12.1 214 1268 roll -0.83 - - 2343 - 1.65 0.047 3254 642.4 -146.0 - - 3571 - - - - - - - - 26.19 26.11 26.20
1292 153.6 -12.1 219 1299 done -0.83 - - 2349 - 1.60 0.029 2203 -656.9 -146.0 - - 3571 - - - - - - - - 26.18 26.14 26.17
1365 162.3 -11.7 232 1373 roll -0.85 - - 2357 - 1.62 0.036 1134 -659.9 -146.0 - - 3570 - - - - - - - - 26.17 26.12 26.18
1419 168.6 -11.3 241 1426 done -0.92 - - 2351 - 1.67 0.041 2199 637.7 -146.0 - - 3570 - - - - - - - - 26.16 26.11 26.17
1494 176.9 -12.0 254 1502 roll -0.96 - - 2343 - 1.65 0.047 3261 643.6 -146.0 - - 3570 - - - - - - - - 26.17 26.10 26.17
1546 183.4 -11.0 263 1554 done -1.01 0.12 0.130 2299 -366.7 1.62 0.029 2186 -663.6 -146.0 - - 3570 - - - - - - - - 26.06 26.14 26.16
1621 193.5 -14.2 276 1628 roll -0.96 - - 2304 - 1.58 0.034 1140 -662.0 -146.0 - - 3569 - - - - - - - - 26.19 26.13 26.20
1654 197.8 -13.7 281 1661 done -0.93 - - 2298 - 1.67 0.039 2210 640.7 -146.0 - - 3569 - - - - - - - - 26.16 26.10 26.17
1727 208.1 -14.7 294 1735 roll -0.87 0.12 0.194 2317 158.3 1.62 0.044 3252 643.2 -146.0 - - 3569 - - - - - - - - 25.92 26.07 26.08
1761 212.5 -13.8 299 1768 done -0.87 - - 2322 - 1.60 0.030 2202 -656.2 -146.0 - - 3569 - - - - - - - - 26.15 26.11 26.15
1833 221.7 -12.8 312 1840 done -0.87 - - 2323 - - - 2198 - -146.0 - - 3568 - - - - - - - - 26.17 26.17 26.17
1906 230.8 -12.1 325 1912 done -0.87 - - 2323 - - - 2196 - -146.0 - - 3568 - - - - - - - - 26.15 26.17 26.17
1979 239.8 -12.1 338 1986 done -0.87 - - 2323 - - - 2196 - -146.0 - - 3568 - - - - - - - - 26.16 26.16 26.15
2053 248.4 -11.7 351 2060 done -0.87 - - 2322 - - - 2196 - -146.0 - - 3568 - - - - - - - - 26.15 26.16 26.16
2126 256.8 -11.1 364 2133 roll -0.87 - - 2317 - 1.65 0.047 3252 640.0 -146.0 - - 3567 - - - - - - - - 26.17 26.08 26.18
2157 260.4 -12.0 369 2164 done -0.87 - - 2323 - 1.60 0.030 2199 -658.1 -146.0 - - 3567 - - - - - - - - 26.14 26.08 26.15
2231 268.9 -11.9 382 2239 roll -0.87 - - 2336 - 1.62 0.036 1136 -656.2 -146.0 - - 3567 - - - - - - - - 26.15 26.10 26.18
2268 273.4 -11.4 388 2275 done -0.91 - - 2326 - 1.67 0.040 2195 634.1 -146.0 - - 3567 - - - - - - - - 26.15 26.08 26.15
2341 281.7 -11.9 401 2348 roll -0.91 - - 2317 - 1.67 0.047 3267 641.9 -146.0 - - 3566 - - - - - - - - 26.14 26.06 26.15
2414 290.4 -11.7 414 2421 done -0.91 - - 2323 - 1.62 0.030 2197 -660.5 -146.0 - - 3566 - - - - - - - - 26.15 26.10 26.15
2488 299.2 -12.3 427 2495 roll -0.91 - - 2331 - 1.62 0.037 1135 -655.6 -146.0 - - 3566 - - - - - - - - 26.14 26.08 26.14
2513 302.5 -12.2 431 2521 done -0.91 - - 2325 - 1.70 0.040 2212 633.5 -146.0 - - 3565 - - - - - - - - 26.14 26.08 26.15
2586 311.1 -11.8 444 2593 roll -0.91 - - 2317 - 1.62 0.047 3257 645.1 -146.0 - - 3565 - - - - - - - - 26.15 26.06 26.15
2637 317.4 -12.4 453 2644 done -0.91 - - 2323 - 1.62 0.030 2191 -658.0 -146.0 - - 3568 - - - - - - - - 26.15 26.09 26.15
2709 326.1 -12.5 466 2717 done -0.91 - - 2323 - - - 2186 - -146.0 - - 3564 - - - - - - - - 26.13 26.13 26.13
2783 335.2 -12.8 479 2790 roll -0.91 - - 2316 - 1.70 0.048 3263 633.5 -146.0 - - 3564 - - - - - - - - 26.15 26.06 26.15
2825 340.5 -12.6 486 2833 done -0.91 - - 2323 - 1.62 0.030 2200 -656.2 -146.0 - - 3564 - - - - - - - - 26.15 26.08 26.16
2899 349.3 -12.3 499 2906 roll -0.91 - - 2331 - 1.62 0.037 1137 -656.2 -146.0 - - 3564 - - - - - - - - 26.15 26.08 26.15
2931 353.1 -12.2 504 2938 done -0.94 - - 2325 - 1.67 0.041 2199 635.9 -146.0 - - 3564 - - - - - - - - 26.14 26.06 26.13
3005 361.5 -11.5 517 3012 roll -0.94 - - 2317 - 1.67 0.048 3261 635.9 -146.0 - - 3563 - - - - - - - - 26.13 26.05 26.14
3062 368.1 -11.3 527 3069 done -0.97 - - 2322 - 1.62 0.030 2197 -656.8 -146.0 - - 3563 - - - - - - - - 26.13 26.09 26.13
3135 376.2 -10.9 540 3142 roll -0.97 - - 2330 - 1.62 0.036 1136 -654.9 -146.0 - - 3563 - - - - - - - - 26.15 26.10 26.15
3155 378.6 -11.1 543 3164 done -0.97 - - 2326 - 1.73 0.041 2197 613.3 -146.0 - - 3563 - - - - - - - - 26.10 26.06 26.11
3229 386.6 -11.5 556 3237 roll -0.97 - - 2316 - 1.70 0.049 3255 622.4 -146.0 - - 3562 - - - - - - - - 26.15 26.06 26.16
3268 391.0 -11.8 562 3276 done -0.97 - - 2323 - 1.62 0.030 2186 -659.9 -146.0 - - 3562 - - - - - - - - 26.13 26.08 26.14
3345 399.1 -11.0 575 3352 roll -0.97 - - 2331 - 1.60 0.037 1140 -653.8 -146.0 - - 3562 - - - - - - - - 26.15 26.06 26.15
3357 end dive: TARGET_DEPTH_EXCEEDED
3357 begin apogee
3364 401.1 -10.8 577 3489 done -0.11 0.82 0.152 2565 285.4 - - 2009 - - 118.78 1.014 2966 -5.0 0.204 - - - - - - 25.86 25.05 24.36
3492 end apogee: CONTROL_FINISHED_OK
3492 begin climb
3494 402.6 - 595 3627 roll 0.66 0.82 0.112 2827 319.5 1.75 0.034 956 -601.7 146.0 120.28 0.999 2369 -5.0 0.205 - - - - - - 25.18 24.46 23.91
3645 394.1 10.5 616 3653 done 0.61 - - 2822 - 1.73 0.036 2003 605.2 146.0 - - 2366 - - - - - - - - 24.99 24.96 24.99
3718 384.7 13.3 629 3725 roll 0.57 - - 2814 - 1.67 0.044 3056 630.5 146.0 - - 2364 - - - - - - - - 25.46 25.43 25.46
3770 377.7 13.3 638 3779 done 0.52 - - 2820 - 1.67 0.029 2005 -629.3 146.0 - - 2361 - - - - - - - - 25.67 25.64 25.68
3846 368.8 11.9 651 3855 roll 0.47 0.12 0.172 2798 -183.3 1.70 0.034 942 -625.3 146.0 - - 2361 - - - - - - - - 25.67 25.81 25.83
3879 365.0 11.0 656 3887 done 0.47 - - 2793 - 1.73 0.037 2004 613.9 146.0 - - 2361 - - - - - - - - 25.90 25.86 25.93
3953 357.2 10.5 669 3961 roll 0.47 - - 2785 - 1.67 0.044 3053 628.1 146.0 - - 2364 - - - - - - - - 26.01 25.95 26.01
4036 348.4 10.6 684 4043 done 0.47 - - 2791 - 1.60 0.028 1995 -661.2 146.0 - - 2359 - - - - - - - - 26.07 26.03 26.08
4110 341.1 9.8 697 4124 done 0.48 - - 2791 - - - 1990 - 154.9 7.53 0.850 2332 -3.6 0.148 - - - - - - 26.11 25.72 25.09
4190 333.3 9.5 711 4211 done 0.50 - - 2791 - - - 1990 - 170.2 14.60 0.924 2270 -4.2 0.157 - - - - - - 26.06 25.57 24.97
4276 324.6 10.9 726 4284 roll 0.52 - - 2784 - 1.67 0.042 3060 640.7 170.2 - - 2268 - - - - - - - - 25.99 25.91 26.00
4330 318.9 10.7 735 4337 done 0.52 - - 2791 - 1.62 0.029 1993 -658.6 170.2 - - 2266 - - - - - - - - 26.05 26.01 26.06
4404 311.3 10.4 748 4410 done 0.55 - - 2791 - - - 1988 - 170.2 - - 2266 - - - - - - - - 26.10 26.11 26.10
4478 304.1 9.7 761 4494 roll 0.59 - - 2785 - 1.75 0.043 3054 609.1 182.2 10.93 0.893 2222 -4.0 0.141 - - - - - - 26.11 25.87 25.06
4518 299.7 10.4 767 4526 done 0.62 0.05 0.192 2807 440.0 1.62 0.028 1991 -656.2 182.2 - - 2221 - - - - - - - - 25.85 25.95 25.98
4591 291.8 11.2 780 4597 done 0.62 - - 2808 - - - 1990 - 182.2 - - 2221 - - - - - - - - 26.07 26.08 26.08
4662 284.2 11.1 793 4668 done 0.62 - - 2807 - - - 1987 - 182.2 - - 2220 - - - - - - - - 26.11 26.10 26.11
4735 276.2 11.4 806 4743 roll 0.62 - - 2801 - 1.67 0.044 3062 643.7 182.2 - - 2219 - - - - - - - - 26.12 26.06 26.13
4792 269.5 11.3 816 4800 done 0.62 - - 2806 - 1.62 0.029 1992 -660.5 182.2 - - 2219 - - - - - - - - 26.15 26.10 26.15
4865 261.6 11.3 829 4871 done 0.62 - - 2807 - - - 1990 - 182.2 - - 2219 - - - - - - - - 26.14 26.15 26.14
4938 253.5 11.2 842 4945 done 0.62 - - 2807 - - - 1988 - 182.2 - - 2218 - - - - - - - - 26.15 26.15 26.15
5011 245.4 11.3 855 5018 done 0.62 - - 2807 - - - 1989 - 182.2 - - 2218 - - - - - - - - 26.15 26.16 26.16
5084 237.6 10.7 868 5091 roll 0.62 - - 2801 - 1.65 0.043 3054 645.5 182.2 - - 2219 - - - - - - - - 26.15 26.10 26.17
5115 234.1 11.5 873 5123 done 0.62 - - 2807 - 1.60 0.029 1996 -661.2 182.2 - - 2217 - - - - - - - - 26.16 26.11 26.17
5189 225.8 11.1 886 5196 roll 0.62 - - 2816 - 1.62 0.037 939 -652.5 182.2 - - 2217 - - - - - - - - 26.15 26.10 26.15
5215 222.7 11.6 890 5222 done 0.62 - - 2815 - 1.67 0.035 2008 640.1 182.2 - - 2217 - - - - - - - - 26.13 26.09 26.15
5290 214.2 11.8 903 5297 roll 0.62 - - 2801 - 1.62 0.044 3058 648.1 182.2 - - 2217 - - - - - - - - 26.15 26.08 26.15
5359 205.9 12.2 915 5366 done 0.62 - - 2807 - 1.60 0.028 1999 -661.9 182.2 - - 2218 - - - - - - - - 26.15 26.11 26.15
5432 197.2 11.7 928 5439 roll 0.62 - - 2815 - 1.62 0.037 941 -653.1 182.2 - - 2217 - - - - - - - - 26.17 26.10 26.17
5452 195.0 11.2 931 5460 done 0.62 - - 2809 - 1.70 0.037 2000 622.9 182.2 - - 2217 - - - - - - - - 26.13 26.09 26.13
5526 186.8 11.8 944 5534 roll 0.62 - - 2801 - 1.67 0.045 3052 629.9 182.2 - - 2217 - - - - - - - - 26.14 26.09 26.15
5584 179.8 12.0 954 5592 done 0.62 - - 2808 - 1.60 0.029 1997 -659.4 182.2 - - 2216 - - - - - - - - 26.14 26.09 26.15
5657 171.7 11.1 967 5664 roll 0.62 - - 2802 - 1.65 0.043 3055 641.2 182.2 - - 2216 - - - - - - - - 26.13 26.08 26.14
5699 166.9 11.5 974 5706 done 0.62 - - 2807 - 1.60 0.028 1999 -660.0 182.2 - - 2216 - - - - - - - - 26.15 26.11 26.16
5773 159.3 9.8 987 5789 roll 0.63 - - 2816 - 1.70 0.037 952 -615.9 191.5 8.95 0.800 2183 -3.7 0.075 - - - - - - 26.15 25.94 25.13
5860 149.9 11.1 1002 5868 done 0.67 - - 2810 - 1.65 0.036 2001 635.8 191.5 - - 2183 - - - - - - - - 26.06 26.01 26.07
5936 141.8 11.0 1015 5944 roll 0.69 0.10 0.160 2826 160.0 1.62 0.041 3055 650.6 191.5 - - 2181 - - - - - - - - 25.96 26.04 26.08
5989 135.1 12.7 1024 5997 done 0.66 - - 2833 - 1.60 0.029 2001 -658.8 191.5 - - 2180 - - - - - - - - 26.13 26.08 26.14
6064 125.9 12.9 1037 6071 roll 0.63 - - 2840 - 1.62 0.038 950 -648.8 191.5 - - 2180 - - - - - - - - 26.12 26.06 26.13
6104 120.2 12.1 1044 6111 done 0.63 - - 2834 - 1.65 0.037 2003 638.2 191.5 - - 2180 - - - - - - - - 26.13 26.07 26.13
6179 110.7 13.6 1057 6186 roll 0.61 - - 2826 - 1.62 0.044 3053 648.1 191.5 - - 2180 - - - - - - - - 26.14 26.05 26.14
6236 103.0 13.5 1067 6244 done 0.58 - - 2833 - 1.65 0.030 1995 -641.2 191.5 - - 2179 - - - - - - - - 26.13 26.08 26.13
6309 93.8 11.8 1080 6317 done 0.58 - - 2833 - - - 1991 - 191.5 - - 2179 - - - - - - - - 26.15 26.14 26.15
6382 85.0 12.9 1093 6389 roll 0.55 - - 2826 - 1.65 0.042 3054 644.2 191.5 - - 2179 - - - - - - - - 26.16 26.06 26.13
6402 82.0 13.4 1096 6410 done 0.52 0.10 0.204 2811 -150.0 1.60 0.028 1996 -661.2 191.5 - - 2179 - - - - - - - - 25.91 26.09 26.09
6477 73.4 10.4 1109 6485 roll 0.54 - - 2817 - 1.60 0.037 954 -651.2 191.5 - - 2179 - - - - - - - - 26.14 26.06 26.14
6558 65.6 8.8 1123 6592 done 0.63 - - 2811 - 1.65 0.034 2010 640.0 222.3 26.33 0.773 2056 -4.7 0.041 - - - - - - 26.13 26.08 25.05
6659 55.7 10.1 1140 6667 roll 0.69 0.10 0.162 2828 170.0 1.62 0.041 3052 643.2 225.7 - - 2053 - - - - - - - - 25.77 25.90 25.94
6760 45.3 9.3 1158 6789 done 0.75 - - 2834 - 1.60 0.029 1997 -659.4 246.3 20.42 0.742 1959 -4.6 0.029 - - - - - - 26.06 26.01 25.08
6856 37.5 8.1 1174 6902 roll 0.86 0.15 0.158 2892 386.7 1.75 0.039 942 -602.9 293.3 38.10 0.730 1769 -5.0 0.026 - - - - - - 25.83 25.52 24.92
6935 28.8 11.2 1186 6944 done 0.88 - - 2884 - 1.67 0.037 1999 632.9 293.3 - - 1764 - - - - - - - - 25.78 25.75 25.81
7011 21.2 10.6 1199 7018 roll 0.90 - - 2876 - 1.65 0.044 3057 641.2 293.3 - - 1760 - - - - - - - - 25.94 25.88 25.95
7068 14.7 11.0 1209 7076 done 0.95 0.12 0.125 2917 341.7 1.60 0.029 2008 -655.6 293.3 - - 1760 - - - - - - - - 25.89 25.96 25.99
7143 6.6 9.5 1222 7164 roll 0.97 - - 2925 - 1.70 0.038 932 -632.9 309.5 13.32 0.686 1705 -4.1 0.004 - - - - - - 26.06 25.82 25.16
7209 end climb: SURFACE_DEPTH_REACHED
7210 begin surface coast
7236 end surface coast: CONTROL_FINISHED_OK
7236 begin surface
SM 0.58 - - - - -7.46 7.70 0.055 173 22.4 2.05 0.032 2200 -3190.2 500.17 153.82 0.695 929 6.0 -0.001 - - - - - -