WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 117 * Raw log
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• Previous call tries 4 • 20.42 of 127.50 AH used of 24V (83.99% remains)
• Previous NAKs 0, Timeouts 0 • 11.35 of 100.00 AH used of 10V (88.65% remains)
• Surface angle -60.5 deg, depth 0.49 m • Intended pitch -18.4 deg, speed -10.145 cm/s
• VBD pumped to 551.92 (SM_CC=603.25)
• GPS1 time: 3 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
26 - - - 132 VBD -0.80 - - 164 - - - 2027 - -116.8 -103.25 0.011 3016 - - - - - - - - 26.28 - 26.36
135 3.9 -7.4 15 158 roll -0.80 8.27 0.225 2319 260.6 1.00 0.067 2707 680.0 -116.8 -5.45 0.020 3280 -48.4 0.954 - - - - - - 25.87 24.76 26.04
391 45.2 -15.6 63 399 done -0.80 - - 2322 - 1.05 0.034 1973 -699.0 -116.8 - - 3282 - - - - - - - - 26.40 26.39 26.41
527 64.4 -12.8 88 535 roll -0.80 - - 2322 - 0.98 0.040 1314 -672.4 -116.8 - - 3283 - - - - - - - - 26.55 26.44 26.61
742 89.4 -11.5 129 749 done -0.80 - - 2319 - 1.02 0.036 1997 669.6 -116.8 - - 3284 - - - - - - - - 26.53 26.51 26.56
882 106.1 -11.8 150 883 done -0.80 - - 2319 - - - 1997 - -116.8 - - 3284 - - - - - - - - 26.61 26.68 26.67
1002 119.7 -11.2 162 1005 roll -0.80 - - 2314 - 1.02 0.103 2694 683.3 -116.8 - - 3284 - - - - - - - - 26.65 26.51 26.70
1044 124.7 -11.9 170 1048 done -0.80 - - 2316 - 0.98 0.032 2001 -707.1 -116.8 - - 3284 - - - - - - - - 26.60 26.58 26.60
1176 139.7 -11.1 184 1178 done -0.80 - - 2316 - - - 2001 - -116.8 - - 3284 - - - - - - - - 26.67 26.72 26.71
1298 152.9 -11.0 196 1303 roll -0.80 - - 2322 - 1.00 0.040 1321 -680.0 -116.8 - - 3284 - - - - - - - - 26.59 26.53 26.66
1403 164.1 -10.1 216 1408 done -0.80 - - 2318 - 1.02 0.037 2007 672.5 -116.8 - - 3283 - - - - - - - - 26.59 26.53 26.58
1536 178.1 -10.8 230 1540 roll -0.80 - - 2313 - 1.00 0.043 2693 686.0 -116.8 - - 3283 - - - - - - - - 26.70 26.58 26.75
1578 182.7 -11.1 238 1582 done -0.80 - - 2316 - 0.98 0.031 2002 -705.1 -116.8 - - 3283 - - - - - - - - 26.60 26.63 26.60
1710 197.6 -11.3 252 1715 roll -0.80 - - 2321 - 1.00 0.047 1323 -679.0 -116.8 - - 3283 - - - - - - - - 26.72 26.58 26.78
1756 202.6 -11.4 260 1760 done -0.80 - - 2318 - 1.00 0.037 1991 668.0 -116.8 - - 3283 - - - - - - - - 26.65 26.60 26.64
1888 217.4 -10.8 274 1890 done -0.80 - - 2318 - - - 1991 - -116.8 - - 3283 - - - - - - - - 26.70 26.77 26.76
2008 230.8 -11.6 286 2010 done -0.80 - - 2318 - - - 1991 - -116.8 - - 3282 - - - - - - - - 26.71 26.77 26.77
2129 245.5 -15.5 298 2132 roll -0.80 - - 2321 - 1.00 0.040 1322 -669.0 -116.8 - - 3282 - - - - - - - - 26.72 26.60 26.79
2203 257.2 -17.5 312 2208 done -0.80 - - 2318 - 1.02 0.038 2000 664.7 -116.8 - - 3281 - - - - - - - - 26.62 26.61 26.68
2336 273.2 -11.0 326 2340 roll -0.80 - - 2321 - 1.00 0.039 1329 -671.0 -116.8 - - 3281 - - - - - - - - 26.72 26.61 26.77
2416 282.1 -10.7 341 2424 done -0.80 - - 2318 - 1.00 0.036 2004 675.0 -116.8 - - 3281 - - - - - - - - 26.65 26.63 26.69
2455 end dive: TARGET_DEPTH_EXCEEDED
2455 begin apogee
2460 285.9 -10.7 345 2655 done -0.18 0.68 0.174 2519 295.6 - - 1786 - - 187.68 0.591 2796 -2.6 0.126 - - - - - - 26.17 25.25 24.77
2660 end apogee: CONTROL_FINISHED_OK
2660 begin loiter
2785 293.3 -0.9 377 2787 done -0.17 - - 2519 - - - 1786 - 7.2 - - 2784 - - - - - - - - 25.98 26.05 26.04
2905 294.1 -0.5 389 2915 done -0.17 - - 2519 - - - 1786 - 11.1 5.15 0.828 2757 -5.2 0.188 - - - - - - 26.19 25.82 25.21
3035 294.0 0.3 402 3037 done -0.17 - - 2519 - - - 1786 - 11.1 - - 2763 - - - - - - - - 26.27 26.33 26.35
3155 293.4 0.7 414 3157 done -0.17 - - 2519 - - - 1786 - 11.1 - - 2763 - - - - - - - - 26.37 26.44 26.43
3275 292.5 0.7 426 3277 done -0.17 - - 2519 - - - 1786 - 11.1 - - 2763 - - - - - - - - 26.47 26.51 26.49
3395 291.8 0.5 438 3397 done -0.17 - - 2519 - - - 1786 - 11.1 - - 2763 - - - - - - - - 26.50 26.56 26.55
3515 291.4 0.1 450 3517 done -0.17 - - 2519 - - - 1787 - 11.1 - - 2763 - - - - - - - - 26.54 26.53 26.59
3635 291.4 - 462 3637 done -0.16 - - 2519 - - - 1786 - 11.3 - - 2763 - - - - - - - - 26.49 26.58 26.55
3755 291.6 -0.1 474 3757 done -0.16 - - 2519 - - - 1786 - 12.4 - - 2761 - - - - - - - - 26.53 26.61 26.59
3875 291.7 -0.1 486 3877 done -0.16 - - 2519 - - - 1786 - 13.2 - - 2762 - - - - - - - - 26.58 26.67 26.65
3995 291.7 - 498 4005 done -0.16 - - 2519 - - - 1786 - 13.6 1.70 0.284 2751 -6.5 0.671 - - - - - - 26.62 25.98 25.32
4125 291.6 0.2 511 4127 done -0.16 - - 2519 - - - 1786 - 13.6 - - 2760 - - - - - - - - 26.61 26.68 26.67
4245 291.2 0.4 523 4247 done -0.16 - - 2519 - - - 1786 - 13.6 - - 2759 - - - - - - - - 26.63 26.67 26.65
4365 290.6 0.6 535 4367 done -0.16 - - 2519 - - - 1786 - 13.6 - - 2759 - - - - - - - - 26.63 26.65 26.65
4485 289.8 0.7 547 4487 done -0.16 - - 2519 - - - 1786 - 13.6 - - 2759 - - - - - - - - 26.65 26.72 26.71
4605 289.2 0.4 559 4607 done -0.16 - - 2519 - - - 1786 - 13.6 - - 2759 - - - - - - - - 26.65 26.68 26.67
4725 289.1 - 571 4727 done -0.16 - - 2519 - - - 1786 - 13.6 - - 2759 - - - - - - - - 26.67 26.70 26.70
4848 289.2 -0.2 583 4856 done -0.16 - - 2519 - - - 1786 - 15.5 4.78 0.899 2738 -4.4 0.143 - - - - - - 26.70 26.32 25.61
4975 288.6 1.0 596 4977 done -0.16 - - 2519 - - - 1786 - 15.5 - - 2741 - - - - - - - - 26.60 26.65 26.63
5095 287.4 1.0 608 5097 done -0.16 - - 2519 - - - 1786 - 15.5 - - 2742 - - - - - - - - 26.60 26.66 26.65
5215 286.1 1.2 620 5217 done -0.16 - - 2519 - - - 1786 - 15.5 - - 2742 - - - - - - - - 26.65 26.75 26.70
5335 284.5 1.4 632 5337 done -0.16 - - 2519 - - - 1786 - 15.5 - - 2742 - - - - - - - - 26.62 26.68 26.67
5455 283.0 1.2 644 5457 done -0.16 - - 2519 - - - 1786 - 15.5 - - 2742 - - - - - - - - 26.65 26.67 26.68
5575 281.6 1.1 656 5577 done -0.16 - - 2519 - - - 1786 - 15.5 - - 2742 - - - - - - - - 26.65 26.70 26.69
5695 280.5 1.0 668 5697 done -0.16 - - 2519 - - - 1786 - 15.5 - - 2742 - - - - - - - - 26.68 26.75 26.74
5815 279.4 0.9 680 5817 done -0.16 - - 2519 - - - 1786 - 15.5 - - 2742 - - - - - - - - 26.65 26.73 26.71
5935 278.4 0.7 692 5937 done -0.16 - - 2519 - - - 1786 - 15.5 - - 2742 - - - - - - - - 26.64 26.72 26.72
6055 277.7 0.5 704 6057 done -0.16 - - 2519 - - - 1787 - 15.5 - - 2742 - - - - - - - - 26.71 26.78 26.77
6177 277.2 0.3 716 6184 done -0.16 - - 2519 - - - 1786 - 15.5 - - 2741 - - - - - - - - 26.56 26.65 26.65
6253 end loiter: LOITER_COMPLETE
6253 begin climb
6255 276.9 - 724 6449 done 0.80 1.00 0.124 2836 317.0 - - 1786 - 116.8 183.95 0.602 2316 -2.3 0.107 - - - - - - 26.29 25.04 24.74
6569 256.8 9.7 763 6573 roll 0.81 - - 2841 - 1.02 0.050 1135 -638.2 125.1 - - 2297 - - - - - - - - 25.91 25.81 25.97
6633 249.9 11.3 775 6637 done 0.81 - - 2838 - 1.02 0.035 1798 650.0 125.1 - - 2296 - - - - - - - - 26.01 25.98 26.03
6765 236.2 10.3 789 6767 done 0.81 - - 2838 - - - 1798 - 125.1 - - 2295 - - - - - - - - 26.25 26.31 26.30
6887 224.0 10.2 801 6892 roll 0.81 - - 2833 - 1.05 0.050 2501 669.5 125.1 - - 2294 - - - - - - - - 26.30 26.15 26.33
6933 218.9 10.8 810 6940 done 0.81 - - 2836 - 1.00 0.037 1827 -674.0 125.1 - - 2293 - - - - - - - - 26.31 26.29 26.36
7063 206.2 9.4 823 7094 roll 0.82 - - 2842 - 1.08 0.045 1108 -665.7 137.4 23.88 0.643 2234 -2.5 0.080 - - - - - - 26.44 25.75 25.41
7120 199.5 11.1 834 7127 done 0.82 - - 2838 - 1.05 0.035 1798 657.1 137.4 - - 2231 - - - - - - - - 26.14 26.10 26.17
7250 185.5 11.4 847 7254 roll 0.82 - - 2833 - 1.05 0.045 2502 670.5 137.4 - - 2228 - - - - - - - - 26.33 26.15 26.41
7313 178.4 11.0 859 7316 done 0.82 - - 2836 - 1.05 0.037 1796 -672.4 137.4 - - 2227 - - - - - - - - 26.30 26.27 26.33
7445 164.7 10.1 873 7453 done 0.82 - - 2836 - - - 1796 - 137.8 - - 2227 - - - - - - - - 26.45 26.51 26.50
7575 150.4 11.5 886 7580 roll 0.82 - - 2833 - 1.05 0.044 2491 661.9 137.8 - - 2226 - - - - - - - - 26.46 26.36 26.51
7612 145.7 11.7 893 7621 done 0.82 - - 2836 - 1.02 0.046 1797 -680.4 137.8 - - 2226 - - - - - - - - 26.37 26.37 26.40
7741 131.7 11.0 906 7749 done 0.82 - - 2836 - - - 1796 - 137.8 - - 2226 - - - - - - - - 26.55 26.60 26.61
7873 118.8 10.0 919 7877 roll 0.83 - - 2833 - 1.05 0.044 2493 663.8 140.2 - - 2226 - - - - - - - - 26.51 26.43 26.57
7936 112.6 9.6 931 7947 done 0.84 - - 2836 - 1.02 0.046 1802 -677.5 150.1 4.20 0.827 2190 -8.6 0.118 - - - - - - 26.41 26.38 25.56
8069 100.3 9.5 945 8088 roll 0.85 - - 2842 - 1.05 0.115 1097 -671.4 161.6 12.57 0.665 2136 -4.3 0.065 - - - - - - 26.56 25.96 25.60
8102 97.0 9.8 950 8110 done 0.86 0.05 0.206 2852 200.0 1.08 0.044 1798 649.1 168.2 2.12 0.442 2114 -10.4 0.230 - - - - - - 26.04 26.30 25.08
8236 83.8 9.8 975 8245 roll 0.87 - - 2857 - 1.12 0.046 1097 -625.9 173.9 2.70 0.592 2091 -8.5 0.122 - - - - - - 26.42 26.10 25.05
8263 81.3 9.3 979 8286 done 0.88 - - 2854 - 1.08 0.035 1803 653.7 187.8 17.45 0.614 2033 -3.3 0.044 - - - - - - 26.37 26.34 25.41
8414 65.5 11.6 1006 8422 roll 0.88 - - 2857 - 1.10 0.047 1099 -640.0 187.8 - - 2022 - - - - - - - - 26.30 26.22 26.36
8454 60.3 12.4 1013 8463 done 0.88 - - 2854 - 1.08 0.036 1800 649.1 187.8 - - 2022 - - - - - - - - 26.31 26.28 26.33
8593 45.6 10.4 1038 8600 done 0.88 - - 2854 - - - 1800 - 187.8 - - 2021 - - - - - - - - 26.43 26.49 26.48
8724 34.0 7.1 1063 8816 roll 0.94 0.12 0.163 2883 241.7 1.08 0.041 2499 647.2 240.0 82.78 0.524 1814 -2.5 0.016 - - - - - - 26.22 25.41 25.12
9039 5.5 6.3 1119 9098 VBD 1.02 0.05 0.116 2911 560.0 1.05 0.037 1796 -669.5 305.7 54.08 0.504 1668 -2.7 0.003 - - - - - - 26.00 26.15 26.07
9099 end climb: SURFACE_DEPTH_REACHED
9099 begin surface coast
9105 end surface coast: CONTROL_FINISHED_OK
9106 begin surface
SM 0.36 - - - - -7.41 7.75 0.059 165 21.2 0.30 0.044 2008 -30966.7 551.92 - - 549 - - - - - - - -