WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 123 * Raw log
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• Previous call tries 1 • 21.24 of 127.50 AH used of 24V (83.34% remains)
• Previous NAKs 0, Timeouts 0 • 11.81 of 100.00 AH used of 10V (88.19% remains)
• Surface angle -63.8 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: 18 s
• GPS2 time: 5 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
23 begin dive
25 - - - 132 VBD -0.80 - - 173 - - - 2013 - -116.8 -104.47 0.011 3054 - - - - - - - - 26.12 - 26.18
135 4.5 -9.2 15 153 roll -0.80 8.32 0.226 2320 258.1 1.10 0.063 1285 -661.8 -116.8 -4.40 0.022 3278 -50.9 1.051 - - - - - - 25.77 24.69 25.97
289 38.6 -15.6 43 296 done -0.80 - - 2316 - 1.08 0.047 1988 650.9 -116.8 - - 3281 - - - - - - - - 26.29 26.28 26.33
428 52.8 -9.7 68 436 done -0.80 - - 2316 - - - 1988 - -116.8 - - 3282 - - - - - - - - 26.40 26.48 26.46
560 69.7 -13.3 93 568 roll -0.80 - - 2311 - 1.05 0.044 2697 675.2 -116.8 - - 3282 - - - - - - - - 26.48 26.39 26.54
645 80.8 -12.7 108 653 done -0.80 - - 2314 - 1.02 0.032 1986 -697.1 -116.8 - - 3283 - - - - - - - - 26.51 26.44 26.51
784 96.0 -10.7 133 792 done -0.80 0.05 0.284 2323 180.0 - - 1986 - -116.8 - - 3283 - - - - - - - - 26.23 26.40 26.34
920 112.4 -12.0 149 928 done -0.80 - - 2323 - - - 1986 - -116.8 - - 3283 - - - - - - - - 26.55 26.64 26.62
1052 126.4 -10.6 162 1059 done -0.80 - - 2322 - - - 1986 - -116.8 - - 3283 - - - - - - - - 26.62 26.69 26.65
1180 141.1 -11.7 175 1184 roll -0.80 - - 2328 - 1.00 0.039 1308 -678.0 -116.8 - - 3283 - - - - - - - - 26.64 26.52 26.69
1286 153.3 -11.6 195 1291 done -0.80 - - 2324 - 1.05 0.035 2009 667.6 -116.8 - - 3283 - - - - - - - - 26.56 26.55 26.55
1420 167.8 -10.8 209 1424 roll -0.80 - - 2320 - 1.00 0.044 2693 684.0 -116.8 - - 3283 - - - - - - - - 26.65 26.55 26.70
1485 175.0 -11.2 221 1489 done -0.80 - - 2323 - 1.00 0.032 1990 -703.0 -116.8 - - 3283 - - - - - - - - 26.63 26.60 26.64
1617 190.5 -12.1 235 1622 roll -0.80 - - 2327 - 0.98 0.038 1322 -681.6 -116.8 - - 3283 - - - - - - - - 26.70 26.56 26.76
1652 194.7 -12.4 241 1655 done -0.80 - - 2324 - 1.02 0.037 2008 672.5 -116.8 - - 3283 - - - - - - - - 26.61 26.58 26.64
1784 210.5 -11.5 255 1792 done -0.80 - - 2324 - - - 2008 - -116.8 - - 3283 - - - - - - - - 26.68 26.75 26.74
1914 224.5 -10.5 268 1916 done -0.80 - - 2324 - - - 2008 - -116.8 - - 3283 - - - - - - - - 26.71 26.78 26.77
2034 237.6 -10.9 280 2036 done -0.80 - - 2324 - - - 2008 - -116.8 - - 3283 - - - - - - - - 26.71 26.78 26.77
2062 end dive: TARGET_DEPTH_EXCEEDED
2062 begin apogee
2067 240.9 -10.8 283 2245 done -0.18 0.65 0.158 2520 301.5 - - 1789 - - 172.93 0.585 2798 -2.8 0.117 - - - - - - 26.21 25.26 24.77
2250 end apogee: CONTROL_FINISHED_OK
2250 begin loiter
2375 248.7 -1.5 313 2384 done -0.16 - - 2520 - - - 1789 - 11.5 2.78 0.588 2762 -12.9 0.553 - - - - - - 25.97 25.37 24.64
2504 250.8 -1.5 326 2535 done -0.15 0.05 0.233 2530 200.0 - - 1789 - 23.5 26.38 0.643 2702 -2.3 0.090 - - - - - - 25.96 25.65 25.14
2654 249.0 1.9 341 2656 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2681 - - - - - - - - 26.08 25.41 25.82
2774 246.3 2.6 353 2776 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2679 - - - - - - - - 26.26 26.34 26.32
2894 243.2 2.5 365 2896 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2680 - - - - - - - - 26.37 26.36 26.38
3014 240.6 1.9 377 3016 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2679 - - - - - - - - 26.37 26.44 26.42
3134 238.3 2.0 389 3136 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2679 - - - - - - - - 26.47 26.53 26.53
3255 235.4 2.5 401 3257 done -0.15 - - 2531 - - - 1789 - 23.5 - - 2679 - - - - - - - - 26.52 26.59 26.58
3375 232.6 2.3 413 3377 done -0.15 - - 2531 - - - 1789 - 23.5 - - 2678 - - - - - - - - 26.56 26.63 26.63
3495 230.2 1.9 425 3497 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2678 - - - - - - - - 26.60 26.67 26.66
3615 228.2 1.5 437 3617 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2678 - - - - - - - - 26.62 26.68 26.67
3737 226.7 1.2 449 3744 done -0.15 - - 2531 - - - 1789 - 23.5 - - 2678 - - - - - - - - 26.61 26.69 26.66
3865 225.1 1.4 462 3867 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2677 - - - - - - - - 26.67 26.73 26.76
3985 223.2 1.5 474 3987 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2677 - - - - - - - - 26.67 26.74 26.73
4105 220.9 1.8 486 4107 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2677 - - - - - - - - 26.68 26.75 26.74
4225 218.9 1.6 498 4227 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2677 - - - - - - - - 26.70 26.77 26.77
4347 216.8 1.9 510 4354 done -0.15 - - 2531 - - - 1789 - 23.5 - - 2677 - - - - - - - - 26.71 26.78 26.77
4475 214.1 2.0 523 4477 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2676 - - - - - - - - 26.72 26.78 26.78
4595 211.5 2.1 535 4597 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2677 - - - - - - - - 26.63 26.72 26.70
4715 208.2 2.6 547 4717 done -0.15 - - 2530 - - - 1788 - 23.5 - - 2676 - - - - - - - - 26.73 26.79 26.79
4835 204.8 2.9 559 4837 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2676 - - - - - - - - 26.74 26.81 26.80
4955 201.0 3.2 571 4957 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2676 - - - - - - - - 25.91 26.41 26.25
5075 197.2 3.1 583 5077 done -0.15 - - 2531 - - - 1789 - 23.5 - - 2676 - - - - - - - - 26.71 26.73 26.75
5195 193.4 3.1 595 5197 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2676 - - - - - - - - 26.68 25.89 26.36
5315 189.8 2.9 607 5317 done -0.15 - - 2531 - - - 1789 - 23.5 - - 2676 - - - - - - - - 26.73 26.80 26.79
5435 186.6 2.8 619 5437 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2676 - - - - - - - - 26.69 26.78 26.77
5555 183.5 2.3 631 5557 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2676 - - - - - - - - 26.71 26.78 26.77
5676 180.7 2.4 643 5678 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2676 - - - - - - - - 26.75 26.82 26.82
5795 177.5 2.6 655 5797 done -0.15 - - 2530 - - - 1789 - 23.5 - - 2675 - - - - - - - - 26.74 26.79 26.80
5844 end loiter: LOITER_COMPLETE
5844 begin climb
5845 176.1 - 660 6009 roll 0.80 0.95 0.125 2840 326.3 1.05 0.054 1137 -621.0 116.8 154.20 0.559 2320 -2.3 0.073 - - - - - - 26.34 25.37 24.86
6152 149.9 10.9 719 6159 done 0.80 - - 2837 - 1.02 0.036 1798 648.0 116.8 - - 2294 - - - - - - - - 25.98 25.96 26.01
6282 136.2 11.0 732 6285 roll 0.80 - - 2831 - 1.05 0.044 2488 657.1 116.8 - - 2293 - - - - - - - - 26.15 26.10 26.22
6314 132.5 11.1 738 6318 done 0.80 - - 2835 - 0.98 0.037 1834 -667.3 116.8 - - 2292 - - - - - - - - 26.20 26.13 26.20
6446 118.5 10.5 752 6450 roll 0.80 - - 2841 - 1.12 0.046 1111 -645.5 116.8 - - 2292 - - - - - - - - 26.31 26.22 26.36
6606 103.6 9.0 782 6627 done 0.82 - - 2836 - 1.05 0.036 1801 657.1 136.2 15.10 0.632 2243 -3.2 0.054 - - - - - - 26.38 26.34 25.49
6748 90.1 9.8 808 6755 roll 0.83 - - 2840 - 1.08 0.053 1113 -637.0 141.3 - - 2225 - - - - - - - - 26.35 26.18 26.36
6795 85.6 9.4 816 6818 done 0.84 - - 2837 - 1.05 0.036 1801 655.2 154.4 18.42 0.601 2172 -2.9 0.041 - - - - - - 26.33 26.29 25.43
6945 72.3 8.2 843 6997 roll 0.88 0.12 0.197 2863 216.7 1.10 0.047 2499 634.5 188.3 47.20 0.538 2030 -3.0 0.041 - - - - - - 25.97 25.67 25.17
7113 53.5 12.1 872 7120 done 0.88 - - 2867 - 1.05 0.046 1804 -661.9 188.3 - - 2002 - - - - - - - - 26.08 26.05 26.10
7253 37.9 10.7 897 7261 roll 0.88 - - 2872 - 1.10 0.051 1098 -641.8 188.3 - - 1999 - - - - - - - - 26.20 26.15 26.24
7295 33.1 10.7 904 7302 done 0.88 - - 2869 - 1.08 0.036 1799 649.1 188.3 - - 1999 - - - - - - - - 26.27 26.23 26.29
7433 23.4 8.3 929 7480 roll 0.92 - - 2873 - 1.15 0.047 1095 -612.2 220.4 40.97 0.519 1896 -2.5 0.011 - - - - - - 25.35 25.84 25.15
7588 7.9 8.7 955 7624 done 0.95 - - 2873 - 1.08 0.038 1797 650.0 245.1 29.12 0.509 1794 -3.5 0.005 - - - - - - 26.15 26.11 25.24
7671 end climb: SURFACE_DEPTH_REACHED
7671 begin surface coast
7704 end surface coast: CONTROL_FINISHED_OK
7704 begin surface
SM 0.43 - - - - -7.40 7.55 0.059 172 22.7 0.28 0.050 2018 -25842.9 551.92 0.05 1.744 550 11000.0 -0.277 - - - - - -