WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 132 * Raw log
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• Previous call tries 1 • 22.46 of 127.50 AH used of 24V (82.38% remains)
• Previous NAKs 0, Timeouts 0 • 12.45 of 100.00 AH used of 10V (87.55% remains)
• Surface angle -59.2 deg, depth 0.39 m • Intended pitch -21.5 deg, speed -10.145 cm/s
• VBD pumped to 552.17 (SM_CC=603.25)
• GPS1 time: 32 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
24 begin dive
26 - - - 132 VBD -0.88 - - 170 - - - 2027 - -89.6 -103.32 0.011 2994 - - - - - - - - 26.15 - 26.20
135 4.2 -9.0 15 152 roll -0.89 8.15 0.226 2291 260.2 1.15 0.069 1295 -636.5 -105.2 -4.93 0.021 3231 -48.1 0.974 - - - - - - 25.78 24.67 25.97
160 12.6 -26.3 18 167 done -0.89 - - 2288 - 1.05 0.041 1982 654.3 -105.2 - - 3233 - - - - - - - - 26.22 26.20 26.25
299 39.2 -15.8 43 306 roll -0.89 - - 2291 - 1.02 0.037 1299 -669.6 -105.2 - - 3234 - - - - - - - - 26.43 26.32 26.46
537 75.3 -15.3 89 545 done -0.89 - - 2288 - 1.08 0.037 2017 664.8 -105.2 - - 3236 - - - - - - - - 26.39 26.34 26.43
672 94.9 -13.7 114 680 roll -0.89 - - 2291 - 1.08 0.038 1299 -664.8 -105.2 - - 3236 - - - - - - - - 26.53 26.43 26.58
917 128.2 -12.2 160 921 done -0.89 - - 2288 - 1.05 0.037 1995 662.9 -105.2 - - 3236 - - - - - - - - 26.50 26.47 26.52
1050 145.4 -13.1 174 1053 roll -0.89 - - 2291 - 1.05 0.047 1292 -669.5 -105.2 - - 3236 - - - - - - - - 26.62 26.49 26.67
1195 165.3 -14.2 202 1199 done -0.89 - - 2288 - 1.08 0.040 2015 669.4 -105.2 - - 3236 - - - - - - - - 26.55 26.51 26.58
1327 183.7 -13.5 216 1332 roll -0.89 - - 2291 - 1.08 0.038 1294 -667.6 -105.2 - - 3235 - - - - - - - - 26.64 26.55 26.73
1468 202.9 -13.2 243 1476 done -0.89 - - 2288 - 1.05 0.036 1988 661.0 -105.2 - - 3235 - - - - - - - - 26.59 26.55 26.59
1597 219.4 -13.2 256 1605 done -0.89 - - 2288 - - - 1988 - -105.2 - - 3235 - - - - - - - - 26.65 26.73 26.72
1726 235.2 -12.6 269 1731 roll -0.89 - - 2291 - 1.02 0.038 1300 -674.5 -105.2 - - 3235 - - - - - - - - 26.64 26.57 26.70
1752 238.7 -12.2 274 1761 done -0.89 - - 2288 - 1.08 0.036 2021 667.6 -105.2 - - 3235 - - - - - - - - 26.62 26.58 26.64
1880 253.3 -11.8 287 1882 done -0.89 - - 2288 - - - 2021 - -105.2 - - 3234 - - - - - - - - 26.55 26.63 26.60
2000 266.8 -11.4 299 2002 done -0.89 - - 2288 - - - 2021 - -105.2 - - 3234 - - - - - - - - 26.56 26.65 26.63
2120 279.5 -10.4 311 2122 done -0.89 - - 2288 - - - 2021 - -105.2 - - 3234 - - - - - - - - 26.58 26.64 26.64
2241 294.1 -12.0 323 2243 done -0.89 - - 2288 - - - 2022 - -105.2 - - 3233 - - - - - - - - 26.67 26.75 26.74
2373 310.9 -12.6 332 2379 roll -0.89 - - 2291 - 1.08 0.038 1299 -669.4 -105.2 - - 3233 - - - - - - - - 26.72 26.59 26.78
2442 319.6 -11.9 345 2446 done -0.89 - - 2288 - 1.05 0.034 1994 661.9 -105.2 - - 3233 - - - - - - - - 26.66 26.64 26.67
2478 end dive: TARGET_DEPTH_EXCEEDED
2478 begin apogee
2483 323.7 -11.4 349 2651 done -0.18 0.80 0.161 2520 290.0 - - 1766 - - 159.25 0.675 2800 -2.7 0.132 - - - - 1 - 26.15 25.06 24.22
2655 end apogee: CONTROL_FINISHED_OK
2655 begin loiter
2766 330.2 -0.4 363 2782 done -0.18 - - 2520 - - - 1765 - 2.8 8.15 0.786 2783 -2.1 0.089 - - - - - - 25.91 25.53 24.96
2903 330.4 -0.1 370 2905 done -0.17 - - 2520 - - - 1765 - 3.8 - - 2781 - - - - - - - - 26.14 26.17 26.16
3023 330.5 -0.2 376 3025 done -0.17 - - 2520 - - - 1766 - 5.1 - - 2780 - - - - - - - - 26.19 26.27 26.25
3143 330.6 - 382 3145 done -0.17 - - 2520 - - - 1766 - 5.1 - - 2780 - - - - - - - - 26.34 26.41 26.40
3263 330.6 - 388 3265 done -0.17 - - 2520 - - - 1765 - 5.1 - - 2780 - - - - - - - - 26.43 26.48 26.48
3383 330.5 - 394 3384 done -0.17 - - 2520 - - - 1766 - 5.1 - - 2779 - - - - - - - - 26.47 26.54 26.55
3503 330.5 0.1 400 3505 done -0.17 - - 2520 - - - 1765 - 5.1 - - 2780 - - - - - - - - 26.53 26.60 26.59
3623 330.4 0.1 406 3625 done -0.17 - - 2520 - - - 1765 - 5.1 - - 2780 - - - - - - - - 26.55 26.63 26.61
3743 330.5 - 412 3745 done -0.17 - - 2520 - - - 1766 - 5.1 - - 2779 - - - - - - - - 26.58 26.65 26.64
3863 330.4 - 418 3865 done -0.17 - - 2520 - - - 1766 - 5.1 - - 2779 - - - - - - - - 26.61 26.67 26.66
3983 330.4 - 424 3985 done -0.17 - - 2520 - - - 1765 - 5.1 - - 2779 - - - - - - - - 26.64 26.70 26.68
4103 330.3 0.1 430 4105 done -0.17 - - 2520 - - - 1766 - 5.1 - - 2779 - - - - - - - - 26.65 26.71 26.70
4223 330.2 0.1 436 4225 done -0.17 - - 2520 - - - 1765 - 5.1 - - 2779 - - - - - - - - 26.66 26.72 26.72
4343 330.1 0.1 442 4345 done -0.17 - - 2520 - - - 1765 - 5.1 - - 2779 - - - - - - - - 26.67 26.74 26.72
4463 330.0 - 448 4465 done -0.17 - - 2519 - - - 1765 - 5.1 - - 2779 - - - - - - - - 26.69 26.76 26.73
4583 330.1 - 454 4585 done -0.17 - - 2520 - - - 1765 - 5.2 - - 2779 - - - - - - - - 26.71 26.77 26.76
4703 330.0 0.1 460 4705 done -0.17 - - 2520 - - - 1765 - 5.2 - - 2778 - - - - - - - - 26.70 26.77 26.77
4823 330.0 - 466 4825 done -0.17 - - 2520 - - - 1765 - 5.2 - - 2779 - - - - - - - - 26.71 26.77 26.77
4943 329.9 0.1 472 4945 done -0.17 - - 2520 - - - 1765 - 5.2 - - 2779 - - - - - - - - 26.73 26.79 26.79
5063 329.7 0.3 478 5065 done -0.17 - - 2520 - - - 1765 - 5.2 - - 2778 - - - - - - - - 26.72 26.80 26.77
5183 330.1 -0.4 484 5185 done -0.17 - - 2520 - - - 1765 - 8.3 - - 2778 - - - - - - - - 26.74 26.80 26.79
5303 329.9 - 490 5305 done -0.17 - - 2520 - - - 1765 - 8.6 - - 2779 - - - - - - - - 26.77 26.82 26.80
5423 329.9 -0.2 496 5430 done -0.17 - - 2519 - - - 1765 - 9.9 4.00 0.959 2760 -4.8 0.165 - - - - - - 26.67 26.29 25.41
5543 329.8 0.1 502 5545 done -0.17 - - 2520 - - - 1765 - 9.9 - - 2766 - - - - - - - - 26.67 26.74 26.72
5663 329.6 0.1 508 5665 done -0.17 - - 2520 - - - 1765 - 9.9 - - 2766 - - - - - - - - 26.68 26.75 26.72
5783 329.4 0.2 514 5785 done -0.17 - - 2520 - - - 1766 - 9.9 - - 2766 - - - - - - - - 26.70 26.77 26.75
5903 329.1 0.3 520 5905 done -0.17 - - 2520 - - - 1765 - 9.9 - - 2766 - - - - - - - - 26.72 26.78 26.77
6023 329.0 - 526 6025 done -0.17 - - 2520 - - - 1766 - 9.9 - - 2766 - - - - - - - - 26.70 26.80 26.77
6143 328.8 0.1 532 6145 done -0.17 - - 2520 - - - 1766 - 9.9 - - 2766 - - - - - - - - 26.72 26.79 26.78
6241 end loiter: LOITER_COMPLETE
6241 begin climb
6243 328.8 - 537 6444 roll 0.89 1.08 0.129 2867 321.3 1.20 0.050 2498 610.0 105.2 187.02 0.600 2358 -2.2 0.121 - - - - - - 26.25 25.20 24.70
6675 288.7 11.6 622 6684 done 0.89 - - 2871 - 1.00 0.037 1835 -663.0 105.2 - - 2342 - - - - - - - - 26.06 26.01 26.08
6804 273.5 11.9 635 6808 roll 0.89 - - 2870 - 1.02 0.052 2498 650.0 105.2 - - 2342 - - - - - - - - 26.29 26.15 26.35
6965 254.1 12.3 665 6970 done 0.89 - - 2874 - 1.05 0.038 1798 -666.7 105.2 - - 2340 - - - - - - - - 26.32 26.28 26.34
7098 238.1 11.7 679 7106 done 0.89 - - 2874 - - - 1797 - 105.2 - - 2340 - - - - - - - - 26.50 26.46 26.52
7230 223.9 10.9 692 7234 roll 0.89 - - 2871 - 1.08 0.046 2496 647.2 105.2 - - 2341 - - - - - - - - 26.51 26.33 26.54
7347 211.2 10.9 714 7352 done 0.89 - - 2875 - 1.05 0.047 1794 -668.6 105.2 - - 2340 - - - - - - - - 26.40 26.37 26.42
7480 197.0 10.1 728 7484 roll 0.90 - - 2880 - 1.08 0.049 1096 -646.3 106.0 - - 2340 - - - - - - - - 26.58 26.38 26.59
7523 192.8 10.3 736 7527 done 0.90 - - 2877 - 1.08 0.037 1802 653.7 106.0 - - 2340 - - - - - - - - 26.50 26.46 26.51
7655 180.9 8.8 750 7681 roll 0.92 - - 2880 - 1.10 0.048 1109 -630.0 124.3 20.00 0.652 2289 -2.5 0.072 - - - - - - 26.60 26.14 25.58
7720 174.7 9.8 762 7725 done 0.92 - - 2878 - 1.05 0.037 1797 655.2 128.7 - - 2285 - - - - - - - - 26.30 26.26 26.36
7853 161.4 10.3 776 7857 roll 0.92 - - 2881 - 1.08 0.047 1108 -638.0 128.7 - - 2284 - - - - - - - - 26.46 26.30 26.51
7926 153.4 10.8 790 7931 done 0.92 - - 2878 - 1.05 0.037 1797 656.2 128.7 - - 2283 - - - - - - - - 26.41 26.37 26.41
8059 138.0 11.4 804 8063 roll 0.92 - - 2873 - 1.05 0.052 2503 672.4 128.7 - - 2283 - - - - - - - - 26.54 26.32 26.57
8134 128.7 11.9 819 8142 done 0.92 - - 2877 - 1.05 0.037 1797 -672.4 128.7 - - 2282 - - - - - - - - 26.47 26.44 26.48
8263 114.8 10.5 832 8267 roll 0.92 - - 2882 - 1.05 0.047 1110 -654.3 128.7 - - 2283 - - - - - - - - 26.59 26.42 26.64
8305 110.5 10.1 840 8309 done 0.92 - - 2879 - 1.05 0.037 1802 659.0 129.3 - - 2282 - - - - - - - - 26.49 26.47 26.53
8433 99.2 9.5 854 8449 roll 0.93 - - 2883 - 1.12 0.054 1102 -625.0 137.9 10.95 0.673 2236 -4.2 0.063 - - - - - - 26.60 26.22 25.63
8681 69.2 11.4 901 8688 done 0.93 - - 2879 - 1.05 0.036 1799 663.8 137.9 - - 2228 - - - - - - - - 26.47 26.44 26.48
8818 55.1 11.0 926 8826 roll 0.93 - - 2883 - 1.08 0.050 1104 -643.5 137.9 - - 2228 - - - - - - - - 26.60 26.31 26.66
8906 47.1 7.6 942 8963 done 0.97 - - 2880 - 1.05 0.036 1800 662.9 170.9 50.72 0.535 2099 -2.5 0.023 - - - - - - 26.51 26.48 25.37
9089 29.3 10.6 974 9098 roll 0.97 0.08 0.176 2897 212.5 1.02 0.050 2486 672.5 170.9 - - 2086 - - - - - - - - 26.05 26.13 26.15
9105 27.9 9.5 976 9114 done 0.98 - - 2899 - 1.02 0.037 1804 -668.6 179.2 2.05 0.295 2068 -8.8 0.084 - - - - - - 26.20 26.17 24.89
9241 14.9 10.0 1001 9249 roll 0.98 - - 2897 - 1.05 0.044 2496 659.0 180.5 - - 2070 - - - - - - - - 26.36 26.24 26.42
9340 10.7 1.8 1019 9518 VBD 1.12 0.10 0.099 2936 390.0 1.05 0.038 1793 -669.5 290.3 170.43 0.485 1697 -2.2 0.005 - - - - - - 26.14 26.32 26.20
9519 end climb: SURFACE_DEPTH_REACHED
9519 begin surface coast
9540 end surface coast: CONTROL_FINISHED_OK
9540 begin surface
SM 0.34 - - - - -7.40 7.85 0.058 168 21.3 0.30 0.044 1997 -31003.3 552.17 0.35 0.375 551 1574.0 -0.146 - - - - - -