WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 135 * Raw log
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• Previous call tries 1 • 22.84 of 127.50 AH used of 24V (82.09% remains)
• Previous NAKs 0, Timeouts 0 • 12.68 of 100.00 AH used of 10V (87.32% remains)
• Surface angle -63.8 deg, depth 0.47 m • Intended pitch -18.4 deg, speed -10.145 cm/s
• VBD pumped to 551.92 (SM_CC=603.25)
• GPS1 time: 5 s • bottom range 54.4 m at 276.4 m, depth 331 m (303 m grid)
• 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
65 end surface: CONTROL_FINISHED_OK
65 begin dive
67 - - - 173 VBD -0.80 - - 164 - - - 2019 - -116.8 -103.12 0.012 2969 - - - - - - - - 26.15 - 26.22
176 3.9 -7.4 15 199 roll -0.80 8.27 0.217 2317 260.3 1.00 0.076 2682 663.0 -116.8 -6.53 0.021 3279 -47.5 0.891 - - - - - - 25.75 25.48 25.91
284 27.6 -14.3 34 292 done -0.80 - - 2320 - 1.00 0.037 1990 -692.0 -116.8 - - 3280 - - - - - - - - 26.27 26.25 26.29
420 46.8 -11.1 59 426 done -0.80 - - 2320 - - - 1989 - -116.8 - - 3282 - - - - - - - - 26.52 26.58 26.57
551 61.8 -11.4 84 559 roll -0.80 - - 2320 - 1.00 0.034 1313 -676.0 -116.8 - - 3281 - - - - - - - - 26.60 26.41 26.65
782 90.7 -11.4 128 791 done -0.80 - - 2317 - 1.02 0.031 1996 669.6 -116.8 - - 3282 - - - - - - - - 26.55 26.52 26.58
920 107.0 -11.1 148 925 roll -0.80 - - 2311 - 1.02 0.039 2697 687.3 -116.8 - - 3283 - - - - - - - - 26.74 26.54 26.79
1027 118.9 -10.8 169 1035 done -0.80 - - 2314 - 1.00 0.026 1990 -707.0 -116.8 - - 3283 - - - - - - - - 26.65 26.63 26.65
1155 133.1 -11.3 182 1157 done -0.80 - - 2314 - - - 1990 - -116.8 - - 3283 - - - - - - - - 26.79 26.86 26.85
1278 145.4 -10.0 194 1282 roll -0.80 - - 2319 - 0.98 0.034 1325 -678.6 -116.8 - - 3283 - - - - - - - - 26.82 26.63 26.87
1424 160.9 -10.6 222 1428 done -0.80 - - 2316 - 1.00 0.032 1998 673.0 -116.8 - - 3283 - - - - - - - - 26.70 26.67 26.72
1557 175.6 -11.3 236 1561 roll -0.80 - - 2311 - 1.02 0.040 2700 688.2 -116.8 - - 3283 - - - - - - - - 26.87 26.65 26.93
1580 178.2 -10.7 240 1584 done -0.80 - - 2314 - 0.98 0.027 2006 -708.2 -116.8 - - 3283 - - - - - - - - 26.75 26.72 26.77
1714 192.7 -11.0 254 1718 roll -0.80 0.05 0.252 2328 280.0 1.00 0.035 1322 -684.0 -116.8 - - 3283 - - - - - - - - 26.64 26.69 26.69
1800 202.9 -11.3 271 1808 done -0.80 - - 2325 - 1.00 0.031 1997 675.0 -116.8 - - 3283 - - - - - - - - 26.75 26.71 26.77
1929 216.8 -11.0 284 1933 roll -0.80 - - 2328 - 1.00 0.034 1322 -675.0 -116.8 - - 3283 - - - - - - - - 26.91 26.70 26.96
1972 221.5 -10.5 292 1977 done -0.80 - - 2324 - 1.00 0.031 1998 676.0 -116.8 - - 3283 - - - - - - - - 26.76 26.73 26.79
2105 235.3 -10.3 306 2109 roll -0.80 - - 2320 - 1.00 0.039 2690 692.0 -116.8 - - 3283 - - - - - - - - 26.93 26.71 26.98
2148 239.7 -10.1 314 2153 done -0.80 - - 2323 - 0.98 0.027 1996 -708.2 -116.8 - - 3282 - - - - - - - - 26.80 26.77 26.82
2281 253.6 -10.7 328 2283 done -0.80 - - 2323 - - - 1995 - -116.8 - - 3282 - - - - - - - - 26.94 27.01 27.00
2402 267.0 -11.5 340 2407 roll -0.80 - - 2319 - 1.02 0.038 2690 681.4 -116.8 - - 3282 - - - - - - - - 26.96 26.74 27.01
2446 271.7 -11.1 348 2450 done -0.80 - - 2323 - 0.98 0.028 1996 -708.2 -116.8 - - 3281 - - - - - - - - 26.81 26.79 26.84
2579 286.1 -10.5 362 2581 done -0.80 - - 2323 - - - 1996 - -116.8 - - 3281 - - - - - - - - 26.96 27.06 27.02
2699 298.3 -10.2 374 2702 roll -0.80 - - 2319 - 1.02 0.038 2692 682.4 -116.8 - - 3281 - - - - - - - - 26.97 26.73 27.03
2742 end dive: TARGET_DEPTH_EXCEEDED
2742 begin apogee
2748 303.2 -10.9 383 2931 done -0.18 0.68 0.158 2521 297.1 - - 1800 - - 178.95 0.595 2801 -2.7 0.138 - - - - - - 26.30 25.28 24.78
2935 end apogee: CONTROL_FINISHED_OK
2935 begin loiter
3088 311.6 -0.4 398 3090 done -0.17 - - 2521 - - - 1799 - 3.1 - - 2771 - - - - - - - - 25.97 26.03 26.03
3209 312.9 -1.2 404 3213 done -0.16 - - 2521 - - - 1799 - 12.6 2.53 0.519 2748 -9.1 0.554 - - - - - - 26.15 25.74 24.61
3327 314.4 -1.3 410 3354 done -0.15 - - 2521 - - - 1799 - 22.9 25.02 0.660 2706 -1.7 0.081 - - - - - - 26.38 25.77 25.25
3466 313.6 1.3 417 3468 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2685 - - - - - - - - 26.29 26.34 26.34
3586 311.8 1.7 423 3588 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2684 - - - - - - - - 26.44 26.48 26.48
3706 310.1 1.4 429 3708 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2685 - - - - - - - - 26.51 26.58 26.60
3827 308.0 1.9 435 3829 done -0.15 - - 2522 - - - 1800 - 22.9 - - 2684 - - - - - - - - 26.59 26.65 26.65
3946 305.7 1.9 441 3948 done -0.15 - - 2522 - - - 1799 - 22.9 - - 2683 - - - - - - - - 26.64 26.71 26.70
4066 303.6 1.7 447 4068 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2683 - - - - - - - - 26.69 26.75 26.74
4186 301.2 2.0 453 4188 done -0.15 - - 2522 - - - 1799 - 22.9 - - 2682 - - - - - - - - 26.72 26.79 26.79
4307 298.5 2.2 462 4309 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2682 - - - - - - - - 26.76 26.82 26.82
4426 295.8 2.3 474 4428 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2682 - - - - - - - - 26.79 26.86 26.85
4546 293.3 1.9 486 4548 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2682 - - - - - - - - 26.82 26.88 26.87
4667 291.2 1.7 498 4669 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2682 - - - - - - - - 26.86 26.90 26.89
4787 288.9 2.0 510 4789 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2681 - - - - - - - - 26.86 26.92 26.91
4907 286.6 1.8 522 4909 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2681 - - - - - - - - 26.90 26.94 26.94
5027 284.6 1.6 534 5029 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2681 - - - - - - - - 26.89 26.96 26.95
5147 283.0 1.3 546 5149 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2681 - - - - - - - - 26.91 26.97 26.96
5267 281.6 1.1 558 5269 done -0.15 - - 2522 - - - 1799 - 22.9 - - 2681 - - - - - - - - 26.91 26.98 26.98
5387 280.3 1.1 570 5389 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2681 - - - - - - - - 26.93 27.00 26.99
5507 278.9 1.4 582 5509 done -0.15 - - 2522 - - - 1799 - 22.9 - - 2681 - - - - - - - - 26.94 27.01 27.03
5627 277.3 1.5 594 5629 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2681 - - - - - - - - 26.95 27.02 27.01
5747 275.7 1.1 606 5749 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2681 - - - - - - - - 26.97 27.03 27.02
5867 274.3 0.8 618 5869 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2681 - - - - - - - - 26.97 27.04 27.03
5987 272.2 2.2 630 5989 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2681 - - - - - - - - 26.96 27.05 27.03
6108 271.4 1.2 642 6109 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2680 - - - - - - - - 26.98 27.05 27.07
6227 269.6 1.4 654 6229 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2680 - - - - - - - - 26.99 27.05 27.05
6347 268.0 1.9 666 6349 done -0.15 - - 2521 - - - 1799 - 22.9 - - 2680 - - - - - - - - 27.00 27.06 27.08
6468 266.2 1.5 678 6470 done -0.15 - - 2519 - - - 1799 - 22.9 - - 2680 - - - - - - - - 27.00 27.07 27.06
6526 end loiter: LOITER_COMPLETE
6526 begin climb
6528 265.4 - 684 6703 roll 0.80 0.98 0.121 2844 331.6 1.15 0.041 1105 -603.5 116.8 165.85 0.576 2318 -2.2 0.102 - - - - - - 26.46 25.36 24.85
6940 229.2 11.1 763 6948 done 0.80 - - 2840 - 1.08 0.031 1800 643.5 116.8 - - 2291 - - - - - - - - 26.14 26.12 26.16
7070 215.8 10.4 776 7074 roll 0.80 - - 2844 - 1.10 0.042 1107 -630.0 116.8 - - 2289 - - - - - - - - 26.42 26.21 26.48
7264 194.1 11.0 813 7273 done 0.80 - - 2841 - 1.05 0.033 1798 658.1 116.8 - - 2289 - - - - - - - - 26.41 26.38 26.44
7393 180.8 10.6 826 7396 roll 0.80 - - 2835 - 1.05 0.040 2499 667.6 116.8 - - 2287 - - - - - - - - 26.63 26.41 26.68
7438 175.7 10.3 835 7446 done 0.80 - - 2839 - 1.02 0.033 1802 -683.3 116.8 - - 2287 - - - - - - - - 26.48 26.47 26.51
7567 163.0 10.1 848 7570 roll 0.80 - - 2843 - 1.08 0.044 1109 -641.7 117.2 - - 2287 - - - - - - - - 26.68 26.46 26.74
7696 150.5 9.6 872 7701 done 0.81 - - 2840 - 1.05 0.032 1802 660.0 126.4 - - 2287 - - - - - - - - 26.57 26.55 26.60
7830 139.0 8.2 886 7901 roll 0.85 - - 2835 - 1.05 0.040 2487 652.4 160.2 61.28 0.560 2136 -2.5 0.062 - - - - - - 26.77 25.94 25.36
7971 126.5 9.3 912 7983 done 0.87 0.05 0.176 2855 400.0 1.02 0.031 1795 -678.4 173.9 3.50 0.666 2092 -12.6 0.241 - - - - - - 25.86 26.10 24.89
8102 112.7 10.6 926 8109 done 0.87 - - 2854 - - - 1795 - 173.9 - - 2100 - - - - - - - - 26.38 26.44 26.43
8232 98.2 12.1 940 8239 roll 0.87 - - 2850 - 1.08 0.038 2508 660.2 173.9 - - 2099 - - - - - - - - 26.49 26.27 26.53
8278 92.8 12.7 948 8285 done 0.87 - - 2854 - 1.05 0.033 1802 -672.4 173.9 - - 2099 - - - - - - - - 26.39 26.35 26.41
8411 77.9 10.9 973 8419 roll 0.87 - - 2851 - 1.05 0.039 2500 664.8 173.9 - - 2099 - - - - - - - - 26.60 26.39 26.65
8459 72.4 8.2 981 8535 done 0.90 0.05 0.117 2877 520.0 1.05 0.034 1791 -675.2 206.3 66.05 0.521 1950 -2.3 0.032 - - - - - - 26.25 26.41 25.26
8661 47.0 9.7 1015 8668 roll 0.91 - - 2882 - 1.05 0.043 1112 -646.7 213.4 - - 1923 - - - - - - - - 26.27 26.08 26.32
8895 23.2 11.5 1059 8903 done 0.91 - - 2878 - 1.05 0.031 1801 656.2 213.4 - - 1921 - - - - - - - - 26.34 26.32 26.39
9036 9.7 5.4 1084 9163 VBD 1.01 0.12 0.145 2913 291.7 - - 1802 - 294.7 123.72 0.476 1646 -2.2 0.005 - - - - - - 26.27 - 26.36
9164 end climb: SURFACE_DEPTH_REACHED
9164 begin surface coast
9192 end surface coast: CONTROL_FINISHED_OK
9192 begin surface
SM 0.45 - - - - -7.38 7.72 0.057 182 23.5 0.28 0.050 2011 -30425.0 551.92 -0.25 0.187 550 - - - - - - - -