IUSBL Jul22 * SG204 * Dive index * Mission links * Dive 116 * Raw log
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• Previous call tries 1 • 19.84 of 144.90 AH used of 24V (86.31% remains)
• Previous NAKs 0, Timeouts 0 • 15.17 of 100.00 AH used of 10V (84.83% remains)
• Surface angle -70.0 deg, depth 0.65 m • Intended pitch -27.7 deg, speed -13.333 cm/s
VBD pumped to 500.17 (SM_CC=500)
• GPS1 time: 15 s
• GPS2 time: 3 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
9 end surface: CONTROL_FINISHED_OK
9 begin dive
12 - - - 116 VBD -0.77 - - 165 - - - 2220 - -156.4 -100.45 0.005 3510 - - - - - - - - 25.94 - 25.94
119 4.5 -9.4 16 141 roll -0.81 8.45 0.210 2344 257.9 1.65 0.048 1140 -654.5 -194.6 -4.78 0.016 3768 -54.0 1.565 - - - - - - 25.61 24.75 25.81
307 36.9 -14.0 50 314 done -0.88 - - 2343 - 1.67 0.040 2192 629.9 -194.6 - - 3773 - - - - - - - - 26.01 25.96 26.02
380 47.4 -15.2 63 387 roll -0.86 - - 2330 - 1.67 0.047 3259 638.9 -194.6 - - 3773 - - - - - - - - 26.03 25.94 26.03
458 62.3 -16.4 77 465 done -0.88 - - 2335 - 1.62 0.028 2200 -653.7 -194.6 - - 3774 - - - - - - - - 26.03 25.98 26.04
530 74.1 -14.9 90 538 roll -0.88 - - 2344 - 1.62 0.036 1136 -656.8 -194.6 - - 3774 - - - - - - - - 26.04 25.98 26.05
649 88.1 -11.0 112 656 done -0.97 - - 2339 - 1.70 0.042 2203 627.6 -194.6 - - 3775 - - - - - - - - 26.02 25.96 26.03
723 97.2 -12.8 125 731 roll -1.01 0.10 0.140 2284 -550.0 1.65 0.031 1133 -648.5 -194.6 - - 3775 - - - - - - - - 25.90 25.96 25.98
754 101.6 -13.7 130 761 done -1.01 - - 2278 - 1.70 0.042 2203 629.4 -194.6 - - 3775 - - - - - - - - 26.04 25.96 26.05
828 113.0 -16.3 143 835 done -0.96 0.10 0.200 2297 190.0 - - 2205 - -194.6 - - 3772 - - - - - - - - 25.79 26.00 25.96
901 124.1 -14.6 156 908 done -0.94 - - 2297 - - - 2203 - -194.6 - - 3775 - - - - - - - - 26.03 26.03 26.03
974 134.6 -14.8 169 980 done -0.94 - - 2297 - - - 2203 - -194.6 - - 3774 - - - - - - - - 26.03 26.04 26.04
1046 144.4 -13.6 182 1054 roll -0.94 - - 2289 - 1.67 0.049 3265 635.9 -194.6 - - 3777 - - - - - - - - 26.03 25.94 26.03
1082 149.6 -14.1 188 1090 done -0.94 0.05 0.222 2301 240.0 1.65 0.029 2189 -652.1 -194.6 - - 3773 - - - - - - - - 25.82 25.98 25.97
1155 159.7 -14.2 201 1162 done -0.94 - - 2301 - - - 2184 - -194.6 - - 3775 - - - - - - - - 26.03 26.03 26.03
1228 170.0 -14.1 214 1235 done -0.94 - - 2302 - - - 2185 - -194.6 - - 3776 - - - - - - - - 26.03 26.04 26.04
1301 180.8 -15.5 227 1308 roll -0.94 - - 2295 - 1.70 0.049 3257 630.6 -194.6 - - 3773 - - - - - - - - 26.03 25.94 26.03
1337 186.2 -16.1 233 1343 done -0.94 - - 2300 - 1.62 0.031 2200 -652.5 -194.6 - - 3775 - - - - - - - - 26.01 25.96 26.03
1410 196.9 -14.7 246 1417 roll -0.97 - - 2294 - 1.67 0.047 3258 633.5 -194.6 - - 3775 - - - - - - - - 26.02 25.92 26.03
1441 201.5 -15.1 251 1448 done -0.97 - - 2300 - 1.62 0.031 2204 -650.6 -194.6 - - 3774 - - - - - - - - 26.01 25.96 26.03
1515 212.9 -15.0 264 1523 roll -0.99 - - 2302 - 1.65 0.035 1126 -653.3 -194.6 - - 3775 - - - - - - - - 26.03 25.96 26.03
1568 220.5 -13.9 273 1575 done -1.10 - - 2296 - 1.73 0.042 2210 626.6 -194.6 - - 3775 - - - - - - - - 26.01 25.95 26.02
1642 231.6 -14.8 286 1649 roll -1.12 - - 2288 - 1.65 0.048 3257 634.5 -194.6 - - 3775 - - - - - - - - 26.03 25.93 26.03
1689 238.9 -15.0 294 1697 done -1.16 0.10 0.129 2263 -250.0 1.65 0.030 2183 -650.9 -194.6 - - 3773 - - - - - - - - 25.88 25.95 25.97
1763 251.9 -19.0 307 1769 done -1.11 - - 2263 - - - 2179 - -194.6 - - 3774 - - - - - - - - 26.03 26.05 26.03
1838 265.4 -17.8 320 1845 done -1.08 - - 2263 - - - 2179 - -194.6 - - 3773 - - - - - - - - 26.01 26.03 26.02
1912 278.3 -17.2 333 1920 roll -1.04 0.03 0.274 2263 - 1.73 0.047 3262 626.0 -194.6 - - 3772 - - - - - - - - 25.82 25.91 25.96
1950 284.6 -17.2 339 1957 done -1.02 - - 2269 - 1.65 0.029 2193 -647.9 -194.6 - - 3773 - - - - - - - - 26.01 25.95 26.01
2024 296.5 -16.5 352 2031 done -0.99 0.08 0.207 2285 200.0 - - 2184 - -194.6 - - 3773 - - - - - - - - 25.77 26.01 25.96
2098 308.1 -15.4 365 2105 roll -0.99 - - 2279 - 1.70 0.049 3254 629.4 -194.6 - - 3773 - - - - - - - - 26.01 25.91 26.01
2135 313.8 -16.0 371 2142 done -0.99 - - 2284 - 1.62 0.030 2202 -649.4 -194.6 - - 3773 - - - - - - - - 25.99 25.94 26.00
2208 325.0 -13.7 384 2215 done -1.02 - - 2284 - - - 2197 - -194.6 - - 3773 - - - - - - - - 26.03 26.02 26.02
2281 335.8 -15.3 397 2288 done -1.02 - - 2284 - - - 2196 - -194.6 - - 3773 - - - - - - - - 26.02 26.03 26.02
2355 346.9 -14.0 410 2362 roll -1.02 - - 2278 - 1.67 0.047 3253 632.9 -194.6 - - 3773 - - - - - - - - 26.02 25.94 26.03
2401 353.6 -14.2 418 2410 done -1.05 - - 2284 - 1.67 0.031 2202 -629.3 -194.6 - - 3772 - - - - - - - - 25.98 25.96 25.99
2475 363.7 -13.8 431 2483 done -1.08 - - 2280 - - - 2195 - -194.6 - - 3772 - - - - - - - - 26.02 26.02 26.02
2548 373.5 -13.4 444 2555 done -1.10 - - 2281 - - - 2195 - -194.6 - - 3772 - - - - - - - - 26.02 26.02 26.01
2623 383.6 -13.8 457 2630 roll -1.13 - - 2278 - 1.70 0.049 3266 630.0 -194.6 - - 3772 - - - - - - - - 26.01 25.90 26.01
2686 393.0 -14.9 468 2694 done -1.18 0.10 0.137 2256 -220.0 1.65 0.031 2194 -649.7 -194.6 - - 3770 - - - - - - - - 25.84 25.94 25.96
2732 end dive: TARGET_DEPTH_EXCEEDED
2732 begin apogee
2738 400.5 -15.6 476 2907 done -0.11 1.10 0.164 2565 280.9 - - 1972 - - 158.23 1.011 2966 -5.1 0.207 - - - - - - 25.62 24.68 23.96
2909 end apogee: CONTROL_FINISHED_OK
2910 begin climb
2911 405.4 - 500 3086 roll 0.81 0.98 0.110 2870 311.2 1.73 0.037 969 -579.8 194.6 160.38 0.975 2170 -5.0 0.213 - - - - - - 24.78 24.44 23.80
3100 389.0 14.2 526 3107 done 0.81 - - 2870 - 1.73 0.036 2013 603.5 194.6 - - 2168 - - - - - - - - 24.87 24.84 24.88
3174 376.8 17.0 539 3182 roll 0.78 - - 2867 - 1.67 0.042 3057 625.1 194.6 - - 2164 - - - - - - - - 25.40 25.35 25.39
3226 367.9 17.0 548 3234 done 0.76 - - 2873 - 1.65 0.029 2025 -625.5 194.6 - - 2162 - - - - - - - - 25.62 25.58 25.63
3300 354.7 17.8 561 3308 done 0.72 - - 2873 - - - 2020 - 194.6 - - 2160 - - - - - - - - 25.83 25.83 25.83
3375 342.0 16.6 574 3383 done 0.69 - - 2873 - - - 2019 - 194.6 - - 2162 - - - - - - - - 25.93 25.94 25.94
3448 329.5 17.3 587 3457 done 0.66 0.10 0.206 2854 -190.0 - - 2019 - 194.6 - - 2161 - - - - - - - - 25.76 25.98 25.92
3522 317.3 16.3 600 3530 done 0.66 - - 2854 - - - 2019 - 194.6 - - 2161 - - - - - - - - 26.03 26.03 26.03
3595 305.8 15.6 613 3603 done 0.66 - - 2854 - - - 2018 - 194.6 - - 2161 - - - - - - - - 26.03 26.05 26.04
3669 294.3 14.7 626 3677 done 0.66 - - 2854 - - - 2019 - 194.6 - - 2160 - - - - - - - - 26.04 26.06 26.04
3744 283.0 15.0 639 3752 roll 0.66 - - 2847 - 1.65 0.044 3048 623.6 194.6 - - 2159 - - - - - - - - 26.05 25.98 26.06
3787 276.6 15.2 646 3795 done 0.66 - - 2853 - 1.60 0.030 1995 -658.1 194.6 - - 2160 - - - - - - - - 26.04 25.98 26.05
3861 265.1 15.2 659 3868 done 0.66 - - 2853 - - - 1991 - 194.6 - - 2159 - - - - - - - - 26.06 26.07 26.07
3935 253.8 14.6 672 3941 done 0.66 - - 2853 - - - 1991 - 194.6 - - 2157 - - - - - - - - 26.06 26.06 26.06
4007 243.3 14.7 685 4014 done 0.66 - - 2854 - - - 1991 - 194.6 - - 2159 - - - - - - - - 26.06 26.06 26.06
4080 233.0 13.7 698 4087 done 0.66 - - 2853 - - - 1991 - 194.6 - - 2159 - - - - - - - - 26.06 26.06 26.06
4152 222.7 14.3 711 4159 done 0.66 - - 2853 - - - 1991 - 194.6 - - 2159 - - - - - - - - 26.04 26.05 26.05
4225 212.9 13.6 724 4232 roll 0.66 - - 2847 - 1.65 0.041 3053 643.6 194.6 - - 2159 - - - - - - - - 26.05 25.96 26.06
4240 210.7 13.9 726 4247 done 0.66 - - 2853 - 1.60 0.028 2001 -657.5 194.6 - - 2158 - - - - - - - - 26.03 25.98 26.04
4313 201.1 13.2 739 4320 done 0.66 - - 2853 - - - 1996 - 196.6 - - 2159 - - - - - - - - 26.07 26.06 26.07
4387 191.3 12.3 752 4409 done 0.68 - - 2853 - - - 1995 - 214.3 16.12 0.838 2090 -4.3 0.101 - - - - - - 26.05 25.72 25.01
4477 179.6 13.0 767 4484 roll 0.71 - - 2847 - 1.67 0.041 3059 637.1 219.9 - - 2085 - - - - - - - - 25.94 25.86 25.95
4513 174.6 13.3 773 4528 done 0.75 - - 2853 - 1.62 0.030 2003 -651.9 220.3 6.43 0.721 2066 -3.0 0.074 - - - - - - 25.96 25.92 25.02
4595 163.4 13.3 787 4601 done 0.78 - - 2853 - - - 1999 - 221.6 - - 2063 - - - - - - - - 25.96 25.97 25.97
4668 153.1 14.1 800 4675 roll 0.80 - - 2847 - 1.65 0.044 3052 638.2 221.6 - - 2062 - - - - - - - - 26.00 25.91 26.01
4704 147.9 13.9 806 4711 done 0.85 0.10 0.132 2883 360.0 1.62 0.031 1995 -652.5 221.6 - - 2060 - - - - - - - - 25.91 25.94 25.99
4777 137.5 15.0 819 4784 roll 0.85 - - 2877 - 1.67 0.041 3060 637.7 221.6 - - 2060 - - - - - - - - 26.03 25.95 26.03
4808 133.0 14.8 824 4815 done 0.85 - - 2883 - 1.62 0.029 1999 -654.9 221.6 - - 2060 - - - - - - - - 26.03 25.97 26.03
4882 121.7 15.5 837 4889 done 0.82 - - 2883 - - - 1997 - 221.6 - - 2059 - - - - - - - - 26.03 26.03 26.03
4956 110.4 16.1 850 4962 done 0.79 - - 2884 - - - 1995 - 221.6 - - 2060 - - - - - - - - 26.02 26.03 26.03
5030 97.9 16.4 863 5037 roll 0.77 - - 2891 - 1.62 0.038 944 -648.8 221.6 - - 2060 - - - - - - - - 26.05 25.98 26.04
5060 93.2 14.9 868 5067 done 0.77 - - 2884 - 1.67 0.035 2007 636.5 221.6 - - 2059 - - - - - - - - 26.01 25.96 26.02
5135 82.1 15.8 881 5142 roll 0.77 - - 2891 - 1.65 0.034 943 -644.8 221.6 - - 2060 - - - - - - - - 26.03 25.97 26.03
5181 75.0 15.2 889 5189 done 0.80 - - 2886 - 1.73 0.037 2005 613.9 221.6 - - 2060 - - - - - - - - 25.98 25.94 26.00
5255 63.5 15.3 902 5263 roll 0.80 - - 2878 - 1.67 0.041 3058 630.5 221.6 - - 2059 - - - - - - - - 26.03 25.95 26.03
5270 61.0 15.8 904 5277 done 0.80 - - 2884 - 1.62 0.029 1995 -656.2 221.6 - - 2057 - - - - - - - - 26.01 25.97 26.02
5345 49.2 16.9 917 5351 done 0.80 - - 2887 - - - 1990 - 221.6 - - 2059 - - - - - - - - 26.03 26.03 26.03
5420 38.3 12.8 930 5434 roll 0.84 - - 2892 - 1.65 0.035 942 -635.2 230.8 9.62 0.701 2022 -3.8 0.022 - - - - - - 26.02 25.84 25.10
5473 31.5 12.2 939 5497 done 0.94 0.05 0.130 2910 360.0 1.73 0.038 1996 609.2 250.8 18.02 0.711 1943 -4.4 0.020 - - - - - - 25.77 25.87 25.01
5564 20.4 12.4 954 5586 roll 0.96 - - 2918 - 1.67 0.034 934 -635.9 267.0 14.20 0.690 1876 -4.7 0.014 - - - - - - 25.89 25.51 25.00
5654 10.8 7.7 969 5741 done 1.13 0.22 0.154 2973 250.0 1.70 0.035 2009 632.4 365.6 79.18 0.682 1475 -5.1 0.008 - - - - - - 25.68 25.82 24.74
5747 end climb: SURFACE_DEPTH_REACHED
5748 begin surface coast
5769 end surface coast: CONTROL_FINISHED_OK
5770 begin surface
SM 0.60 - - - - -7.48 7.97 0.054 181 22.6 0.30 0.046 2234 -30653.3 500.17 111.65 0.677 928 8.3 -0.001 - - - - - -