WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 120 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 20.86 of 127.50 AH used of 24V (83.64% remains)
• Previous NAKs 0, Timeouts 0 • 11.59 of 100.00 AH used of 10V (88.41% remains)
• Surface angle -61.0 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: 4 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 - - 175 - - - 1975 - -116.8 -103.82 0.011 2999 - - - - - - - - 26.08 - 26.16
135 3.9 -7.3 15 159 roll -0.80 8.27 0.226 2318 259.1 1.12 0.080 2700 647.3 -116.8 -5.78 0.018 3279 -48.4 1.062 - - - - - - 25.77 24.66 25.94
274 34.1 -14.1 40 283 done -0.80 - - 2318 - 1.05 0.103 1980 -685.7 -116.8 - - 3281 - - - - - - - - 26.25 26.18 26.27
408 51.2 -11.5 65 416 roll -0.80 - - 2314 - 1.08 0.103 2693 660.2 -116.8 - - 3281 - - - - - - - - 26.38 25.93 26.43
450 55.9 -11.5 72 458 done -0.80 - - 2314 - 1.00 0.041 1996 -697.0 -116.8 - - 3283 - - - - - - - - 26.36 26.32 26.39
587 72.4 -12.3 97 594 roll -0.80 - - 2309 - 1.05 0.041 2701 671.4 -116.8 - - 3283 - - - - - - - - 26.53 26.39 26.58
607 75.0 -12.6 100 616 done -0.80 0.03 0.216 2318 300.0 1.00 0.032 1998 -703.0 -116.8 - - 3283 - - - - - - - - 26.26 26.42 26.31
742 93.0 -14.2 125 749 roll -0.80 - - 2319 - 1.00 0.040 1322 -676.0 -116.8 - - 3283 - - - - - - - - 26.55 26.45 26.61
958 122.8 -12.5 166 966 done -0.80 - - 2316 - 1.02 0.036 2003 667.6 -116.8 - - 3284 - - - - - - - - 26.48 26.46 26.51
1087 137.7 -11.8 179 1090 roll -0.80 - - 2319 - 1.02 0.038 1319 -670.6 -116.8 - - 3283 - - - - - - - - 26.62 26.51 26.67
1121 142.0 -10.9 186 1129 done -0.80 - - 2316 - 1.02 0.034 2004 671.6 -116.8 - - 3283 - - - - - - - - 26.56 26.52 26.58
1250 155.6 -10.9 199 1252 done -0.80 - - 2315 - - - 2004 - -116.8 - - 3283 - - - - - - - - 26.65 26.70 26.70
1370 169.2 -11.7 211 1373 roll -0.80 - - 2319 - 1.02 0.047 1319 -671.6 -116.8 - - 3283 - - - - - - - - 26.66 26.53 26.72
1393 171.8 -11.5 215 1396 done -0.80 - - 2316 - 1.02 0.036 2003 670.6 -116.8 - - 3283 - - - - - - - - 26.64 26.56 26.62
1525 187.1 -11.3 229 1529 roll -0.80 0.03 0.329 2319 100.0 1.02 0.050 2702 685.3 -116.8 - - 3283 - - - - - - - - 26.45 26.55 26.53
1558 191.1 -11.4 235 1563 done -0.80 - - 2322 - 1.00 0.033 2000 -702.0 -116.8 - - 3284 - - - - - - - - 26.66 26.60 26.65
1691 206.5 -11.3 249 1695 roll -0.80 - - 2319 - 1.05 0.043 2703 669.5 -116.8 - - 3283 - - - - - - - - 26.67 26.55 26.72
1740 212.3 -12.0 258 1747 done -0.80 - - 2322 - 1.00 0.042 2004 -699.0 -116.8 - - 3283 - - - - - - - - 26.61 26.60 26.65
1865 226.7 -11.4 271 1869 roll -0.80 - - 2327 - 1.00 0.041 1324 -680.0 -116.8 - - 3283 - - - - - - - - 26.58 26.58 26.67
1911 231.8 -11.4 279 1914 done -0.80 - - 2323 - 1.02 0.037 2007 669.6 -116.8 - - 3283 - - - - - - - - 26.63 26.60 26.68
2044 247.4 -11.9 293 2051 done -0.80 - - 2323 - - - 2007 - -116.8 - - 3283 - - - - - - - - 26.72 26.79 26.78
2172 262.3 -11.4 306 2176 roll -0.80 - - 2327 - 1.02 0.038 1321 -672.5 -116.8 - - 3283 - - - - - - - - 26.70 26.59 26.76
2260 271.9 -9.7 323 2267 done -0.80 - - 2323 - 1.02 0.045 1999 664.7 -116.8 - - 3282 - - - - - - - - 26.63 26.59 26.64
2388 285.1 -10.4 336 2393 roll -0.80 - - 2326 - 1.02 0.037 1312 -673.5 -116.8 - - 3282 - - - - - - - - 26.74 26.60 26.79
2413 288.2 -11.4 341 2421 done -0.80 - - 2323 - 1.02 0.035 1999 673.5 -116.8 - - 3282 - - - - - - - - 26.63 26.60 26.65
2551 302.9 -10.7 354 2556 roll -0.80 - - 2326 - 1.02 0.041 1314 -671.6 -116.8 - - 3282 - - - - - - - - 26.74 26.54 26.79
2681 316.8 -10.2 379 2684 done -0.80 - - 2323 - 1.02 0.037 1999 671.6 -116.8 - - 3282 - - - - - - - - 26.65 26.63 26.67
2757 end dive: TARGET_DEPTH_EXCEEDED
2757 begin apogee
2762 324.5 -10.3 385 2967 done -0.18 0.70 0.159 2526 290.0 - - 1781 - - 201.32 0.604 2799 -2.4 0.130 - - - - - - 26.21 25.20 24.70
2972 end apogee: CONTROL_FINISHED_OK
2972 begin loiter
3083 331.4 -1.2 401 3090 done -0.17 - - 2526 - - - 1781 - 9.2 4.12 0.871 2765 -8.3 0.318 - - - - - - 25.88 25.62 24.98
3200 332.6 -0.9 407 3220 done -0.16 - - 2526 - - - 1781 - 16.1 15.85 0.714 2730 -2.2 0.104 - - - - - - 26.06 25.15 25.08
3340 331.7 1.1 414 3342 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2719 - - - - - - - - 26.15 26.22 26.21
3460 329.8 1.7 420 3462 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2719 - - - - - - - - 26.29 26.36 26.38
3580 327.8 1.7 426 3582 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2718 - - - - - - - - 26.39 26.45 26.44
3700 326.0 1.4 432 3702 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2719 - - - - - - - - 26.45 26.51 26.51
3820 324.4 1.4 438 3822 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2718 - - - - - - - - 26.50 26.56 26.55
3940 322.4 1.7 444 3942 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2717 - - - - - - - - 26.54 26.60 26.59
4060 320.4 1.7 450 4062 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2717 - - - - - - - - 26.58 26.64 26.63
4180 318.1 1.9 456 4182 done -0.16 - - 2527 - - - 1781 - 16.1 - - 2718 - - - - - - - - 26.60 26.67 26.64
4300 315.5 2.2 462 4302 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2718 - - - - - - - - 26.62 26.69 26.66
4420 313.0 2.1 468 4422 done -0.16 - - 2527 - - - 1781 - 16.1 - - 2718 - - - - - - - - 26.64 26.71 26.70
4540 310.5 2.0 474 4542 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2717 - - - - - - - - 26.66 26.73 26.72
4660 308.3 1.7 480 4662 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2717 - - - - - - - - 26.67 26.74 26.73
4780 306.0 1.9 486 4782 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2717 - - - - - - - - 26.68 26.75 26.73
4900 303.6 2.1 492 4902 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2716 - - - - - - - - 26.70 26.79 26.76
5020 301.5 1.6 498 5022 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2717 - - - - - - - - 26.71 26.78 26.77
5140 299.6 1.7 505 5142 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2717 - - - - - - - - 26.71 26.78 26.77
5260 297.6 1.5 517 5262 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2716 - - - - - - - - 26.73 26.79 26.78
5380 296.2 1.1 529 5382 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2716 - - - - - - - - 26.74 26.74 26.77
5500 294.7 1.2 541 5502 done -0.16 - - 2527 - - - 1781 - 16.1 - - 2716 - - - - - - - - 26.73 26.79 26.79
5620 293.3 1.1 553 5622 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2715 - - - - - - - - 26.74 26.81 26.80
5740 291.7 1.4 565 5742 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2716 - - - - - - - - 26.74 26.82 26.81
5860 290.4 1.0 577 5862 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2716 - - - - - - - - 26.77 26.72 26.74
5980 289.3 1.0 589 5982 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2716 - - - - - - - - 26.75 26.82 26.81
6100 287.9 1.4 601 6102 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2716 - - - - - - - - 26.76 26.82 26.82
6220 286.1 1.3 613 6222 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2715 - - - - - - - - 26.70 26.79 26.77
6340 285.0 0.5 625 6342 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2715 - - - - - - - - 26.77 26.79 26.85
6460 283.2 1.9 637 6462 done -0.16 - - 2526 - - - 1781 - 16.1 - - 2715 - - - - - - - - 26.77 26.77 26.81
6558 end loiter: LOITER_COMPLETE
6558 begin climb
6560 281.8 - 647 6744 roll 0.80 0.95 0.131 2840 330.5 1.05 0.046 1136 -614.3 116.8 170.52 0.610 2311 -2.4 0.111 - - - - - - 26.28 25.25 24.74
6801 266.2 9.8 693 6805 done 0.80 - - 2836 - 1.02 0.044 1794 645.1 123.0 - - 2300 - - - - - - - - 25.73 25.73 25.72
6933 252.8 10.5 707 6935 done 0.80 - - 2836 - - - 1794 - 123.0 - - 2297 - - - - - - - - 26.09 26.15 26.15
7053 240.4 10.5 719 7055 done 0.80 - - 2836 - - - 1794 - 123.0 - - 2297 - - - - - - - - 26.25 26.31 26.29
7173 228.1 10.0 731 7177 roll 0.81 - - 2831 - 1.05 0.044 2492 664.8 125.0 - - 2296 - - - - - - - - 26.32 26.21 26.40
7237 221.6 10.4 743 7241 done 0.81 - - 2834 - 0.98 0.038 1837 -668.4 125.0 - - 2294 - - - - - - - - 26.29 26.27 26.33
7370 209.1 9.5 757 7401 roll 0.82 - - 2840 - 1.15 0.047 1111 -631.3 136.5 22.00 0.652 2238 -2.5 0.083 - - - - - - 26.38 25.98 25.44
7425 203.6 9.6 767 7447 done 0.83 - - 2837 - 1.05 0.044 1796 652.4 145.8 13.05 0.703 2199 -3.0 0.088 - - - - - - 26.13 26.08 25.33
7568 190.0 9.5 783 7589 roll 0.84 0.10 0.216 2854 170.0 1.02 0.042 2493 683.3 156.0 13.93 0.702 2157 -3.0 0.083 - - - - - - 25.89 25.65 25.28
7677 178.2 10.0 803 7681 done 0.85 - - 2857 - 1.05 0.038 1798 -661.9 158.4 - - 2152 - - - - - - - - 26.14 26.10 26.16
7809 164.4 10.4 817 7813 roll 0.85 - - 2862 - 1.08 0.047 1102 -644.4 158.4 - - 2151 - - - - - - - - 26.32 26.19 26.37
7842 160.9 10.2 823 7846 done 0.85 - - 2859 - 1.08 0.037 1801 647.2 158.4 - - 2151 - - - - - - - - 26.27 26.25 26.34
7975 146.4 11.1 837 7982 done 0.85 - - 2858 - - - 1801 - 158.4 - - 2150 - - - - - - - - 26.44 26.49 26.48
8104 131.4 11.1 850 8108 roll 0.85 - - 2854 - 1.05 0.044 2505 670.5 158.4 - - 2149 - - - - - - - - 26.41 26.34 26.47
8159 125.2 10.5 861 8167 done 0.85 - - 2857 - 1.05 0.037 1800 -671.4 158.4 - - 2149 - - - - - - - - 26.46 26.40 26.45
8289 111.8 11.5 874 8297 done 0.85 - - 2857 - - - 1801 - 158.4 - - 2149 - - - - - - - - 26.53 26.53 26.54
8419 97.1 9.4 889 8434 roll 0.86 - - 2863 - 1.12 0.056 1094 -631.2 171.8 11.75 0.662 2098 -4.3 0.064 - - - - - - 26.57 26.20 25.62
8483 89.8 12.0 900 8491 done 0.86 - - 2859 - 1.08 0.036 1800 653.7 171.8 - - 2091 - - - - - - - - 26.37 26.35 26.39
8616 76.0 10.3 925 8624 roll 0.86 - - 2862 - 1.08 0.050 1108 -640.7 171.8 - - 2090 - - - - - - - - 26.34 26.36 26.41
8632 74.3 10.0 927 8639 done 0.87 - - 2859 - 1.05 0.037 1798 657.1 174.4 - - 2090 - - - - - - - - 26.44 26.40 26.46
8764 61.2 10.0 952 8772 roll 0.87 - - 2863 - 1.08 0.047 1108 -638.9 177.7 - - 2088 - - - - - - - - 26.50 26.40 26.56
8903 46.4 9.9 978 8912 done 0.88 - - 2859 - 1.05 0.037 1799 658.1 181.9 3.55 0.605 2057 -8.7 0.068 - - - - - - 26.49 26.13 25.27
9039 35.6 6.8 1003 9145 roll 0.94 0.10 0.154 2891 320.0 1.15 0.051 1108 -600.9 238.8 101.03 0.520 1825 -2.3 0.016 - - - - - - 26.31 25.49 25.03
9180 23.0 9.5 1023 9188 done 0.96 - - 2888 - 1.08 0.035 1796 637.0 249.3 3.08 0.462 1782 -14.0 0.070 - - - - - - 25.84 25.79 24.90
9315 9.7 11.0 1048 9324 roll 0.96 - - 2891 - 1.10 0.054 1097 -635.5 249.3 - - 1783 - - - - - - - - 26.10 25.98 26.16
9395 end climb: SURFACE_DEPTH_REACHED
9395 begin surface coast
9408 end surface coast: CONTROL_FINISHED_OK
9408 begin surface
SM 0.47 - - - - -7.41 7.62 0.063 162 21.3 1.42 0.030 2006 1049.3 551.92 - - 550 - - - - - - - -