WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 126 * Raw log
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• Previous call tries 1 • 21.64 of 127.50 AH used of 24V (83.03% remains)
• Previous NAKs 0, Timeouts 0 • 12.03 of 100.00 AH used of 10V (87.97% remains)
• Surface angle -63.0 deg, depth 0.45 m • Intended pitch -18.4 deg, speed -10.145 cm/s
• VBD pumped to 551.92 (SM_CC=603.25)
• GPS1 time: 7 s • bottom range 36.1 m at 245.0 m, depth 281 m (263 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
25 - - - 132 VBD -0.80 - - 180 - - - 1997 - -116.8 -104.68 0.011 2999 - - - - - - - - 26.12 - 26.17
135 3.8 -7.0 15 159 roll -0.80 8.20 0.221 2316 260.5 1.08 0.073 2705 655.6 -116.8 -6.00 0.020 3279 -46.7 0.913 - - - - - - 25.78 24.67 25.94
166 12.7 -25.5 19 174 done -0.80 - - 2315 - 1.05 0.033 1985 -685.7 -116.8 - - 3280 - - - - - - - - 26.22 26.19 26.22
301 35.2 -17.5 44 310 roll -0.80 - - 2316 - 1.00 0.039 1314 -671.0 -116.8 - - 3281 - - - - - - - - 26.36 26.27 26.42
470 59.2 -13.0 76 479 done -0.80 0.03 0.248 2318 - 1.05 0.036 2007 660.0 -116.8 - - 3282 - - - - - - - - 26.17 26.37 26.22
606 78.0 -14.4 101 614 roll -0.80 - - 2314 - 1.02 0.044 2700 679.4 -116.8 - - 3282 - - - - - - - - 26.47 26.40 26.53
786 102.5 -12.8 135 789 done -0.80 - - 2314 - 1.00 0.032 1999 -701.0 -116.8 - - 3283 - - - - - - - - 26.52 26.50 26.52
918 119.0 -12.4 149 923 roll -0.80 - - 2318 - 1.00 0.038 1320 -679.0 -116.8 - - 3283 - - - - - - - - 26.60 26.48 26.66
1018 130.9 -11.5 167 1022 done -0.80 - - 2315 - 1.02 0.037 2003 669.6 -116.8 - - 3283 - - - - - - - - 26.55 26.51 26.57
1150 145.4 -10.6 181 1158 done -0.80 - - 2315 - - - 2004 - -116.8 - - 3283 - - - - - - - - 26.63 26.70 26.69
1282 159.4 -10.8 194 1285 roll -0.80 - - 2318 - 1.02 0.039 1319 -671.6 -116.8 - - 3283 - - - - - - - - 26.66 26.54 26.70
1387 171.3 -11.2 214 1390 done -0.80 - - 2315 - 1.02 0.036 2001 668.6 -116.8 - - 3283 - - - - - - - - 26.60 26.56 26.62
1518 187.4 -12.8 228 1523 roll -0.80 - - 2310 - 1.02 0.050 2697 682.4 -116.8 - - 3283 - - - - - - - - 25.45 26.20 25.79
1650 204.5 -13.3 253 1659 done -0.80 0.03 0.222 2320 333.3 1.00 0.031 1990 -707.0 -116.8 - - 3283 - - - - - - - - 26.41 26.60 26.49
1777 220.2 -11.8 266 1780 roll -0.80 - - 2326 - 0.98 0.040 1328 -675.5 -116.8 - - 3283 - - - - - - - - 26.70 26.58 26.74
1927 237.5 -11.6 295 1935 done -0.80 - - 2322 - 1.02 0.103 2004 662.7 -116.8 - - 3282 - - - - - - - - 26.35 26.20 26.45
2054 251.7 -11.1 308 2058 roll -0.80 - - 2325 - 1.02 0.047 1321 -669.6 -116.8 - - 3282 - - - - - - - - 26.70 26.58 26.80
2140 end dive: BOTTOM_OBSTACLE_DETECTED
2140 begin apogee
2145 261.5 -11.0 325 2273 done -0.18 0.68 0.159 2522 289.7 - - 1811 - - 116.55 0.975 2801 -4.1 0.114 - - - - 1 - 26.22 24.94 24.16
2278 end apogee: CONTROL_FINISHED_OK
2278 begin loiter
2403 268.1 -1.2 350 2423 done -0.17 - - 2523 - - - 1810 - 9.1 17.08 0.685 2762 -2.3 0.092 - - - - - - 25.91 25.49 24.98
2543 268.6 -0.1 364 2545 done -0.17 - - 2523 - - - 1810 - 9.7 - - 2749 - - - - - - - - 26.03 26.10 26.08
2663 268.7 - 376 2665 done -0.17 - - 2523 - - - 1810 - 9.7 - - 2748 - - - - - - - - 26.24 26.29 26.29
2783 268.3 0.3 388 2785 done -0.17 - - 2522 - - - 1810 - 9.7 - - 2746 - - - - - - - - 26.35 26.44 26.42
2903 267.8 0.3 400 2905 done -0.17 - - 2522 - - - 1810 - 9.7 - - 2746 - - - - - - - - 26.37 26.45 26.44
3023 267.3 0.4 412 3025 done -0.17 - - 2522 - - - 1810 - 9.7 - - 2746 - - - - - - - - 26.48 26.54 26.54
3143 266.7 0.6 424 3145 done -0.17 - - 2521 - - - 1810 - 9.7 - - 2745 - - - - - - - - 26.53 26.57 26.58
3263 265.9 0.7 436 3265 done -0.17 - - 2523 - - - 1810 - 9.7 - - 2745 - - - - - - - - 26.51 26.59 26.58
3386 264.8 1.0 448 3392 done -0.17 - - 2522 - - - 1810 - 9.7 - - 2745 - - - - - - - - 26.58 26.64 26.63
3513 263.8 0.6 461 3515 done -0.17 - - 2523 - - - 1810 - 9.7 - - 2745 - - - - - - - - 26.58 26.68 26.64
3633 263.0 0.5 473 3635 done -0.17 - - 2522 - - - 1810 - 9.7 - - 2744 - - - - - - - - 26.61 26.68 26.66
3754 262.6 0.2 485 3756 done -0.17 - - 2523 - - - 1809 - 9.7 - - 2744 - - - - - - - - 26.65 26.72 26.71
3873 262.4 0.1 497 3875 done -0.17 - - 2522 - - - 1810 - 9.7 - - 2744 - - - - - - - - 26.63 26.71 26.69
3993 262.3 0.1 509 3995 done -0.17 - - 2523 - - - 1810 - 9.7 - - 2744 - - - - - - - - 26.67 26.72 26.71
4114 262.3 0.1 521 4116 done -0.17 - - 2523 - - - 1810 - 9.7 - - 2744 - - - - - - - - 26.69 26.76 26.75
4234 262.5 -0.4 533 4236 done -0.16 - - 2522 - - - 1810 - 12.6 - - 2743 - - - - - - - - 26.70 26.77 26.75
4354 263.2 -0.6 545 4356 done -0.16 - - 2522 - - - 1810 - 17.4 - - 2743 - - - - - - - - 26.72 26.78 26.77
4474 263.7 -0.3 557 4483 done -0.16 - - 2523 - - - 1810 - 19.4 4.40 0.917 2723 -4.5 0.135 - - - - - - 26.66 26.31 25.62
4604 263.6 0.1 570 4606 done -0.16 - - 2522 - - - 1810 - 19.4 - - 2727 - - - - - - - - 26.65 26.72 26.71
4724 263.3 0.2 582 4726 done -0.16 - - 2523 - - - 1810 - 19.4 - - 2728 - - - - - - - - 26.68 26.74 26.73
4844 263.1 0.3 594 4846 done -0.16 - - 2523 - - - 1810 - 19.4 - - 2728 - - - - - - - - 26.69 26.75 26.74
4964 262.4 0.6 606 4966 done -0.16 - - 2523 - - - 1810 - 19.4 - - 2727 - - - - - - - - 26.70 26.77 26.75
5084 261.5 0.7 618 5086 done -0.16 - - 2522 - - - 1810 - 19.4 - - 2727 - - - - - - - - 26.69 26.77 26.77
5204 260.5 0.8 630 5206 done -0.16 - - 2523 - - - 1810 - 19.4 - - 2727 - - - - - - - - 26.72 26.71 26.73
5326 259.7 0.7 642 5333 done -0.16 - - 2523 - - - 1810 - 19.4 - - 2727 - - - - - - - - 26.72 26.72 26.73
5454 259.0 0.5 655 5456 done -0.16 - - 2523 - - - 1810 - 19.4 - - 2727 - - - - - - - - 26.73 26.80 26.79
5574 258.6 0.4 667 5576 done -0.16 - - 2523 - - - 1810 - 19.4 - - 2727 - - - - - - - - 26.68 26.73 26.71
5694 257.9 0.6 679 5696 done -0.16 - - 2522 - - - 1810 - 19.4 - - 2727 - - - - - - - - 26.74 26.81 26.80
5814 257.2 0.7 691 5816 done -0.16 - - 2523 - - - 1810 - 19.4 - - 2727 - - - - - - - - 26.75 26.82 26.81
5872 end loiter: LOITER_COMPLETE
5872 begin climb
5874 256.7 - 697 6057 roll 0.80 0.95 0.125 2829 322.1 1.10 0.049 2492 620.0 116.8 173.82 0.582 2318 -2.4 0.107 - - - - - - 26.33 25.23 24.76
6209 229.3 10.6 761 6213 done 0.80 - - 2832 - 1.02 0.039 1821 -657.8 116.8 - - 2295 - - - - - - - - 25.91 25.87 25.95
6341 215.1 10.2 775 6345 roll 0.80 - - 2829 - 1.02 0.044 2485 651.0 116.8 - - 2295 - - - - - - - - 26.12 26.09 26.20
6367 212.3 10.6 780 6374 done 0.80 - - 2833 - 1.05 0.039 1791 -661.0 116.8 - - 2294 - - - - - - - - 26.18 26.14 26.20
6495 199.4 9.8 793 6499 roll 0.80 - - 2838 - 1.05 0.047 1108 -650.5 123.2 - - 2293 - - - - - - - - 26.35 26.22 26.41
6528 196.2 9.8 799 6540 done 0.81 - - 2834 - 1.05 0.036 1797 656.2 128.8 4.85 0.844 2277 -3.3 0.079 - - - - - - 26.30 26.27 25.39
6661 183.4 9.7 813 6682 roll 0.82 - - 2829 - 1.10 0.053 2506 644.5 136.5 14.68 0.689 2239 -2.6 0.071 - - - - - - 26.39 25.98 25.41
6737 175.6 9.7 827 6753 done 0.83 0.03 0.190 2840 366.7 1.08 0.037 1787 -665.7 144.1 9.10 0.750 2210 -3.2 0.077 - - - - - - 26.01 26.17 25.36
6883 160.8 10.2 843 6890 done 0.83 - - 2840 - - - 1787 - 144.1 - - 2205 - - - - - - - - 26.29 26.36 26.34
7011 146.9 10.9 856 7013 done 0.83 - - 2840 - - - 1787 - 144.1 - - 2204 - - - - - - - - 26.39 26.39 26.42
7133 133.4 11.4 868 7137 roll 0.83 - - 2836 - 1.08 0.042 2499 659.3 144.1 - - 2203 - - - - - - - - 26.39 26.32 26.46
7166 129.3 11.7 874 7170 done 0.83 - - 2839 - 1.02 0.046 1809 -676.5 144.1 - - 2203 - - - - - - - - 26.39 26.36 26.41
7298 114.9 10.6 888 7300 done 0.83 - - 2839 - - - 1809 - 144.1 - - 2203 - - - - - - - - 26.46 26.53 26.52
7420 101.1 12.0 900 7427 done 0.83 - - 2838 - - - 1809 - 144.1 - - 2202 - - - - - - - - 26.54 26.60 26.59
7550 85.9 11.7 924 7558 roll 0.83 - - 2836 - 1.02 0.047 2492 669.6 144.1 - - 2202 - - - - - - - - 26.55 26.34 26.57
7636 77.1 9.1 940 7660 done 0.85 - - 2839 - 1.02 0.039 1799 -679.4 161.7 17.35 0.602 2137 -3.7 0.049 - - - - - - 26.51 26.46 25.61
7788 64.7 7.5 967 7866 roll 0.90 0.12 0.169 2878 325.0 1.12 0.051 1106 -618.7 206.6 72.18 0.526 1953 -2.5 0.032 - - - - - - 26.14 25.63 25.11
8028 42.8 8.0 1009 8086 done 0.95 - - 2875 - 1.08 0.036 1805 647.2 243.3 51.03 0.513 1805 -2.9 0.025 - - - - - - 26.11 26.09 25.06
8211 26.7 9.3 1041 8228 roll 0.97 0.08 0.220 2897 275.0 1.15 0.045 1103 -610.4 257.8 11.35 0.549 1745 -5.3 0.026 - - - - - - 25.77 25.78 25.22
8308 16.8 11.0 1058 8316 done 0.97 - - 2894 - 1.08 0.037 1797 642.6 257.8 - - 1735 - - - - - - - - 26.08 26.06 26.11
8443 2.9 8.0 1083 8458 VBD 1.01 0.03 0.294 2904 333.3 - - 1797 - 294.3 13.07 0.517 1685 -3.8 0.002 - - - - - - 26.11 - 26.20
8459 end climb: SURFACE_DEPTH_REACHED
8459 begin surface coast
8486 end surface coast: CONTROL_FINISHED_OK
8486 begin surface
SM 0.40 - - - - -7.40 7.60 0.057 167 21.9 0.30 0.048 2025 -28350.0 551.92 0.03 2.982 550 18323.5 -0.251 - - - - - -