WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 167 * Raw log
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• Previous call tries 1 • 26.83 of 127.50 AH used of 24V (78.96% remains)
• Previous NAKs 0, Timeouts 0 • 14.67 of 100.00 AH used of 10V (85.33% remains)
• Surface angle -61.0 deg, depth 0.51 m • Intended pitch -18.4 deg, speed -10.145 cm/s
• VBD pumped to 551.92 (SM_CC=603.25)
• GPS1 time: 22 s • bottom range 21.7 m at 222.4 m, depth 244 m (299 m grid)
• 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
4 end surface: CONTROL_FINISHED_OK
4 begin dive
7 - - - 115 VBD -0.80 - - 166 - - - 1996 - -116.8 -106.10 0.004 3106 - - - - - - - - 26.27 - 26.34
118 4.7 -9.9 15 136 roll -0.80 8.43 0.210 2326 256.2 1.10 0.056 1271 -659.1 -116.8 -3.40 0.021 3280 -51.2 1.147 - - - - - - 25.69 24.58 25.84
367 49.7 -14.2 62 375 done -0.80 - - 2322 - 1.10 0.031 1998 660.9 -116.8 - - 3283 - - - - - - - - 26.39 26.36 26.42
505 68.3 -13.3 87 513 roll -0.80 - - 2317 - 1.02 0.038 2695 683.3 -116.8 - - 3284 - - - - - - - - 26.70 26.42 26.74
556 74.4 -12.1 96 564 done -0.80 - - 2319 - 1.02 0.025 1977 -703.9 -116.8 - - 3284 - - - - - - - - 26.53 26.50 26.54
693 89.5 -10.4 121 700 roll -0.80 - - 2320 - 0.98 0.034 1314 -676.5 -116.8 - - 3285 - - - - - - - - 26.77 26.50 26.83
899 111.9 -10.8 160 908 done -0.80 - - 2317 - 1.02 0.031 2000 672.5 -116.8 - - 3285 - - - - - - - - 26.61 26.58 26.63
1028 125.7 -11.1 173 1033 roll -0.80 - - 2320 - 1.02 0.033 1311 -675.5 -116.8 - - 3285 - - - - - - - - 26.87 26.59 26.93
1151 140.2 -11.7 196 1160 done -0.80 - - 2317 - 1.02 0.030 2004 679.4 -116.8 - - 3285 - - - - - - - - 26.67 26.65 26.70
1279 154.6 -11.2 209 1287 done -0.80 - - 2317 - - - 2004 - -116.8 - - 3285 - - - - - - - - 26.93 26.99 26.98
1411 168.9 -10.8 222 1415 roll -0.80 - - 2320 - 1.02 0.032 1311 -679.4 -116.8 - - 3285 - - - - - - - - 26.95 26.67 27.01
1467 175.1 -11.0 232 1471 done -0.80 - - 2317 - 1.02 0.031 1999 674.5 -116.8 - - 3285 - - - - - - - - 26.73 26.70 26.75
1599 189.5 -10.5 246 1601 done -0.80 - - 2317 - - - 2000 - -116.8 - - 3285 - - - - - - - - 26.96 27.04 27.03
1720 200.8 -8.6 258 1724 roll -0.80 - - 2312 - 1.02 0.037 2705 691.2 -116.8 - - 3284 - - - - - - - - 26.99 26.70 27.05
1757 203.8 -7.3 265 1765 done -0.80 0.03 0.221 2322 333.3 1.00 0.027 1992 -713.0 -116.8 - - 3284 - - - - - - - - 26.55 26.76 26.58
1886 213.4 -7.2 278 1889 roll -0.80 - - 2318 - 1.05 0.038 2700 674.3 -116.8 - - 3284 - - - - - - - - 27.01 26.70 27.06
2007 end dive: BOTTOM_OBSTACLE_DETECTED
2007 begin apogee
2013 224.6 -11.2 301 2203 done -0.18 0.65 0.149 2522 313.8 - - 1809 - - 185.60 0.578 2799 -2.6 0.102 - - - - - - 26.30 25.27 24.76
2204 end apogee: CONTROL_FINISHED_OK
2204 begin climb
2206 233.3 - 320 2406 roll 0.80 1.02 0.124 2829 301.0 1.05 0.034 2490 648.6 116.8 185.45 0.556 2308 -2.6 0.111 - - - - - - 25.29 24.91 24.58
2571 215.6 8.8 385 2604 done 0.83 0.03 0.174 2840 366.7 1.02 0.029 1794 -682.4 140.3 27.35 0.591 2228 -2.9 0.107 - - - - - - 25.79 25.95 24.98
2733 196.8 11.3 404 2737 roll 0.83 - - 2836 - 1.08 0.037 2490 644.4 140.3 - - 2208 - - - - - - - - 26.26 26.01 26.32
2852 183.3 11.4 426 2856 done 0.83 - - 2840 - 1.00 0.032 1814 -676.0 140.3 - - 2206 - - - - - - - - 26.24 26.21 26.26
2984 169.1 10.3 440 2992 done 0.83 - - 2840 - - - 1813 - 140.3 - - 2206 - - - - - - - - 26.55 26.62 26.61
3116 155.9 9.8 453 3121 roll 0.83 - - 2845 - 1.08 0.041 1107 -653.7 145.8 - - 2206 - - - - - - - - 26.64 26.38 26.67
3182 148.7 10.4 466 3190 done 0.83 - - 2842 - 1.05 0.031 1799 659.0 145.8 - - 2206 - - - - - - - - 26.46 26.44 26.48
3311 136.1 9.8 479 3321 done 0.84 - - 2842 - - - 1799 - 150.9 2.72 0.600 2185 -7.7 0.175 - - - - - - 26.74 25.66 24.89
3442 122.6 10.5 492 3447 roll 0.84 - - 2845 - 1.08 0.040 1099 -648.1 150.9 - - 2189 - - - - - - - - 26.76 26.48 26.82
3476 118.7 11.1 498 3479 done 0.84 - - 2841 - 1.05 0.031 1797 664.8 150.9 - - 2189 - - - - - - - - 26.55 26.52 26.58
3608 104.1 11.1 512 3611 roll 0.84 - - 2845 - 1.05 0.041 1113 -651.4 150.9 - - 2188 - - - - - - - - 26.82 26.52 26.86
3651 99.2 11.6 520 3659 done 0.84 - - 2842 - 1.02 0.029 1801 674.5 150.9 - - 2188 - - - - - - - - 26.61 26.56 26.62
3788 84.1 10.8 545 3797 roll 0.84 - - 2845 - 1.05 0.040 1112 -656.2 150.9 - - 2189 - - - - - - - - 26.86 26.57 26.91
3885 73.8 11.3 563 3893 done 0.84 - - 2842 - 1.02 0.029 1802 676.5 150.9 - - 2189 - - - - - - - - 26.67 26.64 26.70
4025 59.8 9.3 588 4053 done 0.86 - - 2841 - - - 1802 - 165.3 23.17 0.569 2119 -3.0 0.032 - - - - - - 26.91 26.01 25.66
4181 48.0 7.1 616 4267 roll 0.92 0.15 0.166 2882 273.3 1.00 0.033 2489 687.0 216.8 77.88 0.509 1911 -2.7 0.025 - - - - - - 26.26 25.51 25.17
4314 36.1 10.3 636 4322 done 0.92 - - 2886 - 1.02 0.030 1808 -667.6 216.8 - - 1893 - - - - - - - - 26.00 25.96 26.01
4447 23.0 9.6 661 4455 roll 0.93 - - 2890 - 1.08 0.041 1105 -650.9 225.9 - - 1890 - - - - - - - - 26.41 26.15 26.46
4689 7.0 3.0 707 4787 VBD 1.07 0.10 0.093 2925 350.0 1.05 0.031 1803 664.8 347.7 92.68 0.486 1679 -2.3 0.003 - - - - - - 26.21 26.39 26.27
4788 end climb: SURFACE_DEPTH_REACHED
4788 begin surface coast
4816 end surface coast: CONTROL_FINISHED_OK
4816 begin surface
SM 0.58 - - - - -7.40 7.75 0.057 161 20.7 0.28 0.057 1997 -33217.9 551.92 - - 550 - - - - - - - -