WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 54 * Raw log
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• Previous call tries 1 • 12.51 of 127.50 AH used of 24V (90.19% remains)
• Previous NAKs 0, Timeouts 0 • 7.09 of 100.00 AH used of 10V (92.91% remains)
• Surface angle -64.2 deg, depth 0.47 m • Intended pitch -18.4 deg, speed -10.145 cm/s
VBD pumped to 575.72 (SM_CC=603.25)
• GPS1 time: 13 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
22 end surface: CONTROL_FINISHED_OK
23 begin dive
25 - - - 133 VBD -0.80 - - 176 - - - 2012 - -116.8 -105.03 0.010 3005 - - - - - - - - 26.09 - 26.15
136 3.7 -6.8 15 156 roll -0.80 8.32 0.223 2320 257.7 1.05 0.076 2689 644.8 -116.8 -7.72 0.024 3376 -48.1 0.762 - - - - - - 25.80 24.79 26.03
224 22.3 -15.3 30 232 done -0.80 - - 2320 - 1.02 0.032 1978 -697.1 -116.8 - - 3380 - - - - - - - - 26.27 26.25 26.29
362 44.4 -15.4 55 369 roll -0.80 - - 2320 - 0.98 0.040 1321 -670.4 -116.8 - - 3379 - - - - - - - - 26.41 26.30 26.46
488 62.3 -13.2 79 495 done -0.80 - - 2316 - 1.00 0.035 1983 662.0 -116.8 - - 3381 - - - - - - - - 26.41 26.39 26.44
621 80.7 -14.3 104 629 roll -0.80 - - 2319 - 1.00 0.038 1316 -667.0 -116.8 - - 3381 - - - - - - - - 26.51 26.41 26.56
663 86.5 -14.4 111 670 done -0.80 - - 2316 - 1.02 0.037 1996 666.7 -116.8 - - 3381 - - - - - - - - 26.48 26.45 26.48
803 106.0 -13.2 133 807 roll -0.80 - - 2310 - 1.02 0.052 2691 681.4 -116.8 - - 3382 - - - - - - - - 26.53 26.41 26.58
891 117.8 -13.0 149 895 done -0.80 - - 2313 - 0.98 0.032 2005 -700.0 -116.8 - - 3381 - - - - - - - - 26.55 26.53 26.57
1025 134.7 -12.4 163 1030 roll -0.80 0.08 0.252 2331 225.0 1.00 0.040 1321 -684.0 -116.8 - - 3381 - - - - - - - - 26.32 26.50 26.45
1111 144.8 -11.4 179 1114 done -0.80 - - 2328 - 1.02 0.038 2006 671.6 -116.8 - - 3381 - - - - - - - - 26.58 26.55 26.60
1243 159.6 -11.0 193 1247 roll -0.80 - - 2323 - 1.02 0.044 2703 683.3 -116.8 - - 3381 - - - - - - - - 26.66 26.55 26.72
1286 164.4 -11.2 201 1290 done -0.80 - - 2326 - 1.00 0.031 1998 -705.0 -116.8 - - 3381 - - - - - - - - 26.61 26.60 26.64
1418 179.3 -11.4 215 1422 roll -0.80 - - 2323 - 1.02 0.044 2689 677.5 -116.8 - - 3381 - - - - - - - - 26.69 26.56 26.74
1481 186.3 -10.9 227 1485 done -0.80 - - 2326 - 0.98 0.032 2001 -702.0 -116.8 - - 3381 - - - - - - - - 26.63 26.61 26.64
1614 200.6 -10.6 241 1617 roll -0.80 - - 2331 - 1.00 0.040 1321 -680.0 -116.8 - - 3380 - - - - - - - - 26.70 26.59 26.75
1659 205.8 -10.7 250 1667 done -0.80 - - 2328 - 1.02 0.037 2006 671.6 -116.8 - - 3380 - - - - - - - - 26.61 26.63 26.68
1787 219.5 -10.9 263 1791 roll -0.80 - - 2323 - 1.00 0.047 2690 684.0 -116.8 - - 3379 - - - - - - - - 26.72 26.55 26.77
1830 224.2 -11.0 271 1834 done -0.80 - - 2323 - 0.98 0.033 2003 -701.0 -116.8 - - 3380 - - - - - - - - 26.67 26.65 26.69
1962 238.9 -11.3 285 1966 roll -0.80 - - 2323 - 1.00 0.041 1324 -679.0 -116.8 - - 3379 - - - - - - - - 26.73 26.56 26.74
2017 245.5 -11.1 296 2026 done -0.80 - - 2319 - 1.02 0.036 2007 669.6 -116.8 - - 3379 - - - - - - - - 26.66 26.63 26.68
2146 260.3 -12.0 309 2151 roll -0.80 - - 2313 - 1.02 0.045 2705 684.3 -116.8 - - 3379 - - - - - - - - 26.71 26.62 26.77
2182 264.5 -12.2 315 2185 done -0.80 - - 2316 - 1.00 0.032 2000 -705.0 -116.8 - - 3379 - - - - - - - - 26.69 26.67 26.71
2314 279.2 -10.3 329 2318 roll -0.80 0.03 0.295 2327 366.7 1.00 0.041 1320 -680.0 -116.8 - - 3379 - - - - - - - - 26.60 26.63 26.65
2379 286.2 -10.7 341 2383 done -0.80 - - 2324 - 1.02 0.038 2006 672.5 -116.8 - - 3379 - - - - - - - - 26.69 26.65 26.70
2511 300.5 -11.1 355 2515 roll -0.80 - - 2319 - 1.00 0.044 2691 685.0 -116.8 - - 3378 - - - - - - - - 26.75 26.64 26.82
2584 308.9 -11.7 369 2587 done -0.80 - - 2322 - 0.98 0.032 2000 -705.1 -116.8 - - 3378 - - - - - - - - 26.71 26.69 26.73
2716 324.0 -11.5 377 2720 roll -0.80 - - 2324 - 1.00 0.044 1322 -678.0 -116.8 - - 3378 - - - - - - - - 26.74 26.59 26.76
2813 335.5 -11.5 396 2821 done -0.80 - - 2321 - 1.02 0.037 2006 670.6 -116.8 - - 3378 - - - - - - - - 26.70 26.65 26.70
2941 349.5 -11.3 403 2943 done -0.80 - - 2321 - - - 2006 - -116.8 - - 3378 - - - - - - - - 26.77 26.82 26.82
2959 end dive: TARGET_DEPTH_EXCEEDED
2959 begin apogee
2964 351.8 -11.4 404 3081 done -0.18 0.70 0.170 2526 292.9 - - 1775 - - 106.53 1.180 2902 -4.5 0.137 - - - - 1 - 26.35 24.87 24.08
3086 end apogee: CONTROL_FINISHED_OK
3086 begin loiter
3203 358.0 -0.9 416 3205 done -0.18 - - 2526 - - - 1775 - - - - 2904 - - - - - - - - 25.85 25.91 25.90
3321 359.6 -1.6 422 3345 done -0.16 - - 2526 - - - 1775 - 12.3 21.15 0.710 2847 -2.7 0.140 - - - - - - 26.12 25.63 25.15
3461 362.5 -1.9 429 3481 done -0.15 - - 2526 - - - 1775 - 26.9 17.60 0.731 2789 -3.3 0.168 - - - - - - 26.09 25.66 25.19
3601 364.9 -1.6 436 3621 done -0.13 0.08 0.207 2541 187.5 - - 1774 - 39.6 16.08 0.745 2737 -3.2 0.163 - - - - - - 25.86 25.70 25.21
3741 364.5 0.7 443 3743 done -0.13 - - 2540 - - - 1775 - 39.6 - - 2727 - - - - - - - - 26.14 26.21 26.20
3861 364.1 0.3 449 3863 done -0.13 - - 2540 - - - 1775 - 39.6 - - 2726 - - - - - - - - 26.28 26.34 26.33
3981 362.6 1.1 455 3983 done -0.13 - - 2540 - - - 1775 - 39.6 - - 2725 - - - - - - - - 26.37 26.44 26.43
4101 362.1 0.4 461 4103 done -0.13 - - 2540 - - - 1775 - 39.6 - - 2725 - - - - - - - - 26.44 26.50 26.49
4221 361.6 0.4 467 4223 done -0.13 - - 2541 - - - 1775 - 39.6 - - 2724 - - - - - - - - 26.48 26.55 26.54
4341 360.8 1.5 473 4343 done -0.13 - - 2540 - - - 1775 - 39.6 - - 2724 - - - - - - - - 26.53 26.60 26.59
4461 359.4 1.2 479 4463 done -0.13 - - 2540 - - - 1775 - 39.6 - - 2723 - - - - - - - - 26.57 26.64 26.63
4581 357.2 2.2 485 4583 done -0.13 - - 2540 - - - 1775 - 39.6 - - 2723 - - - - - - - - 26.59 26.66 26.65
4701 354.1 2.6 491 4703 done -0.13 - - 2541 - - - 1775 - 39.6 - - 2723 - - - - - - - - 26.62 26.69 26.68
4821 351.8 1.8 497 4823 done -0.13 - - 2540 - - - 1775 - 39.6 - - 2723 - - - - - - - - 26.64 26.71 26.70
4941 349.1 2.2 503 4943 done -0.15 - - 2540 - - - 1775 - 22.2 - - 2723 - - - - - - - - 26.59 26.66 26.65
5061 346.3 2.3 509 5063 done -0.17 - - 2541 - - - 1775 - 4.2 - - 2723 - - - - - - - - 26.68 26.74 26.73
5181 343.4 2.5 515 5183 done -0.20 - - 2540 - - - 1775 - -15.6 - - 2723 - - - - - - - - 26.70 26.76 26.75
5301 340.4 2.4 521 5303 done -0.22 - - 2540 - - - 1775 - -34.1 - - 2723 - - - - - - - - 26.71 26.77 26.77
5421 337.6 2.4 527 5423 done -0.24 - - 2540 - - - 1775 - -52.5 - - 2722 - - - - - - - - 26.62 26.72 26.70
5541 334.9 2.3 533 5543 done -0.26 - - 2541 - - - 1775 - -70.1 - - 2722 - - - - - - - - 26.73 26.79 26.79
5661 332.4 2.1 539 5663 done -0.28 - - 2540 - - - 1775 - -86.4 - - 2722 - - - - - - - - 26.74 26.79 26.79
5781 329.9 2.1 545 5784 done -0.30 0.10 0.151 2508 -320.0 - - 1775 - -102.9 - - 2722 - - - - - - - - 26.51 26.67 26.64
5901 326.9 2.5 551 5903 done -0.33 - - 2507 - - - 1775 - -122.7 - - 2721 - - - - - - - - 26.74 26.82 26.82
6021 323.4 2.9 557 6023 done -0.35 - - 2508 - - - 1775 - -145.0 - - 2721 - - - - - - - - 26.76 26.79 26.82
6141 320.2 2.6 563 6143 done -0.38 - - 2508 - - - 1775 - -165.4 - - 2721 - - - - - - - - 26.76 26.79 26.82
6261 317.0 2.6 569 6264 done -0.40 0.10 0.138 2480 -280.0 - - 1775 - -185.5 - - 2721 - - - - - - - - 26.54 26.70 26.66
6381 314.2 2.3 575 6383 done -0.42 - - 2480 - - - 1776 - -203.4 - - 2721 - - - - - - - - 26.77 26.77 26.82
6501 311.9 1.8 581 6503 done -0.44 - - 2480 - - - 1775 - -217.7 - - 2721 - - - - - - - - 26.77 26.79 26.83
6621 310.4 1.1 587 6623 done -0.45 - - 2480 - - - 1775 - -226.2 - - 2721 - - - - - - - - 26.70 26.79 26.78
6679 end loiter: LOITER_COMPLETE
6679 begin climb
6681 310.0 - 590 6824 roll 0.80 1.08 0.119 2837 330.6 1.05 0.046 1135 -609.5 116.8 134.80 0.615 2422 -2.2 0.115 - - - - - - 26.48 25.35 24.86
6855 301.8 7.8 624 6928 done 0.84 0.05 0.220 2846 180.0 1.02 0.041 1790 642.2 156.0 63.35 0.603 2259 -2.6 0.132 - - - - - - 25.42 25.58 24.77
7049 282.5 11.1 650 7053 roll 0.84 - - 2842 - 1.08 0.044 2496 653.7 156.0 - - 2250 - - - - - - - - 25.89 25.82 25.90
7124 274.0 11.2 664 7128 done 0.84 - - 2846 - 1.02 0.044 1817 -665.7 156.0 - - 2248 - - - - - - - - 26.01 25.97 26.03
7258 259.2 11.1 678 7261 roll 0.84 - - 2851 - 1.10 0.047 1108 -644.5 156.0 - - 2248 - - - - - - - - 26.23 26.12 26.28
7290 255.4 11.0 684 7294 done 0.84 - - 2848 - 1.08 0.037 1808 648.1 156.0 - - 2248 - - - - - - - - 26.20 26.16 26.22
7422 240.8 11.0 698 7426 roll 0.84 - - 2842 - 1.05 0.113 2502 661.0 156.0 - - 2247 - - - - - - - - 26.36 26.20 26.40
7475 234.8 11.1 708 7479 done 0.84 - - 2846 - 1.05 0.038 1798 -670.5 156.0 - - 2246 - - - - - - - - 26.32 26.29 26.35
7609 220.2 11.3 722 7616 done 0.84 - - 2846 - - - 1798 - 156.0 - - 2245 - - - - - - - - 26.44 26.42 26.45
7737 205.1 11.4 735 7742 roll 0.84 - - 2842 - 1.08 0.046 2501 650.9 156.0 - - 2245 - - - - - - - - 26.51 26.36 26.52
7800 197.5 12.2 747 7805 done 0.84 - - 2846 - 1.05 0.040 1795 -672.4 156.0 - - 2244 - - - - - - - - 26.46 26.43 26.48
7933 181.2 12.5 761 7935 done 0.84 - - 2845 - - - 1795 - 156.0 - - 2244 - - - - - - - - 26.57 26.63 26.63
8053 166.6 11.7 773 8055 done 0.84 - - 2846 - - - 1795 - 156.0 - - 2244 - - - - - - - - 26.52 26.59 26.58
8173 152.5 11.7 785 8177 roll 0.84 - - 2843 - 1.05 0.046 2487 659.0 156.0 - - 2244 - - - - - - - - 26.62 26.46 26.65
8266 141.6 11.7 803 8271 done 0.84 - - 2846 - 1.02 0.104 1798 -675.5 156.0 - - 2244 - - - - - - - - 26.50 26.45 26.54
8399 125.1 13.0 817 8401 done 0.84 - - 2846 - - - 1798 - 156.0 - - 2244 - - - - - - - - 26.65 26.68 26.72
8519 110.0 12.5 829 8523 roll 0.84 - - 2851 - 1.08 0.050 1100 -646.3 156.0 - - 2244 - - - - - - - - 26.67 26.51 26.74
8553 105.5 12.2 836 8561 done 0.84 - - 2848 - 1.05 0.037 1797 663.8 156.0 - - 2244 - - - - - - - - 26.60 26.58 26.63
8682 90.7 11.7 857 8690 roll 0.84 - - 2842 - 1.05 0.046 2502 671.4 156.0 - - 2243 - - - - - - - - 26.66 26.55 26.73
8719 86.6 10.9 863 8727 done 0.84 - - 2846 - 1.05 0.039 1792 -676.2 156.0 - - 2243 - - - - - - - - 26.62 26.58 26.67
8855 73.7 9.3 888 8863 done 0.86 - - 2845 - - - 1791 - 169.7 4.68 0.721 2210 -7.1 0.074 - - - - - - 26.70 26.35 25.76
8988 61.2 9.2 913 9018 roll 0.88 0.08 0.200 2860 187.5 1.10 0.044 2494 639.1 186.1 23.67 0.580 2137 -3.1 0.033 - - - - - - 26.38 26.21 25.65
9041 56.3 9.2 921 9063 done 0.90 - - 2864 - 1.05 0.039 1792 -668.6 202.8 15.93 0.584 2071 -4.1 0.041 - - - - - - 26.33 26.30 25.53
9190 43.3 8.4 948 9240 roll 0.94 0.08 0.151 2882 225.0 1.05 0.041 2494 668.6 232.5 42.85 0.539 1945 -2.9 0.024 - - - - - - 26.16 25.60 25.29
9320 31.0 9.4 970 9328 done 0.95 - - 2885 - 1.05 0.038 1804 -657.1 245.5 4.95 0.581 1900 -9.1 0.050 - - - - - - 26.06 26.03 25.34
9455 18.3 9.9 995 9465 roll 0.96 - - 2890 - 1.12 0.049 1100 -628.6 250.3 2.50 0.405 1879 -8.4 0.039 - - - - - - 26.22 25.94 25.20
9687 end climb: SURFACE_DEPTH_REACHED
9687 begin surface coast
9703 end surface coast: CONTROL_FINISHED_OK
9703 begin surface
SM 0.45 - - - - -7.39 7.72 0.076 188 24.3 1.40 0.031 2001 -4813.6 575.72 -0.03 0.776 549 - - - - - - - -