WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 56 * Raw log
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• Previous call tries 1 • 12.82 of 127.50 AH used of 24V (89.95% remains)
• Previous NAKs 0, Timeouts 0 • 7.24 of 100.00 AH used of 10V (92.76% remains)
• Surface angle -61.2 deg, depth 0.47 m • Intended pitch -17.2 deg, speed -9.524 cm/s
• VBD pumped to 551.92 (SM_CC=603.25)
• GPS1 time: 9 s
• GPS2 time: 2 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
22 begin dive
24 - - - 134 VBD -0.75 - - 178 - - - 2007 - -116.8 -106.53 0.010 3098 - - - - - - - - 26.08 - 26.15
136 4.3 -8.5 15 154 roll -0.75 8.38 0.221 2327 256.4 1.08 0.067 2718 658.3 -116.8 -3.60 0.043 3280 -50.6 0.510 - - - - - - 25.78 24.81 25.96
386 54.9 -12.5 62 393 done -0.75 - - 2331 - 1.08 0.095 1980 -683.3 -116.8 - - 3284 - - - - - - - - 26.36 26.35 26.40
518 70.2 -10.8 87 525 done -0.75 - - 2331 - - - 1978 - -116.8 - - 3284 - - - - - - - - 26.48 26.55 26.54
649 84.3 -11.7 112 657 roll -0.75 - - 2336 - 0.98 0.042 1319 -672.4 -116.8 - - 3285 - - - - - - - - 26.51 26.44 26.60
702 90.6 -12.0 121 709 done -0.75 - - 2333 - 1.05 0.037 2017 664.8 -116.8 - - 3285 - - - - - - - - 26.49 26.46 26.51
837 106.6 -12.3 141 840 roll -0.75 - - 2336 - 1.05 0.038 1317 -666.7 -116.8 - - 3285 - - - - - - - - 26.51 26.48 26.57
890 112.6 -10.3 151 894 done -0.75 - - 2333 - 1.02 0.037 2000 669.6 -116.8 - - 3285 - - - - - - - - 26.53 26.51 26.56
1022 126.7 -9.7 165 1027 roll -0.75 - - 2328 - 1.02 0.044 2700 686.3 -116.8 - - 3285 - - - - - - - - 26.60 26.48 26.63
1068 131.0 -9.9 173 1071 done -0.75 - - 2331 - 1.00 0.032 1997 -703.0 -116.8 - - 3285 - - - - - - - - 26.58 26.56 26.60
1202 143.8 -10.2 187 1205 roll -0.75 - - 2336 - 1.00 0.040 1319 -678.0 -116.8 - - 3285 - - - - - - - - 26.64 26.54 26.68
1310 156.3 -11.5 208 1319 done -0.75 - - 2332 - 1.02 0.037 2004 671.6 -116.8 - - 3285 - - - - - - - - 26.60 26.57 26.62
1440 171.2 -11.9 221 1448 done -0.75 - - 2332 - - - 2003 - -116.8 - - 3284 - - - - - - - - 26.68 26.73 26.73
1569 186.7 -11.7 234 1571 done -0.75 - - 2332 - - - 2003 - -116.8 - - 3284 - - - - - - - - 26.70 26.76 26.75
1689 end dive: TARGET_DEPTH_EXCEEDED
1689 begin apogee
1694 200.2 -11.1 246 1899 done -0.18 0.62 0.156 2523 308.1 - - 1780 - - 197.93 0.542 2797 -2.5 0.092 - - - - - - 26.33 25.26 24.82
1904 end apogee: CONTROL_FINISHED_OK
1904 begin loiter
2054 210.8 -1.5 279 2072 done -0.16 - - 2523 - - - 1780 - 11.6 11.07 0.688 2744 -4.8 0.148 - - - - - - 25.99 25.67 25.22
2193 211.0 0.6 293 2195 done -0.16 - - 2523 - - - 1780 - 11.6 - - 2737 - - - - - - - - 26.11 26.16 26.20
2313 209.7 1.3 305 2315 done -0.16 - - 2523 - - - 1780 - 11.6 - - 2736 - - - - - - - - 26.25 26.30 26.33
2434 207.9 1.5 317 2436 done -0.16 - - 2523 - - - 1780 - 11.6 - - 2736 - - - - - - - - 26.34 26.42 26.41
2553 205.8 1.8 329 2555 done -0.16 - - 2523 - - - 1780 - 11.6 - - 2735 - - - - - - - - 26.21 26.38 26.34
2674 203.7 1.7 341 2676 done -0.18 - - 2523 - - - 1780 - -2.0 - - 2735 - - - - - - - - 26.49 26.56 26.55
2794 201.8 1.4 353 2796 done -0.19 - - 2523 - - - 1780 - -12.9 - - 2734 - - - - - - - - 26.54 26.60 26.60
2914 200.3 1.1 365 2916 done -0.20 - - 2523 - - - 1780 - -21.6 - - 2734 - - - - - - - - 26.57 26.65 26.64
3034 199.2 1.0 377 3036 done -0.21 - - 2523 - - - 1779 - -29.0 - - 2734 - - - - - - - - 26.61 26.67 26.65
3154 198.0 0.9 389 3156 done -0.22 - - 2523 - - - 1780 - -36.1 - - 2733 - - - - - - - - 26.63 26.70 26.70
3274 197.1 0.8 401 3276 done -0.23 - - 2523 - - - 1780 - -42.0 - - 2733 - - - - - - - - 26.65 26.72 26.71
3394 196.5 0.4 413 3396 done -0.23 - - 2523 - - - 1780 - -45.0 - - 2733 - - - - - - - - 25.61 26.29 26.04
3514 196.2 0.2 425 3516 done -0.23 - - 2523 - - - 1780 - -46.3 - - 2732 - - - - - - - - 25.72 25.91 25.70
3634 196.1 0.1 437 3636 done -0.23 - - 2523 - - - 1780 - -47.0 - - 2732 - - - - - - - - 25.85 25.70 25.74
3702 end loiter: LOITER_COMPLETE
3702 begin climb
3704 195.8 - 444 3878 roll 0.75 0.90 0.122 2824 334.4 1.05 0.112 1128 -621.0 116.8 164.45 0.562 2318 -2.5 0.089 - - - - - - 26.44 25.17 24.84
3988 177.7 9.8 499 3996 done 0.75 - - 2821 - 1.02 0.036 1791 650.0 116.8 - - 2299 - - - - - - - - 25.91 25.88 25.94
4119 166.2 8.9 512 4131 roll 0.77 - - 2815 - 1.05 0.040 2503 678.1 127.4 4.20 0.848 2281 -4.3 0.085 - - - - - - 26.13 25.74 25.29
4186 159.8 9.5 524 4190 done 0.77 - - 2819 - 1.02 0.037 1816 -673.5 128.0 - - 2281 - - - - - - - - 26.14 26.14 26.15
4319 148.1 9.3 538 4329 roll 0.77 - - 2825 - 1.10 0.047 1110 -641.8 131.8 5.22 0.851 2265 -3.1 0.054 - - - - - - 26.32 26.03 25.44
4397 140.4 10.0 552 4401 done 0.77 - - 2821 - 1.05 0.037 1796 653.3 131.8 - - 2264 - - - - - - - - 26.24 26.20 26.26
4530 126.9 10.0 566 4537 done 0.77 - - 2822 - - - 1796 - 131.8 - - 2263 - - - - - - - - 26.39 26.46 26.45
4661 113.5 10.1 579 4668 done 0.77 - - 2821 - - - 1796 - 131.8 - - 2263 - - - - - - - - 26.43 26.44 26.44
4789 101.3 9.1 592 4799 done 0.78 - - 2821 - - - 1796 - 139.4 3.75 0.773 2231 -8.5 0.113 - - - - - - 26.48 25.84 25.22
4924 89.0 8.6 616 4948 roll 0.80 0.10 0.179 2847 260.0 1.10 0.047 1098 -634.5 155.7 18.67 0.602 2163 -3.6 0.054 - - - - - - 26.23 26.13 25.57
5011 81.2 9.0 631 5020 done 0.81 - - 2843 - 1.08 0.036 1801 650.9 165.2 3.38 0.659 2126 -10.9 0.136 - - - - - - 26.29 26.27 25.19
5149 68.3 10.2 656 5156 roll 0.81 - - 2838 - 1.02 0.044 2493 678.4 165.2 - - 2125 - - - - - - - - 26.41 26.30 26.46
5205 62.9 9.3 666 5212 done 0.82 - - 2841 - 1.02 0.037 1802 -677.5 169.0 - - 2124 - - - - - - - - 26.39 26.36 26.40
5339 51.5 7.7 691 5402 done 0.86 0.08 0.210 2857 200.0 - - 1801 - 202.6 56.62 0.529 1969 -2.7 0.027 - - - - - - 26.25 25.60 25.30
5527 34.5 9.9 724 5534 done 0.86 - - 2856 - - - 1802 - 202.6 - - 1960 - - - - - - - - 26.20 26.26 26.25
5660 20.7 11.2 749 5668 roll 0.86 - - 2862 - 1.08 0.048 1104 -646.3 202.6 - - 1957 - - - - - - - - 26.33 26.21 26.39
5901 4.9 4.2 795 5953 VBD 0.97 0.10 0.119 2894 320.0 1.05 0.040 1801 663.8 299.2 47.35 0.503 1832 -2.6 0.003 - - - - - - 26.20 26.36 26.32
5954 end climb: SURFACE_DEPTH_REACHED
5954 begin surface coast
5980 end surface coast: CONTROL_FINISHED_OK
5980 begin surface
SM 0.38 - - - - -7.39 7.57 0.057 191 25.2 0.28 0.050 2010 -33171.4 551.92 -0.03 0.763 550 - - - - - - - -