WA coast Sep21 * SG204 * Dive index * Mission links * Dive 60 * Raw log
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• Previous call tries 1 • 7.74 of 97.50 AH used of 24V (92.06% remains)
• Previous NAKs 0, Timeouts 0 • 3.58 of 83.80 AH used of 10V (95.73% remains)
• Surface angle -60.7 deg, depth 0.48 m • Intended pitch -15.4 deg, speed -10.145 cm/s
• VBD pumped to 542.11 (SM_CC=541.92499)
• GPS1 time: 32 s • bottom range 8.3 m at 451.2 m, depth 460 m (463 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
25 - - - 140 VBD -0.74 - - 159 - - - 2028 - -155.7 -112.78 0.015 3171 - - - - - - - - 26.12 - 26.18
143 4.3 -9.5 16 167 roll -0.74 8.50 0.216 2336 256.1 1.05 0.076 2703 642.9 -155.7 -5.25 0.023 3438 -50.9 0.987 - - - - - - 25.48 24.33 25.68
399 49.0 -12.9 64 407 done -0.74 - - 2339 - 1.05 0.033 1980 -688.6 -155.7 - - 3441 - - - - - - - - 26.29 26.30 26.30
535 67.1 -11.8 89 543 roll -0.74 - - 2336 - 1.08 0.044 2692 659.3 -155.7 - - 3441 - - - - - - - - 26.43 26.30 26.48
744 90.4 -10.6 129 752 done -0.74 - - 2338 - 1.00 0.041 1998 -694.0 -155.7 - - 3442 - - - - - - - - 26.43 26.39 26.44
877 103.3 -9.9 151 880 roll -0.74 - - 2344 - 1.00 0.039 1323 -675.0 -155.7 - - 3442 - - - - - - - - 26.52 26.39 26.58
1023 118.0 -9.9 179 1026 done -0.74 - - 2341 - 1.02 0.037 2003 666.7 -155.7 - - 3442 - - - - - - - - 26.44 26.41 26.47
1157 131.5 -10.2 193 1165 done -0.74 - - 2341 - - - 2003 - -155.7 - - 3442 - - - - - - - - 26.53 26.60 26.59
1285 144.8 -10.3 206 1289 roll -0.74 - - 2344 - 1.02 0.038 1321 -668.6 -155.7 - - 3442 - - - - - - - - 26.56 26.43 26.63
1362 153.5 -11.3 220 1366 done -0.74 - - 2341 - 1.02 0.044 2001 666.7 -155.7 - - 3442 - - - - - - - - 26.47 26.45 26.50
1496 167.5 -10.5 234 1503 done -0.74 - - 2341 - - - 2001 - -155.7 - - 3441 - - - - - - - - 26.60 26.67 26.66
1624 180.6 -9.7 247 1632 done -0.74 - - 2341 - - - 2001 - -155.7 - - 3441 - - - - - - - - 25.25 24.85 24.98
1754 193.5 -10.0 260 1762 done -0.74 - - 2340 - - - 2001 - -155.7 - - 3441 - - - - - - - - 26.55 26.55 26.58
1885 207.0 -10.7 273 1890 roll -0.74 - - 2344 - 1.02 0.040 1320 -667.6 -155.7 - - 3441 - - - - - - - - 26.63 26.40 26.69
1940 212.8 -10.2 283 1944 done -0.74 - - 2340 - 1.02 0.041 2000 666.7 -155.7 - - 3441 - - - - - - - - 26.48 26.44 26.53
2073 226.7 -10.3 297 2081 done -0.74 - - 2340 - - - 2000 - -155.7 - - 3441 - - - - - - - - 26.63 26.70 26.68
2202 240.1 -10.5 310 2206 roll -0.74 - - 2344 - 1.02 0.039 1321 -665.7 -155.7 - - 3440 - - - - - - - - 26.48 26.44 26.53
2270 246.9 -10.2 322 2275 done -0.74 - - 2341 - 1.02 0.044 2002 667.6 -155.7 - - 3440 - - - - - - - - 26.49 26.45 26.51
2403 259.6 -9.6 336 2411 done -0.74 - - 2341 - - - 2002 - -155.7 - - 3440 - - - - - - - - 26.65 26.63 26.67
2534 271.7 -9.1 349 2539 roll -0.74 - - 2344 - 1.02 0.044 1322 -666.7 -155.7 - - 3440 - - - - - - - - 26.63 26.38 26.61
2580 276.2 -9.3 358 2588 done -0.74 - - 2341 - 1.02 0.042 2003 667.6 -155.7 - - 3439 - - - - - - - - 26.44 26.41 26.46
2708 287.9 -9.4 371 2713 roll -0.74 - - 2344 - 1.02 0.047 1321 -668.6 -155.7 - - 3440 - - - - - - - - 26.67 26.45 26.72
2751 292.2 -9.5 379 2756 done -0.74 - - 2340 - 1.02 0.044 2001 666.7 -155.7 - - 3440 - - - - - - - - 26.39 26.34 26.46
2894 306.1 -9.8 391 2896 done -0.74 - - 2340 - - - 2002 - -155.7 - - 3440 - - - - - - - - 26.60 26.61 26.65
3014 317.6 -9.5 397 3019 roll -0.74 - - 2335 - 1.05 0.113 2706 670.5 -155.7 - - 3440 - - - - - - - - 26.67 26.42 26.74
3058 321.7 -9.8 405 3063 done -0.74 - - 2338 - 1.02 0.037 1985 -706.9 -155.7 - - 3439 - - - - - - - - 26.49 26.46 26.52
3202 334.9 -9.0 415 3205 roll -0.74 - - 2344 - 0.98 0.050 1327 -671.4 -155.7 - - 3439 - - - - - - - - 26.65 26.39 26.71
3258 340.2 -8.6 426 3266 done -0.74 - - 2341 - 1.02 0.039 2008 667.6 -155.7 - - 3439 - - - - - - - - 26.47 26.43 26.51
3388 352.2 -9.7 433 3393 roll -0.74 - - 2335 - 1.00 0.052 2689 681.0 -155.7 - - 3439 - - - - - - - - 26.70 26.43 26.72
3424 356.3 -10.0 440 3432 done -0.74 - - 2338 - 0.98 0.038 2004 -699.0 -155.7 - - 3439 - - - - - - - - 26.50 26.51 26.51
3552 368.3 -9.7 447 3556 roll -0.74 - - 2344 - 1.00 0.048 1329 -675.0 -155.7 - - 3439 - - - - - - - - 26.67 26.44 26.73
3587 371.9 -9.7 454 3595 done -0.74 - - 2340 - 1.00 0.039 1995 666.0 -155.7 - - 3439 - - - - - - - - 26.34 26.32 26.39
3714 383.3 -8.9 461 3716 done -0.74 - - 2340 - - - 1995 - -155.7 - - 3439 - - - - - - - - 26.48 26.56 26.55
3834 393.9 -9.2 467 3838 roll -0.74 - - 2344 - 1.00 0.042 1328 -667.0 -155.7 - - 3438 - - - - - - - - 26.49 26.39 26.55
3879 398.5 -9.8 476 3883 done -0.74 - - 2340 - 1.00 0.036 1996 668.0 -155.7 - - 3439 - - - - - - - - 26.51 26.48 26.52
4017 411.8 -9.9 485 4019 done -0.74 - - 2340 - - - 1995 - -155.7 - - 3438 - - - - - - - - 26.59 26.67 26.65
4138 423.4 -9.6 491 4142 roll -0.74 - - 2344 - 1.02 0.047 1318 -663.7 -155.7 - - 3438 - - - - - - - - 26.68 26.41 26.72
4201 429.3 -8.9 503 4208 done -0.74 - - 2340 - 1.02 0.037 1999 667.6 -155.7 - - 3438 - - - - - - - - 26.50 26.47 26.53
4347 441.9 -8.5 513 4351 roll -0.74 - - 2335 - 1.02 0.044 2696 683.3 -155.7 - - 3438 - - - - - - - - 26.62 26.43 26.67
4372 443.7 -8.2 517 4376 done -0.74 - - 2338 - 1.00 0.040 1995 -701.0 -155.7 - - 3438 - - - - - - - - 26.53 26.51 26.55
4455 end dive: BOTTOM_OBSTACLE_DETECTED
4456 begin apogee
4461 451.2 -8.7 524 4696 done -0.18 0.62 0.140 2527 304.8 - - 1789 - - 223.88 0.780 2801 -2.8 0.171 - - - - 1 - 25.82 24.58 23.62
4700 end apogee: CONTROL_FINISHED_OK
4700 begin climb
4702 458.3 - 536 5003 roll 0.74 0.98 0.122 2821 300.0 1.10 0.037 1130 -599.1 155.7 290.67 0.604 2159 -2.2 0.174 - - - - - - 24.77 24.59 23.99
5123 423.3 11.6 619 5132 done 0.74 - - 2818 - 1.05 0.037 1798 636.2 155.7 - - 2141 - - - - - - - - 25.56 25.48 25.58
5253 408.9 11.3 626 5255 done 0.74 - - 2818 - - - 1798 - 155.7 - - 2139 - - - - - - - - 25.85 25.96 25.94
5371 395.5 11.2 632 5373 done 0.74 - - 2818 - - - 1798 - 155.7 - - 2138 - - - - - - - - 26.08 26.18 26.16
5491 381.3 12.1 638 5493 done 0.74 - - 2818 - - - 1797 - 155.7 - - 2137 - - - - - - - - 26.22 26.22 26.25
5612 367.1 11.5 644 5615 roll 0.74 - - 2813 - 1.05 0.045 2493 662.9 155.7 - - 2137 - - - - - - - - 26.29 26.20 26.36
5655 362.5 10.5 652 5658 done 0.74 - - 2816 - 0.98 0.044 1832 -674.5 155.7 - - 2136 - - - - - - - - 26.29 26.26 26.32
5796 347.5 10.5 662 5800 roll 0.74 - - 2821 - 1.12 0.110 1106 -648.2 155.7 - - 2136 - - - - - - - - 26.44 26.23 26.52
5831 343.8 10.4 669 5838 done 0.74 - - 2818 - 1.05 0.044 1798 659.0 155.7 - - 2136 - - - - - - - - 26.36 26.32 26.39
5959 331.4 9.9 676 5963 roll 0.74 - - 2813 - 1.02 0.046 2489 677.5 162.3 - - 2135 - - - - - - - - 26.32 26.31 26.37
6048 322.0 10.6 693 6052 done 0.74 - - 2816 - 1.02 0.039 1795 -680.4 162.3 - - 2134 - - - - - - - - 26.32 26.32 26.32
6189 308.0 10.3 702 6192 roll 0.74 - - 2821 - 1.05 0.054 1105 -657.1 162.3 - - 2135 - - - - - - - - 26.55 26.34 26.60
6219 304.5 10.3 708 6223 done 0.74 - - 2818 - 1.05 0.043 1799 661.0 162.3 - - 2135 - - - - - - - - 26.43 26.39 26.45
6352 291.2 9.9 720 6364 roll 0.75 - - 2813 - 1.05 0.051 2498 665.7 167.3 2.70 0.599 2119 -5.9 0.299 - - - - - - 26.15 25.92 24.53
6432 283.4 10.0 734 6444 done 0.75 - - 2816 - 1.02 0.043 1803 -681.4 169.8 4.05 0.841 2109 -2.5 0.086 - - - - - - 26.32 26.30 25.02
6562 270.0 10.2 748 6567 roll 0.75 - - 2821 - 1.08 0.054 1100 -650.9 169.8 - - 2115 - - - - - - - - 26.47 26.25 26.53
6651 260.6 10.5 764 6655 done 0.75 - - 2818 - 1.08 0.043 1805 652.8 169.8 - - 2115 - - - - - - - - 26.41 26.39 26.41
6783 246.7 10.4 778 6787 roll 0.75 - - 2813 - 1.02 0.051 2495 676.5 169.8 - - 2115 - - - - - - - - 26.55 26.30 26.56
6847 240.1 10.1 790 6851 done 0.75 - - 2816 - 1.02 0.043 1799 -682.4 169.9 - - 2114 - - - - - - - - 26.43 26.43 26.41
6979 226.5 10.3 804 6984 roll 0.75 - - 2821 - 1.05 0.047 1110 -656.2 169.9 - - 2115 - - - - - - - - 26.48 26.38 26.54
7027 221.3 10.5 813 7035 done 0.75 - - 2818 - 1.05 0.044 1801 658.1 169.9 - - 2115 - - - - - - - - 26.44 26.44 26.45
7158 208.3 10.3 826 7161 roll 0.75 - - 2813 - 1.02 0.044 2497 682.4 169.9 - - 2114 - - - - - - - - 26.51 26.41 26.58
7211 202.6 10.2 836 7215 done 0.75 - - 2816 - 1.05 0.074 1790 -673.3 169.9 - - 2114 - - - - - - - - 26.44 25.18 26.46
7343 189.5 9.9 850 7364 roll 0.76 - - 2813 - 1.10 0.050 2498 643.6 175.8 14.80 0.706 2080 -2.3 0.064 - - - - - - 26.46 26.08 25.37
7432 181.2 9.6 866 7464 done 0.78 - - 2816 - 1.02 0.051 1807 -677.5 189.0 22.08 0.669 2021 -2.7 0.075 - - - - - - 25.42 25.85 25.18
7583 166.0 10.4 884 7588 roll 0.78 0.08 0.186 2838 275.0 1.10 0.053 1094 -648.2 189.0 - - 2016 - - - - - - - - 26.06 26.13 26.14
7662 157.0 11.5 898 7666 done 0.78 - - 2834 - 1.08 0.034 1802 655.6 189.0 - - 2016 - - - - - - - - 26.26 26.24 26.29
7794 141.2 12.7 912 7802 done 0.78 - - 2834 - - - 1802 - 189.0 - - 2015 - - - - - - - - 26.37 26.45 26.43
7924 125.2 12.1 925 7927 roll 0.78 - - 2829 - 1.02 0.043 2490 674.5 189.0 - - 2015 - - - - - - - - 26.41 26.29 26.47
8009 115.1 12.1 942 8017 done 0.78 - - 2832 - 1.02 0.076 1802 -674.5 189.0 - - 2015 - - - - - - - - 26.37 25.06 26.37
8140 100.9 11.0 955 8148 done 0.78 - - 2832 - - - 1802 - 189.0 - - 2015 - - - - - - - - 26.53 26.59 26.58
8269 86.9 11.2 979 8277 roll 0.78 - - 2829 - 1.05 0.051 2488 653.3 189.0 - - 2015 - - - - - - - - 26.57 26.34 26.62
8320 81.6 10.2 988 8328 done 0.78 - - 2833 - 1.02 0.047 1794 -680.4 189.0 - - 2014 - - - - - - - - 26.40 26.32 26.38
8453 68.8 8.5 1013 8516 roll 0.82 - - 2838 - 1.10 0.052 1104 -627.3 225.2 53.90 0.562 1874 -2.6 0.033 - - - - - - 26.45 25.77 25.13
8524 62.3 9.7 1023 8534 done 0.83 - - 2833 - 1.08 0.039 1801 645.4 234.4 3.45 0.588 1843 -9.0 0.099 - - - - - - 25.93 25.88 24.68
8662 49.3 9.2 1048 8705 roll 0.86 0.10 0.193 2853 200.0 1.10 0.044 2504 639.1 256.2 37.08 0.544 1751 -2.5 0.023 - - - - - - 25.85 25.55 24.97
8753 38.8 11.5 1063 8762 done 0.86 - - 2856 - 1.05 0.036 1806 -664.8 256.2 - - 1738 - - - - - - - - 25.95 25.92 25.97
8887 24.2 10.5 1088 8895 roll 0.86 - - 2861 - 1.10 0.047 1104 -638.2 256.2 - - 1736 - - - - - - - - 26.07 26.06 26.13
9071 8.5 8.4 1123 9140 done 0.90 - - 2858 - 1.08 0.042 1811 654.6 295.9 61.67 0.506 1590 -2.4 0.004 - - - - - - 26.22 26.19 25.02
9155 end climb: SURFACE_DEPTH_REACHED
9155 begin surface coast
9186 end surface coast: CONTROL_FINISHED_OK
9186 begin surface
SM 0.43 - - - - -7.39 7.38 0.046 183 24.7 0.25 0.052 2009 -28980.0 542.11 235.12 0.578 589 2.5 -0.000 - - - - 1 -