WA coast Sep21 * SG204 * Dive index * Mission links * Dive 62 * Raw log
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• Previous call tries 1 • 8.07 of 97.50 AH used of 24V (91.73% remains)
• Previous NAKs 0, Timeouts 0 • 3.74 of 83.80 AH used of 10V (95.54% remains)
• Surface angle -61.2 deg, depth 0.46 m • Intended pitch -18.9 deg, speed -10.145 cm/s
• VBD pumped to 542.11 (SM_CC=541.92499)
• GPS1 time: 4 s • bottom range 9.1 m at 403.0 m, depth 412 m (510 m grid)
• GPS2 time: 5 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
26 - - - 140 VBD -0.81 - - 160 - - - 2021 - -111.9 -111.30 0.015 3063 - - - - - - - - 26.17 - 26.21
143 3.5 -6.0 16 166 roll -0.86 8.32 0.216 2296 256.7 1.05 0.134 1298 -688.6 -155.7 -8.12 0.019 3437 -46.1 0.862 - - - - - - 25.60 25.27 25.77
246 30.2 -23.1 34 254 done -0.86 - - 2293 - 1.05 0.041 1994 662.9 -155.7 - - 3439 - - - - - - - - 26.10 26.08 26.14
379 54.2 -16.2 59 387 roll -0.86 - - 2296 - 1.05 0.038 1298 -662.9 -155.7 - - 3440 - - - - - - - - 26.26 26.27 26.34
411 59.6 -17.2 64 418 done -0.86 - - 2293 - 1.05 0.043 1984 653.3 -155.7 - - 3439 - - - - - - - - 26.32 26.29 26.34
543 80.9 -16.0 89 552 roll -0.86 0.08 0.203 2302 112.5 1.08 0.049 2712 674.1 -155.7 - - 3439 - - - - - - - - 26.22 26.32 26.30
785 113.9 -13.3 135 789 done -0.86 - - 2305 - 1.05 0.040 1990 -687.6 -155.7 - - 3439 - - - - - - - - 26.47 26.45 26.48
917 130.6 -12.6 149 921 roll -0.86 - - 2309 - 1.00 0.051 1315 -675.0 -155.7 - - 3440 - - - - - - - - 26.60 26.38 26.64
984 138.8 -11.8 161 989 done -0.86 - - 2306 - 1.05 0.038 2015 666.7 -155.7 - - 3439 - - - - - - - - 26.38 26.39 26.40
1117 154.2 -11.7 175 1119 done -0.86 - - 2306 - - - 2015 - -155.7 - - 3439 - - - - - - - - 26.61 26.67 26.66
1237 168.8 -12.1 187 1242 roll -0.86 - - 2309 - 1.05 0.046 1316 -665.7 -155.7 - - 3439 - - - - - - - - 26.60 26.35 26.61
1316 178.6 -12.1 202 1323 done -0.86 - - 2307 - 1.02 0.037 1993 663.7 -155.7 - - 3439 - - - - - - - - 26.47 26.44 26.50
1444 193.4 -11.6 215 1447 roll -0.86 - - 2309 - 1.02 0.039 1311 -668.6 -155.7 - - 3439 - - - - - - - - 26.51 26.44 26.60
1496 199.8 -11.9 225 1501 done -0.86 - - 2306 - 1.05 0.037 2010 665.7 -155.7 - - 3439 - - - - - - - - 26.39 26.39 26.40
1631 215.7 -12.4 239 1639 done -0.86 - - 2306 - - - 2010 - -155.7 - - 3439 - - - - - - - - 26.64 26.71 26.70
1759 232.2 -12.8 252 1764 roll -0.86 - - 2309 - 1.05 0.047 1314 -662.9 -155.7 - - 3439 - - - - - - - - 26.65 26.45 26.70
1827 241.5 -13.0 265 1836 done -0.86 - - 2306 - 1.02 0.045 1996 668.6 -155.7 - - 3439 - - - - - - - - 26.50 26.48 26.51
1956 257.4 -12.7 278 1960 roll -0.86 - - 2309 - 1.02 0.043 1314 -668.6 -155.7 - - 3439 - - - - - - - - 26.65 26.36 26.70
2012 264.9 -12.4 289 2021 done -0.86 - - 2306 - 1.02 0.039 2000 672.5 -155.7 - - 3438 - - - - - - - - 26.41 26.40 26.41
2144 279.6 -11.4 302 2148 roll -0.86 - - 2301 - 1.02 0.044 2695 681.4 -155.7 - - 3438 - - - - - - - - 26.64 26.45 26.70
2187 284.9 -11.1 310 2191 done -0.86 - - 2304 - 1.00 0.036 1998 -697.0 -155.7 - - 3439 - - - - - - - - 26.50 26.47 26.53
2320 300.7 -12.1 324 2324 roll -0.86 - - 2309 - 1.00 0.039 1322 -676.0 -155.7 - - 3438 - - - - - - - - 26.64 26.46 26.70
2439 315.5 -12.2 347 2446 done -0.86 - - 2306 - 1.02 0.044 2005 669.6 -155.7 - - 3438 - - - - - - - - 26.48 26.45 26.53
2566 330.7 -12.1 354 2568 done -0.86 - - 2306 - - - 2005 - -155.7 - - 3438 - - - - - - - - 26.66 26.72 26.71
2686 345.2 -12.2 360 2690 roll -0.86 - - 2308 - 1.02 0.046 1320 -671.6 -155.7 - - 3438 - - - - - - - - 26.63 26.32 26.67
2742 352.3 -12.2 371 2749 done -0.86 - - 2305 - 1.02 0.037 2006 672.5 -155.7 - - 3438 - - - - - - - - 26.44 26.44 26.44
2870 367.4 -12.1 378 2872 done -0.86 - - 2306 - - - 2006 - -155.7 - - 3438 - - - - - - - - 26.60 26.67 26.66
2989 381.7 -12.1 384 2992 roll -0.86 - - 2308 - 1.05 0.107 1315 -658.1 -155.7 - - 3437 - - - - - - - - 26.67 26.38 26.72
3031 386.7 -11.7 392 3035 done -0.86 - - 2305 - 1.02 0.044 1990 661.8 -155.7 - - 3438 - - - - - - - - 26.51 26.47 26.53
3176 end dive: BOTTOM_OBSTACLE_DETECTED
3176 begin apogee
3181 403.0 -11.5 402 3473 done -0.18 0.75 0.155 2522 289.3 - - 1786 - - 284.08 0.622 2795 -2.3 0.149 - - - - - - 25.84 24.73 24.37
3477 end apogee: CONTROL_FINISHED_OK
3477 begin climb
3480 414.2 - 417 3765 roll 0.86 1.12 0.122 2864 305.4 1.05 0.037 1134 -621.0 155.7 274.38 0.581 2159 -2.3 0.168 - - - - - - 25.00 24.75 24.15
3993 362.7 14.7 517 3997 done 0.86 - - 2861 - 1.02 0.039 1798 651.0 155.7 - - 2129 - - - - - - - - 25.82 25.80 25.84
4135 344.0 12.6 527 4139 roll 0.86 - - 2856 - 1.05 0.052 2489 658.1 155.7 - - 2127 - - - - - - - - 26.22 26.06 26.27
4183 338.3 12.2 536 4187 done 0.86 - - 2859 - 1.00 0.037 1819 -670.0 155.7 - - 2125 - - - - - - - - 26.20 26.16 26.22
4320 320.3 13.3 545 4324 roll 0.86 - - 2865 - 1.10 0.054 1111 -643.6 155.7 - - 2126 - - - - - - - - 26.38 26.20 26.44
4382 312.1 13.5 557 4387 done 0.86 - - 2861 - 1.05 0.043 1800 656.2 155.7 - - 2126 - - - - - - - - 26.28 26.28 26.27
4515 295.0 12.9 568 4517 done 0.86 - - 2861 - - - 1801 - 155.7 - - 2125 - - - - - - - - 26.45 26.51 26.51
4635 279.7 12.9 580 4637 done 0.86 - - 2861 - - - 1800 - 155.7 - - 2124 - - - - - - - - 26.43 26.51 26.49
4757 264.3 12.5 592 4764 done 0.86 - - 2860 - - - 1801 - 155.7 - - 2124 - - - - - - - - 26.45 26.52 26.51
4885 247.7 12.7 605 4887 done 0.86 - - 2861 - - - 1801 - 155.7 - - 2124 - - - - - - - - 26.55 26.53 26.55
5005 232.4 12.7 617 5007 done 0.86 - - 2861 - - - 1801 - 155.7 - - 2124 - - - - - - - - 26.57 26.61 26.62
5128 217.4 12.6 629 5131 roll 0.86 - - 2856 - 1.05 0.054 2500 665.7 155.7 - - 2124 - - - - - - - - 26.60 26.39 26.65
5160 212.9 12.6 635 5164 done 0.86 - - 2859 - 1.02 0.037 1804 -682.4 155.7 - - 2124 - - - - - - - - 26.51 26.44 26.50
5292 196.6 12.3 649 5294 done 0.86 - - 2859 - - - 1804 - 155.7 - - 2123 - - - - - - - - 26.44 26.46 26.46
5414 181.6 12.5 661 5418 roll 0.86 - - 2856 - 1.05 0.044 2494 657.1 155.7 - - 2124 - - - - - - - - 26.45 26.41 26.52
5449 176.5 13.1 668 5457 done 0.86 - - 2859 - 1.02 0.041 1802 -678.4 155.7 - - 2123 - - - - - - - - 26.34 26.32 26.38
5578 160.6 12.4 681 5581 roll 0.86 - - 2865 - 1.08 0.054 1108 -642.6 155.7 - - 2123 - - - - - - - - 26.57 26.41 26.63
5642 152.5 12.9 693 5645 done 0.86 - - 2861 - 1.05 0.045 1802 661.0 155.7 - - 2124 - - - - - - - - 26.49 26.46 26.53
5774 135.8 12.7 707 5778 roll 0.86 - - 2856 - 1.02 0.050 2487 671.6 155.7 - - 2124 - - - - - - - - 26.58 26.36 26.58
5839 127.5 12.8 719 5842 done 0.86 - - 2860 - 1.02 0.037 1792 -681.4 155.7 - - 2123 - - - - - - - - 26.51 26.48 26.54
5972 111.6 11.9 733 5976 roll 0.86 - - 2865 - 1.05 0.047 1110 -649.5 155.7 - - 2124 - - - - - - - - 26.48 26.41 26.57
6115 93.0 12.6 760 6123 done 0.86 - - 2861 - 1.05 0.057 1804 661.0 155.7 - - 2123 - - - - - - - - 25.51 25.96 25.23
6250 78.4 9.1 785 6259 roll 0.88 - - 2857 - 1.08 0.045 2507 650.9 172.5 3.70 0.610 2097 -7.0 0.092 - - - - - - 26.53 25.91 24.74
6411 63.6 9.8 815 6432 done 0.89 - - 2860 - 1.05 0.037 1796 -677.1 178.6 15.35 0.600 2070 -1.8 0.019 - - - - - - 26.44 26.43 25.37
6560 47.3 9.8 842 6568 roll 0.89 - - 2864 - 1.08 0.103 1102 -642.6 183.7 - - 2051 - - - - - - - - 26.43 26.25 26.46
6742 30.2 7.8 875 6820 done 0.94 0.05 0.136 2883 380.0 1.08 0.044 1813 658.3 221.3 70.62 0.530 1891 -2.3 0.013 - - - - - - 26.14 26.37 25.00
6946 12.6 8.0 910 6996 roll 0.98 - - 2880 - 1.08 0.045 2488 625.0 255.7 46.67 0.515 1755 -2.9 0.007 - - - - - - 26.16 25.52 24.91
7040 4.2 9.2 925 7049 done 1.00 0.05 0.113 2904 480.0 1.05 0.039 1798 -657.1 270.5 3.22 0.461 1693 -19.3 0.018 - - - - - - 25.68 25.84 24.63
7065 end climb: SURFACE_DEPTH_REACHED
7065 begin surface coast
7088 end surface coast: CONTROL_FINISHED_OK
7089 begin surface
SM 0.46 - - - - -7.39 7.70 0.060 174 22.5 0.30 0.045 2021 -30936.7 542.11 172.98 0.644 589 3.4 -0.000 - - - - 1 -