WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 66 * Raw log
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• Previous call tries 2 • 14.10 of 127.50 AH used of 24V (88.94% remains)
• Previous NAKs 0, Timeouts 0 • 7.98 of 100.00 AH used of 10V (92.02% remains)
• Surface angle -60.0 deg, depth 0.44 m • Intended pitch -14.8 deg, speed -8.333 cm/s
• VBD pumped to 551.92 (SM_CC=603.25)
• GPS1 time: 4 s
• 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
23 end surface: CONTROL_FINISHED_OK
23 begin dive
26 - - - 134 VBD -0.67 - - 172 - - - 2028 - -116.8 -105.75 0.010 3020 - - - - - - - - 26.06 - 26.14
137 3.6 -6.7 15 160 roll -0.67 8.52 0.220 2359 256.7 0.98 0.064 2695 680.6 -116.8 -5.45 0.031 3276 -47.0 0.550 - - - - - - 25.77 25.56 25.94
172 13.7 -24.4 20 180 done -0.67 - - 2362 - 1.02 0.032 1988 -693.1 -116.8 - - 3277 - - - - - - - - 26.25 26.23 26.27
311 33.7 -13.3 45 319 roll -0.67 - - 2367 - 1.00 0.039 1315 -673.0 -116.8 - - 3278 - - - - - - - - 26.39 26.30 26.44
411 46.0 -11.6 63 418 done -0.67 - - 2364 - 1.02 0.036 1994 665.7 -116.8 - - 3278 - - - - - - - - 26.39 26.36 26.39
543 62.0 -13.5 88 550 roll -0.67 - - 2359 - 1.02 0.043 2692 684.3 -116.8 - - 3278 - - - - - - - - 26.51 26.41 26.57
663 77.8 -12.0 110 671 done -0.67 - - 2362 - 1.00 0.033 1992 -700.0 -116.8 - - 3279 - - - - - - - - 26.46 26.46 26.46
795 90.8 -9.0 135 802 roll -0.67 - - 2367 - 1.00 0.040 1314 -678.0 -116.8 - - 3279 - - - - - - - - 26.58 26.48 26.64
857 96.6 -9.1 146 864 done -0.67 - - 2364 - 1.02 0.034 1999 671.6 -116.8 - - 3278 - - - - - - - - 26.52 26.51 26.60
990 108.0 -8.2 162 993 roll -0.67 - - 2367 - 1.02 0.038 1318 -667.6 -116.8 - - 3278 - - - - - - - - 26.62 26.52 26.67
1086 115.6 -7.6 180 1089 done -0.67 - - 2364 - 1.02 0.036 2004 672.5 -116.8 - - 3278 - - - - - - - - 26.58 26.55 26.60
1220 126.4 -8.6 194 1224 roll -0.67 - - 2359 - 1.00 0.044 2690 686.0 -116.8 - - 3278 - - - - - - - - 26.67 26.55 26.72
1308 134.8 -9.3 211 1316 done -0.67 - - 2362 - 0.98 0.031 2003 -701.0 -116.8 - - 3278 - - - - - - - - 26.63 26.61 26.64
1436 145.9 -8.6 224 1440 roll -0.67 - - 2367 - 1.00 0.041 1320 -683.0 -116.8 - - 3278 - - - - - - - - 26.70 26.58 26.75
1480 end dive: TARGET_DEPTH_EXCEEDED
1480 begin apogee
1485 150.1 -8.6 233 1685 done -0.18 0.55 0.144 2528 292.7 - - 1811 - - 189.98 0.535 2792 -2.6 0.072 - - - - - - 26.32 25.15 24.86
1690 end apogee: CONTROL_FINISHED_OK
1690 begin loiter
1815 154.1 -0.3 265 1817 done -0.18 - - 2528 - - - 1811 - - - - 2782 - - - - - - - - 25.99 26.06 26.04
1935 154.6 -0.7 277 1937 done -0.18 - - 2528 - - - 1812 - - - - 2781 - - - - - - - - 26.18 26.25 26.25
2055 156.2 -1.6 289 2074 done -0.16 - - 2528 - - - 1811 - 12.8 11.45 0.675 2740 -3.6 0.084 - - - - - - 26.30 25.94 25.44
2195 157.5 -0.5 303 2197 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2733 - - - - - - - - 26.31 26.37 26.36
2315 157.1 0.9 315 2317 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2731 - - - - - - - - 26.39 26.46 26.46
2435 155.8 1.1 327 2437 done -0.16 - - 2527 - - - 1811 - 12.8 - - 2731 - - - - - - - - 26.46 26.53 26.52
2555 154.5 1.3 339 2557 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2731 - - - - - - - - 26.51 26.58 26.58
2675 153.1 0.9 351 2677 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2731 - - - - - - - - 26.55 26.62 26.62
2795 152.3 0.5 363 2797 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2730 - - - - - - - - 26.59 26.65 26.65
2915 151.7 0.4 375 2917 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2730 - - - - - - - - 26.63 26.70 26.68
3037 151.3 0.5 387 3044 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2730 - - - - - - - - 26.56 26.65 26.64
3165 150.5 0.7 400 3167 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2729 - - - - - - - - 26.66 26.72 26.72
3285 149.4 1.0 412 3287 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2729 - - - - - - - - 26.67 26.74 26.74
3405 148.3 0.9 424 3407 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2729 - - - - - - - - 26.70 26.76 26.76
3525 147.0 1.1 436 3527 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2729 - - - - - - - - 26.71 26.78 26.77
3645 145.3 1.6 448 3647 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2729 - - - - - - - - 26.72 26.78 26.78
3765 143.1 2.1 460 3767 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2728 - - - - - - - - 26.77 26.80 26.79
3885 140.6 2.1 472 3887 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2728 - - - - - - - - 26.73 26.81 26.80
4005 138.2 1.9 484 4007 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2729 - - - - - - - - 26.76 26.82 26.80
4125 136.6 1.0 496 4127 done -0.16 - - 2528 - - - 1810 - 12.8 - - 2728 - - - - - - - - 26.75 26.82 26.79
4245 135.5 0.6 508 4247 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2728 - - - - - - - - 26.75 26.83 26.82
4365 134.3 1.2 520 4367 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2728 - - - - - - - - 26.76 26.82 26.82
4485 132.6 1.8 532 4487 done -0.16 - - 2528 - - - 1812 - 12.8 - - 2728 - - - - - - - - 26.77 26.84 26.84
4605 130.3 2.3 544 4607 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2728 - - - - - - - - 26.76 26.84 26.84
4725 128.0 1.8 556 4727 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2728 - - - - - - - - 26.78 26.84 26.84
4845 126.4 1.0 568 4847 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2728 - - - - - - - - 26.79 26.85 26.84
4965 126.3 -0.2 580 4967 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2728 - - - - - - - - 26.79 26.85 26.85
5085 127.0 -0.6 592 5087 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2728 - - - - - - - - 26.79 26.86 26.84
5205 127.8 -0.5 604 5207 done -0.16 - - 2528 - - - 1811 - 12.8 - - 2728 - - - - - - - - 26.80 26.86 26.85
5283 end loiter: LOITER_COMPLETE
5283 begin climb
5285 128.0 - 612 5461 roll 0.67 0.82 0.125 2802 334.1 1.12 0.045 1118 -618.7 116.8 162.32 0.539 2310 -2.6 0.062 - - - - - - 26.48 25.39 24.92
5698 105.0 6.3 691 5759 done 0.72 - - 2798 - 1.05 0.035 1798 647.6 158.3 56.62 0.549 2155 -2.7 0.053 - - - - - - 26.14 26.11 25.06
5880 92.1 8.3 723 5888 roll 0.72 0.10 0.175 2830 320.0 1.08 0.041 1117 -630.6 160.0 - - 2122 - - - - - - - - 25.84 25.96 25.97
5926 87.8 9.8 731 5934 done 0.72 - - 2827 - 1.05 0.036 1800 650.5 160.0 - - 2122 - - - - - - - - 26.08 26.06 26.11
6063 73.0 10.6 756 6071 roll 0.72 - - 2830 - 1.08 0.046 1117 -632.4 160.0 - - 2121 - - - - - - - - 26.16 26.17 26.23
6237 55.4 8.7 788 6245 done 0.72 - - 2826 - 1.05 0.035 1809 659.0 160.0 - - 2120 - - - - - - - - 26.34 26.30 26.37
6374 44.5 7.7 813 6383 roll 0.73 - - 2821 - 1.05 0.044 2496 654.3 172.5 2.97 0.499 2095 -8.4 0.076 - - - - - - 26.40 26.16 25.27
6495 35.2 7.3 835 6545 done 0.76 - - 2825 - 1.00 0.046 1817 -679.0 194.3 43.50 0.520 2004 -2.1 0.014 - - - - - - 26.44 26.41 25.41
6671 23.9 6.7 866 6721 roll 0.80 - - 2830 - 1.15 0.047 1108 -616.5 228.1 45.85 0.507 1869 -2.9 0.014 - - - - - - 26.23 25.70 25.22
6955 4.2 6.3 918 6992 VBD 0.85 0.08 0.151 2849 237.5 1.05 0.035 1799 658.1 269.5 33.25 0.510 1753 -3.5 0.003 - - - - - - 25.96 26.20 26.06
6993 end climb: SURFACE_DEPTH_REACHED
6994 begin surface coast
7000 end surface coast: CONTROL_FINISHED_OK
7000 begin surface
SM 0.41 - - - - -7.41 7.75 0.076 172 22.1 0.28 0.049 2003 -33196.4 551.92 -0.28 0.170 550 - - - - - - - -