WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 83 * Raw log
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• Previous call tries 1 • 16.11 of 127.50 AH used of 24V (87.37% remains)
• Previous NAKs 0, Timeouts 0 • 9.24 of 100.00 AH used of 10V (90.76% remains)
• Surface angle -62.5 deg, depth 0.51 m • Intended pitch -18.1 deg, speed -10.000 cm/s
• VBD pumped to 527.40 (SM_CC=603.25)
• GPS1 time: 3 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
25 - - - 133 VBD -0.79 - - 182 - - - 2018 - -116.8 -105.50 0.011 3073 - - - - - - - - 26.32 - 26.39
136 4.0 -7.5 15 153 roll -0.79 8.05 0.210 2318 265.3 1.02 0.067 2708 676.5 -116.8 -2.17 0.037 3179 -48.8 0.532 - - - - - - 25.89 24.88 26.06
314 37.4 -15.0 48 322 done -0.79 - - 2322 - 1.00 0.041 2008 -700.0 -116.8 - - 3181 - - - - - - - - 26.45 26.43 26.47
447 55.1 -12.6 73 455 roll -0.79 - - 2327 - 1.02 0.039 1313 -681.4 -116.8 - - 3182 - - - - - - - - 26.52 26.41 26.53
538 64.6 -10.5 89 545 done -0.79 - - 2324 - 1.00 0.036 1983 670.0 -116.8 - - 3182 - - - - - - - - 26.51 26.48 26.53
675 79.3 -8.4 114 682 roll -0.79 - - 2319 - 1.05 0.043 2699 681.9 -116.8 - - 3182 - - - - - - - - 26.58 26.51 26.63
795 end dive: TARGET_DEPTH_EXCEEDED
795 begin apogee
800 90.3 -9.9 137 971 done -0.18 0.65 0.161 2517 304.6 - - 1799 - - 163.12 0.516 2695 -3.0 0.053 - - - - - - 26.20 25.36 24.92
976 end apogee: CONTROL_FINISHED_OK
976 begin loiter
1116 98.9 -1.9 186 1130 done -0.16 - - 2518 - - - 1799 - 14.5 11.23 0.607 2640 -4.9 0.080 - - - - - - 26.05 25.73 25.27
1253 98.4 1.1 212 1260 done -0.16 - - 2518 - - - 1799 - 14.5 - - 2627 - - - - - - - - 26.17 26.24 26.22
1382 95.7 2.9 237 1388 done -0.16 - - 2518 - - - 1799 - 14.5 - - 2626 - - - - - - - - 26.30 26.36 26.36
1516 91.0 3.7 262 1523 done -0.16 - - 2518 - - - 1799 - 14.5 - - 2625 - - - - - - - - 26.39 26.46 26.44
1646 87.9 1.3 287 1652 done -0.16 - - 2518 - - - 1799 - 14.5 - - 2625 - - - - - - - - 26.46 26.53 26.52
1775 88.1 -0.7 312 1782 done -0.15 0.08 0.210 2532 175.0 - - 1798 - 19.7 - - 2624 - - - - - - - - 26.28 26.44 26.40
1911 89.1 -0.4 337 1917 done -0.15 - - 2533 - - - 1799 - 19.7 - - 2623 - - - - - - - - 26.55 26.63 26.61
2040 87.9 1.9 362 2046 done -0.15 - - 2533 - - - 1798 - 19.7 - - 2623 - - - - - - - - 26.60 26.66 26.65
2168 84.6 2.7 387 2175 done -0.15 - - 2533 - - - 1799 - 19.7 - - 2623 - - - - - - - - 26.44 26.55 26.51
2304 82.9 0.2 412 2310 done -0.15 - - 2532 - - - 1799 - 19.7 - - 2623 - - - - - - - - 26.56 26.65 26.63
2433 84.3 -1.8 437 2459 done -0.14 - - 2533 - - - 1799 - 34.0 19.55 0.592 2556 -3.4 0.049 - - - - - - 26.67 26.03 25.70
2585 84.5 1.1 465 2591 done -0.14 - - 2532 - - - 1799 - 34.0 - - 2548 - - - - - - - - 26.50 26.56 26.55
2714 82.3 2.6 490 2720 done -0.14 - - 2533 - - - 1799 - 34.0 - - 2547 - - - - - - - - 26.42 26.52 26.49
2848 80.3 1.3 515 2854 done -0.14 - - 2533 - - - 1799 - 34.0 - - 2547 - - - - - - - - 26.60 26.65 26.63
2977 77.5 2.3 540 2983 done -0.16 - - 2533 - - - 1799 - 16.4 - - 2547 - - - - - - - - 26.62 26.69 26.68
3112 74.9 1.7 565 3119 done -0.17 - - 2534 - - - 1799 - 3.1 - - 2546 - - - - - - - - 26.60 26.70 26.67
3242 73.3 1.3 590 3248 done -0.19 - - 2532 - - - 1798 - -6.9 - - 2546 - - - - - - - - 26.67 26.73 26.72
3371 71.3 1.7 615 3378 done -0.20 - - 2533 - - - 1799 - -20.3 - - 2546 - - - - - - - - 26.69 26.76 26.74
3506 69.2 1.5 640 3513 done -0.22 - - 2533 - - - 1799 - -32.2 - - 2545 - - - - - - - - 26.70 26.77 26.74
3635 67.9 0.6 665 3642 done -0.22 - - 2533 - - - 1799 - -36.5 - - 2545 - - - - - - - - 26.72 26.78 26.77
3764 66.8 1.5 690 3771 done -0.24 - - 2533 - - - 1799 - -48.2 - - 2545 - - - - - - - - 26.67 26.75 26.74
3900 63.6 2.9 715 3907 done -0.26 - - 2533 - - - 1799 - -70.8 - - 2545 - - - - - - - - 26.68 26.76 26.74
4030 61.0 0.8 740 4036 done -0.27 - - 2532 - - - 1799 - -76.9 - - 2544 - - - - - - - - 26.74 26.80 26.80
4159 62.4 -2.0 765 4165 done -0.27 - - 2533 - - - 1799 - -76.9 - - 2544 - - - - - - - - 26.69 26.77 26.76
4294 63.0 1.1 790 4301 done -0.28 - - 2533 - - - 1799 - -85.8 - - 2544 - - - - - - - - 26.74 26.74 26.76
4423 60.0 2.7 815 4430 done -0.31 - - 2532 - - - 1799 - -106.7 - - 2543 - - - - - - - - 26.63 26.66 26.67
4552 57.3 1.4 840 4560 done -0.32 0.10 0.144 2500 -320.0 - - 1799 - -117.6 - - 2544 - - - - - - - - 26.54 26.67 26.63
4688 56.8 -0.2 865 4695 done -0.32 - - 2500 - - - 1799 - -117.6 - - 2543 - - - - - - - - 26.64 26.70 26.67
4818 57.1 - 890 4824 done -0.32 - - 2499 - - - 1799 - -117.6 - - 2543 - - - - - - - - 26.77 26.84 26.83
4947 57.1 0.3 915 4953 done -0.32 - - 2500 - - - 1799 - -120.1 - - 2542 - - - - - - - - 26.70 26.80 26.77
5082 55.8 1.6 940 5089 done -0.34 - - 2500 - - - 1799 - -132.2 - - 2543 - - - - - - - - 26.33 26.60 26.51
5212 54.6 -0.1 965 5218 done -0.34 - - 2500 - - - 1799 - -132.2 - - 2542 - - - - - - - - 26.77 26.84 26.83
5341 56.3 -1.7 990 5347 done -0.34 - - 2500 - - - 1798 - -132.2 - - 2542 - - - - - - - - 26.77 26.84 26.84
5476 57.5 -0.3 1015 5482 done -0.34 - - 2500 - - - 1799 - -132.2 - - 2542 - - - - - - - - 26.77 26.84 26.84
5605 56.8 1.3 1040 5612 done -0.35 - - 2500 - - - 1799 - -142.5 - - 2542 - - - - - - - - 26.79 26.85 26.84
5734 55.1 1.1 1065 5741 done -0.36 - - 2500 - - - 1799 - -151.4 - - 2541 - - - - - - - - 26.78 26.84 26.84
5869 54.3 0.3 1090 5876 done -0.36 - - 2500 - - - 1799 - -153.4 - - 2542 - - - - - - - - 26.72 26.77 26.76
5998 54.7 -0.5 1115 6005 done -0.36 - - 2500 - - - 1799 - -153.4 - - 2542 - - - - - - - - 26.82 26.86 26.85
6127 55.4 -0.7 1140 6133 done -0.36 - - 2499 - - - 1799 - -153.4 - - 2541 - - - - - - - - 26.79 26.86 26.85
6262 56.7 -1.3 1165 6269 done -0.36 - - 2500 - - - 1799 - -153.4 - - 2541 - - - - - - - - 26.79 26.89 26.86
6391 58.1 -0.7 1190 6398 done -0.36 - - 2500 - - - 1799 - -153.4 - - 2541 - - - - - - - - 26.79 26.86 26.86
6520 58.4 0.4 1215 6527 done -0.37 - - 2500 - - - 1799 - -156.6 - - 2541 - - - - - - - - 26.80 26.89 26.86
6655 57.2 1.3 1240 6662 done -0.38 - - 2500 - - - 1798 - -166.5 - - 2540 - - - - - - - - 26.75 26.83 26.82
6785 56.2 0.3 1265 6792 done -0.38 - - 2500 - - - 1799 - -168.9 - - 2541 - - - - - - - - 26.80 26.86 26.86
6914 56.0 - 1290 6921 done -0.38 - - 2500 - - - 1799 - -168.9 - - 2540 - - - - - - - - 26.79 26.78 26.81
7048 55.8 0.2 1315 7055 done -0.38 - - 2500 - - - 1798 - -170.1 - - 2540 - - - - - - - - 26.64 26.73 26.71
7178 56.4 -1.0 1340 7184 done -0.38 - - 2500 - - - 1799 - -170.1 - - 2540 - - - - - - - - 26.79 26.85 26.84
7307 57.8 -0.5 1365 7313 done -0.38 - - 2499 - - - 1799 - -170.1 - - 2540 - - - - - - - - 26.79 26.86 26.85
7441 57.2 0.9 1390 7447 done -0.39 - - 2500 - - - 1798 - -177.1 - - 2540 - - - - - - - - 26.80 26.86 26.86
7570 56.3 0.4 1415 7577 done -0.39 - - 2500 - - - 1799 - -180.4 - - 2540 - - - - - - - - 26.80 26.83 26.86
7699 56.5 -0.2 1440 7705 done -0.39 - - 2500 - - - 1798 - -180.4 - - 2540 - - - - - - - - 26.78 26.84 26.84
7833 56.0 0.8 1465 7840 done -0.40 - - 2500 - - - 1799 - -186.3 - - 2540 - - - - - - - - 26.83 26.82 26.86
7962 54.9 0.2 1490 7969 done -0.40 - - 2500 - - - 1799 - -187.8 - - 2540 - - - - - - - - 26.80 26.79 26.82
8091 55.4 -0.5 1515 8098 done -0.40 - - 2500 - - - 1799 - -187.8 - - 2540 - - - - - - - - 26.80 26.82 26.86
8226 56.5 -0.8 1540 8232 done -0.40 - - 2500 - - - 1799 - -187.8 - - 2540 - - - - - - - - 26.79 26.86 26.84
8355 56.9 0.5 1565 8362 done -0.41 - - 2500 - - - 1799 - -191.9 - - 2540 - - - - - - - - 26.80 26.86 26.85
8484 55.7 1.1 1590 8491 done -0.42 0.08 0.190 2479 -262.5 - - 1799 - -200.4 - - 2540 - - - - - - - - 26.55 26.63 26.60
8621 54.8 0.3 1615 8628 done -0.42 - - 2479 - - - 1799 - -202.7 - - 2539 - - - - - - - - 26.78 26.85 26.84
8751 54.7 -0.1 1640 8757 done -0.42 - - 2479 - - - 1799 - -202.7 - - 2539 - - - - - - - - 26.79 26.86 26.84
8880 55.0 -0.4 1665 8886 done -0.42 - - 2479 - - - 1799 - -202.7 - - 2540 - - - - - - - - 26.79 26.86 26.85
9015 55.8 -0.7 1690 9021 done -0.42 - - 2479 - - - 1799 - -202.7 - - 2539 - - - - - - - - 26.79 26.86 26.85
9144 57.4 -1.4 1715 9150 done -0.42 - - 2479 - - - 1799 - -202.7 - - 2539 - - - - - - - - 26.74 26.82 26.81
9273 58.5 0.1 1740 9279 done -0.42 - - 2479 - - - 1799 - -203.4 - - 2539 - - - - - - - - 26.80 26.86 26.86
9408 57.4 0.8 1765 9415 done -0.43 - - 2479 - - - 1799 - -209.3 - - 2539 - - - - - - - - 26.68 26.77 26.74
9538 56.3 1.0 1790 9544 done -0.44 - - 2478 - - - 1799 - -217.2 - - 2539 - - - - - - - - 26.82 26.86 26.86
9667 55.8 -0.1 1815 9673 done -0.44 - - 2479 - - - 1799 - -217.2 - - 2539 - - - - - - - - 26.80 26.86 26.86
9802 56.4 -0.3 1840 9809 done -0.44 - - 2479 - - - 1799 - -217.2 - - 2539 - - - - - - - - 26.79 26.87 26.86
9931 55.4 1.4 1865 9938 done -0.45 - - 2479 - - - 1799 - -227.9 - - 2539 - - - - - - - - 26.72 26.82 26.80
9968 end loiter: LOITER_COMPLETE
9968 begin climb
9970 54.9 - 1872 10118 roll 0.79 1.12 0.139 2834 317.0 1.12 0.043 1091 -632.1 116.8 138.07 0.517 2215 -2.3 0.025 - - - - - - 26.30 25.34 25.04
10220 44.7 5.4 1912 10354 done 0.88 0.10 0.160 2861 270.0 1.08 0.034 1792 649.1 196.5 125.40 0.487 1891 -2.6 0.024 - - - - - - 25.69 25.95 24.86
10480 17.6 11.0 1955 10488 roll 0.88 - - 2867 - 1.10 0.046 1101 -628.2 196.5 - - 1863 - - - - - - - - 25.91 25.88 25.99
10687 end climb: SURFACE_DEPTH_REACHED
10688 begin surface coast
10699 end surface coast: CONTROL_FINISHED_OK
10699 begin surface
SM 0.45 - - - - -7.39 7.72 0.077 176 22.8 1.40 0.030 1999 1059.3 527.40 - - 550 - - - - - - - -