WA coast 30Aug21 * SG204 * Dive index * Mission links * Dive 9 * Raw log
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• Previous call tries 2 • 5.40 of 127.50 AH used of 24V (95.76% remains)
• Previous NAKs 0, Timeouts 0 • 3.81 of 100.00 AH used of 10V (96.19% remains)
• Surface angle -59.2 deg, depth 0.42 m • Intended pitch -25.8 deg, speed -10.000 cm/s
• VBD pumped to 603.44 (SM_CC=603.25)
• GPS1 time: 11 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
22 end surface: CONTROL_FINISHED_OK
22 begin dive
25 - - - 131 VBD -0.86 - - 174 - - - 2065 - -63.3 -103.70 0.010 2983 - - - - - - - - 26.09 - 26.13
134 3.8 -7.7 15 157 done -0.86 8.12 0.210 2324 264.8 - - 2063 - -85.3 -8.77 0.023 3397 -47.2 0.782 - - - - - - 25.84 25.59 25.99
284 35.7 -16.8 42 292 roll -0.88 - - 2324 - 1.65 0.041 998 -645.5 -85.3 - - 3400 - - - - - - - - 26.33 26.25 26.39
377 50.6 -13.1 59 385 done -0.92 - - 2318 - 1.60 0.036 2039 650.6 -85.3 - - 3400 - - - - - - - - 26.34 26.31 26.37
510 70.9 -17.0 84 519 roll -0.95 - - 2310 - 1.62 0.045 3099 654.3 -85.3 - - 3400 - - - - - - - - 26.41 26.34 26.47
636 87.9 -14.0 107 644 done -0.98 - - 2315 - 1.58 0.031 2040 -670.3 -85.3 - - 3400 - - - - - - - - 26.45 26.41 26.48
777 107.0 -13.5 128 781 roll -1.02 - - 2322 - 1.52 0.041 1003 -682.2 -85.3 - - 3401 - - - - - - - - 26.44 26.39 26.51
854 117.6 -13.2 143 862 done -1.06 0.05 0.091 2280 -840.0 1.60 0.035 2059 660.0 -85.3 - - 3400 - - - - - - - - 26.36 26.48 26.44
981 136.8 -16.1 156 986 roll -1.08 - - 2286 - 1.58 0.039 996 -672.8 -85.3 - - 3400 - - - - - - - - 26.56 26.50 26.58
1027 143.5 -15.2 164 1031 done -1.10 - - 2281 - 1.55 0.034 2050 680.0 -85.3 - - 3400 - - - - - - - - 26.55 26.48 26.58
1160 163.1 -14.3 178 1163 roll -1.12 - - 2286 - 1.55 0.040 1000 -677.4 -85.3 - - 3400 - - - - - - - - 26.62 26.51 26.67
1192 167.8 -14.1 184 1197 done -1.14 - - 2281 - 1.55 0.035 2053 679.4 -85.3 - - 3400 - - - - - - - - 26.60 26.54 26.62
1325 185.9 -13.4 198 1334 done -1.17 0.08 0.160 2257 -300.0 - - 2053 - -85.3 - - 3400 - - - - - - - - 26.44 26.60 26.55
1455 205.5 -15.6 211 1457 done -1.17 - - 2256 - - - 2053 - -85.3 - - 3400 - - - - - - - - 26.67 26.74 26.73
1577 224.9 -16.2 223 1581 roll -1.17 - - 2262 - 1.55 0.041 1002 -678.1 -85.3 - - 3400 - - - - - - - - 26.69 26.58 26.72
1641 235.7 -16.7 235 1645 done -1.17 - - 2256 - 1.55 0.035 2057 680.6 -85.3 - - 3399 - - - - - - - - 26.65 26.59 26.67
1773 256.6 -15.6 249 1781 done -1.17 - - 2256 - - - 2057 - -85.3 - - 3399 - - - - - - - - 26.63 26.72 26.70
1905 277.5 -16.4 262 1909 roll -1.17 - - 2262 - 1.55 0.041 1006 -678.1 -85.3 - - 3399 - - - - - - - - 26.72 26.60 26.77
1968 287.8 -15.5 274 1972 done -1.18 - - 2256 - 1.55 0.039 2059 679.4 -85.3 - - 3399 - - - - - - - - 26.67 26.61 26.70
2110 310.1 -15.5 286 2112 done -1.18 - - 2256 - - - 2059 - -85.3 - - 3399 - - - - - - - - 26.72 26.79 26.78
2230 328.6 -15.3 292 2235 roll -1.18 - - 2262 - 1.60 0.041 1006 -658.1 -85.3 - - 3398 - - - - - - - - 26.73 26.61 26.79
2266 334.3 -14.5 299 2275 done -1.19 - - 2257 - 1.58 0.034 2046 658.2 -85.3 - - 3398 - - - - - - - - 26.67 26.63 26.69
2394 352.0 -14.0 306 2399 roll -1.20 - - 2262 - 1.58 0.080 1012 -654.4 -85.3 - - 3398 - - - - - - - - 26.75 26.63 26.79
2440 359.0 -14.8 315 2444 done -1.21 - - 2257 - 1.58 0.036 2054 659.5 -85.3 - - 3398 - - - - - - - - 26.65 26.60 26.67
2578 378.1 -13.9 324 2583 roll -1.22 - - 2248 - 1.55 0.047 3110 681.3 -85.3 - - 3398 - - - - - - - - 26.76 26.61 26.84
2613 383.4 -14.4 331 2621 done -1.22 - - 2254 - 1.58 0.031 2039 -677.8 -85.3 - - 3398 - - - - - - - - 26.70 26.66 26.72
2741 401.8 -14.9 338 2745 roll -1.23 - - 2262 - 1.50 0.040 1008 -687.3 -85.3 - - 3398 - - - - - - - - 26.69 26.64 26.75
2806 411.1 -14.5 350 2811 done -1.25 0.10 0.132 2222 -400.0 1.52 0.035 2052 686.8 -85.3 - - 3397 - - - - - - - - 26.54 26.65 26.65
2949 433.4 -15.8 360 2954 roll -1.24 - - 2214 - 1.52 0.046 3098 688.2 -85.3 - - 3397 - - - - - - - - 26.77 26.62 26.82
3013 443.9 -17.2 372 3017 done -1.22 - - 2214 - 1.52 0.029 2029 -703.3 -85.3 - - 3397 - - - - - - - - 26.67 26.68 26.68
3156 467.7 -16.1 382 3159 roll -1.21 - - 2213 - 1.50 0.044 999 -686.7 -85.3 - - 3397 - - - - - - - - 26.75 26.58 26.82
3162 end dive: TARGET_DEPTH_EXCEEDED
3162 begin apogee
3168 469.6 -16.1 384 3309 done -0.17 1.10 0.153 2543 300.0 - - 1861 - - 136.32 0.698 3049 -2.6 0.172 - - - - - - 26.29 25.19 24.68
3313 end apogee: CONTROL_FINISHED_OK
3313 begin climb
3315 474.0 - 391 3461 roll 0.86 1.08 0.109 2882 313.9 1.67 0.040 2888 615.0 85.3 136.40 0.641 2695 -2.6 0.192 - - - - - - 25.30 25.04 24.57
3525 474.7 4.9 431 3605 done 0.84 - - 2888 - 1.55 0.034 1859 -663.9 133.3 68.70 0.688 2492 -3.0 0.204 - - - - - - 25.60 25.53 24.58
3724 456.6 10.7 453 3728 roll 0.84 - - 2895 - 1.65 0.049 806 -638.2 133.3 - - 2462 - - - - - - - - 25.23 25.20 25.20
3889 438.7 11.5 485 3893 done 0.84 - - 2891 - 1.58 0.036 1842 655.7 133.3 - - 2461 - - - - - - - - 26.08 26.02 26.10
4033 422.4 11.5 495 4037 roll 0.84 - - 2883 - 1.60 0.045 2904 663.8 133.3 - - 2460 - - - - - - - - 26.20 26.14 26.26
4181 405.3 10.6 523 4185 done 0.84 - - 2889 - 1.55 0.034 1850 -680.0 133.3 - - 2457 - - - - - - - - 26.34 26.29 26.36
4325 389.8 10.8 533 4329 roll 0.84 - - 2897 - 1.60 0.050 799 -656.9 133.3 - - 2458 - - - - - - - - 26.41 26.21 26.48
4367 385.0 10.7 541 4371 done 0.84 - - 2892 - 1.60 0.035 1866 666.9 133.3 - - 2458 - - - - - - - - 26.42 26.36 26.42
4510 370.3 10.4 551 4513 roll 0.84 - - 2885 - 1.55 0.050 2906 671.0 133.3 - - 2458 - - - - - - - - 26.50 26.33 26.56
4652 356.2 9.6 578 4660 done 0.84 - - 2892 - 1.60 0.034 1844 -663.8 137.5 - - 2455 - - - - - - - - 26.49 26.46 26.51
4777 344.3 9.4 585 4781 roll 0.84 - - 2899 - 1.58 0.049 796 -663.3 143.0 - - 2455 - - - - - - - - 26.55 26.43 26.62
4903 331.4 9.9 610 4908 done 0.84 - - 2893 - 1.58 0.035 1854 669.6 143.9 - - 2456 - - - - - - - - 26.56 26.51 26.58
5042 318.1 9.6 619 5044 done 0.84 - - 2893 - - - 1854 - 147.7 - - 2455 - - - - - - - - 26.63 26.69 26.67
5161 306.4 9.8 625 5165 roll 0.84 - - 2886 - 1.55 0.046 2905 678.1 149.3 - - 2455 - - - - - - - - 26.58 26.51 26.65
5213 301.1 9.6 635 5225 done 0.84 - - 2892 - 1.55 0.037 1841 -686.5 153.4 5.60 0.728 2426 -5.2 0.215 - - - - - - 26.61 26.53 25.61
5345 287.5 10.6 648 5348 roll 0.84 - - 2900 - 1.58 0.050 794 -662.7 153.4 - - 2434 - - - - - - - - 26.59 26.45 26.65
5379 283.6 10.7 655 5387 done 0.84 - - 2894 - 1.62 0.035 1851 652.5 153.4 - - 2434 - - - - - - - - 26.54 26.51 26.57
5507 270.1 10.9 668 5511 roll 0.84 - - 2886 - 1.58 0.051 2917 674.7 153.4 - - 2434 - - - - - - - - 26.63 26.50 26.68
5541 266.0 10.8 675 5549 done 0.84 - - 2892 - 1.60 0.035 1853 -665.0 153.4 - - 2434 - - - - - - - - 26.53 26.53 26.55
5671 252.7 10.5 688 5675 roll 0.84 - - 2900 - 1.58 0.047 797 -668.4 153.4 - - 2434 - - - - - - - - 26.63 26.47 26.68
5747 243.9 10.7 703 5755 done 0.84 - - 2894 - 1.62 0.036 1860 656.2 153.4 - - 2434 - - - - - - - - 26.60 26.56 26.62
5877 230.3 10.8 716 5881 roll 0.84 - - 2887 - 1.52 0.046 2899 683.6 153.4 - - 2434 - - - - - - - - 26.64 26.54 26.70
5899 227.7 10.9 720 5904 done 0.84 - - 2893 - 1.58 0.034 1845 -667.1 153.4 - - 2433 - - - - - - - - 26.61 26.58 26.63
6032 213.6 10.5 734 6037 roll 0.84 - - 2901 - 1.58 0.048 793 -665.8 153.4 - - 2434 - - - - - - - - 26.62 26.53 26.68
6108 205.7 11.2 748 6112 done 0.84 - - 2895 - 1.58 0.034 1858 674.1 153.4 - - 2434 - - - - - - - - 26.65 26.59 26.67
6240 191.2 10.9 762 6245 roll 0.84 - - 2888 - 1.52 0.047 2897 683.6 153.4 - - 2433 - - - - - - - - 26.62 26.56 26.68
6295 184.9 11.2 773 6303 done 0.84 - - 2894 - 1.58 0.033 1843 -667.1 153.4 - - 2433 - - - - - - - - 26.64 26.61 26.67
6426 171.7 10.3 786 6431 roll 0.84 - - 2901 - 1.58 0.083 793 -664.6 153.4 - - 2434 - - - - - - - - 26.72 26.55 26.78
6500 163.4 11.2 800 6504 done 0.84 - - 2896 - 1.58 0.036 1860 675.3 153.4 - - 2434 - - - - - - - - 26.67 26.62 26.70
6632 149.9 9.9 814 6641 done 0.84 - - 2895 - - - 1861 - 154.7 - - 2434 - - - - - - - - 26.70 26.77 26.77
6763 137.4 9.7 827 6774 roll 0.84 - - 2901 - 1.65 0.050 805 -640.0 157.7 4.05 0.615 2408 -6.4 0.144 - - - - - - 26.72 26.18 25.68
6874 125.6 11.4 847 6878 done 0.84 - - 2896 - 1.55 0.084 1847 672.3 157.7 - - 2422 - - - - - - - - 26.65 26.58 26.67
7007 112.3 9.8 861 7019 roll 0.84 - - 2888 - 1.60 0.045 2897 656.2 159.9 3.30 0.535 2400 -6.7 0.140 - - - - - - 26.70 26.09 25.53
7097 101.8 11.4 878 7106 done 0.84 - - 2894 - 1.55 0.036 1856 -671.6 159.9 - - 2412 - - - - - - - - 26.62 26.59 26.64
7231 87.9 10.5 901 7239 roll 0.84 - - 2888 - 1.60 0.046 2901 653.1 159.9 - - 2412 - - - - - - - - 26.68 26.53 26.74
7327 78.2 9.8 918 7336 done 0.84 - - 2894 - 1.58 0.037 1848 -666.5 162.1 3.45 0.536 2387 -7.2 0.106 - - - - - - 26.66 26.60 25.53
7464 66.3 9.0 943 7499 done 0.84 - - 2894 - - - 1849 - 171.8 29.20 0.604 2342 -1.5 0.017 - - - - - - 26.67 25.94 25.63
7627 53.8 6.4 972 7683 roll 0.85 - - 2902 - 1.67 0.053 803 -626.3 206.0 46.45 0.561 2205 -2.9 0.028 - - - - 1 - 26.41 25.82 25.29
7771 40.1 12.4 996 7778 done 0.87 - - 2896 - 1.62 0.036 1843 642.0 206.0 - - 2187 - - - - - - - - 26.04 26.00 26.08
7904 27.2 9.6 1021 7912 roll 0.90 - - 2889 - 1.62 0.047 2898 651.2 209.5 - - 2185 - - - - - - - - 26.25 26.13 26.31
7935 24.3 9.2 1026 7945 done 0.93 - - 2894 - 1.60 0.034 1845 -658.1 216.7 2.62 0.377 2163 -8.4 0.054 - - - - - - 26.23 26.20 25.28
8073 14.0 6.2 1051 8138 roll 0.96 0.08 0.169 2913 237.5 1.73 0.046 2912 616.8 252.3 55.08 0.552 2017 -2.7 0.007 - - - - 1 - 26.17 25.65 25.04
8278 end climb: SURFACE_DEPTH_REACHED
8278 begin surface coast
8315 end surface coast: CONTROL_FINISHED_OK
8315 begin surface
SM 0.37 - - - - -7.46 7.60 0.055 176 23.1 1.33 0.030 2058 -6467.7 603.44 219.07 0.668 590 2.7 -0.000 - - - - 1 -