QPE May09 * SG167 * Dive index * Mission links * Dive 407 * Raw log
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• Previous call tries 1 • 68.77 of 150.00 AH used of 24V (54.15% remains)
• Previous NAKs 0, Timeouts 0 • 37.60 of 100.00 AH used of 10V (62.40% remains)
• Surface angle -65.6 deg, depth 2.55 m • Intended pitch -24.8 deg, speed -13.043 cm/s
• No surface pump (final VBD was 541.38, SM_CC=425)
• GPS1 time: 29 s • bottom range 65.5 m at 975.7 m, depth 1041 m (984 m grid)
• GPS2 time: 15 s • Transponder ping count: 1
• 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
12 end surface: CONTROL_FINISHED_OK
12 begin dive
15 - - - 58 VBD -1.25 - - 140 - - - 2503 - -121.7 -40.90 - 2398 - - - - - - - - - - -
61 3.1 -2.1 7 128 roll -1.25 8.10 0.230 2128 245.4 1.98 0.055 3753 631.3 -121.7 -49.65 - 3989 -32.0 - - - - - - - - - -
298 43.0 -21.5 48 306 done -0.83 0.50 0.163 2269 282.0 1.80 0.021 2470 -712.8 -121.7 - - 3991 - - - - - - - - - - -
646 89.9 -8.6 109 653 roll -1.18 0.25 0.054 2158 -444.0 1.95 0.023 1100 -702.6 -121.7 - - 3992 - - - - - - - - - - -
677 93.2 -11.1 114 683 done -1.18 - - 2151 - 2.00 0.027 2465 682.5 -121.7 - - 3992 - - - - - - - - - - -
1022 140.0 -14.6 175 1028 roll -1.08 0.17 0.170 2193 247.1 1.95 0.040 3764 666.2 -121.7 - - 3992 - - - - - - - - - - -
1137 156.8 -13.6 195 1143 done -1.08 - - 2193 - 1.80 0.025 2473 -717.2 -121.7 - - 3993 - - - - - - - - - - -
1483 193.0 -9.7 256 1490 done -1.32 0.17 0.067 2110 -488.2 - - 2473 - -121.7 - - 3994 - - - - - - - - - - -
1830 246.4 -14.7 317 1836 roll -1.15 0.20 0.165 2165 275.0 1.95 0.040 3750 654.9 -121.7 - - 3995 - - - - - - - - - - -
1927 259.2 -11.7 334 1933 done -1.15 - - 2165 - 1.75 0.022 2493 -718.3 -121.7 - - 3995 - - - - - - - - - - -
2273 287.8 -9.4 395 2280 roll -1.31 0.12 0.077 2109 -466.7 1.98 0.024 1097 -705.1 -121.7 - - 3995 - - - - - - - - - - -
2304 291.0 -10.8 400 2312 done -1.25 0.15 0.166 2140 206.7 2.08 0.028 2512 680.3 -121.7 - - 3995 - - - - - - - - - - -
2636 323.1 -8.0 438 2640 roll -1.32 - - 2140 - 2.03 0.024 1098 -696.6 -121.7 - - 3995 - - - - - - - - - - -
2675 326.3 -8.3 441 2682 done -1.32 - - 2137 - 2.05 0.028 2489 678.5 -121.7 - - 3995 - - - - - - - - - - -
3004 353.5 -9.5 472 3008 roll -1.45 0.17 0.066 2062 -441.2 2.00 0.023 1114 -687.5 -121.7 - - 3995 - - - - - - - - - - -
3039 357.8 -12.9 475 3043 done -1.22 0.32 0.166 2147 265.6 2.03 0.030 2470 668.0 -121.7 - - 3995 - - - - - - - - - - -
3365 391.3 -11.2 505 3366 done -1.32 - - 2147 - - - 2470 - -121.7 - - 3995 - - - - - - - - - - -
3688 425.7 -8.5 535 3692 roll -1.51 0.22 0.062 2052 -431.8 1.98 0.025 1123 -680.3 -121.7 - - 3995 - - - - - - - - - - -
3769 434.8 -11.1 542 3774 done -1.25 0.35 0.173 2140 251.4 2.00 0.030 2453 665.0 -121.7 - - 3995 - - - - - - - - - - -
4096 460.7 -8.8 572 4100 roll -1.40 0.15 0.074 2071 -460.0 2.00 0.044 3771 659.0 -121.7 - - 3993 - - - - - - - - - - -
4125 464.0 -12.1 574 4132 done -1.28 0.22 0.176 2130 268.2 1.85 0.023 2462 -707.6 -121.7 - - 3993 - - - - - - - - - - -
4452 493.2 -7.6 605 4456 roll -1.43 0.15 0.073 2070 -400.0 1.95 0.025 1101 -697.9 -121.7 - - 3992 - - - - - - - - - - -
4520 500.0 -10.2 611 4529 done -1.26 0.28 0.169 2138 242.9 2.03 0.031 2455 667.0 -121.7 - - 3992 - - - - - - - - - - -
4849 529.6 -8.9 627 4851 done -1.45 0.17 0.071 2070 -400.0 - - 2457 - -121.7 - - 3990 - - - - - - - - - - -
5155 559.1 -10.0 642 5159 roll -1.30 0.17 0.179 2112 247.1 2.00 0.044 3761 652.0 -121.7 - - 3989 - - - - - - - - - - -
5268 570.8 -10.9 647 5272 done -1.18 0.20 0.164 2165 265.0 1.92 0.025 2425 -695.8 -121.7 - - 3987 - - - - - - - - - - -
5604 598.4 -8.7 663 5608 roll -1.47 0.22 0.067 2070 -431.8 2.08 0.046 3754 638.9 -121.7 - - 3986 - - - - - - - - - - -
5625 601.1 -10.3 664 5629 done -1.47 - - 2070 - 1.90 0.025 2425 -699.5 -121.7 - - 3985 - - - - - - - - - - -
5954 647.1 -14.1 680 5958 roll -1.32 0.17 0.175 2113 252.9 2.08 0.045 3753 638.5 -121.7 - - 3982 - - - - - - - - - - -
6026 656.3 -11.5 683 6031 done -1.24 0.12 0.171 2143 250.0 1.88 0.025 2447 -694.7 -121.7 - - 3981 - - - - - - - - - - -
6351 687.1 -8.7 699 6355 roll -1.44 0.17 0.072 2068 -441.2 1.98 0.028 1096 -682.3 -121.7 - - 3980 - - - - - - - - - - -
6424 695.1 -10.5 702 6429 done -1.30 0.22 0.167 2127 268.2 2.05 0.035 2443 657.1 -121.7 - - 3979 - - - - - - - - - - -
6748 724.2 -8.7 718 6754 roll -1.47 0.17 0.075 2057 -411.8 2.05 0.048 3765 644.9 -121.7 - - 3977 - - - - - - - - - - -
6772 726.7 -9.5 719 6776 done -1.40 0.15 0.187 2093 240.0 1.92 0.025 2419 -701.0 -121.7 - - 3977 - - - - - - - - - - -
7107 762.0 -11.7 735 7111 roll -1.33 - - 2085 - 2.10 0.048 3761 639.0 -121.7 - - 3975 - - - - - - - - - - -
7304 789.9 -14.0 743 7311 done -1.13 0.35 0.171 2180 271.4 1.88 0.027 2469 -687.2 -121.7 - - 3974 - - - - - - - - - - -
7622 819.1 -8.5 759 7626 roll -1.49 0.30 0.066 2061 -396.7 2.03 0.028 1082 -683.3 -121.7 - - 3972 - - - - - - - - - - -
7666 824.4 -11.9 761 7675 done -1.33 0.22 0.175 2116 250.0 2.08 0.035 2448 656.7 -121.7 - - 3971 - - - - - - - - - - -
7999 863.5 -12.3 777 8003 roll -1.33 - - 2111 - 2.05 0.050 3766 642.9 -121.7 - - 3969 - - - - - - - - - - -
8177 885.6 -12.3 784 8184 done -1.24 0.12 0.172 2140 241.7 1.90 0.027 2464 -685.3 -121.7 - - 3968 - - - - - - - - - - -
8494 917.5 -9.7 800 8495 done -1.34 - - 2140 - - - 2465 - -121.7 - - 3967 - - - - - - - - - - -
8802 948.3 -10.3 815 8806 roll -1.45 0.17 0.075 2070 -411.8 2.08 0.051 3767 626.0 -121.7 - - 3965 - - - - - - - - - - -
9021 979.1 -15.1 824 9029 done -1.23 0.28 0.176 2143 260.7 1.90 0.028 2471 -682.1 -121.7 - - 3964 - - - - - - - - - - -
9066 end dive: TARGET_DEPTH_EXCEEDED
9066 begin apogee
9072 984.7 11.8 827 9174 done -0.22 1.08 0.150 2466 299.1 - - 2471 - - 92.88 1.364 3532 -4.7 0.350 - - - - - - - - -
9174 end apogee: CONTROL_FINISHED_OK
9175 begin climb
9177 991.5 - 832 9288 roll 1.25 1.38 0.064 2959 357.2 2.35 0.030 1002 -625.1 121.7 102.75 1.349 3035 -4.8 0.371 - - - - - - - - -
9368 993.1 7.7 841 9438 done 0.79 0.60 0.211 2809 -250.0 2.20 0.036 2409 639.5 196.6 62.17 1.329 2730 -4.9 0.383 - - - - - - - - -
9756 958.4 9.2 860 9802 done 0.79 - - 2809 - - - 2409 - 249.7 44.10 1.316 2514 -4.9 0.372 - - - - - - - - -
10104 918.3 13.0 877 10105 done 0.79 - - 2809 - - - 2409 - 250.3 - - 2508 - - - - - - - - - - -
10413 876.6 12.8 892 10417 roll 0.79 - - 2815 - 2.12 0.032 1002 -663.7 253.3 - - 2506 - - - - - - - - - - -
10579 855.7 13.0 899 10588 done 0.79 - - 2815 - 2.08 0.036 2357 651.4 254.0 3.65 0.771 2497 -2.5 0.286 - - - - - - - - -
10905 818.1 11.5 915 10930 roll 0.82 - - 2815 - 2.25 0.054 3757 622.2 275.7 20.02 1.253 2407 -4.5 0.306 - - - - - - - - -
10955 812.0 14.4 917 10959 done 0.74 0.15 0.195 2788 -180.0 2.08 0.025 2373 -665.4 275.7 - - 2405 - - - - - - - - - - -
11278 774.8 9.9 933 11318 done 0.90 0.15 0.084 2843 366.7 - - 2371 - 319.3 37.30 1.252 2229 -4.7 0.305 - - - - - - - - -
11626 734.7 11.7 950 11648 roll 0.92 - - 2848 - 2.10 0.032 994 -655.7 338.1 16.33 1.177 2153 -4.7 0.303 - - - - - - - - -
11717 723.4 12.8 954 11726 done 0.99 - - 2848 - 2.17 0.035 2389 642.9 341.8 4.62 0.860 2138 -3.2 0.285 - - - - - - - - -
12049 675.4 15.8 970 12053 roll 0.99 - - 2849 - 2.17 0.052 3765 634.1 341.8 - - 2134 - - - - - - - - - - -
12111 664.4 17.1 972 12118 done 0.91 - - 2857 - 2.05 0.026 2379 -676.1 341.8 - - 2134 - - - - - - - - - - -
12426 616.3 14.5 988 12430 roll 0.91 - - 2866 - 2.05 0.033 1001 -672.2 341.8 - - 2133 - - - - - - - - - - -
12522 602.2 14.5 992 12526 done 0.91 - - 2867 - 2.12 0.035 2395 657.5 341.8 - - 2133 - - - - - - - - - - -
12849 556.4 12.9 1008 12853 roll 0.92 - - 2870 - 2.10 0.032 997 -665.7 344.0 - - 2132 - - - - - - - - - - -
12883 552.0 12.3 1009 12899 done 0.93 - - 2870 - 2.12 0.035 2394 659.0 354.6 11.48 1.046 2086 -4.0 0.221 - - - - - - - - -
13221 508.6 13.1 1026 13225 roll 0.93 - - 2870 - 2.12 0.050 3752 640.6 354.6 - - 2083 - - - - - - - - - - -
13291 498.4 14.6 1029 13295 done 0.82 0.25 0.186 2814 -224.0 2.00 0.025 2384 -684.0 354.6 - - 2083 - - - - - - - - - - -
13616 457.1 12.6 1059 13629 roll 1.11 0.20 0.071 2908 470.0 2.10 0.030 1006 -656.2 360.4 6.35 0.868 2061 -3.5 0.190 - - - - - - - - -
13675 448.6 14.5 1064 13679 done 1.05 - - 2908 - 2.10 0.033 2395 661.4 360.4 - - 2061 - - - - - - - - - - -
14005 402.3 13.9 1095 14010 roll 0.99 0.17 0.188 2871 -217.6 2.08 0.029 1007 -667.3 360.4 - - 2060 - - - - - - - - - - -
14100 390.7 11.2 1103 14129 done 1.10 - - 2871 - 2.08 0.031 2381 660.6 386.6 22.48 0.966 1955 -4.7 0.197 - - - - - - - - -
14448 350.7 12.2 1136 14465 roll 1.22 0.20 0.074 2953 410.0 2.17 0.051 3759 635.0 398.7 11.60 0.882 1905 -4.3 0.179 - - - - - - - - -
14506 341.7 16.2 1141 14511 done 0.99 0.38 0.193 2865 -231.6 2.03 0.025 2399 -670.0 398.7 - - 1903 - - - - - - - - - - -
14832 299.8 11.7 1171 14857 roll 1.33 0.28 0.064 2987 435.7 2.12 0.028 997 -661.3 416.8 16.10 0.865 1830 -4.5 0.164 - - - - - - - - -
14951 281.6 15.6 1191 14958 done 1.17 0.25 0.191 2926 -244.0 2.08 0.033 2357 653.8 416.8 - - 1828 - - - - - - - - - - -
15296 236.7 11.6 1252 15320 roll 1.20 - - 2933 - 2.08 0.030 993 -655.8 436.7 17.33 0.812 1750 -4.5 0.137 - - - - - - - - -
15413 223.2 11.7 1272 15437 done 1.27 - - 2933 - 2.03 0.031 2327 657.1 455.1 16.62 0.791 1676 -4.5 0.131 - - - - - - - - -
15778 177.2 11.9 1336 15798 roll 1.38 0.15 0.072 2991 386.7 2.30 0.048 3759 622.6 471.3 13.90 0.742 1609 -4.8 0.120 - - - - - - - - -
15822 170.9 14.9 1343 15829 done 1.21 0.25 0.190 2938 -212.0 2.12 0.022 2316 -680.7 471.3 - - 1608 - - - - - - - - - - -
16168 130.7 11.4 1404 16194 roll 1.50 0.20 0.068 3030 460.0 2.03 0.030 991 -652.7 494.0 19.67 0.713 1517 -4.6 0.089 - - - - - - - - -
16294 112.3 15.9 1425 16300 done 1.44 - - 3030 - 2.03 0.029 2334 661.6 494.0 - - 1514 - - - - - - - - - - -
16639 62.5 12.4 1486 16652 roll 1.45 - - 3030 - 2.25 0.046 3753 630.7 502.8 8.43 0.597 1481 -3.9 0.043 - - - - - - - - -
16748 47.9 14.5 1505 16755 done 1.36 0.22 0.179 2981 -222.7 2.20 0.022 2241 -687.3 502.8 - - 1480 - - - - - - - - - - -
17094 11.1 10.4 1566 17136 roll 1.70 0.28 0.063 3095 407.1 2.42 0.043 3759 627.3 540.4 31.23 0.605 1328 -4.9 0.009 - - - - - - - - -
17151 end climb: SURFACE_DEPTH_REACHED
17152 begin surface coast
17169 end surface coast: CONTROL_FINISHED_OK
17170 begin surface
SM 2.63 - - - - -7.49 8.07 0.061 142 -365.9 - - 2431 - 541.38 - - 1324 - - - - - - - -