Taiwan17 Dec16 * SG628 * Dive index * Mission links * Dive 428 * Raw log
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• Previous call tries 1 • 168.27 of 310.00 AH used of 24V (45.72% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -66.4 deg, depth 0.96 m • Intended pitch -19.3 deg, speed -14.697 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 22 s
• GPS2 time: 8 s • Transponder ping count: 3
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
15 - - - 77 VBD -0.96 - - 89 - - - 2172 - -243.3 -60.03 - 3390 - - - - - - - - - - -
80 3.7 -7.7 9 104 roll -0.96 8.62 0.453 2479 277.3 2.45 0.076 736 -586.1 -243.3 -8.48 - 3963 -67.6 - - - - - - - 14.00 14.61 14.88
149 24.7 -21.3 20 157 done -0.96 0.08 0.437 2487 100.0 2.35 0.044 2129 592.8 -243.3 - - 3963 - - - - - - - - 14.21 14.54 -
404 85.7 -26.0 69 411 roll -0.96 - - 2477 - 2.42 0.062 3553 588.4 -243.3 - - 3963 - - - - - - - - - 14.55 -
499 108.4 -21.1 87 508 done -0.96 - - 2477 - 2.35 0.032 2139 -601.7 -243.3 - - 3963 - - - - - - - - - 14.59 -
756 162.6 -18.5 136 763 roll -0.96 - - 2466 - 2.47 0.066 3552 572.1 -243.3 - - 3963 - - - - - - - - - 14.56 -
816 174.0 -18.2 147 825 done -0.96 0.10 0.342 2493 270.0 2.35 0.034 2143 -599.6 -243.3 - - 3963 - - - - - - - - 14.27 14.59 -
1073 217.1 -16.9 196 1080 roll -0.96 - - 2493 - 2.38 0.050 734 -592.0 -243.3 - - 3964 - - - - - - - - - 14.59 -
1139 228.0 -16.2 208 1146 done -0.96 - - 2484 - 2.35 0.039 2151 603.0 -243.3 - - 3964 - - - - - - - - - 14.58 -
1396 271.4 -17.0 246 1405 roll -0.96 - - 2473 - 2.35 0.062 3549 594.9 -243.3 - - 3964 - - - - - - - - - 14.64 -
1440 279.2 -16.3 255 1448 done -0.96 0.05 0.413 2487 280.0 2.28 0.031 2136 -619.7 -243.3 - - 3964 - - - - - - - - 14.44 14.75 -
1687 316.2 -14.1 280 1688 done -0.96 - - 2487 - - - 2135 - -243.3 - - 3964 - - - - - - - - - - -
1927 350.1 -13.8 304 1938 roll -0.96 - - 2477 - 2.42 0.064 3550 584.7 -243.3 - - 3964 - - - - - - - - - 14.66 -
1981 357.2 -13.3 314 1990 done -0.96 - - 2477 - 2.25 0.031 2145 -624.4 -243.3 - - 3964 - - - - - - - - - 14.78 -
2231 393.5 -14.5 340 2240 roll -0.96 - - 2477 - 2.28 0.052 754 -610.1 -243.3 - - 3964 - - - - - - - - - 14.57 -
2245 396.0 -15.2 343 2252 done -0.96 0.08 0.401 2486 112.5 2.25 0.038 2151 620.9 -243.3 - - 3964 - - - - - - - - 14.35 14.75 -
2493 429.8 -13.4 368 2503 roll -0.96 - - 2486 - 2.25 0.052 762 -617.3 -243.3 - - 3963 - - - - - - - - - 14.60 -
2515 433.0 -14.3 372 2524 done -0.96 - - 2477 - 2.22 0.039 2154 627.0 -243.3 - - 3963 - - - - - - - - - 14.76 -
2766 468.1 -13.6 398 2775 roll -0.96 - - 2477 - 2.28 0.053 755 -613.6 -243.3 - - 3962 - - - - - - - - - 14.55 -
2790 471.9 -14.9 403 2798 done -0.96 0.10 0.360 2493 160.0 2.25 0.040 2150 620.0 -243.3 - - 3962 - - - - - - - - 14.31 14.73 -
3039 503.5 -12.5 428 3047 roll -0.96 - - 2484 - 2.35 0.061 3542 592.3 -243.3 - - 3960 - - - - - - - - - 14.49 -
3103 511.3 -11.5 441 3110 done -0.96 - - 2484 - 2.28 0.033 2144 -613.2 -243.3 - - 3960 - - - - - - - - - 14.76 -
3351 540.8 -12.3 466 3360 roll -0.96 - - 2474 - 2.40 0.063 3544 583.3 -243.3 - - 3958 - - - - - - - - - 14.46 -
3393 545.9 -11.5 474 3402 done -0.96 0.03 0.323 2485 366.7 2.25 0.033 2142 -623.1 -243.3 - - 3957 - - - - - - - - 14.32 14.68 -
3643 574.4 -10.4 500 3647 roll -0.96 - - 2475 - 2.42 0.063 3541 578.1 -243.3 - - 3956 - - - - - - - - - 14.63 -
3715 581.8 -10.3 514 3723 done -0.96 - - 2476 - 2.22 0.033 2157 -623.4 -243.3 - - 3955 - - - - - - - - - 14.72 -
3964 611.7 -13.1 536 3965 done -0.96 - - 2476 - - - 2157 - -243.3 - - 3953 - - - - - - - - - - -
4204 646.2 -15.1 548 4210 roll -0.96 - - 2476 - 2.35 0.056 758 -595.3 -243.3 - - 3952 - - - - - - - - - 14.66 -
4232 650.8 -15.6 554 4237 done -0.96 0.10 0.369 2492 160.0 2.25 0.042 2146 616.9 -243.3 - - 3952 - - - - - - - - 14.26 14.73 -
4479 684.7 -13.2 567 4485 roll -0.96 - - 2482 - 2.38 0.066 3546 588.2 -243.3 - - 3950 - - - - - - - - - 14.60 -
4547 693.5 -11.8 581 4551 done -0.96 - - 2482 - 2.28 0.034 2152 -611.4 -243.3 - - 3950 - - - - - - - - - 14.76 -
4794 720.3 -9.9 594 4801 roll -0.96 - - 2472 - 2.42 0.065 3545 575.6 -243.3 - - 3948 - - - - - - - - - 14.60 -
4848 725.7 -9.8 605 4856 done -0.96 0.08 0.363 2490 225.0 2.30 0.035 2148 -607.4 -243.3 - - 3947 - - - - - - - - 14.35 14.73 -
5095 749.4 -10.2 618 5101 roll -0.96 - - 2491 - 2.28 0.057 762 -607.9 -243.3 - - 3945 - - - - - - - - - 14.59 -
5122 752.8 -11.7 624 5126 done -0.96 - - 2482 - 2.28 0.043 2158 612.3 -243.3 - - 3945 - - - - - - - - - 14.70 -
5369 783.0 -12.5 637 5375 roll -0.96 - - 2472 - 2.38 0.067 3550 584.9 -243.3 - - 3944 - - - - - - - - - 14.57 -
5402 787.5 -13.0 644 5409 done -0.96 0.08 0.360 2491 237.5 2.30 0.036 2151 -608.3 -243.3 - - 3944 - - - - - - - - 14.33 14.71 -
5649 816.7 -11.7 657 5653 roll -0.96 - - 2491 - 2.38 0.059 753 -587.4 -243.3 - - 3942 - - - - - - - - - 14.59 -
5684 820.9 -11.2 664 5691 done -0.96 - - 2483 - 2.30 0.043 2150 607.4 -243.3 - - 3942 - - - - - - - - - 14.66 -
5931 848.9 -11.1 677 5937 roll -0.96 - - 2473 - 2.42 0.068 3551 578.9 -243.3 - - 3940 - - - - - - - - - 14.54 -
6055 862.3 -10.4 702 6062 done -0.96 0.05 0.417 2486 260.0 2.30 0.037 2151 -608.7 -243.3 - - 3939 - - - - - - - - 14.38 14.69 -
6312 890.2 -11.2 717 6317 roll -0.96 - - 2476 - 2.40 0.067 3538 577.9 -243.3 - - 3938 - - - - - - - - - 14.46 -
6351 894.7 -11.2 725 6357 done -0.96 - - 2477 - 2.30 0.037 2151 -603.0 -243.3 - - 3937 - - - - - - - - - 14.69 -
6611 924.9 -11.6 741 6617 roll -0.96 - - 2466 - 2.45 0.067 3545 569.0 -243.3 - - 3937 - - - - - - - - - 14.51 -
6644 929.0 -11.9 748 6651 done -0.96 0.10 0.321 2493 270.0 2.33 0.034 2142 -602.1 -243.3 - - 3936 - - - - - - - - 14.22 14.67 -
6891 953.5 -9.6 761 6897 roll -0.96 - - 2484 - 2.45 0.066 3545 572.7 -243.3 - - 3935 - - - - - - - - - 14.50 -
6955 959.7 -9.4 774 6959 done -0.96 - - 2484 - 2.30 0.034 2149 -607.0 -243.3 - - 3934 - - - - - - - - - 14.69 -
7065 end dive: TARGET_DEPTH_EXCEEDED
7065 begin apogee
7070 970.8 -10.0 781 7415 done -0.17 0.75 0.232 2741 342.7 - - 1924 - - 340.45 1.540 2988 -2.8 0.323 - - - - - - 14.11 - 13.37
7416 end apogee: CONTROL_FINISHED_OK
7416 begin climb
7418 988.0 - 798 7700 done 0.96 0.95 0.125 3115 393.7 - - 1923 - 243.3 275.08 1.707 1996 -3.6 0.385 - - - - - - 14.12 - 13.32
7929 921.3 16.8 863 7934 roll 0.96 - - 3115 - 2.47 0.064 3349 577.3 243.3 - - 1970 - - - - - - - - - 14.54 -
8051 899.8 17.0 888 8057 done 0.96 0.08 0.451 3112 -37.5 2.33 0.046 1980 -587.6 243.3 - - 1969 - - - - - - - - 14.30 14.66 -
8304 859.3 16.4 902 8311 roll 0.96 - - 3121 - 2.45 0.070 539 -588.2 243.3 - - 1967 - - - - - - - - - 14.62 -
8346 851.6 17.3 911 8351 done 0.96 - - 3121 - 2.30 0.044 1946 611.7 243.3 - - 1967 - - - - - - - - - 14.71 -
8604 808.9 17.2 926 8610 roll 0.96 - - 3121 - 2.40 0.063 3357 587.9 243.3 - - 1966 - - - - - - - - - 14.66 -
8664 798.3 17.1 938 8671 done 0.96 0.10 0.422 3109 -120.0 2.38 0.044 1944 -593.7 243.3 - - 1966 - - - - - - - - 14.27 14.73 -
8924 757.5 15.1 954 8930 roll 0.96 - - 3118 - 2.42 0.070 533 -583.1 243.3 - - 1965 - - - - - - - - - 14.65 -
9012 743.0 16.4 972 9016 done 0.96 - - 3117 - 2.33 0.043 1954 609.9 243.3 - - 1965 - - - - - - - - - 14.73 -
9259 704.0 16.0 985 9265 roll 0.96 - - 3118 - 2.40 0.062 3356 584.2 243.3 - - 1965 - - - - - - - - - 14.64 -
9323 693.2 16.9 998 9328 done 0.96 0.08 0.435 3114 -50.0 2.38 0.043 1937 -596.2 243.3 - - 1965 - - - - - - - - 14.31 14.71 -
9575 653.1 15.7 1012 9582 roll 0.96 - - 3122 - 2.40 0.069 542 -581.2 243.3 - - 1964 - - - - - - - - - 14.62 -
9644 641.3 17.4 1026 9648 done 0.96 - - 3123 - 2.33 0.043 1958 607.7 243.3 - - 1963 - - - - - - - - - 14.72 -
9890 600.9 16.6 1039 9897 roll 0.96 - - 3133 - 2.40 0.067 538 -591.7 243.3 - - 1963 - - - - - - - - - 14.62 -
9921 595.9 16.6 1045 9931 done 0.96 0.10 0.381 3110 -230.0 2.33 0.043 1962 611.2 243.3 - - 1963 - - - - - - - - 14.23 14.71 -
10171 558.8 14.2 1071 10180 roll 1.00 - - 3110 - 2.35 0.060 3344 588.1 243.3 - - 1963 - - - - - - - - - 14.60 -
10232 549.7 14.8 1083 10242 done 1.00 - - 3119 - 2.35 0.043 1943 -596.2 243.3 - - 1963 - - - - - - - - - 14.68 -
10484 514.2 14.0 1109 10493 roll 1.04 - - 3129 - 2.38 0.068 545 -587.4 243.3 - - 1963 - - - - - - - - - 14.40 -
10538 505.8 14.7 1120 10545 done 1.04 - - 3129 - 2.33 0.042 1955 605.2 243.3 - - 1963 - - - - - - - - - 14.67 -
10787 471.8 13.5 1145 10796 roll 1.13 0.10 0.208 3191 620.0 2.38 0.059 3344 583.6 243.3 - - 1963 - - - - - - - - 14.67 14.40 -
10908 449.4 19.2 1169 10918 done 1.13 0.15 0.389 3162 -193.3 2.35 0.044 1946 -594.9 243.3 - - 1963 - - - - - - - - 14.02 14.65 -
11159 407.6 17.7 1195 11162 roll 1.13 - - 3173 - 2.42 0.067 543 -579.8 243.3 - - 1963 - - - - - - - - - 14.56 -
11220 396.3 18.7 1207 11229 done 1.13 - - 3172 - 2.30 0.041 1949 611.3 243.3 - - 1963 - - - - - - - - - 14.67 -
11472 350.4 18.2 1233 11481 roll 1.13 - - 3173 - 2.38 0.060 3343 585.7 243.3 - - 1962 - - - - - - - - - 14.34 -
11707 311.0 16.8 1280 11714 done 1.13 0.08 0.446 3168 -62.5 2.38 0.041 1944 -587.8 243.3 - - 1962 - - - - - - - - 14.17 14.64 -
11956 270.3 17.3 1305 11965 roll 1.13 - - 3168 - 2.40 0.058 3346 584.2 243.3 - - 1963 - - - - - - - - - 14.23 -
12021 258.6 17.6 1317 12030 done 1.13 - - 3176 - 2.33 0.041 1952 -598.3 243.3 - - 1963 - - - - - - - - - 14.38 -
12275 217.6 13.8 1362 12281 done 1.19 - - 3177 - - - 1952 - 243.3 - - 1963 - - - - - - - - - - -
12529 182.6 15.3 1411 12537 roll 1.19 - - 3189 - 2.47 0.065 532 -574.9 243.3 - - 1963 - - - - - - - - - 14.48 -
12642 165.7 14.3 1432 12649 done 1.19 - - 3189 - 2.38 0.038 1963 601.3 243.3 - - 1963 - - - - - - - - - 14.53 -
12896 129.8 12.5 1481 12905 done 1.35 0.12 0.187 3256 558.3 - - 1964 - 243.3 - - 1964 - - - - - - - - 14.52 - -
13152 90.7 15.4 1530 13160 roll 1.35 0.10 0.391 3235 -210.0 2.42 0.055 3353 574.0 243.3 - - 1965 - - - - - - - - 14.21 14.49 -
13393 56.4 13.8 1576 13401 done 1.41 - - 3245 - 2.40 0.036 1933 -591.7 243.3 - - 1967 - - - - - - - - - 14.55 -
13648 19.3 16.1 1625 13656 roll 1.41 - - 3244 - 2.45 0.054 3345 576.3 243.3 - - 1968 - - - - - - - - - 14.50 -
13745 3.7 15.3 1643 13752 done 1.41 - - 3254 - 2.38 0.035 1938 -591.2 243.3 - - 1969 - - - - - - - - - 14.54 -
13757 end climb: SURFACE_DEPTH_REACHED
13757 begin surface coast
13779 end surface coast: CONTROL_FINISHED_OK
13780 begin surface
SM 0.82 - - - - -8.25 7.65 0.089 128 16.7 0.32 0.057 2188 3618.8 400.08 81.47 0.155 1355 16.6 -0.009 - - - - - -