QPE May09 * SG167 * Dive index * Mission links * Dive 469 * Raw log
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• Previous call tries 3 • 80.99 of 150.00 AH used of 24V (46.01% remains)
• Previous NAKs 11, Timeouts 0 • 43.37 of 100.00 AH used of 10V (56.63% remains)
• Surface angle -57.6 deg, depth 2.63 m • Intended pitch -24.8 deg, speed -13.043 cm/s
• No surface pump (final VBD was 568.11, SM_CC=475)
• GPS1 time: 43 s, HDOP was 2.5 m
• GPS2 time: 46 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 58 VBD -1.49 - - 140 - - - 2388 - -121.7 -37.20 - 2137 - - - - - - - - - - -
61 3.1 -4.6 7 132 roll -1.49 7.72 0.225 2060 248.7 2.05 0.036 978 -687.8 -121.7 -55.30 - 3989 -33.5 - - - - - - - - - -
275 42.3 -21.9 45 282 done -0.98 0.62 0.177 2222 261.3 2.10 0.026 2401 677.6 -121.7 - - 3990 - - - - - - - - - - -
621 87.3 -8.3 106 627 roll -1.09 - - 2214 - 2.05 0.041 3753 659.5 -121.7 - - 3991 - - - - - - - - - - -
674 90.6 -5.8 115 680 done -1.09 - - 2214 - 1.98 0.021 2326 -720.7 -121.7 - - 3991 - - - - - - - - - - -
1019 127.7 -10.8 176 1025 roll -1.34 0.25 0.058 2098 -464.0 2.17 0.040 3743 653.0 -121.7 - - 3991 - - - - - - - - - - -
1049 131.7 -13.5 181 1056 done -1.14 0.28 0.166 2172 264.3 1.92 0.020 2356 -722.4 -121.7 - - 3991 - - - - - - - - - - -
1397 166.9 -12.2 242 1403 roll -1.20 - - 2164 - 2.12 0.040 3747 656.1 -121.7 - - 3992 - - - - - - - - - - -
1479 177.3 -13.0 256 1485 done -1.13 - - 2165 - 1.88 0.020 2379 -727.7 -121.7 - - 3992 - - - - - - - - - - -
1824 216.0 -11.9 317 1830 roll -1.28 - - 2165 - 1.92 0.023 1018 -708.9 -121.7 - - 3992 - - - - - - - - - - -
1849 219.3 -12.8 321 1856 done -1.36 0.12 0.071 2099 -550.0 2.03 0.026 2403 682.3 -121.7 - - 3992 - - - - - - - - - - -
2198 259.8 -10.6 382 2204 roll -1.19 0.17 0.169 2143 258.8 2.05 0.039 3760 662.0 -121.7 - - 3993 - - - - - - - - - - -
2386 282.6 -13.9 415 2392 done -1.07 0.20 0.159 2197 270.0 1.88 0.021 2417 -714.4 -121.7 - - 3992 - - - - - - - - - - -
2722 317.6 -10.3 460 2726 roll -1.38 0.25 0.058 2089 -432.0 2.00 0.022 1030 -693.5 -121.7 - - 3993 - - - - - - - - - - -
2802 328.2 -13.7 467 2807 done -1.17 0.30 0.164 2167 260.0 2.03 0.026 2388 669.0 -121.7 - - 3992 - - - - - - - - - - -
3129 358.7 -9.6 497 3133 roll -1.36 0.17 0.070 2093 -435.3 2.08 0.041 3754 656.7 -121.7 - - 3993 - - - - - - - - - - -
3145 360.7 -9.8 498 3151 done -1.36 - - 2093 - 1.92 0.021 2365 -723.4 -121.7 - - 3992 - - - - - - - - - - -
3473 400.7 -11.6 529 3478 roll -1.22 0.20 0.163 2143 250.0 2.15 0.041 3763 650.2 -121.7 - - 3992 - - - - - - - - - - -
3547 408.9 -10.5 535 3551 done -1.17 - - 2143 - 1.90 0.021 2399 -717.9 -121.7 - - 3992 - - - - - - - - - - -
3880 440.2 -9.9 566 3883 roll -1.33 - - 2143 - 1.98 0.025 1017 -698.0 -121.7 - - 3992 - - - - - - - - - - -
3953 448.6 -11.0 572 3959 done -1.33 - - 2140 - 2.03 0.028 2390 676.4 -121.7 - - 3992 - - - - - - - - - - -
4280 484.2 -10.3 603 4284 roll -1.46 0.17 0.067 2065 -441.2 1.98 0.023 1015 -694.4 -121.7 - - 3990 - - - - - - - - - - -
4319 489.2 -12.5 606 4326 done -1.24 0.32 0.163 2147 256.2 1.98 0.027 2359 678.8 -121.7 - - 3990 - - - - - - - - - - -
4641 518.2 -8.2 627 4645 roll -1.44 0.17 0.069 2070 -452.9 1.95 0.022 1018 -687.7 -121.7 - - 3989 - - - - - - - - - - -
4665 520.7 -9.5 628 4669 done -1.44 - - 2070 - 2.00 0.030 2355 668.5 -121.7 - - 3989 - - - - - - - - - - -
5001 558.7 -11.0 644 5006 roll -1.27 0.20 0.164 2124 270.0 2.15 0.044 3755 651.2 -121.7 - - 3986 - - - - - - - - - - -
5097 569.8 -10.1 648 5101 done -1.27 - - 2124 - 1.98 0.024 2364 -702.5 -121.7 - - 3986 - - - - - - - - - - -
5420 601.3 -10.2 664 5424 roll -1.40 - - 2124 - 1.95 0.026 1009 -694.9 -121.7 - - 3984 - - - - - - - - - - -
5449 604.4 -9.9 665 5453 done -1.47 0.15 0.073 2062 -413.3 2.03 0.031 2367 669.0 -121.7 - - 3984 - - - - - - - - - - -
5779 641.2 -11.0 681 5784 roll -1.30 0.20 0.173 2111 245.0 2.15 0.045 3761 648.4 -121.7 - - 3981 - - - - - - - - - - -
5896 653.8 -9.8 686 5901 done -1.22 0.15 0.164 2149 253.3 2.00 0.024 2369 -696.0 -121.7 - - 3980 - - - - - - - - - - -
6226 682.4 -8.5 702 6231 roll -1.43 0.17 0.071 2073 -447.1 2.00 0.025 1003 -683.0 -121.7 - - 3978 - - - - - - - - - - -
6300 690.7 -10.6 705 6305 done -1.27 0.22 0.164 2131 263.6 2.03 0.031 2340 658.6 -121.7 - - 3977 - - - - - - - - - - -
6625 721.2 -9.5 721 6630 roll -1.44 0.15 0.080 2073 -386.7 1.98 0.026 1007 -673.2 -121.7 - - 3974 - - - - - - - - - - -
6660 725.3 -11.0 722 6665 done -1.29 0.20 0.168 2123 250.0 2.00 0.031 2332 662.5 -121.7 - - 3974 - - - - - - - - - - -
6984 755.8 -8.9 738 6988 roll -1.46 0.15 0.077 2065 -386.7 1.98 0.025 998 -673.7 -121.7 - - 3972 - - - - - - - - - - -
7023 760.1 -11.4 739 7030 done -1.28 0.28 0.167 2132 239.3 1.98 0.031 2307 661.1 -121.7 - - 3972 - - - - - - - - - - -
7341 787.0 -8.2 755 7345 roll -1.42 0.15 0.081 2075 -380.0 1.92 0.026 1005 -678.1 -121.7 - - 3969 - - - - - - - - - - -
7375 790.7 -11.2 756 7379 done -1.30 0.20 0.167 2123 240.0 1.92 0.033 2280 664.1 -121.7 - - 3969 - - - - - - - - - - -
7697 823.2 -10.2 772 7701 roll -1.42 - - 2123 - 2.30 0.049 3753 640.4 -121.7 - - 3967 - - - - - - - - - - -
7798 835.0 -13.1 776 7804 done -1.42 - - 2123 - 2.12 0.025 2283 -693.4 -121.7 - - 3967 - - - - - - - - - - -
8115 869.8 -10.6 792 8117 done -1.58 0.25 0.067 2029 -376.0 - - 2283 - -121.7 - - 3965 - - - - - - - - - - -
8425 913.5 -14.6 807 8430 roll -1.30 0.30 0.179 2107 260.0 2.35 0.048 3760 628.5 -121.7 - - 3963 - - - - - - - - - - -
8516 925.7 -13.0 811 8520 done -1.20 0.17 0.170 2151 258.8 2.17 0.025 2259 -691.7 -121.7 - - 3963 - - - - - - - - - - -
8841 959.1 -10.1 827 8845 roll -1.45 0.17 0.074 2072 -464.7 2.38 0.048 3764 632.4 -121.7 - - 3961 - - - - - - - - - - -
8874 963.8 -13.1 828 8879 done -1.26 0.25 0.170 2138 264.0 2.15 0.023 2277 -691.6 -121.7 - - 3961 - - - - - - - - - - -
9125 end dive: TARGET_DEPTH_EXCEEDED
9125 begin apogee
9133 991.8 10.6 840 9228 done -0.27 1.08 0.156 2456 294.4 - - 2378 - - 91.60 1.420 3532 -4.7 0.346 - - - - - - - - -
9229 end apogee: CONTROL_FINISHED_OK
9229 begin climb
9232 998.5 - 845 9345 roll 1.49 1.60 0.067 3029 358.1 2.22 0.029 982 -628.8 121.7 104.55 1.379 3034 -4.8 0.365 - - - - - - - - -
9370 1003.2 6.0 851 9464 done 0.89 0.80 0.217 2833 -245.0 2.20 0.032 2372 631.8 220.2 83.90 1.359 2633 -4.8 0.373 - - - - - - - - -
9774 966.4 9.9 871 9816 roll 0.84 - - 2834 - 2.30 0.050 3749 598.7 264.6 37.00 1.329 2452 -4.9 0.376 - - - - - - - - -
9934 947.2 12.9 878 9939 done 0.69 0.28 0.185 2770 -228.6 2.03 0.023 2383 -672.9 266.4 - - 2448 - - - - - - - - - - -
10269 913.2 10.3 894 10312 roll 0.89 0.17 0.081 2834 376.5 2.25 0.049 3747 606.2 304.9 34.72 1.322 2288 -4.6 0.337 - - - - - - - - -
10411 893.2 15.0 900 10415 done 0.78 0.17 0.185 2800 -200.0 1.95 0.024 2442 -669.2 304.9 - - 2284 - - - - - - - - - - -
10738 854.4 11.6 916 10761 roll 0.91 0.12 0.087 2845 375.0 2.17 0.050 3750 602.8 325.3 17.83 1.262 2205 -4.4 0.317 - - - - - - - - -
10802 845.4 14.5 918 10809 done 0.81 0.17 0.189 2812 -194.1 1.92 0.024 2444 -680.2 325.3 - - 2202 - - - - - - - - - - -
11120 808.5 11.3 934 11147 roll 0.94 0.10 0.097 2848 360.0 2.10 0.050 3750 621.9 349.4 21.48 1.259 2108 -4.4 0.297 - - - - - - - - -
11216 794.9 14.8 938 11220 done 0.87 - - 2854 - 1.88 0.025 2491 -669.7 349.4 - - 2105 - - - - - - - - - - -
11538 752.3 13.2 954 11541 roll 0.87 - - 2864 - 2.25 0.030 990 -667.1 349.4 - - 2102 - - - - - - - - - - -
11599 743.9 13.7 956 11606 done 0.87 0.15 0.183 2828 -240.0 2.30 0.034 2474 645.2 349.4 - - 2102 - - - - - - - - - - -
11917 706.1 11.5 972 11942 roll 1.00 0.12 0.084 2876 400.0 2.08 0.052 3753 614.9 370.6 18.80 1.202 2021 -4.3 0.268 - - - - - - - - -
12015 691.3 15.1 976 12020 done 0.91 0.17 0.186 2841 -205.9 1.88 0.024 2474 -680.3 370.6 - - 2017 - - - - - - - - - - -
12339 651.0 12.3 992 12354 roll 1.04 0.12 0.087 2894 441.7 2.25 0.031 985 -661.8 381.0 9.85 1.094 1977 -4.1 0.256 - - - - - - - - -
12427 638.4 13.4 995 12431 done 1.04 - - 2894 - 2.28 0.032 2459 646.5 381.0 - - 1976 - - - - - - - - - - -
12749 593.1 14.3 1011 12750 done 1.04 - - 2894 - - - 2460 - 381.0 - - 1974 - - - - - - - - - - -
13057 551.9 12.8 1026 13067 roll 1.04 - - 2894 - 2.28 0.031 991 -644.3 384.5 4.00 0.761 1963 -2.8 0.211 - - - - - - - - -
13189 536.2 11.5 1031 13216 done 1.07 - - 2894 - 2.22 0.031 2450 657.2 406.3 20.70 1.098 1874 -4.3 0.222 - - - - - - - - -
13526 492.2 14.1 1050 13530 roll 1.07 - - 2897 - 2.22 0.031 991 -657.2 406.3 - - 1870 - - - - - - - - - - -
13577 485.0 13.6 1054 13583 done 1.12 - - 2897 - 2.22 0.030 2444 654.5 406.3 - - 1870 - - - - - - - - - - -
13906 443.5 11.1 1085 13939 roll 1.28 0.17 0.078 2966 405.9 2.30 0.031 991 -631.7 432.7 22.90 1.029 1765 -4.6 0.209 - - - - - - - - -
14050 423.9 13.3 1097 14056 done 1.17 0.17 0.187 2925 -241.2 2.33 0.032 2494 645.1 432.7 - - 1762 - - - - - - - - - - -
14375 381.2 13.2 1128 14379 roll 1.17 - - 2933 - 2.28 0.028 983 -662.7 432.7 - - 1760 - - - - - - - - - - -
14419 374.8 13.9 1131 14425 done 1.17 - - 2933 - 2.25 0.031 2458 655.6 432.7 - - 1760 - - - - - - - - - - -
14749 329.6 14.3 1162 14753 roll 1.17 - - 2941 - 2.22 0.028 984 -664.0 432.7 - - 1759 - - - - - - - - - - -
14817 318.9 14.4 1168 14821 done 1.17 - - 2941 - 2.25 0.031 2462 656.9 432.7 - - 1759 - - - - - - - - - - -
15154 273.3 13.2 1216 15160 roll 1.17 - - 2947 - 2.22 0.028 973 -670.7 432.7 - - 1759 - - - - - - - - - - -
15263 260.1 12.0 1235 15281 done 1.18 - - 2947 - 2.20 0.029 2437 665.5 447.6 13.12 0.841 1707 -4.0 0.130 - - - - - - - - -
15623 217.6 11.0 1298 15651 roll 1.32 - - 2947 - 2.12 0.045 3759 623.6 476.0 24.30 0.825 1590 -4.8 0.134 - - - - - - - - -
15677 211.1 12.1 1307 15695 done 1.39 0.12 0.080 3002 458.3 2.03 0.023 2383 -677.8 488.9 12.50 0.767 1537 -4.2 0.123 - - - - - - - - -
16037 154.9 15.2 1370 16045 roll 1.32 0.15 0.183 2973 -193.3 2.08 0.028 982 -673.6 488.9 - - 1533 - - - - - - - - - - -
16120 142.6 12.8 1384 16126 done 1.38 - - 2973 - 2.08 0.028 2365 664.9 492.5 - - 1532 - - - - - - - - - - -
16465 96.6 15.5 1445 16478 roll 1.57 0.17 0.074 3052 464.7 2.17 0.044 3746 636.4 492.5 3.83 0.479 1523 -2.3 0.050 - - - - - - - - -
16565 81.9 14.5 1462 16571 done 1.29 0.38 0.170 2958 -247.4 2.10 0.022 2290 -693.3 492.5 - - 1523 - - - - - - - - - - -
16911 38.1 7.8 1523 16976 done 1.59 0.25 0.065 3067 436.0 - - 2289 - 565.7 60.30 0.656 1223 -5.0 0.031 - - - - - - - - -
17127 end climb: SURFACE_DEPTH_REACHED
17127 begin surface coast
17149 end surface coast: CONTROL_FINISHED_OK
17149 begin surface
SM 2.40 - - - - -7.49 8.00 0.059 142 -365.6 - - 2401 - 568.11 - - 1216 - - - - - - - -