QPE May09 * SG167 * Dive index * Mission links * Dive 473 * Raw log
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• Previous call tries 1 • 81.85 of 150.00 AH used of 24V (45.43% remains)
• Previous NAKs 15, Timeouts 0 • 43.77 of 100.00 AH used of 10V (56.23% remains)
• Surface angle -57.6 deg, depth 2.45 m • Intended pitch -24.8 deg, speed -13.043 cm/s
• No surface pump (final VBD was 509.00, SM_CC=475)
• GPS1 time: 56 s
• GPS2 time: 14 s, HDOP was 2.1 m • 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
16 - - - 59 VBD -1.49 - - 140 - - - 2418 - -121.7 -40.65 - 2402 - - - - - - - - - - -
63 3.0 -2.7 7 124 roll -1.49 8.02 0.236 2061 239.5 2.17 0.038 985 -660.4 -121.7 -47.45 - 3989 -33.4 - - - - - - - - - -
250 39.6 -21.9 39 257 done -0.99 0.60 0.176 2217 260.0 2.08 0.026 2384 672.6 -121.7 - - 3990 - - - - - - - - - - -
595 83.1 -12.3 100 603 roll -1.04 - - 2218 - 2.03 0.025 990 -686.7 -121.7 - - 3991 - - - - - - - - - - -
656 90.1 -12.8 110 662 done -1.11 - - 2210 - 2.05 0.026 2385 680.5 -121.7 - - 3991 - - - - - - - - - - -
1002 130.8 -10.5 171 1009 roll -1.35 0.25 0.057 2097 -452.0 2.03 0.022 985 -689.7 -121.7 - - 3992 - - - - - - - - - - -
1072 141.1 -16.0 183 1080 done -1.05 0.40 0.158 2202 262.5 2.03 0.028 2360 677.3 -121.7 - - 3992 - - - - - - - - - - -
1421 179.0 -8.3 244 1428 roll -1.31 0.20 0.060 2111 -455.0 2.12 0.041 3763 661.8 -121.7 - - 3994 - - - - - - - - - - -
1453 182.1 -10.5 249 1460 done -1.19 0.17 0.164 2156 264.7 2.03 0.020 2300 -720.7 -121.7 - - 3994 - - - - - - - - - - -
1800 214.9 -9.0 310 1805 roll -1.30 - - 2156 - 1.88 0.023 972 -706.4 -121.7 - - 3994 - - - - - - - - - - -
1859 220.7 -10.0 320 1866 done -1.30 - - 2152 - 1.98 0.025 2327 684.3 -121.7 - - 3994 - - - - - - - - - - -
2206 256.3 -9.7 381 2213 roll -1.43 0.17 0.068 2070 -482.4 1.95 0.023 982 -689.7 -121.7 - - 3995 - - - - - - - - - - -
2259 262.8 -12.2 390 2266 done -1.16 0.35 0.160 2168 280.0 1.92 0.027 2297 684.9 -121.7 - - 3995 - - - - - - - - - - -
2605 295.7 -10.8 451 2611 done -1.34 0.17 0.067 2091 -452.9 - - 2299 - -121.7 - - 3995 - - - - - - - - - - -
2935 333.2 -11.5 485 2940 roll -1.26 0.17 0.158 2137 270.6 2.22 0.041 3763 659.5 -121.7 - - 3995 - - - - - - - - - - -
2969 337.3 -11.4 487 2975 done -1.21 - - 2137 - 2.10 0.020 2262 -714.8 -121.7 - - 3994 - - - - - - - - - - -
3298 370.4 -10.0 518 3302 roll -1.31 - - 2137 - 1.83 0.025 976 -702.7 -121.7 - - 3994 - - - - - - - - - - -
3349 376.5 -11.3 522 3355 done -1.31 - - 2130 - 1.92 0.026 2292 685.4 -121.7 - - 3995 - - - - - - - - - - -
3679 410.7 -10.4 553 3683 roll -1.42 0.12 0.079 2071 -491.7 2.22 0.042 3751 657.2 -121.7 - - 3994 - - - - - - - - - - -
3713 415.5 -12.8 556 3718 done -1.18 0.32 0.163 2161 281.2 2.12 0.021 2240 -712.7 -121.7 - - 3994 - - - - - - - - - - -
4040 448.4 -10.0 586 4045 roll -1.42 0.20 0.065 2075 -430.0 1.80 0.024 980 -700.0 -121.7 - - 3993 - - - - - - - - - - -
4064 451.1 -10.4 588 4068 done -1.42 - - 2071 - 1.90 0.028 2268 677.9 -121.7 - - 3993 - - - - - - - - - - -
4398 487.7 -10.2 619 4402 roll -1.25 0.22 0.163 2128 259.1 2.28 0.041 3754 651.8 -121.7 - - 3992 - - - - - - - - - - -
4526 500.3 -10.1 629 4532 done -1.17 0.15 0.160 2166 253.3 2.15 0.022 2246 -701.4 -121.7 - - 3992 - - - - - - - - - - -
4843 528.5 -8.9 645 4847 roll -1.42 0.20 0.066 2082 -420.0 1.83 0.025 976 -694.0 -121.7 - - 3990 - - - - - - - - - - -
4957 541.4 -11.6 650 4962 done -1.25 0.15 0.159 2136 360.0 1.90 0.030 2230 660.0 -121.7 - - 3990 - - - - - - - - - - -
5294 572.1 -8.8 666 5299 roll -1.40 0.12 0.080 2085 -425.0 2.35 0.044 3756 649.4 -121.7 - - 3987 - - - - - - - - - - -
5390 583.2 -11.4 670 5394 done -1.21 0.25 0.162 2153 272.0 2.20 0.022 2213 -701.4 -121.7 - - 3987 - - - - - - - - - - -
5708 614.1 -10.3 685 5712 roll -1.46 0.20 0.067 2069 -420.0 1.77 0.025 982 -695.5 -121.7 - - 3985 - - - - - - - - - - -
5770 622.2 -12.8 687 5776 done -1.29 0.22 0.165 2124 250.0 1.85 0.029 2230 674.6 -121.7 - - 3985 - - - - - - - - - - -
6089 654.6 -9.1 703 6093 roll -1.40 - - 2124 - 2.35 0.046 3750 646.8 -121.7 - - 3982 - - - - - - - - - - -
6157 661.5 -9.4 706 6161 done -1.40 - - 2124 - 2.20 0.021 2208 -700.9 -121.7 - - 3982 - - - - - - - - - - -
6480 690.2 -8.8 722 6484 roll -1.52 0.17 0.069 2046 -458.8 1.75 0.025 994 -693.7 -121.7 - - 3979 - - - - - - - - - - -
6566 700.1 -11.7 725 6573 done -1.28 0.32 0.170 2131 265.6 1.83 0.031 2212 665.6 -121.7 - - 3979 - - - - - - - - - - -
6883 730.0 -9.3 741 6888 roll -1.48 0.17 0.074 2057 -435.3 2.40 0.047 3754 642.5 -121.7 - - 3976 - - - - - - - - - - -
6918 734.1 -12.9 742 6925 done -1.22 0.35 0.172 2152 271.4 2.25 0.023 2186 -696.9 -121.7 - - 3976 - - - - - - - - - - -
7235 763.1 -8.9 758 7239 roll -1.40 0.17 0.072 2079 -429.4 1.75 0.025 981 -688.6 -121.7 - - 3974 - - - - - - - - - - -
7274 766.7 -9.8 759 7281 done -1.28 0.22 0.165 2131 236.4 1.83 0.031 2200 666.1 -121.7 - - 3974 - - - - - - - - - - -
7592 793.5 -8.3 775 7596 roll -1.47 0.17 0.077 2056 -441.2 2.42 0.048 3748 639.7 -121.7 - - 3972 - - - - - - - - - - -
7608 795.3 -8.7 775 7614 done -1.47 - - 2056 - 2.30 0.023 2159 -690.9 -121.7 - - 3971 - - - - - - - - - - -
7926 830.1 -10.8 791 7931 roll -1.29 0.22 0.172 2112 254.5 2.50 0.045 3743 633.6 -121.7 - - 3969 - - - - - - - - - - -
8054 843.3 -10.7 796 8061 done -1.22 0.15 0.168 2149 246.7 2.25 0.024 2181 -694.2 -121.7 - - 3969 - - - - - - - - - - -
8372 869.8 -8.4 812 8376 roll -1.47 0.20 0.071 2067 -410.0 1.75 0.027 982 -685.1 -121.7 - - 3967 - - - - - - - - - - -
8423 875.4 -11.2 814 8428 done -1.30 0.25 0.167 2125 232.0 1.83 0.031 2193 661.7 -121.7 - - 3967 - - - - - - - - - - -
8754 906.3 -9.3 830 8758 roll -1.45 0.15 0.083 2069 -373.3 2.45 0.049 3750 635.5 -121.7 - - 3965 - - - - - - - - - - -
8777 909.1 -11.0 831 8782 done -1.37 0.12 0.181 2099 250.0 2.33 0.024 2151 -686.3 -121.7 - - 3965 - - - - - - - - - - -
9099 945.5 -11.1 847 9103 roll -1.37 - - 2098 - 2.55 0.049 3756 629.4 -121.7 - - 3964 - - - - - - - - - - -
9123 end dive: HALF_MISSION_TIME_EXCEEDED
9123 begin apogee
9133 948.9 13.1 848 9229 done -0.27 1.20 0.170 2446 290.0 - - 2338 - - 92.00 1.393 3532 -4.7 0.349 - - - - - - - - -
9230 end apogee: CONTROL_FINISHED_OK
9230 begin climb
9233 955.5 - 853 9345 roll 1.49 1.62 0.063 3025 357.4 2.38 0.044 3741 589.5 121.7 103.82 1.352 3034 -4.8 0.370 - - - - - - - - -
9392 958.4 8.2 860 9456 done 0.69 1.08 0.221 2769 -237.0 2.05 0.024 2381 -663.4 189.9 57.47 1.323 2758 -4.8 0.379 - - - - - - - - -
9773 930.5 7.3 879 9847 roll 0.84 0.12 0.094 2815 383.3 2.28 0.049 3743 597.4 270.4 67.43 1.324 2429 -4.9 0.374 - - - - - - - - -
9948 911.1 11.5 887 9973 done 0.78 - - 2816 - 2.00 0.024 2399 -672.0 291.4 19.12 1.246 2343 -4.5 0.359 - - - - - - - - -
10298 870.1 12.0 904 10320 roll 0.80 - - 2816 - 2.20 0.032 982 -644.1 305.9 12.80 1.205 2284 -4.6 0.363 - - - - - - - - -
10339 864.7 12.6 905 10353 done 0.89 - - 2815 - 2.20 0.031 2409 648.6 312.5 7.28 1.068 2257 -3.7 0.327 - - - - - - - - -
10678 823.5 12.3 922 10693 roll 0.95 0.10 0.091 2856 410.0 2.15 0.051 3757 627.0 322.2 9.55 1.151 2218 -4.1 0.319 - - - - - - - - -
10794 805.8 15.8 927 10798 done 0.79 0.25 0.182 2801 -220.0 1.95 0.026 2438 -676.4 322.2 - - 2215 - - - - - - - - - - -
11127 762.9 12.6 943 11138 roll 0.93 0.12 0.090 2847 383.3 2.10 0.048 3755 627.1 328.2 6.55 1.047 2193 -3.4 0.267 - - - - - - - - -
11185 753.8 15.6 945 11191 done 0.85 0.15 0.189 2819 -186.7 1.90 0.024 2467 -677.9 328.2 - - 2192 - - - - - - - - - - -
11502 712.5 12.4 961 11516 roll 0.94 - - 2819 - 2.08 0.051 3758 620.7 337.8 9.68 1.127 2154 -3.9 0.271 - - - - - - - - -
11540 707.2 13.6 962 11546 done 0.94 - - 2827 - 1.88 0.027 2484 -677.7 337.8 - - 2153 - - - - - - - - - - -
11857 668.3 12.2 978 11878 roll 1.04 0.15 0.083 2885 386.7 2.33 0.031 984 -643.8 350.0 11.73 1.136 2104 -4.2 0.268 - - - - - - - - -
11890 663.5 14.7 979 11894 done 1.00 - - 2885 - 2.33 0.031 2492 647.2 350.0 - - 2104 - - - - - - - - - - -
12207 617.8 13.9 994 12209 done 0.92 0.17 0.184 2841 -258.8 - - 2495 - 350.0 - - 2101 - - - - - - - - - - -
12516 582.1 10.8 1009 12548 roll 1.09 0.15 0.078 2896 366.7 2.08 0.051 3756 606.2 380.7 26.65 1.144 1979 -4.6 0.254 - - - - - - - - -
12608 569.5 15.5 1013 12612 done 0.96 0.20 0.186 2856 -200.0 1.90 0.025 2471 -676.3 380.7 - - 1976 - - - - - - - - - - -
12936 531.4 11.7 1029 12959 roll 1.16 0.17 0.079 2927 417.6 2.12 0.050 3750 603.3 399.4 16.95 1.078 1902 -4.4 0.235 - - - - - - - - -
13016 519.2 15.1 1032 13021 done 0.98 0.20 0.178 2868 -295.0 1.83 0.024 2522 -671.0 399.4 - - 1900 - - - - - - - - - - -
13345 479.2 11.7 1056 13368 roll 1.22 0.20 0.075 2942 370.0 2.03 0.048 3757 608.4 417.5 16.42 1.037 1827 -4.4 0.224 - - - - - - - - -
13392 472.0 17.3 1060 13400 done 1.05 0.25 0.184 2885 -228.0 1.75 0.024 2562 -682.9 417.5 - - 1827 - - - - - - - - - - -
13718 429.2 12.1 1091 13734 roll 1.16 - - 2886 - 1.92 0.051 3757 622.4 430.3 11.88 0.972 1776 -4.3 0.207 - - - - - - - - -
13808 417.2 13.7 1098 13814 done 1.16 - - 2894 - 1.80 0.025 2521 -686.7 430.3 - - 1774 - - - - - - - - - - -
14137 375.5 13.1 1129 14141 roll 1.39 0.25 0.070 2996 408.0 1.95 0.047 3754 632.3 430.3 - - 1772 - - - - - - - - - - -
14165 370.6 17.3 1131 14172 done 1.23 0.25 0.190 2943 -212.0 1.92 0.023 2430 -689.6 430.3 - - 1772 - - - - - - - - - - -
14492 324.8 13.8 1162 14496 roll 1.17 - - 2952 - 2.15 0.029 972 -678.1 430.3 - - 1772 - - - - - - - - - - -
14542 317.7 13.0 1166 14549 done 1.12 0.17 0.179 2908 -258.8 2.20 0.031 2429 662.3 430.3 - - 1772 - - - - - - - - - - -
14879 278.0 11.9 1213 14903 roll 1.29 0.15 0.081 2971 420.0 2.22 0.031 987 -649.5 446.5 14.70 0.871 1710 -4.2 0.147 - - - - - - - - -
14998 261.5 15.4 1233 15005 done 1.22 0.15 0.182 2935 -240.0 2.25 0.030 2463 656.0 446.5 - - 1709 - - - - - - - - - - -
15345 215.1 12.1 1294 15365 roll 1.37 0.15 0.074 2993 386.7 2.08 0.045 3764 625.5 459.7 12.48 0.805 1656 -4.2 0.124 - - - - - - - - -
15459 197.8 15.7 1313 15465 done 1.16 0.30 0.181 2924 -230.0 1.88 0.024 2464 -691.5 459.7 - - 1654 - - - - - - - - - - -
15806 152.3 11.9 1374 15826 roll 1.45 0.20 0.070 3010 430.0 2.10 0.046 3759 616.7 475.3 13.62 0.756 1593 -4.5 0.098 - - - - - - - - -
15857 144.5 16.9 1382 15863 done 1.24 0.28 0.177 2947 -225.0 1.83 0.024 2490 -693.4 475.3 - - 1592 - - - - - - - - - - -
16203 103.8 10.8 1443 16239 roll 1.52 0.22 0.068 3050 468.2 2.30 0.030 985 -654.3 506.9 27.38 0.734 1463 -4.7 0.073 - - - - - - - - -
16258 94.7 18.7 1452 16265 done 1.37 0.25 0.173 2984 -264.0 2.20 0.029 2433 658.2 506.9 - - 1462 - - - - - - - - - - -
16606 52.1 13.0 1513 16613 roll 1.60 0.17 0.074 3063 464.7 2.05 0.045 3753 643.9 507.3 - - 1460 - - - - - - - - - - -
16689 39.3 14.4 1527 16695 done 1.43 0.25 0.187 3007 -224.0 1.92 0.021 2428 -690.1 507.3 - - 1459 - - - - - - - - - - -
16979 end climb: SURFACE_DEPTH_REACHED
16980 begin surface coast
17031 end surface coast: CONTROL_FINISHED_OK
17032 begin surface
SM 2.40 - - - - -7.50 7.75 0.058 140 -369.9 - - 2424 - 509.00 - - 1457 - - - - - - - -