QPE May09 * SG167 * Dive index * Mission links * Dive 30 * Raw log
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• Previous call tries 1 • 9.17 of 150.00 AH used of 24V (93.89% remains)
• Previous NAKs 2, Timeouts 0 • 6.42 of 100.00 AH used of 10V (93.58% remains)
• Surface angle -64.5 deg, depth 2.44 m • Intended pitch -15.7 deg, speed -10.000 cm/s
• No surface pump (final VBD was 539.17, SM_CC=425)
• GPS1 time: 41 s • bottom range 38.8 m at 975.4 m, depth 1014 m (1038 m grid)
• GPS2 time: 12 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
11 end surface: CONTROL_FINISHED_OK
12 begin dive
14 - - - 63 VBD -0.94 - - 147 - - - 2429 - -194.7 -46.90 - 2762 - - - - - - - - - - -
66 3.5 -4.3 8 116 roll -0.94 8.85 0.262 2238 236.3 2.10 0.041 1029 -666.7 -194.7 -34.50 - 3989 -35.6 - - - - - - - - - -
291 65.0 -27.2 47 298 done -0.27 0.77 0.189 2449 274.0 2.12 0.035 2437 664.2 -194.7 - - 3990 - - - - - - - - - - -
636 99.1 -6.9 108 643 roll -0.49 0.17 0.066 2368 -476.5 2.03 0.048 3767 655.2 -194.7 - - 3991 - - - - - - - - - - -
689 105.2 -13.0 117 695 done -0.38 0.17 0.148 2416 282.4 1.90 0.025 2425 -706.3 -194.7 - - 3991 - - - - - - - - - - -
1033 131.8 -6.4 178 1041 roll -0.60 0.17 0.067 2334 -482.4 1.98 0.028 1042 -698.5 -194.7 - - 3992 - - - - - - - - - - -
1172 148.3 -12.9 202 1180 done -0.46 0.22 0.147 2397 286.4 2.10 0.034 2452 671.4 -194.7 - - 3993 - - - - - - - - - - -
1520 174.0 -6.6 263 1527 roll -0.66 0.17 0.067 2315 -482.4 1.98 0.048 3760 660.6 -194.7 - - 3993 - - - - - - - - - - -
1568 178.4 -10.2 271 1574 done -0.55 0.17 0.146 2365 294.1 1.85 0.026 2447 -709.7 -194.7 - - 3993 - - - - - - - - - - -
1914 206.4 -8.2 332 1920 roll -0.66 - - 2365 - 2.00 0.029 1046 -700.5 -194.7 - - 3993 - - - - - - - - - - -
2005 213.4 -7.2 348 2012 done -0.79 0.20 0.065 2281 -420.0 2.08 0.033 2456 677.9 -194.7 - - 3993 - - - - - - - - - - -
2350 256.0 -11.2 409 2356 done -0.60 0.20 0.159 2344 315.0 - - 2456 - -194.7 - - 3993 - - - - - - - - - - -
2693 280.8 -6.7 470 2700 done -0.70 - - 2344 - - - 2456 - -194.7 - - 3993 - - - - - - - - - - -
3040 304.5 -7.1 526 3044 roll -0.82 0.17 0.071 2263 -476.5 2.05 0.030 1057 -682.4 -194.7 - - 3993 - - - - - - - - - - -
3078 308.7 -12.0 529 3085 done -0.62 0.28 0.155 2343 285.7 2.08 0.035 2449 669.2 -194.7 - - 3993 - - - - - - - - - - -
3404 332.4 -6.5 560 3408 roll -0.76 0.12 0.081 2289 -450.0 1.98 0.051 3754 659.1 -194.7 - - 3993 - - - - - - - - - - -
3442 336.0 -10.3 563 3449 done -0.67 0.15 0.154 2330 273.3 1.85 0.028 2455 -702.2 -194.7 - - 3993 - - - - - - - - - - -
3767 359.9 -7.5 594 3769 done -0.76 - - 2330 - - - 2455 - -194.7 - - 3993 - - - - - - - - - - -
4087 381.3 -6.2 624 4092 roll -0.89 0.20 0.071 2241 -445.0 2.00 0.051 3767 656.0 -194.7 - - 3992 - - - - - - - - - - -
4149 388.1 -11.8 629 4155 done -0.65 0.30 0.161 2330 296.7 1.90 0.028 2432 -702.6 -194.7 - - 3992 - - - - - - - - - - -
4474 408.1 -6.8 660 4478 roll -0.79 0.12 0.080 2276 -450.0 2.05 0.052 3761 648.3 -194.7 - - 3991 - - - - - - - - - - -
4523 413.1 -10.3 664 4529 done -0.74 - - 2276 - 1.90 0.030 2431 -700.0 -194.7 - - 3991 - - - - - - - - - - -
4851 443.9 -8.9 695 4855 roll -0.69 0.15 0.162 2317 273.3 2.00 0.031 1043 -694.0 -194.7 - - 3989 - - - - - - - - - - -
4942 451.5 -7.8 703 4947 done -0.82 0.10 0.091 2275 -420.0 2.10 0.036 2453 671.4 -194.7 - - 3989 - - - - - - - - - - -
5267 484.3 -9.7 733 5270 roll -0.82 - - 2275 - 2.00 0.055 3755 651.0 -194.7 - - 3987 - - - - - - - - - - -
5369 493.5 -9.1 742 5372 done -0.82 - - 2275 - 1.88 0.031 2455 -691.5 -194.7 - - 3986 - - - - - - - - - - -
5692 521.7 -8.4 761 5695 roll -0.82 - - 2275 - 2.03 0.055 3760 642.9 -194.7 - - 3984 - - - - - - - - - - -
5746 526.3 -8.1 763 5750 done -0.82 - - 2275 - 1.88 0.031 2463 -689.9 -194.7 - - 3984 - - - - - - - - - - -
6069 550.5 -7.1 779 6073 roll -0.82 - - 2275 - 2.08 0.034 1033 -687.5 -194.7 - - 3981 - - - - - - - - - - -
6153 556.9 -7.7 782 6160 done -0.82 - - 2275 - 2.15 0.040 2457 662.3 -194.7 - - 3981 - - - - - - - - - - -
6469 579.7 -7.5 798 6472 roll -0.82 - - 2275 - 2.08 0.034 1049 -676.9 -194.7 - - 3978 - - - - - - - - - - -
6586 590.0 -9.4 803 6590 done -0.82 - - 2275 - 2.12 0.039 2456 663.7 -194.7 - - 3977 - - - - - - - - - - -
6913 622.1 -10.7 819 6914 done -0.82 - - 2275 - - - 2456 - -194.7 - - 3975 - - - - - - - - - - -
7223 651.0 -8.7 834 7227 roll -0.82 - - 2275 - 2.03 0.059 3769 646.8 -194.7 - - 3973 - - - - - - - - - - -
7306 659.2 -10.2 837 7313 done -0.82 - - 2275 - 1.95 0.033 2453 -674.9 -194.7 - - 3971 - - - - - - - - - - -
7622 683.3 -6.9 853 7624 done -0.82 - - 2275 - - - 2454 - -194.7 - - 3970 - - - - - - - - - - -
7932 704.1 -6.2 868 7935 roll -0.82 - - 2275 - 2.08 0.036 1035 -682.2 -194.7 - - 3968 - - - - - - - - - - -
7993 708.4 -6.8 870 8000 done -0.82 - - 2275 - 2.15 0.042 2447 656.7 -194.7 - - 3969 - - - - - - - - - - -
8308 731.9 -8.9 886 8310 done -0.82 - - 2275 - - - 2448 - -194.7 - - 3967 - - - - - - - - - - -
8618 759.8 -8.8 901 8621 roll -0.82 - - 2275 - 2.05 0.061 3770 644.9 -194.7 - - 3965 - - - - - - - - - - -
8690 766.0 -8.4 904 8694 done -0.82 - - 2275 - 1.95 0.035 2441 -681.5 -194.7 - - 3965 - - - - - - - - - - -
9017 791.9 -8.1 920 9018 done -0.82 - - 2275 - - - 2440 - -194.7 - - 3964 - - - - - - - - - - -
9327 817.4 -8.2 935 9328 done -0.82 - - 2275 - - - 2441 - -194.7 - - 3963 - - - - - - - - - - -
9636 842.6 -8.4 950 9639 roll -0.82 - - 2275 - 2.08 0.060 3773 640.4 -194.7 - - 3961 - - - - - - - - - - -
9681 846.4 -8.4 952 9685 done -0.82 - - 2275 - 1.95 0.032 2425 -691.3 -194.7 - - 3961 - - - - - - - - - - -
10013 870.7 -6.3 968 10014 done -0.82 - - 2275 - - - 2423 - -194.7 - - 3960 - - - - - - - - - - -
10323 886.5 -4.6 983 10324 done -0.82 - - 2275 - - - 2423 - -194.7 - - 3959 - - - - - - - - - - -
10632 903.4 -5.3 998 10636 roll -0.86 - - 2275 - 2.08 0.058 3760 642.8 -194.7 - - 3958 - - - - - - - - - - -
10665 905.7 -6.8 999 10669 done -0.92 - - 2275 - 1.92 0.034 2445 -684.9 -194.7 - - 3958 - - - - - - - - - - -
10987 924.5 -5.6 1015 10989 done -0.98 0.12 0.091 2225 -416.7 - - 2445 - -194.7 - - 3957 - - - - - - - - - - -
11296 949.0 -8.4 1030 11300 roll -0.83 0.17 0.179 2278 311.8 2.08 0.035 1030 -680.3 -194.7 - - 3956 - - - - - - - - - - -
11317 950.9 -8.8 1031 11321 done -0.83 - - 2277 - 2.20 0.042 2474 656.4 -194.7 - - 3956 - - - - - - - - - - -
11638 971.9 -6.4 1047 11642 roll -0.89 - - 2277 - 2.00 0.059 3766 646.0 -194.7 - - 3955 - - - - - - - - - - -
11667 974.1 -7.3 1048 11671 done -0.94 0.10 0.104 2238 -390.0 1.92 0.032 2446 -687.5 -194.7 - - 3954 - - - - - - - - - - -
11825 end dive: BOTTOM_OBSTACLE_DETECTED
11825 begin apogee
11831 989.6 9.7 1056 11920 done -0.22 0.75 0.163 2468 306.7 - - 2445 - - 85.53 1.474 3532 -4.9 0.341 - - - - - - - - -
11920 end apogee: CONTROL_FINISHED_OK
11921 begin climb
11923 992.6 - 1060 12095 roll 0.94 1.05 0.064 2850 363.8 2.20 0.037 1086 -617.7 194.7 161.30 1.438 2737 -4.9 0.351 - - - - - - - - -
12186 973.2 17.1 1072 12192 done 0.36 0.70 0.199 2667 -261.4 2.22 0.041 2473 624.8 194.7 - - 2732 - - - - - - - - - - -
12515 945.6 8.0 1088 12570 roll 0.38 - - 2667 - 2.17 0.058 3751 588.9 253.7 48.45 1.401 2496 -4.9 0.339 - - - - - - - - -
12716 925.3 10.4 1097 12720 done 0.31 - - 2667 - 1.92 0.031 2487 -658.3 253.7 - - 2491 - - - - - - - - - - -
13043 895.0 10.5 1113 13047 roll 0.31 - - 2667 - 2.05 0.057 3758 620.0 253.7 - - 2489 - - - - - - - - - - -
13066 892.8 9.4 1114 13089 done 0.33 - - 2667 - 1.90 0.031 2492 -666.3 271.9 15.40 1.325 2422 -4.4 0.302 - - - - - - - - -
13396 859.4 9.7 1130 13410 roll 0.34 - - 2667 - 2.10 0.057 3760 603.8 279.7 8.02 1.203 2391 -3.9 0.285 - - - - - - - - -
13463 851.5 13.0 1133 13467 done 0.29 - - 2667 - 1.92 0.032 2492 -660.4 279.7 - - 2389 - - - - - - - - - - -
13796 819.0 8.4 1149 13840 roll 0.39 - - 2667 - 2.17 0.058 3757 582.9 326.1 39.08 1.352 2201 -4.8 0.300 - - - - - - - - -
13903 808.7 10.5 1153 13909 done 0.39 - - 2667 - 1.92 0.032 2502 -653.6 326.1 - - 2198 - - - - - - - - - - -
14219 776.5 10.7 1169 14223 roll 0.50 0.12 0.091 2712 375.0 2.03 0.057 3761 620.2 326.1 - - 2195 - - - - - - - - - - -
14313 762.5 15.4 1173 14317 done 0.37 0.20 0.172 2666 -230.0 1.85 0.034 2530 -665.4 326.1 - - 2194 - - - - - - - - - - -
14640 728.2 10.0 1189 14644 roll 0.49 0.12 0.090 2710 366.7 1.98 0.058 3765 623.7 326.4 - - 2194 - - - - - - - - - - -
14685 722.2 14.5 1191 14689 done 0.37 0.17 0.174 2671 -229.4 1.83 0.032 2541 -668.9 326.4 - - 2193 - - - - - - - - - - -
15018 688.2 10.3 1207 15022 roll 0.47 - - 2678 - 2.20 0.038 1073 -667.3 326.4 - - 2193 - - - - - - - - - - -
15041 685.8 9.8 1208 15051 done 0.60 0.17 0.084 2742 376.5 2.28 0.039 2550 647.8 331.1 4.25 0.897 2181 -2.8 0.222 - - - - - - - - -
15374 635.6 15.2 1224 15378 roll 0.46 0.17 0.166 2696 -270.6 1.90 0.054 3771 642.6 331.1 - - 2182 - - - - - - - - - - -
15407 630.4 13.3 1225 15411 done 0.46 - - 2696 - 1.83 0.031 2555 -664.5 331.1 - - 2181 - - - - - - - - - - -
15728 594.8 11.0 1241 15732 roll 0.46 - - 2696 - 1.90 0.058 3755 631.6 331.1 - - 2181 - - - - - - - - - - -
15778 588.5 12.4 1243 15782 done 0.46 - - 2696 - 1.80 0.031 2554 -667.2 331.1 - - 2181 - - - - - - - - - - -
16105 549.6 12.0 1259 16109 roll 0.46 - - 2696 - 1.90 0.058 3755 632.1 331.1 - - 2180 - - - - - - - - - - -
16174 541.2 12.9 1262 16177 done 0.46 - - 2696 - 1.75 0.032 2566 -679.4 331.1 - - 2180 - - - - - - - - - - -
16506 501.4 13.2 1278 16510 roll 0.53 - - 2696 - 1.90 0.058 3768 632.6 331.1 - - 2180 - - - - - - - - - - -
16657 478.9 13.9 1290 16664 done 0.53 - - 2697 - 1.75 0.034 2595 -670.3 331.1 - - 2180 - - - - - - - - - - -
16986 442.8 8.8 1321 17017 done 0.65 0.17 0.084 2762 382.4 - - 2594 - 365.7 28.92 1.095 2040 -4.8 0.202 - - - - - - - - -
17332 402.1 11.4 1354 17334 done 0.54 0.15 0.181 2725 -246.7 - - 2593 - 365.7 - - 2035 - - - - - - - - - - -
17652 367.0 12.1 1384 17656 roll 0.60 - - 2725 - 1.88 0.056 3759 620.2 365.7 - - 2034 - - - - - - - - - - -
17742 354.7 13.5 1392 17746 done 0.60 - - 2725 - 1.75 0.033 2598 -663.4 365.7 - - 2034 - - - - - - - - - - -
18075 317.5 10.3 1423 18079 roll 0.67 0.12 0.089 2776 425.0 2.28 0.035 1067 -671.5 365.7 - - 2034 - - - - - - - - - - -
18113 312.8 11.4 1426 18117 done 0.67 - - 2775 - 2.33 0.038 2592 654.5 365.7 - - 2034 - - - - - - - - - - -
18451 267.7 15.7 1477 18457 roll 0.56 0.17 0.172 2723 -305.9 1.80 0.052 3767 652.8 365.7 - - 2034 - - - - - - - - - - -
18610 247.2 12.0 1505 18616 done 0.61 - - 2723 - 1.70 0.029 2591 -691.8 365.7 - - 2034 - - - - - - - - - - -
18954 207.9 9.3 1566 18979 roll 0.78 0.20 0.071 2810 435.0 1.88 0.052 3759 621.3 386.7 16.98 0.828 1954 -4.7 0.122 - - - - - - - - -
19002 200.9 14.5 1574 19010 done 0.55 0.32 0.174 2726 -262.5 1.70 0.029 2592 -686.5 386.7 - - 1953 - - - - - - - - - - -
19350 173.2 6.5 1635 19437 roll 0.87 0.25 0.068 2834 432.0 2.38 0.032 1075 -637.4 486.7 77.47 0.800 1545 -5.3 0.118 - - - - - - - - -
19499 150.9 14.8 1661 19505 done 0.87 - - 2834 - 2.40 0.034 2616 642.1 486.7 - - 1540 - - - - - - - - - - -
19842 91.8 16.5 1722 19849 roll 0.87 - - 2834 - 1.77 0.052 3765 649.2 486.7 - - 1537 - - - - - - - - - - -
19884 85.1 15.9 1729 19890 done 0.82 0.12 0.173 2811 -191.7 1.73 0.027 2568 -691.9 486.7 - - 1537 - - - - - - - - - - -
20229 54.0 8.3 1790 20271 done 1.06 0.17 0.073 2889 458.8 - - 2567 - 537.4 38.62 0.670 1341 -5.1 0.042 - - - - - - - - -
20573 end climb: SURFACE_DEPTH_REACHED
20573 begin surface coast
20592 end surface coast: CONTROL_FINISHED_OK
20592 begin surface
SM 2.40 - - - - -7.49 7.25 0.049 146 -378.3 - - 2399 - 539.17 - - 1334 - - - - - - - -