QPE May09 * SG166 * Dive index * Mission links * Dive 371 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 79.55 of 150.00 AH used of 24V (46.96% remains)
• Previous NAKs 8, Timeouts 0 • 53.03 of 100.00 AH used of 10V (46.97% remains)
• Surface angle -68.5 deg, depth 1.49 m • Intended pitch -16.8 deg, speed -10.000 cm/s
• No surface pump (final VBD was 584.55, SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 15 s • Transponder ping count: 161
• 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 - - - 75 VBD -1.12 - - 168 - - - 1693 - -170.3 -57.58 - 2437 - - - - - - - - - - -
78 3.3 -6.2 9 125 roll -1.12 9.02 0.225 2395 246.9 2.22 0.052 261 -645.0 -170.3 -32.20 - 3641 -37.4 - - - - - - - - - -
197 26.6 -23.1 28 205 done -0.58 0.62 0.151 2573 287.1 2.03 0.027 1672 695.1 -170.3 - - 3642 - - - - - - - - - - -
543 67.0 -10.1 89 550 roll -0.69 - - 2573 - 2.03 0.038 3066 686.7 -170.3 - - 3642 - - - - - - - - - - -
653 78.7 -10.4 108 660 done -0.83 0.20 0.053 2464 -545.0 2.03 0.028 1643 -701.0 -170.3 - - 3642 - - - - - - - - - - -
1000 119.4 -11.3 169 1006 roll -0.83 0.12 0.140 2499 291.7 2.03 0.039 268 -677.3 -170.3 - - 3642 - - - - - - - - - - -
1036 123.6 -10.7 175 1044 done -0.74 - - 2501 - 2.03 0.025 1710 710.3 -170.3 - - 3642 - - - - - - - - - - -
1384 160.2 -10.5 236 1390 roll -0.74 0.10 0.144 2522 210.0 1.98 0.035 3066 684.8 -170.3 - - 3642 - - - - - - - - - - -
1448 166.7 -9.9 247 1455 done -0.84 - - 2526 - 2.03 0.028 1643 -701.0 -170.3 - - 3643 - - - - - - - - - - -
1793 201.6 -10.9 308 1800 roll -0.98 0.20 0.052 2417 -545.0 2.12 0.036 3058 667.5 -170.3 - - 3643 - - - - - - - - - - -
1870 211.2 -13.4 321 1877 done -0.79 0.30 0.133 2512 316.7 1.98 0.028 1668 -702.0 -170.3 - - 3642 - - - - - - - - - - -
2216 243.0 -8.2 382 2222 roll -0.88 - - 2508 - 2.08 0.037 3054 666.3 -170.3 - - 3642 - - - - - - - - - - -
2258 246.5 -8.7 389 2265 done -1.02 0.20 0.050 2414 -470.0 1.98 0.028 1673 -697.5 -170.3 - - 3642 - - - - - - - - - - -
2602 285.8 -11.2 450 2609 roll -0.82 0.25 0.133 2496 328.0 2.08 0.041 277 -671.2 -170.3 - - 3642 - - - - - - - - - - -
2650 290.6 -9.7 458 2656 done -0.82 - - 2495 - 2.00 0.026 1670 696.5 -170.3 - - 3642 - - - - - - - - - - -
2982 320.4 -9.0 498 2985 roll -0.93 - - 2491 - 2.05 0.038 3070 682.9 -170.3 - - 3642 - - - - - - - - - - -
3055 327.2 -9.6 504 3062 done -1.07 0.20 0.050 2395 -480.0 2.03 0.029 1655 -697.0 -170.3 - - 3642 - - - - - - - - - - -
3380 365.1 -12.3 535 3385 roll -0.95 0.20 0.135 2461 330.0 2.08 0.042 271 -665.4 -170.3 - - 3640 - - - - - - - - - - -
3444 372.3 -11.4 540 3448 done -0.80 0.17 0.137 2508 276.5 2.00 0.027 1677 703.0 -170.3 - - 3640 - - - - - - - - - - -
3774 403.1 -8.7 571 3779 roll -0.94 0.12 0.068 2443 -541.7 2.05 0.039 3059 674.1 -170.3 - - 3638 - - - - - - - - - - -
3889 413.7 -9.1 581 3893 done -0.94 - - 2444 - 2.03 0.031 1666 -686.2 -170.3 - - 3638 - - - - - - - - - - -
4219 445.0 -9.2 612 4223 roll -0.94 - - 2445 - 2.10 0.045 270 -664.8 -170.3 - - 3637 - - - - - - - - - - -
4236 446.9 -9.8 613 4242 done -0.94 - - 2450 - 2.03 0.028 1675 692.1 -170.3 - - 3637 - - - - - - - - - - -
4561 479.1 -9.7 644 4565 roll -0.94 - - 2465 - 2.08 0.042 3070 670.7 -170.3 - - 3635 - - - - - - - - - - -
4584 481.5 -10.6 646 4588 done -0.94 - - 2464 - 2.03 0.032 1680 -684.7 -170.3 - - 3635 - - - - - - - - - - -
4914 512.1 -9.1 671 4918 roll -0.94 - - 2464 - 2.12 0.048 275 -662.7 -170.3 - - 3632 - - - - - - - - - - -
5029 522.9 -9.5 676 5033 done -0.80 0.15 0.141 2506 280.0 2.03 0.031 1676 690.1 -170.3 - - 3632 - - - - - - - - - - -
5363 548.9 -7.9 692 5368 roll -0.93 0.12 0.069 2437 -575.0 2.10 0.044 3072 664.8 -170.3 - - 3629 - - - - - - - - - - -
5448 556.9 -9.8 696 5452 done -0.93 - - 2437 - 2.08 0.035 1664 -676.9 -170.3 - - 3629 - - - - - - - - - - -
5781 589.7 -10.1 712 5785 roll -0.93 - - 2434 - 2.12 0.047 3060 658.5 -170.3 - - 3625 - - - - - - - - - - -
5814 593.3 -10.0 713 5818 done -0.93 - - 2435 - 2.05 0.036 1669 -678.5 -170.3 - - 3625 - - - - - - - - - - -
6138 623.7 -9.2 729 6141 roll -0.93 - - 2434 - 2.15 0.051 264 -653.5 -170.3 - - 3623 - - - - - - - - - - -
6177 627.7 -10.3 730 6184 done -0.77 0.28 0.137 2513 282.1 2.08 0.034 1677 679.3 -170.3 - - 3623 - - - - - - - - - - -
6494 654.3 -8.8 746 6498 roll -0.95 0.12 0.067 2443 -583.3 2.17 0.051 272 -647.5 -170.3 - - 3621 - - - - - - - - - - -
6583 663.9 -10.7 750 6587 done -0.83 0.20 0.134 2500 285.0 2.08 0.035 1677 675.5 -170.3 - - 3620 - - - - - - - - - - -
6910 693.3 -9.0 766 6915 roll -1.00 0.17 0.058 2409 -535.3 2.17 0.052 276 -645.6 -170.3 - - 3617 - - - - - - - - - - -
7005 704.0 -11.6 770 7010 done -0.79 0.32 0.139 2509 312.5 2.08 0.035 1675 672.6 -170.3 - - 3616 - - - - - - - - - - -
7322 729.7 -7.8 785 7327 roll -1.01 0.20 0.051 2408 -505.0 2.17 0.053 277 -644.2 -170.3 - - 3614 - - - - - - - - - - -
7423 740.9 -11.1 789 7429 done -0.80 0.32 0.142 2502 293.8 2.12 0.040 1681 662.3 -170.3 - - 3613 - - - - - - - - - - -
7740 765.6 -7.9 805 7745 roll -0.97 0.15 0.062 2434 -453.3 2.22 0.054 270 -635.6 -170.3 - - 3611 - - - - - - - - - - -
7836 775.5 -10.2 809 7840 done -0.82 0.25 0.140 2501 268.0 2.12 0.039 1685 667.5 -170.3 - - 3610 - - - - - - - - - - -
8159 800.7 -7.8 825 8164 roll -1.00 0.15 0.062 2427 -493.3 2.22 0.055 266 -639.2 -170.3 - - 3608 - - - - - - - - - - -
8260 811.3 -10.6 829 8266 done -0.85 0.22 0.140 2489 281.8 2.12 0.039 1678 666.0 -170.3 - - 3606 - - - - - - - - - - -
8579 836.5 -7.9 845 8583 roll -0.99 0.12 0.072 2429 -500.0 2.20 0.055 279 -635.9 -170.3 - - 3605 - - - - - - - - - - -
8641 842.9 -10.2 848 8646 done -0.82 0.28 0.139 2501 257.1 2.12 0.041 1673 657.5 -170.3 - - 3604 - - - - - - - - - - -
8972 868.4 -7.4 864 8976 roll -1.03 0.17 0.057 2410 -535.3 2.20 0.056 279 -633.6 -170.3 - - 3602 - - - - - - - - - - -
9066 878.9 -11.9 868 9070 done -0.85 0.28 0.142 2486 271.4 2.12 0.041 1682 661.8 -170.3 - - 3602 - - - - - - - - - - -
9383 905.6 -8.6 883 9388 roll -1.01 0.15 0.063 2416 -466.7 2.25 0.059 273 -626.2 -170.3 - - 3600 - - - - - - - - - - -
9455 914.4 -12.2 886 9460 done -0.83 0.30 0.140 2495 263.3 2.15 0.045 1681 654.9 -170.3 - - 3599 - - - - - - - - - - -
9777 944.9 -9.3 902 9781 roll -1.01 0.15 0.064 2425 -466.7 2.25 0.058 277 -624.0 -170.3 - - 3598 - - - - - - - - - - -
9872 956.0 -12.6 906 9877 done -0.85 0.25 0.141 2489 256.0 2.12 0.041 1676 659.9 -170.3 - - 3597 - - - - - - - - - - -
10191 984.0 -8.6 921 10196 roll -1.06 0.17 0.060 2402 -511.8 2.25 0.061 276 -622.2 -170.3 - - 3596 - - - - - - - - - - -
10239 end dive: TARGET_DEPTH_EXCEEDED
10239 begin apogee
10248 990.1 12.2 923 10400 done -0.27 0.85 0.135 2665 309.4 - - 1365 - - 144.30 1.480 2944 -4.5 0.330 - - - - - - - - -
10401 end apogee: CONTROL_FINISHED_OK
10401 begin climb
10404 999.4 - 931 10567 roll 1.12 1.27 0.065 3125 362.2 2.30 0.054 2735 595.7 170.3 152.25 1.436 2249 -4.6 0.346 - - - - - - - - -
10651 982.7 13.0 942 10656 done 0.64 0.57 0.174 2973 -266.7 2.17 0.048 1355 -635.9 170.3 - - 2246 - - - - - - - - - - -
10975 956.8 8.4 958 11016 roll 0.58 - - 2973 - 2.28 0.054 2741 607.9 209.9 35.83 1.402 2089 -4.4 0.326 - - - - - - - - -
11046 950.1 9.3 961 11071 done 0.52 0.17 0.155 2936 -217.6 2.20 0.048 1352 -631.4 228.9 18.62 1.330 2011 -4.2 0.326 - - - - - - - - -
11392 921.0 9.2 978 11423 roll 0.66 0.12 0.072 3001 541.7 1.88 0.064 206 -609.6 248.2 19.83 1.236 1932 -4.0 0.324 - - - - - - - - -
11498 909.1 10.7 982 11505 done 0.56 0.17 0.147 2947 -317.6 1.77 0.043 1351 646.9 248.2 - - 1930 - - - - - - - - - - -
11814 881.7 8.4 998 11865 roll 0.72 0.15 0.064 3029 546.7 1.92 0.063 201 -599.0 287.5 38.90 1.335 1771 -4.1 0.294 - - - - - - - - -
11888 873.7 11.1 1001 11892 done 0.58 0.28 0.147 2951 -278.6 1.77 0.044 1350 649.2 287.5 - - 1769 - - - - - - - - - - -
12210 845.0 8.8 1017 12256 done 0.79 0.20 0.054 3053 510.0 - - 1350 - 318.1 32.72 1.229 1648 -3.7 0.277 - - - - - - - - -
12564 799.7 12.5 1034 12569 roll 0.64 0.25 0.150 2973 -320.0 2.17 0.052 2747 643.8 318.1 - - 1643 - - - - - - - - - - -
12614 793.9 9.9 1036 12618 done 0.64 - - 2981 - 2.17 0.049 1339 -648.8 320.1 - - 1642 - - - - - - - - - - -
12936 762.6 9.7 1052 12950 roll 0.77 - - 2990 - 1.83 0.063 209 -617.5 326.5 8.88 1.197 1613 -3.3 0.227 - - - - - - - - -
12996 755.8 12.0 1054 13002 done 0.77 - - 2990 - 1.77 0.044 1354 646.9 326.5 - - 1612 - - - - - - - - - - -
13312 722.1 10.6 1070 13316 roll 0.88 0.15 0.061 3074 560.0 1.83 0.062 203 -629.0 326.5 - - 1611 - - - - - - - - - - -
13340 718.4 12.9 1071 13345 done 0.75 0.25 0.161 3004 -280.0 1.75 0.044 1362 662.3 326.5 - - 1611 - - - - - - - - - - -
13667 682.8 10.3 1087 13671 roll 0.75 - - 3005 - 2.17 0.054 2758 643.3 326.5 - - 1610 - - - - - - - - - - -
13785 670.3 10.8 1092 13789 done 0.75 - - 3013 - 2.17 0.048 1347 -650.2 326.5 - - 1610 - - - - - - - - - - -
14112 636.8 9.6 1108 14136 roll 0.76 - - 3013 - 2.17 0.051 2748 645.6 337.5 11.40 1.148 1570 -3.5 0.212 - - - - - - - - -
14204 627.5 9.7 1112 14218 done 0.77 - - 3023 - 2.17 0.053 1349 -644.7 344.4 8.25 1.107 1541 -3.5 0.217 - - - - - - - - -
14538 595.6 9.4 1128 14566 roll 0.79 - - 3023 - 2.20 0.051 2749 636.4 359.4 18.02 1.089 1479 -3.4 0.205 - - - - - - - - -
14685 580.2 10.7 1134 14692 done 0.79 - - 3034 - 2.17 0.046 1345 -647.0 359.4 - - 1476 - - - - - - - - - - -
15001 547.9 10.2 1150 15005 roll 0.79 - - 3046 - 1.83 0.064 194 -629.0 359.4 - - 1475 - - - - - - - - - - -
15079 539.2 10.4 1153 15083 done 0.79 - - 3045 - 1.75 0.044 1350 660.6 359.4 - - 1475 - - - - - - - - - - -
15403 505.5 9.9 1169 15412 roll 0.88 - - 3056 - 1.85 0.061 204 -619.5 363.1 4.45 0.820 1463 -2.7 0.181 - - - - - - - - -
15435 501.7 10.3 1170 15439 done 0.88 - - 3056 - 1.75 0.051 1361 661.1 363.1 - - 1463 - - - - - - - - - - -
15767 470.6 9.7 1200 15781 roll 0.89 - - 3065 - 1.90 0.060 196 -613.2 370.7 9.00 1.022 1433 -3.3 0.167 - - - - - - - - -
15793 467.7 10.3 1202 15797 done 0.89 - - 3065 - 1.75 0.043 1361 665.7 370.7 - - 1432 - - - - - - - - - - -
16126 431.7 10.4 1233 16130 roll 0.89 - - 3073 - 1.83 0.058 198 -635.5 370.7 - - 1433 - - - - - - - - - - -
16174 426.7 9.9 1237 16178 done 0.89 - - 3073 - 1.77 0.043 1352 652.0 372.3 - - 1432 - - - - - - - - - - -
16504 397.1 8.8 1268 16540 roll 0.93 - - 3076 - 2.20 0.045 2765 642.3 403.5 31.45 1.048 1300 -4.2 0.173 - - - - - - - - -
16565 391.7 9.9 1273 16569 done 0.93 - - 3085 - 2.20 0.044 1350 -643.2 405.5 - - 1299 - - - - - - - - - - -
16890 356.0 11.5 1303 16894 roll 1.01 - - 3087 - 2.17 0.045 2769 653.9 405.5 - - 1297 - - - - - - - - - - -
17021 340.1 11.5 1314 17027 done 1.01 - - 3098 - 2.17 0.041 1340 -658.5 405.5 - - 1298 - - - - - - - - - - -
17350 306.2 9.6 1345 17374 roll 1.02 - - 3110 - 1.83 0.055 202 -621.9 415.1 13.77 0.785 1251 -3.4 0.145 - - - - - - - - -
17465 293.8 11.1 1360 17473 done 1.02 - - 3111 - 1.75 0.038 1363 663.4 415.1 - - 1251 - - - - - - - - - - -
17810 256.1 11.0 1421 17816 roll 1.02 - - 3122 - 1.80 0.054 203 -644.4 415.1 - - 1251 - - - - - - - - - - -
17863 250.0 11.9 1430 17869 done 0.93 0.17 0.133 3065 -335.3 1.73 0.036 1355 665.9 415.1 - - 1251 - - - - - - - - - - -
18206 218.7 7.4 1491 18275 roll 1.26 0.25 0.044 3190 500.0 2.20 0.041 2747 632.7 481.3 59.72 0.868 982 -4.5 0.124 - - - - - - - - -
18377 197.2 13.3 1520 18386 done 1.13 0.25 0.139 3129 -244.0 2.15 0.038 1335 -656.7 481.3 - - 982 - - - - - - - - - - -
18725 159.6 9.4 1581 18745 roll 1.34 0.17 0.053 3233 611.8 1.80 0.051 202 -629.4 495.8 14.05 0.755 923 -4.2 0.097 - - - - - - - - -
18775 153.4 12.1 1589 18783 done 1.15 0.30 0.141 3141 -306.7 1.73 0.033 1357 667.6 495.8 - - 923 - - - - - - - - - - -
19122 116.6 11.0 1650 19128 roll 1.30 0.12 0.062 3209 566.7 1.80 0.049 206 -639.4 495.8 - - 922 - - - - - - - - - - -
19203 106.5 13.1 1664 19211 done 1.18 0.20 0.131 3130 -395.0 1.67 0.031 1352 686.2 495.8 - - 922 - - - - - - - - - - -
19549 78.8 6.5 1725 19632 roll 1.69 0.45 0.033 3356 502.2 2.15 0.036 2741 646.0 583.5 74.05 0.722 566 -4.8 0.057 - - - - - - - - -
19671 61.3 16.6 1744 19680 done 1.40 0.52 0.157 3216 -269.2 2.12 0.035 1335 -663.2 583.5 - - 564 - - - - - - - - - - -
20021 22.1 10.8 1805 20028 roll 1.62 0.17 0.054 3310 552.9 2.10 0.032 2754 675.7 583.5 - - 564 - - - - - - - - - - -
20058 17.1 15.3 1811 20065 done 1.45 0.32 0.152 3228 -256.2 2.08 0.034 1348 -676.0 583.5 - - 564 - - - - - - - - - - -
20183 end climb: SURFACE_DEPTH_REACHED
20183 begin surface coast
20211 end surface coast: CONTROL_FINISHED_OK
20211 begin surface
SM 1.59 - - - - -8.11 8.15 0.043 168 -375.5 - - 1687 - 584.55 - - 562 - - - - - - - -