QPE May09 * SG166 * Dive index * Mission links * Dive 571 * Raw log
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• Previous call tries 3 • 130.43 of 150.00 AH used of 24V (13.05% remains)
• Previous NAKs 2, Timeouts 0 • 83.15 of 100.00 AH used of 10V (16.85% remains)
• Surface angle -69.4 deg, depth 1.52 m • Intended pitch -13.9 deg, speed -10.000 cm/s
• No surface pump (final VBD was 612.02, SM_CC=475)
• GPS1 time: 43 s
• GPS2 time: 10 s • Transponder ping count: 145
• 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
16 - - - 96 VBD -0.93 - - 164 - - - 2028 - -243.4 -77.43 - 2202 - - - - - - - - - - -
100 3.2 -6.1 12 158 roll -0.93 9.50 0.222 2516 247.6 2.08 0.049 658 -658.7 -243.4 -42.15 - 3939 -41.2 - - - - - - - - - -
319 59.4 -23.5 49 326 done -0.62 0.35 0.124 2620 297.1 2.12 0.032 2079 670.3 -243.4 - - 3939 - - - - - - - - - - -
666 108.1 -12.5 110 672 roll -0.62 - - 2608 - 2.12 0.043 3480 660.8 -243.4 - - 3941 - - - - - - - - - - -
707 113.0 -10.6 117 714 done -0.62 - - 2618 - 2.05 0.027 2055 -695.1 -243.4 - - 3941 - - - - - - - - - - -
1052 151.4 -11.2 178 1059 roll -0.62 - - 2600 - 2.20 0.044 3477 646.4 -243.4 - - 3941 - - - - - - - - - - -
1101 156.8 -10.6 186 1108 done -0.67 - - 2604 - 2.05 0.027 2053 -694.6 -243.4 - - 3941 - - - - - - - - - - -
1450 194.2 -9.4 247 1457 roll -0.71 - - 2598 - 2.20 0.044 3475 646.4 -243.4 - - 3940 - - - - - - - - - - -
1483 197.4 -9.3 252 1490 done -0.78 - - 2599 - 2.03 0.028 2073 -690.6 -243.4 - - 3940 - - - - - - - - - - -
1831 227.6 -7.9 313 1837 roll -0.86 0.15 0.057 2519 -533.3 2.10 0.035 676 -665.2 -243.4 - - 3938 - - - - - - - - - - -
1892 235.8 -16.0 323 1900 done -0.69 0.28 0.123 2599 285.7 2.10 0.032 2087 671.9 -243.4 - - 3938 - - - - - - - - - - -
2243 267.0 -7.9 384 2249 roll -0.79 - - 2599 - 2.17 0.037 676 -650.2 -243.4 - - 3936 - - - - - - - - - - -
2270 269.2 -8.7 388 2277 done -0.89 0.20 0.048 2503 -480.0 2.08 0.031 2080 675.0 -243.4 - - 3936 - - - - - - - - - - -
2608 323.2 -15.6 435 2613 roll -0.70 0.28 0.127 2585 292.9 2.15 0.046 3457 640.5 -243.4 - - 3934 - - - - - - - - - - -
2650 327.6 -8.6 438 2654 done -0.78 - - 2585 - 2.05 0.028 2056 -683.4 -243.4 - - 3933 - - - - - - - - - - -
2983 351.8 -7.1 469 2985 done -0.89 0.15 0.054 2501 -560.0 - - 2057 - -243.4 - - 3932 - - - - - - - - - - -
3304 396.2 -14.7 499 3311 done -0.76 0.20 0.126 2568 335.0 - - 2055 - -243.4 - - 3929 - - - - - - - - - - -
3631 428.4 -8.8 530 3634 roll -0.84 - - 2567 - 2.10 0.041 675 -657.1 -243.4 - - 3927 - - - - - - - - - - -
3667 431.6 -9.6 533 3671 done -0.92 0.12 0.061 2496 -591.7 2.08 0.035 2053 662.5 -243.4 - - 3927 - - - - - - - - - - -
4000 473.9 -12.2 564 4007 done -0.82 0.20 0.125 2554 290.0 - - 2053 - -243.4 - - 3923 - - - - - - - - - - -
4338 503.7 -8.4 594 4339 done -0.89 - - 2554 - - - 2053 - -243.4 - - 3921 - - - - - - - - - - -
4646 528.9 -8.1 609 4648 done -0.96 0.12 0.063 2487 -558.3 - - 2053 - -243.4 - - 3919 - - - - - - - - - - -
4954 566.9 -12.1 624 4959 roll -0.86 0.20 0.125 2551 320.0 2.20 0.044 668 -629.5 -243.4 - - 3916 - - - - - - - - - - -
5005 572.0 -8.9 626 5009 done -0.92 - - 2546 - 2.12 0.040 2045 649.5 -243.4 - - 3915 - - - - - - - - - - -
5328 599.2 -8.4 642 5330 done -0.98 0.12 0.064 2476 -583.3 - - 2045 - -243.4 - - 3912 - - - - - - - - - - -
5636 638.3 -12.8 657 5638 done -0.86 0.22 0.127 2544 309.1 - - 2045 - -243.4 - - 3909 - - - - - - - - - - -
5947 664.4 -8.1 672 5948 done -0.92 - - 2544 - - - 2045 - -243.4 - - 3907 - - - - - - - - - - -
6256 690.2 -8.5 687 6260 roll -0.98 0.12 0.064 2479 -541.7 2.20 0.048 673 -623.6 -243.4 - - 3905 - - - - - - - - - - -
6291 694.2 -13.2 688 6298 done -0.89 0.20 0.129 2532 265.0 2.15 0.044 2047 639.1 -243.4 - - 3904 - - - - - - - - - - -
6610 724.1 -9.3 704 6614 roll -0.92 - - 2531 - 2.30 0.060 3465 616.5 -243.4 - - 3902 - - - - - - - - - - -
6644 727.6 -9.3 705 6650 done -0.99 - - 2531 - 2.15 0.037 2057 -654.9 -243.4 - - 3902 - - - - - - - - - - -
6962 758.4 -10.1 721 6966 roll -0.99 - - 2531 - 2.20 0.050 664 -633.2 -243.4 - - 3900 - - - - - - - - - - -
7013 764.3 -11.3 723 7016 done -0.99 - - 2531 - 2.17 0.045 2045 636.4 -243.4 - - 3900 - - - - - - - - - - -
7341 796.9 -9.8 739 7346 roll -1.02 0.12 0.065 2456 -625.0 2.33 0.059 3466 609.9 -243.4 - - 3897 - - - - - - - - - - -
7387 802.8 -14.2 741 7392 done -0.90 0.25 0.128 2530 296.0 2.17 0.038 2047 -653.9 -243.4 - - 3897 - - - - - - - - - - -
7715 834.6 -9.3 757 7717 done -0.93 - - 2531 - - - 2047 - -243.4 - - 3895 - - - - - - - - - - -
8026 862.6 -8.5 772 8027 done -0.96 - - 2530 - - - 2047 - -243.4 - - 3894 - - - - - - - - - - -
8334 889.3 -8.6 787 8336 done -1.00 0.10 0.076 2480 -500.0 - - 2047 - -243.4 - - 3893 - - - - - - - - - - -
8644 925.9 -12.0 802 8649 roll -0.90 0.15 0.136 2523 286.7 2.22 0.053 663 -623.4 -243.4 - - 3891 - - - - - - - - - - -
8762 938.3 -9.9 807 8766 done -0.90 - - 2521 - 2.22 0.048 2057 627.9 -243.4 - - 3890 - - - - - - - - - - -
9085 967.1 -8.9 823 9086 done -0.90 - - 2523 - - - 2058 - -243.4 - - 3888 - - - - - - - - - - -
9349 end dive: TARGET_DEPTH_EXCEEDED
9349 begin apogee
9359 990.5 9.3 836 9573 done -0.23 0.70 0.105 2748 321.4 - - 1693 - - 207.80 1.477 2945 -4.5 0.349 - - - - - - - - -
9573 end apogee: CONTROL_FINISHED_OK
9574 begin climb
9577 1002.8 - 847 9821 roll 0.93 1.05 0.048 3141 374.3 2.58 0.058 293 -542.6 243.4 233.80 1.418 1950 -4.3 0.345 - - - - - - - - -
9844 978.8 20.3 859 9850 done 0.52 0.62 0.163 2993 -238.7 2.45 0.043 1694 571.8 243.4 - - 1948 - - - - - - - - - - -
10170 940.5 11.1 875 10173 roll 0.46 - - 2993 - 2.28 0.058 3112 621.9 243.4 - - 1943 - - - - - - - - - - -
10429 907.6 12.5 886 10433 done 0.37 0.22 0.146 2941 -236.4 2.15 0.043 1713 -650.7 243.4 - - 1941 - - - - - - - - - - -
10752 880.9 8.4 902 10826 roll 0.52 0.15 0.063 3011 466.7 2.33 0.057 3100 595.3 301.3 56.50 1.315 1715 -4.0 0.307 - - - - - - - - -
10969 852.0 14.6 911 10976 done 0.40 0.25 0.140 2951 -240.0 2.12 0.043 1720 -650.9 301.3 - - 1711 - - - - - - - - - - -
11287 823.9 8.6 927 11340 roll 0.54 0.12 0.066 3015 533.3 2.30 0.057 3100 600.0 350.4 45.25 1.364 1516 -4.3 0.298 - - - - - - - - -
11515 791.7 15.0 937 11520 done 0.45 0.22 0.140 2962 -240.9 2.08 0.043 1743 -652.4 350.4 - - 1512 - - - - - - - - - - -
11844 760.6 8.9 953 11889 roll 0.59 0.15 0.059 3041 526.7 2.30 0.056 3115 596.5 391.8 38.70 1.325 1347 -4.3 0.281 - - - - - - - - -
12071 725.1 16.3 963 12075 done 0.44 0.30 0.138 2965 -253.3 2.08 0.043 1776 -643.8 391.8 - - 1344 - - - - - - - - - - -
12404 697.4 7.6 979 12513 roll 0.67 0.17 0.054 3059 552.9 2.25 0.057 3109 592.4 480.4 86.62 1.245 986 -4.1 0.265 - - - - - - - - -
12585 667.6 20.0 987 12589 done 0.51 0.30 0.140 2983 -253.3 2.05 0.042 1778 -649.3 480.4 - - 985 - - - - - - - - - - -
12919 633.5 8.9 1003 12966 roll 0.68 0.15 0.058 3059 506.7 2.20 0.058 3102 601.8 521.4 38.38 1.232 817 -4.4 0.258 - - - - - - - - -
13106 600.4 19.6 1011 13111 done 0.53 0.28 0.139 2990 -246.4 2.00 0.043 1814 -644.0 521.4 - - 817 - - - - - - - - - - -
13438 567.4 8.8 1027 13484 roll 0.71 0.17 0.053 3085 558.8 2.10 0.057 3112 618.1 563.1 38.78 1.194 649 -4.3 0.236 - - - - - - - - -
13583 536.7 24.2 1033 13588 done 0.52 0.35 0.140 2992 -265.7 2.00 0.041 1811 -650.5 563.1 - - 648 - - - - - - - - - - -
13910 503.2 8.7 1049 13966 roll 0.74 0.17 0.051 3087 558.8 2.17 0.056 3112 599.5 610.9 45.22 1.151 455 -4.3 0.214 - - - - - - - - -
14109 464.5 20.3 1064 14116 done 0.59 0.22 0.126 3011 -345.5 1.98 0.041 1850 -637.4 610.9 - - 452 - - - - - - - - - - -
14437 433.1 9.5 1095 14442 roll 0.75 0.15 0.057 3089 520.0 2.00 0.053 3106 628.0 628.1 - - 451 - - - - - - - - - - -
14497 423.2 20.2 1100 14501 done 0.63 0.25 0.137 3025 -256.0 1.90 0.041 1860 -655.8 628.1 - - 451 - - - - - - - - - - -
14828 379.2 12.6 1131 14832 roll 0.70 - - 3025 - 1.98 0.052 3111 631.8 628.1 - - 450 - - - - - - - - - - -
14903 370.0 11.9 1137 14910 done 0.84 0.17 0.051 3116 535.3 1.92 0.040 1857 -653.1 628.1 - - 450 - - - - - - - - - - -
15230 294.1 24.9 1170 15237 roll 0.68 0.22 0.137 3046 -318.2 2.00 0.051 3106 624.5 628.1 - - 450 - - - - - - - - - - -
15379 270.7 14.4 1195 15386 done 0.74 - - 3048 - 1.88 0.038 1882 -651.1 628.1 - - 450 - - - - - - - - - - -
15728 221.0 12.4 1256 15735 roll 0.80 - - 3054 - 1.98 0.049 3106 618.2 628.1 - - 450 - - - - - - - - - - -
15815 208.9 13.9 1271 15823 done 0.86 0.12 0.060 3127 608.3 1.83 0.037 1903 -657.4 628.1 - - 450 - - - - - - - - - - -
16164 136.2 19.5 1332 16171 roll 0.79 0.17 0.135 3071 -329.4 1.95 0.047 3109 618.5 628.1 - - 450 - - - - - - - - - - -
16333 114.6 8.7 1361 16340 done 0.97 0.12 0.039 3154 691.7 1.80 0.035 1933 -653.3 676.0 - - 450 - - - - - - - - - - -
16681 57.1 17.4 1422 16688 roll 0.94 0.12 0.138 3119 -291.7 1.85 0.044 3114 638.4 676.0 - - 450 - - - - - - - - - - -
16752 47.5 12.6 1434 16758 done 1.04 - - 3124 - 1.77 0.034 1950 -657.6 676.0 - - 450 - - - - - - - - - - -
17099 18.5 8.3 1495 17107 roll 1.35 0.32 0.038 3292 525.0 1.80 0.042 3114 646.7 738.3 - - 450 - - - - - - - - - - -
17120 15.9 11.2 1498 17127 done 1.43 - - 3300 - 1.75 0.032 1954 -662.9 738.3 - - 450 - - - - - - - - - - -
17181 end climb: SURFACE_DEPTH_REACHED
17181 begin surface coast
17199 end surface coast: CONTROL_FINISHED_OK
17200 begin surface
SM 1.86 - - - - -8.29 8.50 0.038 152 -370.4 - - 2104 - 612.02 - - 450 - - - - - - - -