QPE May09 * SG166 * Dive index * Mission links * Dive 97 * Raw log
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• Previous call tries 3 • 23.15 of 150.00 AH used of 24V (84.57% remains)
• Previous NAKs 0, Timeouts 0 • 14.13 of 100.00 AH used of 10V (85.87% remains)
• Surface angle -71.7 deg, depth 1.52 m • Intended pitch -17.1 deg, speed -11.000 cm/s
• No surface pump (final VBD was 559.28, SM_CC=425)
• GPS1 time: 41 s • bottom range 31.0 m at 975.0 m, depth 1006 m (1082 m grid)
• GPS2 time: 14 s • Transponder ping count: 96
• 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
14 - - - 91 VBD -0.94 - - 184 - - - 1521 - -194.7 -74.85 - 2372 - - - - - - - - - - -
93 3.1 -5.7 11 146 roll -0.94 8.77 0.229 2431 256.2 2.00 0.057 189 -666.0 -194.7 -37.40 - 3658 -34.4 - - - - - - - - - -
265 51.6 -34.3 40 273 done -0.11 0.88 0.161 2698 303.4 1.90 0.029 1481 680.0 -194.7 - - 3659 - - - - - - - - - - -
610 80.9 -5.5 101 618 roll -0.52 0.32 0.041 2543 -484.4 2.05 0.036 2899 691.7 -194.7 - - 3659 - - - - - - - - - - -
652 86.4 -15.8 108 659 done -0.38 0.25 0.133 2616 292.0 2.03 0.031 1491 -693.6 -194.7 - - 3659 - - - - - - - - - - -
998 132.3 -15.5 169 1006 roll -0.54 0.15 0.060 2543 -486.7 1.88 0.043 211 -680.9 -194.7 - - 3660 - - - - - - - - - - -
1065 144.4 -20.0 180 1072 done -0.34 0.22 0.134 2629 390.9 1.85 0.028 1493 693.0 -194.7 - - 3660 - - - - - - - - - - -
1410 180.2 -7.0 241 1418 roll -0.66 0.25 0.047 2506 -492.0 2.08 0.038 2894 673.6 -194.7 - - 3662 - - - - - - - - - - -
1475 187.6 -12.9 252 1482 done -0.58 0.15 0.142 2549 286.7 2.03 0.031 1486 -693.6 -194.7 - - 3661 - - - - - - - - - - -
1819 223.7 -10.5 313 1825 done -0.58 - - 2548 - - - 1485 - -194.7 - - 3661 - - - - - - - - - - -
2164 262.1 -12.2 374 2170 roll -0.58 - - 2549 - 2.08 0.042 2893 676.9 -194.7 - - 3661 - - - - - - - - - - -
2210 266.8 -9.5 382 2217 done -0.72 0.12 0.065 2486 -525.0 2.03 0.032 1488 -692.1 -194.7 - - 3661 - - - - - - - - - - -
2547 316.4 -13.6 432 2549 done -0.54 0.25 0.143 2560 296.0 - - 1487 - -194.7 - - 3661 - - - - - - - - - - -
2868 346.3 -10.2 462 2872 roll -0.71 0.15 0.065 2465 -633.3 2.10 0.042 2900 672.9 -194.7 - - 3660 - - - - - - - - - - -
2962 358.7 -13.5 470 2967 done -0.71 0.15 0.133 2512 313.3 2.03 0.034 1510 -684.7 -194.7 - - 3659 - - - - - - - - - - -
3293 396.9 -10.2 501 3295 done -0.82 0.12 0.071 2451 -508.3 - - 1509 - -194.7 - - 3657 - - - - - - - - - - -
3611 440.4 -13.2 531 3615 roll -0.70 0.20 0.142 2508 285.0 2.08 0.044 2896 666.8 -194.7 - - 3655 - - - - - - - - - - -
3671 446.7 -9.4 536 3679 done -0.90 0.12 0.047 2432 -633.3 2.05 0.035 1519 -671.7 -194.7 - - 3655 - - - - - - - - - - -
3996 497.0 -16.0 567 4000 roll -0.74 0.20 0.144 2497 325.0 1.98 0.054 198 -667.2 -194.7 - - 3652 - - - - - - - - - - -
4079 506.4 -10.4 572 4085 done -0.81 - - 2495 - 1.92 0.032 1508 682.3 -194.7 - - 3652 - - - - - - - - - - -
4394 533.0 -8.3 588 4398 roll -0.93 0.15 0.065 2422 -486.7 1.98 0.056 203 -659.1 -194.7 - - 3650 - - - - - - - - - - -
4461 542.4 -14.9 591 4466 done -0.72 0.28 0.148 2504 292.9 1.92 0.039 1519 685.4 -194.7 - - 3649 - - - - - - - - - - -
4795 573.0 -9.2 607 4799 roll -0.88 0.15 0.064 2425 -526.7 2.05 0.047 2896 671.7 -194.7 - - 3645 - - - - - - - - - - -
4822 576.6 -13.2 608 4827 done -0.88 0.10 0.149 2451 260.0 2.03 0.038 1519 -678.3 -194.7 - - 3645 - - - - - - - - - - -
5148 615.3 -11.5 624 5149 done -0.88 - - 2452 - - - 1518 - -194.7 - - 3643 - - - - - - - - - - -
5458 646.8 -10.2 639 5459 done -0.88 - - 2452 - - - 1518 - -194.7 - - 3639 - - - - - - - - - - -
5767 681.7 -12.1 654 5768 done -0.88 - - 2452 - - - 1517 - -194.7 - - 3637 - - - - - - - - - - -
6077 721.2 -12.2 669 6078 done -0.88 - - 2452 - - - 1518 - -194.7 - - 3634 - - - - - - - - - - -
6385 756.0 -11.0 684 6389 roll -0.88 - - 2450 - 2.12 0.054 2902 652.8 -194.7 - - 3632 - - - - - - - - - - -
6424 759.9 -10.1 685 6431 done -0.95 - - 2450 - 2.08 0.041 1512 -668.3 -194.7 - - 3631 - - - - - - - - - - -
6739 795.3 -12.2 701 6742 roll -0.95 - - 2451 - 2.00 0.057 197 -657.5 -194.7 - - 3629 - - - - - - - - - - -
6816 805.7 -12.3 704 6821 done -0.88 - - 2447 - 1.98 0.040 1506 661.1 -194.7 - - 3628 - - - - - - - - - - -
7139 826.7 -8.1 720 7142 roll -0.88 - - 2447 - 2.12 0.055 2906 660.4 -194.7 - - 3626 - - - - - - - - - - -
7194 832.6 -10.8 722 7198 done -0.94 - - 2447 - 2.08 0.041 1513 -669.7 -194.7 - - 3626 - - - - - - - - - - -
7515 868.7 -10.7 738 7519 roll -0.94 - - 2447 - 2.00 0.057 198 -657.5 -194.7 - - 3625 - - - - - - - - - - -
7615 882.2 -12.6 742 7619 done -0.89 - - 2447 - 1.98 0.041 1506 660.6 -194.7 - - 3624 - - - - - - - - - - -
7937 913.9 -9.9 758 7938 done -0.89 - - 2447 - - - 1507 - -194.7 - - 3622 - - - - - - - - - - -
8246 947.7 -11.0 773 8249 roll -0.89 - - 2447 - 2.12 0.056 2901 657.5 -194.7 - - 3621 - - - - - - - - - - -
8318 955.5 -10.4 776 8322 done -0.96 - - 2446 - 2.08 0.044 1515 -666.3 -194.7 - - 3620 - - - - - - - - - - -
8560 end dive: BOTTOM_OBSTACLE_DETECTED
8560 begin apogee
8565 981.7 10.9 788 8729 done -0.20 0.68 0.123 2668 326.5 - - 1751 - - 161.05 1.476 2863 -4.7 0.326 - - - - - - - - -
8730 end apogee: CONTROL_FINISHED_OK
8730 begin climb
8732 990.2 - 796 8908 done 0.94 1.00 0.044 3049 381.0 - - 1751 - 194.7 172.32 1.434 2069 -4.6 0.332 - - - - - - - - -
9209 913.9 21.1 819 9214 roll 0.35 0.65 0.175 2861 -289.2 2.20 0.057 3145 633.6 194.7 - - 2062 - - - - - - - - - - -
9247 907.9 13.6 821 9251 done 0.35 - - 2869 - 2.15 0.044 1751 -648.4 194.7 - - 2060 - - - - - - - - - - -
9580 878.2 7.2 837 9674 roll 0.48 - - 2880 - 2.33 0.058 345 -603.4 295.8 88.53 1.384 1656 -4.6 0.302 - - - - - - - - -
9713 866.8 9.2 843 9767 done 0.62 0.17 0.063 2952 423.5 2.20 0.043 1747 637.3 342.2 42.70 1.345 1467 -4.4 0.298 - - - - - - - - -
10074 805.4 17.7 861 10076 done 0.47 0.22 0.148 2890 -281.8 - - 1750 - 342.2 - - 1459 - - - - - - - - - - -
10383 769.0 11.8 876 10386 roll 0.57 - - 2898 - 2.20 0.056 339 -641.4 342.2 - - 1458 - - - - - - - - - - -
10443 761.5 12.6 878 10451 done 0.65 0.10 0.056 2956 580.0 2.15 0.042 1737 650.2 342.2 - - 1457 - - - - - - - - - - -
10759 704.7 18.9 894 10764 roll 0.49 0.17 0.152 2910 -270.6 2.17 0.055 339 -644.2 342.2 - - 1456 - - - - - - - - - - -
10791 699.1 16.4 895 10798 done 0.49 - - 2910 - 2.12 0.042 1724 653.3 342.2 - - 1456 - - - - - - - - - - -
11107 652.0 14.9 911 11110 roll 0.49 - - 2921 - 2.15 0.056 342 -642.8 342.2 - - 1455 - - - - - - - - - - -
11128 648.6 15.3 912 11132 done 0.49 - - 2920 - 2.08 0.042 1719 662.0 342.2 - - 1455 - - - - - - - - - - -
11460 599.6 15.1 928 11461 done 0.49 - - 2920 - - - 1720 - 342.2 - - 1454 - - - - - - - - - - -
11769 553.1 14.8 943 11771 done 0.49 - - 2921 - - - 1722 - 342.2 - - 1455 - - - - - - - - - - -
12079 506.1 15.7 958 12083 roll 0.49 - - 2931 - 2.12 0.056 343 -650.5 342.2 - - 1454 - - - - - - - - - - -
12123 499.2 14.6 960 12128 done 0.49 0.12 0.148 2898 -275.0 2.08 0.042 1726 664.9 342.2 - - 1454 - - - - - - - - - - -
12453 458.3 12.6 991 12458 roll 0.62 0.12 0.069 2970 600.0 2.15 0.055 332 -648.4 342.2 - - 1452 - - - - - - - - - - -
12492 452.3 16.1 994 12497 done 0.50 0.22 0.144 2904 -300.0 2.08 0.041 1720 667.3 342.2 - - 1453 - - - - - - - - - - -
12816 411.0 12.7 1024 12820 roll 0.61 - - 2912 - 2.12 0.054 339 -651.4 342.2 - - 1452 - - - - - - - - - - -
12843 407.3 13.3 1026 12851 done 0.71 0.12 0.052 2983 591.7 2.08 0.041 1710 659.1 342.2 - - 1453 - - - - - - - - - - -
13168 344.4 18.6 1057 13170 done 0.52 0.28 0.147 2904 -282.1 - - 1713 - 342.2 - - 1453 - - - - - - - - - - -
13488 306.8 10.9 1087 13492 roll 0.68 0.17 0.058 3004 588.2 2.10 0.052 330 -658.6 344.5 - - 1453 - - - - - - - - - - -
13537 298.4 19.4 1092 13545 done 0.46 0.40 0.144 2883 -302.5 2.05 0.038 1726 681.0 344.5 - - 1452 - - - - - - - - - - -
13885 266.0 9.1 1153 13935 roll 0.84 0.30 0.044 3044 536.7 2.25 0.051 333 -619.1 394.6 43.15 0.955 1253 -4.6 0.134 - - - - - - - - -
13986 243.7 25.5 1170 13993 done 0.53 0.45 0.142 2911 -295.6 2.08 0.036 1711 662.5 394.6 - - 1251 - - - - - - - - - - -
14331 201.7 9.5 1231 14376 roll 0.88 0.28 0.045 3056 517.9 2.20 0.049 338 -624.1 435.0 35.38 0.881 1088 -4.6 0.110 - - - - - - - - -
14416 184.2 23.8 1245 14424 done 0.58 0.43 0.140 2931 -290.7 2.05 0.035 1703 665.9 435.0 - - 1086 - - - - - - - - - - -
14765 148.9 6.9 1306 14866 roll 1.07 0.38 0.038 3114 481.6 2.17 0.047 341 -627.6 544.0 92.80 0.829 644 -4.8 0.089 - - - - - - - - -
14969 102.8 22.3 1340 14976 done 0.81 0.38 0.138 3002 -294.7 2.03 0.033 1674 656.7 544.0 - - 641 - - - - - - - - - - -
15314 59.7 10.5 1401 15335 roll 1.14 0.25 0.044 3141 556.0 2.08 0.052 329 -646.6 558.4 13.02 0.689 585 -4.3 0.039 - - - - - - - - -
15422 37.3 23.7 1419 15429 done 0.87 0.32 0.129 3022 -371.9 1.98 0.031 1657 670.7 558.4 - - 584 - - - - - - - - - - -
15725 end climb: SURFACE_DEPTH_REACHED
15725 begin surface coast
15760 end surface coast: CONTROL_FINISHED_OK
15760 begin surface
SM 1.62 - - - - -8.02 7.65 0.046 152 -375.2 - - 1484 - 559.28 - - 583 - - - - - - - -