MIRC Sep14 * SG179 * Dive index * Mission links * Dive 73 * Raw log
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• Previous call tries 2 • 22.16 of 140.00 AH used of 24V (84.17% remains)
• Previous NAKs 0, Timeouts 0 • 29.41 of 95.10 AH used of 10V (69.07% remains)
• Surface angle -68.5 deg, depth 1.51 m • Intended pitch -16.7 deg, speed -9.167 cm/s
• No surface pump (final VBD was 456.01, SM_CC=400)
• GPS1 time: 38 s
• GPS2 time: 4 s • Transponder ping count: 11
• 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
91 end surface: CONTROL_FINISHED_OK
91 begin dive
93 - - - 145 VBD -0.80 - - 120 - - - 2292 - -146.0 -45.72 - 2178 - - - - - - - - - - -
146 3.2 -4.6 6 205 roll -0.80 11.32 0.246 2578 217.1 2.28 0.045 840 -636.8 -146.0 -41.55 - 3523 -32.4 - - - - - - - 24.79 25.39 25.60
261 25.4 -29.2 22 279 done -0.66 0.22 0.151 2627 222.7 2.15 0.030 2227 645.1 -146.0 - - 3524 - - - - - - - - 25.08 25.43 -
588 107.8 -22.3 59 596 roll -0.59 - - 2617 - 2.28 0.044 3659 628.1 -146.0 - - 3523 - - - - - - - - - 25.39 -
651 120.5 -21.7 64 661 done -0.53 0.20 0.135 2672 275.0 2.17 0.025 2238 -654.8 -146.0 - - 3524 - - - - - - - - 25.20 25.52 -
956 162.9 -12.7 95 970 roll -0.53 - - 2672 - 2.10 0.034 859 -656.7 -146.0 - - 3525 - - - - - - - - - 25.43 -
994 167.4 -13.4 98 1006 done -0.53 - - 2666 - 2.15 0.028 2254 648.8 -146.0 - - 3525 - - - - - - - - - 25.47 -
1311 208.3 -12.2 126 1320 roll -0.57 - - 2656 - 2.20 0.044 3647 633.2 -146.0 - - 3525 - - - - - - - - - 25.41 -
1429 219.9 -12.4 129 1440 done -0.62 - - 2656 - 2.10 0.024 2264 -658.6 -146.0 - - 3525 - - - - - - - - - 25.53 -
1735 255.0 -10.3 140 1740 done -0.67 - - 2656 - - - 2264 - -146.0 - - 3524 - - - - - - - - - - -
2034 283.0 -8.8 150 2043 roll -0.72 0.12 0.081 2590 -550.0 2.17 0.034 862 -646.1 -146.0 - - 3524 - - - - - - - - 25.49 25.39 -
2062 283.0 -8.8 150 2072 done -0.78 - - 2581 - 2.17 0.028 2266 647.0 -146.0 - - 3524 - - - - - - - - - 25.47 -
2367 333.6 -16.8 161 2372 done -0.78 - - 2581 - - - 2267 - -146.0 - - 3522 - - - - - - - - - - -
2667 382.9 -16.0 171 2675 roll -0.78 - - 2571 - 2.22 0.048 3652 623.9 -146.0 - - 3519 - - - - - - - - - 25.34 -
2698 387.1 -16.0 172 2707 done -0.78 - - 2571 - 2.10 0.027 2279 -653.8 -146.0 - - 3519 - - - - - - - - - 25.50 -
3026 435.3 -13.3 183 3033 roll -0.78 - - 2561 - 2.25 0.049 3653 610.7 -146.0 - - 3516 - - - - - - - - - 25.32 -
3082 442.6 -12.8 185 3090 done -0.78 0.12 0.150 2592 258.3 2.10 0.028 2289 -649.5 -146.0 - - 3516 - - - - - - - - 25.20 25.44 -
3410 478.2 -10.9 196 3417 roll -0.78 - - 2593 - 2.25 0.039 860 -635.1 -146.0 - - 3512 - - - - - - - - - 25.32 -
3441 481.3 -11.1 197 3449 done -0.78 - - 2584 - 2.22 0.031 2281 640.1 -146.0 - - 3512 - - - - - - - - - 25.39 -
3763 521.8 -12.7 208 3771 roll -0.78 - - 2574 - 2.25 0.050 3653 609.8 -146.0 - - 3509 - - - - - - - - - 25.27 -
3824 529.4 -13.1 210 3832 done -0.78 - - 2575 - 2.12 0.030 2289 -643.4 -146.0 - - 3508 - - - - - - - - - 25.41 -
4146 573.5 -13.6 221 4151 done -0.78 - - 2575 - - - 2288 - -146.0 - - 3505 - - - - - - - - - - -
4447 613.0 -12.8 231 4453 done -0.78 - - 2574 - - - 2288 - -146.0 - - 3502 - - - - - - - - - - -
4746 650.0 -12.2 241 4753 done -0.78 - - 2575 - - - 2287 - -146.0 - - 3499 - - - - - - - - - - -
5048 686.7 -12.3 251 5053 done -0.78 - - 2574 - - - 2285 - -146.0 - - 3496 - - - - - - - - - - -
5346 725.2 -12.9 261 5351 done -0.78 - - 2575 - - - 2286 - -146.0 - - 3493 - - - - - - - - - - -
5646 764.4 -13.2 271 5654 roll -0.78 - - 2565 - 2.28 0.054 3647 596.9 -146.0 - - 3492 - - - - - - - - - 25.14 -
5687 767.9 -13.2 272 5695 done -0.78 - - 2565 - 2.15 0.032 2291 -630.7 -146.0 - - 3491 - - - - - - - - - 25.30 -
5999 812.3 -13.3 283 6010 roll -0.78 - - 2556 - 2.30 0.054 3656 593.5 -146.0 - - 3488 - - - - - - - - - 25.14 -
6059 820.6 -13.4 285 6068 done -0.78 0.15 0.146 2594 253.3 2.15 0.032 2296 -632.6 -146.0 - - 3488 - - - - - - - - 25.01 25.30 -
6387 857.6 -11.2 296 6393 done -0.82 - - 2594 - - - 2295 - -146.0 - - 3486 - - - - - - - - - - -
6687 889.3 -10.1 306 6693 done -0.86 - - 2593 - - - 2295 - -146.0 - - 3485 - - - - - - - - - - -
6987 917.4 -9.1 316 6993 done -0.90 0.12 0.089 2542 -425.0 - - 2295 - -146.0 - - 3483 - - - - - - - - 25.29 - -
7287 952.8 -12.2 326 7292 done -0.90 - - 2542 - - - 2295 - -146.0 - - 3481 - - - - - - - - - - -
7586 end dive: TARGET_DEPTH_EXCEEDED
7586 begin apogee
7589 991.0 -12.9 336 7724 roll -0.13 0.85 0.118 2797 300.0 - - 1992 - - 127.45 1.122 2926 -4.4 0.422 - - - - - - 24.88 - 22.54
7724 end apogee: CONTROL_FINISHED_OK
7724 begin climb
7725 996.6 - 340 7879 roll 0.80 0.88 0.057 3101 345.5 2.38 0.048 617 -577.7 146.0 139.52 1.104 2330 -4.3 0.423 - - - - - - 23.99 23.96 22.34
7953 990.2 7.3 348 8000 done 0.80 - - 3101 - 2.25 0.031 2000 614.7 187.5 38.97 1.067 2161 -4.3 0.442 - - - - - - - 24.63 22.65
8305 953.9 10.3 360 8314 roll 0.72 - - 3101 - 2.30 0.047 3407 611.7 187.5 - - 2154 - - - - - - - - - 25.25 -
8425 939.9 11.7 364 8434 done 0.63 0.22 0.157 3050 -231.8 2.22 0.033 2020 -624.8 187.5 - - 2153 - - - - - - - - 25.04 25.37 -
8754 910.4 8.8 375 8771 roll 0.65 - - 3061 - 2.35 0.050 604 -602.6 195.8 7.72 0.864 2127 -3.4 0.390 - - - - - - - 25.28 23.75
8860 902.1 9.1 378 8868 done 0.65 - - 3061 - 2.22 0.032 2006 631.5 198.2 - - 2125 - - - - - - - - - 25.35 -
9173 872.4 9.1 389 9186 roll 0.62 - - 3061 - 2.28 0.047 3401 611.8 199.6 4.65 0.701 2113 -2.6 0.353 - - - - - - - 25.36 23.73
9270 863.4 10.2 392 9278 done 0.58 0.15 0.162 3034 -180.0 2.22 0.033 2007 -627.9 199.6 - - 2112 - - - - - - - - 25.07 25.34 -
9587 837.1 7.7 403 9628 roll 0.66 - - 3043 - 2.35 0.050 598 -599.6 231.9 30.95 1.000 1979 -4.3 0.395 - - - - - - - 24.78 23.50
9647 832.4 7.7 405 9686 done 0.74 0.12 0.088 3093 416.7 2.28 0.032 2017 622.4 263.7 29.80 0.986 1851 -4.3 0.398 - - - - - - 24.96 24.99 23.29
10005 791.2 11.9 417 10013 roll 0.70 - - 3093 - 2.25 0.048 3400 614.7 263.7 - - 1845 - - - - - - - - - 25.25 -
10112 779.1 12.8 420 10120 done 0.65 0.17 0.154 3058 -205.9 2.20 0.033 2024 -625.5 263.7 - - 1845 - - - - - - - - 25.05 25.32 -
10424 743.2 10.8 431 10434 roll 0.65 - - 3067 - 2.33 0.050 592 -614.6 263.7 - - 1844 - - - - - - - - - 25.26 -
10469 739.8 10.9 432 10476 done 0.65 - - 3067 - 2.25 0.032 2022 635.6 263.7 - - 1843 - - - - - - - - - 25.37 -
10780 701.5 12.1 443 10788 roll 0.65 - - 3067 - 2.25 0.049 3399 612.0 263.7 - - 1842 - - - - - - - - - 25.22 -
10842 694.1 12.4 445 10850 done 0.65 - - 3076 - 2.20 0.034 2019 -627.3 263.7 - - 1842 - - - - - - - - - 25.31 -
11164 651.9 13.0 456 11172 roll 0.65 - - 3087 - 2.33 0.051 595 -611.2 263.7 - - 1842 - - - - - - - - - 25.18 -
11246 643.6 13.2 458 11254 done 0.65 0.12 0.154 3057 -250.0 2.25 0.032 2016 631.6 263.7 - - 1842 - - - - - - - - 25.06 25.29 -
11558 607.2 10.1 469 11566 roll 0.65 - - 3057 - 2.28 0.050 3402 607.9 263.7 - - 1842 - - - - - - - - - 25.15 -
11655 597.7 10.2 472 11663 done 0.65 - - 3065 - 2.22 0.034 2020 -622.5 263.7 - - 1842 - - - - - - - - - 25.25 -
11977 567.7 8.8 483 11993 roll 0.67 - - 3075 - 2.38 0.050 600 -596.6 270.8 6.45 0.688 1821 -3.3 0.295 - - - - - - - 25.25 23.83
12037 562.1 9.2 485 12045 done 0.67 - - 3076 - 2.28 0.032 2031 627.6 270.9 - - 1820 - - - - - - - - - 25.22 -
12365 532.5 9.2 496 12374 roll 0.67 - - 3075 - 2.25 0.049 3407 611.6 270.9 - - 1820 - - - - - - - - - 25.15 -
12467 523.1 9.9 499 12476 done 0.67 - - 3084 - 2.20 0.033 2037 -622.7 270.9 - - 1820 - - - - - - - - - 25.22 -
12790 487.9 10.7 510 12798 roll 0.67 - - 3094 - 2.35 0.050 599 -611.9 270.9 - - 1819 - - - - - - - - - 25.11 -
12822 485.0 10.7 511 12830 done 0.67 0.12 0.147 3065 -241.7 2.30 0.032 2050 630.9 270.9 - - 1819 - - - - - - - - 25.01 25.23 -
13149 455.7 8.5 522 13172 roll 0.70 - - 3065 - 2.22 0.047 3403 609.5 285.1 14.25 0.736 1763 -3.9 0.267 - - - - - - - 25.11 23.93
13226 450.6 8.5 524 13248 done 0.74 - - 3071 - 2.17 0.033 2047 -624.9 299.3 14.02 0.724 1705 -4.1 0.283 - - - - - - - 25.15 23.82
13563 416.2 10.2 536 13574 roll 0.74 - - 3082 - 2.35 0.050 599 -616.2 299.3 - - 1702 - - - - - - - - - 25.15 -
13607 412.9 10.3 537 13616 done 0.74 - - 3082 - 2.30 0.031 2058 634.3 299.3 - - 1700 - - - - - - - - - 25.26 -
13925 377.9 10.4 548 13932 roll 0.74 - - 3082 - 2.17 0.048 3397 617.1 299.3 - - 1700 - - - - - - - - - 25.13 -
13976 375.0 10.3 549 13986 done 0.74 - - 3090 - 2.15 0.032 2049 -627.0 299.3 - - 1699 - - - - - - - - - 25.27 -
14281 339.5 10.4 560 14289 roll 0.74 - - 3100 - 2.35 0.049 599 -617.0 299.3 - - 1700 - - - - - - - - - 25.10 -
14378 330.3 10.6 563 14386 done 0.74 - - 3100 - 2.28 0.031 2035 629.8 299.3 - - 1699 - - - - - - - - - 25.24 -
14695 295.0 11.5 574 14703 roll 0.74 - - 3109 - 2.35 0.047 599 -611.1 299.3 - - 1699 - - - - - - - - - 25.10 -
14742 291.7 11.7 575 14750 done 0.74 - - 3109 - 2.25 0.031 2022 632.4 299.3 - - 1699 - - - - - - - - - 25.22 -
15048 250.8 12.4 585 15056 roll 0.74 - - 3109 - 2.25 0.047 3403 613.8 299.3 - - 1699 - - - - - - - - - 25.09 -
15130 244.0 11.8 587 15140 done 0.74 0.15 0.148 3079 -200.0 2.17 0.031 2040 -628.1 299.3 - - 1699 - - - - - - - - 24.94 25.20 -
15435 218.7 6.8 598 15490 roll 0.91 0.15 0.075 3163 560.0 2.45 0.047 600 -587.8 351.6 44.62 0.620 1491 -4.7 0.181 - - - - - - 25.25 24.82 23.89
15655 190.3 13.0 610 15663 done 0.88 0.15 0.136 3126 -246.7 2.25 0.030 2029 635.1 351.6 - - 1487 - - - - - - - - 24.94 25.18 -
15960 162.7 6.3 640 16025 roll 1.03 0.12 0.084 3186 500.0 2.30 0.044 3389 591.3 414.9 51.78 0.571 1234 -4.9 0.153 - - - - - - 25.31 24.82 23.94
16159 136.9 15.6 659 16169 done 0.97 0.15 0.155 3159 -180.0 2.17 0.030 2021 -630.4 414.9 - - 1232 - - - - - - - - 24.93 25.18 -
16463 102.4 10.4 690 16471 roll 0.97 - - 3168 - 2.28 0.045 600 -623.2 414.9 - - 1230 - - - - - - - - - 25.22 -
16571 91.5 10.3 700 16579 done 1.01 - - 3168 - 2.17 0.028 2004 647.0 414.9 - - 1229 - - - - - - - - - 25.37 -
16876 64.3 7.6 730 16914 roll 1.12 0.12 0.080 3236 566.7 2.30 0.041 3394 604.3 448.2 27.58 0.474 1097 -4.8 0.071 - - - - - - 25.37 25.14 24.29
16959 53.4 14.5 738 16972 done 1.07 0.20 0.137 3191 -225.0 2.20 0.028 1994 -636.4 448.2 - - 1097 - - - - - - - - 24.97 25.23 -
17269 22.5 10.1 797 17275 roll 1.11 - - 3201 - 2.20 0.042 595 -635.9 448.2 - - 1096 - - - - - - - - - 25.31 -
17355 14.6 8.8 814 17369 done 1.18 - - 3200 - 2.17 0.024 1991 643.3 455.1 7.05 0.372 1069 -3.8 0.017 - - - - - - - 25.47 24.43
17472 end climb: SURFACE_DEPTH_REACHED
17472 begin surface coast
17497 end surface coast: CONTROL_FINISHED_OK
17497 begin surface
SM 1.41 - - - - -8.41 8.27 0.034 135 16.3 0.38 0.046 2289 -18244.7 456.01 - - 1067 - - - - - - - -