OKMC 16May13 * SG181 * Dive index * Mission links * Dive 400 * Raw log
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• Previous call tries 2 • 135.97 of 350.00 AH used of 24V (61.15% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.0 deg, depth -0.15 m • Intended pitch -14.5 deg, speed -10.000 cm/s
• No surface pump (final VBD was 582.83, SM_CC=475)
• GPS1 time: 41 s
• GPS2 time: 10 s • Transponder ping count: 2
• 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
18 end surface: CONTROL_FINISHED_OK
18 begin dive
21 - - - 112 VBD -1.15 - - 225 - - - 2704 - -194.6 -87.68 - 3083 - - - - - - - - - - -
115 3.9 -14.6 16 146 roll -1.15 9.52 0.383 2282 216.1 2.25 0.060 1338 -607.1 -194.6 -14.55 - 3890 -55.5 - - - - - - - 14.21 14.59 14.85
200 26.8 -23.3 30 208 done -1.07 0.17 0.266 2314 188.2 2.25 0.057 2702 606.2 -194.6 - - 3890 - - - - - - - - 14.31 14.57 -
507 89.4 -17.6 51 512 roll -1.00 - - 2310 - 1.77 0.073 3777 607.3 -194.6 - - 3889 - - - - - - - - - 14.61 -
580 100.3 -17.1 54 586 done -0.92 0.17 0.228 2357 276.5 1.65 0.033 2691 -658.2 -194.6 - - 3890 - - - - - - - - 14.28 14.68 -
894 143.3 -13.1 70 900 roll -0.88 - - 2357 - 2.10 0.037 1345 -641.0 -194.6 - - 3890 - - - - - - - - - 14.69 -
972 152.2 -14.0 73 980 done -0.83 0.15 0.256 2386 193.3 2.20 0.054 2702 616.8 -194.6 - - 3890 - - - - - - - - 14.42 14.69 -
1278 195.7 -13.0 89 1283 roll -0.80 - - 2386 - 2.15 0.037 1338 -634.4 -194.6 - - 3890 - - - - - - - - - 14.74 -
1305 198.7 -12.8 90 1311 done -0.77 0.12 0.239 2408 183.3 2.22 0.055 2702 614.4 -194.6 - - 3890 - - - - - - - - 14.49 14.70 -
1624 235.7 -10.9 106 1629 roll -0.77 - - 2409 - 2.12 0.037 1343 -641.0 -194.6 - - 3890 - - - - - - - - - 14.78 -
1677 240.6 -11.2 108 1682 done -0.76 - - 2402 - 2.20 0.053 2700 616.8 -194.6 - - 3889 - - - - - - - - - 14.73 -
1991 276.9 -11.1 124 1996 roll -0.75 - - 2394 - 1.80 0.080 3785 602.8 -194.6 - - 3889 - - - - - - - - - 14.66 -
2038 281.9 -11.3 126 2043 done -0.74 - - 2395 - 1.60 0.037 2709 -672.5 -194.6 - - 3889 - - - - - - - - - 14.83 -
2357 316.0 -10.5 142 2363 roll -0.71 0.12 0.239 2430 291.7 2.15 0.035 1335 -639.1 -194.6 - - 3887 - - - - - - - - 14.54 14.76 -
2438 322.4 -10.0 145 2445 done -0.70 - - 2424 - 2.22 0.054 2699 614.4 -194.6 - - 3884 - - - - - - - - - 14.71 -
2741 354.8 -10.6 161 2746 roll -0.71 - - 2416 - 1.80 0.079 3781 601.1 -194.6 - - 3885 - - - - - - - - - 14.67 -
2785 359.7 -10.9 163 2790 done -0.71 - - 2416 - 1.62 0.037 2704 -664.8 -194.6 - - 3885 - - - - - - - - - 14.83 -
3108 393.1 -9.9 179 3114 roll -0.71 - - 2416 - 2.15 0.038 1331 -638.6 -194.6 - - 3883 - - - - - - - - - 14.77 -
3181 399.5 -10.0 182 3186 done -0.71 - - 2409 - 2.25 0.056 2701 608.9 -194.6 - - 3883 - - - - - - - - - 14.70 -
3494 430.5 -9.4 198 3500 roll -0.71 - - 2401 - 1.80 0.080 3779 598.9 -194.6 - - 3880 - - - - - - - - - 14.66 -
3521 432.8 -9.4 199 3527 done -0.71 0.12 0.223 2431 250.0 1.62 0.039 2709 -660.5 -194.6 - - 3880 - - - - - - - - 14.52 14.83 -
3841 459.7 -8.1 215 3847 roll -0.73 - - 2431 - 2.20 0.058 1317 -632.7 -194.6 -0.08 - 3902 -275.0 - - - - - - - - 14.77 14.11
3901 463.4 -8.2 217 3907 done -0.74 - - 2429 - 2.28 0.057 2700 606.6 -194.6 - - 3901 - - - - - - - - - 14.69 -
4206 490.7 -8.6 233 4211 roll -0.76 - - 2421 - 1.83 0.084 3784 592.3 -194.6 - - 3900 - - - - - - - - - 14.63 -
4260 494.7 -8.7 235 4265 done -0.77 - - 2421 - 1.65 0.041 2703 -655.2 -194.6 - - 3900 - - - - - - - - - 14.75 -
4574 523.4 -9.3 251 4579 roll -0.79 - - 2421 - 2.20 0.041 1320 -628.6 -194.6 - - 3898 - - - - - - - - - 14.73 -
4628 527.7 -9.6 253 4634 done -0.81 - - 2414 - 2.30 0.060 2705 602.2 -194.6 - - 3898 - - - - - - - - - 14.67 -
4943 558.2 -9.2 269 4948 roll -0.82 - - 2405 - 1.83 0.086 3784 589.6 -194.6 - - 3896 - - - - - - - - - 14.60 -
4972 560.4 -9.1 270 4977 done -0.83 - - 2406 - 1.73 0.041 2689 -632.9 -194.6 - - 3896 - - - - - - - - - 14.76 -
5292 588.2 -8.3 286 5297 roll -0.84 - - 2406 - 2.17 0.041 1322 -630.0 -194.6 - - 3894 - - - - - - - - - 14.71 -
5375 595.6 -8.7 290 5381 done -0.84 - - 2397 - 2.30 0.060 2698 598.3 -194.6 - - 3893 - - - - - - - - - 14.63 -
5712 627.8 -10.0 302 5713 done -0.85 - - 2397 - - - 2699 - -194.6 - - 3890 - - - - - - - - - - -
6009 659.4 -10.6 312 6014 roll -0.86 - - 2397 - 2.22 0.043 1321 -620.7 -194.6 - - 3888 - - - - - - - - - 14.71 -
6072 666.3 -10.7 314 6078 done -0.86 - - 2397 - 2.33 0.063 2703 593.1 -194.6 - - 3887 - - - - - - - - - 14.62 -
6409 698.7 -9.1 325 6414 roll -0.87 - - 2396 - 2.22 0.044 1328 -619.4 -194.6 - - 3884 - - - - - - - - - 14.69 -
6443 701.9 -9.0 326 6448 done -0.87 - - 2389 - 2.33 0.064 2703 590.1 -194.6 - - 3884 - - - - - - - - - 14.59 -
6779 729.1 -7.7 337 6784 roll -0.87 - - 2389 - 2.25 0.044 1322 -613.8 -194.6 - - 3882 - - - - - - - - - 14.59 -
6813 731.9 -7.7 338 6818 done -0.87 - - 2381 - 2.35 0.064 2710 590.6 -194.6 - - 3882 - - - - - - - - - 14.59 -
7149 758.7 -8.2 349 7154 roll -0.87 - - 2381 - 2.25 0.044 1329 -613.8 -194.6 - - 3880 - - - - - - - - - 14.64 -
7183 761.9 -8.4 350 7188 done -0.87 - - 2372 - 2.33 0.065 2700 588.4 -194.6 - - 3880 - - - - - - - - - 14.57 -
7519 795.1 -10.5 361 7520 done -0.85 - - 2372 - - - 2706 - -194.6 - - 3877 - - - - - - - - - - -
7817 827.6 -11.0 371 7822 roll -0.83 - - 2371 - 2.25 0.047 1329 -612.0 -194.6 - - 3876 - - - - - - - - - 14.61 -
7850 831.5 -11.1 372 7856 done -0.82 0.12 0.252 2391 166.7 2.35 0.070 2701 583.8 -194.6 - - 3875 - - - - - - - - 14.31 14.52 -
8187 867.1 -10.8 383 8193 roll -0.83 - - 2386 - 1.88 0.096 3777 572.3 -194.6 - - 3873 - - - - - - - - - 14.45 -
8225 871.2 -11.0 384 8230 done -0.83 - - 2386 - 1.70 0.047 2708 -628.8 -194.6 - - 3873 - - - - - - - - - 14.70 -
8556 908.6 -11.0 395 8557 done -0.83 - - 2386 - - - 2708 - -194.6 - - 3872 - - - - - - - - - - -
8854 938.5 -9.5 405 8859 roll -0.83 - - 2385 - 2.28 0.046 1312 -612.3 -194.6 - - 3870 - - - - - - - - - 14.60 -
8918 944.8 -9.7 407 8924 done -0.83 - - 2377 - 2.40 0.069 2706 580.8 -194.6 - - 3869 - - - - - - - - - 14.50 -
9254 977.4 -10.0 418 9259 roll -0.81 - - 2370 - 1.90 0.099 3779 564.7 -194.6 - - 3868 - - - - - - - - - 14.39 -
9307 981.9 -10.7 419 9313 done -0.79 0.12 0.234 2400 250.0 1.73 0.047 2705 -620.8 -194.6 - - 3868 - - - - - - - - 14.32 14.69 -
9379 end dive: TARGET_DEPTH_EXCEEDED
9379 begin apogee
9386 990.8 -10.1 422 9575 done -0.23 0.60 0.168 2582 303.3 - - 2091 - - 181.57 1.802 3089 -4.3 0.438 - - - - - - 14.28 - 13.31
9577 end apogee: CONTROL_FINISHED_OK
9577 begin climb
9580 1003.2 - 428 9773 roll 1.15 1.30 0.075 3042 353.8 2.50 0.067 719 -548.8 194.6 182.57 1.825 2296 -4.3 0.444 - - - - - - 14.14 14.00 13.20
9796 1000.0 6.0 435 9911 done 1.34 0.15 0.138 3090 320.0 2.42 0.063 2098 569.8 302.7 103.12 1.792 1852 -4.3 0.447 - - - - - - 14.12 14.12 13.23
10227 922.5 17.6 450 10228 done 1.26 - - 3091 - - - 2098 - 302.7 - - 1839 - - - - - - - - - - -
10526 872.2 16.8 460 10532 roll 1.19 0.17 0.312 3056 -205.9 2.33 0.060 720 -591.4 302.7 - - 1838 - - - - - - - - 14.27 14.62 -
10555 872.2 16.8 460 10563 done 1.11 0.15 0.301 3024 -213.3 2.35 0.060 2110 591.5 302.7 - - 1837 - - - - - - - - 14.31 14.61 -
10863 827.2 13.2 471 10868 roll 1.06 - - 3022 - 2.45 0.092 3515 573.5 302.7 - - 1836 - - - - - - - - - 14.55 -
10911 822.1 13.5 472 10917 done 1.00 0.20 0.291 2986 -180.0 2.28 0.043 2112 -615.4 302.7 - - 1836 - - - - - - - - 14.31 14.69 -
11233 780.5 12.0 483 11238 roll 0.96 - - 2994 - 2.35 0.062 706 -598.3 302.7 - - 1835 - - - - - - - - - 14.57 -
11261 780.5 12.0 483 11269 done 0.92 0.15 0.249 2961 -220.0 2.35 0.058 2107 596.2 302.7 - - 1835 - - - - - - - - 14.35 14.62 -
11569 743.0 11.4 494 11574 roll 0.89 - - 2967 - 2.38 0.060 696 -592.9 302.7 - - 1834 - - - - - - - - - 14.62 -
11652 734.7 12.1 496 11657 done 0.86 - - 2968 - 2.35 0.057 2099 597.0 302.7 - - 1834 - - - - - - - - - 14.61 -
11968 692.8 12.5 507 11973 roll 0.83 0.15 0.271 2937 -206.7 2.35 0.055 699 -595.7 302.7 - - 1833 - - - - - - - - 14.30 14.59 -
12074 681.9 11.7 510 12079 done 0.80 - - 2937 - 2.35 0.055 2099 595.7 302.7 - - 1833 - - - - - - - - - 14.59 -
12399 647.8 9.7 521 12405 roll 0.80 - - 2937 - 2.45 0.089 3509 575.5 309.5 - - 1833 - - - - - - - - - 14.50 -
12448 644.0 9.9 522 12459 done 0.78 0.15 0.278 2914 -153.3 2.30 0.041 2092 -616.1 312.6 1.85 0.195 1819 -7.6 4.644 - - - - - - 14.27 14.67 14.34
12767 612.7 9.3 533 12801 roll 0.83 - - 2914 - 2.47 0.086 3514 575.7 331.9 27.33 1.316 1733 -3.1 0.272 - - - - - - - 14.65 13.95
12852 606.5 9.6 535 12863 done 0.85 - - 2923 - 2.30 0.041 2096 -616.5 343.2 4.75 1.243 1694 -8.2 0.744 - - - - - - - 14.64 13.48
13160 577.2 8.0 550 13228 roll 0.98 0.12 0.135 2986 525.0 2.50 0.088 3504 563.2 396.4 60.20 1.335 1470 -3.7 0.299 - - - - - - 14.64 14.39 13.76
13299 563.3 11.8 556 13306 done 0.95 0.12 0.282 2970 -133.3 2.30 0.040 2106 -607.8 396.4 - - 1464 - - - - - - - - 14.23 14.49 -
13604 528.1 10.9 572 13610 roll 0.94 - - 2978 - 2.38 0.063 703 -589.5 396.4 - - 1461 - - - - - - - - - 14.51 -
13652 523.2 11.2 574 13657 done 0.92 - - 2979 - 2.35 0.054 2100 594.5 396.4 - - 1460 - - - - - - - - - 14.54 -
13971 486.8 11.5 590 13976 roll 0.91 - - 2988 - 2.35 0.061 702 -594.9 396.4 - - 1459 - - - - - - - - - 14.55 -
14046 479.0 12.1 593 14052 done 0.90 0.17 0.228 2946 -247.1 2.33 0.052 2102 600.9 396.4 - - 1460 - - - - - - - - 14.32 14.59 -
14360 443.9 10.1 609 14365 roll 0.90 - - 2954 - 2.38 0.060 698 -589.9 396.4 - - 1458 - - - - - - - - - 14.59 -
14466 433.6 9.9 614 14471 done 0.91 - - 2953 - 2.35 0.053 2101 597.0 400.2 - - 1458 - - - - - - - - - 14.58 -
14791 403.3 8.9 630 14829 roll 0.98 - - 2963 - 2.35 0.060 706 -593.6 429.9 29.92 1.165 1333 -4.2 0.269 - - - - - - - 14.65 14.00
14904 393.8 9.3 635 14928 done 1.03 - - 2963 - 2.33 0.050 2105 600.4 449.1 18.05 1.165 1259 -4.1 0.258 - - - - - - - 14.57 13.93
15237 358.9 10.3 652 15242 roll 1.04 - - 2971 - 2.38 0.060 704 -588.7 449.1 - - 1248 - - - - - - - - - 14.54 -
15331 350.3 10.3 656 15337 done 1.06 - - 2971 - 2.33 0.050 2102 600.0 449.1 - - 1247 - - - - - - - - - 14.57 -
15646 317.8 9.9 672 15652 roll 1.08 0.10 0.147 3033 620.0 2.40 0.080 3500 582.5 451.6 - - 1247 - - - - - - - - 14.69 14.51 -
15660 317.8 9.9 672 15666 done 1.10 0.12 0.278 3016 -141.7 2.28 0.038 2084 -621.1 454.1 - - 1247 - - - - - - - - 14.32 14.68 -
15974 280.5 11.2 688 15979 roll 1.09 - - 3024 - 2.28 0.059 713 -601.3 454.1 - - 1247 - - - - - - - - - 14.58 -
16012 277.9 11.1 689 16019 done 1.08 - - 3024 - 2.30 0.050 2106 605.7 454.1 - - 1247 - - - - - - - - - 14.60 -
16318 243.7 10.2 705 16323 roll 1.07 - - 3024 - 2.40 0.081 3508 584.2 454.1 - - 1247 - - - - - - - - - 14.52 -
16403 233.9 11.7 709 16409 done 1.04 0.15 0.269 3001 -153.3 2.28 0.038 2093 -620.6 454.1 - - 1248 - - - - - - - - 14.28 14.69 -
16727 199.7 10.9 725 16733 roll 1.04 - - 3002 - 2.42 0.076 3505 583.5 454.1 - - 1246 - - - - - - - - - 14.53 -
16785 194.9 11.1 727 16792 done 1.04 - - 3009 - 2.25 0.037 2095 -626.7 454.1 - - 1248 - - - - - - - - - 14.69 -
17091 166.7 7.9 743 17150 roll 1.18 - - 3009 - 2.47 0.076 3501 569.2 509.3 48.42 0.865 1008 -5.0 0.178 - - - - - - - 14.63 14.12
17198 156.6 10.1 748 17204 done 1.18 - - 3019 - 2.25 0.036 2093 -625.8 509.3 - - 1006 - - - - - - - - - 14.62 -
17517 120.6 10.5 764 17523 roll 1.19 - - 3020 - 2.45 0.076 3507 577.1 509.3 - - 1003 - - - - - - - - - 14.47 -
17576 116.1 10.2 766 17582 done 1.19 - - 3030 - 2.25 0.036 2093 -628.4 509.3 - - 1003 - - - - - - - - - 14.66 -
17883 88.5 9.0 782 17903 roll 1.28 0.12 0.124 3115 708.3 2.47 0.074 3511 574.1 537.5 13.32 0.360 903 -7.5 0.343 - - - - - - 14.69 14.66 14.27
17957 80.2 11.8 785 17969 done 1.26 0.25 0.256 3064 -204.0 2.25 0.036 2099 -627.6 537.5 1.58 0.200 905 - - - - - - - - 14.26 14.70 14.35
18267 45.2 9.8 803 18278 roll 1.28 - - 3064 - 2.40 0.071 3512 588.8 541.9 4.82 0.225 883 -4.6 0.170 - - - - - - - 14.60 14.23
18373 36.0 8.7 813 18398 done 1.36 - - 3072 - 2.25 0.035 2089 -632.4 577.8 20.08 0.232 736 -7.3 0.211 - - - - - - - 14.64 14.40
18705 4.0 9.8 866 18718 roll 1.38 - - 3073 - 2.45 0.071 3502 576.7 584.3 4.85 0.158 713 -4.7 0.022 - - - - - - - 14.49 14.43
18724 end climb: SURFACE_DEPTH_REACHED
18724 begin surface coast
18752 end surface coast: CONTROL_FINISHED_OK
18752 begin surface
SM -0.26 - - - - -7.49 7.80 0.050 234 30.0 1.30 0.036 2666 -4450.8 582.83 - - 717 - - - - - - - -