OKMC 16May13 * SG181 * Dive index * Mission links * Dive 402 * Raw log
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• Previous call tries 1 • 136.81 of 350.00 AH used of 24V (60.91% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -71.4 deg, depth -0.19 m • Intended pitch -14.5 deg, speed -10.000 cm/s
• No surface pump (final VBD was 539.17, SM_CC=475)
• GPS1 time: 39 s
• GPS2 time: 11 s, HDOP was 2.5 m • Transponder ping count: 0
• 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 - - 240 - - - 2705 - -194.6 -87.70 - 3024 - - - - - - - - - - -
115 3.1 -10.7 16 146 roll -1.15 9.43 0.382 2284 216.8 2.33 0.060 1304 -601.3 -194.6 -16.12 - 3890 -53.7 - - - - - - - 14.21 14.64 14.85
195 26.0 -25.9 30 202 done -1.07 0.15 0.272 2314 200.0 2.35 0.060 2701 594.5 -194.6 - - 3890 - - - - - - - - 14.31 14.56 -
501 88.3 -16.9 51 502 done -1.00 - - 2309 - - - 2701 - -194.6 - - 3890 - - - - - - - - - - -
805 138.7 -17.8 66 807 done -0.93 0.17 0.270 2352 252.9 - - 2702 - -194.6 - - 3890 - - - - - - - - 14.38 - -
1103 181.2 -13.6 81 1108 roll -0.89 - - 2346 - 1.77 0.074 3784 611.3 -194.6 - - 3889 - - - - - - - - - 14.67 -
1152 187.6 -13.6 83 1158 done -0.84 0.17 0.233 2389 252.9 1.67 0.033 2652 -677.8 -194.6 - - 3890 - - - - - - - - 14.44 14.81 -
1471 222.6 -10.5 99 1476 roll -0.81 - - 2389 - 2.05 0.037 1336 -642.0 -194.6 - - 3890 - - - - - - - - - 14.75 -
1555 231.8 -10.9 103 1561 done -0.79 - - 2382 - 2.25 0.053 2709 610.2 -194.6 - - 3890 - - - - - - - - - 14.71 -
1880 270.8 -12.5 119 1886 roll -0.76 0.12 0.246 2418 300.0 2.15 0.035 1344 -634.9 -194.6 - - 3889 - - - - - - - - 14.52 14.76 -
1919 273.7 -12.4 120 1925 done -0.73 - - 2411 - 2.20 0.053 2697 615.0 -194.6 - - 3890 - - - - - - - - - 14.71 -
2224 310.8 -11.2 136 2229 roll -0.73 - - 2403 - 1.80 0.078 3783 603.3 -194.6 - - 3888 - - - - - - - - - 14.61 -
2241 310.8 -11.2 136 2248 done -0.73 - - 2403 - 1.60 0.036 2704 -674.4 -194.6 - - 3888 - - - - - - - - - 14.85 -
2548 344.1 -9.9 152 2554 roll -0.73 - - 2403 - 2.15 0.038 1329 -639.5 -194.6 - - 3886 - - - - - - - - - 14.77 -
2606 348.6 -10.1 154 2612 done -0.73 - - 2395 - 2.25 0.054 2706 612.0 -194.6 - - 3886 - - - - - - - - - 14.70 -
2912 381.3 -10.2 170 2917 roll -0.73 - - 2387 - 1.77 0.079 3776 604.5 -194.6 - - 3884 - - - - - - - - - 14.66 -
2965 386.0 -10.4 172 2971 done -0.72 0.15 0.214 2425 253.3 1.60 0.037 2714 -663.8 -194.6 - - 3884 - - - - - - - - 14.51 14.83 -
3281 416.7 -9.3 188 3286 roll -0.74 - - 2426 - 2.17 0.039 1326 -639.6 -194.6 - - 3883 - - - - - - - - - 14.76 -
3334 420.9 -9.3 190 3339 done -0.75 - - 2423 - 2.25 0.056 2699 610.2 -194.6 - - 3882 - - - - - - - - - 14.69 -
3648 448.6 -8.7 206 3653 roll -0.76 - - 2416 - 1.80 0.083 3775 597.8 -194.6 - - 3880 - - - - - - - - - 14.64 -
3706 452.5 -8.8 208 3712 done -0.78 - - 2416 - 1.65 0.039 2686 -660.0 -194.6 - - 3879 - - - - - - - - - 14.81 -
4012 479.8 -8.5 224 4017 roll -0.79 - - 2416 - 2.15 0.059 1329 -631.2 -194.6 -0.08 - 3902 -287.5 - - - - - - - - 14.74 14.12
4065 483.7 -8.5 226 4071 done -0.80 - - 2410 - 2.28 0.059 2702 602.2 -194.6 - - 3902 - - - - - - - - - 14.66 -
4380 510.1 -8.0 242 4385 roll -0.81 - - 2407 - 1.83 0.086 3782 590.2 -194.6 - - 3900 - - - - - - - - - 14.61 -
4418 512.1 -8.1 243 4425 done -0.82 - - 2407 - 1.65 0.040 2696 -658.2 -194.6 - - 3899 - - - - - - - - - 14.82 -
4724 540.9 -9.5 259 4729 roll -0.83 - - 2410 - 2.17 0.041 1325 -631.8 -194.6 - - 3898 - - - - - - - - - 14.73 -
4762 543.3 -9.5 260 4769 done -0.85 - - 2399 - 2.30 0.058 2713 603.5 -194.6 - - 3901 - - - - - - - - - 14.67 -
5068 574.0 -9.0 276 5073 roll -0.85 - - 2392 - 1.80 0.086 3779 592.2 -194.6 - - 3896 - - - - - - - - - 14.61 -
5101 576.3 -9.2 277 5106 done -0.85 - - 2392 - 1.65 0.042 2712 -646.7 -194.6 - - 3896 - - - - - - - - - 14.80 -
5415 605.5 -8.9 292 5420 roll -0.86 - - 2391 - 2.22 0.041 1314 -629.7 -194.6 - - 3894 - - - - - - - - - 14.70 -
5462 608.7 -9.0 293 5468 done -0.86 - - 2383 - 2.33 0.061 2708 598.3 -194.6 - - 3894 - - - - - - - - - 14.62 -
5784 640.6 -9.7 304 5789 roll -0.86 - - 2375 - 1.83 0.090 3778 584.7 -194.6 - - 3891 - - - - - - - - - 14.57 -
5817 644.2 -9.8 305 5822 done -0.86 - - 2375 - 1.70 0.042 2687 -641.8 -194.6 - - 3890 - - - - - - - - - 14.76 -
6154 676.9 -9.8 316 6159 roll -0.86 - - 2375 - 2.20 0.043 1318 -622.3 -194.6 - - 3888 - - - - - - - - - 14.62 -
6211 680.6 -9.9 317 6218 done -0.86 - - 2366 - 2.33 0.063 2702 594.0 -194.6 - - 3888 - - - - - - - - - 14.59 -
6518 714.8 -10.3 328 6523 roll -0.86 - - 2364 - 2.25 0.044 1319 -614.7 -194.6 - - 3885 - - - - - - - - - 14.66 -
6596 721.6 -10.4 330 6601 done -0.85 - - 2357 - 2.33 0.063 2699 592.3 -194.6 - - 3884 - - - - - - - - - 14.57 -
6917 757.0 -10.6 341 6923 roll -0.83 0.12 0.266 2384 225.0 1.88 0.090 3780 575.0 -194.6 - - 3883 - - - - - - - - 14.37 14.49 -
6971 761.1 -10.6 342 6976 done -0.81 - - 2384 - 1.67 0.044 2707 -642.5 -194.6 - - 3882 - - - - - - - - - 14.76 -
7287 792.1 -9.2 353 7292 roll -0.81 - - 2376 - 1.88 0.091 3779 570.2 -194.6 - - 3881 - - - - - - - - - 14.54 -
7315 792.1 -9.2 353 7321 done -0.81 - - 2377 - 1.70 0.044 2701 -634.1 -194.6 - - 3880 - - - - - - - - - 14.73 -
7623 825.0 -9.8 364 7629 roll -0.79 - - 2377 - 2.25 0.045 1316 -615.6 -194.6 - - 3878 - - - - - - - - - 14.54 -
7658 828.7 -10.0 365 7665 done -0.78 0.15 0.244 2403 173.3 2.38 0.067 2703 582.8 -194.6 - - 3879 - - - - - - - - 14.29 14.53 -
7996 859.4 -9.3 376 8001 roll -0.79 - - 2398 - 1.88 0.097 3777 571.3 -194.6 - - 3877 - - - - - - - - - 14.44 -
8035 863.0 -9.5 377 8041 done -0.80 - - 2398 - 1.75 0.046 2706 -612.0 -194.6 - - 3876 - - - - - - - - - 14.64 -
8366 896.1 -10.0 388 8372 roll -0.82 - - 2398 - 2.28 0.046 1312 -611.4 -194.6 - - 3875 - - - - - - - - - 14.59 -
8455 903.2 -10.4 390 8462 done -0.82 - - 2397 - 2.38 0.070 2696 581.5 -194.6 - - 3874 - - - - - - - - - 14.48 -
8762 937.5 -10.2 401 8767 roll -0.84 - - 2397 - 1.92 0.101 3785 567.2 -194.6 - - 3872 - - - - - - - - - 14.40 -
8786 937.5 -10.2 401 8791 done -0.85 - - 2397 - 1.75 0.047 2696 -622.3 -194.6 - - 3872 - - - - - - - - - 14.69 -
9102 970.8 -9.5 412 9107 roll -0.87 - - 2397 - 2.30 0.048 1303 -605.7 -194.6 - - 3871 - - - - - - - - - 14.56 -
9156 974.2 -9.4 413 9162 done -0.88 - - 2397 - 2.40 0.070 2700 582.1 -194.6 - - 3870 - - - - - - - - - 14.48 -
9317 end dive: TARGET_DEPTH_EXCEEDED
9318 begin apogee
9325 990.9 -8.9 419 9513 done -0.23 0.60 0.156 2581 306.7 - - 2089 - - 182.60 1.804 3090 -4.3 0.436 - - - - - - 14.30 - 13.31
9515 end apogee: CONTROL_FINISHED_OK
9515 begin climb
9518 1003.4 - 425 9711 roll 1.15 1.30 0.070 3034 348.5 2.70 0.093 3514 527.8 194.6 182.35 1.824 2295 -4.4 0.446 - - - - - - 14.14 13.97 13.21
9784 988.6 12.8 434 9790 done 1.07 0.17 0.333 3010 -141.2 2.35 0.041 2109 -597.9 194.6 - - 2287 - - - - - - - - 14.02 14.31 -
10112 946.3 11.9 445 10117 roll 1.00 - - 3019 - 2.40 0.068 696 -588.8 194.6 - - 2282 - - - - - - - - - 14.54 -
10164 941.7 12.0 446 10170 done 0.93 0.25 0.289 2963 -224.0 2.38 0.062 2100 589.9 194.6 - - 2281 - - - - - - - - 14.26 14.56 -
10482 905.9 10.5 457 10487 roll 0.88 - - 2962 - 2.47 0.094 3511 571.3 194.6 - - 2283 - - - - - - - - - 14.53 -
10624 890.7 12.0 461 10631 done 0.82 0.20 0.302 2926 -180.0 2.33 0.044 2095 -607.7 194.6 - - 2279 - - - - - - - - 14.26 14.66 -
10942 858.1 9.4 472 10964 roll 0.83 - - 2926 - 2.47 0.088 3513 574.1 211.8 15.77 1.567 2228 -3.2 0.329 - - - - - - - 14.66 13.90
10987 855.0 9.3 473 11011 done 0.84 - - 2934 - 2.30 0.041 2097 -615.7 229.4 18.75 1.542 2157 -3.8 0.390 - - - - - - - 14.67 13.81
11335 821.6 8.5 485 11383 roll 0.90 - - 2934 - 2.55 0.089 3508 553.3 268.4 39.58 1.584 1993 -4.1 0.399 - - - - - - - 14.41 13.70
11452 812.6 9.5 488 11475 done 0.90 - - 2944 - 2.33 0.041 2092 -607.7 282.7 15.52 1.517 1934 -3.8 0.378 - - - - - - - 14.52 13.68
11788 778.4 9.4 500 11811 roll 0.91 - - 2944 - 2.50 0.090 3508 566.4 299.7 16.23 1.580 1865 -4.3 0.389 - - - - - - - 14.54 13.80
11891 768.3 10.6 503 11897 done 0.88 - - 2954 - 2.33 0.041 2089 -609.0 299.7 - - 1861 - - - - - - - - - 14.59 -
12217 730.6 11.4 514 12222 roll 0.85 - - 2954 - 2.50 0.089 3509 568.0 299.7 - - 1857 - - - - - - - - - 14.52 -
12328 718.1 12.8 517 12334 done 0.81 0.17 0.274 2925 -170.6 2.30 0.041 2095 -614.8 299.7 - - 1857 - - - - - - - - 14.32 14.67 -
12649 682.2 10.4 528 12654 roll 0.79 - - 2925 - 2.50 0.090 3513 567.2 299.7 - - 1856 - - - - - - - - - 14.53 -
12673 682.2 10.4 528 12678 done 0.77 - - 2933 - 2.30 0.041 2097 -615.7 299.7 - - 1856 - - - - - - - - - 14.69 -
12988 649.2 9.3 539 13016 roll 0.79 - - 2933 - 2.50 0.090 3501 561.6 318.4 18.30 1.456 1788 -3.7 0.308 - - - - - - - 14.64 13.94
13082 639.3 10.3 542 13088 done 0.77 0.15 0.272 2910 -153.3 2.30 0.041 2099 -609.6 318.4 - - 1785 - - - - - - - - 14.35 14.65 -
13417 609.7 8.7 553 13459 roll 0.85 - - 2910 - 2.53 0.087 3508 556.9 352.2 34.28 1.373 1651 -3.9 0.323 - - - - - - - 14.52 13.85
13514 600.7 9.6 556 13532 done 0.88 - - 2919 - 2.30 0.041 2093 -615.2 363.8 12.30 1.412 1607 -3.6 0.283 - - - - - - - 14.57 13.78
13841 567.8 9.9 572 13846 roll 0.90 - - 2919 - 2.50 0.088 3518 570.0 367.2 - - 1595 - - - - - - - - - 14.48 -
13899 563.2 10.1 574 13906 done 0.90 - - 2929 - 2.30 0.041 2102 -615.7 367.2 - - 1595 - - - - - - - - - 14.63 -
14205 533.6 8.9 590 14245 roll 0.98 0.12 0.125 2995 550.0 2.47 0.086 3515 572.1 397.0 31.62 1.316 1467 -4.0 0.305 - - - - - - 14.67 14.54 13.88
14299 523.6 11.9 594 14305 done 0.95 0.17 0.271 2967 -164.7 2.30 0.041 2105 -613.0 397.0 - - 1465 - - - - - - - - 14.28 14.58 -
14613 487.6 10.9 610 14618 roll 0.95 - - 2967 - 2.47 0.088 3509 568.4 397.0 - - 1457 - - - - - - - - - 14.48 -
14658 482.6 11.3 612 14663 done 0.94 - - 2974 - 2.30 0.041 2093 -615.7 397.0 - - 1461 - - - - - - - - - 14.64 -
14982 448.7 10.0 628 14987 roll 0.93 - - 2975 - 2.50 0.086 3509 566.4 397.0 - - 1460 - - - - - - - - - 14.50 -
15048 441.8 10.5 631 15054 done 0.91 0.15 0.269 2952 -153.3 2.30 0.041 2093 -615.7 397.0 - - 1460 - - - - - - - - 14.28 14.66 -
15372 412.0 9.4 647 15392 roll 0.95 - - 2953 - 2.53 0.086 3515 562.1 412.4 14.35 1.222 1406 -3.8 0.236 - - - - - - - 14.67 14.02
15436 405.4 9.9 650 15442 done 0.95 - - 2960 - 2.30 0.040 2098 -616.1 414.3 - - 1401 - - - - - - - - - 14.67 -
15760 366.5 11.8 666 15765 roll 0.95 - - 2960 - 2.47 0.087 3514 573.3 414.3 - - 1399 - - - - - - - - - 14.51 -
15813 361.1 12.0 668 15818 done 0.95 - - 2970 - 2.30 0.041 2093 -617.8 414.3 - - 1399 - - - - - - - - - 14.67 -
16127 328.4 9.0 684 16160 roll 1.02 - - 2971 - 2.50 0.086 3508 566.0 440.5 24.92 1.102 1293 -4.3 0.236 - - - - - - - 14.62 14.03
16203 322.7 9.1 687 16232 done 1.08 - - 2982 - 2.28 0.039 2094 -620.2 464.5 21.88 1.086 1194 -4.5 0.250 - - - - - - - 14.64 13.93
16551 286.2 10.7 705 16557 roll 1.09 - - 2981 - 2.47 0.085 3511 573.7 464.5 - - 1187 - - - - - - - - - 14.50 -
16647 276.1 11.7 709 16652 done 1.08 - - 2992 - 2.28 0.040 2102 -618.0 464.5 - - 1186 - - - - - - - - - 14.65 -
16960 240.6 10.5 725 16966 roll 1.08 - - 2993 - 2.47 0.084 3515 572.1 464.5 - - 1186 - - - - - - - - - 14.50 -
17004 235.9 10.6 727 17009 done 1.08 - - 3003 - 2.28 0.038 2100 -620.6 464.5 - - 1186 - - - - - - - - - 14.68 -
17327 204.4 9.5 743 17347 roll 1.11 - - 3003 - 2.42 0.081 3516 585.1 478.9 13.02 0.973 1133 -4.1 0.159 - - - - - - - 14.69 14.09
17404 197.9 10.2 746 17411 done 1.11 - - 3014 - 2.28 0.038 2097 -622.4 478.9 - - 1131 - - - - - - - - - 14.69 -
17710 163.3 10.6 762 17715 roll 1.11 - - 3014 - 2.45 0.083 3511 577.1 478.9 - - 1128 - - - - - - - - - 14.53 -
17757 158.4 10.9 764 17762 done 1.11 - - 3024 - 2.28 0.037 2090 -623.2 478.9 - - 1128 - - - - - - - - - 14.69 -
18075 123.9 11.1 780 18081 roll 1.11 - - 3025 - 2.47 0.079 3521 579.4 478.9 - - 1128 - - - - - - - - - 14.48 -
18143 116.3 11.9 783 18149 done 1.10 - - 3035 - 2.28 0.037 2098 -624.1 478.9 - - 1128 - - - - - - - - - 14.70 -
18462 82.2 10.4 799 18467 roll 1.10 - - 3035 - 2.45 0.079 3515 578.4 478.9 - - 1128 - - - - - - - - - 14.54 -
18495 79.8 10.4 800 18501 done 1.10 0.15 0.252 3011 -160.0 2.25 0.037 2100 -628.9 478.9 - - 1129 - - - - - - - - 14.30 14.64 -
18810 52.2 9.2 816 18829 roll 1.17 - - 3019 - 2.33 0.057 714 -594.8 501.5 10.60 0.265 1048 -7.6 0.280 - - - - - - - 14.62 14.33
18843 50.4 9.4 817 18859 done 1.23 0.10 0.147 3081 620.0 2.28 0.047 2116 614.9 517.5 9.20 0.272 982 -7.2 0.247 - - - - - - 14.65 14.67 14.35
19164 16.7 9.1 857 19183 roll 1.28 - - 3078 - 2.40 0.076 3499 576.2 540.8 13.23 0.186 888 -7.1 0.119 - - - - - - - 14.57 14.38
19274 6.1 10.6 877 19281 done 1.27 - - 3088 - 2.22 0.036 2098 -631.1 540.8 1.40 0.185 883 -3.6 0.022 - - - - - - - 14.64 14.40
19306 end climb: SURFACE_DEPTH_REACHED
19307 begin surface coast
19340 end surface coast: CONTROL_FINISHED_OK
19340 begin surface
SM -0.32 - - - - -7.51 7.78 0.041 220 28.3 1.02 0.073 2690 -6403.9 539.17 - - 895 - - - - - - - -