OKMC 16May13 * SG181 * Dive index * Mission links * Dive 431 * Raw log
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• Previous call tries 1 • 146.56 of 350.00 AH used of 24V (58.13% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.0 deg, depth -0.08 m • Intended pitch -21.5 deg, speed -10.312 cm/s
VBD pumped to 475.15 (SM_CC=475)
• GPS1 time: 39 s
• GPS2 time: 14 s • Transponder ping count: 3
• 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 - - - 107 VBD -1.41 - - 228 - - - 2806 - -194.6 -82.80 - 3128 - - - - - - - - - - -
110 3.6 -13.4 14 137 roll -1.41 9.48 0.397 2200 208.0 2.33 0.057 1387 -609.0 -194.6 -11.15 - 3734 -54.3 - - - - - - - 14.13 14.63 14.85
146 16.4 -31.8 19 153 done -1.07 0.50 0.291 2314 228.0 2.35 0.059 2800 601.3 -194.6 - - 3735 - - - - - - - - 14.23 14.54 -
462 83.4 -19.6 45 468 roll -0.97 0.12 0.301 2347 275.0 2.22 0.033 1394 -633.3 -194.6 - - 3735 - - - - - - - - 14.31 14.71 -
475 83.4 -19.6 45 481 done -0.87 0.17 0.255 2380 194.1 2.30 0.060 2780 602.6 -194.6 - - 3735 - - - - - - - - 14.35 14.59 -
790 130.8 -13.7 61 796 roll -0.85 - - 2380 - 2.20 0.037 1396 -629.1 -194.6 - - 3735 - - - - - - - - - 14.75 -
850 136.5 -13.2 63 857 done -0.83 - - 2373 - 2.20 0.055 2742 611.8 -194.6 - - 3735 - - - - - - - - - 14.66 -
1155 174.1 -10.9 79 1156 done -0.83 - - 2373 - - - 2742 - -194.6 - - 3735 - - - - - - - - - - -
1457 207.8 -11.2 94 1462 roll -0.83 - - 2365 - 1.70 0.076 3785 613.5 -194.6 - - 3735 - - - - - - - - - 14.67 -
1504 213.2 -11.5 96 1510 done -0.81 0.15 0.232 2401 240.0 1.62 0.034 2672 -687.0 -194.6 - - 3736 - - - - - - - - 14.48 14.84 -
1825 246.9 -10.3 112 1831 roll -0.87 - - 2401 - 2.00 0.037 1389 -641.5 -194.6 - - 3735 - - - - - - - - - 14.78 -
1898 254.1 -11.0 115 1903 done -0.90 - - 2395 - 2.15 0.052 2716 617.2 -194.6 - - 3735 - - - - - - - - - 14.73 -
2212 292.4 -11.9 131 2218 roll -0.93 - - 2395 - 2.08 0.037 1396 -634.6 -194.6 - - 3735 - - - - - - - - - 14.78 -
2291 299.8 -11.5 134 2298 done -0.95 - - 2386 - 2.05 0.053 2661 617.1 -194.6 - - 3734 - - - - - - - - - 14.70 -
2597 332.3 -9.7 150 2603 roll -0.97 0.12 0.129 2304 -683.3 1.85 0.073 3784 607.0 -194.6 - - 3733 - - - - - - - - 14.81 14.67 -
2645 338.0 -11.2 152 2653 done -0.97 0.17 0.252 2345 241.2 1.73 0.034 2620 -672.8 -194.6 - - 3732 - - - - - - - - 14.40 14.85 -
2967 378.1 -12.6 168 2972 roll -0.93 - - 2345 - 1.90 0.037 1396 -644.2 -194.6 - - 3731 - - - - - - - - - 14.78 -
3011 383.3 -12.8 170 3017 done -0.89 0.15 0.254 2374 193.3 2.10 0.055 2664 603.8 -194.6 - - 3731 - - - - - - - - 14.39 14.66 -
3336 416.2 -10.0 186 3341 roll -0.91 - - 2368 - 1.85 0.078 3782 604.3 -194.6 - - 3729 - - - - - - - - - 14.66 -
3431 426.0 -11.5 190 3436 done -0.91 - - 2367 - 1.70 0.037 2636 -674.1 -194.6 - - 3728 - - - - - - - - - 14.79 -
3745 462.0 -11.1 206 3751 roll -0.94 - - 2367 - 1.92 0.039 1399 -644.3 -194.6 - - 3727 - - - - - - - - - 14.76 -
3784 464.8 -11.2 207 3791 done -0.96 - - 2359 - 2.22 0.057 2750 608.6 -194.6 - - 3726 - - - - - - - - - 14.69 -
4089 499.4 -10.5 223 4094 roll -0.96 - - 2358 - 2.15 0.040 1398 -628.8 -194.6 - - 3725 - - - - - - - - - 14.75 -
4137 504.1 -10.6 225 4143 done -0.96 - - 2349 - 2.20 0.058 2731 605.9 -194.6 - - 3724 - - - - - - - - - 14.69 -
4456 542.0 -11.9 241 4461 roll -0.96 - - 2341 - 1.80 0.083 3802 595.0 -194.6 - - 3722 - - - - - - - - - 14.59 -
4489 545.0 -12.0 242 4495 done -0.96 - - 2341 - 1.70 0.039 2678 -661.2 -194.6 - - 3721 - - - - - - - - - 14.83 -
4804 583.2 -11.3 258 4809 roll -0.96 - - 2341 - 2.03 0.041 1398 -630.5 -194.6 - - 3719 - - - - - - - - - 14.74 -
4829 586.0 -11.2 259 4834 done -0.96 - - 2332 - 2.20 0.060 2718 600.0 -194.6 - - 3718 - - - - - - - - - 14.67 -
5166 623.1 -10.9 272 5171 roll -0.96 - - 2323 - 1.80 0.086 3782 591.1 -194.6 - - 3716 - - - - - - - - - 14.61 -
5259 634.7 -11.6 275 5265 done -0.94 0.15 0.261 2357 226.7 1.65 0.041 2717 -645.5 -194.6 - - 3716 - - - - - - - - 14.35 14.79 -
5597 669.3 -10.5 286 5602 roll -0.98 - - 2351 - 1.83 0.085 3782 582.0 -194.6 - - 3714 - - - - - - - - - 14.60 -
5632 673.3 -10.7 287 5637 done -1.00 - - 2351 - 1.77 0.041 2646 -641.8 -194.6 - - 3713 - - - - - - - - - 14.79 -
5969 709.5 -10.7 298 5974 roll -1.03 - - 2351 - 1.98 0.043 1406 -626.3 -194.6 - - 3711 - - - - - - - - - 14.69 -
6006 713.6 -10.8 299 6013 done -1.04 - - 2342 - 2.25 0.067 2737 591.6 -194.6 - - 3709 - - - - - - - - - 14.60 -
6339 751.2 -11.1 310 6344 roll -1.04 - - 2334 - 1.77 0.091 3776 587.0 -194.6 - - 3706 - - - - - - - - - 14.54 -
6366 751.2 -11.1 310 6374 done -1.04 - - 2334 - 1.65 0.044 2717 -641.8 -194.6 - - 3706 - - - - - - - - - 14.76 -
6674 788.0 -10.7 321 6679 roll -1.04 - - 2334 - 2.12 0.044 1399 -621.7 -194.6 - - 3705 - - - - - - - - - 14.65 -
6731 792.1 -10.9 322 6738 done -1.04 - - 2325 - 2.25 0.068 2722 588.0 -194.6 - - 3705 - - - - - - - - - 14.57 -
7041 827.8 -11.0 333 7046 roll -1.02 - - 2325 - 2.15 0.045 1406 -612.1 -194.6 - - 3702 - - - - - - - - - 14.66 -
7075 831.4 -10.7 334 7081 done -1.00 - - 2316 - 2.22 0.069 2700 582.9 -194.6 - - 3702 - - - - - - - - - 14.54 -
7412 869.9 -11.1 345 7418 roll -0.98 0.12 0.300 2340 200.0 1.88 0.092 3777 572.9 -194.6 - - 3700 - - - - - - - - 14.30 14.48 -
7496 877.3 -11.0 347 7502 done -0.96 - - 2340 - 1.67 0.046 2721 -632.3 -194.6 - - 3699 - - - - - - - - - 14.71 -
7810 912.8 -10.7 358 7815 roll -0.96 - - 2340 - 2.12 0.046 1409 -618.9 -194.6 - - 3696 - - - - - - - - - 14.60 -
7838 912.8 -10.7 358 7846 done -0.96 - - 2329 - 2.25 0.071 2720 582.7 -194.6 - - 3696 - - - - - - - - - 14.52 -
8144 950.8 -11.5 369 8149 roll -0.96 - - 2319 - 1.85 0.099 3778 571.9 -194.6 - - 3694 - - - - - - - - - 14.43 -
8161 950.8 -11.5 369 8167 done -0.96 0.12 0.272 2348 241.7 1.70 0.046 2707 -630.0 -194.6 - - 3694 - - - - - - - - 14.23 14.66 -
8484 985.8 -10.2 380 8489 roll -0.96 - - 2348 - 2.12 0.046 1404 -614.6 -194.6 - - 3693 - - - - - - - - - 14.58 -
8515 end dive: TARGET_DEPTH_EXCEEDED
8515 begin apogee
8523 990.0 -10.5 381 8709 roll -0.24 0.82 0.201 2580 282.9 - - 2103 - - 177.38 1.796 2939 -4.3 0.432 - - - - - - 14.12 - 13.31
8710 end apogee: CONTROL_FINISHED_OK
8710 begin climb
8713 997.6 - 387 8908 roll 1.41 1.65 0.106 3120 327.3 2.40 0.057 720 -576.2 194.6 182.70 1.812 2139 -4.4 0.445 - - - - - - 14.19 14.21 13.26
8921 979.6 13.6 394 8927 done 1.29 0.17 0.311 3082 -223.5 2.42 0.065 2099 569.8 194.6 - - 2133 - - - - - - - - 13.95 14.14 -
9249 921.7 16.6 405 9251 done 1.20 0.15 0.329 3057 -166.7 - - 2098 - 194.6 - - 2125 - - - - - - - - 14.30 - -
9546 876.7 14.4 415 9552 roll 1.12 - - 3053 - 2.47 0.093 3509 571.3 194.6 - - 2122 - - - - - - - - - 14.56 -
9645 861.9 15.3 418 9653 done 1.03 0.28 0.310 2999 -192.9 2.30 0.042 2096 -614.3 194.6 - - 2122 - - - - - - - - 14.27 14.69 -
9977 820.8 12.1 429 9982 roll 0.99 - - 2999 - 2.47 0.089 3510 572.5 194.6 - - 2120 - - - - - - - - - 14.57 -
10036 816.4 12.2 430 10043 done 0.95 0.17 0.294 2970 -170.6 2.33 0.041 2074 -616.3 194.6 - - 2120 - - - - - - - - 14.31 14.72 -
10344 779.4 11.1 441 10345 done 0.93 - - 2970 - - - 2070 - 194.6 - - 2119 - - - - - - - - - - -
10642 746.5 11.3 451 10647 roll 0.91 - - 2970 - 2.53 0.089 3510 569.2 194.6 - - 2119 - - - - - - - - - 14.54 -
10716 738.2 12.2 453 10721 done 0.88 - - 2977 - 2.28 0.041 2097 -619.7 194.6 - - 2119 - - - - - - - - - 14.71 -
11043 698.5 11.3 464 11049 roll 0.85 0.12 0.304 2947 -250.0 2.47 0.086 3511 572.5 194.6 - - 2118 - - - - - - - - 14.29 14.52 -
11062 698.5 11.3 464 11067 done 0.82 - - 2955 - 2.25 0.041 2108 -623.6 194.6 - - 2118 - - - - - - - - - 14.71 -
11385 666.3 8.7 475 11430 roll 0.91 - - 2955 - 2.53 0.090 3510 554.2 237.4 39.65 1.379 1964 -3.9 0.346 - - - - - - - 14.57 13.84
11528 654.1 9.9 479 11545 done 0.93 - - 2964 - 2.20 0.042 2152 -617.3 249.7 11.55 1.480 1920 -3.8 0.311 - - - - - - - 14.59 13.76
11869 617.9 9.8 491 11891 roll 0.96 - - 2966 - 2.42 0.090 3509 560.7 264.5 15.15 1.442 1855 -4.3 0.339 - - - - - - - 14.57 13.83
11915 614.6 10.0 492 11925 done 0.98 - - 2974 - 2.15 0.041 2177 -619.5 273.8 4.32 1.209 1824 -7.2 0.673 - - - - - - - 14.64 13.41
12233 578.5 10.8 506 12243 roll 0.98 - - 2974 - 2.38 0.086 3506 558.4 273.8 1.70 0.206 1822 - - - - - - - - - 14.49 14.33
12339 566.5 11.6 511 12345 done 0.96 - - 2984 - 2.08 0.039 2215 -620.7 273.8 1.35 0.219 1820 - - - - - - - - - 14.66 14.35
12666 532.9 9.7 527 12697 roll 1.00 - - 2984 - 2.33 0.091 3509 555.4 291.1 23.60 1.347 1744 -3.2 0.235 - - - - - - - 14.58 13.90
12756 524.4 10.5 531 12762 done 1.00 - - 2994 - 2.03 0.040 2250 -620.2 291.1 - - 1740 - - - - - - - - - 14.65 -
13070 488.1 12.1 547 13076 roll 1.00 - - 2994 - 2.22 0.089 3512 568.5 291.1 - - 1737 - - - - - - - - - 14.50 -
13083 488.1 12.1 547 13088 done 1.00 - - 3004 - 2.12 0.040 2184 -626.4 291.1 - - 1737 - - - - - - - - - 14.67 -
13397 448.3 11.7 563 13403 roll 1.00 - - 3004 - 2.35 0.086 3519 568.1 291.1 - - 1737 - - - - - - - - - 14.52 -
13455 442.7 11.9 565 13463 done 0.98 0.15 0.282 2981 -153.3 2.05 0.039 2239 -624.4 291.1 - - 1737 - - - - - - - - 14.26 14.68 -
13763 409.3 10.1 581 13768 roll 1.03 - - 2982 - 2.22 0.088 3513 573.9 296.4 - - 1736 - - - - - - - - - 14.50 -
13846 400.2 10.8 585 13851 done 1.03 - - 2988 - 1.98 0.040 2274 -625.8 296.4 - - 1736 - - - - - - - - - 14.69 -
14170 367.8 10.0 601 14191 roll 1.05 - - 2989 - 2.20 0.086 3512 562.7 306.0 13.45 1.187 1685 -3.8 0.217 - - - - - - - 14.71 14.00
14237 361.0 10.5 604 14242 done 1.05 - - 2998 - 1.90 0.039 2306 -634.7 306.0 - - 1681 - - - - - - - - - 14.71 -
14557 327.7 10.1 620 14560 done 1.07 - - 2998 - - - 2301 - 311.6 1.62 0.194 1666 -9.3 2.885 - - - - - - - - 14.37
14857 298.8 9.5 635 14890 roll 1.14 - - 3009 - 2.65 0.054 703 -603.0 334.4 25.95 1.076 1568 -3.8 0.193 - - - - - - - 14.69 14.02
14941 290.7 9.7 639 14962 done 1.19 0.12 0.134 3068 491.7 2.62 0.051 2273 599.2 349.5 14.25 1.072 1510 -4.1 0.204 - - - - - - 14.61 14.60 13.94
15259 251.4 12.9 655 15264 roll 1.17 - - 3079 - 2.62 0.053 711 -596.2 349.5 - - 1500 - - - - - - - - - 14.57 -
15303 245.7 13.0 657 15309 done 1.15 0.17 0.247 3038 -241.2 2.60 0.054 2260 595.8 349.5 - - 1499 - - - - - - - - 14.28 14.57 -
15629 210.0 10.4 673 15634 roll 1.17 - - 3046 - 2.60 0.051 701 -599.6 349.5 - - 1499 - - - - - - - - - 14.54 -
15661 207.4 10.4 674 15667 done 1.19 - - 3046 - 2.53 0.051 2224 602.0 349.5 - - 1499 - - - - - - - - - 14.60 -
15975 172.0 11.2 690 15981 roll 1.19 - - 3057 - 2.53 0.053 710 -598.4 349.5 - - 1500 - - - - - - - - - 14.59 -
16040 164.5 11.5 693 16046 done 1.19 - - 3057 - 2.62 0.052 2279 598.9 349.5 - - 1497 - - - - - - - - - 14.60 -
16364 127.9 10.7 709 16369 roll 1.19 - - 3057 - 2.10 0.079 3514 588.1 349.5 - - 1499 - - - - - - - - - 14.47 -
16452 118.4 11.4 713 16459 done 1.16 - - 3066 - 1.92 0.036 2279 -643.2 349.5 - - 1499 - - - - - - - - - 14.72 -
16772 85.5 9.3 729 16792 roll 1.22 - - 3077 - 2.58 0.051 706 -609.7 375.3 12.48 0.356 1412 -7.0 0.309 - - - - - - - 14.71 14.23
16887 76.3 8.9 734 16918 done 1.29 - - 3078 - 2.67 0.049 2327 607.1 413.5 22.33 0.347 1254 -7.1 0.287 - - - - - - - 14.62 14.30
17220 41.3 8.8 755 17250 roll 1.41 0.12 0.125 3162 700.0 2.72 0.049 709 -594.9 454.1 22.33 0.247 1087 -7.5 0.231 - - - - - - 14.65 14.62 14.34
17290 34.7 10.7 761 17298 done 1.38 0.20 0.246 3113 -245.0 2.55 0.048 2259 607.8 454.1 - - 1095 - - - - - - - - 14.31 14.62 -
17601 3.0 9.8 813 17609 VBD 1.44 - - 3113 - - - 2259 - 466.9 5.88 0.155 1049 -7.8 0.028 - - - - - - - - -
17610 end climb: SURFACE_DEPTH_REACHED
17610 begin surface coast
17642 end surface coast: CONTROL_FINISHED_OK
17642 begin surface
SM 0.33 - - - - -7.52 7.93 0.051 227 28.6 0.93 0.069 2817 -6332.3 475.15 6.72 0.148 999 148.7 -0.034 - - - - - -