OKMC Jun11 * SG181 * Dive index * Mission links * Dive 791 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 132.12 of 150.00 AH used of 24V (11.92% remains)
• Previous NAKs 0, Timeouts 0 • 93.42 of 110.00 AH used of 10V (15.07% remains)
• Surface angle -55.8 deg, depth 1.31 m • Intended pitch -14.3 deg, speed -10.312 cm/s
• No surface pump (final VBD was 595.34, SM_CC=475)
• GPS1 time: 35 s
• GPS2 time: 10 s • Transponder ping count: 19
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
17 - - - 86 VBD -0.61 - - 138 - - - 2469 - -219.0 -67.07 - 2319 - - - - - - - - - - -
90 3.0 -2.7 12 138 roll -0.61 8.50 0.223 2166 238.6 0.90 0.072 3016 607.8 -219.0 -34.53 - 3764 -41.8 - - - - - - - - - -
344 55.6 -20.8 56 351 done -0.46 0.17 0.142 2218 305.9 0.75 0.024 2478 -717.3 -219.0 - - 3764 - - - - - - - - - - -
694 107.5 -9.9 117 700 roll -0.40 - - 2218 - 0.65 0.024 1975 -773.8 -219.0 - - 3762 - - - - - - - - - - -
870 124.4 -12.6 147 877 done -0.42 - - 2218 - 0.77 0.033 2495 675.3 -219.0 - - 3763 - - - - - - - - - - -
1219 161.3 -8.0 208 1226 roll -0.51 - - 2218 - 0.77 0.037 3022 684.4 -219.0 - - 3763 - - - - - - - - - - -
1393 175.7 -9.4 238 1400 done -0.64 0.12 0.045 2148 -583.3 0.73 0.024 2500 -715.1 -219.0 - - 3763 - - - - - - - - - - -
1734 213.1 -10.6 288 1738 roll -0.67 - - 2144 - 0.82 0.037 3027 642.7 -219.0 - - 3763 - - - - - - - - - - -
1774 217.3 -10.2 291 1781 done -0.67 - - 2144 - 0.73 0.025 2504 -716.4 -219.0 - - 3763 - - - - - - - - - - -
2100 253.1 -11.8 322 2104 roll -0.67 - - 2140 - 0.77 0.035 3018 667.5 -219.0 - - 3763 - - - - - - - - - - -
2159 259.7 -11.6 327 2163 done -0.65 - - 2140 - 0.73 0.024 2504 -704.1 -219.0 - - 3763 - - - - - - - - - - -
2491 290.5 -8.3 358 2494 roll -0.66 - - 2140 - 0.70 0.027 1969 -764.3 -219.0 - - 3762 - - - - - - - - - - -
2561 296.3 -8.3 364 2565 done -0.66 - - 2139 - 0.80 0.032 2503 667.5 -219.0 - - 3761 - - - - - - - - - - -
2893 324.4 -8.0 395 2894 done -0.67 - - 2139 - - - 2504 - -219.0 - - 3759 - - - - - - - - - - -
3214 354.3 -10.6 425 3218 roll -0.69 - - 2139 - 0.73 0.027 1974 -726.0 -219.0 - - 3757 - - - - - - - - - - -
3331 367.1 -10.4 435 3338 done -0.69 - - 2138 - 0.80 0.034 2503 661.2 -219.0 - - 3756 - - - - - - - - - - -
3657 399.9 -10.3 466 3661 roll -0.72 - - 2138 - 0.73 0.026 1972 -727.4 -219.0 - - 3754 - - - - - - - - - - -
3775 412.1 -10.2 476 3781 done -0.72 - - 2138 - 0.80 0.034 2500 660.0 -219.0 - - 3752 - - - - - - - - - - -
4101 440.7 -9.5 507 4105 roll -0.76 - - 2138 - 0.82 0.041 3031 647.6 -219.0 - - 3750 - - - - - - - - - - -
4118 442.6 -10.0 508 4125 done -0.80 - - 2138 - 0.77 0.026 2493 -698.7 -219.0 - - 3750 - - - - - - - - - - -
4444 472.9 -8.7 539 4448 roll -0.82 - - 2138 - 0.82 0.039 3026 650.0 -219.0 - - 3748 - - - - - - - - - - -
4480 476.1 -8.5 542 4484 done -0.83 - - 2138 - 0.75 0.027 2504 -696.0 -219.0 - - 3747 - - - - - - - - - - -
4811 505.1 -9.8 571 4815 roll -0.86 0.12 0.080 2069 -575.0 0.82 0.040 3022 631.7 -219.0 - - 3745 - - - - - - - - - - -
4954 525.8 -15.8 577 4958 done -0.74 0.20 0.138 2131 310.0 0.75 0.026 2496 -701.3 -219.0 - - 3743 - - - - - - - - - - -
5283 555.3 -7.2 593 5286 roll -0.74 - - 2131 - 0.70 0.029 1979 -738.6 -219.0 - - 3741 - - - - - - - - - - -
5361 560.9 -7.0 596 5365 done -0.74 - - 2128 - 0.80 0.037 2499 650.0 -219.0 - - 3740 - - - - - - - - - - -
5684 590.8 -11.3 612 5688 roll -0.68 - - 2125 - 0.82 0.043 3022 637.8 -219.0 - - 3738 - - - - - - - - - - -
5740 597.8 -11.5 614 5745 done -0.62 0.15 0.121 2174 326.7 0.75 0.028 2501 -694.7 -219.0 - - 3737 - - - - - - - - - - -
6066 624.4 -8.6 630 6070 roll -0.69 - - 2174 - 0.82 0.040 3031 646.3 -219.0 - - 3734 - - - - - - - - - - -
6257 642.0 -9.2 638 6261 done -0.79 0.12 0.047 2099 -625.0 0.77 0.027 2504 -684.4 -219.0 - - 3734 - - - - - - - - - - -
6579 674.3 -10.4 654 6583 roll -0.79 - - 2095 - 0.82 0.041 3027 637.8 -219.0 - - 3732 - - - - - - - - - - -
6708 689.8 -13.1 659 6716 done -0.70 0.15 0.129 2143 320.0 0.77 0.028 2500 -684.4 -219.0 - - 3731 - - - - - - - - - - -
7027 721.0 -9.6 675 7030 roll -0.74 - - 2140 - 0.82 0.041 3025 640.2 -219.0 - - 3729 - - - - - - - - - - -
7106 728.2 -8.8 678 7110 done -0.75 - - 2140 - 0.77 0.028 2499 -683.1 -219.0 - - 3728 - - - - - - - - - - -
7430 755.1 -7.8 694 7434 roll -0.79 - - 2138 - 0.82 0.041 3021 636.6 -219.0 - - 3726 - - - - - - - - - - -
7469 758.7 -7.0 695 7475 done -0.79 - - 2139 - 0.77 0.027 2495 -683.1 -219.0 - - 3726 - - - - - - - - - - -
7786 789.0 -10.0 711 7790 roll -0.85 0.12 0.084 2071 -566.7 0.85 0.041 3022 620.0 -219.0 - - 3725 - - - - - - - - - - -
7833 794.7 -13.2 713 7838 done -0.75 0.17 0.145 2124 311.8 0.77 0.028 2490 -690.9 -219.0 - - 3724 - - - - - - - - - - -
8169 836.4 -11.3 729 8170 done -0.70 - - 2125 - - - 2489 - -219.0 - - 3722 - - - - - - - - - - -
8477 872.9 -11.8 744 8479 done -0.66 0.12 0.162 2158 275.0 - - 2490 - -219.0 - - 3721 - - - - - - - - - - -
8786 899.9 -8.8 759 8789 roll -0.76 - - 2157 - 0.85 0.042 3028 632.9 -219.0 - - 3720 - - - - - - - - - - -
8810 901.9 -7.8 760 8815 done -0.85 0.12 0.050 2088 -575.0 0.77 0.028 2507 -676.6 -219.0 - - 3719 - - - - - - - - - - -
9146 939.1 -11.0 776 9151 roll -0.76 0.15 0.151 2127 260.0 0.85 0.044 3021 604.7 -219.0 - - 3718 - - - - - - - - - - -
9179 942.9 -10.4 777 9183 done -0.70 - - 2127 - 0.77 0.028 2498 -679.2 -219.0 - - 3718 - - - - - - - - - - -
9503 969.0 -8.4 793 9505 done -0.67 0.12 0.151 2161 283.3 - - 2494 - -219.0 - - 3716 - - - - - - - - - - -
9811 988.0 -6.2 808 9815 roll -0.76 - - 2160 - 0.82 0.043 3016 636.6 -219.0 - - 3715 - - - - - - - - - - -
9842 end dive: TARGET_DEPTH_EXCEEDED
9842 begin apogee
9851 990.0 6.0 809 10027 done -0.19 0.45 0.103 2310 333.3 - - 2104 - - 170.77 1.056 2869 -5.0 0.520 - - - - - - - - -
10028 end apogee: CONTROL_FINISHED_OK
10028 begin climb
10031 1000.1 - 817 10229 done 0.61 0.75 0.051 2576 354.7 - - 2104 - 219.0 190.88 1.030 1976 -4.7 0.509 - - - - - - - - -
10526 950.5 13.6 841 10530 roll 0.52 0.12 0.171 2547 -241.7 0.85 0.036 2624 611.8 219.0 - - 1974 - - - - - - - - - - -
10610 939.9 12.0 844 10618 done 0.44 0.10 0.147 2519 -280.0 0.80 0.030 2100 -655.0 219.0 - - 1973 - - - - - - - - - - -
10927 908.2 9.5 860 10954 roll 0.44 - - 2521 - 0.82 0.035 1574 -641.5 245.7 22.52 0.954 1867 -4.7 0.502 - - - - - - - - -
11002 901.4 9.1 863 11038 done 0.46 - - 2521 - 0.82 0.030 2107 650.0 284.1 32.00 0.954 1710 -4.9 0.519 - - - - - - - - -
11366 871.9 7.2 881 11452 roll 0.58 0.12 0.091 2577 466.7 0.85 0.037 2626 610.6 382.5 79.43 0.971 1309 -5.0 0.508 - - - - - - - - -
11489 858.3 12.0 886 11496 done 0.54 - - 2580 - 0.82 0.030 2101 -640.2 382.5 - - 1308 - - - - - - - - - - -
11808 827.1 10.0 902 11823 roll 0.53 0.12 0.150 2549 -258.3 0.80 0.032 1572 -661.2 392.7 10.38 0.833 1267 -3.9 0.439 - - - - - - - - -
11904 818.2 9.3 906 11934 done 0.57 - - 2549 - 0.80 0.030 2101 661.2 424.5 26.20 0.904 1138 -4.9 0.499 - - - - - - - - -
12251 785.4 9.6 923 12277 roll 0.67 0.12 0.089 2610 508.3 0.85 0.034 1571 -623.5 446.6 19.50 0.876 1047 -4.7 0.469 - - - - - - - - -
12363 772.0 13.1 928 12368 done 0.62 0.10 0.132 2578 -320.0 0.80 0.031 2098 658.8 446.6 - - 1048 - - - - - - - - - - -
12700 736.8 9.8 944 12722 roll 0.68 - - 2578 - 0.80 0.037 2617 648.8 462.8 14.27 0.825 982 -4.6 0.463 - - - - - - - - -
12809 726.3 9.8 948 12828 done 0.71 - - 2579 - 0.77 0.032 2101 -670.1 478.3 14.12 0.810 919 -4.5 0.448 - - - - - - - - -
13149 689.8 11.1 965 13153 roll 0.79 0.15 0.084 2650 473.3 0.80 0.039 1581 -650.0 478.3 - - 925 - - - - - - - - - - -
13221 679.4 14.5 968 13226 done 0.72 0.12 0.137 2611 -325.0 0.80 0.031 2103 652.5 478.3 - - 926 - - - - - - - - - - -
13553 644.0 9.1 984 13590 roll 0.78 - - 2611 - 0.82 0.038 2619 629.3 516.3 32.78 0.825 764 -4.9 0.432 - - - - - - - - -
13641 633.7 12.2 988 13645 done 0.75 - - 2613 - 0.80 0.031 2091 -660.0 516.3 - - 766 - - - - - - - - - - -
13969 596.5 11.6 1004 13973 roll 0.75 - - 2617 - 0.75 0.037 1583 -677.3 516.3 - - 766 - - - - - - - - - - -
14048 588.2 10.2 1007 14060 done 0.76 - - 2617 - 0.80 0.031 2109 657.5 519.1 4.75 0.573 752 -2.9 0.339 - - - - - - - - -
14372 551.4 11.9 1023 14376 roll 0.81 - - 2620 - 0.80 0.036 1580 -661.2 519.1 - - 751 - - - - - - - - - - -
14451 542.1 11.2 1026 14455 done 0.84 - - 2620 - 0.80 0.030 2107 658.8 519.1 - - 751 - - - - - - - - - - -
14775 505.6 11.1 1042 14779 roll 0.88 0.12 0.093 2683 525.0 0.82 0.036 1580 -642.7 519.1 - - 751 - - - - - - - - - - -
14785 504.2 11.1 1042 14789 done 0.93 - - 2683 - 0.80 0.031 2102 652.5 519.1 - - 751 - - - - - - - - - - -
15117 463.7 11.8 1072 15121 roll 0.90 - - 2683 - 0.77 0.036 2624 677.9 519.1 - - 751 - - - - - - - - - - -
15178 454.5 15.9 1077 15186 done 0.81 0.15 0.137 2640 -286.7 0.80 0.031 2097 -658.8 519.1 - - 751 - - - - - - - - - - -
15504 413.4 12.6 1108 15508 roll 0.85 - - 2640 - 0.80 0.034 2626 661.2 519.1 - - 751 - - - - - - - - - - -
15532 409.8 12.1 1110 15539 done 0.90 - - 2641 - 0.80 0.033 2100 -657.5 519.1 - - 751 - - - - - - - - - - -
15859 374.5 10.3 1141 15863 roll 0.91 - - 2645 - 0.77 0.037 1577 -679.2 519.4 - - 751 - - - - - - - - - - -
15951 364.3 11.1 1149 15955 done 0.93 - - 2645 - 0.80 0.030 2106 661.2 519.4 - - 751 - - - - - - - - - - -
16283 322.9 13.8 1180 16287 roll 0.95 0.10 0.102 2693 480.0 0.77 0.037 2615 661.0 519.4 - - 752 - - - - - - - - - - -
16332 315.4 15.5 1184 16339 done 0.90 - - 2696 - 0.77 0.031 2100 -668.8 519.4 - - 752 - - - - - - - - - - -
16658 268.0 13.2 1215 16660 done 0.87 0.15 0.147 2654 -280.0 - - 2100 - 519.4 - - 752 - - - - - - - - - - -
16978 233.3 10.3 1245 16981 roll 0.92 - - 2654 - 0.77 0.033 2619 674.0 519.7 - - 753 - - - - - - - - - - -
16996 231.3 10.2 1246 17006 done 0.95 - - 2655 - 0.77 0.031 2102 -671.4 522.8 4.95 0.489 736 -3.4 0.182 - - - - - - - - -
17329 196.4 11.6 1280 17336 roll 0.99 0.12 0.085 2721 550.0 0.80 0.033 2624 652.5 522.8 - - 737 - - - - - - - - - - -
17390 187.5 16.6 1290 17397 done 0.90 0.17 0.144 2671 -294.1 0.77 0.032 2110 -667.5 522.8 - - 737 - - - - - - - - - - -
17740 146.5 9.5 1351 17765 roll 0.95 - - 2673 - 0.85 0.036 1566 -640.0 549.2 21.50 0.529 629 -5.0 0.156 - - - - - - - - -
17897 131.3 10.3 1378 17904 done 1.03 - - 2673 - 0.80 0.028 2101 668.8 550.1 - - 628 - - - - - - - - - - -
18247 98.0 6.3 1439 18289 roll 1.28 0.28 0.060 2800 453.6 0.85 0.032 1561 -635.3 677.4 35.47 0.477 439 -5.3 0.123 - - - - - - - - -
18426 74.0 15.8 1470 18435 done 1.19 0.12 0.136 2762 -316.7 0.82 0.029 2115 675.6 677.4 2.60 0.224 440 - - - - - - - - - - -
18777 34.2 9.3 1531 18784 roll 1.26 - - 2762 - 0.77 0.033 2626 663.6 710.4 2.20 0.158 440 - - - - - - - - - - -
18870 24.3 11.5 1547 18878 done 1.21 - - 2764 - 0.80 0.029 2080 -682.5 710.4 0.08 0.121 441 - - - - - - - - - - -
19053 end climb: SURFACE_DEPTH_REACHED
19053 begin surface coast
19076 end surface coast: CONTROL_FINISHED_OK
19076 begin surface
SM 1.39 - - - - -6.69 6.90 0.037 210 -370.1 - - 2514 - 595.34 - - 442 - - - - - - - -