OKMC Jun11 * SG181 * Dive index * Mission links * Dive 615 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 102.48 of 150.00 AH used of 24V (31.68% remains)
• Previous NAKs 0, Timeouts 0 • 77.64 of 110.00 AH used of 10V (29.42% remains)
• Surface angle -64.2 deg, depth 1.34 m • Intended pitch -17.4 deg, speed -11.786 cm/s
• No surface pump (final VBD was 595.83, SM_CC=475)
• GPS1 time: 38 s
• GPS2 time: 9 s • 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
17 - - - 81 VBD -0.53 - - 130 - - - 2552 - -194.6 -61.08 - 2192 - - - - - - - - - - -
84 3.0 -3.1 10 134 roll -0.53 8.45 0.226 2117 235.1 1.20 0.062 3299 622.5 -194.6 -34.28 - 3665 -43.0 - - - - - - - - - -
184 34.9 -48.2 26 190 done -0.53 - - 2118 - 1.02 0.026 2586 -699.0 -194.6 - - 3665 - - - - - - - - - - -
326 87.4 -32.2 51 332 roll -0.53 - - 2114 - 1.08 0.042 3278 640.7 -194.6 - - 3664 - - - - - - - - - - -
345 93.1 -30.3 54 352 done -0.53 - - 2114 - 0.98 0.026 2593 -699.0 -194.6 - - 3664 - - - - - - - - - - -
487 134.9 -22.3 79 494 roll -0.53 - - 2114 - 0.95 0.023 1882 -748.4 -194.6 - - 3662 - - - - - - - - - - -
578 155.9 -19.9 95 585 done -0.53 - - 2109 - 1.08 0.034 2592 657.4 -194.6 - - 3662 - - - - - - - - - - -
721 183.7 -20.1 120 728 roll -0.53 - - 2109 - 0.98 0.022 1892 -714.3 -194.6 - - 3662 - - - - - - - - - - -
758 190.4 -17.8 126 764 done -0.53 - - 2103 - 1.05 0.034 2584 659.0 -194.6 - - 3663 - - - - - - - - - - -
901 215.0 -17.1 144 905 roll -0.53 - - 2098 - 1.08 0.038 3300 663.0 -194.6 - - 3663 - - - - - - - - - - -
992 230.9 -18.0 152 996 done -0.53 - - 2098 - 1.02 0.024 2583 -702.9 -194.6 - - 3663 - - - - - - - - - - -
1323 282.4 -13.3 183 1325 done -0.53 0.12 0.162 2131 275.0 - - 2579 - -194.6 - - 3662 - - - - - - - - - - -
1642 327.2 -14.3 213 1645 roll -0.53 - - 2131 - 0.95 0.025 1884 -731.6 -194.6 - - 3660 - - - - - - - - - - -
1747 342.5 -13.7 222 1755 done -0.53 - - 2127 - 1.10 0.035 2605 655.5 -194.6 - - 3659 - - - - - - - - - - -
2073 385.0 -12.7 253 2077 roll -0.53 - - 2123 - 1.05 0.041 3293 655.2 -194.6 - - 3656 - - - - - - - - - - -
2100 388.7 -13.0 255 2107 done -0.53 - - 2123 - 1.00 0.024 2589 -704.0 -194.6 - - 3655 - - - - - - - - - - -
2426 429.9 -12.5 286 2430 roll -0.53 - - 2123 - 0.98 0.026 1881 -722.4 -194.6 - - 3652 - - - - - - - - - - -
2482 436.9 -12.1 291 2486 done -0.53 - - 2118 - 1.08 0.036 2581 648.1 -194.6 - - 3651 - - - - - - - - - - -
2814 480.5 -13.3 322 2817 roll -0.53 - - 2112 - 1.10 0.041 3297 650.9 -194.6 - - 3647 - - - - - - - - - - -
2852 486.1 -13.8 325 2860 done -0.53 - - 2112 - 1.02 0.025 2588 -695.1 -194.6 - - 3647 - - - - - - - - - - -
3183 531.6 -14.1 346 3187 roll -0.53 - - 2112 - 0.98 0.026 1883 -719.4 -194.6 - - 3644 - - - - - - - - - - -
3206 535.2 -14.0 347 3210 done -0.53 - - 2112 - 1.10 0.038 2593 645.5 -194.6 - - 3644 - - - - - - - - - - -
3539 579.4 -13.2 363 3543 roll -0.53 - - 2106 - 1.08 0.043 3292 647.2 -194.6 - - 3640 - - - - - - - - - - -
3610 588.1 -11.6 366 3614 done -0.53 - - 2106 - 1.02 0.025 2589 -689.2 -194.6 - - 3640 - - - - - - - - - - -
3943 626.9 -11.8 382 3947 roll -0.53 - - 2106 - 0.98 0.026 1884 -719.4 -194.6 - - 3637 - - - - - - - - - - -
3975 631.2 -12.1 383 3979 done -0.53 - - 2101 - 1.10 0.037 2593 644.5 -194.6 - - 3636 - - - - - - - - - - -
4299 671.2 -11.9 399 4302 roll -0.53 - - 2096 - 1.08 0.041 3294 649.1 -194.6 - - 3633 - - - - - - - - - - -
4434 687.5 -12.0 405 4437 done -0.53 - - 2096 - 1.02 0.027 2597 -683.3 -194.6 - - 3632 - - - - - - - - - - -
4768 726.1 -11.7 421 4772 roll -0.53 0.12 0.159 2130 283.3 1.02 0.031 1897 -686.3 -194.6 - - 3629 - - - - - - - - - - -
4835 733.1 -9.7 424 4839 done -0.53 - - 2126 - 1.08 0.033 2600 650.9 -194.6 - - 3629 - - - - - - - - - - -
5168 764.9 -9.6 440 5172 roll -0.53 - - 2125 - 1.05 0.042 3282 649.5 -194.6 - - 3626 - - - - - - - - - - -
5225 770.4 -10.2 442 5228 done -0.53 - - 2125 - 1.02 0.025 2591 -677.5 -194.6 - - 3626 - - - - - - - - - - -
5547 800.6 -9.2 458 5551 roll -0.53 - - 2125 - 1.10 0.043 3285 630.9 -194.6 - - 3624 - - - - - - - - - - -
5598 805.5 -9.5 460 5602 done -0.53 - - 2125 - 1.02 0.025 2594 -677.5 -194.6 - - 3623 - - - - - - - - - - -
5926 834.5 -8.4 476 5929 roll -0.53 - - 2125 - 1.10 0.043 3285 628.2 -194.6 - - 3621 - - - - - - - - - - -
5942 836.1 -8.5 476 5949 done -0.53 - - 2125 - 1.02 0.025 2601 -670.6 -194.6 - - 3621 - - - - - - - - - - -
6259 860.7 -7.5 492 6263 roll -0.53 - - 2125 - 1.08 0.043 3282 630.6 -194.6 - - 3620 - - - - - - - - - - -
6287 863.1 -7.4 493 6290 done -0.53 - - 2125 - 1.05 0.026 2586 -662.9 -194.6 - - 3619 - - - - - - - - - - -
6614 887.0 -7.2 509 6618 roll -0.53 - - 2125 - 1.10 0.043 3282 632.7 -194.6 - - 3617 - - - - - - - - - - -
6644 889.2 -7.2 510 6647 done -0.53 - - 2125 - 1.05 0.026 2590 -659.0 -194.6 - - 3617 - - - - - - - - - - -
6972 914.3 -7.8 526 6976 roll -0.53 - - 2125 - 1.10 0.043 3282 629.1 -194.6 - - 3615 - - - - - - - - - - -
6988 915.7 -7.6 526 6994 done -0.53 - - 2125 - 1.05 0.025 2585 -663.8 -194.6 - - 3615 - - - - - - - - - - -
7305 941.3 -8.1 542 7309 roll -0.53 - - 2125 - 1.10 0.043 3279 630.9 -194.6 - - 3613 - - - - - - - - - - -
7339 944.7 -8.4 543 7342 done -0.53 - - 2124 - 1.05 0.025 2583 -662.9 -194.6 - - 3613 - - - - - - - - - - -
7662 972.9 -9.1 559 7665 roll -0.53 - - 2124 - 1.12 0.043 3284 625.9 -194.6 - - 3612 - - - - - - - - - - -
7689 975.8 -9.2 560 7693 done -0.53 - - 2124 - 1.05 0.026 2594 -657.1 -194.6 - - 3612 - - - - - - - - - - -
7849 end dive: TARGET_DEPTH_EXCEEDED
7849 begin apogee
7855 990.5 9.2 568 8008 done -0.13 0.38 0.102 2254 342.1 - - 2138 - - 148.18 1.066 2871 -5.0 0.485 - - - - - - - - -
8009 end apogee: CONTROL_FINISHED_OK
8009 begin climb
8012 1000.5 - 575 8180 roll 0.53 0.60 0.065 2476 370.0 1.17 0.033 2860 617.1 194.6 158.12 1.050 2074 -5.0 0.501 - - - - - - - - -
8326 987.4 7.3 589 8423 done 0.67 - - 2481 - 1.08 0.027 2148 -659.3 305.8 89.32 1.035 1621 -5.1 0.505 - - - - - - - - -
8732 955.4 8.4 609 8805 roll 0.77 0.20 0.067 2576 475.0 1.02 0.031 1462 -672.5 389.5 68.03 1.019 1281 -5.0 0.489 - - - - - - - - -
8874 937.6 13.3 615 8879 done 0.77 - - 2576 - 1.10 0.029 2169 642.7 389.5 - - 1280 - - - - - - - - - - -
9196 896.5 12.6 631 9200 roll 0.77 - - 2576 - 1.05 0.037 2858 656.2 389.5 - - 1283 - - - - - - - - - - -
9223 892.7 13.6 632 9229 done 0.77 0.10 0.135 2549 -270.0 1.05 0.026 2163 -661.9 389.5 - - 1283 - - - - - - - - - - -
9552 857.3 10.8 648 9577 roll 0.80 - - 2549 - 1.12 0.034 2865 626.8 413.1 20.48 0.933 1185 -4.8 0.459 - - - - - - - - -
9665 844.1 12.0 653 9668 done 0.80 - - 2552 - 1.05 0.028 2169 -662.9 413.1 - - 1184 - - - - - - - - - - -
9999 805.8 11.4 669 10013 roll 0.81 - - 2552 - 1.05 0.031 2866 663.8 423.2 10.88 0.839 1142 -3.9 0.387 - - - - - - - - -
10060 798.3 12.5 671 10063 done 0.81 - - 2556 - 1.05 0.027 2171 -661.9 423.2 - - 1141 - - - - - - - - - - -
10394 759.8 11.4 687 10408 roll 0.82 - - 2556 - 1.10 0.035 2863 629.1 433.3 9.30 0.798 1102 -4.2 0.417 - - - - - - - - -
10470 750.5 12.0 690 10474 done 0.82 - - 2560 - 1.05 0.028 2165 -664.8 433.3 - - 1102 - - - - - - - - - - -
10793 716.1 10.5 706 10823 roll 0.86 - - 2560 - 1.10 0.031 2888 657.3 464.4 25.98 0.869 975 -4.9 0.420 - - - - - - - - -
10868 707.6 11.1 709 10888 done 0.88 - - 2564 - 1.10 0.027 2163 -659.1 480.4 15.20 0.812 911 -4.2 0.383 - - - - - - - - -
11213 673.6 9.5 726 11266 roll 0.95 0.12 0.086 2634 583.3 1.10 0.034 1468 -631.8 537.4 46.20 0.856 677 -5.1 0.416 - - - - - - - - -
11391 649.9 14.3 734 11395 done 0.95 - - 2634 - 1.08 0.031 2163 643.5 537.4 - - 676 - - - - - - - - - - -
11725 603.5 14.2 750 11728 roll 0.95 - - 2633 - 1.08 0.040 2864 649.1 537.4 - - 675 - - - - - - - - - - -
11872 581.0 15.7 756 11876 done 0.95 0.10 0.138 2605 -280.0 1.05 0.025 2158 -672.4 537.4 - - 675 - - - - - - - - - - -
12194 543.6 11.3 772 12209 roll 0.96 - - 2608 - 1.05 0.031 1465 -660.0 548.9 10.35 0.715 631 -4.3 0.337 - - - - - - - - -
12242 537.5 11.8 774 12246 done 0.96 - - 2608 - 1.08 0.029 2170 652.8 548.9 - - 631 - - - - - - - - - - -
12561 498.6 12.8 790 12564 roll 0.96 - - 2608 - 1.05 0.037 2864 661.0 548.9 - - 633 - - - - - - - - - - -
12665 484.0 13.7 799 12673 done 0.96 - - 2612 - 1.05 0.025 2156 -674.3 548.9 - - 633 - - - - - - - - - - -
12991 441.0 12.8 830 12995 roll 0.96 - - 2618 - 1.00 0.034 1478 -678.0 548.9 - - 633 - - - - - - - - - - -
13074 429.5 14.2 837 13081 done 0.96 - - 2618 - 1.05 0.029 2173 661.9 548.9 - - 633 - - - - - - - - - - -
13400 389.9 11.4 868 13415 roll 0.98 - - 2618 - 1.10 0.036 2866 630.0 558.2 9.43 0.636 593 -4.2 0.271 - - - - - - - - -
13468 381.4 13.2 874 13471 done 0.98 - - 2622 - 1.05 0.027 2166 -666.7 558.2 - - 592 - - - - - - - - - - -
13799 340.5 12.1 905 13802 roll 0.98 - - 2622 - 1.05 0.034 2857 658.1 558.2 - - 592 - - - - - - - - - - -
13811 339.0 11.9 906 13814 done 0.98 - - 2623 - 1.02 0.028 2171 -672.5 558.2 - - 593 - - - - - - - - - - -
14142 301.3 10.7 937 14168 roll 1.01 - - 2627 - 1.02 0.033 1472 -685.3 584.9 21.88 0.622 484 -5.0 0.252 - - - - - - - - -
14277 286.5 11.5 949 14289 done 1.02 - - 2627 - 1.05 0.029 2164 659.0 592.1 8.23 0.523 455 -3.5 0.201 - - - - - - - - -
14607 249.1 10.6 980 14620 roll 1.05 - - 2630 - 1.08 0.032 1468 -644.4 620.0 4.88 0.500 439 -3.3 0.171 - - - - - - - - -
14648 244.7 10.4 983 14656 done 1.09 - - 2630 - 1.05 0.028 2164 662.9 653.5 - - 439 - - - - - - - - - - -
14973 213.0 10.3 1014 14979 roll 1.14 0.10 0.100 2682 520.0 1.10 0.036 2864 636.4 690.2 2.53 0.259 440 - - - - - - - - - - -
15052 202.4 15.1 1020 15059 done 1.14 - - 2687 - 1.05 0.027 2163 -667.6 690.2 0.28 0.092 440 - - - - - - - - - - -
15396 155.3 12.4 1080 15403 roll 1.14 - - 2687 - 1.08 0.033 2860 645.4 690.2 0.08 0.209 441 - - - - - - - - - - -
15418 152.8 11.9 1083 15427 done 1.14 - - 2691 - 1.05 0.028 2161 -665.7 690.2 0.68 0.083 441 - - - - - - - - - - -
15564 136.0 11.7 1108 15571 roll 1.14 - - 2696 - 1.02 0.034 1470 -677.5 693.3 - - 441 - - - - - - - - - - -
15666 121.9 13.6 1126 15674 done 1.14 - - 2696 - 1.05 0.030 2165 661.9 693.3 0.47 0.086 440 - - - - - - - - - - -
15808 105.6 10.6 1151 15816 roll 1.18 - - 2700 - 1.08 0.033 1461 -651.9 723.6 0.08 0.210 441 - - - - - - - - - - -
15830 103.6 10.2 1154 15838 done 1.23 - - 2700 - 1.05 0.028 2165 670.5 763.1 0.40 0.086 441 - - - - - - - - - - -
15976 90.2 9.3 1179 15985 roll 1.30 - - 2700 - 1.02 0.031 2873 694.1 824.1 0.77 0.089 441 - - - - - - - - - - -
16037 84.2 9.7 1189 16045 done 1.37 0.08 0.054 2757 712.5 1.05 0.028 2165 -674.3 875.4 2.25 0.172 440 - - - - - - - - - - -
16180 67.9 10.9 1214 16186 roll 1.39 - - 2762 - 1.02 0.034 1469 -682.4 897.0 - - 440 - - - - - - - - - - -
16306 54.5 10.6 1236 16313 done 1.43 - - 2762 - 1.05 0.030 2169 666.7 926.7 0.55 0.080 440 - - - - - - - - - - -
16449 38.7 11.0 1261 16457 roll 1.45 - - 2762 - 1.05 0.031 2864 661.9 946.7 0.52 0.093 442 - - - - - - - - - - -
16510 31.8 11.7 1271 16518 done 1.46 - - 2766 - 1.05 0.026 2152 -678.1 949.0 0.38 0.082 442 - - - - - - - - - - -
16653 15.2 11.1 1296 16662 roll 1.48 - - 2771 - 1.05 0.033 1472 -647.6 965.3 2.53 0.203 439 -1.2 0.009 - - - - - - - - -
16756 end climb: SURFACE_DEPTH_REACHED
16756 begin surface coast
16787 end surface coast: CONTROL_FINISHED_OK
16787 begin surface
SM 1.48 - - - - -6.44 6.60 0.030 199 -389.7 - - 2596 - 595.83 - - 440 - - - - - - - -