MIRC Sep14 * SG179 * Dive index * Mission links * Dive 136 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 53.60 of 140.00 AH used of 24V (61.72% remains)
• Previous NAKs 0, Timeouts 0 • 34.60 of 95.10 AH used of 10V (63.62% remains)
• Surface angle -70.2 deg, depth 1.56 m • Intended pitch -16.7 deg, speed -9.167 cm/s
• No surface pump (final VBD was 458.47, SM_CC=400)
• GPS1 time: 36 s
• GPS2 time: 4 s • Transponder ping count: 12
• 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
92 end surface: CONTROL_FINISHED_OK
92 begin dive
94 - - - 153 VBD -0.80 - - 120 - - - 2270 - -146.0 -48.95 - 2258 - - - - - - - - - - -
155 3.1 -4.9 7 210 roll -0.80 11.25 0.239 2579 218.6 2.22 0.044 841 -643.7 -146.0 -32.42 - 3524 -39.0 - - - - - - - 24.69 25.46 25.76
284 36.4 -33.2 28 295 done -0.63 0.25 0.151 2635 224.0 2.17 0.030 2243 646.1 -146.0 - - 3525 - - - - - - - - 25.02 25.48 -
600 115.0 -19.9 63 608 roll -0.57 - - 2626 - 2.25 0.044 3661 630.2 -146.0 - - 3525 - - - - - - - - - 25.37 -
687 133.4 -20.9 71 695 done -0.52 0.17 0.129 2674 282.4 2.17 0.024 2235 -657.1 -146.0 - - 3525 - - - - - - - - 25.22 25.56 -
992 179.6 -14.2 101 1006 roll -0.52 - - 2674 - 2.12 0.034 855 -650.9 -146.0 - - 3525 - - - - - - - - - 25.44 -
1060 187.8 -13.0 107 1071 done -0.56 - - 2669 - 2.12 0.028 2249 657.5 -146.0 - - 3526 - - - - - - - - - 25.52 -
1366 224.0 -11.4 124 1375 roll -0.60 - - 2658 - 2.22 0.044 3647 629.7 -146.0 - - 3526 - - - - - - - - - 25.40 -
1444 230.3 -10.4 126 1451 done -0.66 - - 2658 - 2.12 0.025 2248 -659.9 -146.0 - - 3525 - - - - - - - - - 25.61 -
1756 260.6 -9.5 137 1762 done -0.71 0.12 0.081 2598 -500.0 - - 2248 - -146.0 - - 3525 - - - - - - - - 25.57 - -
2055 298.6 -12.5 147 2063 roll -0.71 - - 2588 - 2.28 0.045 3654 616.7 -146.0 - - 3523 - - - - - - - - - 25.34 -
2102 301.9 -12.4 148 2110 done -0.71 - - 2589 - 2.12 0.025 2266 -654.7 -146.0 - - 3523 - - - - - - - - - 25.59 -
2408 347.6 -14.3 158 2416 roll -0.71 - - 2589 - 2.17 0.035 859 -648.4 -146.0 - - 3521 - - - - - - - - - 25.40 -
2450 351.6 -14.3 159 2458 done -0.71 0.12 0.151 2612 191.7 2.20 0.029 2276 644.1 -146.0 - - 3520 - - - - - - - - 25.19 25.44 -
2762 390.1 -10.6 170 2770 roll -0.71 - - 2602 - 2.20 0.047 3647 623.2 -146.0 - - 3518 - - - - - - - - - 25.29 -
2854 399.6 -10.7 173 2862 done -0.71 - - 2602 - 2.12 0.028 2266 -651.4 -146.0 - - 3517 - - - - - - - - - 25.51 -
3177 438.9 -12.1 184 3182 done -0.71 - - 2602 - - - 2265 - -146.0 - - 3513 - - - - - - - - - - -
3477 471.3 -10.3 194 3483 done -0.71 - - 2602 - - - 2265 - -146.0 - - 3511 - - - - - - - - - - -
3776 500.5 -9.6 204 3784 roll -0.71 - - 2593 - 2.30 0.050 3654 603.9 -146.0 - - 3507 - - - - - - - - - 25.18 -
3813 503.3 -9.8 205 3823 done -0.71 - - 2593 - 2.15 0.029 2277 -640.5 -146.0 - - 3506 - - - - - - - - - 25.45 -
4138 540.3 -11.5 216 4147 roll -0.71 - - 2593 - 2.25 0.041 851 -633.8 -146.0 - - 3503 - - - - - - - - - 25.25 -
4192 543.9 -11.6 217 4202 done -0.71 0.12 0.150 2616 191.7 2.25 0.032 2277 633.8 -146.0 - - 3503 - - - - - - - - 25.12 25.34 -
4497 576.6 -9.4 228 4503 done -0.76 - - 2616 - - - 2277 - -146.0 - - 3500 - - - - - - - - - - -
4797 603.9 -9.3 238 4805 roll -0.81 - - 2607 - 2.25 0.051 3645 608.0 -146.0 - - 3497 - - - - - - - - - 25.14 -
4879 609.3 -9.4 240 4890 done -0.86 0.12 0.090 2552 -458.3 2.12 0.031 2293 -637.7 -146.0 - - 3497 - - - - - - - - 25.27 25.37 -
5185 648.7 -11.9 251 5191 done -0.86 - - 2552 - - - 2291 - -146.0 - - 3495 - - - - - - - - - - -
5484 684.7 -12.1 261 5496 roll -0.86 - - 2552 - 2.28 0.041 859 -628.1 -146.0 - - 3492 - - - - - - - - - 25.22 -
5520 688.3 -12.0 262 5528 done -0.86 - - 2543 - 2.30 0.034 2299 626.1 -146.0 - - 3492 - - - - - - - - - 25.21 -
5843 729.0 -12.4 273 5849 done -0.86 - - 2543 - - - 2299 - -146.0 - - 3490 - - - - - - - - - - -
6143 766.9 -13.0 283 6151 roll -0.86 - - 2534 - 2.25 0.053 3654 602.2 -146.0 - - 3487 - - - - - - - - - 25.10 -
6185 770.6 -13.1 284 6193 done -0.86 0.12 0.158 2563 241.7 2.15 0.032 2296 -631.6 -146.0 - - 3486 - - - - - - - - 24.99 25.30 -
6497 810.0 -11.9 295 6503 done -0.86 - - 2564 - - - 2295 - -146.0 - - 3486 - - - - - - - - - - -
6797 843.6 -11.1 305 6805 roll -0.86 - - 2555 - 2.30 0.054 3654 590.9 -146.0 - - 3484 - - - - - - - - - 25.01 -
6819 843.6 -11.1 305 6827 done -0.86 - - 2555 - 2.15 0.032 2303 -628.4 -146.0 - - 3484 - - - - - - - - - 25.28 -
7131 881.5 -11.6 316 7137 done -0.86 - - 2555 - - - 2301 - -146.0 - - 3482 - - - - - - - - - - -
7431 913.8 -10.3 326 7439 roll -0.86 - - 2545 - 2.28 0.054 3650 591.7 -146.0 - - 3480 - - - - - - - - - 24.99 -
7482 916.8 -10.3 327 7494 done -0.86 - - 2545 - 2.15 0.033 2303 -626.5 -146.0 - - 3480 - - - - - - - - - 25.25 -
7788 950.8 -10.1 338 7799 roll -0.86 - - 2545 - 2.35 0.044 853 -617.0 -146.0 - - 3479 - - - - - - - - - 25.06 -
7828 954.0 -10.2 339 7836 done -0.86 0.12 0.161 2565 166.7 2.33 0.036 2298 620.2 -146.0 - - 3480 - - - - - - - - 24.90 25.15 -
8145 985.1 -9.9 350 8151 done -0.86 - - 2565 - - - 2298 - -146.0 - - 3478 - - - - - - - - - - -
8204 end dive: TARGET_DEPTH_EXCEEDED
8204 begin apogee
8208 991.0 -9.9 352 8343 roll -0.13 0.77 0.114 2799 303.9 - - 2014 - - 128.23 1.105 2927 -4.3 0.434 - - - - - - 24.68 - 22.17
8343 end apogee: CONTROL_FINISHED_OK
8343 begin climb
8345 994.5 - 356 8501 roll 0.80 0.88 0.054 3103 345.5 2.42 0.047 603 -583.1 146.0 142.68 1.086 2330 -4.2 0.431 - - - - - - 23.98 23.95 21.79
8525 991.4 3.7 362 8648 done 0.97 0.17 0.072 3173 411.8 2.33 0.030 2002 600.4 264.9 112.07 1.076 1845 -4.3 0.449 - - - - - - 24.17 24.18 21.84
8958 915.7 17.5 377 8968 roll 0.84 0.20 0.164 3120 -265.0 2.28 0.047 3403 614.5 264.9 - - 1837 - - - - - - - - 25.06 25.33 -
8988 910.7 17.2 378 8996 done 0.72 0.17 0.158 3083 -217.6 2.22 0.033 2001 -631.5 264.9 - - 1837 - - - - - - - - 25.12 25.45 -
9316 871.8 11.6 389 9325 roll 0.69 - - 3084 - 2.30 0.047 3403 609.6 264.9 - - 1836 - - - - - - - - - 25.29 -
9345 868.0 11.8 390 9354 done 0.66 0.12 0.166 3059 -208.3 2.20 0.033 2015 -630.9 264.9 - - 1836 - - - - - - - - 25.15 25.41 -
9678 836.3 9.2 401 9686 roll 0.66 - - 3068 - 2.30 0.050 601 -614.8 264.9 - - 1835 - - - - - - - - - 25.21 -
9735 833.2 9.2 402 9746 done 0.66 - - 3069 - 2.25 0.033 2030 635.1 265.3 - - 1834 - - - - - - - - - 25.37 -
10040 800.0 10.3 413 10048 roll 0.66 - - 3068 - 2.25 0.048 3404 610.7 265.3 - - 1835 - - - - - - - - - 25.18 -
10117 793.4 10.9 415 10125 done 0.66 - - 3076 - 2.20 0.033 2027 -625.9 265.3 - - 1834 - - - - - - - - - 25.32 -
10423 755.7 11.8 425 10431 roll 0.66 - - 3086 - 2.33 0.050 600 -612.4 265.3 - - 1834 - - - - - - - - - 25.13 -
10465 751.6 12.1 426 10472 done 0.66 - - 3086 - 2.25 0.032 2027 634.2 265.3 - - 1834 - - - - - - - - - 25.27 -
10787 708.9 12.8 437 10797 roll 0.63 0.12 0.172 3053 -275.0 2.25 0.047 3399 609.8 265.3 - - 1834 - - - - - - - - 25.03 25.10 -
10862 701.6 12.5 439 10870 done 0.63 - - 3060 - 2.20 0.033 2023 -625.5 265.3 - - 1834 - - - - - - - - - 25.27 -
11174 665.0 11.0 450 11182 roll 0.63 - - 3071 - 2.33 0.050 602 -609.9 265.3 - - 1834 - - - - - - - - - 25.06 -
11271 655.3 11.1 453 11281 done 0.63 - - 3070 - 2.28 0.033 2026 624.6 265.3 - - 1833 - - - - - - - - - 25.26 -
11595 620.4 10.0 464 11604 roll 0.63 - - 3070 - 2.25 0.048 3398 609.8 265.3 - - 1833 - - - - - - - - - 25.04 -
11638 617.4 10.1 465 11646 done 0.63 0.12 0.158 3048 -183.3 2.22 0.033 2011 -624.8 265.3 - - 1833 - - - - - - - - 24.96 25.22 -
11950 591.0 7.7 476 11988 roll 0.71 - - 3057 - 2.35 0.050 596 -602.1 298.0 28.88 0.838 1711 -4.2 0.335 - - - - - - - 25.00 23.49
12002 588.7 7.8 477 12040 done 0.78 0.12 0.089 3109 433.3 2.28 0.032 2025 626.8 328.6 28.98 0.826 1586 -4.3 0.346 - - - - - - 25.09 25.13 23.32
12338 544.5 13.3 488 12348 roll 0.75 - - 3109 - 2.28 0.048 3406 605.7 328.6 - - 1581 - - - - - - - - - 25.18 -
12407 536.2 13.7 490 12416 done 0.71 0.15 0.154 3080 -193.3 2.20 0.032 2027 -626.8 328.6 - - 1580 - - - - - - - - 25.03 25.34 -
12725 499.7 10.6 501 12733 roll 0.71 - - 3088 - 2.33 0.050 593 -615.5 328.6 - - 1580 - - - - - - - - - 25.15 -
12807 492.9 10.7 503 12815 done 0.71 - - 3088 - 2.25 0.032 2021 634.7 328.6 - - 1579 - - - - - - - - - 25.30 -
13120 457.1 10.5 514 13128 roll 0.71 - - 3088 - 2.25 0.047 3403 614.2 328.6 - - 1579 - - - - - - - - - 25.11 -
13207 449.8 11.1 516 13217 done 0.71 - - 3095 - 2.20 0.032 2022 -627.7 328.6 - - 1579 - - - - - - - - - 25.26 -
13512 410.3 12.1 527 13520 roll 0.71 - - 3105 - 2.30 0.049 600 -618.3 328.6 - - 1579 - - - - - - - - - 25.09 -
13599 402.8 12.2 529 13609 done 0.71 - - 3105 - 2.25 0.031 2027 634.2 328.6 - - 1579 - - - - - - - - - 25.28 -
13905 364.0 11.8 540 13913 roll 0.71 - - 3105 - 2.25 0.047 3398 609.3 328.6 - - 1578 - - - - - - - - - 25.06 -
13957 360.1 11.9 541 13965 done 0.71 0.15 0.152 3076 -193.3 2.20 0.032 2021 -625.9 328.6 - - 1578 - - - - - - - - 24.91 25.25 -
14262 325.4 10.3 551 14273 roll 0.75 - - 3083 - 2.33 0.049 597 -611.2 328.6 - - 1578 - - - - - - - - - 25.04 -
14358 316.3 10.2 554 14365 done 0.79 - - 3083 - 2.22 0.031 2008 635.6 328.6 - - 1578 - - - - - - - - - 25.21 -
14685 286.7 8.5 565 14706 roll 0.85 0.12 0.086 3146 525.0 2.28 0.047 3403 611.8 342.9 12.80 0.607 1528 -3.9 0.208 - - - - - - 25.29 25.29 23.88
14730 283.1 9.2 566 14738 done 0.85 0.15 0.163 3120 -173.3 2.22 0.031 2004 -630.2 342.9 - - 1527 - - - - - - - - 24.96 25.29 -
15048 242.6 12.4 577 15056 roll 0.85 - - 3120 - 2.28 0.044 3398 611.4 342.9 - - 1526 - - - - - - - - - 25.13 -
15075 239.1 12.5 578 15083 done 0.85 - - 3126 - 2.20 0.031 2016 -628.2 342.9 - - 1526 - - - - - - - - - 25.26 -
15402 202.7 11.0 589 15410 roll 0.85 - - 3137 - 2.30 0.047 598 -616.5 342.9 - - 1526 - - - - - - - - - 25.11 -
15484 195.6 9.1 593 15494 done 0.86 - - 3137 - 2.22 0.029 2018 639.6 344.7 - - 1525 - - - - - - - - - 25.27 -
15789 162.9 9.6 624 15798 roll 0.86 - - 3137 - 2.25 0.045 3396 612.4 344.7 - - 1525 - - - - - - - - - 25.10 -
15887 153.0 11.0 633 15897 done 0.86 - - 3141 - 2.17 0.030 2021 -633.6 344.7 - - 1525 - - - - - - - - - 25.19 -
16193 121.2 8.7 664 16217 roll 0.89 - - 3151 - 2.28 0.044 597 -624.6 355.7 12.55 0.476 1474 -4.1 0.116 - - - - - - - 25.34 24.10
16236 117.4 8.8 668 16256 done 0.91 - - 3151 - 2.22 0.028 2034 647.3 364.2 8.48 0.448 1441 -3.9 0.115 - - - - - - - 25.34 24.07
16560 92.3 4.9 700 16648 roll 1.18 0.20 0.060 3239 440.0 2.22 0.041 3404 617.1 457.1 76.05 0.493 1061 -5.0 0.105 - - - - - - 25.40 24.99 23.96
16674 79.0 15.5 711 16687 done 1.11 0.17 0.150 3204 -205.9 2.15 0.028 2036 -636.3 457.1 - - 1060 - - - - - - - - 24.89 25.20 -
16986 43.8 9.8 747 16996 roll 1.11 - - 3211 - 2.28 0.043 595 -632.0 457.1 - - 1058 - - - - - - - - - 25.30 -
17073 35.1 10.0 763 17083 done 1.15 - - 3211 - 2.20 0.026 2033 653.6 457.1 - - 1057 - - - - - - - - - 25.44 -
17361 end climb: SURFACE_DEPTH_REACHED
17361 begin surface coast
17387 end surface coast: CONTROL_FINISHED_OK
17387 begin surface
SM 1.54 - - - - -8.39 8.15 0.027 136 16.7 0.30 0.037 2252 4073.3 458.47 - - 1057 - - - - - - - -