OKMC 16May13 * SG181 * Dive index * Mission links * Dive 324 * Raw log
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• Previous call tries 1 • 110.88 of 350.00 AH used of 24V (68.32% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -72.6 deg, depth -0.12 m • Intended pitch -12.3 deg, speed -8.462 cm/s
VBD pumped to 475.15 (SM_CC=475)
• GPS1 time: 25 s
• GPS2 time: 9 s • Transponder ping count: 1
• 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
17 end surface: CONTROL_FINISHED_OK
18 begin dive
20 - - - 97 VBD -0.92 - - 228 - - - 2679 - -170.3 -74.50 - 3046 - - - - - - - - - - -
101 3.1 -11.0 13 133 roll -0.92 10.18 0.400 2379 211.3 2.25 0.057 1268 -627.1 -170.3 -13.50 - 3789 -55.0 - - - - - - - 14.31 14.66 14.88
158 20.0 -22.9 22 166 done -0.92 - - 2372 - 2.33 0.058 2672 602.6 -170.3 - - 3790 - - - - - - - - - 14.59 -
475 77.1 -16.1 47 480 roll -0.92 - - 2363 - 1.83 0.074 3784 607.7 -170.3 - - 3790 - - - - - - - - - 14.66 -
507 81.3 -16.6 48 512 done -0.92 - - 2363 - 1.70 0.034 2650 -667.1 -170.3 - - 3790 - - - - - - - - - 14.79 -
820 140.4 -18.1 64 826 roll -0.92 - - 2363 - 2.10 0.037 1296 -644.8 -170.3 - - 3791 - - - - - - - - - 14.78 -
832 140.4 -18.1 64 839 done -0.92 0.15 0.262 2387 160.0 2.28 0.057 2680 607.0 -170.3 - - 3791 - - - - - - - - 14.46 14.70 -
1146 192.0 -14.4 80 1152 roll -0.92 - - 2381 - 1.80 0.075 3779 610.6 -170.3 - - 3791 - - - - - - - - - 14.71 -
1185 195.2 -14.2 81 1192 done -0.92 - - 2381 - 1.65 0.033 2665 -675.2 -170.3 - - 3790 - - - - - - - - - 14.86 -
1489 237.9 -13.6 97 1494 roll -0.92 - - 2373 - 1.85 0.073 3782 603.8 -170.3 - - 3791 - - - - - - - - - 14.73 -
1507 237.9 -13.6 97 1514 done -0.92 - - 2373 - 1.65 0.033 2647 -687.9 -170.3 - - 3790 - - - - - - - - - 14.88 -
1813 285.7 -14.6 113 1818 roll -0.92 - - 2373 - 2.05 0.037 1323 -645.9 -170.3 - - 3790 - - - - - - - - - 14.81 -
1866 292.1 -14.7 115 1871 done -0.92 - - 2364 - 2.20 0.056 2681 617.3 -170.3 - - 3790 - - - - - - - - - 14.77 -
2179 342.5 -14.9 131 2185 roll -0.92 - - 2355 - 1.83 0.075 3769 594.5 -170.3 - - 3789 - - - - - - - - - 14.70 -
2252 351.7 -14.4 134 2258 done -0.92 0.12 0.256 2383 233.3 1.60 0.034 2674 -684.4 -170.3 - - 3789 - - - - - - - - 14.55 14.90 -
2566 389.7 -10.9 150 2571 roll -0.92 - - 2377 - 1.83 0.074 3777 602.7 -170.3 - - 3788 - - - - - - - - - 14.74 -
2624 394.9 -11.5 152 2630 done -0.92 - - 2376 - 1.62 0.034 2667 -685.2 -170.3 - - 3788 - - - - - - - - - 14.89 -
2930 439.7 -14.6 168 2935 roll -0.92 - - 2377 - 2.10 0.039 1318 -642.4 -170.3 - - 3787 - - - - - - - - - 14.82 -
2983 446.2 -14.7 170 2989 done -0.92 - - 2368 - 2.22 0.057 2684 615.3 -170.3 - - 3786 - - - - - - - - - 14.76 -
3297 493.2 -13.4 186 3298 done -0.92 - - 2368 - - - 2684 - -170.3 - - 3785 - - - - - - - - - - -
3599 530.9 -11.8 201 3605 roll -0.92 - - 2366 - 2.15 0.039 1323 -633.0 -170.3 - - 3782 - - - - - - - - - 14.81 -
3628 533.8 -11.5 202 3634 done -0.92 0.12 0.261 2386 166.7 2.22 0.060 2681 611.7 -170.3 - - 3782 - - - - - - - - 14.52 14.76 -
3947 567.0 -11.3 218 3952 roll -0.92 - - 2380 - 1.83 0.082 3777 598.9 -170.3 - - 3781 - - - - - - - - - 14.71 -
3973 569.9 -11.5 219 3979 done -0.92 - - 2380 - 1.62 0.038 2684 -674.7 -170.3 - - 3781 - - - - - - - - - 14.88 -
4303 615.4 -14.0 234 4309 roll -0.92 - - 2379 - 2.15 0.041 1315 -636.7 -170.3 - - 3779 - - - - - - - - - 14.79 -
4350 620.1 -14.0 235 4356 done -0.92 - - 2371 - 2.25 0.061 2681 607.1 -170.3 - - 3779 - - - - - - - - - 14.73 -
4669 667.6 -14.4 246 4674 roll -0.92 - - 2362 - 1.85 0.085 3785 596.8 -170.3 - - 3776 - - - - - - - - - 14.68 -
4703 672.2 -14.2 247 4708 done -0.92 - - 2362 - 1.67 0.039 2678 -662.9 -170.3 - - 3776 - - - - - - - - - 14.88 -
5039 715.2 -11.5 258 5044 roll -0.92 - - 2354 - 1.88 0.084 3783 587.8 -170.3 - - 3773 - - - - - - - - - 14.68 -
5122 722.5 -11.0 260 5128 done -0.92 0.10 0.228 2382 280.0 1.73 0.039 2682 -636.4 -170.3 - - 3772 - - - - - - - - 14.43 14.82 -
5438 758.2 -11.2 271 5443 roll -0.92 - - 2382 - 2.22 0.044 1291 -626.6 -170.3 - - 3770 - - - - - - - - - 14.76 -
5482 762.5 -11.5 272 5487 done -0.92 - - 2375 - 2.30 0.066 2670 599.6 -170.3 - - 3769 - - - - - - - - - 14.70 -
5806 808.3 -14.4 283 5812 roll -0.92 - - 2367 - 1.90 0.092 3785 586.8 -170.3 - - 3767 - - - - - - - - - 14.63 -
5869 817.8 -14.5 285 5875 done -0.92 - - 2367 - 1.73 0.041 2665 -647.4 -170.3 - - 3766 - - - - - - - - - 14.84 -
6205 864.1 -13.5 296 6210 roll -0.92 - - 2367 - 2.20 0.047 1302 -619.5 -170.3 - - 3762 - - - - - - - - - 14.73 -
6227 864.1 -13.5 296 6233 done -0.92 0.12 0.271 2384 141.7 2.33 0.070 2683 592.7 -170.3 - - 3762 - - - - - - - - 14.46 14.68 -
6543 905.0 -11.9 307 6548 roll -0.92 - - 2378 - 1.90 0.096 3784 579.5 -170.3 - - 3760 - - - - - - - - - 14.59 -
6585 909.5 -12.1 308 6590 done -0.92 - - 2378 - 1.73 0.044 2675 -641.0 -170.3 - - 3759 - - - - - - - - - 14.82 -
6911 952.0 -12.9 319 6912 done -0.92 - - 2378 - - - 2675 - -170.3 - - 3757 - - - - - - - - - - -
7206 end dive: TARGET_DEPTH_EXCEEDED
7206 begin apogee
7213 991.2 -13.0 329 7399 done -0.20 0.80 0.192 2613 293.8 - - 2192 - - 177.95 1.632 3088 -3.8 0.415 - - - - - - 14.45 - 13.52
7400 end apogee: CONTROL_FINISHED_OK
7400 begin climb
7403 1004.0 - 335 7602 done 0.92 1.05 0.060 2992 361.0 - - 2192 - 170.3 192.65 1.602 2397 -3.6 0.408 - - - - - - 14.25 - 13.47
7899 959.6 13.7 352 7904 roll 0.92 - - 2993 - 2.50 0.093 3613 568.4 170.3 - - 2380 - - - - - - - - - 14.54 -
7966 949.8 14.5 354 7972 done 0.92 - - 3002 - 2.25 0.041 2228 -615.6 170.3 - - 2380 - - - - - - - - - 14.65 -
8297 906.3 12.5 365 8302 roll 0.92 - - 3003 - 2.42 0.091 3610 571.1 170.3 - - 2378 - - - - - - - - - 14.60 -
8371 898.0 12.4 367 8377 done 0.92 0.15 0.328 2990 -86.7 2.28 0.040 2198 -619.3 170.3 - - 2377 - - - - - - - - 14.34 14.72 -
8698 865.8 8.8 378 8699 done 0.92 - - 2984 - - - 2198 - 170.3 - - 2375 - - - - - - - - - - -
8996 840.3 8.5 388 9001 roll 0.92 - - 2992 - 2.33 0.060 797 -601.3 170.4 - - 2374 - - - - - - - - - 14.66 -
9063 835.1 8.2 390 9069 done 0.94 - - 2995 - 2.35 0.060 2204 598.7 178.1 - - 2373 - - - - - - - - - 14.67 -
9394 802.8 10.0 401 9399 roll 0.94 - - 2992 - 2.42 0.091 3611 581.4 178.1 - - 2372 - - - - - - - - - 14.59 -
9487 791.4 11.6 404 9493 done 0.94 - - 3003 - 2.30 0.041 2185 -620.0 178.1 - - 2372 - - - - - - - - - 14.74 -
9822 751.7 12.1 415 9827 roll 0.94 - - 3013 - 2.28 0.057 801 -607.0 178.1 - - 2370 - - - - - - - - - 14.66 -
9856 747.5 12.1 416 9861 done 0.94 - - 3013 - 2.35 0.057 2207 598.3 178.1 - - 2371 - - - - - - - - - 14.66 -
10191 705.0 12.5 427 10196 roll 0.94 - - 3023 - 2.33 0.055 805 -601.7 178.1 - - 2370 - - - - - - - - - 14.65 -
10290 694.2 11.5 430 10296 done 0.94 0.15 0.282 2991 -213.3 2.33 0.057 2204 600.4 178.1 - - 2370 - - - - - - - - 14.31 14.66 -
10621 667.2 7.6 441 10658 roll 1.00 - - 2991 - 2.40 0.088 3606 584.2 201.9 30.65 1.328 2265 -3.4 0.313 - - - - - - - 14.66 14.06
10714 658.0 9.5 444 10719 done 1.00 - - 2999 - 2.28 0.039 2196 -618.4 201.9 - - 2259 - - - - - - - - - 14.65 -
11049 619.0 12.2 455 11054 roll 1.00 - - 3000 - 2.47 0.088 3605 570.4 201.9 - - 2256 - - - - - - - - - 14.51 -
11177 601.8 13.8 459 11183 done 1.00 - - 3009 - 2.28 0.040 2194 -618.9 201.9 - - 2256 - - - - - - - - - 14.68 -
11486 564.5 11.1 474 11491 roll 1.00 - - 3020 - 2.30 0.055 804 -604.3 201.9 - - 2255 - - - - - - - - - 14.61 -
11533 559.9 10.9 476 11539 done 1.00 - - 3020 - 2.33 0.057 2200 599.1 201.9 - - 2255 - - - - - - - - - 14.62 -
11851 528.8 9.2 492 11857 roll 1.00 - - 3020 - 2.42 0.088 3608 581.8 201.9 - - 2253 - - - - - - - - - 14.54 -
11926 522.2 10.0 495 11931 done 1.00 - - 3030 - 2.25 0.040 2196 -627.6 201.9 - - 2253 - - - - - - - - - 14.71 -
12239 492.8 9.4 511 12245 roll 1.00 - - 3031 - 2.47 0.085 3613 573.7 201.9 - - 2254 - - - - - - - - - 14.55 -
12257 492.8 9.4 511 12265 done 1.00 0.15 0.317 3011 -133.3 2.28 0.038 2189 -624.6 201.9 - - 2254 - - - - - - - - 14.28 14.74 -
12562 459.3 10.6 527 12568 roll 1.00 - - 3011 - 2.47 0.085 3611 575.7 201.9 - - 2254 - - - - - - - - - 14.55 -
12756 440.2 10.1 536 12762 done 1.00 - - 3019 - 2.25 0.039 2205 -624.9 201.9 - - 2254 - - - - - - - - - 14.71 -
13071 414.6 7.0 552 13113 done 1.10 - - 3019 - - - 2205 - 241.7 40.35 1.149 2106 -3.7 0.240 - - - - - - - - 14.07
13411 387.9 8.2 569 13418 roll 1.11 - - 3020 - 2.42 0.081 3607 579.3 247.5 1.20 0.210 2082 -20.0 6.713 - - - - - - - 14.53 14.38
13526 377.3 10.2 574 13531 done 1.11 - - 3030 - 2.25 0.038 2200 -625.3 247.5 - - 2089 - - - - - - - - - 14.67 -
13839 348.5 9.0 590 13845 roll 1.11 - - 3030 - 2.42 0.080 3607 581.4 247.5 - - 2090 - - - - - - - - - 14.53 -
13877 346.1 9.3 591 13884 done 1.11 - - 3041 - 2.25 0.037 2189 -630.2 247.5 - - 2090 - - - - - - - - - 14.71 -
14183 312.6 10.1 607 14188 roll 1.11 - - 3041 - 2.45 0.082 3610 580.0 247.5 - - 2090 - - - - - - - - - 14.54 -
14291 301.1 11.2 612 14298 done 1.11 - - 3052 - 2.25 0.037 2193 -629.8 247.5 - - 2090 - - - - - - - - - 14.71 -
14611 273.3 7.7 628 14644 roll 1.16 - - 3062 - 2.30 0.051 809 -601.7 268.2 24.05 1.002 1993 -4.0 0.200 - - - - - - - 14.75 14.21
14803 252.0 13.7 637 14809 done 1.16 - - 3062 - 2.30 0.053 2205 607.0 268.2 - - 1988 - - - - - - - - - 14.62 -
15118 208.5 10.2 653 15119 done 1.16 - - 3062 - - - 2205 - 268.2 - - 1988 - - - - - - - - - - -
15420 184.9 7.9 668 15441 roll 1.20 - - 3072 - 2.35 0.050 801 -597.4 284.4 14.80 0.937 1927 -4.1 0.148 - - - - - - - 14.76 14.27
15464 181.0 8.0 670 15475 done 1.23 - - 3072 - 2.30 0.050 2207 611.3 296.1 4.90 0.951 1887 -8.2 0.282 - - - - - - - 14.70 13.93
15788 143.4 13.1 686 15799 roll 1.23 - - 3072 - 2.38 0.076 3594 582.8 296.1 2.12 0.192 1892 2.4 -0.320 - - - - - - - 14.57 14.40
15856 134.9 13.3 689 15864 done 1.23 - - 3083 - 2.20 0.034 2193 -636.8 296.1 2.05 0.194 1886 -2.9 0.370 - - - - - - - 14.76 14.42
16177 107.9 6.5 705 16212 done 1.36 0.12 0.132 3145 516.7 - - 2188 - 348.0 29.48 0.454 1675 -7.2 0.309 - - - - - - 14.67 - 14.36
16520 59.9 13.6 722 16530 roll 1.36 - - 3145 - 2.45 0.075 3604 578.0 348.0 1.88 0.186 1675 - - - - - - - - - 14.64 14.43
16604 48.9 13.0 726 16611 done 1.36 0.15 0.317 3126 -126.7 2.20 0.034 2203 -636.8 348.0 1.42 0.191 1674 - - - - - - - - 14.33 14.72 14.49
16921 29.7 7.3 757 16944 roll 1.44 - - 3126 - 2.42 0.073 3606 579.8 379.3 17.25 0.215 1545 -7.5 0.188 - - - - - - - 14.66 14.52
16961 26.3 8.5 760 16968 done 1.44 - - 3134 - 2.20 0.034 2198 -640.0 379.3 - - 1552 - - - - - - - - - 14.78 -
17182 end climb: SURFACE_DEPTH_REACHED
17182 begin surface coast
17208 end surface coast: CONTROL_FINISHED_OK
17208 begin surface
SM -0.21 - - - - -7.59 7.90 0.044 234 29.6 0.80 0.066 2678 2060.0 475.15 45.15 0.138 1154 25.6 0.004 - - - - - -