OKMC 16May13 * SG181 * Dive index * Mission links * Dive 421 * Raw log
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• Previous call tries 2 • 142.86 of 350.00 AH used of 24V (59.18% remains)
• Previous NAKs 0, Timeouts 0
• Surface angle -69.3 deg, depth -0.14 m • Intended pitch -17.4 deg, speed -11.379 cm/s
• No surface pump (final VBD was 536.47, SM_CC=475)
• GPS1 time: 29 s
• GPS2 time: 13 s • Transponder ping count: 4
• 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 - - - 115 VBD -1.44 - - 238 - - - 2915 - -194.6 -91.38 - 3094 - - - - - - - - - - -
119 3.8 -13.3 16 151 roll -1.44 8.77 0.370 2176 221.0 2.30 0.060 1480 -623.9 -194.6 -14.43 - 3889 -55.1 - - - - - - - 14.15 14.63 14.87
201 30.4 -28.5 29 207 done -1.35 0.20 0.299 2210 170.0 2.38 0.059 2908 600.0 -194.6 - - 3890 - - - - - - - - 14.19 14.54 -
517 110.1 -22.9 48 523 roll -1.26 0.12 0.317 2242 266.7 2.28 0.034 1475 -628.5 -194.6 - - 3890 - - - - - - - - 14.28 14.71 -
570 119.1 -20.9 50 576 done -1.18 0.15 0.282 2266 160.0 2.33 0.059 2880 603.0 -194.6 - - 3890 - - - - - - - - 14.34 14.65 -
885 173.8 -17.2 66 891 roll -1.12 - - 2266 - 2.20 0.036 1480 -636.4 -194.6 - - 3890 - - - - - - - - - 14.70 -
961 184.4 -16.6 69 967 done -1.06 0.20 0.269 2305 195.0 2.28 0.057 2865 607.5 -194.6 - - 3890 - - - - - - - - 14.38 14.69 -
1276 232.6 -14.6 85 1281 roll -1.01 - - 2300 - 1.50 0.073 3788 615.3 -194.6 - - 3890 - - - - - - - - - 14.66 -
1360 245.7 -15.7 89 1366 done -0.96 0.15 0.255 2335 233.3 1.52 0.034 2755 -679.6 -194.6 - - 3890 - - - - - - - - 14.43 14.81 -
1685 294.0 -14.8 105 1690 roll -0.93 - - 2334 - 1.98 0.037 1482 -642.9 -194.6 - - 3889 - - - - - - - - - 14.78 -
1770 305.9 -14.3 109 1776 done -0.90 0.12 0.265 2356 183.3 2.15 0.058 2782 604.7 -194.6 - - 3889 - - - - - - - - 14.42 14.66 -
2096 346.4 -12.2 125 2101 roll -0.88 - - 2355 - 2.05 0.037 1479 -635.6 -194.6 - - 3888 - - - - - - - - - 14.79 -
2123 349.5 -12.2 126 2128 done -0.86 - - 2349 - 2.12 0.058 2775 611.3 -194.6 - - 3887 - - - - - - - - - 14.71 -
2442 389.6 -12.5 142 2449 roll -0.84 0.12 0.267 2383 283.3 2.05 0.036 1478 -632.7 -194.6 - - 3885 - - - - - - - - 14.49 14.77 -
2502 395.0 -12.2 144 2508 done -0.82 - - 2376 - 2.08 0.057 2743 608.2 -194.6 - - 3885 - - - - - - - - - 14.71 -
2808 429.3 -10.8 160 2814 roll -0.83 - - 2376 - 2.00 0.039 1473 -635.0 -194.6 - - 3883 - - - - - - - - - 14.77 -
2893 439.2 -11.7 164 2898 done -0.83 - - 2369 - 1.98 0.057 2675 607.1 -194.6 - - 3883 - - - - - - - - - 14.71 -
3216 477.0 -11.5 180 3221 roll -0.83 - - 2369 - 1.88 0.039 1481 -635.1 -194.6 - - 3881 - - - - - - - - - 14.75 -
3234 477.0 -11.5 180 3241 done -0.83 - - 2361 - 1.85 0.058 2610 610.3 -194.6 - - 3880 - - - - - - - - - 14.71 -
3541 513.2 -10.9 196 3546 roll -0.82 - - 2352 - 1.98 0.081 3785 593.4 -194.6 - - 3878 - - - - - - - - - 14.64 -
3586 518.4 -11.1 198 3592 done -0.81 0.15 0.235 2388 240.0 1.83 0.039 2595 -650.3 -194.6 - - 3877 - - - - - - - - 14.46 14.83 -
3911 551.0 -10.0 214 3917 roll -0.82 - - 2381 - 2.03 0.081 3785 586.2 -194.6 - - 3874 - - - - - - - - - 14.63 -
3960 555.7 -10.2 216 3966 done -0.83 - - 2381 - 1.70 0.041 2709 -632.9 -194.6 - - 3874 - - - - - - - - - 14.71 -
4280 587.7 -9.9 232 4285 roll -0.84 - - 2381 - 1.92 0.040 1479 -640.6 -194.6 - - 3872 - - - - - - - - - 14.74 -
4363 596.2 -10.1 236 4368 done -0.84 - - 2374 - 1.95 0.059 2652 601.5 -194.6 - - 3871 - - - - - - - - - 14.66 -
4680 626.5 -9.5 247 4685 roll -0.86 - - 2366 - 1.92 0.087 3782 588.5 -194.6 - - 3868 - - - - - - - - - 14.54 -
4718 630.2 -9.6 248 4724 done -0.86 - - 2366 - 1.95 0.040 2513 -650.8 -194.6 - - 3868 - - - - - - - - - 14.81 -
5051 663.9 -10.2 259 5056 roll -0.86 - - 2357 - 2.17 0.084 3783 585.3 -194.6 - - 3864 - - - - - - - - - 14.59 -
5154 674.7 -11.0 262 5159 done -0.86 - - 2357 - 1.80 0.041 2615 -648.9 -194.6 - - 3863 - - - - - - - - - 14.79 -
5481 708.0 -9.8 273 5486 roll -0.86 - - 2355 - 1.80 0.041 1477 -632.2 -194.6 - - 3860 - - - - - - - - - 14.71 -
5524 711.6 -9.8 274 5530 done -0.86 - - 2348 - 2.10 0.065 2726 594.8 -194.6 - - 3860 - - - - - - - - - 14.61 -
5851 748.6 -11.2 285 5857 roll -0.85 - - 2348 - 2.00 0.043 1487 -619.5 -194.6 - - 3857 - - - - - - - - - 14.68 -
5905 752.9 -11.3 286 5911 done -0.84 0.15 0.256 2374 173.3 2.08 0.067 2714 589.9 -194.6 - - 3857 - - - - - - - - 14.32 14.57 -
6223 787.0 -9.9 297 6228 roll -0.84 - - 2375 - 1.98 0.044 1488 -619.2 -194.6 - - 3855 - - - - - - - - - 14.66 -
6257 790.7 -9.8 298 6262 done -0.84 - - 2370 - 2.03 0.067 2682 588.2 -194.6 - - 3855 - - - - - - - - - 14.58 -
6593 823.0 -9.7 309 6598 roll -0.84 - - 2361 - 1.90 0.095 3782 578.9 -194.6 - - 3853 - - - - - - - - - 14.48 -
6646 826.7 -9.7 310 6651 done -0.84 - - 2361 - 1.75 0.045 2663 -639.4 -194.6 - - 3852 - - - - - - - - - 14.73 -
6964 860.1 -10.2 321 6965 done -0.83 - - 2361 - - - 2664 - -194.6 - - 3848 - - - - - - - - - - -
7260 890.5 -10.2 331 7265 roll -0.83 - - 2354 - 1.95 0.093 3772 568.2 -194.6 - - 3847 - - - - - - - - - 14.45 -
7309 894.3 -10.4 332 7316 done -0.82 0.12 0.252 2381 225.0 1.73 0.045 2679 -631.8 -194.6 - - 3848 - - - - - - - - 14.31 14.72 -
7632 927.8 -10.1 343 7637 roll -0.82 - - 2381 - 1.92 0.046 1489 -619.8 -194.6 - - 3846 - - - - - - - - - 14.59 -
7680 931.6 -10.1 344 7685 done -0.82 - - 2375 - 2.08 0.071 2698 581.2 -194.6 - - 3846 - - - - - - - - - 14.50 -
8002 966.5 -10.5 355 8007 roll -0.82 - - 2367 - 1.90 0.100 3783 571.1 -194.6 - - 3845 - - - - - - - - - 14.42 -
8036 970.5 -10.7 356 8042 done -0.82 - - 2367 - 1.80 0.047 2688 -608.3 -194.6 - - 3844 - - - - - - - - - 14.64 -
8248 end dive: TARGET_DEPTH_EXCEEDED
8248 begin apogee
8256 992.8 -10.4 363 8440 roll -0.23 0.70 0.187 2571 291.4 - - 1982 - - 175.60 1.805 3088 -4.3 0.440 - - - - - - 14.19 - 13.30
8442 end apogee: CONTROL_FINISHED_OK
8442 begin climb
8445 1004.4 - 369 8639 roll 1.44 1.65 0.098 3119 332.1 2.55 0.087 3401 556.5 194.6 183.73 1.822 2298 -4.3 0.440 - - - - - - 14.19 14.15 13.23
8715 987.3 15.8 378 8722 done 1.35 0.20 0.353 3091 -140.0 2.35 0.047 2008 -592.8 194.6 - - 2284 - - - - - - - - 14.02 14.32 -
9038 933.4 15.7 389 9044 roll 1.27 0.12 0.355 3062 -241.7 2.45 0.088 3403 569.4 194.6 - - 2278 - - - - - - - - 14.22 14.51 -
9087 927.3 15.9 390 9093 done 1.20 0.15 0.356 3041 -140.0 2.30 0.044 2005 -607.8 194.6 - - 2278 - - - - - - - - 14.25 14.64 -
9409 881.5 13.5 401 9410 done 1.13 - - 3041 - - - 2004 - 194.6 - - 2276 - - - - - - - - - - -
9708 840.9 13.7 411 9714 roll 1.07 0.15 0.325 3004 -246.7 2.45 0.086 3402 570.6 194.6 - - 2274 - - - - - - - - 14.25 14.54 -
9773 831.9 13.7 413 9779 done 1.01 0.15 0.323 2981 -153.3 2.28 0.042 2013 -609.2 194.6 - - 2274 - - - - - - - - 14.27 14.69 -
10108 794.3 11.0 424 10118 roll 1.00 - - 2981 - 2.47 0.085 3401 561.9 204.4 1.75 0.204 2259 -8.6 6.202 - - - - - - - 14.50 14.35
10143 790.2 11.1 425 10165 done 0.99 - - 2989 - 2.25 0.041 2018 -614.7 212.2 14.85 1.660 2222 -2.5 0.220 - - - - - - - 14.71 13.88
10474 753.2 10.7 436 10497 roll 1.00 - - 2989 - 2.40 0.083 3404 577.5 228.8 16.98 1.598 2156 -3.9 0.340 - - - - - - - 14.62 13.85
10541 745.6 11.5 438 10548 done 0.96 0.17 0.294 2961 -164.7 2.22 0.040 2027 -620.3 228.8 - - 2152 - - - - - - - - 14.35 14.66 -
10872 711.8 10.0 449 10914 roll 1.04 - - 2960 - 2.45 0.085 3396 558.8 262.6 34.45 1.513 2016 -3.9 0.345 - - - - - - - 14.48 13.78
11024 694.5 11.8 454 11029 done 1.01 - - 2968 - 2.17 0.040 2062 -614.7 262.6 - - 2008 - - - - - - - - - 14.58 -
11362 659.5 10.4 465 11393 roll 1.06 - - 2968 - 2.40 0.087 3403 558.8 286.6 23.77 1.473 1918 -3.8 0.315 - - - - - - - 14.53 13.82
11433 652.2 10.8 467 11454 done 1.08 - - 2977 - 2.15 0.040 2080 -615.3 300.5 14.57 1.489 1865 -3.6 0.296 - - - - - - - 14.59 13.75
11756 615.6 10.7 478 11778 roll 1.12 - - 2988 - 2.47 0.059 602 -598.4 317.5 17.25 1.451 1791 -4.3 0.338 - - - - - - - 14.58 13.82
11872 604.8 11.2 481 11880 done 1.11 - - 2988 - 2.60 0.057 2138 590.8 322.9 1.15 0.221 1775 -13.9 7.076 - - - - - - - 14.53 14.38
12188 566.0 11.3 497 12195 roll 1.10 - - 2999 - 2.65 0.058 606 -578.1 324.4 1.55 0.213 1771 -2.6 1.274 - - - - - - - 14.59 14.33
12290 556.0 11.7 501 12298 done 1.08 - - 2999 - 2.65 0.057 2177 592.8 324.4 1.38 0.216 1769 - - - - - - - - - 14.53 14.37
12594 518.7 11.6 517 12599 roll 1.05 - - 3010 - 2.65 0.058 599 -595.5 324.4 - - 1777 - - - - - - - - - 14.60 -
12710 506.1 12.2 522 12715 done 1.03 - - 3010 - 2.70 0.057 2205 594.8 324.4 - - 1778 - - - - - - - - - 14.59 -
13025 465.6 12.4 538 13031 roll 1.00 0.15 0.279 2972 -253.3 2.08 0.083 3407 577.9 324.4 - - 1778 - - - - - - - - 14.28 14.50 -
13126 455.5 11.7 542 13133 done 0.97 - - 2979 - 1.90 0.041 2210 -630.0 324.4 - - 1778 - - - - - - - - - 14.67 -
13431 423.4 9.4 558 13490 roll 1.12 - - 2990 - 2.70 0.060 606 -594.1 372.0 49.67 1.209 1570 -4.2 0.273 - - - - - - - 14.54 13.89
13557 411.1 10.0 564 13598 done 1.23 0.17 0.109 3062 423.5 2.88 0.054 2299 587.8 405.5 31.08 1.190 1435 -4.3 0.279 - - - - - - 14.54 14.49 13.78
13896 365.9 13.9 581 13902 roll 1.20 - - 3075 - 2.88 0.056 601 -589.6 405.5 - - 1425 - - - - - - - - - 14.53 -
13926 362.5 13.8 582 13932 done 1.17 0.20 0.259 3028 -235.0 2.83 0.057 2268 589.0 405.5 - - 1425 - - - - - - - - 14.24 14.53 -
14245 321.6 12.1 598 14247 done 1.16 - - 3028 - - - 2269 - 405.5 - - 1424 - - - - - - - - - - -
14548 288.9 10.5 613 14573 roll 1.22 - - 3028 - 1.95 0.086 3410 585.1 426.7 18.20 1.084 1347 -4.2 0.210 - - - - - - - 14.64 14.02
14592 283.9 10.6 615 14616 done 1.27 - - 3034 - 1.90 0.040 2212 -630.5 445.0 17.08 1.077 1272 -4.4 0.215 - - - - - - - 14.66 13.95
14935 243.6 11.9 632 14940 roll 1.27 - - 3045 - 2.70 0.059 600 -597.0 445.0 - - 1265 - - - - - - - - - 14.62 -
14962 240.6 11.8 633 14967 done 1.27 - - 3046 - 2.85 0.050 2313 601.1 445.0 - - 1262 - - - - - - - - - 14.57 -
15281 202.9 11.3 649 15282 done 1.26 - - 3046 - - - 2313 - 446.1 - - 1264 - - - - - - - - - - -
15583 168.1 11.9 664 15589 roll 1.24 - - 3046 - 1.88 0.083 3413 585.1 446.1 - - 1264 - - - - - - - - - 14.53 -
15597 168.1 11.9 664 15603 done 1.23 - - 3055 - 1.90 0.037 2206 -635.3 446.1 - - 1264 - - - - - - - - - 14.72 -
15911 128.6 11.4 680 15916 roll 1.22 - - 3067 - 2.65 0.055 600 -606.0 446.1 - - 1263 - - - - - - - - - 14.63 -
15964 123.5 11.4 682 15971 done 1.21 - - 3067 - 2.65 0.049 2205 605.7 446.5 - - 1264 - - - - - - - - - 14.64 -
16280 88.2 10.3 698 16300 roll 1.29 - - 3067 - 2.10 0.083 3411 574.3 473.5 13.80 0.374 1165 -7.2 0.314 - - - - - - - 14.64 14.24
16380 78.9 11.0 702 16393 done 1.30 - - 3077 - 2.03 0.037 2117 -637.4 482.7 6.82 0.319 1125 -5.9 0.270 - - - - - - - 14.73 14.21
16702 43.9 9.1 721 16741 roll 1.49 0.12 0.125 3164 725.0 2.50 0.056 596 -608.4 538.5 30.30 0.259 899 -7.5 0.235 - - - - - - 14.72 14.68 14.36
16801 33.2 11.7 730 16810 done 1.47 0.15 0.255 3126 -253.3 2.67 0.048 2204 602.2 538.5 1.33 0.195 895 -3.0 0.095 - - - - - - 14.30 14.57 14.42
17084 end climb: SURFACE_DEPTH_REACHED
17084 begin surface coast
17110 end surface coast: CONTROL_FINISHED_OK
17111 begin surface
SM -0.35 - - - - -7.46 7.93 0.048 234 29.5 1.17 0.077 2894 -8909.4 536.47 - - 906 - - - - - - - -