MIRC Sep14 * SG179 * Dive index * Mission links * Dive 63 * Raw log
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• Previous call tries 1 • 16.83 of 140.00 AH used of 24V (87.98% remains)
• Previous NAKs 0, Timeouts 0 • 28.61 of 95.10 AH used of 10V (69.91% remains)
• Surface angle -72.3 deg, depth 1.53 m • Intended pitch -16.7 deg, speed -9.167 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 38 s
• GPS2 time: 4 s • Transponder ping count: 8
• 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 - - - 170 VBD -0.80 - - 120 - - - 2270 - -146.0 -65.65 - 2537 - - - - - - - - - - -
171 3.2 -3.3 9 221 roll -0.80 11.23 0.243 2566 217.8 2.22 0.055 3642 618.0 -146.0 -20.52 - 3524 -48.1 - - - - - - - 24.79 25.32 25.55
236 21.9 -30.3 15 254 done -0.51 0.40 0.146 2675 272.5 2.17 0.025 2231 -650.2 -146.0 - - 3524 - - - - - - - - 24.99 25.41 -
572 93.1 -16.3 54 580 roll -0.48 - - 2666 - 2.28 0.045 3639 617.5 -146.0 - - 3525 - - - - - - - - - 25.34 -
674 109.2 -14.6 64 684 done -0.48 - - 2666 - 2.12 0.025 2249 -655.7 -146.0 - - 3525 - - - - - - - - - 25.43 -
987 156.2 -14.3 95 996 roll -0.48 - - 2666 - 2.12 0.034 861 -654.7 -146.0 - - 3526 - - - - - - - - - 25.40 -
1014 159.4 -14.3 97 1025 done -0.48 0.12 0.141 2690 200.0 2.17 0.029 2265 647.0 -146.0 - - 3526 - - - - - - - - 25.24 25.41 -
1320 196.0 -11.4 128 1328 roll -0.53 - - 2682 - 2.20 0.045 3649 629.1 -146.0 - - 3526 - - - - - - - - - 25.36 -
1367 200.6 -10.8 132 1374 done -0.60 - - 2682 - 2.10 0.025 2270 -656.7 -146.0 - - 3526 - - - - - - - - - 25.48 -
1679 231.8 -8.8 143 1687 roll -0.66 0.12 0.080 2614 -566.7 2.20 0.034 860 -640.9 -146.0 - - 3526 - - - - - - - - 25.46 25.40 -
1810 246.3 -12.4 147 1818 done -0.66 - - 2606 - 2.20 0.028 2269 640.5 -146.0 - - 3526 - - - - - - - - - 25.44 -
2122 288.2 -13.0 158 2127 done -0.66 - - 2606 - - - 2270 - -146.0 - - 3526 - - - - - - - - - - -
2422 331.1 -14.5 168 2430 roll -0.66 - - 2596 - 2.22 0.047 3654 623.4 -146.0 - - 3525 - - - - - - - - - 25.34 -
2493 339.5 -14.8 170 2502 done -0.66 0.12 0.142 2628 266.7 2.12 0.026 2267 -654.2 -146.0 - - 3524 - - - - - - - - 25.25 25.48 -
2806 379.8 -11.8 181 2814 roll -0.71 - - 2620 - 2.28 0.047 3654 608.3 -146.0 - - 3521 - - - - - - - - - 25.32 -
2878 385.9 -11.1 183 2886 done -0.75 - - 2620 - 2.10 0.027 2287 -651.0 -146.0 - - 3521 - - - - - - - - - 25.44 -
3190 417.1 -9.6 194 3198 roll -0.79 - - 2611 - 2.25 0.049 3652 606.7 -146.0 - - 3517 - - - - - - - - - 25.29 -
3217 420.0 -9.9 195 3225 done -0.83 - - 2611 - 2.10 0.028 2290 -648.6 -146.0 - - 3517 - - - - - - - - - 25.42 -
3544 455.1 -10.6 206 3550 done -0.86 0.12 0.088 2553 -483.3 - - 2289 - -146.0 - - 3514 - - - - - - - - 25.37 - -
3844 497.2 -14.2 216 3852 roll -0.86 - - 2543 - 2.25 0.050 3655 607.1 -146.0 - - 3511 - - - - - - - - - 25.26 -
3896 501.2 -14.2 217 3906 done -0.86 - - 2543 - 2.10 0.029 2305 -642.9 -146.0 - - 3510 - - - - - - - - - 25.41 -
4201 549.6 -14.6 228 4209 roll -0.82 0.12 0.166 2577 283.3 2.30 0.039 854 -630.9 -146.0 - - 3507 - - - - - - - - 25.10 25.27 -
4268 557.9 -13.9 230 4276 done -0.82 - - 2569 - 2.30 0.033 2305 630.9 -146.0 - - 3506 - - - - - - - - - 25.32 -
4590 599.2 -12.6 241 4595 done -0.82 - - 2570 - - - 2306 - -146.0 - - 3504 - - - - - - - - - - -
4890 635.6 -11.7 251 4898 roll -0.82 - - 2559 - 2.20 0.053 3647 609.5 -146.0 - - 3500 - - - - - - - - - 25.20 -
4947 642.4 -11.8 253 4955 done -0.82 - - 2559 - 2.10 0.031 2312 -635.7 -146.0 - - 3500 - - - - - - - - - 25.32 -
5279 681.5 -11.6 264 5287 roll -0.82 - - 2550 - 2.25 0.053 3654 596.4 -146.0 - - 3497 - - - - - - - - - 25.19 -
5311 685.3 -11.7 265 5319 done -0.82 - - 2550 - 2.10 0.032 2322 -634.3 -146.0 - - 3497 - - - - - - - - - 25.32 -
5638 725.1 -12.3 276 5646 roll -0.82 - - 2550 - 2.33 0.043 865 -625.3 -146.0 - - 3495 - - - - - - - - - 25.20 -
5690 728.8 -12.5 277 5700 done -0.82 0.15 0.156 2581 206.7 2.30 0.035 2302 624.8 -146.0 - - 3495 - - - - - - - - 24.98 25.25 -
5996 766.8 -11.6 288 6003 roll -0.82 - - 2571 - 2.22 0.054 3643 604.1 -146.0 - - 3492 - - - - - - - - - 25.15 -
6042 770.0 -11.6 289 6048 done -0.82 - - 2571 - 2.10 0.033 2320 -630.0 -146.0 - - 3491 - - - - - - - - - 25.30 -
6353 811.2 -12.5 300 6361 roll -0.82 - - 2562 - 2.22 0.054 3647 597.7 -146.0 - - 3489 - - - - - - - - - 25.15 -
6390 814.6 -12.5 301 6397 done -0.82 - - 2562 - 2.10 0.032 2322 -631.0 -146.0 - - 3489 - - - - - - - - - 25.25 -
6706 855.6 -12.3 312 6714 roll -0.82 - - 2562 - 2.35 0.045 868 -618.7 -146.0 - - 3487 - - - - - - - - - 25.15 -
6763 862.7 -12.3 314 6771 done -0.82 - - 2555 - 2.30 0.036 2301 623.0 -146.0 - - 3487 - - - - - - - - - 25.21 -
7090 903.1 -12.3 325 7095 done -0.82 - - 2555 - - - 2301 - -146.0 - - 3485 - - - - - - - - - - -
7390 937.7 -11.4 335 7395 done -0.82 - - 2555 - - - 2301 - -146.0 - - 3483 - - - - - - - - - - -
7690 971.3 -11.3 345 7698 roll -0.82 - - 2545 - 2.22 0.056 3641 603.6 -146.0 - - 3482 - - - - - - - - - 25.10 -
7756 977.9 -11.5 347 7765 done -0.82 0.12 0.159 2574 241.7 2.10 0.034 2332 -623.3 -146.0 - - 3482 - - - - - - - - 24.98 25.25 -
7863 end dive: TARGET_DEPTH_EXCEEDED
7863 begin apogee
7866 990.0 -10.3 351 8001 roll -0.13 0.75 0.114 2802 304.0 - - 2002 - - 128.15 1.135 2926 -4.3 0.415 - - - - - - 24.90 - 22.57
8002 end apogee: CONTROL_FINISHED_OK
8002 begin climb
8003 994.1 - 355 8156 roll 0.80 0.88 0.057 3105 344.3 2.40 0.050 617 -577.1 146.0 139.30 1.115 2329 -4.3 0.419 - - - - - - 23.99 23.97 22.37
8175 989.9 4.5 361 8277 done 0.92 0.12 0.088 3153 400.0 2.30 0.031 1999 600.9 246.7 93.07 1.102 1920 -4.4 0.433 - - - - - - 24.13 24.15 22.39
8582 921.2 17.7 375 8590 roll 0.79 0.17 0.164 3106 -276.5 2.30 0.046 3403 610.4 246.7 - - 1911 - - - - - - - - 24.94 25.15 -
8690 908.1 15.5 378 8698 done 0.69 0.17 0.158 3070 -211.8 2.22 0.034 2023 -621.6 246.7 - - 1911 - - - - - - - - 25.03 25.29 -
8995 870.8 10.8 388 9003 roll 0.66 - - 3079 - 2.33 0.051 595 -612.9 246.7 - - 1909 - - - - - - - - - 25.25 -
9041 867.8 10.8 389 9050 done 0.63 0.12 0.158 3049 -250.0 2.25 0.033 2017 632.0 246.7 - - 1909 - - - - - - - - 25.12 25.34 -
9347 838.0 8.7 399 9364 roll 0.65 - - 3049 - 2.28 0.050 3401 607.0 256.7 8.57 0.868 1879 -3.5 0.371 - - - - - - - 25.22 23.86
9388 835.1 8.7 400 9407 done 0.68 - - 3058 - 2.22 0.034 2012 -625.7 266.4 10.98 0.904 1839 -3.6 0.369 - - - - - - - 25.25 23.75
9703 804.3 9.4 410 9711 roll 0.68 - - 3067 - 2.30 0.052 596 -615.7 266.4 - - 1835 - - - - - - - - - 25.23 -
9750 801.7 9.5 411 9758 done 0.68 - - 3067 - 2.25 0.033 2020 632.9 266.4 - - 1835 - - - - - - - - - 25.34 -
10062 769.3 9.8 422 10070 roll 0.68 - - 3067 - 2.25 0.048 3398 612.4 266.4 - - 1835 - - - - - - - - - 25.22 -
10164 759.3 10.6 425 10173 done 0.68 - - 3076 - 2.20 0.034 2023 -625.0 266.4 - - 1835 - - - - - - - - - 25.29 -
10488 725.3 9.9 436 10496 roll 0.65 - - 3087 - 2.33 0.051 599 -611.2 266.4 - - 1834 - - - - - - - - - 25.18 -
10565 719.6 9.9 438 10573 done 0.62 0.15 0.152 3049 -253.3 2.25 0.033 2018 630.7 266.4 - - 1834 - - - - - - - - 25.00 25.27 -
10870 691.4 8.8 448 10886 roll 0.63 - - 3049 - 2.33 0.049 3402 594.0 274.0 7.90 0.793 1808 -3.3 0.315 - - - - - - - 25.20 23.84
10950 685.4 9.4 450 10958 done 0.63 - - 3057 - 2.22 0.034 2015 -624.8 274.0 - - 1807 - - - - - - - - - 25.21 -
11262 651.7 10.1 461 11271 roll 0.63 - - 3068 - 2.30 0.052 602 -614.3 274.0 - - 1806 - - - - - - - - - 25.15 -
11294 648.3 10.2 462 11302 done 0.63 - - 3067 - 2.28 0.032 2038 629.8 274.0 - - 1806 - - - - - - - - - 25.26 -
11621 612.5 10.9 473 11629 roll 0.63 - - 3067 - 2.22 0.049 3400 613.5 274.0 - - 1806 - - - - - - - - - 25.13 -
11673 609.5 11.0 474 11683 done 0.63 - - 3076 - 2.20 0.034 2029 -623.2 274.0 - - 1806 - - - - - - - - - 25.22 -
11978 570.0 12.3 485 11986 roll 0.63 - - 3086 - 2.35 0.051 598 -608.9 274.0 - - 1806 - - - - - - - - - 25.10 -
12045 562.8 12.6 487 12053 done 0.63 0.15 0.150 3049 -246.7 2.28 0.033 2030 628.1 274.0 - - 1805 - - - - - - - - 24.93 25.22 -
12362 526.7 11.0 498 12371 roll 0.63 - - 3048 - 2.25 0.049 3400 608.9 274.0 - - 1805 - - - - - - - - - 25.08 -
12485 512.9 11.3 502 12493 done 0.63 - - 3056 - 2.20 0.034 2032 -621.8 274.0 - - 1806 - - - - - - - - - 25.18 -
12817 479.2 9.9 513 12825 roll 0.63 - - 3067 - 2.35 0.052 596 -611.1 274.0 - - 1805 - - - - - - - - - 25.04 -
12889 473.1 9.8 515 12897 done 0.63 - - 3067 - 2.28 0.032 2027 627.6 274.0 - - 1805 - - - - - - - - - 25.19 -
13206 442.1 9.7 526 13214 roll 0.63 - - 3067 - 2.25 0.048 3398 609.3 274.0 - - 1805 - - - - - - - - - 25.04 -
13283 436.2 10.0 528 13290 done 0.63 - - 3075 - 2.20 0.033 2032 -620.9 274.0 - - 1805 - - - - - - - - - 25.14 -
13588 404.4 9.3 538 13596 roll 0.63 - - 3085 - 2.35 0.051 597 -610.6 274.0 - - 1805 - - - - - - - - - 25.02 -
13640 401.7 9.4 539 13650 done 0.63 0.12 0.152 3054 -258.3 2.28 0.032 2028 627.6 274.0 - - 1805 - - - - - - - - 24.91 25.15 -
13946 376.5 7.2 550 13994 roll 0.77 0.12 0.088 3113 491.7 2.30 0.046 3403 597.8 317.3 38.67 0.737 1632 -4.5 0.251 - - - - - - 25.15 24.74 23.75
14112 358.9 12.9 555 14121 done 0.73 0.17 0.146 3079 -200.0 2.20 0.033 2041 -619.1 317.3 - - 1628 - - - - - - - - 24.78 25.04 -
14418 327.3 9.3 565 14426 roll 0.73 - - 3087 - 2.38 0.051 592 -608.8 317.3 - - 1626 - - - - - - - - - 25.07 -
14476 322.0 9.1 567 14484 done 0.73 - - 3087 - 2.28 0.032 2029 630.3 317.7 - - 1626 - - - - - - - - - 25.20 -
14803 291.5 9.8 578 14811 roll 0.73 - - 3087 - 2.22 0.047 3399 617.1 317.7 - - 1625 - - - - - - - - - 25.08 -
14884 285.3 9.7 580 14892 done 0.73 - - 3095 - 2.20 0.032 2023 -625.5 317.7 - - 1625 - - - - - - - - - 25.17 -
15196 253.4 9.9 591 15205 roll 0.73 - - 3101 - 2.33 0.050 600 -610.7 317.7 - - 1625 - - - - - - - - - 25.08 -
15303 244.0 10.1 594 15311 done 0.73 - - 3101 - 2.25 0.031 2026 633.8 317.7 - - 1625 - - - - - - - - - 25.20 -
15616 210.9 9.4 605 15623 roll 0.73 - - 3101 - 2.22 0.045 3396 617.1 317.7 - - 1625 - - - - - - - - - 25.07 -
15653 208.2 9.3 606 15661 done 0.73 - - 3108 - 2.17 0.031 2028 -630.4 317.7 - - 1625 - - - - - - - - - 25.16 -
15965 179.9 9.3 632 15973 roll 0.73 - - 3118 - 2.30 0.047 600 -620.9 317.7 - - 1625 - - - - - - - - - 25.08 -
15992 177.3 9.1 634 16001 done 0.73 0.15 0.130 3079 -260.0 2.28 0.029 2047 634.6 319.0 - - 1625 - - - - - - - - 24.96 25.19 -
16297 157.6 6.9 664 16352 roll 0.94 0.17 0.066 3174 558.8 2.40 0.045 601 -602.5 368.0 42.12 0.564 1424 -4.8 0.146 - - - - - - 25.21 24.86 24.04
16361 150.6 12.3 670 16369 done 0.94 - - 3174 - 2.25 0.028 2022 631.6 368.0 - - 1423 - - - - - - - - - 24.98 -
16666 114.7 9.2 700 16674 roll 0.94 - - 3174 - 2.22 0.043 3407 623.9 368.2 - - 1420 - - - - - - - - - 25.13 -
16728 108.2 10.6 706 16737 done 0.94 0.15 0.147 3146 -186.7 2.20 0.028 2008 -635.9 368.2 - - 1420 - - - - - - - - 24.99 25.25 -
17041 78.2 9.9 737 17048 roll 0.98 - - 3154 - 2.25 0.044 595 -628.0 368.2 - - 1421 - - - - - - - - - 25.18 -
17148 69.2 8.3 747 17177 done 1.08 0.12 0.080 3213 491.7 2.17 0.026 2003 648.8 386.6 16.25 0.464 1348 -4.5 0.073 - - - - - - 25.25 25.29 24.36
17473 31.6 8.9 797 17489 roll 1.09 - - 3212 - 2.22 0.040 3393 626.1 391.4 5.43 0.356 1329 -3.5 0.034 - - - - - - - 25.29 24.34
17545 24.5 10.8 810 17551 done 1.09 - - 3222 - 2.17 0.027 1995 -644.2 391.4 - - 1329 - - - - - - - - - 25.31 -
17759 end climb: SURFACE_DEPTH_REACHED
17759 begin surface coast
17785 end surface coast: CONTROL_FINISHED_OK
17785 begin surface
SM 2.76 - - - - -8.39 8.27 0.031 142 17.2 0.40 0.037 2271 3102.5 400.08 3.65 0.053 1294 354.5 -1.887 - - - - - -