OKMC Jun11 * SG181 * Dive index * Mission links * Dive 691 * Raw log
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• Previous call tries 1 • 114.40 of 150.00 AH used of 24V (23.74% remains)
• Previous NAKs 0, Timeouts 0 • 83.83 of 110.00 AH used of 10V (23.79% remains)
• Surface angle -71.1 deg, depth 1.40 m • Intended pitch -14.3 deg, speed -10.312 cm/s
• No surface pump (final VBD was 596.08, SM_CC=475)
• GPS1 time: 22 s
• GPS2 time: 10 s • Transponder ping count: 2
• 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
13 end surface: CONTROL_FINISHED_OK
13 begin dive
16 - - - 86 VBD -0.61 - - 186 - - - 2543 - -219.0 -67.82 - 2352 - - - - - - - - - - -
90 3.5 -3.3 12 138 roll -0.61 8.20 0.220 2148 239.3 1.20 0.065 3282 615.8 -219.0 -31.15 - 3764 -45.3 - - - - - - - - - -
165 21.9 -29.8 24 172 done -0.39 0.28 0.168 2225 275.0 0.98 0.024 2599 -696.9 -219.0 - - 3764 - - - - - - - - - - -
512 93.3 -17.3 85 519 roll -0.30 0.12 0.159 2257 266.7 1.08 0.039 3282 632.4 -219.0 - - 3762 - - - - - - - - - - -
527 96.1 -17.4 87 533 done -0.22 - - 2257 - 1.00 0.024 2579 -703.0 -219.0 - - 3762 - - - - - - - - - - -
875 134.8 -9.1 148 882 roll -0.36 - - 2257 - 1.08 0.035 3285 653.7 -219.0 - - 3762 - - - - - - - - - - -
1137 161.0 -10.3 194 1144 done -0.54 0.20 0.060 2172 -425.0 0.98 0.022 2589 -710.2 -219.0 - - 3762 - - - - - - - - - - -
1486 194.8 -11.5 255 1493 roll -0.57 - - 2168 - 1.05 0.036 3281 659.0 -219.0 - - 3763 - - - - - - - - - - -
1560 204.9 -14.3 265 1567 done -0.52 - - 2169 - 0.98 0.024 2590 -705.1 -219.0 - - 3763 - - - - - - - - - - -
1888 249.0 -11.9 296 1891 roll -0.49 - - 2168 - 0.95 0.023 1885 -742.1 -219.0 - - 3763 - - - - - - - - - - -
1938 255.1 -11.6 300 1945 done -0.45 0.12 0.112 2207 325.0 1.05 0.032 2582 663.8 -219.0 - - 3762 - - - - - - - - - - -
2266 283.2 -9.0 331 2269 roll -0.55 - - 2207 - 1.05 0.037 3284 668.6 -219.0 - - 3762 - - - - - - - - - - -
2485 303.9 -9.6 350 2492 done -0.71 0.20 0.048 2116 -455.0 0.98 0.024 2595 -703.1 -219.0 - - 3761 - - - - - - - - - - -
2810 338.1 -10.5 381 2814 roll -0.70 - - 2112 - 1.08 0.037 3292 645.4 -219.0 - - 3759 - - - - - - - - - - -
2929 353.0 -12.8 391 2937 done -0.62 0.12 0.126 2153 341.7 1.00 0.024 2589 -703.0 -219.0 - - 3757 - - - - - - - - - - -
3255 384.1 -9.6 422 3259 roll -0.58 - - 2153 - 0.95 0.024 1885 -741.1 -219.0 - - 3756 - - - - - - - - - - -
3303 388.7 -9.7 426 3307 done -0.56 - - 2152 - 1.08 0.034 2591 653.7 -219.0 - - 3755 - - - - - - - - - - -
3635 422.0 -10.5 457 3639 roll -0.53 0.12 0.148 2184 266.7 1.08 0.041 3284 641.7 -219.0 - - 3752 - - - - - - - - - - -
3660 424.3 -10.3 459 3663 done -0.51 - - 2184 - 1.00 0.024 2591 -693.0 -219.0 - - 3752 - - - - - - - - - - -
3991 454.8 -9.7 490 3995 roll -0.60 - - 2181 - 1.10 0.039 3294 639.1 -219.0 - - 3750 - - - - - - - - - - -
4050 460.3 -9.4 495 4055 done -0.68 0.10 0.044 2109 -720.0 1.02 0.024 2589 -691.2 -219.0 - - 3749 - - - - - - - - - - -
4380 506.2 -13.9 524 4384 roll -0.59 0.17 0.140 2159 294.1 1.00 0.026 1880 -709.0 -219.0 - - 3747 - - - - - - - - - - -
4487 517.5 -10.3 528 4494 done -0.59 - - 2156 - 1.08 0.034 2585 652.8 -219.0 - - 3745 - - - - - - - - - - -
4804 543.1 -7.5 544 4807 roll -0.64 - - 2152 - 1.08 0.041 3287 650.0 -219.0 - - 3743 - - - - - - - - - - -
4822 544.6 -7.5 544 4828 done -0.70 - - 2152 - 1.02 0.026 2586 -687.3 -219.0 - - 3742 - - - - - - - - - - -
5139 570.8 -8.8 560 5143 roll -0.75 0.12 0.084 2084 -566.7 1.00 0.026 1889 -697.0 -219.0 - - 3740 - - - - - - - - - - -
5231 583.2 -15.6 564 5235 done -0.65 0.17 0.125 2136 305.9 1.08 0.038 2580 639.8 -219.0 - - 3739 - - - - - - - - - - -
5565 624.3 -12.1 580 5569 roll -0.61 - - 2133 - 1.10 0.042 3293 648.2 -219.0 - - 3737 - - - - - - - - - - -
5598 628.6 -11.5 581 5603 done -0.57 0.10 0.125 2166 330.0 1.02 0.025 2595 -684.3 -219.0 - - 3736 - - - - - - - - - - -
5921 655.6 -7.8 597 5925 roll -0.57 - - 2166 - 0.98 0.027 1895 -714.3 -219.0 - - 3733 - - - - - - - - - - -
5990 661.0 -7.8 600 5994 done -0.57 - - 2166 - 1.08 0.036 2590 643.5 -219.0 - - 3733 - - - - - - - - - - -
6324 684.2 -6.9 616 6328 roll -0.64 - - 2165 - 1.10 0.042 3287 633.6 -219.0 - - 3731 - - - - - - - - - - -
6380 688.0 -6.5 618 6384 done -0.72 0.10 0.052 2099 -660.0 1.02 0.026 2596 -677.5 -219.0 - - 3730 - - - - - - - - - - -
6703 728.1 -13.0 634 6707 roll -0.64 0.17 0.144 2149 294.1 1.02 0.028 1883 -699.0 -219.0 - - 3729 - - - - - - - - - - -
6752 733.7 -9.9 636 6756 done -0.64 - - 2146 - 1.10 0.037 2589 641.8 -219.0 - - 3728 - - - - - - - - - - -
7080 767.5 -10.5 652 7081 done -0.63 - - 2146 - - - 2590 - -219.0 - - 3726 - - - - - - - - - - -
7390 800.1 -10.5 667 7394 roll -0.61 - - 2146 - 1.05 0.028 1881 -675.2 -219.0 - - 3724 - - - - - - - - - - -
7414 802.6 -10.5 668 7418 done -0.60 - - 2142 - 1.10 0.037 2583 638.2 -219.0 - - 3724 - - - - - - - - - - -
7749 835.3 -9.4 684 7753 roll -0.58 - - 2139 - 1.10 0.045 3286 639.1 -219.0 - - 3722 - - - - - - - - - - -
7796 839.9 -9.7 686 7800 done -0.56 0.10 0.122 2173 340.0 1.02 0.028 2588 -684.3 -219.0 - - 3721 - - - - - - - - - - -
8131 863.6 -7.0 702 8135 roll -0.66 - - 2170 - 1.10 0.042 3284 632.7 -219.0 - - 3721 - - - - - - - - - - -
8227 870.3 -6.5 706 8232 done -0.77 0.15 0.054 2096 -493.3 1.02 0.026 2594 -676.5 -219.0 - - 3720 - - - - - - - - - - -
8556 910.0 -12.9 722 8561 roll -0.70 0.12 0.161 2129 275.0 1.02 0.028 1886 -694.1 -219.0 - - 3718 - - - - - - - - - - -
8635 918.4 -9.5 725 8639 done -0.68 - - 2126 - 1.10 0.038 2588 638.2 -219.0 - - 3718 - - - - - - - - - - -
8958 951.8 -10.3 741 8961 roll -0.65 - - 2121 - 1.10 0.046 3288 636.4 -219.0 - - 3716 - - - - - - - - - - -
8986 955.2 -10.4 742 8991 done -0.61 0.10 0.133 2153 320.0 1.05 0.027 2585 -669.5 -219.0 - - 3716 - - - - - - - - - - -
9314 982.9 -8.4 758 9318 roll -0.61 - - 2153 - 1.00 0.028 1879 -706.0 -219.0 - - 3714 - - - - - - - - - - -
9376 988.1 -8.0 760 9382 done -0.61 - - 2152 - 1.12 0.037 2595 639.3 -219.0 - - 3715 - - - - - - - - - - -
9400 end dive: TARGET_DEPTH_EXCEEDED
9400 begin apogee
9408 990.2 8.0 762 9580 done -0.19 0.43 0.114 2291 323.3 - - 2155 - - 166.88 1.065 2868 -5.1 0.486 - - - - - - - - -
9581 end apogee: CONTROL_FINISHED_OK
9581 begin climb
9585 1000.1 - 770 9767 roll 0.61 0.70 0.050 2567 394.3 1.12 0.031 1455 -625.0 219.0 175.02 1.050 1976 -5.1 0.500 - - - - - - - - -
9907 975.6 11.6 785 9911 done 0.52 0.12 0.147 2530 -308.3 1.12 0.031 2181 648.2 219.0 - - 1973 - - - - - - - - - - -
10236 942.8 9.8 801 10258 roll 0.50 - - 2530 - 1.08 0.038 2863 631.5 235.0 14.02 0.939 1910 -4.5 0.465 - - - - - - - - -
10370 928.8 11.0 806 10378 done 0.44 0.10 0.154 2502 -280.0 1.08 0.028 2157 -653.7 235.0 - - 1909 - - - - - - - - - - -
10689 901.8 8.4 822 10741 roll 0.49 - - 2506 - 1.10 0.034 1469 -625.5 294.1 47.65 0.990 1669 -5.0 0.473 - - - - - - - - -
10816 890.6 8.9 828 10859 done 0.55 - - 2506 - 1.08 0.031 2164 643.5 339.3 37.03 0.961 1484 -5.0 0.477 - - - - - - - - -
11168 861.3 8.2 845 11232 roll 0.69 0.20 0.070 2597 455.0 1.12 0.032 1467 -622.3 405.2 54.05 0.967 1217 -4.9 0.453 - - - - - - - - -
11363 836.7 13.3 853 11370 done 0.65 0.08 0.135 2573 -300.0 1.08 0.034 2155 637.0 405.2 - - 1217 - - - - - - - - - - -
11679 799.8 11.3 869 11683 roll 0.64 - - 2572 - 1.08 0.040 2855 648.1 405.2 - - 1217 - - - - - - - - - - -
11811 783.6 12.2 874 11818 done 0.61 - - 2575 - 1.05 0.028 2161 -661.0 405.2 - - 1216 - - - - - - - - - - -
12127 745.8 11.8 890 12131 roll 0.60 - - 2580 - 1.02 0.035 1475 -672.5 405.2 - - 1216 - - - - - - - - - - -
12166 740.9 11.8 891 12174 done 0.58 0.10 0.124 2547 -330.0 1.08 0.032 2172 645.4 405.2 - - 1216 - - - - - - - - - - -
12486 708.6 10.2 907 12490 roll 0.60 - - 2546 - 1.05 0.037 2863 658.1 407.3 - - 1215 - - - - - - - - - - -
12559 700.4 10.7 910 12562 done 0.60 - - 2549 - 1.05 0.028 2167 -662.9 407.3 - - 1215 - - - - - - - - - - -
12888 666.8 10.2 926 12897 roll 0.61 - - 2554 - 1.02 0.033 1471 -682.4 410.2 5.70 0.676 1196 -3.3 0.339 - - - - - - - - -
12987 655.8 10.5 930 12991 done 0.61 - - 2554 - 1.05 0.031 2161 657.1 410.2 - - 1195 - - - - - - - - - - -
13311 623.7 9.6 946 13336 roll 0.68 - - 2558 - 1.10 0.034 1467 -630.9 433.4 19.98 0.802 1101 -4.7 0.377 - - - - - - - - -
13412 614.1 9.3 950 13446 done 0.76 0.10 0.053 2619 610.0 1.08 0.030 2162 643.5 466.2 27.08 0.798 967 -4.9 0.392 - - - - - - - - -
13754 572.8 12.2 967 13758 roll 0.73 - - 2619 - 1.08 0.039 2862 648.1 466.2 - - 971 - - - - - - - - - - -
13872 556.8 13.5 972 13876 done 0.69 0.12 0.136 2583 -300.0 1.05 0.028 2169 -660.0 466.2 - - 971 - - - - - - - - - - -
14200 521.3 10.9 988 14203 roll 0.69 - - 2587 - 1.05 0.036 1471 -664.8 466.2 - - 971 - - - - - - - - - - -
14306 508.6 11.8 992 14313 done 0.69 - - 2586 - 1.08 0.031 2176 652.8 466.2 - - 971 - - - - - - - - - - -
14632 473.5 11.1 1019 14636 roll 0.70 - - 2587 - 1.02 0.037 2857 667.6 466.2 - - 971 - - - - - - - - - - -
14660 469.7 11.3 1021 14666 done 0.70 - - 2591 - 1.05 0.027 2159 -664.8 466.2 - - 971 - - - - - - - - - - -
14986 429.8 12.3 1052 14989 roll 0.74 - - 2596 - 1.02 0.036 1476 -669.6 466.2 - - 971 - - - - - - - - - - -
15047 422.0 12.9 1057 15053 done 0.74 - - 2596 - 1.05 0.028 2169 660.0 466.2 - - 971 - - - - - - - - - - -
15373 387.4 9.9 1088 15388 roll 0.78 - - 2596 - 1.02 0.033 2862 679.4 477.7 11.62 0.646 920 -4.4 0.271 - - - - - - - - -
15463 378.0 10.8 1096 15466 done 0.78 - - 2601 - 1.05 0.028 2166 -662.9 477.7 - - 919 - - - - - - - - - - -
15794 341.2 11.4 1127 15798 roll 0.81 - - 2606 - 1.02 0.036 1480 -672.5 477.7 - - 922 - - - - - - - - - - -
15876 331.4 12.4 1134 15879 done 0.83 - - 2606 - 1.05 0.031 2172 659.0 477.7 - - 923 - - - - - - - - - - -
16207 294.0 10.1 1165 16219 roll 0.88 - - 2606 - 1.10 0.037 2864 629.1 484.8 8.32 0.588 892 -3.7 0.192 - - - - - - - - -
16272 287.2 10.3 1170 16279 done 0.91 0.08 0.059 2657 637.5 1.05 0.028 2170 -661.0 484.8 - - 896 - - - - - - - - - - -
16598 243.3 14.6 1201 16601 roll 0.87 - - 2657 - 1.08 0.036 2866 644.4 484.8 - - 896 - - - - - - - - - - -
16671 232.4 14.2 1207 16679 done 0.81 0.12 0.135 2621 -300.0 1.08 0.029 2159 -654.6 484.8 - - 897 - - - - - - - - - - -
16997 200.9 8.1 1238 17056 roll 0.92 - - 2621 - 1.15 0.034 2869 617.4 553.1 52.78 0.555 613 -5.4 0.201 - - - - - - - - -
17160 185.1 10.4 1265 17167 done 0.98 0.10 0.050 2690 690.0 1.08 0.028 2161 -655.6 553.1 - - 618 - - - - - - - - - - -
17509 146.7 13.3 1326 17516 roll 0.96 - - 2695 - 1.02 0.034 1470 -677.5 553.1 - - 619 - - - - - - - - - - -
17596 135.6 12.2 1341 17604 done 0.93 0.12 0.114 2652 -358.3 1.05 0.028 2169 665.7 553.1 - - 619 - - - - - - - - - - -
17948 104.0 9.0 1402 17985 roll 1.11 0.17 0.075 2725 429.4 1.12 0.031 1455 -637.5 592.8 32.00 0.489 450 -5.3 0.116 - - - - - - - - -
18139 86.2 9.3 1435 18146 done 1.25 - - 2726 - 1.08 0.028 2170 662.0 623.9 3.97 0.344 439 -2.8 0.072 - - - - - - - - -
18488 52.4 9.8 1496 18496 done 1.32 0.15 0.070 2810 560.0 - - 2170 - 641.2 0.32 0.100 442 9.4 -0.506 - - - - - - - - -
18837 5.5 14.0 1557 18846 roll 1.26 0.17 0.147 2761 -288.2 1.08 0.033 2864 642.6 641.2 2.70 0.217 439 -1.1 0.003 - - - - - - - - -
18856 end climb: SURFACE_DEPTH_REACHED
18856 begin surface coast
18880 end surface coast: CONTROL_FINISHED_OK
18880 begin surface
SM 1.58 - - - - -6.61 6.55 0.027 206 -390.1 - - 2575 - 596.08 - - 440 - - - - - - - -