OKMC Jun11 * SG181 * Dive index * Mission links * Dive 722 * Raw log
prev dive * next dive * dive
• Previous call tries 1 • 120.30 of 150.00 AH used of 24V (19.80% remains)
• Previous NAKs 0, Timeouts 0 • 87.03 of 110.00 AH used of 10V (20.88% remains)
• Surface angle -69.1 deg, depth 1.45 m • Intended pitch -14.3 deg, speed -10.312 cm/s
• No surface pump (final VBD was 595.59, SM_CC=475)
• GPS1 time: 26 s
• GPS2 time: 10 s • Transponder ping count: 0
• 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 - - 127 - - - 2513 - -219.0 -67.53 - 2355 - - - - - - - - - - -
91 3.2 -2.8 12 138 roll -0.61 8.60 0.222 2170 237.6 0.82 0.076 3021 619.5 -219.0 -32.60 - 3763 -43.2 - - - - - - - - - -
276 48.7 -22.4 44 283 done -0.46 0.17 0.139 2224 317.6 0.77 0.026 2472 -713.0 -219.0 - - 3763 - - - - - - - - - - -
624 104.4 -14.1 105 630 roll -0.39 - - 2224 - 0.65 0.025 1965 -780.0 -219.0 - - 3761 - - - - - - - - - - -
744 119.0 -10.8 126 752 done -0.37 0.08 0.115 2251 337.5 0.77 0.032 2491 683.1 -219.0 - - 3761 - - - - - - - - - - -
1094 151.7 -8.4 187 1101 roll -0.52 0.12 0.081 2194 -475.0 0.73 0.027 1964 -721.9 -219.0 - - 3761 - - - - - - - - - - -
1155 156.8 -8.1 197 1162 done -0.63 - - 2194 - 0.80 0.035 2501 671.2 -219.0 - - 3761 - - - - - - - - - - -
1502 188.3 -8.0 258 1509 roll -0.70 0.15 0.069 2100 -626.7 0.73 0.027 1973 -723.3 -219.0 - - 3761 - - - - - - - - - - -
1590 199.3 -14.1 273 1598 done -0.59 0.25 0.125 2176 304.0 0.77 0.036 2491 672.7 -219.0 - - 3761 - - - - - - - - - - -
1916 232.8 -9.8 304 1920 roll -0.56 - - 2174 - 0.80 0.040 3032 676.2 -219.0 - - 3761 - - - - - - - - - - -
2090 250.2 -10.5 319 2097 done -0.52 0.08 0.117 2201 337.5 0.75 0.027 2496 -714.7 -219.0 - - 3760 - - - - - - - - - - -
2416 281.6 -9.9 350 2421 roll -0.66 0.12 0.080 2147 -450.0 0.82 0.038 3032 653.7 -219.0 - - 3759 - - - - - - - - - - -
2478 287.8 -10.1 355 2485 done -0.70 - - 2147 - 0.75 0.027 2499 -710.7 -219.0 - - 3758 - - - - - - - - - - -
2804 314.6 -8.2 386 2808 roll -0.73 - - 2143 - 0.80 0.039 3028 661.2 -219.0 - - 3756 - - - - - - - - - - -
2840 317.7 -8.6 389 2843 done -0.74 - - 2143 - 0.75 0.028 2499 -705.3 -219.0 - - 3756 - - - - - - - - - - -
3171 349.7 -10.1 420 3175 roll -0.76 - - 2140 - 0.80 0.040 3021 652.5 -219.0 - - 3753 - - - - - - - - - - -
3279 360.4 -10.0 429 3286 done -0.76 - - 2140 - 0.75 0.028 2491 -706.7 -219.0 - - 3752 - - - - - - - - - - -
3605 393.3 -10.6 460 3608 roll -0.80 - - 2139 - 0.82 0.041 3026 652.4 -219.0 - - 3750 - - - - - - - - - - -
3687 401.8 -10.3 467 3690 done -0.81 - - 2139 - 0.75 0.028 2503 -697.3 -219.0 - - 3748 - - - - - - - - - - -
4018 430.5 -7.8 498 4023 roll -0.84 0.10 0.091 2072 -670.0 0.82 0.042 3020 630.5 -219.0 - - 3746 - - - - - - - - - - -
4162 449.9 -15.2 510 4169 done -0.71 0.22 0.135 2141 313.6 0.75 0.029 2498 -696.0 -219.0 - - 3744 - - - - - - - - - - -
4488 484.7 -10.0 541 4491 roll -0.67 - - 2139 - 0.82 0.044 3027 645.1 -219.0 - - 3741 - - - - - - - - - - -
4562 492.6 -10.8 547 4569 done -0.62 0.10 0.121 2173 340.0 0.77 0.029 2492 -694.8 -219.0 - - 3741 - - - - - - - - - - -
4883 517.1 -7.2 567 4886 roll -0.70 - - 2171 - 0.82 0.043 3024 648.8 -219.0 - - 3738 - - - - - - - - - - -
4991 525.6 -7.9 571 4998 done -0.77 0.10 0.047 2107 -640.0 0.75 0.028 2501 -697.3 -219.0 - - 3737 - - - - - - - - - - -
5307 558.1 -10.9 587 5311 roll -0.77 - - 2102 - 0.80 0.043 3016 643.8 -219.0 - - 3734 - - - - - - - - - - -
5359 564.1 -11.8 589 5364 done -0.72 0.12 0.127 2143 341.7 0.75 0.030 2501 -686.7 -219.0 - - 3733 - - - - - - - - - - -
5688 601.0 -11.0 605 5692 roll -0.69 - - 2141 - 0.80 0.044 3014 641.2 -219.0 - - 3731 - - - - - - - - - - -
5745 607.8 -11.9 607 5749 done -0.65 - - 2140 - 0.75 0.030 2499 -686.7 -219.0 - - 3731 - - - - - - - - - - -
6068 642.3 -10.5 623 6072 roll -0.63 0.12 0.148 2174 283.3 0.85 0.045 3024 617.6 -219.0 - - 3728 - - - - - - - - - - -
6136 648.2 -8.3 626 6141 done -0.64 - - 2173 - 0.77 0.030 2490 -693.5 -219.0 - - 3728 - - - - - - - - - - -
6471 673.0 -7.5 642 6476 roll -0.74 0.12 0.087 2107 -550.0 0.85 0.045 3018 621.2 -219.0 - - 3726 - - - - - - - - - - -
6549 680.7 -10.1 645 6553 done -0.72 0.10 0.118 2141 340.0 0.75 0.031 2505 -684.0 -219.0 - - 3725 - - - - - - - - - - -
6872 714.2 -10.9 661 6875 roll -0.70 - - 2139 - 0.82 0.047 3025 634.1 -219.0 - - 3723 - - - - - - - - - - -
6986 726.5 -10.5 666 6990 done -0.67 - - 2139 - 0.77 0.031 2497 -685.7 -219.0 - - 3722 - - - - - - - - - - -
7320 763.8 -11.4 682 7324 roll -0.64 - - 2138 - 0.82 0.047 3017 634.1 -219.0 - - 3720 - - - - - - - - - - -
7449 779.2 -11.7 687 7457 done -0.62 0.10 0.124 2172 340.0 0.75 0.031 2506 -681.3 -219.0 - - 3720 - - - - - - - - - - -
7767 807.8 -8.7 703 7771 roll -0.72 - - 2172 - 0.80 0.047 3013 633.8 -219.0 - - 3718 - - - - - - - - - - -
7869 816.5 -8.1 707 7873 done -0.83 0.15 0.050 2091 -540.0 0.75 0.031 2506 -676.0 -219.0 - - 3717 - - - - - - - - - - -
8191 844.8 -8.1 723 8195 roll -0.83 - - 2091 - 0.75 0.031 1969 -716.0 -219.0 - - 3715 - - - - - - - - - - -
8283 852.7 -9.4 727 8287 done -0.76 0.12 0.127 2128 308.3 0.82 0.044 2491 636.6 -219.0 - - 3714 - - - - - - - - - - -
8619 880.7 -8.5 743 8623 roll -0.73 - - 2125 - 0.82 0.047 3025 651.2 -219.0 - - 3713 - - - - - - - - - - -
8795 897.3 -9.6 750 8802 done -0.70 - - 2125 - 0.77 0.032 2501 -680.5 -219.0 - - 3712 - - - - - - - - - - -
9113 929.8 -10.4 766 9117 roll -0.66 0.12 0.151 2158 275.0 0.88 0.050 3031 602.3 -219.0 - - 3711 - - - - - - - - - - -
9243 940.6 -7.7 771 9250 done -0.67 - - 2158 - 0.80 0.032 2496 -668.8 -219.0 - - 3711 - - - - - - - - - - -
9562 965.6 -7.9 787 9565 roll -0.69 - - 2154 - 0.85 0.047 3031 629.4 -219.0 - - 3709 - - - - - - - - - - -
9608 969.6 -7.9 789 9612 done -0.70 - - 2154 - 0.80 0.031 2491 -675.0 -219.0 - - 3708 - - - - - - - - - - -
9836 end dive: TARGET_DEPTH_EXCEEDED
9836 begin apogee
9844 990.1 9.1 800 10014 done -0.19 0.47 0.109 2311 334.0 - - 2100 - - 165.10 1.073 2870 -5.1 0.483 - - - - - - - - -
10015 end apogee: CONTROL_FINISHED_OK
10015 begin climb
10019 1003.0 - 808 10205 roll 0.61 0.70 0.047 2588 395.7 0.85 0.035 1562 -632.9 219.0 174.80 1.060 1975 -5.1 0.499 - - - - - - - - -
10262 991.3 11.0 819 10266 done 0.50 0.15 0.150 2544 -293.3 0.85 0.034 2105 638.8 219.0 - - 1974 - - - - - - - - - - -
10585 963.4 8.7 835 10631 roll 0.50 - - 2544 - 0.77 0.037 2627 677.9 270.8 42.03 1.021 1764 -5.0 0.486 - - - - - - - - -
10813 942.2 9.3 845 10844 done 0.49 - - 2546 - 0.77 0.031 2109 -672.7 303.6 27.12 0.984 1631 -4.9 0.484 - - - - - - - - -
11155 909.1 9.8 861 11178 roll 0.48 - - 2546 - 0.77 0.035 2631 677.9 321.0 15.68 0.935 1559 -4.6 0.460 - - - - - - - - -
11281 895.6 11.1 866 11285 done 0.44 0.10 0.140 2518 -280.0 0.80 0.032 2101 -662.5 321.0 - - 1559 - - - - - - - - - - -
11603 868.2 8.2 882 11661 roll 0.52 - - 2518 - 0.88 0.037 2635 606.8 386.9 53.88 0.978 1291 -5.0 0.455 - - - - - - - - -
11746 855.3 9.2 887 11779 done 0.58 0.10 0.060 2570 520.0 0.80 0.032 2107 -660.0 421.2 28.50 0.936 1150 -4.9 0.466 - - - - - - - - -
12102 817.9 10.3 905 12111 roll 0.57 - - 2570 - 0.85 0.039 2637 623.5 422.8 3.58 0.556 1145 -1.4 0.212 - - - - - - - - -
12253 801.6 10.8 911 12259 done 0.55 - - 2573 - 0.80 0.032 2099 -672.5 422.8 - - 1145 - - - - - - - - - - -
12569 768.1 10.9 927 12573 roll 0.54 - - 2573 - 0.80 0.038 2624 656.2 422.8 - - 1144 - - - - - - - - - - -
12665 756.7 11.8 931 12669 done 0.52 0.10 0.119 2543 -300.0 0.77 0.032 2107 -671.4 422.8 - - 1144 - - - - - - - - - - -
12994 727.8 8.7 947 13041 roll 0.65 0.12 0.090 2598 458.3 0.82 0.034 2627 634.1 474.1 41.40 0.894 935 -5.0 0.424 - - - - - - - - -
13066 720.0 10.6 950 13070 done 0.62 - - 2601 - 0.80 0.032 2103 -655.0 474.1 - - 936 - - - - - - - - - - -
13394 684.2 10.6 966 13404 roll 0.61 0.12 0.156 2567 -283.3 0.85 0.038 2629 618.8 474.1 3.85 0.536 936 - - - - - - - - - - -
13444 679.3 9.0 968 13483 done 0.66 - - 2569 - 0.80 0.033 2099 -662.5 514.4 34.00 0.848 771 -4.9 0.401 - - - - - - - - -
13792 648.1 9.3 985 13823 roll 0.77 0.15 0.082 2638 460.0 0.80 0.032 2637 672.5 546.2 26.62 0.823 642 -4.8 0.393 - - - - - - - - -
13841 642.4 11.8 987 13845 done 0.77 - - 2642 - 0.82 0.032 2097 -658.5 546.2 - - 640 - - - - - - - - - - -
14163 599.9 12.7 1003 14167 roll 0.75 - - 2642 - 0.80 0.038 2621 655.0 546.2 - - 639 - - - - - - - - - - -
14211 593.6 14.2 1005 14215 done 0.72 0.12 0.132 2605 -308.3 0.77 0.032 2101 -675.3 546.2 - - 639 - - - - - - - - - - -
14543 555.4 11.7 1021 14544 done 0.72 - - 2605 - - - 2101 - 546.2 - - 639 - - - - - - - - - - -
14853 517.2 11.9 1036 14856 roll 0.81 - - 2606 - 0.77 0.040 1578 -679.2 546.2 - - 639 - - - - - - - - - - -
14932 507.7 11.6 1039 14937 done 0.86 0.10 0.054 2661 550.0 0.80 0.032 2103 656.2 546.2 - - 639 - - - - - - - - - - -
15261 465.1 12.5 1067 15265 roll 0.86 - - 2661 - 0.77 0.039 2625 677.9 546.2 - - 639 - - - - - - - - - - -
15309 458.5 14.8 1071 15312 done 0.80 - - 2664 - 0.77 0.033 2104 -676.6 546.2 - - 639 - - - - - - - - - - -
15640 413.8 13.7 1102 15645 roll 0.76 0.15 0.148 2622 -280.0 0.82 0.041 2619 628.0 546.2 - - 639 - - - - - - - - - - -
15688 407.8 12.6 1106 15692 done 0.75 - - 2624 - 0.77 0.034 2101 -672.7 546.2 - - 639 - - - - - - - - - - -
16019 366.7 11.9 1137 16023 roll 0.80 - - 2624 - 0.77 0.036 2619 672.7 546.2 - - 639 - - - - - - - - - - -
16090 358.0 12.8 1143 16093 done 0.81 - - 2626 - 0.77 0.033 2101 -672.7 546.2 - - 639 - - - - - - - - - - -
16422 318.2 12.1 1174 16426 roll 0.85 - - 2630 - 0.77 0.039 1575 -683.1 546.2 - - 639 - - - - - - - - - - -
16518 306.5 12.3 1182 16524 done 0.89 - - 2630 - 0.80 0.033 2107 665.0 546.2 - - 640 - - - - - - - - - - -
16845 271.7 10.1 1213 16858 roll 0.98 0.17 0.074 2720 529.4 0.85 0.035 1571 -630.6 553.0 7.22 0.584 613 -3.7 0.179 - - - - - - - - -
16911 262.9 14.9 1218 16918 done 0.91 0.15 0.139 2673 -313.3 0.80 0.034 2097 657.5 553.0 - - 613 - - - - - - - - - - -
17238 219.2 14.2 1249 17242 roll 0.86 - - 2674 - 0.77 0.034 1569 -685.7 553.0 - - 613 - - - - - - - - - - -
17311 208.4 13.5 1255 17318 done 0.83 0.10 0.116 2639 -350.0 0.80 0.034 2096 658.8 553.0 - - 613 - - - - - - - - - - -
17652 176.9 10.1 1309 17665 roll 0.92 - - 2639 - 0.80 0.035 2623 658.8 558.7 6.30 0.508 590 -3.7 0.131 - - - - - - - - -
17766 165.6 10.4 1328 17773 done 0.98 0.10 0.049 2703 640.0 0.77 0.033 2103 -675.3 558.7 - - 590 - - - - - - - - - - -
18115 131.7 12.4 1389 18121 roll 1.00 - - 2707 - 0.77 0.037 1572 -689.6 558.7 - - 591 - - - - - - - - - - -
18168 123.5 14.6 1398 18175 done 1.00 - - 2707 - 0.80 0.031 2109 671.2 558.7 - - 591 - - - - - - - - - - -
18517 91.7 7.6 1459 18553 roll 1.12 - - 2710 - 0.82 0.031 1571 -656.1 644.5 28.95 0.492 438 -5.3 0.102 - - - - - - - - -
18596 85.0 8.6 1472 18603 done 1.25 0.15 0.047 2789 526.7 0.80 0.031 2101 662.5 699.7 - - 440 - - - - - - - - - - -
18945 34.0 14.2 1533 18953 roll 1.18 0.12 0.156 2756 -275.0 0.80 0.036 2626 656.2 699.7 2.50 0.207 439 - - - - - - - - - - -
19095 14.7 12.5 1559 19103 done 1.13 - - 2758 - 0.77 0.031 2095 -689.6 699.7 0.25 0.086 440 - - - - - - - - - - -
19192 end climb: SURFACE_DEPTH_REACHED
19192 begin surface coast
19222 end surface coast: CONTROL_FINISHED_OK
19222 begin surface
SM 1.48 - - - - -6.70 6.80 0.038 208 -375.0 - - 2491 - 595.59 - - 441 - - - - - - - -