OKMC Nov12 * SG170 * Dive index * Mission links * Dive 133 * Raw log
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• Previous call tries 1 • 29.16 of 150.00 AH used of 24V (80.56% remains)
• Previous NAKs 0, Timeouts 0 • 12.57 of 100.00 AH used of 10V (87.43% remains)
• Surface angle -76.8 deg, depth 2.47 m • Intended pitch -14.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 565.91, SM_CC=450)
• GPS1 time: 38 s
• GPS2 time: 14 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
19 - - - 77 VBD -0.51 - - 131 - - - 2559 - -170.3 -56.12 - 1726 - - - - - - - - - - -
80 3.0 -1.8 10 171 roll -0.51 11.02 0.239 2879 249.4 2.03 0.044 1226 -656.7 -170.3 -67.38 - 3466 -25.8 - - - - - - - 25.65 26.10 26.38
259 34.8 -26.2 39 265 done -0.42 0.12 0.184 2912 275.0 2.15 0.044 2598 638.1 -170.3 - - 3466 - - - - - - - - 25.92 26.11 -
454 69.0 -12.9 52 460 roll -0.40 - - 2908 - 1.73 0.054 3695 634.1 -170.3 - - 3466 - - - - - - - - - 26.20 -
518 78.3 -14.2 55 524 done -0.38 - - 2908 - 1.55 0.024 2608 -701.3 -170.3 - - 3466 - - - - - - - - - 26.36 -
723 106.1 -14.4 65 728 roll -0.36 - - 2907 - 1.75 0.054 3687 616.6 -170.3 - - 3466 - - - - - - - - - 26.31 -
826 120.0 -13.4 70 831 done -0.36 - - 2908 - 1.58 0.023 2552 -718.4 -170.3 - - 3466 - - - - - - - - - 26.48 -
1029 145.8 -11.9 80 1034 roll -0.36 - - 2908 - 1.88 0.026 1238 -698.9 -170.3 - - 3466 - - - - - - - - - 26.47 -
1128 152.6 -8.1 84 1135 done -0.37 - - 2907 - 2.08 0.039 2611 660.1 -170.3 - - 3466 - - - - - - - - - 26.42 -
1313 163.5 -6.1 94 1318 roll -0.39 - - 2908 - 1.67 0.054 3690 646.1 -170.3 - - 3466 - - - - - - - - - 26.42 -
1360 166.4 -6.5 96 1366 done -0.41 - - 2908 - 1.50 0.026 2590 -733.3 -170.3 - - 3466 - - - - - - - - - 26.58 -
1561 181.3 -7.5 106 1567 roll -0.43 - - 2907 - 1.92 0.025 1244 -701.0 -170.3 - - 3466 - - - - - - - - - 26.55 -
1599 183.3 -7.4 107 1605 done -0.46 - - 2908 - 2.08 0.039 2606 654.8 -170.3 - - 3466 - - - - - - - - - 26.48 -
1786 196.6 -6.7 117 1791 roll -0.48 - - 2908 - 1.70 0.053 3701 644.1 -170.3 - - 3465 - - - - - - - - - 26.47 -
1843 199.6 -6.7 119 1851 done -0.51 - - 2908 - 1.52 0.026 2604 -721.7 -170.3 - - 3465 - - - - - - - - - 26.63 -
2030 214.0 -7.6 129 2035 roll -0.54 - - 2908 - 1.95 0.024 1226 -706.7 -170.3 - - 3464 - - - - - - - - - 26.58 -
2057 215.9 -7.7 130 2063 done -0.57 0.12 0.094 2841 -558.3 2.10 0.040 2602 655.2 -170.3 - - 3464 - - - - - - - - 26.51 26.51 -
2257 243.7 -15.4 140 2263 roll -0.54 0.12 0.149 2884 358.3 1.98 0.023 1229 -693.4 -170.3 - - 3463 - - - - - - - - 26.44 26.60 -
2290 247.1 -15.1 141 2296 done -0.52 - - 2884 - 2.08 0.040 2601 659.6 -170.3 - - 3463 - - - - - - - - - 26.52 -
2483 270.7 -11.3 151 2485 done -0.54 - - 2884 - - - 2602 - -170.3 - - 3462 - - - - - - - - - - -
2785 296.3 -6.5 166 2786 done -0.56 - - 2884 - - - 2601 - -170.3 - - 3460 - - - - - - - - - - -
3085 308.8 -4.0 181 3090 roll -0.58 - - 2884 - 2.00 0.024 1229 -686.0 -170.3 - - 3458 - - - - - - - - - 26.62 -
3163 312.0 -4.8 184 3169 done -0.60 - - 2884 - 2.08 0.040 2601 659.6 -170.3 - - 3457 - - - - - - - - - 26.55 -
3468 335.1 -8.7 200 3474 roll -0.63 0.12 0.090 2807 -641.7 1.67 0.051 3690 652.1 -170.3 - - 3456 - - - - - - - - 26.65 26.53 -
3542 343.8 -12.3 203 3548 done -0.62 0.15 0.145 2852 300.0 1.50 0.027 2620 -713.3 -170.3 - - 3456 - - - - - - - - 26.41 26.68 -
3855 383.7 -11.8 219 3861 roll -0.62 - - 2852 - 2.00 0.025 1215 -702.5 -170.3 - - 3453 - - - - - - - - - 26.63 -
3879 386.5 -11.9 220 3885 done -0.62 - - 2852 - 2.10 0.041 2597 658.1 -170.3 - - 3453 - - - - - - - - - 26.54 -
4202 421.0 -10.6 236 4203 done -0.62 - - 2852 - - - 2598 - -170.3 - - 3451 - - - - - - - - - - -
4503 454.5 -11.8 251 4509 roll -0.62 - - 2852 - 2.03 0.025 1216 -680.8 -170.3 - - 3449 - - - - - - - - - 26.64 -
4586 464.2 -11.6 255 4591 done -0.62 - - 2852 - 2.12 0.041 2614 659.4 -170.3 - - 3449 - - - - - - - - - 26.55 -
4909 499.5 -10.4 271 4910 done -0.62 - - 2852 - - - 2614 - -170.3 - - 3446 - - - - - - - - - - -
5210 526.4 -8.2 286 5212 done -0.62 - - 2852 - - - 2614 - -170.3 - - 3446 - - - - - - - - - - -
5510 547.4 -6.4 301 5515 roll -0.62 - - 2852 - 2.03 0.026 1220 -686.7 -170.3 - - 3444 - - - - - - - - - 26.64 -
5547 548.9 -6.2 302 5553 done -0.62 - - 2852 - 2.12 0.041 2601 651.4 -170.3 - - 3444 - - - - - - - - - 26.55 -
5853 567.0 -5.6 318 5859 roll -0.62 - - 2854 - 2.03 0.025 1209 -685.7 -170.3 - - 3443 - - - - - - - - - 26.64 -
5877 568.3 -5.5 319 5882 done -0.63 - - 2852 - 2.15 0.041 2601 647.4 -170.3 - - 3442 - - - - - - - - - 26.54 -
6201 583.7 -4.3 335 6206 roll -0.64 - - 2852 - 2.03 0.026 1207 -686.7 -170.3 - - 3440 - - - - - - - - - 26.64 -
6245 585.7 -4.3 337 6250 done -0.65 - - 2852 - 2.15 0.041 2602 648.8 -170.3 - - 3440 - - - - - - - - - 26.54 -
6568 597.9 -3.9 353 6569 done -0.66 - - 2852 - - - 2603 - -170.3 - - 3439 - - - - - - - - - - -
6869 611.0 -4.7 364 6870 done -0.67 - - 2852 - - - 2603 - -170.3 - - 3438 - - - - - - - - - - -
7168 627.0 -5.6 374 7174 roll -0.68 - - 2852 - 2.03 0.025 1208 -687.2 -170.3 - - 3437 - - - - - - - - - 26.64 -
7211 629.1 -5.8 375 7216 done -0.69 - - 2852 - 2.12 0.041 2601 657.1 -170.3 - - 3437 - - - - - - - - - 26.54 -
7536 652.5 -7.6 386 7537 done -0.70 - - 2852 - - - 2601 - -170.3 - - 3435 - - - - - - - - - - -
7835 677.6 -8.6 396 7841 roll -0.72 0.10 0.114 2796 -560.0 2.05 0.024 1212 -677.6 -170.3 - - 3434 - - - - - - - - 26.67 26.63 -
7908 685.3 -10.3 398 7913 done -0.72 - - 2796 - 2.15 0.043 2600 645.6 -170.3 - - 3433 - - - - - - - - - 26.53 -
8232 734.1 -15.3 409 8238 roll -0.69 0.12 0.162 2836 333.3 2.03 0.024 1214 -682.8 -170.3 - - 3434 - - - - - - - - 26.42 26.63 -
8256 734.1 -15.3 409 8261 done -0.66 - - 2838 - 2.12 0.042 2601 654.2 -170.3 - - 3432 - - - - - - - - - 26.52 -
8569 779.5 -13.9 420 8574 roll -0.66 - - 2837 - 2.03 0.026 1215 -682.8 -170.3 - - 3432 - - - - - - - - - 26.63 -
8591 779.5 -13.9 420 8596 done -0.66 - - 2837 - 2.15 0.042 2604 646.0 -170.3 - - 3432 - - - - - - - - - 26.52 -
8905 826.5 -14.0 431 8910 roll -0.66 - - 2836 - 2.03 0.026 1215 -684.2 -170.3 - - 3431 - - - - - - - - - 26.62 -
8937 831.3 -14.0 432 8942 done -0.66 - - 2836 - 2.15 0.041 2612 649.8 -170.3 - - 3431 - - - - - - - - - 26.52 -
9271 874.4 -12.7 443 9276 roll -0.66 - - 2836 - 2.05 0.027 1215 -681.5 -170.3 - - 3430 - - - - - - - - - 26.62 -
9334 882.1 -12.2 445 9339 done -0.67 - - 2836 - 2.17 0.042 2611 643.3 -170.3 - - 3430 - - - - - - - - - 26.51 -
9668 918.4 -10.3 456 9673 roll -0.67 - - 2836 - 2.08 0.027 1211 -673.1 -170.3 - - 3428 - - - - - - - - - 26.61 -
9725 922.0 -10.2 457 9732 done -0.68 - - 2836 - 2.15 0.042 2605 648.4 -170.3 - - 3428 - - - - - - - - - 26.51 -
10034 951.7 -8.4 468 10035 done -0.69 - - 2836 - - - 2605 - -170.3 - - 3427 - - - - - - - - - - -
10332 973.9 -7.1 478 10337 roll -0.70 - - 2837 - 2.05 0.027 1219 -676.1 -170.3 - - 3426 - - - - - - - - - 26.61 -
10384 976.3 -6.9 479 10390 done -0.71 - - 2836 - 2.15 0.042 2606 645.1 -170.3 - - 3426 - - - - - - - - - 26.51 -
10605 end dive: TARGET_DEPTH_EXCEEDED
10605 begin apogee
10611 991.3 -6.1 487 10759 done -0.15 0.45 0.111 2996 355.6 - - 2123 - - 139.57 1.481 2769 -4.7 0.338 - - - - - - 26.29 - 23.82
10760 end apogee: CONTROL_FINISHED_OK
10760 begin climb
10763 994.3 - 492 10923 done 0.51 0.60 0.049 3227 385.0 - - 2123 - 170.3 156.95 1.434 2074 -4.4 0.329 - - - - - - 24.87 - 22.89
11207 940.9 13.8 507 11212 roll 0.46 - - 3226 - 2.33 0.050 3533 605.2 170.3 - - 2063 - - - - - - - - - 25.46 -
11245 936.0 13.9 508 11251 done 0.40 0.20 0.155 3182 -220.0 2.15 0.028 2141 -647.4 170.3 - - 2063 - - - - - - - - 25.40 25.65 -
11574 904.1 8.5 519 11580 roll 0.38 - - 3187 - 2.17 0.034 718 -655.8 174.8 - - 2060 - - - - - - - - - 26.03 -
11669 897.1 7.6 522 11707 done 0.37 - - 3187 - 2.20 0.035 2129 641.4 205.8 30.52 1.375 1928 -4.3 0.302 - - - - - - - 26.08 24.48
12031 868.9 7.8 534 12060 roll 0.37 - - 3187 - 2.28 0.049 3531 614.9 230.4 22.25 1.339 1827 -4.5 0.316 - - - - - - - 25.49 24.61
12098 863.2 8.3 536 12118 done 0.35 - - 3194 - 2.17 0.028 2109 -655.3 242.4 11.85 1.245 1779 -4.1 0.301 - - - - - - - 25.72 24.55
12426 833.7 8.8 547 12432 roll 0.33 0.12 0.158 3158 -300.0 2.10 0.032 733 -655.2 242.4 - - 1773 - - - - - - - - 25.95 26.06 -
12504 829.8 7.5 549 12539 done 0.35 - - 3159 - 2.12 0.034 2122 655.2 276.6 29.98 1.339 1641 -4.4 0.292 - - - - - - - 26.10 24.51
12853 807.6 6.4 561 12917 roll 0.39 - - 3159 - 2.33 0.050 3522 600.9 342.2 58.15 1.346 1372 -4.6 0.297 - - - - - - - 24.96 24.14
12979 798.2 7.6 565 13014 done 0.42 - - 3159 - 2.17 0.026 2106 -652.5 373.5 28.02 1.294 1245 -4.5 0.299 - - - - - - - 25.54 24.18
13337 766.9 9.4 577 13344 roll 0.46 0.12 0.090 3240 675.0 2.08 0.032 736 -658.7 373.5 - - 1240 - - - - - - - - 26.02 25.98 -
13411 757.2 12.3 579 13417 done 0.49 0.12 0.142 3204 -300.0 2.12 0.035 2118 651.9 373.5 - - 1240 - - - - - - - - 25.92 26.03 -
13735 700.5 17.4 590 13741 roll 0.49 - - 3203 - 2.25 0.050 3532 628.4 373.5 - - 1239 - - - - - - - - - 26.18 -
13788 694.1 17.8 591 13793 done 0.49 - - 3207 - 2.10 0.027 2125 -670.0 373.5 - - 1239 - - - - - - - - - 26.29 -
14101 634.6 17.3 602 14106 roll 0.49 - - 3213 - 2.08 0.034 732 -669.7 373.5 - - 1239 - - - - - - - - - 26.34 -
14187 624.9 16.2 604 14194 done 0.49 - - 3213 - 2.15 0.035 2133 651.6 373.5 - - 1239 - - - - - - - - - 26.34 -
14506 570.5 15.9 618 14511 roll 0.48 - - 3213 - 2.20 0.050 3537 638.2 373.5 - - 1239 - - - - - - - - - 26.35 -
14558 563.1 16.1 620 14563 done 0.47 - - 3214 - 2.12 0.028 2125 -666.0 373.5 - - 1239 - - - - - - - - - 26.46 -
14871 516.6 13.4 636 14877 roll 0.46 - - 3214 - 2.10 0.034 723 -667.6 373.5 - - 1238 - - - - - - - - - 26.45 -
14949 509.7 11.5 639 14955 done 0.46 - - 3214 - 2.12 0.034 2130 663.7 373.5 - - 1238 - - - - - - - - - 26.44 -
15255 475.2 10.8 655 15260 roll 0.46 - - 3214 - 2.20 0.050 3538 640.0 373.5 - - 1238 - - - - - - - - - 26.41 -
15317 467.6 11.7 658 15323 done 0.46 - - 3214 - 2.12 0.027 2112 -672.6 373.5 - - 1238 - - - - - - - - - 26.54 -
15640 426.4 13.3 674 15645 roll 0.46 - - 3214 - 2.10 0.035 719 -663.3 373.5 - - 1238 - - - - - - - - - 26.50 -
15712 419.2 12.0 677 15718 done 0.47 - - 3214 - 2.12 0.034 2128 664.6 373.5 - - 1238 - - - - - - - - - 26.48 -
16026 380.9 11.4 693 16032 roll 0.47 - - 3214 - 2.17 0.050 3526 644.2 373.5 - - 1238 - - - - - - - - - 26.45 -
16093 373.1 12.2 696 16098 done 0.47 - - 3214 - 2.10 0.027 2101 -678.6 373.5 - - 1238 - - - - - - - - - 26.57 -
16411 334.1 12.9 712 16417 roll 0.47 - - 3214 - 2.05 0.034 734 -666.8 373.5 - - 1238 - - - - - - - - - 26.53 -
16449 331.1 12.9 713 16456 done 0.47 - - 3214 - 2.08 0.034 2122 667.3 373.5 - - 1238 - - - - - - - - - 26.51 -
16754 288.9 13.1 729 16759 roll 0.47 - - 3214 - 2.20 0.050 3536 642.7 373.5 - - 1239 - - - - - - - - - 26.46 -
16786 285.7 13.5 730 16791 done 0.47 - - 3214 - 2.10 0.027 2122 -673.3 373.5 - - 1238 - - - - - - - - - 26.58 -
17099 245.4 10.5 746 17104 roll 0.47 - - 3214 - 2.05 0.034 730 -679.0 373.5 - - 1239 - - - - - - - - - 26.53 -
17171 240.2 8.7 749 17177 done 0.49 - - 3214 - 2.10 0.033 2123 663.3 374.1 - - 1239 - - - - - - - - - 26.52 -
17366 219.8 12.0 759 17371 roll 0.51 - - 3214 - 2.20 0.050 3532 640.5 374.1 - - 1239 - - - - - - - - - 26.47 -
17413 213.8 13.0 761 17418 done 0.52 - - 3215 - 2.10 0.026 2119 -672.9 374.1 - - 1239 - - - - - - - - - 26.61 -
17612 189.0 11.8 771 17618 roll 0.54 - - 3214 - 2.08 0.034 722 -671.6 374.1 - - 1239 - - - - - - - - - 26.54 -
17680 183.3 9.5 774 17685 done 0.57 - - 3214 - 2.10 0.033 2130 670.5 374.1 - - 1239 - - - - - - - - - 26.53 -
17880 169.4 8.0 784 17904 roll 0.61 - - 3214 - 2.22 0.049 3521 626.6 392.8 16.48 0.864 1166 -4.4 0.093 - - - - - - - 26.25 25.48
17932 165.6 8.5 786 17945 done 0.64 0.12 0.090 3285 591.7 2.08 0.025 2123 -672.1 398.7 6.62 0.741 1143 -3.5 0.083 - - - - - - 26.29 26.36 25.37
18124 135.8 17.2 796 18129 roll 0.61 0.12 0.151 3246 -325.0 2.08 0.031 725 -672.1 398.7 - - 1140 - - - - - - - - 26.17 26.29 -
18196 126.7 14.8 799 18203 done 0.62 - - 3246 - 2.10 0.032 2125 666.7 398.7 - - 1140 - - - - - - - - - 26.30 -
18391 96.3 15.6 809 18396 roll 0.65 - - 3246 - 2.17 0.047 3532 648.4 398.7 - - 1141 - - - - - - - - - 26.30 -
18454 90.5 10.2 812 18459 done 0.67 - - 3252 - 2.12 0.025 2102 -674.5 398.7 - - 1141 - - - - - - - - - 26.46 -
18659 76.7 7.0 822 18707 roll 0.72 - - 3252 - 2.15 0.031 715 -645.1 446.6 39.60 0.803 947 -4.9 0.050 - - - - - - - 25.84 25.16
18750 72.8 4.6 826 18862 done 0.82 0.17 0.075 3337 500.0 2.15 0.029 2127 656.7 565.3 100.53 0.786 463 -4.8 0.048 - - - - - - 25.94 25.94 24.53
19040 38.5 13.1 845 19045 roll 0.95 - - 3337 - 2.22 0.046 3526 630.2 565.3 - - 463 - - - - - - - - - 25.81 -
19275 14.2 11.7 879 19283 done 1.07 0.17 0.087 3403 388.2 2.10 0.024 2103 -677.6 565.3 - - 463 - - - - - - - - 26.06 26.18 -
19375 end climb: SURFACE_DEPTH_REACHED
19375 begin surface coast
19401 end surface coast: CONTROL_FINISHED_OK
19401 begin surface
SM 2.46 - - - - -9.06 8.48 0.043 133 -385.6 0.80 0.041 2609 632.5 565.91 - - 462 - - - - - - - -