OKMC Nov12 * SG170 * Dive index * Mission links * Dive 137 * Raw log
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• Previous call tries 1 • 30.12 of 150.00 AH used of 24V (79.92% remains)
• Previous NAKs 0, Timeouts 0 • 13.03 of 100.00 AH used of 10V (86.97% remains)
• Surface angle -76.5 deg, depth 2.46 m • Intended pitch -14.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 566.89, SM_CC=450)
• GPS1 time: 41 s
• GPS2 time: 13 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 - - - 74 VBD -0.51 - - 133 - - - 2624 - -170.3 -53.08 - 1823 - - - - - - - - - - -
77 3.1 -1.9 9 150 roll -0.51 11.18 0.242 2879 245.6 2.12 0.041 1222 -661.3 -170.3 -55.33 - 3465 -29.7 - - - - - - - 25.63 26.12 26.39
224 29.2 -25.4 33 231 done -0.44 - - 2879 - 2.15 0.047 2585 634.0 -170.3 - - 3466 - - - - - - - - - 26.09 -
411 64.8 -17.5 48 417 roll -0.38 0.12 0.162 2919 333.3 1.75 0.051 3697 635.4 -170.3 - - 3466 - - - - - - - - 26.10 26.20 -
448 68.9 -16.8 49 455 done -0.34 - - 2920 - 1.58 0.024 2575 -710.1 -170.3 - - 3466 - - - - - - - - - 26.37 -
634 97.4 -13.6 59 640 roll -0.34 - - 2920 - 1.90 0.026 1241 -702.1 -170.3 - - 3466 - - - - - - - - - 26.40 -
669 100.3 -13.2 60 674 done -0.35 - - 2919 - 2.10 0.040 2607 650.5 -170.3 - - 3466 - - - - - - - - - 26.32 -
863 118.8 -7.6 70 868 roll -0.36 - - 2919 - 1.70 0.053 3701 643.5 -170.3 - - 3467 - - - - - - - - - 26.35 -
915 121.6 -7.0 72 920 done -0.38 - - 2919 - 1.55 0.024 2586 -719.4 -170.3 - - 3466 - - - - - - - - - 26.52 -
1109 134.3 -6.7 82 1114 roll -0.40 - - 2920 - 1.92 0.025 1242 -700.0 -170.3 - - 3467 - - - - - - - - - 26.50 -
1133 135.9 -6.8 83 1138 done -0.42 - - 2919 - 2.10 0.040 2606 649.5 -170.3 - - 3467 - - - - - - - - - 26.42 -
1338 151.4 -7.8 93 1343 roll -0.44 - - 2919 - 1.67 0.053 3691 649.7 -170.3 - - 3466 - - - - - - - - - 26.43 -
1385 154.8 -7.7 95 1391 done -0.47 - - 2919 - 1.52 0.026 2590 -724.3 -170.3 - - 3466 - - - - - - - - - 26.59 -
1586 166.2 -5.1 105 1592 roll -0.50 - - 2919 - 1.92 0.024 1243 -701.6 -170.3 - - 3466 - - - - - - - - - 26.55 -
1635 168.7 -5.3 107 1640 done -0.54 0.12 0.094 2849 -583.3 2.08 0.038 2603 653.8 -170.3 - - 3466 - - - - - - - - 26.48 26.48 -
1836 193.8 -14.0 117 1841 roll -0.51 0.12 0.148 2892 358.3 1.70 0.051 3697 643.5 -170.3 - - 3465 - - - - - - - - 26.42 26.48 -
1888 199.3 -13.1 119 1893 done -0.50 - - 2892 - 1.50 0.025 2599 -732.0 -170.3 - - 3465 - - - - - - - - - 26.64 -
2082 221.4 -11.2 129 2087 roll -0.52 - - 2894 - 1.95 0.024 1232 -701.0 -170.3 - - 3464 - - - - - - - - - 26.60 -
2134 226.4 -11.4 131 2140 done -0.53 - - 2892 - 2.10 0.039 2606 654.3 -170.3 - - 3464 - - - - - - - - - 26.51 -
2328 248.4 -10.5 141 2333 roll -0.55 - - 2892 - 1.67 0.054 3690 649.1 -170.3 - - 3463 - - - - - - - - - 26.49 -
2401 254.5 -9.7 144 2406 done -0.57 - - 2892 - 1.50 0.027 2599 -727.3 -170.3 - - 3463 - - - - - - - - - 26.65 -
2714 278.6 -6.0 160 2719 roll -0.59 - - 2892 - 1.92 0.024 1234 -710.9 -170.3 - - 3460 - - - - - - - - - 26.62 -
2797 283.0 -5.3 164 2803 done -0.62 0.12 0.095 2827 -541.7 2.08 0.039 2600 656.7 -170.3 - - 3460 - - - - - - - - 26.53 26.53 -
3122 320.8 -13.4 180 3124 done -0.59 0.12 0.151 2863 300.0 - - 2601 - -170.3 - - 3459 - - - - - - - - 26.47 - -
3422 353.0 -10.2 195 3428 roll -0.59 - - 2863 - 1.73 0.054 3695 632.4 -170.3 - - 3458 - - - - - - - - - 26.52 -
3480 357.2 -9.8 197 3486 done -0.59 - - 2863 - 1.55 0.027 2596 -709.0 -170.3 - - 3457 - - - - - - - - - 26.68 -
3786 386.0 -8.6 213 3791 roll -0.59 - - 2863 - 1.95 0.024 1221 -705.1 -170.3 - - 3455 - - - - - - - - - 26.63 -
3839 389.6 -8.5 215 3844 done -0.60 - - 2863 - 2.12 0.040 2610 655.2 -170.3 - - 3456 - - - - - - - - - 26.55 -
4152 417.9 -9.0 231 4157 roll -0.61 - - 2863 - 2.03 0.024 1220 -684.7 -170.3 - - 3453 - - - - - - - - - 26.64 -
4230 423.9 -9.5 234 4236 done -0.62 - - 2863 - 2.10 0.039 2600 657.1 -170.3 - - 3452 - - - - - - - - - 26.55 -
4536 453.8 -9.3 250 4541 roll -0.63 - - 2863 - 1.70 0.054 3689 640.6 -170.3 - - 3450 - - - - - - - - - 26.52 -
4608 459.3 -8.7 253 4613 done -0.65 - - 2863 - 1.52 0.028 2614 -707.2 -170.3 - - 3450 - - - - - - - - - 26.68 -
4922 487.7 -9.3 269 4927 roll -0.66 - - 2863 - 2.03 0.025 1213 -690.1 -170.3 - - 3448 - - - - - - - - - 26.63 -
5026 497.7 -9.7 274 5032 done -0.68 - - 2863 - 2.12 0.040 2611 659.4 -170.3 - - 3447 - - - - - - - - - 26.54 -
5350 528.8 -9.6 290 5356 roll -0.69 0.12 0.092 2793 -583.3 2.05 0.024 1201 -687.8 -170.3 - - 3446 - - - - - - - - 26.66 26.63 -
5393 534.5 -11.4 292 5399 done -0.69 0.12 0.170 2827 283.3 2.15 0.041 2599 650.2 -170.3 - - 3445 - - - - - - - - 26.35 26.53 -
5717 572.7 -10.9 308 5722 roll -0.68 - - 2826 - 1.70 0.055 3690 641.8 -170.3 - - 3445 - - - - - - - - - 26.51 -
5749 575.2 -10.7 309 5755 done -0.66 - - 2826 - 1.58 0.029 2600 -689.9 -170.3 - - 3445 - - - - - - - - - 26.68 -
6083 607.3 -9.1 325 6088 roll -0.65 - - 2826 - 2.00 0.025 1204 -698.0 -170.3 - - 3443 - - - - - - - - - 26.63 -
6126 610.2 -9.0 326 6131 done -0.64 - - 2825 - 2.15 0.041 2599 648.8 -170.3 - - 3442 - - - - - - - - - 26.53 -
6450 638.8 -8.7 337 6455 roll -0.63 - - 2826 - 2.03 0.025 1214 -682.3 -170.3 - - 3441 - - - - - - - - - 26.63 -
6484 642.0 -8.9 338 6489 done -0.62 - - 2826 - 2.15 0.041 2601 645.1 -170.3 - - 3440 - - - - - - - - - 26.53 -
6819 677.5 -11.3 349 6820 done -0.61 - - 2826 - - - 2601 - -170.3 - - 3438 - - - - - - - - - - -
7117 712.7 -11.9 359 7122 roll -0.60 0.12 0.159 2866 333.3 1.73 0.054 3691 630.1 -170.3 - - 3438 - - - - - - - - 26.44 26.48 -
7144 712.7 -11.9 359 7152 done -0.59 - - 2867 - 1.58 0.031 2603 -688.6 -170.3 - - 3438 - - - - - - - - - 26.67 -
7452 744.3 -9.6 370 7457 roll -0.61 - - 2866 - 2.05 0.027 1195 -686.8 -170.3 - - 3436 - - - - - - - - - 26.63 -
7529 750.8 -10.0 372 7534 done -0.64 - - 2866 - 2.17 0.040 2604 649.3 -170.3 - - 3436 - - - - - - - - - 26.52 -
7849 783.9 -9.8 383 7854 roll -0.67 - - 2866 - 2.05 0.026 1200 -684.9 -170.3 - - 3435 - - - - - - - - - 26.62 -
7916 790.1 -9.7 385 7922 done -0.69 0.12 0.099 2808 -483.3 2.17 0.040 2611 650.2 -170.3 - - 3436 - - - - - - - - 26.51 26.51 -
8247 830.5 -12.1 396 8252 roll -0.68 - - 2807 - 2.08 0.026 1200 -678.4 -170.3 - - 3433 - - - - - - - - - 26.62 -
8314 838.0 -12.0 398 8320 done -0.66 - - 2807 - 2.17 0.042 2605 647.5 -170.3 - - 3433 - - - - - - - - - 26.51 -
8644 872.1 -9.5 409 8650 roll -0.64 0.12 0.165 2849 350.0 2.05 0.024 1203 -683.9 -170.3 - - 3431 - - - - - - - - 26.41 26.61 -
8678 874.8 -9.0 410 8684 done -0.63 - - 2849 - 2.17 0.041 2602 644.7 -170.3 - - 3432 - - - - - - - - - 26.50 -
9014 895.4 -6.3 421 9019 roll -0.65 - - 2850 - 2.08 0.026 1193 -677.4 -170.3 - - 3431 - - - - - - - - - 26.61 -
9057 897.8 -6.4 422 9062 done -0.67 - - 2849 - 2.17 0.041 2601 648.8 -170.3 - - 3430 - - - - - - - - - 26.50 -
9381 922.1 -7.8 433 9387 roll -0.68 - - 2849 - 2.08 0.027 1195 -676.0 -170.3 - - 3429 - - - - - - - - - 26.60 -
9415 925.1 -8.0 434 9421 done -0.70 - - 2849 - 2.20 0.041 2609 642.7 -170.3 - - 3429 - - - - - - - - - 26.49 -
9751 952.6 -8.3 445 9756 roll -0.72 - - 2849 - 2.05 0.027 1204 -685.4 -170.3 - - 3428 - - - - - - - - - 26.60 -
9808 955.6 -8.3 446 9817 done -0.74 0.12 0.096 2792 -475.0 2.17 0.041 2606 646.1 -170.3 - - 3427 - - - - - - - - 26.48 26.48 -
10113 end dive: TARGET_DEPTH_EXCEEDED
10113 begin apogee
10119 992.5 -11.6 457 10266 done -0.15 0.60 0.126 2994 336.7 - - 2110 - - 139.80 1.490 2769 -4.7 0.336 - - - - - - 26.20 - 23.81
10267 end apogee: CONTROL_FINISHED_OK
10267 begin climb
10269 997.7 - 462 10433 roll 0.51 0.62 0.055 3220 364.5 2.55 0.051 3522 553.7 170.3 155.45 1.445 2072 -4.5 0.332 - - - - - - 24.84 23.73 22.88
10465 984.2 10.4 468 10471 done 0.44 0.15 0.157 3189 -206.7 2.28 0.027 2136 -607.9 170.3 - - 2068 - - - - - - - - 24.25 24.39 -
10781 938.9 13.3 479 10786 roll 0.41 - - 3199 - 2.20 0.034 724 -641.8 170.3 - - 2061 - - - - - - - - - 25.67 -
10853 930.2 13.6 481 10858 done 0.38 - - 3199 - 2.20 0.037 2120 634.5 170.3 - - 2060 - - - - - - - - - 25.77 -
11178 883.9 14.1 492 11183 roll 0.34 0.12 0.157 3158 -341.7 2.25 0.050 3526 624.9 170.3 - - 2060 - - - - - - - - 25.97 26.04 -
11251 875.3 13.5 494 11256 done 0.31 - - 3163 - 2.15 0.028 2107 -660.0 170.3 - - 2059 - - - - - - - - - 26.20 -
11575 837.4 11.0 505 11577 done 0.30 - - 3162 - - - 2106 - 170.3 - - 2058 - - - - - - - - - - -
11874 805.8 10.3 515 11880 roll 0.29 - - 3172 - 2.08 0.034 736 -658.7 170.3 - - 2057 - - - - - - - - - 26.34 -
11917 802.6 10.1 516 11922 done 0.28 - - 3172 - 2.10 0.035 2122 660.0 170.3 - - 2057 - - - - - - - - - 26.33 -
12242 770.4 9.4 527 12248 roll 0.27 0.12 0.154 3129 -358.3 2.20 0.050 3525 637.7 170.3 - - 2057 - - - - - - - - 26.28 26.32 -
12306 765.1 8.7 529 12311 done 0.27 - - 3132 - 2.12 0.028 2124 -660.8 170.3 - - 2057 - - - - - - - - - 26.48 -
12641 745.3 5.8 540 12718 roll 0.32 - - 3132 - 2.22 0.034 730 -627.9 253.6 69.32 1.331 1734 -4.7 0.279 - - - - - - - 25.09 24.25
12742 739.8 6.1 543 12815 done 0.38 0.12 0.088 3200 566.7 2.20 0.034 2126 634.5 329.3 65.75 1.291 1426 -4.7 0.288 - - - - - - 25.39 25.39 23.99
13123 690.5 13.8 556 13128 roll 0.38 - - 3199 - 2.25 0.051 3529 623.6 329.3 - - 1419 - - - - - - - - - 25.83 -
13210 681.0 14.7 558 13218 done 0.37 0.12 0.149 3164 -291.7 2.17 0.028 2115 -651.6 329.3 - - 1419 - - - - - - - - 25.84 26.04 -
13517 642.2 11.5 569 13522 roll 0.40 - - 3164 - 2.12 0.034 722 -657.1 329.3 - - 1418 - - - - - - - - - 26.18 -
13554 638.2 11.6 570 13559 done 0.43 - - 3164 - 2.12 0.034 2121 659.9 329.3 - - 1417 - - - - - - - - - 26.19 -
13883 599.8 11.4 581 13889 roll 0.46 0.10 0.105 3223 590.0 2.22 0.050 3536 637.4 329.3 - - 1417 - - - - - - - - 26.39 26.24 -
13989 581.1 18.7 586 13995 done 0.44 0.12 0.155 3191 -266.7 2.12 0.028 2120 -667.9 329.3 - - 1417 - - - - - - - - 26.16 26.39 -
14313 536.2 13.0 602 14319 roll 0.44 - - 3199 - 2.12 0.034 715 -662.7 329.3 - - 1416 - - - - - - - - - 26.38 -
14371 531.0 12.5 604 14378 done 0.45 - - 3199 - 2.12 0.034 2123 664.2 329.3 - - 1416 - - - - - - - - - 26.38 -
14676 492.4 11.7 620 14681 roll 0.45 - - 3200 - 2.20 0.051 3525 637.3 329.3 - - 1416 - - - - - - - - - 26.35 -
14733 487.0 12.1 622 14740 done 0.45 - - 3199 - 2.12 0.028 2099 -672.6 329.3 - - 1416 - - - - - - - - - 26.48 -
15039 447.8 13.7 638 15044 roll 0.45 - - 3199 - 2.05 0.034 736 -664.9 329.3 - - 1416 - - - - - - - - - 26.45 -
15066 444.6 13.9 639 15071 done 0.45 - - 3199 - 2.10 0.034 2130 663.8 329.3 - - 1415 - - - - - - - - - 26.44 -
15384 404.4 9.9 655 15389 roll 0.45 - - 3199 - 2.17 0.050 3530 645.2 329.3 - - 1416 - - - - - - - - - 26.39 -
15441 400.1 9.6 657 15449 done 0.45 - - 3199 - 2.10 0.027 2120 -671.4 329.3 - - 1416 - - - - - - - - - 26.54 -
15747 367.6 11.6 673 15753 roll 0.46 - - 3199 - 2.08 0.034 733 -666.8 329.3 - - 1416 - - - - - - - - - 26.48 -
15821 361.1 10.4 676 15826 done 0.48 - - 3200 - 2.10 0.034 2133 666.7 329.3 - - 1415 - - - - - - - - - 26.47 -
16133 321.0 11.4 692 16139 roll 0.49 - - 3199 - 2.17 0.050 3529 643.3 329.3 - - 1416 - - - - - - - - - 26.41 -
16181 316.2 11.2 694 16187 done 0.49 - - 3200 - 2.10 0.026 2109 -676.2 329.3 - - 1416 - - - - - - - - - 26.56 -
16500 290.7 8.1 710 16520 roll 0.51 - - 3200 - 2.12 0.034 736 -647.6 347.7 15.18 0.953 1350 -4.3 0.142 - - - - - - - 26.27 25.44
16589 283.7 8.2 714 16609 done 0.55 - - 3199 - 2.12 0.033 2131 658.0 361.9 13.12 0.926 1293 -4.3 0.143 - - - - - - - 26.27 25.26
16929 262.5 5.4 731 17017 roll 0.62 0.12 0.093 3280 675.0 2.35 0.050 3519 590.6 458.0 79.82 0.960 902 -4.9 0.143 - - - - - - 26.32 25.15 24.49
17092 232.5 21.7 739 17098 done 0.59 0.15 0.150 3241 -260.0 2.15 0.025 2128 -647.0 458.0 - - 900 - - - - - - - - 25.51 25.69 -
17297 194.1 17.9 749 17302 roll 0.59 - - 3241 - 2.12 0.033 722 -663.2 458.0 - - 897 - - - - - - - - - 25.98 -
17349 187.9 16.2 751 17355 done 0.60 - - 3241 - 2.12 0.031 2122 660.4 458.0 - - 896 - - - - - - - - - 26.03 -
17544 173.5 4.7 761 17642 done 0.68 - - 3240 - - - 2123 - 575.8 93.30 0.883 459 -4.7 0.099 - - - - - - - - 24.46
17825 164.0 5.1 775 17831 roll 0.79 0.15 0.080 3320 533.3 2.22 0.047 3522 630.2 680.8 - - 459 - - - - - - - - 25.87 25.79 -
17843 164.0 5.1 775 17851 done 0.90 - - 3321 - 2.15 0.025 2101 -660.9 785.9 - - 458 - - - - - - - - - 25.91 -
18029 125.2 21.3 785 18034 roll 0.88 - - 3323 - 2.05 0.033 741 -663.4 785.9 - - 458 - - - - - - - - - 26.06 -
18087 117.2 20.2 787 18093 done 0.88 - - 3323 - 2.12 0.032 2132 656.1 785.9 - - 458 - - - - - - - - - 26.11 -
18272 97.5 6.8 797 18277 roll 0.91 - - 3323 - 2.17 0.048 3521 640.1 839.9 - - 458 - - - - - - - - - 26.15 -
18309 95.9 6.6 798 18316 done 0.95 - - 3323 - 2.10 0.024 2119 -667.6 901.7 - - 458 - - - - - - - - - 26.29 -
18496 83.0 4.2 808 18503 roll 1.02 0.12 0.090 3404 675.0 2.05 0.030 729 -678.0 1032.5 - - 458 - - - - - - - - 26.36 26.29 -
18641 73.0 7.1 815 18648 done 1.03 - - 3404 - 2.10 0.032 2122 663.3 1079.5 - - 458 - - - - - - - - - 26.33 -
18847 51.8 14.1 825 18852 roll 1.02 - - 3404 - 2.15 0.047 3522 651.2 1079.5 - - 458 - - - - - - - - - 26.32 -
18901 42.7 16.5 829 18906 done 1.01 - - 3405 - 2.08 0.024 2111 -678.4 1079.5 - - 459 - - - - - - - - - 26.46 -
19089 10.4 15.8 856 19097 roll 1.01 0.12 0.149 3365 -333.3 2.05 0.031 732 -672.7 1079.5 - - 459 - - - - - - - - 26.32 26.41 -
19125 6.1 9.9 862 19132 done 1.04 - - 3364 - 2.08 0.031 2124 669.2 1079.5 - - 458 - - - - - - - - - 26.44 -
19162 end climb: SURFACE_DEPTH_REACHED
19162 begin surface coast
19194 end surface coast: CONTROL_FINISHED_OK
19195 begin surface
SM 2.42 - - - - -9.05 8.27 0.044 140 -389.8 0.73 0.041 2622 682.2 566.89 - - 458 - - - - - - - -