OKMC Nov11 * SG165 * Dive index * Mission links * Dive 138 * Raw log
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• Previous call tries 1 • 32.62 of 150.00 AH used of 24V (78.26% remains)
• Previous NAKs 0, Timeouts 0 • 31.73 of 110.00 AH used of 10V (71.15% remains)
• Surface angle -63.6 deg, depth 8.66 m • Intended pitch -15.3 deg, speed -9.706 cm/s
VBD pumped to 546.53 (beyond SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 10 s, HDOP was 99.0 m • Transponder ping count: 4
• 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
17 - - - 115 VBD -0.75 - - 149 - - - 1985 - -194.6 -95.35 - 3131 - - - - - - - - - - -
120 12.4 -9.1 14 145 roll -0.75 10.15 0.237 2691 250.4 2.20 0.053 3373 630.9 -194.6 -7.53 - 3583 -60.0 - - - - - - - 25.48 26.01 26.36
208 47.2 -28.3 28 219 done -0.66 0.12 0.151 2730 325.0 2.17 0.031 1947 -657.1 -194.6 - - 3584 - - - - - - - - 25.77 26.10 -
565 120.6 -19.8 89 572 roll -0.60 - - 2731 - 2.12 0.046 566 -651.4 -194.6 - - 3585 - - - - - - - - - 26.15 -
766 155.6 -14.8 124 776 done -0.58 0.10 0.137 2759 280.0 2.15 0.036 1959 647.9 -194.6 - - 3586 - - - - - - - - 26.01 26.26 -
1119 197.5 -12.0 185 1126 roll -0.58 - - 2754 - 2.15 0.049 3359 651.2 -194.6 - - 3586 - - - - - - - - - 26.24 -
1155 202.5 -13.0 190 1159 done -0.58 - - 2755 - 2.10 0.031 1957 -667.6 -194.6 - - 3586 - - - - - - - - - 26.36 -
1470 242.6 -11.2 221 1476 done -0.58 - - 2754 - - - 1956 - -194.6 - - 3586 - - - - - - - - - - -
1779 275.1 -10.3 252 1791 roll -0.58 - - 2754 - 2.12 0.050 563 -657.1 -194.6 - - 3586 - - - - - - - - - 26.29 -
1815 279.2 -11.2 255 1823 done -0.58 - - 2754 - 2.10 0.037 1952 661.4 -194.6 - - 3586 - - - - - - - - - 26.37 -
2124 307.3 -8.1 286 2133 roll -0.58 - - 2753 - 2.17 0.050 3363 650.2 -194.6 - - 3585 - - - - - - - - - 26.29 -
2294 319.9 -7.4 302 2301 done -0.60 - - 2753 - 2.12 0.031 1944 -669.3 -194.6 - - 3584 - - - - - - - - - 26.43 -
2601 345.2 -8.1 333 2610 roll -0.61 - - 2753 - 2.22 0.050 3362 638.7 -194.6 - - 3582 - - - - - - - - - 26.29 -
2634 348.1 -8.6 336 2638 done -0.62 - - 2753 - 2.12 0.031 1944 -668.9 -194.6 - - 3582 - - - - - - - - - 26.43 -
2947 376.2 -9.2 367 2955 roll -0.63 - - 2753 - 2.10 0.049 561 -658.6 -194.6 - - 3581 - - - - - - - - - 26.32 -
3000 381.1 -10.3 372 3008 done -0.64 - - 2753 - 2.08 0.037 1949 667.3 -194.6 - - 3582 - - - - - - - - - 26.39 -
3309 407.0 -9.0 403 3318 roll -0.66 - - 2753 - 2.20 0.051 3364 643.2 -194.6 - - 3579 - - - - - - - - - 26.28 -
3396 414.1 -8.8 411 3403 done -0.68 - - 2753 - 2.10 0.031 1952 -672.4 -194.6 - - 3579 - - - - - - - - - 26.43 -
3704 439.9 -6.9 442 3712 roll -0.70 - - 2753 - 2.17 0.051 3348 643.3 -194.6 - - 3577 - - - - - - - - - 26.28 -
3832 447.1 -5.2 454 3839 done -0.73 0.12 0.090 2683 -583.3 2.10 0.032 1952 -664.8 -194.6 - - 3576 - - - - - - - - 26.37 26.43 -
4137 478.0 -10.1 485 4139 done -0.70 0.15 0.160 2723 266.7 - - 1948 - -194.6 - - 3574 - - - - - - - - 26.23 - -
4437 503.3 -8.7 515 4445 roll -0.70 - - 2723 - 2.25 0.054 3361 628.0 -194.6 - - 3572 - - - - - - - - - 26.26 -
4491 507.8 -9.4 520 4499 done -0.71 - - 2723 - 2.08 0.034 1964 -671.6 -194.6 - - 3572 - - - - - - - - - 26.41 -
4799 536.3 -9.6 551 4808 roll -0.71 - - 2723 - 2.20 0.053 3356 632.7 -194.6 - - 3571 - - - - - - - - - 26.25 -
4823 538.5 -9.3 553 4832 done -0.71 - - 2723 - 2.12 0.034 1954 -661.3 -194.6 - - 3570 - - - - - - - - - 26.41 -
5134 571.0 -10.8 584 5143 roll -0.71 - - 2723 - 2.20 0.054 3353 635.9 -194.6 - - 3568 - - - - - - - - - 26.25 -
5178 576.1 -11.2 588 5186 done -0.72 - - 2723 - 2.10 0.034 1954 -666.2 -194.6 - - 3568 - - - - - - - - - 26.40 -
5491 606.3 -9.2 616 5496 roll -0.72 - - 2723 - 2.17 0.052 556 -644.2 -194.6 - - 3567 - - - - - - - - - 26.26 -
5517 608.4 -9.2 617 5521 done -0.72 - - 2723 - 2.15 0.039 1963 654.4 -194.6 - - 3567 - - - - - - - - - 26.34 -
5825 636.9 -8.9 632 5830 roll -0.72 - - 2723 - 2.17 0.054 3350 639.2 -194.6 - - 3565 - - - - - - - - - 26.23 -
5907 643.5 -8.0 636 5911 done -0.73 - - 2723 - 2.10 0.033 1952 -665.7 -194.6 - - 3565 - - - - - - - - - 26.40 -
6219 667.9 -7.3 652 6225 roll -0.73 - - 2723 - 2.25 0.053 3358 624.9 -194.6 - - 3563 - - - - - - - - - 26.22 -
6262 670.7 -6.8 654 6268 done -0.74 - - 2723 - 2.12 0.034 1957 -660.8 -194.6 - - 3563 - - - - - - - - - 26.39 -
6582 692.9 -7.1 670 6588 roll -0.75 - - 2723 - 2.17 0.051 564 -641.9 -194.6 - - 3561 - - - - - - - - - 26.25 -
6615 694.5 -7.3 671 6621 done -0.75 - - 2723 - 2.12 0.040 1954 655.7 -194.6 - - 3561 - - - - - - - - - 26.33 -
6921 717.2 -7.0 687 6926 roll -0.76 - - 2723 - 2.20 0.054 3356 637.3 -194.6 - - 3560 - - - - - - - - - 26.21 -
6990 721.2 -6.8 690 6994 done -0.77 - - 2723 - 2.12 0.033 1944 -666.0 -194.6 - - 3559 - - - - - - - - - 26.39 -
7298 742.9 -6.8 705 7303 roll -0.78 - - 2724 - 2.25 0.053 3362 630.2 -194.6 - - 3558 - - - - - - - - - 26.20 -
7338 745.6 -6.7 707 7343 done -0.79 - - 2723 - 2.12 0.034 1949 -666.5 -194.6 - - 3558 - - - - - - - - - 26.38 -
7659 768.6 -7.5 723 7660 done -0.81 - - 2723 - - - 1949 - -194.6 - - 3557 - - - - - - - - - - -
7959 793.3 -8.5 738 7965 roll -0.82 0.12 0.095 2657 -550.0 2.22 0.053 3354 632.9 -194.6 - - 3555 - - - - - - - - 26.53 26.17 -
8011 797.9 -9.8 740 8017 done -0.82 - - 2657 - 2.12 0.035 1951 -661.8 -194.6 - - 3555 - - - - - - - - - 26.35 -
8319 840.2 -13.5 756 8325 roll -0.78 0.12 0.169 2687 250.0 2.22 0.053 3354 632.0 -194.6 - - 3554 - - - - - - - - 26.22 26.15 -
8372 845.0 -12.6 758 8379 done -0.76 - - 2687 - 2.12 0.036 1957 -659.0 -194.6 - - 3554 - - - - - - - - - 26.34 -
8682 879.4 -10.5 774 8683 done -0.75 - - 2687 - - - 1957 - -194.6 - - 3553 - - - - - - - - - - -
8979 910.1 -9.9 789 8983 roll -0.74 - - 2687 - 2.20 0.055 558 -635.9 -194.6 - - 3553 - - - - - - - - - 26.16 -
9004 912.5 -10.1 790 9008 done -0.73 - - 2687 - 2.17 0.041 1965 648.4 -194.6 - - 3552 - - - - - - - - - 26.27 -
9319 941.5 -9.0 806 9325 roll -0.71 0.12 0.171 2725 316.7 2.17 0.054 3353 639.6 -194.6 - - 3551 - - - - - - - - 26.22 26.12 -
9392 945.6 -7.3 809 9400 done -0.73 - - 2725 - 2.12 0.034 1949 -662.3 -194.6 - - 3551 - - - - - - - - - 26.33 -
9700 964.3 -5.8 825 9705 roll -0.74 - - 2725 - 2.25 0.055 3354 624.4 -194.6 - - 3550 - - - - - - - - - 26.11 -
9732 965.6 -6.0 826 9739 done -0.76 - - 2725 - 2.12 0.034 1953 -660.8 -194.6 - - 3550 - - - - - - - - - 26.32 -
10042 984.4 -6.2 842 10048 roll -0.78 - - 2725 - 2.25 0.055 3361 625.8 -194.6 - - 3550 - - - - - - - - - 26.10 -
10089 987.1 -6.4 844 10093 done -0.80 - - 2725 - 2.15 0.034 1946 -658.1 -194.6 - - 3550 - - - - - - - - - 26.32 -
10134 end dive: TARGET_DEPTH_EXCEEDED
10134 begin apogee
10140 990.5 -6.3 846 10305 done -0.17 0.50 0.113 2895 340.0 - - 1988 - - 155.68 1.312 2784 -4.9 0.398 - - - - - - 25.86 - 23.66
10306 end apogee: CONTROL_FINISHED_OK
10306 begin climb
10308 995.0 - 854 10491 roll 0.75 0.80 0.047 3208 391.2 2.53 0.054 3387 553.0 194.6 170.68 1.272 1991 -4.6 0.389 - - - - - - 24.83 23.83 22.89
10562 957.4 21.0 867 10567 done 0.65 0.22 0.177 3164 -200.0 2.30 0.039 2012 -597.8 194.6 - - 1986 - - - - - - - - 24.47 24.74 -
10877 905.9 16.0 883 10882 roll 0.58 - - 3163 - 2.25 0.050 3395 614.7 194.6 - - 1983 - - - - - - - - - 25.70 -
10945 895.5 17.1 886 10956 done 0.51 0.20 0.173 3120 -215.0 2.22 0.037 1965 -644.1 194.6 - - 1983 - - - - - - - - 25.50 25.81 -
11257 854.2 12.8 902 11263 roll 0.47 - - 3120 - 2.28 0.048 3395 627.2 194.6 - - 1982 - - - - - - - - - 25.98 -
11317 846.0 13.5 905 11323 done 0.43 0.10 0.139 3094 -260.0 2.15 0.035 1992 -652.6 194.6 - - 1981 - - - - - - - - 25.80 26.06 -
11637 811.6 10.6 921 11638 done 0.41 - - 3094 - - - 1992 - 194.6 - - 1981 - - - - - - - - - - -
11937 778.6 11.1 936 11942 roll 0.39 - - 3094 - 2.20 0.047 3391 635.9 194.6 - - 1979 - - - - - - - - - 26.13 -
11997 771.6 11.5 939 12002 done 0.37 - - 3101 - 2.15 0.034 1972 -660.0 194.6 - - 1979 - - - - - - - - - 26.21 -
12318 735.0 11.3 955 12324 roll 0.35 0.12 0.164 3063 -316.7 2.25 0.045 3396 632.9 194.6 - - 1979 - - - - - - - - 26.11 26.15 -
12345 732.8 11.4 956 12349 done 0.33 - - 3070 - 2.15 0.033 2003 -647.9 194.6 - - 1979 - - - - - - - - - 26.28 -
12651 701.4 10.7 971 12653 done 0.33 - - 3070 - - - 2003 - 194.6 - - 1979 - - - - - - - - - - -
12954 668.3 11.2 986 12958 roll 0.33 - - 3070 - 2.20 0.045 3398 634.1 194.6 - - 1978 - - - - - - - - - 26.19 -
12975 665.5 11.4 987 12981 done 0.33 - - 3080 - 2.15 0.034 1972 -663.3 194.6 - - 1978 - - - - - - - - - 26.29 -
13295 627.7 11.7 1003 13297 done 0.33 - - 3080 - - - 1972 - 194.6 - - 1978 - - - - - - - - - - -
13596 595.1 10.0 1020 13598 done 0.33 - - 3080 - - - 1972 - 194.6 - - 1978 - - - - - - - - - - -
13898 566.0 9.0 1050 13925 roll 0.36 - - 3080 - 2.30 0.046 3395 618.7 217.1 18.55 1.008 1900 -4.2 0.253 - - - - - - - 26.07 25.03
13983 558.2 10.2 1058 13989 done 0.36 - - 3090 - 2.17 0.033 1973 -655.3 217.1 - - 1899 - - - - - - - - - 26.06 -
14289 528.6 10.1 1089 14300 roll 0.35 - - 3100 - 2.15 0.048 593 -641.9 217.1 - - 1897 - - - - - - - - - 26.06 -
14324 525.1 10.0 1092 14333 done 0.35 0.10 0.122 3066 -340.0 2.12 0.033 2001 664.2 217.1 - - 1896 - - - - - - - - 25.94 26.16 -
14635 498.9 8.4 1123 14676 roll 0.42 - - 3066 - 2.28 0.047 3394 611.0 257.1 34.62 0.982 1736 -4.6 0.252 - - - - - - - 25.67 24.79
14808 483.0 9.3 1140 14830 done 0.45 - - 3073 - 2.15 0.033 2000 -648.4 269.7 12.05 0.894 1685 -4.2 0.245 - - - - - - - 25.86 24.70
15128 456.3 7.7 1172 15188 roll 0.55 0.12 0.088 3156 691.7 2.33 0.047 580 -609.4 330.3 52.72 0.949 1438 -4.7 0.241 - - - - - - 26.12 25.26 24.45
15286 435.8 14.0 1187 15295 done 0.53 0.10 0.134 3124 -320.0 2.17 0.032 1991 650.2 330.3 - - 1434 - - - - - - - - 25.46 25.69 -
15593 400.3 11.1 1218 15594 done 0.53 - - 3123 - - - 1996 - 330.3 - - 1433 - - - - - - - - - - -
15895 363.8 12.5 1248 15904 roll 0.53 - - 3131 - 2.22 0.047 584 -636.0 330.3 - - 1433 - - - - - - - - - 26.04 -
15916 361.0 11.9 1250 15927 done 0.53 - - 3131 - 2.15 0.031 1993 655.3 330.3 - - 1432 - - - - - - - - - 26.15 -
16226 318.5 13.9 1281 16227 done 0.53 - - 3131 - - - 1993 - 330.3 - - 1432 - - - - - - - - - - -
16531 282.9 11.4 1311 16539 roll 0.53 - - 3131 - 2.15 0.044 3391 650.2 330.3 - - 1432 - - - - - - - - - 26.16 -
16585 275.9 12.4 1316 16595 done 0.53 - - 3140 - 2.10 0.033 1986 -669.0 330.3 - - 1433 - - - - - - - - - 26.27 -
16897 234.7 12.3 1347 16905 roll 0.53 - - 3151 - 2.15 0.047 592 -648.4 330.3 - - 1432 - - - - - - - - - 26.18 -
16998 223.3 10.7 1356 17006 done 0.55 - - 3151 - 2.15 0.031 1994 652.1 330.3 - - 1432 - - - - - - - - - 26.29 -
17318 184.9 11.4 1398 17328 roll 0.54 - - 3160 - 2.22 0.046 592 -631.5 330.3 - - 1432 - - - - - - - - - 26.21 -
17382 177.8 10.9 1408 17391 done 0.55 0.10 0.117 3125 -350.0 2.15 0.031 2005 657.2 330.3 - - 1432 - - - - - - - - 26.06 26.31 -
17738 142.7 9.5 1469 17754 roll 0.58 - - 3124 - 2.15 0.043 3381 640.0 336.4 5.70 0.561 1414 -3.2 0.086 - - - - - - - 26.31 25.25
17803 136.1 9.6 1479 17818 done 0.61 - - 3131 - 2.12 0.031 1966 -667.5 340.4 5.18 0.529 1398 -3.1 0.085 - - - - - - - 26.30 25.22
18145 113.3 5.7 1541 18250 roll 0.79 0.17 0.071 3239 635.3 2.25 0.047 606 -604.4 460.7 95.35 0.663 905 -5.2 0.095 - - - - - - 26.42 25.36 24.71
18274 95.4 16.5 1559 18283 done 0.77 0.15 0.142 3198 -273.3 2.12 0.029 1994 654.7 460.7 - - 904 - - - - - - - - 25.39 25.56 -
18607 57.9 8.8 1620 18636 roll 0.84 - - 3203 - 2.20 0.044 602 -632.7 487.9 21.88 0.587 794 -5.0 0.053 - - - - - - - 25.79 25.07
18701 50.2 7.9 1635 18763 done 0.96 0.15 0.073 3286 553.3 2.10 0.028 1999 665.2 540.7 53.47 0.589 576 -4.1 0.037 - - - - - - 25.91 25.92 24.79
18956 end climb: SURFACE_DEPTH_REACHED
18956 begin surface coast
19025 end surface coast: CONTROL_FINISHED_OK
19025 begin surface
SM 7.83 - - - - -8.61 8.02 0.035 171 -388.4 - - 2008 - 546.53 - - 558 - - - - - - - -