OKMC Nov12 * SG170 * Dive index * Mission links * Dive 139 * Raw log
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• Previous call tries 2 • 30.59 of 150.00 AH used of 24V (79.60% remains)
• Previous NAKs 0, Timeouts 0 • 13.27 of 100.00 AH used of 10V (86.73% remains)
• Surface angle -77.5 deg, depth 2.54 m • Intended pitch -14.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 566.89, SM_CC=450)
• GPS1 time: 39 s
• GPS2 time: 16 s • Transponder ping count: 1
• 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 - - - 78 VBD -0.51 - - 134 - - - 2616 - -170.3 -56.30 - 1801 - - - - - - - - - - -
81 3.0 -2.4 10 160 roll -0.51 10.88 0.233 2878 252.2 2.15 0.043 1205 -656.3 -170.3 -58.22 - 3466 -28.6 - - - - - - - 25.65 26.10 26.39
290 49.3 -24.9 40 296 done -0.44 - - 2878 - 2.20 0.047 2597 632.7 -170.3 - - 3466 - - - - - - - - - 26.13 -
484 85.0 -18.7 50 490 roll -0.38 0.12 0.164 2919 341.7 1.73 0.050 3698 636.4 -170.3 - - 3466 - - - - - - - - 26.14 26.25 -
559 92.7 -13.5 53 564 done -0.35 - - 2919 - 1.58 0.024 2558 -721.5 -170.3 - - 3466 - - - - - - - - - 26.42 -
752 112.8 -10.5 63 758 roll -0.36 - - 2920 - 1.88 0.025 1240 -701.1 -170.3 - - 3467 - - - - - - - - - 26.42 -
871 123.0 -9.6 68 878 done -0.39 - - 2919 - 2.10 0.041 2609 651.9 -170.3 - - 3467 - - - - - - - - - 26.38 -
1057 137.5 -5.7 78 1058 done -0.41 - - 2919 - - - 2609 - -170.3 - - 3467 - - - - - - - - - - -
1237 145.1 -3.9 87 1242 roll -0.44 - - 2919 - 2.00 0.029 1237 -686.0 -170.3 - - 3466 - - - - - - - - - 26.51 -
1284 147.0 -4.2 89 1289 done -0.46 - - 2919 - 2.10 0.038 2615 656.2 -170.3 - - 3466 - - - - - - - - - 26.46 -
1484 159.8 -7.4 99 1489 roll -0.50 - - 2919 - 2.03 0.028 1237 -678.8 -170.3 - - 3466 - - - - - - - - - 26.53 -
1522 161.9 -7.8 100 1530 done -0.53 0.12 0.096 2851 -566.7 2.08 0.038 2600 655.3 -170.3 - - 3466 - - - - - - - - 26.46 26.48 -
1708 187.4 -13.4 110 1715 roll -0.51 0.12 0.147 2894 358.3 1.98 0.023 1233 -690.4 -170.3 - - 3465 - - - - - - - - 26.40 26.56 -
1747 190.5 -13.1 111 1753 done -0.49 - - 2894 - 2.10 0.039 2609 655.2 -170.3 - - 3465 - - - - - - - - - 26.49 -
1933 208.8 -9.2 121 1938 roll -0.51 - - 2894 - 1.67 0.050 3691 647.9 -170.3 - - 3465 - - - - - - - - - 26.48 -
1957 211.0 -9.2 122 1962 done -0.53 - - 2894 - 1.52 0.026 2596 -720.4 -170.3 - - 3464 - - - - - - - - - 26.63 -
2161 228.2 -8.0 132 2166 roll -0.55 - - 2894 - 1.95 0.025 1227 -702.1 -170.3 - - 3463 - - - - - - - - - 26.58 -
2214 231.8 -7.9 134 2220 done -0.57 - - 2894 - 2.10 0.039 2604 655.7 -170.3 - - 3463 - - - - - - - - - 26.52 -
2408 247.1 -7.5 144 2414 roll -0.60 0.12 0.091 2820 -616.7 1.67 0.049 3688 649.1 -170.3 - - 3463 - - - - - - - - 26.62 26.50 -
2447 249.6 -8.1 145 2454 done -0.62 0.10 0.158 2849 290.0 1.50 0.026 2600 -725.3 -170.3 - - 3461 - - - - - - - - 26.42 26.65 -
2633 274.0 -12.2 155 2639 roll -0.60 - - 2849 - 1.95 0.024 1229 -703.1 -170.3 - - 3459 - - - - - - - - - 26.60 -
2661 277.1 -12.3 156 2667 done -0.59 - - 2849 - 2.10 0.041 2601 653.3 -170.3 - - 3460 - - - - - - - - - 26.53 -
2979 315.5 -12.1 172 2984 roll -0.58 - - 2849 - 1.70 0.052 3701 647.1 -170.3 - - 3458 - - - - - - - - - 26.51 -
3036 320.8 -12.0 174 3043 done -0.57 - - 2849 - 1.52 0.027 2606 -720.4 -170.3 - - 3457 - - - - - - - - - 26.67 -
3342 356.1 -9.9 190 3347 roll -0.57 - - 2849 - 1.98 0.025 1222 -699.0 -170.3 - - 3455 - - - - - - - - - 26.62 -
3404 362.5 -10.2 193 3410 done -0.57 - - 2849 - 2.12 0.040 2602 650.9 -170.3 - - 3455 - - - - - - - - - 26.54 -
3727 395.8 -10.6 209 3732 roll -0.57 - - 2849 - 2.00 0.025 1221 -690.5 -170.3 - - 3452 - - - - - - - - - 26.62 -
3770 400.6 -10.9 211 3776 done -0.57 - - 2848 - 2.12 0.041 2606 653.3 -170.3 - - 3452 - - - - - - - - - 26.54 -
4093 436.3 -11.1 227 4094 done -0.57 - - 2849 - - - 2607 - -170.3 - - 3449 - - - - - - - - - - -
4394 468.1 -9.9 242 4400 roll -0.57 - - 2849 - 2.00 0.026 1229 -689.0 -170.3 - - 3447 - - - - - - - - - 26.62 -
4438 472.2 -9.4 244 4443 done -0.57 - - 2849 - 2.12 0.041 2612 652.4 -170.3 - - 3447 - - - - - - - - - 26.54 -
4760 497.7 -6.9 260 4766 roll -0.57 - - 2849 - 2.03 0.026 1225 -683.3 -170.3 - - 3446 - - - - - - - - - 26.62 -
4804 500.7 -6.8 262 4809 done -0.57 - - 2849 - 2.10 0.041 2604 656.7 -170.3 - - 3445 - - - - - - - - - 26.53 -
5127 521.1 -6.3 278 5129 done -0.57 - - 2849 - - - 2604 - -170.3 - - 3444 - - - - - - - - - - -
5429 542.3 -7.5 293 5435 roll -0.57 - - 2849 - 2.03 0.025 1217 -683.3 -170.3 - - 3442 - - - - - - - - - 26.63 -
5478 545.8 -7.4 295 5483 done -0.57 - - 2849 - 2.12 0.041 2601 652.8 -170.3 - - 3441 - - - - - - - - - 26.53 -
5796 567.6 -6.6 311 5798 done -0.57 - - 2849 - - - 2601 - -170.3 - - 3440 - - - - - - - - - - -
6098 586.5 -6.2 326 6103 roll -0.57 - - 2849 - 2.03 0.026 1213 -683.7 -170.3 - - 3438 - - - - - - - - - 26.63 -
6130 588.1 -6.2 327 6137 done -0.57 - - 2849 - 2.15 0.041 2610 649.8 -170.3 - - 3438 - - - - - - - - - 26.52 -
6446 607.3 -6.0 341 6451 roll -0.58 - - 2852 - 1.70 0.054 3694 637.6 -170.3 - - 3436 - - - - - - - - - 26.48 -
6469 607.3 -6.0 341 6474 done -0.59 - - 2849 - 1.60 0.030 2618 -672.5 -170.3 - - 3437 - - - - - - - - - 26.67 -
6783 628.3 -6.5 352 6789 roll -0.60 - - 2849 - 2.05 0.027 1201 -691.2 -170.3 - - 3435 - - - - - - - - - 26.61 -
6866 632.7 -6.7 354 6871 done -0.61 - - 2849 - 2.17 0.041 2609 648.8 -170.3 - - 3435 - - - - - - - - - 26.51 -
7181 655.1 -6.6 365 7182 done -0.62 - - 2848 - - - 2610 - -170.3 - - 3433 - - - - - - - - - - -
7481 675.2 -6.9 375 7486 roll -0.63 - - 2849 - 2.08 0.026 1195 -680.3 -170.3 - - 3432 - - - - - - - - - 26.61 -
7544 680.1 -7.3 377 7550 done -0.64 - - 2849 - 2.17 0.041 2607 650.7 -170.3 - - 3432 - - - - - - - - - 26.51 -
7880 707.2 -8.2 388 7881 done -0.65 - - 2849 - - - 2607 - -170.3 - - 3431 - - - - - - - - - - -
8178 733.9 -9.2 398 8183 roll -0.66 - - 2849 - 2.08 0.027 1195 -678.8 -170.3 - - 3430 - - - - - - - - - 26.60 -
8214 737.0 -9.2 399 8219 done -0.68 - - 2849 - 2.17 0.041 2601 647.9 -170.3 - - 3430 - - - - - - - - - 26.51 -
8544 768.7 -9.8 410 8549 roll -0.69 - - 2849 - 2.05 0.027 1203 -682.0 -170.3 - - 3428 - - - - - - - - - 26.60 -
8591 772.0 -9.7 411 8596 done -0.70 - - 2849 - 2.17 0.041 2608 647.5 -170.3 - - 3428 - - - - - - - - - 26.49 -
8911 801.6 -8.2 422 8916 roll -0.72 - - 2849 - 2.08 0.027 1197 -678.4 -170.3 - - 3427 - - - - - - - - - 26.60 -
8948 804.4 -8.1 423 8953 done -0.73 0.10 0.107 2796 -530.0 2.17 0.041 2601 647.0 -170.3 - - 3427 - - - - - - - - 26.46 26.49 -
9278 840.4 -10.9 434 9279 done -0.71 - - 2796 - - - 2601 - -170.3 - - 3426 - - - - - - - - - - -
9576 870.4 -9.8 444 9582 roll -0.68 0.12 0.159 2836 333.3 2.05 0.025 1206 -680.5 -170.3 - - 3425 - - - - - - - - 26.41 26.59 -
9614 873.3 -9.6 445 9619 done -0.67 - - 2836 - 2.17 0.042 2606 645.2 -170.3 - - 3425 - - - - - - - - - 26.48 -
9944 895.9 -6.6 456 9949 roll -0.67 - - 2836 - 2.08 0.027 1196 -677.9 -170.3 - - 3424 - - - - - - - - - 26.59 -
9972 895.9 -6.6 456 9978 done -0.68 - - 2835 - 2.17 0.041 2600 647.0 -170.3 - - 3424 - - - - - - - - - 26.48 -
10279 917.4 -6.4 467 10280 done -0.69 - - 2836 - - - 2601 - -170.3 - - 3424 - - - - - - - - - - -
10578 937.4 -6.9 477 10583 roll -0.70 - - 2837 - 2.05 0.028 1206 -680.5 -170.3 - - 3423 - - - - - - - - - 26.58 -
10605 937.4 -6.9 477 10613 done -0.71 - - 2836 - 2.15 0.043 2601 648.8 -170.3 - - 3423 - - - - - - - - - 26.46 -
10912 960.9 -7.1 488 10918 roll -0.72 - - 2836 - 2.08 0.028 1197 -675.0 -170.3 - - 3422 - - - - - - - - - 26.58 -
10940 960.9 -7.1 488 10948 done -0.73 - - 2836 - 2.20 0.042 2612 643.2 -170.3 - - 3421 - - - - - - - - - 26.46 -
11247 986.5 -7.9 499 11248 done -0.74 - - 2836 - - - 2612 - -170.3 - - 3420 - - - - - - - - - - -
11304 end dive: TARGET_DEPTH_EXCEEDED
11304 begin apogee
11310 991.3 -7.9 501 11457 done -0.15 0.47 0.108 3002 353.2 - - 2103 - - 139.40 1.493 2768 -4.7 0.334 - - - - - - 26.22 - 23.76
11459 end apogee: CONTROL_FINISHED_OK
11459 begin climb
11461 997.2 - 506 11626 roll 0.51 0.57 0.049 3228 396.5 2.30 0.033 750 -588.3 170.3 155.98 1.450 2072 -4.5 0.330 - - - - - - 24.84 23.72 22.83
11643 986.2 9.1 512 11649 done 0.44 0.15 0.142 3189 -260.0 2.33 0.036 2122 588.8 170.3 - - 2069 - - - - - - - - 24.06 24.15 -
11972 951.5 10.2 523 11977 roll 0.41 - - 3189 - 2.33 0.050 3539 608.2 170.3 - - 2062 - - - - - - - - - 25.58 -
12036 944.3 10.6 525 12042 done 0.37 - - 3198 - 2.17 0.027 2136 -646.5 170.3 - - 2061 - - - - - - - - - 25.82 -
12371 908.8 10.7 536 12377 roll 0.33 0.12 0.167 3159 -325.0 2.15 0.034 720 -658.6 170.3 - - 2059 - - - - - - - - 25.93 26.08 -
12429 905.6 10.3 537 12437 done 0.30 - - 3159 - 2.17 0.037 2124 647.0 170.3 - - 2058 - - - - - - - - - 26.08 -
12737 878.3 9.1 548 12742 roll 0.30 - - 3158 - 2.22 0.051 3528 632.4 170.3 - - 2060 - - - - - - - - - 26.17 -
12824 871.2 10.1 550 12832 done 0.28 - - 3159 - 2.15 0.028 2105 -661.9 170.3 - - 2058 - - - - - - - - - 26.33 -
13131 837.4 10.1 561 13137 roll 0.27 - - 3159 - 2.10 0.035 722 -658.6 170.3 - - 2057 - - - - - - - - - 26.33 -
13203 831.1 9.9 563 13209 done 0.27 - - 3159 - 2.15 0.037 2133 656.3 170.3 - - 2056 - - - - - - - - - 26.32 -
13527 796.8 10.5 574 13533 roll 0.27 - - 3160 - 2.20 0.051 3531 635.5 170.3 - - 2056 - - - - - - - - - 26.30 -
13609 788.9 11.6 576 13615 done 0.26 - - 3159 - 2.12 0.028 2126 -662.7 170.3 - - 2056 - - - - - - - - - 26.47 -
13923 749.7 11.6 587 13928 roll 0.26 - - 3159 - 2.12 0.034 721 -662.7 170.3 - - 2056 - - - - - - - - - 26.41 -
13956 746.0 11.6 588 13961 done 0.26 - - 3159 - 2.17 0.036 2133 650.7 170.3 - - 2055 - - - - - - - - - 26.40 -
14290 707.1 11.6 599 14295 roll 0.26 - - 3159 - 2.22 0.051 3532 630.2 170.3 - - 2056 - - - - - - - - - 26.35 -
14362 698.8 12.2 601 14368 done 0.25 - - 3159 - 2.15 0.028 2102 -665.1 170.3 - - 2056 - - - - - - - - - 26.51 -
14687 662.7 10.1 612 14688 done 0.25 - - 3159 - - - 2101 - 170.3 - - 2055 - - - - - - - - - - -
14986 636.0 8.4 622 14997 roll 0.26 - - 3159 - 2.12 0.034 724 -649.5 178.7 5.57 0.991 2040 -2.7 0.186 - - - - - - - 26.43 25.32
15023 633.4 8.1 623 15049 done 0.26 - - 3159 - 2.15 0.037 2125 651.6 195.8 16.77 1.207 1968 -4.3 0.242 - - - - - - - 26.39 25.12
15351 612.5 5.5 634 15440 roll 0.30 - - 3159 - 2.40 0.051 3528 584.6 288.3 79.32 1.240 1592 -4.7 0.252 - - - - - - - 24.96 24.18
15487 605.4 5.6 638 15572 done 0.35 - - 3159 - 2.20 0.027 2129 -635.9 378.2 76.65 1.206 1226 -4.8 0.258 - - - - - - - 25.49 23.93
15875 585.7 4.9 656 15979 roll 0.44 - - 3159 - 2.28 0.031 726 -615.4 490.3 97.85 1.196 770 -4.7 0.246 - - - - - - - 24.68 23.89
16009 579.7 4.7 662 16089 done 0.56 0.22 0.099 3234 340.9 2.25 0.031 2133 625.3 605.9 72.40 1.164 460 -4.3 0.229 - - - - - - 24.98 25.03 23.58
16404 524.7 16.6 682 16410 roll 0.68 0.10 0.123 3274 400.0 2.25 0.048 3515 614.2 605.9 - - 458 - - - - - - - - 25.68 25.62 -
16553 501.9 15.2 689 16559 done 0.80 0.12 0.140 3311 308.3 2.15 0.026 2088 -663.7 605.9 - - 458 - - - - - - - - 25.75 25.93 -
16872 453.9 15.0 705 16878 roll 0.93 0.12 0.105 3366 458.3 2.30 0.048 3522 623.5 605.9 - - 458 - - - - - - - - 26.13 26.07 -
16980 439.1 14.4 710 16986 done 1.05 - - 3371 - 2.10 0.026 2125 -665.2 605.9 - - 458 - - - - - - - - - 26.23 -
17299 314.3 41.3 726 17305 roll 0.94 - - 3381 - 2.10 0.032 736 -661.4 605.9 - - 458 - - - - - - - - - 26.29 -
17403 277.8 33.2 731 17410 done 0.87 0.17 0.155 3333 -282.4 2.12 0.037 2119 652.4 605.9 - - 457 - - - - - - - - 26.06 26.27 -
17728 178.6 29.2 747 17733 roll 0.81 - - 3333 - 2.22 0.051 3525 633.3 605.9 - - 458 - - - - - - - - - 26.29 -
17821 154.8 28.6 751 17827 done 0.75 0.15 0.159 3293 -266.7 2.10 0.027 2136 -661.4 605.9 - - 458 - - - - - - - - 26.17 26.43 -
18016 116.7 15.1 761 18023 roll 0.74 - - 3297 - 2.15 0.036 712 -662.3 605.9 - - 458 - - - - - - - - - 26.39 -
18122 103.9 10.6 766 18128 done 0.78 - - 3297 - 2.12 0.031 2133 670.3 605.9 - - 458 - - - - - - - - - 26.41 -
18328 78.8 11.8 776 18333 roll 0.80 - - 3295 - 2.15 0.049 3522 646.0 605.9 - - 458 - - - - - - - - - 26.36 -
18360 76.2 11.2 777 18365 done 0.82 - - 3297 - 2.12 0.025 2090 -675.5 605.9 - - 458 - - - - - - - - - 26.49 -
18555 66.9 2.8 787 18561 roll 0.94 0.12 0.093 3379 683.3 2.00 0.031 734 -678.0 776.9 - - 458 - - - - - - - - 26.51 26.44 -
18619 58.6 10.6 790 18624 done 0.95 - - 3379 - 2.08 0.034 2124 668.3 776.9 - - 458 - - - - - - - - - 26.44 -
18813 29.0 13.1 806 18814 done 0.97 - - 3379 - - - 2125 - 776.9 - - 458 - - - - - - - - - - -
18994 9.0 10.4 838 19001 roll 0.99 - - 3379 - 2.10 0.032 727 -665.7 776.9 - - 458 - - - - - - - - - 26.47 -
19023 6.0 9.7 843 19030 done 1.02 - - 3379 - 2.10 0.031 2127 666.7 776.9 - - 458 - - - - - - - - - 26.46 -
19055 end climb: SURFACE_DEPTH_REACHED
19055 begin surface coast
19089 end surface coast: CONTROL_FINISHED_OK
19089 begin surface
SM 2.50 - - - - -9.07 8.43 0.050 134 -384.9 0.73 0.040 2623 679.5 566.89 - - 458 - - - - - - - -