OKMC Nov12 * SG170 * Dive index * Mission links * Dive 140 * Raw log
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• Previous call tries 1 • 30.86 of 150.00 AH used of 24V (79.42% remains)
• Previous NAKs 0, Timeouts 0 • 13.38 of 100.00 AH used of 10V (86.62% remains)
• Surface angle -77.7 deg, depth 2.56 m • Intended pitch -14.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 566.64, SM_CC=450)
• GPS1 time: 38 s
• GPS2 time: 15 s • Transponder ping count: 2
• 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 - - - 2626 - -170.3 -56.28 - 1733 - - - - - - - - - - -
81 3.1 -2.0 10 164 roll -0.51 10.93 0.235 2879 251.1 2.12 0.037 1196 -674.5 -170.3 -64.45 - 3464 -26.9 - - - - - - - 25.64 26.15 26.44
289 45.4 -26.6 41 296 done -0.42 0.12 0.173 2912 275.0 2.17 0.046 2581 638.2 -170.3 - - 3465 - - - - - - - - 25.97 26.15 -
495 75.1 -14.7 52 501 roll -0.38 - - 2909 - 1.75 0.050 3700 639.4 -170.3 - - 3465 - - - - - - - - - 26.25 -
563 84.9 -15.1 55 568 done -0.35 - - 2909 - 1.62 0.024 2545 -713.0 -170.3 - - 3466 - - - - - - - - - 26.44 -
762 115.3 -14.7 65 767 roll -0.35 - - 2909 - 1.95 0.030 1196 -691.8 -170.3 - - 3465 - - - - - - - - - 26.37 -
854 124.0 -10.3 69 859 done -0.36 - - 2909 - 2.17 0.039 2615 653.9 -170.3 - - 3466 - - - - - - - - - 26.37 -
1048 133.7 -4.0 79 1054 roll -0.37 - - 2909 - 2.08 0.028 1199 -680.8 -170.3 - - 3466 - - - - - - - - - 26.46 -
1116 136.3 -4.1 82 1121 done -0.39 - - 2909 - 2.12 0.040 2601 661.3 -170.3 - - 3466 - - - - - - - - - 26.41 -
1316 147.1 -6.5 92 1321 roll -0.41 - - 2909 - 2.05 0.024 1199 -683.9 -170.3 - - 3466 - - - - - - - - - 26.52 -
1359 150.7 -7.4 94 1364 done -0.43 - - 2909 - 2.15 0.039 2606 654.4 -170.3 - - 3466 - - - - - - - - - 26.45 -
1562 171.3 -11.0 104 1568 roll -0.45 - - 2909 - 1.67 0.051 3691 649.7 -170.3 - - 3466 - - - - - - - - - 26.44 -
1606 175.9 -10.6 106 1612 done -0.48 - - 2909 - 1.60 0.026 2550 -713.1 -170.3 - - 3466 - - - - - - - - - 26.61 -
1811 194.4 -8.9 116 1817 roll -0.51 - - 2909 - 1.85 0.025 1243 -706.5 -170.3 - - 3465 - - - - - - - - - 26.56 -
1879 199.8 -8.3 119 1884 done -0.54 - - 2909 - 2.08 0.039 2603 653.8 -170.3 - - 3465 - - - - - - - - - 26.49 -
2079 209.7 -4.3 129 2084 roll -0.57 0.12 0.095 2834 -625.0 1.70 0.049 3700 645.3 -170.3 - - 3464 - - - - - - - - 26.60 26.48 -
2123 213.1 -5.7 131 2128 done -0.58 - - 2834 - 1.52 0.025 2599 -724.3 -170.3 - - 3463 - - - - - - - - - 26.64 -
2326 236.1 -12.8 141 2331 roll -0.55 0.12 0.154 2878 366.7 1.92 0.023 1242 -706.8 -170.3 - - 3463 - - - - - - - - 26.42 26.59 -
2379 241.1 -12.8 143 2384 done -0.54 - - 2878 - 2.08 0.040 2601 653.4 -170.3 - - 3462 - - - - - - - - - 26.51 -
2572 261.5 -10.2 153 2578 roll -0.55 - - 2878 - 2.00 0.024 1232 -684.5 -170.3 - - 3461 - - - - - - - - - 26.59 -
2596 263.9 -10.1 154 2602 done -0.57 - - 2877 - 2.08 0.040 2602 658.7 -170.3 - - 3461 - - - - - - - - - 26.51 -
2920 295.6 -9.4 170 2925 roll -0.58 - - 2877 - 1.70 0.052 3697 644.1 -170.3 - - 3460 - - - - - - - - - 26.49 -
2993 300.7 -8.3 173 2998 done -0.60 - - 2877 - 1.50 0.028 2624 -715.3 -170.3 - - 3459 - - - - - - - - - 26.65 -
3306 322.8 -6.5 189 3312 roll -0.62 - - 2878 - 2.03 0.024 1218 -692.6 -170.3 - - 3457 - - - - - - - - - 26.61 -
3390 328.2 -6.5 193 3396 done -0.64 0.10 0.104 2821 -570.0 2.12 0.039 2600 651.9 -170.3 - - 3457 - - - - - - - - 26.51 26.53 -
3714 359.0 -9.0 209 3716 done -0.62 0.10 0.161 2849 280.0 - - 2600 - -170.3 - - 3455 - - - - - - - - 26.53 - -
4015 377.4 -5.9 224 4021 roll -0.62 - - 2849 - 2.03 0.026 1207 -686.2 -170.3 - - 3453 - - - - - - - - - 26.61 -
4093 381.2 -5.8 227 4099 done -0.62 - - 2850 - 2.15 0.041 2605 650.2 -170.3 - - 3452 - - - - - - - - - 26.53 -
4399 401.2 -6.6 243 4400 done -0.62 - - 2849 - - - 2605 - -170.3 - - 3450 - - - - - - - - - - -
4701 423.8 -8.3 258 4706 roll -0.62 - - 2849 - 1.70 0.054 3693 640.0 -170.3 - - 3448 - - - - - - - - - 26.49 -
4753 427.5 -8.2 260 4759 done -0.62 - - 2849 - 1.58 0.028 2601 -691.1 -170.3 - - 3447 - - - - - - - - - 26.67 -
5067 454.5 -8.0 276 5072 roll -0.62 - - 2849 - 2.00 0.025 1206 -697.5 -170.3 - - 3446 - - - - - - - - - 26.62 -
5124 457.8 -7.7 278 5131 done -0.62 - - 2849 - 2.15 0.041 2601 648.8 -170.3 - - 3446 - - - - - - - - - 26.52 -
5430 480.3 -6.9 294 5436 roll -0.62 - - 2849 - 2.03 0.026 1210 -685.2 -170.3 - - 3445 - - - - - - - - - 26.62 -
5458 481.9 -6.9 295 5463 done -0.62 - - 2849 - 2.15 0.041 2602 647.4 -170.3 - - 3445 - - - - - - - - - 26.51 -
5777 503.5 -7.0 311 5778 done -0.62 - - 2849 - - - 2603 - -170.3 - - 3443 - - - - - - - - - - -
6077 526.0 -7.9 326 6082 roll -0.62 - - 2849 - 2.05 0.026 1212 -678.5 -170.3 - - 3441 - - - - - - - - - 26.61 -
6124 529.6 -8.2 328 6129 done -0.62 - - 2849 - 2.15 0.041 2603 647.0 -170.3 - - 3441 - - - - - - - - - 26.51 -
6442 556.5 -8.5 344 6447 roll -0.62 - - 2849 - 2.03 0.025 1212 -685.2 -170.3 - - 3439 - - - - - - - - - 26.62 -
6466 558.4 -8.5 345 6471 done -0.63 - - 2849 - 2.15 0.041 2605 647.9 -170.3 - - 3439 - - - - - - - - - 26.51 -
6789 585.9 -8.6 361 6795 roll -0.64 - - 2849 - 2.05 0.026 1205 -682.9 -170.3 - - 3438 - - - - - - - - - 26.60 -
6842 589.7 -8.7 363 6848 done -0.65 - - 2849 - 2.17 0.041 2610 647.5 -170.3 - - 3438 - - - - - - - - - 26.51 -
7167 617.2 -8.3 376 7174 roll -0.66 - - 2847 - 2.05 0.026 1216 -680.0 -170.3 - - 3436 - - - - - - - - - 26.60 -
7221 620.0 -8.1 377 7226 done -0.67 - - 2849 - 2.15 0.041 2606 646.5 -170.3 - - 3436 - - - - - - - - - 26.50 -
7536 646.5 -8.0 388 7541 roll -0.68 - - 2849 - 2.05 0.026 1204 -683.9 -170.3 - - 3434 - - - - - - - - - 26.60 -
7588 649.3 -8.0 389 7594 done -0.69 - - 2849 - 2.17 0.041 2608 647.0 -170.3 - - 3434 - - - - - - - - - 26.50 -
7904 676.7 -8.2 400 7910 roll -0.70 - - 2849 - 2.05 0.027 1207 -683.4 -170.3 - - 3433 - - - - - - - - - 26.60 -
7968 681.9 -8.0 402 7974 done -0.71 - - 2849 - 2.17 0.042 2604 643.8 -170.3 - - 3433 - - - - - - - - - 26.49 -
8304 707.6 -7.6 413 8305 done -0.72 - - 2849 - - - 2608 - -170.3 - - 3432 - - - - - - - - - - -
8603 729.5 -7.2 423 8608 roll -0.74 0.12 0.093 2781 -566.7 2.05 0.024 1206 -683.9 -170.3 - - 3431 - - - - - - - - 26.65 26.60 -
8651 732.8 -7.8 424 8657 done -0.74 0.12 0.169 2815 283.3 2.17 0.042 2603 643.8 -170.3 - - 3431 - - - - - - - - 26.27 26.48 -
8970 764.6 -9.4 435 8972 done -0.72 - - 2815 - - - 2604 - -170.3 - - 3430 - - - - - - - - - - -
9270 793.9 -9.9 445 9275 roll -0.71 - - 2815 - 2.05 0.026 1203 -683.4 -170.3 - - 3429 - - - - - - - - - 26.59 -
9303 797.2 -9.9 446 9309 done -0.70 - - 2815 - 2.20 0.042 2612 640.5 -170.3 - - 3429 - - - - - - - - - 26.48 -
9638 830.9 -10.1 457 9644 roll -0.69 - - 2815 - 2.08 0.027 1214 -672.1 -170.3 - - 3428 - - - - - - - - - 26.59 -
9661 830.9 -10.1 457 9667 done -0.68 - - 2815 - 2.17 0.043 2612 644.2 -170.3 - - 3428 - - - - - - - - - 26.46 -
9975 865.2 -10.2 468 9981 roll -0.67 - - 2816 - 2.05 0.028 1216 -681.0 -170.3 - - 3428 - - - - - - - - - 26.58 -
10018 868.5 -10.0 469 10024 done -0.66 - - 2815 - 2.15 0.042 2601 644.2 -170.3 - - 3427 - - - - - - - - - 26.46 -
10343 901.9 -9.9 480 10344 done -0.65 - - 2816 - - - 2601 - -170.3 - - 3426 - - - - - - - - - - -
10642 930.9 -9.7 490 10643 done -0.64 - - 2815 - - - 2601 - -170.3 - - 3426 - - - - - - - - - - -
10942 959.9 -9.6 500 10947 roll -0.64 - - 2815 - 1.73 0.056 3693 631.2 -170.3 - - 3425 - - - - - - - - - 26.41 -
10984 963.1 -9.7 501 10989 done -0.64 - - 2816 - 1.60 0.031 2607 -678.8 -170.3 - - 3425 - - - - - - - - - 26.63 -
11274 end dive: TARGET_DEPTH_EXCEEDED
11275 begin apogee
11281 991.8 -9.3 511 11429 done -0.15 0.52 0.119 2996 346.2 - - 2105 - - 139.90 1.496 2769 -4.7 0.334 - - - - - - 26.16 - 23.74
11430 end apogee: CONTROL_FINISHED_OK
11430 begin climb
11432 997.8 - 516 11597 roll 0.51 0.57 0.052 3218 389.5 2.55 0.049 3532 559.6 170.3 155.70 1.450 2073 -4.5 0.331 - - - - - - 24.80 23.68 22.82
11656 982.3 11.3 523 11662 done 0.44 0.12 0.163 3196 -183.3 2.28 0.028 2149 -606.6 170.3 - - 2066 - - - - - - - - 24.41 24.58 -
11976 943.7 11.2 534 11981 roll 0.41 - - 3202 - 2.25 0.034 706 -641.3 170.3 - - 2062 - - - - - - - - - 25.68 -
12005 943.7 11.2 534 12013 done 0.37 0.12 0.146 3168 -283.3 2.25 0.037 2127 631.6 170.3 - - 2060 - - - - - - - - 25.57 25.71 -
12311 916.0 7.2 545 12357 roll 0.37 - - 3167 - 2.40 0.051 3536 587.1 214.1 37.35 1.405 1895 -4.4 0.310 - - - - - - - 25.18 24.30
12431 906.5 7.8 549 12462 done 0.36 - - 3172 - 2.25 0.028 2098 -639.1 238.8 22.85 1.353 1794 -4.4 0.319 - - - - - - - 25.68 24.30
12762 881.8 7.3 560 12805 roll 0.37 - - 3172 - 2.17 0.036 728 -631.3 279.8 36.33 1.380 1628 -4.6 0.314 - - - - - - - 25.18 24.26
12855 875.6 6.8 563 12914 done 0.39 - - 3172 - 2.22 0.035 2131 632.0 335.2 49.88 1.373 1401 -4.6 0.312 - - - - - - - 25.52 23.97
13213 851.7 6.6 575 13274 roll 0.43 - - 3172 - 2.40 0.050 3521 579.2 397.2 54.80 1.369 1148 -4.6 0.309 - - - - - - - 24.88 24.01
13330 845.5 6.6 578 13396 done 0.47 - - 3173 - 2.20 0.026 2119 -637.3 457.9 55.22 1.350 901 -4.5 0.301 - - - - - - - 25.44 23.82
13697 824.4 5.3 591 13801 roll 0.55 0.12 0.090 3254 675.0 2.28 0.034 727 -610.5 557.9 95.72 1.351 494 -4.3 0.279 - - - - - - 25.87 24.58 23.72
13861 798.2 19.1 596 13867 done 0.53 0.12 0.137 3218 -300.0 2.22 0.036 2115 625.2 557.9 - - 493 - - - - - - - - 25.06 25.13 -
14186 744.9 17.7 607 14191 roll 0.53 - - 3218 - 2.30 0.050 3539 619.1 557.9 - - 492 - - - - - - - - - 25.85 -
14252 733.2 18.3 609 14259 done 0.53 - - 3223 - 2.17 0.027 2109 -659.0 557.9 - - 492 - - - - - - - - - 26.01 -
14583 670.7 20.2 620 14588 roll 0.52 - - 3226 - 2.10 0.034 729 -657.1 557.9 - - 490 - - - - - - - - - 26.19 -
14656 660.2 18.3 622 14661 done 0.53 - - 3226 - 2.12 0.034 2126 659.0 557.9 - - 492 - - - - - - - - - 26.21 -
14980 602.4 17.9 633 14985 roll 0.53 - - 3226 - 2.20 0.050 3524 635.5 557.9 - - 491 - - - - - - - - - 26.25 -
15007 602.4 17.9 633 15015 done 0.53 - - 3226 - 2.12 0.028 2116 -664.2 557.9 - - 491 - - - - - - - - - 26.36 -
15313 544.3 17.0 649 15319 roll 0.53 - - 3226 - 2.10 0.035 725 -662.4 557.9 - - 491 - - - - - - - - - 26.37 -
15402 533.7 12.6 653 15407 done 0.56 - - 3227 - 2.12 0.034 2131 663.2 557.9 - - 491 - - - - - - - - - 26.38 -
15720 496.8 11.5 669 15725 roll 0.57 - - 3226 - 2.17 0.050 3523 641.5 557.9 - - 491 - - - - - - - - - 26.36 -
15757 494.1 11.3 670 15764 done 0.59 - - 3227 - 2.12 0.027 2102 -670.3 557.9 - - 491 - - - - - - - - - 26.48 -
16065 456.3 13.6 686 16070 roll 0.60 - - 3226 - 2.03 0.034 735 -673.4 557.9 - - 491 - - - - - - - - - 26.46 -
16148 446.7 11.2 690 16154 done 0.64 - - 3227 - 2.08 0.031 2123 667.3 557.9 - - 491 - - - - - - - - - 26.45 -
16473 416.9 7.4 706 16487 roll 0.68 0.12 0.093 3306 658.3 2.28 0.050 3526 615.4 595.0 8.95 0.989 459 -3.6 0.162 - - - - - - 26.55 26.28 25.37
16529 410.1 11.4 708 16537 done 0.68 0.15 0.161 3268 -253.3 2.12 0.028 2124 -661.3 595.0 - - 459 - - - - - - - - 26.15 26.36 -
16835 344.8 19.6 724 16841 roll 0.65 - - 3277 - 2.10 0.034 720 -668.6 595.0 - - 459 - - - - - - - - - 26.39 -
16968 326.3 12.7 730 16974 done 0.65 - - 3276 - 2.12 0.034 2123 661.8 595.0 - - 459 - - - - - - - - - 26.39 -
17282 264.3 20.1 746 17287 roll 0.62 - - 3276 - 2.20 0.050 3524 636.8 595.0 - - 459 - - - - - - - - - 26.38 -
17334 255.3 20.6 748 17340 done 0.59 0.15 0.144 3238 -253.3 2.12 0.027 2106 -668.9 595.0 - - 459 - - - - - - - - 26.27 26.51 -
17648 213.1 12.4 764 17653 roll 0.61 - - 3239 - 2.08 0.034 718 -667.3 595.0 - - 459 - - - - - - - - - 26.47 -
17734 205.7 8.8 768 17739 done 0.66 - - 3240 - 2.12 0.031 2131 666.5 595.0 - - 458 - - - - - - - - - 26.48 -
17938 189.5 8.1 778 17944 roll 0.72 0.12 0.093 3313 608.3 2.17 0.047 3522 641.0 613.3 - - 459 - - - - - - - - 26.56 26.41 -
17976 186.6 8.9 779 17983 done 0.75 - - 3320 - 2.10 0.026 2100 -677.1 613.3 - - 459 - - - - - - - - - 26.54 -
18163 141.2 23.9 789 18169 roll 0.71 0.12 0.161 3287 -275.0 2.03 0.032 726 -676.8 613.3 - - 459 - - - - - - - - 26.36 26.50 -
18231 129.0 20.2 792 18237 done 0.70 - - 3287 - 2.12 0.034 2129 661.8 613.3 - - 459 - - - - - - - - - 26.48 -
18430 93.7 18.0 802 18436 roll 0.70 - - 3287 - 2.17 0.048 3536 648.4 613.3 - - 459 - - - - - - - - - 26.44 -
18453 89.6 17.4 803 18459 done 0.70 - - 3291 - 2.10 0.026 2115 -676.7 613.3 - - 459 - - - - - - - - - 26.56 -
18658 67.2 8.7 813 18664 roll 0.72 - - 3296 - 2.08 0.034 728 -666.8 613.9 - - 459 - - - - - - - - - 26.51 -
18726 59.3 11.7 816 18731 done 0.77 - - 3296 - 2.10 0.031 2136 670.5 613.9 - - 459 - - - - - - - - - 26.51 -
18914 37.0 10.7 831 18920 roll 0.81 - - 3296 - 2.17 0.048 3532 643.3 613.9 - - 459 - - - - - - - - - 26.44 -
18951 33.1 11.6 834 18958 done 0.85 - - 3296 - 2.10 0.025 2105 -679.5 613.9 - - 459 - - - - - - - - - 26.60 -
19139 13.0 11.7 863 19147 roll 0.97 0.15 0.100 3365 460.0 2.00 0.030 733 -686.0 613.9 - - 459 - - - - - - - - 26.51 26.53 -
19233 end climb: SURFACE_DEPTH_REACHED
19233 begin surface coast
19239 end surface coast: CONTROL_FINISHED_OK
19239 begin surface
SM 2.38 - - - - -9.05 8.35 0.049 142 -386.0 2.90 0.035 2599 643.4 566.64 - - 459 - - - - - - - -