OKMC Nov12 * SG129 * Dive index * Mission links * Dive 20 * Raw log
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• Previous call tries 1 • 3.68 of 149.50 AH used of 24V (97.54% remains)
• Previous NAKs 0, Timeouts 0 • 2.98 of 98.60 AH used of 10V (96.98% remains)
• Surface angle -62.1 deg, depth 1.51 m • Intended pitch -13.1 deg, speed -8.250 cm/s
• No surface pump (final VBD was 460.92, SM_CC=400)
• GPS1 time: 23 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 73 VBD -0.60 - - 58 - - - 2021 - -194.6 -53.15 - 2060 - - - - - - - - - - -
75 3.4 -6.4 9 114 roll -0.60 8.00 0.249 2040 247.8 1.98 0.053 3336 664.1 -194.6 -23.45 - 3204 -48.8 - - - - - - - 25.78 26.02 26.29
275 35.7 -14.3 39 283 done -0.55 0.12 0.147 2075 291.7 2.00 0.028 1947 -694.5 -194.6 - - 3204 - - - - - - - - 26.11 26.22 -
593 81.4 -12.7 60 598 roll -0.51 - - 2075 - 1.98 0.036 577 -691.9 -194.6 - - 3204 - - - - - - - - - 26.36 -
694 93.0 -10.8 65 700 done -0.51 - - 2069 - 1.98 0.028 1952 694.4 -194.6 - - 3205 - - - - - - - - - 26.44 -
1017 128.1 -9.4 81 1022 roll -0.54 - - 2069 - 2.00 0.035 587 -682.5 -194.6 - - 3206 - - - - - - - - - 26.50 -
1059 132.0 -9.4 83 1064 done -0.59 - - 2061 - 2.00 0.027 1989 701.0 -194.6 - - 3206 - - - - - - - - - 26.53 -
1383 156.1 -6.4 99 1388 roll -0.66 - - 2055 - 2.03 0.041 3364 677.3 -194.6 - - 3206 - - - - - - - - - 26.55 -
1434 158.6 -6.1 101 1440 done -0.75 0.15 0.084 1982 -486.7 1.98 0.026 1962 -708.1 -194.6 - - 3206 - - - - - - - - 26.58 26.60 -
1748 201.8 -13.6 117 1754 roll -0.66 0.15 0.150 2031 326.7 1.95 0.034 594 -701.5 -194.6 - - 3206 - - - - - - - - 26.51 26.60 -
1896 215.3 -8.0 124 1901 done -0.71 - - 2023 - 1.98 0.027 1988 704.0 -194.6 - - 3206 - - - - - - - - - 26.64 -
2214 238.7 -7.5 140 2219 roll -0.75 - - 2023 - 2.05 0.035 582 -685.9 -194.6 - - 3206 - - - - - - - - - 26.65 -
2257 242.3 -7.9 142 2262 done -0.79 - - 2013 - 1.98 0.028 1988 710.1 -194.6 - - 3205 - - - - - - - - - 26.67 -
2580 268.3 -7.6 158 2585 roll -0.82 - - 2013 - 2.05 0.035 581 -686.3 -194.6 - - 3206 - - - - - - - - - 26.67 -
2652 273.4 -8.1 161 2658 done -0.85 - - 2004 - 2.00 0.028 1986 702.5 -194.6 - - 3206 - - - - - - - - - 26.69 -
2966 296.4 -7.3 177 2968 done -0.87 0.10 0.111 1957 -470.0 - - 1986 - -194.6 - - 3205 - - - - - - - - 26.70 - -
3266 333.1 -12.7 192 3272 roll -0.80 0.12 0.149 1998 341.7 2.03 0.034 586 -689.7 -194.6 - - 3204 - - - - - - - - 26.61 26.70 -
3353 341.6 -9.9 196 3358 done -0.80 - - 1991 - 1.98 0.028 1974 701.0 -194.6 - - 3204 - - - - - - - - - 26.71 -
3671 367.9 -7.5 212 3676 roll -0.80 - - 1991 - 2.00 0.036 589 -692.5 -194.6 - - 3202 - - - - - - - - - 26.70 -
3823 379.6 -8.3 219 3828 done -0.80 - - 1988 - 1.98 0.030 1968 696.5 -194.6 - - 3201 - - - - - - - - - 26.72 -
4135 404.6 -7.8 235 4137 done -0.82 - - 1988 - - - 1969 - -194.6 - - 3200 - - - - - - - - - - -
4437 428.8 -8.2 250 4442 roll -0.84 - - 1988 - 2.05 0.046 3367 682.0 -194.6 - - 3198 - - - - - - - - - 26.70 -
4468 430.6 -8.0 251 4474 done -0.87 - - 1988 - 1.98 0.028 1979 -701.0 -194.6 - - 3197 - - - - - - - - - 26.74 -
4781 454.0 -7.2 267 4787 roll -0.91 - - 1988 - 2.00 0.039 585 -697.0 -194.6 - - 3195 - - - - - - - - - 26.72 -
4908 464.5 -8.5 273 4915 done -0.93 0.12 0.103 1932 -466.7 2.00 0.031 1977 696.0 -194.6 -0.10 - 3219 -240.0 - - - - - - - 26.70 26.73 26.63
5227 503.0 -12.2 289 5233 roll -0.85 0.12 0.155 1973 341.7 2.05 0.037 586 -678.5 -194.6 - - 3222 - - - - - - - - 26.63 26.72 -
5340 513.7 -10.0 294 5346 done -0.85 - - 1965 - 2.00 0.031 1977 695.5 -194.6 - - 3219 - - - - - - - - - 26.74 -
5653 540.6 -7.7 310 5654 done -0.85 - - 1965 - - - 1981 - -194.6 - - 3216 - - - - - - - - - - -
5954 563.5 -7.9 325 5959 roll -0.85 - - 1965 - 2.08 0.041 575 -676.0 -194.6 - - 3214 - - - - - - - - - 26.72 -
5996 567.5 -8.5 327 6002 done -0.85 - - 1955 - 2.03 0.032 1978 691.1 -194.6 - - 3214 - - - - - - - - - 26.74 -
6318 595.7 -9.0 343 6324 roll -0.85 - - 1957 - 2.05 0.041 588 -678.0 -194.6 - - 3212 - - - - - - - - - 26.72 -
6350 597.9 -9.1 344 6356 done -0.85 - - 1948 - 2.03 0.033 1986 688.7 -194.6 - - 3212 - - - - - - - - - 26.74 -
6684 631.4 -9.9 356 6689 roll -0.82 0.12 0.155 1989 341.7 2.08 0.040 585 -673.6 -194.6 - - 3210 - - - - - - - - 26.65 26.72 -
6765 637.3 -9.6 358 6770 done -0.82 - - 1988 - 2.03 0.033 1979 686.7 -194.6 - - 3209 - - - - - - - - - 26.74 -
7079 662.9 -7.4 369 7085 roll -0.88 - - 1988 - 2.08 0.041 578 -673.6 -194.6 - - 3208 - - - - - - - - - 26.72 -
7136 665.5 -7.4 370 7144 done -0.94 0.12 0.103 1933 -458.3 2.03 0.033 1979 690.1 -194.6 - - 3207 - - - - - - - - 26.71 26.74 -
7444 694.7 -8.5 381 7446 done -0.88 0.12 0.152 1968 291.7 - - 1979 - -194.6 - - 3205 - - - - - - - - 26.65 - -
7743 710.6 -5.0 391 7748 roll -0.91 - - 1968 - 2.08 0.042 584 -670.7 -194.6 - - 3203 - - - - - - - - - 26.72 -
7790 712.4 -5.2 392 7796 done -0.93 - - 1961 - 2.03 0.034 1972 683.7 -194.6 - - 3203 - - - - - - - - - 26.74 -
8109 732.3 -6.4 403 8114 roll -0.93 - - 1960 - 2.05 0.043 589 -674.6 -194.6 - - 3201 - - - - - - - - - 26.72 -
8180 737.2 -7.2 405 8185 done -0.93 - - 1952 - 2.03 0.035 1977 683.7 -194.6 - - 3201 - - - - - - - - - 26.74 -
8503 764.5 -8.7 416 8508 roll -0.93 - - 1952 - 2.08 0.044 583 -670.2 -194.6 - - 3200 - - - - - - - - - 26.72 -
8549 767.7 -9.0 417 8554 done -0.93 - - 1943 - 2.05 0.035 1987 684.9 -194.6 - - 3200 - - - - - - - - - 26.74 -
8867 800.9 -10.3 428 8872 roll -0.91 - - 1943 - 2.08 0.043 590 -671.6 -194.6 - - 3198 - - - - - - - - - 26.72 -
8929 807.9 -10.6 430 8935 done -0.89 - - 1935 - 2.05 0.036 1982 679.0 -194.6 - - 3198 - - - - - - - - - 26.73 -
9263 844.4 -10.9 441 9265 done -0.85 0.15 0.151 1978 286.7 - - 1983 - -194.6 - - 3197 - - - - - - - - 26.63 - -
9563 866.9 -7.0 451 9569 roll -0.91 - - 1979 - 2.08 0.044 592 -668.8 -194.6 - - 3196 - - - - - - - - - 26.72 -
9615 869.5 -7.1 452 9621 done -0.97 0.10 0.116 1927 -520.0 2.03 0.036 1978 682.8 -194.6 - - 3195 - - - - - - - - 26.70 26.74 -
9929 900.2 -9.2 463 9930 done -0.92 - - 1926 - - - 1978 - -194.6 - - 3194 - - - - - - - - - - -
10229 926.5 -8.6 473 10235 roll -0.88 0.12 0.156 1967 341.7 2.08 0.043 581 -671.6 -194.6 - - 3193 - - - - - - - - 26.64 26.72 -
10334 933.3 -7.5 476 10340 done -0.88 - - 1960 - 2.05 0.037 1978 681.5 -194.6 - - 3193 - - - - - - - - - 26.73 -
10658 954.5 -6.3 487 10660 done -0.91 - - 1960 - - - 1978 - -194.6 - - 3192 - - - - - - - - - - -
10958 971.6 -5.6 497 10963 roll -0.94 - - 1960 - 2.08 0.044 591 -666.8 -194.6 - - 3191 - - - - - - - - - 26.72 -
11040 975.5 -5.9 499 11045 done -0.96 - - 1950 - 2.05 0.037 1987 681.0 -194.6 - - 3190 - - - - - - - - - 26.73 -
11261 end dive: TARGET_DEPTH_EXCEEDED
11261 begin apogee
11265 990.4 -6.3 507 11432 done -0.14 0.73 0.115 2203 346.6 - - 1796 - - 159.20 1.410 2409 -4.9 0.360 - - - - - - 26.64 - 23.64
11434 end apogee: CONTROL_FINISHED_OK
11434 begin climb
11435 995.1 - 512 11613 roll 0.60 0.68 0.070 2443 352.9 2.35 0.047 3192 594.0 194.6 167.77 1.360 1616 -4.7 0.361 - - - - - - 24.70 24.38 23.51
11839 938.9 18.9 526 11845 done 0.33 0.35 0.198 2361 -234.3 2.10 0.035 1816 -655.2 194.6 - - 1607 - - - - - - - - 25.56 25.72 -
12168 896.0 12.6 537 12174 roll 0.22 0.12 0.190 2323 -316.7 2.12 0.045 3201 653.3 194.6 - - 1605 - - - - - - - - 26.00 26.08 -
12381 871.0 11.6 544 12387 done 0.13 0.15 0.184 2293 -200.0 2.12 0.037 1796 -662.7 194.6 - - 1605 - - - - - - - - 26.10 26.23 -
12714 842.3 8.2 555 12719 roll 0.13 - - 2292 - 2.15 0.047 3200 653.0 197.0 - - 1605 - - - - - - - - - 26.33 -
12795 836.6 8.7 557 12800 done 0.13 - - 2301 - 2.10 0.037 1793 -670.0 197.0 - - 1603 - - - - - - - - - 26.38 -
13108 808.5 8.4 568 13113 roll 0.11 - - 2301 - 2.15 0.046 3202 655.3 197.0 - - 1602 - - - - - - - - - 26.42 -
13215 799.7 9.1 571 13222 done 0.06 0.15 0.171 2271 -200.0 2.10 0.037 1792 -671.4 197.0 - - 1603 - - - - - - - - 26.34 26.46 -
13536 775.3 7.1 582 13578 roll 0.14 - - 2270 - 2.28 0.046 3195 615.4 236.9 35.08 1.272 1443 -4.6 0.290 - - - - - - - 25.42 24.58
13645 768.5 7.3 585 13687 done 0.20 0.12 0.106 2318 400.0 2.15 0.037 1796 -650.7 270.8 30.58 1.241 1304 -4.5 0.294 - - - - - - 25.70 25.74 24.15
13986 733.8 9.8 597 13991 roll 0.20 - - 2319 - 2.17 0.047 3197 645.6 270.8 - - 1297 - - - - - - - - - 25.96 -
14088 723.5 10.8 600 14094 done 0.18 - - 2328 - 2.12 0.038 1795 -661.3 270.8 - - 1296 - - - - - - - - - 26.09 -
14412 687.5 10.8 611 14417 roll 0.16 - - 2329 - 2.15 0.047 3195 651.2 270.8 - - 1295 - - - - - - - - - 26.26 -
14544 672.7 12.1 615 14550 done 0.12 0.17 0.170 2288 -241.2 2.10 0.037 1796 -666.2 270.8 - - 1295 - - - - - - - - 26.20 26.33 -
14868 644.3 8.2 626 14873 roll 0.17 - - 2288 - 2.15 0.045 3205 655.3 271.3 - - 1294 - - - - - - - - - 26.39 -
14920 641.3 8.3 627 14925 done 0.22 - - 2295 - 2.10 0.037 1798 -670.0 271.3 - - 1294 - - - - - - - - - 26.43 -
15234 611.5 8.8 638 15239 roll 0.26 0.12 0.108 2350 458.3 2.12 0.044 3205 663.7 271.3 - - 1294 - - - - - - - - 26.45 26.46 -
15270 607.6 9.4 639 15276 done 0.26 - - 2360 - 2.10 0.037 1795 -671.4 271.3 - - 1294 - - - - - - - - - 26.48 -
15588 569.2 11.6 654 15594 roll 0.20 0.12 0.181 2322 -316.7 2.12 0.044 3205 665.1 271.3 - - 1294 - - - - - - - - 26.40 26.50 -
15762 552.2 10.2 662 15767 done 0.17 - - 2329 - 2.10 0.037 1791 -673.3 271.3 - - 1294 - - - - - - - - - 26.54 -
16073 524.4 8.3 678 16079 roll 0.17 - - 2329 - 2.12 0.045 3196 662.7 271.3 - - 1294 - - - - - - - - - 26.54 -
16196 512.9 9.7 684 16203 done 0.14 0.15 0.174 2297 -213.3 2.10 0.036 1785 -671.9 271.3 - - 1293 - - - - - - - - 26.44 26.58 -
16521 489.8 7.4 700 16554 roll 0.24 - - 2297 - 2.22 0.045 3190 632.9 301.6 25.45 1.078 1178 -4.5 0.214 - - - - - - - 25.88 25.10
16591 485.0 7.8 703 16613 done 0.32 0.15 0.096 2360 420.0 2.12 0.037 1791 -659.9 318.2 15.38 1.023 1111 -4.4 0.216 - - - - - - 25.94 25.98 24.82
16925 446.5 11.3 720 16931 roll 0.28 - - 2360 - 2.17 0.044 3202 650.2 318.2 - - 1107 - - - - - - - - - 26.10 -
16978 441.3 11.6 722 16983 done 0.24 0.15 0.170 2329 -206.7 2.12 0.036 1792 -665.1 318.2 - - 1106 - - - - - - - - 26.03 26.15 -
17291 410.9 9.2 738 17296 roll 0.27 - - 2329 - 2.12 0.044 3198 663.2 318.2 - - 1106 - - - - - - - - - 26.29 -
17373 402.4 10.3 742 17378 done 0.27 - - 2330 - 2.08 0.036 1792 -676.0 318.2 - - 1106 - - - - - - - - - 26.34 -
17696 372.7 8.9 758 17701 roll 0.31 - - 2330 - 2.15 0.044 3208 658.6 318.2 - - 1106 - - - - - - - - - 26.40 -
17773 366.4 9.6 761 17779 done 0.34 - - 2339 - 2.10 0.036 1796 -672.4 318.2 - - 1105 - - - - - - - - - 26.44 -
18079 338.3 8.8 777 18084 roll 0.36 - - 2339 - 2.12 0.043 3199 661.8 318.2 - - 1105 - - - - - - - - - 26.46 -
18156 332.3 9.2 780 18163 done 0.38 - - 2345 - 2.08 0.036 1798 -673.6 318.2 - - 1106 - - - - - - - - - 26.50 -
18462 302.7 9.0 796 18468 roll 0.41 0.12 0.104 2412 558.3 2.10 0.045 397 -667.1 318.2 - - 1106 - - - - - - - - 26.51 26.51 -
18485 300.0 9.4 797 18492 done 0.41 - - 2412 - 2.08 0.032 1816 682.2 318.2 - - 1107 - - - - - - - - - 26.55 -
18809 255.6 13.2 813 18815 roll 0.32 0.17 0.158 2358 -317.6 2.03 0.042 3193 678.3 318.2 - - 1106 - - - - - - - - 26.43 26.53 -
19021 233.9 10.0 823 19026 done 0.32 - - 2365 - 2.05 0.034 1796 -681.5 318.2 - - 1106 - - - - - - - - - 26.58 -
19333 204.5 8.8 839 19339 roll 0.32 - - 2365 - 2.10 0.041 3200 668.6 318.2 - - 1106 - - - - - - - - - 26.58 -
19465 194.8 7.8 845 19486 done 0.34 - - 2372 - 2.05 0.034 1798 -683.9 335.0 14.82 0.793 1043 -4.3 0.109 - - - - - - - 26.60 25.62
19799 165.0 9.5 862 19804 roll 0.38 - - 2381 - 2.10 0.044 394 -668.6 335.0 - - 1041 - - - - - - - - - 26.41 -
19842 161.2 8.8 864 19847 done 0.41 - - 2381 - 2.05 0.029 1807 689.3 335.0 - - 1041 - - - - - - - - - 26.46 -
20165 134.9 7.6 880 20190 roll 0.49 - - 2381 - 2.12 0.039 3187 650.9 358.6 20.27 0.747 947 -4.6 0.087 - - - - - - - 26.10 25.50
20269 126.6 8.2 885 20280 done 0.54 0.12 0.099 2433 433.3 2.05 0.031 1798 -677.6 361.7 4.18 0.532 934 -3.1 0.077 - - - - - - 26.17 26.20 25.50
20593 98.5 7.6 901 20617 roll 0.57 - - 2433 - 2.12 0.036 3197 659.9 384.7 19.92 0.702 840 -4.7 0.069 - - - - - - - 25.98 25.41
20644 95.2 7.6 903 20669 done 0.59 - - 2437 - 2.08 0.031 1803 -670.2 405.8 18.05 0.685 754 -4.8 0.069 - - - - - - - 26.04 25.17
20977 69.4 6.7 920 21027 roll 0.69 0.10 0.109 2483 460.0 2.17 0.037 3187 637.8 460.1 43.17 0.682 532 -5.1 0.055 - - - - - - 26.19 25.52 24.97
21048 63.2 9.2 923 21054 done 0.69 - - 2489 - 2.10 0.031 1797 -661.9 460.1 - - 531 - - - - - - - - - 25.65 -
21356 23.5 14.7 949 21362 roll 0.65 - - 2499 - 2.10 0.041 395 -667.6 460.1 - - 531 - - - - - - - - - 26.12 -
21390 18.5 15.1 955 21397 done 0.61 0.17 0.132 2447 -305.9 2.05 0.026 1816 693.2 460.1 - - 531 - - - - - - - - 26.06 26.20 -
21593 end climb: SURFACE_DEPTH_REACHED
21593 begin surface coast
21620 end surface coast: CONTROL_FINISHED_OK
21620 begin surface
SM 1.27 - - - - -6.74 6.07 0.042 59 -393.4 0.17 0.060 2010 1141.2 460.92 - - 529 - - - - - - - -