OKMC Apr12 * SG170 * Dive index * Mission links * Dive 121 * Raw log
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• Previous call tries 1 • 27.57 of 146.00 AH used of 24V (81.12% remains)
• Previous NAKs 0, Timeouts 0 • 12.11 of 97.50 AH used of 10V (87.58% remains)
• Surface angle -74.7 deg, depth 2.05 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 27 s
• GPS2 time: 14 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 101 VBD -0.46 - - 137 - - - 2689 - -194.6 -81.43 - 2702 - - - - - - - - - - -
104 3.7 -3.6 8 147 roll -0.46 10.40 0.243 2641 240.8 1.65 0.076 3685 603.6 -194.6 -22.38 - 3929 -54.8 - - - - - - - 25.44 25.94 26.41
304 48.2 -14.3 27 311 done -0.41 - - 2641 - 1.52 0.030 2648 -682.2 -194.6 - - 3932 - - - - - - - - - 26.25 -
621 77.6 -11.2 44 626 roll -0.42 - - 2642 - 1.95 0.029 1298 -692.3 -194.6 - - 3934 - - - - - - - - - 26.32 -
724 87.6 -9.1 49 730 done -0.47 - - 2642 - 2.10 0.043 2658 647.6 -194.6 - - 3935 - - - - - - - - - 26.23 -
1047 116.9 -9.9 65 1053 roll -0.51 - - 2642 - 2.03 0.029 1293 -672.4 -194.6 - - 3936 - - - - - - - - - 26.42 -
1095 121.5 -10.4 67 1100 done -0.55 - - 2642 - 2.08 0.043 2642 648.6 -194.6 - - 3936 - - - - - - - - - 26.31 -
1413 147.7 -6.1 83 1419 roll -0.61 0.12 0.088 2564 -650.0 1.98 0.028 1292 -681.8 -194.6 - - 3935 - - - - - - - - 26.58 26.46 -
1490 155.0 -10.2 86 1497 done -0.61 0.15 0.147 2607 286.7 2.03 0.045 2611 649.8 -194.6 - - 3935 - - - - - - - - 26.15 26.34 -
1797 190.5 -9.3 102 1802 roll -0.62 - - 2607 - 1.92 0.031 1293 -686.5 -194.6 - - 3934 - - - - - - - - - 26.48 -
1879 197.1 -8.1 106 1885 done -0.65 - - 2607 - 2.00 0.044 2593 650.0 -194.6 - - 3934 - - - - - - - - - 26.38 -
2203 223.3 -7.8 122 2204 done -0.67 - - 2607 - - - 2593 - -194.6 - - 3932 - - - - - - - - - - -
2503 249.6 -9.0 137 2510 roll -0.70 0.12 0.093 2532 -625.0 1.92 0.028 1290 -678.6 -194.6 - - 3931 - - - - - - - - 26.63 26.53 -
2613 263.0 -13.2 142 2618 done -0.66 0.17 0.142 2585 311.8 1.98 0.045 2561 641.9 -194.6 - - 3930 - - - - - - - - 26.17 26.41 -
2930 292.3 -8.7 158 2936 roll -0.66 - - 2585 - 1.77 0.057 3693 639.5 -194.6 - - 3928 - - - - - - - - - 26.35 -
2973 295.6 -8.1 160 2978 done -0.67 - - 2585 - 1.67 0.031 2567 -674.3 -194.6 - - 3928 - - - - - - - - - 26.61 -
3296 320.5 -8.4 176 3301 roll -0.67 - - 2584 - 1.85 0.029 1294 -688.1 -194.6 - - 3926 - - - - - - - - - 26.54 -
3394 328.1 -9.1 180 3401 done -0.69 - - 2585 - 1.95 0.044 2554 646.2 -194.6 - - 3925 - - - - - - - - - 26.41 -
3699 357.2 -9.0 196 3700 done -0.70 - - 2585 - - - 2554 - -194.6 - - 3923 - - - - - - - - - - -
4000 386.9 -9.8 211 4006 roll -0.72 - - 2585 - 1.77 0.057 3692 642.9 -194.6 - - 3921 - - - - - - - - - 26.34 -
4023 389.4 -9.8 212 4029 done -0.73 - - 2585 - 1.70 0.034 2557 -667.6 -194.6 - - 3921 - - - - - - - - - 26.60 -
4347 419.4 -9.0 228 4352 roll -0.75 - - 2585 - 1.83 0.031 1294 -690.2 -194.6 - - 3919 - - - - - - - - - 26.53 -
4424 424.9 -8.9 231 4430 done -0.77 - - 2585 - 1.90 0.044 2532 651.6 -194.6 - - 3917 - - - - - - - - - 26.40 -
4730 449.6 -6.8 247 4736 roll -0.79 0.12 0.093 2510 -625.0 1.83 0.055 3699 637.7 -194.6 - - 3915 - - - - - - - - 26.65 26.32 -
4757 451.6 -7.0 248 4763 done -0.79 0.12 0.143 2546 300.0 1.73 0.033 2541 -669.4 -194.6 - - 3914 - - - - - - - - 26.29 26.60 -
5077 481.2 -9.4 264 5082 roll -0.76 - - 2546 - 1.85 0.059 3700 626.5 -194.6 - - 3913 - - - - - - - - - 26.31 -
5120 485.6 -10.0 266 5125 done -0.73 - - 2547 - 1.73 0.033 2551 -664.2 -194.6 - - 3913 - - - - - - - - - 26.59 -
5442 519.9 -10.9 282 5448 roll -0.71 - - 2546 - 1.83 0.058 3696 625.7 -194.6 - - 3910 - - - - - - - - - 26.30 -
5480 522.5 -11.0 283 5487 done -0.68 0.12 0.140 2585 325.0 1.70 0.034 2556 -670.6 -194.6 - - 3910 - - - - - - - - 26.29 26.58 -
5786 549.6 -7.8 299 5791 roll -0.70 - - 2585 - 1.83 0.031 1301 -685.8 -194.6 - - 3908 - - - - - - - - - 26.51 -
5849 554.3 -7.6 302 5855 done -0.73 - - 2585 - 1.92 0.045 2542 646.4 -194.6 - - 3908 - - - - - - - - - 26.36 -
6172 577.8 -7.2 318 6174 done -0.76 - - 2585 - - - 2542 - -194.6 - - 3906 - - - - - - - - - - -
6474 599.3 -7.2 333 6476 done -0.78 0.12 0.093 2522 -525.0 - - 2542 - -194.6 - - 3904 - - - - - - - - 26.65 - -
6793 635.2 -11.6 344 6800 roll -0.73 0.12 0.151 2564 350.0 1.85 0.058 3700 625.9 -194.6 - - 3902 - - - - - - - - 26.40 26.25 -
6828 638.8 -11.2 345 6833 done -0.69 - - 2564 - 1.75 0.034 2559 -652.0 -194.6 - - 3902 - - - - - - - - - 26.56 -
7162 663.4 -7.2 356 7163 done -0.69 - - 2564 - - - 2558 - -194.6 - - 3901 - - - - - - - - - - -
7460 685.8 -7.8 366 7466 roll -0.69 - - 2564 - 1.85 0.031 1301 -679.5 -194.6 - - 3900 - - - - - - - - - 26.49 -
7554 693.5 -8.1 369 7559 done -0.69 - - 2564 - 1.92 0.045 2524 637.0 -194.6 - - 3899 - - - - - - - - - 26.32 -
7888 725.6 -10.4 380 7889 done -0.69 - - 2564 - - - 2524 - -194.6 - - 3898 - - - - - - - - - - -
8187 756.1 -9.8 390 8193 roll -0.69 - - 2564 - 1.88 0.060 3696 623.4 -194.6 - - 3896 - - - - - - - - - 26.20 -
8239 759.2 -9.6 391 8244 done -0.69 - - 2564 - 1.75 0.036 2543 -658.9 -194.6 - - 3896 - - - - - - - - - 26.53 -
8553 783.7 -6.7 402 8558 roll -0.69 - - 2564 - 1.85 0.032 1295 -674.6 -194.6 - - 3895 - - - - - - - - - 26.45 -
8600 786.0 -6.6 403 8605 done -0.70 - - 2564 - 1.90 0.047 2518 643.7 -194.6 - - 3895 - - - - - - - - - 26.29 -
8919 807.1 -6.1 414 8920 done -0.70 - - 2564 - - - 2518 - -194.6 - - 3893 - - - - - - - - - - -
9218 827.6 -7.5 424 9223 roll -0.70 - - 2564 - 1.88 0.060 3696 626.6 -194.6 - - 3892 - - - - - - - - - 26.16 -
9255 830.1 -7.5 425 9261 done -0.72 - - 2564 - 1.77 0.037 2530 -658.8 -194.6 - - 3892 - - - - - - - - - 26.51 -
9585 858.2 -9.4 436 9586 done -0.73 - - 2564 - - - 2530 - -194.6 - - 3891 - - - - - - - - - - -
9883 886.3 -9.5 446 9884 done -0.75 - - 2564 - - - 2530 - -194.6 - - 3890 - - - - - - - - - - -
10184 912.9 -8.6 456 10190 roll -0.76 - - 2564 - 1.88 0.061 3689 616.5 -194.6 - - 3889 - - - - - - - - - 26.12 -
10218 915.7 -8.5 457 10223 done -0.78 - - 2564 - 1.77 0.037 2535 -652.0 -194.6 - - 3890 - - - - - - - - - 26.48 -
10552 940.8 -7.6 468 10557 roll -0.80 - - 2564 - 1.85 0.034 1291 -672.4 -194.6 - - 3888 - - - - - - - - - 26.40 -
10615 945.6 -7.5 470 10620 done -0.82 - - 2564 - 1.90 0.047 2506 639.5 -194.6 - - 3888 - - - - - - - - - 26.23 -
10950 970.6 -7.9 481 10952 done -0.84 0.10 0.111 2509 -550.0 - - 2506 - -194.6 - - 3887 - - - - - - - - 26.66 - -
11156 end dive: TARGET_DEPTH_EXCEEDED
11156 begin apogee
11162 992.4 -10.5 488 11327 roll -0.12 0.75 0.120 2755 328.0 - - 1947 - - 158.12 1.446 3121 -4.8 0.358 - - - - - - 25.67 - 23.30
11328 end apogee: CONTROL_FINISHED_OK
11328 begin climb
11330 997.8 - 493 11519 roll 0.46 0.55 0.060 2959 370.9 2.28 0.040 559 -608.8 194.6 178.12 1.401 2326 -4.5 0.342 - - - - - - 24.57 24.56 22.82
11625 979.2 10.4 503 11631 done 0.44 - - 2958 - 2.25 0.037 1947 616.9 194.6 - - 2320 - - - - - - - - - 25.10 -
11946 944.3 10.3 514 11951 roll 0.40 - - 2967 - 2.20 0.040 555 -632.7 194.6 - - 2316 - - - - - - - - - 25.91 -
12129 925.6 10.0 520 12135 done 0.38 0.15 0.141 2923 -293.3 2.17 0.038 1951 643.3 194.6 - - 2315 - - - - - - - - 25.84 26.04 -
12463 900.8 7.2 531 12512 roll 0.41 - - 2923 - 2.38 0.054 3341 584.0 244.7 43.67 1.362 2123 -4.4 0.313 - - - - - - - 25.19 24.09
12575 893.7 7.6 534 12615 done 0.43 - - 2928 - 2.15 0.033 1963 -640.9 281.8 33.65 1.330 1971 -4.5 0.327 - - - - - - - 25.63 23.89
12915 862.5 9.1 546 12916 done 0.46 - - 2928 - - - 1964 - 281.8 - - 1964 - - - - - - - - - - -
13215 832.6 9.9 556 13220 roll 0.49 - - 2928 - 2.25 0.052 3342 612.4 281.8 - - 1963 - - - - - - - - - 26.05 -
13248 829.4 9.7 557 13254 done 0.51 0.12 0.093 2995 558.3 2.12 0.033 1956 -653.8 281.8 - - 1963 - - - - - - - - 26.14 26.20 -
13582 787.0 12.5 568 13588 roll 0.47 0.12 0.157 2956 -325.0 2.17 0.042 538 -653.5 281.8 - - 1962 - - - - - - - - 26.13 26.20 -
13634 783.3 12.0 569 13640 done 0.43 - - 2956 - 2.22 0.039 1969 644.6 281.8 - - 1960 - - - - - - - - - 26.22 -
13947 746.2 12.0 580 13948 done 0.43 - - 2956 - - - 1969 - 281.8 - - 1961 - - - - - - - - - - -
14247 712.0 11.2 590 14252 roll 0.43 - - 2956 - 2.20 0.052 3347 626.4 281.8 - - 1960 - - - - - - - - - 26.20 -
14289 708.2 11.2 591 14294 done 0.43 - - 2956 - 2.12 0.033 1942 -662.7 281.8 - - 1960 - - - - - - - - - 26.38 -
14613 674.1 9.6 602 14614 done 0.43 - - 2956 - - - 1942 - 281.8 - - 1959 - - - - - - - - - - -
14912 646.3 9.3 612 14918 roll 0.43 - - 2956 - 2.15 0.042 541 -651.6 281.8 - - 1959 - - - - - - - - - 26.29 -
14964 643.4 9.4 613 14969 done 0.43 - - 2956 - 2.17 0.039 1950 649.3 281.8 - - 1958 - - - - - - - - - 26.32 -
15276 609.6 10.8 624 15282 roll 0.43 - - 2956 - 2.22 0.053 3343 627.5 281.8 - - 1959 - - - - - - - - - 26.21 -
15339 602.2 11.3 626 15344 done 0.43 - - 2956 - 2.12 0.033 1956 -654.2 281.8 - - 1959 - - - - - - - - - 26.42 -
15652 569.4 10.5 641 15657 roll 0.45 - - 2956 - 2.17 0.042 541 -652.1 281.8 - - 1958 - - - - - - - - - 26.29 -
15684 567.2 10.5 642 15689 done 0.46 - - 2956 - 2.20 0.040 1966 647.7 281.8 - - 1958 - - - - - - - - - 26.32 -
15997 533.3 10.8 658 15998 done 0.48 - - 2956 - - - 1967 - 281.8 - - 1958 - - - - - - - - - - -
16299 503.1 9.6 673 16304 roll 0.50 - - 2956 - 2.17 0.053 3350 637.3 281.8 - - 1958 - - - - - - - - - 26.20 -
16342 498.4 10.1 675 16347 done 0.50 - - 2956 - 2.10 0.033 1961 -661.4 281.8 - - 1958 - - - - - - - - - 26.44 -
16664 472.0 7.0 691 16718 roll 0.55 - - 2956 - 2.28 0.044 554 -617.1 336.6 45.67 1.101 1747 -4.6 0.213 - - - - - - - 25.54 24.46
16747 468.6 4.1 695 16888 done 0.68 0.17 0.074 3039 488.2 2.25 0.037 1970 629.3 491.5 130.40 1.082 1117 -4.8 0.225 - - - - - - 25.65 25.64 23.67
17185 424.2 11.0 717 17190 roll 0.68 - - 3045 - 2.25 0.041 536 -637.3 491.5 - - 1111 - - - - - - - - - 25.77 -
17228 419.4 11.4 719 17233 done 0.68 - - 3045 - 2.22 0.037 1951 637.4 491.5 - - 1113 - - - - - - - - - 25.84 -
17550 375.0 13.9 735 17551 done 0.68 - - 3045 - - - 1952 - 491.5 - - 1111 - - - - - - - - - - -
17852 335.2 12.7 750 17857 roll 0.68 - - 3049 - 2.17 0.042 544 -648.8 491.5 - - 1110 - - - - - - - - - 26.12 -
17895 329.9 12.4 752 17900 done 0.68 - - 3049 - 2.17 0.037 1949 647.5 491.5 - - 1110 - - - - - - - - - 26.17 -
18217 287.7 14.4 768 18223 roll 0.68 - - 3050 - 2.17 0.041 535 -651.6 491.5 - - 1109 - - - - - - - - - 26.19 -
18254 284.2 14.6 769 18261 done 0.68 0.12 0.135 3012 -316.7 2.15 0.037 1933 650.2 491.5 - - 1110 - - - - - - - - 26.06 26.22 -
18561 250.4 8.5 785 18572 roll 0.74 - - 3011 - 2.22 0.049 3341 634.2 496.9 4.72 0.700 1095 -3.2 0.122 - - - - - - - 26.25 24.83
18594 248.4 8.3 786 18615 done 0.80 0.15 0.080 3088 513.3 2.12 0.032 1932 -664.6 509.5 12.48 0.874 1043 -4.2 0.127 - - - - - - 26.28 26.32 24.99
18928 196.9 19.3 803 18934 roll 0.75 0.12 0.157 3050 -316.7 2.12 0.041 542 -655.7 509.5 - - 1042 - - - - - - - - 26.07 26.13 -
18995 187.3 16.4 806 19000 done 0.75 - - 3049 - 2.12 0.037 1923 651.4 509.5 - - 1042 - - - - - - - - - 26.18 -
19313 149.3 10.8 822 19318 roll 0.78 - - 3050 - 2.25 0.050 3346 632.4 509.5 - - 1042 - - - - - - - - - 26.14 -
19345 146.7 10.8 823 19351 done 0.81 - - 3050 - 2.15 0.032 1920 -663.3 509.5 - - 1042 - - - - - - - - - 26.32 -
19658 112.5 10.6 839 19664 roll 0.85 - - 3050 - 2.08 0.041 541 -663.0 509.5 - - 1042 - - - - - - - - - 26.25 -
19696 110.0 10.6 840 19703 done 0.90 0.12 0.092 3119 575.0 2.12 0.035 1935 657.5 509.5 - - 1042 - - - - - - - - 26.26 26.29 -
20002 63.0 10.6 856 20007 roll 0.92 - - 3119 - 2.22 0.049 3350 637.4 509.5 - - 1042 - - - - - - - - - 26.20 -
20019 63.0 10.6 856 20026 done 0.94 - - 3119 - 2.17 0.032 1913 -662.2 509.5 - - 1042 - - - - - - - - - 26.38 -
20325 35.7 11.9 877 20326 done 1.01 - - 3118 - - - 1913 - 509.5 - - 1042 - - - - - - - - - - -
20626 17.9 6.4 907 20667 done 1.14 0.15 0.084 3195 513.3 - - 1913 - 585.9 35.35 0.101 730 -8.8 0.168 - - - - - - 26.53 - 25.97
20803 end climb: SURFACE_DEPTH_REACHED
20803 begin surface coast
20834 end surface coast: CONTROL_FINISHED_OK
20834 begin surface
SM 1.98 - - - - -8.27 7.93 0.046 139 -385.4 1.25 0.047 2694 624.8 652.74 32.15 0.062 459 -8.4 0.028 - - - - - -