OKMC Apr12 * SG170 * Dive index * Mission links * Dive 130 * Raw log
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• Previous call tries 2 • 29.90 of 146.00 AH used of 24V (79.52% remains)
• Previous NAKs 0, Timeouts 0 • 13.51 of 97.50 AH used of 10V (86.15% remains)
• Surface angle -74.2 deg, depth 2.00 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 39 s
• GPS2 time: 17 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 - - - 101 VBD -0.46 - - 133 - - - 2705 - -194.6 -80.55 - 2630 - - - - - - - - - - -
104 3.2 -2.6 8 147 roll -0.46 10.27 0.238 2643 244.4 1.62 0.074 3685 604.9 -194.6 -25.67 - 3928 -50.6 - - - - - - - 25.49 26.00 26.49
301 50.5 -21.9 27 307 done -0.37 0.12 0.148 2680 308.3 1.52 0.031 2672 -666.4 -194.6 - - 3930 - - - - - - - - 25.99 26.29 -
614 90.0 -9.7 43 620 roll -0.40 - - 2679 - 1.65 0.056 3693 618.8 -194.6 - - 3931 - - - - - - - - - 26.18 -
668 94.3 -10.0 45 673 done -0.44 - - 2680 - 1.50 0.033 2698 -663.3 -194.6 - - 3932 - - - - - - - - - 26.40 -
981 117.2 -6.3 61 987 roll -0.51 0.12 0.086 2599 -675.0 2.08 0.029 1289 -677.4 -194.6 - - 3932 - - - - - - - - 26.53 26.39 -
1075 126.2 -11.0 65 1081 done -0.49 0.15 0.148 2641 280.0 2.15 0.046 2668 641.4 -194.6 - - 3932 - - - - - - - - 26.08 26.28 -
1388 157.8 -9.3 81 1394 roll -0.51 - - 2642 - 1.62 0.057 3694 633.3 -194.6 - - 3932 - - - - - - - - - 26.29 -
1435 161.2 -8.3 83 1440 done -0.55 - - 2642 - 1.52 0.031 2656 -682.9 -194.6 - - 3932 - - - - - - - - - 26.54 -
1753 182.4 -8.5 99 1754 done -0.59 - - 2642 - - - 2656 - -194.6 - - 3931 - - - - - - - - - - -
2054 205.9 -6.7 114 2056 done -0.63 0.15 0.077 2549 -620.0 - - 2655 - -194.6 - - 3930 - - - - - - - - 26.63 - -
2353 246.4 -14.3 129 2359 roll -0.56 0.20 0.138 2617 340.0 2.03 0.029 1277 -678.8 -194.6 - - 3928 - - - - - - - - 26.22 26.48 -
2377 249.5 -14.0 130 2382 done -0.51 - - 2617 - 2.17 0.046 2669 641.5 -194.6 - - 3928 - - - - - - - - - 26.36 -
2700 276.1 -7.7 146 2705 roll -0.54 - - 2616 - 1.60 0.055 3693 640.0 -194.6 - - 3927 - - - - - - - - - 26.34 -
2767 280.9 -7.6 149 2772 done -0.58 - - 2617 - 1.52 0.033 2661 -678.9 -194.6 - - 3927 - - - - - - - - - 26.58 -
3086 306.3 -7.9 165 3091 roll -0.61 - - 2617 - 2.00 0.031 1285 -688.0 -194.6 - - 3924 - - - - - - - - - 26.49 -
3123 308.1 -8.0 166 3130 done -0.65 - - 2616 - 2.15 0.047 2666 642.3 -194.6 - - 3924 - - - - - - - - - 26.36 -
3429 332.5 -7.1 182 3435 roll -0.68 0.12 0.086 2532 -700.0 2.05 0.029 1280 -676.1 -194.6 - - 3922 - - - - - - - - 26.67 26.49 -
3473 337.2 -8.7 184 3480 done -0.68 0.15 0.152 2575 286.7 2.15 0.047 2649 636.7 -194.6 - - 3922 - - - - - - - - 26.12 26.36 -
3797 369.3 -10.2 200 3803 roll -0.67 - - 2575 - 1.65 0.056 3699 636.4 -194.6 - - 3919 - - - - - - - - - 26.32 -
3874 376.0 -10.6 203 3880 done -0.67 - - 2575 - 1.58 0.032 2631 -675.9 -194.6 - - 3918 - - - - - - - - - 26.59 -
4180 406.0 -8.2 219 4186 roll -0.67 - - 2575 - 1.98 0.031 1271 -686.9 -194.6 - - 3916 - - - - - - - - - 26.51 -
4212 407.9 -8.1 220 4218 done -0.67 - - 2575 - 2.12 0.047 2646 648.6 -194.6 - - 3915 - - - - - - - - - 26.35 -
4526 434.2 -8.5 236 4531 roll -0.67 - - 2575 - 1.65 0.057 3693 634.5 -194.6 - - 3914 - - - - - - - - - 26.29 -
4577 438.0 -8.8 238 4582 done -0.67 - - 2575 - 1.58 0.034 2635 -669.6 -194.6 - - 3913 - - - - - - - - - 26.58 -
4889 468.8 -9.8 254 4890 done -0.67 - - 2575 - - - 2637 - -194.6 - - 3911 - - - - - - - - - - -
5191 494.8 -8.1 269 5196 roll -0.67 - - 2575 - 1.73 0.059 3701 615.0 -194.6 - - 3908 - - - - - - - - - 26.27 -
5234 498.3 -8.0 271 5239 done -0.67 - - 2575 - 1.60 0.034 2639 -663.8 -194.6 - - 3910 - - - - - - - - - 26.56 -
5556 524.5 -8.3 287 5561 roll -0.67 - - 2575 - 1.98 0.031 1284 -684.3 -194.6 - - 3906 - - - - - - - - - 26.48 -
5578 526.4 -8.5 288 5584 done -0.67 - - 2575 - 2.15 0.047 2648 634.4 -194.6 - - 3906 - - - - - - - - - 26.30 -
5901 556.4 -9.6 304 5902 done -0.67 - - 2575 - - - 2648 - -194.6 - - 3903 - - - - - - - - - - -
6201 584.0 -8.7 319 6207 roll -0.67 - - 2575 - 1.67 0.058 3701 630.5 -194.6 - - 3901 - - - - - - - - - 26.24 -
6245 587.8 -8.7 321 6251 done -0.67 - - 2575 - 1.58 0.034 2644 -669.0 -194.6 - - 3901 - - - - - - - - - 26.54 -
6569 616.7 -9.1 334 6570 done -0.67 - - 2575 - - - 2644 - -194.6 - - 3899 - - - - - - - - - - -
6869 642.8 -8.6 344 6874 roll -0.67 - - 2575 - 2.03 0.031 1272 -675.9 -194.6 - - 3897 - - - - - - - - - 26.46 -
6916 645.7 -8.7 345 6921 done -0.68 - - 2575 - 2.17 0.047 2651 635.5 -194.6 - - 3897 - - - - - - - - - 26.26 -
7236 673.7 -8.4 356 7242 roll -0.70 - - 2575 - 2.05 0.031 1271 -673.2 -194.6 - - 3895 - - - - - - - - - 26.44 -
7274 676.8 -8.6 357 7279 done -0.71 - - 2575 - 2.17 0.047 2651 635.9 -194.6 - - 3895 - - - - - - - - - 26.26 -
7604 705.4 -8.5 368 7609 roll -0.73 - - 2575 - 2.05 0.031 1284 -666.8 -194.6 - - 3893 - - - - - - - - - 26.44 -
7637 708.3 -8.3 369 7643 done -0.74 - - 2575 - 2.15 0.047 2642 631.6 -194.6 - - 3893 - - - - - - - - - 26.25 -
7972 734.8 -7.8 380 7978 roll -0.76 - - 2575 - 2.03 0.032 1282 -670.0 -194.6 - - 3892 - - - - - - - - - 26.41 -
7995 734.8 -7.8 380 8001 done -0.78 - - 2575 - 2.15 0.047 2643 633.0 -194.6 - - 3892 - - - - - - - - - 26.23 -
8309 760.7 -7.5 391 8311 done -0.80 - - 2575 - - - 2642 - -194.6 - - 3890 - - - - - - - - - - -
8609 782.5 -7.3 401 8611 done -0.82 0.12 0.092 2508 -558.3 - - 2642 - -194.6 - - 3888 - - - - - - - - 26.65 - -
8908 819.5 -12.8 411 8910 done -0.76 0.17 0.142 2560 305.9 - - 2643 - -194.6 - - 3888 - - - - - - - - 26.27 - -
9209 845.6 -8.4 421 9210 done -0.76 - - 2560 - - - 2643 - -194.6 - - 3887 - - - - - - - - - - -
9508 871.8 -8.9 431 9509 done -0.76 - - 2560 - - - 2643 - -194.6 - - 3886 - - - - - - - - - - -
9808 899.9 -9.2 441 9813 roll -0.76 - - 2560 - 2.05 0.033 1275 -667.3 -194.6 - - 3884 - - - - - - - - - 26.36 -
9849 902.9 -9.2 442 9855 done -0.76 - - 2560 - 2.15 0.048 2631 630.7 -194.6 - - 3883 - - - - - - - - - 26.17 -
10173 930.7 -8.2 453 10179 roll -0.76 - - 2560 - 2.03 0.034 1279 -666.0 -194.6 - - 3883 - - - - - - - - - 26.36 -
10237 936.0 -8.2 455 10243 done -0.76 - - 2561 - 2.15 0.047 2629 627.9 -194.6 - - 3882 - - - - - - - - - 26.16 -
10571 961.7 -7.9 466 10577 roll -0.76 - - 2560 - 2.03 0.033 1277 -666.0 -194.6 - - 3881 - - - - - - - - - 26.35 -
10614 964.4 -7.9 467 10620 done -0.76 - - 2560 - 2.10 0.048 2613 636.2 -194.6 - - 3882 - - - - - - - - - 26.14 -
10940 988.9 -7.1 478 10945 roll -0.76 - - 2561 - 1.75 0.060 3699 620.6 -194.6 - - 3881 - - - - - - - - - 26.03 -
10970 end dive: TARGET_DEPTH_EXCEEDED
10971 begin apogee
10978 991.3 -7.0 479 11146 roll -0.12 0.57 0.108 2757 343.9 - - 1933 - - 160.05 1.437 3120 -4.8 0.354 - - - - - - 25.75 - 23.07
11148 end apogee: CONTROL_FINISHED_OK
11148 begin climb
11150 995.9 - 484 11337 roll 0.46 0.55 0.061 2959 367.3 2.30 0.040 539 -606.1 194.6 179.32 1.397 2326 -4.4 0.341 - - - - - - 24.60 24.59 22.74
11375 982.6 9.3 492 11381 done 0.43 - - 2959 - 2.35 0.038 1949 600.0 194.6 - - 2322 - - - - - - - - - 24.58 -
11700 945.9 10.8 503 11705 roll 0.40 - - 2968 - 2.22 0.041 537 -636.0 194.6 - - 2316 - - - - - - - - - 25.85 -
11897 926.6 10.3 509 11903 done 0.38 0.15 0.139 2924 -293.3 2.20 0.039 1942 638.6 194.6 - - 2315 - - - - - - - - 25.82 26.03 -
12219 900.3 7.6 520 12256 roll 0.42 - - 2924 - 2.30 0.051 3352 613.0 229.5 30.67 1.342 2184 -4.3 0.310 - - - - - - - 25.46 24.25
12293 895.1 7.9 522 12322 done 0.43 - - 2928 - 2.22 0.033 1942 -635.1 255.4 24.17 1.309 2079 -4.3 0.321 - - - - - - - 25.69 24.00
12641 865.3 8.4 534 12653 done 0.47 - - 2926 - - - 1942 - 266.5 10.50 1.204 2034 -4.3 0.333 - - - - - - - - 24.45
12940 839.5 8.8 544 12946 roll 0.51 0.10 0.106 2987 610.0 2.25 0.050 3342 622.2 266.5 - - 2031 - - - - - - - - 26.22 26.01 -
12963 839.5 8.8 544 12969 done 0.54 - - 2995 - 2.12 0.033 1949 -657.1 266.5 - - 2031 - - - - - - - - - 26.15 -
13278 795.2 13.0 555 13284 roll 0.50 0.12 0.160 2964 -258.3 2.17 0.041 528 -654.8 266.5 - - 2030 - - - - - - - - 26.10 26.17 -
13342 788.2 11.9 557 13347 done 0.48 - - 2964 - 2.20 0.040 1940 641.8 266.5 - - 2028 - - - - - - - - - 26.20 -
13676 753.7 10.4 568 13681 roll 0.48 - - 2964 - 2.22 0.053 3350 635.1 266.5 - - 2028 - - - - - - - - - 26.16 -
13708 749.8 10.7 569 13713 done 0.48 - - 2968 - 2.17 0.034 1942 -648.8 266.5 - - 2028 - - - - - - - - - 26.33 -
14042 713.1 10.9 580 14048 roll 0.48 - - 2971 - 2.15 0.042 538 -653.0 266.5 - - 2027 - - - - - - - - - 26.28 -
14089 709.5 10.8 581 14095 done 0.48 - - 2971 - 2.17 0.040 1956 653.5 266.5 - - 2027 - - - - - - - - - 26.27 -
14408 673.9 10.8 592 14413 roll 0.48 - - 2970 - 2.20 0.052 3355 635.9 266.5 - - 2027 - - - - - - - - - 26.19 -
14454 669.9 11.0 593 14459 done 0.48 - - 2971 - 2.15 0.033 1950 -653.5 266.5 - - 2027 - - - - - - - - - 26.37 -
14771 634.3 10.4 604 14776 roll 0.48 - - 2971 - 2.17 0.043 531 -653.9 266.5 - - 2027 - - - - - - - - - 26.27 -
14818 631.0 10.3 605 14824 done 0.48 - - 2971 - 2.20 0.039 1956 647.7 266.5 - - 2026 - - - - - - - - - 26.29 -
15137 599.4 9.4 616 15142 roll 0.48 - - 2971 - 2.17 0.052 3347 641.0 266.5 - - 2027 - - - - - - - - - 26.19 -
15163 597.3 9.3 617 15168 done 0.48 - - 2971 - 2.15 0.034 1943 -653.0 266.5 - - 2027 - - - - - - - - - 26.39 -
15480 566.6 9.5 633 15482 done 0.48 - - 2971 - - - 1943 - 266.5 - - 2026 - - - - - - - - - - -
15782 538.9 9.2 648 15783 done 0.48 - - 2971 - - - 1943 - 266.5 - - 2026 - - - - - - - - - - -
16081 513.0 8.8 663 16087 roll 0.48 - - 2971 - 2.25 0.051 3345 623.1 266.5 - - 2027 - - - - - - - - - 26.17 -
16108 510.8 8.9 664 16113 done 0.48 - - 2971 - 2.12 0.033 1940 -662.7 266.5 - - 2027 - - - - - - - - - 26.40 -
16426 480.2 9.4 680 16431 roll 0.48 - - 2971 - 2.15 0.042 535 -653.5 266.5 - - 2027 - - - - - - - - - 26.27 -
16462 478.2 9.3 681 16469 done 0.48 - - 2971 - 2.20 0.039 1961 648.2 266.5 - - 2026 - - - - - - - - - 26.28 -
16768 450.4 8.4 697 16783 roll 0.48 - - 2971 - 2.17 0.050 3347 638.7 275.8 8.52 0.960 1997 -3.4 0.173 - - - - - - - 26.30 24.79
16804 448.6 8.3 698 16824 done 0.49 - - 2971 - 2.15 0.033 1944 -652.6 288.5 13.02 1.008 1943 -4.1 0.199 - - - - - - - 26.35 24.84
17132 417.9 9.5 715 17137 roll 0.51 - - 2971 - 2.17 0.041 533 -650.2 288.5 - - 1939 - - - - - - - - - 26.11 -
17175 413.8 9.5 717 17180 done 0.53 - - 2971 - 2.20 0.037 1946 642.3 288.5 - - 1939 - - - - - - - - - 26.14 -
17497 381.0 9.7 733 17503 roll 0.55 - - 2972 - 2.20 0.050 3345 635.9 288.5 - - 1939 - - - - - - - - - 26.08 -
17544 376.7 9.8 735 17549 done 0.57 - - 2972 - 2.12 0.032 1951 -657.5 288.5 - - 1939 - - - - - - - - - 26.29 -
17863 349.6 8.5 751 17876 roll 0.60 - - 2971 - 2.20 0.042 545 -639.1 295.5 7.07 0.864 1915 -3.4 0.148 - - - - - - - 26.27 24.85
17914 346.3 8.4 753 17930 done 0.63 - - 2971 - 2.15 0.038 1950 653.5 306.2 11.00 0.926 1871 -4.0 0.162 - - - - - - - 26.20 24.85
18248 316.1 8.4 770 18263 roll 0.68 0.12 0.093 3044 608.3 2.22 0.049 3354 632.4 315.8 9.57 0.890 1833 -4.0 0.152 - - - - - - 26.32 26.05 24.83
18295 310.4 10.5 772 18301 done 0.68 0.12 0.168 3017 -225.0 2.20 0.033 1938 -643.6 315.8 - - 1833 - - - - - - - - 25.82 26.08 -
18614 266.0 13.4 788 18619 roll 0.65 - - 3023 - 2.17 0.041 525 -651.2 315.8 - - 1830 - - - - - - - - - 26.10 -
18667 260.8 12.5 790 18673 done 0.64 - - 3023 - 2.17 0.037 1928 646.5 315.8 - - 1829 - - - - - - - - - 26.14 -
18981 223.4 11.9 806 18986 roll 0.62 - - 3023 - 2.22 0.050 3345 638.3 315.8 - - 1830 - - - - - - - - - 26.09 -
19047 215.0 12.9 809 19053 done 0.59 0.12 0.156 2988 -291.7 2.12 0.032 1943 -661.3 315.8 - - 1830 - - - - - - - - 26.01 26.28 -
19367 189.0 6.2 825 19436 done 0.68 - - 2988 - - - 1943 - 397.7 67.75 0.877 1499 -4.9 0.114 - - - - - - - - 24.42
19726 166.9 6.1 843 19799 done 0.80 0.20 0.065 3086 490.0 - - 1940 - 483.2 69.57 0.841 1151 -5.0 0.107 - - - - - - 26.07 - 24.29
20087 109.3 15.9 861 20093 roll 0.78 0.12 0.147 3050 -300.0 2.20 0.038 525 -643.2 483.2 - - 1146 - - - - - - - - 25.83 25.89 -
20131 103.9 14.1 863 20136 done 0.78 - - 3050 - 2.22 0.036 1966 649.1 483.2 - - 1146 - - - - - - - - - 25.94 -
20454 82.3 6.2 879 20528 roll 0.90 0.12 0.092 3123 608.3 2.28 0.049 3340 602.6 565.6 65.07 0.769 815 -5.1 0.059 - - - - - - 26.29 25.34 24.52
20555 71.9 10.9 884 20562 done 0.94 - - 3124 - 2.17 0.030 1958 -636.9 565.6 - - 813 - - - - - - - - - 25.58 -
20871 43.0 9.1 903 20876 roll 1.03 - - 3124 - 2.20 0.041 531 -648.6 565.6 - - 811 - - - - - - - - - 25.98 -
20944 37.3 7.5 910 20986 done 1.17 0.15 0.080 3200 506.7 2.12 0.032 1947 667.9 605.6 33.25 0.712 651 -4.8 0.027 - - - - - - 26.04 26.08 24.80
21284 7.2 8.9 944 21289 roll 1.31 - - 3200 - 2.15 0.038 538 -655.3 605.6 - - 650 - - - - - - - - - 26.03 -
21335 end climb: SURFACE_DEPTH_REACHED
21335 begin surface coast
21368 end surface coast: CONTROL_FINISHED_OK
21368 begin surface
SM 1.78 - - - - -8.29 8.00 0.045 134 -383.2 3.38 0.037 2676 632.5 652.74 24.15 0.060 459 -7.9 0.024 - - - - - -