OKMC Apr12 * SG170 * Dive index * Mission links * Dive 132 * Raw log
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• Previous call tries 2 • 30.36 of 146.00 AH used of 24V (79.20% remains)
• Previous NAKs 0, Timeouts 0 • 13.78 of 97.50 AH used of 10V (85.87% remains)
• Surface angle -72.4 deg, depth 1.98 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: 15 s • Transponder ping count: 3
• 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 - - - 103 VBD -0.46 - - 131 - - - 2690 - -194.6 -82.93 - 2745 - - - - - - - - - - -
106 3.4 -3.1 8 143 roll -0.46 10.30 0.239 2642 243.8 2.20 0.045 1274 -643.6 -194.6 -21.27 - 3927 -55.6 - - - - - - - 25.43 26.08 26.45
255 39.7 -20.0 22 263 done -0.38 0.12 0.166 2676 283.3 2.25 0.047 2690 629.3 -194.6 - - 3930 - - - - - - - - 25.83 26.03 -
572 86.6 -12.0 41 577 roll -0.38 - - 2676 - 1.60 0.058 3701 631.9 -194.6 - - 3931 - - - - - - - - - 26.15 -
603 89.0 -11.1 42 608 done -0.38 - - 2676 - 1.52 0.030 2651 -690.8 -194.6 - - 3931 - - - - - - - - - 26.39 -
916 117.7 -7.8 58 922 roll -0.43 - - 2676 - 1.95 0.031 1306 -689.7 -194.6 - - 3932 - - - - - - - - - 26.37 -
954 119.3 -7.6 59 960 done -0.48 - - 2676 - 2.17 0.044 2708 646.1 -194.6 - - 3931 - - - - - - - - - 26.28 -
1260 141.1 -7.2 75 1266 roll -0.55 0.12 0.086 2592 -700.0 2.08 0.028 1301 -676.4 -194.6 - - 3932 - - - - - - - - 26.58 26.42 -
1293 143.2 -7.6 76 1299 done -0.60 - - 2592 - 2.15 0.046 2681 641.9 -194.6 - - 3931 - - - - - - - - - 26.30 -
1606 184.3 -11.7 92 1611 roll -0.56 - - 2592 - 1.60 0.056 3703 638.8 -194.6 - - 3931 - - - - - - - - - 26.31 -
1698 194.4 -12.2 96 1705 done -0.53 0.12 0.136 2630 316.7 1.48 0.031 2707 -673.0 -194.6 - - 3930 - - - - - - - - 26.29 26.56 -
2013 221.6 -7.1 112 2018 roll -0.57 - - 2630 - 2.08 0.031 1294 -679.3 -194.6 - - 3929 - - - - - - - - - 26.47 -
2111 227.5 -7.1 116 2119 done -0.61 - - 2629 - 2.15 0.047 2678 643.7 -194.6 - - 3928 - - - - - - - - - 26.34 -
2416 249.8 -7.4 132 2418 done -0.65 0.12 0.085 2549 -666.7 - - 2678 - -194.6 - - 3927 - - - - - - - - 26.66 - -
2717 291.7 -13.9 147 2723 roll -0.59 0.17 0.140 2607 341.2 1.62 0.056 3706 634.6 -194.6 - - 3925 - - - - - - - - 26.27 26.32 -
2910 307.7 -7.9 156 2915 done -0.62 - - 2607 - 1.50 0.032 2710 -664.0 -194.6 - - 3923 - - - - - - - - - 26.59 -
3224 332.7 -8.0 172 3229 roll -0.65 - - 2607 - 2.08 0.030 1279 -688.0 -194.6 - - 3922 - - - - - - - - - 26.51 -
3291 338.1 -8.4 175 3296 done -0.68 - - 2607 - 2.22 0.045 2709 644.1 -194.6 - - 3921 - - - - - - - - - 26.36 -
3610 363.0 -7.3 191 3615 roll -0.71 0.12 0.091 2533 -616.7 2.10 0.029 1289 -676.2 -194.6 - - 3918 - - - - - - - - 26.65 26.50 -
3697 372.5 -11.3 195 3703 done -0.68 0.15 0.151 2576 286.7 2.17 0.044 2689 645.2 -194.6 - - 3917 - - - - - - - - 26.13 26.37 -
4015 404.4 -9.2 211 4021 roll -0.68 - - 2576 - 1.58 0.057 3693 635.4 -194.6 - - 3914 - - - - - - - - - 26.31 -
4072 408.3 -9.1 213 4079 done -0.68 - - 2577 - 1.52 0.034 2671 -672.4 -194.6 - - 3914 - - - - - - - - - 26.56 -
4378 435.2 -8.2 229 4384 roll -0.68 - - 2577 - 2.05 0.031 1276 -680.5 -194.6 - - 3912 - - - - - - - - - 26.49 -
4405 437.0 -8.1 230 4411 done -0.68 - - 2577 - 2.20 0.046 2686 640.9 -194.6 - - 3912 - - - - - - - - - 26.35 -
4724 460.3 -7.2 246 4725 done -0.68 - - 2577 - - - 2686 - -194.6 - - 3909 - - - - - - - - - - -
5025 488.2 -9.3 261 5030 roll -0.68 - - 2576 - 2.10 0.031 1270 -674.3 -194.6 - - 3907 - - - - - - - - - 26.48 -
5068 492.8 -9.9 263 5073 done -0.68 - - 2577 - 2.25 0.047 2698 634.7 -194.6 - - 3906 - - - - - - - - - 26.33 -
5390 523.0 -9.3 279 5396 roll -0.68 - - 2577 - 2.10 0.031 1280 -675.2 -194.6 - - 3903 - - - - - - - - - 26.48 -
5448 526.9 -9.2 281 5454 done -0.68 - - 2577 - 2.20 0.046 2685 638.6 -194.6 - - 3903 - - - - - - - - - 26.32 -
5754 552.5 -7.5 297 5759 roll -0.68 - - 2576 - 2.10 0.032 1284 -667.1 -194.6 - - 3901 - - - - - - - - - 26.46 -
5786 554.3 -7.7 298 5791 done -0.68 - - 2576 - 2.17 0.047 2672 639.6 -194.6 - - 3902 - - - - - - - - - 26.32 -
6098 582.2 -8.7 314 6103 roll -0.68 - - 2577 - 2.08 0.031 1272 -673.1 -194.6 - - 3900 - - - - - - - - - 26.46 -
6144 585.9 -8.7 316 6149 done -0.68 - - 2576 - 2.20 0.047 2674 637.3 -194.6 - - 3899 - - - - - - - - - 26.30 -
6473 613.6 -8.5 330 6474 done -0.68 - - 2577 - - - 2673 - -194.6 - - 3897 - - - - - - - - - - -
6773 638.4 -8.4 340 6778 roll -0.69 - - 2577 - 2.08 0.031 1276 -671.6 -194.6 - - 3897 - - - - - - - - - 26.45 -
6806 641.3 -8.4 341 6811 done -0.71 - - 2577 - 2.20 0.047 2668 632.7 -194.6 - - 3895 - - - - - - - - - 26.28 -
7140 669.4 -8.3 352 7145 roll -0.72 - - 2577 - 2.08 0.032 1274 -670.2 -194.6 - - 3893 - - - - - - - - - 26.44 -
7168 669.4 -8.3 352 7175 done -0.74 - - 2577 - 2.20 0.047 2671 635.0 -194.6 - - 3893 - - - - - - - - - 26.27 -
7474 697.0 -8.2 363 7479 roll -0.76 - - 2577 - 2.08 0.031 1276 -670.7 -194.6 - - 3891 - - - - - - - - - 26.43 -
7527 699.8 -8.1 364 7532 done -0.78 - - 2577 - 2.17 0.047 2658 636.9 -194.6 - - 3892 - - - - - - - - - 26.26 -
7841 725.6 -7.7 375 7847 roll -0.80 - - 2577 - 2.05 0.032 1282 -671.2 -194.6 - - 3890 - - - - - - - - - 26.42 -
7884 728.3 -7.8 376 7890 done -0.82 0.12 0.092 2510 -558.3 2.15 0.047 2648 635.3 -194.6 - - 3890 - - - - - - - - 26.27 26.25 -
8209 768.4 -12.3 387 8215 roll -0.76 0.12 0.156 2550 333.3 1.67 0.056 3694 626.3 -194.6 - - 3889 - - - - - - - - 26.35 26.16 -
8246 772.2 -11.9 388 8251 done -0.71 - - 2550 - 1.60 0.035 2635 -661.9 -194.6 - - 3888 - - - - - - - - - 26.49 -
8575 802.2 -9.2 399 8580 roll -0.71 - - 2550 - 2.03 0.033 1277 -669.0 -194.6 - - 3886 - - - - - - - - - 26.40 -
8626 805.5 -9.3 400 8631 done -0.71 - - 2550 - 2.15 0.047 2641 634.4 -194.6 - - 3886 - - - - - - - - - 26.22 -
8939 837.5 -9.8 411 8944 roll -0.71 - - 2550 - 2.03 0.032 1284 -668.5 -194.6 - - 3885 - - - - - - - - - 26.39 -
8972 841.1 -10.1 412 8977 done -0.71 - - 2550 - 2.15 0.047 2637 629.3 -194.6 - - 3884 - - - - - - - - - 26.21 -
9306 875.1 -10.0 423 9311 roll -0.71 - - 2550 - 1.70 0.060 3696 622.9 -194.6 - - 3883 - - - - - - - - - 26.11 -
9362 878.5 -9.9 424 9370 done -0.71 - - 2551 - 1.62 0.036 2630 -658.0 -194.6 - - 3883 - - - - - - - - - 26.48 -
9668 908.7 -8.7 435 9673 roll -0.71 - - 2551 - 2.00 0.034 1278 -676.0 -194.6 - - 3882 - - - - - - - - - 26.36 -
9704 911.6 -8.8 436 9709 done -0.71 - - 2550 - 2.15 0.048 2633 630.2 -194.6 - - 3882 - - - - - - - - - 26.17 -
10033 939.2 -8.1 447 10034 done -0.71 - - 2550 - - - 2634 - -194.6 - - 3881 - - - - - - - - - - -
10332 962.7 -7.9 457 10333 done -0.71 - - 2550 - - - 2633 - -194.6 - - 3880 - - - - - - - - - - -
10632 987.6 -8.5 467 10637 roll -0.71 - - 2550 - 2.03 0.034 1284 -664.5 -194.6 - - 3880 - - - - - - - - - 26.35 -
10663 end dive: TARGET_DEPTH_EXCEEDED
10663 begin apogee
10669 990.5 -8.7 468 10833 roll -0.12 0.60 0.115 2753 338.3 - - 1954 - - 158.18 1.440 3120 -4.8 0.356 - - - - - - 25.72 - 23.32
10835 end apogee: CONTROL_FINISHED_OK
10835 begin climb
10837 996.9 - 473 11026 roll 0.46 0.57 0.063 2961 364.9 2.35 0.039 539 -602.1 194.6 177.70 1.398 2326 -4.5 0.343 - - - - - - 24.61 24.61 22.82
11149 978.5 9.3 484 11154 done 0.45 - - 2961 - 2.25 0.038 1941 623.1 194.6 - - 2318 - - - - - - - - - 25.26 -
11482 947.0 9.2 495 11487 roll 0.42 - - 2968 - 2.20 0.041 542 -635.9 194.6 - - 2314 - - - - - - - - - 25.98 -
11659 932.7 9.2 500 11666 done 0.41 0.12 0.147 2932 -300.0 2.20 0.040 1953 641.4 194.6 - - 2314 - - - - - - - - 25.91 26.09 -
11967 907.2 7.7 511 12004 roll 0.43 - - 2932 - 2.35 0.053 3353 595.7 227.1 28.35 1.342 2194 -4.2 0.308 - - - - - - - 25.54 24.37
12058 899.6 8.1 514 12089 done 0.44 - - 2938 - 2.20 0.033 1956 -635.0 248.3 20.35 1.301 2106 -4.3 0.322 - - - - - - - 25.80 24.12
12387 872.4 8.1 525 12410 roll 0.47 - - 2942 - 2.25 0.043 540 -629.3 266.7 16.83 1.278 2032 -4.4 0.323 - - - - - - - 25.66 24.42
12432 870.0 8.1 526 12458 done 0.51 - - 2942 - 2.22 0.039 1958 638.7 287.4 19.85 1.281 1949 -4.2 0.306 - - - - - - - 25.73 24.15
12780 838.6 9.1 538 12786 roll 0.54 - - 2942 - 2.25 0.052 3352 619.6 287.4 - - 1941 - - - - - - - - - 25.97 -
12843 831.8 10.2 540 12849 done 0.56 0.12 0.092 3007 541.7 2.15 0.034 1965 -645.1 287.4 - - 1941 - - - - - - - - 26.08 26.13 -
13178 780.6 15.7 551 13184 roll 0.51 0.12 0.156 2976 -258.3 2.20 0.041 539 -648.2 287.4 - - 1939 - - - - - - - - 26.12 26.19 -
13296 768.6 13.3 554 13303 done 0.50 - - 2976 - 2.17 0.040 1954 652.1 287.4 - - 1938 - - - - - - - - - 26.22 -
13601 729.7 11.7 565 13607 roll 0.50 - - 2976 - 2.20 0.052 3346 632.7 287.4 - - 1938 - - - - - - - - - 26.19 -
13648 725.6 11.8 566 13653 done 0.50 - - 2983 - 2.12 0.034 1958 -654.7 287.4 - - 1938 - - - - - - - - - 26.34 -
13967 688.7 10.6 577 13972 roll 0.48 - - 2983 - 2.20 0.043 530 -649.1 287.4 - - 1937 - - - - - - - - - 26.28 -
14023 685.3 10.5 578 14030 done 0.48 - - 2983 - 2.17 0.039 1951 654.8 287.4 - - 1937 - - - - - - - - - 26.29 -
14330 651.7 10.4 589 14331 done 0.48 - - 2983 - - - 1953 - 287.4 - - 1937 - - - - - - - - - - -
14629 619.9 10.6 599 14630 done 0.48 - - 2983 - - - 1952 - 287.4 - - 1937 - - - - - - - - - - -
14941 587.1 10.7 611 14947 roll 0.47 0.12 0.155 2941 -350.0 2.20 0.050 3350 635.5 287.4 - - 1937 - - - - - - - - 26.30 26.22 -
14999 582.8 10.5 613 15006 done 0.47 - - 2942 - 2.15 0.034 1942 -654.9 287.4 - - 1937 - - - - - - - - - 26.42 -
15305 557.1 7.7 629 15335 done 0.54 - - 2942 - - - 1942 - 320.0 28.12 1.139 1816 -4.3 0.226 - - - - - - - - 24.68
15625 533.8 7.4 645 15670 roll 0.62 0.15 0.083 3025 553.3 2.33 0.050 3344 601.7 364.0 38.45 1.122 1636 -4.7 0.240 - - - - - - 26.21 25.37 24.30
15687 525.8 11.4 648 15693 done 0.62 0.12 0.158 3000 -208.3 2.22 0.033 1951 -627.5 364.0 - - 1634 - - - - - - - - 25.36 25.54 -
16012 482.6 13.3 664 16017 roll 0.61 - - 3000 - 2.20 0.042 537 -642.7 364.0 - - 1630 - - - - - - - - - 25.97 -
16088 475.6 11.4 667 16095 done 0.61 - - 3000 - 2.17 0.037 1947 649.8 364.0 - - 1629 - - - - - - - - - 26.03 -
16395 437.4 12.6 683 16396 done 0.61 - - 3000 - - - 1948 - 364.0 - - 1629 - - - - - - - - - - -
16695 400.4 11.5 698 16700 roll 0.61 - - 3000 - 2.20 0.041 532 -643.6 364.0 - - 1629 - - - - - - - - - 26.19 -
16738 395.5 11.3 700 16743 done 0.62 - - 3000 - 2.20 0.037 1948 643.6 364.0 - - 1628 - - - - - - - - - 26.21 -
17060 359.7 10.5 716 17065 roll 0.64 - - 3000 - 2.20 0.050 3345 635.0 364.0 - - 1628 - - - - - - - - - 26.15 -
17123 352.4 11.3 719 17128 done 0.64 - - 3000 - 2.17 0.032 1930 -652.1 364.0 - - 1628 - - - - - - - - - 26.34 -
17446 318.6 10.8 735 17451 roll 0.65 - - 3000 - 2.15 0.042 534 -649.3 364.0 - - 1628 - - - - - - - - - 26.25 -
17551 308.4 9.6 740 17556 done 0.69 - - 3001 - 2.15 0.037 1929 648.8 364.0 - - 1627 - - - - - - - - - 26.28 -
17874 275.6 10.9 756 17875 done 0.72 - - 3000 - - - 1931 - 364.0 - - 1627 - - - - - - - - - - -
18175 247.1 9.0 771 18176 done 0.74 0.12 0.091 3068 566.7 - - 1931 - 364.0 - - 1627 - - - - - - - - 26.58 - -
18474 200.2 16.2 786 18480 roll 0.68 0.15 0.147 3023 -300.0 2.15 0.039 541 -646.5 364.0 - - 1627 - - - - - - - - 26.23 26.29 -
18532 194.8 13.9 788 18539 done 0.66 - - 3023 - 2.10 0.037 1916 654.8 364.0 - - 1626 - - - - - - - - - 26.32 -
18838 160.1 10.1 804 18839 done 0.68 - - 3023 - - - 1917 - 364.0 - - 1628 - - - - - - - - - - -
19138 130.7 10.1 819 19144 roll 0.70 - - 3023 - 2.25 0.050 3345 634.7 364.0 - - 1628 - - - - - - - - - 26.19 -
19222 122.1 10.2 823 19228 done 0.72 - - 3023 - 2.12 0.031 1929 -667.9 364.0 - - 1628 - - - - - - - - - 26.43 -
19546 98.2 7.3 839 19591 roll 0.80 0.10 0.107 3081 580.0 2.33 0.049 3343 606.9 409.0 36.70 0.783 1453 -4.8 0.064 - - - - - - 26.62 25.92 24.96
19614 93.0 7.9 842 19643 done 0.84 - - 3081 - 2.15 0.031 1950 -647.9 435.3 22.30 0.753 1346 -4.8 0.064 - - - - - - - 25.99 24.74
19952 63.9 8.2 859 19972 roll 0.90 - - 3082 - 2.17 0.039 541 -649.3 449.9 13.15 0.705 1285 -4.6 0.045 - - - - - - - 25.94 24.91
20039 57.4 7.6 863 20076 done 1.00 0.12 0.086 3151 575.0 2.12 0.034 1938 659.0 486.4 30.10 0.725 1138 -4.9 0.042 - - - - - - 25.95 25.97 24.73
20375 26.0 7.4 893 20405 roll 1.06 - - 3151 - 2.22 0.041 541 -629.3 529.2 21.30 0.669 963 -8.2 0.034 - - - - - - - 25.84 24.93
20455 20.6 7.5 900 20482 done 1.17 - - 3152 - 2.15 0.034 1939 650.2 570.0 18.90 0.109 795 -8.9 0.181 - - - - - - - 25.91 25.63
20769 end climb: SURFACE_DEPTH_REACHED
20769 begin surface coast
20809 end surface coast: CONTROL_FINISHED_OK
20809 begin surface
SM 1.85 - - - - -8.27 7.80 0.042 135 -386.8 1.17 0.043 2694 645.3 652.74 38.55 0.060 459 -8.7 0.027 - - - - - -