OKMC Apr12 * SG170 * Dive index * Mission links * Dive 137 * Raw log
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• Previous call tries 2 • 31.57 of 146.00 AH used of 24V (78.37% remains)
• Previous NAKs 0, Timeouts 0 • 14.44 of 97.50 AH used of 10V (85.19% remains)
• Surface angle -68.4 deg, depth 1.97 m • Intended pitch -13.6 deg, speed -9.706 cm/s
• No surface pump (final VBD was 653.23, SM_CC=652.74329)
• GPS1 time: 40 s
• GPS2 time: 18 s • Transponder ping count: 15
• 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
19 - - - 101 VBD -0.49 - - 136 - - - 2700 - -243.3 -80.30 - 2676 - - - - - - - - - - -
104 3.5 -3.1 8 147 roll -0.49 10.25 0.238 2634 243.7 1.55 0.069 3686 636.1 -243.3 -23.92 - 3961 -53.7 - - - - - - - 25.41 25.98 26.46
274 45.7 -20.5 24 282 done -0.40 0.08 0.128 2662 350.0 1.52 0.029 2671 -667.8 -243.3 - - 3962 - - - - - - - - 25.98 26.27 -
580 91.1 -11.3 41 586 roll -0.40 - - 2664 - 2.03 0.030 1277 -686.7 -243.3 - - 3963 - - - - - - - - - 26.32 -
626 95.9 -11.6 43 633 done -0.40 - - 2663 - 2.17 0.044 2681 647.0 -243.3 - - 3963 - - - - - - - - - 26.22 -
945 122.9 -8.1 59 951 roll -0.44 - - 2663 - 1.60 0.055 3686 628.1 -243.3 - - 3963 - - - - - - - - - 26.25 -
993 126.1 -7.8 61 998 done -0.49 - - 2663 - 1.50 0.030 2646 -693.3 -243.3 - - 3963 - - - - - - - - - 26.49 -
1311 148.5 -6.7 77 1317 roll -0.54 0.12 0.089 2588 -625.0 1.95 0.027 1289 -695.9 -243.3 - - 3963 - - - - - - - - 26.58 26.46 -
1356 153.0 -8.1 79 1361 done -0.56 - - 2588 - 2.15 0.042 2676 645.1 -243.3 - - 3963 - - - - - - - - - 26.34 -
1679 194.9 -12.4 95 1685 roll -0.53 0.12 0.159 2629 341.7 1.58 0.053 3695 644.9 -243.3 - - 3962 - - - - - - - - 26.35 26.32 -
1764 202.3 -8.6 99 1771 done -0.56 - - 2630 - 1.52 0.031 2681 -667.1 -243.3 - - 3961 - - - - - - - - - 26.55 -
2089 224.4 -6.3 115 2094 roll -0.60 - - 2630 - 2.05 0.028 1269 -688.8 -243.3 - - 3960 - - - - - - - - - 26.51 -
2207 231.5 -6.9 120 2214 done -0.65 0.12 0.085 2551 -658.3 2.17 0.041 2683 651.6 -243.3 - - 3959 - - - - - - - - 26.40 26.38 -
2511 271.4 -13.7 136 2517 roll -0.60 0.15 0.142 2602 340.0 1.60 0.054 3701 636.2 -243.3 - - 3957 - - - - - - - - 26.33 26.33 -
2555 276.3 -12.6 138 2560 done -0.57 - - 2603 - 1.55 0.031 2654 -675.5 -243.3 - - 3957 - - - - - - - - - 26.58 -
2878 304.1 -8.1 154 2883 roll -0.59 - - 2603 - 1.65 0.056 3699 633.3 -243.3 - - 3954 - - - - - - - - - 26.33 -
2904 305.8 -7.8 155 2909 done -0.62 - - 2603 - 1.55 0.032 2659 -671.0 -243.3 - - 3954 - - - - - - - - - 26.58 -
3223 330.0 -7.7 171 3224 done -0.64 - - 2603 - - - 2659 - -243.3 - - 3951 - - - - - - - - - - -
3523 352.3 -7.0 186 3529 roll -0.67 - - 2603 - 2.00 0.030 1278 -690.5 -243.3 - - 3949 - - - - - - - - - 26.51 -
3576 355.4 -7.0 188 3582 done -0.70 - - 2603 - 2.15 0.043 2680 652.1 -243.3 - - 3948 - - - - - - - - - 26.37 -
3890 376.2 -6.7 204 3896 roll -0.73 0.12 0.087 2523 -666.7 2.08 0.028 1271 -677.4 -243.3 - - 3946 - - - - - - - - 26.67 26.51 -
3928 378.5 -7.4 205 3935 done -0.74 0.12 0.152 2559 300.0 2.17 0.044 2669 644.2 -243.3 - - 3946 - - - - - - - - 26.17 26.36 -
4234 414.9 -11.5 221 4239 roll -0.72 - - 2558 - 1.60 0.057 3696 641.9 -243.3 - - 3943 - - - - - - - - - 26.30 -
4371 429.3 -11.7 227 4378 done -0.70 - - 2559 - 1.52 0.033 2672 -673.7 -243.3 - - 3941 - - - - - - - - - 26.57 -
4677 465.1 -10.4 243 4683 roll -0.68 - - 2559 - 1.65 0.057 3696 620.6 -243.3 - - 3939 - - - - - - - - - 26.29 -
4729 469.5 -10.5 245 4734 done -0.67 - - 2559 - 1.52 0.034 2695 -658.6 -243.3 - - 3938 - - - - - - - - - 26.56 -
5042 500.9 -9.7 261 5047 roll -0.66 - - 2559 - 2.08 0.030 1273 -683.7 -243.3 - - 3937 - - - - - - - - - 26.48 -
5095 505.3 -10.3 263 5100 done -0.66 - - 2559 - 2.20 0.045 2696 646.8 -243.3 - - 3936 - - - - - - - - - 26.33 -
5408 537.7 -9.7 279 5414 roll -0.64 0.12 0.156 2602 358.3 1.60 0.056 3701 628.1 -243.3 - - 3934 - - - - - - - - 26.40 26.26 -
5440 539.8 -9.5 280 5446 done -0.64 - - 2603 - 1.52 0.034 2686 -667.8 -243.3 - - 3934 - - - - - - - - - 26.54 -
5755 561.8 -7.2 296 5760 roll -0.68 - - 2602 - 2.08 0.031 1268 -681.7 -243.3 - - 3931 - - - - - - - - - 26.47 -
5798 565.5 -7.9 298 5804 done -0.73 0.12 0.086 2534 -566.7 2.25 0.044 2702 637.3 -243.3 - - 3931 - - - - - - - - 26.34 26.32 -
6132 605.0 -12.0 314 6134 done -0.69 0.15 0.138 2578 293.3 - - 2703 - -243.3 - - 3928 - - - - - - - - 26.40 - -
6433 630.2 -8.2 324 6438 roll -0.70 - - 2579 - 2.12 0.031 1274 -674.1 -243.3 - - 3926 - - - - - - - - - 26.45 -
6511 635.6 -8.3 326 6516 done -0.72 - - 2579 - 2.20 0.045 2689 643.2 -243.3 - - 3926 - - - - - - - - - 26.28 -
6830 662.1 -8.0 337 6835 roll -0.74 - - 2578 - 2.10 0.031 1277 -672.4 -243.3 - - 3924 - - - - - - - - - 26.44 -
6894 667.4 -8.0 339 6899 done -0.76 - - 2578 - 2.20 0.045 2685 640.0 -243.3 - - 3923 - - - - - - - - - 26.27 -
7228 693.8 -7.9 350 7229 done -0.78 - - 2578 - - - 2685 - -243.3 - - 3922 - - - - - - - - - - -
7527 717.9 -8.2 360 7534 roll -0.80 0.12 0.096 2506 -600.0 2.10 0.031 1280 -669.0 -243.3 - - 3920 - - - - - - - - 26.64 26.43 -
7565 721.8 -8.9 361 7571 done -0.80 0.12 0.164 2540 283.3 2.17 0.047 2672 641.5 -243.3 - - 3920 - - - - - - - - 26.03 26.25 -
7896 757.1 -10.4 372 7897 done -0.77 - - 2540 - - - 2673 - -243.3 - - 3919 - - - - - - - - - - -
8194 787.3 -10.1 382 8195 done -0.75 - - 2540 - - - 2672 - -243.3 - - 3917 - - - - - - - - - - -
8494 818.2 -10.6 392 8499 roll -0.72 - - 2540 - 2.08 0.031 1277 -670.7 -243.3 - - 3915 - - - - - - - - - 26.41 -
8541 821.8 -10.7 393 8547 done -0.70 0.12 0.151 2576 300.0 2.17 0.047 2659 636.9 -243.3 - - 3916 - - - - - - - - 26.02 26.22 -
8861 850.2 -8.4 404 8867 roll -0.73 - - 2576 - 2.08 0.032 1270 -667.8 -243.3 - - 3914 - - - - - - - - - 26.39 -
8919 853.3 -8.3 405 8926 done -0.75 - - 2576 - 2.17 0.046 2649 635.5 -243.3 - - 3914 - - - - - - - - - 26.21 -
9227 880.1 -7.9 416 9232 roll -0.77 - - 2576 - 2.08 0.032 1274 -661.1 -243.3 - - 3913 - - - - - - - - - 26.39 -
9253 880.1 -7.9 416 9261 done -0.80 0.12 0.090 2509 -558.3 2.17 0.047 2651 634.6 -243.3 - - 3914 - - - - - - - - 26.22 26.19 -
9560 917.2 -11.3 427 9566 roll -0.75 0.12 0.149 2553 366.7 1.70 0.057 3703 618.8 -243.3 - - 3912 - - - - - - - - 26.36 26.08 -
9603 920.6 -11.0 428 9608 done -0.71 - - 2552 - 1.60 0.037 2635 -667.5 -243.3 - - 3911 - - - - - - - - - 26.45 -
9926 948.5 -8.4 439 9932 roll -0.71 - - 2551 - 2.00 0.033 1283 -676.0 -243.3 - - 3910 - - - - - - - - - 26.36 -
9974 951.4 -8.5 440 9980 done -0.71 - - 2550 - 2.15 0.047 2642 632.1 -243.3 - - 3909 - - - - - - - - - 26.16 -
10293 979.4 -8.6 451 10294 done -0.71 - - 2551 - - - 2643 - -243.3 - - 3910 - - - - - - - - - - -
10440 end dive: TARGET_DEPTH_EXCEEDED
10440 begin apogee
10446 992.5 -8.8 456 10616 roll -0.12 0.60 0.106 2756 341.7 - - 1920 - - 165.57 1.443 3121 -4.8 0.353 - - - - - - 25.77 - 23.23
10618 end apogee: CONTROL_FINISHED_OK
10618 begin climb
10620 1000.4 - 461 10852 roll 0.49 0.57 0.058 2967 370.2 2.28 0.039 544 -603.5 243.3 222.27 1.405 2129 -4.5 0.342 - - - - - - 24.55 24.53 22.77
10906 987.0 8.8 471 10945 done 0.48 - - 2967 - 2.30 0.037 1943 608.3 278.3 32.53 1.340 1985 -4.4 0.351 - - - - - - - 24.78 23.22
11258 949.1 10.6 483 11263 roll 0.48 - - 2970 - 2.20 0.041 543 -636.4 278.3 - - 1977 - - - - - - - - - 25.88 -
11404 936.6 10.3 487 11411 done 0.48 - - 2970 - 2.20 0.039 1948 638.6 278.3 - - 1976 - - - - - - - - - 26.04 -
11711 900.5 11.2 498 11716 roll 0.47 - - 2970 - 2.22 0.051 3349 631.1 278.3 - - 1976 - - - - - - - - - 26.11 -
11738 900.5 11.2 498 11745 done 0.46 - - 2970 - 2.12 0.033 1951 -659.4 278.3 - - 1976 - - - - - - - - - 26.25 -
12045 864.0 10.7 509 12050 roll 0.44 - - 2970 - 2.20 0.043 531 -645.5 278.3 - - 1974 - - - - - - - - - 26.22 -
12086 860.6 10.6 510 12092 done 0.44 - - 2971 - 2.17 0.039 1936 647.5 278.3 - - 1974 - - - - - - - - - 26.25 -
12410 826.4 10.4 521 12412 done 0.44 - - 2971 - - - 1937 - 278.3 - - 1974 - - - - - - - - - - -
12709 794.8 10.6 531 12710 done 0.44 - - 2971 - - - 1937 - 278.3 - - 1974 - - - - - - - - - - -
13009 762.1 10.7 541 13010 done 0.44 - - 2971 - - - 1937 - 278.3 - - 1973 - - - - - - - - - - -
13309 729.3 10.8 551 13314 roll 0.44 - - 2971 - 2.22 0.052 3344 633.8 278.3 - - 1973 - - - - - - - - - 26.20 -
13345 725.8 10.8 552 13350 done 0.44 - - 2971 - 2.15 0.034 1923 -660.9 278.3 - - 1973 - - - - - - - - - 26.40 -
13674 692.2 9.9 563 13679 roll 0.44 - - 2971 - 2.15 0.043 530 -647.9 278.3 - - 1972 - - - - - - - - - 26.28 -
13700 692.2 9.9 563 13707 done 0.44 - - 2971 - 2.15 0.039 1927 649.8 278.3 - - 1972 - - - - - - - - - 26.31 -
14007 660.2 9.6 574 14013 roll 0.44 - - 2971 - 2.25 0.051 3350 632.4 283.5 - - 1972 - - - - - - - - - 26.18 -
14043 656.6 9.9 575 14049 done 0.44 - - 2971 - 2.17 0.033 1926 -656.2 283.5 - - 1972 - - - - - - - - - 26.41 -
14373 624.2 9.6 586 14388 roll 0.45 - - 2971 - 2.15 0.043 546 -641.9 286.6 6.90 1.011 1952 -2.9 0.193 - - - - - - - 26.34 24.59
14414 621.2 9.5 587 14429 done 0.45 - - 2971 - 2.15 0.039 1939 647.9 295.4 10.07 1.085 1916 -3.6 0.220 - - - - - - - 26.30 24.75
14747 590.0 8.7 600 14788 roll 0.47 - - 2973 - 2.28 0.050 3342 615.4 332.2 33.28 1.169 1765 -4.5 0.246 - - - - - - - 25.54 24.41
14810 584.6 8.7 603 14851 done 0.50 - - 2971 - 2.20 0.032 1937 -638.6 370.3 34.33 1.148 1611 -4.5 0.246 - - - - - - - 25.70 24.06
15151 556.9 7.9 620 15215 roll 0.57 - - 2971 - 2.28 0.043 538 -613.6 437.6 57.30 1.143 1336 -4.8 0.252 - - - - - - - 25.08 23.99
15238 550.8 7.6 624 15314 done 0.67 0.15 0.080 3046 500.0 2.22 0.036 1942 632.4 518.0 68.95 1.122 1009 -4.7 0.250 - - - - - - 25.36 25.35 23.77
15614 485.0 18.2 643 15619 roll 0.62 0.15 0.142 2998 -320.0 2.20 0.041 539 -637.7 518.0 - - 1002 - - - - - - - - 25.79 25.87 -
15660 479.3 15.6 645 15665 done 0.62 - - 2998 - 2.17 0.037 1926 639.2 518.0 - - 1002 - - - - - - - - - 25.96 -
15978 454.0 7.9 661 16044 roll 0.72 0.10 0.109 3060 620.0 2.35 0.050 3353 607.2 585.6 56.92 1.070 731 -4.8 0.217 - - - - - - 26.29 25.20 24.18
16062 441.5 15.1 665 16069 done 0.72 0.12 0.157 3031 -241.7 2.25 0.033 1937 -629.3 585.6 - - 730 - - - - - - - - 25.27 25.44 -
16386 396.2 12.7 681 16391 roll 0.74 - - 3035 - 2.20 0.042 524 -642.3 585.6 - - 728 - - - - - - - - - 25.98 -
16438 391.0 12.3 683 16444 done 0.77 - - 3035 - 2.17 0.036 1928 647.0 585.6 - - 727 - - - - - - - - - 26.06 -
16751 348.2 15.0 699 16756 roll 0.77 - - 3035 - 2.25 0.050 3345 629.8 585.6 - - 727 - - - - - - - - - 26.10 -
16773 344.9 14.7 700 16779 done 0.77 - - 3036 - 2.20 0.033 1923 -646.4 585.6 - - 727 - - - - - - - - - 26.25 -
17097 301.2 13.3 716 17102 roll 0.79 - - 3037 - 2.12 0.042 539 -652.8 585.6 - - 726 - - - - - - - - - 26.22 -
17143 296.3 12.1 718 17149 done 0.83 - - 3036 - 2.12 0.036 1927 654.7 585.6 - - 727 - - - - - - - - - 26.26 -
17461 263.1 10.5 734 17463 done 0.88 0.15 0.083 3117 540.0 - - 1928 - 585.6 - - 727 - - - - - - - - 26.47 - -
17761 206.5 19.1 749 17767 roll 0.83 0.15 0.141 3069 -320.0 2.15 0.040 538 -646.5 585.6 - - 727 - - - - - - - - 26.22 26.28 -
17820 200.2 16.7 751 17827 done 0.81 - - 3069 - 2.10 0.035 1913 654.8 585.6 - - 726 - - - - - - - - - 26.32 -
18125 162.4 12.1 767 18126 done 0.84 - - 3069 - - - 1914 - 585.6 - - 726 - - - - - - - - - - -
18426 129.9 10.5 782 18427 done 0.89 - - 3069 - - - 1914 - 585.6 - - 726 - - - - - - - - - - -
18727 101.5 8.6 797 18771 roll 1.01 0.12 0.095 3145 633.3 2.33 0.050 3345 614.2 627.4 35.00 0.788 563 -4.7 0.065 - - - - - - 26.56 25.91 24.95
18777 97.4 9.3 799 18809 done 1.08 - - 3145 - 2.25 0.032 1894 -644.9 642.0 20.55 0.701 503 -2.9 0.044 - - - - 1 - - 25.98 24.73
19109 57.7 10.6 816 19114 roll 1.12 - - 3145 - 2.08 0.040 538 -651.9 642.0 - - 500 - - - - - - - - - 26.03 -
19161 54.1 9.2 818 19182 done 1.20 0.12 0.091 3213 566.7 2.08 0.033 1916 662.5 660.6 11.88 0.683 458 -3.5 0.030 - - - - - - 26.07 26.10 25.03
19485 17.7 9.5 849 19491 roll 1.23 - - 3213 - 2.25 0.044 3347 636.0 668.1 - - 458 - - - - - - - - - 26.08 -
19570 7.7 12.4 857 19576 done 1.26 - - 3213 - 2.20 0.031 1894 -660.5 668.1 - - 459 - - - - - - - - - 26.27 -
19621 end climb: SURFACE_DEPTH_REACHED
19621 begin surface coast
19643 end surface coast: CONTROL_FINISHED_OK
19643 begin surface
SM 1.92 - - - - -8.29 7.93 0.040 128 -389.0 1.25 0.044 2681 629.6 653.23 - - 458 - - - - - - - -