OKMC Apr12 * SG170 * Dive index * Mission links * Dive 138 * Raw log
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• Previous call tries 2 • 31.83 of 146.00 AH used of 24V (78.20% remains)
• Previous NAKs 0, Timeouts 0 • 14.59 of 97.50 AH used of 10V (85.03% remains)
• Surface angle -71.1 deg, depth 1.97 m • Intended pitch -13.6 deg, speed -9.706 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 30 s
• GPS2 time: 22 s • Transponder ping count: 17
• 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
16 begin dive
18 - - - 102 VBD -0.49 - - 127 - - - 2683 - -243.3 -81.35 - 2663 - - - - - - - - - - -
104 3.4 -3.1 8 148 roll -0.49 10.27 0.238 2633 244.0 1.67 0.074 3693 604.8 -243.3 -25.58 - 3966 -50.9 - - - - - - - 25.41 25.99 26.49
242 38.0 -22.4 21 248 done -0.37 0.15 0.147 2676 286.7 1.52 0.030 2652 -684.9 -243.3 - - 3967 - - - - - - - - 25.91 26.27 -
555 86.0 -12.1 40 560 roll -0.36 - - 2676 - 1.65 0.055 3697 633.3 -243.3 - - 3969 - - - - - - - - - 26.18 -
607 89.9 -10.3 42 612 done -0.36 - - 2676 - 1.52 0.031 2667 -677.6 -243.3 - - 3968 - - - - - - - - - 26.41 -
920 117.0 -8.1 58 925 roll -0.41 - - 2676 - 2.00 0.031 1288 -689.5 -243.3 - - 3969 - - - - - - - - - 26.41 -
992 121.8 -7.7 61 999 done -0.47 - - 2676 - 2.15 0.044 2675 645.1 -243.3 - - 3969 - - - - - - - - - 26.31 -
1307 142.1 -6.1 77 1313 roll -0.55 0.12 0.088 2592 -700.0 2.05 0.028 1282 -679.5 -243.3 - - 3969 - - - - - - - - 26.60 26.46 -
1345 144.2 -6.6 78 1353 done -0.60 - - 2592 - 2.15 0.045 2669 645.1 -243.3 - - 3969 - - - - - - - - - 26.34 -
1652 185.0 -13.2 94 1653 done -0.56 - - 2592 - - - 2670 - -243.3 - - 3968 - - - - - - - - - - -
1952 223.3 -11.3 109 1954 done -0.54 0.12 0.148 2629 308.3 - - 2669 - -243.3 - - 3968 - - - - - - - - 26.44 - -
2252 246.7 -7.4 124 2257 roll -0.57 - - 2629 - 2.03 0.030 1288 -680.3 -243.3 - - 3965 - - - - - - - - - 26.51 -
2315 251.5 -7.4 127 2320 done -0.62 - - 2629 - 2.15 0.044 2670 642.8 -243.3 - - 3965 - - - - - - - - - 26.38 -
2639 276.4 -8.0 143 2644 roll -0.66 0.12 0.085 2540 -741.7 1.62 0.053 3706 639.5 -243.3 - - 3962 - - - - - - - - 26.67 26.36 -
2676 279.0 -8.7 144 2685 done -0.69 0.12 0.142 2577 308.3 1.55 0.031 2636 -690.3 -243.3 - - 3962 - - - - - - - - 26.31 26.61 -
2982 317.4 -11.6 160 2988 roll -0.67 - - 2577 - 1.98 0.031 1288 -680.8 -243.3 - - 3960 - - - - - - - - - 26.51 -
3085 328.9 -11.0 165 3091 done -0.67 - - 2577 - 2.12 0.046 2645 640.1 -243.3 - - 3959 - - - - - - - - - 26.39 -
3409 363.7 -10.8 181 3414 roll -0.66 - - 2577 - 1.62 0.057 3694 647.5 -243.3 - - 3957 - - - - - - - - - 26.34 -
3545 376.4 -10.1 187 3551 done -0.66 - - 2577 - 1.58 0.031 2635 -670.3 -243.3 - - 3956 - - - - - - - - - 26.61 -
3851 409.7 -11.2 203 3852 done -0.66 - - 2577 - - - 2635 - -243.3 - - 3953 - - - - - - - - - - -
4152 442.7 -11.1 218 4154 done -0.66 - - 2577 - - - 2633 - -243.3 - - 3950 - - - - - - - - - - -
4452 473.6 -10.0 233 4458 roll -0.66 - - 2577 - 1.73 0.059 3699 616.2 -243.3 - - 3948 - - - - - - - - - 26.31 -
4500 477.5 -9.4 235 4505 done -0.66 - - 2577 - 1.55 0.032 2652 -675.5 -243.3 - - 3948 - - - - - - - - - 26.60 -
4818 507.5 -9.5 251 4819 done -0.66 - - 2577 - - - 2652 - -243.3 - - 3945 - - - - - - - - - - -
5119 534.3 -8.5 266 5124 roll -0.66 - - 2577 - 2.03 0.031 1274 -678.8 -243.3 - - 3943 - - - - - - - - - 26.51 -
5181 539.7 -8.6 269 5186 done -0.66 - - 2577 - 2.17 0.044 2674 645.2 -243.3 - - 3943 - - - - - - - - - 26.34 -
5504 565.2 -8.0 285 5510 roll -0.66 - - 2577 - 2.08 0.030 1280 -670.2 -243.3 - - 3940 - - - - - - - - - 26.50 -
5638 576.0 -8.8 291 5643 done -0.67 - - 2577 - 2.12 0.046 2652 647.2 -243.3 - - 3939 - - - - - - - - - 26.32 -
5960 604.2 -8.6 307 5966 roll -0.67 - - 2577 - 2.05 0.031 1279 -669.8 -243.3 - - 3937 - - - - - - - - - 26.48 -
5998 607.1 -8.6 308 6004 done -0.68 - - 2577 - 2.12 0.047 2634 639.2 -243.3 - - 3937 - - - - - - - - - 26.32 -
6327 635.8 -8.7 319 6333 roll -0.70 - - 2577 - 1.70 0.058 3700 627.1 -243.3 - - 3935 - - - - - - - - - 26.25 -
6354 635.8 -8.7 319 6361 done -0.71 - - 2578 - 1.62 0.034 2638 -655.6 -243.3 - - 3934 - - - - - - - - - 26.55 -
6662 664.5 -8.4 330 6667 roll -0.73 - - 2577 - 2.00 0.031 1280 -679.0 -243.3 - - 3932 - - - - - - - - - 26.47 -
6705 667.4 -8.3 331 6711 done -0.74 - - 2577 - 2.12 0.047 2630 636.8 -243.3 - - 3932 - - - - - - - - - 26.29 -
7030 693.5 -7.5 342 7036 roll -0.76 - - 2577 - 2.00 0.032 1283 -673.5 -243.3 - - 3930 - - - - - - - - - 26.46 -
7072 696.2 -7.6 343 7078 done -0.77 - - 2577 - 2.10 0.047 2620 636.7 -243.3 - - 3930 - - - - - - - - - 26.29 -
7398 721.2 -7.5 354 7399 done -0.79 - - 2577 - - - 2620 - -243.3 - - 3928 - - - - - - - - - - -
7696 742.7 -7.0 364 7698 done -0.81 0.12 0.095 2508 -575.0 - - 2620 - -243.3 - - 3926 - - - - - - - - 26.65 - -
7997 777.9 -11.8 374 8002 roll -0.75 0.15 0.148 2559 340.0 1.73 0.057 3694 620.8 -243.3 - - 3925 - - - - - - - - 26.30 26.19 -
8120 788.6 -8.6 378 8126 done -0.75 - - 2559 - 1.62 0.034 2628 -658.0 -243.3 - - 3924 - - - - - - - - - 26.51 -
8454 813.7 -7.5 389 8460 roll -0.75 - - 2559 - 2.00 0.032 1284 -672.0 -243.3 - - 3923 - - - - - - - - - 26.42 -
8487 816.4 -7.5 390 8493 done -0.75 - - 2559 - 2.10 0.047 2624 638.1 -243.3 - - 3923 - - - - - - - - - 26.25 -
8822 839.2 -6.6 401 8828 roll -0.75 - - 2559 - 2.00 0.032 1280 -672.0 -243.3 - - 3921 - - - - - - - - - 26.41 -
8874 841.6 -6.7 402 8880 done -0.75 - - 2559 - 2.10 0.048 2613 634.8 -243.3 - - 3921 - - - - - - - - - 26.22 -
9188 865.3 -7.3 413 9189 done -0.75 - - 2559 - - - 2613 - -243.3 - - 3920 - - - - - - - - - - -
9487 888.0 -7.8 423 9493 roll -0.75 - - 2559 - 1.75 0.060 3690 615.4 -243.3 - - 3919 - - - - - - - - - 26.12 -
9530 890.9 -8.0 424 9536 done -0.75 - - 2559 - 1.62 0.037 2621 -659.9 -243.3 - - 3919 - - - - - - - - - 26.46 -
9854 918.5 -8.4 435 9860 roll -0.75 - - 2559 - 1.95 0.032 1290 -682.6 -243.3 - - 3918 - - - - - - - - - 26.39 -
9888 921.5 -8.6 436 9894 done -0.75 - - 2559 - 2.10 0.047 2613 630.0 -243.3 - - 3917 - - - - - - - - - 26.19 -
10223 949.0 -8.2 447 10224 done -0.75 - - 2559 - - - 2613 - -243.3 - - 3916 - - - - - - - - - - -
10521 972.7 -8.0 457 10526 roll -0.75 - - 2559 - 2.00 0.034 1287 -663.0 -243.3 - - 3914 - - - - - - - - - 26.36 -
10554 975.4 -8.0 458 10560 done -0.75 - - 2559 - 2.10 0.047 2606 628.1 -243.3 - - 3914 - - - - - - - - - 26.16 -
10735 end dive: TARGET_DEPTH_EXCEEDED
10735 begin apogee
10741 990.2 -8.2 464 10911 roll -0.12 0.57 0.106 2757 347.4 - - 1936 - - 165.12 1.440 3121 -4.8 0.355 - - - - - - 25.82 - 23.24
10913 end apogee: CONTROL_FINISHED_OK
10913 begin climb
10915 997.2 - 469 11146 done 0.49 0.55 0.052 2975 396.4 - - 1936 - 243.3 222.93 1.398 2127 -4.5 0.342 - - - - - - 24.56 - 22.78
11460 951.4 11.4 488 11465 roll 0.45 - - 2974 - 2.30 0.051 3348 613.9 243.3 - - 2119 - - - - - - - - - 25.81 -
11526 943.4 12.1 490 11532 done 0.41 0.17 0.146 2932 -247.1 2.15 0.032 1961 -645.1 243.3 - - 2119 - - - - - - - - 25.74 26.02 -
11856 912.7 9.2 501 11874 done 0.44 - - 2932 - - - 1961 - 262.0 16.42 1.291 2052 -4.1 0.310 - - - - - - - - 24.53
12156 885.8 8.8 511 12189 done 0.48 - - 2932 - - - 1961 - 295.2 30.88 1.335 1917 -4.4 0.312 - - - - - - - - 24.22
12486 857.3 8.5 522 12534 roll 0.54 0.12 0.090 3010 650.0 2.33 0.053 3346 594.4 340.5 40.50 1.330 1733 -4.5 0.315 - - - - - - 26.18 25.20 24.04
12556 849.2 10.6 524 12563 done 0.54 0.12 0.155 2978 -266.7 2.22 0.034 1937 -634.7 340.5 - - 1732 - - - - - - - - 25.32 25.48 -
12881 808.7 11.4 535 12886 roll 0.54 - - 2983 - 2.17 0.042 534 -646.5 340.5 - - 1728 - - - - - - - - - 26.05 -
12933 804.9 11.4 536 12939 done 0.54 - - 2983 - 2.20 0.039 1946 641.8 340.5 - - 1727 - - - - - - - - - 26.09 -
13247 766.0 11.8 547 13252 roll 0.54 - - 2983 - 2.20 0.051 3345 635.9 340.5 - - 1727 - - - - - - - - - 26.15 -
13274 766.0 11.8 547 13281 done 0.54 - - 2983 - 2.15 0.033 1930 -658.1 340.5 - - 1726 - - - - - - - - - 26.28 -
13580 726.7 11.6 558 13586 roll 0.54 - - 2983 - 2.12 0.043 531 -659.9 340.5 - - 1725 - - - - - - - - - 26.26 -
13617 722.9 11.5 559 13622 done 0.54 - - 2983 - 2.17 0.038 1942 650.2 340.5 - - 1725 - - - - - - - - - 26.27 -
13946 685.8 11.4 570 13951 roll 0.54 - - 2983 - 2.20 0.051 3345 637.7 340.5 - - 1725 - - - - - - - - - 26.23 -
13982 681.7 11.6 571 13987 done 0.54 - - 2983 - 2.17 0.033 1923 -655.3 340.5 - - 1725 - - - - - - - - - 26.39 -
14311 644.2 11.0 582 14317 roll 0.54 - - 2983 - 2.12 0.042 532 -656.1 340.5 - - 1724 - - - - - - - - - 26.31 -
14363 640.5 10.7 583 14369 done 0.54 - - 2983 - 2.15 0.037 1935 652.6 340.5 - - 1724 - - - - - - - - - 26.32 -
14676 604.3 11.1 594 14681 roll 0.54 - - 2983 - 2.20 0.052 3343 640.0 340.5 - - 1724 - - - - - - - - - 26.24 -
14709 600.4 11.2 595 14715 done 0.54 - - 2983 - 2.17 0.032 1923 -654.4 340.5 - - 1724 - - - - - - - - - 26.42 -
15022 565.8 11.2 610 15028 roll 0.54 - - 2983 - 2.10 0.042 531 -662.9 340.5 - - 1724 - - - - - - - - - 26.32 -
15070 561.0 11.2 612 15075 done 0.56 - - 2984 - 2.12 0.037 1920 655.2 340.5 - - 1724 - - - - - - - - - 26.34 -
15387 525.8 11.0 628 15393 roll 0.56 - - 2983 - 2.25 0.051 3352 636.4 340.5 - - 1724 - - - - - - - - - 26.23 -
15430 520.7 11.5 630 15435 done 0.56 - - 2983 - 2.20 0.033 1917 -652.3 340.5 - - 1724 - - - - - - - - - 26.42 -
15753 485.2 10.7 646 15758 roll 0.57 - - 2983 - 2.12 0.041 531 -653.8 340.5 - - 1724 - - - - - - - - - 26.32 -
15785 482.9 10.7 647 15791 done 0.59 - - 2983 - 2.15 0.037 1935 653.0 340.5 - - 1724 - - - - - - - - - 26.33 -
16099 450.0 9.7 663 16104 roll 0.61 - - 2983 - 2.20 0.051 3343 640.0 340.8 - - 1723 - - - - - - - - - 26.22 -
16142 445.6 9.7 665 16148 done 0.62 - - 2983 - 2.17 0.032 1922 -654.8 340.8 - - 1724 - - - - - - - - - 26.42 -
16466 414.2 9.6 681 16472 roll 0.65 - - 2983 - 2.08 0.041 540 -664.4 344.4 - - 1723 - - - - - - - - - 26.31 -
16510 410.2 9.2 683 16536 done 0.69 0.12 0.092 3054 591.7 2.12 0.037 1924 652.8 361.5 18.10 1.019 1646 -4.3 0.184 - - - - - - 26.30 26.32 24.85
16854 357.5 15.0 700 16860 roll 0.62 0.15 0.150 3005 -326.7 2.25 0.050 3350 633.8 361.5 - - 1645 - - - - - - - - 26.06 26.08 -
16887 353.9 15.2 701 16892 done 0.57 - - 3010 - 2.17 0.032 1919 -659.4 361.5 - - 1645 - - - - - - - - - 26.25 -
17199 316.9 12.0 717 17205 roll 0.57 - - 3010 - 2.12 0.041 529 -655.7 361.5 - - 1644 - - - - - - - - - 26.20 -
17236 314.3 11.8 718 17243 done 0.57 - - 3009 - 2.15 0.037 1926 649.8 361.5 - - 1644 - - - - - - - - - 26.22 -
17542 278.0 11.3 734 17543 done 0.57 - - 3010 - - - 1927 - 361.5 - - 1644 - - - - - - - - - - -
17844 245.5 10.9 749 17850 roll 0.58 - - 3008 - 2.22 0.050 3350 641.0 361.5 - - 1645 - - - - - - - - - 26.17 -
17896 240.4 11.0 751 17901 done 0.58 - - 3010 - 2.17 0.031 1920 -659.0 361.5 - - 1644 - - - - - - - - - 26.38 -
18209 208.7 9.5 767 18224 roll 0.60 - - 3010 - 2.15 0.040 532 -645.6 367.7 6.50 0.750 1622 -3.4 0.101 - - - - - - - 26.36 24.87
18254 204.7 9.8 769 18261 done 0.63 - - 3010 - 2.15 0.036 1939 654.4 367.7 - - 1622 - - - - - - - - - 26.29 -
18574 175.9 9.1 785 18602 roll 0.67 - - 3010 - 2.30 0.050 3356 616.1 389.9 19.95 0.839 1531 -4.6 0.103 - - - - - - - 26.08 25.00
18656 168.4 9.4 789 18676 done 0.71 - - 3010 - 2.17 0.031 1941 -652.1 403.1 12.48 0.795 1476 -4.4 0.100 - - - - - - - 26.14 24.79
18975 141.2 8.5 805 19021 roll 0.79 0.12 0.091 3091 675.0 2.22 0.040 542 -630.2 447.3 36.90 0.819 1297 -4.9 0.090 - - - - - - 26.28 25.65 24.68
19054 133.6 11.2 808 19062 done 0.81 0.12 0.137 3054 -308.3 2.20 0.036 1946 638.2 447.3 - - 1296 - - - - - - - - 25.58 25.73 -
19359 101.6 9.3 824 19379 roll 0.85 - - 3054 - 2.20 0.038 533 -642.3 462.4 13.45 0.745 1234 -4.6 0.068 - - - - - - - 25.95 24.86
19391 100.0 9.0 825 19423 done 0.91 0.12 0.087 3122 566.7 2.17 0.035 1943 649.8 488.9 22.88 0.760 1127 -4.7 0.066 - - - - - - 25.94 25.95 24.69
19722 61.8 8.7 842 19755 done 0.98 - - 3122 - - - 1943 - 526.1 30.15 0.738 976 -5.0 0.045 - - - - - - - - 24.77
20063 38.9 7.4 867 20141 roll 1.12 0.12 0.091 3191 575.0 2.33 0.047 3343 600.9 613.9 70.82 0.715 618 -5.1 0.030 - - - - - - 26.21 25.35 24.54
20184 28.1 9.7 878 20191 done 1.16 - - 3192 - 2.22 0.029 1908 -646.4 614.8 - - 617 - - - - - - - - - 25.66 -
20467 end climb: SURFACE_DEPTH_REACHED
20467 begin surface coast
20501 end surface coast: CONTROL_FINISHED_OK
20501 begin surface
SM 1.94 - - - - -8.30 7.97 0.044 132 -383.9 1.25 0.047 2686 622.4 652.74 20.35 0.060 459 -7.8 0.026 - - - - - -