OKMC Apr12 * SG170 * Dive index * Mission links * Dive 144 * Raw log
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• Previous call tries 5 • 33.51 of 146.00 AH used of 24V (77.05% remains)
• Previous NAKs 0, Timeouts 0 • 15.44 of 97.50 AH used of 10V (84.16% remains)
• Surface angle -73.2 deg, depth 2.00 m • Intended pitch -13.6 deg, speed -9.706 cm/s
• No surface pump (final VBD was 652.99, SM_CC=652.74329)
• GPS1 time: 26 s
• GPS2 time: 18 s • Transponder ping count: 1
• 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
19 - - - 102 VBD -0.49 - - 137 - - - 2682 - -243.3 -81.03 - 2657 - - - - - - - - - - -
105 3.3 -2.8 8 148 roll -0.49 10.62 0.251 2634 235.1 1.67 0.074 3699 609.0 -243.3 -25.50 - 3965 -51.3 - - - - - - - 25.51 26.16 26.68
334 58.9 -20.7 28 340 done -0.40 0.12 0.155 2669 291.7 1.55 0.031 2650 -676.8 -243.3 - - 3966 - - - - - - - - 26.12 26.44 -
657 100.3 -9.5 44 663 roll -0.40 - - 2669 - 1.98 0.031 1285 -689.4 -243.3 - - 3968 - - - - - - - - - 26.42 -
681 102.4 -9.4 45 687 done -0.42 - - 2670 - 2.20 0.047 2697 641.8 -243.3 - - 3968 - - - - - - - - - 26.29 -
1005 128.6 -7.5 61 1010 roll -0.45 - - 2670 - 2.08 0.031 1284 -679.3 -243.3 - - 3969 - - - - - - - - - 26.46 -
1052 132.1 -7.9 63 1058 done -0.49 - - 2670 - 2.17 0.046 2685 645.6 -243.3 - - 3968 - - - - - - - - - 26.34 -
1371 156.9 -7.2 79 1377 roll -0.55 0.12 0.084 2586 -700.0 2.05 0.030 1292 -679.5 -243.3 - - 3968 - - - - - - - - 26.65 26.47 -
1419 161.0 -7.9 81 1424 done -0.57 - - 2586 - 2.15 0.047 2678 644.7 -243.3 - - 3969 - - - - - - - - - 26.36 -
1737 202.4 -13.3 97 1743 roll -0.54 0.12 0.160 2628 350.0 2.05 0.030 1295 -674.6 -243.3 - - 3969 - - - - - - - - 26.38 26.48 -
1761 205.5 -13.3 98 1766 done -0.51 - - 2628 - 2.15 0.047 2668 638.6 -243.3 - - 3968 - - - - - - - - - 26.37 -
2084 234.2 -8.0 114 2090 roll -0.54 - - 2628 - 1.60 0.056 3696 642.5 -243.3 - - 3968 - - - - - - - - - 26.36 -
2128 237.3 -7.4 116 2134 done -0.58 - - 2628 - 1.55 0.031 2629 -688.4 -243.3 - - 3967 - - - - - - - - - 26.60 -
2452 258.5 -6.8 132 2457 roll -0.63 - - 2628 - 1.92 0.031 1290 -697.4 -243.3 - - 3966 - - - - - - - - - 26.52 -
2489 260.3 -7.0 133 2497 done -0.67 0.15 0.075 2541 -580.0 2.12 0.045 2665 648.6 -243.3 - - 3965 - - - - - - - - 26.44 26.39 -
2795 303.4 -13.8 149 2800 roll -0.60 0.20 0.144 2606 325.0 1.62 0.054 3700 638.9 -243.3 - - 3963 - - - - - - - - 26.22 26.36 -
2872 309.2 -10.2 152 2879 done -0.60 - - 2606 - 1.52 0.031 2652 -689.5 -243.3 - - 3963 - - - - - - - - - 26.60 -
3179 333.2 -7.5 168 3184 roll -0.62 - - 2606 - 1.98 0.031 1284 -690.9 -243.3 - - 3960 - - - - - - - - - 26.53 -
3236 336.4 -7.5 170 3244 done -0.65 - - 2606 - 2.12 0.045 2655 646.7 -243.3 - - 3960 - - - - - - - - - 26.39 -
3542 361.3 -7.6 186 3543 done -0.67 - - 2606 - - - 2655 - -243.3 - - 3958 - - - - - - - - - - -
3844 383.6 -7.9 201 3849 roll -0.71 - - 2606 - 2.00 0.032 1297 -679.0 -243.3 - - 3955 - - - - - - - - - 26.51 -
3881 385.5 -7.9 202 3888 done -0.74 0.15 0.081 2529 -513.3 2.10 0.045 2651 644.8 -243.3 - - 3955 - - - - - - - - 26.42 26.39 -
4187 431.6 -14.9 218 4193 roll -0.68 0.15 0.153 2577 320.0 1.65 0.054 3699 635.2 -243.3 - - 3953 - - - - - - - - 26.31 26.33 -
4269 441.1 -11.2 222 4275 done -0.68 - - 2577 - 1.55 0.033 2662 -669.0 -243.3 - - 3952 - - - - - - - - - 26.58 -
4592 475.0 -10.6 238 4597 roll -0.68 - - 2577 - 2.03 0.031 1271 -685.2 -243.3 - - 3949 - - - - - - - - - 26.50 -
4628 477.4 -10.4 239 4636 done -0.68 - - 2578 - 2.15 0.045 2654 643.3 -243.3 - - 3950 - - - - - - - - - 26.37 -
4935 508.3 -9.0 255 4941 roll -0.68 - - 2577 - 1.65 0.057 3701 634.5 -243.3 - - 3947 - - - - - - - - - 26.32 -
4972 510.4 -9.0 256 4978 done -0.68 - - 2577 - 1.58 0.034 2645 -668.4 -243.3 - - 3948 - - - - - - - - - 26.56 -
5278 536.4 -7.8 272 5283 roll -0.68 - - 2577 - 2.00 0.036 1277 -684.0 -243.3 - - 3944 - - - - - - - - - 26.03 -
5305 538.1 -7.7 273 5311 done -0.68 - - 2577 - 2.12 0.046 2652 648.6 -243.3 - - 3944 - - - - - - - - - 26.35 -
5624 561.2 -7.1 289 5625 done -0.69 - - 2577 - - - 2652 - -243.3 - - 3942 - - - - - - - - - - -
5924 583.5 -7.3 304 5930 roll -0.69 - - 2578 - 2.03 0.031 1280 -675.9 -243.3 - - 3940 - - - - - - - - - 26.48 -
5968 586.8 -7.3 306 5974 done -0.71 - - 2577 - 2.15 0.046 2650 637.2 -243.3 - - 3940 - - - - - - - - - 26.34 -
6302 611.8 -7.5 320 6307 roll -0.72 - - 2577 - 2.05 0.031 1281 -667.8 -243.3 - - 3938 - - - - - - - - - 26.47 -
6335 614.4 -7.5 321 6341 done -0.74 - - 2578 - 2.15 0.047 2647 635.3 -243.3 - - 3938 - - - - - - - - - 26.32 -
6670 639.6 -7.5 332 6676 roll -0.75 - - 2577 - 1.67 0.057 3703 632.3 -243.3 - - 3935 - - - - - - - - - 26.25 -
6708 642.3 -7.5 333 6713 done -0.77 - - 2578 - 1.60 0.034 2636 -666.9 -243.3 - - 3935 - - - - - - - - - 26.54 -
7037 669.5 -8.4 344 7042 roll -0.79 - - 2578 - 1.98 0.032 1289 -680.3 -243.3 - - 3933 - - - - - - - - - 26.45 -
7100 675.4 -8.9 346 7106 done -0.81 0.12 0.092 2509 -575.0 2.12 0.046 2638 636.3 -243.3 - - 3933 - - - - - - - - 26.32 26.31 -
7436 722.3 -14.0 357 7441 roll -0.75 0.15 0.148 2558 326.7 1.67 0.056 3690 629.9 -243.3 - - 3931 - - - - - - - - 26.31 26.22 -
7503 729.3 -12.3 359 7508 done -0.71 - - 2560 - 1.60 0.035 2647 -651.9 -243.3 - - 3931 - - - - - - - - - 26.52 -
7832 758.3 -8.5 370 7833 done -0.71 - - 2558 - - - 2648 - -243.3 - - 3930 - - - - - - - - - - -
8131 781.9 -7.5 380 8137 roll -0.71 - - 2559 - 2.03 0.032 1283 -672.4 -243.3 - - 3927 - - - - - - - - - 26.43 -
8208 786.5 -7.3 382 8214 done -0.71 - - 2559 - 2.12 0.047 2647 643.4 -243.3 - - 3927 - - - - - - - - - 26.27 -
8527 812.4 -8.2 393 8529 done -0.71 - - 2559 - - - 2646 - -243.3 - - 3925 - - - - - - - - - - -
8826 836.1 -7.8 403 8831 roll -0.71 - - 2559 - 2.05 0.032 1269 -671.7 -243.3 - - 3924 - - - - - - - - - 26.42 -
8867 838.8 -7.9 404 8873 done -0.71 - - 2559 - 2.15 0.047 2635 635.3 -243.3 - - 3924 - - - - - - - - - 26.24 -
9191 865.6 -8.1 415 9197 roll -0.71 - - 2558 - 1.70 0.059 3699 625.9 -243.3 - - 3922 - - - - - - - - - 26.15 -
9224 868.3 -8.0 416 9229 done -0.71 - - 2559 - 1.62 0.037 2633 -658.0 -243.3 - - 3922 - - - - - - - - - 26.48 -
9559 894.5 -7.8 427 9564 roll -0.71 - - 2559 - 2.00 0.034 1279 -677.0 -243.3 - - 3921 - - - - - - - - - 26.38 -
9600 897.3 -7.9 428 9605 done -0.71 - - 2559 - 2.12 0.048 2639 641.5 -243.3 - - 3921 - - - - - - - - - 26.22 -
9924 924.5 -8.7 439 9930 roll -0.71 - - 2559 - 2.05 0.034 1279 -663.4 -243.3 - - 3920 - - - - - - - - - 26.38 -
9968 927.6 -8.8 440 9973 done -0.71 - - 2559 - 2.12 0.048 2623 634.0 -243.3 - - 3920 - - - - - - - - - 26.20 -
10291 961.5 -10.4 451 10292 done -0.71 - - 2559 - - - 2622 - -243.3 - - 3919 - - - - - - - - - - -
10589 end dive: TARGET_DEPTH_EXCEEDED
10589 begin apogee
10595 990.5 -9.2 461 10772 roll -0.12 0.57 0.110 2754 342.1 - - 1920 - - 167.50 1.465 3120 -4.8 0.349 - - - - - - 25.81 - 23.17
10773 end apogee: CONTROL_FINISHED_OK
10773 begin climb
10775 999.8 - 467 11013 roll 0.49 0.57 0.057 2968 375.4 2.28 0.039 543 -603.9 243.3 224.93 1.418 2127 -4.4 0.336 - - - - - - 24.58 24.58 22.75
11020 989.7 7.7 475 11096 done 0.49 - - 2968 - 2.38 0.038 1949 590.8 317.5 69.15 1.375 1826 -4.4 0.339 - - - - - - - 24.25 22.77
11408 946.5 11.5 488 11414 roll 0.49 - - 2968 - 2.25 0.050 3352 623.6 317.5 - - 1820 - - - - - - - - - 25.84 -
11571 927.2 12.6 493 11576 done 0.48 - - 2968 - 2.15 0.032 1945 -654.4 317.5 - - 1819 - - - - - - - - - 26.12 -
11895 887.2 11.7 504 11900 roll 0.48 - - 2970 - 2.17 0.044 538 -648.4 317.5 - - 1818 - - - - - - - - - 26.20 -
11957 880.2 11.4 506 11962 done 0.48 - - 2970 - 2.17 0.039 1937 644.7 317.5 - - 1819 - - - - - - - - - 26.22 -
12291 842.1 11.7 517 12296 roll 0.48 - - 2970 - 2.22 0.052 3350 636.5 317.5 - - 1818 - - - - - - - - - 26.22 -
12347 837.9 11.8 518 12353 done 0.48 - - 2970 - 2.17 0.034 1932 -653.5 317.5 - - 1817 - - - - - - - - - 26.36 -
12654 799.2 11.6 529 12659 roll 0.48 - - 2969 - 2.15 0.043 538 -648.4 317.5 - - 1818 - - - - - - - - - 26.30 -
12690 795.6 11.3 530 12696 done 0.48 - - 2970 - 2.15 0.039 1931 647.9 317.5 - - 1816 - - - - - - - - - 26.32 -
13019 760.9 10.4 541 13025 roll 0.48 - - 2970 - 2.22 0.052 3345 636.9 317.5 - - 1816 - - - - - - - - - 26.24 -
13046 760.9 10.4 541 13053 done 0.48 - - 2970 - 2.17 0.034 1918 -657.6 317.5 - - 1816 - - - - - - - - - 26.41 -
13352 726.7 9.4 552 13367 roll 0.48 - - 2970 - 2.12 0.041 537 -651.4 328.1 9.75 1.160 1782 -3.5 0.236 - - - - - - - 26.25 24.68
13395 723.7 9.3 553 13416 done 0.51 - - 2970 - 2.17 0.039 1942 647.5 343.6 15.45 1.219 1720 -4.0 0.257 - - - - - - - 26.22 24.58
13717 696.1 8.3 564 13776 roll 0.56 - - 2970 - 2.38 0.051 3340 587.4 396.9 47.97 1.265 1502 -4.5 0.270 - - - - - - - 25.20 24.06
13810 688.0 8.6 567 13858 done 0.61 - - 2970 - 2.25 0.033 1925 -628.9 440.1 39.12 1.232 1325 -4.5 0.273 - - - - - - - 25.58 23.87
14171 659.4 8.0 579 14237 roll 0.70 0.12 0.091 3051 675.0 2.28 0.044 544 -605.7 504.9 56.03 1.226 1062 -4.7 0.273 - - - - - - 26.14 25.08 23.95
14284 644.7 14.0 582 14290 done 0.70 - - 3051 - 2.22 0.038 1937 627.5 504.9 - - 1060 - - - - - - - - - 25.51 -
14609 576.9 19.7 595 14615 roll 0.64 0.12 0.158 3011 -333.3 2.17 0.041 538 -644.7 504.9 - - 1058 - - - - - - - - 25.97 26.06 -
14663 569.5 18.1 597 14668 done 0.62 - - 3011 - 2.12 0.038 1921 652.4 504.9 - - 1057 - - - - - - - - - 26.10 -
14976 528.8 13.1 613 14982 roll 0.63 - - 3011 - 2.25 0.051 3351 635.6 504.9 - - 1056 - - - - - - - - - 26.15 -
14999 525.5 13.3 614 15005 done 0.65 - - 3011 - 2.25 0.033 1894 -647.6 504.9 - - 1056 - - - - - - - - - 26.28 -
15323 486.1 11.3 630 15328 roll 0.66 - - 3011 - 2.05 0.042 538 -661.5 504.9 - - 1056 - - - - - - - - - 26.27 -
15365 482.0 10.7 632 15370 done 0.70 - - 3011 - 2.10 0.037 1914 655.2 504.9 - - 1054 - - - - - - - - - 26.29 -
15688 451.3 10.0 648 15693 roll 0.73 - - 3011 - 2.25 0.050 3350 638.2 504.9 - - 1056 - - - - - - - - - 26.23 -
15734 446.7 10.5 650 15741 done 0.77 0.12 0.091 3080 575.0 2.20 0.032 1906 -656.4 504.9 - - 1056 - - - - - - - - 26.34 26.40 -
16054 381.6 20.8 666 16060 roll 0.70 0.15 0.150 3037 -286.7 2.10 0.041 535 -652.9 504.9 - - 1056 - - - - - - - - 26.21 26.31 -
16126 372.1 16.0 669 16132 done 0.70 - - 3037 - 2.08 0.037 1907 659.6 504.9 - - 1055 - - - - - - - - - 26.34 -
16439 329.4 14.1 685 16445 roll 0.70 - - 3037 - 2.25 0.050 3349 640.9 504.9 - - 1056 - - - - - - - - - 26.26 -
16462 325.9 14.3 686 16468 done 0.70 - - 3037 - 2.22 0.032 1897 -654.1 504.9 - - 1056 - - - - - - - - - 26.42 -
16785 280.4 14.7 702 16790 roll 0.70 - - 3037 - 2.08 0.043 538 -653.4 504.9 - - 1056 - - - - - - - - - 26.33 -
16872 270.6 11.9 706 16878 done 0.74 - - 3037 - 2.05 0.036 1898 663.4 504.9 - - 1055 - - - - - - - - - 26.36 -
17191 233.1 11.3 722 17196 roll 0.76 - - 3037 - 2.28 0.049 3348 636.0 504.9 - - 1056 - - - - - - - - - 26.26 -
17228 230.6 11.0 723 17235 done 0.79 - - 3037 - 2.20 0.032 1900 -658.2 504.9 - - 1056 - - - - - - - - - 26.44 -
17534 199.6 10.3 739 17539 roll 0.83 - - 3037 - 2.08 0.041 535 -656.2 504.9 - - 1057 - - - - - - - - - 26.34 -
17591 195.6 9.7 741 17600 done 0.88 0.15 0.080 3117 533.3 2.05 0.036 1890 661.0 506.7 - - 1055 - - - - - - - - 26.36 26.38 -
17897 142.7 17.3 757 17903 roll 0.84 0.12 0.148 3073 -366.7 2.28 0.047 3351 640.8 506.7 - - 1056 - - - - - - - - 26.36 26.26 -
17930 139.0 17.2 758 17936 done 0.80 - - 3076 - 2.22 0.032 1869 -667.6 506.7 - - 1056 - - - - - - - - - 26.44 -
18243 108.0 8.8 774 18282 roll 0.86 - - 3076 - 2.12 0.041 525 -634.0 540.8 29.45 0.804 916 -4.8 0.069 - - - - - - - 26.05 24.96
18295 104.6 8.8 776 18335 done 0.93 - - 3076 - 2.05 0.035 1868 655.1 576.5 30.35 0.791 769 -4.8 0.069 - - - - - - - 26.05 24.67
18648 78.3 7.9 794 18728 roll 1.07 0.17 0.078 3171 558.8 2.42 0.047 3340 608.3 645.2 65.07 0.754 490 -4.3 0.048 - - - - 1 - 26.19 25.41 24.49
18776 62.9 12.2 800 18781 done 1.09 - - 3172 - 2.30 0.030 1859 -643.9 645.2 - - 489 - - - - - - - - - 25.72 -
19084 36.5 9.2 823 19100 roll 1.16 - - 3171 - 2.10 0.041 527 -634.3 664.0 8.43 0.629 459 -3.6 0.022 - - - - - - - 26.04 25.00
19118 33.5 9.3 826 19123 done 1.24 - - 3172 - 2.05 0.034 1875 657.6 677.9 - - 459 - - - - - - - - - 26.06 -
19433 7.9 7.2 857 19439 done 1.38 0.20 0.070 3271 495.0 - - 1878 - 771.9 - - 460 - - - - - - - - 26.33 - -
19479 end climb: SURFACE_DEPTH_REACHED
19479 begin surface coast
19500 end surface coast: CONTROL_FINISHED_OK
19500 begin surface
SM 2.01 - - - - -8.29 8.05 0.040 134 -389.7 1.27 0.042 2700 647.2 652.99 - - 459 - - - - - - - -