OKMC Apr12 * SG170 * Dive index * Mission links * Dive 114 * Raw log
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• Previous call tries 1 • 25.80 of 146.00 AH used of 24V (82.33% remains)
• Previous NAKs 0, Timeouts 0 • 11.22 of 97.50 AH used of 10V (88.49% remains)
• Surface angle -76.4 deg, depth 1.97 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 652.99, SM_CC=652.74329)
• GPS1 time: 30 s
• GPS2 time: 18 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
16 begin dive
18 - - - 101 VBD -0.46 - - 134 - - - 2687 - -194.6 -81.10 - 2698 - - - - - - - - - - -
104 3.6 -3.5 8 146 roll -0.46 10.43 0.245 2642 240.5 1.62 0.074 3695 622.2 -194.6 -22.88 - 3925 -53.6 - - - - - - - 25.45 25.95 26.44
251 36.8 -17.2 22 256 done -0.40 - - 2642 - 1.52 0.031 2667 -676.3 -194.6 - - 3928 - - - - - - - - - 26.22 -
573 67.5 -8.9 43 578 roll -0.40 - - 2642 - 2.03 0.030 1280 -683.3 -194.6 - - 3931 - - - - - - - - - 26.29 -
670 77.1 -11.6 47 676 done -0.43 - - 2643 - 2.15 0.044 2660 641.9 -194.6 - - 3931 - - - - - - - - - 26.20 -
977 120.2 -11.9 63 982 roll -0.46 - - 2643 - 2.05 0.030 1278 -674.1 -194.6 - - 3931 - - - - - - - - - 26.39 -
1085 129.5 -8.5 68 1091 done -0.50 - - 2643 - 2.08 0.042 2625 647.6 -194.6 - - 3931 - - - - - - - - - 26.30 -
1404 140.5 -1.3 84 1410 roll -0.55 - - 2642 - 1.98 0.030 1280 -679.3 -194.6 - - 3931 - - - - - - - - - 26.46 -
1451 141.2 -1.5 86 1457 done -0.60 0.12 0.084 2570 -600.0 2.08 0.043 2623 645.7 -194.6 - - 3932 - - - - - - - - 26.36 26.34 -
1770 170.5 -12.3 102 1776 roll -0.57 0.12 0.154 2613 358.3 1.95 0.027 1285 -686.2 -194.6 - - 3930 - - - - - - - - 26.34 26.49 -
1808 173.4 -12.3 103 1815 done -0.55 - - 2613 - 2.05 0.044 2611 646.8 -194.6 - - 3930 - - - - - - - - - 26.36 -
2114 208.5 -10.4 119 2119 roll -0.58 - - 2613 - 1.95 0.031 1288 -678.5 -194.6 - - 3929 - - - - - - - - - 26.50 -
2171 212.7 -10.1 121 2178 done -0.61 - - 2613 - 2.00 0.044 2583 647.5 -194.6 - - 3929 - - - - - - - - - 26.39 -
2477 237.3 -6.5 137 2482 roll -0.64 - - 2613 - 1.92 0.029 1276 -680.7 -194.6 - - 3927 - - - - - - - - - 26.52 -
2504 238.7 -6.3 138 2509 done -0.67 - - 2613 - 2.00 0.044 2570 647.0 -194.6 - - 3927 - - - - - - - - - 26.39 -
2822 258.8 -6.9 154 2824 done -0.71 0.12 0.089 2544 -575.0 - - 2570 - -194.6 - - 3925 - - - - - - - - 26.65 - -
3122 297.3 -13.8 169 3129 roll -0.66 0.12 0.155 2586 350.0 1.90 0.028 1279 -679.5 -194.6 - - 3924 - - - - - - - - 26.40 26.54 -
3171 302.7 -13.1 171 3176 done -0.64 - - 2586 - 1.98 0.044 2555 644.4 -194.6 - - 3923 - - - - - - - - - 26.39 -
3488 339.3 -11.1 187 3489 done -0.64 - - 2586 - - - 2555 - -194.6 - - 3922 - - - - - - - - - - -
3789 373.3 -12.0 202 3794 roll -0.64 - - 2586 - 1.88 0.030 1284 -676.1 -194.6 - - 3919 - - - - - - - - - 26.54 -
3826 376.2 -12.2 203 3833 done -0.64 - - 2586 - 1.95 0.044 2547 647.7 -194.6 - - 3919 - - - - - - - - - 26.40 -
4132 411.7 -10.1 219 4133 done -0.64 - - 2586 - - - 2547 - -194.6 - - 3916 - - - - - - - - - - -
4434 432.6 -5.0 234 4440 roll -0.65 - - 2586 - 1.80 0.057 3692 636.1 -194.6 - - 3915 - - - - - - - - - 26.34 -
4472 433.7 -4.7 235 4478 done -0.67 - - 2586 - 1.70 0.034 2550 -671.8 -194.6 - - 3915 - - - - - - - - - 26.59 -
4778 449.2 -6.0 251 4783 roll -0.69 - - 2586 - 1.85 0.030 1280 -686.5 -194.6 - - 3913 - - - - - - - - - 26.53 -
4805 450.7 -6.3 252 4811 done -0.71 - - 2586 - 1.98 0.045 2554 643.4 -194.6 - - 3913 - - - - - - - - - 26.39 -
5124 479.2 -9.8 268 5129 roll -0.73 - - 2586 - 1.83 0.058 3694 623.0 -194.6 - - 3911 - - - - - - - - - 26.32 -
5150 481.4 -9.7 269 5156 done -0.75 - - 2586 - 1.70 0.034 2553 -671.2 -194.6 - - 3910 - - - - - - - - - 26.58 -
5469 512.5 -9.5 285 5474 roll -0.77 - - 2586 - 1.85 0.030 1284 -685.9 -194.6 - - 3908 - - - - - - - - - 26.53 -
5515 516.6 -9.5 287 5521 done -0.79 0.12 0.092 2522 -533.3 1.98 0.044 2558 643.4 -194.6 - - 3908 - - - - - - - - 26.37 26.37 -
5833 563.5 -15.8 303 5840 roll -0.73 0.12 0.151 2563 341.7 1.80 0.057 3696 632.2 -194.6 - - 3906 - - - - - - - - 26.41 26.29 -
5857 567.0 -15.4 304 5864 done -0.69 - - 2563 - 1.73 0.034 2547 -664.2 -194.6 - - 3906 - - - - - - - - - 26.58 -
6181 608.1 -12.2 319 6186 roll -0.69 - - 2563 - 1.85 0.031 1280 -684.9 -194.6 - - 3905 - - - - - - - - - 26.51 -
6232 611.9 -12.1 320 6238 done -0.69 - - 2564 - 1.98 0.045 2555 643.9 -194.6 - - 3904 - - - - - - - - - 26.35 -
6547 644.9 -8.6 331 6548 done -0.69 - - 2564 - - - 2555 - -194.6 - - 3904 - - - - - - - - - - -
6845 664.5 -6.1 341 6851 roll -0.69 - - 2564 - 1.88 0.031 1289 -673.4 -194.6 - - 3901 - - - - - - - - - 26.51 -
6872 664.5 -6.1 341 6879 done -0.69 - - 2564 - 1.95 0.045 2539 641.0 -194.6 - - 3901 - - - - - - - - - 26.35 -
7179 687.4 -7.6 352 7184 roll -0.69 - - 2564 - 1.85 0.060 3701 628.1 -194.6 - - 3900 - - - - - - - - - 26.25 -
7236 690.3 -8.0 353 7243 done -0.69 - - 2563 - 1.73 0.034 2551 -664.7 -194.6 - - 3899 - - - - - - - - - 26.55 -
7542 723.7 -10.8 364 7548 roll -0.69 - - 2563 - 1.88 0.032 1278 -677.1 -194.6 - - 3897 - - - - - - - - - 26.48 -
7575 727.5 -10.9 365 7580 done -0.69 - - 2564 - 2.00 0.047 2550 636.0 -194.6 - - 3897 - - - - - - - - - 26.32 -
7908 763.9 -11.0 376 7910 done -0.69 - - 2564 - - - 2550 - -194.6 - - 3896 - - - - - - - - - - -
8207 795.3 -10.3 386 8208 done -0.69 - - 2564 - - - 2550 - -194.6 - - 3895 - - - - - - - - - - -
8507 822.4 -8.2 396 8513 roll -0.69 - - 2563 - 1.90 0.032 1281 -667.9 -194.6 - - 3894 - - - - - - - - - 26.48 -
8574 827.2 -7.8 398 8579 done -0.69 - - 2563 - 1.98 0.047 2540 635.9 -194.6 - - 3894 - - - - - - - - - 26.29 -
8902 850.6 -6.9 409 8908 roll -0.69 - - 2563 - 1.83 0.060 3696 631.7 -194.6 - - 3892 - - - - - - - - - 26.20 -
8924 850.6 -6.9 409 8929 done -0.69 - - 2564 - 1.75 0.036 2540 -660.6 -194.6 - - 3892 - - - - - - - - - 26.51 -
9238 873.6 -7.2 420 9243 roll -0.70 - - 2564 - 1.85 0.032 1291 -675.1 -194.6 - - 3891 - - - - - - - - - 26.45 -
9321 878.5 -7.5 422 9326 done -0.72 - - 2563 - 1.92 0.046 2522 641.1 -194.6 - - 3890 - - - - - - - - - 26.27 -
9634 907.6 -9.3 433 9635 done -0.73 - - 2563 - - - 2523 - -194.6 - - 3889 - - - - - - - - - - -
9934 933.6 -8.3 443 9935 done -0.75 - - 2564 - - - 2522 - -194.6 - - 3888 - - - - - - - - - - -
10234 956.5 -7.2 453 10239 roll -0.76 - - 2564 - 1.85 0.033 1291 -665.4 -194.6 - - 3887 - - - - - - - - - 26.43 -
10270 958.7 -7.0 454 10276 done -0.78 - - 2564 - 1.92 0.047 2519 639.6 -194.6 - - 3888 - - - - - - - - - 26.25 -
10600 979.3 -6.4 465 10606 roll -0.79 - - 2564 - 1.88 0.060 3689 622.3 -194.6 - - 3887 - - - - - - - - - 26.13 -
10637 981.6 -6.6 466 10642 done -0.81 - - 2564 - 1.77 0.037 2525 -657.6 -194.6 - - 3887 - - - - - - - - - 26.48 -
10783 end dive: TARGET_DEPTH_EXCEEDED
10783 begin apogee
10789 991.5 -6.6 471 10954 roll -0.12 0.57 0.111 2759 342.1 - - 1933 - - 158.73 1.440 3121 -4.8 0.357 - - - - - - 25.84 - 23.34
10955 end apogee: CONTROL_FINISHED_OK
10955 begin climb
10957 998.6 - 476 11146 roll 0.46 0.55 0.060 2961 367.3 2.25 0.038 559 -610.7 194.6 178.75 1.400 2327 -4.4 0.341 - - - - - - 24.62 24.62 22.79
11169 994.8 4.8 483 11294 done 0.49 - - 2961 - 2.30 0.037 1940 600.4 323.1 117.85 1.375 1803 -4.4 0.346 - - - - - - - 24.44 22.84
11594 958.9 7.7 497 11632 roll 0.51 - - 2961 - 2.38 0.054 3340 588.2 357.4 31.00 1.334 1663 -4.5 0.349 - - - - - - - 25.08 23.94
11695 951.5 7.9 500 11730 done 0.52 - - 2968 - 2.17 0.032 1960 -635.9 385.3 26.55 1.317 1550 -4.3 0.331 - - - - - - - 25.57 23.87
12047 923.3 7.6 512 12086 roll 0.54 - - 2968 - 2.30 0.043 545 -615.2 420.1 31.65 1.334 1407 -4.5 0.336 - - - - - - - 25.25 24.10
12113 918.9 7.3 514 12163 done 0.58 - - 2968 - 2.25 0.037 1955 626.7 465.1 42.03 1.336 1224 -4.4 0.322 - - - - - - - 25.47 23.80
12471 891.8 7.9 526 12502 roll 0.64 0.12 0.090 3048 666.7 2.35 0.053 3346 591.9 491.7 24.20 1.304 1116 -4.5 0.328 - - - - - - 26.03 25.36 24.22
12524 888.1 8.8 527 12530 done 0.66 0.15 0.156 3011 -246.7 2.22 0.034 1944 -631.5 491.7 - - 1116 - - - - - - - - 25.39 25.56 -
12839 832.2 16.8 538 12844 roll 0.64 - - 3011 - 2.17 0.042 538 -647.9 491.7 - - 1113 - - - - - - - - - 26.03 -
12901 822.0 16.5 540 12906 done 0.64 - - 3011 - 2.20 0.037 1946 640.0 491.7 - - 1113 - - - - - - - - - 26.08 -
13235 766.2 16.9 551 13236 done 0.62 - - 3011 - - - 1947 - 491.7 - - 1113 - - - - - - - - - - -
13534 717.9 15.4 561 13535 done 0.61 - - 3011 - - - 1947 - 491.7 - - 1112 - - - - - - - - - - -
13834 676.5 13.0 571 13835 done 0.59 - - 3010 - - - 1947 - 491.7 - - 1112 - - - - - - - - - - -
14134 639.4 11.8 581 14135 done 0.59 - - 3011 - - - 1947 - 491.7 - - 1112 - - - - - - - - - - -
14434 605.1 11.2 591 14439 roll 0.59 - - 3011 - 2.17 0.042 523 -656.2 491.7 - - 1111 - - - - - - - - - 26.34 -
14460 605.1 11.2 591 14467 done 0.59 - - 3010 - 2.15 0.037 1934 656.3 491.7 - - 1111 - - - - - - - - - 26.36 -
14776 568.9 11.5 607 14781 roll 0.59 - - 3011 - 2.22 0.052 3346 636.0 491.7 - - 1112 - - - - - - - - - 26.29 -
14799 566.2 11.6 608 14804 done 0.59 - - 3011 - 2.15 0.033 1921 -662.8 491.7 - - 1111 - - - - - - - - - 26.44 -
15121 525.8 12.9 624 15126 roll 0.59 - - 3011 - 2.08 0.041 541 -663.5 491.7 - - 1111 - - - - - - - - - 26.36 -
15173 520.9 12.1 626 15179 done 0.61 - - 3011 - 2.12 0.037 1936 658.0 491.7 - - 1111 - - - - - - - - - 26.39 -
15487 481.3 13.2 642 15489 done 0.63 - - 3011 - - - 1936 - 491.7 - - 1111 - - - - - - - - - - -
15788 432.7 17.1 657 15794 roll 0.65 - - 3011 - 2.22 0.051 3349 636.5 491.7 - - 1111 - - - - - - - - - 26.29 -
15826 428.3 17.1 658 15832 done 0.67 - - 3011 - 2.15 0.033 1915 -667.0 491.7 - - 1111 - - - - - - - - - 26.47 -
16131 378.8 13.5 674 16136 roll 0.70 - - 3011 - 2.08 0.041 534 -663.9 491.7 - - 1111 - - - - - - - - - 26.36 -
16164 376.0 13.1 675 16169 done 0.74 - - 3011 - 2.12 0.037 1929 658.0 491.7 - - 1111 - - - - - - - - - 26.39 -
16476 343.0 9.8 691 16482 roll 0.78 0.12 0.093 3088 641.7 2.22 0.050 3342 636.5 491.7 - - 1111 - - - - - - - - 26.61 26.27 -
16504 339.8 10.9 692 16510 done 0.80 0.12 0.165 3058 -250.0 2.17 0.033 1910 -659.9 491.7 - - 1112 - - - - - - - - 26.15 26.46 -
16823 290.9 13.6 708 16828 roll 0.76 - - 3065 - 2.08 0.041 539 -659.1 491.7 - - 1112 - - - - - - - - - 26.36 -
16875 285.4 13.2 710 16880 done 0.74 - - 3065 - 2.10 0.037 1920 657.6 491.7 - - 1111 - - - - - - - - - 26.39 -
17188 235.4 16.7 726 17195 roll 0.71 0.12 0.155 3023 -350.0 2.25 0.049 3350 635.6 491.7 - - 1112 - - - - - - - - 26.36 26.28 -
17232 228.5 16.3 728 17239 done 0.71 - - 3023 - 2.15 0.031 1919 -665.6 491.7 - - 1112 - - - - - - - - - 26.48 -
17556 190.3 9.7 744 17561 roll 0.76 - - 3023 - 2.08 0.041 530 -667.8 491.7 - - 1113 - - - - - - - - - 26.36 -
17583 188.4 9.3 745 17590 done 0.82 0.12 0.091 3092 575.0 2.12 0.034 1937 663.7 491.7 - - 1112 - - - - - - - - 26.36 26.40 -
17902 148.8 14.6 761 17908 roll 0.77 0.12 0.152 3053 -325.0 2.17 0.048 3341 647.0 491.7 - - 1113 - - - - - - - - 26.36 26.27 -
17926 145.2 15.0 762 17932 done 0.73 - - 3050 - 2.12 0.031 1922 -669.3 491.7 - - 1113 - - - - - - - - - 26.48 -
18251 118.1 -0.9 778 18405 roll 0.98 0.15 0.083 3139 593.3 2.20 0.039 543 -626.8 814.2 139.70 0.787 458 -4.7 0.076 - - - - 1 - 26.60 25.10 24.29
18462 69.2 25.9 788 18467 done 1.02 - - 3139 - 2.20 0.034 1944 636.8 814.2 - - 459 - - - - - - - - - 25.47 -
18775 36.3 15.0 809 18781 roll 1.24 0.15 0.099 3204 433.3 2.22 0.047 3350 633.3 814.2 - - 459 - - - - - - - - 26.01 25.89 -
19001 10.6 12.2 831 19007 done 1.45 0.17 0.084 3271 394.1 2.10 0.029 1965 -659.5 814.2 - - 459 - - - - - - - - 26.06 26.17 -
19072 end climb: SURFACE_DEPTH_REACHED
19072 begin surface coast
19095 end surface coast: CONTROL_FINISHED_OK
19095 begin surface
SM 1.91 - - - - -8.27 8.15 0.044 137 -384.5 1.17 0.047 2689 618.8 652.99 - - 459 - - - - - - - -