OKMC Apr12 * SG170 * Dive index * Mission links * Dive 112 * Raw log
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• Previous call tries 1 • 25.22 of 146.00 AH used of 24V (82.72% remains)
• Previous NAKs 0, Timeouts 0 • 10.99 of 97.50 AH used of 10V (88.73% remains)
• Surface angle -75.9 deg, depth 1.97 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 652.74, SM_CC=652.74329)
• GPS1 time: 37 s
• GPS2 time: 15 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 101 VBD -0.46 - - 136 - - - 2698 - -194.6 -81.38 - 2715 - - - - - - - - - - -
104 3.8 -4.0 8 141 done -0.46 10.38 0.242 2642 241.4 - - 2699 - -194.6 -21.88 - 3925 -55.3 - - - - - - - 25.45 - 26.39
442 69.8 -16.4 36 447 roll -0.40 - - 2643 - 2.12 0.031 1278 -670.3 -194.6 - - 3931 - - - - - - - - - 26.20 -
509 78.5 -14.2 39 515 done -0.36 0.15 0.143 2687 293.3 2.20 0.047 2689 641.4 -194.6 - - 3931 - - - - - - - - 25.94 26.11 -
828 112.0 -8.9 55 833 roll -0.42 - - 2687 - 2.12 0.031 1268 -670.3 -194.6 - - 3934 - - - - - - - - - 26.32 -
855 113.3 -7.9 56 862 done -0.50 0.15 0.081 2604 -553.3 2.17 0.047 2671 646.5 -194.6 - - 3932 - - - - - - - - 26.26 26.22 -
1174 143.5 -10.9 72 1180 roll -0.50 0.12 0.143 2647 358.3 1.62 0.054 3703 637.0 -194.6 - - 3933 - - - - - - - - 26.32 26.26 -
1227 146.1 -8.0 74 1233 done -0.52 - - 2647 - 1.52 0.031 2642 -698.0 -194.6 - - 3933 - - - - - - - - - 26.49 -
1542 166.0 -6.1 90 1547 roll -0.64 0.15 0.086 2569 -520.0 1.95 0.030 1300 -688.2 -194.6 - - 3932 - - - - - - - - 26.53 26.44 -
1554 166.0 -6.1 90 1559 done -0.76 - - 2568 - 2.03 0.047 2613 646.8 -194.6 - - 3932 - - - - - - - - - 26.33 -
1867 192.8 -10.0 106 1873 roll -0.73 - - 2568 - 1.73 0.059 3699 627.7 -194.6 - - 3931 - - - - - - - - - 26.30 -
2045 209.1 -10.2 114 2051 done -0.71 - - 2568 - 1.62 0.029 2576 -693.2 -194.6 - - 3931 - - - - - - - - - 26.58 -
2351 246.0 -12.0 130 2356 roll -0.68 - - 2568 - 1.88 0.031 1290 -684.0 -194.6 - - 3929 - - - - - - - - - 26.50 -
2437 256.6 -12.8 134 2443 done -0.66 - - 2566 - 2.00 0.047 2574 642.0 -194.6 - - 3928 - - - - - - - - - 26.37 -
2756 297.7 -13.5 150 2761 roll -0.64 - - 2568 - 1.77 0.058 3701 636.7 -194.6 - - 3926 - - - - - - - - - 26.34 -
2828 306.6 -14.0 153 2834 done -0.63 - - 2568 - 1.65 0.030 2556 -693.9 -194.6 - - 3926 - - - - - - - - - 26.60 -
3142 352.1 -12.8 169 3143 done -0.62 0.12 0.155 2604 300.0 - - 2554 - -194.6 - - 3924 - - - - - - - - 26.44 - -
3443 377.3 -7.1 184 3449 roll -0.65 - - 2604 - 1.85 0.031 1285 -685.9 -194.6 - - 3922 - - - - - - - - - 26.53 -
3487 380.4 -6.8 186 3493 done -0.68 - - 2604 - 2.00 0.045 2582 648.5 -194.6 - - 3922 - - - - - - - - - 26.39 -
3810 405.5 -9.5 202 3812 done -0.72 0.12 0.091 2531 -608.3 - - 2582 - -194.6 - - 3918 - - - - - - - - 26.67 - -
4111 451.0 -15.0 217 4117 roll -0.67 0.15 0.146 2582 340.0 1.92 0.029 1285 -675.5 -194.6 - - 3916 - - - - - - - - 26.36 26.52 -
4155 456.9 -14.1 219 4160 done -0.65 - - 2583 - 2.00 0.046 2579 647.0 -194.6 - - 3916 - - - - - - - - - 26.39 -
4477 490.9 -9.5 235 4482 roll -0.65 - - 2582 - 1.90 0.032 1298 -674.2 -194.6 - - 3914 - - - - - - - - - 26.52 -
4521 494.7 -9.2 237 4526 done -0.66 - - 2583 - 1.98 0.046 2561 637.9 -194.6 - - 3913 - - - - - - - - - 26.39 -
4844 521.8 -7.9 253 4845 done -0.67 - - 2583 - - - 2561 - -194.6 - - 3910 - - - - - - - - - - -
5145 540.8 -5.1 268 5150 roll -0.69 - - 2583 - 1.80 0.058 3700 632.8 -194.6 - - 3909 - - - - - - - - - 26.29 -
5202 542.7 -4.5 270 5209 done -0.71 - - 2583 - 1.70 0.034 2575 -661.8 -194.6 - - 3908 - - - - - - - - - 26.58 -
5508 553.4 -3.2 286 5513 roll -0.73 - - 2582 - 1.88 0.031 1293 -681.9 -194.6 - - 3906 - - - - - - - - - 26.51 -
5575 555.6 -3.3 289 5580 done -0.75 - - 2583 - 1.98 0.045 2563 641.4 -194.6 - - 3906 - - - - - - - - - 26.36 -
5894 569.5 -5.5 305 5899 roll -0.77 - - 2582 - 1.90 0.032 1288 -671.1 -194.6 - - 3904 - - - - - - - - - 26.49 -
5961 573.1 -5.5 308 5966 done -0.79 0.12 0.093 2520 -516.7 1.95 0.045 2555 649.7 -194.6 - - 3903 - - - - - - - - 26.36 26.36 -
6279 607.8 -11.5 323 6285 roll -0.73 0.12 0.153 2562 350.0 1.83 0.057 3704 627.9 -194.6 - - 3902 - - - - - - - - 26.41 26.26 -
6353 613.5 -10.3 325 6358 done -0.70 - - 2562 - 1.67 0.035 2568 -680.2 -194.6 - - 3902 - - - - - - - - - 26.56 -
6676 642.3 -9.2 336 6681 roll -0.70 - - 2562 - 1.85 0.031 1297 -687.0 -194.6 - - 3900 - - - - - - - - - 26.48 -
6712 645.6 -9.5 337 6717 done -0.70 - - 2564 - 1.95 0.047 2556 645.6 -194.6 - - 3900 - - - - - - - - - 26.33 -
7041 675.9 -8.7 348 7042 done -0.70 - - 2562 - - - 2556 - -194.6 - - 3897 - - - - - - - - - - -
7340 699.5 -7.7 358 7345 roll -0.70 - - 2562 - 1.85 0.031 1300 -678.9 -194.6 - - 3896 - - - - - - - - - 26.47 -
7367 699.5 -7.7 358 7374 done -0.70 - - 2562 - 1.95 0.047 2558 645.1 -194.6 - - 3896 - - - - - - - - - 26.32 -
7673 725.0 -7.6 369 7678 roll -0.70 - - 2562 - 1.77 0.058 3693 641.2 -194.6 - - 3895 - - - - - - - - - 26.22 -
7710 727.4 -7.7 370 7715 done -0.70 - - 2562 - 1.67 0.036 2561 -677.8 -194.6 - - 3895 - - - - - - - - - 26.53 -
8039 752.0 -7.2 381 8044 roll -0.70 - - 2562 - 1.88 0.034 1293 -674.5 -194.6 - - 3893 - - - - - - - - - 26.44 -
8086 754.6 -7.3 382 8091 done -0.70 - - 2562 - 1.98 0.047 2550 634.8 -194.6 - - 3893 - - - - - - - - - 26.29 -
8404 780.5 -7.9 393 8410 roll -0.70 - - 2562 - 1.85 0.033 1301 -675.1 -194.6 - - 3892 - - - - - - - - - 26.44 -
8437 783.3 -7.9 394 8443 done -0.70 - - 2562 - 1.98 0.047 2551 631.3 -194.6 - - 3892 - - - - - - - - - 26.28 -
8772 805.8 -6.2 405 8773 done -0.70 - - 2562 - - - 2552 - -194.6 - - 3890 - - - - - - - - - - -
9070 822.0 -4.8 415 9075 roll -0.70 - - 2563 - 1.88 0.033 1298 -667.0 -194.6 - - 3889 - - - - - - - - - 26.43 -
9122 823.5 -4.6 416 9128 done -0.70 - - 2562 - 1.92 0.047 2538 645.8 -194.6 - - 3889 - - - - - - - - - 26.27 -
9437 837.3 -4.3 427 9438 done -0.70 - - 2562 - - - 2538 - -194.6 - - 3888 - - - - - - - - - - -
9735 852.7 -5.5 437 9736 done -0.70 - - 2562 - - - 2538 - -194.6 - - 3888 - - - - - - - - - - -
10036 871.9 -7.0 447 10037 done -0.70 - - 2562 - - - 2538 - -194.6 - - 3887 - - - - - - - - - - -
10335 895.4 -8.2 457 10337 done -0.70 - - 2562 - - - 2538 - -194.6 - - 3886 - - - - - - - - - - -
10635 924.8 -10.6 467 10640 roll -0.70 - - 2562 - 1.88 0.034 1293 -662.2 -194.6 - - 3885 - - - - - - - - - 26.39 -
10687 928.5 -11.0 468 10692 done -0.72 - - 2562 - 1.95 0.048 2531 634.9 -194.6 - - 3885 - - - - - - - - - 26.22 -
11001 971.6 -13.6 479 11002 done -0.73 - - 2562 - - - 2532 - -194.6 - - 3884 - - - - - - - - - - -
11148 end dive: TARGET_DEPTH_EXCEEDED
11148 begin apogee
11153 992.1 -13.7 484 11314 roll -0.12 0.57 0.109 2759 345.6 - - 1937 - - 155.35 1.440 3121 -4.9 0.366 - - - - - - 25.83 - 23.30
11315 end apogee: CONTROL_FINISHED_OK
11316 begin climb
11317 1007.6 - 489 11509 roll 0.46 0.55 0.057 2964 372.7 2.28 0.039 548 -609.2 194.6 179.45 1.404 2326 -4.4 0.344 - - - - - - 24.62 24.61 22.70
11536 1011.9 1.8 496 11756 done 0.55 - - 2965 - 2.33 0.039 1944 599.1 425.3 209.75 1.386 1387 -4.5 0.353 - - - - - - - 24.51 22.84
12084 962.3 10.8 515 12089 roll 0.57 - - 2968 - 2.17 0.043 556 -639.6 425.3 - - 1383 - - - - - - - - - 25.76 -
12180 952.0 11.2 518 12185 done 0.61 - - 2968 - 2.17 0.037 1951 642.9 425.3 - - 1382 - - - - - - - - - 25.90 -
12510 907.4 14.2 529 12516 roll 0.63 0.10 0.106 3026 580.0 2.22 0.051 3345 627.9 425.3 - - 1381 - - - - - - - - 26.26 26.05 -
12547 900.9 15.2 530 12554 done 0.63 0.12 0.155 3000 -216.7 2.15 0.033 1946 -650.7 425.3 - - 1381 - - - - - - - - 25.96 26.19 -
12877 841.9 17.1 541 12882 roll 0.61 - - 3000 - 2.15 0.043 530 -658.6 425.3 - - 1381 - - - - - - - - - 26.20 -
12934 836.6 16.7 542 12940 done 0.59 - - 3000 - 2.17 0.037 1943 651.2 425.3 - - 1380 - - - - - - - - - 26.23 -
13241 784.2 16.0 553 13242 done 0.58 - - 3000 - - - 1943 - 425.3 - - 1381 - - - - - - - - - - -
13540 739.1 14.3 563 13545 roll 0.56 - - 3000 - 2.17 0.042 535 -648.8 425.3 - - 1380 - - - - - - - - - 26.28 -
13573 734.6 14.1 564 13578 done 0.56 - - 3000 - 2.12 0.037 1928 657.1 425.3 - - 1379 - - - - - - - - - 26.31 -
13907 690.2 13.3 575 13912 roll 0.56 - - 3000 - 2.25 0.052 3350 632.0 425.3 - - 1380 - - - - - - - - - 26.23 -
13939 685.3 13.4 576 13944 done 0.56 - - 3000 - 2.17 0.034 1915 -661.3 425.3 - - 1380 - - - - - - - - - 26.39 -
14273 641.2 14.0 587 14278 roll 0.56 - - 3006 - 2.08 0.042 531 -665.4 425.3 - - 1380 - - - - - - - - - 26.31 -
14325 636.5 14.1 588 14330 done 0.56 - - 3006 - 2.12 0.037 1925 657.5 425.3 - - 1380 - - - - - - - - - 26.34 -
14639 588.8 14.1 600 14640 done 0.55 - - 3006 - - - 1925 - 425.3 - - 1380 - - - - - - - - - - -
14940 549.6 13.9 615 14946 roll 0.53 0.12 0.155 2964 -350.0 2.25 0.050 3351 633.8 425.3 - - 1380 - - - - - - - - 26.32 26.24 -
14972 546.3 13.7 616 14977 done 0.53 - - 2968 - 2.15 0.033 1919 -666.0 425.3 - - 1380 - - - - - - - - - 26.44 -
15284 508.1 12.4 632 15290 roll 0.58 - - 2968 - 2.08 0.042 537 -664.4 425.3 - - 1379 - - - - - - - - - 26.32 -
15312 505.4 12.3 633 15318 done 0.63 0.10 0.106 3026 580.0 2.10 0.037 1928 662.4 425.3 - - 1379 - - - - - - - - 26.32 26.36 -
15630 449.6 17.8 649 15635 roll 0.60 - - 3027 - 2.22 0.051 3342 636.9 425.3 - - 1380 - - - - - - - - - 26.23 -
15662 445.2 18.2 650 15668 done 0.58 0.17 0.142 2981 -270.6 2.12 0.032 1925 -668.4 425.3 - - 1380 - - - - - - - - 26.09 26.44 -
15976 402.3 11.3 666 15981 roll 0.61 - - 2981 - 2.10 0.042 542 -658.6 425.3 - - 1380 - - - - - - - - - 26.31 -
16013 400.0 10.9 667 16020 done 0.65 - - 2981 - 2.10 0.037 1935 663.3 425.3 - - 1380 - - - - - - - - - 26.35 -
16319 374.3 6.8 683 16381 roll 0.73 0.15 0.083 3066 566.7 2.35 0.051 3341 598.3 486.8 53.00 1.021 1135 -4.6 0.183 - - - - - - 26.59 25.47 24.51
16399 366.7 11.4 686 16407 done 0.72 0.15 0.153 3034 -213.3 2.20 0.032 1930 -641.4 486.8 - - 1134 - - - - - - - - 25.41 25.63 -
16703 328.1 12.2 702 16709 roll 0.71 - - 3037 - 2.15 0.042 527 -652.6 486.8 - - 1132 - - - - - - - - - 25.91 -
16761 323.0 12.2 704 16767 done 0.71 - - 3037 - 2.15 0.036 1930 652.6 486.8 - - 1132 - - - - - - - - - 25.98 -
17066 286.4 11.2 720 17072 roll 0.71 - - 3037 - 2.22 0.051 3342 636.0 486.8 - - 1131 - - - - - - - - - 26.01 -
17092 283.7 11.4 721 17098 done 0.71 - - 3037 - 2.20 0.032 1910 -650.9 486.8 - - 1131 - - - - - - - - - 26.19 -
17410 241.7 14.3 737 17416 roll 0.71 - - 3036 - 2.08 0.042 538 -659.6 486.8 - - 1131 - - - - - - - - - 26.14 -
17442 238.6 14.3 738 17448 done 0.72 - - 3037 - 2.12 0.035 1926 654.7 486.8 - - 1131 - - - - - - - - - 26.20 -
17756 204.0 9.5 754 17761 roll 0.74 - - 3037 - 2.25 0.050 3353 634.2 486.8 - - 1131 - - - - - - - - - 26.12 -
17793 201.6 9.7 755 17800 done 0.77 - - 3037 - 2.15 0.031 1918 -667.4 486.8 - - 1131 - - - - - - - - - 26.32 -
18099 162.5 13.4 771 18105 roll 0.80 - - 3037 - 2.10 0.040 534 -659.0 486.8 - - 1132 - - - - - - - - - 26.23 -
18137 159.7 12.8 772 18144 done 0.84 - - 3037 - 2.12 0.034 1949 667.5 486.8 - - 1131 - - - - - - - - - 26.29 -
18443 138.9 4.5 788 18566 roll 0.97 0.17 0.076 3133 564.7 2.35 0.047 3343 593.2 626.2 114.32 0.822 568 -4.9 0.090 - - - - - - 26.48 25.07 24.29
18588 120.1 14.0 795 18595 done 0.92 0.15 0.141 3092 -273.3 2.20 0.031 1943 -636.4 626.2 - - 567 - - - - - - - - 25.20 25.36 -
18913 84.9 10.7 811 18918 roll 0.98 - - 3091 - 2.15 0.041 538 -653.5 626.2 - - 564 - - - - - - - - - 25.89 -
18940 82.3 10.9 812 18947 done 1.05 0.15 0.080 3165 493.3 2.12 0.033 1940 661.3 626.2 - - 564 - - - - - - - - 25.95 25.97 -
19250 35.3 11.4 832 19255 roll 1.08 - - 3168 - 2.17 0.041 531 -649.3 626.2 - - 564 - - - - - - - - - 26.07 -
19277 33.3 9.6 834 19283 done 1.13 - - 3168 - 2.12 0.033 1932 660.8 626.2 - - 564 - - - - - - - - - 26.14 -
19583 11.4 8.0 865 19604 roll 1.23 - - 3167 - 2.28 0.047 3351 622.4 650.1 13.88 0.086 470 -6.8 0.097 - - - - - - - 26.10 25.94
19617 8.1 9.2 868 19623 done 1.33 0.17 0.081 3240 429.4 2.17 0.031 1917 -660.8 650.1 - - 470 - - - - - - - - 26.17 26.27 -
19669 end climb: SURFACE_DEPTH_REACHED
19669 begin surface coast
19691 end surface coast: CONTROL_FINISHED_OK
19691 begin surface
SM 2.37 - - - - -8.27 8.10 0.047 137 -383.1 1.23 0.040 2691 629.3 652.74 1.27 0.069 459 -8.7 0.030 - - - - - -