OKMC Apr12 * SG170 * Dive index * Mission links * Dive 116 * Raw log
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• Previous call tries 1 • 26.28 of 146.00 AH used of 24V (82.00% remains)
• Previous NAKs 0, Timeouts 0 • 11.48 of 97.50 AH used of 10V (88.23% remains)
• Surface angle -75.5 deg, depth 1.96 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 37 s
• GPS2 time: 16 s • Transponder ping count: 0
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 102 VBD -0.46 - - 134 - - - 2702 - -194.6 -81.43 - 2691 - - - - - - - - - - -
105 3.5 -3.2 8 148 roll -0.46 10.40 0.244 2639 240.9 2.17 0.045 1278 -656.2 -194.6 -22.67 - 3926 -54.5 - - - - - - - 25.50 26.15 26.51
182 26.3 -28.4 15 188 done -0.31 0.20 0.161 2696 285.0 2.20 0.049 2680 637.3 -194.6 - - 3928 - - - - - - - - 25.74 26.04 -
506 77.3 -17.7 40 511 roll -0.31 - - 2696 - 1.62 0.058 3699 629.0 -194.6 - - 3930 - - - - - - - - - 26.15 -
583 81.1 -8.0 43 590 done -0.33 - - 2695 - 1.50 0.031 2664 -690.0 -194.6 - - 3930 - - - - - - - - - 26.40 -
888 92.9 -12.3 59 895 roll -0.40 - - 2697 - 2.03 0.031 1294 -674.9 -194.6 - - 3933 - - - - - - - - - 26.39 -
972 105.9 -15.5 63 979 done -0.52 0.17 0.083 2625 -423.5 2.10 0.043 2659 650.0 -194.6 - - 3932 - - - - - - - - 26.29 26.31 -
1297 129.6 -7.7 79 1302 roll -0.60 - - 2624 - 2.05 0.031 1284 -670.7 -194.6 - - 3933 - - - - - - - - - 26.45 -
1351 134.3 -9.8 81 1357 done -0.67 0.12 0.086 2549 -625.0 1.85 0.044 2483 648.1 -194.6 - - 3933 - - - - - - - - 26.38 26.36 -
1665 182.1 -16.5 97 1670 roll -0.60 0.17 0.142 2607 341.2 1.88 0.054 3693 643.6 -194.6 - - 3933 - - - - - - - - 26.25 26.34 -
1773 187.9 -3.9 102 1778 done -0.63 - - 2608 - 1.73 0.031 2504 -687.3 -194.6 - - 3932 - - - - - - - - - 26.58 -
2091 222.2 -12.9 118 2096 roll -0.65 - - 2607 - 1.77 0.031 1284 -689.3 -194.6 - - 3930 - - - - - - - - - 26.51 -
2144 226.0 -10.0 120 2149 done -0.67 - - 2607 - 1.90 0.045 2527 654.2 -194.6 - - 3930 - - - - - - - - - 26.40 -
2457 258.3 -12.0 136 2458 done -0.69 - - 2608 - - - 2526 - -194.6 - - 3929 - - - - - - - - - - -
2758 276.5 -3.3 151 2760 done -0.72 0.12 0.094 2535 -608.3 - - 2527 - -194.6 - - 3927 - - - - - - - - 26.65 - -
3058 302.0 -10.1 166 3063 roll -0.66 0.15 0.144 2586 340.0 1.85 0.055 3700 634.1 -194.6 - - 3925 - - - - - - - - 26.36 26.37 -
3156 310.6 -10.2 170 3163 done -0.66 - - 2586 - 1.80 0.031 2484 -675.6 -194.6 - - 3924 - - - - - - - - - 26.63 -
3462 339.1 -7.6 186 3467 roll -0.67 - - 2586 - 1.92 0.054 3695 630.7 -194.6 - - 3922 - - - - - - - - - 26.37 -
3545 347.1 -9.5 190 3550 done -0.70 - - 2586 - 1.73 0.031 2499 -691.3 -194.6 - - 3922 - - - - - - - - - 26.63 -
3868 388.9 -12.4 206 3869 done -0.71 - - 2586 - - - 2497 - -194.6 - - 3918 - - - - - - - - - - -
4169 411.3 -5.6 221 4170 done -0.73 - - 2586 - - - 2497 - -194.6 - - 3916 - - - - - - - - - - -
4469 427.7 -6.2 236 4474 roll -0.74 - - 2586 - 1.92 0.057 3700 626.6 -194.6 - - 3914 - - - - - - - - - 26.36 -
4522 430.7 -6.7 238 4528 done -0.76 - - 2586 - 1.73 0.032 2511 -687.3 -194.6 - - 3914 - - - - - - - - - 26.62 -
4835 457.8 -8.9 254 4841 roll -0.78 0.12 0.093 2511 -625.0 1.88 0.055 3693 628.7 -194.6 - - 3910 - - - - - - - - 26.66 26.34 -
4882 463.1 -10.5 256 4888 done -0.77 0.08 0.126 2550 487.5 1.75 0.032 2525 -667.4 -194.6 - - 3910 - - - - - - - - 26.27 26.61 -
5201 503.9 -13.3 272 5202 done -0.74 - - 2550 - - - 2525 - -194.6 - - 3908 - - - - - - - - - - -
5502 546.1 -13.7 287 5507 roll -0.72 - - 2550 - 1.88 0.059 3690 619.7 -194.6 - - 3906 - - - - - - - - - 26.31 -
5609 559.3 -12.6 292 5615 done -0.72 - - 2551 - 1.70 0.032 2526 -684.7 -194.6 - - 3906 - - - - - - - - - 26.60 -
5927 594.6 -9.6 308 5932 roll -0.70 - - 2551 - 1.88 0.058 3691 619.7 -194.6 - - 3903 - - - - - - - - - 26.30 -
5989 600.2 -9.0 311 5995 done -0.70 - - 2551 - 1.70 0.032 2550 -671.2 -194.6 - - 3902 - - - - - - - - - 26.60 -
6324 628.6 -8.5 322 6329 roll -0.68 - - 2551 - 1.83 0.059 3692 624.0 -194.6 - - 3901 - - - - - - - - - 26.29 -
6361 631.4 -8.5 323 6367 done -0.67 0.12 0.138 2589 316.7 1.67 0.033 2549 -684.4 -194.6 - - 3900 - - - - - - - - 26.30 26.60 -
6693 652.1 -6.3 334 6694 done -0.70 - - 2589 - - - 2549 - -194.6 - - 3899 - - - - - - - - - - -
6990 674.4 -8.0 344 6995 roll -0.74 - - 2590 - 1.85 0.031 1285 -683.2 -194.6 - - 3897 - - - - - - - - - 26.51 -
7034 677.5 -8.4 345 7040 done -0.77 0.12 0.090 2520 -583.3 1.95 0.045 2547 647.2 -194.6 - - 3897 - - - - - - - - 26.36 26.33 -
7358 724.9 -14.8 356 7365 roll -0.73 0.12 0.152 2562 350.0 1.83 0.058 3690 624.6 -194.6 - - 3895 - - - - - - - - 26.42 26.25 -
7453 734.9 -11.3 359 7458 done -0.73 - - 2563 - 1.73 0.034 2563 -651.4 -194.6 - - 3895 - - - - - - - - - 26.56 -
7787 761.9 -7.6 370 7792 roll -0.73 - - 2563 - 1.88 0.031 1285 -679.8 -194.6 - - 3893 - - - - - - - - - 26.50 -
7859 766.5 -7.5 372 7864 done -0.73 - - 2563 - 1.98 0.047 2554 640.9 -194.6 - - 3893 - - - - - - - - - 26.29 -
8183 789.6 -6.8 383 8188 roll -0.73 - - 2563 - 1.83 0.060 3699 625.7 -194.6 - - 3892 - - - - - - - - - 26.22 -
8311 797.9 -6.7 387 8316 done -0.75 - - 2563 - 1.70 0.034 2567 -665.9 -194.6 - - 3891 - - - - - - - - - 26.55 -
8640 822.7 -7.6 398 8641 done -0.75 - - 2563 - - - 2567 - -194.6 - - 3889 - - - - - - - - - - -
8939 846.1 -7.7 408 8945 roll -0.75 - - 2563 - 1.88 0.032 1292 -678.2 -194.6 - - 3888 - - - - - - - - - 26.46 -
8967 846.1 -7.7 408 8974 done -0.75 - - 2563 - 1.98 0.047 2551 635.9 -194.6 - - 3888 - - - - - - - - - 26.29 -
9273 871.1 -7.4 419 9279 roll -0.75 - - 2563 - 1.80 0.060 3690 632.8 -194.6 - - 3887 - - - - - - - - - 26.18 -
9311 873.6 -7.3 420 9316 done -0.76 - - 2563 - 1.67 0.036 2565 -673.7 -194.6 - - 3887 - - - - - - - - - 26.51 -
9640 896.1 -6.9 431 9641 done -0.76 - - 2563 - - - 2565 - -194.6 - - 3886 - - - - - - - - - - -
9939 918.6 -8.0 441 9946 roll -0.78 - - 2563 - 1.90 0.033 1282 -675.3 -194.6 - - 3884 - - - - - - - - - 26.44 -
9968 918.6 -8.0 441 9974 done -0.79 - - 2563 - 2.00 0.047 2564 641.0 -194.6 - - 3885 - - - - - - - - - 26.22 -
10275 953.0 -11.5 452 10276 done -0.81 - - 2563 - - - 2564 - -194.6 - - 3883 - - - - - - - - - - -
10571 end dive: TARGET_DEPTH_EXCEEDED
10571 begin apogee
10577 990.1 -12.7 462 10742 roll -0.12 0.55 0.107 2753 345.5 - - 1938 - - 157.55 1.437 3120 -4.8 0.357 - - - - - - 25.90 - 23.37
10743 end apogee: CONTROL_FINISHED_OK
10743 begin climb
10745 1004.5 - 467 10932 done 0.46 0.52 0.054 2964 405.8 - - 1937 - 194.6 177.88 1.403 2326 -4.5 0.342 - - - - - - 24.66 - 22.87
11234 984.9 7.8 484 11267 roll 0.44 - - 2964 - 2.35 0.051 3352 602.1 224.8 27.17 1.344 2203 -4.5 0.355 - - - - - - - 25.19 24.03
11385 969.7 10.2 489 11391 done 0.40 0.15 0.152 2929 -233.3 2.17 0.032 1967 -638.2 224.8 - - 2202 - - - - - - - - 25.56 25.77 -
11718 939.6 10.1 500 11723 roll 0.40 - - 2930 - 2.20 0.041 538 -649.5 224.8 - - 2198 - - - - - - - - - 26.07 -
11774 936.2 10.5 501 11781 done 0.40 - - 2930 - 2.20 0.037 1957 645.0 224.8 - - 2196 - - - - - - - - - 26.10 -
12081 898.0 11.5 512 12086 roll 0.40 - - 2930 - 2.22 0.054 3346 625.7 224.8 - - 2197 - - - - - - - - - 26.13 -
12147 890.2 11.9 514 12152 done 0.40 - - 2930 - 2.10 0.033 1966 -657.1 224.8 - - 2196 - - - - - - - - - 26.29 -
12476 850.3 12.0 525 12481 roll 0.40 - - 2930 - 2.20 0.041 535 -650.5 224.8 - - 2195 - - - - - - - - - 26.26 -
12512 846.5 11.8 526 12518 done 0.41 - - 2930 - 2.22 0.038 1977 649.5 224.8 - - 2195 - - - - - - - - - 26.27 -
12842 809.7 10.6 537 12847 roll 0.42 - - 2930 - 2.17 0.054 3355 635.0 224.8 - - 2195 - - - - - - - - - 26.20 -
12884 805.9 10.7 538 12889 done 0.42 - - 2930 - 2.10 0.033 1962 -663.3 224.8 - - 2194 - - - - - - - - - 26.39 -
13208 776.1 7.9 549 13236 done 0.45 - - 2930 - - - 1962 - 249.6 22.02 1.262 2101 -4.2 0.278 - - - - - - - - 24.70
13538 755.6 5.7 560 13636 roll 0.53 0.12 0.093 3002 600.0 2.40 0.053 3338 573.3 349.9 88.38 1.281 1693 -4.6 0.292 - - - - - - 26.25 24.81 23.79
13674 743.0 10.2 564 13680 done 0.50 0.17 0.135 2959 -252.9 2.15 0.032 1979 -632.1 349.9 - - 1690 - - - - - - - - 25.15 25.31 -
13995 715.7 8.3 575 14013 roll 0.52 - - 2968 - 2.33 0.042 534 -620.2 361.3 9.93 1.111 1648 -4.2 0.292 - - - - - - - 25.79 24.56
14075 710.1 8.7 577 14081 done 0.55 - - 2967 - 2.25 0.037 1981 643.1 361.3 - - 1646 - - - - - - - - - 25.86 -
14390 677.7 9.6 588 14396 roll 0.57 - - 2968 - 2.20 0.053 3357 625.5 361.3 - - 1645 - - - - - - - - - 26.02 -
14418 677.7 9.6 588 14425 done 0.59 - - 2968 - 2.12 0.033 1962 -658.0 361.3 - - 1644 - - - - - - - - - 26.16 -
14726 641.6 11.6 599 14732 roll 0.61 - - 2968 - 2.17 0.041 533 -658.5 361.3 - - 1644 - - - - - - - - - 26.17 -
14774 637.0 12.4 600 14779 done 0.63 0.10 0.106 3025 570.0 2.20 0.037 1971 653.6 361.3 - - 1643 - - - - - - - - 26.17 26.20 -
15092 573.3 19.5 613 15094 done 0.59 0.12 0.153 2989 -300.0 - - 1973 - 361.3 - - 1643 - - - - - - - - 26.24 - -
15392 530.1 12.1 628 15397 roll 0.59 - - 2995 - 2.22 0.041 534 -648.2 361.3 - - 1643 - - - - - - - - - 26.27 -
15434 525.5 11.2 630 15440 done 0.59 - - 2995 - 2.17 0.037 1956 655.3 361.3 - - 1643 - - - - - - - - - 26.29 -
15757 494.7 8.8 646 15758 done 0.59 - - 2995 - - - 1956 - 361.3 - - 1643 - - - - - - - - - - -
16058 472.2 6.9 661 16111 done 0.62 - - 2995 - - - 1957 - 420.0 50.38 1.090 1408 -4.7 0.216 - - - - - - - - 24.41
16398 446.6 8.8 678 16403 roll 0.64 - - 2995 - 2.25 0.042 528 -635.1 420.0 - - 1404 - - - - - - - - - 25.91 -
16435 444.4 9.4 679 16442 done 0.66 - - 2995 - 2.22 0.037 1954 642.3 420.0 - - 1404 - - - - - - - - - 25.96 -
16741 402.8 14.5 695 16746 roll 0.68 - - 2995 - 2.22 0.051 3352 629.7 420.0 - - 1404 - - - - - - - - - 26.03 -
16778 399.4 14.6 696 16785 done 0.70 - - 2995 - 2.15 0.033 1939 -657.2 420.0 - - 1404 - - - - - - - - - 26.19 -
17084 354.8 11.7 712 17091 roll 0.73 0.12 0.094 3071 633.3 2.12 0.040 539 -660.4 420.0 - - 1403 - - - - - - - - 26.38 26.17 -
17133 348.8 12.2 714 17138 done 0.73 0.12 0.140 3034 -308.3 2.15 0.037 1947 654.9 420.0 - - 1403 - - - - - - - - 26.01 26.18 -
17451 313.3 10.5 730 17452 done 0.71 - - 3034 - - - 1948 - 420.0 - - 1403 - - - - - - - - - - -
17752 281.1 10.1 745 17757 roll 0.69 - - 3035 - 2.17 0.042 530 -653.5 420.0 - - 1403 - - - - - - - - - 26.25 -
17784 278.9 9.8 746 17790 done 0.69 - - 3035 - 2.15 0.036 1951 660.9 420.0 - - 1403 - - - - - - - - - 26.29 -
18098 248.8 12.5 762 18103 roll 0.69 - - 3036 - 2.17 0.041 540 -650.2 420.0 - - 1403 - - - - - - - - - 26.26 -
18135 245.6 13.1 763 18142 done 0.69 - - 3036 - 2.12 0.037 1946 663.2 420.0 - - 1402 - - - - - - - - - 26.31 -
18440 200.1 12.7 779 18441 done 0.69 - - 3036 - - - 1946 - 420.0 - - 1403 - - - - - - - - - - -
18741 169.5 9.4 794 18747 roll 0.69 - - 3039 - 2.20 0.050 3349 637.7 420.0 - - 1403 - - - - - - - - - 26.22 -
18764 166.9 10.1 795 18769 done 0.69 - - 3036 - 2.15 0.031 1919 -665.1 420.0 - - 1403 - - - - - - - - - 26.42 -
19087 133.2 9.6 811 19092 roll 0.71 - - 3037 - 2.08 0.041 538 -663.9 420.0 - - 1403 - - - - - - - - - 26.29 -
19105 133.2 9.6 811 19112 done 0.74 - - 3036 - 2.10 0.036 1935 665.2 420.0 - - 1403 - - - - - - - - - 26.35 -
19411 106.9 7.4 827 19451 roll 0.80 - - 3036 - 2.30 0.050 3344 612.6 461.5 33.88 0.799 1239 -4.8 0.069 - - - - - - - 25.94 25.03
19518 98.5 8.1 832 19541 done 0.86 0.12 0.092 3105 575.0 2.15 0.031 1937 -654.4 480.5 16.55 0.757 1162 -4.7 0.065 - - - - - - 25.96 26.04 24.84
19859 55.1 14.2 849 19865 roll 0.87 - - 3104 - 2.25 0.049 3341 624.0 480.5 - - 1161 - - - - - - - - - 25.96 -
19887 50.9 14.8 850 19892 done 0.90 - - 3105 - 2.08 0.030 1973 -657.7 480.5 - - 1160 - - - - - - - - - 26.14 -
20197 22.5 7.7 880 20219 roll 1.04 - - 3105 - 2.25 0.049 3343 608.9 513.6 15.98 0.666 1026 -8.4 0.030 - - - - - - - 26.03 25.16
20342 9.1 9.9 894 20348 done 1.25 0.28 0.087 3203 350.0 2.00 0.028 1992 -675.5 513.6 - - 1025 - - - - - - - - 25.97 26.17 -
20423 end climb: SURFACE_DEPTH_REACHED
20423 begin surface coast
20465 end surface coast: CONTROL_FINISHED_OK
20465 begin surface
SM 1.99 - - - - -8.28 8.00 0.045 135 -383.5 1.12 0.044 2704 635.7 652.74 62.42 0.060 459 -9.1 0.031 - - - - - -