OKMC Apr12 * SG170 * Dive index * Mission links * Dive 127 * Raw log
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• Previous call tries 3 • 29.20 of 146.00 AH used of 24V (80.00% remains)
• Previous NAKs 0, Timeouts 0 • 13.11 of 97.50 AH used of 10V (86.55% remains)
• Surface angle -73.7 deg, depth 1.92 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 36 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
16 begin dive
18 - - - 101 VBD -0.46 - - 129 - - - 2686 - -194.6 -81.12 - 2660 - - - - - - - - - - -
104 3.2 -3.0 8 147 roll -0.46 10.30 0.239 2641 243.9 2.10 0.044 1272 -673.3 -194.6 -24.05 - 3928 -52.7 - - - - - - - 25.48 26.11 26.51
191 28.8 -28.7 16 197 done -0.32 0.20 0.158 2698 285.0 2.22 0.050 2678 633.3 -194.6 - - 3930 - - - - - - - - 25.70 26.01 -
515 76.0 -10.4 38 521 roll -0.36 - - 2698 - 1.62 0.057 3705 634.0 -194.6 - - 3931 - - - - - - - - - 26.13 -
614 79.3 -3.8 42 622 done -0.44 0.12 0.092 2628 -583.3 1.55 0.032 2661 -673.5 -194.6 - - 3931 - - - - - - - - 26.28 26.40 -
918 108.2 -11.4 58 924 roll -0.44 0.12 0.141 2672 366.7 2.03 0.029 1281 -679.8 -194.6 - - 3932 - - - - - - - - 26.33 26.39 -
945 110.6 -11.2 59 952 done -0.44 - - 2672 - 2.22 0.046 2724 650.0 -194.6 - - 3932 - - - - - - - - - 26.25 -
1265 129.2 -5.9 75 1270 roll -0.51 0.12 0.087 2588 -700.0 2.12 0.029 1286 -678.3 -194.6 - - 3931 - - - - - - - - 26.60 26.43 -
1309 133.5 -7.8 77 1314 done -0.55 0.12 0.155 2622 283.3 2.22 0.047 2705 639.2 -194.6 - - 3931 - - - - - - - - 26.12 26.29 -
1633 164.6 -10.8 93 1634 done -0.56 - - 2622 - - - 2706 - -194.6 - - 3930 - - - - - - - - - - -
1933 191.1 -9.5 108 1939 roll -0.58 - - 2622 - 1.55 0.057 3706 645.2 -194.6 - - 3928 - - - - - - - - - 26.31 -
1976 195.2 -9.4 110 1982 done -0.61 - - 2622 - 1.52 0.033 2666 -684.2 -194.6 - - 3928 - - - - - - - - - 26.55 -
2300 222.0 -7.9 126 2305 roll -0.65 - - 2622 - 2.03 0.031 1287 -679.3 -194.6 - - 3926 - - - - - - - - - 26.48 -
2354 225.4 -7.6 128 2360 done -0.68 0.12 0.088 2550 -600.0 2.15 0.047 2685 650.2 -194.6 - - 3925 - - - - - - - - 26.37 26.34 -
2668 266.5 -13.4 144 2673 roll -0.63 0.12 0.151 2592 350.0 1.58 0.056 3697 640.5 -194.6 - - 3923 - - - - - - - - 26.39 26.30 -
2711 271.4 -12.2 146 2717 done -0.60 - - 2592 - 1.55 0.032 2652 -674.2 -194.6 - - 3923 - - - - - - - - - 26.58 -
3034 305.7 -10.3 162 3039 roll -0.60 - - 2592 - 1.65 0.057 3696 632.7 -194.6 - - 3922 - - - - - - - - - 26.30 -
3071 308.0 -10.3 163 3078 done -0.60 - - 2592 - 1.50 0.033 2662 -689.3 -194.6 - - 3921 - - - - - - - - - 26.58 -
3376 335.0 -8.3 179 3383 roll -0.60 - - 2592 - 2.00 0.031 1281 -690.5 -194.6 - - 3918 - - - - - - - - - 26.50 -
3404 336.9 -8.2 180 3409 done -0.60 - - 2592 - 2.20 0.047 2689 640.0 -194.6 - - 3918 - - - - - - - - - 26.32 -
3721 367.2 -10.2 196 3726 roll -0.61 - - 2592 - 1.60 0.058 3701 632.5 -194.6 - - 3915 - - - - - - - - - 26.29 -
3764 371.4 -10.0 198 3769 done -0.63 - - 2592 - 1.52 0.034 2668 -679.6 -194.6 - - 3914 - - - - - - - - - 26.58 -
4087 400.2 -7.7 214 4088 done -0.65 - - 2592 - - - 2668 - -194.6 - - 3912 - - - - - - - - - - -
4389 420.5 -7.0 229 4394 roll -0.66 - - 2592 - 2.05 0.030 1269 -682.4 -194.6 - - 3909 - - - - - - - - - 26.50 -
4461 425.4 -7.5 232 4466 done -0.68 - - 2592 - 2.22 0.046 2690 640.1 -194.6 - - 3909 - - - - - - - - - 26.32 -
4774 454.2 -10.2 248 4780 roll -0.70 - - 2592 - 2.08 0.032 1286 -675.0 -194.6 - - 3907 - - - - - - - - - 26.46 -
4802 456.6 -10.2 249 4807 done -0.72 - - 2592 - 2.20 0.046 2695 640.5 -194.6 - - 3907 - - - - - - - - - 26.32 -
5120 488.6 -9.1 265 5125 roll -0.75 - - 2592 - 2.12 0.040 1277 -668.9 -194.6 - - 3904 - - - - - - - - - 26.36 -
5163 492.4 -8.9 267 5169 done -0.77 0.12 0.095 2523 -575.0 2.17 0.047 2675 644.2 -194.6 - - 3904 - - - - - - - - 26.32 26.30 -
5486 532.6 -12.1 283 5492 roll -0.72 0.12 0.147 2565 350.0 2.08 0.029 1274 -673.6 -194.6 - - 3901 - - - - - - - - 26.41 26.46 -
5539 537.1 -11.3 285 5545 done -0.68 - - 2565 - 2.17 0.047 2671 643.8 -194.6 - - 3901 - - - - - - - - - 26.28 -
5852 566.5 -9.4 301 5858 roll -0.68 - - 2565 - 2.08 0.031 1284 -666.8 -194.6 - - 3901 - - - - - - - - - 26.45 -
5883 568.8 -9.6 302 5889 done -0.68 - - 2564 - 2.12 0.047 2654 646.2 -194.6 - - 3899 - - - - - - - - - 26.28 -
6196 600.9 -10.1 318 6197 done -0.68 - - 2564 - - - 2653 - -194.6 - - 3897 - - - - - - - - - - -
6496 628.1 -8.7 328 6497 done -0.68 - - 2565 - - - 2654 - -194.6 - - 3894 - - - - - - - - - - -
6797 654.1 -8.6 338 6798 done -0.68 - - 2565 - - - 2654 - -194.6 - - 3893 - - - - - - - - - - -
7096 682.8 -9.9 348 7101 roll -0.68 - - 2565 - 2.05 0.032 1277 -671.7 -194.6 - - 3891 - - - - - - - - - 26.41 -
7122 682.8 -9.9 348 7129 done -0.68 - - 2564 - 2.15 0.047 2644 635.8 -194.6 - - 3891 - - - - - - - - - 26.24 -
7429 714.9 -9.6 359 7434 roll -0.68 - - 2564 - 1.67 0.060 3690 626.3 -194.6 - - 3890 - - - - - - - - - 26.14 -
7491 721.0 -9.7 361 7496 done -0.68 - - 2565 - 1.58 0.037 2647 -660.1 -194.6 - - 3889 - - - - - - - - - 26.47 -
7825 753.5 -9.5 372 7826 done -0.68 - - 2565 - - - 2647 - -194.6 - - 3887 - - - - - - - - - - -
8124 781.3 -9.2 382 8125 done -0.68 - - 2565 - - - 2647 - -194.6 - - 3887 - - - - - - - - - - -
8424 807.8 -8.7 392 8425 done -0.68 - - 2564 - - - 2647 - -194.6 - - 3884 - - - - - - - - - - -
8724 833.6 -8.4 402 8730 roll -0.68 - - 2565 - 2.03 0.034 1279 -673.9 -194.6 - - 3882 - - - - - - - - - 26.36 -
8752 833.6 -8.4 402 8758 done -0.68 - - 2564 - 2.15 0.049 2649 637.2 -194.6 - - 3883 - - - - - - - - - 26.17 -
9058 860.2 -7.9 413 9059 done -0.68 - - 2565 - - - 2649 - -194.6 - - 3882 - - - - - - - - - - -
9357 884.8 -8.4 423 9359 done -0.68 - - 2564 - - - 2649 - -194.6 - - 3881 - - - - - - - - - - -
9658 910.2 -8.4 433 9659 done -0.68 - - 2565 - - - 2649 - -194.6 - - 3880 - - - - - - - - - - -
9959 936.2 -8.6 443 9964 roll -0.70 - - 2564 - 2.05 0.033 1280 -667.8 -194.6 - - 3879 - - - - - - - - - 26.35 -
10006 939.2 -8.5 444 10011 done -0.71 - - 2565 - 2.12 0.048 2634 638.7 -194.6 - - 3878 - - - - - - - - - 26.13 -
10325 967.0 -8.3 455 10331 roll -0.72 - - 2565 - 2.05 0.034 1279 -661.0 -194.6 - - 3878 - - - - - - - - - 26.32 -
10359 970.1 -8.4 456 10364 done -0.73 - - 2565 - 2.15 0.049 2639 632.6 -194.6 - - 3878 - - - - - - - - - 26.10 -
10629 end dive: TARGET_DEPTH_EXCEEDED
10629 begin apogee
10635 991.5 -7.6 465 10800 roll -0.12 0.55 0.107 2754 343.6 - - 1919 - - 158.60 1.447 3121 -4.8 0.350 - - - - - - 25.74 - 23.36
10802 end apogee: CONTROL_FINISHED_OK
10802 begin climb
10804 997.2 - 470 10991 done 0.46 0.52 0.055 2963 401.9 - - 1919 - 194.6 177.68 1.401 2326 -4.5 0.341 - - - - - - 24.63 - 22.87
11292 954.6 11.4 487 11297 roll 0.44 - - 2963 - 2.35 0.051 3349 608.5 194.6 - - 2315 - - - - - - - - - 25.73 -
11439 938.8 12.8 491 11446 done 0.39 0.15 0.153 2929 -226.7 2.15 0.033 1960 -646.0 194.6 - - 2314 - - - - - - - - 25.75 26.03 -
11746 906.5 9.3 502 11751 roll 0.39 - - 2929 - 2.20 0.042 541 -645.0 194.6 - - 2312 - - - - - - - - - 26.10 -
11788 903.4 9.2 503 11793 done 0.39 - - 2930 - 2.20 0.040 1968 648.6 194.6 - - 2311 - - - - - - - - - 26.13 -
12112 875.2 8.0 514 12142 roll 0.40 - - 2930 - 2.25 0.053 3354 616.0 218.4 20.77 1.313 2228 -4.0 0.285 - - - - - - - 25.78 24.61
12205 867.5 8.1 517 12229 done 0.41 - - 2930 - 2.17 0.033 1964 -640.6 236.8 17.73 1.282 2155 -4.1 0.298 - - - - - - - 25.94 24.33
12537 844.5 6.7 528 12602 roll 0.48 - - 2929 - 2.35 0.051 3352 590.6 302.3 58.03 1.338 1886 -4.6 0.313 - - - - - - - 24.98 23.91
12625 840.4 6.9 530 12684 done 0.54 0.12 0.090 2996 558.3 2.20 0.033 1962 -631.8 362.1 53.05 1.312 1645 -4.5 0.312 - - - - - - 25.32 25.34 23.72
12992 794.0 12.6 543 12997 roll 0.52 - - 2998 - 2.22 0.043 539 -641.0 362.1 - - 1635 - - - - - - - - - 25.91 -
13069 786.2 12.7 545 13075 done 0.52 - - 2998 - 2.20 0.039 1954 643.2 362.1 - - 1633 - - - - - - - - - 25.98 -
13390 739.4 14.6 556 13396 roll 0.50 0.12 0.151 2956 -350.0 2.20 0.050 3346 632.7 362.1 - - 1632 - - - - - - - - 26.08 26.08 -
13413 739.4 14.6 556 13419 done 0.48 - - 2955 - 2.15 0.034 1939 -654.4 362.1 - - 1632 - - - - - - - - - 26.22 -
13727 703.6 10.3 567 13733 roll 0.52 - - 2955 - 2.15 0.043 537 -652.1 362.1 - - 1631 - - - - - - - - - 26.22 -
13754 703.6 10.3 567 13761 done 0.56 - - 2955 - 2.17 0.039 1956 653.9 362.1 - - 1631 - - - - - - - - - 26.22 -
14062 670.4 9.7 578 14068 roll 0.60 0.12 0.092 3036 675.0 2.20 0.050 3354 635.5 362.1 - - 1630 - - - - - - - - 26.46 26.18 -
14095 665.6 10.7 579 14101 done 0.63 0.12 0.163 3004 -266.7 2.15 0.034 1950 -653.0 362.1 - - 1631 - - - - - - - - 26.06 26.33 -
14429 619.9 12.6 590 14434 roll 0.60 - - 3011 - 2.20 0.044 528 -646.4 362.1 - - 1630 - - - - - - - - - 26.26 -
14501 612.8 11.9 592 14507 done 0.59 - - 3010 - 2.17 0.040 1937 649.3 362.1 - - 1630 - - - - - - - - - 26.28 -
14814 569.3 14.8 606 14815 done 0.56 - - 3011 - - - 1939 - 362.1 - - 1630 - - - - - - - - - - -
15116 523.7 15.1 621 15122 roll 0.54 0.12 0.155 2970 -341.7 2.17 0.041 527 -650.7 362.1 - - 1630 - - - - - - - - 26.29 26.27 -
15201 513.8 11.4 625 15206 done 0.58 - - 2970 - 2.15 0.038 1919 647.4 362.1 - - 1629 - - - - - - - - - 26.32 -
15524 484.1 8.5 641 15530 roll 0.62 - - 2970 - 2.25 0.051 3342 632.4 367.8 - - 1630 - - - - - - - - - 26.20 -
15572 479.9 9.0 643 15578 done 0.65 0.12 0.093 3038 566.7 2.20 0.033 1899 -655.9 367.8 - - 1629 - - - - - - - - 26.32 26.41 -
15891 430.4 16.0 659 15902 roll 0.60 0.12 0.149 2998 -333.3 2.10 0.043 531 -651.4 367.8 4.35 0.760 1621 -1.8 0.112 - - - - - - 26.34 26.39 24.74
15975 420.7 11.3 663 15981 done 0.60 - - 2998 - 2.08 0.037 1891 653.8 367.8 - - 1620 - - - - - - - - - 26.33 -
16298 387.2 10.7 679 16303 roll 0.60 - - 2998 - 2.30 0.051 3344 631.7 367.8 - - 1620 - - - - - - - - - 26.20 -
16335 384.7 10.9 680 16341 done 0.60 - - 2998 - 2.22 0.034 1875 -661.7 367.8 - - 1620 - - - - - - - - - 26.39 -
16641 349.8 10.8 696 16642 done 0.62 - - 2998 - - - 1875 - 367.8 - - 1619 - - - - - - - - - - -
16942 315.5 11.4 711 16943 done 0.64 - - 2998 - - - 1875 - 367.8 - - 1619 - - - - - - - - - - -
17241 282.7 10.3 726 17247 roll 0.65 - - 2998 - 2.33 0.051 3340 628.8 367.8 - - 1620 - - - - - - - - - 26.17 -
17264 280.3 10.2 727 17269 done 0.67 - - 2998 - 2.22 0.033 1875 -659.9 367.8 - - 1620 - - - - - - - - - 26.40 -
17587 248.9 9.7 743 17592 roll 0.69 - - 2998 - 2.05 0.041 528 -657.1 367.8 - - 1620 - - - - - - - - - 26.28 -
17624 246.7 9.6 744 17631 done 0.72 0.10 0.106 3057 590.0 2.08 0.037 1889 654.3 367.8 - - 1620 - - - - - - - - 26.26 26.31 -
17930 199.1 14.4 760 17932 done 0.68 0.15 0.149 3013 -293.3 - - 1891 - 367.8 - - 1620 - - - - - - - - 26.29 - -
18229 168.5 9.8 775 18236 roll 0.70 - - 3012 - 2.30 0.050 3348 633.5 367.8 - - 1621 - - - - - - - - - 26.17 -
18274 164.2 9.7 777 18279 done 0.72 - - 3013 - 2.22 0.032 1875 -663.5 367.8 - - 1620 - - - - - - - - - 26.40 -
18597 133.2 10.4 793 18598 done 0.76 - - 3012 - - - 1875 - 367.8 - - 1621 - - - - - - - - - - -
18898 112.8 7.7 808 18933 roll 0.83 0.12 0.091 3090 650.0 2.42 0.049 3351 609.9 400.3 28.48 0.798 1488 -4.7 0.071 - - - - - - 26.61 26.06 25.10
18964 105.1 11.3 811 18970 done 0.83 - - 3092 - 2.25 0.032 1891 -648.9 400.3 - - 1487 - - - - - - - - - 26.08 -
19283 68.4 4.0 827 19417 roll 0.93 - - 3092 - 2.20 0.041 542 -613.2 556.7 123.78 0.762 849 -5.2 0.050 - - - - - - - 25.12 24.33
19500 52.5 8.5 837 19514 done 1.07 0.17 0.094 3160 400.0 2.05 0.035 1856 641.0 561.5 4.97 0.555 831 -3.6 0.037 - - - - - - 25.51 25.56 24.48
19821 19.1 9.0 868 19827 roll 1.29 0.15 0.096 3220 400.0 2.05 0.038 521 -651.2 561.5 - - 829 - - - - - - - - 26.06 25.98 -
19996 end climb: SURFACE_DEPTH_REACHED
19996 begin surface coast
20000 end surface coast: CONTROL_FINISHED_OK
20000 begin surface
SM 2.01 - - - - -8.29 8.02 0.043 134 -384.8 3.42 0.037 2688 633.6 652.74 42.70 0.060 459 -8.7 0.030 - - - - - -