OKMC Apr12 * SG170 * Dive index * Mission links * Dive 135 * Raw log
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• Previous call tries 1 • 31.07 of 146.00 AH used of 24V (78.72% remains)
• Previous NAKs 0, Timeouts 0 • 14.17 of 97.50 AH used of 10V (85.47% remains)
• Surface angle -75.7 deg, depth 1.99 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 25 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 101 VBD -0.46 - - 136 - - - 2700 - -194.6 -81.47 - 2701 - - - - - - - - - - -
104 3.6 -3.5 8 147 roll -0.46 10.45 0.245 2639 239.5 2.20 0.047 1285 -643.2 -194.6 -22.17 - 3927 -55.3 - - - - - - - 25.43 26.08 26.46
311 53.9 -19.5 27 317 done -0.39 0.12 0.167 2672 275.0 2.20 0.047 2681 634.5 -194.6 - - 3929 - - - - - - - - 25.86 26.07 -
635 89.5 -8.6 43 641 roll -0.42 - - 2672 - 1.60 0.057 3697 635.0 -194.6 - - 3931 - - - - - - - - - 26.17 -
693 93.0 -8.2 45 700 done -0.46 - - 2673 - 1.50 0.032 2667 -686.7 -194.6 - - 3931 - - - - - - - - - 26.41 -
999 113.8 -5.9 61 1005 roll -0.53 0.12 0.086 2590 -691.7 2.03 0.029 1287 -679.8 -194.6 - - 3932 - - - - - - - - 26.54 26.39 -
1072 120.7 -9.6 64 1078 done -0.53 0.15 0.148 2633 286.7 2.17 0.047 2680 641.9 -194.6 - - 3932 - - - - - - - - 26.07 26.28 -
1386 154.3 -9.9 80 1391 roll -0.54 - - 2633 - 2.05 0.031 1284 -681.0 -194.6 - - 3932 - - - - - - - - - 26.44 -
1412 156.3 -9.7 81 1418 done -0.55 - - 2633 - 2.15 0.045 2668 643.7 -194.6 - - 3932 - - - - - - - - - 26.32 -
1731 181.8 -8.1 97 1732 done -0.59 - - 2633 - - - 2668 - -194.6 - - 3931 - - - - - - - - - - -
2032 206.6 -8.2 112 2034 done -0.62 0.12 0.091 2557 -633.3 - - 2669 - -194.6 - - 3929 - - - - - - - - 26.63 - -
2331 250.5 -13.3 127 2337 roll -0.57 0.17 0.138 2615 341.2 1.62 0.055 3696 634.0 -194.6 - - 3928 - - - - - - - - 26.28 26.32 -
2385 255.2 -11.9 129 2390 done -0.55 - - 2615 - 1.52 0.031 2631 -700.7 -194.6 - - 3928 - - - - - - - - - 26.58 -
2699 281.8 -8.4 145 2704 roll -0.58 - - 2615 - 1.98 0.031 1282 -681.3 -194.6 - - 3927 - - - - - - - - - 26.49 -
2776 287.4 -8.7 148 2783 done -0.62 - - 2615 - 2.15 0.046 2670 645.6 -194.6 - - 3926 - - - - - - - - - 26.37 -
3083 312.9 -7.6 164 3088 roll -0.66 - - 2615 - 1.60 0.057 3694 640.0 -194.6 - - 3924 - - - - - - - - - 26.33 -
3129 316.4 -7.8 166 3135 done -0.71 0.10 0.050 2534 -810.0 1.55 0.033 2660 -667.1 -194.6 - - 3924 - - - - - - - - 26.46 26.58 -
3448 361.2 -14.8 182 3455 roll -0.64 0.17 0.143 2593 347.1 2.03 0.028 1278 -680.8 -194.6 - - 3922 - - - - - - - - 26.27 26.51 -
3506 366.4 -13.6 184 3513 done -0.61 - - 2593 - 2.15 0.045 2659 642.3 -194.6 - - 3922 - - - - - - - - - 26.36 -
3813 393.8 -8.3 200 3814 done -0.63 - - 2593 - - - 2659 - -194.6 - - 3919 - - - - - - - - - - -
4114 418.3 -8.4 215 4119 roll -0.65 - - 2593 - 2.03 0.031 1288 -675.4 -194.6 - - 3916 - - - - - - - - - 26.48 -
4151 420.4 -8.5 216 4158 done -0.67 - - 2593 - 2.15 0.046 2666 640.9 -194.6 - - 3916 - - - - - - - - - 26.35 -
4457 446.6 -7.8 232 4462 roll -0.69 - - 2593 - 1.62 0.057 3693 634.0 -194.6 - - 3914 - - - - - - - - - 26.29 -
4489 448.5 -7.7 233 4495 done -0.72 - - 2593 - 1.55 0.035 2656 -669.0 -194.6 - - 3914 - - - - - - - - - 26.55 -
4803 473.4 -7.7 249 4808 roll -0.74 - - 2593 - 2.03 0.032 1271 -682.3 -194.6 - - 3911 - - - - - - - - - 26.48 -
4847 476.8 -7.9 251 4853 done -0.77 0.12 0.095 2523 -583.3 2.17 0.046 2654 637.3 -194.6 - - 3909 - - - - - - - - 26.34 26.33 -
5171 519.3 -13.3 267 5176 roll -0.71 0.12 0.146 2565 350.0 1.65 0.056 3703 635.8 -194.6 - - 3908 - - - - - - - - 26.40 26.27 -
5293 532.6 -10.2 273 5298 done -0.71 - - 2565 - 1.55 0.034 2662 -671.6 -194.6 - - 3907 - - - - - - - - - 26.55 -
5616 565.7 -10.2 289 5621 roll -0.71 - - 2566 - 2.03 0.031 1278 -681.8 -194.6 - - 3905 - - - - - - - - - 26.47 -
5672 570.0 -10.3 291 5679 done -0.71 - - 2566 - 2.17 0.047 2662 637.8 -194.6 - - 3904 - - - - - - - - - 26.30 -
5978 600.9 -9.3 307 5984 roll -0.71 - - 2566 - 1.67 0.059 3699 621.0 -194.6 - - 3902 - - - - - - - - - 26.25 -
6022 603.8 -9.1 308 6027 done -0.71 - - 2566 - 1.58 0.035 2653 -662.0 -194.6 - - 3902 - - - - - - - - - 26.53 -
6344 633.4 -8.9 319 6349 roll -0.71 - - 2566 - 2.03 0.032 1273 -679.8 -194.6 - - 3901 - - - - - - - - - 26.45 -
6377 636.3 -8.8 320 6382 done -0.71 - - 2566 - 2.20 0.047 2662 631.4 -194.6 - - 3900 - - - - - - - - - 26.27 -
6712 665.6 -8.9 331 6717 roll -0.71 - - 2566 - 1.65 0.059 3696 626.7 -194.6 - - 3898 - - - - - - - - - 26.21 -
6775 671.3 -8.9 333 6780 done -0.71 - - 2566 - 1.55 0.036 2662 -667.1 -194.6 - - 3898 - - - - - - - - - 26.51 -
7109 700.6 -8.7 344 7114 roll -0.71 - - 2566 - 2.05 0.033 1268 -680.0 -194.6 - - 3896 - - - - - - - - - 26.44 -
7166 703.6 -8.7 345 7173 done -0.71 - - 2566 - 2.20 0.047 2664 634.5 -194.6 - - 3896 - - - - - - - - - 26.25 -
7472 731.7 -8.6 356 7477 roll -0.71 - - 2565 - 2.08 0.032 1271 -669.7 -194.6 - - 3894 - - - - - - - - - 26.42 -
7498 731.7 -8.6 356 7506 done -0.71 - - 2565 - 2.17 0.048 2648 634.6 -194.6 - - 3894 - - - - - - - - - 26.25 -
7805 761.7 -9.4 367 7806 done -0.71 - - 2566 - - - 2648 - -194.6 - - 3892 - - - - - - - - - - -
8104 792.5 -10.3 377 8110 roll -0.71 - - 2565 - 2.05 0.032 1273 -670.7 -194.6 - - 3891 - - - - - - - - - 26.41 -
8131 792.5 -10.3 377 8137 done -0.71 - - 2566 - 2.17 0.048 2648 633.6 -194.6 - - 3891 - - - - - - - - - 26.22 -
8438 826.6 -10.0 388 8439 done -0.71 - - 2565 - - - 2648 - -194.6 - - 3890 - - - - - - - - - - -
8737 854.0 -8.8 398 8742 roll -0.71 - - 2566 - 2.08 0.031 1270 -662.5 -194.6 - - 3888 - - - - - - - - - 26.40 -
8773 856.9 -8.7 399 8778 done -0.71 - - 2566 - 2.17 0.048 2643 632.7 -194.6 - - 3888 - - - - - - - - - 26.20 -
9103 883.0 -7.7 410 9108 roll -0.72 - - 2565 - 2.05 0.033 1271 -669.3 -194.6 - - 3887 - - - - - - - - - 26.39 -
9160 885.8 -7.9 411 9168 done -0.74 - - 2565 - 2.15 0.047 2628 631.2 -194.6 - - 3887 - - - - - - - - - 26.19 -
9467 912.0 -8.1 422 9472 roll -0.75 - - 2566 - 2.03 0.033 1273 -667.5 -194.6 - - 3886 - - - - - - - - - 26.38 -
9500 914.9 -8.2 423 9505 done -0.77 - - 2566 - 2.15 0.047 2624 628.4 -194.6 - - 3886 - - - - - - - - - 26.17 -
9835 940.7 -7.2 434 9836 done -0.79 - - 2565 - - - 2624 - -194.6 - - 3884 - - - - - - - - - - -
10133 961.9 -7.1 444 10138 roll -0.80 - - 2565 - 2.03 0.034 1274 -665.0 -194.6 - - 3884 - - - - - - - - - 26.35 -
10180 964.2 -7.2 445 10186 done -0.82 - - 2566 - 2.15 0.048 2628 629.8 -194.6 - - 3883 - - - - - - - - - 26.15 -
10501 987.4 -6.9 456 10503 done -0.84 0.12 0.096 2498 -566.7 - - 2628 - -194.6 - - 3882 - - - - - - - - 26.64 - -
10527 end dive: TARGET_DEPTH_EXCEEDED
10527 begin apogee
10533 990.0 -7.3 457 10698 roll -0.12 0.77 0.122 2752 329.9 - - 1922 - - 159.32 1.447 3122 -4.8 0.351 - - - - - - 25.55 - 23.25
10699 end apogee: CONTROL_FINISHED_OK
10699 begin climb
10702 995.9 - 462 10890 roll 0.46 0.57 0.060 2961 366.7 2.28 0.040 545 -603.9 194.6 178.93 1.403 2326 -4.4 0.340 - - - - - - 24.56 24.56 22.77
10904 989.0 6.7 469 10971 done 0.46 - - 2961 - 2.35 0.038 1939 593.2 259.9 60.47 1.359 2060 -4.4 0.344 - - - - - - - 24.29 22.82
11283 947.0 11.0 482 11289 roll 0.46 - - 2968 - 2.20 0.041 555 -629.1 259.9 - - 2051 - - - - - - - - - 25.81 -
11407 934.3 10.3 486 11413 done 0.46 - - 2968 - 2.17 0.038 1947 641.5 259.9 - - 2050 - - - - - - - - - 25.96 -
11741 900.2 10.1 497 11746 roll 0.45 - - 2968 - 2.22 0.052 3350 632.0 259.9 - - 2048 - - - - - - - - - 26.08 -
11783 896.6 10.2 498 11789 done 0.43 0.12 0.161 2936 -266.7 2.15 0.032 1954 -649.3 259.9 - - 2049 - - - - - - - - 25.97 26.23 -
12109 870.6 7.6 509 12146 roll 0.48 - - 2942 - 2.22 0.041 538 -637.8 296.1 31.75 1.335 1911 -4.3 0.305 - - - - - - - 25.53 24.34
12179 865.9 7.7 511 12218 done 0.53 - - 2942 - 2.22 0.039 1950 636.0 329.6 31.02 1.315 1776 -4.4 0.308 - - - - - - - 25.67 23.98
12531 836.6 8.3 523 12550 roll 0.58 0.12 0.091 3014 600.0 2.30 0.052 3344 606.1 341.1 10.75 1.198 1730 -4.3 0.321 - - - - - - 26.13 25.77 24.48
12587 832.8 9.0 524 12593 done 0.61 - - 3023 - 2.20 0.034 1941 -637.7 341.1 - - 1729 - - - - - - - - - 25.90 -
12895 779.1 16.6 535 12900 roll 0.55 0.15 0.153 2983 -266.7 2.17 0.041 524 -653.0 341.1 - - 1727 - - - - - - - - 25.97 26.10 -
12961 771.2 14.3 537 12966 done 0.52 - - 2983 - 2.20 0.040 1947 646.8 341.1 - - 1726 - - - - - - - - - 26.13 -
13290 732.3 12.0 548 13291 done 0.52 - - 2983 - - - 1948 - 341.1 - - 1726 - - - - - - - - - - -
13588 697.4 11.3 558 13590 done 0.52 - - 2983 - - - 1949 - 341.1 - - 1725 - - - - - - - - - - -
13889 666.0 10.3 568 13894 roll 0.52 - - 2983 - 2.20 0.051 3348 635.9 341.1 - - 1725 - - - - - - - - - 26.21 -
13915 666.0 10.3 568 13922 done 0.52 - - 2983 - 2.17 0.033 1931 -653.0 341.1 - - 1725 - - - - - - - - - 26.37 -
14222 629.7 10.9 579 14227 roll 0.52 - - 2983 - 2.15 0.043 531 -651.2 341.1 - - 1725 - - - - - - - - - 26.28 -
14258 626.2 10.8 580 14265 done 0.52 - - 2983 - 2.17 0.038 1939 648.8 341.1 - - 1724 - - - - - - - - - 26.30 -
14569 594.1 10.4 591 14574 roll 0.52 - - 2983 - 2.22 0.052 3356 638.3 341.1 - - 1725 - - - - - - - - - 26.21 -
14602 591.3 10.5 592 14607 done 0.52 - - 2983 - 2.17 0.034 1937 -653.9 341.1 - - 1725 - - - - - - - - - 26.39 -
14914 555.4 11.0 608 14919 roll 0.52 - - 2984 - 2.15 0.043 532 -653.5 341.1 - - 1724 - - - - - - - - - 26.29 -
14957 551.0 10.9 610 14962 done 0.54 - - 2983 - 2.15 0.038 1937 653.5 341.1 - - 1724 - - - - - - - - - 26.31 -
15280 518.0 10.1 626 15285 roll 0.56 - - 2983 - 2.22 0.052 3354 638.3 341.1 - - 1724 - - - - - - - - - 26.20 -
15323 513.0 11.0 628 15328 done 0.56 - - 2983 - 2.17 0.033 1939 -652.1 341.1 - - 1724 - - - - - - - - - 26.40 -
15646 477.9 11.0 644 15652 roll 0.58 - - 2983 - 2.15 0.042 535 -653.0 341.1 - - 1724 - - - - - - - - - 26.28 -
15703 473.2 10.9 646 15710 done 0.61 - - 2983 - 2.15 0.038 1946 656.3 341.1 - - 1724 - - - - - - - - - 26.30 -
16009 441.2 9.6 662 16014 roll 0.63 - - 2983 - 2.20 0.050 3346 636.4 341.1 - - 1724 - - - - - - - - - 26.20 -
16052 436.5 10.1 664 16057 done 0.65 - - 2983 - 2.17 0.033 1928 -653.5 341.1 - - 1724 - - - - - - - - - 26.40 -
16375 405.1 9.3 680 16380 roll 0.67 - - 2983 - 2.12 0.042 540 -654.7 341.1 - - 1724 - - - - - - - - - 26.27 -
16397 403.0 9.3 681 16404 done 0.70 0.12 0.093 3052 575.0 2.17 0.038 1947 648.4 341.1 - - 1724 - - - - - - - - 26.27 26.29 -
16722 354.6 15.4 697 16728 roll 0.63 0.15 0.153 3010 -280.0 2.17 0.039 528 -653.9 341.1 - - 1726 - - - - - - - - 26.24 26.27 -
16815 345.3 10.9 701 16820 done 0.63 - - 3011 - 2.15 0.037 1928 651.2 341.1 - - 1725 - - - - - - - - - 26.30 -
17128 311.6 10.1 717 17134 roll 0.63 - - 3011 - 2.25 0.051 3349 631.6 341.1 - - 1724 - - - - - - - - - 26.16 -
17185 306.6 10.9 719 17192 done 0.63 - - 3011 - 2.15 0.032 1933 -658.6 341.1 - - 1724 - - - - - - - - - 26.39 -
17491 271.0 10.3 735 17496 roll 0.63 - - 3010 - 2.25 0.051 3350 629.8 341.1 - - 1724 - - - - - - - - - 26.15 -
17507 271.0 10.3 735 17513 done 0.63 - - 3011 - 2.12 0.033 1942 -664.2 341.1 - - 1725 - - - - - - - - - 26.39 -
17813 239.4 10.1 751 17818 roll 0.63 - - 3011 - 2.12 0.041 538 -662.3 341.1 - - 1725 - - - - - - - - - 26.25 -
17876 233.8 9.1 754 17881 done 0.65 - - 3009 - 2.12 0.037 1929 656.1 341.1 - - 1724 - - - - - - - - - 26.28 -
18199 205.1 8.4 770 18213 roll 0.68 - - 3011 - 2.22 0.050 3352 641.0 350.4 9.10 0.796 1692 -3.5 0.097 - - - - - - - 26.30 24.86
18230 203.3 8.3 771 18251 done 0.70 - - 3011 - 2.17 0.032 1924 -658.1 362.9 12.27 0.820 1640 -4.2 0.113 - - - - - - - 26.36 24.96
18564 173.0 9.4 788 18570 roll 0.73 - - 3009 - 2.28 0.050 3353 626.8 362.9 - - 1639 - - - - - - - - - 26.08 -
18597 170.7 9.4 789 18602 done 0.75 - - 3011 - 2.15 0.031 1947 -654.0 362.9 - - 1640 - - - - - - - - - 26.26 -
18909 143.0 8.0 805 18939 roll 0.80 0.12 0.092 3085 616.7 2.30 0.050 3350 610.0 386.6 21.10 0.805 1544 -4.5 0.087 - - - - - - 26.46 26.02 24.99
18955 137.9 9.5 807 18962 done 0.80 0.12 0.164 3057 -233.3 2.17 0.033 1948 -646.1 386.6 - - 1544 - - - - - - - - 25.82 26.06 -
19275 102.3 9.7 823 19280 roll 0.80 - - 3063 - 2.17 0.041 532 -652.5 386.6 - - 1541 - - - - - - - - - 26.08 -
19402 92.2 8.0 829 19427 done 0.85 - - 3061 - 2.10 0.034 1924 662.9 409.9 19.85 0.757 1450 -4.6 0.060 - - - - - - - 26.15 24.98
19741 66.8 6.5 846 19806 roll 0.97 0.12 0.093 3139 650.0 2.30 0.047 3340 615.7 482.6 58.60 0.747 1153 -5.1 0.049 - - - - - - 26.29 25.45 24.62
19858 56.4 10.6 851 19865 done 0.97 - - 3142 - 2.25 0.030 1897 -641.3 482.6 - - 1151 - - - - - - - - - 25.71 -
20164 28.9 6.9 879 20206 roll 1.05 - - 3142 - 2.15 0.040 541 -630.7 542.5 32.55 0.692 908 -7.5 0.034 - - - - - - - 25.71 24.83
20259 22.9 6.5 888 20301 done 1.19 0.12 0.091 3207 541.7 2.08 0.032 1905 655.8 616.2 36.75 0.659 609 -8.1 0.030 - - - - - - 25.79 25.83 24.64
20518 end climb: SURFACE_DEPTH_REACHED
20518 begin surface coast
20548 end surface coast: CONTROL_FINISHED_OK
20548 begin surface
SM 1.93 - - - - -8.29 8.07 0.047 134 -380.8 1.23 0.041 2691 639.0 652.74 19.12 0.060 459 -7.8 0.026 - - - - - -