OKMC Apr12 * SG170 * Dive index * Mission links * Dive 140 * Raw log
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• Previous call tries 1 • 32.38 of 146.00 AH used of 24V (77.82% remains)
• Previous NAKs 0, Timeouts 0 • 14.88 of 97.50 AH used of 10V (84.74% remains)
• Surface angle -72.1 deg, depth 1.99 m • Intended pitch -13.6 deg, speed -9.706 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 35 s
• GPS2 time: 21 s • Transponder ping count: 7
• 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
18 - - - 101 VBD -0.49 - - 131 - - - 2655 - -243.3 -81.15 - 2701 - - - - - - - - - - -
104 3.6 -3.4 8 147 roll -0.49 10.30 0.239 2634 243.0 1.67 0.074 3679 613.2 -243.3 -23.15 - 3965 -54.6 - - - - - - - 25.39 25.97 26.48
291 55.5 -27.7 25 297 done -0.35 0.17 0.146 2685 300.0 1.48 0.030 2696 -664.2 -243.3 - - 3967 - - - - - - - - 25.88 26.28 -
615 95.5 -8.1 41 616 done -0.38 - - 2685 - - - 2696 - -243.3 - - 3969 - - - - - - - - - - -
916 116.0 -6.1 56 921 roll -0.44 - - 2685 - 2.08 0.031 1281 -680.3 -243.3 - - 3969 - - - - - - - - - 26.39 -
973 118.9 -6.3 58 981 done -0.50 0.15 0.074 2595 -600.0 2.15 0.044 2669 645.6 -243.3 - - 3969 - - - - - - - - 26.36 26.30 -
1279 162.2 -14.8 74 1284 roll -0.46 0.17 0.137 2655 352.9 2.03 0.028 1291 -678.8 -243.3 - - 3969 - - - - - - - - 26.26 26.45 -
1322 166.6 -12.4 76 1327 done -0.46 - - 2655 - 2.17 0.045 2685 642.4 -243.3 - - 3969 - - - - - - - - - 26.34 -
1645 189.7 -5.8 92 1647 done -0.51 - - 2655 - - - 2685 - -243.3 - - 3969 - - - - - - - - - - -
1946 207.9 -6.7 107 1953 roll -0.58 0.12 0.085 2570 -708.3 2.05 0.030 1296 -677.6 -243.3 - - 3967 - - - - - - - - 26.65 26.48 -
1995 212.8 -8.7 109 2001 done -0.61 0.12 0.156 2604 283.3 2.15 0.047 2675 641.4 -243.3 - - 3967 - - - - - - - - 26.19 26.37 -
2313 246.8 -9.9 125 2314 done -0.61 - - 2604 - - - 2675 - -243.3 - - 3966 - - - - - - - - - - -
2615 276.8 -9.9 140 2620 roll -0.61 - - 2604 - 1.60 0.055 3698 639.4 -243.3 - - 3963 - - - - - - - - - 26.36 -
2666 280.8 -9.8 142 2672 done -0.62 - - 2605 - 1.52 0.031 2655 -686.2 -243.3 - - 3963 - - - - - - - - - 26.60 -
2981 309.2 -8.6 158 2986 roll -0.64 - - 2605 - 1.98 0.031 1291 -688.9 -243.3 - - 3960 - - - - - - - - - 26.51 -
3028 312.9 -8.5 160 3033 done -0.66 - - 2605 - 2.12 0.045 2660 645.8 -243.3 - - 3960 - - - - - - - - - 26.39 -
3346 336.5 -6.9 176 3347 done -0.69 - - 2605 - - - 2660 - -243.3 - - 3958 - - - - - - - - - - -
3646 357.5 -7.6 191 3652 roll -0.72 0.12 0.093 2524 -675.0 1.62 0.054 3707 646.3 -243.3 - - 3956 - - - - - - - - 26.66 26.35 -
3713 366.1 -12.1 194 3720 done -0.69 0.17 0.136 2576 305.9 1.52 0.031 2659 -689.5 -243.3 - - 3955 - - - - - - - - 26.20 26.62 -
4033 403.9 -10.7 210 4038 roll -0.67 - - 2576 - 1.98 0.031 1296 -688.4 -243.3 - - 3953 - - - - - - - - - 26.51 -
4070 406.4 -11.0 211 4076 done -0.67 - - 2576 - 2.12 0.046 2659 642.9 -243.3 - - 3952 - - - - - - - - - 26.38 -
4375 440.3 -10.2 227 4381 roll -0.67 - - 2576 - 1.62 0.057 3693 638.3 -243.3 - - 3950 - - - - - - - - - 26.34 -
4432 444.4 -9.8 229 4439 done -0.67 - - 2576 - 1.52 0.034 2667 -675.0 -243.3 - - 3949 - - - - - - - - - 26.58 -
4738 473.2 -8.7 245 4744 roll -0.67 - - 2576 - 2.03 0.031 1269 -688.7 -243.3 - - 3948 - - - - - - - - - 26.51 -
4791 477.1 -8.9 247 4796 done -0.67 - - 2577 - 2.17 0.046 2676 648.4 -243.3 - - 3947 - - - - - - - - - 26.36 -
5103 505.2 -8.9 263 5109 roll -0.67 - - 2576 - 2.08 0.039 1279 -671.6 -243.3 - - 3945 - - - - - - - - - 25.12 -
5150 509.1 -9.0 265 5156 done -0.67 - - 2576 - 2.15 0.047 2659 641.9 -243.3 - - 3945 - - - - - - - - - 26.35 -
5468 540.0 -10.1 281 5473 roll -0.67 - - 2576 - 1.65 0.057 3690 624.8 -243.3 - - 3943 - - - - - - - - - 26.31 -
5505 542.4 -10.2 282 5512 done -0.67 - - 2576 - 1.58 0.035 2656 -654.4 -243.3 - - 3942 - - - - - - - - - 26.55 -
5811 573.2 -9.5 298 5816 roll -0.67 - - 2576 - 2.03 0.032 1272 -681.8 -243.3 - - 3940 - - - - - - - - - 26.48 -
5842 575.6 -9.6 299 5848 done -0.67 - - 2576 - 2.17 0.047 2659 639.2 -243.3 - - 3940 - - - - - - - - - 26.34 -
6156 605.6 -9.2 314 6161 roll -0.67 - - 2576 - 2.05 0.044 1284 -670.7 -243.3 - - 3938 - - - - - - - - - 26.18 -
6183 605.6 -9.2 314 6190 done -0.67 - - 2576 - 2.15 0.047 2658 639.1 -243.3 - - 3937 - - - - - - - - - 26.32 -
6491 633.6 -7.9 325 6492 done -0.69 - - 2576 - - - 2656 - -243.3 - - 3935 - - - - - - - - - - -
6790 655.3 -7.1 335 6795 roll -0.70 - - 2576 - 1.65 0.057 3701 633.3 -243.3 - - 3934 - - - - - - - - - 26.26 -
6837 657.8 -7.2 336 6842 done -0.72 - - 2576 - 1.58 0.035 2653 -663.3 -243.3 - - 3933 - - - - - - - - - 26.53 -
7156 684.2 -8.2 347 7162 roll -0.73 - - 2576 - 2.03 0.033 1274 -679.3 -243.3 - - 3932 - - - - - - - - - 26.45 -
7199 687.1 -8.4 348 7204 done -0.75 - - 2576 - 2.17 0.047 2656 636.9 -243.3 - - 3931 - - - - - - - - - 26.29 -
7524 716.7 -8.9 359 7529 roll -0.77 - - 2576 - 2.05 0.033 1280 -671.2 -243.3 - - 3930 - - - - - - - - - 26.44 -
7567 719.8 -8.9 360 7572 done -0.79 - - 2576 - 2.12 0.047 2646 644.3 -243.3 - - 3931 - - - - - - - - - 26.29 -
7890 748.5 -8.1 371 7896 roll -0.81 0.12 0.090 2498 -650.0 1.67 0.056 3696 628.7 -243.3 - - 3927 - - - - - - - - 26.65 26.21 -
7938 752.3 -8.7 372 7945 done -0.81 0.10 0.124 2534 360.0 1.62 0.034 2633 -656.2 -243.3 - - 3927 - - - - - - - - 26.16 26.53 -
8259 786.8 -9.5 383 8264 roll -0.77 - - 2534 - 2.00 0.033 1273 -680.0 -243.3 - - 3925 - - - - - - - - - 26.43 -
8292 790.0 -9.5 384 8297 done -0.74 - - 2534 - 2.17 0.048 2644 631.8 -243.3 - - 3925 - - - - - - - - - 26.25 -
8626 823.0 -10.2 395 8632 roll -0.71 0.12 0.153 2577 358.3 2.05 0.031 1274 -668.3 -243.3 - - 3924 - - - - - - - - 26.38 26.41 -
8660 826.2 -10.0 396 8665 done -0.70 - - 2577 - 2.15 0.048 2642 636.3 -243.3 - - 3924 - - - - - - - - - 26.25 -
8995 852.1 -7.6 407 8996 done -0.72 - - 2578 - - - 2641 - -243.3 - - 3922 - - - - - - - - - - -
9293 872.7 -6.6 417 9294 done -0.74 - - 2578 - - - 2642 - -243.3 - - 3921 - - - - - - - - - - -
9594 891.4 -6.2 427 9599 roll -0.77 - - 2577 - 2.05 0.033 1272 -668.3 -243.3 - - 3920 - - - - - - - - - 26.40 -
9640 893.5 -6.2 428 9647 done -0.80 0.12 0.090 2508 -575.0 2.15 0.047 2636 634.4 -243.3 - - 3920 - - - - - - - - 26.25 26.22 -
9960 929.4 -11.6 439 9966 roll -0.74 0.15 0.145 2558 333.3 1.70 0.057 3693 621.8 -243.3 - - 3919 - - - - - - - - 26.30 26.13 -
10024 935.2 -10.4 441 10029 done -0.72 - - 2558 - 1.62 0.037 2651 -643.2 -243.3 - - 3919 - - - - - - - - - 26.46 -
10358 962.1 -8.3 452 10363 roll -0.72 - - 2559 - 2.05 0.034 1267 -675.1 -243.3 - - 3918 - - - - - - - - - 26.36 -
10421 967.6 -8.5 454 10426 done -0.73 - - 2559 - 2.20 0.048 2648 627.7 -243.3 - - 3917 - - - - - - - - - 26.18 -
10722 end dive: TARGET_DEPTH_EXCEEDED
10722 begin apogee
10729 992.0 -7.8 464 10905 roll -0.12 0.57 0.108 2756 345.6 - - 1915 - - 165.50 1.450 3120 -4.8 0.354 - - - - - - 25.82 - 23.22
10906 end apogee: CONTROL_FINISHED_OK
10906 begin climb
10908 999.7 - 470 11145 roll 0.49 0.57 0.054 2972 378.9 2.47 0.051 3347 579.8 243.3 222.40 1.407 2128 -4.5 0.341 - - - - - - 24.65 24.60 22.78
11158 982.7 11.9 478 11164 done 0.41 0.20 0.142 2929 -215.0 2.33 0.031 1951 -599.1 243.3 - - 2127 - - - - - - - - 24.23 24.39 -
11484 950.7 9.1 489 11512 roll 0.44 - - 2929 - 2.33 0.051 3349 600.0 266.4 21.05 1.320 2032 -4.5 0.350 - - - - - - - 25.44 24.21
11654 935.2 10.4 494 11659 done 0.45 - - 2929 - 2.20 0.032 1936 -642.3 266.4 - - 2030 - - - - - - - - - 25.96 -
11968 906.1 8.5 505 12012 done 0.51 0.10 0.105 2991 620.0 - - 1933 - 310.8 40.35 1.363 1853 -4.4 0.314 - - - - - - 26.31 - 24.08
12297 866.1 11.9 516 12299 done 0.48 0.12 0.147 2955 -300.0 - - 1933 - 310.8 - - 1848 - - - - - - - - 25.98 - -
12598 837.8 9.2 526 12620 roll 0.51 - - 2955 - 2.30 0.051 3350 616.1 328.7 16.33 1.274 1780 -4.2 0.295 - - - - - - - 25.83 24.55
12642 834.9 9.2 527 12667 done 0.54 - - 2955 - 2.20 0.034 1942 -640.0 347.1 18.17 1.268 1704 -4.2 0.296 - - - - - - - 25.93 24.29
12990 801.8 9.0 539 13021 roll 0.59 0.10 0.106 3021 660.0 2.28 0.041 538 -615.8 372.4 23.33 1.283 1603 -4.3 0.291 - - - - - - 26.22 25.57 24.35
13043 798.5 9.5 540 13059 done 0.61 - - 3020 - 2.22 0.038 1953 637.4 381.1 9.20 1.136 1566 -4.0 0.304 - - - - - - - 25.68 24.22
13388 740.6 16.1 552 13393 roll 0.56 0.12 0.158 2986 -283.3 2.22 0.041 537 -637.8 381.1 - - 1563 - - - - - - - - 25.98 26.08 -
13455 732.8 14.2 554 13460 done 0.54 - - 2986 - 2.15 0.037 1935 650.2 381.1 - - 1563 - - - - - - - - - 26.13 -
13783 696.8 10.8 565 13789 roll 0.54 - - 2986 - 2.22 0.052 3346 635.6 381.1 - - 1562 - - - - - - - - - 26.17 -
13831 692.9 10.9 566 13836 done 0.54 - - 2986 - 2.17 0.033 1926 -654.4 381.1 - - 1562 - - - - - - - - - 26.31 -
14149 656.5 10.7 577 14155 roll 0.54 - - 2986 - 2.10 0.043 540 -660.0 381.1 - - 1563 - - - - - - - - - 26.28 -
14202 652.9 10.8 578 14207 done 0.55 - - 2986 - 2.12 0.037 1924 652.8 381.1 - - 1561 - - - - - - - - - 26.30 -
14516 618.9 9.9 589 14522 roll 0.57 - - 2986 - 2.22 0.051 3344 639.6 381.1 - - 1562 - - - - - - - - - 26.24 -
14563 615.4 10.0 590 14568 done 0.57 - - 2986 - 2.15 0.033 1921 -661.9 381.1 - - 1561 - - - - - - - - - 26.40 -
14873 583.7 9.9 603 14878 roll 0.58 - - 2986 - 2.12 0.042 530 -656.1 381.1 - - 1561 - - - - - - - - - 26.32 -
14905 581.2 10.1 604 14910 done 0.60 - - 2986 - 2.12 0.037 1931 660.8 381.1 - - 1560 - - - - - - - - - 26.34 -
15217 548.3 10.7 620 15223 roll 0.62 - - 2987 - 2.22 0.052 3350 639.2 381.1 - - 1561 - - - - - - - - - 26.25 -
15246 545.6 10.8 621 15251 done 0.64 - - 2986 - 2.17 0.033 1924 -657.1 381.1 - - 1561 - - - - - - - - - 26.43 -
15564 509.7 10.9 637 15569 roll 0.66 - - 2986 - 2.12 0.042 531 -657.1 381.1 - - 1560 - - - - - - - - - 26.33 -
15600 507.2 10.9 638 15607 done 0.68 - - 2987 - 2.12 0.037 1923 656.6 381.1 - - 1560 - - - - - - - - - 26.36 -
15906 471.5 11.7 654 15912 roll 0.70 0.12 0.091 3065 650.0 2.25 0.050 3350 634.2 381.1 - - 1560 - - - - - - - - 26.59 26.25 -
15959 464.1 14.2 656 15966 done 0.68 0.17 0.159 3022 -252.9 2.15 0.034 1929 -660.9 381.1 - - 1561 - - - - - - - - 26.01 26.42 -
16274 411.6 15.4 672 16279 roll 0.65 - - 3023 - 2.12 0.042 537 -656.6 381.1 - - 1561 - - - - - - - - - 26.32 -
16351 402.8 14.1 675 16358 done 0.64 - - 3023 - 2.12 0.037 1924 654.2 381.1 - - 1560 - - - - - - - - - 26.34 -
16657 358.7 14.3 691 16663 roll 0.61 - - 3023 - 2.22 0.051 3348 641.4 381.1 - - 1560 - - - - - - - - - 26.23 -
16681 355.1 14.5 692 16687 done 0.59 0.12 0.155 2988 -291.7 2.17 0.033 1917 -659.4 381.1 - - 1561 - - - - - - - - 26.15 26.42 -
17005 324.9 8.8 708 17036 done 0.64 - - 2988 - - - 1916 - 415.3 29.30 0.987 1428 -4.5 0.161 - - - - - - - - 24.76
17325 298.5 7.8 724 17387 done 0.74 0.12 0.088 3065 641.7 - - 1914 - 485.4 59.40 0.966 1143 -4.8 0.160 - - - - - - 26.30 - 24.27
17685 242.9 15.6 742 17691 roll 0.70 0.12 0.147 3024 -341.7 2.12 0.040 532 -651.9 485.4 - - 1139 - - - - - - - - 25.90 25.95 -
17718 239.7 15.2 743 17723 done 0.68 - - 3024 - 2.15 0.035 1924 647.4 485.4 - - 1138 - - - - - - - - - 26.00 -
18032 208.0 9.1 759 18059 roll 0.74 - - 3024 - 2.33 0.050 3349 611.6 509.6 20.48 0.869 1043 -4.6 0.119 - - - - - - - 25.88 24.82
18092 202.3 9.2 762 18117 done 0.81 0.12 0.088 3091 558.3 2.22 0.031 1916 -645.5 528.0 16.62 0.842 967 -4.6 0.118 - - - - - - 25.92 25.97 24.62
18435 149.3 15.2 779 18441 roll 0.79 0.12 0.148 3050 -341.7 2.12 0.039 536 -650.9 528.0 - - 965 - - - - - - - - 26.01 26.05 -
18520 140.7 10.1 783 18525 done 0.84 - - 3050 - 2.10 0.033 1918 658.1 528.0 - - 965 - - - - - - - - - 26.13 -
18843 112.3 7.1 799 18933 roll 0.98 0.15 0.083 3138 586.7 2.38 0.048 3349 601.3 625.3 80.03 0.802 572 -4.9 0.074 - - - - - - 26.37 25.29 24.41
18990 90.6 15.7 806 18996 done 0.98 - - 3144 - 2.25 0.031 1905 -641.8 625.3 - - 571 - - - - - - - - - 25.67 -
19309 55.4 9.8 822 19314 roll 1.04 - - 3144 - 2.10 0.039 531 -654.3 625.3 - - 569 - - - - - - - - - 26.05 -
19355 51.2 9.8 824 19362 done 1.13 - - 3144 - 2.05 0.031 1898 666.8 625.3 - - 569 - - - - - - - - - 26.12 -
19664 16.8 12.0 854 19670 roll 1.33 0.20 0.090 3228 420.0 2.25 0.046 3348 644.4 625.3 - - 569 - - - - - - - - 26.24 26.15 -
19787 end climb: SURFACE_DEPTH_REACHED
19788 begin surface coast
19809 end surface coast: CONTROL_FINISHED_OK
19809 begin surface
SM 2.05 - - - - -8.29 7.95 0.041 133 -389.3 1.02 0.031 2673 -661.8 652.74 15.23 0.060 460 -7.2 0.025 - - - - - -