OKMC Apr12 * SG170 * Dive index * Mission links * Dive 126 * Raw log
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• Previous call tries 1 • 28.97 of 146.00 AH used of 24V (80.16% remains)
• Previous NAKs 0, Timeouts 0 • 12.98 of 97.50 AH used of 10V (86.68% remains)
• Surface angle -70.6 deg, depth 1.57 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 16 s
• GPS2 time: 21 s • Transponder ping count: 522
• 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 - - - 111 VBD -0.46 - - 132 - - - 2697 - -194.6 -90.78 - 3008 - - - - - - - - - - -
115 4.2 -5.2 9 147 roll -0.46 10.25 0.245 2640 244.7 2.10 0.044 1267 -681.0 -194.6 -14.70 - 3929 -62.7 - - - - - - - 25.88 26.55 26.91
205 33.0 -23.7 17 212 done -0.37 0.15 0.161 2683 286.7 2.17 0.046 2698 659.4 -194.6 - - 3932 - - - - - - - - 26.30 26.51 -
511 73.8 -9.7 37 516 roll -0.38 - - 2682 - 1.52 0.057 3698 657.9 -194.6 - - 3931 - - - - - - - - - 26.55 -
624 86.4 -12.3 42 630 done -0.44 - - 2683 - 1.50 0.030 2659 -692.7 -194.6 - - 3931 - - - - - - - - - 26.73 -
939 104.5 -6.3 58 944 roll -0.51 0.12 0.090 2599 -700.0 1.95 0.029 1304 -694.9 -194.6 - - 3931 - - - - - - - - 26.74 26.67 -
977 106.8 -7.4 59 985 done -0.56 - - 2598 - 2.10 0.044 2695 662.4 -194.6 - - 3930 - - - - - - - - - 26.60 -
1282 149.2 -14.7 75 1284 done -0.51 0.12 0.155 2633 291.7 - - 2694 - -194.6 - - 3929 - - - - - - - - 26.56 - -
1584 176.4 -5.2 90 1589 roll -0.54 - - 2634 - 2.05 0.031 1301 -679.5 -194.6 - - 3927 - - - - - - - - - 26.67 -
1621 177.9 -5.4 91 1628 done -0.57 - - 2634 - 2.12 0.045 2703 661.3 -194.6 - - 3927 - - - - - - - - - 26.59 -
1927 202.0 -7.1 107 1928 done -0.60 - - 2634 - - - 2703 - -194.6 - - 3925 - - - - - - - - - - -
2228 225.8 -9.6 122 2234 roll -0.64 0.12 0.087 2547 -725.0 1.52 0.054 3702 657.2 -194.6 - - 3922 - - - - - - - - 26.77 26.56 -
2293 236.1 -14.2 125 2299 done -0.62 0.12 0.119 2603 466.7 1.48 0.029 2693 -681.8 -194.6 - - 3920 - - - - - - - - 26.42 26.74 -
2617 270.7 -8.3 141 2623 roll -0.62 - - 2603 - 1.58 0.057 3696 634.8 -194.6 - - 3917 - - - - - - - - - 26.55 -
2710 278.0 -8.7 145 2715 done -0.64 - - 2604 - 1.42 0.032 2725 -683.8 -194.6 - - 3916 - - - - - - - - - 26.72 -
3023 304.1 -7.5 161 3028 roll -0.66 - - 2604 - 2.08 0.031 1299 -685.6 -194.6 - - 3914 - - - - - - - - - 26.65 -
3070 307.3 -7.5 163 3076 done -0.68 - - 2604 - 2.20 0.047 2727 649.1 -194.6 - - 3914 - - - - - - - - - 26.55 -
3389 332.7 -8.7 179 3394 roll -0.71 - - 2604 - 2.12 0.032 1286 -679.7 -194.6 - - 3910 - - - - - - - - - 26.65 -
3415 334.7 -8.9 180 3421 done -0.73 0.12 0.088 2530 -616.7 2.20 0.047 2724 653.6 -194.6 - - 3910 - - - - - - - - 26.58 26.55 -
3734 378.7 -14.1 196 3740 roll -0.67 0.15 0.151 2579 326.7 1.50 0.057 3695 647.3 -194.6 - - 3907 - - - - - - - - 26.46 26.51 -
3798 386.3 -12.6 199 3803 done -0.64 - - 2579 - 1.45 0.032 2719 -673.1 -194.6 - - 3906 - - - - - - - - - 26.71 -
4120 421.5 -10.9 215 4126 roll -0.64 - - 2579 - 2.10 0.033 1289 -681.0 -194.6 - - 3903 - - - - - - - - - 26.63 -
4184 428.3 -10.8 218 4191 done -0.64 - - 2579 - 2.20 0.047 2714 647.7 -194.6 - - 3902 - - - - - - - - - 26.53 -
4508 457.2 -8.2 234 4513 roll -0.64 - - 2579 - 2.10 0.031 1299 -673.8 -194.6 - - 3899 - - - - - - - - - 26.62 -
4550 460.9 -8.6 236 4556 done -0.64 - - 2579 - 2.20 0.049 2716 644.1 -194.6 - - 3899 - - - - - - - - - 26.50 -
4873 490.9 -9.5 252 4874 done -0.64 - - 2579 - - - 2719 - -194.6 - - 3896 - - - - - - - - - - -
5175 516.9 -8.0 267 5180 roll -0.64 - - 2579 - 2.12 0.033 1294 -672.2 -194.6 - - 3893 - - - - - - - - - 26.60 -
5252 522.2 -8.2 270 5259 done -0.64 - - 2581 - 2.20 0.050 2716 646.4 -194.6 - - 3892 - - - - - - - - - 26.49 -
5558 546.5 -8.1 286 5559 done -0.64 - - 2579 - - - 2715 - -194.6 - - 3890 - - - - - - - - - - -
5859 570.3 -7.9 301 5864 roll -0.64 - - 2580 - 2.12 0.044 1295 -669.8 -194.6 - - 3888 - - - - - - - - - 26.54 -
5958 576.8 -7.8 305 5965 done -0.65 - - 2579 - 2.20 0.048 2703 640.0 -194.6 - - 3887 - - - - - - - - - 26.46 -
6262 600.0 -6.9 321 6267 roll -0.66 - - 2579 - 2.10 0.032 1293 -671.4 -194.6 - - 3884 - - - - - - - - - 26.58 -
6350 604.7 -7.4 324 6356 done -0.68 - - 2579 - 2.15 0.047 2685 647.4 -194.6 - - 3883 - - - - - - - - - 26.46 -
6656 629.6 -7.9 335 6661 roll -0.69 - - 2580 - 2.08 0.032 1295 -668.3 -194.6 - - 3881 - - - - - - - - - 26.57 -
6729 635.0 -8.2 337 6735 done -0.71 - - 2580 - 2.15 0.047 2672 640.5 -194.6 - - 3882 - - - - - - - - - 26.45 -
7053 664.6 -9.0 348 7059 roll -0.72 - - 2579 - 2.05 0.032 1293 -672.7 -194.6 - - 3879 - - - - - - - - - 26.56 -
7081 664.6 -9.0 348 7087 done -0.74 - - 2579 - 2.12 0.048 2668 648.6 -194.6 - - 3879 - - - - - - - - - 26.43 -
7388 694.0 -8.9 359 7393 roll -0.75 - - 2579 - 2.05 0.033 1294 -670.2 -194.6 - - 3877 - - - - - - - - - 26.55 -
7440 697.1 -8.8 360 7446 done -0.77 - - 2579 - 2.10 0.048 2645 643.3 -194.6 - - 3877 - - - - - - - - - 26.41 -
7755 726.5 -8.7 371 7756 done -0.79 - - 2579 - - - 2645 - -194.6 - - 3875 - - - - - - - - - - -
8054 751.9 -8.5 381 8056 done -0.81 0.12 0.097 2510 -575.0 - - 2645 - -194.6 - - 3873 - - - - - - - - 26.70 - -
8354 788.8 -12.0 391 8356 done -0.75 0.17 0.142 2562 305.9 - - 2645 - -194.6 - - 3873 - - - - - - - - 26.34 - -
8653 815.3 -9.1 401 8654 done -0.75 - - 2562 - - - 2645 - -194.6 - - 3872 - - - - - - - - - - -
8953 844.2 -9.8 411 8959 roll -0.75 - - 2563 - 2.00 0.033 1297 -674.0 -194.6 - - 3870 - - - - - - - - - 26.50 -
9010 847.5 -9.9 412 9017 done -0.75 - - 2562 - 2.12 0.049 2649 637.7 -194.6 - - 3869 - - - - - - - - - 26.35 -
9316 879.9 -9.5 423 9322 roll -0.75 - - 2563 - 2.03 0.032 1298 -665.5 -194.6 - - 3868 - - - - - - - - - 26.50 -
9349 882.9 -9.4 424 9355 done -0.75 - - 2562 - 2.10 0.048 2641 639.5 -194.6 - - 3868 - - - - - - - - - 26.33 -
9683 909.9 -7.0 435 9689 roll -0.75 - - 2562 - 2.03 0.033 1294 -663.5 -194.6 - - 3866 - - - - - - - - - 26.48 -
9726 912.2 -6.7 436 9732 done -0.75 - - 2562 - 2.10 0.049 2641 641.4 -194.6 - - 3866 - - - - - - - - - 26.31 -
10051 935.0 -7.5 447 10056 roll -0.75 - - 2563 - 2.03 0.034 1290 -665.5 -194.6 - - 3865 - - - - - - - - - 26.46 -
10078 935.0 -7.5 447 10084 done -0.75 - - 2562 - 2.08 0.048 2625 641.8 -194.6 - - 3865 - - - - - - - - - 26.29 -
10384 963.3 -8.9 458 10389 roll -0.75 - - 2563 - 2.00 0.033 1293 -666.0 -194.6 - - 3864 - - - - - - - - - 26.46 -
10416 966.4 -9.1 459 10422 done -0.75 - - 2562 - 2.10 0.048 2632 637.6 -194.6 - - 3864 - - - - - - - - - 26.27 -
10687 end dive: TARGET_DEPTH_EXCEEDED
10688 begin apogee
10694 990.8 -8.8 468 10853 roll -0.12 0.57 0.108 2760 347.4 - - 1939 - - 154.50 1.447 3121 -4.8 0.344 - - - - - - 25.94 - 23.75
10855 end apogee: CONTROL_FINISHED_OK
10855 begin climb
10857 997.7 - 473 11040 roll 0.46 0.52 0.060 2959 382.7 2.25 0.040 548 -618.2 194.6 172.70 1.408 2327 -4.6 0.340 - - - - - - 25.02 25.01 23.49
11126 983.4 9.4 482 11132 done 0.44 - - 2958 - 2.22 0.038 1946 629.7 194.6 - - 2320 - - - - - - - - - 25.48 -
11445 948.1 10.7 493 11451 roll 0.41 - - 2967 - 2.20 0.041 541 -638.6 194.6 - - 2316 - - - - - - - - - 26.14 -
11628 928.6 10.6 499 11634 done 0.40 0.12 0.146 2931 -300.0 2.20 0.039 1957 643.6 194.6 - - 2314 - - - - - - - - 26.06 26.25 -
11961 900.6 7.8 510 11993 roll 0.42 - - 2930 - 2.30 0.052 3342 602.2 224.2 25.60 1.340 2205 -4.3 0.299 - - - - - - - 25.74 24.65
12035 895.3 8.0 512 12065 done 0.43 - - 2930 - 2.15 0.033 1957 -644.2 248.6 22.73 1.310 2106 -4.4 0.311 - - - - - - - 25.93 24.32
12388 868.3 7.2 524 12440 roll 0.48 - - 2930 - 2.33 0.043 542 -607.3 297.8 43.15 1.340 1906 -4.6 0.314 - - - - - - - 25.28 24.23
12473 863.8 7.4 526 12518 done 0.54 0.12 0.088 2998 566.7 2.25 0.038 1959 629.8 340.2 37.83 1.317 1734 -4.5 0.311 - - - - - - 25.62 25.61 24.08
12841 811.7 14.3 539 12843 done 0.51 0.12 0.150 2963 -291.7 - - 1959 - 340.2 - - 1727 - - - - - - - - 26.05 - -
13141 777.2 11.4 549 13142 done 0.53 - - 2963 - - - 1959 - 340.2 - - 1725 - - - - - - - - - - -
13441 744.1 10.5 559 13446 roll 0.55 - - 2962 - 2.20 0.052 3349 631.8 340.2 - - 1724 - - - - - - - - - 26.26 -
13468 744.1 10.5 559 13475 done 0.57 - - 2968 - 2.12 0.034 1942 -663.7 340.2 - - 1725 - - - - - - - - - 26.40 -
13775 710.9 9.7 570 13780 roll 0.58 - - 2968 - 2.15 0.043 537 -653.5 340.2 - - 1725 - - - - - - - - - 26.35 -
13797 710.9 9.7 570 13802 done 0.59 - - 2968 - 2.17 0.039 1950 651.2 340.2 - - 1723 - - - - - - - - - 26.36 -
14112 677.9 9.8 581 14117 roll 0.61 - - 2968 - 2.22 0.052 3352 631.5 340.2 - - 1723 - - - - - - - - - 26.29 -
14144 674.3 9.9 582 14150 done 0.63 0.10 0.109 3025 570.0 2.12 0.033 1951 -660.8 340.2 - - 1723 - - - - - - - - 26.37 26.46 -
14478 621.7 16.2 593 14484 roll 0.58 0.12 0.151 2991 -283.3 2.17 0.041 531 -654.4 340.2 - - 1723 - - - - - - - - 26.36 26.36 -
14573 611.1 12.2 596 14578 done 0.56 - - 2992 - 2.17 0.037 1944 651.2 340.2 - - 1722 - - - - - - - - - 26.39 -
14895 575.8 11.1 610 14901 roll 0.56 - - 2991 - 2.22 0.052 3348 632.4 340.2 - - 1724 - - - - - - - - - 26.28 -
14923 573.0 11.5 611 14928 done 0.56 - - 2996 - 2.15 0.034 1920 -664.2 340.2 - - 1723 - - - - - - - - - 26.46 -
15241 533.8 12.6 627 15246 roll 0.55 - - 2997 - 2.10 0.043 538 -658.1 340.2 - - 1722 - - - - - - - - - 26.35 -
15307 526.0 12.4 630 15313 done 0.55 - - 2998 - 2.10 0.039 1924 660.0 340.2 - - 1722 - - - - - - - - - 26.39 -
15626 488.0 11.1 646 15631 roll 0.55 - - 2998 - 2.22 0.051 3351 642.8 340.2 - - 1722 - - - - - - - - - 26.27 -
15652 485.3 11.2 647 15657 done 0.55 - - 2998 - 2.15 0.033 1933 -659.5 340.2 - - 1722 - - - - - - - - - 26.46 -
15970 449.8 11.7 663 15975 roll 0.55 - - 2998 - 2.15 0.043 531 -652.1 340.2 - - 1722 - - - - - - - - - 26.33 -
16006 447.2 11.6 664 16014 done 0.55 - - 2998 - 2.15 0.037 1942 656.3 340.2 - - 1722 - - - - - - - - - 26.37 -
16313 408.4 12.5 680 16314 done 0.55 - - 2998 - - - 1941 - 340.2 - - 1722 - - - - - - - - - - -
16613 372.9 11.5 695 16619 roll 0.55 - - 2998 - 2.15 0.041 535 -654.0 340.2 - - 1722 - - - - - - - - - 26.32 -
16639 370.5 11.3 696 16646 done 0.55 - - 2998 - 2.12 0.038 1922 654.2 340.2 - - 1722 - - - - - - - - - 26.36 -
16958 338.2 10.1 712 16963 roll 0.55 - - 2998 - 2.22 0.050 3350 643.2 340.2 - - 1722 - - - - - - - - - 26.22 -
16994 335.7 10.4 713 17001 done 0.55 - - 2997 - 2.15 0.033 1919 -665.6 340.2 - - 1722 - - - - - - - - - 26.45 -
17301 299.0 11.7 729 17306 roll 0.55 - - 2998 - 2.08 0.042 541 -662.5 340.2 - - 1722 - - - - - - - - - 26.30 -
17327 296.5 11.6 730 17332 done 0.55 - - 2998 - 2.15 0.038 1943 652.1 340.2 - - 1721 - - - - - - - - - 26.34 -
17645 264.6 9.5 746 17646 done 0.56 - - 2998 - - - 1944 - 340.2 - - 1722 - - - - - - - - - - -
17946 234.4 9.8 761 17951 roll 0.58 - - 2998 - 2.22 0.050 3354 635.1 340.2 - - 1722 - - - - - - - - - 26.20 -
17989 229.5 10.3 763 17994 done 0.60 - - 2998 - 2.17 0.032 1926 -658.1 340.2 - - 1722 - - - - - - - - - 26.44 -
18312 200.1 9.1 779 18317 roll 0.62 - - 2998 - 2.10 0.042 537 -661.4 340.2 - - 1722 - - - - - - - - - 26.28 -
18354 196.1 9.2 781 18360 done 0.65 - - 2998 - 2.12 0.037 1926 655.2 340.2 - - 1722 - - - - - - - - - 26.34 -
18678 170.0 7.1 797 18731 roll 0.72 0.10 0.110 3058 600.0 2.30 0.049 3335 612.6 394.5 44.15 0.858 1512 -4.8 0.098 - - - - - - 26.65 25.80 24.86
18793 156.9 13.8 802 18801 done 0.69 0.15 0.152 3021 -246.7 2.17 0.031 1931 -647.0 394.5 - - 1510 - - - - - - - - 25.63 25.92 -
19099 124.1 9.2 818 19105 roll 0.71 - - 3023 - 2.12 0.042 537 -657.5 394.5 - - 1508 - - - - - - - - - 26.03 -
19143 120.3 9.1 820 19149 done 0.75 - - 3023 - 2.15 0.037 1926 646.0 394.5 - - 1507 - - - - - - - - - 26.09 -
19467 93.0 8.3 836 19487 roll 0.81 0.12 0.090 3095 600.0 2.25 0.049 3347 631.6 408.8 12.38 0.744 1454 -4.3 0.056 - - - - - - 26.43 26.14 25.14
19524 87.9 9.7 838 19531 done 0.83 - - 3096 - 2.15 0.031 1927 -660.5 408.8 - - 1453 - - - - - - - - - 26.17 -
19830 54.9 9.2 854 19835 roll 0.84 - - 3096 - 2.12 0.041 535 -656.6 408.8 - - 1452 - - - - - - - - - 26.15 -
19897 51.6 5.5 857 19989 done 0.96 - - 3096 - 2.12 0.035 1931 658.5 516.5 84.97 0.747 1015 -5.1 0.037 - - - - - - - 26.21 24.58
20298 21.7 9.2 895 20305 roll 1.17 0.20 0.094 3175 395.0 2.25 0.047 3348 629.8 516.5 - - 1011 - - - - - - - - 26.01 25.93 -
20521 end climb: SURFACE_DEPTH_REACHED
20521 begin surface coast
20554 end surface coast: CONTROL_FINISHED_OK
20554 begin surface
SM 1.91 - - - - -8.30 7.88 0.042 130 -386.4 1.02 0.031 2688 -647.1 652.74 60.42 0.059 459 -9.1 0.030 - - - - - -