OKMC Apr12 * SG170 * Dive index * Mission links * Dive 139 * Raw log
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• Previous call tries 2 • 32.12 of 146.00 AH used of 24V (78.00% remains)
• Previous NAKs 0, Timeouts 0 • 14.73 of 97.50 AH used of 10V (84.89% remains)
• Surface angle -71.6 deg, depth 1.98 m • Intended pitch -13.6 deg, speed -9.706 cm/s
• No surface pump (final VBD was 652.74, SM_CC=652.74329)
• GPS1 time: 25 s
• GPS2 time: 20 s • Transponder ping count: 20
• 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 - - - 93 VBD -0.49 - - 131 - - - 2693 - -243.3 -72.35 - 2434 - - - - - - - - - - -
96 3.0 -2.3 7 148 roll -0.49 10.23 0.236 2633 244.6 1.58 0.071 3688 629.7 -243.3 -33.88 - 3964 -45.2 - - - - - - - 25.41 25.98 26.47
367 64.6 -22.3 29 375 done -0.38 0.15 0.138 2678 300.0 1.52 0.031 2651 -682.2 -243.3 - - 3966 - - - - - - - - 26.01 26.33 -
672 98.2 -8.4 45 678 roll -0.41 - - 2678 - 2.00 0.031 1294 -678.5 -243.3 - - 3967 - - - - - - - - - 26.36 -
745 103.2 -8.2 48 751 done -0.45 - - 2678 - 2.15 0.045 2675 642.3 -243.3 - - 3967 - - - - - - - - - 26.27 -
1059 125.3 -6.2 64 1065 roll -0.51 0.12 0.087 2592 -716.7 2.03 0.028 1296 -679.3 -243.3 - - 3967 - - - - - - - - 26.58 26.44 -
1126 132.4 -9.9 67 1132 done -0.51 0.15 0.139 2636 293.3 2.15 0.045 2679 643.3 -243.3 - - 3967 - - - - - - - - 26.15 26.33 -
1445 161.4 -8.8 83 1446 done -0.54 - - 2636 - - - 2681 - -243.3 - - 3967 - - - - - - - - - - -
1746 188.1 -7.9 98 1751 roll -0.58 - - 2637 - 2.05 0.031 1297 -675.1 -243.3 - - 3965 - - - - - - - - - 26.49 -
1779 189.9 -7.7 99 1785 done -0.62 0.12 0.085 2562 -625.0 2.12 0.046 2666 645.8 -243.3 - - 3965 - - - - - - - - 26.41 26.38 -
2092 231.6 -12.4 115 2098 roll -0.57 0.15 0.148 2613 340.0 1.62 0.053 3703 640.1 -243.3 - - 3963 - - - - - - - - 26.33 26.37 -
2119 234.4 -12.3 116 2124 done -0.53 - - 2613 - 1.52 0.031 2655 -689.5 -243.3 - - 3963 - - - - - - - - - 26.60 -
2438 262.0 -7.7 132 2443 roll -0.56 - - 2613 - 1.65 0.055 3693 629.1 -243.3 - - 3961 - - - - - - - - - 26.37 -
2475 263.7 -7.6 133 2482 done -0.59 - - 2613 - 1.50 0.033 2688 -670.0 -243.3 - - 3961 - - - - - - - - - 26.60 -
2781 285.9 -7.0 149 2787 roll -0.62 - - 2613 - 2.05 0.031 1274 -689.8 -243.3 - - 3958 - - - - - - - - - 26.51 -
2854 290.5 -7.2 152 2860 done -0.65 - - 2613 - 2.15 0.046 2672 650.2 -243.3 - - 3958 - - - - - - - - - 26.39 -
3168 313.3 -7.1 168 3170 done -0.69 0.10 0.103 2548 -650.0 - - 2672 - -243.3 - - 3955 - - - - - - - - 26.69 - -
3468 353.7 -14.4 183 3470 done -0.63 0.15 0.139 2593 300.0 - - 2673 - -243.3 - - 3953 - - - - - - - - 26.41 - -
3769 381.6 -8.1 198 3774 roll -0.65 - - 2593 - 1.62 0.056 3705 637.0 -243.3 - - 3950 - - - - - - - - - 26.36 -
3862 389.0 -8.7 202 3867 done -0.67 - - 2593 - 1.55 0.032 2654 -678.1 -243.3 - - 3949 - - - - - - - - - 26.60 -
4176 413.6 -7.2 218 4181 roll -0.69 - - 2593 - 1.98 0.031 1289 -689.4 -243.3 - - 3948 - - - - - - - - - 26.53 -
4259 419.8 -7.5 222 4265 done -0.71 - - 2594 - 2.15 0.045 2664 639.5 -243.3 - - 3947 - - - - - - - - - 26.38 -
4583 445.3 -8.1 238 4588 roll -0.73 - - 2594 - 1.62 0.057 3696 637.0 -243.3 - - 3944 - - - - - - - - - 26.33 -
4615 447.1 -8.1 239 4621 done -0.76 0.12 0.090 2523 -591.7 1.52 0.034 2670 -675.0 -243.3 - - 3944 - - - - - - - - 26.48 26.58 -
4929 490.1 -13.1 255 4934 roll -0.69 0.15 0.143 2573 333.3 2.03 0.028 1276 -686.7 -243.3 - - 3942 - - - - - - - - 26.36 26.52 -
4955 492.8 -12.8 256 4961 done -0.64 - - 2574 - 2.20 0.047 2679 637.7 -243.3 - - 3941 - - - - - - - - - 26.35 -
5273 519.9 -8.6 272 5274 done -0.64 - - 2573 - - - 2679 - -243.3 - - 3939 - - - - - - - - - - -
5574 546.7 -9.2 287 5575 done -0.64 - - 2573 - - - 2679 - -243.3 - - 3937 - - - - - - - - - - -
5874 574.9 -9.3 302 5879 roll -0.64 - - 2573 - 2.08 0.031 1279 -673.1 -243.3 - - 3935 - - - - - - - - - 26.48 -
5920 579.3 -9.7 304 5926 done -0.64 - - 2574 - 2.17 0.047 2681 646.1 -243.3 - - 3935 - - - - - - - - - 26.34 -
6249 609.6 -8.9 319 6254 roll -0.64 - - 2573 - 2.08 0.032 1283 -672.1 -243.3 - - 3933 - - - - - - - - - 26.47 -
6281 612.5 -8.8 320 6287 done -0.64 - - 2573 - 2.20 0.047 2680 635.0 -243.3 - - 3932 - - - - - - - - - 26.32 -
6616 638.3 -7.4 331 6621 roll -0.64 - - 2573 - 2.08 0.032 1281 -672.6 -243.3 - - 3930 - - - - - - - - - 26.46 -
6642 638.3 -7.4 331 6650 done -0.64 - - 2573 - 2.17 0.047 2671 640.6 -243.3 - - 3930 - - - - - - - - - 26.31 -
6950 663.2 -7.4 342 6955 roll -0.64 - - 2573 - 1.62 0.058 3695 632.1 -243.3 - - 3928 - - - - - - - - - 26.25 -
7013 668.1 -7.5 344 7018 done -0.65 - - 2573 - 1.55 0.036 2675 -658.1 -243.3 - - 3927 - - - - - - - - - 26.53 -
7348 693.9 -7.9 355 7353 roll -0.67 - - 2573 - 2.05 0.031 1277 -682.0 -243.3 - - 3925 - - - - - - - - - 26.45 -
7415 699.1 -8.0 357 7421 done -0.68 - - 2573 - 2.20 0.047 2676 635.9 -243.3 - - 3925 - - - - - - - - - 26.29 -
7745 724.8 -7.7 368 7750 roll -0.70 - - 2573 - 2.10 0.032 1276 -666.7 -243.3 - - 3923 - - - - - - - - - 26.44 -
7779 727.6 -7.8 369 7784 done -0.71 - - 2576 - 2.20 0.047 2666 631.8 -243.3 - - 3923 - - - - - - - - - 26.27 -
8113 755.1 -8.6 380 8118 roll -0.73 - - 2573 - 2.08 0.032 1271 -670.7 -243.3 - - 3922 - - - - - - - - - 26.43 -
8165 758.3 -8.7 381 8171 done -0.75 - - 2573 - 2.17 0.047 2652 636.4 -243.3 - - 3922 - - - - - - - - - 26.27 -
8479 787.4 -8.8 392 8480 done -0.76 - - 2573 - - - 2652 - -243.3 - - 3920 - - - - - - - - - - -
8779 811.9 -8.0 402 8780 done -0.78 - - 2574 - - - 2652 - -243.3 - - 3919 - - - - - - - - - - -
9078 835.9 -8.2 412 9083 roll -0.80 - - 2573 - 2.08 0.032 1276 -661.5 -243.3 - - 3918 - - - - - - - - - 26.41 -
9106 835.9 -8.2 412 9114 done -0.82 0.12 0.089 2508 -541.7 2.17 0.048 2652 634.1 -243.3 - - 3918 - - - - - - - - 26.25 26.23 -
9412 877.8 -13.2 423 9418 roll -0.76 0.12 0.155 2549 341.7 1.67 0.057 3694 624.0 -243.3 - - 3916 - - - - - - - - 26.36 26.13 -
9449 881.9 -13.0 424 9454 done -0.72 - - 2549 - 1.60 0.037 2644 -656.2 -243.3 - - 3916 - - - - - - - - - 26.47 -
9778 913.9 -9.5 435 9783 roll -0.72 - - 2549 - 2.03 0.033 1271 -676.4 -243.3 - - 3914 - - - - - - - - - 26.38 -
9814 917.1 -9.4 436 9820 done -0.72 - - 2549 - 2.17 0.048 2645 633.2 -243.3 - - 3914 - - - - - - - - - 26.20 -
10144 946.0 -8.3 447 10145 done -0.72 - - 2549 - - - 2647 - -243.3 - - 3913 - - - - - - - - - - -
10443 969.9 -7.8 457 10448 roll -0.72 - - 2549 - 2.05 0.033 1277 -668.3 -243.3 - - 3912 - - - - - - - - - 26.37 -
10480 972.6 -7.9 458 10485 done -0.72 - - 2549 - 2.15 0.048 2643 635.3 -243.3 - - 3912 - - - - - - - - - 26.17 -
10716 end dive: TARGET_DEPTH_EXCEEDED
10716 begin apogee
10721 991.7 -7.9 466 10892 roll -0.12 0.60 0.110 2754 341.7 - - 1923 - - 164.18 1.443 3121 -4.8 0.356 - - - - - - 25.77 - 23.22
10893 end apogee: CONTROL_FINISHED_OK
10893 begin climb
10895 997.5 - 471 11128 roll 0.49 0.57 0.060 2963 366.7 2.25 0.040 555 -608.0 243.3 222.93 1.398 2128 -4.5 0.342 - - - - - - 24.57 24.57 22.78
11150 984.0 9.3 480 11172 done 0.47 - - 2963 - 2.33 0.037 1945 596.6 258.3 15.18 1.251 2067 -4.0 0.340 - - - - - - - 24.44 23.12
11472 951.4 9.4 491 11487 roll 0.47 - - 2969 - 2.22 0.039 542 -632.0 268.3 9.52 1.187 2027 -4.2 0.362 - - - - - - - 25.71 24.32
11628 937.5 9.1 496 11655 done 0.49 - - 2968 - 2.22 0.039 1960 638.7 290.1 20.58 1.307 1938 -4.3 0.334 - - - - - - - 25.96 24.24
11955 906.6 9.4 507 11970 done 0.48 - - 2970 - - - 1960 - 303.2 12.90 1.249 1885 -4.1 0.321 - - - - - - - - 24.47
12254 875.0 10.8 517 12256 done 0.48 - - 2970 - - - 1960 - 303.2 - - 1881 - - - - - - - - - - -
12555 844.7 9.6 527 12560 roll 0.48 - - 2969 - 2.20 0.042 548 -641.8 306.0 - - 1880 - - - - - - - - - 26.22 -
12572 844.7 9.6 527 12588 done 0.49 - - 2970 - 2.17 0.039 1949 645.6 308.9 6.32 1.065 1861 -3.0 0.257 - - - - - - - 26.22 24.57
12889 812.2 10.1 538 12894 roll 0.49 - - 2969 - 2.20 0.051 3348 635.9 308.9 - - 1859 - - - - - - - - - 26.17 -
12921 808.6 10.1 539 12926 done 0.49 - - 2970 - 2.15 0.034 1957 -647.0 308.9 - - 1859 - - - - - - - - - 26.30 -
13255 775.0 9.9 550 13260 roll 0.49 - - 2970 - 2.17 0.044 530 -657.6 308.9 - - 1858 - - - - - - - - - 26.27 -
13311 771.6 9.9 551 13318 done 0.49 - - 2970 - 2.17 0.039 1937 648.4 308.9 - - 1858 - - - - - - - - - 26.29 -
13618 739.1 9.7 562 13619 done 0.49 - - 2970 - - - 1937 - 308.9 - - 1857 - - - - - - - - - - -
13917 711.2 9.1 572 13941 done 0.50 - - 2970 - - - 1938 - 331.9 21.52 1.234 1768 -4.1 0.256 - - - - - - - - 24.63
14221 686.2 8.1 582 14283 roll 0.55 - - 2970 - 2.38 0.052 3341 589.5 393.0 55.03 1.245 1518 -4.5 0.269 - - - - - - - 25.12 23.99
14295 681.4 8.0 584 14359 done 0.60 - - 2970 - 2.28 0.033 1919 -623.7 455.2 55.03 1.218 1264 -4.6 0.278 - - - - - - - 25.37 23.74
14672 651.0 8.1 597 14732 done 0.70 0.12 0.092 3047 641.7 - - 1919 - 515.7 52.53 1.202 1018 -4.7 0.273 - - - - - - 26.07 - 23.98
15032 582.2 20.0 610 15038 roll 0.64 0.12 0.155 3010 -308.3 2.12 0.041 537 -651.9 515.7 - - 1014 - - - - - - - - 25.88 25.96 -
15109 573.1 15.5 613 15117 done 0.64 - - 3011 - 2.12 0.037 1904 644.8 515.7 - - 1013 - - - - - - - - - 26.05 -
15415 536.4 12.0 629 15421 roll 0.66 - - 3010 - 2.28 0.050 3350 634.2 515.7 - - 1013 - - - - - - - - - 26.11 -
15439 533.6 11.8 630 15445 done 0.68 - - 3011 - 2.25 0.033 1898 -645.3 515.7 - - 1012 - - - - - - - - - 26.25 -
15763 493.7 12.2 646 15768 roll 0.70 - - 3011 - 2.08 0.043 531 -657.2 515.7 - - 1012 - - - - - - - - - 26.24 -
15806 488.9 11.8 648 15811 done 0.73 - - 3011 - 2.12 0.036 1908 649.5 515.7 - - 1012 - - - - - - - - - 26.27 -
16128 453.9 10.8 664 16130 done 0.76 0.10 0.105 3069 580.0 - - 1910 - 515.7 - - 1012 - - - - - - - - 26.51 - -
16429 398.1 18.4 679 16434 roll 0.70 0.12 0.157 3036 -275.0 2.12 0.040 535 -648.6 515.7 - - 1012 - - - - - - - - 26.25 26.30 -
16496 389.2 14.9 682 16501 done 0.70 - - 3037 - 2.10 0.037 1905 652.4 515.7 - - 1011 - - - - - - - - - 26.33 -
16813 346.1 13.7 698 16814 done 0.70 - - 3037 - - - 1906 - 515.7 - - 1011 - - - - - - - - - - -
17114 305.1 14.2 713 17116 done 0.70 - - 3036 - - - 1906 - 515.7 - - 1011 - - - - - - - - - - -
17414 267.1 11.9 728 17419 roll 0.70 - - 3036 - 2.12 0.041 525 -651.4 515.7 - - 1011 - - - - - - - - - 26.33 -
17437 264.5 11.7 729 17443 done 0.72 - - 3036 - 2.12 0.037 1910 653.3 515.7 - - 1011 - - - - - - - - - 26.36 -
17761 228.7 10.9 745 17766 roll 0.75 - - 3037 - 2.25 0.050 3353 641.3 515.7 - - 1011 - - - - - - - - - 26.25 -
17784 226.0 11.1 746 17790 done 0.78 - - 3036 - 2.22 0.032 1894 -657.2 515.7 - - 1011 - - - - - - - - - 26.44 -
18107 193.5 10.1 762 18114 roll 0.82 - - 3037 - 2.05 0.041 527 -666.8 515.7 - - 1011 - - - - - - - - - 26.34 -
18145 191.1 10.1 763 18153 done 0.87 0.12 0.090 3106 575.0 2.10 0.036 1924 665.2 515.7 - - 1011 - - - - - - - - 26.34 26.36 -
18452 139.3 16.8 779 18454 done 0.82 0.15 0.145 3061 -300.0 - - 1926 - 515.7 - - 1012 - - - - - - - - 26.32 - -
18751 108.6 8.2 794 18806 roll 0.90 - - 3061 - 2.20 0.040 542 -629.1 572.8 46.17 0.802 785 -4.9 0.072 - - - - - - - 25.80 24.80
18843 102.5 7.4 798 18923 done 1.03 0.20 0.068 3158 485.0 2.08 0.032 1909 657.2 659.6 73.25 0.782 460 -4.4 0.063 - - - - - - 25.87 25.86 24.40
19237 56.4 9.0 818 19239 done 1.11 - - 3158 - - - 1912 - 686.2 0.12 0.107 460 - - - - - - - - - - 26.06
19536 29.4 11.5 844 19541 roll 1.32 0.15 0.094 3229 473.3 2.25 0.045 3339 634.2 686.2 - - 460 - - - - - - - - 26.25 26.09 -
19761 end climb: SURFACE_DEPTH_REACHED
19761 begin surface coast
19782 end surface coast: CONTROL_FINISHED_OK
19782 begin surface
SM 1.94 - - - - -8.29 7.97 0.041 131 -388.7 1.02 0.031 2656 -669.6 652.74 - - 460 - - - - - - - -