OKMC Apr12 * SG170 * Dive index * Mission links * Dive 143 * Raw log
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• Previous call tries 5 • 33.23 of 146.00 AH used of 24V (77.24% remains)
• Previous NAKs 0, Timeouts 0 • 15.30 of 97.50 AH used of 10V (84.31% remains)
• Surface angle -73.2 deg, depth 1.97 m • Intended pitch -13.6 deg, speed -9.706 cm/s
• No surface pump (final VBD was 652.99, SM_CC=652.74329)
• GPS1 time: 38 s
• GPS2 time: 20 s • Transponder ping count: 25
• 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
19 - - - 102 VBD -0.49 - - 134 - - - 2687 - -243.3 -81.18 - 2715 - - - - - - - - - - -
105 3.4 -3.2 8 148 roll -0.49 10.50 0.244 2632 237.9 1.62 0.071 3703 627.2 -243.3 -23.55 - 3966 -53.1 - - - - - - - 25.37 25.98 26.49
262 45.2 -22.2 23 268 done -0.38 0.15 0.139 2677 300.0 1.50 0.030 2663 -693.3 -243.3 - - 3968 - - - - - - - - 25.96 26.29 -
577 84.8 -9.1 40 582 roll -0.39 - - 2677 - 2.00 0.031 1294 -684.5 -243.3 - - 3967 - - - - - - - - - 26.34 -
623 88.2 -8.3 42 629 done -0.42 - - 2677 - 2.17 0.046 2689 642.9 -243.3 - - 3968 - - - - - - - - - 26.25 -
941 114.1 -8.3 58 947 roll -0.46 - - 2680 - 2.08 0.031 1300 -667.8 -243.3 - - 3969 - - - - - - - - - 26.42 -
986 117.6 -8.3 60 993 done -0.50 0.12 0.086 2601 -658.3 2.15 0.046 2675 639.5 -243.3 - - 3968 - - - - - - - - 26.35 26.32 -
1311 159.6 -12.4 76 1316 roll -0.47 0.12 0.151 2643 350.0 1.58 0.053 3696 646.2 -243.3 - - 3968 - - - - - - - - 26.37 26.34 -
1348 162.1 -12.0 77 1354 done -0.44 - - 2644 - 1.55 0.031 2621 -693.5 -243.3 - - 3969 - - - - - - - - - 26.56 -
1656 187.3 -7.8 93 1661 roll -0.48 - - 2644 - 1.70 0.056 3695 631.8 -243.3 - - 3967 - - - - - - - - - 26.36 -
1722 192.0 -7.6 96 1727 done -0.54 - - 2644 - 1.52 0.031 2621 -706.6 -243.3 - - 3967 - - - - - - - - - 26.60 -
2041 213.6 -6.5 112 2046 roll -0.60 0.12 0.086 2560 -700.0 1.95 0.029 1285 -685.1 -243.3 - - 3966 - - - - - - - - 26.66 26.52 -
2134 223.6 -12.0 116 2140 done -0.57 0.17 0.144 2613 311.8 2.10 0.047 2635 642.9 -243.3 - - 3965 - - - - - - - - 26.16 26.39 -
2447 254.1 -8.5 132 2453 roll -0.59 - - 2614 - 1.67 0.057 3702 638.9 -243.3 - - 3963 - - - - - - - - - 26.36 -
2480 256.1 -8.5 133 2485 done -0.61 - - 2614 - 1.58 0.031 2606 -693.7 -243.3 - - 3962 - - - - - - - - - 26.62 -
2793 280.4 -7.3 149 2794 done -0.64 - - 2614 - - - 2604 - -243.3 - - 3961 - - - - - - - - - - -
3094 302.8 -7.9 164 3095 done -0.67 - - 2614 - - - 2604 - -243.3 - - 3957 - - - - - - - - - - -
3395 327.2 -7.9 179 3401 roll -0.70 0.12 0.089 2532 -683.3 1.90 0.030 1295 -688.9 -243.3 - - 3955 - - - - - - - - 26.67 26.53 -
3432 329.9 -8.4 180 3441 done -0.72 0.12 0.155 2566 283.3 2.10 0.047 2642 641.4 -243.3 - - 3955 - - - - - - - - 26.21 26.39 -
3738 364.0 -9.7 196 3740 done -0.69 - - 2566 - - - 2642 - -243.3 - - 3952 - - - - - - - - - - -
4040 393.4 -9.4 211 4045 roll -0.67 - - 2566 - 1.67 0.057 3690 627.5 -243.3 - - 3949 - - - - - - - - - 26.36 -
4153 402.9 -8.9 216 4158 done -0.67 - - 2566 - 1.52 0.032 2640 -690.8 -243.3 - - 3948 - - - - - - - - - 26.60 -
4466 432.2 -8.9 232 4471 roll -0.66 - - 2567 - 1.98 0.030 1289 -682.3 -243.3 - - 3946 - - - - - - - - - 26.53 -
4489 434.1 -8.9 233 4494 done -0.64 - - 2566 - 2.12 0.046 2642 638.2 -243.3 - - 3946 - - - - - - - - - 26.38 -
4812 461.6 -9.0 249 4813 done -0.64 - - 2566 - - - 2643 - -243.3 - - 3943 - - - - - - - - - - -
5112 490.3 -10.0 264 5113 done -0.64 - - 2566 - - - 2644 - -243.3 - - 3941 - - - - - - - - - - -
5413 523.7 -11.3 279 5418 roll -0.64 - - 2566 - 1.67 0.057 3688 625.1 -243.3 - - 3939 - - - - - - - - - 26.32 -
5449 526.5 -11.4 280 5456 done -0.64 - - 2566 - 1.58 0.034 2652 -655.7 -243.3 - - 3938 - - - - - - - - - 26.57 -
5755 563.4 -11.6 296 5760 roll -0.64 - - 2566 - 2.00 0.031 1282 -685.0 -243.3 - - 3936 - - - - - - - - - 26.50 -
5812 568.5 -11.8 298 5819 done -0.64 - - 2566 - 2.12 0.047 2636 638.7 -243.3 - - 3935 - - - - - - - - - 26.34 -
6128 603.6 -10.0 314 6129 done -0.64 - - 2566 - - - 2636 - -243.3 - - 3934 - - - - - - - - - - -
6428 630.9 -8.8 324 6433 roll -0.64 - - 2567 - 2.05 0.033 1270 -666.3 -243.3 - - 3932 - - - - - - - - - 26.48 -
6454 630.9 -8.8 324 6462 done -0.64 - - 2566 - 2.15 0.047 2641 637.7 -243.3 - - 3932 - - - - - - - - - 26.33 -
6762 661.0 -9.3 335 6763 done -0.64 - - 2566 - - - 2642 - -243.3 - - 3929 - - - - - - - - - - -
7061 690.1 -9.7 345 7066 roll -0.64 - - 2566 - 2.03 0.032 1279 -671.4 -243.3 - - 3927 - - - - - - - - - 26.45 -
7103 693.3 -9.8 346 7108 done -0.64 - - 2566 - 2.12 0.047 2632 638.2 -243.3 - - 3926 - - - - - - - - - 26.31 -
7427 723.8 -8.8 357 7428 done -0.64 - - 2565 - - - 2632 - -243.3 - - 3925 - - - - - - - - - - -
7727 749.3 -8.6 367 7732 roll -0.64 - - 2566 - 2.03 0.033 1273 -669.5 -243.3 - - 3923 - - - - - - - - - 26.44 -
7760 752.4 -8.7 368 7765 done -0.64 - - 2567 - 2.15 0.047 2632 632.1 -243.3 - - 3923 - - - - - - - - - 26.29 -
8094 779.0 -7.6 379 8095 done -0.64 - - 2566 - - - 2633 - -243.3 - - 3921 - - - - - - - - - - -
8393 801.1 -7.8 389 8394 done -0.64 - - 2566 - - - 2632 - -243.3 - - 3920 - - - - - - - - - - -
8692 825.9 -7.8 399 8693 done -0.64 - - 2566 - - - 2632 - -243.3 - - 3919 - - - - - - - - - - -
8994 848.2 -7.3 409 8995 done -0.66 - - 2566 - - - 2633 - -243.3 - - 3918 - - - - - - - - - - -
9293 873.2 -8.7 419 9298 roll -0.66 - - 2566 - 2.03 0.033 1276 -668.5 -243.3 - - 3916 - - - - - - - - - 26.41 -
9350 876.0 -8.5 420 9357 done -0.67 - - 2566 - 2.12 0.047 2623 635.4 -243.3 - - 3915 - - - - - - - - - 26.23 -
9657 898.9 -6.4 431 9658 done -0.68 - - 2566 - - - 2622 - -243.3 - - 3914 - - - - - - - - - - -
9956 922.3 -8.4 441 9962 roll -0.70 - - 2566 - 2.00 0.033 1284 -669.0 -243.3 - - 3913 - - - - - - - - - 26.39 -
9998 925.2 -8.6 442 10003 done -0.72 - - 2566 - 2.10 0.047 2612 632.4 -243.3 - - 3913 - - - - - - - - - 26.21 -
10323 953.0 -8.3 453 10325 done -0.73 - - 2566 - - - 2613 - -243.3 - - 3912 - - - - - - - - - - -
10621 978.5 -8.0 463 10627 roll -0.75 - - 2566 - 2.03 0.034 1274 -659.6 -243.3 - - 3911 - - - - - - - - - 26.36 -
10665 980.8 -7.4 464 10670 done -0.77 - - 2566 - 2.12 0.047 2615 632.5 -243.3 - - 3911 - - - - - - - - - 26.19 -
10776 end dive: TARGET_DEPTH_EXCEEDED
10776 begin apogee
10782 990.0 -7.5 468 10951 roll -0.12 0.55 0.106 2755 343.6 - - 1931 - - 164.82 1.459 3121 -4.8 0.350 - - - - - - 25.84 - 23.20
10953 end apogee: CONTROL_FINISHED_OK
10953 begin climb
10955 996.9 - 473 11188 roll 0.49 0.57 0.057 2967 371.9 2.45 0.052 3349 578.8 243.3 223.65 1.411 2129 -4.4 0.337 - - - - - - 24.58 24.53 22.77
11202 982.8 10.5 482 11208 done 0.41 0.15 0.150 2935 -213.3 2.35 0.032 1949 -595.7 243.3 - - 2127 - - - - - - - - 24.19 24.34 -
11537 953.9 9.2 493 11560 roll 0.44 - - 2935 - 2.33 0.050 3351 601.7 263.4 18.25 1.317 2046 -4.4 0.346 - - - - - - - 25.53 24.25
11711 937.5 10.9 498 11718 done 0.44 - - 2941 - 2.20 0.033 1936 -643.2 263.4 - - 2043 - - - - - - - - - 26.00 -
12019 903.9 10.4 509 12024 roll 0.45 - - 2942 - 2.15 0.042 539 -649.8 263.4 - - 2041 - - - - - - - - - 26.16 -
12046 903.9 10.4 509 12053 done 0.47 - - 2942 - 2.17 0.038 1941 646.1 263.4 - - 2041 - - - - - - - - - 26.17 -
12354 869.0 10.7 520 12359 roll 0.48 - - 2942 - 2.22 0.052 3354 636.5 263.4 - - 2041 - - - - - - - - - 26.18 -
12401 865.2 10.9 521 12406 done 0.50 - - 2942 - 2.15 0.034 1953 -651.6 263.4 - - 2041 - - - - - - - - - 26.34 -
12720 830.5 10.5 532 12721 done 0.51 - - 2942 - - - 1953 - 263.4 - - 2040 - - - - - - - - - - -
13019 802.2 8.4 542 13072 roll 0.56 0.12 0.093 3016 616.7 2.38 0.052 3342 583.6 311.8 43.38 1.334 1850 -4.4 0.283 - - - - - - 26.52 25.37 24.16
13095 794.3 10.5 544 13101 done 0.54 0.17 0.148 2974 -247.1 2.20 0.034 1957 -629.5 311.8 - - 1849 - - - - - - - - 25.39 25.62 -
13415 751.7 12.1 555 13420 roll 0.54 - - 2981 - 2.22 0.042 523 -645.9 311.8 - - 1845 - - - - - - - - - 26.05 -
13451 747.7 11.9 556 13457 done 0.54 - - 2982 - 2.22 0.039 1949 642.3 311.8 - - 1844 - - - - - - - - - 26.08 -
13781 706.9 12.2 567 13786 roll 0.54 - - 2981 - 2.20 0.051 3348 635.9 311.8 - - 1843 - - - - - - - - - 26.13 -
13814 702.5 12.2 568 13819 done 0.54 - - 2983 - 2.12 0.033 1953 -658.0 311.8 - - 1844 - - - - - - - - - 26.29 -
14148 660.9 12.1 579 14153 roll 0.54 - - 2983 - 2.15 0.043 540 -657.2 311.8 - - 1842 - - - - - - - - - 26.25 -
14195 656.9 12.1 580 14200 done 0.54 - - 2983 - 2.17 0.038 1947 648.4 311.8 - - 1842 - - - - - - - - - 26.27 -
14513 621.3 10.4 591 14518 roll 0.54 - - 2983 - 2.22 0.051 3355 634.2 311.8 - - 1842 - - - - - - - - - 26.20 -
14555 617.8 10.2 592 14560 done 0.54 - - 2983 - 2.12 0.033 1951 -662.3 311.8 - - 1842 - - - - - - - - - 26.39 -
14878 587.8 8.7 605 14918 roll 0.57 - - 2983 - 2.22 0.041 536 -637.4 348.7 32.42 1.191 1697 -4.5 0.237 - - - - - - - 25.72 24.50
14954 582.5 8.5 608 15001 done 0.59 - - 2983 - 2.22 0.037 1961 641.9 395.3 41.40 1.177 1509 -4.5 0.242 - - - - - - - 25.79 24.01
15301 553.1 8.4 626 15346 done 0.65 - - 2982 - - - 1961 - 444.0 42.53 1.154 1309 -4.7 0.242 - - - - - - - - 24.15
15641 526.7 7.5 643 15721 done 0.75 0.17 0.073 3071 523.5 - - 1962 - 527.6 72.55 1.138 969 -4.7 0.233 - - - - - - 26.13 - 23.96
16020 451.5 21.0 662 16026 roll 0.67 0.15 0.151 3024 -313.3 2.22 0.041 537 -641.9 527.6 - - 964 - - - - - - - - 25.83 25.96 -
16084 442.3 15.9 665 16089 done 0.67 - - 3024 - 2.17 0.037 1946 649.3 527.6 - - 964 - - - - - - - - - 26.03 -
16407 404.4 12.4 681 16412 roll 0.69 - - 3023 - 2.20 0.050 3350 638.2 527.6 - - 964 - - - - - - - - - 26.12 -
16431 401.3 12.5 682 16436 done 0.70 - - 3023 - 2.17 0.033 1937 -651.2 527.6 - - 964 - - - - - - - - - 26.25 -
16754 360.9 12.9 698 16760 roll 0.72 - - 3023 - 2.15 0.042 536 -651.6 527.6 - - 962 - - - - - - - - - 26.24 -
16828 353.5 11.9 701 16834 done 0.76 - - 3023 - 2.12 0.036 1937 660.8 527.6 - - 963 - - - - - - - - - 26.28 -
17141 315.2 12.5 717 17147 roll 0.79 - - 3023 - 2.20 0.050 3349 641.8 527.6 - - 962 - - - - - - - - - 26.22 -
17168 312.2 12.8 718 17175 done 0.83 0.12 0.093 3091 566.7 2.17 0.032 1920 -658.5 527.6 - - 962 - - - - - - - - 26.32 26.38 -
17487 248.1 19.0 734 17493 roll 0.77 0.12 0.157 3051 -333.3 2.10 0.040 537 -658.6 527.6 - - 962 - - - - - - - - 26.27 26.31 -
17573 236.9 13.3 738 17578 done 0.78 - - 3051 - 2.10 0.036 1921 659.0 527.6 - - 962 - - - - - - - - - 26.34 -
17896 199.7 10.9 754 17902 roll 0.80 - - 3051 - 2.22 0.049 3354 645.5 527.6 - - 962 - - - - - - - - - 26.26 -
17940 195.0 10.5 756 17945 done 0.83 - - 3051 - 2.20 0.032 1917 -653.2 527.6 - - 962 - - - - - - - - - 26.42 -
18263 163.8 9.7 772 18269 roll 0.87 - - 3050 - 2.10 0.040 531 -660.0 529.6 - - 962 - - - - - - - - - 26.34 -
18336 158.1 9.0 775 18369 done 0.95 0.17 0.073 3137 511.8 2.05 0.034 1906 670.7 557.4 24.50 0.847 848 -4.7 0.093 - - - - - - 26.37 26.38 24.96
18667 103.7 15.8 792 18673 roll 0.92 0.12 0.151 3095 -350.0 2.10 0.038 535 -652.9 557.4 - - 846 - - - - - - - - 26.13 26.15 -
18714 98.5 14.1 794 18720 done 0.92 - - 3094 - 2.03 0.034 1879 662.1 557.4 - - 846 - - - - - - - - - 26.20 -
19033 74.8 6.6 810 19128 roll 1.08 0.12 0.093 3167 608.3 2.40 0.047 3336 607.1 672.1 84.95 0.775 458 -4.6 0.047 - - - - - - 26.44 25.32 24.54
19161 60.7 11.6 816 19166 done 1.11 - - 3167 - 2.25 0.030 1896 -640.0 672.1 - - 459 - - - - - - - - - 25.62 -
19469 36.4 6.3 841 19475 roll 1.27 0.12 0.092 3240 608.3 2.05 0.037 537 -662.9 800.5 - - 459 - - - - - - - - 26.20 26.04 -
19557 27.6 11.2 849 19564 done 1.29 - - 3241 - 2.05 0.034 1889 659.5 800.5 - - 460 - - - - - - - - - 26.13 -
19740 end climb: SURFACE_DEPTH_REACHED
19741 begin surface coast
19762 end surface coast: CONTROL_FINISHED_OK
19762 begin surface
SM 2.00 - - - - -8.28 8.02 0.043 138 -386.9 1.25 0.050 2680 632.8 652.99 - - 459 - - - - - - - -