OKMC Feb13 * SG171 * Dive index * Mission links * Dive 420 * Raw log
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• Previous call tries 4 • 66.07 of 150.00 AH used of 24V (55.95% remains)
• Previous NAKs 0, Timeouts 0 • 44.52 of 100.00 AH used of 10V (55.48% remains)
• Surface angle -69.8 deg, depth 1.16 m • Intended pitch -24.3 deg, speed -9.596 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 29 s
• GPS2 time: 14 s • Transponder ping count: 0
• 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
20 - - - 89 VBD -1.23 - - 114 - - - 2487 - -73.5 -67.28 - 2397 - - - - - - - - - - -
94 3.7 -6.0 9 118 done -1.37 9.00 0.216 2360 249.6 - - 2488 - -114.3 -7.90 - 2850 -57.3 - - - - - - - 25.21 - 26.50
251 52.6 -21.9 35 257 roll -1.27 0.12 0.176 2389 241.7 1.85 0.049 3658 632.4 -114.3 - - 2854 - - - - - - - - 26.00 26.03 -
290 60.7 -22.7 38 298 done -1.18 0.15 0.156 2428 260.0 1.70 0.025 2494 -684.7 -114.3 - - 2855 - - - - - - - - 25.86 26.28 -
427 89.2 -20.4 51 433 roll -1.15 - - 2428 - 2.08 0.031 1104 -668.3 -114.3 - - 2856 - - - - - - - - - 26.27 -
466 96.6 -20.5 54 472 done -1.15 - - 2418 - 2.15 0.038 2498 648.4 -114.3 - - 2855 - - - - - - - - - 26.20 -
602 124.6 -19.8 67 608 roll -1.12 0.12 0.167 2449 258.3 1.85 0.051 3672 634.6 -114.3 - - 2855 - - - - - - - - 26.16 26.14 -
682 139.6 -19.2 74 688 done -1.12 - - 2449 - 1.70 0.025 2489 -695.9 -114.3 - - 2856 - - - - - - - - - 26.42 -
817 165.2 -19.5 87 818 done -1.12 - - 2449 - - - 2488 - -114.3 - - 2856 - - - - - - - - - - -
939 188.2 -18.8 99 946 done -1.12 - - 2449 - - - 2488 - -114.3 - - 2856 - - - - - - - - - - -
1068 213.5 -19.6 112 1074 roll -1.12 - - 2439 - 1.85 0.054 3669 638.4 -114.3 - - 2856 - - - - - - - - - 26.22 -
1126 224.1 -17.9 117 1132 done -1.12 - - 2440 - 1.67 0.024 2498 -701.2 -114.3 - - 2856 - - - - - - - - - 26.50 -
1262 247.3 -16.9 130 1268 roll -1.12 - - 2430 - 1.85 0.054 3669 633.0 -114.3 - - 2856 - - - - - - - - - 26.22 -
1291 251.6 -17.1 132 1300 done -1.12 - - 2430 - 1.67 0.024 2501 -699.4 -114.3 - - 2856 - - - - - - - - - 26.51 -
1419 275.1 -17.8 145 1420 done -1.12 - - 2429 - - - 2499 - -114.3 - - 2855 - - - - - - - - - - -
1542 296.0 -16.5 157 1547 roll -1.12 - - 2430 - 2.08 0.031 1100 -672.6 -114.3 - - 2856 - - - - - - - - - 26.41 -
1616 308.5 -17.9 163 1624 done -1.12 0.12 0.164 2452 183.3 2.15 0.037 2508 654.9 -114.3 - - 2856 - - - - - - - - 26.06 26.32 -
1745 328.7 -16.0 176 1750 roll -1.15 - - 2443 - 1.83 0.053 3674 637.2 -114.3 - - 2856 - - - - - - - - - 26.25 -
1792 337.4 -17.7 180 1798 done -1.15 - - 2443 - 1.70 0.024 2490 -696.5 -114.3 - - 2856 - - - - - - - - - 26.53 -
1928 358.8 -15.8 193 1934 roll -1.15 - - 2443 - 2.03 0.028 1114 -677.8 -114.3 - - 2855 - - - - - - - - - 26.43 -
1975 367.1 -17.4 197 1981 done -1.15 - - 2432 - 2.12 0.037 2502 654.7 -114.3 - - 2854 - - - - - - - - - 26.32 -
2111 388.9 -14.8 210 2117 roll -1.15 - - 2423 - 1.88 0.054 3685 629.3 -114.3 - - 2854 - - - - - - - - - 26.24 -
2159 396.7 -15.9 214 2164 done -1.15 - - 2423 - 1.70 0.025 2496 -699.4 -114.3 - - 2853 - - - - - - - - - 26.53 -
2294 418.0 -15.9 227 2300 roll -1.15 - - 2423 - 2.03 0.029 1115 -680.3 -114.3 - - 2852 - - - - - - - - - 26.42 -
2367 429.8 -16.8 233 2375 done -1.15 - - 2412 - 2.10 0.037 2500 659.5 -114.3 - - 2851 - - - - - - - - - 26.32 -
2494 451.8 -16.9 246 2500 roll -1.15 - - 2403 - 1.83 0.054 3668 638.3 -114.3 - - 2851 - - - - - - - - - 26.23 -
2535 458.1 -17.8 249 2543 done -1.15 0.12 0.154 2436 275.0 1.67 0.026 2505 -696.4 -114.3 - - 2850 - - - - - - - - 26.17 26.53 -
2663 478.7 -15.2 262 2671 done -1.18 - - 2436 - - - 2505 - -114.3 - - 2849 - - - - - - - - - - -
2793 497.9 -14.3 275 2799 roll -1.22 - - 2436 - 2.08 0.029 1108 -671.6 -114.3 - - 2849 - - - - - - - - - 26.41 -
2835 503.2 -14.6 278 2842 done -1.25 - - 2426 - 2.12 0.037 2500 656.6 -114.3 - - 2848 - - - - - - - - - 26.30 -
2961 523.1 -15.5 291 2962 done -1.25 - - 2426 - - - 2500 - -114.3 - - 2847 - - - - - - - - - - -
3084 542.4 -16.4 303 3092 done -1.25 - - 2426 - - - 2500 - -114.3 - - 2846 - - - - - - - - - - -
3212 564.1 -16.4 316 3217 roll -1.25 - - 2416 - 1.83 0.054 3668 638.3 -114.3 - - 2846 - - - - - - - - - 26.22 -
3263 572.1 -16.6 320 3271 done -1.25 - - 2416 - 1.70 0.026 2493 -691.2 -114.3 - - 2845 - - - - - - - - - 26.53 -
3390 593.8 -16.8 333 3396 roll -1.25 - - 2416 - 2.05 0.029 1108 -675.6 -114.3 - - 2844 - - - - - - - - - 26.41 -
3419 598.2 -17.0 335 3428 done -1.25 - - 2406 - 2.15 0.037 2505 649.8 -114.3 - - 2844 - - - - - - - - - 26.28 -
3547 621.2 -17.6 348 3553 roll -1.25 - - 2397 - 1.85 0.054 3677 633.5 -114.3 - - 2843 - - - - - - - - - 26.19 -
3586 627.6 -18.1 351 3592 done -1.25 - - 2396 - 1.73 0.027 2498 -681.5 -114.3 - - 2843 - - - - - - - - - 26.53 -
3781 661.4 -17.1 370 3782 done -1.25 - - 2397 - - - 2498 - -114.3 - - 2842 - - - - - - - - - - -
3964 690.4 -15.3 388 3970 roll -1.25 - - 2388 - 1.85 0.054 3672 634.6 -114.3 - - 2841 - - - - - - - - - 26.19 -
3989 695.0 -15.8 390 3995 done -1.25 - - 2388 - 1.73 0.028 2496 -679.8 -114.3 - - 2840 - - - - - - - - - 26.52 -
4184 725.9 -16.0 409 4185 done -1.25 - - 2387 - - - 2496 - -114.3 - - 2839 - - - - - - - - - - -
4366 754.9 -16.0 427 4373 done -1.25 - - 2388 - - - 2496 - -114.3 - - 2837 - - - - - - - - - - -
4502 end dive: TARGET_DEPTH_EXCEEDED
4502 begin apogee
4510 778.0 -16.2 441 4664 done -0.20 1.10 0.125 2740 320.0 - - 2005 - - 139.40 0.894 2379 -3.3 0.295 - - - - 1 - 25.66 - 23.77
4666 end apogee: CONTROL_FINISHED_OK
4666 begin climb
4669 783.1 - 453 4828 roll 1.37 1.38 0.046 3257 374.6 2.35 0.045 3419 601.7 114.3 144.15 0.811 1899 -3.3 0.331 - - - - - - 25.28 25.03 24.06
5005 757.9 15.6 482 5012 done 1.21 0.25 0.158 3200 -228.0 2.17 0.026 1985 -660.8 114.3 - - 1884 - - - - - - - - 25.58 26.04 -
5202 733.8 11.3 501 5208 roll 1.12 - - 3200 - 2.28 0.046 3419 628.9 114.3 - - 1881 - - - - - - - - - 26.10 -
5367 713.6 12.2 516 5374 done 1.01 0.28 0.149 3133 -239.3 2.12 0.027 1994 -672.2 114.3 - - 1880 - - - - - - - - 25.80 26.33 -
5563 695.6 9.0 535 5568 roll 1.03 - - 3133 - 2.25 0.047 3415 631.6 120.8 - - 1878 - - - - - - - - - 26.20 -
5615 691.1 9.5 539 5624 done 0.99 - - 3144 - 2.10 0.028 2000 -673.8 121.8 - - 1878 - - - - - - - - - 26.39 -
5804 675.4 8.0 558 5850 roll 1.02 - - 3143 - 2.30 0.047 3411 613.5 140.3 34.55 0.660 1799 -2.3 0.241 - - - - - - - 25.96 24.96
5978 657.5 11.3 573 5985 done 0.96 0.12 0.158 3123 -166.7 2.12 0.029 2003 -664.2 140.3 - - 1788 - - - - - - - - 25.88 26.19 -
6175 638.9 9.3 592 6182 done 0.98 - - 3123 - - - 2003 - 143.9 - - 1784 - - - - - - - - - - -
6365 622.1 9.4 611 6371 roll 0.98 - - 3123 - 2.22 0.047 3414 635.6 145.8 - - 1784 - - - - - - - - - 26.17 -
6424 616.3 10.0 616 6430 done 0.95 - - 3134 - 2.12 0.029 1994 -669.8 145.8 - - 1783 - - - - - - - - - 26.36 -
6619 597.7 9.3 635 6626 roll 0.96 - - 3134 - 2.33 0.047 3417 610.7 149.1 1.92 0.041 1768 -7.8 11.738 - - - - - - - 26.19 26.22
6701 589.8 10.2 642 6708 done 0.92 0.15 0.152 3104 -200.0 2.12 0.029 1996 -670.3 149.1 - - 1768 - - - - - - - - 26.01 26.40 -
6837 576.2 9.6 655 6843 roll 0.92 - - 3114 - 2.12 0.039 610 -653.8 149.1 - - 1768 - - - - - - - - - 26.27 -
6863 573.9 9.2 657 6876 done 0.93 - - 3114 - 2.15 0.033 2023 657.2 153.8 3.35 0.449 1751 -5.1 0.669 - - - - - - - 26.32 24.33
6996 561.4 9.0 670 7024 done 0.96 - - 3114 - - - 2022 - 161.1 21.30 0.698 1715 -1.7 0.140 - - - - - - - - 25.00
7145 546.7 10.1 685 7151 roll 0.96 - - 3114 - 2.20 0.048 3401 626.8 161.1 - - 1702 - - - - - - - - - 26.06 -
7273 532.6 11.5 696 7281 done 0.96 - - 3125 - 2.10 0.029 1996 -669.0 161.1 - - 1701 - - - - - - - - - 26.30 -
7400 519.4 9.6 709 7406 roll 0.96 - - 3125 - 2.22 0.048 3399 632.0 161.5 - - 1700 - - - - - - - - - 26.13 -
7462 513.2 10.8 714 7472 done 0.96 - - 3136 - 2.10 0.029 1994 -669.0 161.5 - - 1700 - - - - - - - - - 26.34 -
7591 499.6 10.0 727 7596 roll 0.96 - - 3146 - 2.12 0.038 610 -652.8 161.5 - - 1699 - - - - - - - - - 26.22 -
7684 490.5 10.2 735 7693 done 0.96 - - 3146 - 2.10 0.032 2000 661.9 161.5 - - 1699 - - - - - - - - - 26.31 -
7812 476.2 11.0 748 7818 roll 0.96 - - 3146 - 2.20 0.048 3404 638.2 161.5 - - 1698 - - - - - - - - - 26.17 -
7886 468.0 12.4 754 7895 done 0.92 0.17 0.149 3109 -217.6 2.10 0.029 1992 -672.4 161.5 - - 1699 - - - - - - - - 25.95 26.39 -
8015 455.1 9.3 767 8020 roll 0.93 - - 3119 - 2.12 0.039 609 -652.4 164.7 - - 1698 - - - - - - - - - 26.25 -
8054 451.5 9.7 770 8060 done 0.93 - - 3119 - 2.10 0.033 1998 661.4 164.7 - - 1698 - - - - - - - - - 26.31 -
8188 437.7 10.4 783 8194 roll 0.93 - - 3119 - 2.22 0.048 3407 634.7 164.7 - - 1698 - - - - - - - - - 26.17 -
8237 432.4 10.9 787 8243 done 0.93 - - 3130 - 2.10 0.030 1999 -670.5 164.7 - - 1698 - - - - - - - - - 26.41 -
8372 418.3 11.0 800 8378 roll 0.93 - - 3140 - 2.12 0.040 612 -654.2 164.7 - - 1698 - - - - - - - - - 26.25 -
8431 411.6 11.3 805 8438 done 0.93 0.12 0.147 3107 -275.0 2.10 0.033 2000 661.0 164.7 - - 1698 - - - - - - - - 26.04 26.32 -
8567 397.6 9.6 818 8573 roll 0.93 - - 3108 - 2.20 0.049 3401 636.8 164.7 - - 1697 - - - - - - - - - 26.17 -
8689 385.4 9.9 829 8695 done 0.93 - - 3119 - 2.10 0.030 1996 -669.0 164.7 - - 1697 - - - - - - - - - 26.41 -
8825 373.7 8.5 842 8853 done 0.97 - - 3119 - - - 1996 - 177.5 20.05 0.595 1649 -2.4 0.155 - - - - - - - - 25.06
8975 359.1 11.1 857 8983 done 0.97 - - 3119 - - - 1996 - 177.5 - - 1637 - - - - - - - - - - -
9105 345.1 10.2 870 9111 roll 0.97 - - 3129 - 2.12 0.039 613 -652.4 177.5 - - 1635 - - - - - - - - - 26.16 -
9142 341.4 10.3 873 9148 done 0.97 - - 3129 - 2.10 0.032 2002 661.4 177.5 - - 1634 - - - - - - - - - 26.24 -
9279 327.7 9.7 886 9285 roll 0.97 - - 3129 - 2.22 0.048 3408 633.3 177.5 - - 1633 - - - - - - - - - 26.12 -
9362 319.2 10.2 893 9368 done 0.97 - - 3140 - 2.10 0.029 2005 -668.1 177.5 - - 1634 - - - - - - - - - 26.35 -
9498 305.0 10.3 906 9499 done 0.97 - - 3140 - - - 2005 - 177.5 - - 1633 - - - - - - - - - - -
9621 292.8 10.0 918 9628 done 0.97 - - 3140 - - - 2005 - 177.5 - - 1633 - - - - - - - - - - -
9748 279.9 9.8 931 9753 roll 0.97 - - 3150 - 2.15 0.038 607 -650.2 177.5 - - 1633 - - - - - - - - - 26.23 -
9795 275.2 9.9 935 9801 done 0.97 - - 3151 - 2.10 0.031 2004 665.2 177.5 - - 1633 - - - - - - - - - 26.31 -
9930 261.0 11.1 948 9931 done 0.97 - - 3151 - - - 2003 - 177.5 - - 1633 - - - - - - - - - - -
10052 248.9 10.2 960 10058 roll 0.97 - - 3151 - 2.20 0.047 3407 638.2 177.5 - - 1633 - - - - - - - - - 26.16 -
10300 224.9 9.3 983 10307 done 0.98 0.12 0.156 3128 -191.7 2.10 0.029 1993 -673.3 180.8 - - 1633 - - - - - - - - 26.05 26.39 -
10437 212.5 8.8 996 10456 roll 1.02 - - 3128 - 2.22 0.047 3401 634.2 189.7 13.05 0.515 1600 -2.5 0.108 - - - - - - - 26.24 25.06
10701 181.7 12.4 1020 10708 done 1.02 - - 3139 - 2.10 0.028 1996 -669.0 189.7 - - 1588 - - - - - - - - - 26.35 -
10837 165.0 12.2 1033 10843 roll 1.02 - - 3139 - 2.22 0.047 3400 632.4 189.7 - - 1585 - - - - - - - - - 26.13 -
10879 160.9 11.5 1036 10887 done 1.02 - - 3150 - 2.08 0.029 2002 -672.1 189.7 - - 1586 - - - - - - - - - 26.36 -
11006 148.8 8.7 1049 11019 roll 1.05 - - 3150 - 2.25 0.047 3398 620.4 199.8 3.08 0.288 1563 -7.5 0.398 - - - - - - - 26.22 24.59
11102 139.1 10.4 1057 11110 done 1.05 - - 3161 - 2.08 0.028 1997 -673.6 199.8 - - 1562 - - - - - - - - - 26.37 -
11230 127.9 8.4 1070 11271 roll 1.10 - - 3171 - 2.12 0.038 616 -651.4 213.2 29.85 0.465 1500 -2.1 0.059 - - - - - - - 26.13 25.18
11338 117.5 10.5 1079 11344 done 1.10 - - 3171 - 2.10 0.031 2002 660.0 213.2 - - 1488 - - - - - - - - - 26.13 -
11473 104.4 9.0 1092 11480 roll 1.12 - - 3171 - 2.20 0.047 3405 637.7 220.4 - - 1486 - - - - - - - - - 26.06 -
11561 95.7 10.3 1100 11569 done 1.12 - - 3183 - 2.10 0.028 2002 -668.1 220.4 - - 1486 - - - - - - - - - 26.28 -
11698 80.8 11.1 1113 11704 roll 1.12 - - 3193 - 2.12 0.039 610 -656.6 220.4 - - 1486 - - - - - - - - - 26.15 -
11850 64.0 10.7 1127 11856 done 1.12 - - 3193 - 2.10 0.030 2010 666.7 220.4 - - 1486 - - - - - - - - - 26.27 -
11986 50.4 9.4 1140 11994 roll 1.13 - - 3193 - 2.25 0.046 3400 617.8 222.8 2.28 0.145 1468 -7.9 0.283 - - - - - - - 26.15 24.41
12242 32.3 2.9 1185 12375 done 1.40 0.15 0.071 3292 660.0 2.08 0.027 1985 -680.3 299.0 120.85 0.404 1153 -2.6 0.021 - - - - - - 26.33 26.41 24.91
12511 11.2 11.1 1226 12519 roll 1.36 0.12 0.147 3263 -241.7 2.10 0.035 626 -647.1 299.0 - - 1130 - - - - - - - - 25.86 25.92 -
12540 8.0 10.7 1230 12549 done 1.36 - - 3263 - 2.10 0.029 2011 659.5 299.0 - - 1130 - - - - - - - - - 26.02 -
12586 end climb: SURFACE_DEPTH_REACHED
12586 begin surface coast
12622 end surface coast: CONTROL_FINISHED_OK
12622 begin surface
SM 0.49 - - - - -8.27 8.10 0.031 122 15.1 0.75 0.047 2490 1946.7 400.08 53.20 0.060 748 14.1 -0.012 - - - - - -