OKMC Feb13 * SG171 * Dive index * Mission links * Dive 426 * Raw log
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• Previous call tries 1 • 66.89 of 150.00 AH used of 24V (55.40% remains)
• Previous NAKs 0, Timeouts 0 • 45.45 of 100.00 AH used of 10V (54.55% remains)
• Surface angle -67.8 deg, depth 1.17 m • Intended pitch -26.6 deg, speed -9.596 cm/s
VBD pumped to 400.08 (SM_CC=400)
• GPS1 time: 9 s, HDOP was 3.0 m
• GPS2 time: 68 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
20 - - - 83 VBD -1.28 - - 126 - - - 2492 - -61.9 -60.05 - 2486 - - - - - - - - - - -
87 4.2 -8.2 8 106 roll -1.33 8.98 0.216 2371 250.0 2.15 0.040 1088 -653.0 -75.4 -3.50 - 2692 -58.9 - - - - - - - 25.20 26.19 26.50
121 20.6 -43.9 12 130 done -0.87 0.57 0.154 2526 271.9 2.20 0.038 2512 647.3 -75.4 - - 2695 - - - - - - - - 25.40 26.02 -
265 50.6 -18.2 37 271 roll -0.94 - - 2518 - 1.83 0.054 3669 632.2 -75.4 - - 2697 - - - - - - - - - 26.02 -
357 65.1 -16.3 45 366 done -1.01 - - 2518 - 1.75 0.026 2493 -672.0 -75.4 - - 2698 - - - - - - - - - 26.36 -
485 82.8 -12.8 58 491 roll -1.09 0.15 0.070 2421 -646.7 2.08 0.027 1099 -670.2 -75.4 - - 2698 - - - - - - - - 26.49 26.30 -
557 94.9 -18.8 64 566 done -1.09 0.17 0.155 2458 217.6 2.15 0.037 2503 653.0 -75.4 - - 2698 - - - - - - - - 25.83 26.20 -
685 117.1 -16.5 77 686 done -1.13 - - 2458 - - - 2503 - -75.4 - - 2699 - - - - - - - - - - -
808 137.7 -18.1 89 814 roll -1.16 - - 2458 - 2.08 0.028 1102 -673.6 -75.4 - - 2700 - - - - - - - - - 26.37 -
824 140.9 -18.4 90 830 done -1.20 - - 2447 - 2.15 0.037 2504 652.1 -75.4 - - 2699 - - - - - - - - - 26.23 -
959 166.6 -18.8 103 966 roll -1.23 - - 2438 - 1.83 0.051 3670 637.2 -75.4 - - 2701 - - - - - - - - - 26.19 -
1042 181.3 -17.9 110 1050 done -1.23 - - 2438 - 1.67 0.024 2493 -704.8 -75.4 - - 2700 - - - - - - - - - 26.49 -
1170 202.5 -15.4 123 1172 done -1.27 0.10 0.096 2366 -720.0 - - 2493 - -75.4 - - 2700 - - - - - - - - 26.62 - -
1292 224.8 -19.2 135 1300 roll -1.27 0.12 0.159 2403 308.3 2.05 0.025 1097 -681.0 -75.4 - - 2700 - - - - - - - - 26.26 26.41 -
1309 227.8 -18.9 136 1315 done -1.27 - - 2390 - 2.12 0.035 2502 662.7 -75.4 - - 2700 - - - - - - - - - 26.28 -
1444 251.6 -17.6 149 1450 roll -1.27 - - 2393 - 2.05 0.028 1109 -679.5 -75.4 - - 2700 - - - - - - - - - 26.41 -
1492 260.1 -17.4 153 1499 done -1.27 - - 2382 - 2.12 0.036 2499 655.7 -75.4 - - 2700 - - - - - - - - - 26.28 -
1628 282.6 -15.7 166 1634 roll -1.27 - - 2374 - 1.85 0.051 3661 628.1 -75.4 - - 2700 - - - - - - - - - 26.23 -
1696 293.6 -16.0 172 1702 done -1.27 - - 2374 - 1.67 0.027 2507 -691.0 -75.4 - - 2700 - - - - - - - - - 26.52 -
1830 316.7 -17.1 185 1837 roll -1.27 - - 2365 - 1.83 0.050 3673 637.2 -75.4 - - 2700 - - - - - - - - - 26.22 -
1899 329.9 -19.3 191 1907 done -1.27 0.10 0.136 2397 320.0 1.75 0.024 2490 -676.0 -75.4 - - 2700 - - - - - - - - 26.12 26.53 -
2036 352.6 -16.7 204 2041 roll -1.27 - - 2398 - 2.03 0.028 1106 -681.8 -75.4 - - 2700 - - - - - - - - - 26.43 -
2139 367.8 -14.6 213 2147 done -1.27 - - 2388 - 2.12 0.037 2500 657.5 -75.4 - - 2700 - - - - - - - - - 26.29 -
2265 388.1 -15.8 226 2271 roll -1.27 - - 2379 - 1.83 0.051 3672 640.4 -75.4 - - 2700 - - - - - - - - - 26.22 -
2313 396.0 -17.2 230 2319 done -1.27 - - 2378 - 1.70 0.025 2493 -693.5 -75.4 - - 2700 - - - - - - - - - 26.53 -
2447 418.1 -16.3 243 2449 done -1.27 - - 2379 - - - 2493 - -75.4 - - 2699 - - - - - - - - - - -
2570 436.5 -14.4 255 2578 done -1.27 - - 2379 - - - 2493 - -75.4 - - 2699 - - - - - - - - - - -
2698 455.3 -14.7 268 2699 done -1.27 - - 2379 - - - 2493 - -75.4 - - 2698 - - - - - - - - - - -
2821 473.8 -15.3 280 2828 done -1.27 - - 2379 - - - 2493 - -75.4 - - 2699 - - - - - - - - - - -
2949 494.5 -16.4 293 2955 roll -1.27 - - 2379 - 2.05 0.028 1106 -676.6 -75.4 - - 2697 - - - - - - - - - 26.41 -
2987 500.7 -17.0 296 2995 done -1.27 0.12 0.164 2400 175.0 2.15 0.037 2504 650.2 -75.4 - - 2696 - - - - - - - - 26.02 26.29 -
3124 523.1 -15.8 309 3130 roll -1.30 - - 2392 - 1.83 0.051 3672 638.3 -75.4 - - 2696 - - - - - - - - - 26.20 -
3207 537.4 -18.1 316 3215 done -1.30 - - 2392 - 1.70 0.026 2494 -692.9 -75.4 - - 2695 - - - - - - - - - 26.53 -
3334 559.5 -16.3 329 3335 done -1.30 - - 2392 - - - 2494 - -75.4 - - 2695 - - - - - - - - - - -
3457 578.7 -15.9 341 3462 roll -1.30 - - 2384 - 1.85 0.052 3669 635.1 -75.4 - - 2694 - - - - - - - - - 26.20 -
3518 588.0 -15.7 346 3526 done -1.30 - - 2383 - 1.73 0.027 2511 -669.4 -75.4 - - 2694 - - - - - - - - - 26.52 -
3645 607.6 -15.6 359 3646 done -1.30 - - 2384 - - - 2511 - -75.4 - - 2692 - - - - - - - - - - -
3827 634.6 -14.9 377 3834 roll -1.30 - - 2384 - 2.10 0.028 1093 -675.2 -75.4 - - 2692 - - - - - - - - - 26.40 -
3868 640.4 -15.5 380 3876 done -1.30 - - 2373 - 2.17 0.037 2507 651.6 -75.4 - - 2691 - - - - - - - - - 26.27 -
4055 671.6 -16.7 399 4061 roll -1.30 - - 2364 - 1.83 0.053 3669 635.0 -75.4 - - 2690 - - - - - - - - - 26.17 -
4143 686.7 -17.4 407 4149 done -1.30 - - 2364 - 1.75 0.027 2508 -663.4 -75.4 - - 2691 - - - - - - - - - 26.52 -
4339 719.3 -17.1 426 4345 roll -1.30 - - 2364 - 2.10 0.028 1093 -673.8 -75.4 - - 2689 - - - - - - - - - 26.38 -
4385 727.3 -17.2 430 4392 done -1.30 0.15 0.158 2392 186.7 2.17 0.038 2502 649.3 -75.4 - - 2688 - - - - - - - - 25.93 26.25 -
4581 758.0 -15.7 449 4587 roll -1.34 - - 2393 - 2.10 0.028 1092 -671.4 -75.4 - - 2688 - - - - - - - - - 26.38 -
4612 762.0 -15.7 451 4621 done -1.38 - - 2383 - 2.17 0.038 2502 649.8 -75.4 - - 2687 - - - - - - - - - 26.22 -
4697 end dive: TARGET_DEPTH_EXCEEDED
4697 begin apogee
4705 777.1 -16.1 460 4846 done -0.20 1.12 0.126 2741 319.6 - - 1983 - - 133.30 0.692 2375 -2.3 0.268 - - - - - - 25.58 - 24.35
4848 end apogee: CONTROL_FINISHED_OK
4850 begin climb
4852 783.9 - 471 4958 roll 1.33 1.35 0.051 3256 381.5 2.20 0.032 625 -617.3 75.4 90.82 0.805 2057 -3.5 0.347 - - - - - - 25.50 25.23 24.14
5165 769.8 9.2 498 5172 done 1.24 0.17 0.159 3209 -276.5 2.12 0.028 2019 657.5 79.5 - - 2034 - - - - - - - - 25.67 26.07 -
5362 753.2 8.2 517 5382 done 1.23 - - 3209 - - - 2018 - 92.7 14.20 0.768 1997 -2.6 0.260 - - - - - - - - 24.93
5561 732.1 11.5 537 5567 roll 1.17 - - 3220 - 2.15 0.034 624 -648.4 92.7 - - 1981 - - - - - - - - - 26.16 -
5677 719.3 11.5 547 5687 done 1.10 0.20 0.152 3166 -270.0 2.08 0.031 2001 662.0 92.7 - - 1981 - - - - - - - - 25.81 26.24 -
5867 699.4 10.0 566 5874 done 1.10 - - 3165 - - - 2001 - 92.7 - - 1979 - - - - - - - - - - -
6056 681.4 9.1 585 6062 roll 1.12 - - 3175 - 2.10 0.034 625 -655.2 97.4 - - 1977 - - - - - - - - - 26.28 -
6252 664.4 8.4 603 6285 done 1.16 - - 3175 - 2.08 0.031 1998 660.1 109.0 22.45 0.686 1927 -2.2 0.220 - - - - - - - 26.33 25.01
6468 645.0 9.2 624 6474 roll 1.17 - - 3175 - 2.22 0.047 3406 634.2 113.0 - - 1917 - - - - - - - - - 26.10 -
6557 636.4 9.7 632 6563 done 1.12 - - 3186 - 2.10 0.028 2005 -667.1 113.0 - - 1915 - - - - - - - - - 26.32 -
6753 618.8 9.1 651 6760 roll 1.14 - - 3197 - 2.20 0.035 610 -634.1 117.9 2.35 0.219 1896 -8.1 2.325 - - - - - - - 26.25 24.07
6823 612.0 9.8 657 6829 done 1.10 0.12 0.164 3165 -266.7 2.12 0.031 2008 659.4 117.9 - - 1895 - - - - - - - - 25.98 26.29 -
7018 592.5 10.3 676 7024 roll 1.10 - - 3165 - 2.17 0.047 3400 641.5 117.9 - - 1896 - - - - - - - - - 26.17 -
7069 587.0 11.7 680 7077 done 1.06 - - 3176 - 2.08 0.029 1999 -673.6 117.9 - - 1896 - - - - - - - - - 26.40 -
7196 572.5 10.7 693 7197 done 1.06 - - 3175 - - - 1999 - 117.9 - - 1896 - - - - - - - - - - -
7318 560.3 9.7 705 7324 roll 1.06 - - 3176 - 2.20 0.047 3400 636.8 117.9 - - 1896 - - - - - - - - - 26.18 -
7516 539.5 10.3 723 7524 done 1.02 0.17 0.151 3138 -223.5 2.08 0.029 1997 -674.5 117.9 - - 1897 - - - - - - - - 25.96 26.42 -
7643 528.1 8.4 736 7681 roll 1.06 - - 3137 - 2.28 0.047 3395 613.2 129.2 27.33 0.628 1845 -1.9 0.163 - - - - - - - 26.09 24.98
7802 511.6 11.3 750 7809 done 1.06 - - 3148 - 2.10 0.030 2002 -663.3 129.2 - - 1833 - - - - - - - - - 26.24 -
7938 499.0 9.1 763 7944 roll 1.08 - - 3159 - 2.12 0.037 610 -656.6 134.5 - - 1831 - - - - - - - - - 26.15 -
8000 493.5 9.1 768 8009 done 1.09 - - 3159 - 2.10 0.031 1999 661.4 139.1 2.90 0.346 1809 -7.6 1.101 - - - - - - - 26.22 24.27
8128 480.8 9.9 781 8129 done 1.09 - - 3159 - - - 1999 - 139.1 - - 1808 - - - - - - - - - - -
8251 469.3 9.2 793 8260 done 1.11 - - 3159 - - - 1999 - 142.9 2.85 0.342 1795 -4.6 0.637 - - - - - - - - 24.30
8379 457.3 9.4 806 8385 roll 1.11 - - 3170 - 2.12 0.036 610 -655.2 144.7 - - 1796 - - - - - - - - - 26.22 -
8449 451.0 8.9 812 8475 done 1.13 - - 3170 - 2.12 0.031 2006 658.5 151.2 21.73 0.643 1763 -1.5 0.108 - - - - - - - 26.28 24.96
8595 436.2 10.4 826 8601 roll 1.13 - - 3170 - 2.22 0.047 3401 628.4 151.2 - - 1738 - - - - - - - - - 26.03 -
8636 432.0 11.5 829 8645 done 1.13 - - 3181 - 2.10 0.029 2001 -666.7 151.2 - - 1738 - - - - - - - - - 26.23 -
8764 415.9 11.6 842 8766 done 1.13 - - 3181 - - - 2000 - 151.2 - - 1738 - - - - - - - - - - -
8887 401.6 12.6 854 8892 roll 1.13 - - 3181 - 2.22 0.047 3409 634.7 151.2 - - 1738 - - - - - - - - - 26.10 -
8928 396.7 13.3 857 8937 done 1.13 - - 3192 - 2.12 0.030 1993 -667.9 151.2 - - 1737 - - - - - - - - - 26.31 -
9056 378.7 13.5 870 9063 done 1.13 - - 3192 - - - 1991 - 151.2 - - 1737 - - - - - - - - - - -
9186 361.1 12.8 883 9192 roll 1.13 - - 3203 - 2.15 0.038 600 -647.0 151.2 - - 1737 - - - - - - - - - 26.20 -
9248 353.3 13.3 888 9256 done 1.13 - - 3203 - 2.12 0.031 2008 664.2 151.2 - - 1737 - - - - - - - - - 26.27 -
9375 336.0 13.0 901 9380 roll 1.13 - - 3203 - 2.20 0.047 3402 633.6 151.2 - - 1737 - - - - - - - - - 26.14 -
9488 321.8 12.3 911 9497 done 1.08 0.20 0.154 3159 -220.0 2.10 0.030 1993 -671.0 151.2 - - 1737 - - - - - - - - 25.83 26.37 -
9616 306.4 11.0 924 9623 roll 1.08 - - 3169 - 2.12 0.039 609 -652.8 151.2 - - 1736 - - - - - - - - - 26.22 -
9697 298.3 10.2 931 9703 done 1.08 - - 3169 - 2.12 0.032 2007 659.4 151.2 - - 1736 - - - - - - - - - 26.29 -
9832 283.0 11.0 944 9839 roll 1.08 - - 3169 - 2.20 0.048 3401 633.6 151.2 - - 1736 - - - - - - - - - 26.14 -
10015 262.3 11.4 961 10021 done 1.08 - - 3181 - 2.10 0.029 1997 -668.6 151.2 - - 1736 - - - - - - - - - 26.39 -
10151 248.5 9.5 974 10158 roll 1.08 - - 3191 - 2.15 0.039 610 -645.1 151.8 - - 1736 - - - - - - - - - 26.23 -
10250 239.3 9.7 983 10256 done 1.08 0.12 0.155 3159 -266.7 2.10 0.032 2001 662.4 151.8 - - 1736 - - - - - - - - 26.00 26.29 -
10386 226.7 8.7 996 10394 roll 1.11 - - 3158 - 2.28 0.047 3402 614.5 160.9 1.90 0.047 1719 -8.9 4.393 - - - - - - - 26.13 26.07
10514 214.5 10.4 1007 10522 done 1.11 - - 3168 - 2.08 0.029 2003 -672.6 160.9 - - 1720 - - - - - - - - - 26.39 -
10641 203.4 8.6 1020 10663 done 1.15 - - 3168 - - - 2002 - 170.5 19.50 0.504 1683 -1.9 0.078 - - - - - - - - 25.11
10783 189.2 10.4 1034 10789 roll 1.15 - - 3169 - 2.22 0.047 3407 632.9 170.5 - - 1661 - - - - - - - - - 26.09 -
11029 159.7 12.5 1057 11036 done 1.15 - - 3180 - 2.10 0.029 1997 -671.4 170.5 - - 1660 - - - - - - - - - 26.34 -
11165 145.3 10.5 1070 11166 done 1.15 - - 3180 - - - 1997 - 170.5 - - 1660 - - - - - - - - - - -
11288 134.3 7.8 1082 11314 roll 1.21 - - 3180 - 2.30 0.047 3408 613.5 188.2 18.90 0.461 1602 -3.1 0.091 - - - - - - - 26.18 25.16
11403 122.3 11.2 1092 11410 done 1.21 - - 3191 - 2.12 0.029 1992 -667.9 188.2 - - 1590 - - - - - - - - - 26.27 -
11540 109.4 9.4 1105 11546 roll 1.22 - - 3202 - 2.12 0.038 609 -652.4 190.5 - - 1589 - - - - - - - - - 26.15 -
11675 95.9 11.7 1117 11683 done 1.22 - - 3200 - 2.10 0.031 2002 663.3 190.5 - - 1589 - - - - - - - - - 26.24 -
11802 80.1 12.1 1130 11808 roll 1.22 - - 3202 - 2.22 0.047 3411 634.7 190.5 - - 1587 - - - - - - - - - 26.12 -
11875 71.9 12.2 1136 11883 done 1.22 - - 3213 - 2.10 0.028 1993 -675.2 190.5 - - 1587 - - - - - - - - - 26.35 -
12002 58.3 9.2 1149 12009 roll 1.23 - - 3224 - 2.10 0.037 610 -658.6 194.4 - - 1588 - - - - - - - - - 26.22 -
12091 51.8 7.2 1157 12135 done 1.31 - - 3224 - 2.10 0.030 2002 662.9 217.1 32.80 0.415 1485 -3.1 0.040 - - - - - - - 26.29 25.20
12269 34.1 9.8 1185 12276 done 1.31 - - 3224 - - - 2002 - 217.1 - - 1469 - - - - - - - - - - -
12409 24.2 5.6 1210 12459 roll 1.48 0.15 0.070 3332 720.0 2.28 0.044 3406 615.8 255.6 39.97 0.396 1326 -3.6 0.022 - - - - - - 26.46 26.00 25.17
12491 14.9 15.5 1221 12500 done 1.41 0.28 0.146 3265 -239.3 2.10 0.028 2004 -667.6 255.6 - - 1311 - - - - - - - - 25.56 26.10 -
12589 end climb: SURFACE_DEPTH_REACHED
12589 begin surface coast
12618 end surface coast: CONTROL_FINISHED_OK
12618 begin surface
SM 1.02 - - - - -8.27 8.20 0.037 110 13.4 0.77 0.046 2490 -3423.4 400.08 72.15 0.060 748 10.4 -0.018 - - - - - -