OKMC Apr12 * SG170 * Dive index * Mission links * Dive 56 * Raw log
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• Previous call tries 1 • 11.43 of 146.00 AH used of 24V (92.17% remains)
• Previous NAKs 0, Timeouts 0 • 4.21 of 97.50 AH used of 10V (95.68% remains)
• Surface angle -66.3 deg, depth 1.88 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 41 s
• GPS2 time: 17 s • Transponder ping count: 2
• 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 101 VBD -0.46 - - 136 - - - 2694 - -194.6 -81.97 - 2725 - - - - - - - - - - -
104 3.5 -3.6 8 146 roll -0.46 10.27 0.244 2641 243.9 2.17 0.047 1280 -651.6 -194.6 -21.90 - 3919 -54.5 - - - - - - - 25.57 25.98 26.29
199 31.9 -25.2 17 205 done -0.33 0.17 0.174 2687 270.6 2.22 0.050 2688 634.2 -194.6 - - 3921 - - - - - - - - 25.79 25.98 -
522 83.3 -11.1 37 528 roll -0.33 - - 2688 - 2.12 0.034 1273 -667.5 -194.6 - - 3924 - - - - - - - - - 26.23 -
545 85.4 -10.5 38 552 done -0.35 - - 2688 - 2.25 0.049 2692 630.7 -194.6 - - 3924 - - - - - - - - - 26.19 -
869 105.3 -5.9 54 874 roll -0.42 - - 2688 - 2.10 0.033 1276 -674.3 -194.6 - - 3924 - - - - - - - - - 26.36 -
961 111.1 -7.1 58 968 done -0.50 0.15 0.080 2603 -566.7 2.17 0.049 2667 641.0 -194.6 - - 3924 - - - - - - - - 26.36 26.32 -
1275 154.8 -11.9 74 1281 roll -0.47 0.12 0.148 2646 358.3 1.65 0.056 3701 626.7 -194.6 - - 3924 - - - - - - - - 26.33 26.37 -
1313 157.3 -11.3 75 1319 done -0.45 - - 2646 - 1.60 0.032 2624 -673.1 -194.6 - - 3924 - - - - - - - - - 26.51 -
1619 184.2 -8.2 91 1624 roll -0.49 - - 2646 - 1.98 0.034 1269 -684.3 -194.6 - - 3924 - - - - - - - - - 26.49 -
1642 186.1 -8.2 92 1648 done -0.53 - - 2646 - 2.17 0.047 2663 642.4 -194.6 - - 3924 - - - - - - - - - 26.44 -
1965 207.6 -5.8 108 1972 roll -0.59 0.12 0.092 2569 -641.7 2.08 0.031 1269 -670.2 -194.6 - - 3922 - - - - - - - - 26.60 26.53 -
2050 217.0 -11.1 112 2057 done -0.57 0.15 0.153 2613 293.3 2.12 0.047 2645 649.1 -194.6 - - 3922 - - - - - - - - 26.32 26.48 -
2374 249.8 -9.6 128 2375 done -0.59 - - 2613 - - - 2646 - -194.6 - - 3921 - - - - - - - - - - -
2675 279.4 -9.2 143 2680 roll -0.61 - - 2613 - 2.05 0.033 1266 -673.2 -194.6 - - 3919 - - - - - - - - - 26.58 -
2737 285.0 -9.0 146 2743 done -0.65 - - 2613 - 2.10 0.045 2625 647.1 -194.6 - - 3918 - - - - - - - - - 26.54 -
3061 313.5 -9.1 162 3066 roll -0.67 - - 2613 - 2.00 0.031 1263 -681.0 -194.6 - - 3916 - - - - - - - - - 26.60 -
3093 315.6 -8.9 163 3099 done -0.70 0.12 0.090 2549 -533.3 2.10 0.045 2625 648.6 -194.6 - - 3916 - - - - - - - - 26.55 26.55 -
3407 360.3 -14.4 179 3413 roll -0.66 0.12 0.158 2590 341.7 1.67 0.056 3694 640.1 -194.6 - - 3914 - - - - - - - - 26.46 26.52 -
3540 373.6 -9.9 185 3545 done -0.68 - - 2590 - 1.62 0.034 2596 -677.8 -194.6 - - 3913 - - - - - - - - - 26.67 -
3853 400.2 -7.2 201 3858 roll -0.69 - - 2591 - 1.95 0.031 1263 -683.6 -194.6 - - 3910 - - - - - - - - - 26.63 -
3940 405.9 -7.0 205 3946 done -0.71 - - 2591 - 2.08 0.046 2607 646.2 -194.6 - - 3910 - - - - - - - - - 26.57 -
4258 429.3 -7.4 221 4263 roll -0.73 - - 2591 - 1.67 0.059 3691 649.1 -194.6 - - 3908 - - - - - - - - - 26.53 -
4316 432.6 -7.5 223 4323 done -0.75 - - 2591 - 1.65 0.036 2602 -660.0 -194.6 - - 3908 - - - - - - - - - 26.67 -
4622 456.7 -7.5 239 4627 roll -0.76 0.12 0.093 2516 -625.0 1.95 0.032 1266 -685.1 -194.6 - - 3905 - - - - - - - - 26.70 26.63 -
4645 459.1 -8.0 240 4651 done -0.76 0.15 0.162 2558 280.0 2.10 0.048 2610 640.0 -194.6 - - 3905 - - - - - - - - 26.36 26.55 -
4969 492.0 -10.0 256 4975 roll -0.74 - - 2559 - 1.70 0.059 3694 637.6 -194.6 - - 3902 - - - - - - - - - 26.53 -
5056 500.6 -10.4 260 5061 done -0.72 - - 2559 - 1.62 0.035 2603 -673.5 -194.6 - - 3902 - - - - - - - - - 26.68 -
5373 535.3 -11.3 276 5378 roll -0.71 - - 2559 - 1.95 0.034 1267 -685.1 -194.6 - - 3900 - - - - - - - - - 26.63 -
5409 537.9 -11.5 277 5416 done -0.69 - - 2559 - 2.12 0.050 2628 642.0 -194.6 - - 3900 - - - - - - - - - 26.55 -
5716 574.5 -10.9 293 5717 done -0.68 - - 2559 - - - 2628 - -194.6 - - 3897 - - - - - - - - - - -
6037 605.6 -9.0 308 6038 done -0.66 - - 2559 - - - 2629 - -194.6 - - 3896 - - - - - - - - - - -
6335 633.3 -9.2 318 6341 roll -0.66 - - 2559 - 2.03 0.034 1270 -669.5 -194.6 - - 3894 - - - - - - - - - 26.63 -
6387 636.5 -9.4 319 6392 done -0.66 - - 2559 - 2.08 0.048 2617 647.6 -194.6 - - 3894 - - - - - - - - - 26.55 -
6699 667.9 -9.6 330 6700 done -0.66 - - 2559 - - - 2616 - -194.6 - - 3892 - - - - - - - - - - -
6999 697.3 -9.6 340 7000 done -0.66 - - 2559 - - - 2617 - -194.6 - - 3891 - - - - - - - - - - -
7300 725.7 -9.4 350 7305 roll -0.66 - - 2559 - 1.70 0.061 3693 632.9 -194.6 - - 3889 - - - - - - - - - 26.50 -
7377 731.7 -9.5 352 7382 done -0.66 - - 2559 - 1.62 0.037 2611 -667.9 -194.6 - - 3888 - - - - - - - - - 26.67 -
7696 760.4 -8.7 363 7697 done -0.66 - - 2559 - - - 2611 - -194.6 - - 3887 - - - - - - - - - - -
7995 788.1 -9.5 373 8000 roll -0.66 - - 2559 - 1.98 0.034 1266 -679.3 -194.6 - - 3885 - - - - - - - - - 26.60 -
8041 791.4 -9.6 374 8046 done -0.66 - - 2559 - 2.12 0.049 2640 648.1 -194.6 - - 3885 - - - - - - - - - 26.53 -
8359 827.1 -11.3 385 8360 done -0.66 - - 2559 - - - 2640 - -194.6 - - 3883 - - - - - - - - - - -
8659 861.2 -11.2 395 8660 done -0.66 - - 2559 - - - 2640 - -194.6 - - 3882 - - - - - - - - - - -
8959 894.2 -10.9 405 8964 roll -0.66 - - 2559 - 2.03 0.034 1277 -671.4 -194.6 - - 3882 - - - - - - - - - 26.60 -
8986 894.2 -10.9 405 8992 done -0.66 - - 2559 - 2.12 0.050 2632 639.2 -194.6 - - 3881 - - - - - - - - - 26.51 -
9292 928.9 -10.1 416 9293 done -0.66 - - 2559 - - - 2632 - -194.6 - - 3880 - - - - - - - - - - -
9591 957.4 -8.9 426 9592 done -0.66 - - 2559 - - - 2632 - -194.6 - - 3879 - - - - - - - - - - -
9892 982.5 -8.3 436 9897 roll -0.66 - - 2559 - 2.03 0.035 1272 -670.0 -194.6 - - 3879 - - - - - - - - - 26.59 -
9924 985.3 -8.4 437 9929 done -0.66 - - 2559 - 2.10 0.050 2619 641.4 -194.6 - - 3878 - - - - - - - - - 26.48 -
9984 end dive: TARGET_DEPTH_EXCEEDED
9985 begin apogee
9990 990.5 -8.5 439 10150 roll -0.12 0.57 0.118 2755 343.9 - - 1915 - - 153.20 1.435 3121 -4.9 0.361 - - - - - - 26.22 - 23.65
10152 end apogee: CONTROL_FINISHED_OK
10152 begin climb
10153 996.6 - 444 10337 roll 0.46 0.55 0.060 2959 370.9 2.25 0.041 541 -610.7 194.6 174.23 1.394 2327 -4.6 0.344 - - - - - - 24.77 24.76 23.22
10429 979.0 10.8 453 10435 done 0.43 - - 2959 - 2.28 0.041 1950 618.0 194.6 - - 2321 - - - - - - - - - 25.09 -
10743 941.3 11.4 464 10748 roll 0.40 - - 2968 - 2.22 0.045 548 -631.5 194.6 - - 2316 - - - - - - - - - 25.82 -
10949 919.6 11.8 470 10958 done 0.37 0.17 0.140 2916 -305.9 2.17 0.040 1954 647.9 194.6 - - 2315 - - - - - - - - 25.85 26.01 -
11255 887.6 9.4 481 11261 roll 0.37 - - 2916 - 2.22 0.053 3344 626.1 194.6 - - 2314 - - - - - - - - - 26.12 -
11312 884.3 9.5 482 11319 done 0.37 - - 2916 - 2.12 0.034 1961 -652.4 194.6 - - 2313 - - - - - - - - - 26.23 -
11619 856.3 7.7 493 11653 roll 0.39 - - 2916 - 2.28 0.052 3345 607.0 226.5 27.55 1.310 2196 -4.2 0.294 - - - - - - - 25.56 24.61
11674 854.1 7.6 494 11714 done 0.41 - - 2916 - 2.17 0.034 1963 -636.9 262.1 32.67 1.300 2051 -4.4 0.308 - - - - - - - 25.69 24.09
12042 827.4 6.4 507 12111 done 0.49 0.12 0.094 2982 550.0 - - 1958 - 337.1 66.53 1.310 1746 -4.6 0.306 - - - - - - 25.99 - 23.85
12402 789.4 10.7 519 12408 roll 0.46 0.12 0.151 2943 -325.0 2.22 0.043 534 -641.4 337.1 - - 1738 - - - - - - - - 25.75 25.83 -
12430 789.4 10.7 519 12437 done 0.44 - - 2943 - 2.28 0.041 1976 632.5 337.1 - - 1738 - - - - - - - - - 25.87 -
12737 766.1 7.1 530 12790 roll 0.51 - - 2943 - 2.28 0.054 3346 600.9 390.7 46.30 1.269 1528 -4.5 0.290 - - - - - - - 25.05 24.13
12807 761.6 7.2 532 12859 done 0.57 0.12 0.090 3002 491.7 2.20 0.034 1958 -630.9 440.0 44.28 1.242 1327 -4.5 0.294 - - - - - - 25.27 25.29 23.86
13158 709.4 16.1 544 13164 roll 0.55 - - 3010 - 2.22 0.045 529 -643.7 440.0 - - 1322 - - - - - - - - - 25.82 -
13255 695.5 15.2 547 13261 done 0.55 0.12 0.139 2973 -308.3 2.20 0.040 1945 643.6 440.0 - - 1321 - - - - - - - - 25.83 25.94 -
13584 652.5 13.0 558 13589 roll 0.57 - - 2973 - 2.22 0.052 3357 636.0 440.0 - - 1320 - - - - - - - - - 26.10 -
13601 652.5 13.0 558 13606 done 0.60 - - 2974 - 2.17 0.034 1932 -656.7 440.0 - - 1320 - - - - - - - - - 26.17 -
13920 610.7 12.0 569 13925 roll 0.63 - - 2974 - 2.15 0.045 536 -649.3 440.0 - - 1320 - - - - - - - - - 26.24 -
13982 603.6 11.4 571 13989 done 0.67 0.12 0.093 3039 541.7 2.17 0.039 1937 645.6 440.0 - - 1319 - - - - - - - - 26.27 26.27 -
14296 546.0 18.8 586 14302 roll 0.61 0.12 0.162 2999 -333.3 2.17 0.044 530 -648.4 440.0 - - 1319 - - - - - - - - 26.22 26.32 -
14354 539.3 17.2 588 14361 done 0.58 - - 2999 - 2.12 0.040 1912 651.9 440.0 - - 1319 - - - - - - - - - 26.34 -
14659 495.5 14.4 604 14664 roll 0.58 - - 2999 - 2.28 0.052 3350 630.7 440.0 - - 1319 - - - - - - - - - 26.34 -
14702 489.0 14.6 606 14707 done 0.58 - - 2999 - 2.20 0.034 1903 -657.7 440.0 - - 1320 - - - - - - - - - 26.41 -
15024 442.4 14.4 622 15030 roll 0.58 - - 2999 - 2.10 0.046 531 -653.3 440.0 - - 1319 - - - - - - - - - 26.40 -
15116 432.1 12.4 626 15121 done 0.61 - - 2999 - 2.08 0.039 1888 652.4 440.0 - - 1319 - - - - - - - - - 26.43 -
15428 391.6 12.8 642 15433 roll 0.61 - - 2999 - 2.30 0.052 3353 637.0 440.0 - - 1319 - - - - - - - - - 26.41 -
15470 385.7 13.3 644 15475 done 0.61 - - 2999 - 2.25 0.034 1870 -659.1 440.0 - - 1319 - - - - - - - - - 26.48 -
15792 344.3 12.5 660 15797 roll 0.61 - - 2999 - 2.03 0.045 537 -656.7 440.0 - - 1319 - - - - - - - - - 26.46 -
15855 337.7 10.9 663 15860 done 0.64 - - 2999 - 2.05 0.039 1886 658.0 440.0 - - 1319 - - - - - - - - - 26.48 -
16178 302.6 11.6 679 16183 roll 0.65 - - 2999 - 2.30 0.051 3354 638.3 440.0 - - 1319 - - - - - - - - - 26.44 -
16229 296.8 12.8 681 16234 done 0.65 - - 2999 - 2.22 0.034 1874 -666.7 440.0 - - 1319 - - - - - - - - - 26.52 -
16542 259.0 10.3 697 16543 done 0.67 - - 2999 - - - 1874 - 440.0 - - 1319 - - - - - - - - - - -
16842 229.2 10.2 712 16848 roll 0.70 - - 2999 - 2.03 0.044 536 -659.1 440.0 - - 1319 - - - - - - - - - 26.51 -
16868 227.1 9.9 713 16875 done 0.73 0.10 0.109 3056 570.0 2.08 0.037 1904 657.7 440.0 - - 1319 - - - - - - - - 26.48 26.52 -
17188 176.1 17.3 729 17193 roll 0.69 0.12 0.157 3015 -341.7 2.10 0.041 536 -651.4 440.0 - - 1319 - - - - - - - - 26.41 26.51 -
17255 168.2 13.6 732 17260 done 0.69 - - 3015 - 2.03 0.037 1885 664.5 440.0 - - 1320 - - - - - - - - - 26.53 -
17573 135.0 9.7 748 17578 roll 0.71 - - 3015 - 2.25 0.050 3345 648.9 440.0 - - 1320 - - - - - - - - - 26.48 -
17616 130.5 9.9 750 17621 done 0.73 - - 3015 - 2.20 0.033 1872 -669.5 440.0 - - 1320 - - - - - - - - - 26.57 -
17939 103.0 8.4 766 17954 roll 0.79 0.12 0.092 3091 633.3 2.03 0.042 535 -658.6 449.6 8.48 0.703 1288 -3.8 0.058 - - - - - - 26.64 26.45 25.58
18029 91.7 14.0 770 18035 done 0.79 0.12 0.133 3051 -333.3 1.98 0.037 1847 662.6 449.6 - - 1288 - - - - - - - - 26.34 26.44 -
18343 59.5 10.1 786 18348 roll 0.84 - - 3051 - 2.33 0.049 3344 642.5 449.6 - - 1289 - - - - - - - - - 26.42 -
18405 54.1 8.9 789 18411 done 0.91 0.12 0.093 3121 583.3 2.22 0.033 1854 -671.2 449.6 - - 1289 - - - - - - - - 26.46 26.51 -
18720 36.0 4.7 817 18837 roll 1.04 - - 3121 - 2.15 0.045 533 -614.4 584.5 107.55 0.713 737 -5.1 0.027 - - - - - - - 25.22 24.61
18915 23.2 6.8 836 18957 done 1.29 0.28 0.076 3226 375.0 2.03 0.034 1835 641.4 647.5 36.30 0.652 481 -7.1 0.027 - - - - - - 25.59 25.62 24.68
19103 end climb: SURFACE_DEPTH_REACHED
19103 begin surface coast
19136 end surface coast: CONTROL_FINISHED_OK
19136 begin surface
SM 2.17 - - - - -8.29 8.07 0.040 132 -383.4 1.35 0.044 2684 628.9 652.74 2.62 0.064 459 -8.4 0.029 - - - - - -