OKMC Apr12 * SG170 * Dive index * Mission links * Dive 65 * Raw log
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• Previous call tries 1 • 13.43 of 146.00 AH used of 24V (90.80% remains)
• Previous NAKs 0, Timeouts 0 • 5.23 of 97.50 AH used of 10V (94.63% remains)
• Surface angle -73.3 deg, depth 1.87 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 26 s
• GPS2 time: 18 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 110 VBD -0.46 - - 130 - - - 2693 - -194.6 -91.20 - 2929 - - - - - - - - - - -
113 3.7 -3.8 9 144 done -0.46 10.40 0.248 2640 241.3 - - 2693 - -194.6 -17.73 - 3919 -55.8 - - - - - - - 25.57 - 26.34
441 82.0 -16.2 34 447 roll -0.40 0.10 0.164 2668 280.0 1.60 0.057 3694 625.6 -194.6 - - 3923 - - - - - - - - 26.15 26.13 -
608 94.9 -7.8 42 615 done -0.46 - - 2669 - 1.50 0.032 2658 -690.7 -194.6 - - 3924 - - - - - - - - - 26.34 -
927 118.7 -7.6 58 933 roll -0.51 0.12 0.086 2589 -666.7 2.03 0.031 1291 -673.4 -194.6 - - 3925 - - - - - - - - 26.45 26.37 -
1010 129.2 -12.6 62 1016 done -0.49 0.17 0.148 2640 300.0 2.17 0.049 2684 641.9 -194.6 - - 3924 - - - - - - - - 26.15 26.32 -
1335 162.9 -8.7 78 1336 done -0.52 - - 2641 - - - 2685 - -194.6 - - 3924 - - - - - - - - - - -
1635 186.8 -7.9 93 1641 roll -0.55 - - 2641 - 2.05 0.034 1300 -675.6 -194.6 - - 3924 - - - - - - - - - 26.48 -
1678 190.1 -7.6 95 1684 done -0.59 - - 2641 - 2.15 0.049 2682 642.8 -194.6 - - 3923 - - - - - - - - - 26.41 -
2002 211.5 -7.4 111 2008 roll -0.63 0.12 0.087 2562 -658.3 2.08 0.032 1296 -666.3 -194.6 - - 3922 - - - - - - - - 26.60 26.51 -
2090 222.7 -13.5 115 2096 done -0.60 0.15 0.155 2604 280.0 2.12 0.050 2653 640.1 -194.6 - - 3921 - - - - - - - - 26.27 26.45 -
2408 260.0 -10.0 131 2413 roll -0.60 - - 2605 - 2.03 0.034 1302 -665.5 -194.6 - - 3921 - - - - - - - - - 26.55 -
2474 266.0 -9.8 134 2479 done -0.61 - - 2605 - 2.10 0.050 2645 639.5 -194.6 - - 3921 - - - - - - - - - 26.47 -
2792 295.0 -9.2 150 2793 done -0.64 - - 2605 - - - 2645 - -194.6 - - 3919 - - - - - - - - - - -
3093 319.2 -7.1 165 3094 done -0.66 - - 2605 - - - 2645 - -194.6 - - 3917 - - - - - - - - - - -
3392 338.6 -6.5 180 3394 done -0.69 - - 2605 - - - 2645 - -194.6 - - 3916 - - - - - - - - - - -
3693 359.8 -7.5 195 3699 roll -0.72 0.12 0.097 2528 -641.7 2.00 0.034 1302 -671.5 -194.6 - - 3913 - - - - - - - - 26.68 26.58 -
3731 362.1 -8.0 196 3738 done -0.74 0.12 0.159 2562 283.3 2.10 0.049 2648 641.0 -194.6 - - 3914 - - - - - - - - 26.36 26.53 -
4037 395.9 -10.1 212 4038 done -0.72 - - 2562 - - - 2648 - -194.6 - - 3911 - - - - - - - - - - -
4337 424.7 -9.6 227 4338 done -0.70 - - 2562 - - - 2648 - -194.6 - - 3909 - - - - - - - - - - -
4637 455.0 -10.2 242 4642 roll -0.68 - - 2563 - 2.00 0.031 1301 -673.5 -194.6 - - 3906 - - - - - - - - - 26.62 -
4679 459.5 -10.2 244 4684 done -0.67 - - 2562 - 2.08 0.047 2642 644.7 -194.6 - - 3906 - - - - - - - - - 26.54 -
5002 493.0 -10.5 260 5007 roll -0.66 - - 2562 - 1.65 0.059 3693 637.0 -194.6 - - 3904 - - - - - - - - - 26.50 -
5058 497.5 -10.6 262 5065 done -0.66 - - 2562 - 1.55 0.035 2641 -678.7 -194.6 - - 3903 - - - - - - - - - 26.67 -
5364 530.6 -10.4 278 5369 roll -0.66 - - 2562 - 1.70 0.059 3687 615.3 -194.6 - - 3902 - - - - - - - - - 26.50 -
5390 533.1 -10.4 279 5395 done -0.66 - - 2562 - 1.62 0.035 2623 -656.8 -194.6 - - 3901 - - - - - - - - - 26.67 -
5706 565.4 -10.1 295 5712 roll -0.66 - - 2562 - 1.98 0.033 1269 -683.8 -194.6 - - 3899 - - - - - - - - - 26.61 -
5733 567.7 -10.1 296 5738 done -0.66 - - 2562 - 2.12 0.049 2645 649.1 -194.6 - - 3899 - - - - - - - - - 26.52 -
6050 598.3 -9.3 312 6055 roll -0.66 - - 2562 - 1.65 0.060 3695 636.4 -194.6 - - 3898 - - - - - - - - - 26.48 -
6082 601.2 -9.3 314 6087 done -0.66 - - 2562 - 1.58 0.037 2632 -672.8 -194.6 - - 3897 - - - - - - - - - 26.66 -
6416 631.0 -9.0 325 6421 roll -0.66 - - 2562 - 1.98 0.034 1282 -681.8 -194.6 - - 3895 - - - - - - - - - 26.60 -
6437 631.0 -9.0 325 6442 done -0.66 - - 2562 - 2.12 0.049 2641 641.0 -194.6 - - 3894 - - - - - - - - - 26.51 -
6750 660.7 -8.8 336 6751 done -0.66 - - 2562 - - - 2641 - -194.6 - - 3893 - - - - - - - - - - -
7050 685.8 -8.3 346 7055 roll -0.66 - - 2562 - 2.03 0.034 1277 -671.9 -194.6 - - 3892 - - - - - - - - - 26.60 -
7096 688.6 -8.3 347 7102 done -0.66 - - 2562 - 2.10 0.049 2632 645.2 -194.6 - - 3891 - - - - - - - - - 26.51 -
7415 714.7 -8.0 358 7417 done -0.66 - - 2562 - - - 2633 - -194.6 - - 3889 - - - - - - - - - - -
7714 740.1 -8.8 368 7719 roll -0.66 - - 2562 - 2.03 0.034 1281 -666.0 -194.6 - - 3888 - - - - - - - - - 26.60 -
7765 743.0 -8.8 369 7771 done -0.66 - - 2562 - 2.10 0.049 2626 640.5 -194.6 - - 3888 - - - - - - - - - 26.50 -
8078 772.7 -9.0 380 8079 done -0.66 - - 2562 - - - 2626 - -194.6 - - 3887 - - - - - - - - - - -
8378 798.3 -8.4 390 8379 done -0.66 - - 2562 - - - 2626 - -194.6 - - 3885 - - - - - - - - - - -
8679 822.1 -7.8 400 8684 roll -0.66 - - 2562 - 2.03 0.033 1275 -665.5 -194.6 - - 3884 - - - - - - - - - 26.59 -
8750 827.0 -7.6 402 8755 done -0.66 - - 2562 - 2.10 0.049 2614 637.6 -194.6 - - 3884 - - - - - - - - - 26.48 -
9074 852.5 -7.9 413 9079 roll -0.66 - - 2562 - 1.73 0.060 3700 627.7 -194.6 - - 3882 - - - - - - - - - 26.42 -
9110 855.2 -7.9 414 9116 done -0.66 - - 2562 - 1.65 0.037 2604 -664.2 -194.6 - - 3882 - - - - - - - - - 26.64 -
9439 882.7 -8.5 425 9440 done -0.66 - - 2562 - - - 2604 - -194.6 - - 3881 - - - - - - - - - - -
9738 909.6 -9.0 435 9744 roll -0.66 - - 2562 - 1.98 0.034 1270 -673.7 -194.6 - - 3881 - - - - - - - - - 26.57 -
9789 912.8 -9.3 436 9794 done -0.66 - - 2562 - 2.10 0.050 2621 643.3 -194.6 - - 3881 - - - - - - - - - 26.45 -
10101 943.3 -9.0 447 10107 roll -0.66 - - 2562 - 2.00 0.034 1277 -672.0 -194.6 - - 3880 - - - - - - - - - 26.56 -
10123 943.3 -9.0 447 10128 done -0.66 - - 2562 - 2.10 0.050 2611 635.2 -194.6 - - 3880 - - - - - - - - - 26.44 -
10436 973.5 -8.8 458 10441 roll -0.67 - - 2562 - 1.98 0.034 1284 -670.2 -194.6 - - 3879 - - - - - - - - - 26.55 -
10469 976.4 -8.7 459 10474 done -0.68 - - 2562 - 2.10 0.050 2612 632.4 -194.6 - - 3879 - - - - - - - - - 26.44 -
10649 end dive: TARGET_DEPTH_EXCEEDED
10649 begin apogee
10654 991.3 -7.9 465 10816 roll -0.12 0.57 0.113 2759 345.6 - - 1923 - - 156.57 1.437 3121 -4.8 0.355 - - - - - - 26.16 - 23.58
10817 end apogee: CONTROL_FINISHED_OK
10817 begin climb
10819 997.7 - 470 11001 done 0.46 0.50 0.054 2964 410.0 - - 1923 - 194.6 175.40 1.397 2326 -4.5 0.344 - - - - - - 24.67 - 23.08
11314 953.7 11.3 487 11319 roll 0.42 - - 2963 - 2.35 0.053 3357 610.2 194.6 - - 2315 - - - - - - - - - 25.62 -
11426 941.8 12.5 490 11433 done 0.37 0.17 0.154 2921 -247.1 2.20 0.034 1950 -639.5 194.6 - - 2314 - - - - - - - - 25.63 25.85 -
11741 913.1 7.8 501 11770 done 0.38 - - 2921 - - - 1950 - 222.6 24.50 1.326 2212 -4.2 0.304 - - - - - - - - 24.46
12071 885.9 8.3 512 12085 done 0.39 - - 2921 - - - 1950 - 235.0 12.00 1.235 2162 -4.2 0.317 - - - - - - - - 24.63
12370 859.7 8.9 522 12376 roll 0.41 - - 2921 - 2.30 0.055 3356 611.3 235.0 - - 2157 - - - - - - - - - 25.98 -
12442 853.3 9.4 524 12447 done 0.41 - - 2929 - 2.17 0.034 1935 -654.8 235.0 - - 2157 - - - - - - - - - 26.10 -
12765 820.1 10.0 535 12766 done 0.41 - - 2928 - - - 1935 - 235.0 - - 2155 - - - - - - - - - - -
13065 791.3 9.4 545 13070 roll 0.41 - - 2928 - 2.28 0.054 3346 618.9 235.0 - - 2154 - - - - - - - - - 26.22 -
13101 787.9 9.5 546 13106 done 0.41 - - 2928 - 2.12 0.034 1949 -659.0 235.0 - - 2154 - - - - - - - - - 26.32 -
13430 758.7 8.3 557 13444 done 0.41 - - 2928 - - - 1949 - 248.8 12.85 1.204 2106 -3.7 0.250 - - - - - - - - 25.04
13729 735.8 7.2 567 13783 roll 0.46 - - 2928 - 2.42 0.054 3346 577.3 297.9 44.08 1.261 1905 -4.6 0.283 - - - - - - - 25.15 24.26
13826 729.4 7.0 570 13882 done 0.51 0.12 0.092 2990 516.7 2.20 0.034 1962 -629.1 353.6 49.60 1.239 1679 -4.6 0.285 - - - - - - 25.47 25.49 23.91
14180 688.8 11.3 582 14186 roll 0.48 0.12 0.155 2956 -283.3 2.22 0.041 534 -643.2 353.6 - - 1671 - - - - - - - - 25.71 25.81 -
14238 685.8 10.8 583 14245 done 0.48 - - 2956 - 2.25 0.037 1966 636.4 353.6 - - 1669 - - - - - - - - - 25.88 -
14545 661.6 7.8 594 14578 roll 0.53 - - 2956 - 2.30 0.054 3343 598.7 384.8 26.42 1.188 1552 -4.4 0.262 - - - - - - - 25.46 24.54
14610 656.5 8.0 596 14640 done 0.57 - - 2956 - 2.20 0.034 1951 -632.7 408.6 22.00 1.159 1454 -4.5 0.268 - - - - - - - 25.63 24.25
14968 626.9 8.6 608 14978 roll 0.62 0.12 0.094 3026 583.3 2.20 0.042 535 -643.6 412.3 4.10 0.779 1439 -3.7 0.313 - - - - - - 25.98 25.86 24.70
15001 622.9 9.4 609 15007 done 0.65 - - 3026 - 2.22 0.038 1957 640.5 412.3 - - 1439 - - - - - - - - - 25.89 -
15314 568.5 17.6 622 15316 done 0.59 0.12 0.157 2993 -275.0 - - 1957 - 412.3 - - 1438 - - - - - - - - 26.01 - -
15614 526.1 13.5 637 15620 roll 0.59 - - 2996 - 2.22 0.042 532 -641.9 412.3 - - 1437 - - - - - - - - - 26.19 -
15651 523.0 13.6 638 15658 done 0.59 - - 2996 - 2.17 0.038 1942 649.8 412.3 - - 1437 - - - - - - - - - 26.22 -
15956 480.9 13.5 654 15963 roll 0.59 - - 2995 - 2.22 0.054 3345 632.0 412.3 - - 1437 - - - - - - - - - 26.24 -
15989 477.6 13.5 655 15994 done 0.58 - - 2996 - 2.15 0.034 1929 -658.6 412.3 - - 1437 - - - - - - - - - 26.32 -
16301 435.9 12.1 671 16306 roll 0.58 - - 2995 - 2.15 0.044 528 -651.6 412.3 - - 1436 - - - - - - - - - 26.32 -
16343 431.1 11.9 673 16348 done 0.58 - - 2996 - 2.17 0.038 1934 647.9 412.3 - - 1436 - - - - - - - - - 26.34 -
16665 390.5 13.3 689 16670 roll 0.58 - - 2996 - 2.22 0.053 3356 640.5 412.3 - - 1437 - - - - - - - - - 26.32 -
16696 387.3 13.6 690 16702 done 0.58 - - 2996 - 2.15 0.034 1933 -661.9 412.3 - - 1436 - - - - - - - - - 26.41 -
17009 340.8 13.9 706 17014 roll 0.58 - - 2996 - 2.12 0.043 538 -658.0 412.3 - - 1436 - - - - - - - - - 26.39 -
17055 335.6 13.1 708 17060 done 0.59 - - 2996 - 2.15 0.037 1944 654.0 412.3 - - 1436 - - - - - - - - - 26.41 -
17372 296.5 12.1 724 17378 roll 0.59 - - 2996 - 2.20 0.053 3344 636.4 412.3 - - 1436 - - - - - - - - - 26.37 -
17409 293.8 12.0 725 17416 done 0.59 - - 2996 - 2.12 0.033 1944 -660.4 412.3 - - 1436 - - - - - - - - - 26.48 -
17715 258.3 11.1 741 17720 roll 0.59 - - 2996 - 2.15 0.043 535 -655.3 412.3 - - 1436 - - - - - - - - - 26.43 -
17747 256.0 10.9 742 17752 done 0.61 - - 2996 - 2.15 0.037 1957 661.4 412.3 - - 1436 - - - - - - - - - 26.44 -
18060 222.3 10.5 758 18065 roll 0.63 - - 2996 - 2.20 0.053 3354 635.0 412.3 - - 1436 - - - - - - - - - 26.40 -
18106 217.9 10.3 760 18111 done 0.65 - - 2996 - 2.12 0.032 1951 -661.8 412.3 - - 1436 - - - - - - - - - 26.51 -
18424 186.2 10.0 776 18430 roll 0.68 - - 2996 - 2.15 0.041 530 -660.9 412.3 - - 1436 - - - - - - - - - 26.46 -
18470 181.8 10.1 778 18476 done 0.73 0.12 0.094 3065 575.0 2.15 0.036 1962 666.0 412.3 - - 1437 - - - - - - - - 26.46 26.48 -
18789 129.4 15.8 794 18795 roll 0.68 0.12 0.156 3024 -341.7 2.17 0.050 3352 640.6 412.3 - - 1437 - - - - - - - - 26.39 26.43 -
18822 125.7 15.8 795 18827 done 0.64 - - 3023 - 2.10 0.032 1947 -669.0 412.3 - - 1437 - - - - - - - - - 26.53 -
19135 92.3 7.8 811 19168 roll 0.70 - - 3023 - 2.20 0.041 539 -640.0 442.4 25.58 0.777 1315 -4.8 0.060 - - - - - - - 26.13 25.37
19220 87.4 5.9 815 19301 done 0.83 0.12 0.091 3092 575.0 2.12 0.034 1947 664.2 534.4 73.95 0.772 943 -5.0 0.060 - - - - - - 26.16 26.17 24.56
19609 49.0 8.3 835 19626 roll 0.91 - - 3092 - 2.28 0.039 534 -619.7 548.1 11.77 0.679 886 -4.8 0.037 - - - - - - - 25.77 24.98
19643 46.3 7.7 838 19676 done 1.01 - - 3092 - 2.17 0.034 1946 650.7 581.1 28.25 0.708 752 -4.7 0.033 - - - - - - - 25.80 24.76
19974 10.2 12.4 871 19980 roll 1.22 0.25 0.082 3192 400.0 2.20 0.049 3341 634.1 581.1 - - 748 - - - - - - - - 25.94 25.91 -
20047 end climb: SURFACE_DEPTH_REACHED
20047 begin surface coast
20078 end surface coast: CONTROL_FINISHED_OK
20079 begin surface
SM 1.77 - - - - -8.28 8.00 0.045 136 -382.0 1.02 0.031 2668 -659.8 652.74 34.80 0.060 459 -8.3 0.025 - - - - - -