OKMC Apr12 * SG170 * Dive index * Mission links * Dive 69 * Raw log
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• Previous call tries 1 • 14.34 of 146.00 AH used of 24V (90.18% remains)
• Previous NAKs 0, Timeouts 0 • 5.72 of 97.50 AH used of 10V (94.13% remains)
• Surface angle -74.3 deg, depth 1.87 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 652.74, SM_CC=652.74329)
• GPS1 time: 40 s
• GPS2 time: 18 s • Transponder ping count: 1
• 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 - - - 111 VBD -0.46 - - 130 - - - 2689 - -194.6 -91.43 - 2983 - - - - - - - - - - -
114 3.9 -4.0 9 147 roll -0.46 10.43 0.248 2641 240.7 1.67 0.073 3703 607.2 -194.6 -15.93 - 3919 -58.8 - - - - - - - 25.57 25.96 26.34
190 29.1 -27.4 16 196 done -0.31 0.15 0.135 2693 346.7 1.55 0.030 2671 -665.8 -194.6 - - 3921 - - - - - - - - 25.82 26.14 -
503 70.3 -10.4 38 508 roll -0.34 - - 2693 - 1.65 0.057 3695 620.6 -194.6 - - 3924 - - - - - - - - - 26.16 -
585 78.5 -10.0 42 591 done -0.40 - - 2693 - 1.52 0.032 2693 -659.2 -194.6 - - 3924 - - - - - - - - - 26.34 -
908 111.3 -10.2 58 913 roll -0.60 0.22 0.090 2602 -413.6 2.10 0.029 1265 -680.0 -194.6 - - 3925 - - - - - - - - 26.32 26.39 -
981 116.8 -9.2 61 987 done -0.72 0.10 0.103 2547 -550.0 2.20 0.044 2685 645.5 -194.6 - - 3924 - - - - - - - - 26.32 26.33 -
1294 177.5 -18.2 77 1301 roll -0.61 0.15 0.173 2594 313.3 1.58 0.054 3703 644.3 -194.6 - - 3924 - - - - - - - - 26.22 26.36 -
1347 184.2 -16.6 79 1353 done -0.53 0.12 0.143 2631 308.3 1.52 0.032 2664 -683.6 -194.6 - - 3924 - - - - - - - - 26.29 26.52 -
1661 209.7 -6.5 95 1666 roll -0.56 - - 2631 - 2.00 0.029 1274 -695.0 -194.6 - - 3924 - - - - - - - - - 26.52 -
1724 213.1 -5.6 98 1729 done -0.60 - - 2631 - 2.15 0.044 2672 650.2 -194.6 - - 3924 - - - - - - - - - 26.44 -
2047 230.9 -6.3 114 2053 roll -0.64 0.12 0.090 2549 -683.3 2.05 0.029 1285 -676.6 -194.6 - - 3923 - - - - - - - - 26.62 26.55 -
2131 241.2 -12.2 118 2137 done -0.60 0.20 0.150 2608 295.0 2.12 0.047 2659 648.1 -194.6 - - 3923 - - - - - - - - 26.25 26.47 -
2455 275.1 -10.0 134 2456 done -0.62 - - 2608 - - - 2659 - -194.6 - - 3921 - - - - - - - - - - -
2755 304.4 -9.2 149 2761 roll -0.64 - - 2608 - 2.03 0.030 1285 -676.8 -194.6 - - 3919 - - - - - - - - - 26.60 -
2834 309.8 -8.5 152 2841 done -0.67 - - 2608 - 2.08 0.045 2644 653.4 -194.6 - - 3919 - - - - - - - - - 26.52 -
3139 336.0 -8.6 168 3145 roll -0.70 0.12 0.094 2535 -608.3 2.00 0.028 1285 -679.5 -194.6 - - 3916 - - - - - - - - 26.67 26.61 -
3172 338.3 -8.8 169 3178 done -0.72 0.12 0.160 2570 291.7 2.10 0.046 2642 646.2 -194.6 - - 3916 - - - - - - - - 26.36 26.52 -
3485 374.3 -11.4 185 3490 roll -0.70 - - 2569 - 1.65 0.058 3696 638.8 -194.6 - - 3914 - - - - - - - - - 26.50 -
3527 378.7 -10.7 187 3532 done -0.70 - - 2570 - 1.60 0.034 2621 -671.9 -194.6 - - 3914 - - - - - - - - - 26.66 -
3850 410.4 -10.8 203 3855 roll -0.70 - - 2572 - 1.92 0.030 1283 -696.9 -194.6 - - 3911 - - - - - - - - - 26.63 -
3915 417.5 -11.1 206 3920 done -0.70 - - 2570 - 2.05 0.046 2621 652.7 -194.6 - - 3911 - - - - - - - - - 26.53 -
4232 450.6 -9.5 222 4238 roll -0.70 - - 2570 - 1.67 0.058 3690 640.1 -194.6 - - 3909 - - - - - - - - - 26.51 -
4275 454.7 -9.2 224 4281 done -0.70 - - 2570 - 1.60 0.034 2623 -666.9 -194.6 - - 3908 - - - - - - - - - 26.67 -
4598 483.8 -9.5 240 4603 roll -0.70 - - 2570 - 1.95 0.031 1273 -692.3 -194.6 - - 3906 - - - - - - - - - 26.63 -
4655 488.1 -10.0 242 4662 done -0.70 - - 2570 - 2.08 0.046 2624 649.5 -194.6 - - 3906 - - - - - - - - - 26.53 -
4960 521.3 -10.7 258 4961 done -0.70 - - 2570 - - - 2624 - -194.6 - - 3903 - - - - - - - - - - -
5261 555.1 -10.8 273 5266 roll -0.70 - - 2570 - 2.00 0.031 1276 -674.0 -194.6 - - 3901 - - - - - - - - - 26.63 -
5307 559.5 -10.1 275 5312 done -0.70 - - 2569 - 2.08 0.047 2623 647.6 -194.6 - - 3901 - - - - - - - - - 26.52 -
5624 585.6 -6.8 291 5625 done -0.70 - - 2570 - - - 2623 - -194.6 - - 3899 - - - - - - - - - - -
5935 607.0 -7.1 305 5940 roll -0.70 - - 2569 - 1.98 0.031 1279 -678.8 -194.6 - - 3897 - - - - - - - - - 26.63 -
5972 609.4 -7.1 306 5977 done -0.70 - - 2570 - 2.05 0.047 2610 649.3 -194.6 - - 3897 - - - - - - - - - 26.52 -
6300 633.7 -7.5 317 6306 roll -0.70 - - 2569 - 1.73 0.059 3700 630.1 -194.6 - - 3894 - - - - - - - - - 26.48 -
6327 633.7 -7.5 317 6334 done -0.70 - - 2569 - 1.65 0.035 2599 -667.3 -194.6 - - 3894 - - - - - - - - - 26.67 -
6634 659.2 -7.6 328 6635 done -0.71 - - 2570 - - - 2599 - -194.6 - - 3893 - - - - - - - - - - -
6934 681.7 -7.3 338 6935 done -0.73 - - 2570 - - - 2599 - -194.6 - - 3890 - - - - - - - - - - -
7234 701.3 -6.1 348 7240 roll -0.73 - - 2570 - 1.92 0.031 1276 -689.1 -194.6 - - 3889 - - - - - - - - - 26.62 -
7291 703.4 -6.1 349 7298 done -0.74 - - 2570 - 2.05 0.047 2604 647.8 -194.6 - - 3889 - - - - - - - - - 26.50 -
7598 726.2 -7.2 360 7599 done -0.75 - - 2570 - - - 2604 - -194.6 - - 3888 - - - - - - - - - - -
7897 749.2 -8.0 370 7898 done -0.77 - - 2570 - - - 2604 - -194.6 - - 3886 - - - - - - - - - - -
8197 775.0 -8.8 380 8202 roll -0.79 - - 2570 - 1.95 0.032 1280 -679.0 -194.6 - - 3885 - - - - - - - - - 26.60 -
8234 778.0 -9.0 381 8239 done -0.80 - - 2572 - 2.05 0.047 2593 640.5 -194.6 - - 3885 - - - - - - - - - 26.49 -
8562 807.4 -8.9 392 8564 done -0.82 0.10 0.112 2520 -520.0 - - 2594 - -194.6 - - 3883 - - - - - - - - 26.72 - -
8861 843.4 -12.2 402 8866 roll -0.78 - - 2520 - 1.95 0.033 1276 -675.9 -194.6 - - 3884 - - - - - - - - - 26.59 -
8888 843.4 -12.2 402 8895 done -0.74 0.15 0.157 2562 280.0 2.05 0.049 2596 643.9 -194.6 - - 3882 - - - - - - - - 26.25 26.46 -
9194 875.6 -9.5 413 9199 roll -0.74 - - 2562 - 1.73 0.061 3696 635.8 -194.6 - - 3881 - - - - - - - - - 26.41 -
9215 875.6 -9.5 413 9220 done -0.74 - - 2563 - 1.65 0.037 2588 -671.5 -194.6 - - 3882 - - - - - - - - - 26.63 -
9528 907.6 -9.7 424 9533 roll -0.76 - - 2563 - 1.92 0.034 1288 -677.1 -194.6 - - 3881 - - - - - - - - - 26.58 -
9585 910.9 -9.7 425 9592 done -0.77 - - 2563 - 2.03 0.047 2585 638.9 -194.6 - - 3881 - - - - - - - - - 26.45 -
9892 941.2 -8.9 436 9898 roll -0.79 - - 2563 - 1.95 0.034 1283 -667.7 -194.6 - - 3880 - - - - - - - - - 26.57 -
9909 941.2 -8.9 436 9914 done -0.80 - - 2562 - 2.03 0.048 2587 642.4 -194.6 - - 3880 - - - - - - - - - 26.44 -
10228 968.0 -7.4 447 10234 roll -0.82 - - 2563 - 1.92 0.034 1288 -676.6 -194.6 - - 3878 - - - - - - - - - 26.56 -
10256 968.0 -7.4 447 10263 done -0.84 - - 2563 - 2.00 0.047 2579 645.5 -194.6 - - 3879 - - - - - - - - - 26.44 -
10559 end dive: TARGET_DEPTH_EXCEEDED
10560 begin apogee
10565 990.1 -6.4 458 10730 roll -0.12 0.57 0.110 2761 347.4 - - 1938 - - 157.32 1.438 3120 -4.8 0.353 - - - - - - 26.17 - 23.59
10731 end apogee: CONTROL_FINISHED_OK
10732 begin climb
10733 994.8 - 463 10921 roll 0.46 0.52 0.054 2963 388.5 2.28 0.039 544 -611.4 194.6 175.43 1.395 2325 -4.5 0.343 - - - - - - 24.75 24.73 23.09
10969 980.8 9.6 471 10975 done 0.41 - - 2963 - 2.28 0.037 1940 612.3 194.6 - - 2321 - - - - - - - - - 24.77 -
11289 942.5 11.1 482 11295 roll 0.37 0.12 0.159 2929 -283.3 2.20 0.039 554 -630.0 194.6 - - 2314 - - - - - - - - 25.65 25.75 -
11442 929.3 8.2 487 11461 done 0.38 - - 2930 - 2.20 0.038 1954 636.4 209.5 13.43 1.258 2265 -3.6 0.286 - - - - - - - 25.93 24.58
11774 902.3 8.2 498 11798 roll 0.39 - - 2929 - 2.30 0.054 3340 602.6 226.6 16.23 1.282 2195 -4.3 0.322 - - - - - - - 25.60 24.61
11829 899.8 8.2 499 11854 done 0.40 - - 2930 - 2.12 0.033 1969 -646.7 244.1 17.00 1.273 2124 -4.2 0.313 - - - - - - - 25.75 24.35
12166 871.6 7.5 511 12210 roll 0.42 - - 2930 - 2.38 0.043 534 -602.9 283.8 35.33 1.323 1962 -4.6 0.321 - - - - - - - 25.15 24.17
12238 867.1 7.3 513 12288 done 0.46 - - 2930 - 2.28 0.038 1966 628.1 329.1 41.65 1.311 1777 -4.4 0.312 - - - - - - - 25.39 23.87
12588 840.7 7.6 525 12628 roll 0.52 0.12 0.092 2999 575.0 2.33 0.054 3341 590.1 364.0 30.58 1.290 1635 -4.6 0.321 - - - - - - 25.93 25.14 24.17
12645 837.5 8.3 526 12666 done 0.55 0.12 0.160 2978 -175.0 2.20 0.033 1962 -626.8 377.5 13.52 1.196 1581 -4.0 0.297 - - - - - - 25.22 25.37 24.12
12984 789.4 12.9 538 12990 roll 0.53 - - 2983 - 2.22 0.043 538 -641.4 377.5 - - 1575 - - - - - - - - - 25.91 -
13056 782.1 12.2 540 13061 done 0.53 - - 2983 - 2.17 0.038 1945 648.4 377.5 - - 1574 - - - - - - - - - 25.98 -
13379 738.9 13.3 551 13385 roll 0.51 - - 2983 - 2.22 0.053 3347 631.5 377.5 - - 1573 - - - - - - - - - 26.12 -
13401 738.9 13.3 551 13406 done 0.49 - - 2983 - 2.17 0.034 1941 -647.9 377.5 - - 1573 - - - - - - - - - 26.20 -
13715 692.0 14.3 562 13721 roll 0.48 - - 2983 - 2.17 0.043 535 -647.9 377.5 - - 1572 - - - - - - - - - 26.25 -
13781 683.6 13.7 564 13786 done 0.48 - - 2983 - 2.15 0.038 1937 652.1 377.5 - - 1572 - - - - - - - - - 26.27 -
14110 637.5 14.1 575 14116 roll 0.46 0.12 0.151 2941 -350.0 2.22 0.051 3355 638.7 377.5 - - 1572 - - - - - - - - 26.23 26.28 -
14133 637.5 14.1 575 14138 done 0.45 - - 2942 - 2.15 0.034 1937 -659.5 377.5 - - 1572 - - - - - - - - - 26.37 -
14446 603.3 9.2 586 14452 roll 0.50 - - 2942 - 2.15 0.043 538 -650.7 377.5 - - 1572 - - - - - - - - - 26.36 -
14473 603.3 9.2 586 14480 done 0.55 0.12 0.093 3011 575.0 2.15 0.037 1940 652.1 377.5 - - 1571 - - - - - - - - 26.37 26.38 -
14789 550.8 16.4 602 14791 done 0.51 0.17 0.146 2959 -305.9 - - 1940 - 377.5 - - 1571 - - - - - - - - 26.25 - -
15089 519.2 9.7 617 15095 roll 0.54 - - 2959 - 2.22 0.052 3354 636.9 377.5 - - 1571 - - - - - - - - - 26.38 -
15112 516.7 10.0 618 15118 done 0.56 - - 2959 - 2.17 0.034 1918 -661.8 377.5 - - 1571 - - - - - - - - - 26.48 -
15435 486.0 9.5 634 15442 roll 0.60 0.10 0.109 3020 610.0 2.10 0.040 537 -657.6 377.5 - - 1571 - - - - - - - - 26.56 26.44 -
15468 483.2 10.1 635 15473 done 0.63 - - 3020 - 2.12 0.038 1924 654.2 377.5 - - 1571 - - - - - - - - - 26.44 -
15781 427.8 17.4 651 15783 done 0.57 0.12 0.161 2985 -291.7 - - 1925 - 377.5 - - 1572 - - - - - - - - 26.36 - -
16080 391.1 11.5 666 16085 roll 0.57 - - 2985 - 2.15 0.041 532 -647.9 377.5 - - 1571 - - - - - - - - - 26.46 -
16106 388.8 11.1 667 16112 done 0.57 - - 2985 - 2.12 0.037 1923 656.1 377.5 - - 1571 - - - - - - - - - 26.48 -
16424 355.3 10.7 683 16429 roll 0.57 - - 2985 - 2.22 0.052 3342 639.2 377.5 - - 1572 - - - - - - - - - 26.42 -
16447 352.7 10.9 684 16452 done 0.57 - - 2986 - 2.17 0.033 1914 -658.1 377.5 - - 1572 - - - - - - - - - 26.53 -
16769 318.9 10.8 700 16775 roll 0.57 - - 2986 - 2.28 0.052 3350 629.8 377.5 - - 1572 - - - - - - - - - 26.42 -
16801 316.2 11.2 701 16806 done 0.57 - - 2986 - 2.12 0.033 1933 -668.4 377.5 - - 1572 - - - - - - - - - 26.54 -
17113 278.8 11.3 717 17118 roll 0.59 - - 2986 - 2.12 0.043 541 -656.6 377.5 - - 1571 - - - - - - - - - 26.47 -
17165 274.3 11.0 719 17171 done 0.61 - - 2986 - 2.12 0.037 1938 659.0 377.5 - - 1571 - - - - - - - - - 26.50 -
17478 240.3 11.4 735 17483 roll 0.63 - - 2986 - 2.17 0.051 3343 647.5 377.5 - - 1572 - - - - - - - - - 26.44 -
17495 240.3 11.4 735 17501 done 0.66 - - 2986 - 2.15 0.033 1921 -661.4 377.5 - - 1572 - - - - - - - - - 26.55 -
17801 204.7 10.6 751 17807 roll 0.68 0.10 0.108 3049 630.0 2.10 0.039 531 -661.9 377.5 - - 1573 - - - - - - - - 26.65 26.48 -
17853 199.2 11.4 753 17858 done 0.68 - - 3049 - 2.10 0.037 1917 660.0 377.5 - - 1572 - - - - - - - - - 26.51 -
18165 156.9 13.6 769 18167 done 0.64 0.15 0.146 3004 -300.0 - - 1918 - 377.5 - - 1573 - - - - - - - - 26.41 - -
18465 124.4 11.2 784 18467 done 0.67 - - 3004 - - - 1919 - 377.5 - - 1573 - - - - - - - - - - -
18766 97.6 8.8 799 18767 done 0.72 - - 3004 - - - 1918 - 377.5 - - 1573 - - - - - - - - - - -
19067 85.4 2.2 814 19252 roll 0.94 0.25 0.063 3131 508.0 2.28 0.041 546 -601.8 595.3 173.62 0.754 693 -5.1 0.061 - - - - - - 26.62 24.96 24.32
19283 54.4 16.1 824 19290 done 0.94 - - 3131 - 2.20 0.034 1930 629.1 595.3 - - 691 - - - - - - - - - 25.29 -
19591 20.6 8.2 854 19606 roll 1.01 - - 3131 - 2.28 0.047 3354 624.6 612.8 8.57 0.588 620 -8.3 0.031 - - - - - - - 25.80 25.03
19637 17.2 7.5 858 19665 done 1.10 - - 3132 - 2.20 0.031 1921 -651.4 651.4 22.33 0.103 465 -6.9 0.123 - - - - - - - 25.92 25.67
19862 end climb: SURFACE_DEPTH_REACHED
19862 begin surface coast
19904 end surface coast: CONTROL_FINISHED_OK
19904 begin surface
SM 2.13 - - - - -8.29 7.80 0.043 133 -384.5 1.25 0.044 2695 619.2 652.74 1.15 0.060 460 -4.3 0.016 - - - - - -