OKMC Apr12 * SG170 * Dive index * Mission links * Dive 72 * Raw log
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• Previous call tries 1 • 15.05 of 146.00 AH used of 24V (89.69% remains)
• Previous NAKs 0, Timeouts 0 • 6.08 of 97.50 AH used of 10V (93.76% remains)
• Surface angle -71.9 deg, depth 1.90 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 40 s
• GPS2 time: 15 s • Transponder ping count: 3
• 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 - - 130 - - - 2701 - -194.6 -81.47 - 2674 - - - - - - - - - - -
104 3.0 -2.5 8 146 roll -0.46 10.43 0.245 2641 240.7 1.60 0.075 3689 617.5 -194.6 -25.67 - 3917 -48.4 - - - - - - - 25.53 25.92 26.33
167 17.2 -23.1 14 175 done -0.22 0.28 0.141 2724 296.4 1.50 0.031 2665 -682.7 -194.6 - - 3921 - - - - - - - - 25.75 26.09 -
474 54.3 -7.2 42 481 roll -0.29 - - 2725 - 2.03 0.030 1291 -676.8 -194.6 - - 3922 - - - - - - - - - 26.24 -
528 56.5 -5.6 44 534 done -0.38 0.15 0.081 2645 -533.3 2.15 0.043 2674 643.3 -194.6 - - 3922 - - - - - - - - 26.19 26.17 -
842 94.8 -12.7 60 848 roll -0.36 0.12 0.145 2687 350.0 1.62 0.054 3704 635.8 -194.6 - - 3923 - - - - - - - - 26.23 26.25 -
894 98.7 -10.7 62 900 done -0.37 - - 2687 - 1.50 0.033 2678 -684.0 -194.6 - - 3923 - - - - - - - - - 26.41 -
1207 124.3 -10.3 78 1213 roll -0.58 0.20 0.093 2606 -405.0 2.03 0.028 1283 -687.2 -194.6 - - 3924 - - - - - - - - 26.36 26.44 -
1312 132.6 -7.5 83 1317 done -0.66 - - 2606 - 2.15 0.043 2669 644.7 -194.6 - - 3924 - - - - - - - - - 26.37 -
1634 165.7 -10.9 99 1636 done -0.63 - - 2606 - - - 2669 - -194.6 - - 3924 - - - - - - - - - - -
1934 193.9 -9.7 114 1939 roll -0.63 - - 2606 - 1.62 0.057 3696 634.0 -194.6 - - 3923 - - - - - - - - - 26.42 -
1956 196.2 -9.9 115 1961 done -0.63 - - 2606 - 1.52 0.033 2651 -687.5 -194.6 - - 3923 - - - - - - - - - 26.58 -
2278 230.7 -11.0 131 2283 roll -0.63 - - 2606 - 2.00 0.031 1279 -686.0 -194.6 - - 3922 - - - - - - - - - 26.55 -
2381 241.1 -10.2 136 2387 done -0.65 - - 2606 - 2.15 0.044 2665 644.7 -194.6 - - 3922 - - - - - - - - - 26.48 -
2704 273.5 -10.0 152 2710 roll -0.68 - - 2604 - 2.03 0.030 1276 -684.2 -194.6 - - 3921 - - - - - - - - - 26.58 -
2728 275.9 -10.1 153 2733 done -0.70 - - 2606 - 2.12 0.044 2648 647.2 -194.6 - - 3920 - - - - - - - - - 26.49 -
3051 304.9 -8.5 169 3057 roll -0.74 0.12 0.096 2530 -633.3 2.03 0.028 1271 -678.3 -194.6 - - 3918 - - - - - - - - 26.65 26.60 -
3125 312.4 -10.8 172 3131 done -0.72 0.12 0.161 2561 258.3 2.10 0.044 2631 647.6 -194.6 - - 3918 - - - - - - - - 26.33 26.51 -
3439 347.1 -10.1 188 3444 roll -0.70 - - 2564 - 2.00 0.031 1280 -675.5 -194.6 - - 3916 - - - - - - - - - 26.60 -
3476 349.4 -10.1 189 3482 done -0.68 - - 2564 - 2.05 0.047 2612 649.8 -194.6 - - 3916 - - - - - - - - - 26.51 -
3781 380.5 -9.6 205 3787 roll -0.65 - - 2564 - 1.73 0.058 3693 624.9 -194.6 - - 3913 - - - - - - - - - 26.48 -
3833 384.6 -9.7 207 3839 done -0.64 - - 2564 - 1.58 0.034 2616 -681.6 -194.6 - - 3913 - - - - - - - - - 26.66 -
4146 414.1 -9.1 223 4152 roll -0.64 0.10 0.161 2592 280.0 1.92 0.029 1285 -693.2 -194.6 - - 3910 - - - - - - - - 26.56 26.60 -
4183 416.1 -9.0 224 4191 done -0.64 - - 2593 - 2.05 0.045 2611 646.8 -194.6 - - 3910 - - - - - - - - - 26.51 -
4490 440.4 -7.4 240 4491 done -0.67 - - 2592 - - - 2611 - -194.6 - - 3908 - - - - - - - - - - -
4791 463.8 -7.9 255 4792 done -0.69 - - 2592 - - - 2611 - -194.6 - - 3905 - - - - - - - - - - -
5091 488.9 -8.6 270 5096 roll -0.72 - - 2592 - 1.95 0.032 1287 -679.0 -194.6 - - 3903 - - - - - - - - - 26.61 -
5137 492.8 -8.8 272 5142 done -0.75 0.12 0.098 2525 -558.3 2.05 0.045 2608 644.4 -194.6 - - 3903 - - - - - - - - 26.52 26.52 -
5456 537.0 -14.1 288 5461 roll -0.70 0.15 0.145 2574 326.7 1.73 0.057 3695 628.3 -194.6 - - 3900 - - - - - - - - 26.41 26.47 -
5542 546.5 -11.2 292 5547 done -0.70 - - 2575 - 1.65 0.034 2606 -660.0 -194.6 - - 3900 - - - - - - - - - 26.66 -
5859 577.9 -9.3 308 5865 roll -0.70 - - 2574 - 1.92 0.032 1287 -687.0 -194.6 - - 3898 - - - - - - - - - 26.60 -
5902 581.9 -9.2 310 5908 done -0.71 - - 2573 - 2.08 0.046 2611 636.5 -194.6 - - 3897 - - - - - - - - - 26.51 -
6217 608.3 -8.0 324 6222 roll -0.73 - - 2575 - 1.98 0.032 1285 -669.7 -194.6 - - 3895 - - - - - - - - - 26.60 -
6250 611.1 -8.0 325 6255 done -0.74 - - 2578 - 2.05 0.046 2597 640.0 -194.6 - - 3896 - - - - - - - - - 26.50 -
6584 636.4 -7.4 336 6585 done -0.76 - - 2575 - - - 2599 - -194.6 - - 3894 - - - - - - - - - - -
6883 660.5 -8.4 346 6888 roll -0.77 - - 2575 - 1.95 0.033 1290 -671.3 -194.6 - - 3893 - - - - - - - - - 26.59 -
6935 663.5 -8.6 347 6940 done -0.79 - - 2575 - 2.00 0.046 2590 650.0 -194.6 - - 3893 - - - - - - - - - 26.48 -
7248 692.5 -9.0 358 7253 roll -0.81 0.10 0.108 2521 -540.0 1.75 0.058 3693 630.3 -194.6 - - 3890 - - - - - - - - 26.72 26.44 -
7275 692.5 -9.0 358 7282 done -0.82 - - 2521 - 1.62 0.036 2597 -676.5 -194.6 - - 3889 - - - - - - - - - 26.65 -
7582 734.4 -12.8 369 7583 done -0.77 - - 2521 - - - 2597 - -194.6 - - 3889 - - - - - - - - - - -
7881 771.8 -12.5 379 7887 roll -0.72 0.12 0.159 2562 341.7 1.77 0.060 3692 618.6 -194.6 - - 3888 - - - - - - - - 26.45 26.41 -
7945 778.0 -11.1 381 7951 done -0.70 - - 2563 - 1.67 0.036 2605 -650.9 -194.6 - - 3887 - - - - - - - - - 26.65 -
8278 807.7 -8.9 392 8280 done -0.70 - - 2563 - - - 2605 - -194.6 - - 3886 - - - - - - - - - - -
8578 833.9 -8.8 402 8579 done -0.70 - - 2563 - - - 2605 - -194.6 - - 3885 - - - - - - - - - - -
8879 861.7 -9.3 412 8880 done -0.72 - - 2563 - - - 2605 - -194.6 - - 3885 - - - - - - - - - - -
9178 890.2 -9.4 422 9179 done -0.73 - - 2563 - - - 2605 - -194.6 - - 3882 - - - - - - - - - - -
9479 917.5 -9.1 432 9480 done -0.74 - - 2563 - - - 2604 - -194.6 - - 3881 - - - - - - - - - - -
9778 945.5 -9.5 442 9783 roll -0.76 - - 2563 - 1.95 0.034 1292 -672.8 -194.6 - - 3880 - - - - - - - - - 26.56 -
9804 945.5 -9.5 442 9812 done -0.78 - - 2563 - 2.05 0.048 2598 637.1 -194.6 - - 3881 - - - - - - - - - 26.44 -
10111 977.1 -9.6 453 10116 roll -0.79 - - 2562 - 1.95 0.034 1290 -670.8 -194.6 - - 3879 - - - - - - - - - 26.54 -
10132 977.1 -9.6 453 10138 done -0.81 - - 2563 - 2.05 0.049 2596 637.1 -194.6 - - 3879 - - - - - - - - - 26.42 -
10264 end dive: TARGET_DEPTH_EXCEEDED
10264 begin apogee
10269 991.2 -8.9 458 10429 roll -0.12 0.55 0.107 2755 349.1 - - 1938 - - 155.15 1.429 3121 -4.9 0.360 - - - - - - 26.17 - 23.60
10430 end apogee: CONTROL_FINISHED_OK
10431 begin climb
10432 999.0 - 463 10619 roll 0.46 0.55 0.059 2959 370.9 2.30 0.040 545 -605.7 194.6 175.77 1.394 2326 -4.5 0.344 - - - - - - 24.71 24.70 23.08
10777 976.2 10.0 475 10782 done 0.44 - - 2958 - 2.25 0.040 1946 622.7 194.6 - - 2319 - - - - - - - - - 25.30 -
11111 940.1 10.9 486 11117 roll 0.40 - - 2966 - 2.20 0.043 540 -639.1 194.6 - - 2316 - - - - - - - - - 25.89 -
11324 917.6 10.2 493 11331 done 0.37 0.17 0.136 2915 -300.0 2.20 0.040 1957 644.1 194.6 - - 2315 - - - - - - - - 25.87 26.06 -
11658 893.0 7.0 504 11718 roll 0.40 - - 2915 - 2.38 0.054 3341 581.5 252.1 49.75 1.351 2092 -4.5 0.315 - - - - - - - 25.04 24.10
11766 886.8 6.9 507 11830 done 0.44 - - 2915 - 2.20 0.033 1953 -630.9 313.3 55.17 1.333 1842 -4.5 0.320 - - - - - - - 25.48 23.83
12143 864.6 5.4 520 12247 roll 0.56 0.15 0.080 2999 560.0 2.35 0.044 540 -601.3 423.7 96.75 1.330 1392 -4.7 0.321 - - - - - - 25.93 24.64 23.72
12279 850.0 12.0 524 12285 done 0.54 - - 2999 - 2.28 0.039 1950 618.4 423.7 - - 1390 - - - - - - - - - 25.09 -
12600 804.6 13.8 535 12606 roll 0.51 0.12 0.155 2968 -258.3 2.25 0.042 535 -628.9 423.7 - - 1386 - - - - - - - - 25.78 25.86 -
12627 804.6 13.8 535 12634 done 0.48 - - 2968 - 2.22 0.039 1954 639.2 423.7 - - 1386 - - - - - - - - - 25.91 -
12935 770.0 10.4 546 12940 roll 0.50 - - 2968 - 2.22 0.052 3342 625.2 423.7 - - 1385 - - - - - - - - - 26.07 -
12951 770.0 10.4 546 12957 done 0.53 - - 2967 - 2.17 0.034 1935 -648.4 423.7 - - 1385 - - - - - - - - - 26.15 -
13271 734.2 10.3 557 13276 roll 0.55 - - 2967 - 2.17 0.045 538 -643.8 423.7 - - 1384 - - - - - - - - - 26.21 -
13322 731.0 10.3 558 13328 done 0.57 - - 2968 - 2.17 0.039 1946 648.8 423.7 - - 1384 - - - - - - - - - 26.24 -
13636 696.5 11.3 569 13641 roll 0.60 - - 2968 - 2.20 0.052 3349 637.7 423.7 - - 1384 - - - - - - - - - 26.25 -
13663 696.5 11.3 569 13671 done 0.63 0.10 0.110 3024 560.0 2.17 0.034 1924 -656.7 423.7 - - 1384 - - - - - - - - 26.28 26.35 -
13969 637.9 18.3 580 13975 roll 0.58 0.12 0.151 2990 -283.3 2.10 0.044 542 -658.1 423.7 - - 1384 - - - - - - - - 26.26 26.33 -
14063 625.5 14.4 583 14069 done 0.58 - - 2991 - 2.10 0.040 1915 653.8 423.7 - - 1383 - - - - - - - - - 26.36 -
14376 583.8 13.6 595 14381 roll 0.58 - - 2991 - 2.25 0.053 3346 636.0 423.7 - - 1383 - - - - - - - - - 26.33 -
14403 580.6 13.7 596 14408 done 0.58 - - 2996 - 2.20 0.034 1908 -653.6 423.7 - - 1384 - - - - - - - - - 26.43 -
14721 535.0 14.0 612 14726 roll 0.56 - - 2996 - 2.12 0.045 529 -650.5 423.7 - - 1384 - - - - - - - - - 26.39 -
14792 527.1 12.8 615 14798 done 0.56 - - 2995 - 2.10 0.038 1902 653.8 423.7 - - 1384 - - - - - - - - - 26.42 -
15104 487.0 12.6 631 15111 roll 0.56 - - 2996 - 2.28 0.052 3342 631.6 423.7 - - 1383 - - - - - - - - - 26.37 -
15137 484.0 12.6 632 15142 done 0.56 - - 2996 - 2.22 0.033 1882 -657.7 423.7 - - 1384 - - - - - - - - - 26.48 -
15449 443.6 12.2 648 15454 roll 0.56 - - 2996 - 2.08 0.045 533 -648.6 423.7 - - 1383 - - - - - - - - - 26.44 -
15484 440.9 12.2 649 15491 done 0.56 - - 2996 - 2.10 0.039 1905 653.3 423.7 - - 1383 - - - - - - - - - 26.44 -
15791 403.0 12.3 665 15792 done 0.56 - - 2996 - - - 1905 - 423.7 - - 1383 - - - - - - - - - - -
16092 360.7 15.3 680 16093 done 0.56 - - 2996 - - - 1905 - 423.7 - - 1384 - - - - - - - - - - -
16391 317.1 14.2 695 16392 done 0.56 - - 2996 - - - 1905 - 423.7 - - 1384 - - - - - - - - - - -
16692 279.6 10.9 710 16697 roll 0.57 - - 2995 - 2.12 0.044 537 -645.3 423.7 - - 1384 - - - - - - - - - 26.46 -
16709 279.6 10.9 710 16715 done 0.59 - - 2996 - 2.05 0.037 1900 664.9 423.7 - - 1384 - - - - - - - - - 26.48 -
17015 246.5 11.4 726 17020 roll 0.61 - - 2996 - 2.28 0.051 3343 632.9 423.7 - - 1384 - - - - - - - - - 26.41 -
17057 241.0 12.3 728 17063 done 0.64 - - 2996 - 2.20 0.032 1895 -658.2 423.7 - - 1384 - - - - - - - - - 26.55 -
17381 200.8 12.4 744 17382 done 0.66 - - 2996 - - - 1895 - 423.7 - - 1384 - - - - - - - - - - -
17681 167.5 9.8 759 17687 roll 0.70 - - 2994 - 2.33 0.050 3355 626.6 423.7 - - 1384 - - - - - - - - - 26.42 -
17704 165.4 9.3 760 17711 done 0.73 0.12 0.095 3064 583.3 2.20 0.032 1903 -660.0 423.7 - - 1384 - - - - - - - - 26.50 26.55 -
18028 120.8 14.9 776 18034 roll 0.70 0.12 0.151 3022 -350.0 2.30 0.049 3353 630.4 423.7 - - 1385 - - - - - - - - 26.42 26.42 -
18081 113.7 16.0 778 18087 done 0.68 - - 3023 - 2.15 0.032 1924 -664.7 423.7 - - 1385 - - - - - - - - - 26.56 -
18394 83.8 7.6 794 18428 done 0.76 - - 3023 - - - 1924 - 459.2 28.62 0.772 1248 -4.8 0.055 - - - - - - - - 25.39
18736 64.9 4.9 811 18846 roll 0.94 0.20 0.070 3126 515.0 2.20 0.041 548 -625.5 585.7 101.68 0.744 732 -5.1 0.047 - - - - - - 26.29 25.12 24.48
18859 48.8 14.0 817 18864 done 0.94 - - 3126 - 2.22 0.035 1941 627.5 585.7 - - 732 - - - - - - - - - 25.29 -
19173 21.9 7.0 848 19212 done 1.05 - - 3126 - - - 1942 - 641.7 31.58 0.660 505 -7.2 0.025 - - - - - - - - 24.88
19430 end climb: SURFACE_DEPTH_REACHED
19430 begin surface coast
19463 end surface coast: CONTROL_FINISHED_OK
19463 begin surface
SM 1.87 - - - - -8.30 7.80 0.041 131 -384.0 1.20 0.047 2695 627.5 652.74 5.57 0.062 460 -8.1 0.025 - - - - - -