OKMC Apr12 * SG170 * Dive index * Mission links * Dive 76 * Raw log
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• Previous call tries 5 • 16.01 of 146.00 AH used of 24V (89.03% remains)
• Previous NAKs 0, Timeouts 0 • 6.56 of 97.50 AH used of 10V (93.27% remains)
• Surface angle -73.1 deg, depth 1.99 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 37 s
• GPS2 time: 15 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 - - - 100 VBD -0.46 - - 128 - - - 2683 - -194.6 -81.22 - 2675 - - - - - - - - - - -
103 3.2 -3.0 8 146 roll -0.46 10.20 0.243 2641 246.4 1.67 0.076 3694 605.4 -194.6 -25.17 - 3921 -49.5 - - - - - - - 25.69 26.10 26.50
259 43.4 -23.9 23 265 done -0.38 0.12 0.148 2678 308.3 1.52 0.030 2654 -684.2 -194.6 - - 3924 - - - - - - - - 26.06 26.30 -
583 76.4 -5.7 41 588 roll -0.41 - - 2678 - 1.98 0.030 1300 -683.8 -194.6 - - 3926 - - - - - - - - - 26.36 -
606 77.9 -6.0 42 611 done -0.44 - - 2678 - 2.15 0.044 2691 647.0 -194.6 - - 3926 - - - - - - - - - 26.28 -
929 102.4 -8.0 58 935 roll -0.50 0.12 0.091 2603 -625.0 2.08 0.029 1294 -671.6 -194.6 - - 3926 - - - - - - - - 26.50 26.43 -
992 109.8 -10.8 61 998 done -0.50 0.12 0.158 2638 291.7 2.15 0.046 2668 639.1 -194.6 - - 3926 - - - - - - - - 26.21 26.36 -
1315 143.4 -9.2 77 1321 roll -0.50 - - 2638 - 2.03 0.031 1299 -674.4 -194.6 - - 3925 - - - - - - - - - 26.48 -
1393 148.3 -7.9 80 1399 done -0.53 - - 2638 - 2.08 0.044 2658 653.4 -194.6 - - 3925 - - - - - - - - - 26.42 -
1698 175.5 -9.6 96 1703 roll -0.56 - - 2638 - 2.00 0.030 1287 -685.5 -194.6 - - 3925 - - - - - - - - - 26.53 -
1724 177.8 -10.0 97 1731 done -0.59 - - 2638 - 2.12 0.044 2664 649.5 -194.6 - - 3925 - - - - - - - - - 26.45 -
2043 199.7 -5.7 113 2049 roll -0.63 0.12 0.090 2560 -650.0 2.00 0.028 1291 -686.5 -194.6 - - 3924 - - - - - - - - 26.63 26.56 -
2082 201.6 -6.1 114 2089 done -0.66 - - 2560 - 2.08 0.044 2641 649.0 -194.6 - - 3924 - - - - - - - - - 26.48 -
2387 243.6 -14.4 130 2393 roll -0.60 0.12 0.172 2602 350.0 1.98 0.028 1299 -677.8 -194.6 - - 3924 - - - - - - - - 26.39 26.58 -
2411 246.6 -14.1 131 2416 done -0.56 - - 2601 - 2.05 0.044 2619 643.9 -194.6 - - 3922 - - - - - - - - - 26.49 -
2733 275.5 -8.9 147 2739 roll -0.56 - - 2602 - 1.67 0.057 3690 641.3 -194.6 - - 3921 - - - - - - - - - 26.47 -
2790 279.2 -8.9 149 2797 done -0.58 - - 2602 - 1.52 0.033 2643 -688.8 -194.6 - - 3921 - - - - - - - - - 26.64 -
3096 307.0 -7.8 165 3102 roll -0.60 - - 2602 - 1.98 0.029 1282 -687.4 -194.6 - - 3918 - - - - - - - - - 26.60 -
3160 311.7 -7.4 168 3165 done -0.63 - - 2602 - 2.05 0.044 2620 652.7 -194.6 - - 3918 - - - - - - - - - 26.52 -
3482 334.3 -6.8 184 3488 roll -0.65 - - 2602 - 1.98 0.031 1284 -674.7 -194.6 - - 3915 - - - - - - - - - 26.60 -
3529 337.4 -7.0 186 3534 done -0.68 - - 2602 - 2.05 0.044 2617 650.2 -194.6 - - 3915 - - - - - - - - - 26.53 -
3847 363.4 -8.5 202 3853 roll -0.71 - - 2602 - 1.98 0.031 1281 -674.7 -194.6 - - 3913 - - - - - - - - - 26.61 -
3911 369.0 -8.8 205 3917 done -0.74 0.12 0.093 2536 -550.0 2.05 0.044 2603 644.9 -194.6 - - 3912 - - - - - - - - 26.53 26.53 -
4234 415.8 -14.7 221 4240 roll -0.68 0.12 0.150 2576 333.3 1.73 0.056 3701 634.7 -194.6 - - 3910 - - - - - - - - 26.47 26.48 -
4327 424.7 -10.6 225 4332 done -0.68 - - 2577 - 1.65 0.032 2602 -666.1 -194.6 - - 3909 - - - - - - - - - 26.67 -
4639 453.2 -8.2 241 4644 roll -0.68 - - 2577 - 1.92 0.031 1274 -691.7 -194.6 - - 3908 - - - - - - - - - 26.61 -
4721 460.1 -8.4 245 4727 done -0.68 - - 2577 - 2.08 0.045 2607 640.9 -194.6 - - 3906 - - - - - - - - - 26.52 -
5043 488.3 -9.6 261 5048 roll -0.68 - - 2577 - 1.70 0.060 3697 641.2 -194.6 - - 3904 - - - - - - - - - 26.47 -
5069 490.4 -9.6 262 5074 done -0.68 - - 2577 - 1.67 0.035 2602 -655.7 -194.6 - - 3904 - - - - - - - - - 26.65 -
5386 522.0 -10.1 278 5387 done -0.68 - - 2577 - - - 2602 - -194.6 - - 3900 - - - - - - - - - - -
5686 550.6 -9.2 293 5692 roll -0.68 - - 2577 - 1.95 0.033 1277 -679.5 -194.6 - - 3899 - - - - - - - - - 26.60 -
5724 552.7 -9.1 294 5730 done -0.70 - - 2577 - 2.05 0.046 2599 644.9 -194.6 - - 3898 - - - - - - - - - 26.51 -
6030 580.4 -8.4 310 6035 roll -0.70 - - 2577 - 1.73 0.060 3688 629.5 -194.6 - - 3897 - - - - - - - - - 26.46 -
6113 587.1 -8.1 314 6118 done -0.72 - - 2577 - 1.65 0.035 2598 -660.6 -194.6 - - 3896 - - - - - - - - - 26.65 -
6446 612.8 -7.8 328 6447 done -0.73 - - 2577 - - - 2597 - -194.6 - - 3894 - - - - - - - - - - -
6746 636.3 -7.9 338 6751 roll -0.74 - - 2577 - 1.92 0.031 1275 -688.5 -194.6 - - 3892 - - - - - - - - - 26.60 -
6793 639.1 -8.2 339 6798 done -0.76 - - 2577 - 2.03 0.047 2587 646.3 -194.6 - - 3893 - - - - - - - - - 26.49 -
7111 667.3 -8.7 350 7117 roll -0.78 - - 2577 - 1.75 0.059 3692 631.4 -194.6 - - 3892 - - - - - - - - - 26.44 -
7144 670.3 -8.7 351 7150 done -0.80 0.12 0.094 2514 -525.0 1.65 0.036 2585 -670.9 -194.6 - - 3892 - - - - - - - - 26.55 26.65 -
7478 715.1 -13.8 362 7484 roll -0.74 0.12 0.160 2553 325.0 1.77 0.058 3699 629.4 -194.6 - - 3889 - - - - - - - - 26.44 26.42 -
7511 719.3 -13.4 363 7517 done -0.70 - - 2553 - 1.67 0.036 2596 -660.5 -194.6 - - 3889 - - - - - - - - - 26.64 -
7845 753.5 -10.1 374 7851 roll -0.70 - - 2553 - 1.75 0.060 3694 627.4 -194.6 - - 3887 - - - - - - - - - 26.42 -
7872 753.5 -10.1 374 7879 done -0.70 - - 2556 - 1.67 0.036 2585 -664.1 -194.6 - - 3887 - - - - - - - - - 26.63 -
8178 786.5 -9.8 385 8184 roll -0.70 - - 2554 - 1.92 0.034 1274 -682.8 -194.6 - - 3886 - - - - - - - - - 26.57 -
8200 786.5 -9.8 385 8206 done -0.70 - - 2553 - 2.03 0.048 2581 643.8 -194.6 - - 3886 - - - - - - - - - 26.46 -
8513 818.6 -9.5 396 8514 done -0.70 - - 2553 - - - 2581 - -194.6 - - 3885 - - - - - - - - - - -
8813 845.8 -8.9 406 8818 roll -0.70 - - 2553 - 1.75 0.060 3693 635.4 -194.6 - - 3883 - - - - - - - - - 26.39 -
8854 848.6 -8.8 407 8859 done -0.70 - - 2553 - 1.65 0.037 2586 -670.9 -194.6 - - 3883 - - - - - - - - - 26.62 -
9177 876.6 -8.4 418 9178 done -0.70 - - 2553 - - - 2586 - -194.6 - - 3882 - - - - - - - - - - -
9476 900.5 -7.9 428 9477 done -0.70 - - 2553 - - - 2586 - -194.6 - - 3881 - - - - - - - - - - -
9777 923.5 -7.7 438 9783 roll -0.70 - - 2553 - 1.92 0.034 1278 -681.2 -194.6 - - 3880 - - - - - - - - - 26.55 -
9819 926.3 -7.9 439 9825 done -0.70 - - 2553 - 2.05 0.048 2595 642.4 -194.6 - - 3880 - - - - - - - - - 26.44 -
10143 952.3 -7.8 450 10148 roll -0.70 - - 2553 - 1.98 0.034 1285 -661.6 -194.6 - - 3879 - - - - - - - - - 26.55 -
10169 952.3 -7.8 450 10176 done -0.70 - - 2553 - 2.05 0.047 2591 637.1 -194.6 - - 3879 - - - - - - - - - 26.42 -
10476 978.0 -7.7 461 10477 done -0.70 - - 2553 - - - 2592 - -194.6 - - 3878 - - - - - - - - - - -
10653 end dive: TARGET_DEPTH_EXCEEDED
10653 begin apogee
10658 991.8 -7.6 467 10820 roll -0.12 0.60 0.114 2757 340.0 - - 1936 - - 154.43 1.437 3120 -4.9 0.361 - - - - - - 26.11 - 23.53
10821 end apogee: CONTROL_FINISHED_OK
10821 begin climb
10823 997.1 - 472 11005 done 0.46 0.50 0.053 2964 414.0 - - 1936 - 194.6 175.73 1.395 2326 -4.5 0.344 - - - - - - 24.72 - 23.01
11318 954.0 11.0 489 11323 roll 0.41 - - 2964 - 2.33 0.051 3351 607.3 194.6 - - 2317 - - - - - - - - - 25.63 -
11381 946.0 11.8 491 11387 done 0.36 0.20 0.149 2913 -255.0 2.17 0.033 1954 -643.8 194.6 - - 2316 - - - - - - - - 25.57 25.82 -
11715 916.7 8.4 502 11728 roll 0.36 - - 2915 - 2.22 0.042 535 -639.2 204.4 8.35 1.167 2286 -3.6 0.301 - - - - - - - 25.89 24.76
11780 911.7 8.3 504 11800 done 0.39 - - 2915 - 2.17 0.039 1936 645.6 218.0 14.12 1.265 2232 -3.8 0.294 - - - - - - - 25.95 24.53
12108 884.1 8.1 515 12131 roll 0.41 - - 2915 - 2.33 0.052 3351 607.3 236.9 17.83 1.288 2154 -4.4 0.320 - - - - - - - 25.56 24.52
12193 879.0 8.2 517 12213 done 0.42 - - 2915 - 2.22 0.034 1936 -637.4 251.5 14.20 1.250 2097 -4.0 0.301 - - - - - - - 25.77 24.38
12530 850.3 7.6 529 12571 roll 0.47 0.10 0.106 2972 570.0 2.38 0.051 3351 594.5 288.5 33.92 1.314 1945 -4.5 0.309 - - - - - - 26.06 25.17 24.18
12597 843.5 9.1 531 12602 done 0.47 - - 2980 - 2.25 0.033 1941 -626.7 288.5 - - 1943 - - - - - - - - - 25.43 -
12925 802.4 12.2 542 12931 roll 0.43 0.12 0.165 2943 -308.3 2.17 0.041 537 -647.0 288.5 - - 1938 - - - - - - - - 25.85 25.96 -
12952 802.4 12.2 542 12959 done 0.39 - - 2943 - 2.22 0.040 1957 639.6 288.5 - - 1937 - - - - - - - - - 25.99 -
13258 775.2 8.0 553 13283 roll 0.40 - - 2943 - 2.33 0.054 3346 596.1 310.5 19.50 1.245 1855 -4.2 0.279 - - - - - - - 25.66 24.65
13320 769.7 8.4 555 13339 done 0.41 - - 2943 - 2.17 0.034 1957 -640.1 320.9 11.10 1.161 1811 -4.0 0.280 - - - - - - - 25.80 24.49
13652 742.1 8.4 566 13667 roll 0.43 - - 2943 - 2.30 0.044 535 -618.3 330.4 9.12 1.123 1773 -4.2 0.294 - - - - - - - 25.79 24.67
13685 739.5 8.3 567 13703 done 0.47 - - 2942 - 2.25 0.040 1967 636.4 343.3 13.12 1.172 1721 -4.0 0.267 - - - - - - - 25.83 24.49
14017 712.5 8.2 578 14040 roll 0.51 - - 2942 - 2.28 0.052 3340 602.2 359.1 14.88 1.181 1656 -4.4 0.281 - - - - - - - 25.63 24.58
14078 707.0 8.5 580 14093 done 0.55 - - 2943 - 2.15 0.033 1962 -640.9 366.5 8.25 1.068 1625 -3.8 0.265 - - - - - - - 25.78 24.49
14410 679.3 8.4 591 14426 roll 0.59 0.12 0.093 3012 575.0 2.30 0.044 539 -618.7 376.4 9.95 1.103 1586 -3.9 0.257 - - - - - - 26.08 25.79 24.65
14468 675.2 9.3 592 14474 done 0.63 - - 3012 - 2.25 0.040 1966 634.2 376.4 - - 1584 - - - - - - - - - 25.85 -
14774 620.7 17.4 603 14775 done 0.57 - - 3012 - - - 1966 - 376.4 - - 1584 - - - - - - - - - - -
15074 569.8 16.5 616 15080 roll 0.51 0.15 0.156 2970 -280.0 2.25 0.041 527 -639.6 376.4 - - 1583 - - - - - - - - 26.06 26.19 -
15121 564.1 14.8 618 15127 done 0.49 - - 2970 - 2.20 0.040 1957 650.0 376.4 - - 1582 - - - - - - - - - 26.21 -
15440 535.5 7.6 634 15480 roll 0.53 - - 2970 - 2.30 0.052 3343 602.6 411.5 30.70 1.125 1443 -4.5 0.230 - - - - - - - 25.60 24.67
15533 529.5 7.2 638 15583 done 0.58 - - 2970 - 2.15 0.033 1961 -642.8 462.7 44.88 1.113 1235 -4.6 0.235 - - - - - - - 25.78 24.10
15883 505.3 7.4 656 15929 roll 0.65 0.12 0.092 3050 666.7 2.33 0.044 529 -614.6 506.4 37.95 1.088 1055 -4.7 0.235 - - - - - - 25.94 25.15 24.20
15995 490.0 15.9 661 16001 done 0.62 0.17 0.129 2998 -305.9 2.28 0.038 1964 629.4 506.4 - - 1054 - - - - - - - - 25.41 25.51 -
16309 442.6 14.6 677 16315 roll 0.64 - - 2998 - 2.25 0.042 538 -633.8 506.4 - - 1052 - - - - - - - - - 25.95 -
16341 439.4 14.4 678 16346 done 0.66 - - 2998 - 2.20 0.037 1960 646.4 506.4 - - 1051 - - - - - - - - - 25.98 -
16653 393.3 14.3 694 16658 roll 0.68 - - 2998 - 2.17 0.051 3342 636.9 506.4 - - 1051 - - - - - - - - - 26.10 -
16670 393.3 14.3 694 16677 done 0.71 - - 2998 - 2.12 0.033 1947 -658.0 506.4 - - 1051 - - - - - - - - - 26.20 -
16976 350.1 12.2 710 16982 roll 0.74 0.12 0.094 3068 583.3 2.17 0.041 538 -649.3 506.4 - - 1051 - - - - - - - - 26.32 26.22 -
17038 339.9 15.5 713 17044 done 0.74 0.12 0.145 3032 -300.0 2.17 0.039 1937 644.7 506.4 - - 1050 - - - - - - - - 26.11 26.25 -
17362 294.9 12.2 729 17363 done 0.72 - - 3032 - - - 1939 - 506.4 - - 1050 - - - - - - - - - - -
17662 258.3 12.1 744 17668 roll 0.71 - - 3033 - 2.17 0.044 535 -647.0 506.4 - - 1050 - - - - - - - - - 26.34 -
17685 255.5 12.2 745 17691 done 0.71 - - 3033 - 2.12 0.036 1930 658.0 506.4 - - 1050 - - - - - - - - - 26.36 -
18008 213.1 14.2 761 18013 roll 0.71 - - 3033 - 2.20 0.050 3344 642.7 506.4 - - 1050 - - - - - - - - - 26.34 -
18044 209.6 14.6 762 18051 done 0.71 - - 3035 - 2.12 0.033 1932 -666.0 506.4 - - 1050 - - - - - - - - - 26.44 -
18351 163.1 13.0 778 18356 roll 0.72 - - 3035 - 2.12 0.042 537 -658.0 506.4 - - 1050 - - - - - - - - - 26.39 -
18408 158.6 11.3 780 18415 done 0.75 - - 3036 - 2.15 0.035 1956 660.0 506.4 - - 1049 - - - - - - - - - 26.43 -
18714 129.1 9.0 796 18715 done 0.79 - - 3036 - - - 1957 - 506.4 - - 1050 - - - - - - - - - - -
19014 99.7 8.9 811 19021 roll 0.84 0.10 0.107 3094 580.0 2.17 0.038 538 -653.9 506.4 - - 1051 - - - - - - - - 26.58 26.44 -
19052 97.2 8.9 812 19059 done 0.88 - - 3094 - 2.10 0.035 1939 667.1 506.4 - - 1051 - - - - - - - - - 26.46 -
19358 51.8 9.4 828 19363 roll 0.89 - - 3094 - 2.17 0.049 3347 648.8 506.4 - - 1051 - - - - - - - - - 26.42 -
19404 48.2 8.3 831 19423 done 0.94 - - 3094 - 2.12 0.030 1927 -669.8 520.1 11.75 0.697 999 -4.4 0.033 - - - - - - - 26.54 25.44
19722 28.9 5.0 863 19802 roll 1.11 0.15 0.084 3170 506.7 2.20 0.039 548 -626.8 643.7 70.15 0.702 495 -7.2 0.032 - - - - - - 26.44 25.48 24.80
19958 end climb: SURFACE_DEPTH_REACHED
19959 begin surface coast
19980 end surface coast: CONTROL_FINISHED_OK
19980 begin surface
SM 2.22 - - - - -8.27 7.93 0.041 136 -382.6 3.42 0.040 2681 623.7 652.74 4.32 0.064 459 -8.3 0.030 - - - - - -