OKMC Nov12 * SG170 * Dive index * Mission links * Dive 76 * Raw log
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• Previous call tries 1 • 16.17 of 150.00 AH used of 24V (89.22% remains)
• Previous NAKs 0, Timeouts 0 • 6.26 of 100.00 AH used of 10V (93.74% remains)
• Surface angle -70.8 deg, depth 2.39 m • Intended pitch -15.6 deg, speed -10.000 cm/s
• No surface pump (final VBD was 567.13, SM_CC=450)
• GPS1 time: 42 s
• GPS2 time: 20 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
17 end surface: CONTROL_FINISHED_OK
17 begin dive
20 - - - 97 VBD -0.43 - - 136 - - - 2618 - -194.6 -74.57 - 2107 - - - - - - - - - - -
100 3.2 -2.0 13 160 roll -0.43 10.88 0.244 2866 250.9 1.70 0.069 3687 628.8 -194.6 -41.75 - 3563 -34.9 - - - - - - - 26.02 26.25 26.56
389 85.2 -37.8 47 395 done -0.28 0.17 0.162 2916 294.1 1.60 0.024 2575 -695.0 -194.6 - - 3563 - - - - - - - - 26.27 26.48 -
594 136.5 -22.3 57 599 roll -0.20 - - 2916 - 1.77 0.058 3695 632.8 -194.6 - - 3563 - - - - - - - - - 26.44 -
767 158.4 -11.1 65 773 done -0.20 - - 2916 - 1.58 0.024 2558 -719.6 -194.6 - - 3563 - - - - - - - - - 26.60 -
961 176.6 -9.8 75 966 roll -0.23 - - 2916 - 1.88 0.036 1249 -696.3 -194.6 - - 3564 - - - - - - - - - 26.58 -
978 176.6 -9.8 75 985 done -0.25 - - 2916 - 2.08 0.043 2605 651.9 -194.6 - - 3563 - - - - - - - - - 26.55 -
1164 194.5 -7.9 85 1170 roll -0.29 - - 2916 - 1.67 0.053 3690 649.7 -194.6 - - 3564 - - - - - - - - - 26.55 -
1193 196.3 -7.6 86 1198 done -0.34 - - 2916 - 1.52 0.024 2625 -700.7 -194.6 - - 3563 - - - - - - - - - 26.64 -
1393 209.0 -6.0 96 1398 roll -0.39 - - 2916 - 2.05 0.037 1195 -697.6 -194.6 - - 3564 - - - - - - - - - 26.63 -
1465 213.2 -6.2 99 1471 done -0.44 0.15 0.079 2834 -546.7 2.15 0.040 2610 658.1 -194.6 - - 3564 - - - - - - - - 26.63 26.60 -
1660 242.9 -16.4 109 1662 done -0.39 0.15 0.149 2879 300.0 - - 2611 - -194.6 - - 3563 - - - - - - - - 26.53 - -
1839 267.8 -13.6 118 1844 roll -0.41 - - 2878 - 2.05 0.024 1197 -689.8 -194.6 - - 3563 - - - - - - - - - 26.67 -
1902 276.2 -13.6 121 1907 done -0.43 - - 2879 - 2.12 0.039 2600 661.8 -194.6 - - 3563 - - - - - - - - - 26.64 -
2225 305.6 -6.3 137 2231 roll -0.46 - - 2879 - 1.70 0.054 3686 638.8 -194.6 - - 3562 - - - - - - - - - 26.64 -
2284 307.7 -5.4 139 2290 done -0.49 - - 2879 - 1.58 0.024 2547 -720.9 -194.6 - - 3561 - - - - - - - - - 26.74 -
2589 326.9 -6.9 155 2595 roll -0.53 0.12 0.095 2808 -591.7 1.80 0.052 3687 633.3 -194.6 - - 3560 - - - - - - - - 26.72 26.65 -
2628 329.3 -7.7 156 2635 done -0.55 - - 2808 - 1.58 0.024 2551 -719.0 -194.6 - - 3560 - - - - - - - - - 26.75 -
2933 378.9 -17.4 172 2935 done -0.49 0.15 0.160 2851 286.7 - - 2548 - -194.6 - - 3558 - - - - - - - - 26.58 - -
3234 419.3 -12.7 187 3235 done -0.49 - - 2851 - - - 2549 - -194.6 - - 3556 - - - - - - - - - - -
3534 453.8 -11.0 202 3539 roll -0.51 - - 2851 - 1.88 0.025 1238 -697.3 -194.6 - - 3554 - - - - - - - - - 26.74 -
3577 458.5 -10.7 204 3582 done -0.52 - - 2851 - 2.08 0.040 2600 654.8 -194.6 - - 3554 - - - - - - - - - 26.68 -
3901 491.7 -10.3 220 3906 roll -0.53 - - 2851 - 1.70 0.055 3695 644.1 -194.6 - - 3552 - - - - - - - - - 26.67 -
3932 494.4 -10.6 221 3938 done -0.55 - - 2851 - 1.52 0.029 2632 -699.3 -194.6 - - 3552 - - - - - - - - - 26.77 -
4246 527.2 -9.5 237 4252 roll -0.57 - - 2851 - 2.05 0.026 1210 -693.7 -194.6 - - 3549 - - - - - - - - - 26.74 -
4279 529.6 -9.4 238 4284 done -0.59 - - 2851 - 2.12 0.041 2601 656.1 -194.6 - - 3549 - - - - - - - - - 26.69 -
4593 554.6 -6.6 254 4599 roll -0.61 0.12 0.094 2781 -583.3 1.67 0.054 3694 654.5 -194.6 - - 3547 - - - - - - - - 26.74 26.67 -
4636 558.9 -8.2 256 4642 done -0.61 0.12 0.156 2818 308.3 1.58 0.028 2587 -700.6 -194.6 - - 3546 - - - - - - - - 26.60 26.78 -
4961 586.4 -8.3 272 4966 roll -0.59 - - 2818 - 1.98 0.026 1210 -695.5 -194.6 - - 3544 - - - - - - - - - 26.74 -
4988 588.5 -8.5 273 4993 done -0.58 - - 2818 - 2.12 0.041 2600 655.7 -194.6 - - 3544 - - - - - - - - - 26.70 -
5308 616.7 -9.2 286 5313 roll -0.56 - - 2818 - 1.73 0.057 3690 630.1 -194.6 - - 3543 - - - - - - - - - 26.68 -
5371 622.8 -9.5 288 5376 done -0.56 - - 2818 - 1.55 0.030 2617 -692.3 -194.6 - - 3542 - - - - - - - - - 26.77 -
5704 655.2 -10.2 299 5709 roll -0.56 - - 2818 - 2.05 0.026 1201 -690.7 -194.6 - - 3540 - - - - - - - - - 26.76 -
5801 664.7 -10.2 302 5806 done -0.56 - - 2818 - 2.15 0.041 2601 651.2 -194.6 - - 3539 - - - - - - - - - 26.69 -
6129 701.3 -11.5 313 6136 roll -0.56 - - 2818 - 1.73 0.056 3691 630.1 -194.6 - - 3538 - - - - - - - - - 26.67 -
6187 705.2 -11.6 314 6194 done -0.56 - - 2818 - 1.60 0.031 2597 -683.8 -194.6 - - 3537 - - - - - - - - - 26.77 -
6493 742.2 -11.0 325 6499 roll -0.56 - - 2818 - 1.75 0.056 3700 630.3 -194.6 - - 3536 - - - - - - - - - 26.67 -
6532 745.8 -10.9 326 6537 done -0.56 - - 2818 - 1.62 0.030 2578 -692.6 -194.6 - - 3536 - - - - - - - - - 26.77 -
6861 781.0 -10.5 337 6862 done -0.56 - - 2817 - - - 2576 - -194.6 - - 3534 - - - - - - - - - - -
7160 813.4 -11.2 347 7165 roll -0.56 - - 2818 - 1.75 0.057 3691 637.1 -194.6 - - 3532 - - - - - - - - - 26.67 -
7231 820.5 -11.3 349 7237 done -0.56 - - 2818 - 1.60 0.031 2597 -683.8 -194.6 - - 3532 - - - - - - - - - 26.77 -
7556 856.9 -10.6 360 7561 roll -0.56 - - 2818 - 2.03 0.027 1191 -692.6 -194.6 - - 3530 - - - - - - - - - 26.74 -
7608 860.3 -10.4 361 7614 done -0.56 - - 2818 - 2.17 0.042 2603 650.7 -194.6 - - 3530 - - - - - - - - - 26.69 -
7922 889.6 -8.5 372 7923 done -0.56 - - 2818 - - - 2603 - -194.6 - - 3530 - - - - - - - - - - -
8222 916.0 -8.9 382 8227 roll -0.56 - - 2818 - 1.70 0.057 3691 640.0 -194.6 - - 3528 - - - - - - - - - 26.67 -
8249 916.0 -8.9 382 8255 done -0.56 - - 2818 - 1.60 0.031 2602 -680.6 -194.6 - - 3528 - - - - - - - - - 26.77 -
8555 942.4 -7.7 393 8560 roll -0.56 - - 2818 - 2.05 0.028 1195 -686.3 -194.6 - - 3526 - - - - - - - - - 26.74 -
8692 952.3 -8.0 397 8698 done -0.57 - - 2818 - 2.17 0.042 2607 650.7 -194.6 - - 3526 - - - - - - - - - 26.69 -
9012 982.9 -9.7 408 9017 roll -0.57 - - 2818 - 1.70 0.058 3691 637.6 -194.6 - - 3525 - - - - - - - - - 26.67 -
9033 982.9 -9.7 408 9039 done -0.57 - - 2818 - 1.62 0.031 2605 -670.4 -194.6 - - 3525 - - - - - - - - - 26.77 -
9104 end dive: TARGET_DEPTH_EXCEEDED
9104 begin apogee
9110 992.4 -9.9 411 9277 done -0.11 0.45 0.120 2974 346.7 - - 1923 - - 157.85 1.469 2768 -4.8 0.338 - - - - - - 26.58 - 23.94
9278 end apogee: CONTROL_FINISHED_OK
9278 begin climb
9280 999.7 - 416 9463 roll 0.43 0.47 0.066 3150 374.5 2.50 0.048 3357 573.6 194.6 172.60 1.431 1973 -4.6 0.336 - - - - - - 24.92 24.29 23.49
9579 984.7 8.7 426 9621 done 0.44 - - 3157 - 2.20 0.028 1958 -635.9 233.0 34.12 1.372 1818 -4.5 0.340 - - - - - - - 25.29 23.83
9921 953.5 8.5 438 9965 roll 0.48 - - 3157 - 2.38 0.047 3361 589.5 276.3 38.65 1.384 1641 -4.6 0.329 - - - - - - - 24.94 24.15
10028 944.8 9.2 441 10058 done 0.51 - - 3159 - 2.20 0.028 1958 -637.7 299.8 22.20 1.336 1545 -4.3 0.319 - - - - - - - 25.46 24.18
10375 910.0 10.3 453 10381 roll 0.55 - - 3158 - 2.28 0.049 3369 618.9 299.8 - - 1540 - - - - - - - - - 25.92 -
10403 910.0 10.3 453 10410 done 0.59 0.12 0.093 3229 591.7 2.20 0.028 1944 -647.7 299.8 - - 1540 - - - - - - - - 25.98 26.02 -
10710 850.1 19.5 464 10716 roll 0.56 0.12 0.148 3187 -350.0 2.28 0.047 3361 621.5 299.8 - - 1538 - - - - - - - - 26.14 26.19 -
10763 843.5 19.6 465 10769 done 0.53 - - 3188 - 2.15 0.028 1944 -659.1 299.8 - - 1538 - - - - - - - - - 26.27 -
11076 791.3 15.2 476 11082 roll 0.53 - - 3187 - 2.28 0.050 3359 620.6 299.8 - - 1537 - - - - - - - - - 26.33 -
11124 786.1 15.1 477 11129 done 0.53 - - 3188 - 2.15 0.028 1939 -660.5 299.8 - - 1538 - - - - - - - - - 26.40 -
11443 745.8 10.8 488 11449 roll 0.55 - - 3188 - 2.25 0.049 3364 633.3 299.8 - - 1536 - - - - - - - - - 26.41 -
11510 738.5 11.1 490 11515 done 0.55 - - 3188 - 2.12 0.028 1950 -667.0 299.8 - - 1537 - - - - - - - - - 26.49 -
11839 705.3 9.8 501 11849 roll 0.56 - - 3188 - 2.22 0.047 3361 635.6 304.9 4.55 0.904 1525 -2.6 0.215 - - - - - - - 26.39 25.40
11897 701.7 10.0 502 11904 done 0.58 - - 3187 - 2.12 0.028 1946 -667.5 305.8 - - 1526 - - - - - - - - - 26.47 -
12204 669.5 9.7 513 12219 roll 0.60 - - 3187 - 2.33 0.048 3364 608.6 314.6 10.45 1.150 1486 -3.8 0.233 - - - - - - - 26.22 25.34
12297 659.7 10.2 516 12302 done 0.61 - - 3188 - 2.15 0.028 1949 -658.1 314.6 - - 1483 - - - - - - - - - 26.34 -
12632 630.2 8.7 527 12667 done 0.65 - - 3188 - - - 1949 - 352.4 33.62 1.220 1332 -4.5 0.242 - - - - - - - - 24.82
12962 599.7 9.7 538 12976 roll 0.69 0.12 0.091 3269 675.0 2.28 0.048 3357 617.5 359.9 8.00 1.037 1300 -4.0 0.241 - - - - - - 26.19 25.95 25.11
13026 588.8 15.0 541 13033 done 0.67 0.17 0.158 3226 -252.9 2.15 0.028 1943 -657.7 359.9 - - 1299 - - - - - - - - 25.94 26.08 -
13350 535.1 16.6 557 13356 roll 0.66 - - 3227 - 2.28 0.047 3369 625.4 359.9 - - 1297 - - - - - - - - - 26.25 -
13378 530.8 17.0 558 13383 done 0.64 - - 3227 - 2.15 0.028 1950 -660.0 359.9 - - 1298 - - - - - - - - - 26.32 -
13696 479.2 15.3 574 13702 roll 0.63 - - 3227 - 2.25 0.047 3366 629.3 359.9 - - 1297 - - - - - - - - - 26.37 -
13784 465.5 16.4 578 13790 done 0.61 - - 3227 - 2.12 0.028 1945 -670.3 359.9 - - 1297 - - - - - - - - - 26.45 -
14102 414.5 15.9 594 14107 roll 0.61 - - 3227 - 2.25 0.047 3365 631.1 359.9 - - 1297 - - - - - - - - - 26.46 -
14119 414.5 15.9 594 14126 done 0.61 - - 3227 - 2.12 0.028 1951 -667.0 359.9 - - 1297 - - - - - - - - - 26.53 -
14425 357.8 17.0 610 14430 roll 0.61 - - 3227 - 2.12 0.038 542 -664.6 359.9 - - 1297 - - - - - - - - - 26.51 -
14448 354.3 16.7 611 14454 done 0.61 - - 3228 - 2.15 0.034 1954 656.7 359.9 - - 1297 - - - - - - - - - 26.53 -
14771 310.9 14.1 627 14777 roll 0.61 - - 3228 - 2.17 0.049 3355 645.6 359.9 - - 1298 - - - - - - - - - 26.53 -
14885 294.8 15.7 632 14890 done 0.61 - - 3228 - 2.10 0.027 1949 -669.5 359.9 - - 1297 - - - - - - - - - 26.60 -
15198 244.1 13.0 648 15203 roll 0.63 - - 3228 - 2.20 0.047 3355 639.1 359.9 - - 1297 - - - - - - - - - 26.55 -
15295 234.4 11.7 652 15302 done 0.63 - - 3228 - 2.10 0.028 1933 -677.1 359.9 - - 1297 - - - - - - - - - 26.63 -
15482 218.3 6.4 662 15575 roll 0.69 - - 3228 - 2.17 0.036 560 -632.7 464.2 86.00 0.924 875 -4.9 0.121 - - - - - - - 25.26 24.60
15592 213.8 4.2 667 15690 done 0.81 0.12 0.094 3294 550.0 2.20 0.031 1962 637.3 632.7 89.55 0.890 460 -4.6 0.116 - - - - - - 25.44 25.45 24.30
15888 167.1 19.4 682 15894 roll 0.81 - - 3294 - 2.20 0.048 3349 630.5 632.7 - - 457 - - - - - - - - - 25.78 -
15985 150.0 20.6 686 15993 done 0.81 - - 3296 - 2.15 0.026 1938 -656.3 632.7 - - 458 - - - - - - - - - 25.98 -
16172 117.4 14.4 696 16177 roll 0.84 - - 3296 - 2.10 0.037 560 -656.2 632.7 - - 458 - - - - - - - - - 26.10 -
16199 114.9 13.2 697 16204 done 0.87 - - 3296 - 2.12 0.031 1956 658.5 632.7 - - 457 - - - - - - - - - 26.15 -
16399 104.7 2.8 707 16404 roll 1.04 0.12 0.096 3374 650.0 2.20 0.044 3362 639.1 841.3 - - 458 - - - - - - - - 26.27 26.22 -
16493 95.7 10.8 711 16498 done 1.05 - - 3378 - 2.12 0.026 1941 -670.3 841.3 - - 457 - - - - - - - - - 26.32 -
16686 62.9 17.5 721 16693 roll 1.04 0.12 0.159 3337 -341.7 2.08 0.035 549 -669.2 841.3 - - 458 - - - - - - - - 26.26 26.35 -
16719 58.9 17.3 722 16725 done 1.04 - - 3337 - 2.12 0.031 1964 667.5 841.3 - - 458 - - - - - - - - - 26.37 -
16912 36.8 10.0 738 16918 roll 1.10 - - 3337 - 2.15 0.047 3353 646.0 842.7 - - 458 - - - - - - - - - 26.39 -
16949 33.4 10.5 741 16956 done 1.16 0.15 0.079 3414 513.3 2.08 0.025 1950 -674.5 842.7 - - 458 - - - - - - - - 26.44 26.46 -
17109 end climb: SURFACE_DEPTH_REACHED
17110 begin surface coast
17122 end surface coast: CONTROL_FINISHED_OK
17122 begin surface
SM 2.36 - - - - -8.93 8.70 0.065 143 -376.0 1.02 0.040 2607 644.1 567.13 - - 457 - - - - - - - -