OKMC Apr12 * SG170 * Dive index * Mission links * Dive 81 * Raw log
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• Previous call tries 5 • 17.16 of 146.00 AH used of 24V (88.25% remains)
• Previous NAKs 0, Timeouts 0 • 7.14 of 97.50 AH used of 10V (92.68% remains)
• Surface angle -75.2 deg, depth 1.96 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 36 s
• GPS2 time: 20 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 - - 138 - - - 2690 - -194.6 -81.15 - 2663 - - - - - - - - - - -
103 3.2 -2.9 8 146 roll -0.46 10.18 0.243 2639 245.7 2.20 0.046 1273 -644.1 -194.6 -24.95 - 3923 -50.5 - - - - - - - 25.65 26.19 26.52
183 24.0 -28.4 15 191 done -0.32 0.20 0.161 2696 285.0 2.25 0.049 2691 630.2 -194.6 - - 3926 - - - - - - - - 25.86 26.11 -
490 66.0 -5.4 38 495 roll -0.36 - - 2696 - 1.60 0.060 3699 630.0 -194.6 - - 3927 - - - - - - - - - 26.20 -
542 67.1 -3.3 40 547 done -0.42 - - 2696 - 1.52 0.031 2655 -686.8 -194.6 - - 3928 - - - - - - - - - 26.40 -
855 93.1 -13.9 56 861 roll -0.62 0.25 0.084 2595 -404.0 2.00 0.031 1304 -675.5 -194.6 - - 3929 - - - - - - - - 26.33 26.39 -
933 100.8 -12.5 59 941 done -0.73 - - 2595 - 2.15 0.046 2685 642.3 -194.6 - - 3928 - - - - - - - - - 26.34 -
1239 140.9 -11.8 75 1245 roll -0.68 - - 2595 - 1.60 0.060 3699 633.8 -194.6 - - 3928 - - - - - - - - - 26.35 -
1317 148.3 -11.7 78 1323 done -0.65 - - 2595 - 1.52 0.030 2650 -690.1 -194.6 - - 3929 - - - - - - - - - 26.55 -
1623 185.5 -10.0 94 1628 roll -0.63 - - 2595 - 1.95 0.031 1297 -693.8 -194.6 - - 3928 - - - - - - - - - 26.51 -
1719 193.5 -9.5 98 1726 done -0.63 - - 2595 - 2.12 0.047 2662 643.9 -194.6 - - 3928 - - - - - - - - - 26.42 -
2025 230.2 -10.9 114 2026 done -0.63 - - 2595 - - - 2663 - -194.6 - - 3927 - - - - - - - - - - -
2327 258.9 -8.1 129 2332 roll -0.63 - - 2595 - 2.03 0.033 1303 -670.0 -194.6 - - 3926 - - - - - - - - - 26.55 -
2353 260.6 -7.9 130 2358 done -0.63 - - 2595 - 2.10 0.048 2651 641.9 -194.6 - - 3926 - - - - - - - - - 26.46 -
2670 286.0 -8.1 146 2672 done -0.63 - - 2595 - - - 2651 - -194.6 - - 3923 - - - - - - - - - - -
2971 310.2 -7.6 161 2977 roll -0.64 - - 2595 - 2.00 0.032 1294 -678.5 -194.6 - - 3920 - - - - - - - - - 26.57 -
3018 313.8 -8.0 163 3024 done -0.66 - - 2595 - 2.12 0.049 2656 642.5 -194.6 - - 3919 - - - - - - - - - 26.48 -
3336 340.0 -8.6 179 3342 roll -0.68 - - 2595 - 2.03 0.034 1303 -666.5 -194.6 - - 3917 - - - - - - - - - 26.56 -
3374 342.0 -8.7 180 3380 done -0.71 - - 2595 - 2.08 0.047 2639 642.3 -194.6 - - 3918 - - - - - - - - - 26.50 -
3680 369.2 -8.3 196 3685 roll -0.73 - - 2595 - 2.00 0.033 1297 -671.0 -194.6 - - 3914 - - - - - - - - - 26.58 -
3723 372.9 -8.5 198 3729 done -0.76 0.12 0.096 2532 -525.0 2.08 0.047 2626 638.9 -194.6 - - 3914 - - - - - - - - 26.50 26.50 -
4047 416.5 -14.3 214 4053 roll -0.70 0.12 0.159 2573 341.7 1.67 0.054 3694 639.5 -194.6 - - 3912 - - - - - - - - 26.44 26.46 -
4115 423.8 -12.1 217 4120 done -0.68 - - 2573 - 1.55 0.034 2652 -672.3 -194.6 - - 3911 - - - - - - - - - 26.65 -
4432 455.5 -9.9 233 4437 roll -0.68 - - 2574 - 2.03 0.033 1277 -677.3 -194.6 - - 3909 - - - - - - - - - 26.58 -
4468 457.7 -10.1 234 4474 done -0.68 - - 2573 - 2.12 0.049 2638 642.0 -194.6 - - 3908 - - - - - - - - - 26.49 -
4774 489.4 -9.7 250 4775 done -0.68 - - 2573 - - - 2638 - -194.6 - - 3906 - - - - - - - - - - -
5075 519.5 -9.8 265 5080 roll -0.68 - - 2573 - 2.03 0.033 1281 -668.5 -194.6 - - 3905 - - - - - - - - - 26.59 -
5100 521.7 -9.8 266 5106 done -0.68 - - 2573 - 2.12 0.047 2643 642.5 -194.6 - - 3904 - - - - - - - - - 26.49 -
5418 551.9 -8.9 282 5419 done -0.68 - - 2573 - - - 2644 - -194.6 - - 3902 - - - - - - - - - - -
5719 578.4 -8.9 297 5724 roll -0.69 - - 2573 - 2.05 0.033 1273 -668.8 -194.6 - - 3899 - - - - - - - - - 26.58 -
5746 580.6 -9.1 298 5752 done -0.71 - - 2574 - 2.12 0.047 2635 642.5 -194.6 - - 3899 - - - - - - - - - 26.48 -
6075 609.4 -8.9 313 6080 roll -0.72 - - 2573 - 2.03 0.034 1283 -666.0 -194.6 - - 3897 - - - - - - - - - 26.58 -
6117 612.5 -8.9 314 6122 done -0.74 - - 2573 - 2.10 0.047 2627 640.0 -194.6 - - 3898 - - - - - - - - - 26.48 -
6440 643.7 -9.5 325 6445 roll -0.75 - - 2573 - 2.03 0.032 1272 -667.5 -194.6 - - 3895 - - - - - - - - - 26.58 -
6497 646.9 -9.6 326 6504 done -0.77 - - 2573 - 2.10 0.047 2617 640.5 -194.6 - - 3895 - - - - - - - - - 26.47 -
6804 680.1 -10.2 337 6809 roll -0.79 - - 2573 - 1.70 0.059 3690 631.2 -194.6 - - 3893 - - - - - - - - - 26.41 -
6851 683.4 -10.0 338 6856 done -0.81 - - 2574 - 1.62 0.037 2612 -665.4 -194.6 - - 3893 - - - - - - - - - 26.63 -
7168 715.4 -9.3 349 7170 done -0.83 0.12 0.096 2510 -533.3 - - 2611 - -194.6 - - 3891 - - - - - - - - 26.68 - -
7469 754.5 -13.0 359 7475 roll -0.77 0.12 0.152 2551 341.7 1.75 0.057 3691 617.1 -194.6 - - 3890 - - - - - - - - 26.44 26.40 -
7521 758.2 -12.4 360 7526 done -0.73 - - 2551 - 1.62 0.037 2633 -653.1 -194.6 - - 3890 - - - - - - - - - 26.63 -
7834 786.4 -8.1 371 7835 done -0.73 - - 2551 - - - 2633 - -194.6 - - 3888 - - - - - - - - - - -
8134 810.2 -7.9 381 8139 roll -0.73 - - 2551 - 1.75 0.060 3695 606.9 -194.6 - - 3887 - - - - - - - - - 26.39 -
8206 815.1 -7.9 383 8211 done -0.73 - - 2550 - 1.62 0.036 2620 -663.6 -194.6 - - 3886 - - - - - - - - - 26.62 -
8530 840.9 -7.9 394 8535 roll -0.73 - - 2551 - 1.98 0.033 1275 -679.3 -194.6 - - 3885 - - - - - - - - - 26.55 -
8602 846.0 -8.0 396 8607 done -0.73 - - 2551 - 2.10 0.048 2611 636.2 -194.6 - - 3884 - - - - - - - - - 26.42 -
8926 873.8 -8.7 407 8931 roll -0.73 - - 2551 - 1.73 0.060 3694 626.0 -194.6 - - 3884 - - - - - - - - - 26.36 -
8958 877.0 -8.9 408 8963 done -0.73 - - 2551 - 1.65 0.037 2611 -656.4 -194.6 - - 3884 - - - - - - - - - 26.60 -
9291 908.9 -10.1 419 9292 done -0.73 - - 2550 - - - 2611 - -194.6 - - 3885 - - - - - - - - - - -
9590 940.9 -10.9 429 9596 roll -0.73 - - 2551 - 1.98 0.034 1284 -670.2 -194.6 - - 3882 - - - - - - - - - 26.52 -
9641 944.7 -11.1 430 9646 done -0.73 - - 2550 - 2.08 0.049 2603 634.1 -194.6 - - 3882 - - - - - - - - - 26.40 -
9954 983.5 -12.0 441 9955 done -0.73 - - 2551 - - - 2603 - -194.6 - - 3881 - - - - - - - - - - -
10012 end dive: TARGET_DEPTH_EXCEEDED
10012 begin apogee
10017 991.0 -12.2 443 10178 roll -0.12 0.60 0.113 2755 340.0 - - 1927 - - 155.85 1.432 3121 -4.9 0.360 - - - - - - 26.08 - 23.56
10179 end apogee: CONTROL_FINISHED_OK
10179 begin climb
10181 1003.3 - 448 10368 roll 0.46 0.55 0.059 2959 370.9 2.28 0.040 542 -607.5 194.6 176.15 1.397 2326 -4.5 0.346 - - - - - - 24.70 24.69 23.03
10475 1000.3 5.2 458 10587 done 0.51 - - 2959 - 2.25 0.040 1939 620.9 312.7 105.38 1.379 1846 -4.6 0.352 - - - - - - - 25.10 23.20
10886 968.4 8.3 472 10905 roll 0.52 - - 2967 - 2.28 0.042 548 -610.1 324.8 11.27 1.226 1797 -4.3 0.366 - - - - - - - 25.45 24.34
11025 957.5 9.0 476 11031 done 0.52 - - 2967 - 2.22 0.040 1953 632.9 324.8 - - 1795 - - - - - - - - - 25.75 -
11337 923.3 10.6 487 11343 roll 0.52 - - 2967 - 2.22 0.052 3356 632.0 324.8 - - 1793 - - - - - - - - - 26.01 -
11384 919.5 10.9 488 11390 done 0.50 - - 2968 - 2.15 0.034 1966 -646.5 324.8 - - 1793 - - - - - - - - - 26.12 -
11704 883.4 10.5 499 11709 roll 0.49 - - 2968 - 2.22 0.043 526 -648.6 324.8 - - 1792 - - - - - - - - - 26.19 -
11771 877.0 10.2 501 11776 done 0.49 - - 2968 - 2.20 0.040 1943 644.1 324.8 - - 1791 - - - - - - - - - 26.21 -
12099 844.6 9.5 512 12104 roll 0.49 - - 2968 - 2.22 0.052 3355 636.0 324.8 - - 1792 - - - - - - - - - 26.23 -
12141 841.3 9.6 513 12146 done 0.48 - - 2968 - 2.20 0.034 1925 -650.0 324.8 - - 1792 - - - - - - - - - 26.34 -
12464 812.3 8.3 524 12483 roll 0.48 - - 2969 - 2.17 0.044 545 -635.9 336.4 11.32 1.205 1749 -3.8 0.273 - - - - - - - 26.12 25.00
12495 809.8 8.2 525 12519 done 0.49 - - 2969 - 2.20 0.040 1947 637.3 352.9 16.08 1.235 1682 -4.2 0.291 - - - - - - - 26.12 24.72
12827 783.7 8.2 536 12850 roll 0.50 - - 2969 - 2.30 0.052 3339 605.2 370.2 16.38 1.229 1612 -4.3 0.291 - - - - - - - 25.66 24.65
12888 777.6 9.1 538 12893 done 0.50 - - 2969 - 2.20 0.033 1944 -634.1 370.2 - - 1610 - - - - - - - - - 25.79 -
13221 744.4 10.2 549 13226 roll 0.50 - - 2969 - 2.20 0.044 531 -642.3 370.2 - - 1608 - - - - - - - - - 26.06 -
13288 738.1 10.1 551 13294 done 0.52 - - 2969 - 2.20 0.039 1944 642.3 370.2 - - 1608 - - - - - - - - - 26.10 -
13617 698.7 12.8 562 13623 roll 0.52 - - 2969 - 2.22 0.052 3343 630.2 370.2 - - 1608 - - - - - - - - - 26.15 -
13668 694.0 13.1 563 13674 done 0.52 - - 2969 - 2.17 0.034 1929 -651.6 370.2 - - 1608 - - - - - - - - - 26.27 -
13981 650.5 12.8 574 13986 roll 0.52 - - 2969 - 2.15 0.044 532 -649.8 370.2 - - 1607 - - - - - - - - - 26.27 -
14017 646.6 12.5 575 14023 done 0.53 - - 2969 - 2.20 0.039 1950 644.5 370.2 - - 1607 - - - - - - - - - 26.29 -
14346 608.8 11.2 586 14351 roll 0.55 - - 2969 - 2.20 0.053 3352 637.3 370.2 - - 1607 - - - - - - - - - 26.27 -
14382 604.9 11.3 587 14388 done 0.55 - - 2969 - 2.17 0.034 1936 -652.5 370.2 - - 1607 - - - - - - - - - 26.39 -
14701 569.9 10.8 602 14706 roll 0.56 - - 2969 - 2.15 0.043 533 -652.6 370.2 - - 1607 - - - - - - - - - 26.35 -
14747 565.6 10.3 604 14753 done 0.59 - - 2969 - 2.17 0.038 1951 653.5 370.2 - - 1607 - - - - - - - - - 26.36 -
15066 533.2 10.2 620 15071 roll 0.61 - - 2969 - 2.20 0.052 3347 634.5 370.2 - - 1607 - - - - - - - - - 26.32 -
15097 530.8 10.2 621 15103 done 0.62 - - 2969 - 2.15 0.034 1938 -655.3 370.2 - - 1607 - - - - - - - - - 26.44 -
15412 497.6 10.3 637 15417 roll 0.64 0.12 0.096 3042 608.3 2.15 0.041 531 -654.4 370.2 - - 1606 - - - - - - - - 26.54 26.39 -
15443 494.7 10.8 638 15449 done 0.64 0.12 0.152 3008 -283.3 2.20 0.039 1962 650.5 370.2 - - 1607 - - - - - - - - 26.20 26.40 -
15757 448.6 13.9 654 15758 done 0.61 - - 3008 - - - 1963 - 370.2 - - 1607 - - - - - - - - - - -
16057 408.2 13.5 669 16062 roll 0.58 - - 3010 - 2.20 0.043 539 -647.3 370.2 - - 1607 - - - - - - - - - 26.40 -
16094 405.1 13.6 670 16101 done 0.56 0.12 0.142 2973 -308.3 2.15 0.037 1948 655.3 370.2 - - 1607 - - - - - - - - 26.25 26.43 -
16400 369.7 10.6 686 16405 roll 0.58 - - 2973 - 2.20 0.051 3350 637.3 370.2 - - 1607 - - - - - - - - - 26.36 -
16451 364.9 10.9 688 16458 done 0.60 - - 2973 - 2.12 0.032 1944 -663.2 370.2 - - 1607 - - - - - - - - - 26.51 -
16765 332.8 9.8 704 16767 done 0.63 - - 2973 - - - 1944 - 370.2 - - 1608 - - - - - - - - - - -
17066 304.0 9.9 719 17072 roll 0.66 0.12 0.096 3051 650.0 2.22 0.050 3352 634.2 370.2 - - 1608 - - - - - - - - 26.61 26.36 -
17098 300.6 10.9 720 17104 done 0.66 0.15 0.158 3009 -280.0 2.10 0.033 1967 -659.5 370.2 - - 1608 - - - - - - - - 26.19 26.51 -
17412 258.4 12.8 736 17417 roll 0.64 - - 3011 - 2.17 0.041 535 -659.9 370.2 - - 1608 - - - - - - - - - 26.42 -
17494 249.9 10.2 740 17499 done 0.66 - - 3011 - 2.17 0.036 1961 657.1 370.2 - - 1608 - - - - - - - - - 26.45 -
17816 213.1 11.2 756 17821 roll 0.66 - - 3011 - 2.17 0.050 3353 641.5 370.2 - - 1609 - - - - - - - - - 26.37 -
17842 210.5 11.1 757 17847 done 0.66 - - 3011 - 2.12 0.032 1951 -661.3 370.2 - - 1609 - - - - - - - - - 26.51 -
18159 171.2 12.3 773 18164 roll 0.66 - - 3011 - 2.22 0.050 3349 629.7 370.2 - - 1609 - - - - - - - - - 26.36 -
18195 168.2 12.7 774 18203 done 0.66 - - 3010 - 2.08 0.031 1965 -665.4 370.2 - - 1609 - - - - - - - - - 26.53 -
18502 133.1 10.5 790 18508 roll 0.67 - - 3011 - 2.15 0.040 541 -662.3 370.2 - - 1609 - - - - - - - - - 26.44 -
18550 128.9 10.0 792 18555 done 0.70 - - 3011 - 2.17 0.035 1977 661.8 370.2 - - 1609 - - - - - - - - - 26.47 -
18867 98.3 9.7 808 18872 roll 0.74 - - 3010 - 2.12 0.050 3343 644.3 370.2 - - 1610 - - - - - - - - - 26.38 -
18893 95.8 10.3 809 18900 done 0.78 0.12 0.092 3080 583.3 2.08 0.031 1955 -667.3 370.2 - - 1610 - - - - - - - - 26.47 26.55 -
19212 57.1 6.7 825 19273 roll 0.82 - - 3079 - 2.20 0.039 541 -642.7 436.4 54.15 0.748 1340 -5.0 0.041 - - - - - - - 25.77 25.05
19325 52.1 4.7 830 19438 done 0.94 - - 3080 - 2.20 0.034 1964 646.8 568.2 104.18 0.730 803 -5.2 0.039 - - - - - - - 25.86 24.38
19736 12.6 10.4 870 19742 roll 1.15 0.22 0.090 3168 400.0 2.17 0.047 3345 636.4 568.2 - - 799 - - - - - - - - 25.84 25.82 -
19829 end climb: SURFACE_DEPTH_REACHED
19829 begin surface coast
19850 end surface coast: CONTROL_FINISHED_OK
19850 begin surface
SM 1.85 - - - - -8.28 7.93 0.044 135 -382.5 1.02 0.031 2673 -658.8 652.74 40.10 0.060 459 -8.5 0.027 - - - - - -