OKMC Apr12 * SG170 * Dive index * Mission links * Dive 83 * Raw log
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• Previous call tries 5 • 17.65 of 146.00 AH used of 24V (87.91% remains)
• Previous NAKs 0, Timeouts 0 • 7.38 of 97.50 AH used of 10V (92.43% remains)
• Surface angle -74.2 deg, depth 1.98 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: 18 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
14 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 100 VBD -0.46 - - 128 - - - 2680 - -194.6 -81.28 - 2680 - - - - - - - - - - -
103 3.2 -2.5 8 146 roll -0.46 10.35 0.246 2642 242.9 1.67 0.076 3702 612.0 -194.6 -24.83 - 3920 -49.9 - - - - - - - 25.69 26.14 26.57
178 20.8 -24.5 15 185 done -0.30 0.20 0.146 2701 295.0 1.52 0.029 2657 -687.5 -194.6 - - 3922 - - - - - - - - 25.96 26.32 -
483 76.0 -12.5 39 488 roll -0.30 - - 2702 - 2.00 0.030 1295 -681.0 -194.6 - - 3924 - - - - - - - - - 26.36 -
546 76.1 -1.5 42 551 done -0.35 - - 2701 - 2.17 0.043 2697 646.1 -194.6 - - 3925 - - - - - - - - - 26.28 -
869 89.9 -10.4 58 875 roll -0.55 0.20 0.091 2619 -410.0 2.08 0.029 1300 -671.6 -194.6 - - 3926 - - - - - - - - 26.37 26.44 -
916 95.1 -11.6 60 923 done -0.74 0.17 0.080 2538 -476.5 2.15 0.043 2695 648.8 -194.6 - - 3926 - - - - - - - - 26.38 26.36 -
1235 163.9 -21.9 76 1241 roll -0.62 0.17 0.155 2592 317.6 1.58 0.053 3701 636.7 -194.6 - - 3926 - - - - - - - - 26.21 26.38 -
1324 176.3 -14.7 80 1329 done -0.57 - - 2593 - 1.50 0.031 2694 -671.3 -194.6 - - 3926 - - - - - - - - - 26.55 -
1642 206.5 -8.1 96 1647 roll -0.54 0.12 0.149 2635 350.0 2.05 0.028 1277 -691.2 -194.6 - - 3925 - - - - - - - - 26.39 26.53 -
1741 210.4 -4.6 100 1748 done -0.58 - - 2636 - 2.17 0.045 2684 648.4 -194.6 - - 3925 - - - - - - - - - 26.44 -
2045 229.2 -7.2 116 2052 roll -0.63 0.12 0.091 2560 -633.3 2.08 0.028 1279 -675.5 -194.6 - - 3923 - - - - - - - - 26.63 26.55 -
2117 236.9 -11.1 119 2124 done -0.63 0.12 0.161 2594 283.3 2.15 0.044 2669 646.5 -194.6 - - 3923 - - - - - - - - 26.29 26.46 -
2432 278.1 -11.5 135 2437 roll -0.63 - - 2595 - 2.03 0.029 1282 -683.3 -194.6 - - 3920 - - - - - - - - - 26.58 -
2536 286.0 -7.4 140 2541 done -0.65 - - 2595 - 2.12 0.044 2653 646.7 -194.6 - - 3919 - - - - - - - - - 26.49 -
2858 303.8 -5.0 156 2864 roll -0.65 - - 2595 - 2.03 0.030 1284 -674.4 -194.6 - - 3918 - - - - - - - - - 26.58 -
2901 306.3 -5.5 158 2908 done -0.65 - - 2595 - 2.12 0.044 2654 646.2 -194.6 - - 3917 - - - - - - - - - 26.50 -
3224 334.1 -10.3 174 3229 roll -0.65 - - 2595 - 1.62 0.057 3692 640.7 -194.6 - - 3915 - - - - - - - - - 26.46 -
3270 338.8 -11.0 176 3277 done -0.67 - - 2595 - 1.58 0.033 2645 -662.7 -194.6 - - 3914 - - - - - - - - - 26.64 -
3589 375.6 -10.9 192 3594 roll -0.68 - - 2595 - 2.00 0.031 1277 -684.0 -194.6 - - 3912 - - - - - - - - - 26.60 -
3707 385.1 -9.0 197 3713 done -0.71 - - 2595 - 2.10 0.047 2627 642.9 -194.6 - - 3911 - - - - - - - - - 26.49 -
4013 405.2 -5.4 213 4014 done -0.73 - - 2595 - - - 2628 - -194.6 - - 3908 - - - - - - - - - - -
4313 421.0 -5.7 228 4320 roll -0.75 0.12 0.097 2523 -600.0 2.00 0.030 1284 -672.0 -194.6 - - 3906 - - - - - - - - 26.67 26.60 -
4362 425.2 -7.5 230 4368 done -0.75 0.12 0.156 2558 291.7 2.08 0.048 2611 638.0 -194.6 - - 3906 - - - - - - - - 26.32 26.48 -
4680 458.6 -10.8 246 4681 done -0.73 - - 2558 - - - 2611 - -194.6 - - 3904 - - - - - - - - - - -
4981 488.8 -9.3 261 4982 done -0.70 - - 2558 - - - 2611 - -194.6 - - 3901 - - - - - - - - - - -
5282 513.4 -7.9 276 5283 done -0.69 - - 2559 - - - 2611 - -194.6 - - 3899 - - - - - - - - - - -
5581 536.3 -7.1 291 5582 done -0.67 - - 2558 - - - 2611 - -194.6 - - 3897 - - - - - - - - - - -
5881 558.9 -8.0 306 5883 done -0.65 0.10 0.181 2587 290.0 - - 2611 - -194.6 - - 3896 - - - - - - - - 26.53 - -
6181 581.7 -8.1 321 6186 roll -0.68 - - 2587 - 2.00 0.033 1280 -665.5 -194.6 - - 3893 - - - - - - - - - 26.58 -
6204 583.7 -8.3 322 6209 done -0.70 - - 2587 - 2.10 0.050 2604 630.5 -194.6 - - 3893 - - - - - - - - - 26.46 -
6528 612.3 -9.0 336 6533 roll -0.73 - - 2588 - 1.73 0.060 3691 628.3 -194.6 - - 3891 - - - - - - - - - 26.42 -
6561 615.4 -9.1 337 6566 done -0.76 - - 2587 - 1.65 0.034 2597 -663.0 -194.6 - - 3891 - - - - - - - - - 26.65 -
6895 644.5 -8.5 348 6897 done -0.78 0.12 0.091 2520 -558.3 - - 2597 - -194.6 - - 3889 - - - - - - - - 26.70 - -
7193 681.2 -12.2 358 7199 roll -0.73 0.12 0.155 2562 350.0 1.77 0.058 3694 619.8 -194.6 - - 3887 - - - - - - - - 26.46 26.41 -
7240 684.7 -11.7 359 7246 done -0.70 - - 2562 - 1.62 0.034 2607 -671.0 -194.6 - - 3887 - - - - - - - - - 26.64 -
7559 715.1 -9.4 370 7560 done -0.70 - - 2562 - - - 2607 - -194.6 - - 3886 - - - - - - - - - - -
7858 745.2 -10.2 380 7863 roll -0.70 - - 2562 - 1.77 0.061 3700 617.5 -194.6 - - 3885 - - - - - - - - - 26.39 -
7893 748.3 -10.1 381 7899 done -0.70 - - 2562 - 1.62 0.035 2621 -666.0 -194.6 - - 3884 - - - - - - - - - 26.63 -
8222 782.4 -10.4 392 8223 done -0.70 - - 2562 - - - 2621 - -194.6 - - 3883 - - - - - - - - - - -
8521 815.1 -10.9 402 8526 roll -0.70 - - 2562 - 1.98 0.031 1280 -677.3 -194.6 - - 3882 - - - - - - - - - 26.56 -
8567 818.6 -10.9 403 8573 done -0.70 - - 2562 - 2.10 0.047 2618 637.1 -194.6 - - 3881 - - - - - - - - - 26.41 -
8886 852.7 -9.8 414 8891 roll -0.70 - - 2563 - 2.00 0.034 1287 -665.5 -194.6 - - 3879 - - - - - - - - - 26.54 -
8927 855.7 -9.6 415 8932 done -0.70 - - 2562 - 2.08 0.048 2610 636.1 -194.6 - - 3879 - - - - - - - - - 26.42 -
9250 882.4 -7.2 426 9256 roll -0.70 - - 2562 - 1.75 0.060 3692 618.3 -194.6 - - 3878 - - - - - - - - - 26.36 -
9284 884.6 -6.9 427 9289 done -0.71 - - 2562 - 1.65 0.037 2607 -657.6 -194.6 - - 3878 - - - - - - - - - 26.60 -
9618 903.2 -5.1 438 9623 roll -0.71 - - 2562 - 1.98 0.034 1278 -671.2 -194.6 - - 3877 - - - - - - - - - 26.53 -
9650 904.9 -5.0 439 9655 done -0.71 - - 2562 - 2.10 0.049 2604 631.4 -194.6 - - 3877 - - - - - - - - - 26.40 -
9983 922.6 -5.7 450 9984 done -0.71 - - 2562 - - - 2604 - -194.6 - - 3876 - - - - - - - - - - -
10283 940.3 -6.1 460 10288 roll -0.71 - - 2562 - 2.00 0.033 1276 -664.0 -194.6 - - 3875 - - - - - - - - - 26.52 -
10309 940.3 -6.1 460 10316 done -0.71 - - 2562 - 2.10 0.049 2607 633.8 -194.6 - - 3876 - - - - - - - - - 26.39 -
10616 964.8 -8.0 471 10621 roll -0.71 - - 2562 - 1.73 0.061 3689 625.4 -194.6 - - 3875 - - - - - - - - - 26.32 -
10652 967.6 -8.1 472 10658 done -0.72 - - 2561 - 1.65 0.037 2605 -657.0 -194.6 - - 3874 - - - - - - - - - 26.58 -
10919 end dive: TARGET_DEPTH_EXCEEDED
10919 begin apogee
10925 992.8 -9.7 481 11084 roll -0.12 0.55 0.108 2753 349.1 - - 1935 - - 153.68 1.434 3121 -4.9 0.362 - - - - - - 26.10 - 23.55
11086 end apogee: CONTROL_FINISHED_OK
11086 begin climb
11088 1003.0 - 486 11270 done 0.46 0.52 0.056 2963 403.8 - - 1935 - 194.6 176.23 1.400 2327 -4.5 0.344 - - - - - - 24.69 - 23.00
11583 975.2 8.9 503 11589 roll 0.42 - - 2963 - 2.33 0.051 3345 605.2 194.6 - - 2318 - - - - - - - - - 25.64 -
11747 956.3 12.7 508 11753 done 0.35 0.20 0.146 2913 -250.0 2.17 0.034 1951 -642.4 194.6 - - 2317 - - - - - - - - 25.69 25.94 -
12071 923.9 9.9 519 12072 done 0.36 - - 2913 - - - 1951 - 194.6 - - 2315 - - - - - - - - - - -
12371 892.7 10.5 529 12376 roll 0.38 - - 2912 - 2.28 0.055 3343 610.5 194.6 - - 2314 - - - - - - - - - 26.13 -
12403 889.1 10.6 530 12408 done 0.38 - - 2915 - 2.15 0.034 1953 -646.5 194.6 - - 2314 - - - - - - - - - 26.26 -
12736 857.1 9.1 541 12737 done 0.38 - - 2915 - - - 1953 - 194.6 - - 2313 - - - - - - - - - - -
13036 832.6 7.5 551 13076 roll 0.41 - - 2915 - 2.40 0.054 3353 583.3 233.5 33.38 1.311 2168 -4.3 0.294 - - - - - - - 25.51 24.53
13132 825.6 7.5 554 13178 done 0.44 - - 2914 - 2.17 0.033 1971 -636.9 274.2 36.97 1.292 2002 -4.5 0.306 - - - - - - - 25.74 24.06
13491 804.4 5.2 566 13599 roll 0.55 0.15 0.081 2998 560.0 2.38 0.043 545 -599.2 389.7 100.50 1.297 1532 -4.7 0.309 - - - - - - 25.98 24.67 23.72
13627 791.6 10.6 570 13633 done 0.52 - - 2998 - 2.35 0.038 1982 611.5 389.7 - - 1528 - - - - - - - - - 25.06 -
13947 751.4 12.1 581 13953 roll 0.49 0.12 0.151 2957 -341.7 2.22 0.051 3354 618.0 389.7 - - 1525 - - - - - - - - 25.78 25.83 -
13969 751.4 12.1 581 13975 done 0.46 - - 2958 - 2.15 0.033 1977 -640.5 389.7 - - 1525 - - - - - - - - - 25.93 -
14284 723.7 8.0 592 14312 roll 0.50 - - 2958 - 2.33 0.044 534 -619.3 412.3 19.23 1.200 1439 -4.5 0.288 - - - - - - - 25.67 24.66
14348 718.6 8.2 594 14369 done 0.55 - - 2957 - 2.28 0.037 1973 631.1 427.4 14.50 1.157 1378 -4.2 0.279 - - - - - - - 25.76 24.46
14677 688.4 9.8 605 14683 roll 0.60 0.10 0.106 3016 590.0 2.20 0.051 3354 627.7 427.4 - - 1376 - - - - - - - - 26.06 25.92 -
14734 683.8 10.7 606 14742 done 0.63 - - 3022 - 2.12 0.034 1983 -646.7 427.4 - - 1376 - - - - - - - - - 26.05 -
15041 623.1 18.1 617 15047 roll 0.58 0.12 0.161 2983 -325.0 2.22 0.041 534 -652.7 427.4 - - 1375 - - - - - - - - 26.05 26.14 -
15105 614.6 15.6 619 15110 done 0.56 - - 2983 - 2.25 0.038 1979 642.2 427.4 - - 1375 - - - - - - - - - 26.17 -
15417 577.6 12.4 632 15423 roll 0.56 - - 2983 - 2.15 0.053 3346 635.8 427.4 - - 1375 - - - - - - - - - 26.20 -
15463 571.7 13.2 634 15468 done 0.56 - - 2983 - 2.12 0.034 1982 -643.4 427.4 - - 1375 - - - - - - - - - 26.31 -
15780 532.5 11.9 650 15786 roll 0.56 - - 2983 - 2.22 0.042 532 -653.2 427.4 - - 1375 - - - - - - - - - 26.30 -
15844 525.9 10.8 653 15850 done 0.59 - - 2984 - 2.25 0.037 1988 647.1 427.4 - - 1374 - - - - - - - - - 26.32 -
16167 492.0 11.2 669 16168 done 0.60 - - 2983 - - - 1988 - 427.4 - - 1375 - - - - - - - - - - -
16468 453.3 13.5 684 16473 roll 0.61 - - 2983 - 2.25 0.041 532 -647.1 427.4 - - 1375 - - - - - - - - - 26.37 -
16495 450.1 13.6 685 16500 done 0.63 - - 2983 - 2.20 0.037 1969 653.2 427.4 - - 1375 - - - - - - - - - 26.39 -
16813 405.8 14.1 701 16818 roll 0.65 - - 2983 - 2.17 0.052 3351 636.9 427.4 - - 1375 - - - - - - - - - 26.34 -
16836 402.4 14.2 702 16842 done 0.66 - - 2983 - 2.12 0.033 1962 -655.2 427.4 - - 1375 - - - - - - - - - 26.46 -
17159 358.4 12.8 718 17166 roll 0.69 0.12 0.093 3063 666.7 2.15 0.040 537 -662.8 427.4 - - 1375 - - - - - - - - 26.55 26.40 -
17223 347.6 15.9 721 17230 done 0.69 0.15 0.141 3016 -313.3 2.17 0.037 1952 652.1 427.4 - - 1375 - - - - - - - - 26.22 26.41 -
17547 299.3 14.2 737 17553 roll 0.67 - - 3017 - 2.17 0.052 3347 642.9 427.4 - - 1375 - - - - - - - - - 26.35 -
17579 295.9 14.3 738 17585 done 0.65 - - 3023 - 2.12 0.033 1951 -658.5 427.4 - - 1375 - - - - - - - - - 26.48 -
17892 247.2 14.7 754 17897 roll 0.62 - - 3023 - 2.15 0.042 537 -657.7 427.4 - - 1375 - - - - - - - - - 26.42 -
17929 244.2 14.2 755 17936 done 0.61 - - 3023 - 2.15 0.037 1944 654.4 427.4 - - 1375 - - - - - - - - - 26.43 -
18235 209.0 11.5 771 18240 roll 0.61 - - 3023 - 2.17 0.041 529 -652.1 427.4 - - 1375 - - - - - - - - - 26.43 -
18251 209.0 11.5 771 18259 done 0.61 - - 3023 - 2.17 0.037 1956 657.6 427.4 - - 1376 - - - - - - - - - 26.44 -
18557 162.6 12.7 787 18563 roll 0.61 - - 3023 - 2.17 0.050 3356 645.2 427.4 - - 1376 - - - - - - - - - 26.38 -
18589 159.9 12.1 788 18594 done 0.61 - - 3023 - 2.12 0.032 1951 -662.7 427.4 - - 1376 - - - - - - - - - 26.51 -
18902 134.6 9.5 804 18907 roll 0.63 - - 3023 - 2.15 0.041 534 -659.1 427.4 - - 1376 - - - - - - - - - 26.44 -
18929 132.1 10.3 805 18935 done 0.66 - - 3023 - 2.17 0.036 1966 659.9 427.4 - - 1376 - - - - - - - - - 26.46 -
19248 97.5 5.9 821 19328 roll 0.76 - - 3023 - 2.30 0.049 3346 600.0 519.2 73.97 0.786 1004 -5.0 0.067 - - - - - - - 25.44 24.74
19346 93.3 5.4 825 19446 done 0.88 0.17 0.073 3104 476.5 2.17 0.031 1955 -641.0 628.1 90.88 0.759 559 -4.9 0.064 - - - - - - 25.57 25.58 24.30
19755 44.8 10.7 848 19760 roll 0.98 - - 3105 - 2.20 0.041 538 -644.1 628.1 - - 556 - - - - - - - - - 25.85 -
19818 39.0 8.5 854 19832 done 1.19 0.22 0.085 3189 381.8 2.17 0.034 1954 652.5 633.2 7.00 0.610 540 -2.3 0.016 - - - - - - 25.88 25.94 24.98
20130 13.1 13.8 885 20136 roll 1.40 0.15 0.112 3247 386.7 2.20 0.048 3342 630.9 633.2 - - 538 - - - - - - - - 26.06 26.03 -
20213 end climb: SURFACE_DEPTH_REACHED
20213 begin surface coast
20234 end surface coast: CONTROL_FINISHED_OK
20234 begin surface
SM 1.82 - - - - -8.29 8.10 0.044 133 -384.4 1.02 0.029 2662 -666.7 652.74 11.12 0.061 459 -7.1 0.022 - - - - - -