OKMC Apr12 * SG170 * Dive index * Mission links * Dive 87 * Raw log
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• Previous call tries 5 • 18.67 of 146.00 AH used of 24V (87.21% remains)
• Previous NAKs 0, Timeouts 0 • 7.85 of 97.50 AH used of 10V (91.95% remains)
• Surface angle -74.2 deg, depth 2.01 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 653.23, SM_CC=652.74329)
• GPS1 time: 37 s
• GPS2 time: 17 s • Transponder ping count: 1
• 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 101 VBD -0.46 - - 137 - - - 2681 - -194.6 -81.20 - 2685 - - - - - - - - - - -
104 3.6 -3.1 8 147 roll -0.46 10.27 0.245 2639 243.6 2.10 0.042 1261 -676.2 -194.6 -24.12 - 3922 -51.3 - - - - - - - 25.65 26.22 26.55
284 36.7 -18.5 25 292 done -0.38 0.12 0.169 2672 275.0 2.25 0.049 2686 633.3 -194.6 - - 3925 - - - - - - - - 25.98 26.17 -
600 102.8 -25.1 45 606 roll -0.38 - - 2672 - 2.12 0.043 1268 -668.9 -194.6 - - 3926 - - - - - - - - - 26.34 -
738 109.7 1.0 51 745 done -0.42 - - 2672 - 2.12 0.046 2635 644.8 -194.6 - - 3927 - - - - - - - - - 26.31 -
1044 134.1 -7.8 67 1049 roll -0.47 - - 2673 - 2.00 0.032 1274 -680.5 -194.6 - - 3928 - - - - - - - - - 26.44 -
1107 130.6 4.6 70 1113 done -0.53 0.12 0.087 2592 -675.0 2.10 0.047 2618 640.0 -194.6 - - 3928 - - - - - - - - 26.39 26.37 -
1430 176.8 -16.1 86 1436 roll -0.49 0.12 0.149 2634 350.0 1.67 0.055 3699 647.3 -194.6 - - 3927 - - - - - - - - 26.36 26.38 -
1529 182.1 -6.2 90 1536 done -0.52 - - 2634 - 1.65 0.031 2581 -677.6 -194.6 - - 3926 - - - - - - - - - 26.58 -
1834 200.9 -11.8 106 1839 roll -0.56 - - 2634 - 1.90 0.032 1270 -690.0 -194.6 - - 3926 - - - - - - - - - 26.53 -
1926 211.9 -13.1 110 1931 done -0.61 - - 2634 - 2.10 0.046 2628 646.7 -194.6 - - 3926 - - - - - - - - - 26.46 -
2239 221.7 0.6 126 2245 roll -0.66 0.12 0.090 2551 -691.7 2.00 0.029 1268 -680.0 -194.6 - - 3924 - - - - - - - - 26.65 26.54 -
2277 222.7 -0.9 127 2283 done -0.69 - - 2551 - 2.08 0.046 2608 644.2 -194.6 - - 3924 - - - - - - - - - 26.46 -
2583 267.2 -15.7 143 2588 roll -0.64 0.12 0.161 2592 341.7 1.70 0.054 3707 646.5 -194.6 - - 3921 - - - - - - - - 26.40 26.44 -
2669 276.9 -11.6 147 2675 done -0.64 - - 2592 - 1.67 0.031 2563 -685.0 -194.6 - - 3920 - - - - - - - - - 26.63 -
2987 302.2 -8.4 163 2992 roll -0.64 - - 2592 - 1.90 0.031 1267 -682.1 -194.6 - - 3919 - - - - - - - - - 26.57 -
3018 304.4 -9.0 164 3024 done -0.64 - - 2592 - 2.08 0.046 2608 644.7 -194.6 - - 3919 - - - - - - - - - 26.48 -
3332 343.4 -12.9 180 3337 roll -0.64 - - 2592 - 1.70 0.056 3698 641.2 -194.6 - - 3916 - - - - - - - - - 26.45 -
3375 348.6 -12.8 182 3380 done -0.66 - - 2592 - 1.67 0.033 2569 -676.0 -194.6 - - 3916 - - - - - - - - - 26.65 -
3696 386.3 -10.9 198 3702 roll -0.66 - - 2592 - 1.90 0.031 1261 -688.4 -194.6 - - 3913 - - - - - - - - - 26.58 -
3729 388.6 -10.7 199 3734 done -0.67 - - 2592 - 2.10 0.047 2610 642.4 -194.6 - - 3913 - - - - - - - - - 26.48 -
4042 415.8 -7.8 215 4047 roll -0.69 - - 2592 - 1.73 0.057 3709 635.3 -194.6 - - 3910 - - - - - - - - - 26.45 -
4099 419.0 -7.5 217 4105 done -0.71 - - 2592 - 1.67 0.033 2574 -679.6 -194.6 - - 3910 - - - - - - - - - 26.65 -
4404 443.2 -7.7 233 4410 roll -0.73 - - 2592 - 1.92 0.031 1259 -684.9 -194.6 - - 3907 - - - - - - - - - 26.58 -
4448 446.5 -7.7 235 4453 done -0.75 - - 2592 - 2.10 0.047 2602 639.5 -194.6 - - 3907 - - - - - - - - - 26.48 -
4771 472.2 -8.5 251 4773 done -0.77 0.12 0.098 2522 -583.3 - - 2603 - -194.6 - - 3906 - - - - - - - - 26.68 - -
5071 515.1 -14.5 266 5078 roll -0.71 0.12 0.151 2563 341.7 1.70 0.056 3697 643.5 -194.6 - - 3903 - - - - - - - - 26.45 26.44 -
5129 520.7 -13.6 268 5136 done -0.67 - - 2564 - 1.65 0.034 2581 -676.4 -194.6 - - 3902 - - - - - - - - - 26.65 -
5435 558.7 -12.0 284 5440 roll -0.67 - - 2563 - 1.92 0.032 1270 -682.8 -194.6 - - 3900 - - - - - - - - - 26.58 -
5461 561.5 -11.9 285 5467 done -0.67 - - 2564 - 2.10 0.048 2613 639.5 -194.6 - - 3900 - - - - - - - - - 26.46 -
5780 594.0 -9.1 301 5781 done -0.67 - - 2564 - - - 2614 - -194.6 - - 3898 - - - - - - - - - - -
6100 616.8 -6.3 313 6101 done -0.67 - - 2563 - - - 2614 - -194.6 - - 3896 - - - - - - - - - - -
6400 634.3 -5.8 323 6406 roll -0.67 - - 2564 - 1.75 0.059 3701 621.1 -194.6 - - 3895 - - - - - - - - - 26.41 -
6452 636.3 -5.8 324 6457 done -0.67 - - 2564 - 1.67 0.034 2578 -672.5 -194.6 - - 3894 - - - - - - - - - 26.64 -
6765 658.8 -7.4 335 6770 roll -0.67 - - 2563 - 1.80 0.059 3696 621.1 -194.6 - - 3892 - - - - - - - - - 26.39 -
6812 661.4 -7.7 336 6817 done -0.67 - - 2564 - 1.67 0.035 2581 -667.7 -194.6 - - 3891 - - - - - - - - - 26.63 -
7131 692.9 -10.7 347 7137 roll -0.67 - - 2564 - 1.95 0.033 1260 -677.4 -194.6 - - 3890 - - - - - - - - - 26.56 -
7153 692.9 -10.7 347 7159 done -0.67 - - 2563 - 2.12 0.049 2613 638.2 -194.6 - - 3890 - - - - - - - - - 26.42 -
7466 736.7 -14.2 358 7472 roll -0.67 - - 2564 - 2.03 0.034 1265 -664.0 -194.6 - - 3888 - - - - - - - - - 26.54 -
7488 736.7 -14.2 358 7494 done -0.67 - - 2563 - 2.12 0.049 2618 638.2 -194.6 - - 3888 - - - - - - - - - 26.42 -
7800 785.6 -14.6 369 7806 roll -0.67 - - 2564 - 1.73 0.060 3703 627.2 -194.6 - - 3886 - - - - - - - - - 26.36 -
7848 790.4 -14.6 370 7853 done -0.67 - - 2564 - 1.67 0.036 2593 -664.7 -194.6 - - 3886 - - - - - - - - - 26.61 -
8165 834.4 -12.4 381 8166 done -0.67 - - 2564 - - - 2592 - -194.6 - - 3885 - - - - - - - - - - -
8466 867.1 -10.2 391 8467 done -0.69 - - 2564 - - - 2592 - -194.6 - - 3884 - - - - - - - - - - -
8765 891.9 -7.7 401 8770 roll -0.69 - - 2564 - 1.80 0.060 3703 617.2 -194.6 - - 3883 - - - - - - - - - 26.34 -
8812 894.5 -7.5 402 8817 done -0.70 - - 2564 - 1.67 0.036 2592 -665.3 -194.6 - - 3883 - - - - - - - - - 26.60 -
9131 916.3 -6.3 413 9132 done -0.71 - - 2563 - - - 2592 - -194.6 - - 3881 - - - - - - - - - - -
9430 933.8 -5.8 423 9432 done -0.73 - - 2564 - - - 2592 - -194.6 - - 3880 - - - - - - - - - - -
9730 951.2 -6.0 433 9736 roll -0.74 - - 2563 - 1.80 0.060 3701 616.1 -194.6 - - 3878 - - - - - - - - - 26.31 -
9764 953.3 -6.0 434 9769 done -0.76 - - 2564 - 1.67 0.037 2601 -658.7 -194.6 - - 3878 - - - - - - - - - 26.59 -
10098 974.0 -6.4 445 10103 roll -0.77 - - 2564 - 1.95 0.034 1273 -681.0 -194.6 - - 3878 - - - - - - - - - 26.51 -
10140 976.3 -6.5 446 10145 done -0.79 - - 2564 - 2.12 0.050 2619 634.9 -194.6 - - 3877 - - - - - - - - - 26.35 -
10340 end dive: TARGET_DEPTH_EXCEEDED
10340 begin apogee
10346 990.5 -6.8 453 10506 roll -0.12 0.55 0.109 2754 345.5 - - 1919 - - 154.57 1.433 3121 -4.9 0.361 - - - - - - 26.07 - 23.58
10508 end apogee: CONTROL_FINISHED_OK
10508 begin climb
10510 996.3 - 458 10696 roll 0.46 0.55 0.059 2958 370.9 2.25 0.041 544 -611.1 194.6 175.65 1.392 2327 -4.5 0.345 - - - - - - 24.74 24.72 23.05
10827 976.8 9.6 469 10833 done 0.44 - - 2958 - 2.28 0.039 1948 615.8 194.6 - - 2321 - - - - - - - - - 25.23 -
11157 947.8 8.1 480 11180 roll 0.42 - - 2965 - 2.25 0.042 538 -626.7 213.4 16.83 1.288 2250 -4.2 0.331 - - - - - - - 25.53 24.48
11377 930.9 8.0 487 11408 done 0.41 0.12 0.146 2930 -291.7 2.20 0.038 1944 639.1 237.0 22.27 1.314 2152 -4.4 0.332 - - - - - - 25.76 25.91 24.36
11730 908.9 5.6 499 11829 roll 0.48 - - 2930 - 2.38 0.053 3342 587.4 341.5 91.85 1.359 1728 -4.6 0.329 - - - - - - - 24.70 23.76
11866 902.0 5.7 503 11962 done 0.55 0.15 0.080 3000 466.7 2.25 0.032 1941 -622.7 442.7 89.72 1.333 1316 -4.6 0.331 - - - - - - 25.22 25.22 23.53
12276 852.1 12.4 517 12282 roll 0.54 - - 3008 - 2.20 0.044 539 -637.3 442.7 - - 1310 - - - - - - - - - 25.79 -
12409 836.8 12.5 521 12415 done 0.54 0.12 0.140 2972 -300.0 2.15 0.037 1917 640.9 442.7 - - 1308 - - - - - - - - 25.84 25.96 -
12734 800.7 11.0 532 12739 roll 0.56 - - 2972 - 2.28 0.051 3344 625.9 442.7 - - 1308 - - - - - - - - - 26.10 -
12756 800.7 11.0 532 12761 done 0.58 - - 2972 - 2.20 0.034 1917 -648.6 442.7 - - 1308 - - - - - - - - - 26.20 -
13070 761.8 11.7 543 13075 roll 0.61 - - 2972 - 2.12 0.044 538 -650.5 442.7 - - 1308 - - - - - - - - - 26.23 -
13133 754.5 11.5 545 13139 done 0.64 0.10 0.106 3032 600.0 2.12 0.038 1911 647.6 442.7 - - 1308 - - - - - - - - 26.24 26.27 -
13467 696.1 17.7 556 13472 roll 0.59 0.12 0.158 2998 -283.3 2.12 0.043 538 -647.6 442.7 - - 1308 - - - - - - - - 26.22 26.29 -
13524 691.0 17.0 557 13532 done 0.56 - - 2997 - 2.08 0.038 1889 649.5 442.7 - - 1307 - - - - - - - - - 26.34 -
13830 651.8 10.8 568 13835 roll 0.56 - - 2998 - 2.28 0.050 3342 637.3 442.7 - - 1308 - - - - - - - - - 26.30 -
13856 651.8 10.8 568 13864 done 0.56 - - 2998 - 2.25 0.034 1873 -652.9 442.7 - - 1308 - - - - - - - - - 26.40 -
14162 619.5 9.5 579 14168 roll 0.56 - - 2998 - 2.05 0.044 529 -655.6 442.7 - - 1307 - - - - - - - - - 26.36 -
14234 613.9 9.3 581 14239 done 0.56 - - 2998 - 2.05 0.038 1868 653.2 442.7 - - 1307 - - - - - - - - - 26.40 -
14556 578.5 12.8 595 14561 roll 0.56 - - 2998 - 2.30 0.050 3343 641.3 442.7 - - 1307 - - - - - - - - - 26.34 -
14593 575.2 13.5 596 14600 done 0.56 - - 2998 - 2.28 0.034 1854 -653.1 442.7 - - 1307 - - - - - - - - - 26.46 -
14899 526.6 16.0 612 14904 roll 0.56 - - 2998 - 2.03 0.045 530 -652.2 442.7 - - 1307 - - - - - - - - - 26.39 -
14935 523.0 16.0 613 14943 done 0.56 - - 2998 - 2.05 0.037 1876 656.6 442.7 - - 1307 - - - - - - - - - 26.43 -
15241 468.7 17.4 629 15247 roll 0.56 - - 2998 - 2.30 0.050 3343 637.8 442.7 - - 1307 - - - - - - - - - 26.36 -
15273 464.7 17.5 630 15279 done 0.56 - - 2998 - 2.25 0.032 1863 -657.8 442.7 - - 1307 - - - - - - - - - 26.48 -
15586 412.7 15.6 646 15591 roll 0.56 - - 2998 - 2.03 0.044 537 -653.2 442.7 - - 1307 - - - - - - - - - 26.41 -
15622 409.5 15.3 647 15629 done 0.57 - - 2998 - 2.05 0.038 1881 655.6 442.7 - - 1307 - - - - - - - - - 26.45 -
15928 366.9 12.3 663 15933 roll 0.59 - - 2998 - 2.30 0.050 3354 640.4 442.7 - - 1307 - - - - - - - - - 26.37 -
15970 361.5 12.3 665 15976 done 0.61 - - 2998 - 2.25 0.033 1876 -656.9 442.7 - - 1308 - - - - - - - - - 26.50 -
16294 322.1 12.2 681 16299 roll 0.62 - - 2998 - 2.05 0.044 529 -657.1 442.7 - - 1308 - - - - - - - - - 26.42 -
16347 317.5 11.3 683 16352 done 0.66 - - 2998 - 2.03 0.037 1877 664.0 442.7 - - 1308 - - - - - - - - - 26.46 -
16659 282.0 11.8 699 16665 roll 0.68 - - 2998 - 2.30 0.050 3346 638.7 442.7 - - 1308 - - - - - - - - - 26.38 -
16727 274.1 12.4 702 16732 done 0.71 - - 2998 - 2.22 0.032 1873 -663.5 442.7 - - 1307 - - - - - - - - - 26.52 -
17044 239.5 9.7 718 17050 roll 0.75 0.12 0.095 3076 650.0 2.03 0.040 534 -659.6 442.7 - - 1308 - - - - - - - - 26.62 26.44 -
17068 236.7 10.1 719 17073 done 0.77 - - 3076 - 2.08 0.037 1893 653.4 442.7 - - 1308 - - - - - - - - - 26.46 -
17391 181.5 17.7 735 17396 roll 0.72 0.12 0.164 3037 -325.0 2.08 0.042 536 -652.4 442.7 - - 1308 - - - - - - - - 26.35 26.43 -
17429 177.8 17.2 736 17435 done 0.68 - - 3037 - 2.03 0.037 1874 659.1 442.7 - - 1308 - - - - - - - - - 26.47 -
17734 145.2 9.1 752 17739 roll 0.68 - - 3037 - 2.30 0.049 3348 640.9 442.7 - - 1309 - - - - - - - - - 26.38 -
17752 145.2 9.1 752 17759 done 0.68 - - 3037 - 2.25 0.032 1860 -661.3 442.7 - - 1308 - - - - - - - - - 26.51 -
18057 117.4 8.3 768 18077 roll 0.71 - - 3037 - 2.35 0.050 3346 632.3 456.3 11.82 0.759 1260 -4.1 0.067 - - - - - - - 26.36 25.43
18104 112.7 10.1 770 18109 done 0.72 - - 3036 - 2.22 0.032 1883 -659.0 456.3 - - 1261 - - - - - - - - - 26.40 -
18422 80.4 5.5 786 18516 roll 0.84 0.10 0.107 3096 600.0 2.17 0.041 539 -619.4 562.9 85.85 0.770 825 -5.1 0.057 - - - - - - 26.52 25.29 24.60
18555 74.3 4.5 792 18649 done 0.97 - - 3094 - 2.15 0.034 1907 636.3 701.9 83.20 0.733 458 -4.4 0.048 - - - - 1 - - 25.53 24.38
18958 32.0 14.9 818 18964 roll 1.19 0.22 0.084 3185 413.6 2.28 0.047 3351 633.3 701.9 - - 459 - - - - - - - - 25.89 25.84 -
19192 3.5 11.9 841 19199 done 1.39 0.17 0.090 3251 388.2 2.20 0.030 1900 -659.5 701.9 - - 459 - - - - - - - - 26.02 26.13 -
19204 end climb: SURFACE_DEPTH_REACHED
19204 begin surface coast
19226 end surface coast: CONTROL_FINISHED_OK
19226 begin surface
SM 1.84 - - - - -8.27 8.10 0.044 138 -384.3 1.27 0.046 2691 622.8 653.23 - - 458 - - - - - - - -