OKMC Apr12 * SG170 * Dive index * Mission links * Dive 88 * Raw log
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• Previous call tries 5 • 18.90 of 146.00 AH used of 24V (87.05% remains)
• Previous NAKs 0, Timeouts 0 • 7.96 of 97.50 AH used of 10V (91.83% remains)
• Surface angle -74.5 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 102 VBD -0.46 - - 137 - - - 2694 - -194.6 -81.90 - 2730 - - - - - - - - - - -
105 3.7 -3.8 8 148 roll -0.46 10.30 0.246 2642 243.2 2.15 0.045 1284 -655.8 -194.6 -22.12 - 3922 -53.9 - - - - - - - 25.66 26.25 26.58
252 38.7 -21.0 22 257 done -0.40 - - 2642 - 2.20 0.047 2684 636.4 -194.6 - - 3925 - - - - - - - - - 26.19 -
564 102.1 -12.0 40 571 roll -0.38 0.12 0.151 2686 366.7 2.10 0.029 1282 -667.6 -194.6 - - 3927 - - - - - - - - 26.26 26.37 -
623 103.4 -5.9 42 630 done -0.40 - - 2686 - 2.17 0.046 2681 644.7 -194.6 - - 3928 - - - - - - - - - 26.32 -
929 125.9 -6.3 58 935 roll -0.61 0.20 0.087 2602 -420.0 2.08 0.031 1280 -673.6 -194.6 - - 3928 - - - - - - - - 26.40 26.43 -
973 128.5 -5.9 60 980 done -0.77 0.15 0.075 2519 -553.3 2.15 0.044 2663 643.3 -194.6 - - 3927 - - - - - - - - 26.41 26.37 -
1297 187.2 -19.8 76 1304 roll -0.65 0.20 0.160 2583 320.0 1.60 0.054 3697 646.2 -194.6 - - 3926 - - - - - - - - 26.17 26.38 -
1391 200.3 -15.4 80 1397 done -0.61 - - 2583 - 1.58 0.031 2642 -667.7 -194.6 - - 3927 - - - - - - - - - 26.58 -
1704 249.0 -15.3 96 1705 done -0.58 - - 2583 - - - 2642 - -194.6 - - 3925 - - - - - - - - - - -
2005 285.2 -10.4 111 2007 done -0.56 0.12 0.158 2618 291.7 - - 2641 - -194.6 - - 3924 - - - - - - - - 26.44 - -
2306 304.9 -5.9 126 2311 roll -0.60 - - 2619 - 2.00 0.032 1280 -680.5 -194.6 - - 3920 - - - - - - - - - 26.55 -
2352 307.3 -5.8 128 2358 done -0.65 - - 2619 - 2.15 0.047 2662 642.8 -194.6 - - 3920 - - - - - - - - - 26.46 -
2670 321.7 -3.8 144 2677 roll -0.70 0.12 0.089 2536 -691.7 2.03 0.031 1291 -675.4 -194.6 - - 3917 - - - - - - - - 26.67 26.55 -
2738 327.2 -7.4 147 2744 done -0.70 0.15 0.149 2578 280.0 2.12 0.049 2652 642.0 -194.6 - - 3917 - - - - - - - - 26.27 26.46 -
3056 353.9 -8.8 163 3057 done -0.70 - - 2578 - - - 2653 - -194.6 - - 3914 - - - - - - - - - - -
3357 387.3 -12.1 178 3362 roll -0.68 - - 2578 - 2.03 0.031 1279 -676.8 -194.6 - - 3911 - - - - - - - - - 26.57 -
3399 392.6 -12.3 180 3405 done -0.68 - - 2578 - 2.12 0.047 2638 641.0 -194.6 - - 3911 - - - - - - - - - 26.48 -
3722 435.1 -13.1 196 3727 roll -0.68 - - 2578 - 2.00 0.031 1278 -680.0 -194.6 - - 3909 - - - - - - - - - 26.58 -
3758 437.9 -12.9 197 3766 done -0.68 - - 2578 - 2.10 0.046 2631 644.3 -194.6 - - 3908 - - - - - - - - - 26.48 -
4064 472.2 -9.6 213 4065 done -0.68 - - 2582 - - - 2631 - -194.6 - - 3906 - - - - - - - - - - -
4365 498.9 -7.9 228 4371 roll -0.68 - - 2578 - 2.00 0.032 1287 -672.0 -194.6 - - 3904 - - - - - - - - - 26.58 -
4382 498.9 -7.9 228 4388 done -0.68 - - 2578 - 2.10 0.047 2635 641.9 -194.6 - - 3904 - - - - - - - - - 26.48 -
4688 527.9 -9.5 244 4693 roll -0.68 - - 2578 - 2.00 0.031 1279 -678.0 -194.6 - - 3901 - - - - - - - - - 26.58 -
4739 531.7 -9.3 246 4744 done -0.68 - - 2578 - 2.10 0.046 2627 641.9 -194.6 - - 3901 - - - - - - - - - 26.48 -
5053 558.8 -7.9 262 5058 roll -0.68 - - 2578 - 1.98 0.031 1287 -676.8 -194.6 - - 3899 - - - - - - - - - 26.58 -
5100 562.2 -7.8 264 5105 done -0.70 - - 2578 - 2.05 0.045 2610 645.4 -194.6 - - 3898 - - - - - - - - - 26.48 -
5418 583.7 -6.4 280 5424 roll -0.71 - - 2578 - 1.98 0.032 1286 -668.7 -194.6 - - 3896 - - - - - - - - - 26.57 -
5451 585.3 -6.4 281 5456 done -0.73 - - 2578 - 2.05 0.046 2604 642.9 -194.6 - - 3898 - - - - - - - - - 26.47 -
5765 603.9 -5.6 296 5766 done -0.75 - - 2578 - - - 2604 - -194.6 - - 3895 - - - - - - - - - - -
6064 622.2 -6.4 306 6065 done -0.77 - - 2578 - - - 2604 - -194.6 - - 3895 - - - - - - - - - - -
6364 645.4 -8.2 316 6366 done -0.79 - - 2578 - - - 2604 - -194.6 - - 3891 - - - - - - - - - - -
6663 673.7 -9.7 326 6665 done -0.81 0.12 0.102 2512 -550.0 - - 2604 - -194.6 - - 3889 - - - - - - - - 26.68 - -
6963 716.6 -14.5 336 6969 roll -0.76 0.12 0.149 2552 333.3 1.73 0.057 3694 630.1 -194.6 - - 3888 - - - - - - - - 26.44 26.39 -
7006 720.9 -14.0 337 7011 done -0.71 - - 2552 - 1.67 0.035 2579 -667.7 -194.6 - - 3888 - - - - - - - - - 26.63 -
7329 758.3 -11.2 348 7330 done -0.71 - - 2552 - - - 2579 - -194.6 - - 3887 - - - - - - - - - - -
7628 788.9 -9.8 358 7633 roll -0.71 - - 2552 - 1.92 0.034 1278 -677.6 -194.6 - - 3885 - - - - - - - - - 26.54 -
7654 788.9 -9.8 358 7661 done -0.71 - - 2552 - 2.08 0.047 2594 632.7 -194.6 - - 3885 - - - - - - - - - 26.42 -
7961 822.4 -10.4 369 7966 roll -0.71 - - 2552 - 1.75 0.060 3696 629.7 -194.6 - - 3884 - - - - - - - - - 26.36 -
8053 829.9 -8.5 372 8059 done -0.71 - - 2552 - 1.67 0.036 2611 -649.7 -194.6 - - 3884 - - - - - - - - - 26.60 -
8387 860.2 -9.4 383 8388 done -0.71 - - 2552 - - - 2611 - -194.6 - - 3882 - - - - - - - - - - -
8686 890.0 -10.1 393 8691 roll -0.71 - - 2552 - 1.75 0.060 3693 618.3 -194.6 - - 3880 - - - - - - - - - 26.34 -
8737 893.3 -10.3 394 8743 done -0.71 - - 2552 - 1.62 0.037 2621 -661.7 -194.6 - - 3879 - - - - - - - - - 26.59 -
9050 927.6 -10.0 405 9051 done -0.71 - - 2552 - - - 2620 - -194.6 - - 3878 - - - - - - - - - - -
9350 955.2 -8.9 415 9355 roll -0.71 - - 2553 - 1.75 0.060 3700 617.1 -194.6 - - 3877 - - - - - - - - - 26.32 -
9396 958.0 -8.9 416 9401 done -0.71 - - 2552 - 1.62 0.037 2630 -660.5 -194.6 - - 3877 - - - - - - - - - 26.58 -
9714 985.6 -8.2 427 9720 roll -0.71 - - 2552 - 2.00 0.034 1284 -673.0 -194.6 - - 3876 - - - - - - - - - 26.51 -
9762 988.5 -8.2 428 9767 done -0.71 - - 2552 - 2.10 0.048 2618 635.2 -194.6 - - 3877 - - - - - - - - - 26.36 -
9778 end dive: TARGET_DEPTH_EXCEEDED
9778 begin apogee
9783 991.1 -8.2 429 9944 roll -0.12 0.60 0.113 2756 340.0 - - 1934 - - 155.95 1.433 3121 -4.8 0.358 - - - - - - 26.03 - 23.56
9946 end apogee: CONTROL_FINISHED_OK
9946 begin climb
9947 997.2 - 434 10134 roll 0.46 0.55 0.059 2959 369.1 2.30 0.041 537 -607.4 194.6 176.07 1.394 2326 -4.5 0.344 - - - - - - 24.71 24.70 23.03
10152 988.5 7.6 441 10191 done 0.43 - - 2959 - 2.35 0.038 1942 597.9 229.5 32.60 1.324 2184 -4.4 0.347 - - - - - - - 24.44 23.22
10505 947.5 11.3 453 10510 roll 0.40 - - 2967 - 2.20 0.042 548 -633.6 229.5 - - 2176 - - - - - - - - - 25.73 -
10647 933.1 11.7 457 10653 done 0.39 0.15 0.139 2924 -286.7 2.22 0.040 1963 637.4 229.5 - - 2174 - - - - - - - - 25.75 25.91 -
10962 903.5 8.2 468 10980 roll 0.41 - - 2924 - 2.25 0.051 3356 619.1 244.4 12.80 1.244 2123 -4.0 0.309 - - - - - - - 25.83 24.78
11047 898.2 8.3 470 11067 done 0.42 - - 2928 - 2.15 0.033 1974 -642.8 256.8 13.00 1.238 2072 -3.9 0.304 - - - - - - - 25.97 24.56
11385 870.6 7.3 482 11429 done 0.46 - - 2928 - - - 1974 - 302.9 41.85 1.330 1886 -4.4 0.310 - - - - - - - - 24.14
11715 845.5 7.6 493 11755 roll 0.52 0.12 0.092 2999 591.7 2.30 0.052 3350 598.3 338.8 32.25 1.303 1739 -4.6 0.315 - - - - - - 26.01 25.18 24.20
11781 837.8 9.8 495 11787 done 0.52 0.12 0.157 2967 -266.7 2.20 0.034 1975 -625.0 338.8 - - 1737 - - - - - - - - 25.31 25.44 -
12109 800.3 11.1 506 12114 roll 0.52 - - 2970 - 2.22 0.044 535 -648.6 338.8 - - 1733 - - - - - - - - - 25.98 -
12175 793.3 11.2 508 12181 done 0.52 - - 2970 - 2.25 0.040 1972 638.7 338.8 - - 1733 - - - - - - - - - 26.04 -
12503 754.9 11.5 519 12508 roll 0.52 - - 2970 - 2.25 0.044 535 -638.7 338.8 - - 1732 - - - - - - - - - 26.18 -
12539 751.2 11.4 520 12545 done 0.52 - - 2971 - 2.22 0.040 1967 645.0 338.8 - - 1731 - - - - - - - - - 26.20 -
12868 714.1 11.3 531 12874 roll 0.52 - - 2971 - 2.17 0.052 3347 635.9 338.8 - - 1731 - - - - - - - - - 26.23 -
12901 709.8 11.6 532 12906 done 0.52 - - 2970 - 2.15 0.033 1951 -649.3 338.8 - - 1733 - - - - - - - - - 26.34 -
13234 670.1 12.2 543 13239 roll 0.52 - - 2970 - 2.20 0.044 527 -647.3 338.8 - - 1730 - - - - - - - - - 26.32 -
13280 666.1 12.4 544 13285 done 0.52 - - 2971 - 2.20 0.040 1954 648.6 338.8 - - 1730 - - - - - - - - - 26.34 -
13597 625.0 12.4 555 13604 roll 0.52 - - 2970 - 2.20 0.052 3346 632.7 338.8 - - 1730 - - - - - - - - - 26.31 -
13625 625.0 12.4 555 13631 done 0.52 - - 2971 - 2.15 0.034 1942 -653.0 338.8 - - 1730 - - - - - - - - - 26.42 -
13931 582.2 12.8 568 13937 roll 0.52 - - 2970 - 2.15 0.044 535 -654.4 338.8 - - 1729 - - - - - - - - - 26.37 -
13983 576.9 12.6 570 13989 done 0.53 - - 2971 - 2.17 0.039 1948 651.2 338.8 - - 1729 - - - - - - - - - 26.39 -
14297 538.2 11.5 586 14302 roll 0.53 - - 2971 - 2.20 0.051 3358 640.9 338.8 - - 1729 - - - - - - - - - 26.34 -
14328 535.4 11.7 587 14334 done 0.53 - - 2970 - 2.17 0.033 1932 -657.1 338.8 - - 1729 - - - - - - - - - 26.46 -
14641 500.8 10.0 603 14647 roll 0.53 - - 2971 - 2.15 0.044 527 -653.5 338.8 - - 1729 - - - - - - - - - 26.39 -
14684 496.6 9.8 605 14690 done 0.56 - - 2971 - 2.17 0.039 1937 649.8 338.8 - - 1729 - - - - - - - - - 26.42 -
15008 464.5 10.0 621 15013 roll 0.57 - - 2970 - 2.20 0.052 3347 640.9 338.8 - - 1729 - - - - - - - - - 26.35 -
15050 460.0 10.3 623 15055 done 0.57 - - 2970 - 2.15 0.033 1939 -654.9 338.8 - - 1729 - - - - - - - - - 26.49 -
15373 432.9 7.5 639 15414 roll 0.61 - - 2971 - 2.20 0.042 534 -638.6 378.9 33.62 1.051 1575 -4.6 0.201 - - - - - - - 25.82 24.93
15446 428.4 7.3 642 15497 done 0.66 0.12 0.092 3038 558.3 2.22 0.038 1951 638.3 425.8 40.58 1.036 1384 -4.7 0.208 - - - - - - 25.86 25.87 24.35
15797 384.7 13.0 660 15803 roll 0.63 0.12 0.150 2998 -333.3 2.25 0.041 531 -631.1 425.8 - - 1381 - - - - - - - - 25.81 25.87 -
15840 380.1 11.6 662 15846 done 0.63 - - 2997 - 2.17 0.037 1919 639.6 425.8 - - 1381 - - - - - - - - - 25.94 -
16163 347.0 10.8 678 16169 roll 0.64 - - 2997 - 2.25 0.051 3343 632.9 425.8 - - 1380 - - - - - - - - - 26.05 -
16195 344.1 11.3 679 16200 done 0.64 - - 2998 - 2.20 0.033 1917 -648.2 425.8 - - 1379 - - - - - - - - - 26.17 -
16508 308.2 10.9 695 16509 done 0.66 - - 2998 - - - 1916 - 425.8 - - 1379 - - - - - - - - - - -
16808 276.7 10.2 710 16814 roll 0.68 - - 2998 - 2.12 0.042 528 -654.7 425.8 - - 1379 - - - - - - - - - 26.26 -
16831 274.7 9.8 711 16836 done 0.71 - - 2998 - 2.17 0.037 1938 649.8 425.8 - - 1379 - - - - - - - - - 26.29 -
17154 246.2 9.1 727 17160 roll 0.74 0.12 0.093 3073 625.0 2.20 0.049 3347 640.5 425.8 - - 1379 - - - - - - - - 26.47 26.25 -
17178 243.2 10.1 728 17184 done 0.76 0.12 0.166 3045 -233.3 2.17 0.033 1928 -653.9 425.8 - - 1379 - - - - - - - - 26.10 26.37 -
17501 196.2 14.5 744 17507 roll 0.74 - - 3050 - 2.10 0.042 537 -662.4 425.8 - - 1379 - - - - - - - - - 26.33 -
17555 190.1 14.4 746 17560 done 0.74 - - 3050 - 2.15 0.037 1941 653.0 425.8 - - 1379 - - - - - - - - - 26.36 -
17868 146.8 12.3 762 17873 roll 0.73 - - 3050 - 2.17 0.041 531 -649.8 425.8 - - 1379 - - - - - - - - - 26.36 -
17914 142.0 11.8 764 17920 done 0.73 - - 3050 - 2.10 0.037 1910 656.7 425.8 - - 1379 - - - - - - - - - 26.39 -
18232 104.2 11.1 780 18237 roll 0.73 - - 3053 - 2.25 0.049 3350 640.0 425.8 - - 1380 - - - - - - - - - 26.33 -
18309 98.3 9.5 783 18316 done 0.73 - - 3050 - 2.17 0.031 1909 -664.1 425.8 - - 1380 - - - - - - - - - 26.48 -
18616 71.4 7.4 799 18656 roll 0.80 - - 3050 - 2.17 0.043 537 -632.3 467.4 33.38 0.758 1215 -4.9 0.050 - - - - - - - 26.00 25.23
18709 66.9 5.3 803 18811 done 0.94 0.15 0.085 3120 466.7 2.10 0.034 1908 652.9 581.1 90.80 0.748 751 -5.1 0.049 - - - - - - 26.03 26.05 24.45
19113 26.7 10.7 834 19119 roll 1.15 0.12 0.106 3176 466.7 2.12 0.038 532 -649.1 581.1 - - 748 - - - - - - - - 25.96 25.90 -
19349 3.3 10.9 857 19355 done 1.36 0.17 0.093 3243 394.1 2.10 0.034 1910 656.2 581.1 - - 748 - - - - - - - - 26.03 26.10 -
19360 end climb: SURFACE_DEPTH_REACHED
19360 begin surface coast
19382 end surface coast: CONTROL_FINISHED_OK
19382 begin surface
SM 1.72 - - - - -8.27 8.07 0.043 136 -385.0 1.23 0.047 2687 631.7 652.74 34.38 0.061 460 -8.4 0.024 - - - - - -