OKMC Apr12 * SG170 * Dive index * Mission links * Dive 90 * Raw log
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• Previous call tries 5 • 19.38 of 146.00 AH used of 24V (86.72% remains)
• Previous NAKs 0, Timeouts 0 • 8.20 of 97.50 AH used of 10V (91.59% remains)
• Surface angle -73.4 deg, depth 1.97 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 24 s
• GPS2 time: 16 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 - - - 101 VBD -0.46 - - 133 - - - 2683 - -194.6 -81.80 - 2673 - - - - - - - - - - -
104 3.3 -2.7 8 147 roll -0.46 10.30 0.246 2641 243.5 1.60 0.073 3703 637.5 -194.6 -24.38 - 3922 -51.2 - - - - - - - 25.69 26.17 26.63
264 41.1 -21.5 23 273 done -0.37 0.12 0.152 2677 300.0 1.52 0.029 2651 -692.1 -194.6 - - 3925 - - - - - - - - 26.10 26.39 -
580 83.4 -10.2 42 585 roll -0.37 - - 2677 - 1.95 0.031 1301 -692.3 -194.6 - - 3927 - - - - - - - - - 26.41 -
633 87.3 -9.4 44 639 done -0.39 - - 2678 - 2.17 0.044 2704 646.5 -194.6 - - 3927 - - - - - - - - - 26.32 -
948 105.1 -6.0 60 953 roll -0.45 - - 2677 - 2.05 0.031 1304 -682.9 -194.6 - - 3929 - - - - - - - - - 26.47 -
990 108.2 -6.9 62 996 done -0.52 0.12 0.087 2604 -608.3 2.15 0.044 2690 644.7 -194.6 - - 3929 - - - - - - - - 26.40 26.39 -
1314 151.7 -12.5 78 1316 done -0.50 0.12 0.145 2641 308.3 - - 2690 - -194.6 - - 3929 - - - - - - - - 26.43 - -
1615 168.3 -5.9 93 1621 roll -0.54 - - 2642 - 2.05 0.031 1302 -677.1 -194.6 - - 3928 - - - - - - - - - 26.53 -
1688 174.0 -8.3 96 1693 done -0.58 - - 2642 - 2.12 0.045 2679 649.5 -194.6 - - 3927 - - - - - - - - - 26.44 -
2001 201.9 -7.4 112 2007 roll -0.64 0.12 0.086 2562 -666.7 2.03 0.029 1291 -683.7 -194.6 - - 3926 - - - - - - - - 26.65 26.56 -
2048 206.7 -9.1 114 2055 done -0.66 - - 2561 - 2.12 0.046 2666 648.6 -194.6 - - 3926 - - - - - - - - - 26.46 -
2367 255.3 -15.5 130 2373 roll -0.61 0.12 0.168 2603 350.0 1.62 0.054 3689 631.5 -194.6 - - 3924 - - - - - - - - 26.40 26.45 -
2405 258.5 -15.2 131 2412 done -0.57 - - 2603 - 1.50 0.033 2689 -666.7 -194.6 - - 3923 - - - - - - - - - 26.63 -
2711 295.6 -11.5 147 2716 roll -0.58 - - 2603 - 2.05 0.028 1275 -689.8 -194.6 - - 3920 - - - - - - - - - 26.59 -
2787 302.7 -11.1 150 2795 done -0.61 - - 2603 - 2.12 0.044 2654 650.5 -194.6 - - 3920 - - - - - - - - - 26.48 -
3094 332.2 -8.2 166 3095 done -0.63 - - 2603 - - - 2655 - -194.6 - - 3918 - - - - - - - - - - -
3395 356.6 -8.1 181 3400 roll -0.65 - - 2603 - 2.05 0.030 1266 -677.6 -194.6 - - 3916 - - - - - - - - - 26.60 -
3478 363.7 -8.5 185 3483 done -0.69 - - 2603 - 2.12 0.043 2636 646.2 -194.6 - - 3915 - - - - - - - - - 26.50 -
3801 392.4 -9.3 201 3807 roll -0.72 0.12 0.088 2523 -666.7 2.00 0.028 1269 -683.5 -194.6 - - 3913 - - - - - - - - 26.70 26.60 -
3858 397.8 -10.9 203 3865 done -0.72 0.15 0.148 2565 280.0 2.10 0.044 2625 645.7 -194.6 - - 3912 - - - - - - - - 26.29 26.49 -
4165 435.5 -11.2 219 4170 roll -0.69 - - 2566 - 1.67 0.057 3693 639.5 -194.6 - - 3910 - - - - - - - - - 26.45 -
4216 440.1 -11.0 221 4221 done -0.67 - - 2566 - 1.60 0.033 2603 -681.2 -194.6 - - 3909 - - - - - - - - - 26.65 -
4528 472.3 -9.7 237 4534 roll -0.66 - - 2566 - 1.75 0.058 3696 624.6 -194.6 - - 3907 - - - - - - - - - 26.44 -
4572 476.7 -10.0 239 4578 done -0.64 - - 2566 - 1.62 0.034 2606 -672.8 -194.6 - - 3907 - - - - - - - - - 26.64 -
4895 506.1 -8.7 255 4900 roll -0.64 - - 2566 - 1.92 0.031 1280 -690.6 -194.6 - - 3905 - - - - - - - - - 26.59 -
4951 509.5 -8.2 257 4959 done -0.64 - - 2566 - 2.10 0.045 2630 642.9 -194.6 - - 3905 - - - - - - - - - 26.48 -
5257 532.2 -6.6 273 5263 roll -0.64 - - 2566 - 2.00 0.031 1280 -675.0 -194.6 - - 3903 - - - - - - - - - 26.58 -
5309 534.8 -6.7 275 5315 done -0.64 - - 2566 - 2.08 0.045 2617 642.8 -194.6 - - 3903 - - - - - - - - - 26.48 -
5623 558.0 -7.6 291 5628 roll -0.64 - - 2566 - 1.70 0.059 3693 632.9 -194.6 - - 3900 - - - - - - - - - 26.42 -
5705 564.2 -7.5 295 5710 done -0.64 - - 2566 - 1.62 0.034 2610 -668.5 -194.6 - - 3898 - - - - - - - - - 26.64 -
6028 589.3 -7.8 311 6029 done -0.64 - - 2566 - - - 2610 - -194.6 - - 3898 - - - - - - - - - - -
6338 612.1 -7.1 324 6343 roll -0.64 - - 2566 - 1.95 0.032 1274 -685.1 -194.6 - - 3896 - - - - - - - - - 26.57 -
6380 614.5 -7.2 325 6385 done -0.64 - - 2566 - 2.10 0.047 2622 641.9 -194.6 - - 3896 - - - - - - - - - 26.46 -
6704 640.5 -8.0 336 6705 done -0.64 - - 2566 - - - 2622 - -194.6 - - 3894 - - - - - - - - - - -
7003 667.5 -9.5 346 7009 roll -0.64 - - 2566 - 2.00 0.032 1281 -670.5 -194.6 - - 3892 - - - - - - - - - 26.56 -
7060 671.0 -9.8 347 7067 done -0.64 - - 2566 - 2.10 0.046 2628 641.4 -194.6 - - 3892 - - - - - - - - - 26.45 -
7366 703.1 -9.8 358 7367 done -0.64 - - 2566 - - - 2628 - -194.6 - - 3891 - - - - - - - - - - -
7667 732.4 -9.5 368 7672 roll -0.64 - - 2566 - 2.03 0.031 1274 -667.0 -194.6 - - 3889 - - - - - - - - - 26.55 -
7718 735.5 -9.5 369 7723 done -0.64 - - 2565 - 2.10 0.047 2618 640.0 -194.6 - - 3889 - - - - - - - - - 26.44 -
8030 766.1 -9.0 380 8031 done -0.64 - - 2566 - - - 2619 - -194.6 - - 3887 - - - - - - - - - - -
8330 790.9 -7.9 390 8336 roll -0.64 - - 2566 - 2.00 0.033 1271 -674.0 -194.6 - - 3886 - - - - - - - - - 26.53 -
8357 790.9 -7.9 390 8363 done -0.64 - - 2566 - 2.10 0.047 2614 639.5 -194.6 - - 3886 - - - - - - - - - 26.42 -
8664 814.5 -6.8 401 8665 done -0.64 - - 2566 - - - 2614 - -194.6 - - 3885 - - - - - - - - - - -
8963 834.4 -6.5 411 8964 done -0.64 - - 2566 - - - 2614 - -194.6 - - 3884 - - - - - - - - - - -
9264 854.7 -6.9 421 9269 roll -0.64 - - 2566 - 1.73 0.060 3699 627.2 -194.6 - - 3884 - - - - - - - - - 26.34 -
9315 857.2 -7.0 422 9320 done -0.64 - - 2566 - 1.62 0.037 2609 -672.8 -194.6 - - 3882 - - - - - - - - - 26.59 -
9629 881.4 -7.4 433 9630 done -0.65 - - 2566 - - - 2609 - -194.6 - - 3881 - - - - - - - - - - -
9928 904.6 -7.9 443 9934 roll -0.67 - - 2566 - 1.98 0.034 1284 -669.2 -194.6 - - 3880 - - - - - - - - - 26.51 -
9971 907.4 -8.1 444 9976 done -0.68 - - 2566 - 2.10 0.047 2621 636.7 -194.6 - - 3880 - - - - - - - - - 26.39 -
10295 936.0 -9.0 455 10300 roll -0.70 - - 2566 - 2.03 0.034 1276 -662.6 -194.6 - - 3878 - - - - - - - - - 26.51 -
10331 939.2 -9.1 456 10336 done -0.71 - - 2566 - 2.10 0.047 2611 635.7 -194.6 - - 3878 - - - - - - - - - 26.37 -
10660 966.9 -8.1 467 10661 done -0.73 - - 2566 - - - 2611 - -194.6 - - 3878 - - - - - - - - - - -
10958 988.8 -7.0 477 10964 roll -0.75 - - 2566 - 1.98 0.034 1285 -669.7 -194.6 - - 3877 - - - - - - - - - 26.50 -
10986 988.8 -7.0 477 10993 done -0.76 - - 2566 - 2.08 0.047 2604 634.1 -194.6 - - 3877 - - - - - - - - - 26.36 -
11019 end dive: TARGET_DEPTH_EXCEEDED
11019 begin apogee
11025 992.9 -6.7 479 11186 roll -0.12 0.55 0.110 2754 341.8 - - 1915 - - 155.32 1.432 3121 -4.9 0.360 - - - - - - 26.03 - 23.55
11187 end apogee: CONTROL_FINISHED_OK
11187 begin climb
11189 996.3 - 484 11375 roll 0.46 0.55 0.058 2959 372.7 2.22 0.040 547 -616.2 194.6 176.02 1.392 2325 -4.5 0.345 - - - - - - 24.72 24.72 23.03
11476 971.3 12.6 494 11481 done 0.44 - - 2959 - 2.25 0.038 1946 621.8 194.6 - - 2319 - - - - - - - - - 25.10 -
11805 928.7 12.8 505 11810 roll 0.40 - - 2967 - 2.17 0.041 557 -640.1 194.6 - - 2315 - - - - - - - - - 25.88 -
11992 905.6 12.4 511 11998 done 0.37 0.17 0.138 2916 -300.0 2.15 0.039 1949 647.4 194.6 - - 2314 - - - - - - - - 25.84 26.03 -
12321 875.1 8.6 522 12326 roll 0.38 - - 2916 - 2.20 0.051 3344 634.1 198.4 - - 2312 - - - - - - - - - 26.11 -
12367 872.1 8.7 523 12372 done 0.38 - - 2916 - 2.12 0.034 1960 -652.8 198.4 - - 2312 - - - - - - - - - 26.25 -
12687 845.9 7.5 534 12729 roll 0.40 - - 2916 - 2.30 0.051 3352 605.2 236.4 35.47 1.323 2155 -4.4 0.302 - - - - - - - 25.41 24.44
12765 841.2 7.5 536 12807 done 0.42 - - 2916 - 2.20 0.033 1960 -632.7 276.2 36.33 1.297 1994 -4.4 0.307 - - - - - - - 25.63 24.01
13107 818.1 5.9 548 13197 done 0.52 0.15 0.081 2993 513.3 - - 1955 - 369.8 82.22 1.307 1612 -4.6 0.310 - - - - - - 26.00 - 23.82
13497 771.4 12.7 561 13503 roll 0.49 0.12 0.154 2953 -333.3 2.28 0.050 3346 610.1 369.8 - - 1605 - - - - - - - - 25.78 25.83 -
13544 767.5 12.3 562 13550 done 0.47 - - 2955 - 2.15 0.034 1967 -641.4 369.8 - - 1605 - - - - - - - - - 25.96 -
13864 737.6 9.3 573 13870 roll 0.49 - - 2955 - 2.22 0.043 538 -643.7 369.8 - - 1603 - - - - - - - - - 26.12 -
13901 734.3 9.3 574 13907 done 0.52 - - 2955 - 2.25 0.039 1983 642.2 369.8 - - 1603 - - - - - - - - - 26.15 -
14230 702.3 9.8 585 14235 roll 0.55 - - 2956 - 2.17 0.052 3346 628.1 369.8 - - 1603 - - - - - - - - - 26.18 -
14251 702.3 9.8 585 14257 done 0.58 - - 2955 - 2.12 0.034 1962 -652.8 369.8 - - 1603 - - - - - - - - - 26.29 -
14565 669.4 9.5 596 14571 roll 0.61 0.12 0.095 3034 658.3 2.20 0.041 531 -650.5 369.8 - - 1602 - - - - - - - - 26.41 26.28 -
14602 665.0 10.2 597 14608 done 0.63 0.12 0.148 2999 -291.7 2.20 0.040 1966 652.3 369.8 - - 1602 - - - - - - - - 26.13 26.30 -
14932 617.8 13.7 608 14938 roll 0.60 - - 2999 - 2.17 0.052 3346 635.9 369.8 - - 1602 - - - - - - - - - 26.27 -
14969 612.8 13.9 609 14974 done 0.57 - - 2999 - 2.12 0.034 1958 -654.7 369.8 - - 1602 - - - - - - - - - 26.39 -
15287 569.5 13.6 623 15292 roll 0.54 - - 2999 - 2.20 0.044 531 -648.6 369.8 - - 1602 - - - - - - - - - 26.35 -
15350 561.7 12.5 626 15355 done 0.54 - - 2999 - 2.20 0.039 1954 646.8 369.8 - - 1601 - - - - - - - - - 26.38 -
15672 519.2 13.5 642 15679 roll 0.52 0.12 0.151 2955 -366.7 2.17 0.050 3345 641.0 369.8 - - 1601 - - - - - - - - 26.32 26.32 -
15711 516.0 13.6 643 15717 done 0.50 - - 2956 - 2.12 0.033 1948 -659.0 369.8 - - 1602 - - - - - - - - - 26.46 -
16016 482.0 10.9 659 16022 roll 0.54 - - 2956 - 2.15 0.043 539 -655.3 369.8 - - 1600 - - - - - - - - - 26.39 -
16049 479.6 10.9 660 16054 done 0.59 - - 2956 - 2.15 0.039 1955 658.6 369.8 - - 1601 - - - - - - - - - 26.41 -
16361 446.9 9.6 676 16367 roll 0.63 0.12 0.091 3035 658.3 2.20 0.050 3347 632.7 369.8 - - 1601 - - - - - - - - 26.58 26.33 -
16408 440.6 12.0 678 16415 done 0.63 0.12 0.161 3002 -275.0 2.12 0.033 1953 -657.5 369.8 - - 1601 - - - - - - - - 26.22 26.47 -
16727 397.9 12.8 694 16733 roll 0.62 - - 3010 - 2.17 0.043 535 -653.5 369.8 - - 1601 - - - - - - - - - 26.39 -
16770 392.7 12.4 696 16776 done 0.62 - - 3010 - 2.17 0.039 1946 650.2 369.8 - - 1601 - - - - - - - - - 26.41 -
17093 350.5 13.2 712 17099 roll 0.60 - - 3010 - 2.17 0.050 3346 645.2 369.8 - - 1602 - - - - - - - - - 26.34 -
17125 347.3 13.3 713 17131 done 0.58 - - 3011 - 2.15 0.033 1933 -657.2 369.8 - - 1602 - - - - - - - - - 26.50 -
17438 305.0 12.6 729 17443 roll 0.57 - - 3011 - 2.15 0.044 531 -652.1 369.8 - - 1601 - - - - - - - - - 26.40 -
17474 302.2 12.5 730 17481 done 0.57 - - 3011 - 2.12 0.037 1940 664.6 369.8 - - 1601 - - - - - - - - - 26.43 -
17780 263.7 11.5 746 17785 roll 0.57 - - 3010 - 2.22 0.051 3352 636.0 369.8 - - 1601 - - - - - - - - - 26.34 -
17846 256.1 12.0 749 17851 done 0.57 - - 3010 - 2.12 0.032 1947 -662.7 369.8 - - 1602 - - - - - - - - - 26.51 -
18164 218.6 12.1 765 18169 roll 0.57 - - 3011 - 2.15 0.042 531 -658.6 369.8 - - 1602 - - - - - - - - - 26.41 -
18207 213.6 11.8 767 18213 done 0.59 - - 3011 - 2.17 0.037 1954 655.8 369.8 - - 1601 - - - - - - - - - 26.45 -
18530 177.0 11.4 783 18536 roll 0.59 - - 3011 - 2.17 0.050 3346 641.5 369.8 - - 1602 - - - - - - - - - 26.36 -
18607 169.4 11.9 786 18614 done 0.59 - - 3011 - 2.08 0.031 1967 -663.0 369.8 - - 1602 - - - - - - - - - 26.53 -
18914 140.4 8.5 802 18925 roll 0.61 - - 3011 - 2.17 0.039 532 -661.3 375.3 4.53 0.610 1590 -2.6 0.065 - - - - - - - 26.48 25.25
18947 138.4 8.4 803 18962 done 0.65 - - 3011 - 2.20 0.036 1979 657.7 383.3 8.48 0.734 1558 -3.8 0.076 - - - - - - - 26.46 25.37
19279 108.4 8.8 820 19284 roll 0.68 - - 3011 - 2.12 0.049 3349 646.2 383.3 - - 1557 - - - - - - - - - 26.29 -
19305 106.3 9.1 821 19310 done 0.72 - - 3011 - 2.10 0.031 1964 -659.5 383.3 - - 1557 - - - - - - - - - 26.43 -
19624 79.0 7.8 837 19651 done 0.79 0.12 0.093 3080 575.0 - - 1963 - 411.4 24.40 0.756 1443 -4.7 0.052 - - - - - - 26.55 - 25.30
19942 44.5 9.4 855 19947 roll 0.79 - - 3080 - 2.20 0.048 3353 631.8 411.4 - - 1441 - - - - - - - - - 26.12 -
19998 39.1 10.5 860 20005 done 0.79 - - 3080 - 2.08 0.031 1983 -658.7 411.4 - - 1441 - - - - - - - - - 26.27 -
20306 23.5 1.7 891 20429 done 1.00 0.12 0.089 3152 600.0 - - 1983 - 644.0 118.47 0.679 495 -8.0 0.029 - - - - - - 26.43 - 24.55
20634 end climb: SURFACE_DEPTH_REACHED
20634 begin surface coast
20675 end surface coast: CONTROL_FINISHED_OK
20676 begin surface
SM 2.30 - - - - -8.28 7.95 0.046 136 -379.4 1.15 0.044 2698 621.7 652.74 4.35 0.063 460 -8.0 0.030 - - - - - -