OKMC Apr12 * SG170 * Dive index * Mission links * Dive 97 * Raw log
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• Previous call tries 5 • 21.13 of 146.00 AH used of 24V (85.53% remains)
• Previous NAKs 0, Timeouts 0 • 9.04 of 97.50 AH used of 10V (90.73% remains)
• Surface angle -71.3 deg, depth 1.99 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 652.99, SM_CC=652.74329)
• GPS1 time: 37 s
• GPS2 time: 13 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 101 VBD -0.46 - - 135 - - - 2700 - -194.6 -81.35 - 2684 - - - - - - - - - - -
104 3.5 -3.3 8 147 roll -0.46 10.23 0.241 2643 245.2 2.15 0.047 1281 -660.0 -194.6 -22.98 - 3924 -54.0 - - - - - - - 25.61 26.22 26.58
251 37.4 -16.6 22 256 done -0.42 - - 2643 - 2.20 0.047 2684 637.7 -194.6 - - 3926 - - - - - - - - - 26.17 -
564 76.6 -6.3 41 569 roll -0.42 - - 2643 - 2.08 0.031 1281 -674.5 -194.6 - - 3929 - - - - - - - - - 26.36 -
596 78.5 -6.7 42 601 done -0.42 - - 2642 - 2.22 0.046 2706 641.9 -194.6 - - 3928 - - - - - - - - - 26.27 -
910 105.7 -8.4 58 916 roll -0.46 - - 2643 - 2.10 0.031 1281 -678.6 -194.6 - - 3929 - - - - - - - - - 26.42 -
969 109.4 -8.2 60 975 done -0.50 - - 2643 - 2.17 0.045 2682 645.6 -194.6 - - 3929 - - - - - - - - - 26.34 -
1275 133.1 -7.5 76 1280 roll -0.55 - - 2643 - 2.10 0.031 1270 -672.4 -194.6 - - 3928 - - - - - - - - - 26.46 -
1368 139.5 -7.6 80 1374 done -0.61 0.12 0.087 2573 -583.3 2.15 0.045 2660 646.5 -194.6 - - 3927 - - - - - - - - 26.41 26.39 -
1682 177.7 -13.2 96 1687 roll -0.56 0.12 0.154 2615 350.0 2.05 0.029 1267 -679.5 -194.6 - - 3926 - - - - - - - - 26.36 26.50 -
1714 180.3 -12.9 97 1720 done -0.52 - - 2615 - 2.15 0.045 2653 644.7 -194.6 - - 3925 - - - - - - - - - 26.41 -
2028 212.7 -10.1 113 2033 roll -0.55 - - 2615 - 1.62 0.057 3692 641.4 -194.6 - - 3924 - - - - - - - - - 26.40 -
2054 214.9 -9.8 114 2059 done -0.57 - - 2615 - 1.55 0.034 2642 -677.4 -194.6 - - 3924 - - - - - - - - - 26.59 -
2372 245.4 -9.2 130 2378 roll -0.61 - - 2615 - 2.00 0.029 1269 -686.5 -194.6 - - 3920 - - - - - - - - - 26.55 -
2409 247.6 -9.2 131 2416 done -0.64 - - 2615 - 2.15 0.044 2662 647.9 -194.6 - - 3920 - - - - - - - - - 26.44 -
2716 271.4 -7.0 147 2721 roll -0.68 - - 2615 - 2.05 0.031 1273 -677.6 -194.6 - - 3917 - - - - - - - - - 26.55 -
2773 274.4 -6.9 149 2780 done -0.72 0.15 0.078 2533 -546.7 2.12 0.044 2650 649.5 -194.6 - - 3917 - - - - - - - - 26.49 26.45 -
3078 313.3 -12.7 165 3084 roll -0.65 0.17 0.145 2591 341.2 1.62 0.054 3697 646.3 -194.6 - - 3915 - - - - - - - - 26.30 26.41 -
3177 320.2 -8.1 169 3185 done -0.65 - - 2591 - 1.55 0.033 2649 -676.1 -194.6 - - 3914 - - - - - - - - - 26.63 -
3482 340.5 -5.8 185 3487 roll -0.65 - - 2591 - 1.98 0.030 1281 -690.9 -194.6 - - 3912 - - - - - - - - - 26.58 -
3559 344.0 -5.6 188 3567 done -0.66 - - 2591 - 2.12 0.044 2653 647.2 -194.6 - - 3911 - - - - - - - - - 26.45 -
3865 367.2 -8.7 204 3871 roll -0.68 - - 2591 - 2.03 0.030 1270 -681.3 -194.6 - - 3908 - - - - - - - - - 26.57 -
3909 371.1 -8.9 206 3915 done -0.70 - - 2591 - 2.15 0.044 2648 640.9 -194.6 - - 3908 - - - - - - - - - 26.45 -
4232 405.5 -11.5 222 4237 roll -0.71 - - 2591 - 2.00 0.030 1282 -683.0 -194.6 - - 3906 - - - - - - - - - 26.57 -
4279 410.6 -11.7 224 4285 done -0.73 - - 2591 - 2.10 0.044 2639 646.2 -194.6 - - 3906 - - - - - - - - - 26.45 -
4598 447.5 -10.8 240 4604 roll -0.75 0.12 0.096 2516 -625.0 2.03 0.028 1276 -671.4 -194.6 - - 3904 - - - - - - - - 26.67 26.57 -
4650 453.5 -12.1 242 4657 done -0.75 0.15 0.158 2558 280.0 2.12 0.046 2640 643.4 -194.6 - - 3903 - - - - - - - - 26.20 26.44 -
4965 493.6 -11.9 258 4966 done -0.73 - - 2558 - - - 2640 - -194.6 - - 3900 - - - - - - - - - - -
5266 527.0 -10.5 273 5272 roll -0.71 - - 2559 - 2.03 0.031 1278 -670.9 -194.6 - - 3898 - - - - - - - - - 26.56 -
5323 531.6 -10.6 275 5329 done -0.70 - - 2559 - 2.10 0.046 2624 641.0 -194.6 - - 3898 - - - - - - - - - 26.43 -
5629 560.9 -8.8 291 5630 done -0.69 - - 2559 - - - 2624 - -194.6 - - 3896 - - - - - - - - - - -
5931 586.3 -8.4 306 5936 roll -0.67 - - 2558 - 1.98 0.031 1283 -677.3 -194.6 - - 3895 - - - - - - - - - 26.56 -
5973 590.1 -8.6 308 5978 done -0.67 - - 2559 - 2.10 0.045 2624 638.6 -194.6 - - 3895 - - - - - - - - - 26.43 -
6306 619.3 -9.2 321 6311 roll -0.67 - - 2559 - 1.70 0.058 3698 631.8 -194.6 - - 3894 - - - - - - - - - 26.37 -
6384 625.3 -9.4 323 6389 done -0.67 - - 2559 - 1.62 0.034 2613 -669.8 -194.6 - - 3892 - - - - - - - - - 26.61 -
6701 656.7 -9.7 334 6706 roll -0.67 - - 2559 - 1.95 0.031 1274 -686.7 -194.6 - - 3890 - - - - - - - - - 26.55 -
6752 659.9 -9.7 335 6758 done -0.67 - - 2559 - 2.10 0.047 2620 641.0 -194.6 - - 3890 - - - - - - - - - 26.40 -
7065 692.7 -10.0 346 7066 done -0.67 - - 2559 - - - 2620 - -194.6 - - 3889 - - - - - - - - - - -
7366 722.2 -9.7 356 7371 roll -0.67 - - 2559 - 2.00 0.031 1284 -668.0 -194.6 - - 3886 - - - - - - - - - 26.53 -
7402 725.3 -9.8 357 7407 done -0.67 - - 2558 - 2.10 0.046 2625 638.6 -194.6 - - 3886 - - - - - - - - - 26.39 -
7730 754.6 -8.4 368 7731 done -0.67 - - 2559 - - - 2625 - -194.6 - - 3885 - - - - - - - - - - -
8029 777.1 -7.3 378 8035 roll -0.67 - - 2559 - 2.00 0.031 1284 -670.5 -194.6 - - 3884 - - - - - - - - - 26.53 -
8076 779.4 -7.1 379 8082 done -0.67 - - 2559 - 2.08 0.045 2609 637.0 -194.6 - - 3884 - - - - - - - - - 26.38 -
8395 801.9 -7.1 390 8396 done -0.67 - - 2559 - - - 2610 - -194.6 - - 3883 - - - - - - - - - - -
8694 824.0 -7.7 400 8699 roll -0.67 - - 2559 - 2.00 0.031 1273 -668.5 -194.6 - - 3881 - - - - - - - - - 26.52 -
8726 826.7 -7.9 401 8732 done -0.67 - - 2559 - 2.10 0.047 2604 633.8 -194.6 - - 3881 - - - - - - - - - 26.36 -
9061 855.9 -9.0 412 9062 done -0.67 - - 2558 - - - 2604 - -194.6 - - 3879 - - - - - - - - - - -
9359 886.0 -10.2 422 9364 roll -0.67 - - 2559 - 1.75 0.060 3699 625.7 -194.6 - - 3878 - - - - - - - - - 26.27 -
9386 886.0 -10.2 422 9392 done -0.67 - - 2559 - 1.67 0.036 2593 -662.3 -194.6 - - 3878 - - - - - - - - - 26.56 -
9692 920.2 -10.3 433 9693 done -0.67 - - 2559 - - - 2593 - -194.6 - - 3877 - - - - - - - - - - -
9992 948.7 -9.2 443 9993 done -0.67 - - 2559 - - - 2593 - -194.6 - - 3877 - - - - - - - - - - -
10292 973.6 -8.0 453 10293 done -0.67 - - 2559 - - - 2593 - -194.6 - - 3876 - - - - - - - - - - -
10530 end dive: TARGET_DEPTH_EXCEEDED
10530 begin apogee
10535 991.7 -7.4 461 10696 roll -0.12 0.57 0.112 2754 342.1 - - 1935 - - 155.60 1.437 3121 -4.9 0.357 - - - - - - 25.97 - 23.49
10697 end apogee: CONTROL_FINISHED_OK
10697 begin climb
10699 997.2 - 466 10881 done 0.46 0.52 0.054 2964 403.8 - - 1934 - 194.6 175.90 1.398 2327 -4.5 0.343 - - - - - - 24.65 - 22.97
11195 954.7 10.8 483 11200 roll 0.42 - - 2964 - 2.33 0.051 3348 606.9 194.6 - - 2317 - - - - - - - - - 25.67 -
11291 944.1 11.1 486 11298 done 0.37 0.17 0.151 2921 -252.9 2.17 0.033 1953 -642.9 194.6 - - 2316 - - - - - - - - 25.63 25.90 -
11621 921.7 6.0 497 11702 done 0.42 - - 2921 - - - 1953 - 284.8 79.15 1.372 1960 -4.5 0.322 - - - - - - - - 23.80
11982 899.9 6.0 509 12065 done 0.51 0.12 0.086 2987 550.0 - - 1949 - 375.5 80.00 1.353 1590 -4.6 0.328 - - - - - - 25.96 - 23.73
12366 855.1 12.3 521 12371 roll 0.49 - - 2995 - 2.22 0.042 533 -637.8 375.5 - - 1583 - - - - - - - - - 25.86 -
12388 855.1 12.3 521 12394 done 0.46 0.15 0.133 2951 -293.3 2.25 0.037 1964 636.0 375.5 - - 1583 - - - - - - - - 25.75 25.89 -
12704 826.0 7.9 532 12732 roll 0.51 - - 2951 - 2.33 0.053 3348 594.0 401.9 22.77 1.281 1482 -4.4 0.305 - - - - - - - 25.56 24.53
12745 823.6 8.0 533 12774 done 0.55 - - 2955 - 2.22 0.033 1939 -634.7 424.5 21.60 1.258 1389 -4.3 0.301 - - - - - - - 25.67 24.20
13097 794.6 8.0 545 13127 roll 0.60 0.12 0.092 3037 683.3 2.28 0.043 539 -614.0 447.5 20.88 1.254 1296 -4.5 0.301 - - - - - - 26.06 25.49 24.44
13180 785.9 10.9 547 13186 done 0.60 0.15 0.136 2993 -293.3 2.22 0.037 1944 632.9 447.5 - - 1294 - - - - - - - - 25.56 25.68 -
13495 740.1 13.9 558 13500 roll 0.60 - - 2997 - 2.20 0.041 541 -637.7 447.5 - - 1293 - - - - - - - - - 26.03 -
13517 740.1 13.9 558 13523 done 0.60 - - 2997 - 2.17 0.037 1936 642.9 447.5 - - 1292 - - - - - - - - - 26.06 -
13832 693.5 13.7 569 13833 done 0.59 - - 2999 - - - 1937 - 447.5 - - 1291 - - - - - - - - - - -
14130 653.6 13.4 579 14136 roll 0.58 - - 2997 - 2.17 0.041 539 -644.2 447.5 - - 1292 - - - - - - - - - 26.25 -
14164 649.3 13.3 580 14169 done 0.58 - - 2997 - 2.17 0.037 1942 646.5 447.5 - - 1292 - - - - - - - - - 26.27 -
14498 608.0 12.2 591 14499 done 0.58 - - 2997 - - - 1943 - 447.5 - - 1292 - - - - - - - - - - -
14807 571.7 11.3 605 14813 roll 0.58 - - 2997 - 2.22 0.051 3348 632.9 447.5 - - 1292 - - - - - - - - - 26.28 -
14823 571.7 11.3 605 14830 done 0.58 - - 2998 - 2.17 0.033 1920 -658.1 447.5 - - 1292 - - - - - - - - - 26.41 -
15130 536.1 10.9 621 15135 roll 0.58 - - 2998 - 2.10 0.041 541 -656.7 447.5 - - 1291 - - - - - - - - - 26.36 -
15221 528.5 9.1 625 15228 done 0.61 - - 2998 - 2.10 0.037 1916 654.8 447.5 - - 1291 - - - - - - - - - 26.38 -
15536 495.8 10.7 641 15537 done 0.61 - - 2997 - - - 1917 - 447.5 - - 1291 - - - - - - - - - - -
15836 462.8 11.4 656 15842 roll 0.61 - - 2998 - 2.12 0.041 539 -650.0 447.5 - - 1291 - - - - - - - - - 26.38 -
15859 460.0 11.6 657 15865 done 0.62 - - 2998 - 2.10 0.037 1908 651.9 447.5 - - 1292 - - - - - - - - - 26.41 -
16183 417.0 14.5 673 16188 roll 0.63 - - 2998 - 2.25 0.050 3347 639.6 447.5 - - 1291 - - - - - - - - - 26.33 -
16209 413.5 14.8 674 16215 done 0.63 - - 2997 - 2.22 0.033 1890 -656.3 447.5 - - 1292 - - - - - - - - - 26.47 -
16528 362.0 15.7 690 16533 roll 0.65 - - 2997 - 2.08 0.041 527 -655.3 447.5 - - 1292 - - - - - - - - - 26.39 -
16565 358.7 15.3 691 16573 done 0.67 - - 2996 - 2.08 0.036 1891 655.8 447.5 - - 1292 - - - - - - - - - 26.43 -
16871 314.6 12.7 707 16877 roll 0.70 - - 2998 - 2.28 0.051 3340 635.5 447.5 - - 1292 - - - - - - - - - 26.33 -
16908 311.6 12.7 708 16917 done 0.72 0.10 0.109 3056 580.0 2.20 0.032 1890 -659.1 447.5 - - 1291 - - - - - - - - 26.40 26.50 -
17214 260.5 15.1 724 17216 done 0.67 0.15 0.149 3012 -293.3 - - 1890 - 447.5 - - 1292 - - - - - - - - 26.33 - -
17514 240.3 4.8 739 17626 done 0.77 0.12 0.091 3079 558.3 - - 1890 - 579.0 108.68 0.921 759 -4.9 0.136 - - - - - - 26.62 - 24.22
17914 194.1 12.9 759 17916 done 0.75 0.15 0.141 3036 -286.7 - - 1890 - 579.0 - - 756 - - - - - - - - 25.74 - -
18215 160.6 11.8 774 18216 done 0.80 - - 3036 - - - 1890 - 579.0 - - 754 - - - - - - - - - - -
18515 129.1 9.4 789 18522 roll 0.88 0.12 0.092 3108 600.0 2.08 0.039 538 -650.0 579.0 - - 754 - - - - - - - - 26.31 26.15 -
18544 126.2 9.8 790 18549 done 0.95 - - 3108 - 2.10 0.034 1910 653.3 579.0 - - 754 - - - - - - - - - 26.19 -
18861 76.6 14.0 806 18866 roll 0.95 - - 3108 - 2.22 0.049 3342 645.0 579.0 - - 754 - - - - - - - - - 26.17 -
18897 73.6 13.6 807 18904 done 0.95 - - 3108 - 2.17 0.031 1909 -660.4 579.0 - - 754 - - - - - - - - - 26.32 -
19204 45.1 4.1 827 19287 roll 1.13 0.12 0.093 3184 633.3 2.20 0.041 538 -623.2 731.2 67.35 0.726 459 -4.4 0.029 - - - - 1 - 26.45 25.50 24.85
19335 34.2 8.4 839 19342 done 1.19 - - 3184 - 2.12 0.032 1906 645.3 741.1 - - 460 - - - - - - - - - 25.68 -
19640 6.1 9.8 870 19645 roll 1.25 - - 3184 - 2.28 0.048 3354 635.1 741.1 - - 458 - - - - - - - - - 25.96 -
19681 end climb: SURFACE_DEPTH_REACHED
19681 begin surface coast
19692 end surface coast: CONTROL_FINISHED_OK
19692 begin surface
SM 2.03 - - - - -8.27 7.95 0.044 139 -383.0 1.05 0.033 2668 -653.3 652.99 - - 459 - - - - - - - -