OKMC Apr12 * SG170 * Dive index * Mission links * Dive 100 * Raw log
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• Previous call tries 5 • 21.82 of 146.00 AH used of 24V (85.05% remains)
• Previous NAKs 0, Timeouts 0 • 9.31 of 97.50 AH used of 10V (90.45% remains)
• Surface angle -74.6 deg, depth 1.92 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: 18 s
• GPS2 time: 21 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
19 - - - 101 VBD -0.46 - - 131 - - - 2681 - -194.6 -80.25 - 2646 - - - - - - - - - - -
104 3.2 -2.9 8 147 roll -0.46 10.27 0.246 2641 244.4 2.08 0.042 1272 -677.4 -194.6 -24.55 - 3921 -51.9 - - - - - - - 25.75 26.37 26.70
205 31.2 -27.7 17 213 done -0.34 0.17 0.162 2691 294.1 2.20 0.046 2685 642.3 -194.6 - - 3924 - - - - - - - - 26.07 26.31 -
521 72.7 -14.3 39 527 roll -0.37 - - 2692 - 1.58 0.057 3695 639.2 -194.6 - - 3925 - - - - - - - - - 26.36 -
544 76.2 -15.0 40 549 done -0.42 - - 2690 - 1.50 0.031 2688 -671.3 -194.6 - - 3925 - - - - - - - - - 26.53 -
868 79.3 -0.1 56 873 roll -0.51 0.15 0.091 2620 -466.7 2.03 0.029 1284 -691.6 -194.6 - - 3927 - - - - - - - - 26.54 26.53 -
915 81.9 -3.7 58 921 done -0.58 - - 2620 - 2.15 0.043 2687 652.6 -194.6 - - 3926 - - - - - - - - - 26.46 -
1233 130.0 -16.4 74 1239 roll -0.58 - - 2620 - 2.08 0.031 1280 -676.4 -194.6 - - 3926 - - - - - - - - - 26.56 -
1297 138.7 -14.1 77 1303 done -0.60 - - 2620 - 2.12 0.044 2669 655.2 -194.6 - - 3926 - - - - - - - - - 26.48 -
1621 149.8 1.1 93 1622 done -0.60 - - 2620 - - - 2669 - -194.6 - - 3925 - - - - - - - - - - -
1921 167.3 -11.4 108 1926 roll -0.62 - - 2620 - 2.05 0.031 1289 -673.2 -194.6 - - 3923 - - - - - - - - - 26.59 -
1947 170.3 -12.0 109 1952 done -0.64 - - 2619 - 2.10 0.044 2668 656.7 -194.6 - - 3923 - - - - - - - - - 26.51 -
2265 213.1 -15.4 125 2271 roll -0.67 0.12 0.093 2543 -633.3 2.05 0.029 1284 -675.1 -194.6 - - 3920 - - - - - - - - 26.68 26.60 -
2312 221.6 -18.0 127 2317 done -0.67 0.15 0.159 2586 286.7 2.10 0.045 2659 654.8 -194.6 - - 3919 - - - - - - - - 26.29 26.51 -
2630 250.0 -3.2 143 2631 done -0.65 - - 2586 - - - 2659 - -194.6 - - 3918 - - - - - - - - - - -
2931 276.7 -9.6 158 2936 roll -0.65 - - 2586 - 2.05 0.031 1278 -673.7 -194.6 - - 3915 - - - - - - - - - 26.60 -
2983 279.7 -7.9 160 2988 done -0.65 - - 2586 - 2.10 0.045 2651 653.8 -194.6 - - 3914 - - - - - - - - - 26.51 -
3296 292.8 -4.5 176 3301 roll -0.65 - - 2586 - 2.03 0.031 1285 -672.9 -194.6 - - 3913 - - - - - - - - - 26.60 -
3322 293.9 -4.5 177 3327 done -0.65 - - 2587 - 2.10 0.046 2642 646.2 -194.6 - - 3912 - - - - - - - - - 26.51 -
3640 323.2 -13.2 193 3645 roll -0.65 - - 2586 - 2.03 0.031 1273 -674.4 -194.6 - - 3910 - - - - - - - - - 26.61 -
3708 330.9 -12.5 196 3713 done -0.66 - - 2586 - 2.08 0.044 2634 654.3 -194.6 - - 3909 - - - - - - - - - 26.53 -
4025 355.5 -7.3 212 4026 done -0.66 - - 2586 - - - 2634 - -194.6 - - 3906 - - - - - - - - - - -
4326 371.1 -4.5 227 4331 roll -0.66 - - 2586 - 1.98 0.031 1288 -679.8 -194.6 - - 3904 - - - - - - - - - 26.60 -
4352 372.3 -4.8 228 4358 done -0.66 - - 2586 - 2.03 0.044 2614 653.2 -194.6 - - 3904 - - - - - - - - - 26.51 -
4670 405.4 -12.7 244 4671 done -0.66 - - 2586 - - - 2614 - -194.6 - - 3902 - - - - - - - - - - -
4972 442.3 -12.0 259 4977 roll -0.66 - - 2586 - 1.98 0.031 1287 -670.2 -194.6 - - 3899 - - - - - - - - - 26.60 -
5046 449.6 -11.4 262 5051 done -0.68 - - 2586 - 2.03 0.046 2608 650.7 -194.6 - - 3899 - - - - - - - - - 26.50 -
5358 486.0 -11.7 278 5364 roll -0.70 - - 2586 - 1.70 0.057 3704 644.7 -194.6 - - 3897 - - - - - - - - - 26.44 -
5386 488.8 -11.8 279 5391 done -0.72 - - 2587 - 1.65 0.034 2616 -659.4 -194.6 - - 3897 - - - - - - - - - 26.65 -
5703 522.6 -9.1 295 5709 roll -0.74 - - 2586 - 1.95 0.031 1285 -682.6 -194.6 - - 3895 - - - - - - - - - 26.59 -
5740 524.6 -8.8 296 5747 done -0.76 - - 2586 - 2.08 0.046 2622 642.8 -194.6 - - 3894 - - - - - - - - - 26.48 -
6047 548.3 -6.8 312 6049 done -0.78 0.12 0.093 2523 -525.0 - - 2622 - -194.6 - - 3892 - - - - - - - - 26.70 - -
6347 578.8 -9.4 327 6353 roll -0.72 0.12 0.149 2563 333.3 1.67 0.056 3696 643.1 -194.6 - - 3890 - - - - - - - - 26.46 26.42 -
6400 582.0 -8.1 329 6406 done -0.69 - - 2564 - 1.65 0.034 2609 -658.8 -194.6 - - 3890 - - - - - - - - - 26.64 -
6723 602.5 -6.7 345 6724 done -0.69 - - 2564 - - - 2608 - -194.6 - - 3888 - - - - - - - - - - -
7023 630.4 -10.7 355 7024 done -0.69 - - 2564 - - - 2608 - -194.6 - - 3887 - - - - - - - - - - -
7323 667.4 -12.3 365 7329 roll -0.69 - - 2564 - 1.95 0.032 1285 -678.5 -194.6 - - 3885 - - - - - - - - - 26.56 -
7386 675.0 -12.1 367 7392 done -0.69 - - 2564 - 2.08 0.046 2614 638.9 -194.6 - - 3885 - - - - - - - - - 26.44 -
7720 710.6 -9.6 378 7726 roll -0.69 - - 2564 - 1.70 0.058 3701 639.4 -194.6 - - 3884 - - - - - - - - - 26.38 -
7753 713.5 -9.1 379 7758 done -0.69 - - 2564 - 1.65 0.035 2610 -661.2 -194.6 - - 3884 - - - - - - - - - 26.62 -
8087 733.3 -4.8 390 8088 done -0.69 - - 2564 - - - 2610 - -194.6 - - 3883 - - - - - - - - - - -
8385 749.2 -6.1 400 8391 roll -0.69 - - 2564 - 1.95 0.032 1289 -677.4 -194.6 - - 3880 - - - - - - - - - 26.55 -
8443 751.5 -6.4 401 8450 done -0.69 - - 2564 - 2.08 0.047 2607 633.7 -194.6 - - 3880 - - - - - - - - - 26.41 -
8749 776.4 -7.8 412 8750 done -0.69 - - 2564 - - - 2607 - -194.6 - - 3878 - - - - - - - - - - -
9049 800.1 -8.0 422 9055 roll -0.69 - - 2564 - 1.70 0.059 3692 638.2 -194.6 - - 3878 - - - - - - - - - 26.34 -
9082 802.7 -8.0 423 9087 done -0.69 - - 2564 - 1.62 0.037 2610 -667.9 -194.6 - - 3877 - - - - - - - - - 26.58 -
9416 828.7 -7.9 434 9421 roll -0.70 - - 2564 - 1.98 0.033 1280 -671.7 -194.6 - - 3877 - - - - - - - - - 26.52 -
9443 828.7 -7.9 434 9450 done -0.72 - - 2564 - 2.08 0.047 2601 635.1 -194.6 - - 3878 - - - - - - - - - 26.38 -
9750 853.6 -7.0 445 9751 done -0.73 - - 2564 - - - 2601 - -194.6 - - 3876 - - - - - - - - - - -
10049 872.1 -6.0 455 10051 done -0.75 - - 2564 - - - 2601 - -194.6 - - 3876 - - - - - - - - - - -
10349 891.6 -6.9 465 10354 roll -0.76 - - 2564 - 1.73 0.060 3695 632.4 -194.6 - - 3875 - - - - - - - - - 26.29 -
10391 894.1 -7.1 466 10396 done -0.77 - - 2564 - 1.62 0.036 2612 -668.5 -194.6 - - 3875 - - - - - - - - - 26.56 -
10715 924.7 -10.2 477 10721 roll -0.79 - - 2564 - 1.98 0.033 1282 -671.7 -194.6 - - 3873 - - - - - - - - - 26.50 -
10752 928.7 -10.8 478 10757 done -0.81 - - 2564 - 2.08 0.047 2601 634.1 -194.6 - - 3873 - - - - - - - - - 26.34 -
11081 970.9 -13.3 489 11086 roll -0.83 - - 2564 - 1.98 0.033 1287 -663.6 -194.6 - - 3872 - - - - - - - - - 26.50 -
11118 975.5 -13.4 490 11124 done -0.85 0.12 0.097 2499 -541.7 2.05 0.047 2604 642.4 -194.6 - - 3871 - - - - - - - - 26.34 26.33 -
11204 end dive: TARGET_DEPTH_EXCEEDED
11204 begin apogee
11210 990.0 -15.1 493 11370 roll -0.12 0.77 0.126 2752 328.6 - - 1927 - - 153.90 1.439 3121 -4.9 0.356 - - - - - - 25.82 - 23.57
11372 end apogee: CONTROL_FINISHED_OK
11372 begin climb
11374 1001.9 - 498 11561 roll 0.46 0.55 0.057 2960 378.2 2.25 0.039 552 -611.1 194.6 175.45 1.400 2326 -4.5 0.344 - - - - - - 24.81 24.79 23.08
11639 987.5 10.7 507 11644 done 0.43 - - 2960 - 2.28 0.037 1950 613.2 194.6 - - 2320 - - - - - - - - - 25.06 -
11962 939.1 15.2 518 11968 roll 0.39 0.12 0.155 2928 -266.7 2.17 0.038 555 -642.9 194.6 - - 2316 - - - - - - - - 25.82 25.91 -
12109 921.8 13.8 522 12117 done 0.39 - - 2928 - 2.17 0.037 1954 644.7 194.6 - - 2315 - - - - - - - - - 26.05 -
12416 875.5 14.0 533 12421 roll 0.39 - - 2928 - 2.22 0.052 3344 626.1 194.6 - - 2313 - - - - - - - - - 26.12 -
12492 867.1 13.4 535 12497 done 0.39 - - 2928 - 2.08 0.033 1974 -658.7 194.6 - - 2313 - - - - - - - - - 26.26 -
12811 841.5 5.3 546 12912 done 0.46 - - 2928 - - - 1973 - 309.0 98.90 1.333 1861 -4.6 0.306 - - - - - - - - 23.83
13201 829.6 3.0 559 13376 roll 0.61 0.20 0.071 3034 530.0 2.35 0.041 548 -606.4 501.0 165.32 1.304 1077 -4.7 0.320 - - - - - - 25.97 24.49 23.55
13397 806.8 14.0 565 13403 done 0.55 0.20 0.123 2976 -290.0 2.33 0.037 1963 607.3 501.0 - - 1076 - - - - - - - - 24.79 24.88 -
13717 767.5 12.6 576 13718 done 0.58 - - 2976 - - - 1964 - 501.0 - - 1075 - - - - - - - - - - -
14016 728.0 12.7 586 14021 roll 0.61 - - 2981 - 2.20 0.041 544 -645.5 501.0 - - 1072 - - - - - - - - - 26.11 -
14043 728.0 12.7 586 14050 done 0.64 - - 2981 - 2.22 0.038 1971 642.8 501.0 - - 1072 - - - - - - - - - 26.13 -
14351 697.0 8.3 597 14367 done 0.68 0.12 0.092 3051 583.3 - - 1972 - 515.4 13.00 1.146 1019 -4.1 0.263 - - - - - - 26.36 - 24.93
14650 643.0 19.6 607 14656 roll 0.62 0.15 0.145 3011 -266.7 2.22 0.040 538 -645.9 515.4 - - 1018 - - - - - - - - 26.02 26.14 -
14723 633.4 17.5 609 14728 done 0.59 - - 3011 - 2.20 0.038 1955 644.1 515.4 - - 1018 - - - - - - - - - 26.17 -
15036 586.8 14.1 621 15037 done 0.59 - - 3011 - - - 1955 - 515.4 - - 1017 - - - - - - - - - - -
15336 545.2 13.9 636 15342 roll 0.59 - - 3011 - 2.17 0.042 541 -651.6 515.4 - - 1017 - - - - - - - - - 26.29 -
15362 542.1 13.9 637 15368 done 0.59 - - 3011 - 2.17 0.038 1947 647.9 515.4 - - 1017 - - - - - - - - - 26.31 -
15680 498.8 13.7 653 15682 done 0.59 - - 3010 - - - 1947 - 515.4 - - 1017 - - - - - - - - - - -
15982 456.7 14.3 668 15983 done 0.61 - - 3010 - - - 1947 - 515.4 - - 1017 - - - - - - - - - - -
16282 421.3 9.5 683 16283 done 0.62 - - 3010 - - - 1948 - 515.4 - - 1017 - - - - - - - - - - -
16583 399.2 8.3 698 16602 roll 0.65 - - 3011 - 2.25 0.052 3341 619.1 526.8 11.05 0.955 973 -4.0 0.177 - - - - - - - 26.26 25.21
16619 397.0 9.5 699 16626 done 0.67 - - 3011 - 2.15 0.032 1933 -654.9 526.8 - - 974 - - - - - - - - - 26.32 -
16925 352.6 14.5 715 16931 roll 0.70 - - 3011 - 2.12 0.042 543 -655.7 526.8 - - 973 - - - - - - - - - 26.27 -
16988 344.9 12.8 718 16993 done 0.76 - - 3011 - 2.12 0.036 1924 651.4 526.8 - - 973 - - - - - - - - - 26.31 -
17311 319.7 7.8 734 17345 roll 0.82 0.12 0.092 3083 600.0 2.30 0.051 3353 621.3 556.8 26.52 0.955 851 -4.6 0.164 - - - - - - 26.50 25.90 25.01
17376 309.7 14.3 737 17381 done 0.82 - - 3091 - 2.22 0.032 1911 -649.5 556.8 - - 850 - - - - - - - - - 25.98 -
17693 241.4 20.9 753 17700 roll 0.75 0.15 0.162 3051 -266.7 2.12 0.040 533 -650.0 556.8 - - 849 - - - - - - - - 25.94 26.10 -
17771 232.6 15.3 756 17778 done 0.75 - - 3051 - 2.08 0.035 1887 651.0 556.8 - - 849 - - - - - - - - - 26.16 -
18077 197.3 10.0 772 18083 roll 0.78 - - 3051 - 2.28 0.049 3343 638.6 556.8 - - 849 - - - - - - - - - 26.16 -
18123 192.6 10.6 774 18130 done 0.81 - - 3050 - 2.17 0.031 1903 -663.6 556.8 - - 849 - - - - - - - - - 26.31 -
18442 175.8 6.7 790 18507 roll 0.90 0.12 0.093 3131 675.0 2.12 0.041 543 -641.5 624.8 58.28 0.847 572 -4.8 0.105 - - - - - - 26.46 25.47 24.70
18614 149.1 16.4 798 18621 done 0.92 0.12 0.128 3093 -316.7 2.10 0.034 1891 641.9 624.8 - - 572 - - - - - - - - 25.64 25.77 -
18930 108.9 0.6 814 18970 roll 1.14 0.17 0.073 3182 523.5 2.38 0.048 3340 608.8 896.0 29.75 0.770 458 -3.8 0.058 - - - - - - 26.17 25.67 24.98
18976 105.9 3.1 816 18982 done 1.25 - - 3186 - 2.28 0.032 1890 -636.0 1082.7 - - 459 - - - - - - - - - 25.75 -
19284 24.0 14.1 838 19289 roll 1.25 - - 3187 - 2.10 0.041 531 -647.1 1082.7 - - 460 - - - - - - - - - 26.03 -
19362 19.0 4.5 845 19370 done 1.41 0.20 0.069 3284 485.0 2.08 0.034 1893 654.8 1223.7 - - 459 - - - - - - - - 26.12 26.11 -
19477 end climb: SURFACE_DEPTH_REACHED
19477 begin surface coast
19486 end surface coast: CONTROL_FINISHED_OK
19486 begin surface
SM 1.92 - - - - -8.30 8.23 0.046 133 -382.9 1.25 0.043 2696 642.4 652.99 - - 459 - - - - - - - -