OKMC Apr12 * SG170 * Dive index * Mission links * Dive 101 * Raw log
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• Previous call tries 5 • 22.08 of 146.00 AH used of 24V (84.88% remains)
• Previous NAKs 0, Timeouts 0 • 9.43 of 97.50 AH used of 10V (90.33% remains)
• Surface angle -75.6 deg, depth 1.96 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: 28 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 - - - 101 VBD -0.46 - - 133 - - - 2697 - -194.6 -81.10 - 2696 - - - - - - - - - - -
104 3.5 -3.1 8 147 roll -0.46 10.45 0.249 2639 239.8 1.62 0.075 3694 615.4 -194.6 -22.45 - 3926 -54.8 - - - - - - - 25.65 26.18 26.63
251 45.3 -23.7 22 257 done -0.38 0.12 0.153 2674 291.7 1.52 0.030 2649 -687.5 -194.6 - - 3928 - - - - - - - - 26.09 26.39 -
574 83.8 -14.0 39 579 roll -0.38 - - 2674 - 1.98 0.030 1300 -681.3 -194.6 - - 3930 - - - - - - - - - 26.41 -
617 90.4 -15.8 41 622 done -0.39 - - 2675 - 2.15 0.044 2680 641.9 -194.6 - - 3930 - - - - - - - - - 26.32 -
940 110.7 -6.2 57 945 roll -0.44 - - 2675 - 2.03 0.031 1303 -678.3 -194.6 - - 3931 - - - - - - - - - 26.45 -
986 116.5 -11.4 59 992 done -0.48 - - 2674 - 2.12 0.044 2677 648.1 -194.6 - - 3931 - - - - - - - - - 26.37 -
1305 133.1 1.7 75 1311 roll -0.55 0.12 0.088 2592 -683.3 2.05 0.029 1287 -678.0 -194.6 - - 3931 - - - - - - - - 26.60 26.50 -
1404 145.5 -14.8 79 1412 done -0.55 0.12 0.153 2627 291.7 2.10 0.044 2647 647.6 -194.6 - - 3930 - - - - - - - - 26.24 26.41 -
1709 185.4 -14.4 95 1710 done -0.57 - - 2627 - - - 2648 - -194.6 - - 3930 - - - - - - - - - - -
2011 205.8 -4.8 110 2016 roll -0.61 - - 2627 - 2.00 0.030 1288 -680.0 -194.6 - - 3928 - - - - - - - - - 26.55 -
2088 208.7 -4.4 113 2095 done -0.66 0.12 0.086 2557 -583.3 2.08 0.043 2642 651.0 -194.6 - - 3928 - - - - - - - - 26.48 26.46 -
2394 246.3 -13.8 129 2399 roll -0.61 0.12 0.163 2598 341.7 1.65 0.053 3696 638.8 -194.6 - - 3928 - - - - - - - - 26.40 26.43 -
2437 251.6 -13.3 131 2442 done -0.59 - - 2598 - 1.55 0.032 2648 -676.1 -194.6 - - 3927 - - - - - - - - - 26.62 -
2759 288.6 -11.3 147 2764 roll -0.59 - - 2598 - 1.98 0.030 1277 -692.4 -194.6 - - 3925 - - - - - - - - - 26.57 -
2785 291.1 -11.2 148 2790 done -0.60 - - 2598 - 2.12 0.046 2646 645.8 -194.6 - - 3924 - - - - - - - - - 26.45 -
3103 321.3 -9.1 164 3109 roll -0.61 - - 2598 - 2.03 0.029 1272 -676.8 -194.6 - - 3921 - - - - - - - - - 26.58 -
3131 323.6 -9.3 165 3136 done -0.63 - - 2598 - 2.12 0.044 2648 649.1 -194.6 - - 3921 - - - - - - - - - 26.46 -
3449 352.6 -8.4 181 3454 roll -0.65 - - 2598 - 2.03 0.028 1271 -678.3 -194.6 - - 3918 - - - - - - - - - 26.58 -
3516 357.5 -7.9 184 3522 done -0.68 - - 2598 - 2.10 0.044 2632 648.1 -194.6 - - 3918 - - - - - - - - - 26.46 -
3834 379.7 -6.9 200 3840 roll -0.70 - - 2598 - 2.00 0.030 1278 -677.0 -194.6 - - 3915 - - - - - - - - - 26.58 -
3912 385.1 -8.4 203 3919 done -0.74 0.12 0.090 2533 -541.7 2.08 0.044 2620 645.2 -194.6 - - 3915 - - - - - - - - 26.47 26.46 -
4218 428.0 -13.9 219 4223 roll -0.68 0.12 0.155 2575 350.0 1.67 0.055 3694 643.1 -194.6 - - 3912 - - - - - - - - 26.44 26.41 -
4304 436.9 -10.6 223 4309 done -0.68 - - 2575 - 1.58 0.034 2618 -681.0 -194.6 - - 3911 - - - - - - - - - 26.63 -
4621 464.8 -8.2 239 4623 done -0.68 - - 2575 - - - 2617 - -194.6 - - 3909 - - - - - - - - - - -
4923 486.0 -6.7 254 4928 roll -0.68 - - 2575 - 1.95 0.031 1287 -682.1 -194.6 - - 3906 - - - - - - - - - 26.57 -
4960 487.7 -6.7 255 4966 done -0.68 - - 2575 - 2.05 0.044 2610 645.4 -194.6 - - 3906 - - - - - - - - - 26.45 -
5266 510.8 -7.8 271 5271 roll -0.68 - - 2575 - 1.73 0.058 3700 630.1 -194.6 - - 3904 - - - - - - - - - 26.39 -
5338 515.7 -7.9 274 5344 done -0.69 - - 2575 - 1.62 0.033 2623 -664.8 -194.6 - - 3904 - - - - - - - - - 26.63 -
5652 542.5 -8.3 290 5657 roll -0.69 - - 2575 - 1.98 0.031 1277 -679.8 -194.6 - - 3902 - - - - - - - - - 26.56 -
5718 547.6 -8.2 293 5724 done -0.71 - - 2575 - 2.08 0.045 2609 640.4 -194.6 - - 3901 - - - - - - - - - 26.42 -
6036 575.9 -9.2 309 6037 done -0.71 - - 2575 - - - 2609 - -194.6 - - 3899 - - - - - - - - - - -
6347 604.2 -9.0 324 6352 roll -0.71 - - 2576 - 1.98 0.031 1283 -669.7 -194.6 - - 3897 - - - - - - - - - 26.56 -
6380 607.3 -9.0 325 6385 done -0.71 - - 2575 - 2.08 0.045 2605 635.6 -194.6 - - 3897 - - - - - - - - - 26.41 -
6714 635.7 -8.4 336 6715 done -0.72 - - 2575 - - - 2605 - -194.6 - - 3895 - - - - - - - - - - -
7013 658.4 -7.1 346 7018 roll -0.74 - - 2576 - 1.95 0.031 1284 -677.4 -194.6 - - 3894 - - - - - - - - - 26.54 -
7040 658.4 -7.1 346 7048 done -0.76 - - 2575 - 2.08 0.045 2604 634.6 -194.6 - - 3893 - - - - - - - - - 26.41 -
7348 678.2 -5.6 357 7353 roll -0.78 - - 2575 - 1.98 0.031 1282 -667.7 -194.6 - - 3891 - - - - - - - - - 26.54 -
7390 680.2 -5.7 358 7395 done -0.80 - - 2575 - 2.05 0.046 2592 639.0 -194.6 - - 3891 - - - - - - - - - 26.39 -
7714 703.0 -7.5 369 7720 roll -0.82 0.12 0.092 2503 -600.0 1.75 0.057 3693 629.1 -194.6 - - 3889 - - - - - - - - 26.68 26.32 -
7792 710.7 -9.9 371 7798 done -0.82 0.12 0.151 2538 291.7 1.62 0.035 2597 -676.5 -194.6 - - 3889 - - - - - - - - 26.27 26.60 -
8112 747.5 -10.9 382 8113 done -0.79 - - 2538 - - - 2597 - -194.6 - - 3888 - - - - - - - - - - -
8411 779.7 -10.7 392 8412 done -0.77 - - 2538 - - - 2597 - -194.6 - - 3886 - - - - - - - - - - -
8711 811.8 -10.7 402 8717 roll -0.75 - - 2538 - 1.77 0.060 3691 618.1 -194.6 - - 3885 - - - - - - - - - 26.29 -
8748 815.2 -10.6 403 8754 done -0.73 - - 2538 - 1.62 0.036 2603 -671.6 -194.6 - - 3885 - - - - - - - - - 26.57 -
9077 848.5 -9.9 414 9083 roll -0.72 0.10 0.160 2566 280.0 1.92 0.031 1292 -682.8 -194.6 - - 3884 - - - - - - - - 26.55 26.50 -
9119 851.5 -9.6 415 9124 done -0.72 - - 2567 - 2.05 0.047 2597 636.6 -194.6 - - 3884 - - - - - - - - - 26.34 -
9444 877.1 -7.7 426 9449 roll -0.73 - - 2567 - 1.75 0.060 3692 625.7 -194.6 - - 3883 - - - - - - - - - 26.26 -
9486 879.8 -7.7 427 9491 done -0.75 - - 2567 - 1.67 0.037 2590 -659.9 -194.6 - - 3883 - - - - - - - - - 26.54 -
9810 904.7 -7.3 438 9815 roll -0.77 - - 2567 - 1.92 0.033 1281 -681.8 -194.6 - - 3881 - - - - - - - - - 26.48 -
9852 907.2 -7.4 439 9857 done -0.79 - - 2568 - 2.05 0.047 2583 635.1 -194.6 - - 3881 - - - - - - - - - 26.32 -
10177 930.9 -7.2 450 10178 done -0.81 - - 2567 - - - 2583 - -194.6 - - 3879 - - - - - - - - - - -
10475 955.1 -8.3 460 10481 roll -0.83 0.12 0.098 2497 -583.3 1.95 0.031 1291 -662.6 -194.6 - - 3878 - - - - - - - - 26.65 26.46 -
10522 959.0 -9.1 461 10529 done -0.83 0.12 0.163 2531 283.3 2.05 0.047 2590 633.7 -194.6 - - 3878 - - - - - - - - 26.06 26.29 -
10780 end dive: TARGET_DEPTH_EXCEEDED
10780 begin apogee
10786 990.7 -11.6 470 10950 roll -0.12 0.68 0.117 2758 333.8 - - 1936 - - 156.50 1.439 3121 -4.8 0.355 - - - - - - 25.86 - 23.46
10952 end apogee: CONTROL_FINISHED_OK
10952 begin climb
10953 1000.2 - 475 11142 roll 0.46 0.55 0.056 2967 380.0 2.28 0.039 548 -608.8 194.6 176.73 1.402 2325 -4.5 0.343 - - - - - - 24.75 24.72 22.96
11160 995.8 5.8 482 11254 done 0.46 - - 2967 - 2.33 0.037 1941 597.9 290.7 87.18 1.370 1936 -4.5 0.346 - - - - - - - 24.45 22.96
11568 949.6 11.5 496 11569 done 0.44 - - 2967 - - - 1941 - 290.7 - - 1928 - - - - - - - - - - -
11867 913.8 12.4 506 11868 done 0.42 - - 2967 - - - 1941 - 290.7 - - 1927 - - - - - - - - - - -
12167 874.1 13.5 516 12173 roll 0.40 0.12 0.155 2926 -341.7 2.22 0.050 3347 633.3 290.7 - - 1927 - - - - - - - - 26.08 26.10 -
12201 869.7 13.4 517 12206 done 0.39 - - 2928 - 2.17 0.033 1942 -647.5 290.7 - - 1926 - - - - - - - - - 26.24 -
12535 837.6 8.8 528 12540 roll 0.42 - - 2928 - 2.15 0.042 541 -651.6 290.7 - - 1925 - - - - - - - - - 26.23 -
12556 837.6 8.8 528 12562 done 0.45 - - 2928 - 2.17 0.039 1947 647.9 290.7 - - 1925 - - - - - - - - - 26.25 -
12871 813.1 6.5 539 12944 roll 0.53 0.12 0.090 3000 600.0 2.38 0.050 3340 585.3 364.3 63.90 1.320 1635 -4.5 0.298 - - - - - - 26.46 25.01 24.01
12993 799.5 11.1 543 12999 done 0.50 0.17 0.142 2960 -235.3 2.22 0.031 1947 -627.5 364.3 - - 1633 - - - - - - - - 25.31 25.48 -
13327 771.3 8.3 554 13345 roll 0.52 - - 2969 - 2.22 0.041 538 -634.7 378.3 13.15 1.193 1576 -4.3 0.299 - - - - - - - 25.72 24.62
13388 765.9 8.5 556 13403 done 0.55 - - 2968 - 2.25 0.038 1961 632.4 385.6 7.57 1.072 1549 -3.6 0.272 - - - - - - - 25.81 24.52
13721 733.5 9.9 567 13726 roll 0.56 - - 2968 - 2.22 0.052 3347 624.3 385.6 - - 1547 - - - - - - - - - 25.98 -
13748 733.5 9.9 567 13756 done 0.58 - - 2968 - 2.15 0.034 1954 -647.9 385.6 - - 1546 - - - - - - - - - 26.10 -
14055 698.8 10.4 578 14060 roll 0.59 - - 2968 - 2.20 0.043 530 -647.3 385.6 - - 1546 - - - - - - - - - 26.15 -
14102 695.1 10.5 579 14108 done 0.61 - - 2969 - 2.17 0.037 1949 653.9 385.6 - - 1546 - - - - - - - - - 26.20 -
14422 655.6 12.5 590 14428 roll 0.62 0.10 0.107 3027 580.0 2.22 0.050 3350 631.1 385.6 - - 1545 - - - - - - - - 26.41 26.18 -
14469 649.9 13.4 591 14475 done 0.62 0.12 0.160 3001 -216.7 2.15 0.033 1950 -651.2 385.6 - - 1546 - - - - - - - - 26.07 26.32 -
14780 595.4 16.2 602 14785 roll 0.60 - - 3010 - 2.17 0.043 535 -652.1 385.6 - - 1545 - - - - - - - - - 26.27 -
14876 582.9 14.6 606 14883 done 0.60 - - 3010 - 2.12 0.038 1930 658.0 385.6 - - 1545 - - - - - - - - - 26.31 -
15183 537.4 13.3 622 15184 done 0.57 - - 3010 - - - 1932 - 385.6 - - 1545 - - - - - - - - - - -
15485 499.8 12.0 637 15487 done 0.54 0.12 0.159 2974 -300.0 - - 1932 - 385.6 - - 1545 - - - - - - - - 26.31 - -
15783 476.6 7.0 652 15837 roll 0.59 - - 2974 - 2.30 0.050 3346 614.8 441.2 47.50 1.093 1322 -4.7 0.218 - - - - - - - 25.46 24.53
15875 470.1 7.9 656 15905 done 0.63 - - 2974 - 2.28 0.033 1905 -632.0 467.3 23.25 1.044 1214 -4.6 0.223 - - - - - - - 25.66 24.34
16205 443.6 8.0 673 16235 roll 0.70 0.12 0.090 3051 641.7 2.17 0.044 540 -629.0 491.4 21.33 1.026 1117 -4.5 0.210 - - - - - - 26.03 25.55 24.58
16257 438.1 10.3 675 16262 done 0.73 - - 3051 - 2.20 0.038 1925 629.5 491.4 - - 1117 - - - - - - - - - 25.64 -
16570 379.4 18.8 691 16572 done 0.67 0.12 0.155 3017 -283.3 - - 1926 - 491.4 - - 1115 - - - - - - - - 25.92 - -
16870 335.6 14.3 706 16875 roll 0.67 - - 3022 - 2.17 0.041 530 -643.3 491.4 - - 1114 - - - - - - - - - 26.12 -
16893 332.3 14.4 707 16899 done 0.69 - - 3023 - 2.15 0.037 1918 645.6 491.4 - - 1114 - - - - - - - - - 26.15 -
17216 287.2 13.5 723 17222 roll 0.69 - - 3023 - 2.25 0.050 3354 638.2 491.4 - - 1114 - - - - - - - - - 26.15 -
17248 284.1 13.2 724 17253 done 0.69 - - 3023 - 2.22 0.032 1902 -654.1 491.4 - - 1114 - - - - - - - - - 26.29 -
17561 241.1 13.3 740 17566 roll 0.70 - - 3023 - 2.10 0.043 532 -652.4 491.4 - - 1114 - - - - - - - - - 26.25 -
17584 238.1 13.2 741 17589 done 0.72 - - 3023 - 2.15 0.036 1929 649.8 491.4 - - 1113 - - - - - - - - - 26.29 -
17906 201.3 10.8 757 17912 roll 0.75 - - 3023 - 2.22 0.050 3342 636.5 491.4 - - 1114 - - - - - - - - - 26.24 -
17949 196.3 11.2 759 17955 done 0.78 - - 3023 - 2.17 0.031 1917 -656.7 491.4 - - 1114 - - - - - - - - - 26.39 -
18273 164.9 10.0 775 18279 roll 0.81 0.12 0.093 3095 600.0 2.10 0.040 538 -656.7 491.4 - - 1114 - - - - - - - - 26.51 26.32 -
18331 158.7 12.1 777 18339 done 0.83 - - 3094 - 2.12 0.037 1927 655.2 491.4 - - 1114 - - - - - - - - - 26.34 -
18636 99.0 17.3 793 18643 roll 0.78 0.12 0.158 3053 -341.7 2.22 0.047 3349 640.5 491.4 - - 1114 - - - - - - - - 26.29 26.29 -
18714 90.1 14.6 796 18721 done 0.78 - - 3053 - 2.12 0.031 1935 -667.0 491.4 - - 1114 - - - - - - - - - 26.45 -
19021 63.9 2.9 812 19173 roll 0.99 0.15 0.081 3134 540.0 2.30 0.041 539 -607.0 684.1 138.07 0.754 458 -4.8 0.043 - - - - 1 - 26.54 25.10 24.39
19205 49.9 9.0 821 19211 done 1.08 - - 3134 - 2.20 0.032 1948 640.5 684.1 - - 458 - - - - - - - - - 25.39 -
19518 11.4 11.7 852 19525 roll 1.28 0.20 0.099 3211 385.0 2.20 0.044 3340 632.7 684.1 - - 458 - - - - - - - - 25.89 25.89 -
19602 end climb: SURFACE_DEPTH_REACHED
19602 begin surface coast
19623 end surface coast: CONTROL_FINISHED_OK
19623 begin surface
SM 1.87 - - - - -8.27 8.05 0.045 140 -381.5 1.02 0.031 2676 -651.0 653.23 - - 458 - - - - - - - -