OKMC Apr12 * SG170 * Dive index * Mission links * Dive 50 * Raw log
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• Previous call tries 5 • 9.95 of 146.00 AH used of 24V (93.18% remains)
• Previous NAKs 0, Timeouts 0 • 3.53 of 97.50 AH used of 10V (96.38% remains)
• Surface angle -74.5 deg, depth 1.81 m • Intended pitch -13.0 deg, speed -9.167 cm/s
• No surface pump (final VBD was 652.99, SM_CC=652.74329)
• GPS1 time: 24 s
• GPS2 time: 18 s • Transponder ping count: 2
• 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 -0.47 - - 135 - - - 2697 - -243.3 -82.03 - 2712 - - - - - - - - - - -
104 3.0 -2.8 8 147 roll -0.47 10.32 0.250 2640 242.7 2.20 0.046 1271 -648.2 -243.3 -26.40 - 3964 -47.4 - - - - - - - 25.72 26.16 26.46
274 39.2 -21.3 24 282 done -0.35 0.17 0.178 2686 270.6 2.22 0.049 2688 638.3 -243.3 - - 3966 - - - - - - - - 25.96 26.17 -
592 89.1 -8.8 43 597 roll -0.33 - - 2686 - 1.58 0.060 3701 641.1 -243.3 - - 3968 - - - - - - - - - 26.27 -
637 92.5 -7.9 45 642 done -0.33 - - 2687 - 1.55 0.031 2644 -681.9 -243.3 - - 3968 - - - - - - - - - 26.41 -
955 120.5 -7.6 61 961 roll -0.38 - - 2687 - 1.98 0.031 1294 -681.8 -243.3 - - 3968 - - - - - - - - - 26.44 -
1048 126.5 -7.0 65 1054 done -0.44 - - 2687 - 2.10 0.046 2653 647.1 -243.3 - - 3968 - - - - - - - - - 26.40 -
1361 145.0 -6.0 81 1367 roll -0.50 0.12 0.090 2605 -683.3 2.03 0.030 1284 -674.4 -243.3 - - 3968 - - - - - - - - 26.56 26.52 -
1389 147.2 -6.7 82 1395 done -0.55 - - 2604 - 2.10 0.046 2647 649.0 -243.3 - - 3968 - - - - - - - - - 26.45 -
1708 192.1 -12.4 98 1713 roll -0.49 0.12 0.156 2646 350.0 2.00 0.029 1294 -676.5 -243.3 - - 3968 - - - - - - - - 26.41 26.55 -
1731 194.4 -11.5 99 1736 done -0.46 - - 2646 - 2.10 0.047 2644 642.9 -243.3 - - 3968 - - - - - - - - - 26.48 -
2054 217.9 -7.6 115 2059 roll -0.49 - - 2646 - 1.65 0.057 3703 641.8 -243.3 - - 3968 - - - - - - - - - 26.50 -
2111 221.1 -7.6 117 2119 done -0.54 - - 2646 - 1.55 0.032 2639 -686.5 -243.3 - - 3968 - - - - - - - - - 26.63 -
2417 243.4 -6.4 133 2423 roll -0.58 - - 2646 - 1.98 0.032 1286 -683.3 -243.3 - - 3967 - - - - - - - - - 26.60 -
2461 245.7 -5.5 135 2468 done -0.63 0.15 0.080 2562 -560.0 2.10 0.047 2638 643.8 -243.3 - - 3967 - - - - - - - - 26.58 26.54 -
2785 279.2 -11.5 151 2791 roll -0.57 0.15 0.152 2613 340.0 1.98 0.031 1288 -681.8 -243.3 - - 3965 - - - - - - - - 26.44 26.61 -
2849 285.5 -10.5 154 2854 done -0.56 - - 2613 - 2.08 0.048 2621 640.9 -243.3 - - 3964 - - - - - - - - - 26.55 -
3172 314.3 -8.7 170 3177 roll -0.57 - - 2613 - 1.67 0.060 3690 640.1 -243.3 - - 3963 - - - - - - - - - 26.53 -
3249 319.4 -8.1 173 3256 done -0.60 - - 2613 - 1.58 0.033 2617 -679.1 -243.3 - - 3962 - - - - - - - - - 26.68 -
3556 341.0 -6.0 189 3561 roll -0.61 - - 2613 - 1.92 0.033 1287 -692.7 -243.3 - - 3961 - - - - - - - - - 26.63 -
3660 347.8 -6.8 194 3665 done -0.64 - - 2613 - 2.05 0.047 2612 646.3 -243.3 - - 3959 - - - - - - - - - 26.58 -
3983 369.1 -6.4 210 3989 roll -0.66 - - 2613 - 1.70 0.057 3700 640.0 -243.3 - - 3956 - - - - - - - - - 26.56 -
4026 371.9 -6.5 212 4033 done -0.70 0.12 0.090 2541 -600.0 1.62 0.034 2603 -677.2 -243.3 - - 3955 - - - - - - - - 26.61 26.70 -
4350 415.5 -15.9 228 4356 roll -0.63 0.15 0.151 2591 333.3 1.73 0.056 3692 629.5 -243.3 - - 3953 - - - - - - - - 26.47 26.56 -
4387 418.9 -15.5 229 4393 done -0.57 - - 2590 - 1.58 0.034 2621 -677.8 -243.3 - - 3952 - - - - - - - - - 26.70 -
4693 451.0 -9.7 245 4694 done -0.57 - - 2591 - - - 2621 - -243.3 - - 3950 - - - - - - - - - - -
4994 478.7 -8.7 260 4999 roll -0.57 - - 2591 - 1.95 0.032 1287 -684.1 -243.3 - - 3948 - - - - - - - - - 26.66 -
5017 480.7 -8.6 261 5022 done -0.57 - - 2591 - 2.10 0.047 2634 641.4 -243.3 - - 3948 - - - - - - - - - 26.58 -
5340 507.1 -8.2 277 5346 roll -0.57 - - 2591 - 2.00 0.033 1287 -673.5 -243.3 - - 3946 - - - - - - - - - 26.65 -
5394 510.7 -8.4 279 5399 done -0.58 - - 2591 - 2.08 0.047 2627 644.2 -243.3 - - 3946 - - - - - - - - - 26.59 -
5707 537.1 -7.9 295 5712 roll -0.60 - - 2591 - 1.98 0.031 1293 -673.7 -243.3 - - 3943 - - - - - - - - - 26.66 -
5739 538.9 -7.7 296 5745 done -0.61 - - 2592 - 2.05 0.047 2611 642.9 -243.3 - - 3942 - - - - - - - - - 26.58 -
6052 563.2 -7.6 312 6053 done -0.61 - - 2591 - - - 2611 - -243.3 - - 3941 - - - - - - - - - - -
6354 585.8 -7.3 327 6355 done -0.63 - - 2591 - - - 2611 - -243.3 - - 3938 - - - - - - - - - - -
6663 607.2 -6.9 341 6668 roll -0.64 - - 2591 - 1.95 0.033 1295 -674.9 -243.3 - - 3937 - - - - - - - - - 26.65 -
6715 609.5 -6.9 342 6721 done -0.66 - - 2591 - 2.05 0.048 2615 643.9 -243.3 - - 3937 - - - - - - - - - 26.58 -
7030 632.5 -6.8 353 7031 done -0.68 - - 2591 - - - 2615 - -243.3 - - 3935 - - - - - - - - - - -
7329 651.3 -6.2 363 7330 done -0.70 - - 2591 - - - 2615 - -243.3 - - 3933 - - - - - - - - - - -
7629 673.0 -7.5 373 7634 roll -0.72 - - 2591 - 1.98 0.035 1291 -668.7 -243.3 - - 3931 - - - - - - - - - 26.64 -
7662 675.7 -7.6 374 7667 done -0.75 - - 2591 - 2.05 0.049 2601 639.0 -243.3 - - 3931 - - - - - - - - - 26.55 -
7995 700.3 -7.5 385 7997 done -0.77 0.12 0.098 2525 -550.0 - - 2601 - -243.3 - - 3930 - - - - - - - - 26.72 - -
8295 736.8 -12.4 395 8301 roll -0.71 0.12 0.152 2565 333.3 1.70 0.058 3693 642.4 -243.3 - - 3928 - - - - - - - - 26.50 26.51 -
8378 743.2 -11.0 397 8383 done -0.68 - - 2565 - 1.60 0.036 2625 -667.5 -243.3 - - 3928 - - - - - - - - - 26.69 -
8691 770.3 -7.9 408 8696 roll -0.68 - - 2565 - 1.95 0.034 1288 -685.6 -243.3 - - 3927 - - - - - - - - - 26.63 -
8757 775.3 -7.9 410 8762 done -0.68 - - 2565 - 2.05 0.049 2605 642.4 -243.3 - - 3926 - - - - - - - - - 26.54 -
9085 802.3 -8.5 421 9087 done -0.68 - - 2565 - - - 2614 - -243.3 - - 3925 - - - - - - - - - - -
9384 829.2 -9.0 431 9389 roll -0.68 - - 2565 - 1.98 0.033 1281 -673.2 -243.3 - - 3924 - - - - - - - - - 26.63 -
9410 829.2 -9.0 431 9418 done -0.68 - - 2565 - 2.08 0.050 2610 638.9 -243.3 - - 3923 - - - - - - - - - 26.52 -
9717 861.1 -9.6 442 9722 roll -0.68 - - 2565 - 1.73 0.060 3701 630.6 -243.3 - - 3922 - - - - - - - - - 26.47 -
9757 864.2 -9.6 443 9762 done -0.68 - - 2565 - 1.62 0.037 2618 -668.5 -243.3 - - 3922 - - - - - - - - - 26.67 -
10081 893.8 -8.5 454 10087 roll -0.68 - - 2565 - 1.95 0.034 1295 -678.5 -243.3 - - 3920 - - - - - - - - - 26.61 -
10108 893.8 -8.5 454 10114 done -0.68 - - 2565 - 2.05 0.050 2607 640.0 -243.3 - - 3920 - - - - - - - - - 26.51 -
10415 921.9 -8.4 465 10416 done -0.68 - - 2564 - - - 2607 - -243.3 - - 3919 - - - - - - - - - - -
10714 946.0 -8.0 475 10715 done -0.68 - - 2565 - - - 2607 - -243.3 - - 3918 - - - - - - - - - - -
11014 969.4 -7.9 485 11015 done -0.68 - - 2565 - - - 2607 - -243.3 - - 3918 - - - - - - - - - - -
11282 end dive: TARGET_DEPTH_EXCEEDED
11282 begin apogee
11288 991.2 -8.2 494 11453 roll -0.12 0.55 0.116 2753 341.8 - - 1931 - - 159.38 1.435 3121 -5.0 0.367 - - - - - - 26.22 - 23.42
11454 end apogee: CONTROL_FINISHED_OK
11454 begin climb
11456 998.1 - 499 11684 roll 0.47 0.57 0.057 2970 380.7 2.42 0.054 3348 585.5 243.3 217.80 1.401 2128 -4.6 0.345 - - - - - - 24.73 24.69 23.13
11725 982.5 11.4 508 11731 done 0.37 0.17 0.151 2924 -270.6 2.28 0.033 1958 -609.6 243.3 - - 2126 - - - - - - - - 24.61 24.74 -
12040 952.0 9.1 519 12045 roll 0.38 - - 2928 - 2.25 0.043 523 -637.8 244.9 - - 2119 - - - - - - - - - 25.72 -
12193 937.3 9.5 524 12198 done 0.39 - - 2928 - 2.25 0.039 1948 633.3 244.9 - - 2117 - - - - - - - - - 25.91 -
12526 904.0 10.3 535 12531 roll 0.39 - - 2928 - 2.22 0.053 3346 629.7 244.9 - - 2117 - - - - - - - - - 26.08 -
12608 896.6 11.0 537 12613 done 0.39 - - 2929 - 2.15 0.034 1951 -648.8 244.9 - - 2117 - - - - - - - - - 26.19 -
12921 862.8 10.0 548 12926 roll 0.39 - - 2929 - 2.25 0.053 3351 622.2 244.9 - - 2116 - - - - - - - - - 26.20 -
12953 858.9 10.4 549 12958 done 0.39 - - 2930 - 2.15 0.034 1956 -648.8 244.9 - - 2116 - - - - - - - - - 26.29 -
13286 824.0 10.5 560 13291 roll 0.39 - - 2929 - 2.22 0.054 3345 625.7 244.9 - - 2116 - - - - - - - - - 26.27 -
13322 820.2 10.7 561 13327 done 0.39 - - 2929 - 2.10 0.034 1969 -655.2 244.9 - - 2116 - - - - - - - - - 26.36 -
13650 787.1 9.8 572 13655 roll 0.39 - - 2929 - 2.20 0.054 3346 625.9 244.9 - - 2115 - - - - - - - - - 26.31 -
13671 787.1 9.8 572 13677 done 0.39 - - 2930 - 2.10 0.035 1970 -655.2 244.9 - - 2115 - - - - - - - - - 26.41 -
13984 754.4 9.8 583 13989 roll 0.39 - - 2929 - 2.17 0.054 3345 633.6 244.9 - - 2115 - - - - - - - - - 26.34 -
14010 754.4 9.8 583 14017 done 0.39 - - 2930 - 2.08 0.034 1987 -652.9 244.9 - - 2115 - - - - - - - - - 26.45 -
14317 719.7 10.8 594 14322 roll 0.39 - - 2929 - 2.17 0.043 541 -666.4 244.9 - - 2114 - - - - - - - - - 26.41 -
14363 716.3 10.7 595 14368 done 0.39 - - 2930 - 2.22 0.041 1987 651.4 244.9 - - 2114 - - - - - - - - - 26.41 -
14681 683.7 9.3 606 14686 roll 0.39 - - 2930 - 2.15 0.054 3349 633.5 244.9 - - 2114 - - - - - - - - - 26.38 -
14752 677.4 9.7 608 14757 done 0.39 - - 2930 - 2.05 0.033 1991 -662.4 244.9 - - 2114 - - - - - - - - - 26.50 -
15075 651.2 7.2 619 15144 done 0.44 - - 2929 - - - 1991 - 321.1 66.57 1.220 1811 -4.6 0.258 - - - - - - - - 24.17
15435 626.8 6.8 631 15526 roll 0.53 0.12 0.094 2997 566.7 2.35 0.054 3340 574.0 414.4 80.22 1.187 1431 -4.7 0.266 - - - - - - 25.92 24.73 23.89
15538 616.7 10.3 634 15543 done 0.53 - - 2998 - 2.17 0.034 1998 -618.4 414.4 - - 1430 - - - - - - - - - 25.04 -
15851 571.6 14.6 648 15857 roll 0.49 0.12 0.159 2968 -250.0 2.30 0.043 534 -636.5 414.4 - - 1427 - - - - - - - - 25.73 25.82 -
15908 566.3 13.4 650 15915 done 0.49 - - 2968 - 2.28 0.039 1981 634.6 414.4 - - 1426 - - - - - - - - - 25.88 -
16214 535.0 9.4 666 16220 roll 0.52 - - 2968 - 2.17 0.053 3346 629.0 414.4 - - 1425 - - - - - - - - - 26.04 -
16251 532.7 9.5 667 16258 done 0.55 - - 2968 - 2.10 0.034 1982 -649.5 414.4 - - 1425 - - - - - - - - - 26.13 -
16557 501.3 9.9 683 16558 done 0.57 - - 2968 - - - 1982 - 414.4 - - 1424 - - - - - - - - - - -
16858 470.1 10.3 698 16863 roll 0.60 - - 2968 - 2.20 0.043 532 -659.1 414.4 - - 1424 - - - - - - - - - 26.27 -
16894 467.8 10.2 699 16902 done 0.63 0.10 0.109 3023 550.0 2.25 0.038 1993 649.3 414.4 - - 1424 - - - - - - - - 26.25 26.28 -
17200 414.3 17.6 715 17202 done 0.57 0.15 0.146 2980 -286.7 - - 1993 - 414.4 - - 1424 - - - - - - - - 26.22 - -
17501 379.6 10.5 730 17506 roll 0.59 - - 2981 - 2.25 0.044 528 -651.1 414.4 - - 1423 - - - - - - - - - 26.34 -
17537 377.3 10.4 731 17544 done 0.61 - - 2981 - 2.25 0.038 1994 651.6 414.4 - - 1423 - - - - - - - - - 26.38 -
17843 347.5 8.9 747 17858 roll 0.64 - - 2981 - 2.12 0.050 3356 642.5 425.6 9.40 0.910 1386 -3.9 0.160 - - - - - - - 26.25 25.33
17906 341.6 9.4 750 17913 done 0.65 - - 2982 - 2.10 0.034 1983 -653.8 425.6 - - 1387 - - - - - - - - - 26.31 -
18230 312.1 9.8 766 18236 roll 0.68 0.10 0.109 3039 570.0 2.22 0.041 531 -654.1 425.6 - - 1386 - - - - - - - - 26.41 26.31 -
18314 301.0 13.5 770 18319 done 0.66 - - 3039 - 2.25 0.039 1985 646.2 425.6 - - 1386 - - - - - - - - - 26.34 -
18636 249.0 16.7 786 18642 roll 0.60 0.12 0.161 2998 -341.7 2.22 0.041 533 -654.1 425.6 - - 1386 - - - - - - - - 26.27 26.36 -
18679 242.6 16.1 788 18685 done 0.57 - - 2998 - 2.17 0.038 1949 652.5 425.6 - - 1386 - - - - - - - - - 26.38 -
19003 209.4 9.1 804 19008 roll 0.60 - - 2998 - 2.20 0.050 3356 639.5 426.3 - - 1386 - - - - - - - - - 26.36 -
19069 202.4 10.6 807 19074 done 0.61 - - 2998 - 2.12 0.032 1948 -664.2 426.3 - - 1386 - - - - - - - - - 26.46 -
19387 170.4 8.6 823 19412 roll 0.66 - - 2998 - 2.22 0.044 537 -635.6 448.8 20.20 0.835 1291 -4.7 0.102 - - - - - - - 26.12 25.33
19444 167.0 8.5 825 19476 done 0.73 0.12 0.096 3065 558.3 2.17 0.037 1952 652.1 476.5 24.00 0.828 1178 -4.7 0.101 - - - - - - 26.14 26.16 25.00
19793 113.8 14.9 843 19799 roll 0.70 0.12 0.149 3023 -350.0 2.20 0.049 3351 635.9 476.5 - - 1175 - - - - - - - - 25.96 26.01 -
19826 110.5 14.5 844 19831 done 0.69 - - 3023 - 2.17 0.032 1932 -653.9 476.5 - - 1175 - - - - - - - - - 26.10 -
20138 87.0 7.4 860 20205 roll 0.81 0.12 0.093 3095 600.0 2.33 0.050 3343 605.6 548.2 58.17 0.763 886 -5.0 0.060 - - - - - - 26.27 25.37 24.70
20231 77.7 11.2 864 20237 done 0.81 0.12 0.147 3060 -291.7 2.17 0.031 1954 -640.1 548.2 - - 886 - - - - - - - - 25.43 25.56 -
20544 55.8 6.0 880 20647 done 0.99 0.17 0.076 3141 476.5 - - 1950 - 672.7 94.12 0.705 459 -4.5 0.038 - - - - 1 - 26.03 - 24.46
20944 16.8 6.6 917 20950 roll 1.13 - - 3141 - 2.17 0.041 535 -652.1 775.0 0.65 0.050 459 - - - - - - - - - 25.87 25.91
20979 14.4 7.3 920 20985 done 1.27 0.20 0.073 3227 430.0 2.20 0.034 1962 648.6 849.1 - - 460 - - - - - - - - 25.93 25.93 -
21070 end climb: SURFACE_DEPTH_REACHED
21070 begin surface coast
21082 end surface coast: CONTROL_FINISHED_OK
21082 begin surface
SM 1.70 - - - - -8.28 8.15 0.050 137 -379.1 1.15 0.047 2692 634.8 652.99 - - 460 - - - - - - - -