OKMC Apr12 * SG170 * Dive index * Mission links * Dive 54 * Raw log
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• Previous call tries 1 • 10.96 of 146.00 AH used of 24V (92.50% remains)
• Previous NAKs 0, Timeouts 0 • 4.00 of 97.50 AH used of 10V (95.90% remains)
• Surface angle -72.7 deg, depth 1.85 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 34 s
• GPS2 time: 17 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
14 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 100 VBD -0.46 - - 132 - - - 2704 - -194.6 -81.28 - 2687 - - - - - - - - - - -
103 3.2 -3.0 8 143 roll -0.46 10.40 0.247 2643 241.4 2.22 0.045 1263 -649.1 -194.6 -23.70 - 3918 -51.9 - - - - - - - 25.56 25.98 26.27
159 18.4 -28.6 13 168 done -0.07 0.45 0.162 2774 291.1 2.25 0.050 2684 631.6 -194.6 - - 3920 - - - - - - - - 25.71 25.93 -
466 48.3 -7.6 44 471 roll -0.14 - - 2775 - 1.62 0.060 3704 629.6 -194.6 - - 3921 - - - - - - - - - 26.13 -
519 50.8 -5.8 48 525 done -0.26 0.17 0.083 2702 -429.4 1.52 0.034 2681 -673.0 -194.6 - - 3921 - - - - - - - - 26.20 26.27 -
833 85.3 -7.8 64 838 roll -0.29 - - 2702 - 2.08 0.032 1277 -675.0 -194.6 - - 3922 - - - - - - - - - 25.90 -
904 89.7 -7.0 67 911 done -0.34 - - 2702 - 2.20 0.047 2690 642.3 -194.6 - - 3922 - - - - - - - - - 26.31 -
1219 109.7 -5.2 83 1225 roll -0.43 0.12 0.094 2618 -700.0 2.10 0.030 1281 -671.0 -194.6 - - 3922 - - - - - - - - 26.48 26.45 -
1331 120.1 -10.8 88 1337 done -0.43 0.15 0.138 2663 300.0 2.15 0.047 2664 643.3 -194.6 - - 3922 - - - - - - - - 26.29 26.40 -
1645 144.4 -6.2 104 1651 roll -0.48 - - 2663 - 2.05 0.032 1284 -673.2 -194.6 - - 3922 - - - - - - - - - 26.51 -
1677 145.8 -6.0 105 1683 done -0.54 0.12 0.087 2591 -600.0 2.10 0.047 2642 646.7 -194.6 - - 3922 - - - - - - - - 26.48 26.46 -
1991 189.3 -15.0 121 1996 roll -0.49 0.15 0.148 2641 333.3 2.03 0.031 1278 -671.9 -194.6 - - 3922 - - - - - - - - 26.39 26.54 -
2034 193.8 -12.5 123 2039 done -0.47 - - 2641 - 2.15 0.048 2655 640.5 -194.6 - - 3922 - - - - - - - - - 26.48 -
2356 218.2 -7.2 139 2361 roll -0.52 - - 2641 - 1.62 0.060 3703 646.9 -194.6 - - 3921 - - - - - - - - - 26.49 -
2388 219.8 -7.2 140 2394 done -0.58 - - 2641 - 1.58 0.032 2621 -684.8 -194.6 - - 3921 - - - - - - - - - 26.63 -
2702 240.7 -6.1 156 2708 roll -0.63 0.12 0.090 2559 -683.3 1.95 0.031 1273 -691.3 -194.6 - - 3918 - - - - - - - - 26.66 26.60 -
2774 247.7 -9.9 159 2780 done -0.63 0.12 0.165 2593 283.3 2.12 0.050 2639 644.3 -194.6 - - 3918 - - - - - - - - 26.38 26.53 -
3087 282.9 -11.0 175 3088 done -0.63 - - 2593 - - - 2640 - -194.6 - - 3916 - - - - - - - - - - -
3388 315.0 -10.3 190 3393 roll -0.63 - - 2593 - 1.67 0.061 3689 628.1 -194.6 - - 3914 - - - - - - - - - 26.53 -
3419 317.3 -10.1 191 3424 done -0.63 - - 2593 - 1.58 0.032 2603 -687.3 -194.6 - - 3914 - - - - - - - - - 26.69 -
3732 345.0 -8.4 207 3733 done -0.63 - - 2593 - - - 2603 - -194.6 - - 3912 - - - - - - - - - - -
4032 370.5 -8.7 222 4034 done -0.63 - - 2593 - - - 2603 - -194.6 - - 3910 - - - - - - - - - - -
4333 395.3 -8.0 237 4339 roll -0.64 - - 2593 - 1.92 0.034 1278 -690.1 -194.6 - - 3908 - - - - - - - - - 26.65 -
4421 402.1 -8.0 241 4426 done -0.66 - - 2593 - 2.12 0.050 2642 643.4 -194.6 - - 3908 - - - - - - - - - 26.57 -
4739 427.0 -7.2 257 4740 done -0.68 - - 2593 - - - 2642 - -194.6 - - 3905 - - - - - - - - - - -
5039 448.5 -7.3 272 5040 done -0.70 - - 2594 - - - 2642 - -194.6 - - 3903 - - - - - - - - - - -
5340 472.3 -8.0 287 5346 roll -0.72 - - 2593 - 2.03 0.034 1286 -668.0 -194.6 - - 3901 - - - - - - - - - 26.65 -
5392 476.1 -8.2 289 5398 done -0.75 - - 2593 - 2.10 0.050 2635 642.4 -194.6 - - 3900 - - - - - - - - - 26.58 -
5705 502.1 -7.9 305 5711 roll -0.77 0.12 0.098 2521 -600.0 1.65 0.058 3697 643.6 -194.6 - - 3898 - - - - - - - - 26.71 26.55 -
5758 507.1 -9.5 307 5763 done -0.77 0.10 0.158 2548 270.0 1.58 0.034 2626 -677.8 -194.6 - - 3897 - - - - - - - - 26.48 26.71 -
6071 543.8 -11.6 323 6076 roll -0.74 - - 2548 - 1.70 0.062 3698 630.6 -194.6 - - 3895 - - - - - - - - - 26.53 -
6133 550.4 -10.7 326 6139 done -0.72 - - 2548 - 1.58 0.034 2647 -665.2 -194.6 - - 3895 - - - - - - - - - 26.70 -
6456 586.5 -11.5 342 6461 roll -0.70 - - 2548 - 1.98 0.032 1278 -691.4 -194.6 - - 3893 - - - - - - - - - 26.65 -
6498 591.4 -11.6 344 6504 done -0.67 0.12 0.160 2584 300.0 2.12 0.047 2642 643.4 -194.6 - - 3893 - - - - - - - - 26.40 26.56 -
6813 618.7 -8.4 356 6815 done -0.69 - - 2584 - - - 2642 - -194.6 - - 3891 - - - - - - - - - - -
7112 641.7 -7.4 366 7113 done -0.71 - - 2584 - - - 2645 - -194.6 - - 3889 - - - - - - - - - - -
7413 661.3 -6.4 376 7418 roll -0.74 - - 2585 - 2.03 0.034 1283 -670.9 -194.6 - - 3887 - - - - - - - - - 26.64 -
7440 661.3 -6.4 376 7446 done -0.76 - - 2585 - 2.12 0.049 2643 641.5 -194.6 - - 3888 - - - - - - - - - 26.55 -
7747 686.1 -8.0 387 7749 done -0.79 0.12 0.094 2523 -516.7 - - 2644 - -194.6 - - 3885 - - - - - - - - 26.72 - -
8045 722.5 -12.5 397 8051 roll -0.74 0.12 0.149 2564 341.7 2.05 0.033 1277 -666.8 -194.6 - - 3883 - - - - - - - - 26.51 26.63 -
8082 726.3 -12.3 398 8087 done -0.71 - - 2564 - 2.12 0.050 2635 640.6 -194.6 - - 3883 - - - - - - - - - 26.54 -
8410 756.4 -8.8 409 8415 roll -0.71 - - 2564 - 1.67 0.060 3697 635.9 -194.6 - - 3882 - - - - - - - - - 26.51 -
8481 761.6 -8.4 411 8487 done -0.71 - - 2564 - 1.60 0.037 2630 -666.9 -194.6 - - 3882 - - - - - - - - - 26.68 -
8805 788.2 -8.2 422 8810 roll -0.71 - - 2564 - 2.00 0.035 1280 -675.0 -194.6 - - 3881 - - - - - - - - - 26.61 -
8856 791.1 -8.4 423 8862 done -0.71 - - 2564 - 2.12 0.050 2642 642.5 -194.6 - - 3881 - - - - - - - - - 26.53 -
9169 820.9 -9.2 434 9170 done -0.71 - - 2564 - - - 2642 - -194.6 - - 3880 - - - - - - - - - - -
9471 849.7 -9.9 444 9476 roll -0.71 - - 2564 - 2.05 0.034 1271 -668.8 -194.6 - - 3878 - - - - - - - - - 26.61 -
9497 849.7 -9.9 444 9503 done -0.71 - - 2564 - 2.12 0.050 2628 640.1 -194.6 - - 3878 - - - - - - - - - 26.51 -
9803 883.6 -10.3 455 9809 roll -0.71 - - 2564 - 2.00 0.034 1277 -675.5 -194.6 - - 3876 - - - - - - - - - 26.61 -
9830 883.6 -10.3 455 9836 done -0.71 - - 2564 - 2.12 0.050 2634 640.1 -194.6 - - 3876 - - - - - - - - - 26.51 -
10137 917.3 -10.1 466 10142 roll -0.72 - - 2564 - 2.00 0.035 1284 -675.0 -194.6 - - 3875 - - - - - - - - - 26.60 -
10179 920.7 -10.0 467 10184 done -0.74 - - 2564 - 2.08 0.050 2610 637.5 -194.6 - - 3875 - - - - - - - - - 26.50 -
10503 949.9 -8.9 478 10508 roll -0.74 - - 2564 - 1.73 0.061 3696 627.7 -194.6 - - 3874 - - - - - - - - - 26.44 -
10536 952.9 -8.6 479 10541 done -0.74 - - 2564 - 1.67 0.037 2610 -650.3 -194.6 - - 3874 - - - - - - - - - 26.65 -
10871 980.2 -8.0 490 10876 roll -0.75 - - 2564 - 1.95 0.035 1280 -682.1 -194.6 - - 3873 - - - - - - - - - 26.59 -
10934 985.4 -8.0 492 10939 done -0.76 - - 2564 - 2.10 0.050 2611 633.8 -194.6 - - 3873 - - - - - - - - - 26.48 -
10995 end dive: TARGET_DEPTH_EXCEEDED
10995 begin apogee
11000 990.5 -8.1 494 11161 roll -0.12 0.55 0.112 2753 343.6 - - 1923 - - 154.27 1.434 3120 -4.9 0.355 - - - - - - 26.23 - 23.64
11162 end apogee: CONTROL_FINISHED_OK
11162 begin climb
11164 997.3 - 499 11347 roll 0.46 0.55 0.059 2959 374.5 2.25 0.041 550 -610.2 194.6 174.02 1.397 2327 -4.6 0.342 - - - - - - 24.77 24.75 23.25
11400 987.0 8.0 507 11429 done 0.43 - - 2958 - 2.30 0.039 1950 608.7 216.5 20.70 1.297 2237 -4.3 0.348 - - - - - - - 24.87 23.61
11752 952.2 9.3 519 11757 roll 0.40 - - 2966 - 2.20 0.044 551 -635.9 216.5 - - 2229 - - - - - - - - - 25.77 -
11938 935.1 9.4 525 11945 done 0.39 0.15 0.141 2923 -286.7 2.20 0.039 1960 640.5 216.5 - - 2227 - - - - - - - - 25.82 25.97 -
12267 912.0 6.9 536 12328 roll 0.43 - - 2923 - 2.35 0.054 3339 586.8 275.6 51.62 1.358 1996 -4.5 0.316 - - - - - - - 24.98 24.04
12376 904.8 7.5 539 12422 done 0.45 - - 2928 - 2.17 0.033 1966 -632.7 315.1 36.03 1.325 1834 -4.5 0.323 - - - - - - - 25.44 23.90
12720 875.7 8.6 551 12726 roll 0.49 - - 2928 - 2.20 0.043 539 -648.6 319.3 - - 1827 - - - - - - - - - 25.86 -
12757 873.1 8.4 552 12777 done 0.54 0.12 0.093 2995 558.3 2.22 0.039 1958 639.2 328.7 12.52 1.228 1780 -3.8 0.281 - - - - - - 25.91 25.91 24.57
13085 828.8 14.0 563 13091 roll 0.51 0.12 0.158 2955 -333.3 2.20 0.050 3348 631.8 328.7 - - 1776 - - - - - - - - 25.92 25.98 -
13108 828.8 14.0 563 13113 done 0.47 - - 2955 - 2.15 0.034 1946 -652.1 328.7 - - 1775 - - - - - - - - - 26.07 -
13421 791.5 10.6 574 13426 roll 0.47 - - 2955 - 2.17 0.044 536 -649.8 328.7 - - 1774 - - - - - - - - - 26.17 -
13463 788.1 10.5 575 13468 done 0.49 - - 2955 - 2.17 0.039 1941 647.5 328.7 - - 1775 - - - - - - - - - 26.20 -
13787 754.4 10.1 586 13792 roll 0.50 - - 2955 - 2.22 0.053 3349 634.2 328.7 - - 1774 - - - - - - - - - 26.25 -
13828 750.8 10.1 587 13833 done 0.52 - - 2956 - 2.12 0.034 1943 -663.2 328.7 - - 1774 - - - - - - - - - 26.34 -
14152 719.9 9.1 598 14157 roll 0.53 - - 2955 - 2.12 0.044 541 -661.3 328.7 - - 1773 - - - - - - - - - 26.33 -
14209 716.9 9.1 599 14216 done 0.55 - - 2956 - 2.15 0.041 1937 649.3 328.7 - - 1772 - - - - - - - - - 26.36 -
14516 687.4 9.0 610 14521 roll 0.57 - - 2956 - 2.22 0.054 3354 638.3 328.7 - - 1773 - - - - - - - - - 26.34 -
14562 684.1 9.2 611 14568 done 0.59 - - 2955 - 2.17 0.034 1927 -657.6 328.7 - - 1773 - - - - - - - - - 26.44 -
14881 650.3 10.5 622 14887 roll 0.60 0.12 0.096 3026 591.7 2.10 0.042 537 -661.9 328.7 - - 1772 - - - - - - - - 26.51 26.41 -
14914 645.9 11.1 623 14920 done 0.60 0.12 0.151 2992 -283.3 2.15 0.039 1946 655.3 328.7 - - 1772 - - - - - - - - 26.26 26.43 -
15248 602.9 12.9 634 15253 roll 0.58 - - 2992 - 2.20 0.052 3343 635.0 328.7 - - 1772 - - - - - - - - - 26.40 -
15290 597.0 13.1 636 15296 done 0.56 - - 2996 - 2.12 0.034 1939 -662.3 328.7 - - 1772 - - - - - - - - - 26.49 -
15613 555.3 13.1 652 15618 roll 0.54 - - 2998 - 2.15 0.045 538 -651.6 328.7 - - 1772 - - - - - - - - - 26.44 -
15695 545.1 12.3 656 15700 done 0.54 - - 2997 - 2.15 0.039 1936 650.2 328.7 - - 1772 - - - - - - - - - 26.48 -
16018 502.6 13.5 672 16019 done 0.52 - - 2997 - - - 1937 - 328.7 - - 1772 - - - - - - - - - - -
16318 463.8 12.4 687 16325 roll 0.50 0.12 0.158 2956 -341.7 2.20 0.050 3354 644.1 328.7 - - 1772 - - - - - - - - 26.38 26.44 -
16336 463.8 12.4 687 16343 done 0.48 - - 2956 - 2.15 0.034 1937 -659.1 328.7 - - 1772 - - - - - - - - - 26.53 -
16643 434.4 8.6 703 16644 done 0.52 - - 2956 - - - 1937 - 331.3 - - 1772 - - - - - - - - - - -
16943 407.8 8.7 718 16948 roll 0.55 - - 2956 - 2.10 0.044 536 -667.1 331.3 - - 1772 - - - - - - - - - 26.48 -
16975 405.9 8.5 719 16988 done 0.59 0.10 0.109 3011 550.0 2.15 0.039 1948 656.7 335.9 6.62 0.881 1751 -3.2 0.154 - - - - - - 26.47 26.51 25.40
17286 365.6 13.3 735 17291 roll 0.56 - - 3011 - 2.15 0.042 535 -657.2 335.9 - - 1750 - - - - - - - - - 26.42 -
17322 362.7 13.2 736 17331 done 0.54 0.12 0.142 2975 -300.0 2.12 0.038 1925 655.7 335.9 - - 1750 - - - - - - - - 26.28 26.44 -
17629 330.0 9.6 752 17634 roll 0.55 - - 2975 - 2.22 0.051 3349 641.4 335.9 - - 1750 - - - - - - - - - 26.40 -
17675 325.4 10.1 754 17681 done 0.55 - - 2975 - 2.15 0.033 1927 -661.4 335.9 - - 1750 - - - - - - - - - 26.50 -
17993 295.6 9.2 770 17998 roll 0.57 - - 2975 - 2.25 0.053 3343 629.3 335.9 - - 1751 - - - - - - - - - 26.41 -
18035 291.3 9.6 772 18040 done 0.59 - - 2975 - 2.10 0.033 1960 -658.6 335.9 - - 1750 - - - - - - - - - 26.52 -
18357 258.0 10.9 788 18359 done 0.61 - - 2975 - - - 1960 - 335.9 - - 1750 - - - - - - - - - - -
18659 229.0 8.8 803 18660 done 0.64 - - 2975 - - - 1960 - 335.9 - - 1750 - - - - - - - - - - -
18959 204.6 8.3 818 18980 roll 0.68 0.12 0.095 3050 625.0 2.15 0.041 538 -661.4 349.6 13.55 0.843 1694 -4.1 0.106 - - - - - - 26.63 26.32 25.48
18991 202.7 8.6 819 19003 done 0.71 - - 3050 - 2.17 0.039 1956 653.5 353.1 4.30 0.620 1681 -3.0 0.104 - - - - - - - 26.33 25.37
19302 158.2 13.2 835 19304 done 0.67 0.12 0.157 3015 -291.7 - - 1957 - 353.1 - - 1679 - - - - - - - - 26.23 - -
19602 127.6 8.4 850 19613 done 0.68 - - 3015 - - - 1957 - 362.2 9.02 0.744 1644 -3.9 0.070 - - - - - - - - 25.41
19903 104.2 8.5 865 19916 roll 0.73 - - 3015 - 2.22 0.042 538 -639.2 368.3 6.70 0.679 1618 -3.9 0.063 - - - - - - - 26.25 25.38
20019 96.6 7.3 870 20067 done 0.84 0.17 0.072 3104 523.5 2.20 0.037 1975 653.2 413.7 37.95 0.779 1433 -4.9 0.064 - - - - - - 26.28 26.27 24.99
20365 57.3 8.9 888 20366 done 0.85 - - 3104 - - - 1975 - 413.7 - - 1429 - - - - - - - - - - -
20666 34.8 6.9 913 20721 roll 0.92 - - 3104 - 2.22 0.049 3353 620.7 474.6 48.15 0.714 1186 -5.0 0.026 - - - - - - - 25.53 24.88
20783 27.2 6.6 924 20825 done 1.02 - - 3105 - 2.20 0.031 1917 -652.7 545.4 37.03 0.679 896 -7.8 0.033 - - - - - - - 25.76 24.70
21133 3.8 12.2 959 21139 roll 1.21 0.22 0.081 3201 436.4 2.30 0.050 3353 624.3 545.4 - - 892 - - - - - - - - 25.96 25.92 -
21143 end climb: SURFACE_DEPTH_REACHED
21144 begin surface coast
21166 end surface coast: CONTROL_FINISHED_OK
21166 begin surface
SM 1.78 - - - - -8.27 7.93 0.039 134 -386.8 1.05 0.030 2663 -657.1 652.74 49.25 0.059 459 -8.8 0.027 - - - - - -