OKMC Apr12 * SG170 * Dive index * Mission links * Dive 59 * Raw log
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• Previous call tries 1 • 12.09 of 146.00 AH used of 24V (91.72% remains)
• Previous NAKs 0, Timeouts 0 • 4.56 of 97.50 AH used of 10V (95.33% remains)
• Surface angle -73.1 deg, depth 1.86 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 40 s
• GPS2 time: 16 s • Transponder ping count: 3
• 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 - - - 111 VBD -0.46 - - 138 - - - 2695 - -194.6 -91.82 - 2964 - - - - - - - - - - -
114 3.9 -3.9 9 147 roll -0.46 10.48 0.252 2639 238.6 2.20 0.044 1263 -650.9 -194.6 -16.05 - 3918 -59.4 - - - - - - - 25.54 26.02 26.29
160 23.0 -39.2 13 166 done 0.03 0.55 0.155 2802 296.4 2.28 0.051 2696 628.5 -194.6 - - 3921 - - - - - - - - 25.73 25.95 -
486 55.3 -12.6 43 492 roll -0.16 0.15 0.102 2739 -420.0 2.12 0.031 1272 -671.7 -194.6 - - 3924 - - - - - - - - 26.20 26.22 -
679 74.3 -9.1 52 686 done -0.34 0.15 0.107 2687 -346.7 2.17 0.044 2672 645.2 -194.6 - - 3924 - - - - - - - - 26.20 26.25 -
994 104.3 -9.2 68 1000 roll -0.54 0.15 0.103 2620 -446.7 2.08 0.029 1265 -676.4 -194.6 - - 3924 - - - - - - - - 26.36 26.39 -
1066 109.7 -8.8 71 1073 done -0.70 0.15 0.082 2540 -533.3 2.10 0.044 2638 653.8 -194.6 - - 3924 - - - - - - - - 26.38 26.36 -
1380 167.5 -18.8 87 1387 roll -0.58 0.20 0.156 2603 315.0 1.65 0.055 3699 643.0 -194.6 - - 3926 - - - - - - - - 26.21 26.38 -
1537 184.1 -10.1 94 1544 done -0.58 - - 2603 - 1.58 0.031 2625 -679.7 -194.6 - - 3927 - - - - - - - - - 26.54 -
1844 217.9 -11.2 110 1849 roll -0.58 - - 2603 - 1.95 0.031 1273 -693.3 -194.6 - - 3926 - - - - - - - - - 26.53 -
1919 224.5 -10.8 113 1926 done -0.58 - - 2603 - 2.12 0.044 2648 648.6 -194.6 - - 3927 - - - - - - - - - 26.48 -
2226 249.2 -7.2 129 2231 roll -0.58 - - 2603 - 2.05 0.032 1259 -677.6 -194.6 - - 3925 - - - - - - - - - 26.58 -
2283 252.5 -7.4 131 2290 done -0.60 - - 2603 - 2.12 0.045 2636 649.5 -194.6 - - 3925 - - - - - - - - - 26.50 -
2589 282.4 -9.8 147 2594 roll -0.62 - - 2603 - 1.65 0.058 3692 640.0 -194.6 - - 3923 - - - - - - - - - 26.48 -
2625 284.9 -10.1 148 2633 done -0.64 - - 2603 - 1.58 0.034 2624 -675.9 -194.6 - - 3923 - - - - - - - - - 26.63 -
2932 315.7 -8.9 164 2938 roll -0.66 - - 2603 - 1.95 0.031 1274 -692.3 -194.6 - - 3920 - - - - - - - - - 26.61 -
2964 317.7 -8.8 165 2969 done -0.69 - - 2603 - 2.12 0.045 2649 648.6 -194.6 - - 3920 - - - - - - - - - 26.53 -
3277 344.3 -7.8 181 3278 done -0.72 0.12 0.094 2535 -566.7 - - 2650 - -194.6 - - 3917 - - - - - - - - 26.67 - -
3577 383.4 -13.2 196 3583 roll -0.66 0.15 0.151 2584 326.7 1.67 0.057 3716 638.3 -194.6 - - 3915 - - - - - - - - 26.43 26.52 -
3624 388.1 -11.9 198 3629 done -0.63 - - 2584 - 1.62 0.034 2623 -674.7 -194.6 - - 3916 - - - - - - - - - 26.67 -
3941 416.6 -8.8 214 3946 roll -0.63 - - 2584 - 1.98 0.031 1271 -682.8 -194.6 - - 3912 - - - - - - - - - 26.63 -
3968 418.6 -8.7 215 3973 done -0.63 - - 2584 - 2.12 0.046 2643 647.2 -194.6 - - 3912 - - - - - - - - - 26.55 -
4286 445.6 -8.3 231 4292 roll -0.65 - - 2584 - 2.03 0.032 1265 -678.8 -194.6 - - 3910 - - - - - - - - - 26.63 -
4313 447.7 -8.4 232 4319 done -0.66 - - 2585 - 2.10 0.046 2625 647.6 -194.6 - - 3910 - - - - - - - - - 26.55 -
4631 474.1 -8.1 248 4637 roll -0.67 - - 2584 - 2.00 0.031 1273 -676.0 -194.6 - - 3907 - - - - - - - - - 26.64 -
4699 479.2 -8.1 251 4705 done -0.69 - - 2585 - 2.08 0.046 2614 644.7 -194.6 - - 3907 - - - - - - - - - 26.55 -
5017 505.4 -8.2 267 5022 roll -0.71 - - 2585 - 1.67 0.060 3692 645.5 -194.6 - - 3904 - - - - - - - - - 26.52 -
5049 507.2 -8.1 268 5055 done -0.73 - - 2584 - 1.62 0.036 2606 -670.4 -194.6 - - 3904 - - - - - - - - - 26.68 -
5363 534.2 -8.2 284 5368 roll -0.75 - - 2584 - 1.95 0.032 1264 -688.2 -194.6 - - 3902 - - - - - - - - - 26.63 -
5456 541.3 -8.5 288 5461 done -0.77 - - 2585 - 2.08 0.046 2603 643.8 -194.6 - - 3901 - - - - - - - - - 26.55 -
5769 567.5 -7.7 304 5770 done -0.79 0.12 0.097 2523 -516.7 - - 2602 - -194.6 - - 3899 - - - - - - - - 26.70 - -
6079 603.6 -11.7 319 6085 roll -0.74 0.12 0.152 2564 341.7 1.70 0.057 3695 642.9 -194.6 - - 3898 - - - - - - - - 26.49 26.51 -
6156 609.3 -10.2 321 6161 done -0.72 - - 2564 - 1.62 0.036 2608 -671.0 -194.6 - - 3897 - - - - - - - - - 26.68 -
6474 635.8 -8.1 332 6475 done -0.72 - - 2565 - - - 2608 - -194.6 - - 3896 - - - - - - - - - - -
6774 661.0 -8.7 342 6779 roll -0.72 - - 2564 - 1.95 0.034 1274 -684.1 -194.6 - - 3894 - - - - - - - - - 26.62 -
6806 664.0 -8.8 343 6811 done -0.72 - - 2564 - 2.08 0.048 2611 642.8 -194.6 - - 3894 - - - - - - - - - 26.53 -
7140 693.8 -9.0 354 7145 roll -0.72 - - 2564 - 1.70 0.061 3696 638.2 -194.6 - - 3892 - - - - - - - - - 26.48 -
7166 693.8 -9.0 354 7174 done -0.72 - - 2564 - 1.67 0.037 2601 -655.7 -194.6 - - 3892 - - - - - - - - - 26.67 -
7473 721.8 -8.2 365 7474 done -0.72 - - 2566 - - - 2601 - -194.6 - - 3890 - - - - - - - - - - -
7773 746.0 -8.1 375 7779 roll -0.72 - - 2564 - 1.98 0.034 1267 -673.7 -194.6 - - 3888 - - - - - - - - - 26.61 -
7809 748.6 -8.0 376 7815 done -0.72 - - 2564 - 2.10 0.048 2603 636.2 -194.6 - - 3889 - - - - - - - - - 26.52 -
8139 775.6 -8.3 387 8144 roll -0.72 - - 2564 - 1.70 0.060 3691 640.0 -194.6 - - 3887 - - - - - - - - - 26.47 -
8180 778.5 -8.4 388 8185 done -0.72 - - 2564 - 1.65 0.037 2595 -664.2 -194.6 - - 3887 - - - - - - - - - 26.67 -
8503 806.0 -8.1 399 8508 roll -0.72 - - 2564 - 1.95 0.034 1277 -675.9 -194.6 - - 3886 - - - - - - - - - 26.60 -
8550 808.8 -8.2 400 8555 done -0.72 - - 2564 - 2.08 0.048 2605 638.5 -194.6 - - 3885 - - - - - - - - - 26.51 -
8868 834.9 -7.9 411 8869 done -0.72 - - 2564 - - - 2605 - -194.6 - - 3884 - - - - - - - - - - -
9169 858.8 -7.9 421 9174 roll -0.72 - - 2564 - 1.98 0.033 1270 -674.2 -194.6 - - 3883 - - - - - - - - - 26.60 -
9220 861.4 -7.9 422 9225 done -0.73 - - 2564 - 2.08 0.047 2597 638.0 -194.6 - - 3883 - - - - - - - - - 26.49 -
9534 889.3 -8.6 433 9535 done -0.74 - - 2564 - - - 2597 - -194.6 - - 3882 - - - - - - - - - - -
9833 914.6 -8.3 443 9835 done -0.76 - - 2565 - - - 2597 - -194.6 - - 3881 - - - - - - - - - - -
10133 937.6 -7.5 453 10134 done -0.77 - - 2565 - - - 2597 - -194.6 - - 3879 - - - - - - - - - - -
10433 960.1 -7.5 463 10435 done -0.79 - - 2564 - - - 2597 - -194.6 - - 3880 - - - - - - - - - - -
10733 982.4 -7.6 473 10734 done -0.80 - - 2564 - - - 2597 - -194.6 - - 3879 - - - - - - - - - - -
10851 end dive: TARGET_DEPTH_EXCEEDED
10851 begin apogee
10856 991.8 -7.8 477 11017 roll -0.12 0.55 0.114 2753 343.6 - - 1920 - - 154.62 1.437 3121 -4.9 0.359 - - - - - - 26.21 - 23.62
11018 end apogee: CONTROL_FINISHED_OK
11018 begin climb
11020 999.3 - 482 11203 roll 0.46 0.57 0.061 2964 370.2 2.25 0.041 553 -607.6 194.6 175.35 1.400 2327 -4.5 0.343 - - - - - - 24.72 24.70 23.13
11385 975.6 10.4 494 11391 done 0.44 - - 2965 - 2.22 0.039 1941 625.2 194.6 - - 2319 - - - - - - - - - 25.37 -
11700 940.8 10.4 505 11706 roll 0.40 0.12 0.158 2925 -333.3 2.25 0.051 3347 624.9 194.6 - - 2317 - - - - - - - - 25.79 25.84 -
11913 920.7 9.4 512 11919 done 0.38 - - 2928 - 2.17 0.034 1947 -645.2 194.6 - - 2315 - - - - - - - - - 26.09 -
12247 892.2 8.6 523 12248 done 0.38 - - 2928 - - - 1947 - 195.8 - - 2313 - - - - - - - - - - -
12546 865.7 8.9 533 12551 roll 0.38 - - 2928 - 2.28 0.054 3349 614.9 195.8 - - 2313 - - - - - - - - - 26.20 -
12588 862.4 9.1 534 12593 done 0.38 - - 2930 - 2.15 0.034 1935 -657.7 195.8 - - 2313 - - - - - - - - - 26.32 -
12911 833.1 8.6 545 12916 roll 0.38 - - 2930 - 2.12 0.044 537 -659.4 199.8 - - 2312 - - - - - - - - - 26.30 -
12933 833.1 8.6 545 12945 done 0.39 - - 2930 - 2.20 0.041 1958 645.9 203.8 6.80 1.096 2290 -3.2 0.261 - - - - - - - 26.32 25.12
13244 805.4 8.0 556 13275 roll 0.40 - - 2930 - 2.28 0.054 3339 605.7 225.9 21.35 1.276 2200 -4.2 0.283 - - - - - - - 25.73 24.79
13317 800.0 8.3 558 13338 done 0.41 - - 2930 - 2.15 0.034 1962 -640.5 238.5 12.88 1.203 2147 -4.1 0.291 - - - - - - - 25.86 24.57
13638 773.0 8.3 569 13657 roll 0.43 - - 2930 - 2.28 0.044 542 -622.8 250.5 11.52 1.181 2098 -4.3 0.296 - - - - - - - 25.72 24.70
13673 770.4 8.3 570 13693 done 0.45 - - 2930 - 2.25 0.041 1960 630.2 264.0 13.80 1.193 2043 -4.0 0.273 - - - - - - - 25.76 24.46
14001 744.1 7.9 581 14031 roll 0.49 - - 2930 - 2.35 0.054 3349 591.1 290.9 24.48 1.240 1934 -4.5 0.284 - - - - - - - 25.35 24.42
14089 739.0 7.9 583 14119 done 0.53 0.12 0.093 2991 508.3 2.20 0.034 1958 -632.3 315.9 22.92 1.218 1833 -4.4 0.284 - - - - - - 25.60 25.63 24.21
14427 695.5 12.5 595 14432 roll 0.51 - - 2995 - 2.25 0.045 526 -636.4 315.9 - - 1827 - - - - - - - - - 25.86 -
14489 687.6 12.7 597 14495 done 0.49 0.12 0.141 2960 -291.7 2.28 0.041 1965 631.1 315.9 - - 1826 - - - - - - - - 25.82 25.94 -
14822 653.0 10.2 608 14823 done 0.49 - - 2959 - - - 1966 - 315.9 - - 1825 - - - - - - - - - - -
15122 623.4 9.9 618 15128 roll 0.49 - - 2960 - 2.20 0.053 3352 630.0 315.9 - - 1825 - - - - - - - - - 26.19 -
15154 619.8 10.1 619 15159 done 0.49 - - 2960 - 2.15 0.034 1951 -651.6 315.9 - - 1825 - - - - - - - - - 26.27 -
15477 590.0 9.1 631 15483 roll 0.49 - - 2968 - 2.17 0.044 524 -657.6 315.9 - - 1824 - - - - - - - - - 26.29 -
15509 587.8 9.1 632 15514 done 0.51 - - 2968 - 2.25 0.041 1973 644.0 315.9 - - 1823 - - - - - - - - - 26.31 -
15821 556.1 10.3 648 15826 roll 0.51 - - 2968 - 2.25 0.044 524 -644.0 315.9 - - 1823 - - - - - - - - - 26.34 -
15888 550.1 9.8 651 15895 done 0.52 - - 2968 - 2.17 0.040 1936 650.7 315.9 - - 1823 - - - - - - - - - 26.36 -
16207 517.1 9.6 667 16212 roll 0.52 - - 2968 - 2.22 0.053 3345 634.7 315.9 - - 1823 - - - - - - - - - 26.34 -
16269 509.8 11.4 670 16274 done 0.52 - - 2968 - 2.15 0.034 1930 -658.1 315.9 - - 1824 - - - - - - - - - 26.44 -
16591 477.0 9.6 686 16596 roll 0.52 - - 2968 - 2.12 0.045 538 -656.6 315.9 - - 1823 - - - - - - - - - 26.41 -
16648 473.0 9.3 688 16656 done 0.55 - - 2968 - 2.15 0.041 1937 650.7 315.9 - - 1823 - - - - - - - - - 26.42 -
16954 442.0 9.7 704 16960 roll 0.55 - - 2968 - 2.20 0.053 3349 641.8 315.9 - - 1823 - - - - - - - - - 26.39 -
16977 439.4 10.1 705 16983 done 0.55 - - 2968 - 2.17 0.034 1916 -660.4 315.9 - - 1824 - - - - - - - - - 26.48 -
17300 406.5 10.0 721 17305 roll 0.56 - - 2968 - 2.08 0.044 537 -663.0 315.9 - - 1823 - - - - - - - - - 26.44 -
17322 404.4 9.7 722 17327 done 0.58 - - 2969 - 2.15 0.039 1934 649.8 315.9 - - 1823 - - - - - - - - - 26.46 -
17645 373.7 9.4 738 17650 roll 0.60 - - 2968 - 2.22 0.053 3350 637.8 315.9 - - 1823 - - - - - - - - - 26.41 -
17702 369.4 9.9 740 17708 done 0.60 - - 2969 - 2.12 0.034 1936 -667.0 315.9 - - 1824 - - - - - - - - - 26.51 -
18008 339.6 9.2 756 18009 done 0.61 - - 2968 - - - 1936 - 315.9 - - 1824 - - - - - - - - - - -
18308 314.1 8.1 771 18334 roll 0.64 0.12 0.097 3042 616.7 2.30 0.054 3339 610.0 334.4 16.00 0.939 1756 -4.2 0.151 - - - - - - 26.60 26.22 25.37
18392 301.9 14.6 775 18399 done 0.59 0.20 0.148 2991 -255.0 2.15 0.034 1947 -647.4 334.4 - - 1754 - - - - - - - - 26.09 26.27 -
18716 270.0 9.5 791 18721 roll 0.59 - - 2995 - 2.17 0.044 530 -653.0 334.4 - - 1754 - - - - - - - - - 26.29 -
18762 266.2 9.4 793 18768 done 0.59 - - 2995 - 2.17 0.039 1943 651.2 334.4 - - 1753 - - - - - - - - - 26.30 -
19080 232.1 11.4 809 19085 roll 0.59 - - 2995 - 2.22 0.054 3349 633.3 334.4 - - 1753 - - - - - - - - - 26.30 -
19111 229.3 11.7 810 19117 done 0.59 - - 2995 - 2.15 0.034 1943 -654.0 334.4 - - 1754 - - - - - - - - - 26.40 -
19424 191.6 11.2 826 19429 roll 0.59 - - 2996 - 2.15 0.044 533 -655.8 334.4 - - 1753 - - - - - - - - - 26.39 -
19541 182.3 8.7 831 19549 done 0.63 - - 2996 - 2.15 0.039 1936 652.6 334.4 - - 1753 - - - - - - - - - 26.40 -
19847 153.0 8.3 847 19867 roll 0.65 - - 2996 - 2.25 0.051 3338 623.1 346.5 10.98 0.783 1708 -4.1 0.085 - - - - - - - 26.27 25.46
19879 151.5 8.0 848 19909 done 0.69 - - 2996 - 2.15 0.033 1914 -662.3 370.9 21.12 0.812 1608 -4.7 0.094 - - - - - - - 26.33 25.22
20209 121.9 9.2 865 20215 roll 0.72 0.10 0.110 3053 570.0 2.10 0.041 532 -658.1 370.9 - - 1606 - - - - - - - - 26.22 26.12 -
20242 119.3 9.7 866 20247 done 0.75 - - 3053 - 2.17 0.039 1939 648.4 370.9 - - 1606 - - - - - - - - - 26.13 -
20554 81.8 10.1 882 20560 roll 0.73 - - 3053 - 2.20 0.051 3344 638.6 370.9 - - 1606 - - - - - - - - - 26.19 -
20592 79.8 9.4 883 20598 done 0.71 - - 3054 - 2.12 0.032 1950 -657.5 370.9 - - 1606 - - - - - - - - - 26.29 -
20899 53.4 7.7 899 20931 roll 0.77 - - 3054 - 2.17 0.041 531 -653.9 404.1 27.52 0.735 1472 -4.9 0.038 - - - - - - - 25.93 25.23
20970 48.8 6.4 903 21043 done 0.90 0.10 0.106 3108 540.0 2.17 0.034 1940 649.3 481.0 61.62 0.730 1158 -5.1 0.036 - - - - - - 25.96 25.99 24.61
21342 23.0 6.7 940 21379 roll 1.06 - - 3108 - 2.30 0.042 529 -613.5 546.6 32.08 0.662 890 -8.4 0.031 - - - - - - - 25.53 24.90
21477 11.0 10.8 953 21483 done 1.27 0.28 0.081 3211 367.9 2.42 0.036 2075 638.8 546.6 - - 889 - - - - - - - - 25.74 25.77 -
21559 end climb: SURFACE_DEPTH_REACHED
21559 begin surface coast
21581 end surface coast: CONTROL_FINISHED_OK
21581 begin surface
SM 1.78 - - - - -8.29 8.12 0.048 136 -378.7 0.98 0.050 2690 627.6 652.74 49.35 0.060 459 -8.7 0.026 - - - - - -