OKMC Apr12 * SG170 * Dive index * Mission links * Dive 63 * Raw log
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• Previous call tries 1 • 12.96 of 146.00 AH used of 24V (91.12% remains)
• Previous NAKs 0, Timeouts 0 • 5.00 of 97.50 AH used of 10V (94.87% remains)
• Surface angle -74.3 deg, depth 1.88 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: 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
17 - - - 111 VBD -0.46 - - 138 - - - 2690 - -194.6 -91.82 - 3006 - - - - - - - - - - -
114 4.3 -4.7 9 147 roll -0.46 10.52 0.252 2641 237.9 1.62 0.076 3704 625.9 -194.6 -15.30 - 3918 -59.6 - - - - - - - 25.56 25.91 26.30
240 41.4 -19.1 21 246 done -0.36 0.15 0.154 2685 293.3 1.55 0.031 2654 -677.4 -194.6 - - 3922 - - - - - - - - 25.88 26.15 -
565 73.5 -7.9 40 570 roll -0.40 - - 2685 - 1.70 0.062 3698 614.1 -194.6 - - 3924 - - - - - - - - - 26.17 -
616 76.8 -8.0 42 622 done -0.46 0.10 0.102 2619 -660.0 1.48 0.032 2711 -666.9 -194.6 - - 3924 - - - - - - - - 26.25 26.34 -
930 118.3 -13.9 58 936 roll -0.42 0.12 0.145 2660 341.7 2.10 0.030 1292 -675.7 -194.6 - - 3924 - - - - - - - - 26.25 26.37 -
974 122.7 -11.8 60 980 done -0.40 - - 2660 - 2.25 0.048 2719 634.2 -194.6 - - 3924 - - - - - - - - - 26.32 -
1298 146.2 -7.4 76 1303 roll -0.46 - - 2660 - 2.12 0.034 1301 -668.9 -194.6 - - 3924 - - - - - - - - - 26.44 -
1321 148.1 -7.7 77 1326 done -0.52 - - 2660 - 2.17 0.047 2704 646.5 -194.6 - - 3924 - - - - - - - - - 26.39 -
1643 169.1 -6.0 93 1649 roll -0.59 0.12 0.090 2583 -641.7 2.10 0.031 1297 -670.0 -194.6 - - 3923 - - - - - - - - 26.56 26.48 -
1743 178.0 -10.7 97 1750 done -0.59 - - 2583 - 2.17 0.051 2682 638.2 -194.6 - - 3923 - - - - - - - - - 26.42 -
2047 221.4 -13.6 113 2053 roll -0.54 0.12 0.165 2623 333.3 1.62 0.058 3695 625.3 -194.6 - - 3922 - - - - - - - - 26.38 26.45 -
2091 225.9 -11.7 115 2096 done -0.54 - - 2623 - 1.52 0.032 2685 -664.5 -194.6 - - 3922 - - - - - - - - - 26.60 -
2414 251.2 -7.6 131 2420 roll -0.58 - - 2624 - 2.03 0.031 1283 -690.6 -194.6 - - 3921 - - - - - - - - - 26.56 -
2538 260.7 -7.5 137 2544 done -0.63 - - 2624 - 2.12 0.047 2660 649.5 -194.6 - - 3920 - - - - - - - - - 26.50 -
2862 283.5 -7.1 153 2868 roll -0.68 0.12 0.093 2547 -641.7 2.05 0.031 1284 -671.2 -194.6 - - 3918 - - - - - - - - 26.64 26.58 -
2925 291.0 -10.8 156 2931 done -0.68 0.12 0.161 2581 283.3 2.08 0.047 2630 647.1 -194.6 - - 3917 - - - - - - - - 26.38 26.52 -
3248 328.9 -11.6 172 3249 done -0.66 - - 2581 - - - 2631 - -194.6 - - 3916 - - - - - - - - - - -
3548 358.6 -9.7 187 3550 done -0.66 - - 2581 - - - 2631 - -194.6 - - 3914 - - - - - - - - - - -
3848 386.9 -9.2 202 3854 roll -0.66 - - 2582 - 2.00 0.033 1287 -672.0 -194.6 - - 3911 - - - - - - - - - 26.61 -
3871 389.1 -9.1 203 3877 done -0.66 - - 2582 - 2.10 0.048 2629 639.0 -194.6 - - 3911 - - - - - - - - - 26.54 -
4194 420.6 -10.0 219 4199 roll -0.66 - - 2582 - 2.03 0.033 1272 -668.5 -194.6 - - 3909 - - - - - - - - - 26.61 -
4260 426.7 -9.9 222 4266 done -0.66 - - 2582 - 2.08 0.047 2621 648.6 -194.6 - - 3909 - - - - - - - - - 26.55 -
4577 458.0 -9.7 238 4582 roll -0.66 - - 2582 - 1.67 0.059 3700 646.1 -194.6 - - 3907 - - - - - - - - - 26.52 -
4608 460.0 -9.5 239 4614 done -0.66 - - 2582 - 1.62 0.034 2604 -676.5 -194.6 - - 3907 - - - - - - - - - 26.68 -
4921 489.8 -9.1 255 4926 roll -0.66 - - 2581 - 1.92 0.034 1281 -689.1 -194.6 - - 3904 - - - - - - - - - 26.62 -
4957 491.9 -9.1 256 4965 done -0.66 - - 2582 - 2.08 0.048 2614 640.9 -194.6 - - 3904 - - - - - - - - - 26.54 -
5265 518.7 -7.9 272 5270 roll -0.67 - - 2582 - 2.00 0.033 1271 -671.5 -194.6 - - 3902 - - - - - - - - - 26.62 -
5317 522.3 -8.1 274 5322 done -0.69 - - 2582 - 2.05 0.048 2600 648.3 -194.6 - - 3902 - - - - - - - - - 26.54 -
5630 546.4 -7.6 290 5631 done -0.70 - - 2582 - - - 2600 - -194.6 - - 3900 - - - - - - - - - - -
5930 569.1 -7.5 305 5935 roll -0.72 - - 2582 - 1.98 0.033 1277 -668.2 -194.6 - - 3898 - - - - - - - - - 26.63 -
5962 571.0 -7.7 306 5968 done -0.74 - - 2582 - 2.05 0.048 2605 647.8 -194.6 - - 3898 - - - - - - - - - 26.53 -
6276 596.1 -7.7 322 6277 done -0.76 - - 2582 - - - 2606 - -194.6 - - 3896 - - - - - - - - - - -
6576 620.3 -8.1 333 6578 done -0.78 - - 2582 - - - 2606 - -194.6 - - 3894 - - - - - - - - - - -
6876 645.0 -8.3 343 6878 done -0.80 0.12 0.102 2523 -491.7 - - 2605 - -194.6 - - 3893 - - - - - - - - 26.70 - -
7175 683.1 -13.2 353 7182 roll -0.75 0.12 0.152 2563 333.3 1.73 0.058 3694 629.5 -194.6 - - 3891 - - - - - - - - 26.48 26.48 -
7239 690.0 -11.9 355 7246 done -0.73 - - 2564 - 1.67 0.036 2584 -664.7 -194.6 - - 3891 - - - - - - - - - 26.68 -
7573 723.5 -10.1 366 7579 roll -0.73 - - 2564 - 1.92 0.035 1287 -675.5 -194.6 - - 3889 - - - - - - - - - 26.61 -
7606 726.9 -10.0 367 7611 done -0.73 - - 2564 - 2.03 0.049 2590 641.9 -194.6 - - 3889 - - - - - - - - - 26.51 -
7939 759.4 -9.7 378 7940 done -0.73 - - 2563 - - - 2590 - -194.6 - - 3887 - - - - - - - - - - -
8238 788.0 -9.4 388 8239 done -0.73 - - 2563 - - - 2590 - -194.6 - - 3886 - - - - - - - - - - -
8538 815.1 -8.7 398 8543 roll -0.73 - - 2564 - 1.73 0.061 3693 637.6 -194.6 - - 3885 - - - - - - - - - 26.46 -
8564 815.1 -8.7 398 8570 done -0.73 - - 2564 - 1.67 0.037 2581 -665.9 -194.6 - - 3884 - - - - - - - - - 26.66 -
8870 843.0 -8.1 409 8875 roll -0.73 - - 2563 - 1.92 0.034 1283 -676.0 -194.6 - - 3882 - - - - - - - - - 26.60 -
8896 843.0 -8.1 409 8903 done -0.73 - - 2564 - 2.03 0.050 2587 642.4 -194.6 - - 3883 - - - - - - - - - 26.49 -
9203 870.7 -8.5 420 9204 done -0.73 - - 2564 - - - 2587 - -194.6 - - 3882 - - - - - - - - - - -
9503 896.6 -8.5 430 9509 roll -0.73 - - 2563 - 1.95 0.034 1286 -667.2 -194.6 - - 3881 - - - - - - - - - 26.60 -
9536 899.6 -8.5 431 9541 done -0.73 - - 2564 - 2.03 0.049 2583 638.9 -194.6 - - 3881 - - - - - - - - - 26.48 -
9870 927.1 -8.3 442 9875 roll -0.74 - - 2564 - 1.77 0.062 3700 631.1 -194.6 - - 3881 - - - - - - - - - 26.42 -
9916 929.8 -8.2 443 9921 done -0.76 - - 2564 - 1.70 0.037 2574 -662.4 -194.6 - - 3881 - - - - - - - - - 26.65 -
10235 957.2 -8.3 454 10236 done -0.77 - - 2564 - - - 2574 - -194.6 - - 3880 - - - - - - - - - - -
10534 981.7 -8.2 464 10536 done -0.79 - - 2564 - - - 2574 - -194.6 - - 3879 - - - - - - - - - - -
10652 end dive: TARGET_DEPTH_EXCEEDED
10652 begin apogee
10657 991.5 -8.2 468 10818 roll -0.12 0.55 0.109 2754 345.5 - - 1935 - - 154.45 1.440 3120 -4.9 0.359 - - - - - - 26.23 - 23.61
10819 end apogee: CONTROL_FINISHED_OK
10820 begin climb
10821 998.7 - 473 11004 roll 0.46 0.55 0.058 2960 374.5 2.28 0.040 545 -609.6 194.6 174.88 1.401 2326 -4.5 0.344 - - - - - - 24.73 24.72 23.11
11156 977.4 10.7 484 11161 done 0.44 - - 2960 - 2.28 0.040 1950 616.2 194.6 - - 2320 - - - - - - - - - 25.27 -
11469 940.6 11.2 495 11475 roll 0.40 - - 2967 - 2.25 0.044 539 -627.1 194.6 - - 2316 - - - - - - - - - 25.85 -
11646 923.8 10.9 500 11653 done 0.38 0.15 0.142 2924 -286.7 2.22 0.041 1960 640.1 194.6 - - 2315 - - - - - - - - 25.84 26.01 -
11953 894.7 8.6 511 11958 roll 0.38 - - 2924 - 2.17 0.053 3343 637.3 198.3 - - 2314 - - - - - - - - - 26.10 -
12051 885.3 9.8 514 12057 done 0.37 - - 2928 - 2.08 0.033 1974 -658.2 198.3 - - 2313 - - - - - - - - - 26.24 -
12380 854.1 9.4 525 12385 roll 0.37 - - 2928 - 2.20 0.044 542 -650.9 198.3 - - 2312 - - - - - - - - - 26.25 -
12421 851.0 9.4 526 12426 done 0.37 - - 2928 - 2.22 0.041 1977 646.4 198.3 - - 2311 - - - - - - - - - 26.27 -
12744 819.8 9.6 537 12750 roll 0.37 - - 2928 - 2.17 0.054 3352 633.6 198.3 - - 2312 - - - - - - - - - 26.27 -
12790 816.2 9.9 538 12796 done 0.37 - - 2930 - 2.08 0.034 1978 -660.6 198.3 - - 2312 - - - - - - - - - 26.38 -
13108 782.8 10.1 549 13113 roll 0.37 - - 2930 - 2.20 0.053 3350 623.6 198.3 - - 2311 - - - - - - - - - 26.30 -
13129 782.8 10.1 549 13134 done 0.37 - - 2930 - 2.08 0.035 1977 -660.1 198.3 - - 2312 - - - - - - - - - 26.41 -
13441 749.3 9.8 560 13446 roll 0.37 - - 2930 - 2.20 0.054 3349 623.6 198.3 - - 2311 - - - - - - - - - 26.32 -
13467 749.3 9.8 560 13475 done 0.37 - - 2930 - 2.08 0.034 1975 -660.6 198.3 - - 2311 - - - - - - - - - 26.44 -
13773 717.0 9.5 571 13779 roll 0.37 - - 2930 - 2.17 0.044 540 -661.3 198.3 - - 2311 - - - - - - - - - 26.39 -
13830 714.1 9.4 572 13836 done 0.37 - - 2930 - 2.20 0.041 1970 650.0 198.3 - - 2310 - - - - - - - - - 26.41 -
14137 685.4 8.6 583 14147 roll 0.37 - - 2931 - 2.22 0.054 3345 619.4 202.8 5.60 0.973 2294 -2.9 0.214 - - - - - - - 26.36 25.26
14193 682.3 8.6 584 14202 done 0.37 - - 2929 - 2.10 0.034 1965 -657.1 204.9 3.80 0.773 2285 -2.4 0.222 - - - - - - - 26.41 25.18
14500 654.6 8.2 595 14523 roll 0.38 - - 2930 - 2.22 0.053 3343 620.7 221.8 16.75 1.170 2217 -4.1 0.241 - - - - - - - 25.97 25.03
14550 652.1 8.2 596 14571 done 0.39 - - 2930 - 2.10 0.034 1972 -652.9 237.7 15.80 1.145 2151 -4.2 0.253 - - - - - - - 26.05 24.74
14893 623.7 7.7 608 14929 roll 0.43 - - 2930 - 2.28 0.043 538 -628.9 272.0 30.12 1.174 2011 -4.6 0.262 - - - - - - - 25.36 24.45
14946 621.4 7.8 609 14981 done 0.47 - - 2930 - 2.33 0.040 1987 621.9 303.0 28.20 1.148 1885 -4.5 0.257 - - - - - - - 25.46 24.13
15298 596.3 6.1 622 15379 roll 0.57 0.12 0.092 2999 575.0 2.30 0.051 3347 591.3 388.4 73.05 1.164 1537 -4.8 0.259 - - - - - - 25.95 24.77 23.93
15415 585.5 11.0 627 15422 done 0.54 - - 2999 - 2.15 0.034 1994 -629.3 388.4 - - 1533 - - - - - - - - - 25.23 -
15722 547.0 11.6 643 15727 roll 0.51 0.12 0.159 2968 -258.3 2.28 0.043 533 -640.8 388.4 - - 1529 - - - - - - - - 25.76 25.84 -
15809 540.5 7.7 647 15845 done 0.56 - - 2968 - 2.25 0.039 1969 638.2 420.1 26.55 1.102 1407 -4.6 0.239 - - - - - - - 25.94 24.46
16145 516.0 7.9 664 16174 roll 0.61 - - 2969 - 2.25 0.050 3342 610.2 447.1 23.85 1.080 1297 -4.6 0.234 - - - - - - - 25.41 24.51
16206 510.2 8.9 667 16212 done 0.64 0.12 0.095 3031 516.7 2.20 0.032 1957 -629.5 447.1 - - 1296 - - - - - - - - 25.55 25.58 -
16530 452.7 19.4 683 16536 roll 0.58 0.12 0.160 2998 -275.0 2.22 0.043 534 -641.0 447.1 - - 1294 - - - - - - - - 25.88 25.96 -
16623 440.7 14.2 687 16628 done 0.58 - - 2998 - 2.20 0.038 1947 642.3 447.1 - - 1293 - - - - - - - - - 26.04 -
16935 395.4 14.8 703 16936 done 0.58 - - 3001 - - - 1948 - 447.1 - - 1293 - - - - - - - - - - -
17236 353.8 13.3 718 17241 roll 0.58 - - 2998 - 2.20 0.052 3350 637.3 447.1 - - 1293 - - - - - - - - - 26.21 -
17262 350.9 13.2 719 17268 done 0.58 - - 2998 - 2.15 0.034 1932 -659.5 447.1 - - 1294 - - - - - - - - - 26.30 -
17580 313.3 10.8 735 17585 roll 0.58 - - 2998 - 2.12 0.044 536 -658.5 447.1 - - 1292 - - - - - - - - - 26.31 -
17616 311.0 10.7 736 17623 done 0.58 - - 2998 - 2.15 0.039 1934 650.2 447.1 - - 1292 - - - - - - - - - 26.33 -
17923 278.7 10.8 752 17928 roll 0.58 - - 2998 - 2.20 0.051 3344 640.9 447.1 - - 1292 - - - - - - - - - 26.32 -
17965 273.3 11.5 754 17970 done 0.58 - - 2998 - 2.12 0.034 1941 -661.8 447.1 - - 1293 - - - - - - - - - 26.41 -
18288 234.7 11.9 770 18294 roll 0.61 - - 2998 - 2.15 0.043 532 -655.3 447.1 - - 1293 - - - - - - - - - 26.39 -
18325 232.0 11.9 771 18332 done 0.64 - - 2997 - 2.15 0.037 1941 655.3 447.1 - - 1292 - - - - - - - - - 26.41 -
18632 196.3 10.4 787 18637 roll 0.67 - - 2998 - 2.20 0.051 3343 637.3 447.1 - - 1293 - - - - - - - - - 26.38 -
18674 192.2 9.6 789 18679 done 0.71 - - 2998 - 2.12 0.032 1942 -660.8 447.1 - - 1293 - - - - - - - - - 26.49 -
18997 164.9 8.9 805 19003 roll 0.76 0.12 0.094 3073 625.0 2.12 0.041 542 -660.4 447.1 - - 1293 - - - - - - - - 26.54 26.44 -
19063 156.5 12.3 808 19069 done 0.76 - - 3073 - 2.12 0.039 1934 656.6 447.1 - - 1293 - - - - - - - - - 26.45 -
19381 101.1 16.8 824 19387 roll 0.71 0.12 0.160 3036 -308.3 2.12 0.041 538 -658.5 447.1 - - 1293 - - - - - - - - 26.36 26.46 -
19419 97.9 15.7 825 19427 done 0.67 - - 3036 - 2.10 0.038 1920 658.1 447.1 - - 1293 - - - - - - - - - 26.47 -
19725 73.2 8.2 841 19746 roll 0.75 - - 3036 - 2.30 0.050 3351 622.2 464.1 14.70 0.739 1228 -4.4 0.047 - - - - - - - 26.27 25.50
19782 69.8 8.3 843 19799 done 0.83 - - 3037 - 2.17 0.032 1915 -661.8 475.9 10.55 0.705 1180 -4.5 0.048 - - - - - - - 26.34 25.39
20101 42.2 9.6 863 20107 roll 1.03 0.25 0.082 3140 412.0 2.28 0.048 3346 627.6 475.9 - - 1180 - - - - - - - - 26.25 26.21 -
20140 39.0 9.5 866 20148 done 1.19 0.12 0.094 3199 491.7 2.15 0.032 1907 -669.3 475.9 - - 1180 - - - - - - - - 26.25 26.32 -
20403 end climb: SURFACE_DEPTH_REACHED
20404 begin surface coast
20426 end surface coast: CONTROL_FINISHED_OK
20426 begin surface
SM 1.81 - - - - -8.30 8.00 0.050 132 -383.4 1.25 0.047 2689 625.6 652.74 78.53 0.061 459 -9.2 0.028 - - - - - -