OKMC Apr12 * SG170 * Dive index * Mission links * Dive 66 * Raw log
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• Previous call tries 2 • 13.67 of 146.00 AH used of 24V (90.64% remains)
• Previous NAKs 0, Timeouts 0 • 5.36 of 97.50 AH used of 10V (94.50% remains)
• Surface angle -73.3 deg, depth 1.91 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 35 s
• GPS2 time: 14 s • Transponder ping count: 4
• 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 -0.46 - - 136 - - - 2665 - -194.6 -81.62 - 2657 - - - - - - - - - - -
104 3.1 -2.3 8 147 roll -0.46 10.23 0.242 2640 244.8 1.73 0.077 3683 588.4 -194.6 -27.17 - 3918 -46.4 - - - - - - - 25.55 25.91 26.31
224 31.3 -27.9 19 232 done -0.33 0.17 0.153 2692 305.9 1.50 0.029 2661 -681.3 -194.6 - - 3921 - - - - - - - - 25.83 26.13 -
541 72.2 -6.9 40 546 roll -0.33 - - 2690 - 2.05 0.032 1285 -671.2 -194.6 - - 3922 - - - - - - - - - 26.25 -
567 73.9 -7.0 41 572 done -0.33 - - 2690 - 2.15 0.049 2651 635.3 -194.6 - - 3922 - - - - - - - - - 26.18 -
885 98.3 -7.4 57 891 roll -0.39 - - 2690 - 2.05 0.034 1283 -667.3 -194.6 - - 3922 - - - - - - - - - 26.35 -
958 102.6 -6.8 60 964 done -0.47 0.12 0.090 2618 -600.0 2.12 0.048 2641 640.6 -194.6 - - 3923 - - - - - - - - 26.33 26.30 -
1272 140.0 -11.6 76 1277 roll -0.45 0.12 0.145 2660 350.0 2.00 0.032 1294 -673.5 -194.6 - - 3922 - - - - - - - - 26.33 26.43 -
1289 140.0 -11.6 76 1295 done -0.43 - - 2660 - 2.10 0.050 2631 636.7 -194.6 - - 3923 - - - - - - - - - 26.36 -
1595 162.2 -5.4 92 1597 done -0.49 - - 2660 - - - 2631 - -194.6 - - 3923 - - - - - - - - - - -
1897 181.8 -6.9 107 1902 roll -0.56 0.12 0.092 2586 -616.7 2.00 0.034 1285 -673.0 -194.6 - - 3921 - - - - - - - - 26.60 26.51 -
1934 184.0 -7.1 108 1942 done -0.61 - - 2586 - 2.10 0.050 2626 638.6 -194.6 - - 3921 - - - - - - - - - 26.44 -
2240 223.5 -12.7 124 2246 roll -0.57 - - 2586 - 1.98 0.034 1292 -673.7 -194.6 - - 3920 - - - - - - - - - 26.53 -
2283 228.6 -12.2 126 2290 done -0.55 0.12 0.155 2621 291.7 2.05 0.050 2607 641.5 -194.6 - - 3920 - - - - - - - - 26.34 26.46 -
2607 254.5 -7.5 142 2608 done -0.58 - - 2621 - - - 2607 - -194.6 - - 3918 - - - - - - - - - - -
2908 276.7 -7.4 157 2913 roll -0.61 - - 2621 - 1.73 0.059 3705 634.7 -194.6 - - 3916 - - - - - - - - - 26.49 -
2931 278.6 -7.6 158 2936 done -0.65 - - 2621 - 1.65 0.034 2587 -677.6 -194.6 - - 3916 - - - - - - - - - 26.65 -
3254 307.3 -8.8 174 3259 roll -0.70 0.12 0.094 2545 -633.3 1.90 0.030 1276 -690.0 -194.6 - - 3913 - - - - - - - - 26.66 26.61 -
3317 315.1 -11.7 177 3323 done -0.70 0.12 0.158 2579 283.3 2.08 0.048 2605 638.9 -194.6 - - 3913 - - - - - - - - 26.36 26.52 -
3641 351.2 -10.0 193 3646 roll -0.68 - - 2579 - 1.70 0.057 3701 644.7 -194.6 - - 3910 - - - - - - - - - 26.51 -
3678 353.5 -9.9 194 3684 done -0.67 - - 2580 - 1.62 0.032 2569 -698.8 -194.6 - - 3910 - - - - - - - - - 26.68 -
3984 380.4 -8.3 210 3989 roll -0.67 - - 2579 - 1.88 0.031 1282 -684.6 -194.6 - - 3908 - - - - - - - - - 26.63 -
4029 384.3 -8.9 212 4036 done -0.67 - - 2580 - 2.05 0.047 2603 644.4 -194.6 - - 3907 - - - - - - - - - 26.53 -
4347 413.6 -9.3 228 4348 done -0.67 - - 2579 - - - 2603 - -194.6 - - 3905 - - - - - - - - - - -
4649 440.9 -9.2 243 4650 done -0.67 - - 2579 - - - 2603 - -194.6 - - 3903 - - - - - - - - - - -
4948 469.0 -9.5 258 4954 roll -0.67 - - 2579 - 1.95 0.031 1285 -675.9 -194.6 - - 3901 - - - - - - - - - 26.63 -
5000 472.9 -9.3 260 5005 done -0.67 - - 2580 - 2.03 0.047 2603 649.3 -194.6 - - 3901 - - - - - - - - - 26.54 -
5312 500.9 -8.7 276 5317 roll -0.67 - - 2579 - 1.73 0.057 3703 635.8 -194.6 - - 3898 - - - - - - - - - 26.51 -
5374 506.4 -8.7 279 5379 done -0.68 - - 2580 - 1.62 0.034 2600 -680.9 -194.6 - - 3898 - - - - - - - - - 26.68 -
5696 533.6 -8.4 295 5701 roll -0.68 - - 2580 - 1.75 0.058 3695 625.7 -194.6 - - 3896 - - - - - - - - - 26.51 -
5722 535.5 -8.3 296 5727 done -0.68 - - 2580 - 1.62 0.034 2600 -675.9 -194.6 - - 3895 - - - - - - - - - 26.68 -
6039 560.3 -7.5 312 6041 done -0.68 - - 2579 - - - 2600 - -194.6 - - 3893 - - - - - - - - - - -
6340 583.1 -7.7 327 6346 roll -0.69 - - 2580 - 1.92 0.032 1287 -683.9 -194.6 - - 3892 - - - - - - - - - 26.63 -
6398 586.7 -7.8 329 6405 done -0.71 - - 2580 - 2.05 0.047 2603 642.0 -194.6 - - 3891 - - - - - - - - - 26.53 -
6715 614.2 -8.5 343 6716 done -0.72 - - 2579 - - - 2603 - -194.6 - - 3889 - - - - - - - - - - -
7014 640.4 -8.9 353 7015 done -0.74 - - 2579 - - - 2602 - -194.6 - - 3887 - - - - - - - - - - -
7314 666.9 -8.8 363 7315 done -0.76 - - 2579 - - - 2603 - -194.6 - - 3886 - - - - - - - - - - -
7614 692.9 -8.7 373 7619 roll -0.77 - - 2579 - 1.98 0.031 1277 -669.7 -194.6 - - 3885 - - - - - - - - - 26.63 -
7666 695.6 -8.6 374 7672 done -0.79 0.12 0.102 2521 -483.3 2.08 0.048 2606 638.9 -194.6 - - 3884 - - - - - - - - 26.51 26.52 -
7981 734.9 -12.1 385 7987 roll -0.75 0.12 0.154 2562 341.7 1.73 0.058 3696 630.1 -194.6 - - 3882 - - - - - - - - 26.48 26.46 -
8074 743.7 -10.0 388 8079 done -0.75 - - 2563 - 1.65 0.036 2619 -652.7 -194.6 - - 3882 - - - - - - - - - 26.67 -
8407 771.7 -8.5 399 8412 roll -0.75 - - 2563 - 1.98 0.034 1282 -675.3 -194.6 - - 3881 - - - - - - - - - 26.59 -
8440 774.5 -8.3 400 8445 done -0.75 - - 2563 - 2.10 0.048 2618 636.2 -194.6 - - 3882 - - - - - - - - - 26.50 -
8774 802.3 -8.4 411 8775 done -0.75 - - 2563 - - - 2618 - -194.6 - - 3880 - - - - - - - - - - -
9072 826.6 -7.8 421 9078 roll -0.75 - - 2563 - 2.00 0.034 1283 -667.5 -194.6 - - 3879 - - - - - - - - - 26.59 -
9108 829.2 -7.9 422 9114 done -0.75 - - 2563 - 2.08 0.049 2610 638.0 -194.6 - - 3879 - - - - - - - - - 26.48 -
9437 854.4 -7.4 433 9442 roll -0.75 - - 2563 - 1.70 0.060 3695 638.2 -194.6 - - 3877 - - - - - - - - - 26.43 -
9493 856.9 -7.3 434 9501 done -0.75 - - 2562 - 1.65 0.037 2618 -652.7 -194.6 - - 3877 - - - - - - - - - 26.65 -
9801 879.0 -6.5 445 9806 roll -0.75 - - 2563 - 1.98 0.034 1287 -672.2 -194.6 - - 3876 - - - - - - - - - 26.58 -
9848 881.4 -6.5 446 9854 done -0.76 - - 2563 - 2.05 0.048 2610 645.4 -194.6 - - 3876 - - - - - - - - - 26.47 -
10168 903.1 -6.6 457 10169 done -0.76 - - 2563 - - - 2611 - -194.6 - - 3875 - - - - - - - - - - -
10466 923.3 -6.7 467 10471 roll -0.76 - - 2563 - 1.70 0.060 3694 637.1 -194.6 - - 3873 - - - - - - - - - 26.40 -
10512 925.6 -6.7 468 10518 done -0.76 - - 2563 - 1.65 0.037 2603 -661.2 -194.6 - - 3873 - - - - - - - - - 26.63 -
10832 949.0 -7.2 479 10833 done -0.76 - - 2563 - - - 2603 - -194.6 - - 3873 - - - - - - - - - - -
11131 970.7 -7.2 489 11136 roll -0.77 - - 2563 - 1.92 0.034 1293 -682.3 -194.6 - - 3872 - - - - - - - - - 26.56 -
11158 970.7 -7.2 489 11165 done -0.78 - - 2563 - 2.05 0.050 2609 642.0 -194.6 - - 3872 - - - - - - - - - 26.44 -
11402 end dive: TARGET_DEPTH_EXCEEDED
11402 begin apogee
11407 990.8 -7.3 498 11567 roll -0.12 0.55 0.110 2753 345.5 - - 1937 - - 154.43 1.432 3121 -4.9 0.357 - - - - - - 26.18 - 23.58
11569 end apogee: CONTROL_FINISHED_OK
11569 begin climb
11570 996.3 - 503 11754 roll 0.46 0.55 0.057 2960 376.4 2.28 0.043 540 -612.7 194.6 175.05 1.395 2327 -4.5 0.344 - - - - - - 24.73 24.72 23.11
11815 983.3 9.3 511 11820 done 0.42 - - 2960 - 2.30 0.039 1949 612.6 194.6 - - 2322 - - - - - - - - - 24.84 -
12129 947.0 10.9 522 12135 roll 0.39 0.12 0.155 2928 -266.7 2.22 0.041 551 -629.7 194.6 - - 2317 - - - - - - - - 25.67 25.75 -
12277 935.7 9.0 526 12284 done 0.39 - - 2928 - 2.20 0.040 1953 637.3 194.6 - - 2315 - - - - - - - - - 25.92 -
12583 905.6 9.3 537 12589 roll 0.39 - - 2928 - 2.25 0.053 3354 622.7 194.6 - - 2314 - - - - - - - - - 26.06 -
12665 898.8 10.2 539 12670 done 0.39 - - 2930 - 2.10 0.033 1973 -657.6 194.6 - - 2314 - - - - - - - - - 26.20 -
12978 867.3 9.3 550 12980 done 0.39 - - 2930 - - - 1973 - 194.6 - - 2312 - - - - - - - - - - -
13277 840.4 9.0 560 13282 roll 0.39 - - 2930 - 2.20 0.044 537 -652.7 194.6 - - 2312 - - - - - - - - - 26.27 -
13318 837.4 9.0 561 13324 done 0.39 - - 2931 - 2.22 0.041 1973 646.8 194.6 - - 2311 - - - - - - - - - 26.29 -
13642 806.6 9.3 572 13647 roll 0.39 - - 2930 - 2.17 0.053 3356 637.3 194.6 - - 2311 - - - - - - - - - 26.28 -
13707 799.9 10.1 574 13712 done 0.39 - - 2929 - 2.08 0.034 1982 -660.6 194.6 - - 2311 - - - - - - - - - 26.40 -
14036 767.2 10.0 585 14037 done 0.39 - - 2930 - - - 1982 - 194.6 - - 2310 - - - - - - - - - - -
14335 738.3 9.3 595 14336 done 0.39 - - 2930 - - - 1982 - 194.6 - - 2311 - - - - - - - - - - -
14635 711.2 8.9 605 14640 roll 0.39 - - 2930 - 2.20 0.044 540 -655.5 194.6 - - 2311 - - - - - - - - - 26.39 -
14667 708.4 8.7 606 14673 done 0.39 - - 2929 - 2.22 0.040 1979 648.2 195.5 - - 2310 - - - - - - - - - 26.41 -
15002 681.7 7.7 617 15036 roll 0.40 - - 2930 - 2.20 0.052 3342 619.5 227.6 28.00 1.219 2191 -4.2 0.252 - - - - - - - 25.80 24.91
15103 673.8 8.3 620 15124 done 0.41 - - 2930 - 2.10 0.033 1988 -644.8 241.4 12.73 1.133 2135 -4.4 0.278 - - - - - - - 25.95 24.72
15425 646.1 8.6 631 15430 roll 0.44 - - 2930 - 2.25 0.042 539 -644.0 243.4 - - 2131 - - - - - - - - - 25.98 -
15488 640.5 8.7 633 15493 done 0.47 - - 2930 - 2.25 0.039 1987 643.6 243.4 - - 2130 - - - - - - - - - 26.03 -
15822 607.4 10.6 644 15827 roll 0.49 - - 2929 - 2.15 0.052 3343 630.7 243.4 - - 2130 - - - - - - - - - 26.11 -
15898 599.9 11.2 646 15906 done 0.51 - - 2930 - 2.08 0.032 1985 -652.9 243.4 - - 2130 - - - - - - - - - 26.25 -
16204 568.3 9.1 662 16211 roll 0.53 0.12 0.095 3000 583.3 2.22 0.041 538 -651.8 243.4 - - 2128 - - - - - - - - 26.37 26.25 -
16242 565.8 9.3 663 16249 done 0.55 - - 3000 - 2.25 0.041 1988 644.4 243.4 - - 2128 - - - - - - - - - 26.26 -
16548 527.7 11.0 679 16550 done 0.50 0.15 0.151 2956 -293.3 - - 1990 - 243.4 - - 2128 - - - - - - - - 26.19 - -
16849 505.0 7.4 694 16890 done 0.52 - - 2956 - - - 1989 - 288.0 39.72 1.108 1948 -4.5 0.219 - - - - - - - - 24.70
17188 475.8 9.4 711 17189 done 0.52 - - 2956 - - - 1989 - 288.0 - - 1942 - - - - - - - - - - -
17489 445.6 10.3 726 17494 roll 0.54 - - 2956 - 2.15 0.051 3346 631.2 288.0 - - 1941 - - - - - - - - - 26.06 -
17531 440.4 10.8 728 17537 done 0.54 - - 2956 - 2.10 0.033 1984 -648.6 288.0 - - 1941 - - - - - - - - - 26.17 -
17854 405.4 11.5 744 17860 roll 0.56 - - 2956 - 2.22 0.043 538 -651.4 288.0 - - 1941 - - - - - - - - - 26.20 -
17906 400.6 11.4 746 17912 done 0.59 0.10 0.109 3011 550.0 2.22 0.039 1988 653.2 288.0 - - 1940 - - - - - - - - 26.20 26.23 -
18219 350.3 15.4 762 18226 roll 0.55 0.12 0.153 2971 -333.3 2.12 0.049 3350 642.5 288.0 - - 1940 - - - - - - - - 26.20 26.24 -
18243 346.7 15.3 763 18249 done 0.51 - - 2970 - 2.08 0.033 1982 -657.7 288.0 - - 1940 - - - - - - - - - 26.34 -
18566 312.7 9.6 779 18571 roll 0.51 - - 2970 - 2.22 0.043 530 -654.1 288.0 - - 1940 - - - - - - - - - 26.31 -
18648 305.7 8.4 783 18663 done 0.55 - - 2970 - 2.22 0.039 1984 655.0 297.1 8.55 0.866 1908 -3.7 0.140 - - - - - - - 26.34 25.32
18971 279.0 9.5 799 18976 roll 0.57 - - 2970 - 2.12 0.051 3346 642.5 297.1 - - 1907 - - - - - - - - - 26.23 -
19017 274.6 10.1 801 19023 done 0.59 - - 2970 - 2.08 0.032 1976 -658.7 297.1 - - 1906 - - - - - - - - - 26.34 -
19335 242.1 10.5 817 19341 roll 0.61 - - 2970 - 2.20 0.043 536 -654.5 297.1 - - 1906 - - - - - - - - - 26.32 -
19362 239.9 10.3 818 19367 done 0.64 0.10 0.107 3025 550.0 2.20 0.039 1980 656.4 297.1 - - 1906 - - - - - - - - 26.30 26.34 -
19680 200.3 11.3 834 19686 roll 0.60 - - 3025 - 2.12 0.050 3350 646.2 297.1 - - 1906 - - - - - - - - - 26.32 -
19733 194.7 12.1 836 19739 done 0.57 0.15 0.147 2982 -286.7 2.08 0.033 1983 -657.2 297.1 - - 1906 - - - - - - - - 26.18 26.42 -
20047 168.0 7.8 852 20077 roll 0.61 - - 2982 - 2.30 0.042 532 -630.9 325.6 24.38 0.836 1792 -4.7 0.100 - - - - - - - 26.05 25.29
20120 163.0 7.9 855 20150 done 0.66 - - 2982 - 2.25 0.037 1988 647.1 352.8 23.17 0.819 1682 -4.7 0.100 - - - - - - - 26.08 24.98
20450 135.2 7.0 872 20505 roll 0.76 0.15 0.083 3066 560.0 2.28 0.049 3351 597.8 407.5 44.88 0.806 1458 -5.0 0.089 - - - - - - 26.09 25.36 24.66
20552 121.7 14.2 877 20558 done 0.71 0.12 0.153 3032 -283.3 2.10 0.031 1999 -643.8 407.5 - - 1457 - - - - - - - - 25.46 25.61 -
20876 86.9 8.1 893 20897 roll 0.75 - - 3032 - 2.35 0.042 532 -624.3 426.0 15.62 0.734 1383 -4.7 0.060 - - - - - - - 25.77 25.00
20950 84.5 4.4 896 21076 done 0.88 0.15 0.079 3107 500.0 2.30 0.034 2031 651.7 570.0 115.47 0.752 797 -5.1 0.061 - - - - - - 25.86 25.86 24.31
21384 35.9 6.8 926 21446 roll 1.00 - - 3107 - 2.47 0.040 532 -606.9 633.1 55.97 0.703 539 -4.6 0.025 - - - - - - - 25.24 24.58
21574 18.5 13.5 944 21582 done 1.20 0.22 0.086 3190 377.3 2.33 0.036 2017 637.3 633.1 - - 537 - - - - - - - - 25.66 25.70 -
21697 end climb: SURFACE_DEPTH_REACHED
21698 begin surface coast
21719 end surface coast: CONTROL_FINISHED_OK
21719 begin surface
SM 1.60 - - - - -8.29 8.00 0.042 132 -382.2 1.08 0.049 2695 627.8 652.74 10.80 0.061 459 -7.2 0.019 - - - - - -