OKMC Apr12 * SG170 * Dive index * Mission links * Dive 79 * Raw log
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• Previous call tries 5 • 16.68 of 146.00 AH used of 24V (88.58% remains)
• Previous NAKs 0, Timeouts 0 • 6.91 of 97.50 AH used of 10V (92.91% remains)
• Surface angle -74.7 deg, depth 1.96 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 43 s
• GPS2 time: 20 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 101 VBD -0.46 - - 137 - - - 2673 - -194.6 -81.28 - 2690 - - - - - - - - - - -
104 3.4 -3.2 8 147 roll -0.46 10.30 0.246 2640 243.0 1.65 0.072 3693 618.2 -194.6 -24.27 - 3919 -50.6 - - - - - - - 25.69 26.14 26.57
200 26.6 -22.0 17 206 done -0.35 0.15 0.151 2684 293.3 1.52 0.031 2655 -682.9 -194.6 - - 3922 - - - - - - - - 26.01 26.32 -
523 70.9 -12.7 41 529 roll -0.35 - - 2684 - 2.00 0.031 1299 -678.0 -194.6 - - 3924 - - - - - - - - - 26.36 -
570 75.5 -11.3 43 576 done -0.35 - - 2684 - 2.15 0.047 2675 640.0 -194.6 - - 3923 - - - - - - - - - 26.28 -
888 106.4 -8.6 59 893 roll -0.39 - - 2685 - 2.03 0.031 1298 -678.3 -194.6 - - 3924 - - - - - - - - - 26.44 -
965 110.9 -7.1 62 971 done -0.45 - - 2685 - 2.12 0.046 2665 644.8 -194.6 - - 3924 - - - - - - - - - 26.36 -
1272 137.0 -7.8 78 1278 roll -0.53 0.12 0.088 2603 -683.3 2.03 0.030 1290 -677.3 -194.6 - - 3924 - - - - - - - - 26.58 26.48 -
1304 139.1 -7.7 79 1311 done -0.58 - - 2602 - 2.12 0.047 2656 644.3 -194.6 - - 3924 - - - - - - - - - 26.41 -
1618 176.9 -14.0 95 1624 roll -0.55 - - 2602 - 2.03 0.045 1297 -669.5 -194.6 - - 3924 - - - - - - - - - 26.28 -
1655 179.9 -13.7 96 1662 done -0.52 - - 2602 - 2.10 0.047 2646 642.4 -194.6 - - 3924 - - - - - - - - - 26.44 -
1960 214.1 -9.7 112 1966 roll -0.52 - - 2602 - 1.65 0.056 3703 640.6 -194.6 - - 3923 - - - - - - - - - 26.45 -
1992 216.1 -9.4 113 1997 done -0.52 - - 2602 - 1.60 0.031 2596 -691.9 -194.6 - - 3923 - - - - - - - - - 26.62 -
2305 242.6 -8.3 129 2306 done -0.52 - - 2602 - - - 2595 - -194.6 - - 3922 - - - - - - - - - - -
2604 267.0 -9.1 144 2605 done -0.52 - - 2602 - - - 2595 - -194.6 - - 3921 - - - - - - - - - - -
2906 296.1 -9.8 159 2911 roll -0.53 - - 2602 - 1.88 0.032 1297 -690.4 -194.6 - - 3918 - - - - - - - - - 26.59 -
2957 300.1 -9.4 161 2962 done -0.55 - - 2602 - 2.08 0.047 2633 642.3 -194.6 - - 3918 - - - - - - - - - 26.51 -
3270 331.8 -10.4 177 3271 done -0.58 - - 2602 - - - 2634 - -194.6 - - 3916 - - - - - - - - - - -
3570 362.0 -9.9 192 3575 roll -0.61 - - 2602 - 1.98 0.032 1291 -678.3 -194.6 - - 3912 - - - - - - - - - 26.61 -
3656 370.6 -10.4 196 3662 done -0.64 - - 2602 - 2.08 0.046 2627 642.3 -194.6 - - 3913 - - - - - - - - - 26.52 -
3975 402.6 -9.4 212 3976 done -0.67 - - 2602 - - - 2627 - -194.6 - - 3910 - - - - - - - - - - -
4276 425.1 -6.2 227 4281 roll -0.70 - - 2602 - 1.98 0.031 1296 -672.2 -194.6 - - 3907 - - - - - - - - - 26.61 -
4302 426.5 -6.1 228 4308 done -0.73 0.12 0.093 2535 -558.3 2.08 0.046 2634 643.3 -194.6 - - 3907 - - - - - - - - 26.53 26.53 -
4620 458.5 -9.8 244 4627 roll -0.68 0.12 0.151 2577 350.0 2.00 0.030 1291 -671.5 -194.6 - - 3905 - - - - - - - - 26.48 26.60 -
4649 460.6 -9.3 245 4654 done -0.64 - - 2577 - 2.05 0.047 2611 643.9 -194.6 - - 3905 - - - - - - - - - 26.51 -
4966 485.4 -8.5 261 4971 roll -0.64 - - 2577 - 1.73 0.058 3704 631.8 -194.6 - - 3903 - - - - - - - - - 26.47 -
5029 490.4 -8.1 264 5034 done -0.64 - - 2577 - 1.62 0.034 2622 -667.9 -194.6 - - 3902 - - - - - - - - - 26.67 -
5350 519.9 -10.0 280 5352 done -0.64 - - 2577 - - - 2622 - -194.6 - - 3899 - - - - - - - - - - -
5652 550.5 -10.2 295 5657 roll -0.64 - - 2577 - 1.75 0.057 3697 614.3 -194.6 - - 3898 - - - - - - - - - 26.46 -
5698 555.0 -10.2 297 5703 done -0.64 - - 2577 - 1.62 0.034 2630 -658.6 -194.6 - - 3898 - - - - - - - - - 26.66 -
6015 590.0 -11.2 313 6021 roll -0.64 - - 2577 - 1.98 0.033 1294 -674.7 -194.6 - - 3896 - - - - - - - - - 26.59 -
6058 595.0 -11.6 315 6064 done -0.65 - - 2577 - 2.08 0.048 2615 635.1 -194.6 - - 3895 - - - - - - - - - 26.49 -
6394 634.1 -11.7 327 6399 roll -0.67 - - 2577 - 1.95 0.033 1297 -675.9 -194.6 - - 3893 - - - - - - - - - 26.59 -
6456 641.6 -11.6 329 6461 done -0.68 - - 2577 - 2.05 0.047 2603 637.1 -194.6 - - 3893 - - - - - - - - - 26.48 -
6789 677.9 -10.4 340 6790 done -0.70 - - 2577 - - - 2602 - -194.6 - - 3892 - - - - - - - - - - -
7089 705.5 -8.8 350 7090 done -0.71 - - 2577 - - - 2603 - -194.6 - - 3889 - - - - - - - - - - -
7388 727.6 -6.7 360 7394 roll -0.72 - - 2577 - 1.95 0.031 1294 -671.3 -194.6 - - 3887 - - - - - - - - - 26.59 -
7426 729.7 -6.6 361 7431 done -0.74 - - 2577 - 2.03 0.047 2591 638.9 -194.6 - - 3888 - - - - - - - - - 26.48 -
7755 747.4 -5.0 372 7756 done -0.76 - - 2577 - - - 2592 - -194.6 - - 3886 - - - - - - - - - - -
8054 760.3 -4.2 382 8055 done -0.78 - - 2577 - - - 2592 - -194.6 - - 3885 - - - - - - - - - - -
8355 774.5 -5.0 392 8357 done -0.80 0.10 0.112 2523 -540.0 - - 2592 - -194.6 - - 3884 - - - - - - - - 26.71 - -
8654 803.8 -10.6 402 8660 roll -0.76 0.12 0.150 2564 341.7 1.75 0.058 3693 629.1 -194.6 - - 3883 - - - - - - - - 26.46 26.39 -
8696 807.0 -10.4 403 8701 done -0.73 - - 2564 - 1.65 0.037 2599 -663.0 -194.6 - - 3883 - - - - - - - - - 26.63 -
9019 837.0 -9.5 414 9020 done -0.73 - - 2564 - - - 2599 - -194.6 - - 3882 - - - - - - - - - - -
9318 867.6 -10.4 424 9319 done -0.73 - - 2564 - - - 2599 - -194.6 - - 3881 - - - - - - - - - - -
9619 900.0 -11.0 434 9624 roll -0.73 - - 2564 - 1.92 0.033 1299 -677.1 -194.6 - - 3879 - - - - - - - - - 26.55 -
9675 903.8 -11.1 435 9683 done -0.74 - - 2564 - 2.03 0.048 2590 636.0 -194.6 - - 3879 - - - - - - - - - 26.43 -
9981 939.7 -10.7 446 9982 done -0.74 - - 2564 - - - 2590 - -194.6 - - 3878 - - - - - - - - - - -
10282 970.0 -9.8 456 10284 done -0.75 - - 2564 - - - 2590 - -194.6 - - 3877 - - - - - - - - - - -
10520 end dive: TARGET_DEPTH_EXCEEDED
10520 begin apogee
10525 990.8 -8.4 464 10685 roll -0.12 0.55 0.109 2755 347.3 - - 1936 - - 153.12 1.426 3120 -4.9 0.365 - - - - - - 26.15 - 23.58
10687 end apogee: CONTROL_FINISHED_OK
10687 begin climb
10688 996.7 - 469 10872 roll 0.46 0.55 0.059 2958 369.1 2.40 0.051 3348 588.3 194.6 175.77 1.392 2327 -4.5 0.343 - - - - - - 24.77 24.73 23.06
10998 971.8 13.6 479 11006 done 0.40 0.15 0.155 2928 -200.0 2.25 0.032 1944 -624.0 194.6 - - 2318 - - - - - - - - 25.04 25.23 -
11306 935.1 10.6 490 11311 roll 0.40 - - 2930 - 2.22 0.043 531 -636.5 194.6 - - 2314 - - - - - - - - - 25.85 -
11477 920.1 9.6 495 11482 done 0.40 - - 2930 - 2.22 0.038 1953 640.5 194.6 - - 2312 - - - - - - - - - 26.01 -
11789 890.1 8.7 506 11794 roll 0.40 - - 2930 - 2.22 0.052 3350 629.3 194.6 - - 2311 - - - - - - - - - 26.10 -
11835 887.2 8.7 507 11841 done 0.40 - - 2930 - 2.17 0.033 1939 -650.2 194.6 - - 2311 - - - - - - - - - 26.22 -
12154 860.0 8.0 518 12177 roll 0.41 - - 2930 - 2.30 0.051 3353 614.8 216.0 18.05 1.281 2241 -3.9 0.276 - - - - - - - 25.83 24.82
12208 857.5 8.1 519 12234 done 0.42 - - 2930 - 2.17 0.033 1960 -641.9 236.3 19.73 1.274 2157 -4.3 0.304 - - - - - - - 25.93 24.44
12547 827.6 8.2 531 12570 roll 0.43 - - 2930 - 2.33 0.052 3344 594.0 253.4 15.82 1.245 2086 -4.5 0.317 - - - - - - - 25.60 24.58
12591 825.0 8.2 532 12613 done 0.44 - - 2929 - 2.17 0.034 1963 -636.4 268.3 15.02 1.222 2026 -4.0 0.286 - - - - - - - 25.72 24.37
12941 795.3 8.0 544 12971 roll 0.47 - - 2930 - 2.38 0.051 3357 585.7 289.8 19.62 1.246 1938 -4.5 0.304 - - - - - - - 25.51 24.51
12988 792.8 8.2 545 13013 done 0.50 - - 2930 - 2.20 0.033 1965 -632.7 307.4 17.15 1.218 1866 -4.2 0.290 - - - - - - - 25.64 24.27
13336 763.3 7.8 557 13366 done 0.56 0.15 0.083 3005 500.0 - - 1961 - 336.6 26.45 1.246 1748 -4.5 0.290 - - - - - - 26.03 - 24.37
13666 713.6 16.2 568 13673 roll 0.51 0.12 0.156 2970 -291.7 2.22 0.040 538 -641.0 336.6 - - 1743 - - - - - - - - 25.84 25.95 -
13700 708.8 15.6 569 13705 done 0.47 - - 2970 - 2.28 0.040 1978 631.6 336.6 - - 1742 - - - - - - - - - 25.98 -
14033 669.3 11.8 580 14038 roll 0.47 - - 2970 - 2.20 0.052 3359 627.7 336.6 - - 1741 - - - - - - - - - 26.12 -
14059 669.3 11.8 580 14066 done 0.47 - - 2970 - 2.15 0.033 1962 -649.8 336.6 - - 1741 - - - - - - - - - 26.21 -
14365 629.3 11.6 591 14371 roll 0.47 - - 2970 - 2.20 0.043 532 -650.0 336.6 - - 1740 - - - - - - - - - 26.25 -
14398 625.6 11.6 592 14404 done 0.47 - - 2970 - 2.25 0.039 1975 641.3 336.6 - - 1740 - - - - - - - - - 26.27 -
14722 587.8 11.6 604 14727 roll 0.47 - - 2970 - 2.17 0.052 3351 634.1 336.6 - - 1740 - - - - - - - - - 26.27 -
14748 584.9 11.9 605 14753 done 0.47 - - 2970 - 2.10 0.033 1981 -652.4 336.6 - - 1741 - - - - - - - - - 26.37 -
15065 548.3 11.3 621 15066 done 0.47 - - 2970 - - - 1981 - 336.6 - - 1740 - - - - - - - - - - -
15366 516.1 11.2 636 15371 roll 0.47 - - 2970 - 2.20 0.052 3356 625.0 336.6 - - 1740 - - - - - - - - - 26.34 -
15387 513.5 11.3 637 15393 done 0.47 - - 2970 - 2.10 0.034 1986 -652.4 336.6 - - 1740 - - - - - - - - - 26.44 -
15709 479.9 9.4 653 15715 roll 0.47 - - 2970 - 2.22 0.041 535 -653.6 336.6 - - 1740 - - - - - - - - - 26.41 -
15761 476.2 9.3 655 15767 done 0.49 - - 2970 - 2.25 0.038 1999 650.7 336.6 - - 1739 - - - - - - - - - 26.41 -
16074 444.5 11.0 671 16079 roll 0.49 - - 2970 - 2.10 0.052 3347 641.9 336.6 - - 1740 - - - - - - - - - 26.37 -
16150 436.4 12.5 674 16158 done 0.49 - - 2970 - 2.05 0.032 1992 -661.0 336.6 - - 1740 - - - - - - - - - 26.50 -
16456 394.8 13.4 690 16462 roll 0.49 - - 2970 - 2.22 0.042 532 -657.7 336.6 - - 1739 - - - - - - - - - 26.44 -
16488 391.8 13.2 691 16494 done 0.50 - - 2969 - 2.25 0.037 2000 652.4 336.6 - - 1740 - - - - - - - - - 26.45 -
16801 350.1 12.9 707 16802 done 0.52 - - 2970 - - - 2000 - 336.6 - - 1740 - - - - - - - - - - -
17102 317.2 9.7 722 17107 roll 0.54 - - 2970 - 2.10 0.052 3349 642.4 336.6 - - 1740 - - - - - - - - - 26.39 -
17144 312.8 9.9 724 17149 done 0.54 - - 2973 - 2.10 0.032 1969 -657.1 336.6 - - 1740 - - - - - - - - - 26.53 -
17467 282.5 9.5 740 17472 roll 0.56 - - 2970 - 2.20 0.052 3350 627.7 336.6 - - 1740 - - - - - - - - - 26.40 -
17493 280.1 9.7 741 17498 done 0.58 - - 2970 - 2.05 0.033 1994 -661.5 336.6 - - 1740 - - - - - - - - - 26.53 -
17811 251.8 7.9 757 17840 roll 0.62 - - 2970 - 2.25 0.043 541 -645.8 363.8 22.70 0.909 1636 -4.6 0.135 - - - - - - - 26.13 25.27
17883 247.5 7.0 760 17938 done 0.69 0.15 0.082 3049 526.7 2.25 0.037 1994 645.8 419.2 46.65 0.911 1410 -4.8 0.140 - - - - - - 26.16 26.15 24.60
18256 195.7 15.6 779 18262 roll 0.65 0.12 0.154 3009 -333.3 2.15 0.049 3350 630.7 419.2 - - 1407 - - - - - - - - 25.84 25.89 -
18279 191.7 16.4 780 18284 done 0.61 - - 3010 - 2.12 0.032 1982 -645.3 419.2 - - 1406 - - - - - - - - - 26.01 -
18602 149.6 11.9 796 18607 roll 0.63 - - 3010 - 2.22 0.041 538 -650.5 419.2 - - 1405 - - - - - - - - - 26.11 -
18644 145.3 11.0 798 18649 done 0.67 - - 3010 - 2.25 0.037 1988 644.4 419.2 - - 1405 - - - - - - - - - 26.15 -
18967 123.3 4.7 814 19078 done 0.79 0.12 0.093 3082 600.0 - - 1989 - 554.0 107.10 0.809 862 -5.1 0.082 - - - - - - 26.36 - 24.34
19366 73.3 13.5 834 19372 roll 0.79 - - 3083 - 2.17 0.048 3350 627.2 554.0 - - 857 - - - - - - - - - 25.82 -
19393 70.2 13.7 835 19398 done 0.79 - - 3082 - 2.12 0.031 1973 -649.5 554.0 - - 857 - - - - - - - - - 25.93 -
19701 34.5 7.7 858 19733 roll 0.88 - - 3083 - 2.28 0.041 543 -627.2 585.4 25.38 0.714 733 -4.9 0.025 - - - - - - - 25.77 25.03
19810 26.1 8.9 868 19817 done 1.02 0.12 0.106 3130 391.7 2.17 0.033 1953 649.8 585.4 - - 732 - - - - - - - - 25.84 25.91 -
20034 end climb: SURFACE_DEPTH_REACHED
20035 begin surface coast
20066 end surface coast: CONTROL_FINISHED_OK
20066 begin surface
SM 1.84 - - - - -8.29 7.85 0.047 134 -381.7 1.15 0.044 2691 641.7 652.74 33.03 0.061 459 -8.3 0.025 - - - - - -