OKMC Apr12 * SG170 * Dive index * Mission links * Dive 91 * Raw log
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• Previous call tries 5 • 19.63 of 146.00 AH used of 24V (86.55% remains)
• Previous NAKs 0, Timeouts 0 • 8.32 of 97.50 AH used of 10V (91.47% remains)
• Surface angle -73.1 deg, depth 1.96 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 652.99, SM_CC=652.74329)
• GPS1 time: 28 s
• GPS2 time: 14 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
17 - - - 100 VBD -0.46 - - 136 - - - 2700 - -194.6 -81.28 - 2683 - - - - - - - - - - -
103 3.7 -3.7 8 146 roll -0.46 10.30 0.246 2638 242.9 1.55 0.071 3688 637.4 -194.6 -23.62 - 3921 -52.4 - - - - - - - 25.65 26.12 26.56
290 42.9 -15.9 26 295 done -0.38 0.12 0.148 2674 300.0 1.50 0.029 2648 -693.3 -194.6 - - 3926 - - - - - - - - 26.08 26.35 -
603 82.6 -12.8 45 608 roll -0.40 - - 2673 - 1.65 0.057 3686 629.1 -194.6 - - 3927 - - - - - - - - - 26.25 -
626 85.2 -12.1 46 631 done -0.43 - - 2675 - 1.48 0.031 2698 -667.6 -194.6 - - 3928 - - - - - - - - - 26.44 -
949 107.9 -6.7 62 955 roll -0.49 - - 2675 - 2.08 0.030 1288 -677.9 -194.6 - - 3928 - - - - - - - - - 26.45 -
1068 116.2 -8.0 67 1075 done -0.56 0.17 0.072 2590 -500.0 2.12 0.042 2670 651.9 -194.6 - - 3928 - - - - - - - - 26.43 26.39 -
1372 164.2 -15.9 83 1374 done -0.52 0.15 0.146 2633 286.7 - - 2670 - -194.6 - - 3928 - - - - - - - - 26.34 - -
1674 191.6 -9.2 98 1679 roll -0.55 - - 2633 - 2.05 0.029 1278 -679.0 -194.6 - - 3926 - - - - - - - - - 26.53 -
1740 197.0 -8.8 101 1746 done -0.60 - - 2633 - 2.10 0.042 2661 658.6 -194.6 - - 3926 - - - - - - - - - 26.46 -
2059 219.9 -5.5 117 2065 roll -0.64 0.12 0.091 2556 -641.7 2.03 0.028 1289 -675.9 -194.6 - - 3925 - - - - - - - - 26.64 26.55 -
2131 225.5 -7.8 120 2137 done -0.64 0.15 0.159 2599 286.7 2.08 0.045 2629 644.2 -194.6 - - 3924 - - - - - - - - 26.24 26.46 -
2444 246.5 -8.6 136 2445 done -0.64 - - 2599 - - - 2629 - -194.6 - - 3922 - - - - - - - - - - -
2745 271.1 -8.1 151 2750 roll -0.64 - - 2599 - 1.67 0.057 3686 632.9 -194.6 - - 3919 - - - - - - - - - 26.44 -
2788 274.7 -8.5 153 2793 done -0.66 - - 2600 - 1.55 0.032 2621 -687.1 -194.6 - - 3919 - - - - - - - - - 26.64 -
3111 302.0 -7.7 169 3116 roll -0.67 - - 2600 - 1.92 0.031 1290 -693.2 -194.6 - - 3917 - - - - - - - - - 26.58 -
3168 305.1 -7.3 171 3175 done -0.70 - - 2600 - 2.05 0.046 2628 652.7 -194.6 - - 3917 - - - - - - - - - 26.48 -
3475 327.9 -7.8 187 3476 done -0.72 - - 2600 - - - 2628 - -194.6 - - 3915 - - - - - - - - - - -
3775 355.5 -9.8 202 3781 roll -0.74 0.12 0.093 2524 -633.3 1.98 0.029 1287 -677.3 -194.6 - - 3912 - - - - - - - - 26.69 26.58 -
3818 361.3 -11.3 204 3825 done -0.74 0.12 0.156 2558 283.3 2.10 0.047 2628 638.6 -194.6 - - 3912 - - - - - - - - 26.29 26.48 -
4143 402.0 -11.9 220 4148 roll -0.71 - - 2558 - 1.67 0.058 3694 638.3 -194.6 - - 3909 - - - - - - - - - 26.44 -
4256 413.9 -11.4 225 4261 done -0.70 - - 2558 - 1.55 0.032 2617 -694.8 -194.6 - - 3908 - - - - - - - - - 26.66 -
4568 451.0 -11.6 241 4573 roll -0.67 - - 2559 - 1.73 0.059 3690 620.2 -194.6 - - 3906 - - - - - - - - - 26.43 -
4620 455.8 -11.4 243 4626 done -0.65 0.12 0.142 2596 308.3 1.58 0.033 2617 -679.1 -194.6 - - 3906 - - - - - - - - 26.39 26.65 -
4935 480.8 -7.2 259 4940 roll -0.67 - - 2597 - 1.95 0.031 1288 -681.5 -194.6 - - 3904 - - - - - - - - - 26.59 -
5001 485.5 -7.3 262 5006 done -0.71 - - 2597 - 2.08 0.045 2625 642.8 -194.6 - - 3904 - - - - - - - - - 26.47 -
5319 507.1 -6.6 278 5325 roll -0.74 0.10 0.110 2537 -600.0 2.00 0.030 1287 -669.0 -194.6 - - 3901 - - - - - - - - 26.71 26.57 -
5388 513.3 -8.9 281 5393 done -0.74 - - 2536 - 2.05 0.047 2613 646.8 -194.6 - - 3900 - - - - - - - - - 26.46 -
5705 547.6 -10.2 297 5711 roll -0.69 0.12 0.154 2578 350.0 1.70 0.057 3691 634.1 -194.6 - - 3898 - - - - - - - - 26.44 26.41 -
5793 553.7 -7.3 301 5799 done -0.69 - - 2578 - 1.58 0.034 2619 -678.5 -194.6 - - 3898 - - - - - - - - - 26.64 -
6112 579.4 -8.9 317 6117 roll -0.70 - - 2578 - 1.95 0.031 1288 -682.6 -194.6 - - 3896 - - - - - - - - - 26.58 -
6163 583.3 -9.0 319 6169 done -0.72 - - 2578 - 2.05 0.047 2617 648.3 -194.6 - - 3896 - - - - - - - - - 26.45 -
6488 613.7 -9.1 333 6493 roll -0.73 - - 2578 - 1.98 0.031 1289 -670.7 -194.6 - - 3894 - - - - - - - - - 26.58 -
6550 619.6 -9.1 335 6555 done -0.75 - - 2578 - 2.05 0.047 2597 638.0 -194.6 - - 3894 - - - - - - - - - 26.44 -
6884 652.1 -10.1 346 6889 roll -0.76 - - 2578 - 1.95 0.031 1290 -670.3 -194.6 - - 3891 - - - - - - - - - 26.57 -
6940 655.6 -10.1 347 6947 done -0.78 - - 2578 - 2.03 0.047 2587 638.9 -194.6 - - 3892 - - - - - - - - - 26.43 -
7248 686.5 -8.9 358 7254 roll -0.79 0.10 0.109 2521 -570.0 1.75 0.057 3692 631.4 -194.6 - - 3890 - - - - - - - - 26.70 26.38 -
7305 690.3 -9.3 359 7312 done -0.79 - - 2521 - 1.62 0.034 2590 -680.2 -194.6 - - 3889 - - - - - - - - - 26.63 -
7612 727.8 -10.6 370 7618 roll -0.74 0.12 0.158 2562 341.7 1.90 0.029 1287 -685.8 -194.6 - - 3888 - - - - - - - - 26.44 26.55 -
7649 730.7 -10.0 371 7654 done -0.71 - - 2562 - 2.03 0.047 2596 644.8 -194.6 - - 3888 - - - - - - - - - 26.41 -
7978 753.5 -7.5 382 7979 done -0.71 - - 2562 - - - 2596 - -194.6 - - 3887 - - - - - - - - - - -
8276 780.9 -9.9 392 8277 done -0.71 - - 2562 - - - 2596 - -194.6 - - 3886 - - - - - - - - - - -
8576 814.6 -11.6 402 8581 roll -0.71 - - 2562 - 1.73 0.060 3696 635.8 -194.6 - - 3885 - - - - - - - - - 26.34 -
8603 814.6 -11.6 402 8609 done -0.71 - - 2561 - 1.65 0.036 2605 -661.2 -194.6 - - 3885 - - - - - - - - - 26.60 -
8909 848.5 -9.1 413 8910 done -0.71 - - 2563 - - - 2605 - -194.6 - - 3884 - - - - - - - - - - -
9209 870.6 -6.5 423 9214 roll -0.71 - - 2563 - 1.92 0.033 1290 -684.9 -194.6 - - 3882 - - - - - - - - - 26.53 -
9236 870.6 -6.5 423 9243 done -0.71 - - 2563 - 2.05 0.047 2592 635.1 -194.6 - - 3882 - - - - - - - - - 26.37 -
9541 888.4 -5.3 434 9543 done -0.71 - - 2562 - - - 2593 - -194.6 - - 3881 - - - - - - - - - - -
9843 907.5 -7.1 444 9848 roll -0.71 - - 2563 - 1.95 0.033 1282 -672.3 -194.6 - - 3879 - - - - - - - - - 26.52 -
9889 910.4 -7.5 445 9894 done -0.71 - - 2563 - 2.05 0.048 2582 634.1 -194.6 - - 3879 - - - - - - - - - 26.36 -
10208 941.9 -10.2 456 10209 done -0.72 - - 2562 - - - 2582 - -194.6 - - 3878 - - - - - - - - - - -
10507 973.5 -10.4 466 10512 roll -0.73 - - 2563 - 1.77 0.060 3694 628.2 -194.6 - - 3877 - - - - - - - - - 26.29 -
10584 980.1 -10.2 468 10589 done -0.76 - - 2563 - 1.65 0.037 2592 -667.9 -194.6 - - 3877 - - - - - - - - - 26.57 -
10690 end dive: TARGET_DEPTH_EXCEEDED
10690 begin apogee
10695 991.9 -9.7 472 10856 roll -0.12 0.55 0.108 2753 345.5 - - 1935 - - 155.10 1.437 3121 -4.9 0.359 - - - - - - 26.06 - 23.51
10857 end apogee: CONTROL_FINISHED_OK
10857 begin climb
10859 1000.4 - 477 11046 roll 0.46 0.55 0.054 2964 383.6 2.28 0.039 544 -610.1 194.6 176.62 1.401 2325 -4.5 0.343 - - - - - - 24.74 24.72 22.99
11074 992.6 7.5 484 11118 done 0.43 - - 2964 - 2.30 0.037 1939 606.5 235.3 37.47 1.338 2161 -4.4 0.346 - - - - - - - 24.56 23.21
11446 942.5 13.0 497 11452 roll 0.40 0.12 0.154 2929 -291.7 2.17 0.039 554 -638.2 235.3 - - 2152 - - - - - - - - 25.68 25.76 -
11583 929.7 10.3 501 11589 done 0.41 - - 2929 - 2.15 0.037 1947 647.9 235.3 - - 2149 - - - - - - - - - 25.93 -
11903 899.8 8.3 512 11922 roll 0.42 - - 2929 - 2.30 0.054 3350 610.0 248.6 11.57 1.232 2107 -3.6 0.283 - - - - - - - 25.89 24.77
11969 894.3 8.2 514 11995 done 0.43 - - 2929 - 2.15 0.032 1964 -644.7 264.0 15.40 1.263 2044 -4.1 0.309 - - - - - - - 25.98 24.51
12294 870.6 7.0 525 12348 done 0.48 - - 2929 - - - 1964 - 320.8 51.50 1.334 1813 -4.5 0.312 - - - - - - - - 23.99
12626 845.7 8.1 536 12645 done 0.53 0.12 0.092 2997 566.7 - - 1960 - 338.7 16.35 1.250 1740 -4.5 0.322 - - - - - - 25.98 - 24.44
12926 799.9 16.4 546 12933 roll 0.49 0.12 0.151 2956 -341.7 2.28 0.051 3354 611.4 338.7 - - 1736 - - - - - - - - 25.90 25.95 -
12969 794.4 16.3 547 12975 done 0.45 - - 2956 - 2.15 0.033 1957 -649.8 338.7 - - 1736 - - - - - - - - - 26.07 -
13293 749.7 13.1 558 13295 done 0.45 - - 2956 - - - 1957 - 338.7 - - 1734 - - - - - - - - - - -
13592 714.7 10.8 568 13599 roll 0.45 - - 2956 - 2.17 0.042 537 -654.4 338.7 - - 1735 - - - - - - - - - 26.25 -
13610 714.7 10.8 568 13615 done 0.45 - - 2956 - 2.20 0.039 1969 650.9 338.7 - - 1734 - - - - - - - - - 26.26 -
13928 683.1 9.4 579 13934 roll 0.47 - - 2956 - 2.17 0.053 3355 638.7 338.7 - - 1734 - - - - - - - - - 26.25 -
13992 676.5 9.8 581 13998 done 0.47 - - 2956 - 2.10 0.033 1972 -658.6 338.7 - - 1734 - - - - - - - - - 26.38 -
14326 643.0 10.6 592 14332 roll 0.48 - - 2956 - 2.22 0.053 3358 624.3 338.7 - - 1733 - - - - - - - - - 26.29 -
14363 638.8 11.1 593 14368 done 0.48 - - 2956 - 2.08 0.033 1982 -661.5 338.7 - - 1733 - - - - - - - - - 26.41 -
14692 599.8 11.8 604 14697 roll 0.49 - - 2956 - 2.20 0.041 537 -656.8 338.7 - - 1733 - - - - - - - - - 26.36 -
14734 595.0 11.3 606 14739 done 0.52 - - 2956 - 2.25 0.038 2003 651.6 338.7 - - 1732 - - - - - - - - - 26.37 -
15057 562.3 9.3 622 15062 roll 0.55 - - 2956 - 2.10 0.053 3350 641.4 338.7 - - 1733 - - - - - - - - - 26.32 -
15088 559.9 9.4 623 15094 done 0.57 - - 2956 - 2.05 0.033 1986 -665.4 338.7 - - 1733 - - - - - - - - - 26.46 -
15401 532.6 8.3 639 15415 done 0.60 0.10 0.109 3013 570.0 - - 1982 - 351.5 11.50 1.049 1688 -3.9 0.212 - - - - - - 26.58 - 25.17
15703 491.3 14.7 654 15708 roll 0.56 0.12 0.149 2972 -341.7 2.22 0.039 535 -651.8 351.5 - - 1686 - - - - - - - - 26.19 26.27 -
15740 488.2 14.2 655 15746 done 0.54 - - 2971 - 2.25 0.038 2007 654.2 351.5 - - 1686 - - - - - - - - - 26.27 -
16046 449.7 12.4 671 16051 roll 0.55 - - 2972 - 2.10 0.053 3350 639.5 351.5 - - 1686 - - - - - - - - - 26.25 -
16092 444.1 13.0 673 16097 done 0.55 - - 2971 - 2.05 0.033 1987 -664.9 351.5 - - 1686 - - - - - - - - - 26.39 -
16410 405.5 11.2 689 16415 roll 0.56 - - 2972 - 2.20 0.041 542 -656.8 351.5 - - 1686 - - - - - - - - - 26.34 -
16447 403.2 10.9 690 16454 done 0.58 - - 2972 - 2.22 0.038 2004 658.6 351.5 - - 1686 - - - - - - - - - 26.35 -
16753 380.1 5.5 706 16848 roll 0.66 0.12 0.093 3051 658.3 2.30 0.052 3349 584.8 456.9 88.28 1.016 1256 -4.9 0.194 - - - - - - 26.54 25.02 24.19
16860 367.3 13.6 711 16866 done 0.60 0.20 0.138 2994 -285.0 2.15 0.033 1994 -630.2 456.9 - - 1257 - - - - - - - - 25.11 25.25 -
17179 332.2 9.5 727 17184 roll 0.63 - - 2996 - 2.28 0.041 534 -640.4 456.9 - - 1253 - - - - - - - - - 25.89 -
17225 328.8 8.7 729 17232 done 0.68 - - 2996 - 2.25 0.037 1990 647.1 456.9 - - 1252 - - - - - - - - - 25.94 -
17544 300.6 10.7 745 17550 roll 0.72 0.10 0.108 3055 590.0 2.15 0.050 3355 634.9 456.9 - - 1252 - - - - - - - - 26.25 26.06 -
17582 297.0 12.3 746 17589 done 0.74 - - 3062 - 2.10 0.032 1986 -651.9 456.9 - - 1253 - - - - - - - - - 26.17 -
17888 232.6 18.1 762 17894 roll 0.68 0.12 0.168 3023 -325.0 2.22 0.040 541 -650.9 456.9 - - 1251 - - - - - - - - 26.09 26.19 -
17940 227.3 14.7 764 17946 done 0.66 - - 3023 - 2.22 0.037 1991 653.2 456.9 - - 1251 - - - - - - - - - 26.21 -
18253 192.7 17.0 780 18259 roll 0.68 - - 3023 - 2.15 0.050 3357 635.3 456.9 - - 1251 - - - - - - - - - 26.21 -
18286 188.4 17.7 781 18291 done 0.70 - - 3024 - 2.12 0.032 1958 -659.9 456.9 - - 1251 - - - - - - - - - 26.34 -
18599 151.0 6.8 797 18652 done 0.75 - - 3023 - - - 1958 - 519.6 50.53 0.842 1002 -4.9 0.094 - - - - - - - - 24.82
18939 110.6 10.4 814 18941 done 0.82 0.12 0.091 3093 583.3 - - 1957 - 519.6 - - 999 - - - - - - - - 26.09 - -
19239 76.6 16.4 829 19244 roll 0.83 - - 3093 - 2.17 0.041 539 -653.5 519.6 - - 998 - - - - - - - - - 26.11 -
19281 68.4 18.8 831 19286 done 0.87 - - 3093 - 2.20 0.035 1982 655.9 519.6 - - 997 - - - - - - - - - 26.15 -
19594 44.2 1.5 856 19722 roll 1.11 0.15 0.085 3175 546.7 2.25 0.048 3347 606.7 760.8 114.47 0.724 458 -4.7 0.031 - - - - 1 - 26.34 25.14 24.49
19760 30.8 10.1 872 19765 done 1.15 - - 3175 - 2.10 0.030 1991 -645.7 760.8 - - 459 - - - - - - - - - 25.47 -
20073 4.6 9.8 903 20078 roll 1.22 - - 3175 - 2.25 0.041 531 -648.9 760.8 - - 459 - - - - - - - - - 25.95 -
20093 end climb: SURFACE_DEPTH_REACHED
20094 begin surface coast
20124 end surface coast: CONTROL_FINISHED_OK
20125 begin surface
SM 1.96 - - - - -8.27 8.00 0.048 139 -379.5 3.42 0.038 2688 630.7 652.99 - - 459 - - - - - - - -