OKMC Apr12 * SG170 * Dive index * Mission links * Dive 86 * Raw log
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• Previous call tries 5 • 18.41 of 146.00 AH used of 24V (87.39% remains)
• Previous NAKs 0, Timeouts 0 • 7.73 of 97.50 AH used of 10V (92.07% remains)
• Surface angle -73.8 deg, depth 1.99 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 653.23, SM_CC=652.74329)
• GPS1 time: 41 s
• GPS2 time: 18 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
18 - - - 102 VBD -0.46 - - 132 - - - 2697 - -194.6 -81.85 - 2678 - - - - - - - - - - -
105 3.1 -2.6 8 148 roll -0.46 10.45 0.250 2642 240.2 2.20 0.045 1272 -647.7 -194.6 -24.55 - 3923 -50.7 - - - - - - - 25.70 26.26 26.61
245 32.6 -15.3 21 253 done -0.40 - - 2643 - 2.20 0.047 2685 642.3 -194.6 - - 3925 - - - - - - - - - 26.20 -
552 86.9 -15.3 42 557 roll -0.40 - - 2642 - 1.60 0.057 3702 635.6 -194.6 - - 3928 - - - - - - - - - 26.27 -
658 98.0 -10.4 47 663 done -0.43 - - 2643 - 1.50 0.031 2657 -696.7 -194.6 - - 3929 - - - - - - - - - 26.48 -
975 122.4 -9.2 63 981 roll -0.45 - - 2643 - 2.00 0.032 1292 -682.5 -194.6 - - 3929 - - - - - - - - - 26.46 -
1053 127.4 -8.0 66 1060 done -0.49 - - 2643 - 2.17 0.046 2693 645.6 -194.6 - - 3929 - - - - - - - - - 26.37 -
1359 145.2 -5.8 82 1365 roll -0.53 - - 2643 - 2.08 0.031 1292 -673.6 -194.6 - - 3928 - - - - - - - - - 26.50 -
1393 146.7 -6.0 83 1398 done -0.58 - - 2643 - 2.12 0.046 2676 652.8 -194.6 - - 3928 - - - - - - - - - 26.41 -
1706 168.7 -6.6 99 1712 roll -0.63 0.12 0.087 2564 -658.3 2.03 0.029 1297 -679.3 -194.6 - - 3926 - - - - - - - - 26.63 26.53 -
1754 173.1 -8.5 101 1759 done -0.64 - - 2564 - 2.10 0.047 2662 650.0 -194.6 - - 3926 - - - - - - - - - 26.43 -
2072 218.5 -13.2 117 2078 roll -0.59 0.12 0.162 2605 341.7 1.62 0.055 3699 640.1 -194.6 - - 3925 - - - - - - - - 26.39 26.43 -
2116 223.4 -12.2 119 2121 done -0.55 - - 2605 - 1.52 0.032 2644 -694.1 -194.6 - - 3924 - - - - - - - - - 26.62 -
2438 247.9 -7.5 135 2444 roll -0.55 - - 2605 - 1.65 0.056 3696 637.6 -194.6 - - 3923 - - - - - - - - - 26.44 -
2467 249.6 -7.5 136 2472 done -0.57 - - 2605 - 1.50 0.033 2660 -690.7 -194.6 - - 3922 - - - - - - - - - 26.63 -
2784 275.4 -9.0 152 2789 roll -0.59 - - 2605 - 2.00 0.032 1281 -689.5 -194.6 - - 3920 - - - - - - - - - 26.57 -
2893 284.6 -8.9 157 2899 done -0.63 - - 2605 - 2.15 0.046 2670 646.0 -194.6 - - 3919 - - - - - - - - - 26.48 -
3211 312.6 -8.8 173 3216 roll -0.65 - - 2605 - 2.05 0.030 1287 -674.6 -194.6 - - 3917 - - - - - - - - - 26.58 -
3294 319.7 -8.5 177 3300 done -0.68 - - 2605 - 2.10 0.044 2656 651.9 -194.6 - - 3917 - - - - - - - - - 26.49 -
3618 344.6 -6.7 193 3623 roll -0.71 - - 2605 - 2.03 0.031 1291 -672.4 -194.6 - - 3914 - - - - - - - - - 26.58 -
3704 349.8 -6.2 197 3710 done -0.74 0.15 0.085 2529 -506.7 2.08 0.045 2648 652.4 -194.6 - - 3913 - - - - - - - - 26.51 26.49 -
4023 392.4 -14.4 213 4029 roll -0.66 0.17 0.155 2585 329.4 1.65 0.054 3696 635.2 -194.6 - - 3911 - - - - - - - - 26.31 26.45 -
4086 399.6 -12.0 216 4093 done -0.64 - - 2586 - 1.55 0.033 2642 -680.0 -194.6 - - 3911 - - - - - - - - - 26.65 -
4410 430.3 -10.1 232 4415 roll -0.64 - - 2586 - 1.98 0.031 1282 -686.9 -194.6 - - 3908 - - - - - - - - - 26.58 -
4456 434.6 -10.1 234 4462 done -0.65 - - 2586 - 2.08 0.047 2630 648.1 -194.6 - - 3908 - - - - - - - - - 26.48 -
4774 466.3 -10.2 250 4779 roll -0.66 - - 2586 - 2.00 0.032 1287 -671.5 -194.6 - - 3906 - - - - - - - - - 26.58 -
4851 472.8 -10.5 253 4858 done -0.68 - - 2586 - 2.05 0.045 2625 652.7 -194.6 - - 3906 - - - - - - - - - 26.49 -
5157 505.0 -10.2 269 5162 roll -0.70 - - 2586 - 2.00 0.031 1281 -672.0 -194.6 - - 3905 - - - - - - - - - 26.58 -
5228 511.4 -10.2 272 5234 done -0.72 - - 2586 - 2.05 0.047 2611 648.8 -194.6 - - 3904 - - - - - - - - - 26.48 -
5541 541.8 -9.4 288 5547 roll -0.74 - - 2586 - 1.70 0.059 3690 634.7 -194.6 - - 3902 - - - - - - - - - 26.42 -
5589 545.7 -9.3 290 5594 done -0.76 - - 2586 - 1.60 0.034 2620 -668.8 -194.6 - - 3902 - - - - - - - - - 26.64 -
5907 573.9 -8.4 306 5912 roll -0.78 0.12 0.098 2516 -583.3 1.95 0.030 1278 -688.2 -194.6 - - 3899 - - - - - - - - 26.67 26.58 -
5949 578.9 -9.8 308 5955 done -0.78 0.12 0.163 2550 283.3 2.08 0.047 2612 641.3 -194.6 - - 3899 - - - - - - - - 26.25 26.46 -
6272 611.5 -9.4 322 6278 roll -0.76 - - 2553 - 1.98 0.033 1275 -675.3 -194.6 - - 3897 - - - - - - - - - 26.57 -
6309 614.6 -9.3 323 6314 done -0.74 - - 2550 - 2.08 0.048 2617 645.2 -194.6 - - 3897 - - - - - - - - - 26.45 -
6638 642.4 -8.2 334 6639 done -0.72 - - 2550 - - - 2617 - -194.6 - - 3896 - - - - - - - - - - -
6937 667.8 -8.6 344 6942 roll -0.70 - - 2550 - 1.70 0.059 3690 631.2 -194.6 - - 3895 - - - - - - - - - 26.39 -
6970 670.8 -8.7 345 6975 done -0.68 - - 2550 - 1.62 0.036 2604 -670.4 -194.6 - - 3894 - - - - - - - - - 26.62 -
7303 703.6 -10.3 356 7305 done -0.67 0.12 0.150 2588 316.7 - - 2603 - -194.6 - - 3893 - - - - - - - - 26.50 - -
7604 729.4 -8.6 366 7605 done -0.70 - - 2588 - - - 2603 - -194.6 - - 3892 - - - - - - - - - - -
7903 753.5 -7.8 376 7908 roll -0.74 - - 2589 - 1.95 0.033 1287 -674.9 -194.6 - - 3890 - - - - - - - - - 26.55 -
7950 755.8 -7.5 377 7956 done -0.77 0.12 0.090 2522 -558.3 2.05 0.047 2601 641.0 -194.6 - - 3889 - - - - - - - - 26.45 26.44 -
8269 790.4 -10.7 388 8276 roll -0.73 0.12 0.151 2564 350.0 1.73 0.057 3688 628.3 -194.6 - - 3888 - - - - - - - - 26.45 26.36 -
8339 795.9 -9.6 390 8344 done -0.72 - - 2564 - 1.62 0.036 2593 -675.9 -194.6 - - 3888 - - - - - - - - - 26.61 -
8666 822.4 -8.3 401 8668 done -0.72 - - 2564 - - - 2593 - -194.6 - - 3886 - - - - - - - - - - -
8966 847.6 -8.5 411 8971 roll -0.72 - - 2564 - 1.77 0.060 3691 620.3 -194.6 - - 3885 - - - - - - - - - 26.34 -
9008 850.2 -8.4 412 9013 done -0.73 - - 2564 - 1.65 0.037 2601 -660.6 -194.6 - - 3885 - - - - - - - - - 26.60 -
9331 874.2 -6.7 423 9338 roll -0.73 - - 2564 - 1.95 0.034 1274 -680.5 -194.6 - - 3885 - - - - - - - - - 26.52 -
9354 874.2 -6.7 423 9360 done -0.73 - - 2564 - 2.08 0.049 2605 639.9 -194.6 - - 3884 - - - - - - - - - 26.39 -
9668 893.9 -5.6 434 9669 done -0.74 - - 2564 - - - 2606 - -194.6 - - 3884 - - - - - - - - - - -
9967 908.9 -4.9 444 9973 roll -0.76 - - 2564 - 1.70 0.060 3687 635.9 -194.6 - - 3883 - - - - - - - - - 26.32 -
10004 910.4 -4.9 445 10009 done -0.77 - - 2564 - 1.60 0.037 2613 -671.2 -194.6 - - 3882 - - - - - - - - - 26.58 -
10333 927.4 -5.4 456 10334 done -0.79 - - 2564 - - - 2613 - -194.6 - - 3881 - - - - - - - - - - -
10632 946.6 -6.7 466 10633 done -0.80 - - 2564 - - - 2613 - -194.6 - - 3880 - - - - - - - - - - -
10932 970.0 -8.2 476 10933 done -0.82 - - 2564 - - - 2613 - -194.6 - - 3879 - - - - - - - - - - -
11170 end dive: TARGET_DEPTH_EXCEEDED
11170 begin apogee
11175 990.9 -9.0 484 11336 roll -0.12 0.55 0.106 2754 345.5 - - 1923 - - 155.35 1.435 3121 -4.9 0.359 - - - - - - 26.08 - 23.51
11337 end apogee: CONTROL_FINISHED_OK
11337 begin climb
11339 999.8 - 489 11526 roll 0.46 0.55 0.059 2960 374.5 2.25 0.041 544 -612.9 194.6 176.88 1.395 2325 -4.5 0.344 - - - - - - 24.70 24.70 22.99
11538 994.4 6.2 496 11625 done 0.46 - - 2960 - 2.35 0.039 1939 593.6 278.6 76.55 1.362 1983 -4.5 0.348 - - - - - - - 24.34 22.99
11923 947.1 13.0 509 11928 roll 0.46 - - 2965 - 2.22 0.044 555 -623.4 278.6 - - 1976 - - - - - - - - - 25.66 -
12065 930.5 13.6 513 12071 done 0.46 - - 2965 - 2.20 0.037 1960 638.6 278.6 - - 1974 - - - - - - - - - 25.88 -
12379 882.0 14.8 524 12384 roll 0.45 - - 2965 - 2.20 0.052 3343 628.6 278.6 - - 1974 - - - - - - - - - 26.03 -
12412 876.7 15.1 525 12417 done 0.43 - - 2969 - 2.15 0.034 1957 -644.7 278.6 - - 1974 - - - - - - - - - 26.16 -
12746 825.4 15.2 536 12752 roll 0.41 0.12 0.157 2930 -325.0 2.20 0.042 537 -645.5 278.6 - - 1973 - - - - - - - - 26.13 26.19 -
12798 820.8 14.7 537 12803 done 0.41 - - 2930 - 2.17 0.038 1946 649.3 278.6 - - 1972 - - - - - - - - - 26.23 -
13111 786.7 9.6 548 13117 roll 0.44 - - 2930 - 2.22 0.052 3342 628.8 278.6 - - 1973 - - - - - - - - - 26.21 -
13147 783.3 9.6 549 13153 done 0.47 - - 2930 - 2.12 0.033 1940 -661.3 278.6 - - 1973 - - - - - - - - - 26.34 -
13477 749.8 10.8 560 13478 done 0.50 - - 2930 - - - 1940 - 278.6 - - 1972 - - - - - - - - - - -
13775 712.0 13.1 570 13777 done 0.53 0.12 0.094 2997 558.3 - - 1936 - 278.6 - - 1971 - - - - - - - - 26.51 - -
14076 661.5 16.7 580 14082 roll 0.49 0.12 0.153 2956 -341.7 2.15 0.041 538 -650.2 278.6 - - 1971 - - - - - - - - 26.29 26.34 -
14119 656.5 16.0 581 14124 done 0.46 - - 2956 - 2.17 0.038 1954 652.5 278.6 - - 1971 - - - - - - - - - 26.37 -
14442 620.2 9.9 592 14447 roll 0.46 - - 2956 - 2.20 0.052 3353 635.9 278.6 - - 1971 - - - - - - - - - 26.30 -
14477 616.8 9.8 593 14482 done 0.46 - - 2956 - 2.15 0.033 1949 -653.0 278.6 - - 1971 - - - - - - - - - 26.45 -
14795 594.6 5.4 605 14895 roll 0.52 - - 2956 - 2.38 0.044 531 -595.8 388.6 93.18 1.175 1536 -4.7 0.252 - - - - - - - 24.89 23.99
14919 589.1 4.2 611 15055 done 0.65 0.15 0.080 3026 466.7 2.28 0.037 1951 622.8 537.9 127.25 1.139 928 -4.8 0.264 - - - - - - 25.22 25.21 23.63
15363 542.1 12.0 633 15369 roll 0.65 - - 3032 - 2.25 0.043 539 -627.6 537.9 - - 924 - - - - - - - - - 25.72 -
15470 530.1 11.5 638 15475 done 0.67 - - 3030 - 2.12 0.037 1913 648.1 537.9 - - 923 - - - - - - - - - 25.87 -
15787 486.0 14.1 654 15793 roll 0.67 - - 3035 - 2.15 0.043 541 -638.1 537.9 - - 923 - - - - - - - - - 26.06 -
15844 480.1 14.1 656 15851 done 0.67 - - 3035 - 2.08 0.037 1897 651.9 537.9 - - 923 - - - - - - - - - 26.11 -
16150 428.6 16.8 672 16155 roll 0.67 - - 3036 - 2.12 0.044 539 -640.6 537.9 - - 922 - - - - - - - - - 26.17 -
16207 421.9 16.1 674 16213 done 0.67 - - 3036 - 2.05 0.037 1875 651.7 537.9 - - 922 - - - - - - - - - 26.22 -
16512 369.9 15.7 690 16517 roll 0.67 - - 3036 - 2.08 0.044 540 -641.8 537.9 - - 922 - - - - - - - - - 26.25 -
16555 363.7 15.3 692 16560 done 0.68 - - 3036 - 2.00 0.037 1856 658.0 537.9 - - 921 - - - - - - - - - 26.29 -
16878 319.0 13.3 708 16879 done 0.68 - - 3036 - - - 1857 - 537.9 - - 922 - - - - - - - - - - -
17178 280.0 13.4 723 17184 roll 0.68 - - 3037 - 2.05 0.043 527 -648.8 537.9 - - 921 - - - - - - - - - 26.32 -
17210 276.8 13.5 724 17215 done 0.70 - - 3036 - 2.03 0.037 1857 655.2 537.9 - - 922 - - - - - - - - - 26.36 -
17523 232.2 11.6 740 17528 roll 0.72 - - 3036 - 2.33 0.049 3340 636.5 537.9 - - 921 - - - - - - - - - 26.30 -
17569 228.1 10.2 742 17575 done 0.75 - - 3036 - 2.25 0.032 1845 -664.4 537.9 - - 921 - - - - - - - - - 26.43 -
17887 186.6 20.0 758 17893 roll 0.78 - - 3037 - 2.00 0.043 531 -657.0 537.9 - - 922 - - - - - - - - - 26.36 -
17940 177.5 21.1 760 17946 done 0.83 - - 3036 - 1.98 0.034 1856 669.2 537.9 - - 921 - - - - - - - - - 26.42 -
18254 138.8 19.3 776 18260 roll 0.90 0.12 0.093 3109 608.3 2.30 0.047 3341 645.7 537.9 - - 922 - - - - - - - - 26.56 26.33 -
18318 127.6 17.8 779 18323 done 0.91 - - 3114 - 2.28 0.031 1847 -655.3 537.9 - - 922 - - - - - - - - - 26.46 -
18640 81.4 21.7 795 18646 roll 0.91 - - 3116 - 2.00 0.042 526 -660.5 537.9 - - 923 - - - - - - - - - 26.40 -
18688 72.7 20.9 797 18693 done 0.94 - - 3116 - 2.03 0.035 1873 663.5 537.9 - - 923 - - - - - - - - - 26.45 -
19006 51.3 -1.5 813 19113 roll 1.21 0.17 0.081 3206 529.4 2.42 0.051 3342 607.0 880.1 99.12 0.733 458 -4.7 0.035 - - - - - - 26.55 25.25 24.68
19170 23.6 16.6 827 19175 done 1.24 - - 3206 - 2.28 0.030 1884 -639.5 880.1 - - 459 - - - - - - - - - 25.60 -
19341 end climb: SURFACE_DEPTH_REACHED
19341 begin surface coast
19362 end surface coast: CONTROL_FINISHED_OK
19362 begin surface
SM 2.00 - - - - -8.27 8.10 0.047 138 -378.8 1.30 0.048 2680 612.3 653.23 - - 459 - - - - - - - -