OKMC Apr12 * SG170 * Dive index * Mission links * Dive 104 * Raw log
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• Previous call tries 5 • 22.82 of 146.00 AH used of 24V (84.37% remains)
• Previous NAKs 0, Timeouts 0 • 9.81 of 97.50 AH used of 10V (89.94% remains)
• Surface angle -73.5 deg, depth 1.99 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 32 s
• GPS2 time: 15 s • Transponder ping count: 8
• 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
18 - - - 101 VBD -0.46 - - 134 - - - 2696 - -194.6 -81.28 - 2706 - - - - - - - - - - -
104 3.5 -3.3 8 147 roll -0.46 10.48 0.249 2642 239.3 1.62 0.076 3689 613.0 -194.6 -22.98 - 3924 -53.0 - - - - - - - 25.59 26.10 26.55
291 49.2 -17.8 26 297 done -0.39 0.12 0.154 2678 300.0 1.50 0.031 2681 -672.0 -194.6 - - 3926 - - - - - - - - 26.06 26.36 -
605 95.2 -13.6 42 610 roll -0.42 - - 2678 - 2.05 0.033 1293 -677.1 -194.6 - - 3928 - - - - - - - - - 26.34 -
631 98.4 -14.0 43 637 done -0.46 - - 2678 - 2.10 0.045 2659 650.5 -194.6 - - 3928 - - - - - - - - - 26.29 -
951 120.2 -6.9 59 956 roll -0.53 0.12 0.088 2596 -683.3 2.03 0.028 1294 -672.4 -194.6 - - 3929 - - - - - - - - 26.55 26.44 -
1003 125.5 -9.9 61 1008 done -0.56 - - 2596 - 2.08 0.045 2646 650.0 -194.6 - - 3929 - - - - - - - - - 26.36 -
1315 163.5 -10.3 77 1322 roll -0.53 0.12 0.158 2638 350.0 2.00 0.028 1297 -674.5 -194.6 - - 3927 - - - - - - - - 26.35 26.49 -
1353 165.3 -9.1 78 1360 done -0.51 - - 2638 - 2.08 0.045 2635 643.3 -194.6 - - 3927 - - - - - - - - - 26.40 -
1659 194.5 -8.9 94 1665 roll -0.55 - - 2638 - 1.98 0.031 1290 -679.3 -194.6 - - 3926 - - - - - - - - - 26.52 -
1773 198.6 -3.8 99 1778 done -0.60 - - 2638 - 2.05 0.045 2614 645.9 -194.6 - - 3925 - - - - - - - - - 26.44 -
2086 229.7 -9.8 115 2088 done -0.65 0.15 0.076 2551 -580.0 - - 2615 - -194.6 - - 3922 - - - - - - - - 26.65 - -
2388 270.7 -15.3 130 2393 roll -0.58 0.17 0.143 2608 335.3 1.67 0.055 3692 644.9 -194.6 - - 3919 - - - - - - - - 26.32 26.41 -
2420 274.4 -15.3 131 2425 done -0.54 - - 2608 - 1.62 0.031 2581 -685.8 -194.6 - - 3919 - - - - - - - - - 26.63 -
2733 305.2 -7.1 147 2739 roll -0.56 - - 2608 - 1.88 0.031 1293 -685.1 -194.6 - - 3917 - - - - - - - - - 26.55 -
2771 306.8 -6.8 148 2778 done -0.58 - - 2608 - 2.03 0.047 2599 643.3 -194.6 - - 3916 - - - - - - - - - 26.46 -
3077 327.4 -6.8 164 3078 done -0.61 - - 2608 - - - 2599 - -194.6 - - 3914 - - - - - - - - - - -
3377 351.4 -9.5 179 3383 roll -0.64 - - 2608 - 1.95 0.032 1295 -668.7 -194.6 - - 3912 - - - - - - - - - 26.55 -
3449 357.9 -10.2 182 3455 done -0.67 - - 2608 - 1.98 0.047 2575 646.5 -194.6 - - 3911 - - - - - - - - - 26.46 -
3764 382.3 -6.0 198 3765 done -0.70 - - 2608 - - - 2575 - -194.6 - - 3908 - - - - - - - - - - -
4064 403.9 -7.9 213 4071 roll -0.73 0.12 0.093 2535 -608.3 1.92 0.031 1292 -668.2 -194.6 - - 3906 - - - - - - - - 26.67 26.55 -
4143 411.4 -10.6 216 4150 done -0.72 0.12 0.161 2569 283.3 2.00 0.049 2572 640.0 -194.6 - - 3907 - - - - - - - - 26.26 26.44 -
4448 444.2 -9.8 232 4454 roll -0.70 - - 2569 - 1.77 0.060 3697 635.6 -194.6 - - 3903 - - - - - - - - - 26.40 -
4520 450.1 -9.5 235 4526 done -0.70 - - 2569 - 1.65 0.031 2575 -680.0 -194.6 - - 3903 - - - - - - - - - 26.65 -
4833 480.6 -10.6 251 4838 roll -0.70 - - 2569 - 1.88 0.031 1289 -684.0 -194.6 - - 3900 - - - - - - - - - 26.58 -
4870 482.9 -10.5 252 4876 done -0.70 - - 2569 - 1.98 0.046 2571 647.5 -194.6 - - 3900 - - - - - - - - - 26.44 -
5175 513.5 -8.9 268 5180 roll -0.70 - - 2568 - 1.75 0.058 3694 641.7 -194.6 - - 3898 - - - - - - - - - 26.40 -
5226 517.4 -9.0 270 5231 done -0.70 - - 2569 - 1.67 0.032 2557 -680.8 -194.6 - - 3898 - - - - - - - - - 26.65 -
5538 547.5 -9.2 286 5539 done -0.70 - - 2569 - - - 2557 - -194.6 - - 3896 - - - - - - - - - - -
5840 575.0 -9.1 301 5845 roll -0.70 - - 2569 - 1.88 0.031 1281 -678.7 -194.6 - - 3894 - - - - - - - - - 26.57 -
5866 577.2 -9.1 302 5872 done -0.70 - - 2569 - 1.98 0.047 2558 644.9 -194.6 - - 3894 - - - - - - - - - 26.43 -
6175 602.5 -7.8 317 6181 roll -0.70 - - 2569 - 1.83 0.058 3697 622.4 -194.6 - - 3891 - - - - - - - - - 26.39 -
6208 604.9 -7.7 318 6213 done -0.70 - - 2569 - 1.70 0.034 2562 -667.6 -194.6 - - 3891 - - - - - - - - - 26.63 -
6541 634.4 -10.3 329 6546 roll -0.70 - - 2569 - 1.83 0.059 3694 618.6 -194.6 - - 3889 - - - - - - - - - 26.36 -
6593 638.0 -10.7 330 6598 done -0.70 - - 2569 - 1.67 0.034 2573 -671.3 -194.6 - - 3889 - - - - - - - - - 26.61 -
6906 673.2 -10.4 341 6911 roll -0.70 - - 2569 - 1.90 0.031 1283 -678.9 -194.6 - - 3887 - - - - - - - - - 26.55 -
6962 676.5 -10.1 342 6970 done -0.70 - - 2569 - 1.98 0.047 2557 643.4 -194.6 - - 3885 - - - - - - - - - 26.40 -
7269 704.0 -8.0 353 7270 done -0.70 - - 2569 - - - 2557 - -194.6 - - 3885 - - - - - - - - - - -
7569 723.8 -6.4 363 7570 done -0.70 - - 2568 - - - 2557 - -194.6 - - 3884 - - - - - - - - - - -
7869 745.2 -7.5 373 7874 roll -0.70 - - 2569 - 1.90 0.033 1291 -666.3 -194.6 - - 3883 - - - - - - - - - 26.52 -
7911 747.6 -7.6 374 7916 done -0.70 - - 2568 - 1.95 0.045 2554 647.7 -194.6 - - 3883 - - - - - - - - - 26.41 -
8236 770.2 -6.5 385 8237 done -0.72 - - 2568 - - - 2554 - -194.6 - - 3880 - - - - - - - - - - -
8534 791.4 -7.6 395 8539 roll -0.73 - - 2569 - 1.80 0.058 3700 636.7 -194.6 - - 3879 - - - - - - - - - 26.31 -
8581 794.1 -7.8 396 8587 done -0.74 - - 2568 - 1.73 0.035 2573 -651.4 -194.6 - - 3878 - - - - - - - - - 26.59 -
8901 825.9 -10.4 407 8906 roll -0.76 - - 2569 - 1.90 0.033 1297 -671.6 -194.6 - - 3877 - - - - - - - - - 26.50 -
8948 829.6 -10.6 408 8953 done -0.78 - - 2569 - 1.98 0.047 2564 639.9 -194.6 - - 3877 - - - - - - - - - 26.36 -
9267 864.9 -10.8 419 9272 roll -0.80 - - 2569 - 1.77 0.059 3690 636.2 -194.6 - - 3877 - - - - - - - - - 26.28 -
9308 868.4 -10.6 420 9313 done -0.82 - - 2569 - 1.70 0.036 2567 -660.6 -194.6 - - 3876 - - - - - - - - - 26.55 -
9633 899.4 -8.7 431 9635 done -0.84 0.12 0.102 2511 -483.3 - - 2567 - -194.6 - - 3876 - - - - - - - - 26.64 - -
9931 932.5 -10.5 441 9933 done -0.79 0.12 0.151 2546 291.7 - - 2567 - -194.6 - - 3874 - - - - - - - - 26.45 - -
10232 956.2 -7.7 451 10237 roll -0.79 - - 2546 - 1.85 0.060 3706 615.7 -194.6 - - 3874 - - - - - - - - - 26.24 -
10258 956.2 -7.7 451 10265 done -0.79 - - 2546 - 1.73 0.037 2569 -657.2 -194.6 - - 3873 - - - - - - - - - 26.54 -
10566 980.7 -7.1 462 10571 roll -0.79 - - 2545 - 1.90 0.034 1294 -671.1 -194.6 - - 3871 - - - - - - - - - 26.46 -
10613 983.2 -7.3 463 10618 done -0.79 - - 2546 - 1.98 0.048 2557 637.9 -194.6 - - 3871 - - - - - - - - - 26.31 -
10718 end dive: TARGET_DEPTH_EXCEEDED
10718 begin apogee
10724 991.6 -6.9 467 10881 roll -0.12 0.62 0.116 2758 341.9 - - 1932 - - 153.07 1.434 3121 -4.9 0.361 - - - - - - 25.91 - 23.55
10883 end apogee: CONTROL_FINISHED_OK
10883 begin climb
10885 995.3 - 472 11070 roll 0.46 0.55 0.059 2963 372.7 2.28 0.039 544 -608.8 194.6 175.27 1.391 2327 -4.5 0.346 - - - - - - 24.72 24.71 23.01
11247 967.5 10.7 484 11253 done 0.44 - - 2963 - 2.25 0.040 1948 624.0 194.6 - - 2320 - - - - - - - - - 25.45 -
11567 934.7 9.7 495 11573 roll 0.39 0.12 0.158 2930 -275.0 2.20 0.038 548 -636.4 194.6 - - 2316 - - - - - - - - 25.88 25.97 -
11699 925.6 7.3 499 11752 done 0.42 - - 2929 - 2.20 0.039 1957 640.5 242.4 41.47 1.352 2131 -4.5 0.326 - - - - - - - 26.07 24.14
12051 902.3 6.2 511 12134 roll 0.49 - - 2929 - 2.40 0.052 3340 576.2 325.6 73.22 1.353 1792 -4.6 0.329 - - - - - - - 24.82 23.82
12202 892.1 6.8 516 12264 done 0.54 0.15 0.080 3002 486.7 2.15 0.032 1978 -633.5 388.5 55.50 1.324 1537 -4.6 0.330 - - - - - - 25.46 25.48 23.75
12561 845.4 14.3 528 12567 roll 0.51 0.12 0.156 2970 -266.7 2.28 0.041 530 -635.1 388.5 - - 1532 - - - - - - - - 25.79 25.87 -
12634 838.3 13.2 530 12640 done 0.51 - - 2970 - 2.22 0.039 1948 638.7 388.5 - - 1529 - - - - - - - - - 25.97 -
12957 798.0 13.0 541 12963 roll 0.51 - - 2970 - 2.25 0.052 3349 622.7 388.5 - - 1529 - - - - - - - - - 26.10 -
12993 793.4 13.2 542 12998 done 0.51 - - 2969 - 2.15 0.033 1944 -653.5 388.5 - - 1528 - - - - - - - - - 26.22 -
13322 749.2 13.1 553 13324 done 0.51 - - 2970 - - - 1944 - 388.5 - - 1529 - - - - - - - - - - -
13620 714.5 11.2 563 13626 roll 0.51 - - 2970 - 2.17 0.044 538 -647.9 388.5 - - 1527 - - - - - - - - - 26.28 -
13673 711.0 11.0 564 13678 done 0.52 - - 2970 - 2.20 0.039 1961 646.8 388.5 - - 1527 - - - - - - - - - 26.31 -
13986 678.9 9.3 575 13991 roll 0.52 - - 2970 - 2.20 0.052 3357 634.5 388.5 - - 1527 - - - - - - - - - 26.27 -
14049 672.1 10.1 577 14055 done 0.52 - - 2970 - 2.12 0.033 1958 -659.9 388.5 - - 1527 - - - - - - - - - 26.41 -
14383 637.1 11.0 588 14389 roll 0.52 - - 2971 - 2.20 0.044 534 -647.3 388.5 - - 1526 - - - - - - - - - 26.34 -
14440 633.3 11.1 589 14448 done 0.54 - - 2970 - 2.20 0.038 1965 650.5 388.5 - - 1526 - - - - - - - - - 26.36 -
14748 590.2 14.5 601 14753 roll 0.56 - - 2970 - 2.20 0.051 3350 629.5 388.5 - - 1526 - - - - - - - - - 26.29 -
14795 583.4 15.1 603 14800 done 0.58 - - 2970 - 2.10 0.033 1960 -661.9 388.5 - - 1526 - - - - - - - - - 26.45 -
15113 541.9 11.6 619 15118 roll 0.60 - - 2970 - 2.15 0.043 539 -660.9 388.5 - - 1526 - - - - - - - - - 26.36 -
15135 539.4 11.3 620 15140 done 0.63 - - 2970 - 2.22 0.038 1976 647.3 388.5 - - 1526 - - - - - - - - - 26.39 -
15458 509.3 9.2 636 15460 done 0.66 0.12 0.094 3037 558.3 - - 1977 - 388.5 - - 1526 - - - - - - - - 26.60 - -
15758 456.1 19.5 651 15760 done 0.60 0.15 0.145 2994 -286.7 - - 1977 - 388.5 - - 1526 - - - - - - - - 26.33 - -
16057 412.8 13.5 666 16064 roll 0.60 - - 2996 - 2.25 0.042 530 -643.1 388.5 - - 1526 - - - - - - - - - 26.36 -
16095 409.7 13.3 667 16102 done 0.60 - - 2995 - 2.22 0.038 1980 653.2 388.5 - - 1526 - - - - - - - - - 26.40 -
16400 375.1 9.0 683 16406 roll 0.60 - - 2995 - 2.15 0.050 3349 636.7 388.5 - - 1526 - - - - - - - - - 26.30 -
16437 373.0 8.9 684 16443 done 0.60 - - 2996 - 2.10 0.033 1953 -664.8 388.5 - - 1526 - - - - - - - - - 26.48 -
16743 347.4 8.2 700 16764 roll 0.63 - - 2996 - 2.22 0.043 541 -636.0 405.8 14.48 0.946 1466 -4.1 0.162 - - - - - - - 26.27 25.16
16791 343.4 9.0 702 16796 done 0.65 - - 2996 - 2.20 0.038 1966 647.7 405.8 - - 1465 - - - - - - - - - 26.23 -
17109 309.5 9.3 718 17114 roll 0.68 - - 2996 - 2.17 0.050 3344 635.0 405.8 - - 1465 - - - - - - - - - 26.17 -
17141 307.4 9.0 719 17146 done 0.71 - - 2994 - 2.10 0.032 1951 -663.3 405.8 - - 1465 - - - - - - - - - 26.34 -
17454 284.2 6.8 735 17515 roll 0.78 0.12 0.093 3076 683.3 2.25 0.041 535 -629.3 469.3 53.35 0.940 1206 -4.9 0.157 - - - - - - 26.48 25.46 24.58
17539 273.2 13.3 739 17545 done 0.76 0.12 0.143 3041 -291.7 2.28 0.037 1964 626.8 469.3 - - 1206 - - - - - - - - 25.45 25.58 -
17862 226.8 13.3 755 17868 roll 0.76 - - 3041 - 2.20 0.050 3342 626.4 469.3 - - 1203 - - - - - - - - - 25.90 -
17879 226.8 13.3 755 17886 done 0.76 - - 3042 - 2.10 0.032 1968 -654.3 469.3 - - 1203 - - - - - - - - - 26.04 -
18185 189.7 10.1 771 18190 roll 0.76 - - 3042 - 2.20 0.041 541 -648.6 469.3 - - 1203 - - - - - - - - - 26.10 -
18248 183.9 9.6 774 18253 done 0.79 - - 3042 - 2.17 0.036 1947 647.9 469.3 - - 1202 - - - - - - - - - 26.15 -
18571 145.0 12.4 790 18577 roll 0.81 - - 3042 - 2.17 0.048 3342 642.9 469.3 - - 1203 - - - - - - - - - 26.15 -
18625 139.3 12.8 792 18630 done 0.84 - - 3042 - 2.12 0.031 1930 -666.0 469.3 - - 1203 - - - - - - - - - 26.31 -
18938 108.6 9.1 808 18940 done 0.89 0.12 0.091 3109 558.3 - - 1930 - 469.3 - - 1203 - - - - - - - - 26.46 - -
19238 72.8 7.9 823 19267 roll 0.93 - - 3109 - 2.15 0.042 541 -646.0 496.0 21.88 0.747 1098 -4.8 0.050 - - - - - - - 26.10 25.25
19304 67.7 8.2 826 19324 done 0.99 - - 3109 - 2.17 0.036 1954 651.2 513.0 14.93 0.713 1029 -4.6 0.047 - - - - - - - 26.10 25.07
19632 43.4 6.2 848 19707 roll 1.15 0.15 0.088 3176 446.7 2.33 0.047 3348 598.3 595.8 66.75 0.719 691 -5.1 0.033 - - - - - - 26.19 25.35 24.65
19764 31.5 9.7 860 19773 done 1.36 0.17 0.080 3244 400.0 2.10 0.031 1978 -652.4 595.8 - - 690 - - - - - - - - 25.60 25.68 -
20059 end climb: SURFACE_DEPTH_REACHED
20060 begin surface coast
20081 end surface coast: CONTROL_FINISHED_OK
20081 begin surface
SM 1.98 - - - - -8.29 8.15 0.047 133 -381.7 1.15 0.046 2692 620.9 652.74 27.92 0.060 459 -8.3 0.028 - - - - - -