OKMC Apr12 * SG170 * Dive index * Mission links * Dive 102 * Raw log
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• Previous call tries 5 • 22.34 of 146.00 AH used of 24V (84.70% remains)
• Previous NAKs 0, Timeouts 0 • 9.56 of 97.50 AH used of 10V (90.19% remains)
• Surface angle -74.8 deg, depth 1.93 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 40 s
• GPS2 time: 19 s • Transponder ping count: 60
• 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 - - 139 - - - 2675 - -194.6 -81.47 - 2729 - - - - - - - - - - -
105 3.6 -3.6 8 142 roll -0.46 10.60 0.250 2642 236.1 1.70 0.076 3681 591.8 -194.6 -21.27 - 3926 -56.3 - - - - - - - 25.49 25.96 26.41
215 32.6 -21.9 18 223 done -0.37 0.12 0.156 2677 291.7 1.50 0.029 2680 -667.3 -194.6 - - 3928 - - - - - - - - 25.91 26.21 -
532 74.9 -7.2 39 537 roll -0.40 - - 2678 - 2.05 0.031 1295 -675.6 -194.6 - - 3930 - - - - - - - - - 26.30 -
584 77.0 -5.2 41 590 done -0.45 - - 2677 - 2.17 0.046 2690 642.9 -194.6 - - 3930 - - - - - - - - - 26.23 -
897 105.4 -8.1 57 904 roll -0.52 0.12 0.088 2594 -691.7 2.08 0.029 1298 -669.2 -194.6 - - 3929 - - - - - - - - 26.51 26.40 -
966 110.3 -7.1 60 972 done -0.53 0.12 0.153 2628 283.3 2.15 0.046 2681 643.3 -194.6 - - 3929 - - - - - - - - 26.16 26.33 -
1285 133.8 -5.9 76 1290 roll -0.55 - - 2629 - 2.05 0.031 1285 -681.0 -194.6 - - 3928 - - - - - - - - - 26.46 -
1332 137.5 -7.7 78 1338 done -0.58 - - 2629 - 2.12 0.045 2662 649.5 -194.6 - - 3928 - - - - - - - - - 26.39 -
1651 166.1 -8.7 94 1656 roll -0.61 - - 2629 - 2.03 0.031 1285 -678.3 -194.6 - - 3926 - - - - - - - - - 26.50 -
1688 168.2 -8.9 95 1695 done -0.65 0.12 0.084 2555 -616.7 2.12 0.046 2659 648.1 -194.6 - - 3926 - - - - - - - - 26.45 26.42 -
1994 214.5 -13.9 111 2000 roll -0.60 0.15 0.150 2604 326.7 2.00 0.029 1297 -681.0 -194.6 - - 3923 - - - - - - - - 26.34 26.53 -
2052 219.4 -12.6 113 2060 done -0.57 - - 2604 - 2.08 0.046 2639 645.2 -194.6 - - 3922 - - - - - - - - - 26.44 -
2358 248.4 -9.2 129 2359 done -0.59 - - 2604 - - - 2639 - -194.6 - - 3919 - - - - - - - - - - -
2659 276.1 -9.2 144 2660 done -0.60 - - 2604 - - - 2639 - -194.6 - - 3917 - - - - - - - - - - -
2959 303.8 -9.3 159 2964 roll -0.63 - - 2604 - 1.98 0.032 1294 -679.3 -194.6 - - 3913 - - - - - - - - - 26.56 -
3011 307.8 -9.2 161 3017 done -0.66 - - 2604 - 2.08 0.044 2637 645.7 -194.6 - - 3913 - - - - - - - - - 26.47 -
3325 334.0 -7.8 177 3330 roll -0.69 - - 2604 - 1.98 0.031 1290 -680.3 -194.6 - - 3910 - - - - - - - - - 26.57 -
3369 337.2 -7.5 179 3375 done -0.72 0.12 0.090 2534 -583.3 2.08 0.044 2625 641.8 -194.6 - - 3909 - - - - - - - - 26.48 26.48 -
3692 380.3 -14.5 195 3699 roll -0.66 0.15 0.148 2584 333.3 1.67 0.054 3693 639.5 -194.6 - - 3906 - - - - - - - - 26.39 26.43 -
3797 391.1 -9.6 200 3804 done -0.68 - - 2584 - 1.58 0.033 2640 -666.5 -194.6 - - 3905 - - - - - - - - - 26.63 -
4121 420.2 -8.6 216 4127 roll -0.68 - - 2584 - 1.98 0.031 1281 -686.4 -194.6 - - 3903 - - - - - - - - - 26.56 -
4178 423.8 -8.4 218 4185 done -0.69 - - 2584 - 2.10 0.046 2633 643.8 -194.6 - - 3902 - - - - - - - - - 26.47 -
4484 451.5 -8.9 234 4489 roll -0.69 - - 2584 - 2.00 0.032 1280 -676.5 -194.6 - - 3899 - - - - - - - - - 26.55 -
4531 455.3 -8.8 236 4536 done -0.71 - - 2585 - 2.10 0.047 2625 640.5 -194.6 - - 3898 - - - - - - - - - 26.45 -
4849 485.3 -9.3 252 4850 done -0.72 - - 2584 - - - 2625 - -194.6 - - 3896 - - - - - - - - - - -
5149 511.8 -8.7 267 5155 roll -0.73 - - 2584 - 1.70 0.057 3702 633.5 -194.6 - - 3894 - - - - - - - - - 26.40 -
5187 513.9 -8.5 268 5193 done -0.75 - - 2584 - 1.62 0.034 2608 -675.3 -194.6 - - 3894 - - - - - - - - - 26.64 -
5493 539.7 -7.9 284 5498 roll -0.77 - - 2584 - 1.95 0.032 1271 -685.6 -194.6 - - 3891 - - - - - - - - - 26.55 -
5587 546.1 -7.7 288 5592 done -0.79 0.12 0.091 2521 -525.0 2.08 0.047 2601 639.4 -194.6 - - 3890 - - - - - - - - 26.44 26.44 -
5900 585.8 -13.2 304 5906 roll -0.73 0.12 0.154 2562 341.7 1.73 0.056 3693 631.2 -194.6 - - 3888 - - - - - - - - 26.43 26.38 -
5958 590.7 -12.4 306 5965 done -0.69 - - 2562 - 1.62 0.034 2602 -673.5 -194.6 - - 3887 - - - - - - - - - 26.62 -
6284 624.0 -9.7 319 6289 roll -0.69 - - 2562 - 1.95 0.036 1273 -681.5 -194.6 - - 3886 - - - - - - - - - 26.32 -
6310 624.0 -9.7 319 6317 done -0.69 - - 2562 - 2.10 0.047 2612 637.6 -194.6 - - 3885 - - - - - - - - - 26.41 -
6616 655.9 -9.6 330 6617 done -0.69 - - 2562 - - - 2612 - -194.6 - - 3884 - - - - - - - - - - -
6916 685.1 -10.1 340 6917 done -0.69 - - 2562 - - - 2613 - -194.6 - - 3882 - - - - - - - - - - -
7217 716.6 -10.8 350 7222 roll -0.69 - - 2562 - 1.98 0.034 1285 -670.7 -194.6 - - 3880 - - - - - - - - - 26.52 -
7258 720.5 -11.0 351 7263 done -0.69 - - 2562 - 2.08 0.047 2608 636.1 -194.6 - - 3879 - - - - - - - - - 26.40 -
7582 757.9 -11.5 362 7588 roll -0.69 - - 2562 - 2.00 0.033 1278 -665.0 -194.6 - - 3878 - - - - - - - - - 26.51 -
7629 761.6 -11.2 363 7634 done -0.69 - - 2562 - 2.10 0.047 2607 632.9 -194.6 - - 3878 - - - - - - - - - 26.39 -
7946 795.3 -9.6 374 7952 roll -0.69 - - 2562 - 2.00 0.034 1278 -664.5 -194.6 - - 3876 - - - - - - - - - 26.50 -
7968 795.3 -9.6 374 7973 done -0.69 - - 2562 - 2.08 0.048 2597 634.1 -194.6 - - 3877 - - - - - - - - - 26.36 -
8282 822.2 -7.5 385 8283 done -0.69 - - 2562 - - - 2597 - -194.6 - - 3878 - - - - - - - - - - -
8581 843.9 -7.2 395 8582 done -0.69 - - 2562 - - - 2597 - -194.6 - - 3875 - - - - - - - - - - -
8881 866.8 -7.8 405 8882 done -0.69 - - 2563 - - - 2597 - -194.6 - - 3874 - - - - - - - - - - -
9180 893.4 -9.2 415 9186 roll -0.69 - - 2562 - 1.98 0.034 1277 -666.7 -194.6 - - 3872 - - - - - - - - - 26.48 -
9249 899.5 -9.5 417 9254 done -0.69 - - 2562 - 2.08 0.048 2592 632.2 -194.6 - - 3872 - - - - - - - - - 26.34 -
9578 931.5 -9.4 428 9579 done -0.71 - - 2562 - - - 2591 - -194.6 - - 3871 - - - - - - - - - - -
9878 957.0 -8.1 438 9879 done -0.72 - - 2562 - - - 2592 - -194.6 - - 3869 - - - - - - - - - - -
10177 979.5 -7.5 448 10178 done -0.72 - - 2562 - - - 2592 - -194.6 - - 3868 - - - - - - - - - - -
10325 end dive: TARGET_DEPTH_EXCEEDED
10325 begin apogee
10331 990.8 -7.5 453 10491 roll -0.12 0.57 0.110 2759 345.6 - - 1924 - - 153.32 1.433 3120 -4.9 0.360 - - - - - - 25.98 - 23.58
10492 end apogee: CONTROL_FINISHED_OK
10492 begin climb
10494 997.0 - 458 10676 done 0.46 0.50 0.054 2966 414.0 - - 1924 - 194.6 174.88 1.395 2326 -4.5 0.346 - - - - - - 24.76 - 23.05
10989 958.6 9.9 475 10995 roll 0.42 - - 2966 - 2.35 0.052 3352 607.7 194.6 - - 2318 - - - - - - - - - 25.72 -
11132 944.8 11.2 479 11138 done 0.35 0.20 0.148 2913 -265.0 2.17 0.034 1956 -643.3 194.6 - - 2316 - - - - - - - - 25.71 25.99 -
11447 921.1 6.6 490 11511 done 0.40 - - 2913 - - - 1956 - 265.2 61.83 1.367 2039 -4.5 0.322 - - - - - - - - 23.96
11807 897.8 6.3 502 11881 done 0.49 0.12 0.088 2983 583.3 - - 1951 - 346.0 71.53 1.350 1710 -4.6 0.326 - - - - - - 26.05 - 23.84
12166 855.9 12.1 514 12168 done 0.46 0.12 0.147 2948 -291.7 - - 1951 - 346.0 - - 1703 - - - - - - - - 25.83 - -
12467 829.5 8.6 524 12472 roll 0.48 - - 2948 - 2.25 0.052 3354 623.6 349.9 - - 1702 - - - - - - - - - 26.06 -
12500 826.3 8.8 525 12505 done 0.50 - - 2954 - 2.17 0.034 1954 -645.2 349.9 - - 1702 - - - - - - - - - 26.19 -
12835 796.6 8.8 536 12836 done 0.52 - - 2954 - - - 1954 - 349.9 - - 1701 - - - - - - - - - - -
13132 769.7 8.9 546 13133 done 0.54 - - 2954 - - - 1954 - 349.9 - - 1700 - - - - - - - - - - -
13433 742.3 9.1 556 13434 done 0.55 - - 2954 - - - 1954 - 349.9 - - 1699 - - - - - - - - - - -
13733 713.4 9.6 566 13734 done 0.57 - - 2954 - - - 1954 - 349.9 - - 1699 - - - - - - - - - - -
14033 685.0 9.6 576 14039 roll 0.59 0.10 0.110 3011 570.0 2.22 0.051 3350 628.8 349.9 - - 1699 - - - - - - - - 26.55 26.29 -
14061 685.0 9.6 576 14068 done 0.61 - - 3012 - 2.15 0.034 1950 -651.2 349.9 - - 1699 - - - - - - - - - 26.44 -
14368 636.2 14.8 587 14373 roll 0.56 - - 3011 - 2.17 0.044 534 -652.5 349.9 - - 1698 - - - - - - - - - 26.36 -
14425 631.0 14.9 588 14433 done 0.52 0.15 0.132 2967 -293.3 2.17 0.041 1954 654.4 349.9 - - 1698 - - - - - - - - 26.18 26.36 -
14731 593.4 10.8 600 14737 roll 0.52 - - 2967 - 2.20 0.051 3348 633.6 349.9 - - 1698 - - - - - - - - - 26.31 -
14785 588.2 11.2 602 14790 done 0.52 - - 2969 - 2.12 0.034 1956 -656.6 349.9 - - 1699 - - - - - - - - - 26.46 -
15098 554.7 10.1 618 15103 roll 0.52 - - 2969 - 2.17 0.043 535 -654.8 349.9 - - 1698 - - - - - - - - - 26.36 -
15131 552.5 10.1 619 15136 done 0.53 - - 2969 - 2.17 0.039 1965 659.0 349.9 - - 1698 - - - - - - - - - 26.38 -
15444 518.2 11.5 635 15449 roll 0.53 - - 2969 - 2.17 0.052 3354 640.1 349.9 - - 1698 - - - - - - - - - 26.30 -
15486 512.7 12.1 637 15491 done 0.53 - - 2969 - 2.12 0.033 1966 -654.7 349.9 - - 1698 - - - - - - - - - 26.48 -
15809 473.3 12.1 653 15815 roll 0.55 - - 2968 - 2.17 0.041 540 -657.1 349.9 - - 1698 - - - - - - - - - 26.37 -
15833 470.5 12.1 654 15838 done 0.57 - - 2970 - 2.17 0.038 1963 655.8 349.9 - - 1698 - - - - - - - - - 26.39 -
16156 433.3 10.6 670 16161 roll 0.59 - - 2970 - 2.15 0.052 3342 641.4 349.9 - - 1698 - - - - - - - - - 26.29 -
16193 430.9 10.5 671 16200 done 0.60 - - 2970 - 2.10 0.032 1958 -659.0 349.9 - - 1698 - - - - - - - - - 26.48 -
16500 401.7 8.6 687 16510 roll 0.63 - - 2969 - 2.17 0.041 534 -656.2 352.2 4.75 0.771 1685 -2.7 0.152 - - - - - - - 26.46 25.04
16527 399.7 8.5 688 16544 done 0.66 0.12 0.091 3039 583.3 2.20 0.039 1979 656.8 358.4 7.68 0.898 1658 -3.5 0.167 - - - - - - 26.40 26.41 25.15
16843 355.8 13.5 704 16849 roll 0.60 0.12 0.155 2998 -341.7 2.15 0.050 3350 637.7 358.4 - - 1658 - - - - - - - - 26.22 26.22 -
16891 350.6 12.7 706 16896 done 0.56 - - 2998 - 2.10 0.033 1978 -653.3 358.4 - - 1658 - - - - - - - - - 26.37 -
17209 323.8 8.3 722 17229 roll 0.56 - - 2998 - 2.25 0.043 544 -637.3 370.1 11.15 0.912 1612 -4.1 0.156 - - - - - - - 26.24 25.18
17277 318.8 8.0 725 17305 done 0.59 - - 2998 - 2.20 0.039 1976 650.9 391.5 19.45 0.944 1524 -4.5 0.163 - - - - - - - 26.19 24.94
17613 288.0 10.1 742 17619 roll 0.61 - - 2998 - 2.20 0.051 3355 626.8 391.5 - - 1521 - - - - - - - - - 26.00 -
17641 285.4 10.3 743 17646 done 0.63 - - 2998 - 2.15 0.032 1961 -648.4 391.5 - - 1521 - - - - - - - - - 26.14 -
17959 252.2 10.7 759 17964 roll 0.65 - - 2998 - 2.20 0.041 530 -650.5 391.5 - - 1521 - - - - - - - - - 26.17 -
17977 252.2 10.7 759 17984 done 0.67 - - 2998 - 2.20 0.037 1969 654.1 391.5 - - 1520 - - - - - - - - - 26.19 -
18282 218.1 9.8 775 18287 roll 0.71 - - 2998 - 2.17 0.049 3352 637.3 391.5 - - 1521 - - - - - - - - - 26.17 -
18328 213.7 10.1 777 18334 done 0.74 0.12 0.091 3065 558.3 2.10 0.031 1968 -659.0 391.5 - - 1521 - - - - - - - - 26.26 26.33 -
18648 165.6 14.9 793 18654 roll 0.68 0.12 0.161 3026 -325.0 2.17 0.041 538 -659.0 391.5 - - 1521 - - - - - - - - 26.20 26.27 -
18733 156.9 10.0 797 18739 done 0.70 - - 3025 - 2.20 0.037 1966 649.1 391.5 - - 1520 - - - - - - - - - 26.31 -
19056 123.5 9.4 813 19062 roll 0.72 - - 3026 - 2.17 0.049 3353 639.2 391.5 - - 1521 - - - - - - - - - 26.26 -
19148 115.9 9.2 817 19154 done 0.73 - - 3025 - 2.10 0.031 1961 -662.9 391.5 - - 1522 - - - - - - - - - 26.43 -
19462 95.6 8.4 833 19477 roll 0.78 - - 3026 - 2.15 0.039 537 -662.3 401.8 9.48 0.718 1483 -4.1 0.058 - - - - - - - 26.34 25.33
19508 91.5 9.1 835 19515 done 0.83 0.12 0.090 3094 566.7 2.15 0.035 1961 662.3 401.8 - - 1483 - - - - - - - - 26.29 26.30 -
19828 51.1 7.0 851 19879 roll 0.87 - - 3094 - 2.28 0.047 3349 608.8 457.1 45.20 0.747 1257 -5.0 0.036 - - - - - - - 25.73 24.99
19923 45.9 5.7 859 20011 done 0.96 - - 3094 - 2.15 0.030 1953 -649.3 557.8 80.05 0.731 846 -5.1 0.034 - - - - - - - 25.86 24.44
20320 17.1 8.3 898 20332 roll 1.17 0.20 0.083 3179 425.0 2.25 0.040 532 -631.6 570.7 5.62 0.102 794 -9.3 0.165 - - - - - - 25.96 25.91 25.69
20359 14.1 8.6 901 20368 done 1.37 0.17 0.098 3244 382.4 2.20 0.034 1962 650.0 573.1 1.05 0.096 784 -9.5 0.149 - - - - - - 25.88 25.96 25.74
20483 end climb: SURFACE_DEPTH_REACHED
20483 begin surface coast
20505 end surface coast: CONTROL_FINISHED_OK
20505 begin surface
SM 1.75 - - - - -8.28 8.12 0.045 137 -382.6 1.15 0.047 2695 637.4 652.74 38.22 0.060 458 -8.5 0.025 - - - - - -