OKMC Apr12 * SG170 * Dive index * Mission links * Dive 103 * Raw log
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• Previous call tries 5 • 22.58 of 146.00 AH used of 24V (84.53% remains)
• Previous NAKs 0, Timeouts 0 • 9.69 of 97.50 AH used of 10V (90.06% remains)
• Surface angle -74.8 deg, depth 1.95 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: 40 s
• GPS2 time: 14 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 - - - 2698 - -194.6 -80.95 - 2702 - - - - - - - - - - -
104 3.6 -3.5 8 147 roll -0.46 10.43 0.248 2643 240.3 1.60 0.076 3683 615.6 -194.6 -22.23 - 3925 -55.0 - - - - - - - 25.65 26.15 26.60
231 36.1 -19.2 20 237 done -0.39 - - 2643 - 1.52 0.031 2671 -665.8 -194.6 - - 3926 - - - - - - - - - 26.34 -
554 76.0 -9.5 41 559 roll -0.39 - - 2643 - 1.62 0.056 3689 628.4 -194.6 - - 3929 - - - - - - - - - 26.25 -
610 79.9 -9.2 43 617 done -0.41 - - 2644 - 1.50 0.031 2690 -666.0 -194.6 - - 3929 - - - - - - - - - 26.45 -
917 112.8 -12.2 59 922 roll -0.44 - - 2646 - 2.08 0.031 1281 -677.4 -194.6 - - 3929 - - - - - - - - - 26.43 -
989 121.1 -13.1 62 995 done -0.47 - - 2644 - 2.15 0.046 2680 650.7 -194.6 - - 3929 - - - - - - - - - 26.34 -
1304 149.1 -4.7 78 1309 roll -0.51 - - 2644 - 2.08 0.031 1285 -670.7 -194.6 - - 3928 - - - - - - - - - 26.47 -
1327 150.4 -4.7 79 1333 done -0.54 - - 2644 - 2.20 0.046 2693 640.0 -194.6 - - 3928 - - - - - - - - - 26.38 -
1650 168.6 -7.7 95 1657 roll -0.59 0.12 0.087 2564 -666.7 2.10 0.029 1286 -670.0 -194.6 - - 3926 - - - - - - - - 26.63 26.50 -
1709 173.8 -9.7 97 1716 done -0.61 0.12 0.155 2600 300.0 2.15 0.047 2673 645.1 -194.6 - - 3926 - - - - - - - - 26.22 26.40 -
2014 207.9 -10.2 113 2019 roll -0.61 - - 2600 - 1.60 0.056 3696 639.4 -194.6 - - 3924 - - - - - - - - - 26.41 -
2056 211.9 -9.9 115 2061 done -0.61 - - 2600 - 1.52 0.031 2637 -696.7 -194.6 - - 3924 - - - - - - - - - 26.61 -
2378 240.1 -9.0 131 2384 roll -0.61 - - 2601 - 2.00 0.031 1276 -680.5 -194.6 - - 3921 - - - - - - - - - 26.53 -
2445 246.2 -9.7 134 2450 done -0.63 - - 2601 - 2.15 0.047 2655 641.4 -194.6 - - 3921 - - - - - - - - - 26.42 -
2763 280.2 -10.3 150 2764 done -0.63 - - 2601 - - - 2655 - -194.6 - - 3919 - - - - - - - - - - -
3065 305.6 -7.1 165 3071 roll -0.64 - - 2601 - 2.03 0.032 1284 -675.4 -194.6 - - 3916 - - - - - - - - - 26.55 -
3108 308.8 -7.0 167 3114 done -0.66 - - 2601 - 2.15 0.047 2655 637.7 -194.6 - - 3916 - - - - - - - - - 26.44 -
3433 329.2 -6.6 183 3438 roll -0.68 - - 2601 - 2.05 0.032 1287 -667.3 -194.6 - - 3913 - - - - - - - - - 26.54 -
3532 334.5 -6.3 187 3538 done -0.70 - - 2601 - 2.10 0.048 2632 640.5 -194.6 - - 3913 - - - - - - - - - 26.44 -
3836 355.0 -7.2 203 3842 roll -0.73 0.12 0.092 2524 -641.7 2.03 0.031 1277 -667.5 -194.6 - - 3911 - - - - - - - - 26.67 26.54 -
3868 357.5 -8.0 204 3875 done -0.73 0.15 0.151 2565 273.3 2.12 0.049 2625 635.8 -194.6 - - 3911 - - - - - - - - 26.21 26.42 -
4183 395.3 -12.0 220 4188 roll -0.71 - - 2565 - 1.70 0.058 3701 632.9 -194.6 - - 3909 - - - - - - - - - 26.40 -
4255 402.5 -11.5 223 4260 done -0.69 - - 2566 - 1.60 0.031 2585 -697.5 -194.6 - - 3908 - - - - - - - - - 26.65 -
4567 438.5 -11.1 239 4573 roll -0.67 - - 2566 - 1.77 0.057 3693 626.0 -194.6 - - 3906 - - - - - - - - - 26.39 -
4630 445.1 -10.5 242 4636 done -0.67 - - 2566 - 1.62 0.033 2622 -661.1 -194.6 - - 3905 - - - - - - - - - 26.63 -
4954 481.9 -12.1 258 4959 roll -0.66 - - 2566 - 1.98 0.031 1277 -679.3 -194.6 - - 3903 - - - - - - - - - 26.55 -
4981 484.6 -12.0 259 4987 done -0.64 - - 2566 - 2.12 0.047 2642 643.9 -194.6 - - 3903 - - - - - - - - - 26.44 -
5299 521.0 -10.9 275 5304 roll -0.64 - - 2566 - 2.00 0.031 1288 -677.0 -194.6 - - 3901 - - - - - - - - - 26.55 -
5350 525.7 -10.9 277 5356 done -0.64 - - 2566 - 2.08 0.045 2637 648.6 -194.6 - - 3901 - - - - - - - - - 26.44 -
5664 562.9 -12.3 293 5669 roll -0.64 - - 2566 - 2.00 0.031 1285 -676.0 -194.6 - - 3898 - - - - - - - - - 26.54 -
5730 570.5 -12.2 296 5735 done -0.64 - - 2566 - 2.08 0.046 2625 644.2 -194.6 - - 3898 - - - - - - - - - 26.43 -
6047 609.0 -11.5 311 6048 done -0.64 - - 2566 - - - 2625 - -194.6 - - 3896 - - - - - - - - - - -
6347 640.4 -10.0 321 6353 roll -0.64 - - 2565 - 2.00 0.031 1286 -669.5 -194.6 - - 3895 - - - - - - - - - 26.53 -
6419 646.3 -9.7 323 6424 done -0.64 - - 2565 - 2.05 0.045 2617 649.3 -194.6 - - 3895 - - - - - - - - - 26.43 -
6743 674.4 -8.0 334 6748 roll -0.64 - - 2565 - 1.98 0.032 1285 -672.7 -194.6 - - 3892 - - - - - - - - - 26.53 -
6795 677.0 -7.8 335 6800 done -0.64 - - 2565 - 2.08 0.045 2615 639.4 -194.6 - - 3892 - - - - - - - - - 26.41 -
7108 701.4 -7.5 346 7113 roll -0.64 - - 2566 - 1.70 0.058 3693 634.1 -194.6 - - 3890 - - - - - - - - - 26.34 -
7141 704.0 -7.6 347 7146 done -0.64 - - 2566 - 1.62 0.036 2608 -669.8 -194.6 - - 3890 - - - - - - - - - 26.58 -
7476 731.0 -8.1 358 7481 roll -0.64 - - 2566 - 1.95 0.033 1281 -680.5 -194.6 - - 3888 - - - - - - - - - 26.50 -
7527 733.9 -8.1 359 7532 done -0.64 - - 2566 - 2.08 0.047 2620 643.8 -194.6 - - 3888 - - - - - - - - - 26.39 -
7841 760.0 -7.8 370 7846 roll -0.64 - - 2566 - 1.98 0.032 1288 -672.7 -194.6 - - 3887 - - - - - - - - - 26.51 -
7868 760.0 -7.8 370 7875 done -0.64 - - 2566 - 2.05 0.046 2611 645.4 -194.6 - - 3887 - - - - - - - - - 26.38 -
8174 785.2 -7.3 381 8179 roll -0.64 - - 2566 - 2.00 0.033 1283 -664.0 -194.6 - - 3886 - - - - - - - - - 26.50 -
8226 787.4 -7.1 382 8231 done -0.64 - - 2566 - 2.08 0.047 2607 636.5 -194.6 - - 3886 - - - - - - - - - 26.37 -
8540 806.7 -5.4 393 8545 roll -0.64 - - 2566 - 1.98 0.033 1280 -670.2 -194.6 - - 3884 - - - - - - - - - 26.49 -
8574 808.5 -5.3 394 8579 done -0.66 - - 2566 - 2.05 0.047 2591 639.5 -194.6 - - 3884 - - - - - - - - - 26.36 -
8907 826.1 -5.3 405 8912 roll -0.66 - - 2566 - 1.75 0.059 3692 629.1 -194.6 - - 3883 - - - - - - - - - 26.28 -
8940 827.8 -5.3 406 8946 done -0.66 - - 2566 - 1.67 0.037 2593 -658.1 -194.6 - - 3882 - - - - - - - - - 26.55 -
9275 844.2 -4.3 417 9280 roll -0.67 - - 2565 - 1.92 0.033 1287 -680.2 -194.6 - - 3881 - - - - - - - - - 26.48 -
9327 845.5 -4.0 418 9333 done -0.68 - - 2565 - 2.05 0.047 2593 637.1 -194.6 - - 3880 - - - - - - - - - 26.34 -
9642 853.3 -1.9 429 9643 done -0.70 - - 2565 - - - 2593 - -194.6 - - 3879 - - - - - - - - - - -
9941 862.3 -3.8 439 9947 roll -0.71 - - 2566 - 1.98 0.033 1287 -659.6 -194.6 - - 3878 - - - - - - - - - 26.47 -
10055 867.3 -5.0 442 10060 done -0.73 - - 2565 - 2.03 0.047 2578 636.0 -194.6 - - 3877 - - - - - - - - - 26.33 -
10370 891.5 -8.3 453 10375 roll -0.75 - - 2565 - 1.77 0.058 3692 629.4 -194.6 - - 3877 - - - - - - - - - 26.24 -
10403 894.7 -8.7 454 10409 done -0.77 - - 2566 - 1.67 0.037 2580 -665.9 -194.6 - - 3877 - - - - - - - - - 26.53 -
10738 930.1 -11.6 465 10743 roll -0.79 - - 2566 - 1.90 0.034 1290 -678.9 -194.6 - - 3877 - - - - - - - - - 26.45 -
10780 934.4 -12.0 466 10785 done -0.81 - - 2566 - 2.03 0.047 2575 633.0 -194.6 - - 3876 - - - - - - - - - 26.31 -
11104 979.6 -14.3 477 11105 done -0.82 - - 2566 - - - 2575 - -194.6 - - 3876 - - - - - - - - - - -
11191 end dive: TARGET_DEPTH_EXCEEDED
11191 begin apogee
11196 993.2 -14.9 480 11361 roll -0.12 0.55 0.109 2754 341.8 - - 1934 - - 157.35 1.444 3120 -4.8 0.354 - - - - - - 25.95 - 23.44
11363 end apogee: CONTROL_FINISHED_OK
11363 begin climb
11365 1010.5 - 485 11553 roll 0.46 0.55 0.057 2960 374.5 2.42 0.052 3346 583.5 194.6 176.57 1.409 2327 -4.5 0.345 - - - - - - 24.74 24.69 22.94
11677 1007.3 6.6 496 11746 done 0.44 - - 2970 - 2.22 0.032 1957 -625.7 264.5 62.70 1.378 2042 -4.5 0.356 - - - - - - - 25.26 23.42
12069 965.8 13.3 509 12075 roll 0.40 0.12 0.158 2929 -341.7 2.28 0.050 3356 613.6 264.5 - - 2032 - - - - - - - - 25.73 25.79 -
12192 947.5 14.9 513 12197 done 0.40 - - 2930 - 2.25 0.033 1921 -637.8 264.5 - - 2031 - - - - - - - - - 26.01 -
12526 897.8 14.8 524 12531 roll 0.42 - - 2929 - 2.15 0.042 534 -645.1 264.5 - - 2030 - - - - - - - - - 26.13 -
12552 897.8 14.8 524 12560 done 0.44 - - 2929 - 2.20 0.039 1947 642.3 264.5 - - 2029 - - - - - - - - - 26.15 -
12860 854.1 12.1 535 12865 roll 0.46 - - 2929 - 2.22 0.051 3349 631.5 264.5 - - 2029 - - - - - - - - - 26.17 -
12901 849.9 12.1 536 12907 done 0.48 - - 2930 - 2.17 0.033 1933 -652.5 264.5 - - 2029 - - - - - - - - - 26.30 -
13227 818.3 8.4 547 13241 roll 0.51 0.10 0.108 2993 630.0 2.15 0.041 538 -648.8 274.4 8.40 1.142 2001 -3.3 0.256 - - - - - - 26.46 26.20 24.93
13259 815.1 8.4 548 13274 done 0.53 - - 2992 - 2.20 0.040 1940 637.3 283.5 9.75 1.164 1966 -3.6 0.269 - - - - - - - 26.17 24.80
13592 778.1 10.4 559 13594 done 0.48 0.12 0.156 2958 -283.3 - - 1942 - 283.5 - - 1961 - - - - - - - - 26.06 - -
13892 754.8 7.9 569 13921 done 0.50 - - 2958 - - - 1942 - 310.8 25.40 1.250 1852 -4.3 0.278 - - - - - - - - 24.61
14222 725.3 9.4 580 14228 roll 0.50 - - 2959 - 2.25 0.051 3356 628.4 310.8 - - 1847 - - - - - - - - - 25.97 -
14254 721.7 9.9 581 14260 done 0.50 - - 2958 - 2.22 0.033 1928 -643.2 310.8 - - 1847 - - - - - - - - - 26.09 -
14588 685.3 11.1 592 14594 roll 0.50 - - 2958 - 2.15 0.043 533 -648.8 310.8 - - 1846 - - - - - - - - - 26.17 -
14615 685.3 11.1 592 14622 done 0.50 - - 2958 - 2.20 0.039 1953 645.5 310.8 - - 1845 - - - - - - - - - 26.18 -
14924 646.8 12.2 603 14929 roll 0.51 - - 2958 - 2.22 0.051 3346 627.5 310.8 - - 1845 - - - - - - - - - 26.18 -
14981 641.7 12.8 604 14988 done 0.51 - - 2958 - 2.15 0.034 1946 -651.2 310.8 - - 1845 - - - - - - - - - 26.32 -
15287 598.5 12.3 615 15293 roll 0.53 - - 2958 - 2.17 0.042 530 -652.5 310.8 - - 1844 - - - - - - - - - 26.28 -
15331 593.4 12.1 617 15337 done 0.55 - - 2958 - 2.20 0.038 1947 644.1 310.8 - - 1844 - - - - - - - - - 26.29 -
15654 559.0 9.9 633 15659 roll 0.57 - - 2958 - 2.20 0.051 3353 639.1 310.8 - - 1844 - - - - - - - - - 26.25 -
15677 556.6 9.9 634 15682 done 0.58 - - 2959 - 2.15 0.033 1939 -657.7 310.8 - - 1844 - - - - - - - - - 26.39 -
16000 524.3 9.7 650 16002 done 0.60 0.10 0.109 3016 570.0 - - 1939 - 310.8 - - 1844 - - - - - - - - 26.55 - -
16300 484.9 12.5 665 16306 roll 0.55 0.12 0.153 2983 -275.0 2.15 0.041 535 -653.0 310.8 - - 1844 - - - - - - - - 26.31 26.34 -
16327 482.3 12.1 666 16332 done 0.51 - - 2983 - 2.17 0.039 1947 650.7 310.8 - - 1844 - - - - - - - - - 26.34 -
16645 456.7 7.7 682 16679 roll 0.53 - - 2983 - 2.25 0.049 3350 623.6 344.5 29.05 1.061 1715 -4.4 0.205 - - - - - - - 25.88 24.88
16711 451.7 8.1 685 16736 done 0.55 - - 2983 - 2.20 0.033 1939 -641.4 364.0 17.77 1.016 1636 -4.4 0.212 - - - - - - - 25.94 24.63
17048 423.5 9.4 702 17054 roll 0.56 - - 2983 - 2.28 0.053 3343 615.8 364.0 - - 1631 - - - - - - - - - 25.89 -
17081 421.0 9.9 703 17086 done 0.58 - - 2983 - 2.15 0.032 1953 -646.5 364.0 - - 1630 - - - - - - - - - 26.06 -
17393 383.0 12.1 719 17399 roll 0.60 - - 2983 - 2.22 0.052 3343 626.1 364.0 - - 1630 - - - - - - - - - 26.04 -
17416 380.1 12.3 720 17421 done 0.62 - - 2983 - 2.12 0.031 1965 -650.0 364.0 - - 1630 - - - - - - - - - 26.21 -
17739 335.0 14.2 736 17745 roll 0.64 - - 2983 - 2.20 0.040 529 -652.7 364.0 - - 1630 - - - - - - - - - 26.20 -
17797 329.2 13.8 738 17806 done 0.68 0.12 0.092 3049 550.0 2.17 0.035 1963 660.8 364.0 - - 1629 - - - - - - - - 26.20 26.24 -
18102 281.1 13.5 754 18104 done 0.63 0.17 0.138 2997 -305.9 - - 1964 - 364.0 - - 1630 - - - - - - - - 26.15 - -
18402 256.6 7.3 769 18446 roll 0.68 - - 2996 - 2.25 0.051 3349 615.6 409.0 37.35 0.912 1452 -4.8 0.144 - - - - - - - 25.73 24.87
18488 250.6 7.3 773 18535 done 0.73 0.12 0.090 3065 575.0 2.15 0.031 1958 -647.0 454.4 38.40 0.894 1267 -4.8 0.145 - - - - - - 25.81 25.86 24.46
18847 189.9 19.9 791 18853 roll 0.70 0.12 0.152 3023 -350.0 2.20 0.039 541 -644.1 454.4 - - 1263 - - - - - - - - 25.84 25.91 -
18890 182.1 19.2 793 18896 done 0.70 - - 3023 - 2.20 0.034 1968 648.6 454.4 - - 1262 - - - - - - - - - 25.97 -
19214 149.3 5.9 809 19295 roll 0.81 0.12 0.089 3098 625.0 2.33 0.049 3348 592.3 546.7 73.68 0.823 891 -5.0 0.098 - - - - - - 26.28 25.20 24.44
19327 131.3 19.0 814 19333 done 0.78 0.17 0.135 3052 -270.6 2.17 0.030 1968 -635.9 546.7 - - 889 - - - - - - - - 25.32 25.48 -
19641 87.5 4.8 830 19748 roll 0.94 0.12 0.086 3121 575.0 2.35 0.040 538 -608.5 676.5 94.10 0.754 460 -4.6 0.057 - - - - 1 - 26.09 25.13 24.41
19790 80.0 4.9 837 19796 done 1.06 - - 3120 - 2.28 0.033 1986 635.1 803.7 - - 460 - - - - - - - - - 25.45 -
20109 54.9 10.7 853 20117 roll 1.26 0.22 0.089 3210 409.1 2.15 0.049 3343 631.2 803.7 0.25 0.054 459 - - - - - - - - 25.96 25.92 26.01
20347 26.0 11.7 874 20353 done 1.47 0.17 0.107 3271 358.8 2.05 0.028 1986 -662.0 803.7 - - 460 - - - - - - - - 26.01 26.20 -
20589 end climb: SURFACE_DEPTH_REACHED
20589 begin surface coast
20610 end surface coast: CONTROL_FINISHED_OK
20610 begin surface
SM 1.96 - - - - -8.28 8.12 0.044 135 -386.2 1.15 0.050 2693 614.8 652.99 - - 459 - - - - - - - -