OKMC Apr12 * SG170 * Dive index * Mission links * Dive 105 * Raw log
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• Previous call tries 1 • 23.43 of 146.00 AH used of 24V (83.95% remains)
• Previous NAKs 0, Timeouts 0 • 10.16 of 97.50 AH used of 10V (89.58% remains)
• Surface angle -74.1 deg, depth 1.55 m • Intended pitch -13.9 deg, speed -8.684 cm/s
VBD pumped to 652.74 (SM_CC=652.74329)
• GPS1 time: 15 s
• GPS2 time: 14 s • Transponder ping count: 1094
• 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 - - - 111 VBD -0.46 - - 133 - - - 2694 - -194.6 -90.78 - 3021 - - - - - - - - - - -
114 4.3 -5.5 9 147 roll -0.46 10.45 0.253 2638 239.7 2.08 0.041 1270 -684.6 -194.6 -14.15 - 3924 -63.8 - - - - - - - 25.96 26.59 26.91
163 25.5 -43.2 13 171 done 0.03 0.55 0.150 2808 309.1 2.15 0.047 2682 656.7 -194.6 - - 3926 - - - - - - - - 26.25 26.52 -
481 57.9 -8.9 41 487 roll -0.16 0.15 0.096 2743 -433.3 2.08 0.031 1271 -678.4 -194.6 - - 3926 - - - - - - - - 26.66 26.66 -
715 80.9 -9.7 52 721 done -0.35 0.17 0.090 2673 -411.8 2.12 0.052 2684 666.5 -194.6 - - 3926 - - - - - - - - 26.59 26.63 -
1029 107.9 -8.3 68 1036 roll -0.54 0.12 0.120 2618 -458.3 2.05 0.030 1280 -684.9 -194.6 - - 3926 - - - - - - - - 26.67 26.70 -
1084 111.0 -7.7 70 1091 done -0.73 0.15 0.082 2545 -486.7 2.08 0.042 2672 669.2 -194.6 - - 3926 - - - - - - - - 26.65 26.63 -
1399 140.0 -13.5 86 1404 roll -0.66 0.12 0.158 2586 341.7 2.03 0.028 1280 -685.7 -194.6 - - 3925 - - - - - - - - 26.55 26.70 -
1531 154.7 -11.6 92 1537 done -0.65 - - 2587 - 2.05 0.044 2640 663.4 -194.6 - - 3925 - - - - - - - - - 26.63 -
1844 191.6 -11.2 108 1849 roll -0.64 - - 2587 - 2.00 0.031 1274 -683.0 -194.6 - - 3922 - - - - - - - - - 26.69 -
1881 194.3 -11.4 109 1888 done -0.62 - - 2587 - 2.05 0.046 2629 661.0 -194.6 - - 3921 - - - - - - - - - 26.63 -
2187 227.9 -10.1 125 2192 roll -0.62 - - 2587 - 1.65 0.056 3697 647.3 -194.6 - - 3919 - - - - - - - - - 26.60 -
2213 230.1 -9.8 126 2218 done -0.62 - - 2587 - 1.58 0.031 2589 -701.3 -194.6 - - 3919 - - - - - - - - - 26.76 -
2530 259.4 -9.3 142 2536 roll -0.62 - - 2587 - 1.88 0.032 1278 -697.3 -194.6 - - 3915 - - - - - - - - - 26.68 -
2599 265.4 -9.3 145 2604 done -0.62 - - 2587 - 2.05 0.046 2629 659.0 -194.6 - - 3915 - - - - - - - - - 26.62 -
2917 297.9 -10.8 161 2922 roll -0.62 - - 2587 - 1.98 0.033 1276 -683.3 -194.6 - - 3912 - - - - - - - - - 26.67 -
2939 300.4 -10.9 162 2944 done -0.62 - - 2587 - 2.05 0.047 2614 652.7 -194.6 - - 3911 - - - - - - - - - 26.60 -
3261 334.5 -10.2 178 3266 roll -0.62 - - 2587 - 1.98 0.033 1281 -673.2 -194.6 - - 3908 - - - - - - - - - 26.67 -
3298 336.7 -10.1 179 3305 done -0.62 - - 2587 - 2.03 0.047 2611 655.2 -194.6 - - 3907 - - - - - - - - - 26.62 -
3604 367.3 -9.3 195 3609 roll -0.64 - - 2587 - 1.98 0.033 1277 -673.7 -194.6 - - 3904 - - - - - - - - - 26.66 -
3631 369.5 -9.3 196 3636 done -0.65 - - 2587 - 2.03 0.047 2593 648.3 -194.6 - - 3903 - - - - - - - - - 26.60 -
3949 397.6 -8.4 212 3955 roll -0.67 - - 2587 - 1.95 0.033 1280 -673.3 -194.6 - - 3901 - - - - - - - - - 26.65 -
3982 399.5 -8.4 213 3987 done -0.69 - - 2587 - 2.00 0.047 2591 655.5 -194.6 - - 3900 - - - - - - - - - 26.59 -
4295 426.7 -8.5 229 4300 roll -0.70 - - 2587 - 1.92 0.034 1283 -681.2 -194.6 - - 3897 - - - - - - - - - 26.65 -
4328 428.6 -8.5 230 4333 done -0.72 - - 2587 - 2.00 0.047 2592 654.5 -194.6 - - 3896 - - - - - - - - - 26.58 -
4641 456.1 -8.4 246 4646 roll -0.74 - - 2587 - 1.95 0.034 1285 -670.3 -194.6 - - 3894 - - - - - - - - - 26.64 -
4673 458.2 -8.5 247 4679 done -0.76 - - 2587 - 2.03 0.048 2591 643.3 -194.6 - - 3894 - - - - - - - - - 26.57 -
4987 485.8 -8.4 263 4993 roll -0.78 0.12 0.091 2510 -641.7 1.95 0.032 1287 -668.7 -194.6 - - 3890 - - - - - - - - 26.74 26.63 -
5073 496.3 -12.4 267 5078 done -0.75 0.17 0.148 2561 300.0 2.00 0.050 2561 637.0 -194.6 - - 3890 - - - - - - - - 26.32 26.54 -
5396 527.8 -9.1 283 5397 done -0.75 - - 2561 - - - 2561 - -194.6 - - 3887 - - - - - - - - - - -
5697 553.9 -8.4 298 5699 done -0.75 - - 2561 - - - 2561 - -194.6 - - 3885 - - - - - - - - - - -
5997 583.1 -10.2 313 6002 roll -0.75 - - 2561 - 1.90 0.035 1282 -673.2 -194.6 - - 3883 - - - - - - - - - 26.60 -
6019 585.6 -10.4 314 6024 done -0.75 - - 2562 - 2.00 0.050 2571 644.5 -194.6 - - 3883 - - - - - - - - - 26.52 -
6343 621.6 -11.4 327 6344 done -0.75 - - 2561 - - - 2571 - -194.6 - - 3879 - - - - - - - - - - -
6641 653.2 -10.1 337 6643 done -0.75 - - 2562 - - - 2571 - -194.6 - - 3878 - - - - - - - - - - -
6941 681.2 -9.3 347 6942 done -0.75 - - 2561 - - - 2571 - -194.6 - - 3877 - - - - - - - - - - -
7241 709.1 -9.4 357 7243 done -0.75 - - 2562 - - - 2571 - -194.6 - - 3876 - - - - - - - - - - -
7541 736.0 -8.7 367 7543 done -0.75 - - 2564 - - - 2571 - -194.6 - - 3874 - - - - - - - - - - -
7842 761.2 -8.3 377 7843 done -0.75 - - 2562 - - - 2571 - -194.6 - - 3872 - - - - - - - - - - -
8142 786.2 -8.4 387 8143 done -0.75 - - 2562 - - - 2571 - -194.6 - - 3871 - - - - - - - - - - -
8441 811.4 -8.3 397 8447 roll -0.75 - - 2561 - 1.75 0.060 3689 638.9 -194.6 - - 3869 - - - - - - - - - 26.39 -
8479 814.3 -8.4 398 8484 done -0.75 - - 2562 - 1.67 0.037 2559 -676.6 -194.6 - - 3868 - - - - - - - - - 26.63 -
8807 843.8 -9.0 409 8813 roll -0.76 - - 2561 - 1.90 0.034 1279 -673.7 -194.6 - - 3867 - - - - - - - - - 26.53 -
8859 847.2 -9.3 410 8865 done -0.77 - - 2562 - 2.00 0.050 2565 643.0 -194.6 - - 3867 - - - - - - - - - 26.41 -
9172 877.5 -9.0 421 9174 done -0.77 - - 2562 - - - 2565 - -194.6 - - 3866 - - - - - - - - - - -
9473 903.5 -8.4 431 9479 roll -0.79 - - 2561 - 1.77 0.060 3697 639.5 -194.6 - - 3865 - - - - - - - - - 26.33 -
9510 906.2 -8.3 432 9515 done -0.80 - - 2562 - 1.70 0.037 2551 -674.1 -194.6 - - 3865 - - - - - - - - - 26.60 -
9839 931.6 -7.5 443 9845 roll -0.80 - - 2561 - 1.83 0.060 3696 625.7 -194.6 - - 3863 - - - - - - - - - 26.31 -
9877 934.2 -7.5 444 9882 done -0.82 - - 2562 - 1.70 0.037 2552 -672.9 -194.6 - - 3863 - - - - - - - - - 26.59 -
10206 961.7 -8.6 455 10211 roll -0.83 - - 2562 - 1.88 0.034 1283 -675.0 -194.6 - - 3862 - - - - - - - - - 26.51 -
10228 961.7 -8.6 455 10234 done -0.85 0.10 0.105 2506 -560.0 2.00 0.050 2568 642.5 -194.6 - - 3862 - - - - - - - - 26.36 26.35 -
10449 end dive: TARGET_DEPTH_EXCEEDED
10450 begin apogee
10455 990.6 -12.2 463 10616 roll -0.12 0.75 0.123 2754 330.7 - - 1929 - - 154.07 1.435 3120 -4.8 0.346 - - - - - - 25.89 - 23.81
10617 end apogee: CONTROL_FINISHED_OK
10617 begin climb
10619 998.6 - 468 10801 roll 0.46 0.55 0.057 2964 381.8 2.20 0.041 555 -624.5 194.6 172.23 1.398 2326 -4.6 0.342 - - - - - - 25.06 25.04 23.60
10964 973.6 11.1 480 10970 done 0.44 - - 2965 - 2.17 0.040 1941 638.7 194.6 - - 2317 - - - - - - - - - 25.78 -
11299 938.5 10.0 491 11305 roll 0.41 0.12 0.156 2929 -300.0 2.15 0.041 547 -648.4 194.6 - - 2313 - - - - - - - - 26.08 26.17 -
11497 924.6 7.2 497 11545 done 0.45 - - 2930 - 2.15 0.041 1936 646.0 242.9 41.67 1.356 2130 -4.4 0.311 - - - - - - - 26.26 24.30
11844 895.5 8.5 509 11858 roll 0.47 - - 2929 - 2.33 0.054 3349 606.4 249.4 6.20 1.067 2103 -4.4 0.380 - - - - - - - 26.00 24.79
11905 889.4 9.1 511 11911 done 0.47 - - 2930 - 2.15 0.034 1961 -645.6 249.4 - - 2101 - - - - - - - - - 26.10 -
12240 858.7 9.3 522 12245 roll 0.49 - - 2930 - 2.20 0.044 531 -650.0 249.4 - - 2098 - - - - - - - - - 26.24 -
12273 855.5 9.3 523 12279 done 0.52 0.10 0.103 2989 590.0 2.17 0.040 1945 651.6 249.4 - - 2097 - - - - - - - - 26.24 26.26 -
12607 812.8 13.0 534 12609 done 0.47 0.12 0.154 2954 -291.7 - - 1947 - 249.4 - - 2097 - - - - - - - - 26.29 - -
12906 780.0 10.8 544 12912 roll 0.47 - - 2954 - 2.22 0.052 3354 633.8 249.4 - - 2097 - - - - - - - - - 26.29 -
12953 776.1 11.0 545 12959 done 0.47 - - 2956 - 2.17 0.034 1927 -657.6 249.4 - - 2096 - - - - - - - - - 26.44 -
13273 740.4 10.6 556 13278 roll 0.47 - - 2956 - 2.12 0.044 529 -659.4 249.4 - - 2096 - - - - - - - - - 26.36 -
13315 736.7 10.6 557 13320 done 0.47 - - 2956 - 2.15 0.040 1942 657.2 249.4 - - 2095 - - - - - - - - - 26.38 -
13638 703.1 10.0 568 13644 roll 0.47 - - 2956 - 2.20 0.053 3345 637.7 249.4 - - 2095 - - - - - - - - - 26.31 -
13705 696.3 10.2 570 13711 done 0.47 - - 2956 - 2.12 0.034 1943 -661.3 249.4 - - 2095 - - - - - - - - - 26.46 -
14035 666.1 9.0 581 14040 roll 0.47 - - 2956 - 2.15 0.043 526 -659.1 249.4 - - 2095 - - - - - - - - - 26.38 -
14087 663.0 9.1 582 14092 done 0.47 - - 2956 - 2.17 0.040 1945 653.9 249.4 - - 2094 - - - - - - - - - 26.39 -
14401 633.5 8.9 593 14406 roll 0.47 - - 2956 - 2.22 0.052 3350 632.9 249.4 - - 2094 - - - - - - - - - 26.29 -
14464 627.4 9.3 595 14469 done 0.47 - - 2956 - 2.12 0.033 1941 -664.6 249.4 - - 2095 - - - - - - - - - 26.48 -
14798 602.6 6.5 606 14863 done 0.52 - - 2956 - - - 1942 - 322.4 63.30 1.180 1806 -4.6 0.242 - - - - - - - - 24.29
15157 577.9 7.1 623 15204 done 0.57 - - 2956 - - - 1942 - 375.2 45.03 1.142 1592 -4.8 0.250 - - - - - - - - 24.29
15497 553.3 7.5 640 15538 roll 0.63 0.12 0.093 3030 616.7 2.40 0.051 3346 585.0 415.3 34.10 1.114 1426 -4.9 0.251 - - - - - - 26.10 25.37 24.44
15554 549.0 9.3 642 15562 done 0.63 0.12 0.154 3002 -233.3 2.22 0.034 1945 -631.1 415.3 - - 1424 - - - - - - - - 25.41 25.55 -
15860 508.5 13.1 658 15865 roll 0.63 - - 3010 - 2.17 0.042 525 -654.4 415.3 - - 1421 - - - - - - - - - 26.01 -
15937 500.3 13.3 661 15944 done 0.63 - - 3010 - 2.20 0.039 1938 642.3 415.3 - - 1421 - - - - - - - - - 26.06 -
16243 456.3 12.9 677 16249 roll 0.63 - - 3010 - 2.22 0.052 3351 636.5 415.3 - - 1420 - - - - - - - - - 26.12 -
16295 450.5 13.2 679 16300 done 0.63 - - 3011 - 2.15 0.034 1936 -658.1 415.3 - - 1420 - - - - - - - - - 26.27 -
16607 413.8 10.6 695 16613 roll 0.63 - - 3011 - 2.17 0.044 528 -648.8 415.3 - - 1420 - - - - - - - - - 26.24 -
16655 409.6 10.0 697 16660 done 0.63 - - 3011 - 2.17 0.039 1939 650.2 415.3 - - 1420 - - - - - - - - - 26.27 -
16972 375.8 11.0 713 16977 roll 0.63 - - 3011 - 2.20 0.051 3347 640.0 415.3 - - 1421 - - - - - - - - - 26.22 -
17004 373.1 11.4 714 17009 done 0.63 - - 3011 - 2.17 0.033 1921 -657.1 415.3 - - 1420 - - - - - - - - - 26.38 -
17316 336.4 10.5 730 17321 roll 0.63 - - 3011 - 2.10 0.042 530 -662.4 415.3 - - 1419 - - - - - - - - - 26.31 -
17342 334.1 10.1 731 17347 done 0.63 - - 3010 - 2.12 0.038 1933 661.8 415.3 - - 1419 - - - - - - - - - 26.33 -
17661 306.2 8.6 747 17666 roll 0.65 - - 3010 - 2.20 0.050 3346 642.3 417.7 - - 1419 - - - - - - - - - 26.25 -
17718 302.0 9.2 749 17725 done 0.65 - - 3011 - 2.12 0.033 1948 -659.4 417.7 - - 1420 - - - - - - - - - 26.43 -
18024 269.7 10.3 765 18030 roll 0.66 - - 3011 - 2.15 0.043 535 -657.2 417.7 - - 1421 - - - - - - - - - 26.33 -
18077 265.8 9.3 767 18082 done 0.69 - - 3011 - 2.15 0.037 1942 654.4 417.7 - - 1419 - - - - - - - - - 26.35 -
18390 236.5 8.6 783 18401 roll 0.72 - - 3011 - 2.25 0.051 3343 622.7 421.5 5.62 0.729 1402 -3.0 0.102 - - - - - - - 26.41 25.18
18443 232.5 8.9 785 18449 done 0.75 - - 3011 - 2.15 0.033 1925 -659.5 421.5 - - 1401 - - - - - - - - - 26.42 -
18756 201.5 9.9 801 18762 roll 0.78 0.12 0.091 3086 625.0 2.28 0.050 3349 624.6 421.5 - - 1401 - - - - - - - - 26.56 26.25 -
18780 198.4 10.4 802 18786 done 0.80 0.12 0.168 3057 -241.7 2.12 0.034 1943 -663.2 421.5 - - 1402 - - - - - - - - 26.10 26.41 -
19104 158.3 11.1 818 19109 roll 0.77 - - 3064 - 2.15 0.042 529 -657.7 421.5 - - 1401 - - - - - - - - - 26.32 -
19180 151.6 10.8 821 19188 done 0.77 - - 3064 - 2.15 0.038 1937 654.9 421.5 - - 1402 - - - - - - - - - 26.35 -
19487 109.3 13.9 837 19493 roll 0.75 - - 3064 - 2.20 0.050 3342 638.6 421.5 - - 1402 - - - - - - - - - 26.25 -
19505 109.3 13.9 837 19511 done 0.74 - - 3064 - 2.12 0.033 1923 -669.3 421.5 - - 1402 - - - - - - - - - 26.44 -
19810 74.6 8.3 853 19830 done 0.74 - - 3064 - - - 1923 - 434.6 12.82 0.731 1347 -4.3 0.046 - - - - - - - - 25.40
20131 52.8 7.9 869 20160 roll 0.82 - - 3064 - 2.15 0.044 535 -645.6 461.1 22.12 0.730 1239 -4.9 0.037 - - - - - - - 26.10 25.29
20197 48.3 7.0 873 20251 done 0.96 0.12 0.092 3134 583.3 2.12 0.035 1925 655.7 517.8 45.80 0.731 1009 -5.0 0.034 - - - - - - 26.07 26.10 24.82
20560 21.5 7.6 909 20584 roll 1.14 - - 3134 - 2.25 0.043 528 -620.9 555.6 18.05 0.651 854 -8.6 0.029 - - - - - - - 25.87 25.08
20745 end climb: SURFACE_DEPTH_REACHED
20745 begin surface coast
20757 end surface coast: CONTROL_FINISHED_OK
20757 begin surface
SM 1.75 - - - - -8.28 7.75 0.039 135 -387.0 3.42 0.040 2681 629.5 652.74 44.67 0.061 459 -8.8 0.026 - - - - - -