OKMC Apr12 * SG170 * Dive index * Mission links * Dive 106 * Raw log
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• Previous call tries 1 • 23.73 of 146.00 AH used of 24V (83.74% remains)
• Previous NAKs 0, Timeouts 0 • 10.27 of 97.50 AH used of 10V (89.47% remains)
• Surface angle -73.5 deg, depth 1.88 m • Intended pitch -13.9 deg, speed -8.684 cm/s
• No surface pump (final VBD was 652.74, SM_CC=652.74329)
• GPS1 time: 33 s
• GPS2 time: 21 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
15 end surface: CONTROL_FINISHED_OK
15 begin dive
18 - - - 101 VBD -0.46 - - 134 - - - 2684 - -194.6 -81.28 - 2664 - - - - - - - - - - -
104 3.2 -2.6 8 142 done -0.46 10.43 0.246 2639 240.2 - - 2685 - -194.6 -24.17 - 3927 -52.3 - - - - - - - 25.49 - 26.43
451 76.7 -13.8 35 456 roll -0.44 - - 2640 - 2.15 0.032 1265 -660.5 -194.6 - - 3931 - - - - - - - - - 26.23 -
560 87.6 -10.4 40 565 done -0.46 - - 2640 - 2.22 0.047 2693 643.2 -194.6 - - 3932 - - - - - - - - - 26.17 -
879 114.4 -8.6 56 884 roll -0.48 - - 2640 - 2.15 0.033 1267 -663.3 -194.6 - - 3933 - - - - - - - - - 26.35 -
936 118.0 -8.4 58 943 done -0.52 - - 2640 - 2.17 0.047 2674 648.4 -194.6 - - 3933 - - - - - - - - - 26.26 -
1243 137.6 -4.6 74 1249 roll -0.56 - - 2640 - 2.10 0.032 1276 -665.7 -194.6 - - 3932 - - - - - - - - - 26.41 -
1307 140.6 -4.4 77 1314 done -0.60 0.12 0.085 2563 -641.7 2.15 0.047 2659 643.3 -194.6 - - 3932 - - - - - - - - 26.34 26.31 -
1631 180.1 -13.7 93 1637 roll -0.55 0.17 0.143 2621 341.2 2.08 0.031 1271 -667.3 -194.6 - - 3931 - - - - - - - - 26.24 26.45 -
1715 188.6 -9.9 97 1720 done -0.57 - - 2621 - 2.12 0.048 2633 642.5 -194.6 - - 3931 - - - - - - - - - 26.34 -
2038 219.9 -9.9 113 2043 roll -0.60 - - 2621 - 2.05 0.034 1266 -666.8 -194.6 - - 3929 - - - - - - - - - 26.46 -
2075 221.9 -9.7 114 2082 done -0.63 - - 2621 - 2.12 0.046 2636 646.2 -194.6 - - 3929 - - - - - - - - - 26.38 -
2381 248.8 -7.4 130 2383 done -0.67 0.12 0.091 2545 -633.3 - - 2637 - -194.6 - - 3927 - - - - - - - - 26.65 - -
2682 288.4 -14.9 145 2689 roll -0.61 0.15 0.151 2595 333.3 2.03 0.031 1267 -674.9 -194.6 - - 3926 - - - - - - - - 26.32 26.49 -
2735 294.3 -14.1 147 2740 done -0.58 - - 2595 - 2.10 0.047 2629 648.6 -194.6 - - 3925 - - - - - - - - - 26.38 -
3048 336.4 -13.2 163 3053 roll -0.59 - - 2595 - 2.03 0.033 1273 -668.0 -194.6 - - 3923 - - - - - - - - - 26.49 -
3101 341.9 -13.1 165 3106 done -0.61 - - 2595 - 2.08 0.048 2615 645.2 -194.6 - - 3923 - - - - - - - - - 26.38 -
3414 383.0 -13.0 181 3415 done -0.62 - - 2595 - - - 2615 - -194.6 - - 3922 - - - - - - - - - - -
3715 419.1 -11.7 196 3720 roll -0.64 - - 2595 - 2.00 0.034 1267 -674.0 -194.6 - - 3918 - - - - - - - - - 26.48 -
3752 421.8 -11.6 197 3759 done -0.66 - - 2595 - 2.08 0.048 2608 644.7 -194.6 - - 3918 - - - - - - - - - 26.37 -
4058 452.3 -8.3 213 4059 done -0.68 - - 2595 - - - 2608 - -194.6 - - 3916 - - - - - - - - - - -
4359 474.5 -7.3 228 4365 roll -0.70 - - 2595 - 2.00 0.034 1273 -667.5 -194.6 - - 3915 - - - - - - - - - 26.50 -
4437 479.1 -7.2 231 4443 done -0.74 - - 2595 - 2.05 0.046 2604 649.3 -194.6 - - 3914 - - - - - - - - - 26.38 -
4743 503.6 -8.4 247 4744 done -0.76 0.12 0.096 2533 -516.7 - - 2604 - -194.6 - - 3912 - - - - - - - - 26.67 - -
5043 544.5 -13.9 262 5049 roll -0.72 0.12 0.151 2575 350.0 1.73 0.055 3693 629.5 -194.6 - - 3910 - - - - - - - - 26.42 26.29 -
5107 551.8 -11.9 265 5112 done -0.72 - - 2575 - 1.67 0.034 2562 -677.2 -194.6 - - 3909 - - - - - - - - - 26.56 -
5430 585.1 -10.2 281 5436 roll -0.72 - - 2574 - 1.90 0.034 1267 -681.6 -194.6 - - 3907 - - - - - - - - - 26.48 -
5487 589.5 -10.2 283 5493 done -0.72 - - 2575 - 2.03 0.047 2576 644.8 -194.6 - - 3908 - - - - - - - - - 26.34 -
5805 618.0 -7.4 296 5807 done -0.72 - - 2575 - - - 2576 - -194.6 - - 3905 - - - - - - - - - - -
6103 628.9 -2.4 306 6109 roll -0.72 - - 2575 - 1.95 0.033 1274 -667.7 -194.6 - - 3903 - - - - - - - - - 26.46 -
6141 629.7 -2.2 307 6146 done -0.73 - - 2576 - 2.05 0.048 2581 637.6 -194.6 - - 3903 - - - - - - - - - 26.32 -
6470 642.5 -5.2 318 6472 done -0.74 - - 2575 - - - 2581 - -194.6 - - 3902 - - - - - - - - - - -
6769 657.8 -4.3 328 6775 roll -0.76 - - 2575 - 1.95 0.033 1266 -674.4 -194.6 - - 3901 - - - - - - - - - 26.46 -
6847 660.2 -4.0 330 6852 done -0.77 - - 2575 - 2.00 0.047 2557 645.5 -194.6 - - 3899 - - - - - - - - - 26.31 -
7166 675.5 -5.1 341 7171 roll -0.79 - - 2576 - 1.90 0.033 1273 -675.8 -194.6 - - 3898 - - - - - - - - - 26.46 -
7208 677.6 -5.3 342 7214 done -0.81 0.12 0.090 2508 -566.7 2.00 0.048 2557 642.0 -194.6 - - 3898 - - - - - - - - 26.32 26.29 -
7533 719.7 -14.8 353 7540 roll -0.75 0.15 0.149 2558 333.3 1.83 0.057 3700 624.6 -194.6 - - 3897 - - - - - - - - 26.32 26.20 -
7608 728.9 -14.9 355 7613 done -0.73 - - 2558 - 1.73 0.034 2535 -673.4 -194.6 - - 3896 - - - - - - - - - 26.54 -
7930 781.6 -17.1 366 7931 done -0.73 - - 2558 - - - 2535 - -194.6 - - 3895 - - - - - - - - - - -
8230 832.6 -16.2 376 8231 done -0.73 - - 2558 - - - 2535 - -194.6 - - 3893 - - - - - - - - - - -
8530 873.2 -12.4 386 8536 roll -0.73 - - 2558 - 1.88 0.034 1276 -669.7 -194.6 - - 3892 - - - - - - - - - 26.42 -
8587 877.2 -12.0 387 8594 done -0.73 - - 2558 - 2.05 0.049 2571 631.7 -194.6 - - 3892 - - - - - - - - - 26.24 -
8895 904.5 -5.9 398 8900 roll -0.74 - - 2559 - 1.77 0.060 3696 635.6 -194.6 - - 3891 - - - - - - - - - 26.15 -
8942 906.0 -5.1 399 8948 done -0.76 - - 2559 - 1.75 0.037 2558 -650.3 -194.6 - - 3890 - - - - - - - - - 26.51 -
9262 912.9 -1.6 410 9268 roll -0.78 - - 2558 - 1.92 0.034 1267 -672.4 -194.6 - - 3888 - - - - - - - - - 26.40 -
9336 914.7 -2.2 412 9342 done -0.79 - - 2559 - 2.05 0.049 2562 631.7 -194.6 - - 3890 - - - - - - - - - 26.22 -
9661 924.7 -3.4 423 9667 roll -0.80 - - 2558 - 1.80 0.060 3700 632.2 -194.6 - - 3888 - - - - - - - - - 26.11 -
9704 925.9 -3.6 424 9710 done -0.82 - - 2559 - 1.75 0.036 2545 -660.0 -194.6 - - 3888 - - - - - - - - - 26.48 -
10028 948.0 -8.8 435 10033 roll -0.82 - - 2559 - 1.85 0.060 3693 620.5 -194.6 - - 3887 - - - - - - - - - 26.09 -
10065 951.7 -9.6 436 10070 done -0.83 - - 2558 - 1.70 0.037 2559 -667.1 -194.6 - - 3886 - - - - - - - - - 26.47 -
10360 end dive: TARGET_DEPTH_EXCEEDED
10360 begin apogee
10367 994.9 -15.8 446 10532 roll -0.12 0.57 0.113 2754 343.9 - - 1927 - - 160.43 1.440 3121 -4.8 0.353 - - - - - - 25.77 - 23.37
10534 end apogee: CONTROL_FINISHED_OK
10534 begin climb
10536 1014.0 - 451 10723 roll 0.46 0.57 0.060 2966 371.9 2.28 0.041 544 -606.6 194.6 177.75 1.410 2327 -4.5 0.344 - - - - - - 24.67 24.66 22.90
10760 1015.9 4.5 459 10896 done 0.50 - - 2966 - 2.30 0.039 1940 607.0 334.1 126.20 1.388 1757 -4.5 0.354 - - - - - - - 24.63 22.92
11209 953.2 15.8 474 11215 roll 0.50 - - 2968 - 2.22 0.044 545 -628.4 334.1 - - 1749 - - - - - - - - - 25.75 -
11352 935.8 14.1 478 11357 done 0.52 - - 2968 - 2.17 0.038 1946 645.6 334.1 - - 1749 - - - - - - - - - 25.94 -
11666 903.3 7.4 489 11713 roll 0.54 - - 2968 - 2.33 0.043 545 -601.3 378.1 38.88 1.339 1578 -4.4 0.318 - - - - - - - 25.26 24.17
11729 900.2 5.8 491 11826 done 0.60 - - 2968 - 2.17 0.037 1921 634.1 475.3 86.75 1.344 1182 -4.6 0.328 - - - - - - - 25.43 23.63
12149 889.0 2.9 505 12334 done 0.76 0.20 0.067 3071 515.0 - - 1922 - 668.6 169.38 1.306 459 -4.3 0.311 - - - - 2 - 25.99 - 23.46
12628 803.5 21.9 521 12635 roll 0.71 0.12 0.156 3037 -283.3 2.17 0.042 544 -635.0 668.6 0.85 0.047 459 - - - - - - - - 25.70 25.79 25.82
12724 788.0 17.7 524 12729 done 0.71 - - 3037 - 2.17 0.037 1937 641.9 668.6 - - 460 - - - - - - - - - 25.94 -
13057 731.3 16.9 535 13062 roll 0.71 - - 3037 - 2.17 0.044 536 -645.6 668.6 - - 460 - - - - - - - - - 26.12 -
13089 726.2 16.5 536 13095 done 0.71 - - 3037 - 2.12 0.037 1918 651.9 668.6 - - 461 - - - - - - - - - 26.16 -
13424 675.8 15.5 547 13425 done 0.71 - - 3037 - - - 1919 - 668.6 - - 460 - - - - - - - - - - -
13722 627.3 16.1 557 13724 done 0.71 - - 3037 - - - 1919 - 668.6 - - 460 - - - - - - - - - - -
14033 582.7 13.2 569 14034 done 0.72 - - 3037 - - - 1919 - 668.6 - - 460 - - - - - - - - - - -
14335 540.8 14.1 584 14336 done 0.75 - - 3037 - - - 1919 - 668.6 - - 460 - - - - - - - - - - -
14634 502.1 12.0 599 14635 done 0.77 - - 3037 - - - 1919 - 668.6 - - 460 - - - - - - - - - - -
14934 471.9 10.2 614 14935 done 0.81 - - 3037 - - - 1919 - 668.6 - - 460 - - - - - - - - - - -
15234 442.5 9.0 629 15236 done 0.86 0.12 0.092 3107 583.3 - - 1919 - 668.6 - - 460 - - - - - - - - 26.58 - -
15534 395.2 13.1 644 15539 roll 0.79 0.15 0.148 3066 -273.3 2.15 0.042 536 -643.3 668.6 - - 460 - - - - - - - - 26.26 26.34 -
15580 391.5 11.0 646 15586 done 0.76 - - 3066 - 2.10 0.038 1921 659.5 668.6 - - 460 - - - - - - - - - 26.39 -
15898 354.7 14.1 662 15904 roll 0.78 - - 3066 - 2.25 0.052 3347 633.8 668.6 - - 460 - - - - - - - - - 26.28 -
15931 351.0 14.6 663 15936 done 0.79 - - 3066 - 2.15 0.033 1918 -664.7 668.6 - - 459 - - - - - - - - - 26.46 -
16244 325.1 -1.0 679 16250 roll 1.00 0.12 0.093 3145 658.3 2.10 0.042 534 -659.0 991.4 0.17 0.070 461 - - - - - - - - 26.60 26.34 26.36
16309 321.8 3.4 682 16314 done 1.10 - - 3145 - 2.08 0.038 1900 656.7 1169.5 - - 460 - - - - - - - - - 26.38 -
16632 243.6 32.9 698 16637 roll 1.00 - - 3145 - 2.25 0.050 3346 642.7 1169.5 - - 460 - - - - - - - - - 26.29 -
16649 243.6 32.9 698 16656 done 0.91 0.20 0.152 3089 -280.0 2.20 0.034 1900 -657.3 1169.5 - - 460 - - - - - - - - 26.04 26.44 -
16954 161.4 16.6 714 16960 roll 0.91 - - 3091 - 2.08 0.044 538 -654.8 1169.5 - - 460 - - - - - - - - - 26.35 -
17007 157.3 12.2 716 17013 done 0.94 - - 3091 - 2.05 0.036 1907 667.8 1169.5 - - 460 - - - - - - - - - 26.40 -
17321 148.1 7.5 732 17329 roll 1.02 0.10 0.109 3151 600.0 2.22 0.047 3344 647.3 1208.0 0.22 0.061 460 - - - - - - - - 26.63 26.29 26.40
17356 143.4 11.6 733 17361 done 1.06 - - 3155 - 2.17 0.032 1896 -667.3 1208.0 - - 460 - - - - - - - - - 26.46 -
17669 65.4 9.3 749 17674 roll 1.08 - - 3155 - 2.08 0.044 530 -656.7 1208.0 - - 460 - - - - - - - - - 26.35 -
17702 62.9 10.2 750 17707 done 1.11 - - 3155 - 2.08 0.036 1902 659.6 1208.0 - - 460 - - - - - - - - - 26.41 -
18015 20.9 12.1 777 18022 roll 1.31 0.15 0.096 3221 440.0 2.22 0.047 3343 649.1 1208.0 0.03 0.210 460 - - - - - - - - 26.53 26.31 26.32
18065 16.2 10.4 781 18073 done 1.50 0.17 0.099 3284 370.6 2.20 0.031 1875 -667.3 1208.0 - - 460 - - - - - - - - 26.29 26.49 -
18189 end climb: SURFACE_DEPTH_REACHED
18189 begin surface coast
18211 end surface coast: CONTROL_FINISHED_OK
18211 begin surface
SM 1.77 - - - - -8.28 8.10 0.044 136 -388.6 1.33 0.054 2694 615.8 652.74 - - 460 - - - - - - - -