OKMC Apr12 * SG169 * Dive index * Mission links * Dive 106 * Raw log
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• Previous call tries 1 • 21.55 of 147.52 AH used of 24V (85.39% remains)
• Previous NAKs 0, Timeouts 0 • 12.00 of 108.53 AH used of 10V (88.95% remains)
• Surface angle -74.2 deg, depth 0.79 m • Intended pitch -14.5 deg, speed -9.167 cm/s
• No surface pump (final VBD was 534.26, SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 11 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 - - - 107 VBD -0.60 - - 120 - - - 2534 - -194.6 -86.72 - 3369 - - - - - - - - - - -
110 4.3 -11.9 15 131 roll -0.60 7.78 0.232 2086 252.7 2.42 0.040 1034 -619.8 -194.6 -7.15 - 3776 -56.9 - - - - - - - 25.56 26.10 26.41
299 65.1 -17.7 50 308 done -0.57 - - 2073 - 2.40 0.036 2522 620.0 -194.6 - - 3778 - - - - - - - - - 26.17 -
501 126.5 -30.7 87 508 roll -0.48 0.15 0.184 2127 360.0 2.30 0.022 1027 -650.0 -194.6 - - 3778 - - - - - - - - 25.98 26.31 -
600 145.6 -10.8 105 607 done -0.49 - - 2116 - 2.30 0.031 2474 629.1 -194.6 - - 3779 - - - - - - - - - 26.31 -
796 182.1 -19.1 142 804 done -0.45 - - 2116 - - - 2473 - -194.6 - - 3779 - - - - - - - - - - -
997 217.3 -16.0 170 1005 done -0.41 - - 2116 - - - 2473 - -194.6 - - 3779 - - - - - - - - - - -
1306 264.6 -13.8 201 1313 done -0.39 0.12 0.156 2151 291.7 - - 2473 - -194.6 - - 3779 - - - - - - - - 26.34 - -
1616 292.2 -8.4 232 1625 roll -0.40 - - 2151 - 2.20 0.024 1034 -654.1 -194.6 - - 3779 - - - - - - - - - 26.50 -
1642 294.4 -8.6 234 1649 done -0.41 - - 2150 - 2.25 0.031 2469 637.8 -194.6 - - 3779 - - - - - - - - - 26.46 -
1950 319.0 -7.8 265 1959 roll -0.43 - - 2140 - 2.05 0.043 3825 661.5 -194.6 - - 3779 - - - - - - - - - 26.44 -
1993 322.2 -7.3 269 2001 done -0.46 - - 2140 - 2.08 0.019 2397 -686.5 -194.6 - - 3778 - - - - - - - - - 26.57 -
2304 345.9 -7.6 300 2313 roll -0.47 - - 2131 - 2.28 0.041 3829 628.1 -194.6 - - 3777 - - - - - - - - - 26.46 -
2348 349.0 -7.1 304 2357 done -0.50 - - 2131 - 2.05 0.019 2411 -691.7 -194.6 - - 3776 - - - - - - - - - 26.59 -
2656 373.4 -7.7 335 2660 roll -0.50 - - 2131 - 2.08 0.026 1039 -659.6 -194.6 - - 3775 - - - - - - - - - 26.53 -
2723 377.9 -6.7 341 2729 done -0.53 - - 2125 - 2.25 0.032 2476 638.7 -194.6 - - 3775 - - - - - - - - - 26.50 -
3030 405.3 -9.2 372 3039 roll -0.53 - - 2115 - 2.03 0.041 3821 662.6 -194.6 - - 3773 - - - - - - - - - 26.46 -
3062 408.3 -9.2 375 3073 done -0.53 - - 2115 - 2.08 0.020 2406 -680.3 -194.6 - - 3773 - - - - - - - - - 26.58 -
3372 438.4 -8.9 406 3381 roll -0.53 - - 2116 - 2.08 0.026 1035 -659.1 -194.6 - - 3772 - - - - - - - - - 26.56 -
3397 440.4 -8.8 408 3404 done -0.53 - - 2107 - 2.28 0.031 2484 635.5 -194.6 - - 3772 - - - - - - - - - 26.51 -
3705 468.7 -9.0 439 3717 roll -0.53 - - 2097 - 2.00 0.041 3816 666.0 -194.6 - - 3769 - - - - - - - - - 26.47 -
3743 471.9 -9.3 442 3750 done -0.53 - - 2097 - 2.05 0.022 2420 -681.0 -194.6 - - 3769 - - - - - - - - - 26.58 -
4050 502.5 -10.2 473 4059 roll -0.52 - - 2097 - 2.10 0.025 1035 -659.5 -194.6 - - 3768 - - - - - - - - - 26.53 -
4085 505.8 -10.3 476 4092 done -0.52 - - 2087 - 2.28 0.032 2481 634.2 -194.6 - - 3768 - - - - - - - - - 26.50 -
4394 540.5 -10.9 507 4395 done -0.51 - - 2087 - - - 2480 - -194.6 - - 3766 - - - - - - - - - - -
4694 574.0 -10.4 537 4700 done -0.50 - - 2087 - - - 2480 - -194.6 - - 3764 - - - - - - - - - - -
5005 603.9 -9.3 566 5011 roll -0.49 - - 2087 - 2.22 0.027 1042 -647.7 -194.6 - - 3762 - - - - - - - - - 26.52 -
5037 605.7 -9.1 567 5047 done -0.48 0.12 0.133 2125 316.7 2.30 0.036 2479 624.8 -194.6 - - 3762 - - - - - - - - 26.32 26.46 -
5346 624.4 -5.9 583 5351 roll -0.51 - - 2115 - 2.05 0.045 3821 654.6 -194.6 - - 3760 - - - - - - - - - 26.43 -
5379 625.6 -5.8 584 5388 done -0.53 - - 2115 - 2.05 0.020 2412 -687.3 -194.6 - - 3759 - - - - - - - - - 26.59 -
5685 649.1 -8.1 600 5691 roll -0.55 - - 2115 - 2.10 0.028 1037 -654.8 -194.6 - - 3757 - - - - - - - - - 26.50 -
5708 650.8 -8.1 601 5713 done -0.57 - - 2112 - 2.30 0.034 2497 634.8 -194.6 - - 3757 - - - - - - - - - 26.46 -
6023 678.1 -8.5 617 6026 roll -0.58 - - 2102 - 2.03 0.046 3818 650.7 -194.6 - - 3755 - - - - - - - - - 26.41 -
6073 681.9 -8.7 619 6077 done -0.60 - - 2102 - 2.05 0.021 2422 -681.0 -194.6 - - 3754 - - - - - - - - - 26.58 -
6381 707.9 -7.8 634 6385 roll -0.60 - - 2093 - 2.22 0.044 3825 632.0 -194.6 - - 3752 - - - - - - - - - 26.40 -
6403 709.6 -7.8 635 6408 done -0.61 - - 2093 - 2.03 0.021 2440 -682.3 -194.6 - - 3751 - - - - - - - - - 26.56 -
6724 736.6 -8.7 651 6725 done -0.61 - - 2093 - - - 2440 - -194.6 - - 3750 - - - - - - - - - - -
7023 761.0 -7.9 666 7028 roll -0.61 - - 2093 - 2.15 0.028 1037 -652.6 -194.6 - - 3748 - - - - - - - - - 26.47 -
7045 762.6 -8.0 667 7050 done -0.62 - - 2085 - 2.35 0.035 2518 630.2 -194.6 - - 3747 - - - - - - - - - 26.42 -
7359 790.0 -8.6 683 7364 roll -0.62 - - 2076 - 1.98 0.045 3816 655.6 -194.6 - - 3746 - - - - - - - - - 26.37 -
7411 793.4 -8.6 685 7418 done -0.62 - - 2075 - 2.03 0.024 2449 -673.4 -194.6 - - 3745 - - - - - - - - - 26.53 -
7721 822.6 -9.2 701 7722 done -0.62 - - 2076 - - - 2449 - -194.6 - - 3743 - - - - - - - - - - -
8018 850.7 -9.4 716 8024 roll -0.62 - - 2066 - 2.17 0.047 3814 629.0 -194.6 - - 3741 - - - - - - - - - 26.34 -
8062 854.6 -9.5 718 8066 done -0.62 - - 2066 - 2.03 0.024 2453 -670.4 -194.6 - - 3741 - - - - - - - - - 26.53 -
8375 886.5 -9.9 734 8380 roll -0.61 - - 2066 - 2.17 0.028 1037 -652.5 -194.6 - - 3740 - - - - - - - - - 26.45 -
8417 890.4 -9.8 736 8421 done -0.61 - - 2055 - 2.40 0.036 2528 621.2 -194.6 - - 3739 - - - - - - - - - 26.38 -
8729 923.4 -10.6 752 8735 roll -0.60 - - 2056 - 2.33 0.030 1042 -637.8 -194.6 - - 3738 - - - - - - - - - 26.41 -
8792 929.6 -10.1 755 8798 done -0.59 0.10 0.094 2087 310.0 2.33 0.037 2504 627.5 -194.6 - - 3738 - - - - - - - - 26.20 26.40 -
9113 954.6 -7.8 771 9118 roll -0.59 - - 2077 - 2.00 0.047 3812 654.0 -194.6 - - 3736 - - - - - - - - - 26.32 -
9132 956.2 -7.9 772 9137 done -0.59 - - 2077 - 2.03 0.022 2433 -679.3 -194.6 - - 3735 - - - - - - - - - 26.52 -
9451 983.2 -8.7 788 9457 roll -0.59 - - 2077 - 2.15 0.030 1029 -653.0 -194.6 - - 3734 - - - - - - - - - 26.40 -
9492 986.8 -8.7 790 9498 done -0.59 - - 2068 - 2.35 0.037 2498 625.1 -194.6 - - 3734 - - - - - - - - - 26.36 -
9528 end dive: TARGET_DEPTH_EXCEEDED
9529 begin apogee
9535 990.1 -8.6 792 9722 roll -0.20 0.40 0.110 2206 345.0 0.10 0.074 2471 -270.0 - 178.85 1.169 2977 -4.2 0.371 - - - - - - 26.06 24.76 23.99
9723 end apogee: CONTROL_FINISHED_OK
9723 begin climb
9725 997.8 - 801 9929 done 0.60 0.68 0.032 2487 413.2 0.12 0.079 2555 700.0 194.6 195.77 1.159 2184 -4.1 0.361 - - - - - - 24.95 24.92 23.71
10228 897.6 24.0 827 10234 roll 0.52 0.12 0.200 2451 -300.0 1.92 0.041 3813 655.2 194.6 - - 2147 - - - - - - - - 25.50 25.75 -
10356 869.5 22.4 833 10360 done 0.46 0.15 0.187 2424 -180.0 1.98 0.023 2507 -659.6 194.6 - - 2145 - - - - - - - - 25.60 25.94 -
10665 816.1 16.4 848 10671 roll 0.42 - - 2424 - 2.08 0.046 3820 631.2 194.6 - - 2142 - - - - - - - - - 26.03 -
10766 797.8 18.2 853 10772 done 0.37 0.10 0.159 2401 -230.0 1.95 0.023 2524 -664.6 194.6 - - 2141 - - - - - - - - 25.84 26.16 -
11088 751.3 14.1 869 11094 roll 0.35 - - 2401 - 2.03 0.044 3823 639.9 194.6 - - 2140 - - - - - - - - - 26.15 -
11130 745.0 14.6 871 11134 done 0.32 0.12 0.163 2378 -191.7 1.95 0.024 2515 -670.8 194.6 - - 2139 - - - - - - - - 25.97 26.24 -
11446 708.5 11.2 887 11451 roll 0.31 - - 2378 - 2.03 0.044 3813 639.4 194.6 - - 2139 - - - - - - - - - 26.20 -
11485 703.4 11.6 889 11490 done 0.30 - - 2388 - 1.90 0.022 2523 -678.9 194.6 - - 2139 - - - - - - - - - 26.32 -
11804 663.3 12.5 905 11810 roll 0.29 - - 2388 - 2.05 0.044 3823 634.1 194.6 - - 2138 - - - - - - - - - 26.22 -
11846 657.6 13.5 907 11853 done 0.28 0.12 0.155 2359 -241.7 1.88 0.022 2539 -683.0 194.6 - - 2138 - - - - - - - - 26.06 26.36 -
12169 624.1 10.0 923 12174 roll 0.28 - - 2372 - 2.33 0.031 1061 -634.3 194.6 - - 2138 - - - - - - - - - 26.29 -
12209 620.2 9.7 925 12214 done 0.30 - - 2372 - 2.42 0.034 2559 619.0 194.6 - - 2136 - - - - - - - - - 26.29 -
12518 589.1 9.5 945 12527 roll 0.30 - - 2372 - 1.92 0.044 3819 656.2 194.6 - - 2137 - - - - - - - - - 26.27 -
12563 584.2 11.4 949 12569 done 0.30 - - 2382 - 1.95 0.023 2525 -663.6 194.6 - - 2136 - - - - - - - - - 26.39 -
12870 554.0 9.2 980 12879 roll 0.30 - - 2394 - 2.30 0.031 1068 -633.5 194.6 - - 2136 - - - - - - - - - 26.33 -
12937 548.5 8.1 986 12986 done 0.35 - - 2394 - 2.40 0.034 2553 618.8 227.0 37.05 0.806 2043 -2.5 0.177 - - - - - - - 26.32 25.20
13284 514.8 10.2 1021 13285 done 0.35 - - 2394 - - - 2553 - 227.0 - - 2029 - - - - - - - - - - -
13589 483.4 10.2 1051 13597 roll 0.35 - - 2394 - 1.95 0.043 3818 648.7 227.0 - - 2027 - - - - - - - - - 26.13 -
13633 478.1 11.6 1055 13640 done 0.35 - - 2405 - 1.98 0.023 2514 -658.6 227.0 - - 2026 - - - - - - - - - 26.25 -
13943 443.9 11.1 1086 13954 roll 0.34 - - 2417 - 2.25 0.031 1068 -642.7 227.0 - - 2026 - - - - - - - - - 26.24 -
13970 441.1 10.7 1088 13977 done 0.34 - - 2416 - 2.42 0.033 2557 615.3 227.0 - - 2025 - - - - - - - - - 26.24 -
14279 405.9 11.5 1119 14288 roll 0.33 0.12 0.161 2376 -333.3 1.90 0.041 3812 660.5 227.0 - - 2025 - - - - - - - - 26.15 26.25 -
14364 398.2 8.1 1127 14412 done 0.39 - - 2387 - 1.92 0.021 2500 -683.3 261.0 41.72 0.737 1911 -2.7 0.153 - - - - - - - 26.39 25.18
14713 373.1 7.2 1162 14783 roll 0.49 0.12 0.076 2485 816.7 2.35 0.030 1078 -605.1 322.5 61.15 0.759 1652 -4.2 0.215 - - - - - - 26.20 25.38 24.73
14819 357.2 17.1 1172 14829 done 0.46 0.17 0.116 2425 -352.9 2.45 0.032 2558 604.1 322.5 - - 1636 - - - - - - - - 25.44 25.57 -
15127 319.9 11.8 1203 15128 done 0.46 - - 2425 - - - 2558 - 322.5 - - 1634 - - - - - - - - - - -
15429 284.5 11.8 1233 15438 roll 0.46 - - 2437 - 2.38 0.031 1081 -620.6 322.5 - - 1633 - - - - - - - - - 26.13 -
15472 279.8 10.7 1237 15481 done 0.48 - - 2437 - 2.40 0.032 2554 613.8 322.5 - - 1632 - - - - - - - - - 26.15 -
15783 242.8 12.3 1268 15787 roll 0.48 - - 2437 - 1.92 0.041 3820 659.4 322.5 - - 1631 - - - - - - - - - 26.21 -
15804 239.9 12.6 1270 15813 done 0.48 - - 2447 - 1.95 0.020 2501 -676.4 322.5 - - 1632 - - - - - - - - - 26.33 -
16116 198.8 12.6 1301 16123 roll 0.48 - - 2447 - 2.10 0.041 3824 630.0 322.5 - - 1632 - - - - - - - - - 26.27 -
16152 194.1 13.2 1307 16161 done 0.48 - - 2458 - 1.90 0.023 2522 -685.3 322.5 - - 1631 - - - - - - - - - 26.36 -
16350 169.3 11.8 1344 16357 roll 0.48 - - 2470 - 2.30 0.030 1060 -635.7 322.5 - - 1632 - - - - - - - - - 26.34 -
16402 163.7 9.4 1353 16409 done 0.50 0.12 0.114 2428 -350.0 2.42 0.031 2561 620.2 322.5 - - 1631 - - - - - - - - 26.22 26.34 -
16597 149.3 6.9 1390 16669 roll 0.61 0.12 0.074 2521 775.0 1.98 0.037 3815 633.3 395.1 61.78 0.622 1351 -4.5 0.113 - - 1 - - - 26.54 25.74 25.17
16694 133.8 19.6 1405 16701 done 0.59 0.22 0.134 2464 -259.1 2.00 0.024 2508 -653.5 395.1 - - 1343 - - - - - - - - 25.68 25.85 -
16891 114.2 8.4 1442 16924 roll 0.63 - - 2475 - 2.33 0.030 1075 -615.0 420.1 24.35 0.582 1256 -3.6 0.073 - - - - - - - 25.82 25.20
16953 109.1 7.3 1452 17031 done 0.74 0.12 0.076 2562 725.0 2.42 0.028 2562 614.5 477.9 70.93 0.345 1030 -3.2 0.104 - - - - - - 25.89 25.89 25.18
17223 50.8 21.5 1500 17232 roll 0.71 0.17 0.158 2509 -311.8 1.95 0.037 3828 649.2 477.9 3.08 0.146 1030 - - - - 1 - - - 25.72 25.92 25.61
17277 41.4 12.8 1509 17284 done 0.74 - - 2517 - 1.95 0.021 2510 -675.9 477.9 2.12 0.164 1029 - - - - - - - - - 26.05 25.70
17477 18.4 11.3 1546 17485 roll 0.75 - - 2528 - 2.35 0.028 1065 -614.9 477.9 2.50 0.152 1032 1.2 -0.015 - - - - - - - 26.13 25.82
17536 13.4 7.3 1556 17576 done 0.87 - - 2529 - 2.40 0.028 2552 619.6 536.3 34.97 0.145 789 -6.9 0.066 - - - - - - - 26.17 25.79
17643 end climb: SURFACE_DEPTH_REACHED
17643 begin surface coast
17670 end surface coast: CONTROL_FINISHED_OK
17670 begin surface
SM 0.74 - - - - -6.61 5.97 0.023 131 -401.7 0.15 0.054 2414 -920.0 534.26 - - 801 - - - - - - - -