OKMC Apr12 * SG169 * Dive index * Mission links * Dive 176 * Raw log
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• Previous call tries 2 • 34.58 of 147.52 AH used of 24V (76.56% remains)
• Previous NAKs 0, Timeouts 0 • 21.53 of 108.53 AH used of 10V (80.17% remains)
• Surface angle -74.2 deg, depth 1.04 m • Intended pitch -12.5 deg, speed -7.857 cm/s
• VBD pumped to 450.13 (SM_CC=450)
• GPS1 time: 40 s
• GPS2 time: 17 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 105 VBD -0.55 - - 126 - - - 2533 - -194.6 -83.75 - 3171 - - - - - - - - - - -
108 3.9 -9.2 15 135 roll -0.55 7.88 0.228 2077 247.6 2.00 0.047 3845 656.0 -194.6 -10.88 - 3775 -55.5 - - - 1 - - - 25.31 25.64 26.44
224 47.6 -24.9 36 231 done -0.49 0.12 0.155 2111 283.3 2.00 0.021 2463 -691.0 -194.6 - - 3777 - - - - - - - - 25.85 26.17 -
417 106.2 -29.6 73 424 roll -0.40 0.12 0.177 2159 400.0 2.30 0.025 1044 -617.0 -194.6 - - 3777 - - - - - - - - 26.01 26.20 -
503 122.3 -10.3 89 510 done -0.41 - - 2148 - 2.42 0.031 2502 602.5 -194.6 - - 3778 - - - - - - - - - 26.20 -
693 152.2 -16.9 126 701 roll -0.36 - - 2138 - 1.98 0.041 3826 668.7 -194.6 - - 3778 - - - - - - - - - 26.22 -
739 158.8 -14.1 134 747 done -0.33 - - 2138 - 2.05 0.021 2425 -683.4 -194.6 - - 3778 - - - - - - - - - 26.38 -
932 185.0 -14.0 171 939 roll -0.30 0.12 0.141 2184 383.3 2.20 0.022 1037 -630.9 -194.6 - - 3778 - - - - - - - - 26.26 26.36 -
979 188.9 -5.5 179 986 done -0.35 - - 2184 - 2.33 0.030 2459 610.3 -194.6 - - 3778 - - - - - - - - - 26.32 -
1172 203.9 -8.7 212 1182 roll -0.42 0.12 0.091 2108 -633.3 2.03 0.037 3828 674.4 -194.6 - - 3778 - - - - - - - - 26.51 26.30 -
1328 217.0 -8.8 227 1335 done -0.49 - - 2116 - 2.08 0.020 2394 -689.4 -194.6 - - 3778 - - - - - - - - - 26.48 -
1636 238.0 -7.5 258 1645 roll -0.56 - - 2124 - 2.10 0.024 1040 -644.8 -194.6 - - 3778 - - - - - - - - - 26.43 -
1794 251.9 -9.3 273 1802 done -0.64 0.15 0.073 2051 -486.7 2.30 0.029 2466 620.0 -194.6 - - 3778 - - - - - - - - 26.36 26.40 -
2103 313.3 -22.6 304 2112 roll -0.56 0.12 0.151 2101 416.7 2.28 0.025 1038 -626.3 -194.6 - - 3777 - - - - - - - - 26.31 26.42 -
2196 327.3 -10.7 313 2205 done -0.55 - - 2099 - 2.30 0.031 2445 611.7 -194.6 - - 3777 - - - - - - - - - 26.39 -
2506 372.0 -15.3 344 2515 roll -0.51 - - 2099 - 2.22 0.024 1033 -636.0 -194.6 - - 3775 - - - - - - - - - 26.44 -
2571 379.6 -10.9 350 2577 done -0.51 - - 2099 - 2.25 0.032 2428 620.0 -194.6 - - 3774 - - - - - - - - - 26.38 -
2879 416.0 -11.3 381 2887 roll -0.48 - - 2088 - 2.12 0.041 3827 659.9 -194.6 - - 3773 - - - - - - - - - 26.34 -
2913 419.6 -10.9 384 2920 done -0.46 0.12 0.122 2128 333.3 2.12 0.019 2370 -687.3 -194.6 - - 3772 - - - - - - - - 26.27 26.51 -
3221 442.3 -7.8 415 3222 done -0.46 - - 2128 - - - 2369 - -194.6 - - 3771 - - - - - - - - - - -
3524 464.1 -6.8 445 3533 roll -0.47 - - 2124 - 2.28 0.041 3815 634.2 -194.6 - - 3768 - - - - - - - - - 26.32 -
3558 466.5 -6.8 448 3566 done -0.49 - - 2124 - 2.10 0.019 2374 -686.2 -194.6 - - 3768 - - - - - - - - - 26.53 -
3866 489.0 -7.2 479 3870 roll -0.50 - - 2124 - 2.10 0.025 1029 -640.5 -194.6 - - 3766 - - - - - - - - - 26.43 -
3899 491.5 -7.9 482 3908 done -0.52 - - 2124 - 2.30 0.031 2445 615.7 -194.6 - - 3766 - - - - - - - - - 26.37 -
4209 513.9 -7.4 513 4217 roll -0.53 - - 2115 - 2.08 0.041 3820 661.1 -194.6 - - 3762 - - - - - - - - - 26.30 -
4262 517.8 -7.4 518 4270 done -0.55 - - 2115 - 2.08 0.019 2386 -689.4 -194.6 - - 3762 - - - - - - - - - 26.53 -
4571 543.0 -8.2 549 4572 done -0.55 - - 2115 - - - 2386 - -194.6 - - 3760 - - - - - - - - - - -
4874 566.4 -7.4 579 4884 roll -0.55 - - 2112 - 2.28 0.043 3819 628.5 -194.6 - - 3757 - - - - - - - - - 26.27 -
4901 568.1 -6.7 581 4907 done -0.56 - - 2112 - 2.08 0.019 2394 -685.1 -194.6 - - 3757 - - - - - - - - - 26.52 -
5207 586.6 -5.5 612 5216 roll -0.56 - - 2112 - 2.12 0.026 1034 -641.5 -194.6 - - 3755 - - - - - - - - - 26.40 -
5232 587.9 -5.7 614 5239 done -0.57 - - 2112 - 2.33 0.034 2460 612.0 -194.6 - - 3755 - - - - - - - - - 26.32 -
5553 609.4 -7.5 640 5559 roll -0.58 - - 2102 - 2.08 0.044 3826 656.7 -194.6 - - 3752 - - - - - - - - - 26.25 -
5585 611.2 -7.7 641 5592 done -0.58 - - 2102 - 2.10 0.020 2391 -683.3 -194.6 - - 3751 - - - - - - - - - 26.49 -
5892 638.5 -8.5 657 5897 roll -0.58 - - 2102 - 2.10 0.026 1038 -644.3 -194.6 - - 3750 - - - - - - - - - 26.38 -
5915 640.2 -8.5 658 5919 done -0.58 - - 2099 - 2.33 0.033 2462 611.2 -194.6 - - 3750 - - - - - - - - - 26.30 -
6226 666.5 -8.4 674 6232 roll -0.58 - - 2091 - 2.08 0.044 3821 653.4 -194.6 - - 3746 - - - - - - - - - 26.22 -
6267 669.8 -8.3 676 6272 done -0.58 - - 2090 - 2.08 0.020 2399 -683.7 -194.6 - - 3746 - - - - - - - - - 26.49 -
6588 700.0 -9.3 692 6594 roll -0.58 - - 2090 - 2.12 0.027 1042 -640.1 -194.6 - - 3745 - - - - - - - - - 26.35 -
6614 701.8 -9.3 693 6619 done -0.58 - - 2088 - 2.35 0.034 2468 606.8 -194.6 - - 3744 - - - - - - - - - 26.27 -
6923 727.6 -7.5 708 6924 done -0.57 - - 2089 - - - 2466 - -194.6 - - 3742 - - - - - - - - - - -
7223 748.9 -7.3 723 7229 roll -0.57 - - 2079 - 2.10 0.046 3825 647.1 -194.6 - - 3740 - - - - - - - - - 26.15 -
7250 750.3 -7.4 724 7254 done -0.57 - - 2078 - 2.08 0.021 2410 -680.3 -194.6 - - 3740 - - - - - - - - - 26.46 -
7558 775.9 -8.0 739 7559 done -0.55 - - 2078 - - - 2409 - -194.6 - - 3738 - - - - - - - - - - -
7858 798.1 -7.1 754 7859 done -0.54 - - 2078 - - - 2409 - -194.6 - - 3736 - - - - - - - - - - -
8157 821.8 -8.4 769 8163 roll -0.53 - - 2077 - 2.20 0.027 1039 -622.7 -194.6 - - 3734 - - - - - - - - - 26.30 -
8181 823.5 -8.5 770 8188 done -0.53 0.12 0.116 2113 300.0 2.38 0.034 2469 600.8 -194.6 - - 3734 - - - - - - - - 26.10 26.22 -
8499 844.6 -6.7 786 8504 roll -0.54 - - 2103 - 2.12 0.047 3825 639.6 -194.6 - - 3732 - - - - - - - - - 26.10 -
8527 845.8 -6.6 787 8537 done -0.56 - - 2103 - 2.10 0.021 2398 -679.5 -194.6 - - 3731 - - - - - - - - - 26.44 -
8838 868.3 -6.8 803 8839 done -0.57 - - 2103 - - - 2399 - -194.6 - - 3730 - - - - - - - - - - -
9138 888.2 -6.4 818 9139 done -0.58 - - 2103 - - - 2398 - -194.6 - - 3728 - - - - - - - - - - -
9439 906.3 -5.9 833 9444 roll -0.59 - - 2099 - 2.30 0.047 3817 617.0 -194.6 - - 3726 - - - - - - - - - 26.06 -
9480 908.5 -5.8 835 9484 done -0.61 - - 2099 - 2.08 0.021 2410 -676.4 -194.6 - - 3726 - - - - - - - - - 26.43 -
9794 926.9 -5.8 851 9799 roll -0.64 - - 2098 - 2.15 0.025 1039 -637.7 -194.6 - - 3725 - - - - - - - - - 26.29 -
9821 928.1 -5.8 852 9826 done -0.68 0.12 0.081 2032 -550.0 2.55 0.032 2562 597.3 -194.6 - - 3725 - - - - - - - - 26.17 26.17 -
10129 961.2 -11.1 867 10135 roll -0.64 0.12 0.142 2079 391.7 2.50 0.027 1051 -604.4 -194.6 - - 3724 - - - - - - - - 26.29 26.20 -
10181 964.7 -10.0 869 10188 done -0.62 - - 2070 - 2.50 0.037 2536 594.0 -194.6 - - 3724 - - - - - - - - - 26.10 -
10489 987.0 -6.8 885 10490 done -0.61 - - 2070 - - - 2535 - -194.6 - - 3722 - - - - - - - - - - -
10546 end dive: TARGET_DEPTH_EXCEEDED
10546 begin apogee
10553 991.1 -6.9 888 10740 roll -0.20 0.40 0.100 2210 350.0 - - 2534 - - 180.00 1.173 2972 -4.2 0.371 - - - - - - 25.86 - 23.78
10741 end apogee: CONTROL_FINISHED_OK
10741 begin climb
10743 995.0 - 897 10951 roll 0.55 0.65 0.039 2467 395.4 2.12 0.047 3829 610.8 194.6 198.98 1.158 2183 -4.0 0.359 - - - - - - 24.91 24.85 23.33
11148 910.3 26.2 917 11155 done 0.46 0.20 0.181 2426 -205.0 2.00 0.022 2499 -665.0 194.6 - - 2149 - - - - - - - - 25.18 25.60 -
11454 852.1 16.7 933 11460 roll 0.41 - - 2438 - 2.35 0.029 1068 -608.9 194.6 - - 2145 - - - - - - - - - 25.93 -
11569 837.8 13.5 938 11577 done 0.37 0.15 0.149 2397 -273.3 2.55 0.035 2553 582.4 194.6 - - 2141 - - - - - - - - 25.69 25.96 -
11874 796.4 12.9 954 11878 roll 0.34 - - 2397 - 1.95 0.045 3821 650.3 194.6 - - 2141 - - - - - - - - - 26.01 -
11918 790.3 13.7 956 11924 done 0.30 0.08 0.149 2380 -212.5 1.95 0.023 2506 -674.4 194.6 - - 2141 - - - - - - - - 25.86 26.15 -
12241 752.2 12.1 972 12242 done 0.28 - - 2380 - - - 2504 - 194.6 - - 2140 - - - - - - - - - - -
12538 716.0 11.5 987 12543 roll 0.26 - - 2380 - 2.08 0.045 3823 634.1 194.6 - - 2140 - - - - - - - - - 26.07 -
12597 708.3 12.6 990 12604 done 0.24 0.12 0.154 2355 -208.3 1.92 0.022 2510 -683.9 194.6 - - 2139 - - - - - - - - 25.93 26.25 -
12919 682.7 7.0 1006 12963 roll 0.28 - - 2367 - 2.40 0.028 1072 -599.2 226.2 37.30 0.867 2048 -2.4 0.202 - - - - - - - 25.75 24.87
12991 678.7 6.8 1009 13044 done 0.32 - - 2367 - 2.53 0.033 2541 580.6 265.3 46.62 0.910 1895 -3.3 0.258 - - - - - - - 25.77 24.40
13359 651.9 7.7 1028 13365 roll 0.34 - - 2379 - 2.47 0.031 1080 -591.5 270.5 - - 1870 - - - - - - - - - 25.89 -
13380 650.4 7.8 1029 13385 done 0.35 - - 2379 - 2.47 0.034 2525 585.0 273.1 - - 1868 - - - - - - - - - 25.89 -
13693 620.7 9.5 1045 13698 roll 0.35 - - 2379 - 2.00 0.044 3824 649.5 273.1 - - 1867 - - - - - - - - - 25.98 -
13733 616.4 9.9 1047 13738 done 0.35 - - 2390 - 2.00 0.022 2485 -669.5 273.1 - - 1866 - - - - - - - - - 26.13 -
14044 583.2 11.4 1070 14053 roll 0.34 - - 2402 - 2.30 0.032 1073 -613.9 273.1 - - 1865 - - - - - - - - - 26.10 -
14087 578.5 11.0 1074 14096 done 0.35 - - 2402 - 2.42 0.035 2520 597.9 273.1 - - 1864 - - - - - - - - - 26.09 -
14397 538.7 12.9 1105 14406 roll 0.33 - - 2402 - 2.00 0.045 3823 651.5 273.1 - - 1864 - - - - - - - - - 26.07 -
14472 528.5 14.0 1112 14480 done 0.32 0.12 0.142 2375 -225.0 1.98 0.022 2477 -679.8 273.1 - - 1864 - - - - - - - - 25.96 26.25 -
14780 502.9 6.6 1143 14838 done 0.39 - - 2376 - - - 2474 - 319.5 56.05 0.854 1674 -3.4 0.210 - - - - - - - - 24.67
15140 484.3 5.6 1179 15231 roll 0.52 0.15 0.066 2489 753.3 2.47 0.028 1072 -567.6 400.9 83.45 0.835 1332 -4.1 0.250 - - - - - - 26.09 25.17 24.36
15256 462.2 22.4 1190 15266 done 0.48 0.15 0.113 2436 -353.3 2.58 0.034 2535 567.1 400.9 - - 1317 - - - - - - - - 25.21 25.36 -
15566 413.1 15.7 1221 15570 roll 0.46 - - 2436 - 2.00 0.044 3831 648.0 400.9 - - 1313 - - - - - - - - - 25.83 -
15619 404.6 16.4 1226 15628 done 0.45 - - 2446 - 1.98 0.022 2494 -675.3 400.9 - - 1311 - - - - - - - - - 25.98 -
15931 354.1 16.7 1257 15940 roll 0.43 0.12 0.155 2417 -241.7 2.33 0.028 1066 -612.9 400.9 - - 1310 - - - - - - - - 25.93 26.06 -
15984 347.9 9.6 1262 15993 done 0.46 - - 2417 - 2.45 0.028 2534 599.2 400.9 - - 1309 - - - - - - - - - 26.08 -
16294 314.3 11.8 1293 16303 roll 0.54 - - 2412 - 1.98 0.044 3841 660.1 400.9 - - 1308 - - - - - - - - - 26.06 -
16439 297.1 11.7 1307 16449 done 0.62 0.12 0.042 2493 675.0 1.98 0.021 2482 -686.4 400.9 - - 1308 - - - - - - - - 26.19 26.27 -
16749 267.5 8.8 1338 16757 roll 0.66 - - 2493 - 2.05 0.041 3817 651.2 400.9 - - 1308 - - - - - - - - - 26.14 -
16810 260.8 11.8 1344 16820 done 0.66 - - 2504 - 2.08 0.021 2427 -668.3 400.9 - - 1308 - - - - - - - - - 26.28 -
17120 196.6 21.6 1376 17129 roll 0.61 0.12 0.170 2465 -325.0 2.22 0.039 3835 634.2 400.9 - - 1308 - - - - - - - - 26.10 26.16 -
17202 183.2 12.4 1391 17209 done 0.61 - - 2475 - 2.00 0.021 2455 -690.0 400.9 - - 1308 - - - - - - - - - 26.33 -
17392 162.7 11.5 1428 17400 roll 0.61 - - 2488 - 2.28 0.030 1062 -611.0 400.9 - - 1308 - - - - - - - - - 26.25 -
17445 157.6 8.9 1437 17452 done 0.63 - - 2488 - 2.42 0.029 2517 601.2 400.9 - - 1308 - - - - - - - - - 26.25 -
17635 134.9 11.1 1474 17642 roll 0.63 - - 2488 - 1.98 0.041 3829 662.6 400.9 - - 1308 - - - - - - - - - 26.20 -
17671 131.0 11.7 1480 17679 done 0.63 - - 2498 - 2.03 0.021 2445 -681.8 400.9 - - 1308 - - - - - - - - - 26.37 -
17864 111.3 10.1 1517 17870 roll 0.63 - - 2510 - 2.22 0.028 1062 -623.0 400.9 - - 1308 - - - - - - - - - 26.29 -
17920 106.5 7.2 1527 17947 done 0.70 - - 2510 - 2.35 0.028 2489 607.2 424.0 21.80 0.267 1250 -2.7 0.112 - - - - - - - 26.29 25.52
18133 87.8 9.4 1567 18141 roll 0.70 - - 2509 - 2.12 0.039 3836 635.4 424.0 3.30 0.158 1250 - - - - - - - - - 26.21 25.46
18160 85.0 10.1 1571 18167 done 0.71 - - 2521 - 2.10 0.021 2417 -675.7 424.0 - - 1260 - - - - - - - - - 26.33 -
18351 65.4 9.0 1608 18360 roll 0.71 - - 2531 - 2.25 0.028 1058 -604.0 424.0 3.10 0.153 1252 -2.6 0.116 - - - - - - - 26.27 25.53
18384 62.6 8.7 1613 18392 done 0.72 - - 2531 - 2.35 0.028 2482 606.0 424.0 2.78 0.156 1249 -1.1 0.046 - - - - - - - 26.28 25.63
18578 45.7 8.9 1650 18586 roll 0.73 - - 2531 - 2.10 0.037 3825 639.5 424.0 3.22 0.155 1254 1.6 -0.048 - - - - - - - 26.24 25.48
18643 39.3 9.5 1662 18651 done 0.75 - - 2542 - 2.05 0.020 2421 -684.9 424.0 3.20 0.157 1249 -1.6 0.041 - - - - - - - 26.39 25.51
18837 22.7 8.2 1699 18845 roll 0.76 - - 2553 - 2.25 0.028 1071 -600.0 424.0 3.25 0.151 1249 - - - - - - - - - 26.31 25.60
18874 19.6 8.4 1705 18882 done 0.78 - - 2552 - 2.35 0.028 2488 603.0 424.0 2.08 0.158 1249 - - - - - - - - - 26.32 25.77
19044 end climb: SURFACE_DEPTH_REACHED
19044 begin surface coast
19071 end surface coast: CONTROL_FINISHED_OK
19071 begin surface
SM 0.55 - - - - -6.63 6.03 0.025 121 -403.2 - - 2488 - 450.13 15.52 0.122 1143 -6.8 0.003 - - - - - -