OKMC Apr12 * SG169 * Dive index * Mission links * Dive 206 * Raw log
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• Previous call tries 1 • 41.23 of 147.52 AH used of 24V (72.05% remains)
• Previous NAKs 0, Timeouts 0 • 25.41 of 108.53 AH used of 10V (76.59% remains)
• Surface angle -73.9 deg, depth 0.88 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• VBD pumped to 450.13 (SM_CC=450)
• GPS1 time: 34 s
• GPS2 time: 15 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
17 - - - 108 VBD -0.58 - - 117 - - - 2431 - -194.6 -88.18 - 3016 - - - - - - - - - - -
111 3.5 -8.3 15 143 roll -0.58 7.88 0.223 2070 247.8 2.25 0.046 3843 627.6 -194.6 -13.82 - 3776 -55.0 - - - 1 - - - 25.18 25.48 26.46
217 42.7 -25.6 34 225 done -0.52 - - 2078 - 2.00 0.021 2472 -685.5 -194.6 - - 3777 - - - - - - - - - 26.15 -
411 108.4 -36.2 71 419 roll -0.41 0.20 0.178 2147 345.0 2.33 0.024 1039 -615.0 -194.6 - - 3777 - - - - - - - - 25.72 26.20 -
528 130.0 -12.2 93 535 done -0.42 - - 2135 - 2.42 0.031 2490 599.6 -194.6 - - 3778 - - - - - - - - - 26.20 -
719 165.9 -19.3 130 726 done -0.37 - - 2135 - - - 2489 - -194.6 - - 3778 - - - - - - - - - - -
913 194.4 -13.7 167 920 roll -0.34 0.10 0.168 2167 320.0 2.35 0.021 1040 -616.6 -194.6 - - 3778 - - - - - - - - 26.34 26.34 -
963 198.9 -5.8 176 970 done -0.38 - - 2163 - 2.35 0.030 2468 607.7 -194.6 - - 3779 - - - - - - - - - 26.30 -
1156 211.2 -6.3 196 1161 roll -0.47 0.12 0.096 2097 -550.0 2.05 0.034 3839 668.8 -194.6 - - 3778 - - - - - - - - 26.48 26.30 -
1222 216.8 -7.7 202 1229 done -0.49 - - 2097 - 2.03 0.018 2419 -699.5 -194.6 - - 3778 - - - - - - - - - 26.48 -
1529 263.6 -15.3 233 1538 roll -0.45 0.10 0.157 2134 370.0 2.17 0.024 1048 -631.8 -194.6 - - 3778 - - - - - - - - 26.42 26.39 -
1604 270.6 -7.3 240 1611 done -0.47 - - 2124 - 2.38 0.031 2487 604.6 -194.6 - - 3779 - - - - - - - - - 26.34 -
1912 302.0 -9.9 271 1913 done -0.47 - - 2124 - - - 2485 - -194.6 - - 3778 - - - - - - - - - - -
2214 329.7 -8.5 301 2223 roll -0.47 - - 2114 - 2.03 0.041 3826 660.6 -194.6 - - 3776 - - - - - - - - - 26.31 -
2236 331.8 -8.6 303 2246 done -0.47 - - 2114 - 2.05 0.021 2415 -688.3 -194.6 - - 3776 - - - - - - - - - 26.51 -
2546 359.4 -9.3 334 2547 done -0.47 - - 2114 - - - 2415 - -194.6 - - 3775 - - - - - - - - - - -
2850 387.0 -9.1 364 2856 done -0.47 - - 2114 - - - 2415 - -194.6 - - 3772 - - - - - - - - - - -
3157 414.4 -8.3 395 3164 done -0.47 - - 2114 - - - 2415 - -194.6 - - 3770 - - - - - - - - - - -
3468 439.8 -8.0 426 3472 roll -0.47 - - 2114 - 2.17 0.024 1043 -632.3 -194.6 - - 3767 - - - - - - - - - 26.41 -
3505 442.5 -7.9 429 3511 done -0.48 - - 2112 - 2.38 0.032 2475 601.7 -194.6 - - 3767 - - - - - - - - - 26.35 -
3812 466.3 -8.0 460 3821 roll -0.49 - - 2102 - 2.08 0.041 3829 651.0 -194.6 - - 3764 - - - - - - - - - 26.28 -
3858 469.6 -8.0 464 3865 done -0.50 - - 2102 - 2.08 0.021 2414 -680.3 -194.6 -0.10 - 3785 -210.0 - - - - - - - - 26.49 25.84
4165 494.5 -7.7 495 4166 done -0.50 - - 2102 - - - 2413 - -194.6 - - 3785 - - - - - - - - - - -
4469 516.8 -7.4 525 4475 done -0.50 - - 2101 - - - 2413 - -194.6 - - 3782 - - - - - - - - - - -
4777 541.8 -8.3 556 4786 roll -0.50 - - 2102 - 2.17 0.027 1045 -630.4 -194.6 - - 3779 - - - - - - - - - 26.36 -
4811 544.5 -8.3 559 4819 done -0.52 - - 2099 - 2.40 0.034 2480 597.9 -194.6 - - 3779 - - - - - - - - - 26.29 -
5119 570.0 -8.3 590 5128 roll -0.52 - - 2089 - 2.03 0.043 3821 660.6 -194.6 - - 3776 - - - - - - - - - 26.24 -
5141 571.9 -8.0 592 5145 done -0.52 - - 2089 - 2.08 0.020 2410 -678.4 -194.6 - - 3776 - - - - - - - - - 26.49 -
5453 600.8 -9.8 623 5458 roll -0.52 - - 2089 - 2.17 0.026 1032 -635.0 -194.6 - - 3774 - - - - - - - - - 26.36 -
5506 604.6 -9.6 625 5513 done -0.52 - - 2085 - 2.38 0.033 2476 606.7 -194.6 - - 3773 - - - - - - - - - 26.28 -
5814 633.7 -9.5 641 5820 roll -0.51 - - 2075 - 2.05 0.043 3816 653.7 -194.6 - - 3771 - - - - - - - - - 26.21 -
5861 637.3 -9.5 643 5866 done -0.51 0.12 0.116 2116 341.7 2.05 0.021 2410 -685.9 -194.6 - - 3771 - - - - - - - - 26.22 26.47 -
6177 658.2 -6.3 659 6182 roll -0.53 - - 2106 - 2.22 0.044 3813 632.0 -194.6 - - 3769 - - - - - - - - - 26.18 -
6204 659.6 -6.3 660 6208 done -0.55 - - 2106 - 2.05 0.020 2405 -686.8 -194.6 - - 3768 - - - - - - - - - 26.48 -
6511 681.2 -6.7 675 6517 roll -0.60 - - 2106 - 2.12 0.024 1045 -641.5 -194.6 - - 3767 - - - - - - - - - 26.35 -
6699 694.5 -8.0 684 6704 done -0.68 0.15 0.076 2038 -453.3 2.55 0.034 2561 594.5 -194.6 - - 3765 - - - - - - - - 26.22 26.25 -
7009 719.5 -7.8 699 7014 roll -0.69 - - 2038 - 2.50 0.028 1049 -604.8 -194.6 - - 3762 - - - - - - - - - 26.28 -
7069 725.0 -8.6 702 7074 done -0.69 - - 2026 - 2.47 0.035 2521 596.0 -194.6 - - 3762 - - - - - - - - - 26.21 -
7390 767.6 -13.5 718 7392 done -0.65 0.12 0.158 2063 308.3 - - 2520 - -194.6 - - 3760 - - - - - - - - 26.29 - -
7688 797.0 -9.3 733 7694 roll -0.63 - - 2063 - 2.42 0.028 1050 -607.4 -194.6 - - 3759 - - - - - - - - - 26.25 -
7755 802.2 -8.9 736 7759 done -0.63 - - 2052 - 2.47 0.035 2514 592.7 -194.6 - - 3758 - - - - - - - - - 26.18 -
8064 835.7 -10.9 751 8069 roll -0.61 - - 2052 - 2.38 0.026 1050 -615.1 -194.6 - - 3756 - - - - - - - - - 26.26 -
8123 841.8 -10.3 754 8129 done -0.60 0.10 0.093 2084 320.0 2.45 0.035 2508 595.1 -194.6 - - 3756 - - - - - - - - 25.98 26.16 -
8446 865.2 -7.0 770 8451 roll -0.60 - - 2085 - 2.35 0.025 1047 -621.7 -194.6 - - 3754 - - - - - - - - - 26.25 -
8478 866.8 -7.0 771 8485 done -0.60 - - 2080 - 2.45 0.037 2502 593.9 -194.6 - - 3754 - - - - - - - - - 26.14 -
8785 888.9 -6.6 787 8790 roll -0.60 - - 2070 - 2.03 0.048 3823 650.7 -194.6 - - 3752 - - - - - - - - - 26.04 -
8805 890.1 -6.5 788 8811 done -0.60 - - 2070 - 2.03 0.023 2433 -684.7 -194.6 - - 3752 - - - - - - - - - 26.40 -
9126 912.3 -7.0 804 9131 roll -0.60 - - 2070 - 2.22 0.027 1043 -626.1 -194.6 - - 3750 - - - - - - - - - 26.23 -
9165 915.1 -7.1 806 9171 done -0.60 - - 2059 - 2.42 0.036 2487 596.7 -194.6 - - 3751 - - - - - - - - - 26.12 -
9486 941.2 -8.2 822 9492 roll -0.59 - - 2049 - 2.05 0.047 3812 646.3 -194.6 - - 3749 - - - - - - - - - 26.03 -
9528 944.7 -8.5 824 9532 done -0.58 0.12 0.122 2089 333.3 2.05 0.023 2422 -678.0 -194.6 - - 3748 - - - - - - - - 26.08 26.35 -
9844 963.4 -5.8 840 9849 roll -0.59 - - 2089 - 2.22 0.028 1045 -620.3 -194.6 - - 3747 - - - - - - - - - 26.19 -
9875 964.7 -5.8 841 9883 done -0.61 - - 2086 - 2.45 0.037 2493 591.0 -194.6 - - 3747 - - - - - - - - - 26.08 -
10184 985.3 -6.3 857 10185 done -0.62 - - 2085 - - - 2491 - -194.6 - - 3746 - - - - - - - - - - -
10259 end dive: TARGET_DEPTH_EXCEEDED
10259 begin apogee
10265 990.4 -6.4 861 10463 roll -0.20 0.35 0.090 2214 368.6 0.10 0.073 2481 -100.0 - 190.10 1.167 2974 -4.1 0.364 - - - - - - 26.00 24.62 23.62
10464 end apogee: CONTROL_FINISHED_OK
10464 begin climb
10467 997.4 - 871 10684 roll 0.58 0.62 0.034 2481 430.6 2.45 0.028 1070 -575.9 194.6 206.00 1.144 2177 -3.9 0.357 - - - - - - 24.87 24.85 23.15
10800 955.1 17.3 887 10808 done 0.54 0.12 0.174 2451 -250.0 2.62 0.039 2534 558.8 194.6 - - 2150 - - - - - - - - 25.03 25.27 -
11107 894.9 18.5 903 11113 roll 0.48 - - 2464 - 2.50 0.031 1079 -582.0 194.6 - - 2146 - - - - - - - - - 25.89 -
11156 887.7 18.3 905 11167 done 0.42 0.17 0.159 2416 -282.4 2.65 0.040 2564 560.4 194.6 - - 2145 - - - - - - - - 25.58 25.89 -
11467 839.3 15.3 921 11473 roll 0.38 - - 2416 - 1.88 0.045 3826 671.3 194.6 - - 2144 - - - - - - - - - 25.99 -
11551 825.4 17.3 925 11555 done 0.34 0.15 0.172 2385 -206.7 1.85 0.023 2541 -694.6 194.6 - - 2142 - - - - - - - - 25.72 26.15 -
11865 785.4 12.6 941 11866 done 0.32 - - 2386 - - - 2540 - 194.6 - - 2142 - - - - - - - - - - -
12164 747.3 12.6 956 12170 roll 0.31 - - 2398 - 2.47 0.031 1076 -592.7 194.6 - - 2141 - - - - - - - - - 26.13 -
12183 745.0 12.4 957 12189 done 0.29 - - 2398 - 2.60 0.034 2566 573.1 194.6 - - 2140 - - - - - - - - - 26.12 -
12504 703.2 12.8 973 12510 roll 0.27 0.12 0.161 2357 -341.7 1.88 0.042 3829 671.8 194.6 - - 2140 - - - - - - - - 26.06 26.08 -
12567 696.2 11.9 976 12570 done 0.26 - - 2367 - 1.83 0.022 2542 -703.3 194.6 - - 2140 - - - - - - - - - 26.29 -
12880 666.8 8.9 992 12881 done 0.26 - - 2367 - - - 2541 - 194.6 - - 2140 - - - - - - - - - - -
13179 640.0 8.8 1007 13184 roll 0.26 - - 2380 - 2.47 0.031 1076 -593.1 194.6 - - 2140 - - - - - - - - - 26.15 -
13206 638.2 8.9 1008 13211 done 0.26 - - 2379 - 2.65 0.034 2593 572.5 194.6 - - 2138 - - - - - - - - - 26.14 -
13514 611.1 8.2 1023 13525 done 0.28 - - 2380 - - - 2592 - 209.3 9.35 0.913 2124 -1.5 0.106 - - - - - - - - 24.81
13817 586.5 8.4 1046 13827 roll 0.29 - - 2393 - 2.67 0.031 1075 -568.2 218.5 4.20 0.756 2086 -9.0 0.742 - - 1 - - - - 26.16 24.65
13863 582.5 8.3 1050 13901 done 0.31 - - 2393 - 2.65 0.034 2585 569.8 231.4 29.20 0.822 2031 -1.9 0.141 - - - - - - - 26.14 24.87
14201 547.8 10.7 1084 14204 roll 0.30 - - 2392 - 1.83 0.044 3822 676.0 231.4 - - 2018 - - - - - - - - - 25.93 -
14215 546.4 11.1 1085 14223 done 0.29 0.12 0.161 2368 -200.0 1.85 0.021 2532 -697.3 231.4 - - 2018 - - - - - - - - 25.76 26.12 -
14523 520.6 8.0 1116 14562 roll 0.33 - - 2381 - 2.53 0.031 1075 -575.9 253.5 32.03 0.803 1937 -2.5 0.173 - - - - - - - 25.76 24.80
14588 515.5 8.0 1122 14626 done 0.39 - - 2381 - 2.65 0.031 2571 564.5 277.2 26.98 0.849 1837 -3.7 0.238 - - - - - - - 25.78 24.52
14926 487.8 8.0 1156 14955 roll 0.43 - - 2394 - 2.65 0.030 1072 -565.7 298.5 21.40 0.854 1751 -4.0 0.243 - - - - - - - 25.69 24.70
14972 484.3 8.1 1160 14999 done 0.47 0.10 0.089 2476 820.0 2.62 0.033 2560 567.9 319.0 21.27 0.858 1678 -3.4 0.205 - - - - - - 25.70 25.72 24.50
15299 415.2 22.2 1193 15303 roll 0.42 0.20 0.164 2413 -315.0 1.90 0.040 3826 666.3 319.0 - - 1652 - - - - - - - - 25.56 25.88 -
15335 408.7 20.6 1196 15342 done 0.38 - - 2423 - 1.90 0.021 2519 -687.9 319.0 - - 1651 - - - - - - - - - 26.02 -
15642 369.3 12.8 1227 15650 roll 0.37 - - 2435 - 2.42 0.032 1076 -596.3 319.0 - - 1649 - - - - - - - - - 26.05 -
15697 363.4 10.8 1232 15704 done 0.38 0.12 0.122 2395 -333.3 2.55 0.031 2551 578.4 319.0 - - 1647 - - - - - - - - 25.91 26.06 -
16005 341.1 6.6 1263 16075 done 0.49 0.12 0.072 2477 683.3 - - 2550 - 387.3 67.25 0.765 1399 -3.7 0.174 - - - - - - 26.39 - 24.58
16374 275.7 18.1 1300 16383 roll 0.46 0.15 0.156 2443 -226.7 2.55 0.031 1077 -577.6 387.3 - - 1369 - - - - - - - - 25.71 25.89 -
16410 271.2 14.8 1303 16417 done 0.45 - - 2443 - 2.55 0.031 2543 574.9 387.3 - - 1368 - - - - - - - - - 25.93 -
16717 242.0 9.2 1334 16726 roll 0.47 - - 2455 - 2.53 0.031 1075 -580.2 387.3 - - 1368 - - - - - - - - - 26.05 -
16753 239.4 8.3 1337 16770 done 0.51 - - 2455 - 2.50 0.030 2532 582.8 399.7 8.62 0.669 1344 -2.8 0.105 - - - - - - - 26.08 24.92
17069 212.3 8.3 1369 17089 roll 0.55 - - 2467 - 2.55 0.031 1073 -572.2 413.9 14.23 0.678 1284 -4.2 0.140 - - 1 - - - - 26.02 25.03
17125 208.0 7.9 1374 17155 done 0.61 - - 2468 - 2.42 0.029 2510 593.8 438.5 24.62 0.671 1190 -3.8 0.125 - - - - - - - 26.03 24.86
17461 173.9 11.4 1431 17468 roll 0.71 0.10 0.090 2553 850.0 2.00 0.041 3828 659.0 438.5 - - 1167 - - - - - - - - 26.23 25.98 -
17619 158.0 10.9 1461 17626 done 0.76 0.12 0.100 2503 -416.7 1.95 0.021 2483 -689.7 438.5 - - 1167 - - - - - - - - 26.06 26.18 -
17810 140.9 10.0 1498 17819 roll 0.85 0.12 0.092 2572 575.0 2.08 0.041 3826 645.7 438.5 - - 1166 - - - - - - - - 26.31 26.09 -
18050 118.6 10.7 1544 18057 done 0.92 - - 2580 - 1.88 0.022 2498 -706.4 438.5 - - 1167 - - - - - - - - - 26.31 -
18242 91.0 19.4 1581 18250 roll 0.88 - - 2592 - 2.38 0.030 1066 -601.7 438.5 - - 1167 - - - - - - - - - 26.22 -
18314 81.0 11.4 1594 18321 done 0.89 0.12 0.140 2555 -308.3 2.47 0.031 2523 589.9 438.5 - - 1167 - - - - - - - - 26.01 26.23 -
18507 54.9 13.4 1631 18513 done 0.88 - - 2555 - - - 2522 - 438.5 - - 1166 - - - - - - - - - - -
18696 31.8 12.0 1668 18703 roll 0.88 - - 2568 - 2.45 0.028 1071 -592.2 438.5 - - 1166 - - - - - - - - - 26.27 -
18731 28.3 9.8 1674 18738 done 0.90 - - 2568 - 2.45 0.028 2521 591.8 438.5 - - 1166 - - - - - - - - - 26.29 -
18924 10.1 8.6 1711 18930 done 0.91 - - 2568 - - - 2520 - 442.5 - - 1166 - - - - - - - - - - -
18996 end climb: SURFACE_DEPTH_REACHED
18996 begin surface coast
19037 end surface coast: CONTROL_FINISHED_OK
19039 begin surface
SM 1.77 - - - - -6.61 6.00 0.022 122 -407.7 0.08 0.093 2440 -1000.0 450.13 2.70 0.145 1143 -8.5 0.011 - - - - - -