OKMC Apr12 * SG169 * Dive index * Mission links * Dive 220 * Raw log
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• Previous call tries 1 • 44.35 of 147.52 AH used of 24V (69.93% remains)
• Previous NAKs 0, Timeouts 0 • 27.23 of 108.53 AH used of 10V (74.91% remains)
• Surface angle -74.1 deg, depth 0.87 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 532.79, SM_CC=450)
• GPS1 time: 37 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
14 end surface: CONTROL_FINISHED_OK
14 begin dive
17 - - - 100 VBD -0.58 - - 116 - - - 2525 - -194.6 -80.43 - 3019 - - - - - - - - - - -
104 3.2 -7.7 14 131 roll -0.58 7.90 0.224 2069 247.2 2.00 0.055 3834 654.5 -194.6 -14.02 - 3775 -53.9 - - - 1 - - - 25.16 25.42 26.45
250 49.4 -22.7 41 258 done -0.53 - - 2077 - 1.95 0.020 2471 -699.0 -194.6 - - 3777 - - - - - - - - - 26.18 -
444 94.8 -21.9 78 452 roll -0.45 0.15 0.157 2134 380.0 2.38 0.024 1041 -600.8 -194.6 - - 3777 - - - - - - - - 25.98 26.20 -
541 106.5 -9.1 96 548 done -0.47 - - 2123 - 2.42 0.031 2480 594.6 -194.6 - - 3778 - - - - - - - - - 26.20 -
731 132.6 -14.3 133 739 roll -0.43 - - 2123 - 2.38 0.022 1033 -608.0 -194.6 - - 3778 - - - - - - - - - 26.30 -
763 136.8 -13.6 138 769 done -0.42 - - 2113 - 2.38 0.031 2446 593.7 -194.6 - - 3778 - - - - - - - - - 26.26 -
954 163.5 -16.2 175 961 roll -0.38 0.12 0.157 2162 408.3 2.30 0.023 1039 -611.7 -194.6 - - 3778 - - - - - - - - 26.21 26.32 -
996 168.3 -8.8 182 1003 done -0.40 - - 2160 - 2.28 0.031 2413 602.6 -194.6 - - 3778 - - - - - - - - - 26.28 -
1187 180.2 -6.7 219 1194 roll -0.41 - - 2149 - 2.17 0.041 3834 654.8 -194.6 - - 3778 - - - - - - - - - 26.24 -
1233 183.1 -6.1 227 1240 done -0.46 - - 2149 - 2.12 0.017 2349 -700.5 -194.6 - - 3778 - - - - - - - - - 26.48 -
1426 198.5 -9.7 264 1434 roll -0.52 0.12 0.111 2096 -441.7 2.33 0.036 3839 639.5 -194.6 - - 3778 - - - - - - - - 26.44 26.29 -
1504 205.8 -9.5 272 1513 done -0.59 - - 2098 - 2.12 0.018 2354 -700.5 -194.6 - - 3778 - - - - - - - - - 26.48 -
1813 231.0 -8.2 303 1821 roll -0.61 - - 2093 - 2.30 0.040 3833 643.0 -194.6 - - 3778 - - - - - - - - - 26.29 -
1885 237.3 -9.4 310 1893 done -0.61 - - 2093 - 1.88 0.018 2474 -722.9 -194.6 - - 3778 - - - - - - - - - 26.53 -
2196 276.6 -13.5 341 2205 roll -0.58 - - 2093 - 2.33 0.024 1037 -616.7 -194.6 - - 3777 - - - - - - - - - 26.40 -
2292 286.6 -9.6 350 2298 done -0.59 - - 2083 - 2.50 0.031 2519 592.8 -194.6 - - 3777 - - - - - - - - - 26.34 -
2599 325.3 -13.0 381 2608 roll -0.56 - - 2083 - 2.45 0.024 1041 -603.3 -194.6 - - 3776 - - - - - - - - - 26.39 -
2651 331.4 -11.1 386 2660 done -0.56 - - 2073 - 2.45 0.031 2500 595.5 -194.6 - - 3776 - - - - - - - - - 26.37 -
2963 367.5 -10.7 417 2973 roll -0.53 0.10 0.161 2104 310.0 2.42 0.024 1041 -602.9 -194.6 - - 3774 - - - - - - - - 26.43 26.39 -
3027 372.0 -5.4 423 3036 done -0.55 - - 2099 - 2.42 0.031 2483 595.9 -194.6 - - 3773 - - - - - - - - - 26.36 -
3337 395.6 -9.1 454 3345 roll -0.55 - - 2089 - 2.05 0.044 3828 656.1 -194.6 - - 3771 - - - - - - - - - 26.27 -
3358 397.7 -9.3 456 3368 done -0.55 - - 2089 - 2.05 0.018 2401 -696.1 -194.6 - - 3771 - - - - - - - - - 26.52 -
3669 431.3 -11.1 487 3678 roll -0.54 - - 2089 - 2.17 0.024 1036 -629.0 -194.6 - - 3768 - - - - - - - - - 26.39 -
3694 433.8 -11.1 489 3700 done -0.53 - - 2085 - 2.42 0.031 2483 597.9 -194.6 - - 3768 - - - - - - - - - 26.32 -
4001 464.0 -9.2 520 4011 roll -0.52 - - 2076 - 2.05 0.042 3837 660.5 -194.6 - - 3765 - - - - - - - - - 26.26 -
4027 466.2 -9.1 522 4034 done -0.51 0.12 0.117 2116 333.3 2.05 0.020 2402 -700.0 -194.6 - - 3765 - - - - - - - - 26.25 26.50 -
4335 483.7 -5.2 553 4345 roll -0.53 - - 2105 - 2.28 0.054 3834 628.1 -194.6 -0.08 - 3791 -325.0 - - - - - - - - 26.22 25.50
4370 485.5 -5.4 556 4380 done -0.55 - - 2105 - 2.03 0.021 2410 -701.5 -194.6 - - 3791 - - - - - - - - - 26.50 -
4678 505.7 -7.0 587 4687 roll -0.59 - - 2105 - 2.17 0.024 1037 -632.7 -194.6 - - 3790 - - - - - - - - - 26.37 -
4804 514.9 -8.0 599 4813 done -0.67 0.15 0.089 2050 -366.7 2.65 0.032 2573 579.6 -194.6 - - 3788 - - - - - - - - 26.20 26.31 -
5111 538.9 -7.3 630 5113 done -0.68 - - 2050 - - - 2572 - -194.6 - - 3786 - - - - - - - - - - -
5415 560.8 -7.2 660 5425 roll -0.69 - - 2050 - 2.60 0.025 1037 -590.4 -194.6 - - 3784 - - - - - - - - - 26.34 -
5458 564.7 -8.3 664 5468 done -0.69 - - 2038 - 2.47 0.034 2494 589.9 -194.6 - - 3783 - - - - - - - - - 26.26 -
5772 607.0 -15.3 693 5777 roll -0.66 - - 2028 - 2.00 0.045 3829 667.5 -194.6 - - 3782 - - - - - - - - - 26.19 -
5790 610.3 -15.2 694 5797 done -0.63 0.12 0.135 2073 375.0 2.05 0.021 2419 -687.8 -194.6 - - 3781 - - - - - - - - 26.13 26.44 -
6113 646.4 -10.1 710 6118 roll -0.62 - - 2074 - 2.22 0.027 1050 -616.7 -194.6 - - 3779 - - - - - - - - - 26.31 -
6166 650.3 -9.9 712 6174 done -0.62 - - 2065 - 2.42 0.036 2477 589.7 -194.6 - - 3779 - - - - - - - - - 26.22 -
6471 681.6 -9.9 728 6473 done -0.61 - - 2065 - - - 2476 - -194.6 - - 3776 - - - - - - - - - - -
6772 710.3 -9.6 743 6778 roll -0.59 - - 2065 - 2.38 0.028 1047 -600.4 -194.6 - - 3775 - - - - - - - - - 26.29 -
6804 712.3 -9.7 744 6813 done -0.58 0.10 0.137 2090 250.0 2.42 0.035 2473 589.3 -194.6 - - 3775 - - - - - - - - 26.08 26.21 -
7115 736.8 -7.5 760 7120 roll -0.59 - - 2081 - 2.08 0.047 3821 648.1 -194.6 - - 3773 - - - - - - - - - 26.11 -
7143 738.4 -7.5 761 7152 done -0.60 - - 2081 - 2.08 0.021 2407 -679.8 -194.6 - - 3772 - - - - - - - - - 26.44 -
7454 764.4 -8.1 777 7455 done -0.60 - - 2080 - - - 2407 - -194.6 - - 3770 - - - - - - - - - - -
7754 789.6 -8.4 792 7760 roll -0.60 - - 2070 - 2.28 0.046 3816 618.0 -194.6 - - 3768 - - - - - - - - - 26.09 -
7797 793.0 -8.3 794 7801 done -0.61 - - 2070 - 2.05 0.021 2416 -682.9 -194.6 - - 3768 - - - - - - - - - 26.41 -
8109 821.6 -8.8 810 8114 roll -0.61 - - 2070 - 2.25 0.028 1047 -608.4 -194.6 - - 3766 - - - - - - - - - 26.23 -
8157 825.0 -8.7 812 8162 done -0.61 - - 2060 - 2.42 0.037 2471 588.4 -194.6 - - 3766 - - - - - - - - - 26.13 -
8464 853.0 -8.8 827 8465 done -0.60 - - 2060 - - - 2469 - -194.6 - - 3764 - - - - - - - - - - -
8764 878.0 -8.3 842 8770 roll -0.59 - - 2060 - 2.38 0.028 1048 -597.1 -194.6 - - 3763 - - - - - - - - - 26.20 -
8793 879.7 -8.4 843 8803 done -0.59 0.12 0.119 2094 283.3 2.42 0.036 2462 584.3 -194.6 - - 3763 - - - - - - - - 26.00 26.13 -
9106 897.3 -5.2 859 9111 roll -0.61 - - 2084 - 2.10 0.046 3825 649.0 -194.6 - - 3762 - - - - - - - - - 26.03 -
9139 898.3 -5.2 860 9146 done -0.63 - - 2084 - 2.10 0.021 2398 -679.5 -194.6 - - 3762 - - - - - - - - - 26.39 -
9445 915.9 -5.3 876 9446 done -0.64 - - 2084 - - - 2398 - -194.6 - - 3761 - - - - - - - - - - -
9746 932.7 -5.6 891 9751 roll -0.65 - - 2074 - 2.38 0.046 3818 596.6 -194.6 - - 3760 - - - - - - - - - 26.00 -
9778 933.9 -5.7 892 9786 done -0.67 - - 2074 - 2.08 0.022 2408 -677.9 -194.6 - - 3759 - - - - - - - - - 26.37 -
10085 954.5 -6.6 908 10090 roll -0.67 - - 2074 - 2.22 0.029 1047 -613.1 -194.6 - - 3759 - - - - - - - - - 26.16 -
10108 955.8 -6.5 909 10113 done -0.68 - - 2069 - 2.42 0.036 2465 586.0 -194.6 - - 3759 - - - - - - - - - 26.08 -
10427 980.1 -8.3 925 10433 roll -0.68 - - 2059 - 2.10 0.046 3818 644.3 -194.6 - - 3757 - - - - - - - - - 25.98 -
10467 983.6 -8.6 927 10472 done -0.69 - - 2059 - 2.05 0.022 2418 -682.9 -194.6 - - 3756 - - - - - - - - - 26.36 -
10544 end dive: TARGET_DEPTH_EXCEEDED
10544 begin apogee
10551 991.2 -9.4 931 10753 roll -0.20 0.43 0.094 2207 344.2 0.05 0.043 2488 1400.0 - 195.80 1.165 2974 -4.0 0.362 - - - - - - 25.84 24.46 23.51
10754 end apogee: CONTROL_FINISHED_OK
10754 begin climb
10758 1002.6 - 941 10974 roll 0.58 0.68 0.041 2475 394.1 2.22 0.044 3824 601.8 194.6 207.68 1.153 2185 -3.8 0.352 - - - - - - 24.79 24.73 23.01
11006 968.3 21.8 954 11011 done 0.49 0.20 0.185 2437 -190.0 2.05 0.022 2505 -643.4 194.6 - - 2153 - - - - - - - - 24.32 24.65 -
11321 916.4 16.0 970 11326 roll 0.44 - - 2437 - 2.05 0.045 3816 639.5 194.6 - - 2143 - - - - - - - - - 25.78 -
11449 893.3 19.6 976 11454 done 0.38 0.17 0.175 2401 -211.8 1.88 0.022 2517 -691.0 194.6 - - 2142 - - - - - - - - 25.55 26.01 -
11762 843.5 15.4 992 11768 roll 0.35 - - 2414 - 2.45 0.034 1084 -584.9 194.6 - - 2140 - - - - - - - - - 26.03 -
11796 840.2 15.6 993 11803 done 0.32 0.12 0.144 2378 -300.0 2.58 0.035 2551 568.6 194.6 - - 2137 - - - - - - - - 25.82 26.03 -
12103 796.4 13.7 1009 12104 done 0.31 - - 2378 - - - 2550 - 194.6 - - 2137 - - - - - - - - - - -
12402 761.6 10.4 1024 12403 done 0.30 - - 2378 - - - 2550 - 194.6 - - 2137 - - - - - - - - - - -
12703 737.3 7.8 1039 12743 roll 0.32 - - 2378 - 2.00 0.047 3825 637.5 223.2 35.45 0.882 2063 -2.1 0.186 - - - - - - - 25.73 24.68
12775 731.8 8.3 1042 12793 done 0.33 - - 2388 - 1.92 0.023 2513 -683.3 235.2 12.82 0.959 2017 -3.6 0.292 - - - - - - - 25.84 24.51
13109 700.5 9.3 1059 13115 roll 0.32 - - 2401 - 2.45 0.032 1082 -584.1 235.2 - - 1996 - - - - - - - - - 25.95 -
13137 698.5 9.4 1060 13141 done 0.31 - - 2400 - 2.60 0.034 2550 564.6 235.2 - - 1994 - - - - - - - - - 25.95 -
13445 662.1 12.3 1075 13450 roll 0.30 - - 2400 - 1.92 0.045 3834 668.8 235.2 - - 1994 - - - - - - - - - 26.01 -
13466 659.4 12.7 1076 13471 done 0.28 0.15 0.153 2368 -213.3 1.90 0.023 2509 -697.4 235.2 - - 1993 - - - - - - - - 25.79 26.17 -
13781 626.1 10.1 1092 13787 roll 0.29 - - 2381 - 2.40 0.031 1081 -595.0 235.2 - - 1993 - - - - - - - - - 26.11 -
13822 622.1 9.9 1094 13827 done 0.30 - - 2380 - 2.53 0.033 2535 574.7 235.2 - - 1992 - - - - - - - - - 26.10 -
14130 591.4 9.3 1114 14139 roll 0.30 - - 2380 - 1.95 0.044 3831 664.6 235.2 - - 1992 - - - - - - - - - 26.06 -
14165 588.1 10.5 1117 14172 done 0.30 - - 2390 - 1.90 0.021 2503 -698.9 235.2 - - 1992 - - - - - - - - - 26.27 -
14472 557.4 9.7 1148 14482 roll 0.30 - - 2403 - 2.42 0.033 1062 -595.5 235.2 - - 1992 - - - - - - - - - 26.13 -
14494 555.3 9.1 1150 14504 done 0.30 0.10 0.139 2374 -290.0 2.60 0.035 2545 570.4 235.2 - - 1991 - - - - - - - - 25.97 26.11 -
14806 531.7 7.2 1181 14887 roll 0.37 - - 2374 - 2.03 0.046 3817 626.6 286.1 75.15 0.801 1807 -2.4 0.173 - - - - - - - 25.41 24.48
14905 525.0 6.8 1190 14982 done 0.46 0.12 0.073 2465 758.3 1.95 0.021 2499 -675.9 347.8 70.47 0.851 1557 -3.5 0.233 - - - - - - 25.54 25.58 24.12
15292 451.6 20.8 1229 15301 roll 0.42 0.15 0.165 2430 -233.3 2.40 0.030 1084 -589.6 347.8 - - 1526 - - - - - - - - 25.62 25.84 -
15307 449.4 20.9 1230 15315 done 0.38 0.12 0.139 2394 -300.0 2.55 0.031 2542 571.8 347.8 - - 1525 - - - - - - - - 25.65 25.86 -
15617 420.9 7.8 1261 15656 roll 0.44 - - 2407 - 2.60 0.031 1064 -568.5 377.3 31.27 0.786 1428 -3.1 0.177 - - - - - - - 25.70 24.72
15673 416.8 7.8 1266 15712 done 0.51 - - 2407 - 2.58 0.032 2528 567.4 407.1 33.75 0.779 1318 -3.3 0.186 - - - - - - - 25.72 24.45
16015 381.3 11.3 1300 16024 roll 0.60 0.15 0.077 2487 533.3 2.50 0.028 1070 -583.2 407.1 - - 1290 - - - - - - - - 26.04 25.91 -
16091 372.8 12.1 1307 16098 done 0.67 - - 2487 - 2.50 0.030 2521 580.4 407.1 - - 1290 - - - - - - - - - 25.96 -
16398 322.2 20.7 1338 16407 roll 0.63 - - 2499 - 2.47 0.032 1080 -583.4 407.1 - - 1290 - - - - - - - - - 26.03 -
16472 310.3 13.8 1345 16481 done 0.63 - - 2499 - 2.47 0.036 2502 575.7 407.1 - - 1289 - - - - - - - - - 26.04 -
16780 250.8 20.1 1376 16789 roll 0.59 0.12 0.164 2460 -325.0 2.00 0.041 3830 664.0 407.1 - - 1288 - - - - - - - - 26.01 26.06 -
16854 238.4 13.9 1383 16862 done 0.60 - - 2469 - 2.00 0.023 2466 -682.0 407.1 - - 1289 - - - - - - - - - 26.22 -
17165 193.6 13.9 1418 17172 roll 0.60 - - 2482 - 2.35 0.033 1081 -589.4 407.1 - - 1288 - - - - - - - - - 26.14 -
17205 188.6 11.6 1425 17213 done 0.62 - - 2482 - 2.47 0.034 2507 577.3 407.1 - - 1287 - - - - - - - - - 26.15 -
17398 162.5 13.9 1462 17404 roll 0.62 - - 2482 - 2.00 0.043 3821 657.0 407.1 - - 1287 - - - - - - - - - 26.11 -
17444 155.9 14.6 1470 17450 done 0.62 - - 2491 - 1.98 0.023 2472 -681.3 407.1 - - 1287 - - - - - - - - - 26.29 -
17635 127.6 15.2 1507 17642 roll 0.61 - - 2504 - 2.35 0.029 1073 -595.3 407.1 - - 1287 - - - - - - - - - 26.20 -
17680 121.7 11.7 1515 17686 done 0.62 - - 2504 - 2.47 0.031 2506 580.2 407.1 - - 1287 - - - - - - - - - 26.20 -
17871 95.8 12.9 1552 17878 roll 0.61 0.12 0.145 2461 -358.3 2.00 0.039 3834 664.0 407.1 - - 1287 - - - - - - - - 26.21 26.15 -
17896 92.3 13.6 1556 17903 done 0.61 - - 2472 - 2.05 0.021 2428 -685.9 407.1 - - 1287 - - - - - - - - - 26.34 -
18088 77.2 7.2 1593 18137 roll 0.70 - - 2484 - 2.33 0.028 1074 -581.1 456.4 43.40 0.275 1118 -3.9 0.117 - - - - - - - 26.15 25.41
18171 71.1 7.0 1607 18233 done 0.82 0.15 0.065 2594 733.3 2.42 0.026 2498 588.4 511.3 55.53 0.259 894 -4.0 0.118 - - - - - - 26.14 26.14 25.30
18418 13.6 18.8 1653 18427 roll 0.79 0.20 0.144 2532 -310.0 2.05 0.039 3836 652.7 511.3 2.17 0.145 897 1.4 -0.014 - - 1 - - - 25.75 25.85 25.44
18480 5.6 8.0 1664 18501 done 0.86 - - 2541 - 2.03 0.021 2438 -688.7 533.5 14.27 0.135 800 -6.8 0.030 - - - - - - - 26.16 25.51
18512 end climb: SURFACE_DEPTH_REACHED
18512 begin surface coast
18543 end surface coast: CONTROL_FINISHED_OK
18543 begin surface
SM 0.40 - - - - -6.61 5.95 0.017 123 -406.4 0.15 0.070 2529 606.7 532.79 - - 807 - - - - - - - -