OKMC Apr12 * SG169 * Dive index * Mission links * Dive 230 * Raw log
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• Previous call tries 1 • 46.63 of 147.52 AH used of 24V (68.39% remains)
• Previous NAKs 0, Timeouts 0 • 28.54 of 108.53 AH used of 10V (73.70% remains)
• Surface angle -72.1 deg, depth 0.80 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 519.55, SM_CC=450)
• GPS1 time: 42 s
• GPS2 time: 13 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
15 begin dive
17 - - - 100 VBD -0.58 - - 117 - - - 2452 - -194.6 -79.78 - 2938 - - - - - - - - - - -
104 3.3 -7.7 14 136 roll -0.58 8.02 0.230 2092 246.3 2.40 0.037 1032 -591.7 -194.6 -15.07 - 3777 -55.7 - - - - - - - 25.14 26.10 26.47
250 49.9 -18.6 41 258 done -0.56 - - 2079 - 2.55 0.034 2517 582.4 -194.6 - - 3779 - - - - - - - - - 26.07 -
444 104.0 -27.7 78 452 roll -0.48 0.12 0.176 2128 408.3 2.50 0.024 1035 -592.8 -194.6 - - 3778 - - - - - - - - 26.01 26.22 -
490 112.9 -14.9 86 498 done -0.46 - - 2116 - 2.50 0.033 2496 584.4 -194.6 - - 3779 - - - - - - - - - 26.18 -
683 142.6 -16.3 123 689 done -0.43 - - 2116 - - - 2495 - -194.6 - - 3779 - - - - - - - - - - -
874 169.5 -14.4 160 880 done -0.40 - - 2116 - - - 2495 - -194.6 - - 3780 - - - - - - - - - - -
1064 195.9 -13.5 197 1072 roll -0.38 0.12 0.140 2163 391.7 2.40 0.022 1039 -606.7 -194.6 - - 3780 - - - - - - - - 26.29 26.36 -
1106 199.8 -7.1 204 1113 done -0.43 - - 2162 - 2.42 0.030 2490 599.6 -194.6 - - 3780 - - - - - - - - - 26.31 -
1295 215.2 -8.9 223 1304 roll -0.52 0.12 0.110 2108 -450.0 2.00 0.038 3828 669.0 -194.6 - - 3779 - - - - - - - - 26.42 26.28 -
1390 223.0 -8.1 232 1398 done -0.59 - - 2116 - 2.05 0.018 2399 -697.1 -194.6 - - 3779 - - - - - - - - - 26.49 -
1699 244.8 -7.4 263 1709 roll -0.69 0.15 0.070 1998 -786.7 2.17 0.022 1016 -637.3 -194.6 - - 3779 - - - - - - - - 26.58 26.41 -
1765 252.1 -12.6 269 1774 done -0.65 0.25 0.125 2066 272.0 2.40 0.031 2459 601.2 -194.6 - - 3779 - - - - - - - - 26.01 26.34 -
2072 293.5 -13.8 300 2081 roll -0.61 - - 2067 - 2.33 0.024 1030 -613.3 -194.6 - - 3777 - - - - - - - - - 26.39 -
2095 296.4 -13.6 302 2104 done -0.57 0.08 0.102 2090 287.5 2.35 0.032 2442 600.9 -194.6 - - 3778 - - - - - - - - 26.16 26.34 -
2405 329.9 -10.6 333 2408 roll -0.56 - - 2080 - 2.12 0.041 3836 657.5 -194.6 - - 3775 - - - - - - - - - 26.29 -
2439 333.5 -10.6 336 2446 done -0.55 - - 2080 - 2.08 0.019 2401 -689.9 -194.6 - - 3775 - - - - - - - - - 26.49 -
2747 369.9 -11.5 367 2756 roll -0.54 - - 2069 - 2.25 0.042 3828 634.2 -194.6 - - 3773 - - - - - - - - - 26.26 -
2799 375.8 -11.1 372 2809 done -0.53 0.12 0.121 2109 333.3 2.05 0.019 2409 -692.2 -194.6 - - 3772 - - - - - - - - 26.25 26.50 -
3110 401.1 -8.0 403 3118 roll -0.54 - - 2099 - 2.20 0.041 3828 645.0 -194.6 - - 3770 - - - - - - - - - 26.26 -
3143 403.7 -8.0 406 3151 done -0.56 - - 2099 - 2.00 0.019 2423 -702.5 -194.6 - - 3770 - - - - - - - - - 26.50 -
3451 432.2 -9.4 437 3455 roll -0.56 - - 2099 - 2.25 0.025 1044 -612.9 -194.6 - - 3766 - - - - - - - - - 26.38 -
3476 434.3 -9.8 439 3483 done -0.56 - - 2099 - 2.45 0.032 2494 591.8 -194.6 - - 3767 - - - - - - - - - 26.32 -
3784 463.5 -9.5 470 3793 roll -0.56 - - 2099 - 2.40 0.036 1043 -604.6 -194.6 -0.08 - 3791 -300.0 - - - - - - - - 26.36 25.52
3828 467.4 -9.1 474 3836 done -0.58 - - 2098 - 2.40 0.033 2477 597.5 -194.6 - - 3791 - - - - - - - - - 26.31 -
4140 493.2 -8.1 505 4149 roll -0.59 - - 2090 - 2.05 0.047 3825 657.6 -194.6 - - 3790 - - - - - - - - - 26.22 -
4183 496.8 -8.0 509 4192 done -0.60 - - 2090 - 2.03 0.021 2426 -689.2 -194.6 - - 3789 - - - - - - - - - 26.48 -
4495 523.2 -8.3 540 4503 roll -0.60 - - 2090 - 2.22 0.025 1040 -624.3 -194.6 - - 3786 - - - - - - - - - 26.36 -
4518 525.2 -7.8 542 4527 done -0.61 - - 2089 - 2.42 0.033 2487 597.9 -194.6 - - 3786 - - - - - - - - - 26.28 -
4827 549.4 -7.5 573 4828 done -0.61 - - 2089 - - - 2485 - -194.6 - - 3784 - - - - - - - - - - -
5129 571.2 -7.4 603 5138 roll -0.61 - - 2089 - 2.38 0.026 1043 -605.9 -194.6 - - 3781 - - - - - - - - - 26.32 -
5162 573.6 -7.0 606 5171 done -0.62 - - 2085 - 2.40 0.034 2478 597.9 -194.6 - - 3781 - - - - - - - - - 26.26 -
5471 595.2 -7.8 637 5481 roll -0.62 - - 2075 - 2.08 0.047 3820 645.2 -194.6 - - 3778 - - - - - - - - - 26.16 -
5505 597.7 -7.6 640 5513 done -0.63 - - 2076 - 2.05 0.021 2418 -683.9 -194.6 - - 3779 - - - - - - - - - 26.45 -
5815 623.5 -8.9 657 5820 roll -0.63 - - 2076 - 2.22 0.027 1042 -619.8 -194.6 - - 3777 - - - - - - - - - 26.32 -
5857 627.0 -9.0 659 5861 done -0.63 - - 2067 - 2.42 0.034 2486 596.7 -194.6 - - 3776 - - - - - - - - - 26.23 -
6170 659.9 -10.9 675 6176 roll -0.62 - - 2056 - 2.03 0.044 3829 661.6 -194.6 - - 3773 - - - - - - - - - 26.16 -
6233 666.4 -10.9 678 6237 done -0.61 - - 2056 - 2.05 0.021 2427 -683.9 -194.6 - - 3773 - - - - - - - - - 26.43 -
6547 704.5 -12.0 694 6552 roll -0.59 - - 2056 - 2.25 0.027 1044 -614.7 -194.6 - - 3771 - - - - - - - - - 26.29 -
6599 709.3 -12.1 696 6607 done -0.58 0.12 0.122 2089 275.0 2.45 0.035 2487 589.0 -194.6 - - 3771 - - - - - - - - 26.06 26.20 -
6906 737.3 -8.7 712 6911 roll -0.59 - - 2081 - 2.03 0.046 3829 661.1 -194.6 - - 3769 - - - - - - - - - 26.12 -
6959 740.8 -8.7 714 6966 done -0.61 - - 2081 - 2.05 0.021 2422 -686.3 -194.6 - - 3768 - - - - - - - - - 26.42 -
7267 767.7 -8.1 730 7268 done -0.61 - - 2081 - - - 2422 - -194.6 - - 3767 - - - - - - - - - - -
7566 790.4 -7.2 745 7570 roll -0.62 - - 2070 - 2.25 0.047 3825 623.6 -194.6 - - 3765 - - - - - - - - - 26.06 -
7592 792.1 -7.3 746 7595 done -0.62 - - 2070 - 2.05 0.024 2434 -678.5 -194.6 - - 3764 - - - - - - - - - 26.39 -
7904 818.7 -8.8 762 7909 roll -0.62 - - 2070 - 2.28 0.028 1045 -609.2 -194.6 - - 3763 - - - - - - - - - 26.25 -
7936 820.4 -8.8 763 7943 done -0.62 - - 2060 - 2.47 0.037 2495 587.0 -194.6 - - 3763 - - - - - - - - - 26.13 -
8245 851.0 -9.9 779 8250 roll -0.61 - - 2060 - 2.40 0.028 1049 -602.5 -194.6 - - 3762 - - - - - - - - - 26.22 -
8283 854.9 -9.8 781 8289 done -0.61 - - 2050 - 2.50 0.037 2496 578.8 -194.6 - - 3762 - - - - - - - - - 26.12 -
8605 890.2 -11.3 797 8611 roll -0.60 0.10 0.157 2069 190.0 2.03 0.047 3817 650.7 -194.6 - - 3761 - - - - - - - - 26.39 26.03 -
8632 892.5 -11.2 798 8636 done -0.59 - - 2069 - 2.05 0.023 2429 -677.1 -194.6 - - 3760 - - - - - - - - - 26.38 -
8940 920.9 -9.0 813 8945 roll -0.59 - - 2058 - 2.22 0.046 3825 628.8 -194.6 - - 3760 - - - - - - - - - 26.03 -
8962 922.8 -9.0 814 8966 done -0.59 - - 2058 - 2.03 0.022 2438 -683.3 -194.6 - - 3759 - - - - - - - - - 26.36 -
9280 953.5 -9.4 830 9281 done -0.58 - - 2058 - - - 2437 - -194.6 - - 3758 - - - - - - - - - - -
9581 980.1 -8.6 845 9587 roll -0.57 0.10 0.135 2091 330.0 2.30 0.026 1045 -605.2 -194.6 - - 3756 - - - - - - - - 26.44 26.20 -
9624 983.1 -7.8 847 9630 done -0.58 - - 2089 - 2.50 0.036 2503 583.2 -194.6 - - 3756 - - - - - - - - - 26.08 -
9758 end dive: TARGET_DEPTH_EXCEEDED
9759 begin apogee
9765 990.8 -5.5 854 9981 roll -0.20 0.32 0.068 2220 409.4 0.05 0.041 2489 -280.0 - 205.52 1.136 2968 -3.8 0.357 - - - - - - 26.22 24.49 23.49
9982 end apogee: CONTROL_FINISHED_OK
9982 begin climb
9985 998.6 - 865 10201 roll 0.58 0.62 0.036 2483 424.2 2.22 0.045 3823 600.9 194.6 208.07 1.147 2183 -3.8 0.350 - - - - - - 24.86 24.77 23.00
10353 920.5 28.7 883 10357 done 0.49 0.22 0.181 2435 -218.2 2.00 0.024 2504 -659.5 194.6 - - 2146 - - - - - - - - 25.09 25.51 -
10664 856.4 19.2 898 10669 roll 0.44 - - 2435 - 2.08 0.044 3823 634.1 194.6 - - 2141 - - - - - - - - - 25.91 -
10792 831.3 20.3 904 10801 done 0.39 0.15 0.174 2406 -193.3 1.88 0.023 2522 -692.0 194.6 - - 2140 - - - - - - - - 25.67 26.08 -
11104 784.2 13.2 920 11109 roll 0.36 - - 2419 - 2.47 0.031 1081 -583.4 194.6 - - 2139 - - - - - - - - - 26.08 -
11155 779.3 12.7 922 11164 done 0.33 0.12 0.142 2383 -300.0 2.58 0.036 2543 566.7 194.6 - - 2136 - - - - - - - - 25.87 26.08 -
11465 750.2 8.4 938 11471 roll 0.33 - - 2383 - 1.95 0.044 3835 662.6 205.1 - - 2137 - - - - - - - - - 26.07 -
11507 746.2 9.1 940 11511 done 0.31 - - 2393 - 1.92 0.022 2501 -694.8 205.1 - - 2136 - - - - - - - - - 26.24 -
11820 716.7 9.7 956 11825 roll 0.29 - - 2406 - 2.38 0.031 1078 -597.9 205.1 - - 2136 - - - - - - - - - 26.15 -
11839 714.7 9.6 957 11845 done 0.28 0.10 0.112 2368 -380.0 2.50 0.034 2526 579.2 205.1 - - 2134 - - - - - - - - 25.89 26.14 -
12162 691.8 7.4 973 12242 roll 0.33 - - 2368 - 2.08 0.047 3825 624.5 247.5 74.18 0.844 1965 -2.3 0.199 - - - - - - - 25.37 24.39
12278 682.8 8.0 979 12315 done 0.36 - - 2378 - 1.98 0.023 2496 -671.2 271.2 31.70 0.865 1873 -2.9 0.244 - - - - - - - 25.63 24.25
12619 653.8 8.7 996 12625 roll 0.37 - - 2390 - 2.42 0.031 1074 -587.6 271.3 - - 1849 - - - - - - - - - 25.91 -
12658 650.2 8.6 998 12663 done 0.38 - - 2390 - 2.58 0.034 2534 565.9 273.0 - - 1848 - - - - - - - - - 25.93 -
12978 618.7 9.5 1014 12979 done 0.38 - - 2391 - - - 2533 - 273.0 - - 1847 - - - - - - - - - - -
13278 588.6 10.4 1034 13288 roll 0.38 - - 2403 - 2.50 0.031 1082 -580.4 273.0 - - 1846 - - - - - - - - - 26.09 -
13313 585.6 9.4 1037 13320 done 0.39 - - 2403 - 2.53 0.034 2530 572.3 273.0 - - 1845 - - - - - - - - - 26.09 -
13621 549.5 12.5 1068 13622 done 0.38 - - 2403 - - - 2528 - 273.0 - - 1845 - - - - - - - - - - -
13922 514.4 11.3 1098 13929 done 0.38 - - 2403 - - - 2528 - 273.0 - - 1845 - - - - - - - - - - -
14233 481.6 9.5 1129 14242 roll 0.38 - - 2416 - 2.50 0.031 1074 -581.6 273.0 - - 1845 - - - - - - - - - 26.15 -
14278 477.5 9.2 1133 14285 done 0.39 - - 2415 - 2.53 0.034 2526 573.9 273.0 - - 1844 - - - - - - - - - 26.13 -
14585 444.3 11.0 1164 14589 roll 0.38 - - 2415 - 1.98 0.044 3836 661.6 273.0 - - 1844 - - - - - - - - - 26.09 -
14618 440.6 11.5 1167 14622 done 0.37 0.12 0.151 2389 -216.7 1.98 0.024 2492 -678.8 273.0 - - 1843 - - - - - - - - 25.95 26.27 -
14931 415.6 7.0 1198 15002 roll 0.45 - - 2402 - 2.53 0.032 1071 -561.7 328.0 64.60 0.788 1630 -3.3 0.185 - - - - - - - 25.56 24.52
15026 409.6 6.3 1207 15121 done 0.58 0.17 0.060 2514 658.8 2.60 0.032 2532 561.9 408.1 84.25 0.790 1302 -3.9 0.215 - - - - - - 25.66 25.62 24.16
15422 309.0 25.8 1247 15431 roll 0.52 0.22 0.166 2446 -309.1 1.98 0.040 3828 654.5 408.1 - - 1279 - - - - - - - - 25.49 25.84 -
15497 295.3 14.3 1254 15505 done 0.52 - - 2456 - 1.92 0.021 2504 -689.6 408.1 - - 1277 - - - - - - - - - 26.02 -
15806 262.8 10.6 1285 15815 roll 0.52 - - 2469 - 2.45 0.033 1068 -586.1 408.1 - - 1275 - - - - - - - - - 26.07 -
15869 256.6 9.4 1291 15877 done 0.55 - - 2469 - 2.55 0.031 2532 574.1 408.1 - - 1274 - - - - - - - - - 26.06 -
16178 219.9 12.0 1322 16188 roll 0.55 - - 2482 - 2.50 0.031 1084 -579.2 408.1 - - 1274 - - - - - - - - - 26.12 -
16193 218.9 11.9 1323 16200 done 0.55 - - 2482 - 2.50 0.032 2523 575.6 408.1 - - 1274 - - - - - - - - - 26.11 -
16504 176.9 12.5 1370 16511 done 0.55 - - 2481 - - - 2521 - 408.1 - - 1274 - - - - - - - - - - -
16695 154.3 9.9 1407 16702 roll 0.56 - - 2494 - 2.47 0.031 1074 -585.8 408.1 - - 1275 - - - - - - - - - 26.17 -
16726 151.6 9.1 1412 16732 done 0.59 - - 2494 - 2.50 0.033 2518 577.6 408.1 - - 1274 - - - - - - - - - 26.17 -
16917 134.0 9.7 1449 16923 roll 0.60 - - 2494 - 2.00 0.043 3827 654.5 408.1 - - 1274 - - - - - - - - - 26.15 -
16947 130.7 11.5 1454 16955 done 0.61 0.12 0.125 2462 -266.7 1.95 0.022 2482 -689.7 408.1 - - 1274 - - - - - - - - 26.09 26.32 -
17141 115.7 8.1 1491 17161 roll 0.67 - - 2474 - 2.45 0.028 1061 -580.0 426.1 13.93 0.586 1235 -2.8 0.059 - - - - - - - 26.21 25.03
17210 110.0 8.7 1503 17218 done 0.73 0.10 0.111 2514 400.0 2.47 0.024 2518 589.9 426.1 - - 1222 - - - - - - - - 26.10 26.20 -
17406 95.4 6.8 1540 17483 roll 0.87 0.12 0.079 2589 625.0 2.58 0.030 1073 -560.1 488.1 68.88 0.314 995 -3.3 0.107 - - - - - - 26.39 25.93 25.18
17563 80.8 9.4 1567 17574 done 0.88 0.10 0.134 2560 -290.0 2.35 0.030 2446 584.3 488.1 2.97 0.158 989 -2.0 0.110 - - - - - - 25.84 25.98 25.41
17760 60.2 8.9 1604 17767 roll 0.89 - - 2560 - 2.20 0.038 3840 633.6 488.1 2.67 0.148 993 1.5 -0.065 - - - - - - - 26.03 25.48
17796 56.3 11.3 1610 17804 done 0.89 - - 2570 - 2.15 0.021 2396 -671.6 488.1 2.50 0.151 987 -2.4 0.095 - - - - - - - 26.17 25.49
17990 36.3 8.4 1647 18010 roll 0.92 - - 2581 - 2.25 0.029 1061 -593.3 498.8 11.45 0.183 954 -2.9 0.061 - - - - - - - 26.14 25.31
18054 31.2 8.0 1658 18080 done 0.98 - - 2581 - 2.25 0.027 2417 602.7 522.7 20.27 0.178 847 -5.3 0.099 - - - - - - - 26.17 25.41
18265 13.1 9.4 1698 18273 roll 1.00 - - 2581 - 2.25 0.038 3833 629.3 522.7 2.53 0.149 852 2.0 -0.019 - - - - - - - 26.10 25.53
18292 10.5 9.4 1702 18300 done 1.02 - - 2592 - 2.22 0.021 2357 -664.9 522.7 2.28 0.151 846 -2.6 0.020 - - - - - - - 26.25 25.59
18370 end climb: SURFACE_DEPTH_REACHED
18370 begin surface coast
18395 end surface coast: CONTROL_FINISHED_OK
18396 begin surface
SM 0.80 - - - - -6.61 6.15 0.026 109 -403.7 0.35 0.040 2533 502.9 519.55 - - 861 - - - - - - - -