OKMC Apr12 * SG169 * Dive index * Mission links * Dive 233 * Raw log
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• Previous call tries 1 • 47.26 of 147.52 AH used of 24V (67.96% remains)
• Previous NAKs 0, Timeouts 0 • 28.91 of 108.53 AH used of 10V (73.36% remains)
• Surface angle -71.2 deg, depth 0.90 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 565.91, SM_CC=450)
• GPS1 time: 37 s
• GPS2 time: 13 s, HDOP was 2.1 m • 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 - - - 95 VBD -0.58 - - 104 - - - 2524 - -194.6 -75.53 - 3073 - - - - - - - - - - -
99 3.8 -9.7 13 126 roll -0.58 8.12 0.227 2092 244.8 2.62 0.034 979 -589.7 -194.6 -12.57 - 3777 -56.0 - - - - - - - 25.20 26.13 26.50
215 44.8 -23.7 34 223 done -0.58 - - 2079 - 2.50 0.032 2468 595.6 -194.6 - - 3779 - - - - - - - - - 26.10 -
410 104.3 -31.3 71 417 roll -0.58 - - 2089 - 2.42 0.024 988 -611.6 -194.6 - - 3779 - - - - - - - - - 26.25 -
524 132.6 -16.0 93 531 done -0.58 - - 2077 - 2.45 0.029 2458 600.0 -194.6 - - 3779 - - - - - - - - - 26.25 -
715 174.4 -25.1 130 722 roll -0.58 - - 2083 - 2.40 0.023 974 -618.3 -194.6 - - 3779 - - - - - - - - - 26.34 -
779 186.4 -15.7 142 787 done -0.58 - - 2071 - 2.40 0.030 2434 608.3 -194.6 - - 3780 - - - - - - - - - 26.29 -
974 223.0 -19.5 168 982 roll -0.58 - - 2060 - 2.10 0.037 3839 669.0 -194.6 - - 3780 - - - - - - - - - 26.29 -
995 227.7 -19.4 170 1005 done -0.58 - - 2062 - 2.17 0.018 2364 -679.7 -194.6 - - 3780 - - - - - - - - - 26.44 -
1305 289.0 -19.0 201 1309 roll -0.58 - - 2063 - 2.15 0.022 968 -649.3 -194.6 - - 3780 - - - - - - - - - 26.41 -
1350 295.8 -16.4 205 1358 done -0.58 0.12 0.129 2093 250.0 2.38 0.029 2427 613.0 -194.6 - - 3780 - - - - - - - - 26.17 26.35 -
1658 332.2 -11.2 236 1666 roll -0.58 - - 2092 - 2.30 0.024 987 -626.1 -194.6 - - 3780 - - - - - - - - - 26.41 -
1681 334.7 -11.1 238 1690 done -0.58 - - 2085 - 2.33 0.031 2415 612.9 -194.6 - - 3779 - - - - - - - - - 26.34 -
1991 371.1 -10.3 269 1999 roll -0.58 - - 2075 - 2.17 0.041 3831 652.5 -194.6 - - 3779 - - - - - - - - - 26.29 -
2016 373.6 -10.8 271 2023 done -0.58 - - 2075 - 2.17 0.019 2348 -683.4 -194.6 - - 3778 - - - - - - - - - 26.50 -
2322 417.4 -14.7 302 2332 roll -0.58 - - 2063 - 2.38 0.040 3826 621.0 -194.6 - - 3776 - - - - - - - - - 26.29 -
2359 422.4 -15.5 305 2366 done -0.58 - - 2063 - 2.12 0.018 2372 -685.8 -194.6 - - 3775 - - - - - - - - - 26.50 -
2667 467.2 -13.7 336 2675 roll -0.58 - - 2051 - 2.33 0.041 3825 623.6 -194.6 - - 3773 - - - - - - - - - 26.27 -
2698 471.8 -13.9 339 2708 done -0.58 0.12 0.132 2091 333.3 2.12 0.020 2380 -681.6 -194.6 - - 3772 - - - - - - - - 26.20 26.48 -
3008 503.7 -9.7 370 3009 done -0.58 - - 2090 - - - 2380 - -194.6 - - 3770 - - - - - - - - - - -
3312 532.2 -9.5 400 3318 done -0.58 - - 2091 - - - 2380 - -194.6 - - 3766 - - - - - - - - - - -
3620 560.9 -9.1 431 3629 roll -0.58 - - 2080 - 2.33 0.041 3825 620.2 -194.6 - - 3763 - - - - - - - - - 26.27 -
3651 564.0 -9.3 434 3662 done -0.58 - - 2080 - 2.12 0.019 2383 -680.2 -194.6 - - 3763 - - - - - - - - - 26.48 -
3962 598.6 -12.0 465 3971 roll -0.58 - - 2080 - 2.20 0.024 988 -634.1 -194.6 - - 3760 - - - - - - - - - 26.36 -
3984 601.1 -11.5 467 3990 done -0.58 - - 2070 - 2.40 0.031 2439 604.6 -194.6 - - 3760 - - - - - - - - - 26.30 -
4305 639.7 -11.6 483 4309 roll -0.58 - - 2059 - 2.17 0.043 3836 643.8 -194.6 - - 3756 - - - - - - - - - 26.21 -
4330 642.3 -11.4 484 4334 done -0.58 - - 2059 - 2.17 0.021 2381 -670.5 -194.6 - - 3755 - - - - - - - - - 26.45 -
4642 675.8 -9.7 500 4648 roll -0.58 - - 2059 - 2.22 0.025 975 -633.3 -194.6 - - 3754 - - - - - - - - - 26.34 -
4666 677.8 -9.6 501 4671 done -0.58 0.12 0.125 2089 250.0 2.42 0.032 2441 605.8 -194.6 - - 3754 - - - - - - - - 26.10 26.27 -
4979 699.6 -7.2 517 4980 done -0.58 - - 2089 - - - 2440 - -194.6 - - 3751 - - - - - - - - - - -
5279 723.3 -8.2 532 5285 roll -0.58 - - 2078 - 2.17 0.044 3834 642.4 -194.6 - - 3748 - - - - - - - - - 26.17 -
5302 725.0 -8.3 533 5306 done -0.58 - - 2078 - 2.17 0.021 2378 -671.0 -194.6 - - 3748 - - - - - - - - - 26.44 -
5614 752.8 -8.4 549 5615 done -0.58 - - 2079 - - - 2377 - -194.6 - - 3745 - - - - - - - - - - -
5915 776.4 -7.3 564 5921 roll -0.58 - - 2068 - 2.38 0.045 3826 608.8 -194.6 - - 3743 - - - - - - - - - 26.12 -
5937 777.9 -7.2 565 5941 done -0.58 - - 2068 - 2.15 0.022 2391 -667.4 -194.6 - - 3743 - - - - - - - - - 26.41 -
6249 804.0 -8.4 581 6250 done -0.58 - - 2068 - - - 2389 - -194.6 - - 3741 - - - - - - - - - - -
6550 829.5 -8.8 596 6555 roll -0.58 - - 2068 - 2.22 0.026 993 -628.8 -194.6 - - 3739 - - - - - - - - - 26.28 -
6602 832.8 -8.5 598 6610 done -0.58 - - 2058 - 2.42 0.034 2447 600.8 -194.6 - - 3739 - - - - - - - - - 26.20 -
6909 860.0 -8.3 614 6915 roll -0.58 - - 2048 - 2.15 0.044 3818 637.7 -194.6 - - 3737 - - - - - - - - - 26.10 -
6933 861.7 -8.4 615 6938 done -0.58 0.12 0.129 2087 325.0 2.15 0.021 2385 -666.5 -194.6 - - 3736 - - - - - - - - 26.10 26.39 -
7246 880.8 -5.7 631 7252 roll -0.58 - - 2076 - 2.38 0.044 3835 609.2 -194.6 - - 3735 - - - - - - - - - 26.08 -
7288 883.1 -5.8 633 7293 done -0.58 - - 2076 - 2.12 0.021 2405 -674.5 -194.6 - - 3734 - - - - - - - - - 26.41 -
7607 904.1 -6.8 649 7612 roll -0.58 - - 2075 - 2.25 0.027 993 -627.6 -194.6 - - 3733 - - - - - - - - - 26.25 -
7654 906.8 -6.8 651 7659 done -0.58 - - 2067 - 2.42 0.034 2445 600.0 -194.6 - - 3733 - - - - - - - - - 26.15 -
7964 931.4 -8.3 666 7969 roll -0.58 - - 2056 - 2.17 0.046 3829 637.8 -194.6 - - 3731 - - - - - - - - - 26.04 -
8010 934.9 -8.3 668 8015 done -0.58 0.10 0.131 2087 310.0 2.15 0.021 2395 -667.0 -194.6 - - 3730 - - - - - - - - 26.15 26.37 -
8319 956.1 -6.9 683 8325 roll -0.58 - - 2077 - 2.35 0.045 3814 603.8 -194.6 - - 3729 - - - - - - - - - 26.02 -
8366 958.9 -6.9 685 8370 done -0.58 - - 2077 - 2.10 0.021 2408 -669.5 -194.6 - - 3729 - - - - - - - - - 26.39 -
8673 982.3 -7.3 700 8674 done -0.58 - - 2077 - - - 2408 - -194.6 - - 3728 - - - - - - - - - - -
8790 end dive: TARGET_DEPTH_EXCEEDED
8790 begin apogee
8797 991.1 -7.3 706 8994 roll -0.20 0.38 0.090 2210 350.0 - - 2561 - - 184.90 1.143 2964 -4.1 0.379 - - - - - - 25.96 - 23.63
8994 end apogee: CONTROL_FINISHED_OK
8995 begin climb
8997 996.9 - 716 9214 roll 0.58 0.68 0.042 2476 391.2 2.03 0.044 3821 620.7 194.6 203.38 1.082 2170 -3.9 0.380 - - - - - - 24.96 24.91 23.18
9385 916.9 26.6 735 9389 done 0.58 - - 2486 - 1.92 0.021 2521 -677.1 194.6 - - 2148 - - - - - - - - - 25.67 -
9698 837.9 23.8 751 9703 roll 0.58 - - 2499 - 2.42 0.027 1084 -593.8 194.6 - - 2143 - - - - - - - - - 26.01 -
9791 820.5 21.5 755 9798 done 0.58 0.12 0.171 2467 -266.7 2.65 0.034 2576 563.0 194.6 - - 2139 - - - - - - - - 25.72 26.01 -
10097 756.5 18.6 771 10101 roll 0.58 - - 2467 - 1.85 0.042 3827 676.2 194.6 - - 2139 - - - - - - - - - 26.06 -
10131 752.2 18.7 772 10138 done 0.58 - - 2477 - 1.85 0.021 2536 -697.8 194.6 - - 2139 - - - - - - - - - 26.22 -
10439 693.8 16.3 788 10443 roll 0.58 - - 2477 - 1.98 0.042 3826 651.5 194.6 - - 2139 - - - - - - - - - 26.09 -
10509 681.8 18.7 791 10513 done 0.58 - - 2487 - 1.85 0.021 2536 -697.3 194.6 - - 2139 - - - - - - - - - 26.27 -
10816 617.3 19.2 806 10822 roll 0.58 - - 2487 - 2.00 0.041 3834 649.0 194.6 - - 2138 - - - - - - - - - 26.11 -
10845 613.1 19.5 807 10849 done 0.58 0.12 0.196 2466 -175.0 1.85 0.021 2542 -698.4 194.6 - - 2138 - - - - - - - - 25.82 26.29 -
11151 558.7 16.1 834 11155 roll 0.58 - - 2467 - 1.98 0.042 3826 648.5 194.6 - - 2138 - - - - - - - - - 26.11 -
11187 553.2 16.6 837 11194 done 0.58 - - 2477 - 1.85 0.021 2534 -698.4 194.6 - - 2137 - - - - - - - - - 26.31 -
11493 499.2 18.3 868 11502 roll 0.58 - - 2477 - 2.00 0.043 3835 650.5 194.6 - - 2137 - - - - - - - - - 26.11 -
11575 481.9 21.4 876 11579 done 0.58 - - 2486 - 1.88 0.022 2548 -684.6 194.6 - - 2137 - - - - - - - - - 26.33 -
11887 421.6 18.0 907 11896 roll 0.58 - - 2487 - 1.95 0.042 3829 656.9 194.6 - - 2136 - - - - - - - - - 26.12 -
12033 395.0 17.5 921 12041 done 0.58 0.08 0.175 2471 -200.0 1.83 0.021 2558 -694.5 194.6 - - 2136 - - - - - - - - 25.91 26.36 -
12341 352.4 14.7 952 12350 roll 0.58 - - 2485 - 2.53 0.028 1065 -590.1 194.6 - - 2135 - - - - - - - - - 26.20 -
12407 343.4 14.1 958 12415 done 0.58 - - 2485 - 2.65 0.034 2578 570.9 194.6 - - 2134 - - - - - - - - - 26.17 -
12714 291.3 15.7 989 12718 roll 0.58 - - 2485 - 1.83 0.042 3827 682.5 194.6 - - 2134 - - - - - - - - - 26.13 -
12779 281.3 15.4 995 12782 done 0.58 - - 2494 - 1.83 0.021 2543 -701.6 194.6 - - 2134 - - - - - - - - - 26.36 -
13090 242.2 14.0 1026 13101 roll 0.58 0.12 0.181 2469 -208.3 2.45 0.025 1092 -592.2 194.6 - - 2134 - - - - - - - - 26.08 26.22 -
13114 239.0 13.9 1028 13123 done 0.58 - - 2469 - 2.65 0.033 2596 567.5 194.6 - - 2134 - - - - - - - - - 26.17 -
13425 203.5 12.0 1059 13429 roll 0.58 - - 2469 - 1.80 0.041 3835 688.3 194.6 - - 2134 - - - - - - - - - 26.14 -
13503 194.1 11.6 1071 13510 done 0.58 - - 2478 - 1.83 0.021 2545 -704.9 194.6 - - 2134 - - - - - - - - - 26.36 -
13694 180.0 6.2 1108 13777 roll 0.68 - - 2491 - 2.55 0.029 1092 -569.8 276.5 75.50 0.654 1836 -3.9 0.115 - - - - - - - 25.65 24.66
13829 170.2 8.4 1131 13836 done 0.69 - - 2491 - 2.65 0.031 2563 555.1 284.4 - - 1822 - - - - - - - - - 25.75 -
14021 147.0 11.9 1168 14028 roll 0.69 - - 2492 - 1.88 0.040 3834 676.1 284.4 - - 1820 - - - - - - - - - 25.91 -
14041 144.4 12.3 1171 14048 done 0.69 - - 2501 - 1.85 0.021 2533 -703.2 284.4 - - 1819 - - - - - - - - - 26.08 -
14233 124.2 8.2 1208 14264 roll 0.71 - - 2515 - 2.53 0.028 1079 -574.7 301.4 22.40 0.615 1735 -3.8 0.080 - - - - - - - 25.95 24.91
14318 118.2 6.7 1223 14384 done 0.79 - - 2515 - 2.58 0.029 2544 567.8 366.0 58.28 0.616 1477 -4.4 0.090 - - - - - - - 25.95 24.65
14571 98.9 7.8 1270 14603 done 0.83 - - 2515 - - - 2543 - 393.9 29.27 0.278 1373 -3.6 0.134 - - - - - - - - 25.02
14789 81.2 10.2 1311 14796 roll 0.83 - - 2527 - 2.60 0.025 1083 -561.5 393.9 2.85 0.158 1375 - - - - - - - - - 26.03 25.32
14835 76.9 8.9 1319 14843 done 0.83 - - 2527 - 2.50 0.028 2524 576.4 393.9 2.50 0.155 1372 -1.2 0.063 - - - - - - - 26.05 25.48
15028 60.8 8.7 1356 15037 roll 0.83 - - 2539 - 2.50 0.026 1088 -574.4 393.9 2.50 0.154 1374 - - - - - - - - - 26.13 25.48
15060 58.2 7.6 1361 15105 done 0.87 - - 2539 - 2.42 0.027 2504 585.1 429.3 37.83 0.233 1230 -3.8 0.101 - - - - - - - 26.15 25.30
15290 44.1 4.5 1404 15400 roll 1.04 0.17 0.061 2644 617.6 2.08 0.035 3838 641.3 567.7 103.35 0.194 664 -5.5 0.132 - - - - - - 26.32 25.89 25.36
15439 17.1 23.2 1429 15447 done 1.04 0.15 0.153 2615 -193.3 2.05 0.021 2451 -676.6 567.7 1.88 0.169 660 -2.1 0.023 - - - - - - 25.65 26.01 25.51
15523 end climb: SURFACE_DEPTH_REACHED
15523 begin surface coast
15541 end surface coast: CONTROL_FINISHED_OK
15541 begin surface
SM 0.81 - - - - -6.61 6.28 0.028 133 -395.2 - - 2448 - 565.91 - - 672 - - - - - - - -