OKMC Apr12 * SG169 * Dive index * Mission links * Dive 284 * Raw log
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• Previous call tries 1 • 57.84 of 147.52 AH used of 24V (60.79% remains)
• Previous NAKs 0, Timeouts 0 • 36.61 of 108.53 AH used of 10V (66.27% remains)
• Surface angle -68.1 deg, depth 0.68 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 558.06, SM_CC=450)
• GPS1 time: 27 s, HDOP was 2.8 m
• GPS2 time: 16 s, HDOP was 3.2 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
16 end surface: CONTROL_FINISHED_OK
16 begin dive
19 - - - 108 VBD -0.58 - - 117 - - - 2392 - -194.6 -86.35 - 3118 - - - - - - - - - - -
110 3.6 -9.5 15 137 roll -0.58 7.95 0.222 2089 248.1 2.35 0.034 972 -604.3 -194.6 -11.93 - 3776 -55.2 - - - - - - - 25.00 26.10 26.49
176 32.3 -33.4 26 184 done -0.50 0.12 0.162 2109 166.7 2.58 0.037 2464 578.3 -194.6 - - 3778 - - - - - - - - 25.74 26.00 -
370 75.9 -17.7 63 377 roll -0.44 - - 2098 - 2.10 0.040 3833 651.9 -194.6 - - 3778 - - - - - - - - - 26.09 -
431 84.7 -12.0 74 439 done -0.43 0.12 0.133 2134 300.0 2.03 0.018 2415 -698.5 -194.6 - - 3778 - - - - - - - - 26.03 26.34 -
624 107.8 -11.7 111 631 roll -0.41 - - 2135 - 2.33 0.024 976 -617.6 -194.6 - - 3778 - - - - - - - - - 26.28 -
695 114.3 -8.6 124 702 done -0.43 - - 2125 - 2.42 0.029 2436 603.3 -194.6 - - 3778 - - - - - - - - - 26.25 -
888 129.7 -7.6 161 894 roll -0.45 - - 2125 - 2.38 0.021 977 -613.0 -194.6 - - 3779 - - - - - - - - - 26.34 -
918 132.0 -7.6 166 926 done -0.49 - - 2122 - 2.78 0.028 2578 575.9 -194.6 - - 3778 - - - - - - - - - 26.29 -
1112 146.7 -8.1 203 1119 roll -0.52 - - 2122 - 2.72 0.021 969 -591.5 -194.6 - - 3778 - - - - - - - - - 26.36 -
1213 154.4 -7.4 222 1222 done -0.55 - - 2112 - 2.92 0.030 2647 574.7 -194.6 - - 3778 - - - - - - - - - 26.29 -
1407 168.6 -6.8 259 1414 roll -0.57 - - 2105 - 1.67 0.039 3836 712.0 -194.6 - - 3779 - - - - - - - - - 26.28 -
1453 172.1 -7.6 267 1460 done -0.57 - - 2105 - 2.00 0.017 2415 -710.5 -194.6 - - 3778 - - - - - - - - - 26.51 -
1645 190.6 -10.2 304 1651 done -0.56 - - 2105 - - - 2415 - -194.6 - - 3778 - - - - - - - - - - -
1834 209.8 -9.9 341 1840 done -0.56 - - 2105 - - - 2415 - -194.6 - - 3778 - - - - - - - - - - -
2145 241.2 -9.9 402 2153 roll -0.55 - - 2095 - 2.25 0.041 3835 631.1 -194.6 - - 3777 - - - - - - - - - 26.25 -
2177 244.3 -10.1 407 2184 done -0.55 - - 2095 - 1.98 0.018 2429 -710.1 -194.6 - - 3777 - - - - - - - - - 26.53 -
2488 276.6 -10.5 468 2495 roll -0.54 - - 2095 - 2.38 0.023 970 -613.0 -194.6 - - 3775 - - - - - - - - - 26.37 -
2540 281.3 -8.6 477 2548 done -0.56 - - 2086 - 2.62 0.031 2505 585.9 -194.6 - - 3774 - - - - - - - - - 26.31 -
2853 315.2 -10.9 538 2861 roll -0.54 - - 2076 - 1.98 0.041 3838 673.2 -194.6 - - 3773 - - - - - - - - - 26.26 -
2888 318.8 -10.4 544 2894 done -0.54 - - 2076 - 2.00 0.018 2429 -704.5 -194.6 - - 3772 - - - - - - - - - 26.51 -
3200 353.1 -10.8 605 3207 roll -0.52 - - 2076 - 2.35 0.024 988 -613.2 -194.6 - - 3770 - - - - - - - - - 26.36 -
3245 357.8 -9.6 613 3252 done -0.54 0.12 0.127 2107 258.3 2.58 0.031 2493 583.3 -194.6 - - 3770 - - - - - - - - 26.14 26.30 -
3558 384.2 -8.2 674 3566 roll -0.54 - - 2097 - 2.03 0.042 3829 658.1 -194.6 - - 3767 - - - - - - - - - 26.25 -
3585 386.5 -8.8 678 3593 done -0.55 - - 2097 - 2.03 0.018 2427 -690.6 -194.6 - - 3767 - - - - - - - - - 26.51 -
3899 416.7 -10.0 739 3906 roll -0.55 - - 2097 - 2.35 0.024 983 -614.5 -194.6 - - 3765 - - - - - - - - - 26.34 -
3929 419.6 -9.1 744 3935 done -0.56 - - 2092 - 2.58 0.031 2492 584.9 -194.6 - - 3765 - - - - - - - - - 26.29 -
4241 449.2 -9.2 805 4248 roll -0.56 - - 2092 - 2.55 0.034 974 -595.3 -194.6 -0.08 - 3789 -300.0 - - - - - - - - 26.33 25.48
4266 451.5 -8.9 809 4273 done -0.57 - - 2092 - 2.58 0.031 2485 585.7 -194.6 - - 3789 - - - - - - - - - 26.27 -
4580 477.9 -7.8 870 4587 roll -0.57 - - 2081 - 2.05 0.044 3839 660.5 -194.6 - - 3787 - - - - - - - - - 26.19 -
4600 479.7 -8.5 873 4607 done -0.57 - - 2082 - 2.05 0.020 2427 -688.8 -194.6 - - 3787 - - - - - - - - - 26.48 -
4913 506.2 -8.6 927 4922 roll -0.56 - - 2082 - 2.30 0.024 988 -625.7 -194.6 - - 3785 - - - - - - - - - 26.34 -
4946 508.7 -8.0 930 4956 done -0.56 - - 2071 - 2.55 0.031 2491 589.4 -194.6 - - 3784 - - - - - - - - - 26.26 -
5255 537.4 -9.3 961 5264 roll -0.55 - - 2061 - 2.00 0.043 3823 666.0 -194.6 - - 3782 - - - - - - - - - 26.19 -
5279 539.5 -9.5 963 5288 done -0.54 0.10 0.087 2103 420.0 1.98 0.019 2424 -706.6 -194.6 - - 3781 - - - - - - - - 26.20 26.48 -
5588 560.7 -6.8 994 5589 done -0.55 - - 2103 - - - 2424 - -194.6 - - 3780 - - - - - - - - - - -
5892 581.7 -7.4 1024 5901 roll -0.57 - - 2094 - 2.25 0.043 3831 625.3 -194.6 - - 3778 - - - - - - - - - 26.15 -
5945 585.7 -7.3 1029 5953 done -0.59 - - 2094 - 2.00 0.019 2431 -700.0 -194.6 - - 3777 - - - - - - - - - 26.49 -
6255 608.7 -7.6 1060 6256 done -0.63 - - 2095 - - - 2432 - -194.6 - - 3775 - - - - - - - - - - -
6556 630.0 -7.0 1090 6566 roll -0.66 - - 2090 - 2.20 0.044 3819 630.5 -194.6 - - 3772 - - - - - - - - - 26.13 -
6624 634.3 -7.1 1096 6631 done -0.70 0.12 0.073 1982 -900.0 1.75 0.021 2532 -735.4 -194.6 - - 3772 - - - - - - - - 26.37 26.48 -
6931 685.0 -17.2 1127 6940 roll -0.63 0.25 0.138 2076 376.0 2.60 0.024 990 -593.1 -194.6 - - 3770 - - - - - - - - 25.87 26.25 -
7037 694.4 -7.3 1137 7046 done -0.65 - - 2063 - 2.83 0.033 2596 567.5 -194.6 - - 3770 - - - - - - - - - 26.20 -
7344 721.8 -9.9 1168 7353 roll -0.64 - - 2063 - 2.75 0.025 989 -584.4 -194.6 - - 3768 - - - - - - - - - 26.25 -
7378 725.0 -9.7 1171 7385 done -0.64 - - 2058 - 2.80 0.034 2572 565.4 -194.6 - - 3768 - - - - - - - - - 26.17 -
7687 757.1 -10.5 1202 7696 roll -0.62 - - 2058 - 2.70 0.026 989 -586.3 -194.6 - - 3766 - - - - - - - - - 26.25 -
7770 765.0 -9.1 1210 7779 done -0.64 - - 2046 - 2.70 0.033 2541 574.8 -194.6 - - 3766 - - - - - - - - - 26.16 -
8080 799.7 -11.3 1241 8081 done -0.62 - - 2047 - - - 2539 - -194.6 - - 3764 - - - - - - - - - - -
8382 831.7 -10.4 1271 8391 roll -0.60 0.12 0.146 2091 366.7 2.62 0.024 985 -593.1 -194.6 - - 3762 - - - - - - - - 26.25 26.22 -
8449 836.5 -6.3 1277 8455 done -0.63 - - 2089 - 2.70 0.033 2537 574.8 -194.6 - - 3762 - - - - - - - - - 26.13 -
8755 855.3 -6.0 1308 8764 roll -0.67 - - 2089 - 2.60 0.024 973 -601.5 -194.6 - - 3761 - - - - - - - - - 26.25 -
8829 859.8 -6.3 1315 8839 done -0.74 0.12 0.052 2028 -508.3 2.88 0.030 2630 575.3 -194.6 - - 3760 - - - - - - - - 26.08 26.17 -
9137 883.3 -7.8 1346 9146 roll -0.74 - - 2028 - 2.80 0.027 992 -585.0 -194.6 - - 3759 - - - - - - - - - 26.16 -
9265 894.1 -8.9 1358 9272 done -0.74 - - 2017 - 2.72 0.035 2546 571.3 -194.6 - - 3759 - - - - - - - - - 26.07 -
9572 931.1 -12.4 1389 9581 roll -0.70 0.10 0.167 2053 360.0 2.65 0.024 986 -588.7 -194.6 - - 3757 - - - - - - - - 26.34 26.17 -
9645 938.2 -8.2 1396 9655 done -0.72 - - 2042 - 2.67 0.034 2531 578.7 -194.6 - - 3756 - - - - - - - - - 26.08 -
9955 969.3 -10.5 1427 9956 done -0.70 - - 2042 - - - 2530 - -194.6 - - 3755 - - - - - - - - - - -
10152 end dive: TARGET_DEPTH_EXCEEDED
10152 begin apogee
10157 990.5 -10.8 1447 10354 roll -0.20 0.47 0.102 2205 346.8 - - 2529 - - 190.30 1.143 2973 -4.1 0.378 - - - - - - 25.72 - 23.44
10355 end apogee: CONTROL_FINISHED_OK
10355 begin climb
10358 999.1 - 1467 10575 roll 0.58 0.70 0.045 2475 385.7 2.10 0.044 3831 620.0 194.6 203.07 1.112 2171 -3.9 0.377 - - - - - - 24.91 24.87 23.08
10782 920.0 22.0 1509 10790 done 0.51 0.17 0.185 2440 -205.9 1.90 0.021 2523 -688.4 194.6 - - 2150 - - - - - - - - 25.39 25.86 -
11090 869.2 16.0 1540 11100 roll 0.46 - - 2453 - 2.50 0.028 1082 -576.4 194.6 - - 2145 - - - - - - - - - 26.04 -
11204 852.9 13.9 1551 11213 done 0.43 0.10 0.140 2420 -330.0 2.65 0.034 2561 558.1 194.6 - - 2142 - - - - - - - - 25.75 26.06 -
11513 808.0 14.7 1582 11521 roll 0.40 - - 2419 - 1.88 0.042 3837 678.7 194.6 - - 2142 - - - - - - - - - 26.08 -
11575 798.0 16.8 1588 11585 done 0.36 0.12 0.175 2389 -250.0 1.88 0.020 2520 -700.5 194.6 - - 2142 - - - - - - - - 25.80 26.26 -
11886 762.7 11.1 1619 11892 done 0.34 - - 2389 - - - 2519 - 194.6 - - 2141 - - - - - - - - - - -
12197 728.3 11.3 1650 12206 roll 0.33 - - 2402 - 2.45 0.029 1099 -579.6 194.6 - - 2140 - - - - - - - - - 26.17 -
12222 725.5 10.9 1652 12230 done 0.32 - - 2402 - 2.62 0.032 2557 556.5 194.6 - - 2139 - - - - - - - - - 26.15 -
12529 688.2 12.5 1683 12538 roll 0.30 - - 2402 - 1.90 0.042 3842 676.3 194.6 - - 2140 - - - - - - - - - 26.10 -
12561 684.0 13.2 1686 12570 done 0.28 0.15 0.157 2370 -213.3 1.90 0.021 2514 -698.9 194.6 - - 2140 - - - - - - - - 25.86 26.32 -
12871 655.0 9.1 1717 12880 roll 0.28 - - 2383 - 2.45 0.030 1088 -582.0 194.6 - - 2139 - - - - - - - - - 26.17 -
12914 651.5 8.3 1721 12932 done 0.31 - - 2383 - 2.60 0.034 2545 560.4 208.6 7.65 0.907 2124 -2.0 0.150 - - - - - - - 26.13 24.20
13233 622.5 8.7 1753 13242 roll 0.31 - - 2383 - 1.90 0.044 3831 676.8 209.0 - - 2115 - - - - - - - - - 26.06 -
13268 619.2 10.0 1756 13276 done 0.31 - - 2393 - 1.88 0.021 2510 -702.7 209.0 - - 2115 - - - - - - - - - 26.29 -
13575 587.9 9.4 1787 13584 roll 0.30 - - 2405 - 2.45 0.029 1086 -581.2 209.0 - - 2114 - - - - - - - - - 26.15 -
13599 585.8 9.5 1789 13607 done 0.30 0.12 0.131 2368 -308.3 2.62 0.033 2549 558.4 209.0 - - 2114 - - - - - - - - 25.92 26.13 -
13909 563.5 6.7 1820 13997 done 0.39 0.10 0.093 2430 620.0 - - 2548 - 275.0 79.05 0.877 1843 -3.4 0.234 - - - - - - 26.48 - 24.15
14298 518.4 11.5 1859 14308 roll 0.38 0.12 0.158 2404 -216.7 2.60 0.028 1086 -562.3 275.0 - - 1826 - - - - - - - - 25.81 25.91 -
14323 516.1 10.7 1861 14330 done 0.37 - - 2404 - 2.60 0.032 2540 559.2 275.0 - - 1824 - - - - - - - - - 25.91 -
14633 491.3 7.8 1902 14676 roll 0.41 - - 2416 - 2.65 0.028 1093 -546.0 304.7 31.65 0.835 1720 -3.3 0.205 - - - - - - - 25.74 24.44
14684 486.7 8.3 1910 14704 done 0.44 - - 2417 - 2.62 0.031 2537 551.1 317.0 10.68 0.789 1680 -3.7 0.245 - - - - - - - 25.74 24.32
15012 456.5 9.6 1973 15019 roll 0.45 - - 2429 - 2.58 0.028 1094 -559.3 317.0 - - 1669 - - - - - - - - - 25.96 -
15059 452.1 9.2 1981 15066 done 0.48 - - 2429 - 2.55 0.031 2517 558.0 317.0 - - 1666 - - - - - - - - - 25.97 -
15371 419.1 10.9 2042 15378 roll 0.48 - - 2429 - 1.98 0.043 3826 661.1 317.0 - - 1666 - - - - - - - - - 26.01 -
15391 416.8 11.3 2045 15397 done 0.48 - - 2439 - 2.00 0.021 2468 -679.0 317.0 - - 1665 - - - - - - - - - 26.20 -
15704 382.5 9.7 2106 15711 roll 0.48 - - 2451 - 2.40 0.031 1085 -576.2 317.0 - - 1665 - - - - - - - - - 26.09 -
15745 378.4 9.5 2113 15752 done 0.50 - - 2451 - 2.53 0.031 2504 560.9 317.0 - - 1664 - - - - - - - - - 26.10 -
16060 340.9 12.2 2174 16066 done 0.49 - - 2451 - - - 2502 - 317.0 - - 1664 - - - - - - - - - - -
16371 305.3 11.7 2235 16377 done 0.48 - - 2451 - - - 2502 - 317.0 - - 1664 - - - - - - - - - - -
16682 270.5 11.0 2296 16690 roll 0.48 - - 2451 - 2.03 0.042 3825 651.7 317.0 - - 1664 - - - - - - - - - 26.08 -
16703 268.2 11.3 2299 16709 done 0.48 - - 2461 - 2.03 0.021 2450 -677.3 317.0 - - 1664 - - - - - - - - - 26.32 -
17016 232.3 10.6 2360 17023 done 0.48 0.12 0.157 2421 -333.3 - - 2449 - 317.0 - - 1664 - - - - - - - - 26.17 - -
17332 207.0 8.0 2421 17362 done 0.55 - - 2421 - - - 2449 - 338.3 24.25 0.668 1591 -3.0 0.099 - - - - - - - - 24.70
17669 172.8 9.6 2486 17676 done 0.64 0.15 0.084 2497 506.7 - - 2449 - 338.3 - - 1582 - - - - - - - - 26.29 - -
17863 156.8 8.6 2523 17870 roll 0.66 - - 2497 - 2.20 0.040 3828 626.8 340.7 - - 1581 - - - - - - - - - 26.06 -
17923 150.6 11.7 2534 17929 done 0.64 - - 2507 - 2.00 0.021 2459 -684.5 340.7 - - 1582 - - - - - - - - - 26.25 -
18114 129.2 10.7 2571 18120 done 0.63 - - 2508 - - - 2457 - 340.7 - - 1582 - - - - - - - - - - -
18305 109.5 10.2 2608 18314 roll 0.63 0.12 0.156 2478 -250.0 2.35 0.025 1081 -585.5 340.7 - - 1581 - - - - - - - - 26.17 26.20 -
18339 107.1 8.0 2613 18376 done 0.68 - - 2478 - 2.58 0.028 2535 563.6 363.7 27.83 0.336 1503 -2.8 0.095 - - - - - - - 26.21 25.15
18566 91.4 6.5 2655 18670 roll 0.84 0.15 0.070 2568 600.0 2.65 0.028 1085 -547.2 436.5 92.95 0.308 1206 -3.2 0.101 - - - - - - 26.36 25.82 25.00
18781 73.6 7.3 2693 18838 done 0.91 - - 2568 - 2.40 0.027 2460 572.9 481.7 51.12 0.269 1014 -3.8 0.109 - - - - - - - 25.95 25.00
19024 51.2 10.2 2738 19032 roll 0.93 - - 2579 - 2.45 0.027 1080 -563.3 481.7 2.12 0.158 1013 - - - - - - - - - 25.98 25.34
19052 48.5 10.1 2742 19058 done 0.95 - - 2579 - 2.30 0.026 2429 586.5 481.7 - - 1021 - - - - - - - - - 26.03 -
19244 32.0 6.3 2779 19311 roll 1.06 0.12 0.074 2676 808.3 2.20 0.034 3833 638.2 559.5 55.88 0.179 703 -5.7 0.108 - - - - - - 26.36 25.95 25.29
19357 13.6 17.5 2798 19366 done 1.03 0.28 0.147 2609 -239.3 2.20 0.021 2383 -659.1 559.5 1.60 0.179 695 -5.0 0.040 - - - - - - 25.51 26.08 25.46
19422 end climb: SURFACE_DEPTH_REACHED
19422 begin surface coast
19447 end surface coast: CONTROL_FINISHED_OK
19447 begin surface
SM 0.52 - - - - -6.61 6.12 0.018 114 -407.7 0.20 0.060 2473 450.0 558.06 - - 704 - - - - - - - -