OKMC Apr12 * SG169 * Dive index * Mission links * Dive 290 * Raw log
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• Previous call tries 1 • 59.24 of 147.52 AH used of 24V (59.85% remains)
• Previous NAKs 0, Timeouts 0 • 37.64 of 108.53 AH used of 10V (65.32% remains)
• Surface angle -72.1 deg, depth 0.74 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 593.14, SM_CC=450)
• GPS1 time: 44 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 - - - 103 VBD -0.58 - - 117 - - - 2371 - -194.6 -82.85 - 3040 - - - - - - - - - - -
106 3.4 -7.9 14 138 roll -0.58 8.00 0.226 2089 246.5 2.38 0.039 950 -597.1 -194.6 -13.70 - 3776 -53.7 - - - - - - - 24.98 26.03 26.46
193 31.1 -18.5 29 199 done -0.54 - - 2077 - 2.53 0.032 2439 588.5 -194.6 - - 3777 - - - - - - - - - 26.02 -
386 82.6 -28.4 66 393 done -0.46 0.15 0.160 2123 306.7 - - 2438 - -194.6 - - 3777 - - - - - - - - 25.95 - -
578 110.3 -12.1 103 585 roll -0.44 - - 2123 - 2.45 0.024 948 -608.2 -194.6 - - 3777 - - - - - - - - - 26.23 -
598 112.6 -10.7 106 605 done -0.43 - - 2112 - 2.53 0.031 2446 592.1 -194.6 - - 3777 - - - - - - - - - 26.19 -
791 134.0 -9.4 143 797 roll -0.41 - - 2102 - 2.12 0.040 3825 650.5 -194.6 - - 3777 - - - - - - - - - 26.18 -
826 137.5 -9.8 149 833 done -0.41 0.12 0.115 2142 333.3 2.12 0.018 2370 -686.3 -194.6 - - 3777 - - - - - - - - 26.17 26.42 -
1018 151.5 -7.7 186 1025 roll -0.42 - - 2131 - 2.38 0.041 3841 618.1 -194.6 - - 3777 - - - - - - - - - 26.20 -
1059 154.3 -6.6 193 1066 done -0.45 - - 2131 - 2.10 0.018 2387 -692.4 -194.6 - - 3778 - - - - - - - - - 26.46 -
1251 167.3 -7.0 230 1260 roll -0.49 - - 2129 - 2.33 0.040 3836 621.9 -194.6 - - 3777 - - - - - - - - - 26.22 -
1305 170.8 -7.1 239 1312 done -0.56 - - 2129 - 2.00 0.018 2383 -726.5 -194.6 - - 3777 - - - - - - - - - 26.53 -
1499 184.3 -7.3 276 1506 roll -0.64 0.15 0.093 2067 -413.3 2.33 0.037 3837 624.0 -194.6 - - 3777 - - - - - - - - 26.40 26.25 -
1525 186.3 -7.2 280 1531 done -0.72 - - 2072 - 1.90 0.018 2444 -733.2 -194.6 - - 3777 - - - - - - - - - 26.53 -
1716 202.3 -8.7 317 1722 roll -0.73 - - 2072 - 2.42 0.024 957 -614.5 -194.6 - - 3777 - - - - - - - - - 26.35 -
1730 203.7 -9.1 319 1738 done -0.75 - - 2061 - 2.85 0.031 2597 575.4 -194.6 - - 3777 - - - - - - - - - 26.29 -
2043 245.9 -14.4 380 2050 roll -0.71 - - 2062 - 2.80 0.024 947 -589.3 -194.6 - - 3776 - - - - - - - - - 26.33 -
2123 255.5 -10.1 395 2131 done -0.71 - - 2050 - 2.80 0.032 2554 573.9 -194.6 - - 3776 - - - - - - - - - 26.29 -
2436 298.4 -12.9 456 2442 done -0.67 - - 2050 - - - 2552 - -194.6 - - 3775 - - - - - - - - - - -
2748 337.4 -11.8 517 2755 roll -0.63 - - 2050 - 2.72 0.024 947 -590.1 -194.6 - - 3773 - - - - - - - - - 26.34 -
2854 348.0 -10.0 537 2862 done -0.63 0.10 0.143 2070 200.0 2.78 0.033 2547 575.5 -194.6 - - 3773 - - - - - - - - 26.13 26.27 -
3169 381.9 -11.6 598 3176 roll -0.61 - - 2070 - 2.67 0.025 966 -592.1 -194.6 - - 3771 - - - - - - - - - 26.32 -
3204 385.9 -10.0 604 3211 done -0.62 - - 2062 - 2.72 0.034 2538 577.9 -194.6 - - 3770 - - - - - - - - - 26.27 -
3516 422.0 -11.9 665 3523 roll -0.60 - - 2063 - 2.65 0.024 961 -595.1 -194.6 - - 3767 - - - - - - - - - 26.32 -
3551 425.8 -10.8 671 3560 done -0.60 0.10 0.139 2085 220.0 2.67 0.032 2521 584.3 -194.6 - - 3767 - - - - - - - - 26.13 26.27 -
3867 453.4 -8.2 732 3874 roll -0.60 - - 2085 - 2.62 0.024 945 -601.5 -194.6 - - 3765 - - - - - - - - - 26.32 -
3894 455.6 -8.2 736 3901 done -0.61 - - 2085 - 2.67 0.034 2508 585.4 -194.6 - - 3765 - - - - - - - - - 26.25 -
4207 479.3 -6.7 797 4214 done -0.61 - - 2085 - - - 2507 - -194.6 -0.08 - 3790 -312.5 - - - - - - - - - 25.46
4519 501.4 -7.2 856 4528 roll -0.61 - - 2086 - 2.58 0.025 954 -601.9 -194.6 - - 3789 - - - - - - - - - 26.31 -
4553 503.8 -7.1 859 4563 done -0.62 - - 2085 - 2.62 0.034 2499 589.7 -194.6 - - 3788 - - - - - - - - - 26.23 -
4863 527.1 -7.9 890 4871 roll -0.62 - - 2077 - 2.00 0.045 3827 664.0 -194.6 - - 3786 - - - - - - - - - 26.16 -
4898 529.7 -7.8 893 4905 done -0.63 - - 2077 - 2.00 0.020 2436 -695.5 -194.6 - - 3786 - - - - - - - - - 26.46 -
5204 559.2 -9.5 924 5213 roll -0.63 - - 2076 - 2.38 0.028 964 -618.5 -194.6 - - 3783 - - - - - - - - - 26.27 -
5240 562.3 -9.6 927 5248 done -0.63 - - 2068 - 2.62 0.034 2506 588.5 -194.6 - - 3783 - - - - - - - - - 26.21 -
5547 594.2 -10.2 958 5556 roll -0.62 - - 2069 - 2.58 0.028 964 -597.7 -194.6 - - 3781 - - - - - - - - - 26.25 -
5582 597.2 -9.6 961 5588 done -0.62 - - 2058 - 2.60 0.034 2492 587.7 -194.6 - - 3781 - - - - - - - - - 26.19 -
5889 630.7 -10.8 992 5898 roll -0.61 - - 2048 - 2.05 0.046 3827 651.2 -194.6 - - 3779 - - - - - - - - - 26.11 -
5921 634.3 -11.2 995 5931 done -0.59 0.12 0.116 2089 341.7 2.08 0.022 2424 -674.5 -194.6 - - 3779 - - - - - - - - 26.16 26.41 -
6231 659.6 -8.0 1026 6233 done -0.60 - - 2089 - - - 2423 - -194.6 - - 3777 - - - - - - - - - - -
6534 683.1 -7.6 1056 6543 roll -0.61 - - 2080 - 2.25 0.046 3821 621.3 -194.6 - - 3775 - - - - - - - - - 26.08 -
6588 687.2 -7.2 1061 6596 done -0.63 - - 2080 - 2.03 0.023 2436 -682.3 -194.6 - - 3774 - - - - - - - - - 26.41 -
6897 710.2 -7.6 1092 6906 roll -0.63 - - 2079 - 2.40 0.028 953 -617.9 -194.6 - - 3773 - - - - - - - - - 26.23 -
6932 712.4 -7.3 1095 6940 done -0.65 - - 2074 - 2.62 0.034 2495 588.5 -194.6 - - 3773 - - - - - - - - - 26.15 -
7239 735.5 -7.8 1126 7247 roll -0.65 - - 2064 - 2.08 0.047 3837 645.2 -194.6 - - 3770 - - - - - - - - - 26.06 -
7261 737.2 -7.6 1128 7270 done -0.65 - - 2064 - 2.05 0.022 2432 -685.4 -194.6 - - 3770 - - - - - - - - - 26.39 -
7570 764.4 -9.2 1159 7580 roll -0.65 - - 2064 - 2.42 0.027 948 -613.2 -194.6 - - 3768 - - - - - - - - - 26.21 -
7603 767.3 -8.9 1162 7612 done -0.66 - - 2059 - 2.60 0.034 2482 590.0 -194.6 - - 3768 - - - - - - - - - 26.11 -
7915 797.5 -10.4 1193 7923 roll -0.65 - - 2049 - 2.05 0.045 3826 655.6 -194.6 - - 3767 - - - - - - - - - 26.04 -
7946 800.9 -10.3 1196 7955 done -0.65 - - 2049 - 2.08 0.021 2427 -672.6 -194.6 - - 3766 - - - - - - - - - 26.36 -
8256 834.3 -10.6 1227 8266 roll -0.64 - - 2050 - 2.38 0.028 954 -618.9 -194.6 - - 3765 - - - - - - - - - 26.18 -
8302 838.8 -10.6 1231 8311 done -0.64 0.10 0.136 2072 220.0 2.62 0.035 2488 585.5 -194.6 - - 3765 - - - - - - - - 25.97 26.10 -
8611 864.6 -8.4 1262 8619 roll -0.64 - - 2062 - 2.05 0.046 3819 649.3 -194.6 - - 3763 - - - - - - - - - 26.01 -
8644 867.4 -8.3 1265 8652 done -0.64 - - 2062 - 2.05 0.022 2426 -679.5 -194.6 - - 3763 - - - - - - - - - 26.36 -
8953 894.0 -8.8 1296 8962 roll -0.64 - - 2062 - 2.40 0.029 942 -618.3 -194.6 - - 3763 - - - - - - - - - 26.15 -
8988 896.8 -8.5 1299 8998 done -0.65 - - 2056 - 2.62 0.037 2482 587.8 -194.6 - - 3763 - - - - - - - - - 26.06 -
9296 924.8 -9.1 1330 9305 roll -0.64 - - 2046 - 2.08 0.046 3833 649.5 -194.6 - - 3761 - - - - - - - - - 25.98 -
9339 928.6 -9.3 1334 9347 done -0.64 - - 2046 - 2.05 0.022 2433 -682.9 -194.6 - - 3761 - - - - - - - - - 26.33 -
9649 960.2 -10.8 1365 9657 roll -0.63 - - 2046 - 2.40 0.028 969 -610.0 -194.6 - - 3760 - - - - - - - - - 26.14 -
9711 966.3 -9.5 1371 9722 done -0.64 0.08 0.097 2070 300.0 2.60 0.037 2479 580.8 -194.6 - - 3760 - - - - - - - - 25.86 26.03 -
10018 end dive: TARGET_DEPTH_EXCEEDED
10018 begin apogee
10024 990.7 -7.5 1402 10271 roll -0.20 0.40 0.088 2213 357.5 0.10 0.073 2484 50.0 - 238.68 0.992 2974 -3.3 0.348 - - - - - - 25.91 24.74 23.61
10272 end apogee: CONTROL_FINISHED_OK
10272 begin climb
10274 1000.3 - 1427 10500 roll 0.58 0.65 0.042 2475 403.1 2.22 0.044 3830 606.3 194.6 212.85 1.089 2173 -3.8 0.365 - - - - - - 25.01 24.94 23.17
10526 963.0 22.4 1452 10534 done 0.50 0.17 0.182 2443 -188.2 2.08 0.024 2497 -640.9 194.6 - - 2154 - - - - - - - - 24.52 24.87 -
10834 909.8 16.2 1483 10842 roll 0.45 - - 2443 - 2.08 0.044 3828 639.9 194.6 - - 2144 - - - - - - - - - 25.88 -
10927 892.7 18.6 1492 10937 done 0.39 0.15 0.180 2410 -220.0 1.90 0.022 2519 -688.9 194.6 - - 2144 - - - - - - - - 25.58 26.06 -
11236 850.5 12.7 1523 11244 roll 0.36 - - 2409 - 2.05 0.044 3836 642.4 194.6 - - 2142 - - - - - - - - - 26.01 -
11279 844.2 14.7 1527 11288 done 0.32 0.12 0.172 2383 -216.7 1.90 0.022 2518 -693.7 194.6 - - 2141 - - - - - - - - 25.78 26.19 -
11588 812.4 9.2 1558 11596 roll 0.32 - - 2395 - 2.47 0.031 1066 -587.9 194.6 - - 2139 - - - - - - - - - 26.10 -
11621 809.5 8.8 1561 11629 done 0.32 - - 2395 - 2.65 0.034 2551 560.4 194.6 - - 2138 - - - - - - - - - 26.10 -
11929 779.2 10.0 1592 11939 roll 0.30 - - 2395 - 1.92 0.044 3840 671.4 194.6 - - 2138 - - - - - - - - - 26.07 -
11974 774.1 11.7 1596 11985 done 0.27 0.12 0.168 2367 -233.3 1.90 0.021 2516 -696.8 194.6 - - 2138 - - - - - - - - 25.86 26.28 -
12283 750.1 7.4 1627 12336 roll 0.33 - - 2380 - 2.58 0.032 1076 -558.1 238.7 42.12 0.965 2003 -3.2 0.263 - - - - 1 - - 25.63 24.02
12365 744.6 7.1 1634 12439 done 0.40 - - 2380 - 2.70 0.033 2553 547.0 291.8 58.62 1.063 1793 -3.6 0.265 - - - - 1 - - 25.70 23.55
12741 714.9 7.5 1672 12823 roll 0.46 0.12 0.076 2485 875.0 2.75 0.031 1071 -538.9 330.0 75.07 0.811 1627 -2.2 0.206 - - - - - - 26.13 25.27 24.18
12858 695.2 18.0 1683 12867 done 0.43 0.20 0.117 2417 -340.0 2.67 0.035 2538 549.4 330.0 - - 1611 - - - - - - - - 25.27 25.50 -
13167 657.8 11.8 1714 13176 roll 0.43 - - 2416 - 1.98 0.044 3839 657.1 330.0 - - 1608 - - - - - - - - - 25.91 -
13192 655.0 12.2 1716 13200 done 0.43 - - 2426 - 1.95 0.021 2496 -688.7 330.0 - - 1606 - - - - - - - - - 26.07 -
13500 617.0 11.9 1747 13508 roll 0.42 - - 2439 - 2.45 0.031 1064 -584.5 330.0 - - 1604 - - - - - - - - - 26.06 -
13522 614.5 11.5 1749 13531 done 0.41 0.08 0.110 2409 -375.0 2.62 0.034 2538 562.6 330.0 - - 1604 - - - - - - - - 25.86 26.05 -
13832 585.8 9.4 1780 13841 roll 0.42 - - 2422 - 2.55 0.031 1072 -574.9 330.0 - - 1604 - - - - - - - - - 26.10 -
13864 583.0 8.8 1783 13873 done 0.43 - - 2422 - 2.55 0.032 2521 568.2 330.0 - - 1603 - - - - - - - - - 26.10 -
14174 550.8 10.7 1814 14183 roll 0.43 - - 2422 - 2.00 0.044 3835 657.0 330.0 - - 1602 - - - - - - - - - 26.06 -
14199 548.3 11.2 1816 14207 done 0.43 - - 2432 - 2.00 0.022 2472 -681.5 330.0 - - 1602 - - - - - - - - - 26.26 -
14506 511.0 11.9 1847 14507 done 0.43 - - 2433 - - - 2471 - 330.0 - - 1602 - - - - - - - - - - -
14809 473.7 12.9 1897 14815 roll 0.43 - - 2432 - 2.15 0.044 3832 633.0 330.0 - - 1602 - - - - - - - - - 26.06 -
14835 470.2 13.8 1901 14842 done 0.42 - - 2443 - 1.98 0.022 2483 -681.3 330.0 - - 1603 - - - - - - - - - 26.29 -
15150 426.7 13.7 1962 15157 roll 0.42 0.12 0.163 2415 -233.3 2.45 0.030 1062 -580.0 330.0 - - 1602 - - - - - - - - 26.11 26.13 -
15171 423.8 12.8 1965 15178 done 0.42 - - 2415 - 2.60 0.033 2530 564.6 330.0 - - 1601 - - - - - - - - - 26.12 -
15485 393.4 9.5 2026 15491 roll 0.44 - - 2427 - 2.58 0.032 1068 -566.7 330.0 - - 1601 - - - - - - - - - 26.12 -
15507 391.4 9.5 2029 15513 done 0.46 - - 2427 - 2.58 0.033 2521 563.2 330.0 - - 1601 - - - - - - - - - 26.13 -
15821 360.4 9.3 2090 15827 done 0.47 - - 2427 - - - 2520 - 330.0 - - 1601 - - - - - - - - - - -
16132 329.9 9.6 2151 16138 roll 0.48 - - 2440 - 2.55 0.031 1063 -571.4 330.0 - - 1601 - - - - - - - - - 26.13 -
16182 325.2 9.2 2160 16190 done 0.51 - - 2439 - 2.53 0.031 2508 571.1 330.0 - - 1601 - - - - - - - - - 26.15 -
16499 294.4 9.7 2221 16505 roll 0.51 - - 2439 - 2.00 0.044 3831 661.5 330.0 - - 1601 - - - - - - - - - 26.06 -
16548 289.0 10.5 2230 16554 done 0.51 - - 2450 - 1.98 0.021 2472 -686.4 330.0 - - 1601 - - - - - - - - - 26.32 -
16862 261.1 9.3 2291 16869 done 0.52 - - 2451 - - - 2471 - 330.0 - - 1601 - - - - - - - - - - -
17174 230.6 9.5 2352 17181 roll 0.53 - - 2450 - 2.12 0.041 3824 638.2 330.0 - - 1601 - - - - - - - - - 26.07 -
17205 227.2 11.3 2357 17212 done 0.53 - - 2460 - 1.95 0.020 2479 -689.7 330.0 - - 1601 - - - - - - - - - 26.34 -
17521 198.3 7.8 2418 17565 roll 0.58 - - 2473 - 2.53 0.029 1055 -562.8 360.1 36.30 0.649 1501 -2.8 0.089 - - - - - - - 25.94 24.61
17590 192.4 9.3 2429 17596 done 0.61 - - 2473 - 2.62 0.030 2533 564.1 360.1 - - 1491 - - - - - - - - - 25.93 -
17782 173.2 9.9 2466 17789 roll 0.61 - - 2473 - 1.95 0.041 3838 669.2 360.1 - - 1489 - - - - - - - - - 25.94 -
17837 166.9 11.5 2476 17845 done 0.62 - - 2483 - 1.88 0.020 2509 -706.9 360.1 - - 1489 - - - - - - - - - 26.17 -
18029 147.4 9.7 2513 18036 roll 0.62 - - 2496 - 2.50 0.029 1052 -582.8 360.1 - - 1488 - - - - - - - - - 26.07 -
18090 142.2 7.2 2524 18147 done 0.72 - - 2496 - 2.62 0.031 2537 566.8 411.2 50.97 0.639 1300 -3.7 0.087 - - - - - - - 26.08 24.58
18333 124.3 8.8 2569 18339 done 0.74 - - 2496 - - - 2537 - 411.2 - - 1274 - - - - - - - - - - -
18526 109.7 5.9 2606 18652 roll 0.88 0.15 0.066 2608 746.7 2.67 0.029 1062 -552.4 502.7 116.07 0.338 941 -2.9 0.098 - - - - - - 26.30 25.64 24.81
18707 82.5 13.6 2637 18721 done 0.88 0.17 0.124 2555 -311.8 2.62 0.030 2533 561.5 502.7 2.78 0.165 930 -4.0 0.209 - - - - - - 25.53 25.77 25.18
18907 63.0 8.1 2675 18938 roll 0.93 - - 2555 - 1.92 0.037 3832 676.6 523.7 24.60 0.247 850 -3.3 0.088 - - - - - - - 25.88 24.99
18971 57.9 8.4 2686 18991 done 0.98 - - 2563 - 1.85 0.018 2506 -716.8 532.4 11.12 0.226 815 -3.1 0.085 - - - - - - - 26.09 24.96
19178 42.8 6.8 2725 19239 roll 1.08 0.15 0.065 2683 800.0 2.53 0.026 1064 -570.0 595.0 52.47 0.205 556 -4.9 0.109 - - - - - - 26.30 25.92 25.18
19305 22.6 13.0 2747 19312 done 1.08 0.20 0.132 2623 -300.0 2.62 0.029 2540 563.4 595.0 - - 560 - - - - - - - - 25.63 25.97 -
19465 end climb: SURFACE_DEPTH_REACHED
19465 begin surface coast
19482 end surface coast: CONTROL_FINISHED_OK
19482 begin surface
SM 0.68 - - - - -6.62 6.22 0.023 136 -399.8 0.32 0.035 2348 -600.0 593.14 - - 560 - - - - - - - -