OKMC Apr12 * SG169 * Dive index * Mission links * Dive 291 * Raw log
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• Previous call tries 1 • 59.45 of 147.52 AH used of 24V (59.70% remains)
• Previous NAKs 0, Timeouts 0 • 37.81 of 108.53 AH used of 10V (65.16% remains)
• Surface angle -68.8 deg, depth 0.87 m • Intended pitch -13.8 deg, speed -8.684 cm/s
• No surface pump (final VBD was 463.62, SM_CC=450)
• GPS1 time: 36 s
• GPS2 time: 14 s • Transponder ping count: 2
• 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 - - - 101 VBD -0.58 - - 117 - - - 2344 - -194.6 -80.62 - 2803 - - - - - - - - - - -
104 3.2 -8.1 14 141 roll -0.58 7.93 0.223 2090 248.8 2.33 0.039 945 -600.4 -194.6 -19.33 - 3775 -50.3 - - - - - - - 24.96 26.04 26.48
155 20.7 -37.8 22 162 done -0.46 0.17 0.156 2125 205.9 2.53 0.032 2434 588.5 -194.6 - - 3776 - - - - - - - - 25.63 26.01 -
347 67.4 -16.7 59 354 roll -0.41 - - 2115 - 2.15 0.040 3844 655.8 -194.6 - - 3775 - - - - - - - - - 26.08 -
377 72.2 -16.0 64 386 done -0.37 0.12 0.116 2154 325.0 2.12 0.019 2392 -684.9 -194.6 - - 3775 - - - - - - - - 26.05 26.28 -
571 94.9 -11.4 101 577 roll -0.36 - - 2155 - 2.33 0.024 946 -620.6 -194.6 - - 3775 - - - - - - - - - 26.25 -
612 98.8 -8.1 108 620 done -0.38 - - 2153 - 2.53 0.030 2457 597.2 -194.6 - - 3776 - - - - - - - - - 26.21 -
805 117.7 -9.9 145 811 roll -0.38 - - 2143 - 2.08 0.040 3829 659.6 -194.6 - - 3775 - - - - - - - - - 26.20 -
834 120.7 -10.8 150 841 done -0.38 - - 2143 - 2.05 0.018 2405 -694.6 -194.6 - - 3775 - - - - - - - - - 26.43 -
1027 136.0 -5.7 187 1033 roll -0.43 - - 2141 - 2.25 0.038 3828 632.4 -194.6 - - 3776 - - - - - - - - - 26.23 -
1048 137.2 -5.7 190 1054 done -0.49 - - 2141 - 1.83 0.017 2482 -735.5 -194.6 - - 3776 - - - - - - - - - 26.51 -
1240 151.5 -8.6 227 1247 done -0.58 0.12 0.118 2086 -458.3 - - 2483 - -194.6 - - 3776 - - - - - - - - 26.40 - -
1432 169.2 -9.8 264 1439 roll -0.56 - - 2076 - 2.03 0.038 3829 663.1 -194.6 - - 3776 - - - - - - - - - 26.27 -
1514 177.3 -10.1 279 1520 done -0.56 - - 2076 - 1.88 0.018 2468 -723.9 -194.6 - - 3776 - - - - - - - - - 26.51 -
1704 202.8 -13.4 316 1711 roll -0.53 - - 2076 - 2.50 0.026 952 -606.4 -194.6 - - 3775 - - - - - - - - - 26.35 -
1765 210.0 -9.7 327 1773 done -0.54 0.12 0.125 2105 241.7 2.72 0.031 2533 581.2 -194.6 - - 3775 - - - - - - - - 26.15 26.32 -
2079 243.8 -11.1 388 2086 roll -0.53 - - 2106 - 2.67 0.024 947 -594.0 -194.6 - - 3776 - - - - - - - - - 26.36 -
2120 248.1 -9.2 395 2127 done -0.56 - - 2099 - 2.70 0.031 2518 581.9 -194.6 - - 3775 - - - - - - - - - 26.32 -
2432 278.5 -9.8 456 2438 done -0.55 - - 2099 - - - 2517 - -194.6 - - 3775 - - - - - - - - - - -
2743 307.8 -8.7 517 2750 roll -0.55 - - 2099 - 2.62 0.025 948 -598.9 -194.6 - - 3773 - - - - - - - - - 26.35 -
2826 314.5 -8.4 532 2832 done -0.57 - - 2099 - 2.67 0.032 2507 583.9 -194.6 - - 3773 - - - - - - - - - 26.31 -
3138 342.8 -9.4 593 3145 roll -0.57 - - 2089 - 1.95 0.041 3826 676.4 -194.6 - - 3770 - - - - - - - - - 26.26 -
3168 345.6 -9.6 598 3176 done -0.58 - - 2089 - 1.95 0.019 2437 -712.3 -194.6 - - 3770 - - - - - - - - - 26.50 -
3480 377.8 -10.0 659 3486 roll -0.58 - - 2089 - 2.42 0.025 947 -615.7 -194.6 - - 3768 - - - - - - - - - 26.36 -
3530 382.5 -9.4 668 3537 done -0.61 - - 2085 - 2.65 0.031 2499 585.7 -194.6 - - 3768 - - - - - - - - - 26.31 -
3843 412.3 -9.2 729 3849 done -0.61 - - 2086 - - - 2498 - -194.6 - - 3766 - - - - - - - - - - -
4155 438.8 -7.9 790 4164 roll -0.61 - - 2085 - 2.62 0.034 945 -592.7 -194.6 -0.10 - 3784 -180.0 - - - - - - - - 26.33 25.99
4202 442.5 -7.3 798 4211 done -0.64 - - 2085 - 2.65 0.031 2495 584.9 -194.6 - - 3784 - - - - - - - - - 26.28 -
4520 463.3 -7.1 859 4527 roll -0.68 - - 2085 - 2.03 0.044 3823 654.2 -194.6 - - 3782 - - - - - - - - - 26.20 -
4550 465.3 -6.2 864 4558 done -0.73 0.15 0.070 2009 -506.7 2.22 0.019 2317 -678.4 -194.6 - - 3782 - - - - - - - - 26.37 26.49 -
4869 511.6 -16.1 919 4871 done -0.68 0.15 0.136 2054 300.0 - - 2318 - -194.6 - - 3780 - - - - - - - - 26.27 - -
5169 544.0 -10.3 949 5179 roll -0.66 - - 2042 - 2.47 0.042 3819 607.7 -194.6 - - 3777 - - - - - - - - - 26.18 -
5232 550.3 -9.9 955 5241 done -0.66 - - 2042 - 2.22 0.021 2340 -666.2 -194.6 - - 3776 - - - - - - - - - 26.44 -
5542 587.2 -12.6 986 5552 roll -0.63 - - 2030 - 2.42 0.041 3827 614.5 -194.6 - - 3774 - - - - - - - - - 26.18 -
5577 591.7 -13.2 989 5585 done -0.60 0.15 0.117 2078 320.0 2.20 0.021 2348 -672.3 -194.6 - - 3773 - - - - - - - - 26.11 26.41 -
5884 621.4 -9.3 1020 5893 roll -0.60 - - 2066 - 2.40 0.043 3838 620.8 -194.6 - - 3772 - - - - - - - - - 26.15 -
5931 625.5 -9.6 1024 5938 done -0.61 - - 2066 - 2.17 0.021 2367 -677.9 -194.6 - - 3771 - - - - - - - - - 26.43 -
6239 656.1 -9.4 1055 6247 roll -0.60 - - 2055 - 2.33 0.044 3818 622.7 -194.6 - - 3769 - - - - - - - - - 26.14 -
6270 659.2 -9.7 1058 6280 done -0.60 - - 2055 - 2.15 0.021 2377 -670.2 -194.6 - - 3769 - - - - - - - - - 26.41 -
6581 690.2 -9.3 1089 6589 roll -0.59 - - 2044 - 2.30 0.043 3823 628.7 -194.6 - - 3766 - - - - - - - - - 26.14 -
6623 694.4 -10.2 1093 6632 done -0.58 0.15 0.110 2093 326.7 2.12 0.021 2385 -678.3 -194.6 - - 3766 - - - - - - - - 26.13 26.41 -
6933 714.8 -6.7 1124 6942 roll -0.59 - - 2086 - 2.30 0.044 3822 624.8 -194.6 - - 3764 - - - - - - - - - 26.11 -
6968 716.9 -6.3 1127 6974 done -0.61 - - 2086 - 2.10 0.020 2388 -682.9 -194.6 - - 3764 - - - - - - - - - 26.44 -
7275 737.3 -6.4 1158 7285 roll -0.65 - - 2086 - 2.30 0.025 944 -627.8 -194.6 - - 3762 - - - - - - - - - 26.28 -
7291 737.9 -6.6 1159 7298 done -0.69 0.10 0.090 2033 -530.0 2.75 0.031 2549 583.6 -194.6 - - 3762 - - - - - - - - 26.18 26.20 -
7598 763.9 -8.5 1190 7608 roll -0.70 - - 2024 - 1.90 0.044 3840 679.5 -194.6 - - 3760 - - - - - - - - - 26.10 -
7654 768.9 -9.6 1195 7661 done -0.69 - - 2023 - 2.12 0.021 2405 -676.9 -194.6 - - 3760 - - - - - - - - - 26.38 -
7961 807.2 -12.7 1226 7963 done -0.66 0.12 0.135 2062 325.0 - - 2405 - -194.6 - - 3758 - - - - - - - - 26.32 - -
8262 834.2 -8.6 1256 8270 roll -0.66 - - 2050 - 2.25 0.047 3823 630.2 -194.6 - - 3757 - - - - - - - - - 26.03 -
8304 837.8 -8.7 1260 8313 done -0.66 - - 2050 - 2.08 0.021 2408 -680.3 -194.6 - - 3756 - - - - - - - - - 26.39 -
8615 867.3 -9.5 1291 8616 done -0.65 - - 2050 - - - 2409 - -194.6 - - 3755 - - - - - - - - - - -
8917 895.7 -9.5 1321 8925 roll -0.63 - - 2039 - 2.28 0.046 3827 621.9 -194.6 - - 3754 - - - - - - - - - 26.01 -
8958 899.9 -9.6 1325 8968 done -0.63 0.10 0.127 2071 320.0 2.10 0.021 2413 -673.3 -194.6 - - 3752 - - - - - - - - 26.15 26.36 -
9269 922.1 -7.2 1356 9277 roll -0.63 - - 2071 - 2.35 0.028 959 -618.7 -194.6 - - 3752 - - - - - - - - - 26.18 -
9291 923.6 -6.8 1358 9300 done -0.64 - - 2062 - 2.55 0.034 2467 591.4 -194.6 - - 3752 - - - - - - - - - 26.10 -
9600 946.8 -7.2 1389 9604 roll -0.64 - - 2051 - 2.10 0.047 3824 646.2 -194.6 - - 3750 - - - - - - - - - 25.98 -
9632 949.1 -7.4 1392 9636 done -0.64 - - 2051 - 2.08 0.022 2419 -675.5 -194.6 - - 3750 - - - - - - - - - 26.34 -
9945 975.8 -9.2 1423 9953 roll -0.64 - - 2051 - 2.38 0.028 953 -616.0 -194.6 - - 3749 - - - - - - - - - 26.16 -
9966 977.8 -8.7 1425 9975 done -0.64 - - 2041 - 2.62 0.033 2485 584.7 -194.6 - - 3748 - - - - - - - - - 26.07 -
10094 end dive: TARGET_DEPTH_EXCEEDED
10094 begin apogee
10101 990.5 -10.1 1438 10307 roll -0.20 0.47 0.101 2205 348.9 0.10 0.074 2482 -30.0 - 194.35 1.141 2965 -4.0 0.370 - - - - - - 25.73 24.68 23.44
10308 end apogee: CONTROL_FINISHED_OK
10308 begin climb
10310 999.3 - 1459 10536 roll 0.58 0.62 0.037 2468 424.2 2.53 0.027 1056 -563.6 194.6 212.68 1.082 2170 -3.7 0.365 - - - - - - 25.00 25.01 23.16
10550 975.3 15.1 1483 10559 done 0.54 - - 2468 - 2.78 0.040 2527 529.1 194.6 - - 2156 - - - - - - - - - 24.75 -
10860 917.0 19.2 1514 10870 roll 0.48 0.12 0.185 2445 -191.7 2.55 0.028 1074 -569.8 194.6 - - 2146 - - - - - - - - 25.70 25.94 -
10947 904.3 13.9 1522 10955 done 0.45 - - 2445 - 2.65 0.036 2543 554.3 194.6 - - 2144 - - - - - - - - - 25.97 -
11254 854.0 15.8 1553 11258 roll 0.40 0.12 0.178 2408 -308.3 1.90 0.042 3829 676.8 194.6 - - 2143 - - - - - - - - 25.89 26.04 -
11332 842.8 14.8 1560 11338 done 0.36 - - 2417 - 1.88 0.022 2514 -699.5 194.6 - - 2142 - - - - - - - - - 26.20 -
11637 802.5 12.3 1591 11646 roll 0.33 0.12 0.183 2379 -316.7 2.00 0.041 3829 657.5 194.6 - - 2141 - - - - - - - - 25.96 26.08 -
11673 798.7 12.0 1594 11681 done 0.31 - - 2389 - 1.85 0.021 2521 -707.0 194.6 - - 2141 - - - - - - - - - 26.26 -
11980 767.9 9.5 1625 11981 done 0.29 - - 2390 - - - 2519 - 194.6 - - 2141 - - - - - - - - - - -
12285 736.5 11.2 1655 12290 done 0.28 - - 2389 - - - 2519 - 194.6 - - 2140 - - - - - - - - - - -
12592 701.4 11.5 1686 12601 roll 0.27 - - 2389 - 1.98 0.045 3828 661.1 194.6 - - 2140 - - - - - - - - - 26.08 -
12615 698.3 12.5 1688 12625 done 0.25 0.15 0.161 2357 -213.3 1.85 0.023 2524 -704.9 194.6 - - 2139 - - - - - - - - 25.84 26.31 -
12924 669.5 8.7 1719 12933 roll 0.26 - - 2370 - 2.50 0.031 1070 -581.6 194.6 - - 2139 - - - - - - - - - 26.15 -
12957 666.6 8.6 1722 12967 done 0.28 - - 2370 - 2.70 0.034 2570 555.6 196.5 - - 2138 - - - - - - - - - 26.14 -
13267 638.9 8.6 1753 13268 done 0.29 - - 2370 - - - 2569 - 198.8 - - 2138 - - - - - - - - - - -
13570 612.6 8.9 1783 13578 roll 0.29 - - 2383 - 2.65 0.030 1059 -569.8 198.8 - - 2138 - - - - - - - - - 26.13 -
13622 608.2 8.0 1788 13661 done 0.33 - - 2383 - 2.67 0.033 2551 558.8 220.0 30.55 0.835 2077 -2.0 0.154 - - - - - - - 26.13 24.46
13961 576.9 9.2 1822 13965 roll 0.33 - - 2383 - 1.88 0.044 3830 680.3 220.0 - - 2060 - - - - - - - - - 25.94 -
13983 574.9 9.3 1824 13991 done 0.33 - - 2393 - 1.90 0.021 2513 -693.2 220.0 - - 2060 - - - - - - - - - 26.15 -
14294 545.6 9.2 1855 14295 done 0.33 - - 2393 - - - 2511 - 220.0 - - 2059 - - - - - - - - - - -
14596 519.5 8.4 1885 14614 roll 0.34 - - 2406 - 2.55 0.031 1056 -570.6 230.0 8.95 0.862 2036 -2.6 0.164 - - - - - - - 26.12 24.44
14630 516.7 8.1 1888 14669 done 0.37 - - 2405 - 2.70 0.032 2554 554.8 251.0 32.80 0.809 1954 -2.5 0.169 - - - - - - - 26.08 24.46
14974 486.1 7.8 1938 15017 roll 0.40 - - 2419 - 2.75 0.031 1054 -545.5 279.5 34.65 0.826 1827 -3.7 0.228 - - - - - - - 25.63 24.32
15041 480.9 7.0 1949 15108 done 0.49 - - 2418 - 2.75 0.031 2550 544.0 334.3 61.30 0.803 1614 -3.5 0.220 - - - - - - - 25.69 24.07
15414 448.7 8.8 2020 15421 roll 0.49 - - 2432 - 2.67 0.031 1071 -553.9 334.3 - - 1583 - - - - - - - - - 25.89 -
15449 445.6 8.7 2026 15457 done 0.52 - - 2432 - 2.65 0.031 2539 554.0 334.3 - - 1582 - - - - - - - - - 25.92 -
15762 414.2 9.7 2087 15769 roll 0.52 - - 2446 - 2.62 0.030 1069 -561.1 334.3 - - 1581 - - - - - - - - - 26.02 -
15782 412.2 9.6 2090 15790 done 0.52 - - 2445 - 2.62 0.034 2530 557.6 334.3 - - 1579 - - - - - - - - - 26.01 -
16096 374.1 12.3 2151 16102 roll 0.52 - - 2458 - 2.60 0.029 1055 -567.3 334.3 - - 1579 - - - - - - - - - 26.08 -
16120 371.1 12.6 2155 16127 done 0.52 - - 2458 - 2.60 0.033 2518 562.7 334.3 - - 1578 - - - - - - - - - 26.06 -
16434 329.7 12.2 2216 16440 roll 0.51 - - 2458 - 1.95 0.044 3825 670.3 334.3 - - 1578 - - - - - - - - - 26.05 -
16489 322.2 13.5 2226 16497 done 0.50 - - 2468 - 1.92 0.021 2489 -695.8 334.3 - - 1578 - - - - - - - - - 26.27 -
16804 282.2 12.6 2287 16812 roll 0.49 0.12 0.160 2441 -225.0 2.45 0.028 1067 -580.4 334.3 - - 1578 - - - - - - - - 26.11 26.13 -
16840 278.1 8.6 2293 16847 done 0.52 - - 2441 - 2.58 0.030 2518 562.4 337.4 - - 1577 - - - - - - - - - 26.15 -
17155 251.0 8.9 2354 17162 done 0.53 - - 2441 - - - 2517 - 337.4 - - 1577 - - - - - - - - - - -
17468 224.0 8.6 2415 17475 roll 0.55 - - 2441 - 2.03 0.042 3835 649.3 340.8 - - 1577 - - - - - - - - - 26.09 -
17494 221.7 8.9 2419 17500 done 0.57 - - 2451 - 2.00 0.021 2457 -689.0 340.8 - - 1577 - - - - - - - - - 26.34 -
17808 194.7 8.1 2480 17839 roll 0.61 - - 2463 - 2.42 0.031 1058 -578.1 359.2 22.90 0.667 1501 -3.3 0.102 - - - - - - - 26.06 24.65
17864 190.4 7.3 2489 17919 done 0.69 0.10 0.089 2535 720.0 2.58 0.029 2513 564.0 404.7 44.03 0.672 1317 -4.2 0.125 - - - - - - 26.03 26.05 24.50
18104 149.3 19.4 2534 18112 roll 0.65 0.15 0.160 2490 -300.0 2.00 0.037 3830 658.5 404.7 - - 1301 - - - - - - - - 25.69 25.86 -
18137 143.8 17.0 2539 18143 done 0.63 - - 2500 - 2.00 0.020 2460 -685.0 404.7 - - 1301 - - - - - - - - - 26.06 -
18327 120.7 11.2 2576 18333 done 0.63 - - 2500 - - - 2458 - 404.7 - - 1300 - - - - - - - - - - -
18519 104.0 8.7 2613 18525 roll 0.64 - - 2500 - 2.17 0.041 3835 634.6 404.7 - - 1300 - - - - - - - - - 26.01 -
18563 99.9 9.5 2621 18570 done 0.67 - - 2510 - 1.98 0.020 2463 -692.9 404.7 - - 1300 - - - - - - - - - 26.24 -
18756 84.4 7.3 2658 18814 roll 0.74 - - 2520 - 2.45 0.027 1067 -569.8 451.2 47.15 0.274 1143 -3.3 0.108 - - - - - - - 26.03 25.12
18908 71.7 10.4 2685 18917 done 0.82 - - 2520 - 2.60 0.029 2534 564.2 451.2 2.55 0.159 1137 -2.4 0.112 - - - - - - - 26.04 25.33
19102 52.3 10.4 2722 19110 done 0.91 0.12 0.109 2572 433.3 - - 2532 - 451.2 2.22 0.145 1138 - - - - - - - - 26.23 - 25.41
19295 35.1 8.2 2759 19314 roll 1.02 - - 2565 - 2.00 0.041 3838 653.0 466.3 14.10 0.187 1081 -4.0 0.080 - - - - - - - 26.04 25.16
19395 24.9 11.3 2777 19403 done 1.10 0.17 0.068 2640 441.2 1.92 0.019 2471 -712.0 466.3 2.40 0.164 1076 -2.1 0.033 - - - - - - 26.17 26.30 25.38
19554 end climb: SURFACE_DEPTH_REACHED
19554 begin surface coast
19570 end surface coast: CONTROL_FINISHED_OK
19570 begin surface
SM 0.57 - - - - -6.63 6.30 0.027 134 -397.8 0.12 0.067 2383 -733.3 463.62 - - 1088 - - - - - - - -