OKMC Mar13 * SG169 * Dive index * Mission links * Dive 681 * Raw log
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• Previous call tries 1 • 93.07 of 150.00 AH used of 24V (37.95% remains)
• Previous NAKs 0, Timeouts 0 • 69.58 of 100.00 AH used of 10V (30.42% remains)
• Surface angle -71.9 deg, depth 0.30 m • Intended pitch -5.6 deg, speed -9.429 cm/s
VBD pumped to 592.89 (SM_CC=592.89008)
• GPS1 time: 31 s
• GPS2 time: 10 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
21 end surface: CONTROL_FINISHED_OK
21 begin dive
27 - - - 123 VBD -0.67 - - 135 - - - 2559 - -175.2 -92.90 - 2873 - - - - - - - - - - -
134 4.0 -10.5 12 160 roll -0.67 8.55 0.222 2150 235.7 2.72 0.041 1132 -524.6 -175.2 -10.27 - 3571 -68.0 - - - - - - - 24.63 25.85 26.48
219 40.1 -31.9 20 225 done -0.67 - - 2141 - 2.83 0.039 2618 525.1 -175.2 - - 3572 - - - - - - - - - 25.77 -
539 120.3 -21.5 37 546 roll -0.67 - - 2138 - 2.00 0.050 3832 607.0 -175.2 - - 3572 - - - - - - - - - 25.82 -
577 126.2 -20.7 38 583 done -0.67 - - 2138 - 1.98 0.024 2555 -644.9 -175.2 - - 3572 - - - - - - - - - 26.26 -
893 187.5 -18.1 54 894 done -0.67 - - 2138 - - - 2555 - -175.2 - - 3572 - - - - - - - - - - -
1195 229.0 -12.1 69 1201 roll -0.67 - - 2138 - 2.17 0.046 3842 593.1 -175.2 - - 3571 - - - - - - - - - 25.91 -
1253 234.9 -12.0 71 1260 done -0.67 - - 2138 - 1.98 0.024 2562 -646.5 -175.2 - - 3571 - - - - - - - - - 26.32 -
1573 276.4 -13.5 87 1579 roll -0.67 - - 2138 - 2.15 0.047 3818 584.2 -175.2 - - 3571 - - - - - - - - - 25.90 -
1649 286.8 -14.1 90 1655 done -0.67 - - 2138 - 1.95 0.023 2553 -648.7 -175.2 - - 3571 - - - - - - - - - 26.34 -
1975 330.7 -13.2 106 1982 roll -0.67 - - 2138 - 2.15 0.046 3833 595.3 -175.2 - - 3570 - - - - - - - - - 25.91 -
2036 337.8 -13.4 108 2042 done -0.67 - - 2138 - 1.95 0.024 2561 -652.3 -175.2 - - 3569 - - - - - - - - - 26.32 -
2352 377.9 -11.0 124 2358 roll -0.67 - - 2138 - 2.15 0.049 3840 594.9 -175.2 - - 3566 - - - - - - - - - 25.86 -
2444 387.7 -10.6 128 2450 done -0.67 - - 2137 - 1.98 0.026 2563 -644.9 -175.2 - - 3565 - - - - - - - - - 26.29 -
2777 423.8 -12.0 144 2782 roll -0.67 - - 2138 - 2.12 0.047 3828 596.7 -175.2 - - 3562 - - - - - - - - - 25.86 -
2842 430.1 -12.0 146 2850 done -0.67 - - 2138 - 1.95 0.025 2561 -649.7 -175.2 - - 3561 - - - - - - - - - 26.30 -
3147 464.9 -10.2 162 3153 roll -0.67 - - 2134 - 2.12 0.049 3819 593.4 -175.2 - - 3557 - - - - - - - - - 25.85 -
3263 476.9 -10.4 167 3269 done -0.67 - - 2134 - 1.95 0.026 2563 -644.1 -175.2 - - 3556 - - - - - - - - - 26.27 -
3594 510.1 -10.4 183 3596 done -0.67 - - 2135 - - - 2563 - -175.2 - - 3552 - - - - - - - - - - -
3889 542.2 -11.6 198 3895 roll -0.67 - - 2129 - 2.12 0.047 3833 599.1 -175.2 - - 3549 - - - - - - - - - 25.82 -
3918 545.4 -11.8 199 3923 done -0.67 - - 2129 - 1.98 0.026 2561 -642.4 -175.2 - - 3549 - - - - - - - - - 26.26 -
4247 591.7 -14.8 215 4253 roll -0.67 - - 2129 - 2.62 0.033 1142 -541.6 -175.2 - - 3546 - - - - - - - - - 25.94 -
4293 596.2 -15.0 216 4301 done -0.67 - - 2125 - 2.72 0.034 2614 541.2 -175.2 - - 3545 - - - - - - - - - 25.94 -
4600 642.8 -14.4 227 4607 roll -0.67 - - 2125 - 2.03 0.053 3821 594.6 -175.2 - - 3542 - - - - - - - - - 25.73 -
4713 657.8 -14.2 230 4720 done -0.67 - - 2125 - 2.03 0.026 2551 -625.6 -175.2 - - 3540 - - - - - - - - - 26.22 -
5041 701.8 -12.5 241 5046 roll -0.67 - - 2116 - 2.20 0.047 3847 589.1 -175.2 - - 3538 - - - - - - - - - 25.77 -
5119 711.2 -13.0 243 5127 done -0.67 0.12 0.135 2150 283.3 2.03 0.029 2565 -631.5 -175.2 - - 3537 - - - - - - - - 25.85 26.17 -
5447 749.8 -11.3 254 5449 done -0.67 - - 2151 - - - 2566 - -175.2 - - 3534 - - - - - - - - - - -
5747 780.9 -10.4 264 5748 done -0.67 - - 2151 - - - 2565 - -175.2 - - 3533 - - - - - - - - - - -
6047 813.7 -11.2 274 6053 roll -0.67 - - 2142 - 2.15 0.045 3830 588.4 -175.2 - - 3530 - - - - - - - - - 25.74 -
6118 822.3 -11.9 276 6123 done -0.67 - - 2142 - 2.03 0.026 2551 -630.0 -175.2 - - 3528 - - - - - - - - - 26.19 -
6454 863.3 -12.6 287 6455 done -0.67 - - 2142 - - - 2550 - -175.2 - - 3527 - - - - - - - - - - -
6754 900.3 -12.1 297 6761 roll -0.67 - - 2142 - 2.20 0.048 3828 580.9 -175.2 - - 3525 - - - - - - - - - 25.65 -
6809 904.9 -12.1 298 6815 done -0.67 - - 2142 - 2.00 0.026 2561 -633.5 -175.2 - - 3525 - - - - - - - - - 26.18 -
7135 944.7 -11.4 309 7141 roll -0.67 - - 2142 - 2.60 0.034 1140 -546.5 -175.2 - - 3523 - - - - - - - - - 25.81 -
7160 944.7 -11.4 309 7167 done -0.67 - - 2141 - 2.78 0.038 2620 532.4 -175.2 - - 3523 - - - - - - - - - 25.72 -
7481 981.5 -9.9 320 7486 roll -0.67 - - 2132 - 2.05 0.052 3835 592.7 -175.2 - - 3521 - - - - - - - - - 25.56 -
7534 985.6 -10.0 321 7540 done -0.67 - - 2131 - 2.03 0.025 2555 -630.5 -175.2 - - 3521 - - - - - - - - - 26.13 -
7581 end dive: TARGET_DEPTH_EXCEEDED
7581 begin apogee
7590 991.9 -9.6 323 7765 done -0.12 0.55 0.102 2318 340.0 0.08 0.035 2542 -162.5 - 157.80 0.971 2839 -4.3 0.465 - - - - - - 25.35 24.76 23.34
7767 end apogee: CONTROL_FINISHED_OK
7768 begin climb
7772 1000.8 - 328 7952 roll 0.67 0.68 0.035 2588 397.1 2.35 0.039 3827 546.8 175.2 172.90 0.962 2128 -4.1 0.450 - - - - - - 25.37 25.02 23.51
7995 991.3 9.0 336 8010 done 0.70 - - 2599 - 2.10 0.015 2527 -619.0 186.8 9.75 0.855 2090 -3.9 0.476 - - - - - - - 25.65 23.73
8303 954.0 11.3 347 8310 roll 0.70 - - 2589 - 2.28 0.039 3845 578.1 186.8 - - 2067 - - - - - - - - - 25.82 -
8336 954.0 11.3 347 8344 done 0.70 - - 2599 - 2.08 0.015 2522 -636.1 186.8 - - 2066 - - - - - - - - - 26.17 -
8647 917.9 10.1 358 8648 done 0.70 - - 2599 - - - 2523 - 186.8 - - 2064 - - - - - - - - - - -
8943 890.0 9.0 368 8954 roll 0.73 - - 2593 - 2.25 0.037 3829 580.4 197.7 4.75 0.781 2045 -4.0 0.480 - - - - - - - 25.93 24.18
8983 886.2 9.2 369 9000 done 0.75 - - 2599 - 2.05 0.017 2527 -635.1 203.5 11.62 0.798 2022 -2.0 0.231 - - - - - - - 26.26 24.60
9323 853.9 9.8 380 9324 done 0.75 - - 2599 - - - 2527 - 203.5 - - 2009 - - - - - - - - - - -
9622 822.2 10.7 390 9628 roll 0.75 - - 2597 - 2.25 0.039 3852 588.9 203.5 - - 2010 - - - - - - - - - 25.86 -
9647 822.2 10.7 390 9653 done 0.75 - - 2608 - 2.08 0.017 2518 -641.3 203.5 - - 2007 - - - - - - - - - 26.27 -
9969 782.4 11.3 401 9970 done 0.75 - - 2608 - - - 2517 - 203.5 - - 2006 - - - - - - - - - - -
10264 750.2 10.5 411 10265 done 0.75 - - 2608 - - - 2517 - 203.5 - - 2006 - - - - - - - - - - -
10564 718.3 10.6 421 10570 roll 0.75 - - 2608 - 2.28 0.039 3840 580.3 203.5 - - 2005 - - - - - - - - - 25.82 -
10634 710.3 10.9 423 10640 done 0.75 - - 2618 - 2.05 0.016 2520 -643.9 203.5 - - 2005 - - - - - - - - - 26.29 -
10972 675.6 10.3 434 10978 roll 0.75 - - 2619 - 2.28 0.039 3851 583.8 203.5 - - 2004 - - - - - - - - - 25.79 -
10993 675.6 10.3 434 10999 done 0.75 - - 2629 - 2.08 0.016 2522 -638.9 203.5 - - 2004 - - - - - - - - - 26.28 -
11316 638.6 10.6 445 11322 roll 0.75 - - 2630 - 2.25 0.039 3837 584.4 203.5 - - 2005 - - - - - - - - - 25.77 -
11373 634.4 10.6 446 11381 done 0.75 0.12 0.173 2609 -175.0 2.05 0.015 2513 -645.9 203.5 - - 2003 - - - - - - - - 25.73 26.25 -
11692 603.9 9.1 457 11704 roll 0.78 - - 2621 - 2.55 0.026 1111 -549.8 212.6 3.70 0.615 1985 -4.9 0.503 - - - - - - - 25.88 24.06
11720 603.9 9.1 457 11747 done 0.81 - - 2621 - 2.65 0.024 2592 558.9 221.7 20.77 0.661 1949 -1.7 0.167 - - - - - - - 25.93 24.53
12041 563.1 12.5 474 12047 roll 0.81 - - 2634 - 2.70 0.026 1095 -554.4 221.7 - - 1934 - - - - - - - - - 25.82 -
12102 557.2 12.2 476 12108 done 0.81 - - 2634 - 2.70 0.026 2597 556.3 221.7 - - 1933 - - - - - - - - - 25.86 -
12420 516.0 12.0 492 12426 roll 0.81 - - 2633 - 2.05 0.040 3835 603.9 221.7 - - 1933 - - - - - - - - - 25.75 -
12483 510.0 12.1 494 12492 done 0.81 - - 2644 - 2.08 0.016 2507 -638.5 221.7 - - 1932 - - - - - - - - - 26.22 -
12792 474.1 10.9 510 12797 roll 0.81 - - 2644 - 2.30 0.039 3838 578.7 221.7 - - 1932 - - - - - - - - - 25.73 -
12893 462.6 12.3 514 12899 done 0.81 - - 2654 - 2.08 0.016 2501 -642.8 221.7 - - 1932 - - - - - - - - - 26.24 -
13220 422.3 12.8 530 13228 roll 0.81 0.12 0.161 2606 -400.0 2.30 0.037 3833 579.1 221.7 - - 1932 - - - - - - - - 26.00 25.72 -
13248 418.1 12.7 531 13255 done 0.81 - - 2616 - 2.08 0.016 2507 -637.5 221.7 - - 1932 - - - - - - - - - 26.26 -
13583 390.9 7.1 547 13682 roll 1.00 0.20 0.056 2710 470.0 2.38 0.037 3836 558.4 286.2 89.95 0.522 1674 -2.9 0.226 - - - - - - 26.39 25.46 24.22
13711 376.3 13.1 552 13720 done 1.00 0.12 0.180 2690 -166.7 2.10 0.015 2510 -631.4 286.2 - - 1663 - - - - - - - - 25.26 25.72 -
14017 336.0 13.5 568 14023 roll 1.00 - - 2680 - 2.30 0.037 3849 582.2 286.2 - - 1659 - - - - - - - - - 25.65 -
14072 329.0 14.3 570 14079 done 1.00 - - 2690 - 2.10 0.015 2509 -638.1 286.2 - - 1659 - - - - - - - - - 26.08 -
14401 280.5 14.5 586 14402 done 1.00 - - 2691 - - - 2508 - 286.2 - - 1658 - - - - - - - - - - -
14695 240.4 11.1 601 14701 roll 1.00 - - 2691 - 2.28 0.037 3849 588.2 286.2 - - 1658 - - - - - - - - - 25.73 -
14757 234.8 11.3 603 14762 done 1.00 - - 2701 - 2.05 0.016 2507 -654.6 286.2 - - 1658 - - - - - - - - - 26.21 -
15073 197.3 12.0 619 15080 roll 1.00 - - 2714 - 2.45 0.025 1097 -575.5 286.2 - - 1657 - - - - - - - - - 25.90 -
15146 188.2 12.5 622 15153 done 1.00 - - 2713 - 2.65 0.023 2599 566.8 286.2 - - 1654 - - - - - - - - - 25.94 -
15479 156.7 7.3 638 15555 roll 1.18 - - 2711 - 2.15 0.037 3848 580.9 345.5 69.75 0.468 1436 -3.1 0.110 - - - - - - - 25.63 24.41
15605 143.7 10.7 643 15612 done 1.18 - - 2722 - 2.08 0.015 2503 -646.6 345.5 - - 1421 - - - - - - - - - 25.89 -
15930 106.9 10.1 659 15936 roll 1.18 - - 2734 - 2.47 0.024 1091 -571.7 345.5 - - 1419 - - - - - - - - - 25.85 -
16041 99.1 8.3 663 16091 done 1.27 0.12 0.073 2818 700.0 2.67 0.022 2593 562.5 375.8 39.70 0.258 1322 -2.4 0.099 - - - - - - 25.89 25.91 24.74
16405 51.0 12.2 681 16417 roll 1.27 0.12 0.161 2770 -400.0 2.10 0.035 3826 587.1 375.8 3.85 0.143 1328 1.6 -0.059 - - - - - - 25.94 25.79 24.51
16449 46.9 10.8 683 16459 done 1.27 - - 2781 - 2.03 0.014 2493 -656.7 375.8 3.70 0.148 1321 -1.9 0.063 - - - - - - - 26.23 24.68
16766 21.9 8.0 717 16810 roll 1.39 - - 2792 - 2.53 0.024 1089 -554.9 416.3 32.33 0.160 1154 -5.2 0.074 - - - - - - - 26.01 25.10
16820 17.0 8.9 723 16839 done 1.43 0.10 0.093 2852 600.0 2.67 0.021 2599 565.5 430.3 10.65 0.159 1097 -5.4 0.060 - - - - - - 25.94 26.01 25.09
16931 end climb: SURFACE_DEPTH_REACHED
16931 begin surface coast
16958 end surface coast: CONTROL_FINISHED_OK
16958 begin surface
SM 0.19 - - - - -6.90 6.90 0.027 133 19.3 - - 2610 - 592.89 93.15 0.119 434 4.7 -0.001 - - - - - -