OKMC Apr12 * SG169 * Dive index * Mission links * Dive 183 * Raw log
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• Previous call tries 1 • 36.24 of 147.52 AH used of 24V (75.43% remains)
• Previous NAKs 0, Timeouts 0 • 22.41 of 108.53 AH used of 10V (79.35% remains)
• Surface angle -72.2 deg, depth 0.82 m • Intended pitch -12.5 deg, speed -7.857 cm/s
VBD pumped to 450.13 (SM_CC=450)
• GPS1 time: 36 s
• GPS2 time: 14 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
13 end surface: CONTROL_FINISHED_OK
14 begin dive
16 - - - 116 VBD -0.55 - - 118 - - - 2410 - -194.6 -97.28 - 3116 - - - - - - - - - - -
120 4.1 -10.2 17 147 roll -0.55 7.82 0.225 2076 250.4 2.30 0.048 3833 618.7 -194.6 -11.40 - 3775 -57.8 - - - 1 - - - 25.32 25.63 26.47
261 60.1 -25.8 43 268 done -0.48 0.15 0.147 2120 293.3 2.00 0.021 2465 -684.0 -194.6 - - 3775 - - - - - - - - 25.86 26.20 -
453 115.3 -26.5 80 461 roll -0.40 - - 2128 - 2.30 0.023 1036 -621.3 -194.6 - - 3776 - - - - - - - - - 26.27 -
525 126.8 -8.9 93 531 done -0.42 - - 2117 - 2.42 0.033 2497 603.7 -194.6 - - 3776 - - - - - - - - - 26.22 -
716 159.3 -18.3 130 723 roll -0.37 0.12 0.160 2146 241.7 2.00 0.040 3824 663.5 -194.6 - - 3775 - - - - - - - - 26.16 26.24 -
747 164.3 -15.8 135 754 done -0.33 - - 2146 - 2.05 0.021 2427 -681.5 -194.6 - - 3776 - - - - - - - - - 26.39 -
938 188.1 -11.8 172 946 roll -0.31 - - 2147 - 2.20 0.024 1043 -629.1 -194.6 - - 3775 - - - - - - - - - 26.35 -
999 194.2 -8.3 183 1006 done -0.33 - - 2137 - 2.35 0.029 2482 612.3 -194.6 - - 3776 - - - - - - - - - 26.34 -
1192 217.3 -13.2 207 1201 roll -0.31 0.12 0.144 2171 283.3 2.00 0.040 3826 672.0 -194.6 - - 3776 - - - - - - - - 26.29 26.30 -
1218 220.1 -12.3 209 1224 done -0.29 - - 2171 - 2.08 0.020 2406 -682.7 -194.6 - - 3776 - - - - - - - - - 26.46 -
1526 235.1 -4.4 240 1529 roll -0.32 - - 2162 - 2.22 0.039 3824 638.7 -194.6 - - 3776 - - - - - - - - - 26.33 -
1558 236.7 -4.9 243 1562 done -0.35 - - 2162 - 2.05 0.020 2399 -695.1 -194.6 - - 3776 - - - - - - - - - 26.51 -
1871 266.0 -10.0 274 1879 roll -0.43 - - 2162 - 2.22 0.037 3833 645.9 -194.6 - - 3775 - - - - - - - - - 26.36 -
1925 271.2 -10.2 279 1933 done -0.49 0.15 0.096 2110 -346.7 2.03 0.018 2404 -703.9 -194.6 - - 3775 - - - - - - - - 26.34 26.54 -
2235 295.1 -7.9 310 2239 roll -0.55 - - 2110 - 2.22 0.038 3837 645.5 -194.6 - - 3774 - - - - - - - - - 26.36 -
2331 303.8 -9.5 319 2339 done -0.62 0.10 0.089 2010 -1000.0 1.98 0.018 2430 -710.6 -194.6 - - 3773 - - - - - - - - 26.44 26.55 -
2638 374.8 -23.3 350 2648 roll -0.53 0.28 0.139 2109 353.6 2.20 0.025 1047 -628.6 -194.6 - - 3772 - - - - - - - - 26.00 26.43 -
2733 385.4 -7.1 359 2741 done -0.55 - - 2099 - 2.33 0.031 2488 618.5 -194.6 - - 3772 - - - - - - - - - 26.41 -
3042 420.6 -12.6 390 3051 roll -0.53 - - 2089 - 1.98 0.041 3818 671.7 -194.6 - - 3770 - - - - - - - - - 26.34 -
3064 423.5 -12.3 392 3068 done -0.51 - - 2089 - 2.03 0.019 2415 -691.1 -194.6 - - 3770 - - - - - - - - - 26.52 -
3376 459.2 -9.5 423 3385 roll -0.49 - - 2080 - 2.17 0.040 3831 652.5 -194.6 - - 3768 - - - - - - - - - 26.34 -
3420 463.1 -9.2 427 3428 done -0.48 0.12 0.116 2121 341.7 2.03 0.020 2419 -695.6 -194.6 - - 3768 - - - - - - - - 26.29 26.52 -
3729 482.8 -6.0 458 3737 roll -0.49 - - 2121 - 2.15 0.025 1046 -638.6 -194.6 - - 3765 - - - - - - - - - 26.42 -
3751 484.3 -6.5 460 3759 done -0.50 - - 2118 - 2.35 0.031 2489 614.0 -194.6 - - 3765 - - - - - - - - - 26.39 -
4061 505.5 -7.4 491 4065 roll -0.51 - - 2107 - 2.03 0.043 3824 657.6 -194.6 - - 3763 - - - - - - - - - 26.31 -
4086 507.2 -7.6 493 4094 done -0.52 - - 2109 - 2.03 0.019 2419 -692.1 -194.6 - - 3762 - - - - - - - - - 26.53 -
4393 529.4 -6.2 524 4402 roll -0.52 - - 2109 - 2.17 0.025 1038 -636.4 -194.6 - - 3760 - - - - - - - - - 26.41 -
4425 531.4 -6.5 527 4434 done -0.53 - - 2108 - 2.35 0.032 2490 617.9 -194.6 - - 3759 - - - - - - - - - 26.36 -
4736 554.7 -8.9 558 4740 roll -0.53 - - 2099 - 2.03 0.044 3831 660.6 -194.6 - - 3757 - - - - - - - - - 26.28 -
4770 557.8 -9.2 561 4778 done -0.54 - - 2099 - 2.03 0.021 2429 -690.6 -194.6 - - 3756 - - - - - - - - - 26.50 -
5078 587.3 -8.7 592 5087 roll -0.54 - - 2099 - 2.20 0.027 1039 -631.8 -194.6 - - 3755 - - - - - - - - - 26.39 -
5111 589.9 -8.3 595 5119 done -0.55 - - 2099 - 2.38 0.033 2494 611.3 -194.6 - - 3754 - - - - - - - - - 26.33 -
5423 611.2 -6.8 618 5427 roll -0.55 - - 2090 - 2.03 0.044 3830 658.1 -194.6 - - 3752 - - - - - - - - - 26.26 -
5448 612.9 -6.9 619 5452 done -0.55 - - 2090 - 2.05 0.021 2422 -686.8 -194.6 - - 3752 - - - - - - - - - 26.49 -
5760 637.5 -8.1 635 5765 roll -0.55 - - 2090 - 2.20 0.026 1029 -633.2 -194.6 - - 3749 - - - - - - - - - 26.36 -
5792 639.3 -8.3 636 5799 done -0.55 - - 2086 - 2.42 0.034 2499 607.4 -194.6 - - 3749 - - - - - - - - - 26.29 -
6101 666.1 -8.8 652 6106 roll -0.54 - - 2076 - 2.00 0.045 3821 661.0 -194.6 - - 3746 - - - - - - - - - 26.22 -
6128 667.9 -8.7 653 6132 done -0.53 - - 2076 - 2.03 0.021 2430 -685.2 -194.6 - - 3747 - - - - - - - - - 26.47 -
6436 699.9 -10.8 668 6442 roll -0.52 0.10 0.135 2109 330.0 2.20 0.028 1051 -626.8 -194.6 - - 3744 - - - - - - - - 26.48 26.32 -
6476 703.5 -10.1 670 6481 done -0.52 - - 2102 - 2.40 0.034 2510 607.9 -194.6 - - 3744 - - - - - - - - - 26.28 -
6797 727.8 -7.3 686 6800 roll -0.53 - - 2094 - 2.00 0.047 3821 655.5 -194.6 - - 3742 - - - - - - - - - 26.19 -
6820 729.5 -7.3 687 6825 done -0.54 - - 2094 - 2.03 0.021 2425 -687.7 -194.6 - - 3741 - - - - - - - - - 26.47 -
7139 752.4 -6.8 703 7144 roll -0.54 - - 2094 - 2.20 0.028 1046 -626.8 -194.6 - - 3739 - - - - - - - - - 26.32 -
7181 755.2 -6.8 705 7186 done -0.55 - - 2089 - 2.40 0.035 2501 606.2 -194.6 - - 3739 - - - - - - - - - 26.24 -
7495 777.9 -7.4 721 7496 done -0.55 - - 2089 - - - 2500 - -194.6 - - 3736 - - - - - - - - - - -
7794 800.7 -7.5 736 7799 roll -0.55 - - 2089 - 2.35 0.028 1047 -618.3 -194.6 - - 3735 - - - - - - - - - 26.29 -
7827 802.2 -7.6 737 7835 done -0.55 - - 2086 - 2.40 0.037 2486 599.6 -194.6 - - 3735 - - - - - - - - - 26.20 -
8133 827.7 -8.1 753 8139 roll -0.55 - - 2077 - 2.10 0.048 3819 634.8 -194.6 - - 3733 - - - - - - - - - 26.12 -
8154 829.4 -8.1 754 8159 done -0.55 - - 2077 - 2.08 0.022 2422 -671.6 -194.6 - - 3732 - - - - - - - - - 26.41 -
8475 858.3 -9.2 770 8480 roll -0.55 - - 2077 - 2.20 0.028 1039 -628.6 -194.6 - - 3731 - - - - - - - - - 26.27 -
8521 861.8 -9.1 772 8525 done -0.55 - - 2067 - 2.40 0.036 2489 604.2 -194.6 - - 3731 - - - - - - - - - 26.17 -
8829 892.2 -9.4 787 8835 roll -0.54 0.12 0.137 2102 291.7 2.05 0.047 3817 647.8 -194.6 - - 3729 - - - - - - - - 26.30 26.09 -
8857 893.8 -9.1 788 8861 done -0.53 - - 2102 - 2.08 0.021 2414 -674.5 -194.6 - - 3730 - - - - - - - - - 26.41 -
9165 911.7 -5.4 803 9166 done -0.55 - - 2102 - - - 2414 - -194.6 - - 3728 - - - - - - - - - - -
9465 929.1 -6.2 818 9471 roll -0.56 - - 2098 - 2.33 0.048 3823 604.7 -194.6 - - 3727 - - - - - - - - - 26.03 -
9492 930.3 -6.1 819 9496 done -0.58 - - 2098 - 2.08 0.022 2422 -673.6 -194.6 - - 3727 - - - - - - - - - 26.39 -
9803 949.6 -6.5 834 9808 roll -0.63 - - 2098 - 2.25 0.047 3815 619.1 -194.6 - - 3726 - - - - - - - - - 26.03 -
10036 967.7 -9.1 845 10044 done -0.70 0.17 0.099 2044 -317.6 1.98 0.023 2456 -686.4 -194.6 - - 3724 - - - - - - - - 26.11 26.38 -
10300 end dive: TARGET_DEPTH_EXCEEDED
10300 begin apogee
10307 990.3 -7.8 859 10505 roll -0.20 0.45 0.086 2208 364.4 0.08 0.037 2485 362.5 - 191.35 1.135 2975 -3.9 0.358 - - - - - - 25.94 24.65 23.77
10506 end apogee: CONTROL_FINISHED_OK
10506 begin climb
10509 1000.6 - 869 10732 roll 0.55 0.60 0.036 2462 423.3 2.42 0.030 1065 -586.8 194.6 214.15 1.106 2185 -3.7 0.350 - - - - - - 24.88 24.87 23.35
10828 963.9 17.2 885 10833 done 0.50 - - 2462 - 2.62 0.041 2534 560.7 194.6 - - 2150 - - - - - - - - - 25.14 -
11137 894.7 22.3 900 11143 roll 0.42 0.15 0.184 2431 -206.7 2.42 0.028 1070 -605.0 194.6 - - 2146 - - - - - - - - 25.56 25.87 -
11190 886.7 21.0 902 11199 done 0.36 0.15 0.146 2389 -280.0 2.55 0.036 2555 582.4 194.6 - - 2144 - - - - - - - - 25.65 25.89 -
11496 842.9 12.9 918 11497 done 0.33 - - 2389 - - - 2553 - 194.6 - - 2143 - - - - - - - - - - -
11797 807.4 11.2 933 11802 roll 0.30 - - 2389 - 1.92 0.044 3821 660.4 194.6 - - 2143 - - - - - - - - - 26.05 -
11844 802.2 12.0 935 11848 done 0.26 0.12 0.164 2364 -208.3 1.92 0.023 2511 -682.3 194.6 - - 2142 - - - - - - - - 25.86 26.20 -
12158 771.0 9.8 951 12163 roll 0.25 - - 2376 - 2.35 0.033 1075 -611.1 194.6 - - 2141 - - - - - - - - - 26.13 -
12199 767.2 9.8 953 12203 done 0.24 - - 2376 - 2.50 0.036 2543 587.2 194.6 - - 2140 - - - - - - - - - 26.11 -
12512 733.1 11.1 969 12518 roll 0.22 - - 2376 - 1.98 0.044 3835 652.5 194.6 - - 2140 - - - - - - - - - 26.10 -
12541 730.7 11.1 970 12546 done 0.20 0.15 0.150 2344 -213.3 1.95 0.022 2503 -683.1 194.6 - - 2140 - - - - - - - - 25.89 26.27 -
12849 705.5 7.0 985 12894 roll 0.24 - - 2356 - 2.40 0.032 1074 -595.4 224.5 39.80 0.845 2058 -2.1 0.180 - - - - - - - 25.74 24.84
12916 701.9 6.6 988 12994 done 0.31 - - 2356 - 2.53 0.035 2538 578.7 270.5 69.93 0.842 1872 -2.7 0.232 - - - - - - - 25.75 24.37
13303 676.4 7.3 1008 13329 done 0.34 - - 2356 - - - 2538 - 290.1 24.10 0.878 1795 -3.2 0.258 - - - - - - - - 24.64
13623 649.3 8.9 1024 13629 roll 0.36 0.10 0.088 2442 860.0 2.45 0.031 1083 -593.9 290.1 - - 1769 - - - - - - - - 26.11 25.92 -
13645 647.2 9.4 1025 13650 done 0.38 0.15 0.134 2398 -293.3 2.50 0.037 2532 579.6 290.1 - - 1767 - - - - - - - - 25.72 25.92 -
13961 606.6 12.5 1041 13962 done 0.36 - - 2398 - - - 2531 - 290.1 - - 1767 - - - - - - - - - - -
14260 570.7 11.4 1068 14263 roll 0.35 - - 2398 - 2.00 0.044 3829 649.0 290.1 - - 1766 - - - - - - - - - 26.06 -
14313 564.3 12.3 1073 14321 done 0.34 - - 2408 - 2.00 0.023 2485 -672.0 290.1 - - 1766 - - - - - - - - - 26.20 -
14623 527.7 12.0 1104 14632 roll 0.33 - - 2421 - 2.33 0.033 1075 -605.2 290.1 - - 1765 - - - - - - - - - 26.14 -
14658 523.8 11.9 1107 14667 done 0.32 0.15 0.118 2373 -320.0 2.45 0.036 2521 590.2 290.1 - - 1764 - - - - - - - - 25.95 26.13 -
14966 500.2 7.7 1138 14969 roll 0.34 - - 2372 - 2.03 0.045 3830 644.8 295.4 - - 1764 - - - - - - - - - 26.10 -
14991 498.3 8.1 1140 14998 done 0.35 - - 2383 - 2.03 0.022 2457 -676.4 295.4 - - 1764 - - - - - - - - - 26.28 -
15298 471.8 8.9 1171 15300 done 0.36 - - 2383 - - - 2456 - 295.4 - - 1764 - - - - - - - - - - -
15600 445.7 8.1 1201 15609 roll 0.37 - - 2383 - 2.15 0.044 3812 630.7 295.4 - - 1764 - - - - - - - - - 26.11 -
15632 442.7 8.7 1204 15641 done 0.38 - - 2393 - 1.98 0.023 2485 -670.2 295.4 - - 1764 - - - - - - - - - 26.31 -
15943 418.0 7.5 1235 15971 roll 0.40 - - 2405 - 2.33 0.030 1066 -609.0 307.6 17.30 0.783 1712 -3.0 0.168 - - - - - - - 26.14 25.14
15985 414.8 7.6 1239 15994 done 0.42 - - 2405 - 2.47 0.034 2529 592.3 315.2 3.08 0.503 1691 -6.8 0.589 - - - - - - - 26.08 24.73
16294 385.8 9.7 1270 16303 roll 0.42 - - 2417 - 2.42 0.031 1069 -603.3 315.2 - - 1693 - - - - - - - - - 26.10 -
16317 383.9 9.2 1272 16326 done 0.42 - - 2417 - 2.47 0.034 2527 590.3 315.2 - - 1693 - - - - - - - - - 26.09 -
16627 355.1 10.1 1303 16636 roll 0.41 - - 2417 - 2.00 0.044 3829 651.0 315.2 - - 1693 - - - - - - - - - 26.10 -
16662 351.4 11.2 1306 16670 done 0.40 - - 2427 - 2.00 0.023 2482 -673.5 315.2 - - 1693 - - - - - - - - - 26.25 -
16969 310.7 12.8 1337 16978 roll 0.38 - - 2440 - 2.28 0.031 1080 -614.9 315.2 - - 1693 - - - - - - - - - 26.19 -
17001 306.8 12.4 1340 17011 done 0.37 0.10 0.097 2399 -410.0 2.42 0.034 2517 593.8 315.2 - - 1693 - - - - - - - - 25.97 26.17 -
17312 285.0 7.2 1371 17352 roll 0.42 - - 2411 - 2.50 0.031 1078 -575.6 340.9 32.97 0.708 1575 -3.6 0.151 - - - - - - - 25.96 25.10
17368 281.2 6.8 1376 17415 done 0.49 - - 2411 - 2.45 0.032 2517 587.3 378.3 38.33 0.699 1426 -3.9 0.164 - - - - - - - 25.95 24.79
17716 247.9 11.0 1411 17718 done 0.57 0.15 0.095 2469 386.7 - - 2517 - 378.3 - - 1410 - - - - - - - - 26.01 - -
18017 220.0 7.3 1441 18047 roll 0.68 - - 2479 - 2.47 0.031 1077 -583.0 398.9 19.80 0.656 1337 -3.7 0.130 - - - - - - - 25.96 25.09
18091 213.8 8.2 1448 18100 done 0.76 0.08 0.077 2522 537.5 2.42 0.030 2513 593.4 398.9 - - 1330 - - - - - - - - 25.86 25.96 -
18400 167.6 20.2 1494 18408 roll 0.71 - - 2521 - 2.03 0.041 3839 653.2 398.9 - - 1330 - - - - - - - - - 26.04 -
18555 135.2 18.4 1523 18562 done 0.67 0.15 0.159 2490 -206.7 2.05 0.024 2452 -676.6 398.9 - - 1329 - - - - - - - - 25.81 26.19 -
18747 109.4 11.4 1560 18754 roll 0.67 - - 2502 - 2.28 0.030 1063 -609.2 398.9 - - 1328 - - - - - - - - - 26.17 -
18768 107.0 11.8 1563 18775 done 0.67 - - 2503 - 2.45 0.031 2519 594.3 398.9 - - 1328 - - - - - - - - - 26.17 -
18961 85.5 11.1 1600 18968 roll 0.66 - - 2502 - 1.98 0.041 3828 661.1 398.9 - - 1328 - - - - - - - - - 26.17 -
19016 79.9 9.5 1610 19024 done 0.69 - - 2512 - 1.98 0.022 2480 -680.8 398.9 - - 1328 - - - - - - - - - 26.32 -
19211 63.8 8.2 1647 19218 roll 0.70 - - 2524 - 2.30 0.029 1068 -613.9 398.9 - - 1328 - - - - - - - - - 26.25 -
19257 60.4 7.2 1655 19283 done 0.76 - - 2524 - 2.42 0.030 2522 600.8 423.4 16.83 0.229 1256 -4.3 0.118 - - - - - - - 26.26 25.56
19470 43.3 7.9 1695 19478 roll 0.77 - - 2524 - 2.03 0.038 3838 648.3 423.4 2.33 0.158 1253 -1.3 0.037 - - 1 - - - - 26.07 25.62
19511 39.9 8.9 1702 19520 done 0.78 - - 2534 - 1.98 0.021 2472 -689.9 423.4 2.20 0.159 1253 - - - - - - - - - 26.34 25.71
19707 23.5 8.5 1739 19715 roll 0.79 - - 2545 - 2.35 0.028 1063 -599.6 423.4 2.15 0.155 1255 - - - - - - - - - 26.27 25.72
19769 18.5 8.2 1750 19778 done 0.81 - - 2545 - 2.40 0.029 2515 605.0 423.4 2.03 0.157 1251 -2.0 0.024 - - - - - - - 26.29 25.78
19944 end climb: SURFACE_DEPTH_REACHED
19944 begin surface coast
19982 end surface coast: CONTROL_FINISHED_OK
19982 begin surface
SM 0.54 - - - - -6.61 6.03 0.028 126 -401.2 - - 2514 - 450.13 15.98 0.122 1141 -6.9 0.003 - - - - - -